/SLAM-Hive/slam_hive_results/mapping_results/2923/2131_vins-fusion-mono-imu+MH_05_difficult+Image_comb_test-1.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720484489.797825377]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720484489.799819831]: init begins[0m
[31m[ERROR] [1720484489.800960425]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/30170722-3d89-11ef-b523-0242ac110005/roslaunch-86cd07de395e-118.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;roscore
[1mstarted roslaunch server http://86cd07de395e:36087/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [155][0m
[0m[ INFO] [1720484490.905800815]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720484490.906065176]: 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] [1720484490.912696602]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720484490.912913039]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720484490.912947357]: ROW: 384 COL: 601 [0m
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
set g       0       0 9.81007
[0m[ INFO] [1720484490.913108365]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720484490.913391139]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
[1mROS_MASTER_URI=http://86cd07de395e:11311/[0m
]2;roscore http://86cd07de395e:11311/
[1msetting /run_id to 30170722-3d89-11ef-b523-0242ac110005[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 [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720484499.950986889]: Opening /slamhive/dataset/MH_05_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403638518.147706   Duration: 0.000000 / 114.773304   Delay: 316845982.03 
init first imu pose
averge acc 9.015113 -0.047866 -3.797742
init R0 
 0.388249 0.0116141  0.921482
        0 -0.999921 0.0126027
 0.921555 -0.004893 -0.388218
[0m[ INFO] [1720484501.304713977]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484501.507384362]: IMU excitation not enouth![0m
[0m[ INFO] [1720484501.508448137]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484501.720597053]: IMU excitation not enouth![0m
[0m[ INFO] [1720484501.815895546]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484502.024271655]: IMU excitation not enouth![0m
[0m[ INFO] [1720484502.209055652]: IMU excitation not enouth![0m
[0m[ INFO] [1720484502.210130734]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484502.320835129]: IMU excitation not enouth![0m
[0m[ INFO] [1720484502.521026296]: IMU excitation not enouth![0m
[0m[ INFO] [1720484502.709896871]: IMU excitation not enouth![0m
[0m[ INFO] [1720484502.710984156]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484502.829354455]: IMU excitation not enouth![0m
[0m[ INFO] [1720484502.829964325]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484503.003475930]: IMU excitation not enouth![0m
[0m[ INFO] [1720484503.004199184]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484503.211562090]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484503.323028257]: IMU excitation not enouth![0m
[0m[ INFO] [1720484503.511772526]: IMU excitation not enouth![0m
[0m[ INFO] [1720484503.512093481]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484503.709688058]: IMU excitation not enouth![0m
[0m[ INFO] [1720484503.809163481]: IMU excitation not enouth![0m
[0m[ INFO] [1720484503.809595170]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484504.018912327]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484504.232552160]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484504.316829801]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1720484504.676432128]: gyroscope bias initial calibration -0.00198631   0.0225246   0.0762574[0m
[0m[ INFO] [1720484504.779732619]: Initialization finish![0m
time: 1403638522.327830, t: -0.004764 0.004563 0.042351 q: -0.018380 0.828275 0.008119 0.559962 
time: 1403638522.427830, t: -0.012935 0.007115 0.089200 q: -0.025448 0.824444 0.010919 0.565266 
time: 1403638522.527829, t: -0.016340 0.007684 0.134208 q: -0.035403 0.827693 0.010212 0.559971 
time: 1403638522.627830, t: -0.018562 0.008027 0.180194 q: -0.045000 0.828772 0.009522 0.557693 
time: 1403638522.727829, t: -0.018531 0.008719 0.229575 q: -0.046291 0.823969 0.016987 0.564486 
time: 1403638522.827830, t: -0.015777 0.011732 0.278910 q: -0.054730 0.818052 0.020826 0.572155 
time: 1403638522.927830, t: -0.019268 0.009425 0.328594 q: -0.067690 0.812440 0.015802 0.578887 
time: 1403638523.027829, t: -0.020468 0.003158 0.370734 q: -0.071913 0.808390 0.012883 0.584097 
time: 1403638523.127830, t: -0.022094 -0.003314 0.396238 q: -0.071591 0.806967 0.013272 0.586091 
time: 1403638523.227829, t: -0.031629 -0.013161 0.402217 q: -0.067475 0.805352 0.013065 0.588799 
time: 1403638523.327830, t: -0.030221 -0.019680 0.389881 q: -0.057724 0.803164 0.012184 0.592829 
time: 1403638523.427830, t: -0.033309 -0.025685 0.356329 q: -0.054134 0.804135 0.012623 0.591842 
time: 1403638523.527829, t: -0.037395 -0.032257 0.297043 q: -0.047591 0.810968 0.015980 0.582933 
time: 1403638523.627830, t: -0.033648 -0.040297 0.243114 q: -0.039386 0.821449 0.019248 0.568595 
time: 1403638523.727829, t: -0.032057 -0.045022 0.191224 q: -0.033467 0.828603 0.021399 0.558425 
time: 1403638523.827830, t: -0.030058 -0.046557 0.143143 q: -0.030052 0.831204 0.023250 0.554668 
time: 1403638523.927830, t: -0.032882 -0.048752 0.103753 q: -0.021531 0.830871 0.026650 0.555409 
time: 1403638524.027829, t: -0.038279 -0.051175 0.078845 q: -0.011551 0.832338 0.033472 0.553136 
time: 1403638524.127830, t: -0.041350 -0.050471 0.083362 q: -0.006758 0.836627 0.040327 0.546245 
time: 1403638524.227829, t: -0.040624 -0.048969 0.117203 q: -0.010722 0.839840 0.042294 0.541078 
time: 1403638524.327830, t: -0.037975 -0.049017 0.166626 q: -0.018132 0.838677 0.041313 0.542757 
time: 1403638524.427830, t: -0.032185 -0.048432 0.224991 q: -0.025973 0.833990 0.038534 0.549819 
time: 1403638524.527829, t: -0.025015 -0.047548 0.286188 q: -0.030292 0.825751 0.037323 0.561983 
time: 1403638524.627830, t: -0.016755 -0.045466 0.344280 q: -0.029761 0.817591 0.033402 0.574059 
time: 1403638524.727829, t: -0.009056 -0.042165 0.392033 q: -0.019756 0.812391 0.027812 0.582115 
time: 1403638524.827830, t: -0.003231 -0.038878 0.425272 q: -0.006606 0.809535 0.022424 0.586606 
time: 1403638524.927830, t: 0.000642 -0.034908 0.443955 q: -0.010044 0.808289 0.022083 0.588286 
time: 1403638525.027829, t: 0.001180 -0.033366 0.443282 q: -0.013844 0.805990 0.025286 0.591227 
time: 1403638525.127830, t: 0.003814 -0.032551 0.419003 q: -0.009196 0.803665 0.029085 0.594300 
time: 1403638525.227829, t: 0.004472 -0.032854 0.379676 q: -0.007291 0.803854 0.033719 0.593826 
time: 1403638525.327830, t: 0.003920 -0.033716 0.329123 q: -0.007764 0.809725 0.038046 0.585524 
time: 1403638525.427830, t: 0.000745 -0.034045 0.273923 q: -0.012628 0.821004 0.040795 0.569323 
time: 1403638525.527829, t: -0.004295 -0.034150 0.223279 q: -0.021428 0.832474 0.040839 0.552141 
time: 1403638525.627830, t: -0.002657 -0.037950 0.178818 q: -0.024606 0.838418 0.038539 0.543107 
time: 1403638525.727829, t: -0.005841 -0.039322 0.143179 q: -0.022378 0.838787 0.033803 0.542949 
time: 1403638525.827830, t: -0.007605 -0.039547 0.115866 q: -0.017310 0.835510 0.027550 0.548511 
time: 1403638525.927830, t: -0.010171 -0.043937 0.098572 q: -0.007748 0.832196 0.024400 0.553891 
time: 1403638526.027829, t: -0.014246 -0.057061 0.094957 q: -0.000865 0.832371 0.023467 0.553722 
time: 1403638526.127830, t: -0.018133 -0.081517 0.099424 q: 0.002186 0.834808 0.016646 0.550285 
time: 1403638526.227829, t: -0.023524 -0.114102 0.111624 q: 0.005030 0.835504 0.006580 0.549422 
time: 1403638526.327830, t: -0.031844 -0.151973 0.126950 q: 0.008648 0.832324 -0.002207 0.554218 
time: 1403638526.427830, t: -0.043395 -0.194651 0.141811 q: 0.011605 0.827055 -0.011964 0.561873 
time: 1403638526.527829, t: -0.056434 -0.242110 0.153538 q: 0.012991 0.821543 -0.023683 0.569507 
time: 1403638526.627830, t: -0.071953 -0.296969 0.162226 q: 0.015935 0.815542 -0.033415 0.577513 
time: 1403638526.727829, t: -0.090286 -0.358398 0.169506 q: 0.021843 0.811108 -0.040792 0.583063 
time: 1403638526.827830, t: -0.110817 -0.423457 0.175082 q: 0.032784 0.808632 -0.044745 0.585694 
time: 1403638526.927830, t: -0.131956 -0.486428 0.179773 q: 0.037753 0.809629 -0.049209 0.583655 
time: 1403638527.027829, t: -0.153679 -0.545880 0.184740 q: 0.043921 0.813541 -0.059573 0.576778 
time: 1403638527.127830, t: -0.172061 -0.600775 0.190479 q: 0.051995 0.816591 -0.074966 0.569962 
time: 1403638527.227829, t: -0.187773 -0.647765 0.198029 q: 0.060820 0.815298 -0.089902 0.568777 
time: 1403638527.327830, t: -0.197587 -0.681940 0.206158 q: 0.075603 0.810136 -0.101550 0.572409 
time: 1403638527.427830, t: -0.200934 -0.696867 0.212542 q: 0.089887 0.804882 -0.107937 0.576572 
time: 1403638527.527829, t: -0.195487 -0.688361 0.215445 q: 0.096668 0.802625 -0.110730 0.578089 
time: 1403638527.627830, t: -0.171678 -0.646471 0.212032 q: 0.097620 0.803032 -0.110464 0.577415 
time: 1403638527.727829, t: -0.163715 -0.612930 0.213136 q: 0.093533 0.804068 -0.103315 0.577973 
time: 1403638527.827830, t: -0.157294 -0.570745 0.213678 q: 0.083443 0.806853 -0.097227 0.576692 
time: 1403638527.927830, t: -0.138391 -0.512593 0.214995 q: 0.069340 0.809722 -0.092717 0.575279 
time: 1403638528.027829, t: -0.105798 -0.454899 0.220375 q: 0.062329 0.809731 -0.085753 0.577145 
time: 1403638528.127830, t: -0.081868 -0.396054 0.216319 q: 0.052605 0.809467 -0.076926 0.579722 
time: 1403638528.227829, t: -0.056723 -0.343637 0.211067 q: 0.040603 0.811318 -0.066500 0.579390 
time: 1403638528.327830, t: -0.030772 -0.301857 0.206055 q: 0.028426 0.812687 -0.055267 0.579376 
time: 1403638528.427830, t: -0.000649 -0.273427 0.200605 q: 0.025159 0.811598 -0.048778 0.581633 
time: 1403638528.627830, t: 0.069561 -0.241067 0.192963 q: 0.024699 0.814445 -0.054997 0.577100 
time: 1403638528.727829, t: 0.097502 -0.231957 0.197020 q: 0.025910 0.814419 -0.060233 0.576561 
time: 1403638528.827830, t: 0.121452 -0.224814 0.200691 q: 0.026474 0.813393 -0.065338 0.577427 
time: 1403638528.927830, t: 0.123490 -0.215736 0.210533 q: 0.019349 0.812585 -0.072493 0.577993 
time: 1403638529.027829, t: 0.121012 -0.200923 0.222424 q: 0.012801 0.813569 -0.076152 0.576318 
time: 1403638529.127830, t: 0.098485 -0.184352 0.234924 q: 0.022280 0.814756 -0.072024 0.574881 
time: 1403638529.227829, t: 0.063496 -0.166123 0.241063 q: 0.036544 0.816434 -0.063982 0.572718 
time: 1403638529.327830, t: 0.029974 -0.144331 0.235841 q: 0.043147 0.820142 -0.058361 0.567538 
time: 1403638529.427830, t: -0.001095 -0.123174 0.219397 q: 0.044472 0.828077 -0.054669 0.556167 
time: 1403638529.527829, t: -0.023771 -0.100913 0.196358 q: 0.039791 0.839732 -0.052657 0.538975 
time: 1403638529.627830, t: -0.044726 -0.088906 0.172348 q: 0.040739 0.847203 -0.049471 0.527391 
time: 1403638529.727829, t: -0.054369 -0.076957 0.144913 q: 0.039556 0.847614 -0.046798 0.527063 
time: 1403638529.827830, t: -0.060768 -0.068159 0.122522 q: 0.037384 0.841833 -0.046747 0.536408 
time: 1403638529.927830, t: -0.065767 -0.060885 0.103229 q: 0.036567 0.837027 -0.046451 0.543959 
time: 1403638530.027829, t: -0.059527 -0.059102 0.090745 q: 0.036544 0.836879 -0.046353 0.544195 
time: 1403638530.127830, t: -0.048369 -0.059188 0.081210 q: 0.036365 0.839166 -0.048339 0.540501 
time: 1403638530.227829, t: -0.034864 -0.060405 0.072199 q: 0.038212 0.839719 -0.053955 0.538982 
time: 1403638530.327830, t: -0.020989 -0.063486 0.062404 q: 0.038956 0.839067 -0.059671 0.539340 
time: 1403638530.427830, t: -0.008410 -0.067554 0.053566 q: 0.041924 0.838534 -0.063450 0.539515 
time: 1403638530.527829, t: 0.001893 -0.071821 0.046347 q: 0.039229 0.838391 -0.067105 0.539498 
time: 1403638530.627830, t: 0.007999 -0.076194 0.040811 q: 0.040680 0.839683 -0.069439 0.537081 
time: 1403638530.727829, t: 0.012226 -0.078824 0.034819 q: 0.040683 0.843591 -0.071523 0.530644 
time: 1403638530.827830, t: 0.015236 -0.080985 0.029187 q: 0.040400 0.845684 -0.072006 0.527258 
time: 1403638530.927830, t: 0.016995 -0.081725 0.025582 q: 0.037802 0.844864 -0.071188 0.528874 
time: 1403638531.027829, t: 0.017775 -0.081448 0.022868 q: 0.036191 0.842250 -0.070794 0.533192 
optimize pose graph 
time: 1403638531.127830, t: 0.017197 -0.080208 0.022668 q: 0.038448 0.838690 -0.069267 0.538817 
time: 1403638531.227829, t: 0.017882 -0.078851 0.021877 q: 0.040491 0.838497 -0.066428 0.539324 
time: 1403638531.327830, t: 0.017959 -0.077495 0.020996 q: 0.041256 0.834939 -0.066584 0.544740 
time: 1403638531.427830, t: 0.018033 -0.077619 0.020815 q: 0.041972 0.835776 -0.066031 0.543468 
time: 1403638531.527829, t: 0.017718 -0.077639 0.020819 q: 0.041423 0.835036 -0.066494 0.544590 
time: 1403638531.627830, t: 0.017626 -0.077704 0.020725 q: 0.041871 0.835242 -0.065434 0.544368 
time: 1403638531.727829, t: 0.017604 -0.077651 0.020657 q: 0.041796 0.835375 -0.065903 0.544112 
time: 1403638531.827830, t: 0.017621 -0.077623 0.020630 q: 0.041747 0.835409 -0.066023 0.544049 
time: 1403638531.927830, t: 0.017614 -0.077569 0.020598 q: 0.041619 0.835415 -0.066202 0.544029 
time: 1403638532.027829, t: 0.017616 -0.077520 0.020549 q: 0.041506 0.835430 -0.066334 0.543999 
time: 1403638532.127830, t: 0.017648 -0.077523 0.020545 q: 0.041473 0.835433 -0.066401 0.543988 
time: 1403638532.227829, t: 0.017599 -0.077540 0.020524 q: 0.041671 0.835510 -0.066286 0.543868 
time: 1403638532.327830, t: 0.017610 -0.077578 0.020516 q: 0.041777 0.835513 -0.066256 0.543859 
time: 1403638532.427830, t: 0.017591 -0.077607 0.020505 q: 0.041828 0.835547 -0.066206 0.543809 
time: 1403638532.527829, t: 0.017593 -0.077615 0.020493 q: 0.041838 0.835565 -0.066246 0.543775 
time: 1403638532.627830, t: 0.017592 -0.077616 0.020476 q: 0.041829 0.835587 -0.066291 0.543737 
time: 1403638532.727829, t: 0.017581 -0.077595 0.020460 q: 0.041805 0.835573 -0.066325 0.543757 
time: 1403638532.827830, t: 0.017599 -0.077593 0.020467 q: 0.041782 0.835579 -0.066369 0.543744 
time: 1403638532.927830, t: 0.017574 -0.077586 0.020457 q: 0.041856 0.835586 -0.066346 0.543730 
time: 1403638533.027829, t: 0.017577 -0.077605 0.020459 q: 0.041901 0.835578 -0.066383 0.543735 
time: 1403638533.127830, t: 0.017568 -0.077611 0.020454 q: 0.041916 0.835589 -0.066404 0.543714 
time: 1403638533.227829, t: 0.017556 -0.077616 0.020437 q: 0.041939 0.835581 -0.066428 0.543722 
time: 1403638533.327830, t: 0.017566 -0.077614 0.020441 q: 0.041977 0.835567 -0.066433 0.543739 
time: 1403638533.427830, t: 0.017546 -0.077617 0.020422 q: 0.041930 0.835569 -0.066465 0.543737 
time: 1403638533.527829, t: 0.017561 -0.077615 0.020426 q: 0.041962 0.835558 -0.066474 0.543749 
time: 1403638533.627830, t: 0.017557 -0.077639 0.020431 q: 0.042026 0.835553 -0.066464 0.543753 
time: 1403638533.727829, t: 0.017534 -0.077631 0.020425 q: 0.042079 0.835574 -0.066486 0.543714 
time: 1403638533.827830, t: 0.017548 -0.077646 0.020420 q: 0.042045 0.835530 -0.066542 0.543778 
time: 1403638533.927830, t: 0.017547 -0.077626 0.020379 q: 0.042021 0.835570 -0.066456 0.543729 
time: 1403638534.027829, t: 0.017509 -0.077650 0.020360 q: 0.042110 0.835526 -0.066640 0.543767 
time: 1403638534.127830, t: 0.017529 -0.077638 0.020386 q: 0.042222 0.835575 -0.066778 0.543666 
time: 1403638534.227829, t: 0.017556 -0.077609 0.020370 q: 0.042071 0.835560 -0.066805 0.543696 
time: 1403638534.327830, t: 0.017522 -0.077597 0.020424 q: 0.041856 0.835597 -0.066717 0.543668 
time: 1403638534.427830, t: 0.017513 -0.077578 0.020445 q: 0.041807 0.835657 -0.066726 0.543578 
time: 1403638534.527829, t: 0.017512 -0.077638 0.020464 q: 0.042078 0.835664 -0.067042 0.543508 
time: 1403638534.627830, t: 0.017554 -0.077601 0.020491 q: 0.041920 0.835730 -0.066702 0.543460 
time: 1403638534.727829, t: 0.017561 -0.077598 0.020492 q: 0.041762 0.835743 -0.066473 0.543481 
time: 1403638534.827830, t: 0.017559 -0.077591 0.020484 q: 0.041844 0.835718 -0.066543 0.543504 
time: 1403638534.927830, t: 0.017520 -0.077632 0.020483 q: 0.042102 0.835716 -0.066732 0.543464 
time: 1403638535.027829, t: 0.017529 -0.077663 0.020501 q: 0.042028 0.835740 -0.066678 0.543440 
time: 1403638535.127830, t: 0.017533 -0.077660 0.020507 q: 0.042014 0.835773 -0.066620 0.543397 
time: 1403638535.227829, t: 0.017524 -0.077669 0.020495 q: 0.041944 0.835753 -0.066616 0.543434 
time: 1403638535.327830, t: 0.017518 -0.077670 0.020500 q: 0.041927 0.835769 -0.066633 0.543407 
time: 1403638535.427830, t: 0.017524 -0.077637 0.020515 q: 0.041962 0.835768 -0.066576 0.543415 
time: 1403638535.527829, t: 0.017525 -0.077635 0.020522 q: 0.041919 0.835750 -0.066618 0.543440 
time: 1403638535.627830, t: 0.017542 -0.077618 0.020515 q: 0.041904 0.835771 -0.066560 0.543416 
time: 1403638535.727829, t: 0.017530 -0.077628 0.020520 q: 0.041889 0.835759 -0.066591 0.543432 
time: 1403638535.827830, t: 0.017538 -0.077627 0.020514 q: 0.041805 0.835757 -0.066541 0.543448 
time: 1403638535.927830, t: 0.017530 -0.077603 0.020505 q: 0.041753 0.835765 -0.066548 0.543438 
time: 1403638536.027829, t: 0.017524 -0.077616 0.020518 q: 0.041672 0.835769 -0.066529 0.543441 
time: 1403638536.127830, t: 0.017529 -0.077604 0.020520 q: 0.041658 0.835772 -0.066541 0.543435 
time: 1403638536.227829, t: 0.017547 -0.077617 0.020536 q: 0.041615 0.835765 -0.066538 0.543450 
time: 1403638536.327830, t: 0.017534 -0.077612 0.020522 q: 0.041562 0.835701 -0.066489 0.543558 
time: 1403638536.427830, t: 0.017535 -0.077598 0.020514 q: 0.041587 0.835696 -0.066521 0.543561 
time: 1403638536.527829, t: 0.017533 -0.077606 0.020536 q: 0.041525 0.835710 -0.066457 0.543551 
time: 1403638536.627830, t: 0.017534 -0.077579 0.020525 q: 0.041514 0.835667 -0.066521 0.543610 
time: 1403638536.727829, t: 0.017529 -0.077584 0.020530 q: 0.041554 0.835657 -0.066436 0.543633 
time: 1403638536.827830, t: 0.017525 -0.077600 0.020523 q: 0.041524 0.835646 -0.066456 0.543650 
time: 1403638536.927830, t: 0.017529 -0.077612 0.020516 q: 0.041508 0.835624 -0.066440 0.543687 
time: 1403638537.027829, t: 0.017537 -0.077610 0.020540 q: 0.041497 0.835647 -0.066415 0.543655 
time: 1403638537.127830, t: 0.017535 -0.077583 0.020552 q: 0.041585 0.835621 -0.066353 0.543695 
time: 1403638537.227829, t: 0.017546 -0.077562 0.020562 q: 0.041582 0.835633 -0.066433 0.543669 
time: 1403638537.327830, t: 0.017542 -0.077563 0.020568 q: 0.041549 0.835598 -0.066432 0.543724 
time: 1403638537.427830, t: 0.017546 -0.077551 0.020567 q: 0.041499 0.835586 -0.066393 0.543752 
time: 1403638537.527829, t: 0.017559 -0.077531 0.020584 q: 0.041520 0.835595 -0.066342 0.543742 
time: 1403638537.627830, t: 0.017566 -0.077527 0.020622 q: 0.041595 0.835599 -0.066237 0.543743 
time: 1403638537.727829, t: 0.017560 -0.077563 0.020633 q: 0.041631 0.835647 -0.066280 0.543661 
time: 1403638537.827830, t: 0.017557 -0.077539 0.020648 q: 0.041615 0.835626 -0.066290 0.543694 
time: 1403638537.927830, t: 0.017582 -0.077533 0.020641 q: 0.041608 0.835582 -0.066275 0.543763 
time: 1403638538.027829, t: 0.017569 -0.077565 0.020695 q: 0.041627 0.835647 -0.066315 0.543657 
time: 1403638538.127830, t: 0.017556 -0.077549 0.020709 q: 0.041726 0.835561 -0.066273 0.543788 
time: 1403638538.227829, t: 0.017584 -0.077526 0.020699 q: 0.041719 0.835563 -0.066297 0.543782 
time: 1403638538.327830, t: 0.017565 -0.077528 0.020689 q: 0.041704 0.835562 -0.066209 0.543795 
time: 1403638538.427830, t: 0.017637 -0.077494 0.020761 q: 0.041750 0.835454 -0.066256 0.543952 
time: 1403638538.527829, t: 0.017608 -0.077529 0.020843 q: 0.041721 0.835449 -0.066317 0.543954 
time: 1403638538.627830, t: 0.017558 -0.077557 0.020937 q: 0.041894 0.835264 -0.066417 0.544213 
time: 1403638538.727829, t: 0.017528 -0.077606 0.021066 q: 0.041993 0.834944 -0.066338 0.544706 
time: 1403638538.827830, t: 0.018256 -0.077443 0.021261 q: 0.041504 0.834414 -0.065824 0.545616 
time: 1403638538.927830, t: 0.020220 -0.077162 0.023028 q: 0.041576 0.831525 -0.064978 0.550104 
time: 1403638539.027829, t: 0.024965 -0.077335 0.025627 q: 0.042723 0.826998 -0.065571 0.556730 
time: 1403638539.127830, t: 0.032277 -0.077733 0.030262 q: 0.042655 0.820314 -0.066901 0.566383 
time: 1403638539.227829, t: 0.041181 -0.077805 0.041237 q: 0.042612 0.815483 -0.066244 0.573397 
time: 1403638539.327830, t: 0.050227 -0.078234 0.060389 q: 0.042084 0.814530 -0.066010 0.574815 
time: 1403638539.427830, t: 0.058858 -0.078889 0.087259 q: 0.041978 0.816129 -0.065032 0.572663 
time: 1403638539.527829, t: 0.067989 -0.079897 0.119019 q: 0.041595 0.818125 -0.063958 0.569957 
time: 1403638539.627830, t: 0.077800 -0.081056 0.150887 q: 0.040797 0.818832 -0.063093 0.569095 
time: 1403638539.727829, t: 0.089215 -0.082645 0.172865 q: 0.040197 0.819505 -0.062149 0.568272 
time: 1403638539.827830, t: 0.100281 -0.082825 0.184841 q: 0.040065 0.821126 -0.060887 0.566074 
time: 1403638539.927830, t: 0.113619 -0.082791 0.193385 q: 0.038762 0.824982 -0.060285 0.560595 
time: 1403638540.027829, t: 0.130000 -0.083394 0.201836 q: 0.037370 0.830375 -0.060821 0.552614 
time: 1403638540.127830, t: 0.151756 -0.084750 0.209090 q: 0.036998 0.836211 -0.060765 0.543774 
time: 1403638540.227829, t: 0.180514 -0.086050 0.218537 q: 0.037531 0.836130 -0.059530 0.543998 
time: 1403638540.327830, t: 0.215643 -0.087365 0.231369 q: 0.038397 0.829942 -0.058415 0.553453 
time: 1403638540.427830, t: 0.254990 -0.089494 0.238043 q: 0.037776 0.825431 -0.054439 0.560601 
time: 1403638540.527829, t: 0.297705 -0.089272 0.245095 q: 0.032457 0.825065 -0.045898 0.562235 
time: 1403638540.627830, t: 0.343768 -0.087362 0.252529 q: 0.023776 0.825436 -0.032002 0.563086 
time: 1403638540.727829, t: 0.391821 -0.084143 0.259596 q: 0.016794 0.824874 -0.010601 0.564968 
time: 1403638540.827830, t: 0.441540 -0.078694 0.265189 q: 0.007916 0.824543 0.015721 0.565525 
time: 1403638540.927830, t: 0.493438 -0.068983 0.269861 q: -0.003767 0.823864 0.043818 0.565079 
time: 1403638541.027829, t: 0.546322 -0.054616 0.272925 q: -0.018622 0.822359 0.066358 0.564778 
optimize pose graph 
time: 1403638541.127830, t: 0.600349 -0.036901 0.273570 q: -0.030832 0.820193 0.082631 0.565248 
time: 1403638541.227829, t: 0.654245 -0.015899 0.269531 q: -0.038403 0.819374 0.093610 0.564259 
time: 1403638541.327830, t: 0.708252 0.008477 0.267937 q: -0.042388 0.818817 0.099544 0.563766 
time: 1403638541.427830, t: 0.761530 0.037526 0.271875 q: -0.044912 0.818908 0.100803 0.563215 
time: 1403638541.527829, t: 0.813138 0.072897 0.280583 q: -0.043635 0.817752 0.101551 0.564858 
time: 1403638541.627830, t: 0.867797 0.113471 0.297755 q: -0.044747 0.816213 0.103905 0.566567 
time: 1403638541.727829, t: 0.921063 0.161743 0.320588 q: -0.051949 0.814385 0.108271 0.567764 
time: 1403638541.827830, t: 0.973956 0.215412 0.351758 q: -0.064325 0.813380 0.114813 0.566650 
time: 1403638541.927830, t: 1.021949 0.272097 0.383983 q: -0.076257 0.812293 0.126503 0.564236 
time: 1403638542.027829, t: 1.068524 0.330774 0.410057 q: -0.089668 0.810548 0.142331 0.560994 
time: 1403638542.127830, t: 1.111479 0.388930 0.431459 q: -0.103663 0.807619 0.161761 0.557529 
time: 1403638542.227829, t: 1.152290 0.448156 0.447420 q: -0.120260 0.803712 0.182996 0.553261 
time: 1403638542.327830, t: 1.195825 0.509088 0.457467 q: -0.135153 0.798614 0.206775 0.548812 
time: 1403638542.427830, t: 1.238690 0.570585 0.467313 q: -0.145562 0.787433 0.227517 0.554074 
time: 1403638542.527829, t: 1.279709 0.632640 0.474302 q: -0.146602 0.773962 0.247005 0.564340 
time: 1403638542.627830, t: 1.318448 0.698883 0.481330 q: -0.144069 0.765673 0.261753 0.569627 
time: 1403638542.727829, t: 1.349581 0.768605 0.491901 q: -0.148122 0.766056 0.266026 0.566081 
time: 1403638542.827830, t: 1.375272 0.842436 0.509383 q: -0.157432 0.770652 0.262997 0.558698 
time: 1403638542.927830, t: 1.396125 0.918330 0.532499 q: -0.163281 0.776273 0.259445 0.550842 
time: 1403638543.027829, t: 1.410804 0.993856 0.562999 q: -0.166243 0.780400 0.256537 0.545462 
optimize pose graph 
time: 1403638543.127830, t: 1.426227 1.070769 0.590686 q: -0.167972 0.782811 0.253221 0.543021 
time: 1403638543.227829, t: 1.440486 1.148731 0.611831 q: -0.167129 0.783779 0.251466 0.542701 
time: 1403638543.327830, t: 1.457248 1.226682 0.627765 q: -0.166905 0.784566 0.248988 0.542774 
time: 1403638543.427830, t: 1.474247 1.308059 0.637950 q: -0.167601 0.784740 0.250174 0.541762 
time: 1403638543.527829, t: 1.491592 1.391367 0.644420 q: -0.171178 0.783177 0.257167 0.539627 
time: 1403638543.627830, t: 1.508834 1.475889 0.650037 q: -0.175856 0.778985 0.272429 0.536693 
time: 1403638543.727829, t: 1.526327 1.563795 0.653662 q: -0.184771 0.772444 0.291649 0.533039 
time: 1403638543.827830, t: 1.542655 1.653542 0.662570 q: -0.194202 0.763037 0.314613 0.530169 
time: 1403638543.927830, t: 1.557277 1.745155 0.679559 q: -0.208289 0.753897 0.335209 0.525252 
time: 1403638544.027829, t: 1.571181 1.836872 0.702704 q: -0.222833 0.747665 0.349635 0.518747 
time: 1403638544.127830, t: 1.584491 1.928470 0.727652 q: -0.234480 0.744348 0.358963 0.511968 
time: 1403638544.227829, t: 1.599247 2.019245 0.749615 q: -0.243964 0.741635 0.363384 0.508342 
time: 1403638544.327830, t: 1.614648 2.110738 0.764006 q: -0.248291 0.739987 0.366601 0.506334 
time: 1403638544.427830, t: 1.630656 2.203471 0.774351 q: -0.249459 0.740559 0.367871 0.503998 
time: 1403638544.527829, t: 1.648512 2.298215 0.783072 q: -0.248693 0.739727 0.368079 0.505444 
time: 1403638544.627830, t: 1.667377 2.394676 0.792214 q: -0.253048 0.734385 0.367543 0.511427 
time: 1403638544.727829, t: 1.686900 2.490245 0.807821 q: -0.256615 0.729890 0.367751 0.515914 
time: 1403638544.827830, t: 1.704015 2.580478 0.826096 q: -0.255760 0.731590 0.369851 0.512419 
time: 1403638544.927830, t: 1.719886 2.668335 0.837647 q: -0.254888 0.734426 0.371434 0.507630 
time: 1403638545.027829, t: 1.738098 2.757153 0.843576 q: -0.256427 0.733805 0.371788 0.507493 
time: 1403638545.127830, t: 1.754303 2.840190 0.843968 q: -0.257662 0.732622 0.372312 0.508192 
time: 1403638545.227829, t: 1.772814 2.929000 0.838370 q: -0.256485 0.732921 0.374070 0.507064 
time: 1403638545.327830, t: 1.791302 3.012655 0.828162 q: -0.257292 0.730739 0.374806 0.509256 
time: 1403638545.427830, t: 1.809829 3.103369 0.813751 q: -0.259254 0.729731 0.374020 0.510283 
time: 1403638545.527829, t: 1.827410 3.193936 0.799491 q: -0.262329 0.728456 0.377531 0.507943 
time: 1403638545.627830, t: 1.841710 3.278286 0.791705 q: -0.269582 0.724928 0.386560 0.502370 
time: 1403638545.727829, t: 1.859281 3.365138 0.787487 q: -0.277903 0.718810 0.400750 0.495460 
time: 1403638545.827830, t: 1.876823 3.449973 0.793805 q: -0.288250 0.708480 0.419400 0.488949 
time: 1403638545.927830, t: 1.892221 3.537691 0.807258 q: -0.298643 0.697049 0.440710 0.480322 
time: 1403638546.027829, t: 1.908500 3.624866 0.827121 q: -0.307261 0.685010 0.461476 0.472644 
time: 1403638546.127830, t: 1.926460 3.715230 0.845259 q: -0.313613 0.674491 0.477714 0.467438 
time: 1403638546.227829, t: 1.942702 3.804764 0.856980 q: -0.320917 0.668167 0.487112 0.461831 
time: 1403638546.327830, t: 1.957655 3.897129 0.861254 q: -0.327004 0.664984 0.491958 0.456993 
time: 1403638546.427830, t: 1.971964 3.990278 0.859695 q: -0.331919 0.664577 0.493117 0.452772 
time: 1403638546.527829, t: 1.986070 4.082942 0.854067 q: -0.333199 0.663481 0.495039 0.451339 
time: 1403638546.627830, t: 1.998421 4.177168 0.852506 q: -0.335313 0.659766 0.500102 0.449635 
time: 1403638546.727829, t: 2.009411 4.269854 0.858322 q: -0.339218 0.654830 0.506026 0.447289 
time: 1403638546.827830, t: 2.021603 4.370944 0.875105 q: -0.340100 0.650483 0.511890 0.446287 
time: 1403638546.927830, t: 2.030871 4.468010 0.894171 q: -0.340549 0.647306 0.516255 0.445535 
time: 1403638547.027829, t: 2.040238 4.572209 0.907655 q: -0.339130 0.644218 0.520163 0.446547 
time: 1403638547.127830, t: 2.046903 4.673446 0.912393 q: -0.335789 0.641470 0.524211 0.448291 
time: 1403638547.227829, t: 2.050776 4.777796 0.914925 q: -0.333863 0.640152 0.526290 0.449176 
time: 1403638547.327830, t: 2.047257 4.878078 0.910739 q: -0.332818 0.639159 0.527121 0.450391 
time: 1403638547.427830, t: 2.042597 4.983999 0.906287 q: -0.338019 0.642471 0.523248 0.446303 
time: 1403638547.527829, t: 2.032409 5.083449 0.895756 q: -0.343210 0.645542 0.519337 0.442461 
time: 1403638547.627830, t: 2.022200 5.190067 0.882057 q: -0.345263 0.647864 0.516645 0.440617 
time: 1403638547.727829, t: 2.008896 5.286546 0.862730 q: -0.344318 0.647971 0.516467 0.441407 
time: 1403638547.827830, t: 1.996258 5.395023 0.840984 q: -0.339992 0.645873 0.518737 0.445158 
time: 1403638547.927830, t: 1.980456 5.499663 0.817280 q: -0.339880 0.645515 0.518836 0.445647 
time: 1403638548.027829, t: 1.962108 5.612584 0.799161 q: -0.341138 0.645008 0.519841 0.444247 
time: 1403638548.127830, t: 1.940803 5.727441 0.790144 q: -0.344669 0.642279 0.523778 0.440837 
time: 1403638548.227829, t: 1.919225 5.846961 0.788795 q: -0.350668 0.637076 0.530508 0.435576 
time: 1403638548.327830, t: 1.893686 5.967285 0.795562 q: -0.358307 0.629246 0.540346 0.428594 
time: 1403638548.427830, t: 1.868235 6.100249 0.809063 q: -0.365314 0.619832 0.552677 0.420598 
time: 1403638548.527829, t: 1.843149 6.224961 0.826335 q: -0.373165 0.611419 0.561366 0.414468 
time: 1403638548.627830, t: 1.819648 6.349123 0.839225 q: -0.378427 0.604255 0.568453 0.410524 
time: 1403638548.727829, t: 1.797119 6.475799 0.847989 q: -0.382166 0.599781 0.573104 0.407140 
time: 1403638548.827830, t: 1.774889 6.591052 0.860431 q: -0.384642 0.596853 0.576338 0.404540 
time: 1403638548.927830, t: 1.751184 6.717931 0.878528 q: -0.386534 0.595234 0.577670 0.403218 
time: 1403638549.027829, t: 1.726455 6.843769 0.902132 q: -0.385642 0.594561 0.579516 0.402416 
time: 1403638549.127830, t: 1.702563 6.964612 0.932029 q: -0.387899 0.595001 0.578101 0.401631 
time: 1403638549.227829, t: 1.676756 7.091206 0.967033 q: -0.388263 0.595067 0.577617 0.401878 
time: 1403638549.327830, t: 1.651495 7.221940 1.006274 q: -0.389800 0.596258 0.575778 0.401264 
time: 1403638549.427830, t: 1.627373 7.338779 1.050462 q: -0.392368 0.597439 0.573319 0.400524 
time: 1403638549.527829, t: 1.602712 7.467542 1.086672 q: -0.393149 0.598694 0.571891 0.399924 
time: 1403638549.627830, t: 1.579481 7.601309 1.116359 q: -0.395078 0.597883 0.570010 0.401918 
time: 1403638549.727829, t: 1.557230 7.730580 1.143690 q: -0.393880 0.597316 0.569980 0.403974 
time: 1403638549.827830, t: 1.535830 7.865082 1.174049 q: -0.393964 0.598965 0.569560 0.402038 
time: 1403638549.927830, t: 1.515999 7.998702 1.212936 q: -0.392002 0.599799 0.570348 0.401595 
time: 1403638550.027829, t: 1.496513 8.136346 1.259287 q: -0.392663 0.600740 0.569717 0.400438 
time: 1403638550.127830, t: 1.478659 8.274186 1.313219 q: -0.393803 0.601601 0.569212 0.398739 
time: 1403638550.227829, t: 1.462553 8.414596 1.373242 q: -0.393665 0.601339 0.570011 0.398128 
time: 1403638550.327830, t: 1.446569 8.564094 1.442486 q: -0.392862 0.600526 0.570796 0.399023 
time: 1403638550.427830, t: 1.431730 8.716925 1.505311 q: -0.394990 0.600032 0.569953 0.398872 
time: 1403638550.527829, t: 1.419825 8.860714 1.561767 q: -0.397460 0.601319 0.568409 0.396676 
time: 1403638550.627830, t: 1.408377 9.010637 1.610248 q: -0.402034 0.600543 0.565381 0.397568 
time: 1403638550.727829, t: 1.401161 9.153640 1.653105 q: -0.406337 0.599282 0.562457 0.399242 
time: 1403638550.827830, t: 1.397359 9.298611 1.693256 q: -0.409661 0.597008 0.559744 0.403045 
time: 1403638550.927830, t: 1.397128 9.431922 1.728917 q: -0.415814 0.592447 0.554997 0.409979 
time: 1403638551.027829, t: 1.399993 9.564726 1.758830 q: -0.420879 0.589278 0.551215 0.414457 
time: 1403638551.127830, t: 1.406194 9.692351 1.789457 q: -0.424052 0.588317 0.548837 0.415741 
time: 1403638551.227829, t: 1.417267 9.812534 1.822673 q: -0.427771 0.588686 0.546852 0.414022 
time: 1403638551.327830, t: 1.433445 9.926300 1.861363 q: -0.425035 0.593081 0.545933 0.411773 
time: 1403638551.427830, t: 1.455449 10.031590 1.902126 q: -0.419274 0.603483 0.539252 0.411369 
time: 1403638551.527829, t: 1.484833 10.132862 1.936867 q: -0.412052 0.617955 0.526386 0.413839 
time: 1403638551.627830, t: 1.519524 10.234856 1.967988 q: -0.405930 0.634172 0.508257 0.417997 
time: 1403638551.727829, t: 1.562627 10.330790 1.993325 q: -0.397950 0.649154 0.489655 0.424821 
time: 1403638551.827830, t: 1.614422 10.421522 2.013013 q: -0.388307 0.662301 0.471642 0.433738 
time: 1403638551.927830, t: 1.674852 10.509579 2.033353 q: -0.376213 0.668881 0.460733 0.445855 
time: 1403638552.027829, t: 1.742290 10.588286 2.059766 q: -0.365532 0.670522 0.454477 0.458516 
time: 1403638552.127830, t: 1.812298 10.655504 2.090740 q: -0.357833 0.673436 0.450619 0.464093 
time: 1403638552.227829, t: 1.885844 10.716492 2.127172 q: -0.353269 0.678296 0.448554 0.462509 
time: 1403638552.327830, t: 1.962372 10.771631 2.166392 q: -0.351311 0.680882 0.447347 0.461368 
time: 1403638552.427830, t: 2.041983 10.822898 2.204079 q: -0.357133 0.679245 0.442378 0.464095 
time: 1403638552.527829, t: 2.125340 10.867209 2.234333 q: -0.363899 0.675662 0.437737 0.468449 
time: 1403638552.627830, t: 2.212718 10.902921 2.260401 q: -0.367434 0.672083 0.436421 0.472052 
time: 1403638552.727829, t: 2.303959 10.930160 2.279710 q: -0.367339 0.671224 0.438441 0.471476 
time: 1403638552.827830, t: 2.399644 10.950888 2.292972 q: -0.366121 0.669995 0.441650 0.471177 
time: 1403638552.927830, t: 2.498176 10.969955 2.302370 q: -0.362061 0.668642 0.447403 0.470808 
time: 1403638553.027829, t: 2.599673 10.977972 2.307322 q: -0.357294 0.666275 0.453577 0.471897 
time: 1403638553.127830, t: 2.699724 10.981348 2.307615 q: -0.357739 0.663307 0.456056 0.473349 
time: 1403638553.227829, t: 2.801917 10.979019 2.306845 q: -0.365930 0.658072 0.452562 0.477728 
time: 1403638553.327830, t: 2.901517 10.966320 2.308707 q: -0.370758 0.652161 0.451158 0.483406 
time: 1403638553.427830, t: 3.004891 10.948191 2.315867 q: -0.368609 0.646853 0.454185 0.489309 
time: 1403638553.527829, t: 3.105770 10.919031 2.328725 q: -0.365412 0.642327 0.457737 0.494334 
time: 1403638553.627830, t: 3.205898 10.878027 2.347514 q: -0.362479 0.639331 0.460530 0.497772 
time: 1403638553.727829, t: 3.299544 10.823263 2.372983 q: -0.360934 0.638947 0.462561 0.497505 
time: 1403638553.827830, t: 3.389051 10.758852 2.405562 q: -0.358752 0.640274 0.464528 0.495539 
time: 1403638553.927830, t: 3.470313 10.684370 2.442059 q: -0.356630 0.642115 0.465811 0.493481 
time: 1403638554.027829, t: 3.557677 10.610111 2.479091 q: -0.357100 0.646683 0.465596 0.487341 
time: 1403638554.127830, t: 3.630909 10.520997 2.505815 q: -0.354809 0.648455 0.467298 0.485025 
time: 1403638554.227829, t: 3.715417 10.436638 2.530067 q: -0.346618 0.653491 0.473523 0.478101 
time: 1403638554.327830, t: 3.785645 10.342879 2.545144 q: -0.339573 0.658048 0.478801 0.471607 
time: 1403638554.427830, t: 3.863349 10.256058 2.559959 q: -0.335924 0.660455 0.481811 0.467773 
time: 1403638554.527829, t: 3.933120 10.170405 2.571529 q: -0.334345 0.661234 0.483158 0.466413 
time: 1403638554.627830, t: 3.999411 10.085712 2.579916 q: -0.337142 0.663019 0.481720 0.463343 
time: 1403638554.727829, t: 4.062282 9.996286 2.591236 q: -0.342836 0.663853 0.478007 0.461815 
time: 1403638554.827830, t: 4.126247 9.914055 2.609160 q: -0.347281 0.664664 0.475385 0.460029 
time: 1403638554.927830, t: 4.190440 9.828333 2.629736 q: -0.350641 0.664909 0.472827 0.459763 
time: 1403638555.027829, t: 4.258701 9.748146 2.649984 q: -0.350900 0.666648 0.468673 0.461297 
time: 1403638555.127830, t: 4.326107 9.659764 2.660361 q: -0.344719 0.671175 0.463744 0.464364 
time: 1403638555.227829, t: 4.398330 9.577929 2.667042 q: -0.338655 0.677970 0.455565 0.467044 
time: 1403638555.327830, t: 4.471876 9.491674 2.668460 q: -0.332706 0.683156 0.448793 0.470308 
time: 1403638555.427830, t: 4.545140 9.405924 2.667074 q: -0.324903 0.685340 0.445956 0.475258 
time: 1403638555.527829, t: 4.618288 9.319747 2.662827 q: -0.321927 0.687400 0.442377 0.477647 
time: 1403638555.627830, t: 4.690694 9.233547 2.659728 q: -0.319531 0.688447 0.440920 0.479093 
time: 1403638555.727829, t: 4.761736 9.145810 2.664475 q: -0.319825 0.689924 0.439577 0.478005 
time: 1403638555.827830, t: 4.831102 9.056774 2.679766 q: -0.318306 0.690274 0.440718 0.477462 
time: 1403638555.927830, t: 4.901521 8.967428 2.698283 q: -0.316912 0.689981 0.442259 0.477389 
time: 1403638556.027829, t: 4.972832 8.885476 2.725018 q: -0.315912 0.688858 0.443671 0.478362 
time: 1403638556.127830, t: 5.044610 8.802003 2.749719 q: -0.314704 0.690834 0.444764 0.475284 
time: 1403638556.227829, t: 5.117032 8.725604 2.767668 q: -0.312613 0.695465 0.445987 0.468719 
time: 1403638556.327830, t: 5.190253 8.647520 2.780968 q: -0.311713 0.698056 0.446615 0.464853 
time: 1403638556.427830, t: 5.262197 8.582972 2.790808 q: -0.310636 0.700108 0.447251 0.461866 
time: 1403638556.527829, t: 5.339398 8.513881 2.799983 q: -0.307906 0.703637 0.448584 0.457014 
time: 1403638556.627830, t: 5.417502 8.461344 2.809863 q: -0.312176 0.706770 0.444788 0.452974 
time: 1403638556.727829, t: 5.499015 8.412224 2.823877 q: -0.319720 0.706348 0.438734 0.454273 
time: 1403638556.827830, t: 5.583575 8.358603 2.846788 q: -0.325896 0.703513 0.434387 0.458442 
time: 1403638556.927830, t: 5.672005 8.319553 2.873374 q: -0.330517 0.702267 0.430950 0.460284 
time: 1403638557.027829, t: 5.765928 8.278715 2.898693 q: -0.331659 0.701043 0.430336 0.461900 
time: 1403638557.127830, t: 5.865999 8.235386 2.916968 q: -0.329215 0.699348 0.432573 0.464123 
time: 1403638557.227829, t: 5.967492 8.191009 2.929303 q: -0.328143 0.698062 0.433639 0.465821 
time: 1403638557.327830, t: 6.075062 8.144326 2.936018 q: -0.326981 0.697187 0.434917 0.466757 
time: 1403638557.427830, t: 6.185934 8.098144 2.942063 q: -0.323641 0.695163 0.437966 0.469245 
time: 1403638557.527829, t: 6.298552 8.053604 2.952944 q: -0.317940 0.692404 0.442395 0.473051 
time: 1403638557.627830, t: 6.409547 8.009298 2.969627 q: -0.314629 0.690187 0.444964 0.476086 
time: 1403638557.727829, t: 6.519269 7.967132 2.991177 q: -0.313504 0.689518 0.445698 0.477110 
time: 1403638557.827830, t: 6.628414 7.925068 3.010575 q: -0.311568 0.689251 0.446492 0.478020 
time: 1403638558.027829, t: 6.840817 7.843065 3.030592 q: -0.307284 0.692150 0.449275 0.473980 
time: 1403638558.127830, t: 6.945991 7.804275 3.031575 q: -0.305385 0.697219 0.450188 0.466858 
time: 1403638558.227829, t: 7.052373 7.768837 3.033466 q: -0.302586 0.703407 0.451511 0.458036 
time: 1403638558.327830, t: 7.159687 7.740083 3.042452 q: -0.298470 0.705102 0.453885 0.455780 
time: 1403638558.427830, t: 7.268367 7.717820 3.061843 q: -0.292431 0.707466 0.457522 0.452382 
time: 1403638558.527829, t: 7.377937 7.702936 3.087634 q: -0.289114 0.710585 0.459129 0.447975 
time: 1403638558.627830, t: 7.490824 7.697273 3.120107 q: -0.294057 0.711754 0.455250 0.446860 
time: 1403638558.727829, t: 7.606264 7.700139 3.156334 q: -0.304519 0.712221 0.447452 0.446985 
time: 1403638558.827830, t: 7.722882 7.709607 3.189291 q: -0.309915 0.711700 0.443190 0.448351 
time: 1403638558.927830, t: 7.844683 7.722849 3.212907 q: -0.310716 0.708500 0.442654 0.453366 
time: 1403638559.027829, t: 7.967853 7.740152 3.229477 q: -0.311292 0.703335 0.442592 0.461009 
time: 1403638559.127830, t: 8.090379 7.761946 3.239440 q: -0.312280 0.699538 0.442346 0.466324 
time: 1403638559.227829, t: 8.212878 7.785880 3.243516 q: -0.311273 0.696222 0.443953 0.470414 
time: 1403638559.327830, t: 8.337782 7.809793 3.241745 q: -0.309527 0.693836 0.446062 0.473088 
time: 1403638559.427830, t: 8.461968 7.833367 3.235636 q: -0.305417 0.691179 0.449748 0.476149 
time: 1403638559.527829, t: 8.580530 7.858242 3.225490 q: -0.304075 0.689273 0.451203 0.478389 
time: 1403638559.627830, t: 8.699009 7.884601 3.211393 q: -0.304429 0.687552 0.451785 0.480089 
time: 1403638559.727829, t: 8.814214 7.913080 3.197691 q: -0.304909 0.686586 0.452389 0.480598 
time: 1403638559.827830, t: 8.924958 7.943152 3.187824 q: -0.306279 0.687101 0.452434 0.478945 
time: 1403638559.927830, t: 9.031440 7.975280 3.181716 q: -0.306499 0.688166 0.449914 0.479649 
time: 1403638560.027829, t: 9.140108 8.008992 3.171979 q: -0.303474 0.693959 0.440491 0.481966 
time: 1403638560.127830, t: 9.246179 8.041734 3.154633 q: -0.296172 0.702921 0.424727 0.487638 
time: 1403638560.227829, t: 9.351182 8.074224 3.131321 q: -0.284564 0.713482 0.405102 0.495842 
time: 1403638560.327830, t: 9.454596 8.105437 3.105448 q: -0.272695 0.722471 0.382202 0.507538 
time: 1403638560.427830, t: 9.555920 8.134470 3.076809 q: -0.260824 0.730484 0.357530 0.520131 
time: 1403638560.527829, t: 9.654429 8.159562 3.044492 q: -0.248276 0.738519 0.331964 0.531741 
time: 1403638560.627830, t: 9.748805 8.181145 3.007899 q: -0.238085 0.748753 0.303973 0.538781 
time: 1403638560.727829, t: 9.839829 8.197945 2.970918 q: -0.230878 0.758888 0.276437 0.542555 
time: 1403638560.827830, t: 9.927595 8.206725 2.939885 q: -0.220468 0.766190 0.253352 0.547868 
time: 1403638560.927830, t: 10.012013 8.209472 2.915029 q: -0.210049 0.771845 0.230599 0.554039 
time: 1403638561.027829, t: 10.096362 8.205688 2.898523 q: -0.196959 0.774262 0.210762 0.563298 
time: 1403638561.127830, t: 10.179455 8.194930 2.888686 q: -0.185241 0.776652 0.191509 0.570808 
time: 1403638561.227829, t: 10.257228 8.176586 2.885598 q: -0.176008 0.777707 0.175972 0.577258 
time: 1403638561.327830, t: 10.327986 8.149388 2.888852 q: -0.169711 0.779237 0.166018 0.580022 
time: 1403638561.427830, t: 10.395487 8.115574 2.889315 q: -0.157779 0.785338 0.166472 0.575010 
time: 1403638561.527829, t: 10.455852 8.073999 2.887382 q: -0.145346 0.789831 0.171441 0.570657 
time: 1403638561.627830, t: 10.510521 8.028686 2.880676 q: -0.138611 0.792552 0.175167 0.567420 
time: 1403638561.727829, t: 10.563393 7.981592 2.869464 q: -0.137246 0.793342 0.177669 0.565867 
time: 1403638561.927830, t: 10.669118 7.886347 2.829769 q: -0.131802 0.792782 0.178585 0.567655 
time: 1403638562.027829, t: 10.718295 7.837723 2.802892 q: -0.126266 0.794149 0.171128 0.569297 
time: 1403638562.127830, t: 10.765985 7.786385 2.784798 q: -0.118943 0.796113 0.161402 0.570969 
time: 1403638562.227829, t: 10.808236 7.735315 2.770532 q: -0.111968 0.797423 0.153206 0.572806 
time: 1403638562.327830, t: 10.849872 7.686270 2.762401 q: -0.105961 0.798560 0.143410 0.574898 
time: 1403638562.427830, t: 10.885461 7.635578 2.757220 q: -0.099026 0.799895 0.129590 0.577553 
time: 1403638562.527829, t: 10.920393 7.584124 2.757862 q: -0.090080 0.802757 0.111843 0.578756 
time: 1403638562.627830, t: 10.952534 7.530705 2.764610 q: -0.081422 0.804643 0.089371 0.581321 
time: 1403638562.727829, t: 10.980765 7.475794 2.774702 q: -0.072422 0.806962 0.064376 0.582601 
time: 1403638562.827830, t: 11.005260 7.418144 2.782617 q: -0.061009 0.808478 0.038728 0.584073 
time: 1403638562.927830, t: 11.024405 7.356432 2.785702 q: -0.047178 0.809700 0.014655 0.584762 
time: 1403638563.027829, t: 11.037529 7.291536 2.783180 q: -0.034925 0.809673 -0.008356 0.585781 
time: 1403638563.127830, t: 11.045438 7.222967 2.775793 q: -0.027731 0.809793 -0.032574 0.585154 
time: 1403638563.227829, t: 11.047897 7.149352 2.764755 q: -0.014320 0.807893 -0.048443 0.587160 
time: 1403638563.327830, t: 11.048970 7.070506 2.749099 q: -0.004503 0.803227 -0.059139 0.592713 
time: 1403638563.427830, t: 11.044570 6.986275 2.729586 q: -0.000668 0.794556 -0.067154 0.603465 
time: 1403638563.527829, t: 11.032563 6.898757 2.704690 q: 0.002868 0.792340 -0.069679 0.606080 
time: 1403638563.627830, t: 11.014292 6.806199 2.683980 q: 0.006371 0.795060 -0.068784 0.602584 
time: 1403638563.727829, t: 10.987832 6.709905 2.670047 q: 0.003859 0.797973 -0.069370 0.598675 
time: 1403638563.827830, t: 10.955428 6.608282 2.663139 q: 0.000091 0.799375 -0.069370 0.596814 
time: 1403638563.927830, t: 10.916098 6.502429 2.665249 q: -0.003227 0.798783 -0.068174 0.597736 
time: 1403638564.027829, t: 10.872765 6.389893 2.670469 q: -0.007132 0.798450 -0.065852 0.598407 
time: 1403638564.127830, t: 10.820307 6.274044 2.670211 q: -0.010397 0.798329 -0.062453 0.598884 
time: 1403638564.227829, t: 10.762534 6.152576 2.665903 q: -0.010769 0.797634 -0.056976 0.600348 
time: 1403638564.327830, t: 10.700667 6.024753 2.664518 q: -0.008847 0.796654 -0.050457 0.602261 
time: 1403638564.427830, t: 10.630577 5.894448 2.668709 q: -0.009143 0.794712 -0.046499 0.605134 
time: 1403638564.527829, t: 10.554620 5.759644 2.681634 q: -0.010365 0.794769 -0.044128 0.605217 
time: 1403638564.627830, t: 10.469280 5.622478 2.692750 q: -0.014518 0.796913 -0.044986 0.602242 
time: 1403638564.727829, t: 10.377295 5.483020 2.703306 q: -0.019442 0.798279 -0.048177 0.600044 
time: 1403638564.827830, t: 10.278777 5.336428 2.703590 q: -0.022228 0.798469 -0.051233 0.599440 
time: 1403638564.927830, t: 10.176055 5.189167 2.695963 q: -0.024344 0.797632 -0.053664 0.600259 
time: 1403638565.027829, t: 10.067333 5.034143 2.669289 q: -0.025623 0.797625 -0.054558 0.600134 
time: 1403638565.127830, t: 9.958035 4.873789 2.626063 q: -0.026478 0.798325 -0.055103 0.599115 
time: 1403638565.227829, t: 9.846570 4.710540 2.570485 q: -0.025973 0.799225 -0.054664 0.597977 
time: 1403638565.327830, t: 9.731450 4.539644 2.511803 q: -0.023597 0.800189 -0.053770 0.596867 
time: 1403638565.427830, t: 9.614673 4.367459 2.449980 q: -0.021193 0.801126 -0.052534 0.595809 
time: 1403638565.527829, t: 9.494508 4.185393 2.391239 q: -0.015715 0.799146 -0.050788 0.598782 
time: 1403638565.627830, t: 9.369916 3.999456 2.341340 q: -0.007252 0.797654 -0.047230 0.601220 
time: 1403638565.727829, t: 9.239277 3.809858 2.298814 q: 0.004814 0.798768 -0.040788 0.600236 
time: 1403638565.827830, t: 9.101020 3.621105 2.263446 q: 0.010992 0.801699 -0.038188 0.596406 
time: 1403638565.927830, t: 8.957010 3.434686 2.235236 q: 0.016913 0.804016 -0.036139 0.593268 
time: 1403638566.027829, t: 8.809343 3.252956 2.205122 q: 0.017656 0.805137 -0.037089 0.591664 
time: 1403638566.127830, t: 8.661806 3.074756 2.166241 q: 0.017995 0.805258 -0.037475 0.591465 
time: 1403638566.227829, t: 8.512322 2.900123 2.117578 q: 0.018305 0.804916 -0.037291 0.591932 
time: 1403638566.327830, t: 8.362958 2.730004 2.060909 q: 0.017671 0.805907 -0.037269 0.590603 
time: 1403638566.427830, t: 8.212461 2.562760 1.998270 q: 0.017254 0.805736 -0.036058 0.590925 
time: 1403638566.627830, t: 7.911959 2.242605 1.853185 q: 0.013317 0.812572 -0.034334 0.581696 
time: 1403638566.727829, t: 7.767204 2.094968 1.769388 q: 0.012274 0.824849 -0.033480 0.564227 
time: 1403638566.827830, t: 7.629785 1.943429 1.681504 q: 0.012556 0.834534 -0.030395 0.549975 
time: 1403638566.927830, t: 7.500327 1.798435 1.591378 q: 0.012272 0.840743 -0.027886 0.540577 
time: 1403638567.027829, t: 7.378903 1.655594 1.500267 q: 0.011065 0.840584 -0.026597 0.540915 
time: 1403638567.127830, t: 7.269452 1.515789 1.411929 q: 0.012819 0.828052 -0.023999 0.559990 
time: 1403638567.227829, t: 7.166436 1.379603 1.319810 q: 0.014500 0.816811 -0.022342 0.576290 
time: 1403638567.327830, t: 7.067487 1.248234 1.222498 q: 0.017686 0.811256 -0.021047 0.584045 
time: 1403638567.427830, t: 6.961900 1.116004 1.124374 q: 0.019903 0.810793 -0.021234 0.584609 
time: 1403638567.527829, t: 6.866369 0.992579 1.032396 q: 0.021535 0.813456 -0.022312 0.580800 
time: 1403638567.627830, t: 6.762630 0.867597 0.948229 q: 0.023492 0.817349 -0.023333 0.575191 
time: 1403638567.727829, t: 6.663199 0.749919 0.874744 q: 0.026035 0.820558 -0.023947 0.570467 
time: 1403638567.827830, t: 6.568178 0.638124 0.810745 q: 0.027926 0.824606 -0.024336 0.564493 
time: 1403638567.927830, t: 6.483352 0.534009 0.754208 q: 0.025625 0.826197 -0.026933 0.562154 
time: 1403638568.027829, t: 6.399409 0.432350 0.702697 q: 0.026857 0.826877 -0.027012 0.561091 
time: 1403638568.127830, t: 6.316791 0.333078 0.661248 q: 0.029615 0.825996 -0.025482 0.562320 
time: 1403638568.327830, t: 6.161543 0.151289 0.600489 q: 0.032565 0.825385 -0.024321 0.563105 
time: 1403638568.427830, t: 6.088593 0.068877 0.569963 q: 0.032649 0.826602 -0.024678 0.561296 
time: 1403638568.527829, t: 6.021490 -0.008306 0.532066 q: 0.033532 0.827370 -0.024272 0.560130 
time: 1403638568.627830, t: 5.957329 -0.081859 0.496055 q: 0.034045 0.828967 -0.023824 0.557752 
time: 1403638568.727829, t: 5.898836 -0.150252 0.456225 q: 0.035739 0.830334 -0.022192 0.555676 
time: 1403638568.827830, t: 5.844329 -0.213612 0.426169 q: 0.033662 0.830277 -0.023168 0.555851 
time: 1403638568.927830, t: 5.795117 -0.272076 0.399549 q: 0.034707 0.830232 -0.022527 0.555880 
time: 1403638569.027829, t: 5.750710 -0.326139 0.384473 q: 0.034608 0.829393 -0.022484 0.557139 
time: 1403638569.127830, t: 5.710770 -0.374432 0.372102 q: 0.036254 0.829502 -0.021302 0.556918 
time: 1403638569.227829, t: 5.672652 -0.420031 0.367498 q: 0.038125 0.831045 -0.020324 0.554525 
time: 1403638569.327830, t: 5.641859 -0.456228 0.357994 q: 0.039327 0.831755 -0.020141 0.553382 
time: 1403638569.427830, t: 5.615263 -0.490564 0.345362 q: 0.040203 0.830826 -0.019564 0.554734 
time: 1403638569.527829, t: 5.596478 -0.516558 0.326752 q: 0.040297 0.829629 -0.019241 0.556526 
time: 1403638569.627830, t: 5.580893 -0.538165 0.308892 q: 0.039836 0.828240 -0.019852 0.558603 
time: 1403638569.727829, t: 5.569634 -0.554352 0.299345 q: 0.040581 0.827376 -0.019503 0.559840 
time: 1403638569.827830, t: 5.561551 -0.562811 0.295700 q: 0.040562 0.826742 -0.019053 0.560793 
time: 1403638569.927830, t: 5.557272 -0.566589 0.298028 q: 0.041652 0.824927 -0.018375 0.563403 
time: 1403638570.027829, t: 5.556636 -0.564239 0.301428 q: 0.039470 0.823752 -0.019595 0.565236 
time: 1403638570.127830, t: 5.558699 -0.557126 0.299260 q: 0.035932 0.823914 -0.021926 0.565150 
time: 1403638570.227829, t: 5.561362 -0.547120 0.290478 q: 0.029850 0.823478 -0.025283 0.565998 
time: 1403638570.327830, t: 5.565043 -0.535269 0.275829 q: 0.021056 0.823200 -0.031607 0.566479 
time: 1403638570.427830, t: 5.570252 -0.523248 0.255965 q: 0.017393 0.822907 -0.041751 0.566374 
time: 1403638570.527829, t: 5.576115 -0.514104 0.232566 q: 0.011096 0.821739 -0.063738 0.566180 
time: 1403638570.627830, t: 5.578931 -0.510908 0.199754 q: 0.006991 0.818049 -0.092905 0.567552 
time: 1403638570.727829, t: 5.581958 -0.517229 0.166338 q: 0.012480 0.810166 -0.120463 0.573554 
time: 1403638570.827830, t: 5.581737 -0.533884 0.131145 q: 0.021922 0.797719 -0.147498 0.584302 
time: 1403638570.927830, t: 5.574765 -0.560088 0.093196 q: 0.036093 0.787926 -0.170325 0.590643 
time: 1403638571.027829, t: 5.560263 -0.598274 0.050426 q: 0.051176 0.781157 -0.191439 0.592052 
time: 1403638571.127830, t: 5.537959 -0.645960 0.004374 q: 0.071288 0.782268 -0.207404 0.583059 
time: 1403638571.227829, t: 5.506830 -0.701873 -0.034541 q: 0.092640 0.784675 -0.216089 0.573592 
time: 1403638571.327830, t: 5.470201 -0.763974 -0.062614 q: 0.110840 0.785089 -0.220916 0.567931 
time: 1403638571.427830, t: 5.427272 -0.828979 -0.079976 q: 0.118599 0.782926 -0.226973 0.566961 
time: 1403638571.527829, t: 5.379271 -0.897369 -0.089414 q: 0.124482 0.779843 -0.230307 0.568601 
time: 1403638571.627830, t: 5.326326 -0.968225 -0.099948 q: 0.131006 0.778502 -0.237197 0.566136 
time: 1403638571.727829, t: 5.269222 -1.041805 -0.115408 q: 0.137888 0.778376 -0.248825 0.559647 
time: 1403638571.827830, t: 5.209324 -1.118889 -0.136157 q: 0.146018 0.776926 -0.264134 0.552539 
time: 1403638571.927830, t: 5.147692 -1.199852 -0.158102 q: 0.153271 0.772082 -0.283367 0.547815 
time: 1403638572.027829, t: 5.082939 -1.284753 -0.173276 q: 0.162061 0.765549 -0.302828 0.544028 
time: 1403638572.127830, t: 5.014545 -1.373436 -0.180563 q: 0.173003 0.758120 -0.320802 0.540749 
time: 1403638572.227829, t: 4.941087 -1.464110 -0.179034 q: 0.189570 0.752521 -0.335609 0.533987 
time: 1403638572.327830, t: 4.866249 -1.557531 -0.176648 q: 0.202815 0.748178 -0.353401 0.523644 
time: 1403638572.427830, t: 4.790920 -1.655362 -0.177499 q: 0.216339 0.743337 -0.370116 0.513481 
time: 1403638572.527829, t: 4.716162 -1.756827 -0.180669 q: 0.228864 0.739865 -0.380682 0.505274 
time: 1403638572.627830, t: 4.643897 -1.862265 -0.184102 q: 0.237278 0.736653 -0.387242 0.501085 
time: 1403638572.827830, t: 4.506025 -2.084886 -0.173123 q: 0.249997 0.738540 -0.388947 0.490694 
time: 1403638572.927830, t: 4.443780 -2.201461 -0.155878 q: 0.251313 0.740459 -0.388370 0.487576 
time: 1403638573.027829, t: 4.385128 -2.321004 -0.138726 q: 0.251648 0.742937 -0.387215 0.484544 
time: 1403638573.127830, t: 4.331424 -2.442250 -0.127004 q: 0.250402 0.745148 -0.385618 0.483066 
time: 1403638573.227829, t: 4.281211 -2.567051 -0.120226 q: 0.248844 0.746088 -0.383829 0.483843 
time: 1403638573.327830, t: 4.236262 -2.693831 -0.113262 q: 0.247366 0.747136 -0.381758 0.484622 
time: 1403638573.427830, t: 4.194953 -2.822786 -0.105138 q: 0.248415 0.748184 -0.382129 0.482170 
time: 1403638573.527829, t: 4.162238 -2.955280 -0.089724 q: 0.251444 0.747997 -0.382195 0.480837 
time: 1403638573.627830, t: 4.133715 -3.088127 -0.066905 q: 0.252807 0.747627 -0.382616 0.480362 
time: 1403638573.727829, t: 4.109042 -3.222919 -0.038212 q: 0.257193 0.746954 -0.384517 0.477555 
time: 1403638573.827830, t: 4.096443 -3.360437 -0.007883 q: 0.268141 0.739883 -0.388597 0.479234 
time: 1403638573.927830, t: 4.087783 -3.499301 0.018744 q: 0.282399 0.727440 -0.397258 0.482978 
time: 1403638574.027829, t: 4.083664 -3.634841 0.038944 q: 0.290244 0.709173 -0.415480 0.490110 
time: 1403638574.127830, t: 4.080629 -3.766952 0.052817 q: 0.296001 0.687643 -0.438446 0.497289 
time: 1403638574.227829, t: 4.074341 -3.896814 0.060222 q: 0.303352 0.666545 -0.462097 0.500161 
time: 1403638574.327830, t: 4.063725 -4.020469 0.064323 q: 0.314181 0.650856 -0.483379 0.493986 
time: 1403638574.427830, t: 4.046546 -4.142783 0.064613 q: 0.328101 0.638983 -0.501753 0.481969 
time: 1403638574.527829, t: 4.023911 -4.262090 0.064818 q: 0.339850 0.627728 -0.518813 0.470417 
time: 1403638574.627830, t: 3.998296 -4.378151 0.071843 q: 0.350617 0.618141 -0.529443 0.463314 
time: 1403638574.727829, t: 3.968135 -4.493558 0.086672 q: 0.362825 0.615192 -0.533607 0.452947 
time: 1403638574.827830, t: 3.937359 -4.605935 0.106892 q: 0.369394 0.617297 -0.536428 0.441290 
time: 1403638574.927830, t: 3.905388 -4.716659 0.125332 q: 0.367973 0.619572 -0.541108 0.433508 
time: 1403638575.027829, t: 3.872738 -4.826106 0.137494 q: 0.363929 0.620470 -0.544774 0.431039 
time: 1403638575.227829, t: 3.804224 -5.043717 0.144533 q: 0.352066 0.615988 -0.551143 0.439147 
time: 1403638575.327830, t: 3.766164 -5.153443 0.140421 q: 0.348436 0.616675 -0.551615 0.440482 
time: 1403638575.427830, t: 3.725315 -5.266525 0.131094 q: 0.344909 0.621838 -0.551210 0.436489 
time: 1403638575.527829, t: 3.682384 -5.379549 0.121200 q: 0.343435 0.626604 -0.549045 0.433555 
time: 1403638575.627830, t: 3.637366 -5.505076 0.112101 q: 0.345487 0.633431 -0.544458 0.427749 
time: 1403638575.727829, t: 3.590712 -5.633335 0.113271 q: 0.347874 0.639736 -0.539833 0.422258 
time: 1403638575.827830, t: 3.544874 -5.761271 0.123554 q: 0.348650 0.645672 -0.537147 0.415962 
time: 1403638575.927830, t: 3.504553 -5.891653 0.142528 q: 0.347694 0.647549 -0.535963 0.415370 
time: 1403638576.027829, t: 3.467097 -6.026453 0.172066 q: 0.347805 0.647947 -0.534689 0.416298 
time: 1403638576.127830, t: 3.430742 -6.167787 0.207993 q: 0.348505 0.647740 -0.533907 0.417037 
time: 1403638576.227829, t: 3.399256 -6.313620 0.244951 q: 0.350925 0.646874 -0.532192 0.418543 
time: 1403638576.327830, t: 3.370621 -6.466435 0.276137 q: 0.355657 0.647961 -0.528964 0.416955 
time: 1403638576.427830, t: 3.347046 -6.619895 0.301522 q: 0.359044 0.650085 -0.526807 0.413463 
time: 1403638576.527829, t: 3.330028 -6.773575 0.321637 q: 0.364509 0.653851 -0.523080 0.407430 
time: 1403638576.627830, t: 3.320117 -6.931939 0.336013 q: 0.368141 0.656643 -0.520717 0.402675 
time: 1403638576.727829, t: 3.321617 -7.088436 0.346406 q: 0.371517 0.655902 -0.518261 0.403946 
time: 1403638576.827830, t: 3.330865 -7.249420 0.351732 q: 0.376485 0.651849 -0.514810 0.410272 
time: 1403638576.927830, t: 3.345875 -7.411377 0.353289 q: 0.376653 0.646265 -0.514998 0.418631 
time: 1403638577.027829, t: 3.367357 -7.572409 0.351473 q: 0.372615 0.641538 -0.517948 0.425813 
time: 1403638577.127830, t: 3.393260 -7.730359 0.354267 q: 0.369437 0.637857 -0.520605 0.430844 
time: 1403638577.227829, t: 3.421602 -7.887253 0.364210 q: 0.367165 0.636279 -0.522383 0.432960 
time: 1403638577.327830, t: 3.452318 -8.044875 0.380446 q: 0.370938 0.638732 -0.519494 0.429595 
time: 1403638577.427830, t: 3.485911 -8.200453 0.403790 q: 0.376977 0.643453 -0.514491 0.423269 
time: 1403638577.527829, t: 3.525984 -8.352294 0.428309 q: 0.377374 0.644126 -0.513893 0.422617 
time: 1403638577.627830, t: 3.570949 -8.502015 0.446214 q: 0.374568 0.643281 -0.515788 0.424088 
time: 1403638577.727829, t: 3.619228 -8.649754 0.457430 q: 0.372166 0.643111 -0.517180 0.424765 
time: 1403638577.827830, t: 3.671775 -8.799310 0.462095 q: 0.369674 0.642911 -0.518313 0.425862 
time: 1403638577.927830, t: 3.727576 -8.944481 0.459784 q: 0.369631 0.643149 -0.517520 0.426503 
time: 1403638578.027829, t: 3.786924 -9.091692 0.464131 q: 0.370429 0.643424 -0.516038 0.427191 
time: 1403638578.127830, t: 3.850823 -9.232591 0.472364 q: 0.367961 0.641886 -0.516781 0.430724 
time: 1403638578.227829, t: 3.918226 -9.374807 0.485658 q: 0.360004 0.636791 -0.521835 0.438842 
time: 1403638578.327830, t: 3.986007 -9.517310 0.503391 q: 0.354044 0.633408 -0.525800 0.443825 
time: 1403638578.427830, t: 4.052464 -9.653454 0.516622 q: 0.354022 0.632717 -0.526310 0.444224 
time: 1403638578.527829, t: 4.116678 -9.790221 0.524243 q: 0.354113 0.632105 -0.526874 0.444354 
time: 1403638578.627830, t: 4.180238 -9.928432 0.529058 q: 0.355275 0.631248 -0.526768 0.444771 
time: 1403638578.727829, t: 4.239193 -10.061396 0.528325 q: 0.359222 0.632741 -0.524410 0.442259 
time: 1403638578.827830, t: 4.298708 -10.199400 0.524645 q: 0.364360 0.636466 -0.520734 0.437023 
time: 1403638578.927830, t: 4.355839 -10.330156 0.518673 q: 0.368443 0.637669 -0.517864 0.435253 
time: 1403638579.027829, t: 4.418021 -10.460980 0.517440 q: 0.370224 0.638809 -0.515741 0.434590 
time: 1403638579.127830, t: 4.480435 -10.589914 0.526026 q: 0.370544 0.639096 -0.514672 0.435162 
time: 1403638579.227829, t: 4.549362 -10.722627 0.541826 q: 0.370307 0.639094 -0.514397 0.435692 
time: 1403638579.327830, t: 4.615990 -10.841274 0.562405 q: 0.367154 0.637457 -0.516027 0.438819 
time: 1403638579.427830, t: 4.687991 -10.965226 0.582174 q: 0.359545 0.632889 -0.521273 0.445480 
time: 1403638579.527829, t: 4.752825 -11.080637 0.595804 q: 0.354496 0.629710 -0.523508 0.451372 
time: 1403638579.627830, t: 4.817468 -11.191329 0.604238 q: 0.356398 0.627304 -0.515397 0.462424 
time: 1403638579.727829, t: 4.880733 -11.296657 0.606676 q: 0.357636 0.632990 -0.499220 0.471380 
time: 1403638579.827830, t: 4.943445 -11.396970 0.605094 q: 0.351156 0.648330 -0.479183 0.476174 
time: 1403638579.927830, t: 5.008349 -11.494101 0.594375 q: 0.336815 0.669093 -0.456117 0.480445 
time: 1403638580.027829, t: 5.075698 -11.590425 0.581215 q: 0.320551 0.686628 -0.426361 0.493969 
time: 1403638580.127830, t: 5.145129 -11.680763 0.567211 q: 0.303892 0.699674 -0.390034 0.515732 
time: 1403638580.227829, t: 5.212873 -11.761090 0.548957 q: 0.280550 0.715524 -0.353464 0.533274 
time: 1403638580.327830, t: 5.275074 -11.830601 0.524382 q: 0.251662 0.733086 -0.321976 0.543675 
time: 1403638580.427830, t: 5.332062 -11.891909 0.494216 q: 0.221562 0.746827 -0.301549 0.549752 
time: 1403638580.527829, t: 5.380709 -11.946525 0.459198 q: 0.200371 0.755453 -0.287103 0.553818 
time: 1403638580.627830, t: 5.425527 -11.999501 0.423458 q: 0.184234 0.763751 -0.273259 0.555042 
time: 1403638580.727829, t: 5.466091 -12.048535 0.391606 q: 0.170600 0.774682 -0.257490 0.551781 
time: 1403638580.827830, t: 5.502380 -12.096265 0.369039 q: 0.163489 0.782788 -0.244519 0.548384 
time: 1403638580.927830, t: 5.536419 -12.145180 0.356103 q: 0.159370 0.787057 -0.236297 0.547090 
time: 1403638581.027829, t: 5.569822 -12.194033 0.353669 q: 0.155005 0.788243 -0.234199 0.547537 
time: 1403638581.127830, t: 5.602864 -12.241943 0.361393 q: 0.155965 0.788720 -0.232351 0.547365 
time: 1403638581.227829, t: 5.634043 -12.285112 0.373427 q: 0.158661 0.788863 -0.231758 0.546636 
time: 1403638581.327830, t: 5.663646 -12.327863 0.383710 q: 0.162495 0.788472 -0.232359 0.545817 
time: 1403638581.427830, t: 5.690824 -12.364664 0.404012 q: 0.165897 0.786621 -0.233424 0.547009 
time: 1403638581.527829, t: 5.712236 -12.392079 0.432179 q: 0.168530 0.785295 -0.235765 0.547106 
time: 1403638581.627830, t: 5.735599 -12.421467 0.457882 q: 0.172327 0.782948 -0.236726 0.548868 
time: 1403638581.727829, t: 5.756868 -12.440543 0.487487 q: 0.177067 0.778240 -0.236621 0.554076 
time: 1403638581.827830, t: 5.782015 -12.463573 0.505675 q: 0.178815 0.776567 -0.238055 0.555247 
time: 1403638581.927830, t: 5.810874 -12.487589 0.516264 q: 0.182060 0.769856 -0.237569 0.563681 
time: 1403638582.027829, t: 5.840342 -12.512491 0.521877 q: 0.184292 0.766393 -0.236857 0.567959 
time: 1403638582.127830, t: 5.867003 -12.534007 0.529840 q: 0.182138 0.772720 -0.239117 0.559064 
time: 1403638582.227829, t: 5.893379 -12.554731 0.547944 q: 0.179138 0.778783 -0.241478 0.550540 
time: 1403638582.327830, t: 5.915038 -12.567533 0.577603 q: 0.181136 0.777268 -0.239618 0.552836 
time: 1403638582.427830, t: 5.936322 -12.578640 0.614442 q: 0.182647 0.774778 -0.237968 0.556534 
time: 1403638582.527829, t: 5.956366 -12.586313 0.661030 q: 0.183507 0.773675 -0.236831 0.558268 
time: 1403638582.627830, t: 5.976459 -12.591724 0.717456 q: 0.183940 0.773566 -0.236160 0.558562 
time: 1403638582.727829, t: 5.997262 -12.594121 0.781394 q: 0.182911 0.776166 -0.236958 0.554943 
time: 1403638582.827830, t: 6.017803 -12.593223 0.852514 q: 0.182287 0.777521 -0.237776 0.552898 
time: 1403638582.927830, t: 6.036933 -12.584233 0.921605 q: 0.182028 0.778795 -0.238961 0.550673 
time: 1403638583.027829, t: 6.057597 -12.573396 0.981981 q: 0.181186 0.781510 -0.240579 0.546385 
time: 1403638583.127830, t: 6.073836 -12.556746 1.032992 q: 0.180707 0.783521 -0.241748 0.543137 
time: 1403638583.227829, t: 6.090992 -12.536743 1.075944 q: 0.179859 0.784495 -0.243251 0.541338 
time: 1403638583.327830, t: 6.109414 -12.514395 1.112299 q: 0.180377 0.784349 -0.243180 0.541409 
time: 1403638583.427830, t: 6.128295 -12.489499 1.142151 q: 0.180100 0.784636 -0.243494 0.540945 
time: 1403638583.527829, t: 6.150587 -12.466692 1.177905 q: 0.179791 0.785217 -0.243547 0.540180 
time: 1403638583.627830, t: 6.174413 -12.440977 1.220916 q: 0.180618 0.785116 -0.242975 0.540309 
time: 1403638583.727829, t: 6.199571 -12.411968 1.268265 q: 0.181904 0.785004 -0.242233 0.540373 
time: 1403638583.827830, t: 6.226341 -12.376527 1.301805 q: 0.182538 0.784828 -0.241826 0.540598 
time: 1403638583.927830, t: 6.256513 -12.342160 1.330045 q: 0.182284 0.784025 -0.241972 0.541781 
time: 1403638584.027829, t: 6.289113 -12.306206 1.352581 q: 0.183391 0.783358 -0.241369 0.542641 
time: 1403638584.127830, t: 6.322331 -12.267518 1.372841 q: 0.187868 0.776428 -0.238161 0.552399 
time: 1403638584.227829, t: 6.354670 -12.226098 1.389094 q: 0.192229 0.766756 -0.234550 0.565791 
time: 1403638584.327830, t: 6.383661 -12.180491 1.398006 q: 0.193681 0.760913 -0.233324 0.573637 
time: 1403638584.427830, t: 6.407619 -12.129801 1.399359 q: 0.193538 0.759973 -0.233343 0.574922 
time: 1403638584.527829, t: 6.425180 -12.072872 1.397377 q: 0.192985 0.759478 -0.233660 0.575632 
time: 1403638584.627830, t: 6.437631 -12.011569 1.400907 q: 0.192559 0.760720 -0.233475 0.574209 
time: 1403638584.727829, t: 6.444362 -11.944445 1.411039 q: 0.190288 0.764409 -0.234603 0.569588 
time: 1403638584.827830, t: 6.445722 -11.872695 1.424375 q: 0.185589 0.772473 -0.237737 0.558858 
time: 1403638584.927830, t: 6.444705 -11.798526 1.438612 q: 0.180314 0.778565 -0.241781 0.550333 
time: 1403638585.027829, t: 6.443235 -11.723904 1.448414 q: 0.178490 0.781315 -0.243018 0.546471 
time: 1403638585.127830, t: 6.439775 -11.649615 1.452340 q: 0.177015 0.781526 -0.244078 0.546176 
time: 1403638585.227829, t: 6.437857 -11.573918 1.451494 q: 0.176838 0.780445 -0.244180 0.547732 
time: 1403638585.327830, t: 6.435835 -11.497196 1.447608 q: 0.177866 0.778121 -0.243049 0.551197 
time: 1403638585.427830, t: 6.431772 -11.420073 1.438704 q: 0.177494 0.777576 -0.242727 0.552227 
time: 1403638585.527829, t: 6.428731 -11.341905 1.432921 q: 0.177589 0.778583 -0.242523 0.550865 
time: 1403638585.627830, t: 6.427384 -11.264380 1.435924 q: 0.176631 0.780651 -0.242560 0.548224 
time: 1403638585.727829, t: 6.425322 -11.186551 1.446319 q: 0.175135 0.784638 -0.243345 0.542636 
time: 1403638585.827830, t: 6.426694 -11.109431 1.466852 q: 0.172220 0.789326 -0.245419 0.535793 
time: 1403638585.927830, t: 6.431311 -11.034699 1.493271 q: 0.169038 0.791670 -0.247948 0.532171 
time: 1403638586.027829, t: 6.438764 -10.960521 1.527248 q: 0.169226 0.788923 -0.248285 0.536021 
time: 1403638586.127830, t: 6.447553 -10.886056 1.557546 q: 0.171569 0.785128 -0.247982 0.540964 
time: 1403638586.227829, t: 6.456027 -10.809200 1.581071 q: 0.173509 0.782693 -0.246943 0.544340 
time: 1403638586.327830, t: 6.468809 -10.736607 1.599276 q: 0.176940 0.779483 -0.245165 0.548627 
time: 1403638586.427830, t: 6.474850 -10.658915 1.613309 q: 0.184771 0.776792 -0.240278 0.552014 
time: 1403638586.527829, t: 6.479754 -10.581703 1.622884 q: 0.191377 0.775712 -0.236083 0.553091 
time: 1403638586.627830, t: 6.484575 -10.501715 1.625853 q: 0.188831 0.776214 -0.237909 0.552480 
time: 1403638586.727829, t: 6.493879 -10.422447 1.622206 q: 0.185331 0.776203 -0.240476 0.552568 
time: 1403638586.827830, t: 6.502560 -10.340981 1.612417 q: 0.182237 0.775373 -0.242455 0.553897 
time: 1403638586.927830, t: 6.504049 -10.255450 1.596449 q: 0.182144 0.774718 -0.241941 0.555068 
time: 1403638587.027829, t: 6.510456 -10.172746 1.576167 q: 0.181304 0.774568 -0.242217 0.555432 
time: 1403638587.127830, t: 6.511625 -10.084506 1.556884 q: 0.180538 0.774713 -0.242791 0.555228 
time: 1403638587.227829, t: 6.516065 -9.996494 1.546599 q: 0.180297 0.776998 -0.242258 0.552338 
time: 1403638587.327830, t: 6.518468 -9.906537 1.543766 q: 0.179957 0.778570 -0.242761 0.550011 
time: 1403638587.527829, t: 6.525218 -9.726692 1.545935 q: 0.177274 0.778965 -0.244701 0.549462 
time: 1403638587.627830, t: 6.527475 -9.635547 1.543616 q: 0.176291 0.778901 -0.245966 0.549305 
time: 1403638587.727829, t: 6.531801 -9.545546 1.534804 q: 0.176589 0.778766 -0.245966 0.549401 
time: 1403638587.827830, t: 6.534359 -9.455566 1.521876 q: 0.175852 0.778281 -0.247163 0.549786 
time: 1403638587.927830, t: 6.541255 -9.366935 1.503427 q: 0.175530 0.777929 -0.247712 0.550140 
time: 1403638588.027829, t: 6.543042 -9.278711 1.481493 q: 0.175368 0.777261 -0.247746 0.551120 
time: 1403638588.127830, t: 6.548578 -9.196576 1.454451 q: 0.178592 0.777658 -0.245532 0.550515 
time: 1403638588.227829, t: 6.549761 -9.109624 1.426692 q: 0.184942 0.778577 -0.240856 0.549183 
time: 1403638588.327830, t: 6.555523 -9.023646 1.401528 q: 0.185645 0.779246 -0.239965 0.548388 
time: 1403638588.427830, t: 6.557948 -8.929533 1.386214 q: 0.185509 0.779107 -0.239867 0.548674 
time: 1403638588.527829, t: 6.564500 -8.835870 1.378037 q: 0.183349 0.778864 -0.241355 0.549092 
time: 1403638588.627830, t: 6.565885 -8.739439 1.379015 q: 0.181047 0.778205 -0.242543 0.550265 
time: 1403638588.727829, t: 6.568594 -8.642362 1.387498 q: 0.178412 0.776528 -0.244528 0.552612 
time: 1403638588.827830, t: 6.568169 -8.545078 1.397024 q: 0.177579 0.775871 -0.245287 0.553466 
time: 1403638588.927830, t: 6.568433 -8.449467 1.400677 q: 0.176288 0.775647 -0.246809 0.553515 
time: 1403638589.027829, t: 6.566181 -8.351943 1.396150 q: 0.176167 0.775624 -0.247512 0.553273 
time: 1403638589.127830, t: 6.564770 -8.255354 1.387505 q: 0.177666 0.775825 -0.247089 0.552700 
time: 1403638589.227829, t: 6.562352 -8.154146 1.370824 q: 0.177833 0.775493 -0.247042 0.553133 
time: 1403638589.327830, t: 6.560591 -8.056294 1.354869 q: 0.178072 0.774844 -0.247194 0.553898 
time: 1403638589.427830, t: 6.556598 -7.953441 1.338309 q: 0.177500 0.774898 -0.247461 0.553887 
time: 1403638589.527829, t: 6.551320 -7.854468 1.330350 q: 0.177279 0.775297 -0.247479 0.553391 
time: 1403638589.727829, t: 6.538230 -7.660419 1.335231 q: 0.176936 0.776906 -0.247994 0.551008 
time: 1403638589.827830, t: 6.529588 -7.561486 1.343092 q: 0.176573 0.777726 -0.248937 0.549540 
time: 1403638589.927830, t: 6.524904 -7.467096 1.349551 q: 0.177759 0.778238 -0.248972 0.548417 
time: 1403638590.027829, t: 6.515352 -7.369629 1.347413 q: 0.176786 0.777781 -0.250421 0.548719 
time: 1403638590.127830, t: 6.509541 -7.277402 1.343521 q: 0.177405 0.777302 -0.250695 0.549073 
time: 1403638590.227829, t: 6.502815 -7.177704 1.332862 q: 0.177890 0.776424 -0.251057 0.549993 
time: 1403638590.327830, t: 6.496679 -7.085433 1.319866 q: 0.177883 0.776130 -0.251291 0.550302 
time: 1403638590.427830, t: 6.485488 -6.989622 1.303314 q: 0.178300 0.777146 -0.251554 0.548611 
time: 1403638590.527829, t: 6.474192 -6.898827 1.285671 q: 0.177108 0.777191 -0.252419 0.548536 
time: 1403638590.627830, t: 6.462245 -6.805710 1.271709 q: 0.176200 0.779238 -0.252888 0.545701 
time: 1403638590.727829, t: 6.449865 -6.719587 1.267785 q: 0.173894 0.780254 -0.254313 0.544324 
time: 1403638590.827830, t: 6.439360 -6.630513 1.270479 q: 0.174018 0.781312 -0.254065 0.542881 
time: 1403638590.927830, t: 6.428137 -6.545141 1.280431 q: 0.173001 0.781856 -0.254765 0.542095 
time: 1403638591.027829, t: 6.418386 -6.453997 1.294719 q: 0.171878 0.782594 -0.255952 0.540826 
time: 1403638591.127830, t: 6.405703 -6.364300 1.309093 q: 0.171164 0.785238 -0.256686 0.536858 
time: 1403638591.227829, t: 6.397880 -6.276486 1.314530 q: 0.169527 0.790153 -0.258409 0.529285 
time: 1403638591.327830, t: 6.390415 -6.185127 1.312527 q: 0.166190 0.795753 -0.261110 0.520557 
time: 1403638591.427830, t: 6.391267 -6.106410 1.307337 q: 0.163707 0.798944 -0.263360 0.515296 
time: 1403638591.527829, t: 6.395822 -6.031737 1.297393 q: 0.160791 0.801483 -0.265743 0.511029 
time: 1403638591.627830, t: 6.408532 -5.968618 1.280541 q: 0.158741 0.803540 -0.267199 0.507671 
time: 1403638591.727829, t: 6.428115 -5.916204 1.262387 q: 0.158561 0.802428 -0.267831 0.509151 
time: 1403638591.827830, t: 6.452207 -5.872818 1.246942 q: 0.159974 0.800026 -0.266611 0.513114 
time: 1403638591.927830, t: 6.482732 -5.834455 1.235573 q: 0.161266 0.797373 -0.265162 0.517570 
time: 1403638592.027829, t: 6.520028 -5.805961 1.234016 q: 0.161792 0.794720 -0.264569 0.521773 
time: 1403638592.127830, t: 6.561540 -5.785427 1.241166 q: 0.161840 0.793181 -0.263126 0.524820 
time: 1403638592.227829, t: 6.607999 -5.766781 1.257869 q: 0.157943 0.788526 -0.259742 0.534616 
time: 1403638592.327830, t: 6.655149 -5.751154 1.286837 q: 0.151039 0.783841 -0.252952 0.546623 
time: 1403638592.427830, t: 6.702156 -5.738791 1.323797 q: 0.140072 0.783496 -0.241216 0.555274 
time: 1403638592.527829, t: 6.745100 -5.730028 1.366704 q: 0.129615 0.788799 -0.226657 0.556437 
time: 1403638592.627830, t: 6.785183 -5.724444 1.415552 q: 0.122869 0.796289 -0.213485 0.552496 
time: 1403638592.727829, t: 6.824421 -5.724461 1.467261 q: 0.117120 0.803578 -0.204033 0.546732 
time: 1403638592.827830, t: 6.864076 -5.728551 1.513907 q: 0.111851 0.810002 -0.198499 0.540356 
time: 1403638592.927830, t: 6.904482 -5.736387 1.554698 q: 0.109930 0.813519 -0.194163 0.537031 
time: 1403638593.027829, t: 6.946707 -5.746309 1.590903 q: 0.108956 0.814951 -0.191521 0.536006 
time: 1403638593.127830, t: 6.994786 -5.762607 1.621859 q: 0.108515 0.815017 -0.190434 0.536383 
time: 1403638593.227829, t: 7.046586 -5.783024 1.658268 q: 0.111507 0.811597 -0.188417 0.541641 
time: 1403638593.327830, t: 7.099391 -5.804701 1.702345 q: 0.119701 0.808983 -0.183619 0.545438 
time: 1403638593.427830, t: 7.155222 -5.827674 1.747826 q: 0.129908 0.804386 -0.178053 0.551711 
time: 1403638593.527829, t: 7.212527 -5.850490 1.787230 q: 0.135278 0.800661 -0.176159 0.556426 
time: 1403638593.627830, t: 7.270873 -5.870796 1.820155 q: 0.138310 0.798722 -0.175923 0.558539 
time: 1403638593.727829, t: 7.328170 -5.887702 1.847774 q: 0.140137 0.796811 -0.175586 0.560913 
time: 1403638593.827830, t: 7.386275 -5.900221 1.870212 q: 0.139131 0.790495 -0.176536 0.569732 
time: 1403638593.927830, t: 7.439903 -5.907650 1.899366 q: 0.133467 0.781298 -0.174295 0.584279 
time: 1403638594.027829, t: 7.487304 -5.910195 1.930243 q: 0.125558 0.783748 -0.171513 0.583573 
time: 1403638594.127830, t: 7.526658 -5.909381 1.965212 q: 0.119995 0.789679 -0.168563 0.577577 
time: 1403638594.227829, t: 7.561062 -5.907123 2.001104 q: 0.119770 0.794506 -0.163556 0.572420 
time: 1403638594.327830, t: 7.592886 -5.902716 2.032955 q: 0.120041 0.794748 -0.159267 0.573236 
time: 1403638594.427830, t: 7.618573 -5.895523 2.068226 q: 0.124401 0.793334 -0.152867 0.576001 
time: 1403638594.527829, t: 7.642354 -5.883253 2.104805 q: 0.122953 0.792997 -0.151646 0.577098 
time: 1403638594.627830, t: 7.656444 -5.866570 2.152352 q: 0.117096 0.793460 -0.154040 0.577046 
time: 1403638594.727829, t: 7.672216 -5.848504 2.196036 q: 0.113354 0.793984 -0.157000 0.576274 
time: 1403638594.827830, t: 7.678912 -5.829339 2.238759 q: 0.111742 0.794263 -0.158639 0.575754 
time: 1403638594.927830, t: 7.689954 -5.809178 2.270232 q: 0.111622 0.795129 -0.159650 0.574302 
time: 1403638595.027829, t: 7.698079 -5.787837 2.295583 q: 0.110937 0.796655 -0.161266 0.571863 
time: 1403638595.127830, t: 7.701584 -5.765651 2.319882 q: 0.110737 0.797580 -0.162386 0.570293 
time: 1403638595.227829, t: 7.709280 -5.744721 2.332544 q: 0.111529 0.798066 -0.162758 0.569352 
time: 1403638595.327830, t: 7.713289 -5.721854 2.340774 q: 0.111985 0.798156 -0.162987 0.569071 
time: 1403638595.427830, t: 7.714147 -5.698560 2.343583 q: 0.111630 0.797986 -0.163835 0.569136 
time: 1403638595.527829, t: 7.716488 -5.676028 2.341941 q: 0.111681 0.798577 -0.163857 0.568289 
time: 1403638595.627830, t: 7.714065 -5.652536 2.341259 q: 0.112258 0.799188 -0.163137 0.567524 
time: 1403638595.727829, t: 7.711813 -5.628229 2.347150 q: 0.116475 0.799720 -0.160140 0.566778 
time: 1403638595.827830, t: 7.703887 -5.600572 2.360601 q: 0.119257 0.800516 -0.158572 0.565515 
time: 1403638595.927830, t: 7.701665 -5.574605 2.358272 q: 0.120509 0.800273 -0.158011 0.565750 
time: 1403638596.027829, t: 7.699020 -5.547085 2.343535 q: 0.124524 0.800058 -0.155358 0.565919 
time: 1403638596.127830, t: 7.697751 -5.515558 2.322815 q: 0.134830 0.801221 -0.148492 0.563751 
time: 1403638596.227829, t: 7.697407 -5.477773 2.305988 q: 0.146733 0.803238 -0.139838 0.560110 
time: 1403638596.327830, t: 7.696999 -5.429399 2.302678 q: 0.157660 0.804409 -0.131706 0.557425 
time: 1403638596.427830, t: 7.698107 -5.375228 2.300755 q: 0.164308 0.804325 -0.126203 0.556899 
time: 1403638596.527829, t: 7.703163 -5.306655 2.313438 q: 0.170891 0.804127 -0.120582 0.556450 
time: 1403638596.627830, t: 7.710827 -5.226340 2.330392 q: 0.178095 0.804574 -0.114708 0.554783 
time: 1403638596.727829, t: 7.724325 -5.130900 2.357692 q: 0.184328 0.805183 -0.109856 0.552843 
time: 1403638596.827830, t: 7.742019 -5.018205 2.389521 q: 0.188363 0.804773 -0.106300 0.552775 
time: 1403638596.927830, t: 7.761966 -4.888487 2.429144 q: 0.190639 0.803740 -0.104289 0.553880 
time: 1403638597.027829, t: 7.788652 -4.742064 2.464067 q: 0.192377 0.802676 -0.104239 0.554830 
time: 1403638597.127830, t: 7.817409 -4.581888 2.494770 q: 0.195019 0.801039 -0.103160 0.556473 
time: 1403638597.227829, t: 7.850677 -4.405151 2.518499 q: 0.195438 0.798899 -0.104322 0.559180 
time: 1403638597.327830, t: 7.887283 -4.210630 2.534309 q: 0.191787 0.796844 -0.107888 0.562687 
time: 1403638597.427830, t: 7.928684 -4.002359 2.544813 q: 0.185688 0.794819 -0.113616 0.566457 
time: 1403638597.527829, t: 7.966869 -3.779912 2.553491 q: 0.173707 0.790357 -0.122618 0.574567 
time: 1403638597.627830, t: 8.001965 -3.548378 2.556438 q: 0.164459 0.786988 -0.129975 0.580267 
time: 1403638597.727829, t: 8.034387 -3.309768 2.554226 q: 0.164010 0.786156 -0.130616 0.581376 
time: 1403638597.827830, t: 8.064578 -3.064488 2.546675 q: 0.169174 0.788743 -0.120857 0.578496 
time: 1403638597.927830, t: 8.094073 -2.810143 2.534523 q: 0.173197 0.791416 -0.109484 0.575914 
time: 1403638598.027829, t: 8.121459 -2.545289 2.523104 q: 0.170864 0.792409 -0.102971 0.576447 
time: 1403638598.127830, t: 8.150047 -2.268542 2.519114 q: 0.155361 0.792964 -0.106909 0.579345 
time: 1403638598.227829, t: 8.175489 -1.981090 2.520568 q: 0.134536 0.794010 -0.116532 0.581264 
time: 1403638598.327830, t: 8.197419 -1.691254 2.523441 q: 0.120127 0.796564 -0.123857 0.579409 
time: 1403638598.427830, t: 8.217415 -1.402202 2.521408 q: 0.112999 0.798564 -0.127386 0.577321 
time: 1403638598.527829, t: 8.233767 -1.114971 2.512443 q: 0.109118 0.800202 -0.127187 0.575842 
time: 1403638598.627830, t: 8.248701 -0.829773 2.494909 q: 0.104328 0.803433 -0.122075 0.573332 
time: 1403638598.727829, t: 8.264272 -0.546881 2.476034 q: 0.098134 0.805260 -0.111760 0.573965 
time: 1403638598.827830, t: 8.276843 -0.267343 2.460959 q: 0.089157 0.806413 -0.098993 0.576151 
time: 1403638598.927830, t: 8.288268 0.008265 2.451755 q: 0.079738 0.808956 -0.083339 0.576444 
time: 1403638599.027829, t: 8.296826 0.280940 2.445571 q: 0.066969 0.810775 -0.067594 0.577573 
time: 1403638599.127830, t: 8.304105 0.551373 2.446570 q: 0.056007 0.811975 -0.049304 0.578903 
time: 1403638599.227829, t: 8.307704 0.820578 2.451451 q: 0.044416 0.813499 -0.030700 0.579055 
time: 1403638599.327830, t: 8.308115 1.086584 2.463621 q: 0.031092 0.815499 -0.012533 0.577787 
time: 1403638599.427830, t: 8.305008 1.351860 2.482316 q: 0.021705 0.818305 0.003972 0.574361 
time: 1403638599.527829, t: 8.302106 1.615990 2.504710 q: 0.014740 0.820445 0.015076 0.571337 
time: 1403638599.627830, t: 8.298816 1.880284 2.520698 q: 0.008870 0.822076 0.020374 0.568944 
time: 1403638599.727829, t: 8.293200 2.140986 2.527690 q: 0.006662 0.823238 0.023611 0.567167 
time: 1403638599.827830, t: 8.290910 2.399623 2.527125 q: 0.005549 0.823862 0.022783 0.566305 
time: 1403638599.927830, t: 8.292034 2.656911 2.521980 q: 0.002739 0.825096 0.018993 0.564667 
time: 1403638600.027829, t: 8.295748 2.912962 2.511437 q: -0.002237 0.824483 0.012422 0.565746 
time: 1403638600.127830, t: 8.304397 3.165606 2.496128 q: -0.010468 0.826591 0.002942 0.562698 
time: 1403638600.227829, t: 8.316465 3.410480 2.476884 q: -0.022362 0.829421 -0.008727 0.558109 
time: 1403638600.327830, t: 8.330820 3.645771 2.453322 q: -0.031212 0.831151 -0.018294 0.554869 
time: 1403638600.427830, t: 8.350024 3.869424 2.432025 q: -0.039066 0.832424 -0.026628 0.552119 
time: 1403638600.527829, t: 8.374595 4.078454 2.420184 q: -0.040267 0.833188 -0.029445 0.550736 
time: 1403638600.627830, t: 8.404558 4.272910 2.416448 q: -0.039834 0.834562 -0.030794 0.548608 
time: 1403638600.727829, t: 8.438732 4.454508 2.420681 q: -0.040354 0.836745 -0.032017 0.545164 
time: 1403638600.827830, t: 8.479641 4.621228 2.429848 q: -0.036787 0.840737 -0.028869 0.539421 
time: 1403638600.927830, t: 8.526254 4.772987 2.443183 q: -0.021204 0.843918 -0.016418 0.535801 
time: 1403638601.027829, t: 8.580417 4.914612 2.452844 q: -0.007763 0.844785 -0.005233 0.535023 
optimize pose graph 
time: 1403638601.127830, t: 8.643444 5.052289 2.458105 q: -0.001129 0.843599 0.000470 0.536973 
time: 1403638601.227829, t: 8.714305 5.189512 2.459162 q: 0.007679 0.840606 0.007710 0.541537 
time: 1403638601.327830, t: 8.790294 5.327007 2.457770 q: 0.014030 0.833190 0.014181 0.552627 
time: 1403638601.427830, t: 8.868721 5.470067 2.456663 q: 0.003635 0.828762 0.016611 0.559343 
time: 1403638601.527829, t: 8.951521 5.611386 2.461633 q: -0.008120 0.824510 0.026160 0.565183 
time: 1403638601.627830, t: 9.033979 5.753741 2.473124 q: -0.019223 0.821106 0.043080 0.568823 
time: 1403638601.727829, t: 9.116103 5.894461 2.491095 q: -0.031393 0.818471 0.066118 0.569867 
time: 1403638601.827830, t: 9.195073 6.034271 2.516837 q: -0.044995 0.814018 0.093820 0.571443 
time: 1403638601.927830, t: 9.269694 6.176340 2.548023 q: -0.059146 0.809348 0.121456 0.571582 
time: 1403638602.027829, t: 9.341908 6.319363 2.575736 q: -0.072162 0.806887 0.141627 0.568918 
time: 1403638602.127830, t: 9.411430 6.463592 2.595539 q: -0.080362 0.803734 0.156978 0.568253 
time: 1403638602.227829, t: 9.478537 6.609333 2.610054 q: -0.085942 0.797370 0.173748 0.571513 
time: 1403638602.327830, t: 9.543818 6.758613 2.620878 q: -0.099383 0.788755 0.189837 0.576151 
time: 1403638602.427830, t: 9.605037 6.911965 2.639757 q: -0.131633 0.773059 0.197581 0.588230 
time: 1403638602.527829, t: 9.645566 7.059709 2.663997 q: -0.167211 0.749327 0.202699 0.607835 
time: 1403638602.627830, t: 9.676615 7.195181 2.697169 q: -0.196546 0.732294 0.210742 0.617012 
time: 1403638602.727829, t: 9.689036 7.311466 2.734014 q: -0.211737 0.725951 0.227623 0.613473 
time: 1403638602.827830, t: 9.684738 7.409541 2.777489 q: -0.220021 0.722058 0.248827 0.606884 
time: 1403638602.927830, t: 9.666133 7.492051 2.824226 q: -0.234179 0.720331 0.266929 0.595846 
time: 1403638603.027829, t: 9.637961 7.562540 2.870955 q: -0.256058 0.718892 0.280566 0.582161 
time: 1403638603.127830, t: 9.604590 7.624452 2.914290 q: -0.272846 0.711087 0.294516 0.577209 
optimize pose graph 
time: 1403638603.227829, t: 9.563083 7.671488 2.947358 q: -0.277226 0.710461 0.310386 0.567496 
time: 1403638603.327830, t: 9.515714 7.707204 2.969433 q: -0.270904 0.722400 0.327010 0.545724 
time: 1403638603.427830, t: 9.467281 7.735694 2.985369 q: -0.264949 0.733345 0.338096 0.526970 
time: 1403638603.527829, t: 9.417554 7.758736 2.997233 q: -0.262803 0.736990 0.343257 0.519572 
time: 1403638603.627830, t: 9.370157 7.779584 3.004593 q: -0.267017 0.731024 0.345396 0.524412 
time: 1403638603.727829, t: 9.323572 7.795750 3.006002 q: -0.263999 0.722703 0.350269 0.534151 
time: 1403638603.827830, t: 9.274142 7.804519 3.000121 q: -0.257848 0.714700 0.355744 0.544210 
time: 1403638603.927830, t: 9.217848 7.809096 2.987425 q: -0.251047 0.707429 0.360295 0.553811 
time: 1403638604.027829, t: 9.153072 7.809234 2.968666 q: -0.245663 0.702328 0.362885 0.560980 
time: 1403638604.127830, t: 9.079596 7.807765 2.948833 q: -0.242188 0.699175 0.364651 0.565269 
time: 1403638604.227829, t: 8.994531 7.802884 2.934765 q: -0.245311 0.700549 0.363145 0.563187 
time: 1403638604.327830, t: 8.898785 7.794547 2.928268 q: -0.252069 0.706969 0.359310 0.554573 
time: 1403638604.427830, t: 8.794198 7.781489 2.927724 q: -0.254308 0.715104 0.358114 0.543791 
time: 1403638604.527829, t: 8.685271 7.763960 2.934073 q: -0.251366 0.722327 0.360245 0.534118 
time: 1403638604.627830, t: 8.573291 7.744309 2.939460 q: -0.250402 0.725405 0.361160 0.529764 
time: 1403638604.727829, t: 8.459528 7.722278 2.940560 q: -0.254573 0.728034 0.358482 0.525975 
time: 1403638604.827830, t: 8.345354 7.697161 2.938750 q: -0.257986 0.730325 0.356165 0.522699 
time: 1403638604.927830, t: 8.233994 7.668376 2.939095 q: -0.256602 0.734409 0.357264 0.516876 
time: 1403638605.027829, t: 8.123779 7.639319 2.944710 q: -0.253765 0.741582 0.359357 0.506480 
time: 1403638605.127830, t: 8.015824 7.609458 2.959246 q: -0.251016 0.746963 0.361382 0.498438 
optimize pose graph 
time: 1403638605.227829, t: 7.913216 7.585442 2.979509 q: -0.247987 0.748841 0.363497 0.495591 
time: 1403638605.327830, t: 7.815586 7.567427 2.996722 q: -0.243221 0.747830 0.366806 0.497039 
time: 1403638605.427830, t: 7.722340 7.554253 3.010277 q: -0.236439 0.740152 0.371877 0.507917 
time: 1403638605.527829, t: 7.629202 7.545747 3.019087 q: -0.230372 0.729930 0.376365 0.521996 
time: 1403638605.627830, t: 7.534489 7.541595 3.021944 q: -0.224149 0.722505 0.380788 0.531737 
time: 1403638605.727829, t: 7.434317 7.542329 3.024166 q: -0.221286 0.719248 0.382864 0.535845 
time: 1403638605.827830, t: 7.327677 7.547045 3.033048 q: -0.219785 0.719808 0.383744 0.535081 
time: 1403638605.927830, t: 7.215104 7.556811 3.050304 q: -0.216967 0.719215 0.385275 0.535928 
time: 1403638606.027829, t: 7.097075 7.574922 3.070608 q: -0.212895 0.718522 0.386981 0.537259 
time: 1403638606.127830, t: 6.970685 7.596930 3.086235 q: -0.209981 0.718578 0.387866 0.537692 
time: 1403638606.227829, t: 6.838526 7.625889 3.092677 q: -0.206851 0.718716 0.389373 0.537632 
time: 1403638606.327830, t: 6.698778 7.659842 3.093989 q: -0.208042 0.722677 0.387416 0.533259 
time: 1403638606.427830, t: 6.554725 7.701303 3.084362 q: -0.214999 0.732905 0.381728 0.520490 
time: 1403638606.527829, t: 6.407286 7.745584 3.069503 q: -0.223685 0.743403 0.375012 0.506639 
time: 1403638606.627830, t: 6.261665 7.796112 3.050033 q: -0.229283 0.749408 0.373761 0.496104 
time: 1403638606.727829, t: 6.119576 7.852733 3.025524 q: -0.233422 0.750789 0.380357 0.486989 
time: 1403638606.827830, t: 5.982578 7.916362 2.996903 q: -0.240090 0.748188 0.391593 0.478776 
time: 1403638606.927830, t: 5.853161 7.988760 2.969630 q: -0.249875 0.742112 0.406030 0.471139 
time: 1403638607.027829, t: 5.727321 8.069561 2.951960 q: -0.263218 0.733858 0.421013 0.463591 
time: 1403638607.127830, t: 5.609923 8.157356 2.944418 q: -0.280049 0.726293 0.430654 0.456736 
optimize pose graph 
time: 1403638607.427830, t: 5.287598 8.447752 2.919058 q: -0.316530 0.695393 0.439354 0.472445 
time: 1403638607.527829, t: 5.190211 8.543698 2.893218 q: -0.320837 0.694462 0.439922 0.470378 
time: 1403638607.627830, t: 5.097056 8.636787 2.862363 q: -0.321998 0.693223 0.441124 0.470285 
time: 1403638607.727829, t: 5.008864 8.727787 2.829469 q: -0.321652 0.690877 0.441469 0.473638 
time: 1403638607.827830, t: 4.925071 8.815922 2.792723 q: -0.320951 0.691525 0.441078 0.473533 
time: 1403638607.927830, t: 4.846440 8.902195 2.751777 q: -0.323294 0.695784 0.437653 0.468855 
time: 1403638608.027829, t: 4.774146 8.986884 2.706222 q: -0.325513 0.697524 0.434015 0.468115 
time: 1403638608.127830, t: 4.710989 9.067851 2.656892 q: -0.324040 0.694892 0.433060 0.473900 
time: 1403638608.227829, t: 4.652773 9.144672 2.602807 q: -0.320648 0.690879 0.433656 0.481470 
time: 1403638608.327830, t: 4.593345 9.218134 2.544908 q: -0.320689 0.685897 0.432114 0.489879 
time: 1403638608.427830, t: 4.535915 9.287444 2.481785 q: -0.321304 0.682350 0.431260 0.495153 
time: 1403638608.527829, t: 4.476012 9.355479 2.412435 q: -0.319587 0.684262 0.431919 0.493048 
time: 1403638608.627830, t: 4.415586 9.417612 2.340484 q: -0.321697 0.683532 0.429460 0.494832 
time: 1403638608.727829, t: 4.357399 9.471406 2.273776 q: -0.325691 0.680747 0.427172 0.498029 
time: 1403638608.827830, t: 4.300112 9.519513 2.210818 q: -0.324027 0.683442 0.428567 0.494211 
time: 1403638608.927830, t: 4.241195 9.561151 2.154126 q: -0.322449 0.687332 0.429888 0.488669 
time: 1403638609.027829, t: 4.183677 9.597990 2.104746 q: -0.322686 0.691031 0.430008 0.483159 
time: 1403638609.127830, t: 4.129541 9.632789 2.062563 q: -0.321591 0.692558 0.430696 0.481086 
time: 1403638609.227829, t: 4.077188 9.665204 2.024116 q: -0.328341 0.692620 0.425805 0.480791 
time: 1403638609.327830, t: 4.028659 9.690991 1.982917 q: -0.332124 0.693074 0.422794 0.480196 
time: 1403638609.427830, t: 3.984408 9.716736 1.932522 q: -0.328931 0.693094 0.424719 0.480665 
time: 1403638609.527829, t: 3.943246 9.734765 1.876594 q: -0.325189 0.693168 0.426879 0.481191 
time: 1403638609.627830, t: 3.905205 9.757495 1.813009 q: -0.323103 0.693301 0.427777 0.481607 
time: 1403638609.727829, t: 3.870119 9.769098 1.746661 q: -0.320123 0.692102 0.429990 0.483347 
time: 1403638609.827830, t: 3.839684 9.784709 1.683779 q: -0.320608 0.693140 0.429769 0.481731 
time: 1403638609.927830, t: 3.811319 9.790359 1.631621 q: -0.320887 0.692691 0.429590 0.482353 
time: 1403638610.027829, t: 3.787192 9.797497 1.586046 q: -0.323226 0.691536 0.427994 0.483865 
time: 1403638610.127830, t: 3.762474 9.797111 1.546620 q: -0.326370 0.688684 0.425664 0.487859 
time: 1403638610.227829, t: 3.740464 9.793944 1.508566 q: -0.327716 0.685905 0.424673 0.491721 
time: 1403638610.327830, t: 3.719387 9.785604 1.464017 q: -0.328958 0.685003 0.423441 0.493209 
time: 1403638610.427830, t: 3.700832 9.775541 1.412884 q: -0.330299 0.684646 0.422155 0.493910 
time: 1403638610.527829, t: 3.681823 9.758407 1.356799 q: -0.329923 0.681704 0.422057 0.498295 
time: 1403638610.627830, t: 3.663954 9.738037 1.299152 q: -0.335465 0.674564 0.418088 0.507571 
time: 1403638610.727829, t: 3.642697 9.707568 1.241535 q: -0.335682 0.675280 0.418358 0.506252 
time: 1403638610.827830, t: 3.620289 9.665979 1.189127 q: -0.332473 0.682566 0.421766 0.495660 
time: 1403638610.927830, t: 3.601284 9.623495 1.147197 q: -0.330900 0.685545 0.424224 0.490477 
time: 1403638611.027829, t: 3.580938 9.576238 1.105370 q: -0.333602 0.684606 0.422305 0.491611 
time: 1403638611.127830, t: 3.561045 9.522297 1.060677 q: -0.336058 0.682031 0.421162 0.494492 
time: 1403638611.227829, t: 3.544684 9.462549 1.011100 q: -0.335854 0.681480 0.422121 0.494571 
time: 1403638611.327830, t: 3.528968 9.396140 0.965515 q: -0.333140 0.680821 0.424474 0.495300 
time: 1403638611.427830, t: 3.510703 9.319620 0.926658 q: -0.322432 0.676250 0.431470 0.502550 
optimize pose graph 
time: 1403638611.527829, t: 3.491587 9.243322 0.894507 q: -0.311696 0.673374 0.438417 0.507152 
time: 1403638611.627830, t: 3.464222 9.161763 0.867449 q: -0.306437 0.675351 0.440848 0.505619 
time: 1403638611.727829, t: 3.433711 9.079183 0.844063 q: -0.308322 0.679584 0.438944 0.500431 
time: 1403638611.827830, t: 3.401935 8.996592 0.815795 q: -0.314731 0.685500 0.433776 0.492821 
time: 1403638611.927830, t: 3.369937 8.913194 0.782828 q: -0.318393 0.690353 0.430128 0.486855 
time: 1403638612.027829, t: 3.339851 8.830654 0.748710 q: -0.320019 0.693086 0.428427 0.483394 
time: 1403638612.127830, t: 3.311684 8.748090 0.720232 q: -0.321396 0.695007 0.426793 0.481163 
time: 1403638612.227829, t: 3.286536 8.664680 0.698399 q: -0.320551 0.695546 0.426946 0.480811 
time: 1403638612.327830, t: 3.263133 8.581925 0.685712 q: -0.319943 0.695236 0.427168 0.481467 
time: 1403638612.427830, t: 3.243686 8.497449 0.672324 q: -0.319107 0.694196 0.426953 0.483708 
time: 1403638612.527829, t: 3.223279 8.411662 0.653483 q: -0.317016 0.692216 0.426814 0.488025 
time: 1403638612.627830, t: 3.203408 8.326722 0.627665 q: -0.312137 0.690584 0.428585 0.491913 
time: 1403638612.727829, t: 3.179959 8.240292 0.593051 q: -0.307731 0.688889 0.429525 0.496228 
time: 1403638612.827830, t: 3.159126 8.157356 0.558400 q: -0.306644 0.687997 0.427886 0.499544 
time: 1403638612.927830, t: 3.130341 8.070953 0.523888 q: -0.307412 0.687618 0.425347 0.501756 
time: 1403638613.027829, t: 3.102803 7.986321 0.497843 q: -0.307224 0.690109 0.424328 0.499308 
time: 1403638613.127830, t: 3.070009 7.900166 0.479140 q: -0.307332 0.691647 0.423397 0.497902 
time: 1403638613.227829, t: 3.040289 7.814487 0.467777 q: -0.307312 0.693383 0.423100 0.495747 
time: 1403638613.327830, t: 3.004404 7.729213 0.463473 q: -0.306183 0.694004 0.423520 0.495218 
time: 1403638613.427830, t: 2.972288 7.643167 0.461527 q: -0.305488 0.693320 0.424013 0.496183 
time: 1403638613.527829, t: 2.937277 7.558963 0.455804 q: -0.306555 0.693236 0.420519 0.498610 
time: 1403638613.627830, t: 2.902786 7.475763 0.442114 q: -0.308368 0.694854 0.414311 0.500433 
time: 1403638613.727829, t: 2.867248 7.390171 0.422701 q: -0.312303 0.693910 0.407625 0.504775 
time: 1403638613.827830, t: 2.830093 7.299723 0.395597 q: -0.312099 0.694381 0.400279 0.510104 
time: 1403638613.927830, t: 2.795211 7.207715 0.362201 q: -0.306768 0.698621 0.391424 0.514403 
time: 1403638614.027829, t: 2.756964 7.106780 0.323187 q: -0.296229 0.705687 0.380685 0.518974 
time: 1403638614.127830, t: 2.715250 6.999951 0.281447 q: -0.283264 0.715185 0.367523 0.522684 
time: 1403638614.227829, t: 2.672402 6.887730 0.242743 q: -0.269742 0.725173 0.354044 0.525372 
time: 1403638614.327830, t: 2.629949 6.775782 0.209489 q: -0.259918 0.733079 0.342685 0.526882 
time: 1403638614.427830, t: 2.586647 6.663315 0.185575 q: -0.254718 0.738926 0.332911 0.527520 
time: 1403638614.527829, t: 2.543874 6.551820 0.170798 q: -0.251796 0.743408 0.324730 0.527725 
time: 1403638614.627830, t: 2.501274 6.440945 0.164762 q: -0.248216 0.747944 0.314629 0.529128 
time: 1403638614.727829, t: 2.462260 6.331924 0.168241 q: -0.245761 0.755497 0.300362 0.527834 
time: 1403638614.827830, t: 2.426322 6.223169 0.183361 q: -0.240498 0.766236 0.283295 0.524201 
time: 1403638614.927830, t: 2.395302 6.113347 0.206331 q: -0.229675 0.776657 0.265639 0.522962 
time: 1403638615.027829, t: 2.370145 6.000188 0.232590 q: -0.215015 0.785722 0.244949 0.525746 
time: 1403638615.127830, t: 2.353488 5.885973 0.263652 q: -0.194423 0.792187 0.223659 0.533495 
time: 1403638615.227829, t: 2.342929 5.769498 0.301169 q: -0.170133 0.794230 0.202739 0.546946 
time: 1403638615.327830, t: 2.333034 5.650548 0.337594 q: -0.147951 0.797250 0.178663 0.557299 
time: 1403638615.427830, t: 2.324686 5.532544 0.368325 q: -0.127140 0.800701 0.152771 0.565133 
time: 1403638615.527829, t: 2.318122 5.413888 0.391918 q: -0.107682 0.804613 0.127416 0.569884 
time: 1403638615.627830, t: 2.308546 5.293929 0.409232 q: -0.092546 0.807048 0.106420 0.573396 
time: 1403638615.727829, t: 2.298600 5.176395 0.426276 q: -0.082497 0.808890 0.091691 0.574878 
time: 1403638615.827830, t: 2.286190 5.060440 0.449703 q: -0.075687 0.810112 0.080790 0.575729 
time: 1403638615.927830, t: 2.271826 4.946131 0.478084 q: -0.070450 0.811114 0.068130 0.576618 
time: 1403638616.027829, t: 2.256550 4.832102 0.501002 q: -0.062257 0.812707 0.056241 0.576600 
time: 1403638616.127830, t: 2.238794 4.715680 0.514816 q: -0.052457 0.813599 0.043628 0.577409 
time: 1403638616.227829, t: 2.220190 4.598724 0.512830 q: -0.042701 0.815001 0.027226 0.577243 
time: 1403638616.327830, t: 2.200832 4.477945 0.495803 q: -0.030358 0.815922 0.008320 0.577305 
time: 1403638616.427830, t: 2.180840 4.354005 0.468916 q: -0.017601 0.816550 -0.010487 0.576912 
time: 1403638616.527829, t: 2.160296 4.230405 0.437733 q: -0.008264 0.817342 -0.025988 0.575507 
time: 1403638616.627830, t: 2.138935 4.108689 0.403506 q: -0.000467 0.820280 -0.036920 0.570769 
time: 1403638616.727829, t: 2.118358 3.988122 0.364549 q: 0.001191 0.827463 -0.046561 0.559585 
time: 1403638616.827830, t: 2.102646 3.868132 0.322320 q: -0.003564 0.835055 -0.055769 0.547320 
time: 1403638616.927830, t: 2.092210 3.744973 0.284036 q: -0.003904 0.837150 -0.058577 0.543814 
time: 1403638617.027829, t: 2.090210 3.615940 0.255948 q: 0.003059 0.833924 -0.053656 0.549256 
time: 1403638617.127830, t: 2.093314 3.484137 0.236676 q: 0.009990 0.830064 -0.046785 0.555612 
time: 1403638617.227829, t: 2.101132 3.353812 0.224301 q: 0.013440 0.829890 -0.041132 0.556247 
time: 1403638617.327830, t: 2.112653 3.224114 0.216955 q: 0.012685 0.833073 -0.038204 0.551696 
time: 1403638617.427830, t: 2.129995 3.098406 0.216764 q: 0.013406 0.837236 -0.034591 0.545581 
time: 1403638617.527829, t: 2.153473 2.974729 0.223978 q: 0.013244 0.839016 -0.031309 0.543043 
time: 1403638617.627830, t: 2.182543 2.853310 0.239875 q: 0.013241 0.838567 -0.028515 0.543890 
time: 1403638617.727829, t: 2.218663 2.734615 0.264939 q: 0.014973 0.836842 -0.024296 0.546700 
time: 1403638617.827830, t: 2.261311 2.622560 0.297229 q: 0.015286 0.836739 -0.021627 0.546961 
time: 1403638617.927830, t: 2.308912 2.512961 0.336409 q: 0.013808 0.835566 -0.020535 0.548832 
time: 1403638618.027829, t: 2.360274 2.404713 0.374298 q: 0.012709 0.835093 -0.019295 0.549623 
time: 1403638618.127830, t: 2.415475 2.297899 0.404974 q: 0.010660 0.835197 -0.018762 0.549527 
time: 1403638618.227829, t: 2.474644 2.196239 0.429948 q: 0.010124 0.834944 -0.017635 0.549960 
time: 1403638618.327830, t: 2.536101 2.096661 0.449198 q: 0.010500 0.834256 -0.016080 0.551042 
time: 1403638618.427830, t: 2.601923 2.001885 0.466302 q: 0.010339 0.834147 -0.015096 0.551239 
time: 1403638618.527829, t: 2.671009 1.909405 0.480837 q: 0.009755 0.833609 -0.013932 0.552094 
time: 1403638618.627830, t: 2.744162 1.819082 0.492817 q: 0.012431 0.833261 -0.015827 0.552514 
time: 1403638618.727829, t: 2.820026 1.733477 0.507406 q: 0.016641 0.833040 -0.018103 0.552667 
time: 1403638618.827830, t: 2.899793 1.649161 0.527314 q: 0.017923 0.831851 -0.022018 0.554272 
time: 1403638618.927830, t: 2.981456 1.569824 0.552790 q: 0.022761 0.829181 -0.027323 0.557848 
time: 1403638619.027829, t: 3.066424 1.491225 0.573654 q: 0.031421 0.824728 -0.038579 0.563336 
time: 1403638619.127830, t: 3.151273 1.415773 0.586924 q: 0.045427 0.821075 -0.054429 0.566400 
time: 1403638619.227829, t: 3.237348 1.342741 0.593006 q: 0.059173 0.817409 -0.076175 0.567924 
time: 1403638619.327830, t: 3.321878 1.270948 0.592669 q: 0.074635 0.813712 -0.101098 0.567522 
time: 1403638619.427830, t: 3.403297 1.204555 0.582167 q: 0.087930 0.809035 -0.124526 0.567648 
time: 1403638619.527829, t: 3.485160 1.141105 0.569852 q: 0.096194 0.805004 -0.142897 0.567711 
time: 1403638619.627830, t: 3.566022 1.081623 0.555690 q: 0.098988 0.801972 -0.158432 0.567399 
time: 1403638619.727829, t: 3.645961 1.023285 0.538820 q: 0.093545 0.799266 -0.173352 0.567778 
time: 1403638619.827830, t: 3.723355 0.963679 0.519932 q: 0.091297 0.796405 -0.182400 0.569328 
time: 1403638619.927830, t: 3.797558 0.900059 0.499559 q: 0.091854 0.794834 -0.187468 0.569787 
time: 1403638620.027829, t: 3.867358 0.833615 0.474850 q: 0.094489 0.793618 -0.189409 0.570409 
time: 1403638620.127830, t: 3.932847 0.761762 0.459138 q: 0.097875 0.790857 -0.189488 0.573638 
time: 1403638620.227829, t: 3.990564 0.688476 0.446851 q: 0.100610 0.788623 -0.188907 0.576425 
time: 1403638620.327830, t: 4.042234 0.612601 0.445168 q: 0.104620 0.790316 -0.186431 0.574195 
time: 1403638620.427830, t: 4.086856 0.538193 0.447368 q: 0.105956 0.791432 -0.184712 0.572966 
time: 1403638620.527829, t: 4.127001 0.462373 0.455239 q: 0.106617 0.792750 -0.182533 0.571718 
time: 1403638620.627830, t: 4.164652 0.385571 0.457167 q: 0.104698 0.794927 -0.181776 0.569286 
time: 1403638620.727829, t: 4.197800 0.309891 0.453364 q: 0.100905 0.798099 -0.182443 0.565306 
time: 1403638620.827830, t: 4.228934 0.232597 0.444828 q: 0.099664 0.801189 -0.180905 0.561637 
time: 1403638620.927830, t: 4.258468 0.152690 0.433421 q: 0.104613 0.803083 -0.174886 0.559936 
time: 1403638621.027829, t: 4.290989 0.069681 0.419432 q: 0.109280 0.802310 -0.169031 0.561947 
time: 1403638621.127830, t: 4.320138 -0.008565 0.407126 q: 0.109905 0.801217 -0.165964 0.564294 
time: 1403638621.227829, t: 4.346477 -0.085426 0.401020 q: 0.109550 0.799671 -0.163561 0.567251 
time: 1403638621.327830, t: 4.373247 -0.160531 0.403768 q: 0.111040 0.800163 -0.160539 0.567130 
time: 1403638621.427830, t: 4.400332 -0.233919 0.402200 q: 0.110941 0.798967 -0.158513 0.569400 
time: 1403638621.527829, t: 4.423293 -0.303587 0.395812 q: 0.111845 0.796950 -0.156063 0.572718 
time: 1403638621.627830, t: 4.442768 -0.368170 0.385862 q: 0.111728 0.795295 -0.154544 0.575447 
time: 1403638621.727829, t: 4.461838 -0.432284 0.369708 q: 0.111932 0.794445 -0.153466 0.576869 
time: 1403638621.827830, t: 4.474071 -0.489437 0.350794 q: 0.113401 0.792119 -0.151752 0.580223 
time: 1403638621.927830, t: 4.485598 -0.545407 0.330164 q: 0.114812 0.788699 -0.150192 0.584991 
time: 1403638622.027829, t: 4.494012 -0.596058 0.305590 q: 0.114060 0.787170 -0.150322 0.587161 
time: 1403638622.127830, t: 4.493709 -0.635784 0.278161 q: 0.111624 0.787757 -0.152405 0.586303 
time: 1403638622.227829, t: 4.490250 -0.676429 0.249505 q: 0.109255 0.788069 -0.154209 0.585859 
time: 1403638622.327830, t: 4.480984 -0.713297 0.226204 q: 0.107041 0.788026 -0.156240 0.585787 
time: 1403638622.427830, t: 4.466610 -0.749127 0.212323 q: 0.109521 0.788882 -0.155656 0.584329 
time: 1403638622.527829, t: 4.446566 -0.777905 0.205718 q: 0.112599 0.788893 -0.154442 0.584052 
time: 1403638622.627830, t: 4.423889 -0.809790 0.205524 q: 0.117527 0.787357 -0.151958 0.585803 
time: 1403638622.727829, t: 4.396459 -0.832739 0.217069 q: 0.120868 0.779362 -0.150291 0.596153 
time: 1403638622.827830, t: 4.364215 -0.853334 0.236141 q: 0.122804 0.769734 -0.149809 0.608265 
time: 1403638622.927830, t: 4.326106 -0.867733 0.257043 q: 0.122374 0.769798 -0.151040 0.607965 
time: 1403638623.027829, t: 4.276879 -0.875560 0.273205 q: 0.119720 0.775950 -0.154100 0.599851 
time: 1403638623.127830, t: 4.218082 -0.879521 0.281530 q: 0.115717 0.781642 -0.157750 0.592251 
time: 1403638623.227829, t: 4.151544 -0.877272 0.285388 q: 0.111735 0.784673 -0.160735 0.588191 
time: 1403638623.327830, t: 4.081075 -0.874289 0.284601 q: 0.109262 0.788115 -0.162631 0.583513 
time: 1403638623.427830, t: 4.007966 -0.872754 0.279622 q: 0.109373 0.790875 -0.162727 0.579719 
time: 1403638623.527829, t: 3.931169 -0.868536 0.273778 q: 0.108056 0.791406 -0.163605 0.578993 
optimize pose graph 
time: 1403638623.627830, t: 3.851563 -0.864385 0.273741 q: 0.110898 0.790815 -0.162347 0.579618 
time: 1403638623.727829, t: 3.766945 -0.859505 0.281328 q: 0.112616 0.791550 -0.161966 0.578389 
time: 1403638623.827830, t: 3.679346 -0.853195 0.293369 q: 0.114299 0.792416 -0.161686 0.576949 
time: 1403638623.927830, t: 3.588948 -0.845154 0.309018 q: 0.115913 0.794132 -0.162387 0.574063 
time: 1403638624.027829, t: 3.496341 -0.836023 0.320956 q: 0.116120 0.794818 -0.163601 0.572727 
time: 1403638624.127830, t: 3.401633 -0.824120 0.327747 q: 0.113922 0.795263 -0.166521 0.571708 
time: 1403638624.227829, t: 3.308603 -0.812248 0.331693 q: 0.111478 0.795220 -0.169484 0.571379 
time: 1403638624.327830, t: 3.211051 -0.799614 0.328723 q: 0.110433 0.794462 -0.171499 0.572034 
time: 1403638624.427830, t: 3.114639 -0.788658 0.321165 q: 0.110357 0.794219 -0.172806 0.571993 
time: 1403638624.527829, t: 3.020753 -0.779093 0.312621 q: 0.109275 0.791121 -0.175129 0.575775 
time: 1403638624.627830, t: 2.919933 -0.768698 0.297777 q: 0.106802 0.781400 -0.177558 0.588627 
time: 1403638624.727829, t: 2.816569 -0.759609 0.283455 q: 0.111108 0.783893 -0.170819 0.586505 
time: 1403638624.827830, t: 2.721497 -0.751855 0.277464 q: 0.114183 0.791009 -0.161294 0.579009 
time: 1403638624.927830, t: 2.608391 -0.737093 0.278151 q: 0.111527 0.795483 -0.155886 0.574863 
time: 1403638625.027829, t: 2.507521 -0.724983 0.284732 q: 0.104261 0.797082 -0.154268 0.574449 
time: 1403638625.127830, t: 2.395406 -0.709469 0.286459 q: 0.096051 0.798091 -0.154855 0.574321 
time: 1403638625.227829, t: 2.296817 -0.699736 0.285869 q: 0.091910 0.799308 -0.154067 0.573518 
time: 1403638625.327830, t: 2.185684 -0.686492 0.281125 q: 0.090640 0.799617 -0.152623 0.573675 
time: 1403638625.427830, t: 2.083818 -0.679790 0.279676 q: 0.090141 0.799505 -0.151497 0.574208 
time: 1403638625.527829, t: 1.972764 -0.669994 0.282856 q: 0.090107 0.799307 -0.151005 0.574619 
time: 1403638625.627830, t: 1.863880 -0.662684 0.293652 q: 0.090629 0.800779 -0.150797 0.572538 
time: 1403638625.727829, t: 1.761564 -0.658371 0.310959 q: 0.089509 0.803718 -0.151726 0.568336 
time: 1403638625.827830, t: 1.651770 -0.653019 0.323187 q: 0.088752 0.808048 -0.152733 0.562010 
time: 1403638625.927830, t: 1.547002 -0.651532 0.334856 q: 0.089941 0.809055 -0.152623 0.560398 
time: 1403638626.027829, t: 1.442241 -0.649954 0.338968 q: 0.089906 0.809767 -0.153800 0.559053 
time: 1403638626.127830, t: 1.339634 -0.650757 0.337469 q: 0.088204 0.810165 -0.155699 0.558221 
time: 1403638626.227829, t: 1.242149 -0.651859 0.330453 q: 0.089871 0.810008 -0.155224 0.558316 
time: 1403638626.327830, t: 1.145475 -0.657436 0.320624 q: 0.096218 0.808103 -0.151323 0.561082 
time: 1403638626.427830, t: 1.050671 -0.661745 0.308552 q: 0.101871 0.805960 -0.147192 0.564256 
time: 1403638626.527829, t: 0.957135 -0.664464 0.292479 q: 0.103351 0.807231 -0.145850 0.562516 
time: 1403638626.627830, t: 0.865469 -0.666494 0.276485 q: 0.102133 0.809308 -0.146600 0.559552 
time: 1403638626.727829, t: 0.778882 -0.666716 0.262362 q: 0.100458 0.812145 -0.147395 0.555521 
time: 1403638626.827830, t: 0.696531 -0.668174 0.255608 q: 0.098716 0.815348 -0.148408 0.550853 
time: 1403638626.927830, t: 0.624950 -0.671614 0.254847 q: 0.098698 0.817644 -0.147909 0.547576 
time: 1403638627.027829, t: 0.553120 -0.672798 0.257168 q: 0.098071 0.817694 -0.147747 0.547658 
time: 1403638627.127830, t: 0.490336 -0.670688 0.254299 q: 0.097501 0.817503 -0.147670 0.548066 
time: 1403638627.227829, t: 0.429008 -0.674950 0.251282 q: 0.096833 0.817409 -0.147459 0.548381 
time: 1403638627.327830, t: 0.375657 -0.678835 0.244921 q: 0.099453 0.817470 -0.145193 0.548426 
time: 1403638627.427830, t: 0.328234 -0.681355 0.234668 q: 0.100676 0.817365 -0.144174 0.548628 
time: 1403638627.527829, t: 0.296058 -0.681539 0.217172 q: 0.100571 0.817051 -0.144582 0.549008 
time: 1403638627.627830, t: 0.255206 -0.687084 0.207144 q: 0.103731 0.815052 -0.143018 0.551793 
optimize pose graph 
time: 1403638627.727829, t: 0.222237 -0.688959 0.191858 q: 0.104684 0.812003 -0.142786 0.556151 
time: 1403638627.827830, t: 0.191731 -0.689981 0.175919 q: 0.105878 0.810683 -0.142471 0.557930 
time: 1403638627.927830, t: 0.172664 -0.687732 0.156905 q: 0.106787 0.811891 -0.142542 0.555978 
time: 1403638628.027829, t: 0.160819 -0.682279 0.138016 q: 0.108194 0.813470 -0.142616 0.553372 
time: 1403638628.127830, t: 0.128757 -0.681122 0.125634 q: 0.108639 0.814421 -0.143090 0.551761 
time: 1403638628.227829, t: 0.109670 -0.675058 0.112967 q: 0.109039 0.814539 -0.143860 0.551309 
time: 1403638628.327830, t: 0.094298 -0.668141 0.103145 q: 0.108665 0.815193 -0.145046 0.550103 
time: 1403638628.427830, t: 0.081818 -0.659912 0.096564 q: 0.106168 0.814747 -0.147122 0.550700 
time: 1403638628.527829, t: 0.075894 -0.650716 0.093089 q: 0.097912 0.808891 -0.153440 0.559075 
time: 1403638628.627830, t: 0.071659 -0.642162 0.092488 q: 0.091697 0.802086 -0.158113 0.568550 
time: 1403638628.727829, t: 0.086664 -0.625645 0.095242 q: 0.089624 0.801628 -0.160126 0.568963 
time: 1403638628.827830, t: 0.075719 -0.620220 0.088803 q: 0.093233 0.803039 -0.158243 0.566917 
time: 1403638628.927830, t: 0.064396 -0.616198 0.077305 q: 0.097732 0.803124 -0.155819 0.566710 
time: 1403638629.027829, t: 0.053822 -0.614279 0.065955 q: 0.102750 0.804104 -0.152409 0.565359 
time: 1403638629.127830, t: 0.041913 -0.611233 0.057527 q: 0.106207 0.805394 -0.149671 0.563612 
time: 1403638629.227829, t: 0.028345 -0.606255 0.051867 q: 0.107989 0.806394 -0.148202 0.562230 
time: 1403638629.327830, t: 0.018651 -0.601025 0.048832 q: 0.109272 0.807207 -0.147583 0.560978 
time: 1403638629.427830, t: 0.011657 -0.594667 0.049119 q: 0.108847 0.811282 -0.148513 0.554903 
time: 1403638629.527829, t: 0.008281 -0.586673 0.048468 q: 0.106053 0.815884 -0.151179 0.547934 
time: 1403638629.627830, t: 0.010023 -0.579477 0.050755 q: 0.098979 0.816159 -0.156634 0.547315 
time: 1403638629.727829, t: 0.016397 -0.574444 0.055114 q: 0.088887 0.812103 -0.164334 0.552795 
optimize pose graph 
time: 1403638629.927830, t: 0.029154 -0.572758 0.053899 q: 0.090307 0.799958 -0.164837 0.569860 
time: 1403638630.027829, t: 0.033205 -0.576205 0.040805 q: 0.101301 0.794158 -0.157664 0.578094 
time: 1403638630.127830, t: 0.033654 -0.578618 0.016344 q: 0.107914 0.794586 -0.153038 0.577553 
time: 1403638630.227829, t: 0.032028 -0.580002 -0.015363 q: 0.110424 0.798707 -0.150985 0.571907 
time: 1403638630.327830, t: 0.029217 -0.579883 -0.053280 q: 0.112729 0.805385 -0.150566 0.562118 
time: 1403638630.427830, t: 0.038370 -0.576576 -0.055622 q: 0.097970 0.811541 -0.157061 0.554198 
time: 1403638630.527829, t: 0.050170 -0.576161 -0.047816 q: 0.107136 0.802028 -0.149710 0.568208 
time: 1403638630.627830, t: 0.060560 -0.575178 -0.060131 q: 0.107917 0.801226 -0.150061 0.569098 
time: 1403638630.727829, t: 0.066337 -0.576757 -0.075931 q: 0.098233 0.827471 -0.143448 0.533915 
time: 1403638630.827830, t: 0.058617 -0.581253 -0.083664 q: 0.102527 0.824913 -0.145278 0.536564 
time: 1403638630.927830, t: 0.056535 -0.586142 -0.088234 q: 0.101270 0.825864 -0.143370 0.535853 
time: 1403638631.027829, t: 0.074584 -0.587405 -0.059234 q: 0.101266 0.826412 -0.144195 0.534786 
time: 1403638631.127830, t: 0.072492 -0.586211 -0.058704 q: 0.100900 0.826432 -0.144573 0.534722 
time: 1403638631.227829, t: 0.066473 -0.586618 -0.056454 q: 0.100929 0.826527 -0.144436 0.534607 
time: 1403638631.327830, t: 0.063313 -0.587325 -0.056596 q: 0.101005 0.826314 -0.144390 0.534934 
time: 1403638631.427830, t: 0.049628 -0.589658 -0.054689 q: 0.100937 0.826265 -0.143950 0.535141 
time: 1403638631.527829, t: 0.041982 -0.593361 -0.058026 q: 0.100798 0.826338 -0.143928 0.535060 
time: 1403638631.627830, t: 0.010284 -0.581658 -0.113693 q: 0.101274 0.826084 -0.143810 0.535395 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720484615.671924365]: Shutdown request received.[0m
[33m[ WARN] [1720484615.671966608]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720484615.672935211]: Shutdown request received.[0m
[33m[ WARN] [1720484615.672973072]: Reason given for shutdown: [user request][0m
killed
