/SLAM-Hive/slam_hive_results/mapping_results/3042/2250_vins-fusion-stereo+MH_04_difficult+Image_comb_test-0.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720506666.407042945]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720506666.409127289]: init begins[0m
[31m[ERROR] [1720506666.410279009]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/d261acd4-3dbc-11ef-bc6d-0242ac110005/roslaunch-fe5abd6ed2db-119.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;roscore
[1mstarted roslaunch server http://fe5abd6ed2db:42549/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [156][0m
[0m[ INFO] [1720506667.513359604]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720506667.514841087]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720506667.521246615]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720506667.521475265]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720506667.521499693]: ROW: 480 COL: 752 [0m
no imu, fix extrinsic param; no time offset calibration
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
 exitrinsic cam 1
 0.0125553  -0.999755  0.0182238
  0.999599  0.0130119  0.0251588
-0.0253898  0.0179006   0.999517
-0.0198436  0.0453689 0.00786212
set g   0   0 9.8
[0m[ INFO] [1720506667.521761096]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720506667.521955153]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720506667.522114393]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1mROS_MASTER_URI=http://fe5abd6ed2db:11311/[0m
]2;roscore http://fe5abd6ed2db:11311/
[1msetting /run_id to d261acd4-3dbc-11ef-bc6d-0242ac110005[0m
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VO input, perfrom 6 DoF pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [243][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_04_difficult.bag  --clock 
[0m[ INFO] [1720506676.546694684]: Opening /slamhive/dataset/MH_04_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403638127.329873   Duration: 0.000000 / 102.582288   Delay: 316868549.44 
throw img0
[0m[ INFO] [1720506678.011453463]: Initialization finish![0m
time: 1403638128.345097, t: -0.000031 -0.000064 0.000063 q: 1.000000 -0.000053 -0.000752 0.000217 
time: 1403638128.445097, t: -0.000049 -0.000056 0.000065 q: 1.000000 -0.000124 -0.000762 0.000414 
time: 1403638128.545097, t: -0.000069 -0.000056 0.000069 q: 0.999999 -0.000132 -0.000838 0.000575 
time: 1403638128.645097, t: -0.000055 -0.000053 0.000068 q: 1.000000 -0.000209 -0.000821 0.000493 
time: 1403638128.745097, t: -0.000141 -0.000052 0.000194 q: 0.999997 -0.000331 -0.001458 0.001672 
time: 1403638128.845097, t: -0.000112 -0.000035 0.000147 q: 0.999997 -0.001127 -0.001809 0.001517 
time: 1403638128.945097, t: 0.000048 -0.000059 0.000073 q: 0.999998 -0.001535 -0.001566 0.000127 
time: 1403638129.045097, t: 0.000137 -0.000056 0.000135 q: 0.999999 -0.001183 -0.001091 -0.000427 
time: 1403638129.145097, t: 0.000892 -0.000324 0.000038 q: 0.999985 -0.002228 0.000526 -0.005047 
time: 1403638129.245097, t: 0.002454 -0.000054 0.000237 q: 0.999965 0.000950 0.007088 0.004359 
time: 1403638129.345097, t: 0.002938 0.002406 -0.000580 q: 0.998493 0.009448 0.032620 0.043105 
time: 1403638129.445097, t: 0.010682 0.004135 -0.006059 q: 0.997387 0.012354 0.036391 0.061179 
time: 1403638129.545097, t: 0.028353 0.003372 -0.011124 q: 0.998919 0.011892 0.014659 0.042470 
time: 1403638129.645097, t: 0.023846 0.000873 -0.008420 q: 0.999844 0.009480 0.001278 0.014872 
time: 1403638129.745097, t: 0.044996 0.000270 -0.015883 q: 0.999888 0.008302 0.006612 0.010588 
time: 1403638129.845097, t: 0.064260 -0.001602 -0.022836 q: 0.999897 0.010538 0.000361 0.009779 
time: 1403638129.945097, t: 0.091750 -0.005263 -0.033219 q: 0.999878 0.012562 -0.009019 0.002380 
time: 1403638130.045097, t: 0.126533 -0.008121 -0.046291 q: 0.999834 0.015385 0.003567 0.009086 
time: 1403638130.145097, t: 0.164341 -0.010885 -0.060401 q: 0.999517 0.020367 0.015378 0.017732 
time: 1403638130.245097, t: 0.202071 -0.014210 -0.073806 q: 0.999453 0.025918 0.015365 0.013655 
time: 1403638130.345097, t: 0.242382 -0.016158 -0.089447 q: 0.998875 0.031266 0.026100 0.024275 
time: 1403638130.445097, t: 0.281166 -0.018343 -0.103760 q: 0.998227 0.037624 0.032160 0.033060 
time: 1403638130.545097, t: 0.318865 -0.023742 -0.117598 q: 0.998615 0.039696 0.027801 0.020502 
time: 1403638130.645097, t: 0.354850 -0.026939 -0.135216 q: 0.998553 0.038702 0.033248 0.016997 
time: 1403638130.745097, t: 0.389111 -0.023527 -0.155129 q: 0.997406 0.042890 0.046611 0.034199 
time: 1403638130.845097, t: 0.413688 -0.029069 -0.161123 q: 0.996377 0.049424 0.051503 0.046237 
time: 1403638130.945097, t: 0.431890 -0.030360 -0.170727 q: 0.995765 0.049705 0.059364 0.049573 
time: 1403638131.045097, t: 0.434105 -0.015573 -0.173704 q: 0.994404 0.045023 0.077925 0.055336 
time: 1403638131.145097, t: 0.422243 -0.014001 -0.169162 q: 0.994937 0.041936 0.076388 0.050063 
time: 1403638131.245097, t: 0.398815 -0.020358 -0.157715 q: 0.997105 0.038866 0.057634 0.030826 
time: 1403638131.345097, t: 0.368915 -0.020825 -0.145961 q: 0.997986 0.038080 0.046265 0.020839 
time: 1403638131.445097, t: 0.340188 -0.013946 -0.134564 q: 0.997992 0.036271 0.047008 0.022057 
time: 1403638131.545097, t: 0.302844 -0.013873 -0.123504 q: 0.998395 0.031848 0.044054 0.015857 
time: 1403638131.645097, t: 0.265528 -0.009077 -0.110530 q: 0.998698 0.031671 0.038203 0.011838 
time: 1403638131.745097, t: 0.222797 -0.004222 -0.095865 q: 0.998791 0.029942 0.038254 0.007535 
time: 1403638131.845097, t: 0.183994 0.002561 -0.085959 q: 0.999062 0.024142 0.035806 -0.003099 
time: 1403638132.045097, t: 0.122725 0.007879 -0.064875 q: 0.999137 0.019945 0.027215 -0.024212 
time: 1403638132.145097, t: 0.121076 0.005965 -0.064520 q: 0.998859 0.021791 0.017779 -0.038608 
time: 1403638132.345097, t: 0.196518 0.006807 -0.098926 q: 0.998453 0.032405 0.039597 -0.021769 
time: 1403638132.445097, t: 0.245819 0.001112 -0.122631 q: 0.997945 0.042866 0.047155 -0.006714 
time: 1403638132.545097, t: 0.300264 0.001773 -0.149498 q: 0.996141 0.053129 0.067734 0.017108 
time: 1403638132.645097, t: 0.347140 -0.019256 -0.161476 q: 0.994353 0.058570 0.082280 0.032573 
time: 1403638132.745097, t: 0.373048 -0.037678 -0.179965 q: 0.995004 0.060662 0.071368 0.034545 
time: 1403638132.845097, t: 0.388162 -0.028917 -0.179061 q: 0.994608 0.061694 0.073167 0.039933 
time: 1403638132.945097, t: 0.393738 -0.027191 -0.186554 q: 0.992819 0.064188 0.087058 0.051097 
time: 1403638133.045097, t: 0.384763 -0.027048 -0.180655 q: 0.992827 0.068448 0.087982 0.043232 
time: 1403638133.145097, t: 0.370102 -0.019336 -0.173060 q: 0.994417 0.064371 0.078585 0.028564 
time: 1403638133.245097, t: 0.345204 0.015464 -0.157808 q: 0.995372 0.050983 0.076955 0.026721 
time: 1403638133.345097, t: 0.323994 0.055228 -0.147237 q: 0.996683 0.030865 0.071404 0.023933 
time: 1403638133.445097, t: 0.295889 0.094562 -0.144453 q: 0.997751 0.009003 0.063118 0.020704 
time: 1403638133.545097, t: 0.273740 0.137510 -0.141811 q: 0.997573 -0.014096 0.061364 0.029737 
time: 1403638133.645097, t: 0.249722 0.184976 -0.146825 q: 0.997063 -0.026250 0.055173 0.046172 
time: 1403638133.745097, t: 0.227460 0.230605 -0.153465 q: 0.996444 -0.040802 0.048447 0.055559 
time: 1403638133.845097, t: 0.209243 0.264037 -0.162705 q: 0.995639 -0.061241 0.044267 0.054716 
time: 1403638133.945097, t: 0.196561 0.279566 -0.159818 q: 0.994850 -0.074558 0.040876 0.055175 
time: 1403638134.045097, t: 0.195336 0.272607 -0.142668 q: 0.994583 -0.078766 0.041422 0.053708 
time: 1403638134.145097, t: 0.205593 0.253151 -0.120437 q: 0.995499 -0.076588 0.034232 0.044092 
time: 1403638134.345097, t: 0.236120 0.190170 -0.056384 q: 0.994241 -0.075857 0.051152 0.055807 
time: 1403638134.445097, t: 0.257338 0.157051 -0.022305 q: 0.994467 -0.070213 0.045444 0.063571 
time: 1403638134.545097, t: 0.270738 0.117062 0.004340 q: 0.994025 -0.066666 0.047082 0.072477 
time: 1403638134.645097, t: 0.275734 0.072197 0.024627 q: 0.993907 -0.060598 0.047003 0.079171 
time: 1403638134.745097, t: 0.282155 0.026236 0.037879 q: 0.994669 -0.055349 0.037618 0.078460 
time: 1403638134.845097, t: 0.301414 -0.021036 0.043792 q: 0.995553 -0.053852 0.027370 0.072285 
time: 1403638134.945097, t: 0.309284 -0.062130 0.049415 q: 0.995478 -0.054667 0.031936 0.070818 
time: 1403638135.045097, t: 0.312912 -0.098752 0.053370 q: 0.995625 -0.055023 0.033314 0.067770 
time: 1403638135.145097, t: 0.310846 -0.124170 0.057520 q: 0.996567 -0.052311 0.024999 0.059103 
time: 1403638135.245097, t: 0.300983 -0.135121 0.058579 q: 0.997003 -0.051976 0.018739 0.054145 
time: 1403638135.345097, t: 0.290539 -0.130554 0.052374 q: 0.996882 -0.054371 0.021849 0.052843 
time: 1403638135.445097, t: 0.275585 -0.115705 0.044163 q: 0.996630 -0.061459 0.022195 0.049582 
time: 1403638135.545097, t: 0.260827 -0.087779 0.034513 q: 0.996593 -0.066818 0.014494 0.046131 
time: 1403638135.645097, t: 0.250048 -0.051693 0.017058 q: 0.996096 -0.075958 0.012871 0.043099 
time: 1403638135.745097, t: 0.252062 -0.006998 0.002192 q: 0.994704 -0.083707 0.021452 0.055647 
time: 1403638135.845097, t: 0.239779 0.024423 -0.015140 q: 0.994240 -0.087816 0.018991 0.058441 
time: 1403638135.945097, t: 0.234080 0.053134 -0.039638 q: 0.994399 -0.095150 0.005138 0.045727 
time: 1403638136.045097, t: 0.235273 0.085395 -0.065445 q: 0.993631 -0.105293 0.005731 0.039717 
time: 1403638136.145097, t: 0.245494 0.131350 -0.096535 q: 0.992082 -0.113722 0.022867 0.048142 
time: 1403638136.245097, t: 0.243032 0.175749 -0.124254 q: 0.990747 -0.118565 0.033456 0.056953 
time: 1403638136.345097, t: 0.232065 0.215801 -0.146759 q: 0.989708 -0.129255 0.032234 0.052266 
time: 1403638136.445097, t: 0.213411 0.245943 -0.160879 q: 0.989212 -0.135529 0.026711 0.048771 
time: 1403638136.545097, t: 0.208542 0.257533 -0.169373 q: 0.988334 -0.140003 0.022394 0.055621 
time: 1403638136.645097, t: 0.216327 0.246551 -0.171109 q: 0.988240 -0.135219 0.024814 0.066950 
time: 1403638136.745097, t: 0.231034 0.218968 -0.169938 q: 0.989424 -0.122550 0.026738 0.072841 
time: 1403638136.845097, t: 0.247861 0.179688 -0.164288 q: 0.990629 -0.103339 0.034402 0.082418 
time: 1403638136.945097, t: 0.256573 0.137271 -0.153613 q: 0.990036 -0.085867 0.052713 0.098375 
time: 1403638137.045097, t: 0.248307 0.095394 -0.135300 q: 0.989735 -0.074235 0.062125 0.105141 
time: 1403638137.145097, t: 0.223937 0.060436 -0.118135 q: 0.991422 -0.069281 0.054871 0.096292 
time: 1403638137.245097, t: 0.191438 0.030330 -0.088753 q: 0.993730 -0.064498 0.039796 0.082196 
time: 1403638137.345097, t: 0.160135 0.013659 -0.073030 q: 0.995079 -0.059584 0.029295 0.073542 
time: 1403638137.445097, t: 0.128313 0.001702 -0.055915 q: 0.995880 -0.061948 0.018359 0.063631 
time: 1403638137.545097, t: 0.100953 -0.008456 -0.042339 q: 0.996601 -0.066626 0.002230 0.048406 
time: 1403638137.645097, t: 0.072707 -0.019642 -0.033983 q: 0.996610 -0.073773 -0.006671 0.035787 
time: 1403638137.745097, t: 0.048805 -0.024786 -0.020787 q: 0.996037 -0.081259 -0.003650 0.035971 
time: 1403638137.845097, t: 0.034469 -0.026622 -0.016930 q: 0.995686 -0.084908 -0.008588 0.036419 
time: 1403638137.945097, t: 0.022518 -0.029495 -0.012232 q: 0.995438 -0.088109 -0.024903 0.026836 
time: 1403638138.045097, t: 0.012774 -0.033183 -0.008020 q: 0.995352 -0.087732 -0.034298 0.020018 
time: 1403638138.145097, t: 0.009256 -0.034077 -0.007000 q: 0.995519 -0.088461 -0.023385 0.023861 
time: 1403638138.245097, t: 0.014933 -0.030414 -0.006367 q: 0.995563 -0.085422 -0.025942 0.029724 
optimize pose graph 
time: 1403638138.345097, t: 0.008927 -0.032841 -0.006112 q: 0.995438 -0.090038 -0.007295 0.030700 
time: 1403638138.445097, t: 0.007856 -0.032963 -0.007034 q: 0.995442 -0.090488 -0.002107 0.030058 
time: 1403638138.545097, t: 0.007765 -0.032889 -0.006779 q: 0.995446 -0.090337 -0.001673 0.030393 
time: 1403638138.645097, t: 0.007465 -0.032948 -0.007221 q: 0.995440 -0.090348 -0.001733 0.030540 
time: 1403638138.745097, t: 0.006658 -0.033151 -0.006193 q: 0.995445 -0.090234 -0.001557 0.030739 
time: 1403638138.845097, t: 0.007398 -0.033175 -0.005708 q: 0.995469 -0.090229 -0.001775 0.029963 
time: 1403638138.945097, t: 0.007394 -0.033228 -0.005655 q: 0.995447 -0.090297 -0.001950 0.030468 
time: 1403638139.045097, t: 0.007439 -0.033354 -0.005625 q: 0.995447 -0.090162 -0.001742 0.030880 
time: 1403638139.145097, t: 0.007422 -0.033451 -0.005601 q: 0.995448 -0.090042 -0.001722 0.031197 
time: 1403638139.245097, t: 0.007432 -0.033491 -0.005591 q: 0.995447 -0.089969 -0.001734 0.031421 
time: 1403638139.345097, t: 0.007424 -0.033469 -0.005588 q: 0.995447 -0.090001 -0.001764 0.031327 
time: 1403638139.445097, t: 0.007492 -0.033387 -0.005559 q: 0.995451 -0.090021 -0.001755 0.031168 
time: 1403638139.545097, t: 0.007422 -0.033391 -0.005562 q: 0.995448 -0.090095 -0.001758 0.031049 
time: 1403638139.645097, t: 0.007433 -0.033386 -0.005596 q: 0.995447 -0.090115 -0.001771 0.031004 
time: 1403638139.745097, t: 0.007443 -0.033379 -0.005599 q: 0.995446 -0.090126 -0.001767 0.030994 
time: 1403638139.845097, t: 0.007433 -0.033382 -0.005596 q: 0.995446 -0.090133 -0.001807 0.030999 
time: 1403638139.945097, t: 0.007443 -0.033397 -0.005587 q: 0.995444 -0.090116 -0.001787 0.031090 
time: 1403638140.045097, t: 0.007448 -0.033407 -0.005594 q: 0.995445 -0.090096 -0.001803 0.031135 
time: 1403638140.145097, t: 0.007438 -0.033400 -0.005605 q: 0.995445 -0.090109 -0.001796 0.031095 
time: 1403638140.245097, t: 0.007432 -0.033391 -0.005561 q: 0.995447 -0.090073 -0.001793 0.031140 
time: 1403638140.345097, t: 0.007431 -0.033398 -0.005563 q: 0.995444 -0.090106 -0.001792 0.031118 
time: 1403638140.445097, t: 0.007442 -0.033394 -0.005590 q: 0.995444 -0.090119 -0.001797 0.031087 
time: 1403638140.545097, t: 0.007437 -0.033396 -0.005592 q: 0.995444 -0.090117 -0.001797 0.031099 
time: 1403638140.645097, t: 0.007442 -0.033401 -0.005597 q: 0.995444 -0.090106 -0.001801 0.031121 
time: 1403638140.745097, t: 0.007444 -0.033401 -0.005594 q: 0.995443 -0.090111 -0.001798 0.031130 
time: 1403638140.845097, t: 0.007443 -0.033400 -0.005591 q: 0.995444 -0.090118 -0.001800 0.031097 
time: 1403638140.945097, t: 0.007440 -0.033396 -0.005593 q: 0.995443 -0.090118 -0.001808 0.031110 
time: 1403638141.045097, t: 0.007439 -0.033396 -0.005597 q: 0.995444 -0.090113 -0.001804 0.031108 
time: 1403638141.145097, t: 0.007441 -0.033397 -0.005596 q: 0.995443 -0.090128 -0.001809 0.031083 
time: 1403638141.245097, t: 0.007448 -0.033397 -0.005591 q: 0.995443 -0.090126 -0.001803 0.031089 
time: 1403638141.345097, t: 0.007444 -0.033399 -0.005597 q: 0.995444 -0.090113 -0.001809 0.031108 
time: 1403638141.545097, t: 0.007434 -0.033380 -0.005548 q: 0.995446 -0.090087 -0.001802 0.031120 
time: 1403638141.645097, t: 0.007434 -0.033398 -0.005552 q: 0.995444 -0.090094 -0.001792 0.031147 
time: 1403638141.745097, t: 0.007437 -0.033400 -0.005589 q: 0.995444 -0.090105 -0.001795 0.031144 
time: 1403638141.845097, t: 0.007439 -0.033398 -0.005581 q: 0.995444 -0.090106 -0.001797 0.031121 
time: 1403638141.945097, t: 0.007443 -0.033375 -0.005576 q: 0.995442 -0.090126 -0.001818 0.031123 
time: 1403638142.045097, t: 0.007454 -0.033440 -0.005594 q: 0.995448 -0.090053 -0.001806 0.031168 
time: 1403638142.145097, t: 0.007452 -0.033448 -0.005599 q: 0.995455 -0.089968 -0.001818 0.031161 
time: 1403638142.245097, t: 0.007437 -0.033314 -0.005619 q: 0.995397 -0.090559 -0.001831 0.031323 
time: 1403638142.345097, t: 0.007434 -0.033329 -0.005617 q: 0.995402 -0.090514 -0.001857 0.031282 
time: 1403638142.445097, t: 0.007427 -0.033376 -0.005616 q: 0.995421 -0.090318 -0.001874 0.031256 
time: 1403638142.545097, t: 0.007440 -0.033435 -0.005595 q: 0.995437 -0.090134 -0.001823 0.031277 
time: 1403638142.645097, t: 0.007465 -0.033484 -0.005578 q: 0.995467 -0.089843 -0.001829 0.031143 
time: 1403638142.745097, t: 0.007468 -0.033463 -0.005582 q: 0.995459 -0.089935 -0.001787 0.031154 
time: 1403638142.845097, t: 0.007458 -0.033408 -0.005591 q: 0.995436 -0.090179 -0.001814 0.031163 
time: 1403638142.945097, t: 0.007463 -0.033423 -0.005587 q: 0.995458 -0.089981 -0.001834 0.031035 
time: 1403638143.045097, t: 0.007482 -0.033460 -0.005575 q: 0.995473 -0.089855 -0.001819 0.030928 
time: 1403638143.145097, t: 0.007487 -0.033440 -0.005578 q: 0.995470 -0.089891 -0.001802 0.030925 
time: 1403638143.245097, t: 0.007482 -0.033416 -0.005598 q: 0.995462 -0.089977 -0.001814 0.030928 
time: 1403638143.345097, t: 0.007476 -0.033411 -0.005593 q: 0.995458 -0.090032 -0.001854 0.030894 
time: 1403638143.445097, t: 0.007483 -0.033399 -0.005606 q: 0.995456 -0.090032 -0.001813 0.030944 
time: 1403638143.545097, t: 0.007476 -0.033413 -0.005637 q: 0.995450 -0.090095 -0.001802 0.030983 
time: 1403638143.645097, t: 0.007474 -0.033406 -0.005633 q: 0.995440 -0.090153 -0.001831 0.031127 
time: 1403638143.745097, t: 0.007479 -0.033412 -0.005622 q: 0.995441 -0.090151 -0.001815 0.031093 
time: 1403638143.845097, t: 0.007482 -0.033419 -0.005609 q: 0.995446 -0.090094 -0.001792 0.031104 
time: 1403638143.945097, t: 0.007478 -0.033407 -0.005583 q: 0.995441 -0.090159 -0.001803 0.031058 
time: 1403638144.045097, t: 0.007489 -0.033414 -0.005600 q: 0.995443 -0.090128 -0.001813 0.031092 
time: 1403638144.145097, t: 0.007474 -0.033406 -0.005573 q: 0.995440 -0.090163 -0.001815 0.031081 
time: 1403638144.245097, t: 0.007484 -0.033420 -0.005604 q: 0.995443 -0.090135 -0.001806 0.031063 
time: 1403638144.345097, t: 0.007480 -0.033420 -0.005607 q: 0.995448 -0.090079 -0.001815 0.031086 
time: 1403638144.445097, t: 0.007474 -0.033419 -0.005614 q: 0.995444 -0.090118 -0.001807 0.031091 
time: 1403638144.545097, t: 0.007476 -0.033405 -0.005621 q: 0.995438 -0.090173 -0.001817 0.031112 
time: 1403638144.645097, t: 0.007472 -0.033413 -0.005633 q: 0.995446 -0.090111 -0.001805 0.031050 
time: 1403638144.745097, t: 0.007470 -0.033411 -0.005622 q: 0.995448 -0.090098 -0.001811 0.031015 
time: 1403638144.845097, t: 0.007488 -0.033419 -0.005606 q: 0.995449 -0.090074 -0.001781 0.031054 
time: 1403638144.945097, t: 0.007479 -0.033413 -0.005602 q: 0.995447 -0.090100 -0.001845 0.031034 
time: 1403638145.045097, t: 0.007477 -0.033420 -0.005606 q: 0.995446 -0.090110 -0.001842 0.031041 
time: 1403638145.145097, t: 0.007478 -0.033412 -0.005602 q: 0.995444 -0.090136 -0.001854 0.031046 
time: 1403638145.245097, t: 0.007480 -0.033409 -0.005600 q: 0.995445 -0.090131 -0.001836 0.031030 
time: 1403638145.345097, t: 0.007475 -0.033414 -0.005600 q: 0.995445 -0.090118 -0.001809 0.031065 
time: 1403638145.445097, t: 0.007481 -0.033382 -0.005626 q: 0.995435 -0.090239 -0.001777 0.031024 
time: 1403638145.545097, t: 0.007507 -0.033386 -0.005619 q: 0.995437 -0.090204 -0.001732 0.031059 
time: 1403638145.645097, t: 0.007484 -0.033406 -0.005619 q: 0.995441 -0.090157 -0.001789 0.031085 
time: 1403638145.745097, t: 0.007493 -0.033407 -0.005609 q: 0.995442 -0.090135 -0.001782 0.031095 
time: 1403638145.845097, t: 0.007495 -0.033419 -0.005611 q: 0.995443 -0.090127 -0.001767 0.031089 
time: 1403638145.945097, t: 0.007480 -0.033410 -0.005617 q: 0.995440 -0.090166 -0.001797 0.031084 
time: 1403638146.045097, t: 0.007498 -0.033416 -0.005609 q: 0.995448 -0.090087 -0.001777 0.031069 
time: 1403638146.145097, t: 0.007505 -0.033414 -0.005607 q: 0.995448 -0.090089 -0.001773 0.031054 
time: 1403638146.245097, t: 0.007505 -0.033412 -0.005616 q: 0.995446 -0.090113 -0.001775 0.031058 
time: 1403638146.345097, t: 0.007526 -0.033402 -0.005622 q: 0.995442 -0.090134 -0.001753 0.031109 
time: 1403638146.445097, t: 0.007540 -0.033414 -0.005614 q: 0.995444 -0.090118 -0.001729 0.031108 
time: 1403638146.545097, t: 0.007535 -0.033403 -0.005628 q: 0.995445 -0.090127 -0.001699 0.031055 
time: 1403638146.645097, t: 0.007538 -0.033393 -0.005622 q: 0.995439 -0.090174 -0.001734 0.031085 
time: 1403638146.745097, t: 0.007548 -0.033397 -0.005627 q: 0.995444 -0.090141 -0.001733 0.031035 
time: 1403638146.845097, t: 0.007552 -0.033387 -0.005626 q: 0.995445 -0.090137 -0.001703 0.031007 
time: 1403638146.945097, t: 0.007558 -0.033404 -0.005608 q: 0.995449 -0.090082 -0.001754 0.031033 
time: 1403638147.045097, t: 0.007568 -0.033426 -0.005556 q: 0.995447 -0.090091 -0.001827 0.031059 
time: 1403638147.145097, t: 0.007515 -0.033559 -0.005469 q: 0.995464 -0.089864 -0.002052 0.031174 
time: 1403638147.245097, t: 0.007505 -0.033567 -0.005445 q: 0.995467 -0.089842 -0.002086 0.031151 
time: 1403638147.345097, t: 0.007551 -0.033512 -0.005469 q: 0.995460 -0.089931 -0.001951 0.031124 
time: 1403638147.445097, t: 0.007588 -0.033489 -0.005518 q: 0.995459 -0.089917 -0.001842 0.031189 
time: 1403638147.545097, t: 0.007709 -0.033348 -0.005594 q: 0.995474 -0.089716 -0.000902 0.031319 
time: 1403638147.645097, t: 0.007769 -0.033309 -0.005379 q: 0.995545 -0.089081 -0.000769 0.030884 
time: 1403638147.745097, t: 0.008416 -0.033247 -0.004703 q: 0.995617 -0.088227 0.000375 0.031032 
time: 1403638147.845097, t: 0.011745 -0.032124 -0.002859 q: 0.995300 -0.091197 0.008025 0.031575 
time: 1403638147.945097, t: 0.020977 -0.030844 -0.000384 q: 0.994777 -0.094296 0.022352 0.032047 
time: 1403638148.045097, t: 0.037880 -0.028817 0.003343 q: 0.994423 -0.095327 0.032258 0.031533 
time: 1403638148.145097, t: 0.063289 -0.027385 0.003207 q: 0.994292 -0.094749 0.039088 0.029623 
time: 1403638148.245097, t: 0.098781 -0.025335 0.003086 q: 0.994446 -0.092305 0.041986 0.028177 
optimize pose graph 
time: 1403638148.345097, t: 0.146507 -0.024792 -0.005274 q: 0.994702 -0.089331 0.043501 0.026377 
time: 1403638148.445097, t: 0.193236 -0.024191 -0.019829 q: 0.995047 -0.086812 0.041659 0.024693 
time: 1403638148.545097, t: 0.221330 -0.022856 -0.022827 q: 0.995526 -0.085671 0.033179 0.022079 
time: 1403638148.645097, t: 0.228304 -0.022769 -0.016069 q: 0.995929 -0.083771 0.025969 0.020801 
time: 1403638148.745097, t: 0.229976 -0.022620 -0.002144 q: 0.996249 -0.081395 0.020632 0.020922 
time: 1403638148.845097, t: 0.235834 -0.024126 0.010865 q: 0.996482 -0.079131 0.017803 0.021118 
time: 1403638148.945097, t: 0.257538 -0.026600 0.021446 q: 0.996607 -0.077481 0.018679 0.020558 
time: 1403638149.045097, t: 0.288675 -0.030473 0.032154 q: 0.996623 -0.075940 0.024417 0.019480 
time: 1403638149.145097, t: 0.334598 -0.031317 0.038976 q: 0.996575 -0.074963 0.029891 0.018055 
time: 1403638149.245097, t: 0.381774 -0.036153 0.047000 q: 0.996530 -0.074227 0.032812 0.018487 
time: 1403638149.345097, t: 0.420322 -0.044731 0.063141 q: 0.996481 -0.073163 0.035163 0.020895 
time: 1403638149.445097, t: 0.463015 -0.048225 0.070630 q: 0.996472 -0.072738 0.036453 0.020582 
time: 1403638149.545097, t: 0.493200 -0.054030 0.088000 q: 0.996438 -0.073036 0.037546 0.019150 
time: 1403638149.645097, t: 0.519693 -0.060466 0.103805 q: 0.996650 -0.070833 0.037199 0.016984 
time: 1403638149.745097, t: 0.542802 -0.070692 0.121657 q: 0.997077 -0.065006 0.037721 0.013724 
time: 1403638149.845097, t: 0.563011 -0.076454 0.137772 q: 0.997489 -0.059376 0.036686 0.011980 
time: 1403638149.945097, t: 0.573547 -0.086843 0.159100 q: 0.997713 -0.055718 0.036867 0.010280 
time: 1403638150.045097, t: 0.580036 -0.097559 0.181077 q: 0.997796 -0.055120 0.036696 0.004273 
time: 1403638150.145097, t: 0.579719 -0.111003 0.203810 q: 0.997727 -0.056904 0.035721 -0.005166 
time: 1403638150.245097, t: 0.576229 -0.127826 0.229577 q: 0.997522 -0.059210 0.035608 -0.013280 
optimize pose graph 
time: 1403638150.345097, t: 0.567012 -0.149807 0.259029 q: 0.997725 -0.058743 0.030419 -0.012993 
time: 1403638150.445097, t: 0.559828 -0.177224 0.287152 q: 0.998423 -0.051946 0.020164 -0.006812 
time: 1403638150.545097, t: 0.558783 -0.206895 0.314813 q: 0.999054 -0.041444 0.012713 -0.003502 
time: 1403638150.645097, t: 0.570008 -0.242046 0.341154 q: 0.999420 -0.032613 0.009422 -0.002763 
time: 1403638150.845097, t: 0.616931 -0.319445 0.401641 q: 0.999693 -0.017919 0.014155 -0.009649 
time: 1403638150.945097, t: 0.646699 -0.354492 0.430726 q: 0.999647 -0.009889 0.019543 -0.015023 
time: 1403638151.045097, t: 0.678571 -0.394870 0.465317 q: 0.999488 -0.000210 0.024475 -0.020618 
time: 1403638151.145097, t: 0.706201 -0.440367 0.500691 q: 0.999042 0.014038 0.028782 -0.029819 
time: 1403638151.245097, t: 0.721950 -0.487908 0.542504 q: 0.998262 0.034722 0.028483 -0.038150 
time: 1403638151.345097, t: 0.732555 -0.538668 0.586353 q: 0.996881 0.057523 0.026631 -0.047015 
time: 1403638151.445097, t: 0.745795 -0.592823 0.627553 q: 0.994802 0.082485 0.026021 -0.053733 
time: 1403638151.545097, t: 0.764391 -0.648793 0.669450 q: 0.992237 0.104748 0.026087 -0.061746 
time: 1403638151.645097, t: 0.786650 -0.708050 0.706953 q: 0.989889 0.121586 0.026352 -0.068128 
time: 1403638151.745097, t: 0.816191 -0.771179 0.738918 q: 0.988055 0.132815 0.026267 -0.073605 
time: 1403638151.845097, t: 0.850672 -0.835164 0.771953 q: 0.986835 0.140005 0.025118 -0.076975 
time: 1403638151.945097, t: 0.891499 -0.893572 0.797060 q: 0.986115 0.143382 0.024099 -0.080231 
time: 1403638152.045097, t: 0.939880 -0.960303 0.821136 q: 0.985875 0.144638 0.022651 -0.081342 
time: 1403638152.145097, t: 0.979871 -1.024548 0.845666 q: 0.985806 0.144413 0.022364 -0.082649 
time: 1403638152.245097, t: 1.014813 -1.088388 0.873967 q: 0.985810 0.143694 0.022508 -0.083807 
optimize pose graph 
time: 1403638152.345097, t: 1.042275 -1.156409 0.906941 q: 0.985888 0.141461 0.023466 -0.086390 
time: 1403638152.445097, t: 1.060203 -1.227071 0.944909 q: 0.986066 0.138884 0.022978 -0.088642 
time: 1403638152.545097, t: 1.072629 -1.294932 0.985330 q: 0.986129 0.137321 0.022885 -0.090385 
time: 1403638152.745097, t: 1.097147 -1.456432 1.064488 q: 0.985875 0.143090 0.018326 -0.085088 
time: 1403638152.845097, t: 1.114418 -1.538510 1.105739 q: 0.984369 0.153831 0.020577 -0.083247 
time: 1403638152.945097, t: 1.138498 -1.624249 1.143544 q: 0.981857 0.167862 0.026381 -0.084165 
time: 1403638153.045097, t: 1.172664 -1.707982 1.175283 q: 0.978809 0.182773 0.023956 -0.089175 
time: 1403638153.145097, t: 1.209706 -1.792011 1.209382 q: 0.976184 0.194431 0.017523 -0.094629 
time: 1403638153.245097, t: 1.241853 -1.876724 1.243406 q: 0.974179 0.202173 0.014420 -0.099468 
time: 1403638153.345097, t: 1.269537 -1.958292 1.285902 q: 0.971652 0.211473 0.013047 -0.104887 
time: 1403638153.445097, t: 1.296501 -2.045528 1.325595 q: 0.968143 0.222996 0.012300 -0.113232 
time: 1403638153.545097, t: 1.329829 -2.141724 1.364119 q: 0.963706 0.233434 0.012105 -0.128971 
time: 1403638153.645097, t: 1.371970 -2.237797 1.398103 q: 0.958360 0.247884 0.012147 -0.141249 
time: 1403638153.745097, t: 1.405492 -2.334380 1.439776 q: 0.952442 0.267354 0.014411 -0.145495 
time: 1403638153.845097, t: 1.442304 -2.439002 1.474148 q: 0.947205 0.283154 0.016665 -0.149495 
time: 1403638153.945097, t: 1.475827 -2.549455 1.512146 q: 0.943391 0.295313 0.021539 -0.149463 
time: 1403638154.045097, t: 1.501940 -2.660700 1.549328 q: 0.941087 0.303305 0.023759 -0.147639 
time: 1403638154.145097, t: 1.521472 -2.771332 1.587807 q: 0.939536 0.307479 0.029460 -0.147855 
time: 1403638154.245097, t: 1.534718 -2.882768 1.631775 q: 0.938581 0.309105 0.036899 -0.148859 
time: 1403638154.345097, t: 1.543927 -2.992969 1.676043 q: 0.938218 0.310193 0.043297 -0.147150 
time: 1403638154.445097, t: 1.548394 -3.104911 1.716498 q: 0.937985 0.311162 0.052432 -0.143571 
time: 1403638154.545097, t: 1.543262 -3.213667 1.752326 q: 0.938147 0.311287 0.054811 -0.141341 
time: 1403638154.645097, t: 1.540407 -3.320003 1.778775 q: 0.937253 0.314777 0.050314 -0.141210 
time: 1403638154.745097, t: 1.542914 -3.425295 1.797690 q: 0.934942 0.320339 0.042475 -0.146498 
time: 1403638154.845097, t: 1.551992 -3.530858 1.808696 q: 0.932200 0.324680 0.038575 -0.155237 
time: 1403638154.945097, t: 1.566752 -3.635538 1.814128 q: 0.929071 0.329830 0.037921 -0.163097 
time: 1403638155.045097, t: 1.588574 -3.745416 1.810853 q: 0.924779 0.338864 0.039726 -0.168456 
time: 1403638155.145097, t: 1.612789 -3.855548 1.803405 q: 0.919698 0.350269 0.041810 -0.172392 
time: 1403638155.245097, t: 1.629162 -3.963583 1.790003 q: 0.915507 0.360589 0.044885 -0.172650 
time: 1403638155.345097, t: 1.637203 -4.074364 1.777184 q: 0.911840 0.368098 0.050598 -0.174616 
time: 1403638155.445097, t: 1.637189 -4.185272 1.759814 q: 0.907071 0.376874 0.056098 -0.179002 
time: 1403638155.545097, t: 1.632742 -4.294164 1.739446 q: 0.901275 0.389673 0.056588 -0.180711 
time: 1403638155.645097, t: 1.619222 -4.399557 1.721142 q: 0.893824 0.407847 0.056520 -0.177609 
time: 1403638155.745097, t: 1.593031 -4.501819 1.688405 q: 0.884485 0.427803 0.057674 -0.177045 
time: 1403638155.845097, t: 1.563014 -4.601372 1.656254 q: 0.874031 0.447487 0.054415 -0.181285 
time: 1403638155.945097, t: 1.533141 -4.694361 1.632547 q: 0.861808 0.467895 0.043537 -0.190961 
time: 1403638156.045097, t: 1.500721 -4.784269 1.593976 q: 0.848032 0.487902 0.030234 -0.204643 
time: 1403638156.145097, t: 1.476937 -4.869015 1.539218 q: 0.834174 0.507295 0.020201 -0.215401 
time: 1403638156.245097, t: 1.462315 -4.955729 1.498399 q: 0.821441 0.525082 0.013926 -0.222103 
time: 1403638156.345097, t: 1.448968 -5.038967 1.456928 q: 0.810089 0.538926 0.006199 -0.230815 
time: 1403638156.445097, t: 1.437277 -5.121628 1.418509 q: 0.802087 0.548770 0.000231 -0.235603 
time: 1403638156.545097, t: 1.423460 -5.207470 1.381909 q: 0.797048 0.554801 -0.002616 -0.238544 
time: 1403638156.645097, t: 1.404353 -5.295409 1.356195 q: 0.794295 0.558130 -0.003347 -0.239948 
time: 1403638156.745097, t: 1.382257 -5.383955 1.335049 q: 0.793158 0.559374 -0.003600 -0.240807 
time: 1403638156.845097, t: 1.357698 -5.473759 1.314450 q: 0.793599 0.558483 -0.004071 -0.241416 
time: 1403638156.945097, t: 1.334510 -5.565836 1.297131 q: 0.794768 0.556630 -0.004505 -0.241838 
time: 1403638157.045097, t: 1.313507 -5.661092 1.281535 q: 0.796593 0.554175 -0.005929 -0.241443 
time: 1403638157.245097, t: 1.295890 -5.861544 1.247397 q: 0.799893 0.548749 -0.011944 -0.242700 
time: 1403638157.345097, t: 1.297688 -5.970497 1.235685 q: 0.798807 0.549948 -0.008568 -0.243704 
time: 1403638157.445097, t: 1.299879 -6.080966 1.228769 q: 0.797051 0.551187 -0.002094 -0.246777 
time: 1403638157.545097, t: 1.298908 -6.198665 1.220224 q: 0.793063 0.556643 0.003945 -0.247355 
time: 1403638157.645097, t: 1.292030 -6.315542 1.209834 q: 0.785562 0.566294 0.012414 -0.249097 
time: 1403638157.745097, t: 1.286831 -6.437166 1.196052 q: 0.774378 0.578646 0.021100 -0.255074 
time: 1403638157.845097, t: 1.283733 -6.556337 1.180396 q: 0.760387 0.594704 0.023253 -0.259996 
time: 1403638157.945097, t: 1.285925 -6.680125 1.155377 q: 0.745855 0.611504 0.022087 -0.263201 
time: 1403638158.045097, t: 1.292271 -6.801724 1.130836 q: 0.733633 0.624533 0.017496 -0.267272 
time: 1403638158.145097, t: 1.292177 -6.921877 1.107086 q: 0.724482 0.635586 0.011295 -0.266513 
time: 1403638158.245097, t: 1.288054 -7.039253 1.094300 q: 0.717883 0.643327 0.007374 -0.265933 
time: 1403638158.345097, t: 1.281906 -7.154970 1.081685 q: 0.713843 0.646209 0.009090 -0.269739 
time: 1403638158.445097, t: 1.274155 -7.270994 1.069525 q: 0.711835 0.646731 0.013477 -0.273585 
time: 1403638158.545097, t: 1.263490 -7.384450 1.059497 q: 0.711071 0.646243 0.018877 -0.276391 
time: 1403638158.645097, t: 1.248569 -7.497442 1.052032 q: 0.711390 0.645555 0.022172 -0.276932 
time: 1403638158.745097, t: 1.234321 -7.608262 1.040503 q: 0.712541 0.645758 0.019078 -0.273710 
time: 1403638158.845097, t: 1.218911 -7.715239 1.031087 q: 0.714112 0.645081 0.010342 -0.271675 
time: 1403638158.945097, t: 1.214493 -7.823112 1.015501 q: 0.715594 0.643764 0.002343 -0.271085 
time: 1403638159.045097, t: 1.215519 -7.933031 0.999948 q: 0.716705 0.640738 -0.005936 -0.275234 
time: 1403638159.145097, t: 1.220983 -8.042161 0.983353 q: 0.717826 0.636012 -0.017265 -0.282695 
time: 1403638159.245097, t: 1.222352 -8.158129 0.974802 q: 0.718421 0.632143 -0.023582 -0.289326 
time: 1403638159.345097, t: 1.227602 -8.280461 0.964976 q: 0.719411 0.636303 -0.015343 -0.278085 
time: 1403638159.445097, t: 1.230630 -8.409310 0.955681 q: 0.720027 0.643386 0.001123 -0.260026 
time: 1403638159.545097, t: 1.237588 -8.533656 0.954921 q: 0.719508 0.652503 0.012492 -0.237468 
time: 1403638159.645097, t: 1.254038 -8.656596 0.947034 q: 0.718930 0.660116 0.012593 -0.217320 
time: 1403638159.745097, t: 1.277060 -8.771214 0.945553 q: 0.718279 0.664392 0.009900 -0.206304 
time: 1403638159.845097, t: 1.313415 -8.872383 0.952526 q: 0.717706 0.664035 0.017793 -0.208900 
time: 1403638159.945097, t: 1.359772 -8.962423 0.960878 q: 0.717485 0.659373 0.029348 -0.222668 
time: 1403638160.045097, t: 1.413491 -9.042739 0.972162 q: 0.716506 0.656741 0.035667 -0.232460 
time: 1403638160.145097, t: 1.476569 -9.112294 0.978807 q: 0.715957 0.654148 0.032899 -0.241688 
time: 1403638160.245097, t: 1.542380 -9.177657 0.981674 q: 0.715764 0.649199 0.020318 -0.256535 
time: 1403638160.345097, t: 1.620713 -9.237753 0.985183 q: 0.715240 0.645222 0.009555 -0.268383 
time: 1403638160.445097, t: 1.701439 -9.302723 0.983931 q: 0.714961 0.643073 0.003919 -0.274357 
time: 1403638160.545097, t: 1.774611 -9.363957 0.988494 q: 0.715040 0.642142 0.002103 -0.276346 
time: 1403638160.645097, t: 1.844971 -9.432616 0.987663 q: 0.715439 0.641456 0.000073 -0.276914 
time: 1403638160.745097, t: 1.912905 -9.500933 0.992079 q: 0.715515 0.643228 0.001942 -0.272568 
time: 1403638160.845097, t: 1.980549 -9.572650 0.998440 q: 0.718263 0.646017 0.006189 -0.258307 
time: 1403638160.945097, t: 2.052297 -9.629693 1.018244 q: 0.725399 0.644710 0.013382 -0.240760 
time: 1403638161.045097, t: 2.105184 -9.694621 1.036827 q: 0.736626 0.635782 0.020047 -0.229700 
time: 1403638161.145097, t: 2.163585 -9.755647 1.055377 q: 0.750284 0.621359 0.022755 -0.224655 
time: 1403638161.245097, t: 2.235599 -9.801919 1.083396 q: 0.766375 0.601977 0.021594 -0.223220 
time: 1403638161.345097, t: 2.287800 -9.851034 1.110018 q: 0.784159 0.580228 0.020292 -0.219133 
time: 1403638161.445097, t: 2.334477 -9.906269 1.131634 q: 0.798487 0.559999 0.014026 -0.220506 
time: 1403638161.545097, t: 2.387731 -9.946780 1.165305 q: 0.807978 0.545395 0.008550 -0.222806 
time: 1403638161.645097, t: 2.442494 -9.985187 1.206836 q: 0.814496 0.536386 0.004436 -0.221058 
time: 1403638161.745097, t: 2.483029 -10.027550 1.244472 q: 0.818948 0.532336 0.002168 -0.214330 
time: 1403638161.845097, t: 2.521852 -10.077508 1.291810 q: 0.823284 0.528058 0.006088 -0.208139 
time: 1403638161.945097, t: 2.558856 -10.122878 1.339743 q: 0.829087 0.521245 0.011302 -0.201966 
time: 1403638162.045097, t: 2.597929 -10.166641 1.390881 q: 0.834000 0.514710 0.012731 -0.198382 
time: 1403638162.245097, t: 2.698040 -10.246725 1.493580 q: 0.839587 0.507244 0.004930 -0.194352 
time: 1403638162.345097, t: 2.746394 -10.290709 1.543823 q: 0.841353 0.505620 0.000986 -0.190977 
time: 1403638162.445097, t: 2.798554 -10.331240 1.600986 q: 0.842120 0.505852 0.001746 -0.186937 
time: 1403638162.545097, t: 2.853907 -10.368546 1.671179 q: 0.842135 0.505361 0.005238 -0.188127 
time: 1403638162.645097, t: 2.915221 -10.400243 1.742115 q: 0.841547 0.504078 0.008457 -0.193991 
time: 1403638162.745097, t: 2.979688 -10.433742 1.813485 q: 0.840692 0.502954 0.009909 -0.200441 
time: 1403638162.845097, t: 3.047413 -10.469551 1.878658 q: 0.842509 0.500830 0.006407 -0.198260 
time: 1403638162.945097, t: 3.123186 -10.503974 1.944708 q: 0.845496 0.499777 0.007079 -0.187908 
time: 1403638163.045097, t: 3.199412 -10.536050 2.009132 q: 0.848210 0.498407 0.017235 -0.178421 
time: 1403638163.145097, t: 3.270859 -10.561357 2.078939 q: 0.852540 0.493104 0.022142 -0.171857 
time: 1403638163.245097, t: 3.327987 -10.585944 2.163998 q: 0.859021 0.481240 0.023633 -0.173010 
time: 1403638163.345097, t: 3.378141 -10.598253 2.263105 q: 0.866817 0.466512 0.026443 -0.174056 
time: 1403638163.445097, t: 3.436443 -10.607260 2.362541 q: 0.875380 0.450837 0.029142 -0.172068 
time: 1403638163.545097, t: 3.478100 -10.617488 2.456983 q: 0.882530 0.438104 0.030435 -0.168165 
time: 1403638163.645097, t: 3.526586 -10.628136 2.540147 q: 0.887336 0.429151 0.029516 -0.166111 
time: 1403638163.745097, t: 3.584117 -10.637683 2.623109 q: 0.890381 0.423315 0.030341 -0.164636 
time: 1403638163.845097, t: 3.646531 -10.641854 2.705092 q: 0.891802 0.421117 0.032112 -0.162231 
time: 1403638163.945097, t: 3.715108 -10.645096 2.786055 q: 0.892417 0.420923 0.030635 -0.159614 
time: 1403638164.045097, t: 3.790897 -10.644598 2.859440 q: 0.892448 0.422937 0.026302 -0.154818 
time: 1403638164.145097, t: 3.873153 -10.644149 2.926795 q: 0.892007 0.425369 0.025078 -0.150852 
time: 1403638164.245097, t: 3.955973 -10.638176 2.994579 q: 0.891381 0.427839 0.026010 -0.147368 
time: 1403638164.345097, t: 4.035733 -10.626804 3.068032 q: 0.890543 0.430557 0.027677 -0.144179 
time: 1403638164.445097, t: 4.113555 -10.609156 3.147449 q: 0.889629 0.432441 0.028768 -0.143972 
time: 1403638164.545097, t: 4.182103 -10.588313 3.228390 q: 0.889237 0.434232 0.027112 -0.141297 
time: 1403638164.645097, t: 4.250998 -10.561582 3.310647 q: 0.890058 0.433588 0.025115 -0.138447 
time: 1403638164.745097, t: 4.319602 -10.527946 3.411861 q: 0.892852 0.427327 0.028472 -0.139270 
time: 1403638164.845097, t: 4.383878 -10.488973 3.506679 q: 0.895549 0.417126 0.041289 -0.149309 
time: 1403638164.945097, t: 4.442289 -10.448709 3.600864 q: 0.897625 0.408705 0.051743 -0.156691 
time: 1403638165.045097, t: 4.501094 -10.406082 3.700186 q: 0.899652 0.407503 0.056457 -0.146219 
time: 1403638165.145097, t: 4.544288 -10.351692 3.787714 q: 0.903604 0.403508 0.052043 -0.134060 
time: 1403638165.245097, t: 4.580102 -10.293478 3.877642 q: 0.907448 0.395822 0.040208 -0.135079 
time: 1403638165.345097, t: 4.618566 -10.229443 3.971149 q: 0.910486 0.390441 0.025833 -0.133806 
time: 1403638165.445097, t: 4.653758 -10.161774 4.061964 q: 0.912495 0.387090 0.023585 -0.130221 
time: 1403638165.545097, t: 4.683530 -10.092471 4.152479 q: 0.913814 0.383702 0.037141 -0.127818 
time: 1403638165.645097, t: 4.717493 -10.023397 4.243414 q: 0.914243 0.380824 0.054544 -0.127116 
time: 1403638165.745097, t: 4.743792 -9.945871 4.335544 q: 0.914257 0.378421 0.067148 -0.128151 
time: 1403638165.845097, t: 4.759404 -9.864911 4.432827 q: 0.914717 0.376034 0.063594 -0.133595 
time: 1403638165.945097, t: 4.772226 -9.778201 4.521162 q: 0.915389 0.373727 0.053634 -0.139693 
time: 1403638166.045097, t: 4.792009 -9.688235 4.612146 q: 0.915578 0.373028 0.040870 -0.144559 
time: 1403638166.145097, t: 4.827671 -9.597600 4.682064 q: 0.915392 0.370324 0.035133 -0.153895 
time: 1403638166.245097, t: 4.870506 -9.509455 4.752712 q: 0.914335 0.371130 0.033037 -0.158629 
time: 1403638166.345097, t: 4.933808 -9.423873 4.807596 q: 0.913295 0.371705 0.033533 -0.163104 
time: 1403638166.445097, t: 5.008629 -9.339198 4.856438 q: 0.912497 0.372306 0.033458 -0.166185 
time: 1403638166.545097, t: 5.081747 -9.260843 4.901251 q: 0.911699 0.374232 0.033769 -0.166180 
time: 1403638166.645097, t: 5.151082 -9.185046 4.945896 q: 0.911059 0.375803 0.033732 -0.166149 
time: 1403638166.745097, t: 5.211941 -9.112899 4.989265 q: 0.910899 0.378573 0.030043 -0.161379 
time: 1403638166.845097, t: 5.262161 -9.041132 5.037765 q: 0.911027 0.382784 0.015410 -0.152538 
time: 1403638166.945097, t: 5.302769 -8.969744 5.094413 q: 0.911030 0.384472 -0.004000 -0.148959 
time: 1403638167.045097, t: 5.343748 -8.899563 5.156838 q: 0.911041 0.382410 -0.014334 -0.153501 
time: 1403638167.145097, t: 5.393704 -8.837998 5.228956 q: 0.910884 0.379920 -0.015048 -0.160388 
time: 1403638167.245097, t: 5.455472 -8.782583 5.301662 q: 0.910802 0.377541 -0.011085 -0.166672 
time: 1403638167.345097, t: 5.525447 -8.731192 5.375304 q: 0.910790 0.376583 -0.006255 -0.169139 
time: 1403638167.445097, t: 5.598884 -8.685127 5.454411 q: 0.911019 0.376826 -0.002961 -0.167447 
time: 1403638167.545097, t: 5.670328 -8.644539 5.539291 q: 0.911285 0.378443 0.003069 -0.162266 
time: 1403638167.645097, t: 5.731830 -8.610944 5.627030 q: 0.912466 0.380787 0.007679 -0.149495 
time: 1403638167.745097, t: 5.793760 -8.572528 5.722312 q: 0.915375 0.378359 0.009783 -0.137251 
time: 1403638167.845097, t: 5.851550 -8.531015 5.825441 q: 0.919822 0.372056 0.008915 -0.124189 
time: 1403638167.945097, t: 5.905972 -8.491158 5.933794 q: 0.925668 0.360482 0.010958 -0.114329 
time: 1403638168.045097, t: 5.963363 -8.445933 6.045161 q: 0.931577 0.346962 0.012954 -0.107769 
time: 1403638168.145097, t: 6.030204 -8.398380 6.160339 q: 0.936366 0.335431 0.014556 -0.102432 
time: 1403638168.245097, t: 6.110507 -8.343418 6.272664 q: 0.941761 0.320599 0.016203 -0.100202 
time: 1403638168.345097, t: 6.186488 -8.289599 6.387283 q: 0.947554 0.303427 0.019696 -0.098417 
time: 1403638168.445097, t: 6.274589 -8.231036 6.499663 q: 0.953012 0.286065 0.022987 -0.096989 
time: 1403638168.545097, t: 6.357360 -8.173958 6.615608 q: 0.957076 0.269259 0.020387 -0.105310 
time: 1403638168.645097, t: 6.440366 -8.116921 6.730213 q: 0.959791 0.255089 0.015101 -0.116205 
time: 1403638168.745097, t: 6.510929 -8.065763 6.856800 q: 0.961189 0.246522 0.012644 -0.123221 
time: 1403638168.845097, t: 6.576778 -8.018327 6.982538 q: 0.961779 0.243016 0.010359 -0.125769 
time: 1403638168.945097, t: 6.647522 -7.974862 7.109159 q: 0.961657 0.242442 0.008555 -0.127926 
time: 1403638169.045097, t: 6.707806 -7.943809 7.245652 q: 0.960945 0.244680 0.013523 -0.128581 
time: 1403638169.145097, t: 6.765881 -7.918242 7.378973 q: 0.960101 0.251224 0.022401 -0.120794 
time: 1403638169.245097, t: 6.814466 -7.896665 7.518230 q: 0.959469 0.258677 0.026452 -0.108657 
time: 1403638169.345097, t: 6.857125 -7.877389 7.656159 q: 0.960367 0.262835 0.031916 -0.087143 
time: 1403638169.445097, t: 6.905160 -7.847417 7.795205 q: 0.962356 0.260818 0.039022 -0.065745 
time: 1403638169.545097, t: 6.958856 -7.810725 7.933572 q: 0.965759 0.250005 0.044859 -0.052856 
time: 1403638169.645097, t: 7.014049 -7.756794 8.067543 q: 0.970319 0.231891 0.048424 -0.048599 
time: 1403638169.745097, t: 7.075524 -7.689558 8.197363 q: 0.975477 0.208754 0.048368 -0.050260 
time: 1403638169.845097, t: 7.139015 -7.631066 8.319055 q: 0.980795 0.179069 0.050679 -0.058378 
time: 1403638169.945097, t: 7.197714 -7.589714 8.437728 q: 0.985195 0.148113 0.058619 -0.063385 
time: 1403638170.045097, t: 7.260385 -7.522445 8.542007 q: 0.988137 0.122731 0.071551 -0.058325 
time: 1403638170.145097, t: 7.322826 -7.475540 8.644423 q: 0.991055 0.099830 0.076587 -0.044481 
time: 1403638170.245097, t: 7.376876 -7.424127 8.747915 q: 0.993620 0.078110 0.076580 -0.027461 
time: 1403638170.345097, t: 7.417276 -7.358337 8.842647 q: 0.995586 0.057751 0.073373 -0.009437 
time: 1403638170.445097, t: 7.461441 -7.289129 8.929782 q: 0.997121 0.035879 0.066645 0.004556 
time: 1403638170.545097, t: 7.488378 -7.228284 9.008927 q: 0.997382 0.017606 0.065907 0.023969 
time: 1403638170.645097, t: 7.510897 -7.174212 9.087080 q: 0.996563 -0.002401 0.072556 0.039911 
time: 1403638170.745097, t: 7.561577 -7.077632 9.141089 q: 0.995666 -0.021062 0.075023 0.050765 
time: 1403638170.845097, t: 7.595295 -7.012047 9.191439 q: 0.994387 -0.042705 0.076899 0.058794 
time: 1403638170.945097, t: 7.628699 -6.930217 9.232082 q: 0.992898 -0.064581 0.076339 0.064464 
time: 1403638171.045097, t: 7.660918 -6.826305 9.271877 q: 0.990811 -0.084398 0.078240 0.071063 
time: 1403638171.145097, t: 7.679363 -6.734901 9.302676 q: 0.988634 -0.100436 0.080733 0.077450 
time: 1403638171.245097, t: 7.693995 -6.630021 9.325399 q: 0.986829 -0.110327 0.082926 0.084384 
time: 1403638171.345097, t: 7.702369 -6.523727 9.344460 q: 0.985591 -0.117012 0.084775 0.087925 
time: 1403638171.445097, t: 7.702253 -6.416382 9.352789 q: 0.984237 -0.123340 0.087462 0.091733 
time: 1403638171.545097, t: 7.700725 -6.308025 9.356587 q: 0.982734 -0.128049 0.091057 0.097706 
time: 1403638171.645097, t: 7.697377 -6.189789 9.348239 q: 0.981086 -0.134097 0.094156 0.103066 
time: 1403638171.745097, t: 7.678128 -6.072471 9.333811 q: 0.978747 -0.142284 0.097740 0.110713 
time: 1403638171.845097, t: 7.658886 -5.949900 9.309893 q: 0.976423 -0.150131 0.101185 0.117557 
time: 1403638171.945097, t: 7.633625 -5.825039 9.270421 q: 0.973987 -0.158239 0.108227 0.120816 
time: 1403638172.045097, t: 7.608592 -5.689522 9.217047 q: 0.972694 -0.166516 0.110134 0.118363 
time: 1403638172.145097, t: 7.580748 -5.549531 9.150596 q: 0.972040 -0.172299 0.109814 0.115725 
time: 1403638172.245097, t: 7.546837 -5.408225 9.075682 q: 0.971812 -0.175546 0.107833 0.114619 
time: 1403638172.445097, t: 7.449370 -5.133059 8.900733 q: 0.971643 -0.177751 0.107704 0.112757 
time: 1403638172.545097, t: 7.382284 -4.989993 8.804244 q: 0.971422 -0.175912 0.110979 0.114363 
time: 1403638172.645097, t: 7.305374 -4.850705 8.696958 q: 0.971455 -0.173030 0.113139 0.116340 
time: 1403638172.745097, t: 7.205005 -4.711800 8.583988 q: 0.971881 -0.170521 0.112726 0.116885 
time: 1403638172.845097, t: 7.102437 -4.570463 8.458771 q: 0.972172 -0.166981 0.113217 0.119081 
time: 1403638172.945097, t: 6.983494 -4.419021 8.332426 q: 0.972928 -0.162754 0.111120 0.120725 
time: 1403638173.045097, t: 6.863977 -4.265087 8.195320 q: 0.973994 -0.157891 0.105160 0.123888 
time: 1403638173.145097, t: 6.740900 -4.106555 8.044582 q: 0.975165 -0.153291 0.096476 0.127466 
time: 1403638173.245097, t: 6.602180 -3.936799 7.892867 q: 0.976382 -0.153009 0.089969 0.123179 
time: 1403638173.345097, t: 6.436279 -3.767406 7.747227 q: 0.977456 -0.155529 0.084249 0.115292 
time: 1403638173.445097, t: 6.297533 -3.583774 7.580377 q: 0.978658 -0.162628 0.078093 0.098399 
time: 1403638173.545097, t: 6.168360 -3.422504 7.407403 q: 0.979272 -0.168606 0.069997 0.087741 
time: 1403638173.645097, t: 6.002427 -3.246707 7.241290 q: 0.979486 -0.170926 0.067010 0.083077 
time: 1403638173.745097, t: 5.836460 -3.084113 7.077154 q: 0.979394 -0.172063 0.065559 0.082971 
time: 1403638173.845097, t: 5.674045 -2.928004 6.901943 q: 0.979219 -0.172840 0.062148 0.085988 
time: 1403638173.945097, t: 5.510332 -2.775411 6.729549 q: 0.979089 -0.174107 0.061004 0.085731 
time: 1403638174.045097, t: 5.357220 -2.644570 6.543455 q: 0.978956 -0.175488 0.056947 0.087219 
time: 1403638174.145097, t: 5.217320 -2.497405 6.363300 q: 0.978906 -0.176464 0.054837 0.087160 
time: 1403638174.245097, t: 5.053697 -2.319858 6.201210 q: 0.979465 -0.175880 0.047364 0.086439 
time: 1403638174.345097, t: 4.903504 -2.171431 6.037681 q: 0.979946 -0.175295 0.037474 0.087025 
time: 1403638174.445097, t: 4.750444 -2.025956 5.880185 q: 0.980246 -0.174972 0.029960 0.087210 
time: 1403638174.545097, t: 4.585087 -1.870683 5.720821 q: 0.980527 -0.172771 0.025280 0.089879 
time: 1403638174.645097, t: 4.432203 -1.718925 5.565383 q: 0.980821 -0.173737 0.017506 0.086593 
time: 1403638174.745097, t: 4.296610 -1.572058 5.400456 q: 0.981030 -0.174297 0.008569 0.084423 
time: 1403638174.945097, t: 4.029741 -1.287652 5.090447 q: 0.981021 -0.175236 0.000035 0.083002 
time: 1403638175.045097, t: 3.903563 -1.155029 4.947833 q: 0.980803 -0.177125 0.001058 0.081555 
time: 1403638175.145097, t: 3.801918 -1.011905 4.810181 q: 0.980525 -0.179206 0.000676 0.080348 
time: 1403638175.245097, t: 3.698887 -0.872755 4.670885 q: 0.980287 -0.181110 -0.000492 0.078977 
time: 1403638175.345097, t: 3.591564 -0.736727 4.542879 q: 0.980005 -0.182319 -0.007466 0.079341 
time: 1403638175.445097, t: 3.505753 -0.603399 4.414790 q: 0.979657 -0.184439 -0.018322 0.076931 
time: 1403638175.545097, t: 3.444389 -0.473815 4.305489 q: 0.979177 -0.186349 -0.032915 0.073505 
time: 1403638175.645097, t: 3.386320 -0.339515 4.198365 q: 0.978580 -0.185108 -0.046992 0.076868 
time: 1403638175.745097, t: 3.341974 -0.207809 4.100435 q: 0.978211 -0.183052 -0.057175 0.079540 
time: 1403638175.845097, t: 3.300607 -0.073389 4.022444 q: 0.977995 -0.182264 -0.064388 0.078486 
time: 1403638175.945097, t: 3.251919 0.060907 3.967557 q: 0.978239 -0.183085 -0.065211 0.072634 
time: 1403638176.045097, t: 3.201971 0.192933 3.929903 q: 0.979113 -0.185453 -0.055413 0.062248 
time: 1403638176.145097, t: 3.176359 0.319268 3.907908 q: 0.980185 -0.188598 -0.033661 0.050342 
time: 1403638176.245097, t: 3.156581 0.431979 3.894212 q: 0.980718 -0.188050 -0.005621 0.052899 
time: 1403638176.345097, t: 3.139543 0.539484 3.888103 q: 0.980520 -0.189131 0.010047 0.052045 
time: 1403638176.445097, t: 3.129617 0.642441 3.882621 q: 0.980224 -0.190804 0.013527 0.050720 
time: 1403638176.545097, t: 3.127324 0.738191 3.879799 q: 0.979971 -0.192305 0.012720 0.050145 
time: 1403638176.645097, t: 3.128836 0.828416 3.876089 q: 0.979843 -0.193289 0.009491 0.049562 
time: 1403638176.745097, t: 3.133627 0.913777 3.874678 q: 0.979806 -0.193504 0.008964 0.049568 
time: 1403638176.845097, t: 3.146823 0.988367 3.871025 q: 0.979885 -0.191990 0.009381 0.053646 
time: 1403638176.945097, t: 3.161961 1.060138 3.872486 q: 0.979889 -0.191151 0.008756 0.056594 
time: 1403638177.045097, t: 3.173170 1.128982 3.873373 q: 0.979929 -0.191615 0.006476 0.054606 
time: 1403638177.145097, t: 3.181242 1.192378 3.883752 q: 0.979813 -0.193189 0.005166 0.051159 
time: 1403638177.245097, t: 3.185886 1.249451 3.897836 q: 0.979756 -0.194210 0.004273 0.048392 
time: 1403638177.345097, t: 3.185922 1.300483 3.921065 q: 0.979730 -0.194565 0.004252 0.047485 
time: 1403638177.445097, t: 3.180626 1.343173 3.948267 q: 0.979637 -0.194755 0.003240 0.048692 
time: 1403638177.545097, t: 3.175467 1.379328 3.984317 q: 0.979619 -0.191770 0.005791 0.059482 
time: 1403638177.645097, t: 3.170194 1.410803 4.020600 q: 0.979479 -0.187391 0.008561 0.073707 
time: 1403638177.745097, t: 3.159943 1.441071 4.060528 q: 0.978795 -0.185277 0.012029 0.086537 
time: 1403638177.845097, t: 3.148666 1.472176 4.100101 q: 0.977772 -0.185218 0.022915 0.095556 
time: 1403638177.945097, t: 3.139310 1.507147 4.141010 q: 0.976805 -0.186803 0.034245 0.098908 
time: 1403638178.045097, t: 3.131501 1.545566 4.172133 q: 0.975961 -0.190916 0.041322 0.096661 
time: 1403638178.145097, t: 3.121486 1.590336 4.195553 q: 0.974090 -0.200771 0.044029 0.094349 
time: 1403638178.245097, t: 3.126781 1.634730 4.209998 q: 0.970648 -0.214084 0.047725 0.098657 
time: 1403638178.345097, t: 3.131637 1.678481 4.218359 q: 0.965752 -0.231379 0.050964 0.105786 
time: 1403638178.445097, t: 3.142878 1.717640 4.212392 q: 0.959416 -0.252014 0.050513 0.116007 
time: 1403638178.545097, t: 3.144669 1.758682 4.203954 q: 0.951995 -0.273979 0.044089 0.129216 
time: 1403638178.645097, t: 3.130912 1.802947 4.196267 q: 0.943806 -0.294699 0.038166 0.144657 
time: 1403638178.745097, t: 3.115857 1.849344 4.183837 q: 0.935180 -0.315642 0.036628 0.156417 
time: 1403638178.845097, t: 3.098429 1.895960 4.165511 q: 0.926703 -0.336225 0.032408 0.164696 
time: 1403638178.945097, t: 3.083087 1.945558 4.144208 q: 0.920064 -0.351285 0.024410 0.171711 
time: 1403638179.045097, t: 3.058784 1.993479 4.121889 q: 0.915271 -0.361850 0.013848 0.176496 
time: 1403638179.145097, t: 3.029344 2.042688 4.109615 q: 0.911310 -0.371524 0.005087 0.177365 
time: 1403638179.245097, t: 2.996384 2.101140 4.095593 q: 0.907057 -0.382300 -0.002751 0.176316 
time: 1403638179.345097, t: 2.962339 2.162820 4.083699 q: 0.901435 -0.394678 -0.008978 0.177659 
time: 1403638179.445097, t: 2.932396 2.229525 4.075066 q: 0.893705 -0.410155 -0.002091 0.181822 
time: 1403638179.545097, t: 2.899461 2.300753 4.062597 q: 0.884029 -0.428141 0.010858 0.187269 
time: 1403638179.645097, t: 2.864395 2.373573 4.061860 q: 0.872688 -0.447707 0.017553 0.194075 
time: 1403638179.745097, t: 2.830831 2.444691 4.054072 q: 0.860101 -0.468798 0.021303 0.200002 
time: 1403638179.845097, t: 2.803815 2.521497 4.036140 q: 0.847197 -0.489123 0.023129 0.206108 
time: 1403638179.945097, t: 2.780673 2.598179 4.012079 q: 0.835117 -0.505828 0.019626 0.215252 
time: 1403638180.045097, t: 2.763719 2.671164 3.992244 q: 0.825598 -0.516999 0.011816 0.225744 
time: 1403638180.145097, t: 2.754541 2.743979 3.966184 q: 0.818683 -0.524773 0.009855 0.232968 
time: 1403638180.245097, t: 2.644410 2.841076 3.953036 q: 0.815388 -0.530015 0.015221 0.232367 
time: 1403638180.345097, t: 2.724850 2.901883 3.923072 q: 0.812110 -0.532906 0.007147 0.237567 
time: 1403638180.445097, t: 2.702627 2.982278 3.905250 q: 0.811268 -0.534897 0.003246 0.236048 
time: 1403638180.545097, t: 2.674300 3.071649 3.885509 q: 0.811562 -0.536414 0.001743 0.231569 
time: 1403638180.745097, t: 2.617728 3.257605 3.845622 q: 0.813859 -0.533506 -0.008716 0.230062 
time: 1403638180.845097, t: 2.608256 3.356463 3.831376 q: 0.815411 -0.530358 -0.011946 0.231695 
time: 1403638180.945097, t: 2.598556 3.461070 3.812672 q: 0.817353 -0.527116 -0.010288 0.232329 
time: 1403638181.045097, t: 2.590581 3.567409 3.801040 q: 0.818872 -0.524711 -0.005808 0.232580 
time: 1403638181.145097, t: 2.575630 3.679246 3.788035 q: 0.820186 -0.521839 -0.002197 0.234467 
time: 1403638181.245097, t: 2.559776 3.787126 3.781158 q: 0.820642 -0.521534 0.006625 0.233463 
time: 1403638181.345097, t: 2.541887 3.900887 3.769583 q: 0.817164 -0.525873 0.019438 0.235207 
time: 1403638181.445097, t: 2.508866 4.023571 3.759367 q: 0.809105 -0.534494 0.030788 0.242315 
time: 1403638181.545097, t: 2.472261 4.143820 3.744224 q: 0.796529 -0.549863 0.047448 0.246862 
time: 1403638181.645097, t: 2.435794 4.261005 3.717593 q: 0.781890 -0.569918 0.056462 0.246281 
time: 1403638181.745097, t: 2.402941 4.374791 3.685138 q: 0.766925 -0.589872 0.049645 0.247815 
time: 1403638181.845097, t: 2.372831 4.485834 3.639414 q: 0.751416 -0.609484 0.038806 0.249795 
time: 1403638181.945097, t: 2.348979 4.589035 3.585799 q: 0.736476 -0.626075 0.027130 0.254750 
time: 1403638182.045097, t: 2.324565 4.694505 3.527773 q: 0.725420 -0.635384 0.018988 0.263993 
time: 1403638182.145097, t: 2.310726 4.796531 3.465803 q: 0.717061 -0.641562 0.012982 0.272126 
time: 1403638182.245097, t: 2.305740 4.889897 3.404782 q: 0.710921 -0.644598 0.010596 0.281021 
time: 1403638182.345097, t: 2.290136 4.992506 3.343743 q: 0.707631 -0.644410 0.011795 0.289578 
time: 1403638182.445097, t: 2.272366 5.098798 3.280965 q: 0.706525 -0.644439 0.007624 0.292341 
time: 1403638182.545097, t: 2.260794 5.207796 3.211704 q: 0.707124 -0.645993 -0.002928 0.287507 
time: 1403638182.645097, t: 2.255217 5.321809 3.137892 q: 0.708593 -0.646444 -0.010696 0.282652 
time: 1403638182.745097, t: 2.257360 5.442201 3.062247 q: 0.710668 -0.644713 -0.011764 0.281351 
time: 1403638182.845097, t: 2.257147 5.569851 2.991815 q: 0.712431 -0.643594 -0.009590 0.279531 
time: 1403638182.945097, t: 2.254143 5.697417 2.920724 q: 0.714164 -0.643100 -0.003789 0.276364 
time: 1403638183.045097, t: 2.248917 5.823661 2.850417 q: 0.715820 -0.644096 0.003965 0.269678 
time: 1403638183.145097, t: 2.238599 5.952497 2.784088 q: 0.717311 -0.646208 0.005986 0.260468 
time: 1403638183.245097, t: 2.223691 6.085509 2.725085 q: 0.718438 -0.646441 0.002015 0.256822 
time: 1403638183.345097, t: 2.204270 6.218575 2.668853 q: 0.718928 -0.644102 -0.005156 0.261244 
time: 1403638183.445097, t: 2.181255 6.350969 2.616417 q: 0.719183 -0.641401 -0.013586 0.266827 
time: 1403638183.545097, t: 2.155453 6.488481 2.569409 q: 0.719304 -0.640434 -0.021176 0.268322 
time: 1403638183.645097, t: 2.131128 6.626562 2.525315 q: 0.719315 -0.640552 -0.019360 0.268149 
time: 1403638183.745097, t: 2.109221 6.771326 2.483954 q: 0.719683 -0.644201 -0.010734 0.258740 
time: 1403638183.845097, t: 2.099087 6.916036 2.441246 q: 0.719917 -0.648485 -0.004151 0.247325 
time: 1403638183.945097, t: 2.098243 7.056560 2.401100 q: 0.719580 -0.650317 0.000442 0.243498 
time: 1403638184.145097, t: 2.112711 7.338547 2.332887 q: 0.718656 -0.647821 -0.007741 0.252590 
time: 1403638184.245097, t: 2.120177 7.477069 2.303785 q: 0.717913 -0.645419 -0.013192 0.260503 
time: 1403638184.345097, t: 2.123247 7.618432 2.278430 q: 0.717376 -0.645966 -0.013404 0.260613 
time: 1403638184.445097, t: 2.125343 7.758660 2.256296 q: 0.717229 -0.647729 -0.008508 0.256820 
time: 1403638184.545097, t: 2.127805 7.900955 2.240466 q: 0.716873 -0.649488 -0.005833 0.253425 
time: 1403638184.645097, t: 2.131800 8.043067 2.228006 q: 0.716500 -0.650540 -0.003132 0.251826 
time: 1403638184.745097, t: 2.140490 8.183053 2.214918 q: 0.716203 -0.650473 -0.002590 0.252846 
time: 1403638184.845097, t: 2.143028 8.323535 2.205711 q: 0.715926 -0.650582 -0.002503 0.253350 
time: 1403638184.945097, t: 2.151329 8.465206 2.201901 q: 0.715655 -0.652124 -0.002032 0.250137 
time: 1403638185.045097, t: 2.160632 8.604200 2.199134 q: 0.715566 -0.651647 -0.000508 0.251637 
time: 1403638185.145097, t: 2.173730 8.741544 2.197870 q: 0.715737 -0.651571 -0.003582 0.251324 
time: 1403638185.245097, t: 2.188220 8.877040 2.198180 q: 0.715981 -0.652510 -0.007643 0.248081 
time: 1403638185.345097, t: 2.206488 9.010962 2.201762 q: 0.716249 -0.653601 -0.009819 0.244329 
time: 1403638185.445097, t: 2.226019 9.148491 2.214223 q: 0.719399 -0.653026 -0.008882 0.236521 
time: 1403638185.545097, t: 2.249537 9.280539 2.231655 q: 0.727311 -0.647798 -0.007873 0.226527 
time: 1403638185.645097, t: 2.273094 9.413259 2.261142 q: 0.736870 -0.639677 -0.006066 0.218628 
time: 1403638185.745097, t: 2.296762 9.535927 2.281958 q: 0.745249 -0.630277 0.001544 0.217606 
time: 1403638185.845097, t: 2.325027 9.657033 2.315030 q: 0.751446 -0.617306 0.011525 0.232658 
time: 1403638185.945097, t: 2.351803 9.772693 2.347892 q: 0.755531 -0.605064 0.019312 0.250395 
time: 1403638186.045097, t: 2.371339 9.886763 2.379771 q: 0.757955 -0.600564 0.018348 0.253951 
time: 1403638186.145097, t: 2.383331 10.002102 2.411114 q: 0.759276 -0.600963 0.011408 0.249427 
time: 1403638186.245097, t: 2.396913 10.115373 2.440705 q: 0.759936 -0.601900 0.006159 0.245305 
time: 1403638186.345097, t: 2.415746 10.231111 2.469381 q: 0.760089 -0.603283 0.002069 0.241474 
time: 1403638186.445097, t: 2.437382 10.346179 2.493460 q: 0.759975 -0.603824 0.001244 0.240488 
time: 1403638186.545097, t: 2.470305 10.460869 2.518298 q: 0.759296 -0.605573 -0.000509 0.238224 
time: 1403638186.645097, t: 2.496950 10.573012 2.542735 q: 0.758754 -0.607126 -0.003697 0.235960 
time: 1403638186.745097, t: 2.512917 10.691234 2.576573 q: 0.759009 -0.609306 -0.007903 0.229325 
time: 1403638186.845097, t: 2.528136 10.807044 2.619735 q: 0.762855 -0.607646 -0.012147 0.220617 
time: 1403638186.945097, t: 2.540058 10.919655 2.667074 q: 0.770689 -0.599449 -0.014975 0.215582 
time: 1403638187.045097, t: 2.572300 11.021840 2.709932 q: 0.783582 -0.583684 -0.011419 0.212560 
time: 1403638187.145097, t: 2.598039 11.141918 2.781630 q: 0.799870 -0.563592 0.000291 0.206330 
time: 1403638187.245097, t: 2.644478 11.246750 2.836670 q: 0.817541 -0.540442 0.012736 0.198460 
time: 1403638187.345097, t: 2.693362 11.350524 2.886677 q: 0.833827 -0.518941 0.022384 0.186898 
time: 1403638187.445097, t: 2.718117 11.470283 2.927671 q: 0.846336 -0.501916 0.030971 0.175603 
time: 1403638187.545097, t: 2.803720 11.542197 2.980573 q: 0.854519 -0.489173 0.029857 0.172094 
time: 1403638187.645097, t: 2.834934 11.633082 3.017847 q: 0.860119 -0.479045 0.023113 0.173718 
time: 1403638187.745097, t: 2.912979 11.700760 3.067672 q: 0.862521 -0.475187 0.015720 0.173227 
time: 1403638187.845097, t: 2.954360 11.765178 3.110891 q: 0.863598 -0.474727 0.012264 0.169357 
time: 1403638187.945097, t: 3.019670 11.836284 3.169565 q: 0.863173 -0.477956 0.009711 0.162468 
time: 1403638188.045097, t: 3.058614 11.907676 3.224591 q: 0.861974 -0.482913 0.011760 0.153810 
time: 1403638188.145097, t: 3.098497 11.972399 3.280531 q: 0.860566 -0.488044 0.012222 0.145226 
time: 1403638188.245097, t: 3.108207 12.041469 3.340994 q: 0.859274 -0.490909 0.022498 0.141949 
time: 1403638188.345097, t: 3.159967 12.071552 3.409006 q: 0.857858 -0.491383 0.043392 0.144012 
time: 1403638188.445097, t: 3.186835 12.100285 3.472871 q: 0.856136 -0.492412 0.061886 0.143985 
time: 1403638188.545097, t: 3.203774 12.108216 3.524419 q: 0.854978 -0.492404 0.075171 0.144572 
time: 1403638188.645097, t: 3.215684 12.106267 3.570347 q: 0.856605 -0.489138 0.076988 0.145067 
time: 1403638188.845097, t: 3.262138 12.057606 3.642625 q: 0.865608 -0.473669 0.060476 0.150676 
time: 1403638188.945097, t: 3.287495 12.023180 3.669930 q: 0.869229 -0.467068 0.053983 0.152887 
time: 1403638189.045097, t: 3.275032 11.980513 3.696422 q: 0.873004 -0.460032 0.052283 0.153300 
time: 1403638189.145097, t: 3.328066 11.935840 3.722615 q: 0.878712 -0.449411 0.051893 0.152325 
time: 1403638189.245097, t: 3.357632 11.880807 3.734089 q: 0.886853 -0.433480 0.051282 0.151512 
time: 1403638189.345097, t: 3.380045 11.823688 3.752445 q: 0.896120 -0.415392 0.045189 0.149587 
time: 1403638189.445097, t: 3.397778 11.763451 3.764950 q: 0.904242 -0.398511 0.028455 0.150748 
time: 1403638189.545097, t: 3.415659 11.702603 3.781375 q: 0.910028 -0.385250 0.015479 0.152287 
time: 1403638189.645097, t: 3.431871 11.639215 3.788244 q: 0.913951 -0.375672 0.009706 0.153198 
time: 1403638189.745097, t: 3.454055 11.565828 3.801786 q: 0.915909 -0.368534 0.002112 0.159026 
time: 1403638189.845097, t: 3.478708 11.499912 3.799617 q: 0.917045 -0.363921 -0.005442 0.162974 
time: 1403638189.945097, t: 3.495480 11.437637 3.806148 q: 0.917444 -0.362218 -0.012727 0.164110 
time: 1403638190.045097, t: 3.519977 11.380087 3.828038 q: 0.917218 -0.364288 -0.008890 0.161018 
time: 1403638190.145097, t: 3.537414 11.331442 3.847312 q: 0.917021 -0.367464 0.002780 0.155032 
time: 1403638190.245097, t: 3.548927 11.289201 3.871175 q: 0.916588 -0.372523 0.015445 0.144410 
time: 1403638190.345097, t: 3.555358 11.241548 3.897703 q: 0.917937 -0.376246 0.022449 0.123803 
time: 1403638190.445097, t: 3.564480 11.186921 3.946329 q: 0.920381 -0.376082 0.024332 0.104255 
time: 1403638190.545097, t: 3.561968 11.128338 3.987546 q: 0.923272 -0.370369 0.023777 0.099150 
time: 1403638190.645097, t: 3.565236 11.067801 4.031128 q: 0.925948 -0.363571 0.021910 0.099781 
time: 1403638190.745097, t: 3.552648 10.997539 4.079340 q: 0.927974 -0.357620 0.023717 0.102027 
time: 1403638190.845097, t: 3.560051 10.920524 4.115412 q: 0.929649 -0.350013 0.026202 0.112060 
time: 1403638190.945097, t: 3.575318 10.839137 4.147647 q: 0.930746 -0.345077 0.026293 0.118078 
time: 1403638191.045097, t: 3.592080 10.756003 4.176913 q: 0.931240 -0.342507 0.031741 0.120308 
time: 1403638191.145097, t: 3.617280 10.668943 4.198829 q: 0.931479 -0.341462 0.032373 0.121251 
time: 1403638191.245097, t: 3.636488 10.578832 4.217960 q: 0.931752 -0.339905 0.022581 0.125668 
time: 1403638191.345097, t: 3.666205 10.486980 4.238369 q: 0.931777 -0.338733 0.012294 0.130001 
time: 1403638191.545097, t: 3.714745 10.312845 4.286727 q: 0.930935 -0.340384 0.006592 0.132119 
time: 1403638191.745097, t: 3.766277 10.144532 4.347853 q: 0.930167 -0.345206 0.002419 0.124969 
time: 1403638191.845097, t: 3.789226 10.059874 4.385660 q: 0.929898 -0.347577 -0.001176 0.120331 
time: 1403638191.945097, t: 3.804823 9.975841 4.432893 q: 0.929586 -0.348390 -0.000918 0.120387 
time: 1403638192.045097, t: 3.828545 9.895160 4.479861 q: 0.929537 -0.348977 -0.000839 0.119062 
time: 1403638192.145097, t: 3.852785 9.807799 4.531486 q: 0.929423 -0.348858 0.000432 0.120292 
time: 1403638192.245097, t: 3.900755 9.718482 4.579734 q: 0.929446 -0.348467 0.004683 0.121157 
time: 1403638192.345097, t: 3.947133 9.631605 4.632886 q: 0.929420 -0.347962 0.015310 0.121926 
time: 1403638192.445097, t: 3.991345 9.548351 4.670050 q: 0.929583 -0.347170 0.020556 0.122171 
time: 1403638192.545097, t: 4.045560 9.464255 4.700583 q: 0.929682 -0.346858 0.025702 0.121329 
time: 1403638192.645097, t: 4.104861 9.379922 4.724496 q: 0.929458 -0.347736 0.036033 0.117853 
time: 1403638192.745097, t: 4.164600 9.289677 4.759868 q: 0.928918 -0.348129 0.047056 0.117064 
time: 1403638192.845097, t: 4.208088 9.203756 4.789036 q: 0.928432 -0.347078 0.059334 0.118450 
time: 1403638192.945097, t: 4.245491 9.106226 4.799170 q: 0.927598 -0.343421 0.080052 0.123351 
time: 1403638193.045097, t: 4.284846 9.002805 4.818579 q: 0.927420 -0.337595 0.095447 0.129658 
time: 1403638193.145097, t: 4.337043 8.901778 4.821428 q: 0.930927 -0.329264 0.089481 0.130203 
time: 1403638193.245097, t: 4.323087 8.790717 4.818822 q: 0.934922 -0.322229 0.079423 0.125626 
time: 1403638193.345097, t: 4.343567 8.687482 4.791644 q: 0.938190 -0.317217 0.070155 0.119375 
time: 1403638193.445097, t: 4.373024 8.575484 4.743115 q: 0.940269 -0.314860 0.067403 0.110518 
time: 1403638193.545097, t: 4.427137 8.447344 4.706729 q: 0.941455 -0.312762 0.067230 0.106410 
time: 1403638193.645097, t: 4.463279 8.329383 4.652589 q: 0.942824 -0.309781 0.059862 0.107398 
time: 1403638193.745097, t: 4.493436 8.199538 4.615736 q: 0.943965 -0.306558 0.045964 0.113310 
time: 1403638193.845097, t: 4.508522 8.076146 4.565902 q: 0.944488 -0.305050 0.036441 0.116442 
time: 1403638193.945097, t: 4.521755 7.946934 4.528078 q: 0.944611 -0.304685 0.029440 0.118362 
time: 1403638194.045097, t: 4.529994 7.823426 4.475449 q: 0.944610 -0.304011 0.028224 0.120387 
time: 1403638194.145097, t: 4.517351 7.696364 4.432551 q: 0.944034 -0.306278 0.036270 0.116949 
time: 1403638194.245097, t: 4.504618 7.569401 4.383863 q: 0.943377 -0.308162 0.044953 0.114261 
time: 1403638194.345097, t: 4.479840 7.434081 4.354507 q: 0.943129 -0.308621 0.043378 0.115671 
time: 1403638194.445097, t: 4.452278 7.304300 4.316094 q: 0.942993 -0.308102 0.037854 0.120020 
time: 1403638194.545097, t: 4.438214 7.175597 4.260761 q: 0.942960 -0.307952 0.031242 0.122539 
time: 1403638194.645097, t: 4.420517 7.045864 4.224600 q: 0.942662 -0.308257 0.024812 0.125500 
time: 1403638194.745097, t: 4.410661 6.925182 4.171085 q: 0.942503 -0.308193 0.016192 0.128228 
time: 1403638194.845097, t: 4.404508 6.806895 4.123069 q: 0.942225 -0.308655 0.009372 0.129836 
time: 1403638194.945097, t: 4.391831 6.692640 4.080176 q: 0.942016 -0.309698 0.005113 0.129101 
time: 1403638195.045097, t: 4.384413 6.582949 4.042569 q: 0.941865 -0.309918 0.002168 0.129757 
time: 1403638195.245097, t: 4.346561 6.381810 3.989196 q: 0.941694 -0.307452 -0.011937 0.136174 
time: 1403638195.345097, t: 4.327626 6.284304 3.972894 q: 0.941357 -0.305308 -0.024026 0.141619 
time: 1403638195.445097, t: 4.312728 6.204111 3.964699 q: 0.941469 -0.306200 -0.018252 0.139802 
time: 1403638195.545097, t: 4.299853 6.127550 3.966101 q: 0.941715 -0.308222 0.000157 0.134802 
time: 1403638195.645097, t: 4.274844 6.054106 3.965315 q: 0.941815 -0.309666 0.012756 0.130111 
time: 1403638195.745097, t: 4.256730 5.984170 3.970381 q: 0.941948 -0.309132 0.012394 0.130454 
time: 1403638195.845097, t: 4.244884 5.918338 3.975486 q: 0.942086 -0.307991 0.006496 0.132562 
time: 1403638195.945097, t: 4.239876 5.857051 3.978771 q: 0.942303 -0.306420 -0.002717 0.134777 
time: 1403638196.045097, t: 4.242084 5.803529 3.979154 q: 0.942427 -0.305355 -0.007217 0.136153 
time: 1403638196.145097, t: 4.258461 5.754850 3.983401 q: 0.942502 -0.306195 -0.003801 0.133862 
time: 1403638196.245097, t: 4.282482 5.707439 3.988751 q: 0.942646 -0.307404 0.006825 0.129905 
time: 1403638196.345097, t: 4.305790 5.664255 3.995632 q: 0.942675 -0.308497 0.013412 0.126545 
time: 1403638196.445097, t: 4.324297 5.624025 4.009119 q: 0.942618 -0.307825 0.013486 0.128584 
time: 1403638196.545097, t: 4.339007 5.584964 4.028007 q: 0.942381 -0.307395 0.011261 0.131527 
time: 1403638196.645097, t: 4.348194 5.551730 4.046082 q: 0.942249 -0.306298 0.001106 0.135449 
time: 1403638196.745097, t: 4.350022 5.520413 4.073276 q: 0.941955 -0.305063 -0.006647 0.140050 
time: 1403638196.845097, t: 4.354913 5.493319 4.105345 q: 0.941783 -0.305358 -0.007990 0.140491 
time: 1403638196.945097, t: 4.365179 5.471071 4.148740 q: 0.941736 -0.307148 -0.000256 0.137085 
time: 1403638197.045097, t: 4.378656 5.452625 4.188253 q: 0.941678 -0.308596 0.008408 0.133939 
time: 1403638197.145097, t: 4.396908 5.439172 4.227182 q: 0.941580 -0.309826 0.012479 0.131451 
time: 1403638197.245097, t: 4.416403 5.430248 4.261522 q: 0.941669 -0.311534 0.014249 0.126499 
time: 1403638197.345097, t: 4.446420 5.422556 4.290972 q: 0.941635 -0.316161 0.018377 0.114136 
time: 1403638197.445097, t: 4.477909 5.413610 4.320694 q: 0.941469 -0.319001 0.022070 0.106713 
time: 1403638197.545097, t: 4.518091 5.397740 4.351462 q: 0.941434 -0.318752 0.025724 0.106950 
time: 1403638197.645097, t: 4.559023 5.382473 4.373721 q: 0.941555 -0.318561 0.027450 0.106013 
time: 1403638197.745097, t: 4.606654 5.360134 4.401849 q: 0.941709 -0.318203 0.026598 0.105944 
time: 1403638197.845097, t: 4.647863 5.335510 4.429934 q: 0.941835 -0.316630 0.030627 0.108416 
time: 1403638197.945097, t: 4.685178 5.308311 4.458319 q: 0.941741 -0.314848 0.042573 0.110371 
time: 1403638198.045097, t: 4.708853 5.279781 4.491977 q: 0.941238 -0.314382 0.056053 0.109966 
time: 1403638198.145097, t: 4.717440 5.243881 4.533092 q: 0.941389 -0.313267 0.053401 0.113132 
time: 1403638198.245097, t: 4.709332 5.208232 4.576382 q: 0.941667 -0.312449 0.047278 0.115776 
time: 1403638198.345097, t: 4.696974 5.167549 4.616623 q: 0.941900 -0.312579 0.042497 0.115384 
time: 1403638198.445097, t: 4.679810 5.124802 4.657382 q: 0.942248 -0.313990 0.033095 0.111727 
time: 1403638198.545097, t: 4.657759 5.081068 4.701876 q: 0.942450 -0.316892 0.027001 0.103140 
time: 1403638198.645097, t: 4.634267 5.033520 4.742483 q: 0.941951 -0.324381 0.023848 0.083284 
time: 1403638198.745097, t: 4.608290 4.979979 4.785205 q: 0.941285 -0.330654 0.022888 0.064243 
time: 1403638198.845097, t: 4.589751 4.911829 4.834911 q: 0.940800 -0.333568 0.024839 0.054878 
time: 1403638198.945097, t: 4.585790 4.828340 4.885947 q: 0.940768 -0.333733 0.023609 0.054951 
time: 1403638199.045097, t: 4.585228 4.731821 4.932120 q: 0.940955 -0.332589 0.022883 0.058852 
time: 1403638199.145097, t: 4.600062 4.619400 4.984961 q: 0.940738 -0.332576 0.023041 0.062250 
time: 1403638199.245097, t: 4.617008 4.499215 5.038034 q: 0.940657 -0.331672 0.028247 0.066038 
time: 1403638199.345097, t: 4.641771 4.369905 5.084898 q: 0.940337 -0.331994 0.033987 0.066270 
time: 1403638199.445097, t: 4.674584 4.229149 5.132566 q: 0.939747 -0.334700 0.032349 0.061693 
time: 1403638199.545097, t: 4.719880 4.075446 5.176024 q: 0.939551 -0.336456 0.025018 0.058441 
time: 1403638199.645097, t: 4.771848 3.915786 5.217047 q: 0.941804 -0.330470 0.022216 0.057455 
time: 1403638199.745097, t: 4.829550 3.738033 5.262469 q: 0.945531 -0.318014 0.025114 0.064863 
time: 1403638199.845097, t: 4.889423 3.551493 5.301234 q: 0.948788 -0.304806 0.025418 0.079042 
time: 1403638199.945097, t: 4.936322 3.367621 5.344728 q: 0.951134 -0.294930 0.026164 0.087609 
time: 1403638200.045097, t: 4.982827 3.180714 5.391399 q: 0.953732 -0.285907 0.027731 0.088786 
time: 1403638200.145097, t: 5.026122 2.991373 5.444263 q: 0.957237 -0.277057 0.027896 0.078480 
time: 1403638200.245097, t: 5.083090 2.801313 5.482320 q: 0.961548 -0.264272 0.035562 0.065731 
time: 1403638200.345097, t: 5.128609 2.606774 5.540188 q: 0.965903 -0.248639 0.045177 0.056300 
time: 1403638200.445097, t: 5.184297 2.397961 5.578439 q: 0.969727 -0.235631 0.046986 0.043578 
time: 1403638200.545097, t: 5.238911 2.188129 5.612072 q: 0.972539 -0.226184 0.045643 0.030412 
time: 1403638200.645097, t: 5.294572 1.982428 5.639452 q: 0.975691 -0.213829 0.044469 0.018069 
time: 1403638200.745097, t: 5.360178 1.766899 5.658917 q: 0.978553 -0.201829 0.040718 0.006385 
time: 1403638200.845097, t: 5.430235 1.531596 5.670383 q: 0.980830 -0.191488 0.035994 0.003061 
time: 1403638200.945097, t: 5.498484 1.293025 5.693997 q: 0.982872 -0.180573 0.034725 0.012236 
time: 1403638201.045097, t: 5.556237 1.043998 5.731639 q: 0.984207 -0.171182 0.037470 0.025101 
time: 1403638201.145097, t: 5.609724 0.791013 5.770636 q: 0.984722 -0.166886 0.038095 0.031939 
time: 1403638201.245097, t: 5.648618 0.530982 5.811846 q: 0.984589 -0.165511 0.042032 0.037747 
time: 1403638201.345097, t: 5.694970 0.274810 5.858806 q: 0.984424 -0.167133 0.038898 0.038259 
time: 1403638201.445097, t: 5.727905 0.025316 5.899869 q: 0.984126 -0.169068 0.038994 0.037301 
time: 1403638201.545097, t: 5.759102 -0.225651 5.947103 q: 0.983711 -0.171153 0.040229 0.037419 
time: 1403638201.645097, t: 5.767075 -0.479169 5.990276 q: 0.983286 -0.173026 0.043167 0.036710 
time: 1403638201.745097, t: 5.771576 -0.728122 6.032494 q: 0.983076 -0.173716 0.043791 0.038286 
time: 1403638201.845097, t: 5.776821 -0.981011 6.071484 q: 0.982989 -0.173639 0.044408 0.040120 
time: 1403638201.945097, t: 5.786719 -0.457766 5.967089 q: 0.989761 -0.130627 0.038509 0.042732 
time: 1403638202.045097, t: 5.757716 -1.466545 6.142308 q: 0.985203 -0.161719 0.042252 0.037894 
time: 1403638202.145097, t: 5.771411 -1.735296 6.170698 q: 0.986740 -0.151444 0.037472 0.044773 
time: 1403638202.245097, t: 5.780347 -1.996328 6.199361 q: 0.987897 -0.142627 0.031949 0.051933 
time: 1403638202.345097, t: 5.788604 -2.249181 6.228975 q: 0.988713 -0.136390 0.027852 0.055389 
time: 1403638202.445097, t: 5.805452 -2.508750 6.258596 q: 0.989121 -0.134105 0.025160 0.054977 
time: 1403638202.545097, t: 5.818701 -2.751182 6.285225 q: 0.989402 -0.131476 0.023414 0.057013 
time: 1403638202.645097, t: 5.820498 -2.991555 6.315550 q: 0.989518 -0.129919 0.020804 0.059515 
time: 1403638202.745097, t: 5.824933 -3.232698 6.351133 q: 0.989444 -0.130321 0.020092 0.060103 
time: 1403638202.845097, t: 5.813280 -3.471658 6.394706 q: 0.989235 -0.132058 0.021761 0.059166 
time: 1403638202.945097, t: 5.795877 -3.693765 6.440282 q: 0.989070 -0.132786 0.023264 0.059733 
time: 1403638203.045097, t: 5.792324 -3.925274 6.490142 q: 0.988820 -0.133456 0.025536 0.061423 
time: 1403638203.145097, t: 5.787635 -4.161425 6.532451 q: 0.988563 -0.135690 0.027150 0.059961 
time: 1403638203.245097, t: 5.798376 -4.386030 6.569748 q: 0.988262 -0.138553 0.032281 0.055676 
time: 1403638203.345097, t: 5.805523 -4.612471 6.602963 q: 0.987980 -0.139047 0.035302 0.057582 
time: 1403638203.445097, t: 5.800465 -4.797322 6.637037 q: 0.987962 -0.137578 0.039011 0.058998 
time: 1403638203.545097, t: 5.801035 -4.991899 6.667365 q: 0.987976 -0.136871 0.037871 0.061118 
time: 1403638203.645097, t: 5.792139 -5.187742 6.690761 q: 0.988033 -0.136297 0.035459 0.062909 
time: 1403638203.745097, t: 5.789054 -5.369629 6.698596 q: 0.988049 -0.135513 0.036478 0.063757 
time: 1403638203.845097, t: 5.793720 -5.549443 6.699755 q: 0.988163 -0.135452 0.036147 0.062285 
time: 1403638203.945097, t: 5.807055 -5.725987 6.700879 q: 0.988351 -0.134579 0.035449 0.061600 
time: 1403638204.045097, t: 5.829083 -5.901715 6.698268 q: 0.988576 -0.132676 0.033226 0.063325 
time: 1403638204.145097, t: 5.852587 -6.073275 6.690116 q: 0.988850 -0.130373 0.029050 0.065837 
time: 1403638204.245097, t: 5.875323 -6.236411 6.682763 q: 0.988908 -0.126937 0.024794 0.073024 
optimize pose graph 
time: 1403638204.345097, t: 5.901111 -6.399616 6.674908 q: 0.988520 -0.121912 0.018568 0.087298 
time: 1403638204.445097, t: 5.987724 -6.531636 6.558924 q: 0.988265 -0.116455 0.008429 0.098486 
time: 1403638204.545097, t: 5.956947 -6.702958 6.647259 q: 0.987635 -0.119493 0.012621 0.100692 
time: 1403638204.645097, t: 5.977604 -6.840752 6.647654 q: 0.988028 -0.117326 0.015652 0.098950 
time: 1403638204.745097, t: 5.992518 -6.965438 6.648296 q: 0.989696 -0.112136 0.015339 0.087701 
time: 1403638204.845097, t: 6.000002 -7.080377 6.654364 q: 0.992215 -0.103479 0.015934 0.067434 
time: 1403638204.945097, t: 6.000366 -7.191060 6.662566 q: 0.995061 -0.087130 0.018400 0.043867 
time: 1403638205.045097, t: 5.992878 -7.296422 6.673751 q: 0.997681 -0.060866 0.020210 0.022775 
time: 1403638205.145097, t: 5.984755 -7.398435 6.689393 q: 0.999485 -0.024208 0.020652 0.004161 
time: 1403638205.245097, t: 5.972638 -7.509850 6.704544 q: 0.999419 0.019191 0.023963 -0.014830 
time: 1403638205.345097, t: 5.974015 -7.620197 6.715474 q: 0.996891 0.065537 0.029073 -0.032690 
time: 1403638205.445097, t: 5.988589 -7.740691 6.721301 q: 0.992149 0.107667 0.035549 -0.052767 
time: 1403638205.545097, t: 6.003098 -7.837709 6.709189 q: 0.986535 0.137988 0.043097 -0.076494 
time: 1403638205.645097, t: 6.026786 -7.940172 6.694294 q: 0.981329 0.156327 0.053329 -0.098548 
time: 1403638205.745097, t: 6.052221 -8.048288 6.675573 q: 0.976779 0.169990 0.062875 -0.114250 
time: 1403638205.845097, t: 6.077182 -8.157574 6.642733 q: 0.972216 0.187557 0.064911 -0.124119 
time: 1403638205.945097, t: 6.103392 -8.298088 6.610764 q: 0.967303 0.208023 0.062736 -0.130827 
time: 1403638206.045097, t: 6.138287 -8.421966 6.558513 q: 0.961196 0.233665 0.058467 -0.134478 
time: 1403638206.145097, t: 6.169187 -8.553257 6.492131 q: 0.954104 0.258223 0.058977 -0.139740 
time: 1403638206.245097, t: 6.188182 -8.695957 6.425830 q: 0.946823 0.280926 0.060961 -0.144533 
time: 1403638206.345097, t: 6.201833 -8.840542 6.358533 q: 0.940080 0.304260 0.060821 -0.141339 
time: 1403638206.445097, t: 6.212187 -8.980428 6.284377 q: 0.935326 0.321010 0.059527 -0.136292 
optimize pose graph 
time: 1403638206.545097, t: 6.210473 -9.110841 6.205224 q: 0.931935 0.332092 0.061140 -0.132192 
time: 1403638206.645097, t: 6.203531 -9.243214 6.124467 q: 0.929650 0.338577 0.063129 -0.130885 
time: 1403638206.845097, t: 6.164700 -9.482036 5.963105 q: 0.922199 0.357416 0.061136 -0.134405 
time: 1403638206.945097, t: 6.136411 -9.596632 5.876155 q: 0.919297 0.364520 0.063154 -0.134275 
time: 1403638207.045097, t: 6.099927 -9.712412 5.791857 q: 0.917363 0.369574 0.065766 -0.132421 
time: 1403638207.145097, t: 6.053584 -9.818378 5.705985 q: 0.916137 0.372216 0.068260 -0.132247 
time: 1403638207.245097, t: 6.003346 -9.918013 5.606653 q: 0.914312 0.376748 0.068598 -0.131870 
time: 1403638207.345097, t: 5.939590 -10.006225 5.513425 q: 0.909696 0.386981 0.071043 -0.132862 
time: 1403638207.445097, t: 5.872472 -10.095876 5.411770 q: 0.902744 0.400995 0.074344 -0.136851 
time: 1403638207.545097, t: 5.802534 -10.168696 5.309259 q: 0.893564 0.419474 0.073095 -0.142274 
time: 1403638207.645097, t: 5.741447 -10.236581 5.193879 q: 0.886271 0.433640 0.062710 -0.150161 
time: 1403638207.745097, t: 5.679661 -10.299551 5.073513 q: 0.881162 0.443728 0.050136 -0.155390 
time: 1403638207.845097, t: 5.620820 -10.357608 4.956375 q: 0.877772 0.450154 0.040051 -0.158977 
time: 1403638207.945097, t: 5.573947 -10.399385 4.837126 q: 0.875953 0.453203 0.030103 -0.162503 
time: 1403638208.045097, t: 5.536480 -10.433058 4.716849 q: 0.875157 0.454134 0.027275 -0.164675 
time: 1403638208.145097, t: 5.496676 -10.465030 4.602725 q: 0.874914 0.455721 0.031880 -0.160707 
time: 1403638208.245097, t: 5.455960 -10.492183 4.490877 q: 0.875152 0.455697 0.038411 -0.158031 
time: 1403638208.345097, t: 5.403267 -10.515975 4.382663 q: 0.876129 0.453411 0.037206 -0.159471 
time: 1403638208.445097, t: 5.346752 -10.537331 4.283255 q: 0.876658 0.451562 0.032856 -0.162735 
time: 1403638208.545097, t: 5.290126 -10.554637 4.182670 q: 0.874147 0.455714 0.029022 -0.165375 
optimize pose graph 
time: 1403638208.645097, t: 5.242052 -10.570703 4.086025 q: 0.868129 0.465279 0.028075 -0.170527 
time: 1403638208.745097, t: 5.204987 -10.581408 3.981209 q: 0.862441 0.475388 0.026345 -0.171779 
time: 1403638208.845097, t: 5.174726 -10.592968 3.876355 q: 0.857658 0.483329 0.026886 -0.173476 
time: 1403638208.945097, t: 5.137367 -10.599286 3.783770 q: 0.853581 0.489063 0.029657 -0.177023 
time: 1403638209.045097, t: 5.096672 -10.600931 3.691607 q: 0.850980 0.493019 0.030322 -0.178454 
time: 1403638209.145097, t: 5.044952 -10.600241 3.602846 q: 0.849276 0.495705 0.030300 -0.179136 
time: 1403638209.245097, t: 4.990844 -10.599575 3.512620 q: 0.848751 0.496494 0.029722 -0.179533 
time: 1403638209.345097, t: 4.932925 -10.593113 3.427950 q: 0.848576 0.497214 0.027641 -0.178699 
time: 1403638209.445097, t: 4.869097 -10.586396 3.354491 q: 0.848392 0.498023 0.026902 -0.177430 
time: 1403638209.545097, t: 4.799848 -10.574361 3.293896 q: 0.848088 0.499337 0.030822 -0.174526 
time: 1403638209.645097, t: 4.716624 -10.558553 3.232999 q: 0.848532 0.499297 0.031094 -0.172424 
time: 1403638209.745097, t: 4.616417 -10.542852 3.182945 q: 0.849258 0.497779 0.029993 -0.173428 
time: 1403638209.845097, t: 4.502458 -10.523385 3.142054 q: 0.849523 0.495908 0.033719 -0.176774 
time: 1403638209.945097, t: 4.379203 -10.499539 3.108680 q: 0.849537 0.495614 0.039763 -0.176276 
time: 1403638210.045097, t: 4.255516 -10.472829 3.079361 q: 0.849099 0.496474 0.047588 -0.174010 
time: 1403638210.145097, t: 4.131863 -10.437983 3.055023 q: 0.848384 0.498822 0.053577 -0.168970 
time: 1403638210.245097, t: 4.020772 -10.398748 3.024906 q: 0.847735 0.500573 0.056404 -0.166104 
time: 1403638210.345097, t: 3.901245 -10.353938 2.976808 q: 0.848122 0.499442 0.057408 -0.167185 
time: 1403638210.445097, t: 3.794740 -10.300518 2.932098 q: 0.848405 0.499216 0.055021 -0.167226 
time: 1403638210.545097, t: 3.672815 -10.241848 2.885739 q: 0.848767 0.499219 0.055670 -0.165153 
time: 1403638210.645097, t: 3.549503 -10.176537 2.844247 q: 0.848979 0.499285 0.057306 -0.163293 
optimize pose graph 
time: 1403638210.745097, t: 3.427144 -10.104488 2.796841 q: 0.849443 0.499265 0.056571 -0.161185 
time: 1403638210.845097, t: 3.302990 -10.025636 2.742391 q: 0.850138 0.498322 0.054918 -0.161011 
time: 1403638210.945097, t: 3.187285 -9.943983 2.671028 q: 0.851416 0.496304 0.048261 -0.162615 
time: 1403638211.045097, t: 3.077833 -9.848923 2.622321 q: 0.851645 0.496314 0.042601 -0.162966 
time: 1403638211.145097, t: 2.983352 -9.749410 2.579233 q: 0.851451 0.496520 0.037418 -0.164617 
time: 1403638211.245097, t: 2.892626 -9.648035 2.528232 q: 0.851488 0.496623 0.033855 -0.164887 
time: 1403638211.345097, t: 2.812097 -9.539579 2.480962 q: 0.852798 0.494533 0.032741 -0.164622 
time: 1403638211.445097, t: 2.733821 -9.429479 2.432451 q: 0.857861 0.486855 0.031668 -0.161383 
time: 1403638211.545097, t: 2.648280 -9.319848 2.379196 q: 0.865626 0.474764 0.031049 -0.155968 
time: 1403638211.645097, t: 2.555887 -9.203513 2.338095 q: 0.875193 0.460520 0.030316 -0.145050 
time: 1403638211.745097, t: 2.473706 -9.078455 2.311998 q: 0.886525 0.442139 0.028021 -0.133418 
time: 1403638211.845097, t: 2.380218 -8.952975 2.285193 q: 0.899106 0.420723 0.024026 -0.118417 
time: 1403638211.945097, t: 2.296838 -8.826233 2.256211 q: 0.911317 0.397133 0.022825 -0.106141 
time: 1403638212.045097, t: 2.222712 -8.698079 2.217194 q: 0.922723 0.372767 0.021955 -0.095634 
time: 1403638212.145097, t: 2.146581 -8.564457 2.177319 q: 0.933169 0.347352 0.024691 -0.089068 
time: 1403638212.245097, t: 2.090484 -8.423884 2.144734 q: 0.942783 0.321884 0.027133 -0.082554 
time: 1403638212.345097, t: 2.038785 -8.285675 2.101477 q: 0.951587 0.296751 0.027891 -0.075125 
time: 1403638212.445097, t: 1.993160 -8.138195 2.079968 q: 0.959350 0.272024 0.030227 -0.068828 
time: 1403638212.545097, t: 1.961796 -7.991252 2.045496 q: 0.966324 0.248868 0.031367 -0.057438 
time: 1403638212.645097, t: 1.927552 -7.836024 2.008126 q: 0.972757 0.224890 0.030808 -0.047098 
time: 1403638212.745097, t: 1.907441 -7.680521 1.968148 q: 0.978812 0.198602 0.029283 -0.040336 
time: 1403638212.845097, t: 1.892638 -7.528189 1.912425 q: 0.984266 0.171597 0.030210 -0.029354 
optimize pose graph 
time: 1403638212.945097, t: 1.876502 -7.363272 1.873180 q: 0.988873 0.144567 0.030339 -0.017640 
time: 1403638213.045097, t: 1.870940 -7.192202 1.853287 q: 0.992726 0.116437 0.029934 -0.006414 
time: 1403638213.145097, t: 1.867053 -7.023948 1.811699 q: 0.995692 0.088146 0.027676 0.007797 
time: 1403638213.245097, t: 1.844478 -6.853620 1.769428 q: 0.997595 0.061070 0.019749 0.026184 
time: 1403638213.345097, t: 1.802981 -6.670151 1.751453 q: 0.998107 0.036546 0.010483 0.048333 
time: 1403638213.445097, t: 1.782227 -6.482155 1.730703 q: 0.997375 0.012224 0.002238 0.071334 
time: 1403638213.645097, t: 1.764946 -6.109443 1.687640 q: 0.995491 -0.040770 0.013734 0.084542 
time: 1403638213.745097, t: 1.754171 -5.883739 1.688870 q: 0.995088 -0.059462 0.028143 0.073980 
time: 1403638213.845097, t: 1.746743 -5.679607 1.684074 q: 0.994574 -0.072634 0.036169 0.065105 
time: 1403638213.945097, t: 1.742747 -5.475324 1.668398 q: 0.994366 -0.078717 0.037696 0.060156 
time: 1403638214.045097, t: 1.748482 -5.282268 1.648304 q: 0.994472 -0.080068 0.032754 0.059508 
time: 1403638214.145097, t: 1.760876 -5.089636 1.629483 q: 0.994940 -0.079237 0.021260 0.058000 
time: 1403638214.245097, t: 1.770970 -4.902240 1.604620 q: 0.995377 -0.076975 0.009593 0.056629 
time: 1403638214.345097, t: 1.781537 -4.717022 1.585867 q: 0.995720 -0.073947 0.001192 0.055434 
time: 1403638214.445097, t: 1.786967 -4.533917 1.571733 q: 0.996093 -0.071014 -0.001357 0.052474 
time: 1403638214.545097, t: 1.796099 -4.351449 1.567016 q: 0.996409 -0.068685 0.007637 0.048916 
time: 1403638214.645097, t: 1.797062 -4.168493 1.573393 q: 0.996550 -0.066720 0.018914 0.045584 
time: 1403638214.745097, t: 1.794339 -3.987254 1.581110 q: 0.996538 -0.064724 0.030053 0.042661 
time: 1403638214.845097, t: 1.778030 -3.808168 1.595498 q: 0.996503 -0.062595 0.037519 0.040683 
time: 1403638214.945097, t: 1.766187 -3.631529 1.609293 q: 0.996499 -0.061085 0.041664 0.039014 
time: 1403638215.045097, t: 1.745455 -3.456236 1.625923 q: 0.996533 -0.059695 0.043136 0.038694 
time: 1403638215.145097, t: 1.720279 -3.282755 1.640411 q: 0.996653 -0.059249 0.042513 0.036942 
time: 1403638215.245097, t: 1.691823 -3.110711 1.656220 q: 0.996847 -0.059646 0.038914 0.034995 
time: 1403638215.345097, t: 1.664365 -2.945181 1.668022 q: 0.996998 -0.061646 0.035509 0.030547 
time: 1403638215.445097, t: 1.640877 -2.780425 1.675684 q: 0.997021 -0.063932 0.035545 0.024445 
time: 1403638215.545097, t: 1.619056 -2.622612 1.681646 q: 0.997017 -0.064546 0.035257 0.023394 
time: 1403638215.645097, t: 1.605690 -2.469034 1.684194 q: 0.996891 -0.064460 0.038882 0.023261 
time: 1403638215.745097, t: 1.598901 -2.320064 1.678149 q: 0.996853 -0.062503 0.039949 0.027941 
time: 1403638215.845097, t: 1.586664 -2.172807 1.674635 q: 0.996556 -0.064591 0.039979 0.033263 
time: 1403638215.945097, t: 1.568882 -2.033745 1.672119 q: 0.996166 -0.069055 0.040152 0.035682 
time: 1403638216.045097, t: 1.543526 -1.896368 1.670935 q: 0.995839 -0.072345 0.040106 0.038242 
time: 1403638216.145097, t: 1.521623 -1.761518 1.667966 q: 0.995612 -0.075799 0.039701 0.037880 
time: 1403638216.245097, t: 1.502450 -1.631976 1.661843 q: 0.995363 -0.078555 0.041638 0.036720 
time: 1403638216.345097, t: 1.489567 -1.508585 1.651774 q: 0.995149 -0.080661 0.043270 0.036064 
time: 1403638216.445097, t: 1.479443 -1.392938 1.640346 q: 0.994931 -0.082427 0.045269 0.035621 
time: 1403638216.545097, t: 1.468290 -1.281115 1.626652 q: 0.994889 -0.083275 0.044847 0.035362 
time: 1403638216.645097, t: 1.453238 -1.174469 1.612438 q: 0.994937 -0.085194 0.042190 0.032600 
time: 1403638216.745097, t: 1.431438 -1.074369 1.597731 q: 0.995016 -0.086431 0.039757 0.029856 
time: 1403638216.845097, t: 1.405648 -0.975142 1.583282 q: 0.994450 -0.090475 0.045419 0.028655 
time: 1403638216.945097, t: 1.377982 -0.880881 1.567117 q: 0.993452 -0.098141 0.048849 0.032179 
optimize pose graph 
time: 1403638217.045097, t: 1.344557 -0.794275 1.552794 q: 0.992103 -0.108073 0.047628 0.042221 
time: 1403638217.145097, t: 1.307120 -0.711147 1.531481 q: 0.990326 -0.121055 0.042876 0.052545 
time: 1403638217.245097, t: 1.265839 -0.632265 1.511658 q: 0.988564 -0.133445 0.038739 0.058594 
time: 1403638217.345097, t: 1.228096 -0.556610 1.488856 q: 0.987170 -0.142654 0.036025 0.062020 
time: 1403638217.445097, t: 1.200226 -0.484152 1.464403 q: 0.986144 -0.149004 0.033600 0.064721 
time: 1403638217.545097, t: 1.182276 -0.418256 1.438032 q: 0.985475 -0.155310 0.030781 0.061397 
time: 1403638217.645097, t: 1.169774 -0.354786 1.408724 q: 0.985137 -0.159981 0.028513 0.055657 
time: 1403638217.745097, t: 1.163807 -0.295061 1.378400 q: 0.984945 -0.163960 0.026224 0.048083 
time: 1403638217.845097, t: 1.162994 -0.242069 1.349736 q: 0.984948 -0.165992 0.023230 0.042248 
time: 1403638217.945097, t: 1.170550 -0.198208 1.318897 q: 0.984977 -0.166503 0.025300 0.038168 
time: 1403638218.045097, t: 1.169625 -0.160386 1.296303 q: 0.985157 -0.165115 0.028811 0.037038 
time: 1403638218.145097, t: 1.165326 -0.130472 1.275495 q: 0.985329 -0.163452 0.031661 0.037510 
time: 1403638218.245097, t: 1.156181 -0.108580 1.258876 q: 0.985450 -0.161808 0.036759 0.036822 
time: 1403638218.345097, t: 1.145098 -0.094996 1.246684 q: 0.985574 -0.158597 0.043978 0.039446 
time: 1403638218.445097, t: 1.137811 -0.088522 1.227657 q: 0.985952 -0.154513 0.045548 0.044157 
time: 1403638218.545097, t: 1.135277 -0.087433 1.205176 q: 0.986234 -0.152375 0.044509 0.046303 
time: 1403638218.645097, t: 1.139495 -0.092222 1.175555 q: 0.986542 -0.150420 0.041430 0.048918 
time: 1403638218.745097, t: 1.141314 -0.102052 1.146608 q: 0.986379 -0.152343 0.033252 0.052369 
time: 1403638218.845097, t: 1.139098 -0.112192 1.118278 q: 0.985267 -0.159223 0.026417 0.056553 
time: 1403638218.945097, t: 1.133360 -0.126191 1.093383 q: 0.983999 -0.162669 0.025226 0.068184 
time: 1403638219.045097, t: 1.123521 -0.142327 1.073581 q: 0.982625 -0.162548 0.028382 0.084970 
time: 1403638219.145097, t: 1.111908 -0.156615 1.054773 q: 0.981477 -0.164693 0.032034 0.092482 
optimize pose graph 
time: 1403638219.245097, t: 1.097979 -0.167674 1.037288 q: 0.980850 -0.170635 0.038279 0.085741 
time: 1403638219.345097, t: 1.081316 -0.179208 1.020121 q: 0.980137 -0.176194 0.047919 0.077400 
time: 1403638219.445097, t: 1.066587 -0.191539 0.999326 q: 0.979314 -0.179173 0.059968 0.072416 
time: 1403638219.545097, t: 1.055085 -0.208261 0.970465 q: 0.979053 -0.179923 0.063169 0.071364 
time: 1403638219.645097, t: 1.044608 -0.229098 0.934766 q: 0.979282 -0.178025 0.059756 0.075787 
time: 1403638219.745097, t: 1.032273 -0.251211 0.893685 q: 0.979516 -0.174688 0.055707 0.083238 
time: 1403638219.845097, t: 1.013038 -0.274435 0.850416 q: 0.979629 -0.170396 0.050820 0.093327 
time: 1403638219.945097, t: 0.986879 -0.295587 0.807152 q: 0.979505 -0.166631 0.047315 0.102784 
time: 1403638220.045097, t: 0.955082 -0.311863 0.762465 q: 0.979469 -0.164083 0.043260 0.108835 
time: 1403638220.145097, t: 0.921264 -0.321215 0.716212 q: 0.979755 -0.164942 0.039253 0.106457 
time: 1403638220.245097, t: 0.890017 -0.325486 0.665209 q: 0.980341 -0.171267 0.035247 0.091415 
time: 1403638220.345097, t: 0.866360 -0.331435 0.610357 q: 0.980648 -0.176767 0.031030 0.078228 
time: 1403638220.445097, t: 0.850268 -0.336902 0.554570 q: 0.980626 -0.179418 0.029553 0.072860 
time: 1403638220.545097, t: 0.839356 -0.342908 0.496959 q: 0.980506 -0.180568 0.030098 0.071391 
time: 1403638220.645097, t: 0.826062 -0.351060 0.442666 q: 0.980234 -0.182206 0.030434 0.070820 
time: 1403638220.745097, t: 0.809160 -0.360213 0.389405 q: 0.979978 -0.183170 0.030511 0.071840 
time: 1403638220.845097, t: 0.787499 -0.371745 0.340054 q: 0.979735 -0.183561 0.031254 0.073813 
time: 1403638220.945097, t: 0.758333 -0.385523 0.293289 q: 0.979516 -0.184223 0.029905 0.075598 
time: 1403638221.045097, t: 0.725313 -0.399783 0.250388 q: 0.979420 -0.184761 0.028756 0.075975 
time: 1403638221.145097, t: 0.689032 -0.411881 0.211256 q: 0.979281 -0.185497 0.027361 0.076498 
time: 1403638221.245097, t: 0.659653 -0.428185 0.169136 q: 0.979245 -0.185448 0.024912 0.077897 
optimize pose graph 
time: 1403638221.345097, t: 0.640372 -0.445688 0.124657 q: 0.979188 -0.184833 0.022342 0.080802 
time: 1403638221.445097, t: 0.625027 -0.463516 0.083320 q: 0.979036 -0.184137 0.021467 0.084390 
time: 1403638221.545097, t: 0.606354 -0.479279 0.043199 q: 0.978919 -0.183405 0.021727 0.087221 
time: 1403638221.645097, t: 0.583952 -0.493603 0.008334 q: 0.978761 -0.183662 0.023488 0.087999 
time: 1403638221.745097, t: 0.560762 -0.509519 -0.023676 q: 0.978522 -0.183230 0.028215 0.090145 
time: 1403638221.845097, t: 0.542570 -0.519081 -0.055199 q: 0.978588 -0.182547 0.029931 0.090254 
time: 1403638221.945097, t: 0.529578 -0.530674 -0.092125 q: 0.978717 -0.184081 0.031883 0.084916 
time: 1403638222.045097, t: 0.522887 -0.542133 -0.132088 q: 0.978799 -0.185512 0.031145 0.081038 
time: 1403638222.145097, t: 0.515344 -0.554392 -0.170244 q: 0.978968 -0.186074 0.025563 0.079659 
time: 1403638222.245097, t: 0.505767 -0.563755 -0.207140 q: 0.979071 -0.185924 0.019045 0.080553 
time: 1403638222.345097, t: 0.492790 -0.574722 -0.240030 q: 0.979139 -0.185389 0.013051 0.082146 
time: 1403638222.445097, t: 0.471268 -0.587405 -0.262902 q: 0.979118 -0.185213 0.008487 0.083382 
time: 1403638222.545097, t: 0.453144 -0.596747 -0.286187 q: 0.979129 -0.185042 0.009079 0.083569 
time: 1403638222.645097, t: 0.434847 -0.607558 -0.303109 q: 0.979007 -0.185249 0.018940 0.082888 
time: 1403638222.745097, t: 0.413841 -0.617120 -0.316086 q: 0.978843 -0.185806 0.025309 0.081868 
time: 1403638222.845097, t: 0.390476 -0.626876 -0.328038 q: 0.978725 -0.186294 0.029799 0.080644 
time: 1403638222.945097, t: 0.370292 -0.634580 -0.339856 q: 0.978357 -0.186472 0.042609 0.078935 
time: 1403638223.045097, t: 0.346742 -0.644543 -0.354824 q: 0.978415 -0.185891 0.043374 0.079162 
time: 1403638223.145097, t: 0.327783 -0.658860 -0.373419 q: 0.978728 -0.186184 0.033282 0.079490 
time: 1403638223.245097, t: 0.312416 -0.673662 -0.393383 q: 0.978979 -0.183190 0.016305 0.088177 
time: 1403638223.345097, t: 0.300804 -0.684470 -0.413929 q: 0.978934 -0.181838 0.012511 0.092014 
time: 1403638223.445097, t: 0.291132 -0.693362 -0.430424 q: 0.978614 -0.179254 0.018991 0.099106 
optimize pose graph 
time: 1403638223.545097, t: 0.278400 -0.696556 -0.444939 q: 0.978105 -0.175522 0.027188 0.108463 
time: 1403638223.645097, t: 0.261938 -0.695961 -0.460087 q: 0.978322 -0.178983 0.028616 0.100158 
time: 1403638223.745097, t: 0.241411 -0.691979 -0.477074 q: 0.978654 -0.184107 0.026896 0.087276 
time: 1403638223.845097, t: 0.224235 -0.685892 -0.491190 q: 0.978817 -0.187380 0.024513 0.078773 
time: 1403638223.945097, t: 0.204740 -0.684388 -0.502633 q: 0.978852 -0.189637 0.023624 0.072991 
time: 1403638224.045097, t: 0.182867 -0.683452 -0.513004 q: 0.978959 -0.190008 0.019574 0.071788 
time: 1403638224.145097, t: 0.161954 -0.688249 -0.520701 q: 0.979144 -0.188532 0.009767 0.075083 
time: 1403638224.245097, t: 0.139746 -0.688859 -0.522445 q: 0.979197 -0.187503 0.004119 0.077448 
time: 1403638224.345097, t: 0.203425 -0.676763 -0.516256 q: 0.978619 -0.186495 -0.001327 0.086738 
time: 1403638224.445097, t: 0.115818 -0.691141 -0.519575 q: 0.978840 -0.185450 0.022682 0.083460 
time: 1403638224.545097, t: 0.105076 -0.696556 -0.516295 q: 0.978469 -0.185880 0.035249 0.082485 
time: 1403638224.645097, t: 0.094297 -0.698645 -0.513637 q: 0.978684 -0.186261 0.030954 0.080780 
time: 1403638224.745097, t: 0.082423 -0.702593 -0.511958 q: 0.979075 -0.185263 0.013099 0.083171 
time: 1403638224.845097, t: 0.075661 -0.709081 -0.508984 q: 0.979134 -0.184687 0.008296 0.084376 
time: 1403638224.945097, t: 0.076712 -0.712814 -0.504953 q: 0.978901 -0.181608 0.021577 0.091138 
time: 1403638225.045097, t: 0.082132 -0.716862 -0.502673 q: 0.978606 -0.178577 0.033148 0.096651 
time: 1403638225.145097, t: 0.085731 -0.720461 -0.500882 q: 0.978818 -0.180161 0.034253 0.091016 
time: 1403638225.345097, t: 0.095909 -0.721018 -0.500546 q: 0.979656 -0.182068 0.015928 0.082900 
time: 1403638225.445097, t: 0.100604 -0.719607 -0.497990 q: 0.979564 -0.183014 0.022947 0.080215 
time: 1403638225.545097, t: 0.099478 -0.718537 -0.491159 q: 0.979010 -0.184831 0.040557 0.075716 
time: 1403638225.645097, t: 0.090615 -0.719392 -0.483754 q: 0.978183 -0.186187 0.057678 0.071867 
optimize pose graph 
time: 1403638225.745097, t: 0.069740 -0.723585 -0.475681 q: 0.978427 -0.186306 0.054060 0.071057 
time: 1403638225.845097, t: 0.038099 -0.730859 -0.466724 q: 0.979292 -0.185137 0.034915 0.074110 
time: 1403638225.945097, t: 0.000708 -0.738695 -0.459492 q: 0.979777 -0.183910 0.017104 0.076947 
time: 1403638226.045097, t: -0.018986 -0.754145 -0.452800 q: 0.980350 -0.179835 -0.000330 0.081076 
time: 1403638226.145097, t: -0.008064 -0.762003 -0.447587 q: 0.980061 -0.168437 0.004404 0.105311 
time: 1403638226.245097, t: -0.050334 -0.759655 -0.442363 q: 0.980342 -0.180750 -0.004896 0.078965 
time: 1403638226.345097, t: -0.013900 -0.777452 -0.439670 q: 0.980455 -0.179743 -0.000019 0.080007 
time: 1403638226.445097, t: -0.014595 -0.774248 -0.434878 q: 0.980432 -0.179879 0.000395 0.079983 
time: 1403638226.545097, t: -0.014781 -0.772018 -0.433832 q: 0.981378 -0.170563 0.000294 0.088345 
time: 1403638226.645097, t: -0.047336 -0.767521 -0.433355 q: 0.980544 -0.179196 0.002434 0.080102 
time: 1403638226.745097, t: -0.050329 -0.765670 -0.433263 q: 0.980530 -0.178999 0.001956 0.080720 
time: 1403638226.845097, t: -0.050117 -0.766052 -0.433539 q: 0.980546 -0.179073 0.002394 0.080347 
time: 1403638226.945097, t: -0.050130 -0.765795 -0.433321 q: 0.980543 -0.179335 0.002104 0.079806 
time: 1403638227.045097, t: -0.050444 -0.765629 -0.433291 q: 0.980571 -0.179509 0.002112 0.079076 
time: 1403638227.145097, t: -0.050523 -0.765682 -0.433231 q: 0.980553 -0.179488 0.001982 0.079344 
time: 1403638227.245097, t: -0.050485 -0.765794 -0.433336 q: 0.980563 -0.179323 0.001988 0.079601 
time: 1403638227.345097, t: -0.050359 -0.765908 -0.433404 q: 0.980542 -0.179216 0.002034 0.080099 
time: 1403638227.445097, t: -0.050330 -0.765986 -0.433482 q: 0.980537 -0.179234 0.002025 0.080108 
time: 1403638227.545097, t: -0.050313 -0.765871 -0.433472 q: 0.980550 -0.179280 0.002044 0.079857 
time: 1403638227.645097, t: -0.050347 -0.765799 -0.433386 q: 0.980553 -0.179343 0.002048 0.079670 
time: 1403638227.745097, t: -0.050406 -0.765826 -0.433377 q: 0.980550 -0.179342 0.002037 0.079711 
optimize pose graph 
time: 1403638227.845097, t: -0.050355 -0.765839 -0.433414 q: 0.980552 -0.179314 0.002019 0.079757 
time: 1403638227.945097, t: -0.050349 -0.765832 -0.433435 q: 0.980551 -0.179271 0.002041 0.079853 
time: 1403638228.045097, t: -0.050345 -0.765854 -0.433456 q: 0.980543 -0.179290 0.002039 0.079919 
time: 1403638228.145097, t: -0.050212 -0.765822 -0.433502 q: 0.980548 -0.179252 0.002092 0.079934 
time: 1403638228.245097, t: -0.050340 -0.765848 -0.433457 q: 0.980549 -0.179316 0.002057 0.079776 
time: 1403638228.345097, t: -0.050395 -0.765810 -0.433395 q: 0.980548 -0.179316 0.002059 0.079794 
time: 1403638228.445097, t: -0.050460 -0.765827 -0.433372 q: 0.980556 -0.179306 0.002011 0.079725 
time: 1403638228.545097, t: -0.050448 -0.765798 -0.433329 q: 0.980558 -0.179281 0.002068 0.079751 
time: 1403638228.645097, t: -0.050459 -0.765811 -0.433369 q: 0.980556 -0.179280 0.002028 0.079774 
time: 1403638228.745097, t: -0.050451 -0.765822 -0.433336 q: 0.980558 -0.179267 0.002039 0.079786 
time: 1403638228.845097, t: -0.050436 -0.765809 -0.433345 q: 0.980555 -0.179271 0.002073 0.079809 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720506780.021691393]: Shutdown request received.[0m
[33m[ WARN] [1720506780.021733149]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720506780.022620883]: Shutdown request received.[0m
[33m[ WARN] [1720506780.022649647]: Reason given for shutdown: [user request][0m
killed
