/SLAM-Hive/slam_hive_results/mapping_results/3107/2312_vins-fusion-stereo-imu+MH_01_easy+Image_comb_test-2.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1720541018.496252466]: init begins[0m
[31m[ERROR] [1720541018.497221349]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1720541018.497270427]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/cdd2ddfa-3e0c-11ef-9d59-0242ac110005/roslaunch-f5a3926c113d-117.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;roscore
[1mstarted roslaunch server http://f5a3926c113d:34203/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [154][0m
[0m[ INFO] [1720541019.604149599]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720541019.604864994]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1720541019.610211426]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720541019.610398747]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720541019.610423079]: ROW: 288 COL: 451 [0m
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
 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 9.81007
[0m[ INFO] [1720541019.610647331]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720541019.610899538]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720541019.611051806]: 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://f5a3926c113d:11311/[0m
]2;roscore http://f5a3926c113d:11311/
[1msetting /run_id to cdd2ddfa-3e0c-11ef-9d59-0242ac110005[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
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [247][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720541028.641476942]: Opening /slamhive/dataset/MH_01_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636578.946206   Duration: 0.000000 / 187.749443   Delay: 316904449.92 
init first imu pose
averge acc 7.745210 -0.452196 -2.672312
init R0 
  0.330294    0.15748   0.930648
         0  -0.985983   0.166843
  0.943878 -0.0551073  -0.325664
[33m[ WARN] [1720541030.922364191]: gyroscope bias initial calibration -0.00705499   0.0201719   0.0794471[0m
[0m[ INFO] [1720541030.976650921]: Initialization finish![0m
time: 1403636580.813555, t: -0.008300 0.014857 -0.162121 q: -0.044158 0.838979 0.047025 0.540327 
time: 1403636580.913555, t: -0.001908 0.015110 -0.084454 q: -0.033128 0.832046 0.046315 0.551776 
time: 1403636581.013556, t: 0.003854 0.019123 -0.010238 q: -0.016201 0.824267 0.037072 0.564754 
time: 1403636581.113555, t: 0.005273 0.022169 0.055512 q: -0.010495 0.813130 0.030936 0.581164 
time: 1403636581.213556, t: 0.004829 0.021669 0.110701 q: -0.013899 0.801916 0.027003 0.596664 
time: 1403636581.413555, t: 0.000748 0.008482 0.158050 q: -0.039999 0.785383 0.042643 0.616242 
time: 1403636581.513556, t: 0.003704 0.003030 0.130900 q: -0.045549 0.791182 0.052025 0.607659 
time: 1403636581.613555, t: 0.004446 0.002629 0.080650 q: -0.042800 0.800163 0.048915 0.596250 
time: 1403636581.713556, t: 0.000780 0.000286 0.020020 q: -0.042750 0.802440 0.049092 0.593171 
time: 1403636581.813555, t: -0.002383 -0.001067 -0.044832 q: -0.038458 0.801880 0.045751 0.594488 
time: 1403636581.913555, t: -0.006312 -0.000329 -0.111160 q: -0.027466 0.809379 0.036945 0.585480 
time: 1403636582.013556, t: -0.009769 -0.001706 -0.171821 q: -0.017962 0.819389 0.028199 0.572261 
time: 1403636582.113555, t: -0.014017 -0.002480 -0.218930 q: -0.004613 0.830203 0.021384 0.557031 
time: 1403636582.313555, t: -0.015312 0.005845 -0.233582 q: -0.016267 0.840446 0.030848 0.540772 
time: 1403636582.413555, t: -0.011947 0.014590 -0.192047 q: -0.036410 0.833349 0.045957 0.549628 
time: 1403636582.513556, t: -0.010161 0.017407 -0.132947 q: -0.037746 0.825307 0.048067 0.561367 
time: 1403636582.613555, t: -0.008010 0.018865 -0.067188 q: -0.034843 0.820423 0.048875 0.568597 
time: 1403636582.713556, t: -0.006221 0.018395 -0.000947 q: -0.032332 0.817751 0.046367 0.572789 
time: 1403636582.813555, t: -0.002206 0.015529 0.064031 q: -0.031388 0.813381 0.039592 0.579533 
time: 1403636582.913555, t: 0.000682 0.011164 0.126740 q: -0.027583 0.805366 0.029565 0.591397 
time: 1403636583.013556, t: 0.000907 0.007098 0.174015 q: -0.026721 0.795334 0.026930 0.604983 
time: 1403636583.113555, t: -0.000398 0.003968 0.192513 q: -0.025733 0.790666 0.028485 0.611044 
time: 1403636583.213556, t: 0.000523 0.000741 0.177317 q: -0.026382 0.791151 0.033464 0.610135 
time: 1403636583.413555, t: 0.002181 -0.004841 0.080203 q: -0.033631 0.794471 0.039310 0.605095 
time: 1403636583.513556, t: 0.000666 -0.007927 0.014959 q: -0.031815 0.797404 0.042069 0.601137 
time: 1403636583.613555, t: 0.001586 -0.010509 -0.055234 q: -0.028374 0.803531 0.044433 0.592923 
time: 1403636583.713556, t: -0.000783 -0.010824 -0.122866 q: -0.033960 0.814856 0.043378 0.577040 
time: 1403636583.813555, t: -0.004666 -0.012541 -0.180961 q: -0.037819 0.827080 0.039742 0.559400 
time: 1403636583.913555, t: -0.007329 -0.010129 -0.228593 q: -0.040718 0.834588 0.046596 0.547387 
time: 1403636584.013556, t: -0.011275 -0.008089 -0.255244 q: -0.041399 0.836037 0.053650 0.544472 
time: 1403636584.113555, t: -0.013409 -0.005494 -0.256485 q: -0.046286 0.835381 0.058040 0.544636 
time: 1403636584.213556, t: -0.012132 -0.003359 -0.229182 q: -0.047344 0.835291 0.059928 0.544478 
time: 1403636584.313555, t: -0.009524 -0.001642 -0.179918 q: -0.047246 0.833587 0.059745 0.547111 
time: 1403636584.413555, t: -0.004122 -0.002135 -0.116882 q: -0.037467 0.832407 0.057938 0.549853 
time: 1403636584.513556, t: 0.003092 -0.002116 -0.045647 q: -0.033800 0.827830 0.059348 0.556806 
time: 1403636584.613555, t: 0.009908 -0.001807 0.028296 q: -0.035166 0.819103 0.057192 0.569705 
time: 1403636584.713556, t: 0.013753 -0.001692 0.098106 q: -0.034123 0.807050 0.052514 0.587153 
time: 1403636584.813555, t: 0.013795 -0.001588 0.157619 q: -0.034874 0.796398 0.049835 0.601706 
time: 1403636584.913555, t: 0.010355 -0.001667 0.198818 q: -0.039997 0.789612 0.047071 0.610489 
time: 1403636585.013556, t: 0.009645 -0.000498 0.213359 q: -0.041902 0.788920 0.042628 0.611582 
time: 1403636585.113555, t: 0.011895 -0.001015 0.199572 q: -0.044546 0.791470 0.042411 0.608105 
time: 1403636585.213556, t: 0.013872 -0.002768 0.163190 q: -0.041809 0.794844 0.040460 0.604018 
time: 1403636585.313555, t: 0.015885 -0.007674 0.116554 q: -0.034897 0.797670 0.043119 0.600538 
time: 1403636585.413555, t: 0.019021 -0.012173 0.063831 q: -0.031163 0.801081 0.049162 0.595719 
time: 1403636585.513556, t: 0.016457 -0.014775 0.011862 q: -0.028974 0.806237 0.053238 0.588479 
time: 1403636585.613555, t: 0.009305 -0.016954 -0.034669 q: -0.037998 0.813056 0.061869 0.577640 
time: 1403636585.813555, t: -0.013332 -0.019857 -0.083184 q: -0.060812 0.829630 0.067412 0.550882 
time: 1403636585.913555, t: -0.023121 -0.020366 -0.088536 q: -0.071517 0.839195 0.069671 0.534586 
time: 1403636586.013556, t: -0.030433 -0.021075 -0.087538 q: -0.070189 0.851400 0.065771 0.515622 
time: 1403636586.113555, t: -0.036209 -0.021298 -0.083977 q: -0.061523 0.863837 0.060011 0.496385 
time: 1403636586.213556, t: -0.043541 -0.018533 -0.078430 q: -0.059761 0.873413 0.056249 0.480014 
time: 1403636586.313555, t: -0.053308 -0.017232 -0.074306 q: -0.060435 0.883412 0.054364 0.461493 
time: 1403636586.413555, t: -0.064270 -0.018886 -0.071877 q: -0.061099 0.894034 0.051519 0.440812 
time: 1403636586.513556, t: -0.074605 -0.023697 -0.069950 q: -0.059672 0.902612 0.053974 0.422868 
time: 1403636586.613555, t: -0.079736 -0.031176 -0.066135 q: -0.061060 0.907427 0.057936 0.411693 
time: 1403636586.713556, t: -0.079035 -0.039927 -0.061665 q: -0.059993 0.907523 0.055195 0.412015 
time: 1403636586.813555, t: -0.074737 -0.047564 -0.059227 q: -0.061126 0.904856 0.052914 0.417970 
time: 1403636586.913555, t: -0.069872 -0.051707 -0.059204 q: -0.060609 0.902344 0.055305 0.423135 
time: 1403636587.013556, t: -0.064735 -0.052551 -0.058826 q: -0.060573 0.901121 0.059625 0.425155 
time: 1403636587.113555, t: -0.058666 -0.053554 -0.058319 q: -0.060314 0.902481 0.063722 0.421699 
time: 1403636587.213556, t: -0.051688 -0.058898 -0.058473 q: -0.059276 0.904227 0.065728 0.417779 
time: 1403636587.313555, t: -0.043094 -0.070492 -0.059494 q: -0.058903 0.905190 0.063710 0.416056 
time: 1403636587.413555, t: -0.032570 -0.089004 -0.060441 q: -0.057450 0.906237 0.060269 0.414489 
time: 1403636587.513556, t: -0.021533 -0.114252 -0.061540 q: -0.057706 0.907508 0.055613 0.412318 
time: 1403636587.613555, t: -0.010629 -0.145761 -0.061716 q: -0.056691 0.907988 0.050577 0.412052 
time: 1403636587.713556, t: 0.001351 -0.181127 -0.060077 q: -0.055311 0.906147 0.043963 0.417020 
time: 1403636587.813555, t: 0.013323 -0.217367 -0.058645 q: -0.053022 0.903866 0.036017 0.422987 
time: 1403636587.913555, t: 0.023875 -0.252495 -0.060505 q: -0.050345 0.904385 0.029924 0.422679 
time: 1403636588.013556, t: 0.032596 -0.284697 -0.065641 q: -0.043708 0.908530 0.024630 0.414796 
time: 1403636588.113555, t: 0.039354 -0.310715 -0.071478 q: -0.041372 0.912178 0.019790 0.407220 
time: 1403636588.213556, t: 0.045008 -0.329974 -0.077046 q: -0.041929 0.913072 0.020989 0.405095 
time: 1403636588.313555, t: 0.048658 -0.340982 -0.081372 q: -0.045591 0.911910 0.021368 0.407290 
time: 1403636588.413555, t: 0.048984 -0.343736 -0.083604 q: -0.048593 0.910490 0.021138 0.410123 
time: 1403636588.513556, t: 0.046128 -0.339371 -0.083411 q: -0.047114 0.910631 0.020482 0.410015 
time: 1403636588.713556, t: 0.032228 -0.306376 -0.075963 q: -0.048958 0.910426 0.022345 0.410156 
time: 1403636588.813555, t: 0.021856 -0.280183 -0.074651 q: -0.051634 0.911457 0.026861 0.407256 
time: 1403636588.913555, t: 0.011230 -0.247426 -0.073630 q: -0.056093 0.911536 0.030387 0.406243 
time: 1403636589.013556, t: -0.001603 -0.209796 -0.069661 q: -0.059678 0.910224 0.035201 0.408278 
time: 1403636589.113555, t: -0.015753 -0.169303 -0.063733 q: -0.062865 0.907680 0.041109 0.412887 
time: 1403636589.213556, t: -0.029654 -0.126069 -0.056951 q: -0.065449 0.905759 0.044933 0.416290 
time: 1403636589.313555, t: -0.043846 -0.080815 -0.052329 q: -0.067535 0.905997 0.050211 0.414835 
time: 1403636589.413555, t: -0.058268 -0.034896 -0.050094 q: -0.069252 0.907276 0.056039 0.410992 
time: 1403636589.513556, t: -0.072486 0.010612 -0.048555 q: -0.070125 0.906808 0.059633 0.411370 
time: 1403636589.613555, t: -0.085811 0.056875 -0.048764 q: -0.071120 0.905553 0.062082 0.413596 
time: 1403636589.713556, t: -0.099953 0.101211 -0.048732 q: -0.072821 0.904495 0.065267 0.415123 
time: 1403636589.813555, t: -0.112412 0.143391 -0.051294 q: -0.077582 0.905006 0.070283 0.412317 
time: 1403636589.913555, t: -0.124101 0.179612 -0.054610 q: -0.082602 0.906986 0.076963 0.405747 
time: 1403636590.013556, t: -0.133267 0.209400 -0.057441 q: -0.090555 0.906839 0.081971 0.403389 
time: 1403636590.113555, t: -0.142311 0.230406 -0.055481 q: -0.097476 0.903398 0.086880 0.408439 
time: 1403636590.213556, t: -0.146891 0.240398 -0.052725 q: -0.102356 0.900434 0.089806 0.413130 
time: 1403636590.313555, t: -0.148775 0.238024 -0.050465 q: -0.100990 0.900411 0.091595 0.413124 
time: 1403636590.413555, t: -0.148252 0.223626 -0.048276 q: -0.096446 0.901648 0.089880 0.411887 
time: 1403636590.513556, t: -0.145075 0.197686 -0.045640 q: -0.090391 0.901649 0.086667 0.413942 
time: 1403636590.613555, t: -0.139359 0.163864 -0.042731 q: -0.085242 0.900835 0.083686 0.417404 
time: 1403636590.713556, t: -0.131093 0.125170 -0.041868 q: -0.080809 0.901124 0.079622 0.418457 
time: 1403636590.813555, t: -0.120545 0.083678 -0.044128 q: -0.079695 0.903340 0.074942 0.414740 
time: 1403636590.913555, t: -0.107401 0.039414 -0.048374 q: -0.079082 0.906099 0.070920 0.409513 
time: 1403636591.013556, t: -0.093048 -0.006088 -0.052793 q: -0.077883 0.906780 0.069211 0.408527 
time: 1403636591.113555, t: -0.078228 -0.049550 -0.056721 q: -0.080575 0.906052 0.068749 0.409696 
time: 1403636591.213556, t: -0.063240 -0.089715 -0.060491 q: -0.081414 0.906509 0.066012 0.408970 
time: 1403636591.313555, t: -0.050166 -0.124921 -0.066311 q: -0.079674 0.907889 0.063123 0.406700 
time: 1403636591.413555, t: -0.039771 -0.151684 -0.073958 q: -0.077115 0.909114 0.058719 0.405113 
time: 1403636591.513556, t: -0.029766 -0.170605 -0.082799 q: -0.075062 0.909037 0.055133 0.406175 
time: 1403636591.613555, t: -0.019363 -0.185587 -0.091090 q: -0.065770 0.905822 0.045092 0.416087 
time: 1403636591.713556, t: -0.010624 -0.194123 -0.096469 q: -0.057057 0.897858 0.036921 0.435008 
time: 1403636591.813555, t: -0.002906 -0.199157 -0.097599 q: -0.047946 0.888659 0.030041 0.455064 
time: 1403636591.913555, t: 0.004214 -0.203827 -0.096497 q: -0.041712 0.882392 0.021868 0.468151 
time: 1403636592.013556, t: 0.014351 -0.209314 -0.097441 q: -0.038663 0.884300 0.011835 0.465166 
time: 1403636592.113555, t: 0.031375 -0.218484 -0.098926 q: -0.033766 0.888058 -0.000546 0.458490 
time: 1403636592.213556, t: 0.053314 -0.228062 -0.101338 q: -0.028465 0.892301 -0.010459 0.450421 
time: 1403636592.313555, t: 0.078523 -0.234565 -0.102530 q: -0.026225 0.896268 -0.013236 0.442538 
time: 1403636592.413555, t: 0.106880 -0.233316 -0.102720 q: -0.030996 0.899050 -0.012480 0.436569 
time: 1403636592.513556, t: 0.137613 -0.222117 -0.100835 q: -0.038956 0.897939 -0.003396 0.438379 
time: 1403636592.613555, t: 0.167575 -0.200879 -0.098569 q: -0.048093 0.893220 0.012155 0.446875 
time: 1403636592.713556, t: 0.193611 -0.171259 -0.097825 q: -0.056568 0.889471 0.030462 0.452453 
time: 1403636592.813555, t: 0.211528 -0.131287 -0.097892 q: -0.071681 0.887707 0.051577 0.451860 
time: 1403636592.913555, t: 0.216065 -0.082484 -0.099158 q: -0.091465 0.887322 0.074108 0.445871 
time: 1403636593.013556, t: 0.204433 -0.027637 -0.099504 q: -0.110133 0.886798 0.096878 0.438264 
time: 1403636593.113555, t: 0.177513 0.028888 -0.097727 q: -0.125442 0.885006 0.119912 0.432030 
wait for imu ... 
wait for imu ... 
time: 1403636593.213556, t: 0.137003 0.082526 -0.094623 q: -0.142722 0.882287 0.135523 0.427590 
time: 1403636593.313555, t: 0.087261 0.127521 -0.091498 q: -0.157786 0.880645 0.145134 0.422497 
time: 1403636593.413555, t: 0.035328 0.155067 -0.091822 q: -0.160534 0.881568 0.150388 0.417673 
time: 1403636593.513556, t: -0.016630 0.164305 -0.094990 q: -0.155623 0.883771 0.148941 0.415388 
time: 1403636593.613555, t: -0.063966 0.157238 -0.101783 q: -0.149224 0.888733 0.137745 0.410989 
time: 1403636593.713556, t: -0.104319 0.133657 -0.109542 q: -0.139840 0.896145 0.118575 0.404115 
time: 1403636593.813555, t: -0.138724 0.094847 -0.115017 q: -0.123704 0.902524 0.090689 0.402397 
time: 1403636593.913555, t: -0.164513 0.044846 -0.117431 q: -0.103217 0.904213 0.055713 0.410658 
time: 1403636594.013556, t: -0.178708 -0.008758 -0.117784 q: -0.078383 0.902477 0.021000 0.423025 
time: 1403636594.113555, t: -0.182069 -0.065297 -0.115429 q: -0.055314 0.901013 -0.010949 0.430111 
time: 1403636594.213556, t: -0.168247 -0.120317 -0.116302 q: -0.035781 0.901359 -0.036935 0.430009 
time: 1403636594.313555, t: -0.139332 -0.173755 -0.118523 q: -0.019250 0.901560 -0.052110 0.429072 
time: 1403636594.413555, t: -0.097469 -0.222398 -0.118718 q: -0.005119 0.899861 -0.058768 0.432169 
time: 1403636594.513556, t: -0.045910 -0.262379 -0.118110 q: 0.003308 0.895433 -0.057410 0.441468 
time: 1403636594.613555, t: 0.009832 -0.284164 -0.120335 q: 0.001901 0.890549 -0.057750 0.451202 
time: 1403636594.713556, t: 0.059193 -0.284050 -0.122215 q: -0.003074 0.887811 -0.055416 0.456848 
time: 1403636594.813555, t: 0.099120 -0.259564 -0.125523 q: -0.013593 0.886377 -0.041391 0.460910 
time: 1403636594.913555, t: 0.128203 -0.211172 -0.129736 q: -0.028138 0.884574 -0.016728 0.465249 
time: 1403636595.013556, t: 0.140466 -0.141451 -0.132188 q: -0.049164 0.882319 0.016823 0.467775 
time: 1403636595.113555, t: 0.134523 -0.063810 -0.134791 q: -0.073115 0.881192 0.052324 0.464131 
time: 1403636595.213556, t: 0.116204 0.009274 -0.137326 q: -0.097413 0.880431 0.082404 0.456685 
time: 1403636595.313555, t: 0.089862 0.069239 -0.139172 q: -0.118635 0.879054 0.107551 0.449024 
time: 1403636595.413555, t: 0.056217 0.105973 -0.139999 q: -0.130235 0.877886 0.123176 0.444053 
time: 1403636595.513556, t: 0.024829 0.115929 -0.141665 q: -0.134524 0.878465 0.128944 0.439973 
time: 1403636595.613555, t: -0.005815 0.098160 -0.143899 q: -0.133592 0.880370 0.131254 0.435746 
time: 1403636595.713556, t: -0.031203 0.057366 -0.148765 q: -0.124471 0.883532 0.124528 0.434018 
time: 1403636595.813555, t: -0.051583 0.001047 -0.154784 q: -0.104509 0.886904 0.109337 0.436491 
time: 1403636595.913555, t: -0.069500 -0.060701 -0.161223 q: -0.082341 0.890361 0.086374 0.439336 
time: 1403636596.013556, t: -0.090901 -0.118101 -0.166032 q: -0.061650 0.894646 0.062093 0.438124 
time: 1403636596.113555, t: -0.118668 -0.158593 -0.169099 q: -0.044605 0.898534 0.037872 0.434987 
time: 1403636596.213556, t: -0.151586 -0.173825 -0.167989 q: -0.037280 0.899770 0.022306 0.434197 
time: 1403636596.313555, t: -0.188603 -0.161438 -0.160648 q: -0.037994 0.898745 0.013929 0.436600 
time: 1403636596.413555, t: -0.232195 -0.134708 -0.147567 q: -0.036870 0.896627 0.012388 0.441075 
time: 1403636596.513556, t: -0.277576 -0.103879 -0.134494 q: -0.036159 0.893850 0.017430 0.446567 
time: 1403636596.613555, t: -0.311666 -0.075183 -0.125852 q: -0.034988 0.892710 0.022592 0.448704 
time: 1403636596.713556, t: -0.332875 -0.053735 -0.121215 q: -0.035164 0.893850 0.024692 0.446303 
time: 1403636596.813555, t: -0.333646 -0.042896 -0.120838 q: -0.034117 0.892493 0.028959 0.448836 
time: 1403636596.913555, t: -0.311436 -0.040822 -0.122953 q: -0.030138 0.889649 0.032605 0.454482 
time: 1403636597.013556, t: -0.267405 -0.044355 -0.126253 q: -0.025608 0.890582 0.034371 0.452799 
time: 1403636597.213556, t: -0.141799 -0.056227 -0.132363 q: -0.032640 0.898658 0.047086 0.434893 
time: 1403636597.313555, t: -0.071324 -0.059218 -0.128450 q: -0.039988 0.897415 0.060996 0.435116 
time: 1403636597.413555, t: -0.001979 -0.055837 -0.124101 q: -0.048333 0.894094 0.076272 0.438682 
time: 1403636597.513556, t: 0.056458 -0.046716 -0.121511 q: -0.057618 0.890281 0.094417 0.441775 
time: 1403636597.613555, t: 0.095520 -0.029598 -0.122519 q: -0.074702 0.884766 0.110886 0.446444 
time: 1403636597.713556, t: 0.110185 -0.006702 -0.124941 q: -0.093290 0.878022 0.125713 0.452294 
time: 1403636597.813555, t: 0.100006 0.015245 -0.126664 q: -0.105131 0.871779 0.137812 0.458211 
time: 1403636597.913555, t: 0.071381 0.030928 -0.127969 q: -0.108435 0.867699 0.149149 0.461622 
time: 1403636598.013556, t: 0.031337 0.037440 -0.130253 q: -0.107288 0.867697 0.157583 0.459085 
time: 1403636598.113555, t: -0.014156 0.036656 -0.135211 q: -0.106522 0.872125 0.159024 0.450292 
time: 1403636598.213556, t: -0.056041 0.028876 -0.144364 q: -0.100662 0.880558 0.157822 0.435405 
time: 1403636598.313555, t: -0.085349 0.017511 -0.157884 q: -0.092082 0.888557 0.157162 0.421054 
time: 1403636598.413555, t: -0.095646 0.004431 -0.172451 q: -0.082533 0.892295 0.154882 0.415944 
time: 1403636598.513556, t: -0.085711 -0.005143 -0.187600 q: -0.079236 0.891237 0.154554 0.418965 
time: 1403636598.613555, t: -0.058922 -0.011081 -0.200416 q: -0.085435 0.885047 0.157210 0.429741 
time: 1403636598.713556, t: -0.023755 -0.014151 -0.214067 q: -0.096517 0.875754 0.162117 0.444362 
time: 1403636598.813555, t: 0.011686 -0.015565 -0.232655 q: -0.110554 0.863654 0.166719 0.462693 
time: 1403636598.913555, t: 0.043738 -0.017150 -0.255259 q: -0.119372 0.852181 0.165751 0.481730 
time: 1403636599.013556, t: 0.070120 -0.018637 -0.279142 q: -0.121208 0.843494 0.165688 0.496360 
time: 1403636599.113555, t: 0.089708 -0.018712 -0.297283 q: -0.130609 0.833555 0.164578 0.510922 
time: 1403636599.213556, t: 0.105014 -0.018236 -0.307998 q: -0.139565 0.817901 0.162614 0.533963 
time: 1403636599.313555, t: 0.117678 -0.017128 -0.316188 q: -0.145759 0.801987 0.156240 0.557817 
time: 1403636599.413555, t: 0.127275 -0.016866 -0.325145 q: -0.144243 0.793675 0.152417 0.571001 
time: 1403636599.513556, t: 0.135163 -0.016541 -0.334589 q: -0.137283 0.794503 0.147779 0.572782 
time: 1403636599.613555, t: 0.139824 -0.016394 -0.343375 q: -0.132691 0.799446 0.142135 0.568398 
time: 1403636599.713556, t: 0.142039 -0.017353 -0.350964 q: -0.130461 0.800607 0.139913 0.567831 
time: 1403636599.813555, t: 0.142116 -0.019860 -0.351361 q: -0.133180 0.790362 0.138871 0.581641 
optimize pose graph 
time: 1403636599.913555, t: 0.141236 -0.021600 -0.352565 q: -0.136305 0.785539 0.136573 0.587961 
time: 1403636600.013556, t: 0.141159 -0.022679 -0.353505 q: -0.136132 0.787025 0.133339 0.586755 
time: 1403636600.113555, t: 0.141187 -0.024504 -0.354667 q: -0.140661 0.785248 0.130206 0.588767 
time: 1403636600.213556, t: 0.141224 -0.024685 -0.354825 q: -0.140525 0.785161 0.130311 0.588892 
time: 1403636600.313555, t: 0.140865 -0.024520 -0.354942 q: -0.141062 0.785292 0.129895 0.588682 
time: 1403636600.413555, t: 0.140797 -0.024474 -0.354912 q: -0.141376 0.785263 0.129532 0.588724 
time: 1403636600.513556, t: 0.140683 -0.024579 -0.354826 q: -0.141382 0.785230 0.129158 0.588848 
time: 1403636600.613555, t: 0.140721 -0.024482 -0.354830 q: -0.141533 0.785353 0.129067 0.588668 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636600.713556, t: 0.140713 -0.024570 -0.354805 q: -0.141159 0.785497 0.129130 0.588553 
time: 1403636600.813555, t: 0.140699 -0.024608 -0.354793 q: -0.140881 0.785515 0.129153 0.588589 
time: 1403636600.913555, t: 0.140709 -0.024603 -0.354783 q: -0.140832 0.785589 0.129090 0.588517 
time: 1403636601.013556, t: 0.140668 -0.024648 -0.354765 q: -0.140581 0.785679 0.129089 0.588457 
time: 1403636601.113555, t: 0.140670 -0.024636 -0.354766 q: -0.140549 0.785732 0.129004 0.588413 
time: 1403636601.213556, t: 0.140639 -0.024658 -0.354764 q: -0.140459 0.785774 0.128982 0.588382 
time: 1403636601.313555, t: 0.140622 -0.024666 -0.354755 q: -0.140369 0.785818 0.128954 0.588351 
time: 1403636601.413555, t: 0.140636 -0.024647 -0.354764 q: -0.140374 0.785867 0.128840 0.588310 
time: 1403636601.513556, t: 0.140628 -0.024670 -0.354781 q: -0.140324 0.785879 0.128772 0.588321 
time: 1403636601.613555, t: 0.140622 -0.024650 -0.354796 q: -0.140342 0.785924 0.128706 0.588271 
time: 1403636601.713556, t: 0.140622 -0.024654 -0.354821 q: -0.140300 0.785932 0.128677 0.588276 
time: 1403636601.813555, t: 0.140763 -0.024643 -0.354979 q: -0.140287 0.785984 0.128610 0.588224 
time: 1403636601.913555, t: 0.140664 -0.024644 -0.354835 q: -0.140174 0.786003 0.128605 0.588228 
time: 1403636602.013556, t: 0.140643 -0.024655 -0.354812 q: -0.140083 0.786031 0.128598 0.588213 
time: 1403636602.113555, t: 0.140650 -0.024658 -0.354811 q: -0.140049 0.786083 0.128553 0.588161 
time: 1403636602.213556, t: 0.140651 -0.024650 -0.354817 q: -0.139999 0.786083 0.128537 0.588177 
time: 1403636602.313555, t: 0.140652 -0.024673 -0.354822 q: -0.139908 0.786131 0.128562 0.588130 
time: 1403636602.513556, t: 0.140640 -0.024695 -0.354841 q: -0.139737 0.786175 0.128553 0.588113 
time: 1403636602.613555, t: 0.140629 -0.024705 -0.354821 q: -0.139649 0.786215 0.128595 0.588071 
time: 1403636602.713556, t: 0.140623 -0.024698 -0.354831 q: -0.139605 0.786226 0.128549 0.588077 
time: 1403636602.813555, t: 0.140609 -0.024712 -0.354841 q: -0.139514 0.786242 0.128548 0.588078 
time: 1403636602.913555, t: 0.140613 -0.024725 -0.354829 q: -0.139461 0.786262 0.128575 0.588057 
time: 1403636603.013556, t: 0.140607 -0.024728 -0.354837 q: -0.139361 0.786274 0.128549 0.588071 
time: 1403636603.113555, t: 0.140604 -0.024726 -0.354841 q: -0.139310 0.786279 0.128538 0.588078 
time: 1403636603.213556, t: 0.140606 -0.024742 -0.354840 q: -0.139310 0.786333 0.128499 0.588015 
time: 1403636603.313555, t: 0.140605 -0.024739 -0.354848 q: -0.139269 0.786322 0.128507 0.588037 
time: 1403636603.413555, t: 0.140598 -0.024734 -0.354854 q: -0.139222 0.786322 0.128485 0.588054 
time: 1403636603.513556, t: 0.140592 -0.024728 -0.354837 q: -0.139158 0.786383 0.128472 0.587990 
time: 1403636603.613555, t: 0.140586 -0.024743 -0.354844 q: -0.139140 0.786402 0.128464 0.587970 
time: 1403636603.713556, t: 0.140591 -0.024749 -0.354849 q: -0.139101 0.786426 0.128422 0.587957 
time: 1403636603.813555, t: 0.140582 -0.024764 -0.354857 q: -0.139063 0.786469 0.128426 0.587906 
time: 1403636603.913555, t: 0.140559 -0.024754 -0.354890 q: -0.139117 0.786466 0.128362 0.587913 
time: 1403636604.013556, t: 0.140578 -0.024752 -0.354886 q: -0.139125 0.786462 0.128321 0.587925 
time: 1403636604.113555, t: 0.140593 -0.024758 -0.354884 q: -0.139088 0.786469 0.128319 0.587925 
time: 1403636604.213556, t: 0.140593 -0.024765 -0.354889 q: -0.139007 0.786493 0.128336 0.587908 
time: 1403636604.313555, t: 0.140594 -0.024775 -0.354890 q: -0.138971 0.786514 0.128309 0.587895 
time: 1403636604.413555, t: 0.140596 -0.024772 -0.354886 q: -0.138930 0.786554 0.128332 0.587846 
time: 1403636604.513556, t: 0.140604 -0.024780 -0.354892 q: -0.138870 0.786544 0.128323 0.587875 
time: 1403636604.613555, t: 0.140595 -0.024778 -0.354906 q: -0.138848 0.786555 0.128315 0.587868 
time: 1403636604.713556, t: 0.140610 -0.024790 -0.354902 q: -0.138838 0.786575 0.128343 0.587837 
time: 1403636604.813555, t: 0.140603 -0.024790 -0.354897 q: -0.138747 0.786596 0.128361 0.587826 
time: 1403636604.913555, t: 0.140601 -0.024793 -0.354896 q: -0.138729 0.786633 0.128318 0.587790 
time: 1403636605.013556, t: 0.140599 -0.024809 -0.354897 q: -0.138707 0.786647 0.128313 0.587778 
time: 1403636605.113555, t: 0.140598 -0.024809 -0.354898 q: -0.138644 0.786643 0.128347 0.587790 
time: 1403636605.213556, t: 0.140596 -0.024815 -0.354902 q: -0.138652 0.786681 0.128293 0.587750 
time: 1403636605.313555, t: 0.140596 -0.024821 -0.354913 q: -0.138606 0.786672 0.128311 0.587768 
time: 1403636605.413555, t: 0.140596 -0.024816 -0.354916 q: -0.138615 0.786700 0.128270 0.587738 
time: 1403636605.513556, t: 0.140606 -0.024830 -0.354921 q: -0.138622 0.786729 0.128252 0.587701 
time: 1403636605.613555, t: 0.140587 -0.024828 -0.354913 q: -0.138578 0.786737 0.128247 0.587702 
time: 1403636605.713556, t: 0.140280 -0.024867 -0.354784 q: -0.138580 0.786748 0.128217 0.587694 
time: 1403636605.813555, t: 0.140297 -0.024938 -0.354703 q: -0.138491 0.786777 0.128242 0.587670 
time: 1403636605.913555, t: 0.140303 -0.024948 -0.354704 q: -0.138499 0.786805 0.128241 0.587632 
time: 1403636606.013556, t: 0.140296 -0.024950 -0.354702 q: -0.138470 0.786813 0.128236 0.587628 
time: 1403636606.113555, t: 0.140293 -0.024948 -0.354710 q: -0.138465 0.786818 0.128202 0.587630 
time: 1403636606.213556, t: 0.140298 -0.024944 -0.354711 q: -0.138441 0.786823 0.128205 0.587628 
time: 1403636606.313555, t: 0.140290 -0.024952 -0.354719 q: -0.138404 0.786848 0.128184 0.587608 
time: 1403636606.413555, t: 0.140292 -0.024957 -0.354723 q: -0.138398 0.786849 0.128178 0.587610 
time: 1403636606.513556, t: 0.140308 -0.024970 -0.354741 q: -0.138424 0.786866 0.128148 0.587587 
time: 1403636606.613555, t: 0.140306 -0.024962 -0.354750 q: -0.138365 0.786852 0.128176 0.587613 
time: 1403636606.713556, t: 0.140302 -0.024969 -0.354747 q: -0.138361 0.786862 0.128184 0.587599 
time: 1403636606.813555, t: 0.140302 -0.024970 -0.354740 q: -0.138332 0.786896 0.128172 0.587564 
time: 1403636606.913555, t: 0.140313 -0.024978 -0.354739 q: -0.138290 0.786922 0.128162 0.587540 
time: 1403636607.013556, t: 0.140308 -0.024983 -0.354748 q: -0.138276 0.786923 0.128129 0.587549 
time: 1403636607.113555, t: 0.140307 -0.024993 -0.354748 q: -0.138263 0.786943 0.128140 0.587524 
time: 1403636607.213556, t: 0.140302 -0.024990 -0.354744 q: -0.138212 0.786976 0.128125 0.587495 
time: 1403636607.313555, t: 0.140300 -0.024990 -0.354737 q: -0.138186 0.786993 0.128119 0.587480 
time: 1403636607.413555, t: 0.140293 -0.024995 -0.354740 q: -0.138162 0.787008 0.128092 0.587471 
time: 1403636607.513556, t: 0.140296 -0.025009 -0.354753 q: -0.138159 0.787002 0.128097 0.587479 
time: 1403636607.613555, t: 0.140294 -0.024997 -0.354741 q: -0.138086 0.787017 0.128097 0.587475 
time: 1403636607.713556, t: 0.140301 -0.025012 -0.354742 q: -0.138080 0.787058 0.128079 0.587426 
time: 1403636607.813555, t: 0.140282 -0.025015 -0.354740 q: -0.138061 0.787050 0.128089 0.587439 
time: 1403636607.913555, t: 0.140286 -0.025018 -0.354756 q: -0.138086 0.787058 0.128034 0.587434 
time: 1403636608.013556, t: 0.140290 -0.025013 -0.354744 q: -0.138024 0.787073 0.128062 0.587422 
time: 1403636608.113555, t: 0.140284 -0.025028 -0.354756 q: -0.138020 0.787083 0.128040 0.587416 
time: 1403636608.213556, t: 0.140281 -0.025033 -0.354757 q: -0.138034 0.787083 0.128040 0.587412 
time: 1403636608.313555, t: 0.140295 -0.025041 -0.354769 q: -0.138045 0.787082 0.128047 0.587409 
time: 1403636608.413555, t: 0.140301 -0.025038 -0.354772 q: -0.138036 0.787098 0.128030 0.587393 
time: 1403636608.513556, t: 0.140286 -0.025047 -0.354777 q: -0.138039 0.787100 0.128013 0.587394 
time: 1403636608.613555, t: 0.140288 -0.025046 -0.354783 q: -0.137998 0.787095 0.128020 0.587409 
time: 1403636608.713556, t: 0.140283 -0.025037 -0.354779 q: -0.137939 0.787111 0.128020 0.587401 
time: 1403636608.813555, t: 0.140279 -0.025050 -0.354767 q: -0.137943 0.787137 0.128023 0.587365 
time: 1403636608.913555, t: 0.140273 -0.025057 -0.354771 q: -0.137948 0.787140 0.128008 0.587362 
time: 1403636609.013556, t: 0.140270 -0.025055 -0.354773 q: -0.137937 0.787148 0.127992 0.587358 
time: 1403636609.113555, t: 0.140282 -0.025066 -0.354780 q: -0.137952 0.787143 0.128006 0.587358 
time: 1403636609.213556, t: 0.140280 -0.025067 -0.354797 q: -0.137978 0.787131 0.127965 0.587376 
time: 1403636609.313555, t: 0.140284 -0.025062 -0.354794 q: -0.137941 0.787151 0.127980 0.587355 
time: 1403636609.413555, t: 0.140270 -0.025059 -0.354787 q: -0.137920 0.787174 0.127954 0.587335 
time: 1403636609.513556, t: 0.140265 -0.025066 -0.354783 q: -0.137901 0.787179 0.127959 0.587332 
time: 1403636609.613555, t: 0.140269 -0.025075 -0.354800 q: -0.137923 0.787175 0.127937 0.587337 
time: 1403636609.713556, t: 0.140281 -0.025094 -0.354809 q: -0.137893 0.787175 0.127946 0.587342 
time: 1403636609.813555, t: 0.140259 -0.025099 -0.354825 q: -0.137955 0.787250 0.127924 0.587232 
time: 1403636609.913555, t: 0.140268 -0.025087 -0.354811 q: -0.137954 0.787204 0.127885 0.587302 
time: 1403636610.013556, t: 0.140272 -0.025089 -0.354806 q: -0.137928 0.787211 0.127859 0.587305 
time: 1403636610.113555, t: 0.140244 -0.025093 -0.354818 q: -0.137963 0.787210 0.127831 0.587304 
time: 1403636610.213556, t: 0.140259 -0.025086 -0.354819 q: -0.137949 0.787225 0.127818 0.587290 
time: 1403636610.313555, t: 0.140650 -0.024506 -0.354982 q: -0.142606 0.785133 0.129168 0.588681 
time: 1403636610.413555, t: 0.140672 -0.024510 -0.354969 q: -0.142539 0.785129 0.129210 0.588694 
time: 1403636610.513556, t: 0.140638 -0.024513 -0.354981 q: -0.142550 0.785145 0.129204 0.588670 
time: 1403636610.613555, t: 0.140637 -0.024518 -0.354990 q: -0.142566 0.785121 0.129183 0.588704 
time: 1403636610.713556, t: 0.140627 -0.024501 -0.354971 q: -0.142555 0.785142 0.129179 0.588679 
time: 1403636610.813555, t: 0.140680 -0.024476 -0.354856 q: -0.142287 0.785284 0.129344 0.588519 
time: 1403636610.913555, t: 0.140706 -0.024517 -0.354869 q: -0.142281 0.785241 0.129453 0.588554 
time: 1403636611.013556, t: 0.140701 -0.024488 -0.354877 q: -0.142410 0.785206 0.129356 0.588589 
time: 1403636611.113555, t: 0.140972 -0.024427 -0.354997 q: -0.142480 0.785237 0.129391 0.588523 
time: 1403636611.213556, t: 0.140974 -0.024443 -0.355011 q: -0.142368 0.785264 0.129498 0.588491 
time: 1403636611.313555, t: 0.140975 -0.024429 -0.355005 q: -0.142385 0.785262 0.129465 0.588498 
time: 1403636611.413555, t: 0.140953 -0.024313 -0.355026 q: -0.142761 0.785193 0.129300 0.588535 
time: 1403636611.513556, t: 0.141104 -0.025106 -0.355294 q: -0.141944 0.785142 0.129538 0.588748 
time: 1403636611.613555, t: 0.141136 -0.024941 -0.355303 q: -0.142393 0.785213 0.129353 0.588585 
time: 1403636611.713556, t: 0.141095 -0.025018 -0.355287 q: -0.142304 0.785093 0.129293 0.588781 
time: 1403636611.813555, t: 0.141020 -0.024846 -0.355332 q: -0.143008 0.785250 0.128734 0.588523 
time: 1403636611.913555, t: 0.141045 -0.024979 -0.355338 q: -0.142524 0.785202 0.129196 0.588603 
time: 1403636612.013556, t: 0.141127 -0.024722 -0.355280 q: -0.143332 0.785126 0.128775 0.588600 
time: 1403636612.113555, t: 0.141115 -0.024615 -0.355331 q: -0.143666 0.785272 0.128576 0.588368 
time: 1403636612.213556, t: 0.141089 -0.024687 -0.355377 q: -0.143525 0.785275 0.128675 0.588376 
time: 1403636612.313555, t: 0.141036 -0.024665 -0.355375 q: -0.143830 0.785184 0.128467 0.588468 
time: 1403636612.413555, t: 0.140912 -0.024751 -0.355282 q: -0.143356 0.785146 0.128685 0.588588 
time: 1403636612.513556, t: 0.141102 -0.024814 -0.355309 q: -0.143209 0.785160 0.128793 0.588581 
time: 1403636612.613555, t: 0.141076 -0.024903 -0.355336 q: -0.142878 0.785107 0.128955 0.588696 
time: 1403636612.713556, t: 0.141103 -0.024885 -0.355296 q: -0.142892 0.785104 0.128992 0.588688 
time: 1403636612.813555, t: 0.141093 -0.024967 -0.355292 q: -0.142604 0.785098 0.129083 0.588747 
time: 1403636612.913555, t: 0.141098 -0.025022 -0.355295 q: -0.142357 0.785084 0.129257 0.588787 
time: 1403636613.013556, t: 0.141114 -0.025059 -0.355312 q: -0.142318 0.785008 0.129260 0.588897 
time: 1403636613.113555, t: 0.141106 -0.025062 -0.355334 q: -0.142148 0.785041 0.129386 0.588866 
time: 1403636613.213556, t: 0.141123 -0.025045 -0.355342 q: -0.142138 0.785016 0.129357 0.588909 
time: 1403636613.313555, t: 0.141174 -0.025010 -0.355345 q: -0.142125 0.784972 0.129338 0.588975 
time: 1403636613.413555, t: 0.141185 -0.024959 -0.355357 q: -0.141891 0.785084 0.129381 0.588872 
time: 1403636613.513556, t: 0.141205 -0.025028 -0.355378 q: -0.142221 0.784986 0.129371 0.588926 
time: 1403636613.613555, t: 0.141197 -0.024995 -0.355392 q: -0.142128 0.785009 0.129322 0.588928 
time: 1403636613.813555, t: 0.141196 -0.024960 -0.355411 q: -0.142334 0.784997 0.129169 0.588927 
time: 1403636613.913555, t: 0.141183 -0.024977 -0.355413 q: -0.142368 0.785018 0.129158 0.588894 
time: 1403636614.013556, t: 0.141245 -0.024978 -0.355476 q: -0.142512 0.784992 0.129185 0.588888 
time: 1403636614.113555, t: 0.141246 -0.024981 -0.355478 q: -0.142517 0.784982 0.129179 0.588902 
time: 1403636614.213556, t: 0.141238 -0.024965 -0.355460 q: -0.142517 0.785007 0.129188 0.588866 
time: 1403636614.313555, t: 0.141239 -0.024975 -0.355479 q: -0.142572 0.784985 0.129146 0.588892 
time: 1403636614.413555, t: 0.141224 -0.024957 -0.355483 q: -0.142617 0.785039 0.129113 0.588815 
time: 1403636614.513556, t: 0.141241 -0.024953 -0.355448 q: -0.142580 0.784990 0.129145 0.588884 
time: 1403636614.613555, t: 0.141236 -0.024967 -0.355472 q: -0.142549 0.785006 0.129151 0.588869 
time: 1403636614.713556, t: 0.141235 -0.024961 -0.355459 q: -0.142557 0.785005 0.129151 0.588868 
time: 1403636614.813555, t: 0.141250 -0.024965 -0.355457 q: -0.142484 0.784990 0.129194 0.588895 
time: 1403636614.913555, t: 0.141239 -0.024973 -0.355464 q: -0.142485 0.785029 0.129203 0.588842 
time: 1403636615.013556, t: 0.141245 -0.024969 -0.355451 q: -0.142505 0.784989 0.129185 0.588894 
time: 1403636615.113555, t: 0.141226 -0.024981 -0.355464 q: -0.142439 0.785018 0.129225 0.588862 
time: 1403636615.213556, t: 0.141239 -0.024987 -0.355454 q: -0.142423 0.785009 0.129244 0.588874 
time: 1403636615.313555, t: 0.141232 -0.024986 -0.355460 q: -0.142419 0.785019 0.129237 0.588864 
time: 1403636615.413555, t: 0.141232 -0.024984 -0.355462 q: -0.142438 0.785008 0.129229 0.588875 
time: 1403636615.513556, t: 0.141239 -0.024981 -0.355459 q: -0.142433 0.785007 0.129231 0.588877 
time: 1403636615.613555, t: 0.141229 -0.024987 -0.355452 q: -0.142409 0.785011 0.129242 0.588875 
time: 1403636615.713556, t: 0.141240 -0.024980 -0.355453 q: -0.142424 0.785012 0.129227 0.588874 
time: 1403636615.813555, t: 0.141240 -0.024981 -0.355455 q: -0.142420 0.785009 0.129229 0.588879 
time: 1403636615.913555, t: 0.141240 -0.024983 -0.355456 q: -0.142417 0.785002 0.129227 0.588888 
time: 1403636616.013556, t: 0.141236 -0.024981 -0.355454 q: -0.142437 0.785017 0.129225 0.588864 
time: 1403636616.113555, t: 0.141248 -0.024978 -0.355462 q: -0.142441 0.785007 0.129221 0.588877 
time: 1403636616.213556, t: 0.141242 -0.024977 -0.355457 q: -0.142440 0.785011 0.129218 0.588873 
time: 1403636616.313555, t: 0.141237 -0.024976 -0.355448 q: -0.142417 0.785019 0.129225 0.588867 
time: 1403636616.413555, t: 0.141242 -0.024984 -0.355458 q: -0.142426 0.785019 0.129226 0.588864 
time: 1403636616.513556, t: 0.141237 -0.024980 -0.355456 q: -0.142446 0.785000 0.129212 0.588888 
time: 1403636616.613555, t: 0.141240 -0.024977 -0.355462 q: -0.142444 0.785016 0.129207 0.588867 
time: 1403636616.713556, t: 0.141243 -0.024982 -0.355460 q: -0.142454 0.785016 0.129218 0.588863 
time: 1403636616.813555, t: 0.141239 -0.024978 -0.355465 q: -0.142451 0.785020 0.129209 0.588860 
time: 1403636616.913555, t: 0.141236 -0.024972 -0.355458 q: -0.142451 0.785009 0.129207 0.588875 
time: 1403636617.013556, t: 0.141253 -0.024980 -0.355462 q: -0.142443 0.785013 0.129222 0.588869 
time: 1403636617.113555, t: 0.141238 -0.024978 -0.355460 q: -0.142450 0.785020 0.129207 0.588861 
time: 1403636617.213556, t: 0.141253 -0.024973 -0.355462 q: -0.142473 0.785002 0.129191 0.588883 
time: 1403636617.313555, t: 0.141254 -0.024978 -0.355469 q: -0.142462 0.785005 0.129200 0.588879 
time: 1403636617.413555, t: 0.141249 -0.024976 -0.355463 q: -0.142451 0.785012 0.129202 0.588873 
time: 1403636617.513556, t: 0.141245 -0.024984 -0.355459 q: -0.142444 0.785007 0.129210 0.588878 
time: 1403636617.613555, t: 0.141253 -0.024986 -0.355465 q: -0.142426 0.785006 0.129223 0.588882 
time: 1403636617.713556, t: 0.141242 -0.024978 -0.355464 q: -0.142449 0.785013 0.129211 0.588870 
time: 1403636617.813555, t: 0.141236 -0.024980 -0.355457 q: -0.142434 0.785003 0.129215 0.588886 
time: 1403636617.913555, t: 0.141240 -0.024986 -0.355465 q: -0.142438 0.785017 0.129220 0.588865 
time: 1403636618.013556, t: 0.141251 -0.024979 -0.355468 q: -0.142454 0.785011 0.129203 0.588873 
time: 1403636618.113555, t: 0.141261 -0.024983 -0.355469 q: -0.142447 0.785009 0.129208 0.588876 
time: 1403636618.313555, t: 0.141249 -0.024977 -0.355463 q: -0.142442 0.785013 0.129208 0.588872 
time: 1403636618.413555, t: 0.141262 -0.024981 -0.355467 q: -0.142457 0.785009 0.129202 0.588875 
time: 1403636618.513556, t: 0.141455 -0.024942 -0.355580 q: -0.142604 0.784949 0.129459 0.588863 
time: 1403636618.613555, t: 0.141515 -0.024962 -0.355631 q: -0.142523 0.784961 0.129345 0.588892 
time: 1403636618.713556, t: 0.141534 -0.025017 -0.355643 q: -0.142394 0.785017 0.129082 0.588906 
time: 1403636618.813555, t: 0.141534 -0.024981 -0.355640 q: -0.142518 0.785022 0.129101 0.588865 
time: 1403636618.913555, t: 0.141492 -0.024885 -0.355626 q: -0.142765 0.784960 0.129296 0.588844 
time: 1403636619.013556, t: 0.141500 -0.024881 -0.355615 q: -0.142768 0.784949 0.129268 0.588865 
time: 1403636619.113555, t: 0.141520 -0.024944 -0.355626 q: -0.142635 0.785007 0.129067 0.588864 
time: 1403636619.213556, t: 0.141565 -0.024986 -0.355622 q: -0.142503 0.785018 0.128998 0.588897 
time: 1403636619.313555, t: 0.141564 -0.024983 -0.355626 q: -0.142439 0.785016 0.129163 0.588878 
time: 1403636619.413555, t: 0.141540 -0.024909 -0.355606 q: -0.142622 0.784934 0.129397 0.588892 
time: 1403636619.513556, t: 0.141498 -0.024904 -0.355624 q: -0.142493 0.784985 0.129328 0.588870 
time: 1403636619.613555, t: 0.141526 -0.024933 -0.355632 q: -0.142400 0.784983 0.129218 0.588920 
time: 1403636619.713556, t: 0.141552 -0.024946 -0.355638 q: -0.142326 0.784985 0.129195 0.588940 
time: 1403636619.813555, t: 0.141510 -0.024947 -0.355640 q: -0.142314 0.784994 0.129196 0.588931 
time: 1403636620.013556, t: 0.141526 -0.024928 -0.355640 q: -0.142377 0.784995 0.129224 0.588908 
time: 1403636620.113555, t: 0.141547 -0.024939 -0.355637 q: -0.142332 0.784980 0.129260 0.588931 
time: 1403636620.213556, t: 0.141523 -0.024948 -0.355632 q: -0.142311 0.784973 0.129319 0.588933 
time: 1403636620.313555, t: 0.141524 -0.024957 -0.355634 q: -0.142316 0.784982 0.129250 0.588934 
time: 1403636620.413555, t: 0.141515 -0.024941 -0.355633 q: -0.142345 0.784985 0.129273 0.588918 
time: 1403636620.513556, t: 0.141534 -0.024943 -0.355645 q: -0.142349 0.784990 0.129235 0.588919 
time: 1403636620.613555, t: 0.141518 -0.024934 -0.355636 q: -0.142341 0.784999 0.129221 0.588912 
time: 1403636620.713556, t: 0.141523 -0.024945 -0.355640 q: -0.142309 0.784983 0.129254 0.588934 
time: 1403636620.813555, t: 0.141538 -0.024948 -0.355643 q: -0.142376 0.784992 0.129228 0.588912 
time: 1403636620.913555, t: 0.141511 -0.024946 -0.355629 q: -0.142350 0.784991 0.129232 0.588919 
time: 1403636621.013556, t: 0.141527 -0.024957 -0.355635 q: -0.142317 0.784995 0.129242 0.588918 
time: 1403636621.113555, t: 0.141556 -0.024946 -0.355620 q: -0.142394 0.784981 0.129159 0.588936 
time: 1403636621.213556, t: 0.141580 -0.024942 -0.355609 q: -0.142388 0.784958 0.129220 0.588956 
time: 1403636621.313555, t: 0.141545 -0.024955 -0.355609 q: -0.142350 0.784999 0.129227 0.588908 
time: 1403636621.413555, t: 0.141569 -0.024945 -0.355629 q: -0.142349 0.785008 0.129213 0.588900 
time: 1403636621.513556, t: 0.141551 -0.024957 -0.355619 q: -0.142287 0.784992 0.129252 0.588928 
time: 1403636621.613555, t: 0.141549 -0.024970 -0.355622 q: -0.142280 0.784995 0.129241 0.588929 
time: 1403636621.713556, t: 0.141555 -0.024965 -0.355617 q: -0.142278 0.784984 0.129279 0.588935 
time: 1403636621.813555, t: 0.141555 -0.024981 -0.355615 q: -0.142222 0.784972 0.129329 0.588953 
time: 1403636621.913555, t: 0.141554 -0.024983 -0.355612 q: -0.142196 0.784983 0.129342 0.588942 
time: 1403636622.013556, t: 0.141572 -0.024990 -0.355602 q: -0.142145 0.784959 0.129390 0.588976 
time: 1403636622.113555, t: 0.141557 -0.024995 -0.355599 q: -0.142143 0.784959 0.129387 0.588977 
time: 1403636622.213556, t: 0.141576 -0.024973 -0.355603 q: -0.142223 0.784964 0.129345 0.588961 
time: 1403636622.313555, t: 0.141559 -0.024982 -0.355598 q: -0.142202 0.784975 0.129331 0.588953 
time: 1403636622.413555, t: 0.141566 -0.024975 -0.355604 q: -0.142214 0.784975 0.129312 0.588955 
time: 1403636622.513556, t: 0.141561 -0.024989 -0.355600 q: -0.142189 0.784983 0.129339 0.588944 
time: 1403636622.613555, t: 0.141554 -0.025002 -0.355603 q: -0.142131 0.784990 0.129357 0.588945 
time: 1403636622.713556, t: 0.141565 -0.024990 -0.355595 q: -0.142192 0.784982 0.129294 0.588954 
time: 1403636622.813555, t: 0.141579 -0.025006 -0.355590 q: -0.142152 0.784986 0.129288 0.588961 
time: 1403636622.913555, t: 0.141612 -0.025095 -0.355551 q: -0.142111 0.784879 0.129131 0.589147 
time: 1403636623.013556, t: 0.141676 -0.025131 -0.355524 q: -0.142100 0.784811 0.129055 0.589257 
time: 1403636623.113555, t: 0.141688 -0.025177 -0.355506 q: -0.142160 0.784782 0.128929 0.589309 
time: 1403636623.213556, t: 0.141684 -0.025197 -0.355509 q: -0.142116 0.784783 0.128948 0.589314 
time: 1403636623.313555, t: 0.141734 -0.025228 -0.355504 q: -0.142029 0.784764 0.128968 0.589356 
time: 1403636623.413555, t: 0.141719 -0.025248 -0.355499 q: -0.142062 0.784756 0.128915 0.589370 
time: 1403636623.513556, t: 0.141774 -0.025220 -0.355474 q: -0.142048 0.784817 0.128826 0.589311 
time: 1403636623.613555, t: 0.141821 -0.025276 -0.355469 q: -0.142137 0.784851 0.128507 0.589315 
time: 1403636623.713556, t: 0.141819 -0.025327 -0.355466 q: -0.142096 0.784900 0.128385 0.589286 
time: 1403636623.813555, t: 0.141795 -0.025385 -0.355470 q: -0.141793 0.785188 0.128068 0.589045 
time: 1403636623.913555, t: 0.141827 -0.025458 -0.355449 q: -0.141586 0.785296 0.127818 0.589005 
time: 1403636624.113555, t: 0.141692 -0.025546 -0.355340 q: -0.140862 0.785712 0.127064 0.588786 
time: 1403636624.213556, t: 0.141641 -0.025601 -0.355295 q: -0.140783 0.785963 0.126695 0.588550 
time: 1403636624.313555, t: 0.141476 -0.026155 -0.355189 q: -0.139330 0.787823 0.126908 0.586359 
time: 1403636624.413555, t: 0.140314 -0.029605 -0.355471 q: -0.135518 0.793122 0.126606 0.580140 
time: 1403636624.513556, t: 0.137679 -0.035903 -0.355767 q: -0.132190 0.799112 0.125101 0.572971 
time: 1403636624.613555, t: 0.134369 -0.044257 -0.355342 q: -0.127667 0.801717 0.125130 0.570345 
time: 1403636624.713556, t: 0.130342 -0.056117 -0.355931 q: -0.121550 0.800179 0.128265 0.573137 
time: 1403636624.913555, t: 0.114897 -0.089914 -0.350460 q: -0.099826 0.804901 0.144615 0.566794 
time: 1403636625.013556, t: 0.104371 -0.107197 -0.336497 q: -0.088227 0.810732 0.153620 0.557970 
time: 1403636625.113555, t: 0.093659 -0.120035 -0.315013 q: -0.084051 0.816673 0.157352 0.548836 
time: 1403636625.213556, t: 0.086931 -0.126467 -0.287970 q: -0.091303 0.817937 0.152820 0.547073 
time: 1403636625.313555, t: 0.084892 -0.128910 -0.262718 q: -0.097972 0.813978 0.149207 0.552792 
time: 1403636625.413555, t: 0.084162 -0.130528 -0.255299 q: -0.100736 0.813373 0.148844 0.553283 
time: 1403636625.513556, t: 0.084847 -0.130219 -0.261677 q: -0.100856 0.815872 0.149924 0.549276 
time: 1403636625.613555, t: 0.088890 -0.127502 -0.267357 q: -0.100456 0.816141 0.151860 0.548418 
time: 1403636625.713556, t: 0.096918 -0.121707 -0.257793 q: -0.101915 0.813312 0.152416 0.552183 
time: 1403636625.813555, t: 0.109296 -0.112726 -0.231326 q: -0.104094 0.807417 0.152038 0.560470 
time: 1403636625.913555, t: 0.121039 -0.102802 -0.188251 q: -0.108287 0.802030 0.150046 0.567898 
time: 1403636626.013556, t: 0.133747 -0.091906 -0.139754 q: -0.111024 0.798955 0.148901 0.571990 
time: 1403636626.113555, t: 0.143899 -0.082356 -0.092158 q: -0.119495 0.798422 0.143701 0.572358 
time: 1403636626.213556, t: 0.153208 -0.074297 -0.049101 q: -0.127509 0.798374 0.138284 0.572030 
time: 1403636626.313555, t: 0.163216 -0.069207 -0.018368 q: -0.130533 0.798375 0.136380 0.571803 
time: 1403636626.413555, t: 0.172568 -0.067685 -0.003370 q: -0.129025 0.797800 0.137517 0.572675 
time: 1403636626.513556, t: 0.182516 -0.071448 0.004077 q: -0.124606 0.794811 0.141427 0.576843 
time: 1403636626.613555, t: 0.189703 -0.078413 0.006447 q: -0.120293 0.789830 0.146153 0.583385 
time: 1403636626.713556, t: 0.193374 -0.087390 0.004918 q: -0.118005 0.787876 0.149745 0.585579 
time: 1403636626.813555, t: 0.193541 -0.097549 -0.001125 q: -0.117855 0.790652 0.152223 0.581213 
time: 1403636626.913555, t: 0.190332 -0.108942 -0.011275 q: -0.117071 0.795068 0.154376 0.574743 
time: 1403636627.013556, t: 0.185143 -0.120751 -0.024146 q: -0.114984 0.800210 0.156288 0.567464 
time: 1403636627.113555, t: 0.180213 -0.132299 -0.035097 q: -0.113448 0.805196 0.157574 0.560320 
time: 1403636627.213556, t: 0.175433 -0.142870 -0.033470 q: -0.114151 0.802955 0.157534 0.563397 
time: 1403636627.313555, t: 0.172384 -0.152697 -0.021377 q: -0.116283 0.798749 0.156655 0.569155 
time: 1403636627.413555, t: 0.168228 -0.162568 -0.000992 q: -0.118297 0.797864 0.155486 0.570301 
time: 1403636627.513556, t: 0.163870 -0.173197 0.025101 q: -0.118899 0.798598 0.151715 0.570165 
time: 1403636627.613555, t: 0.158532 -0.186113 0.040132 q: -0.115081 0.801215 0.144872 0.569054 
time: 1403636627.713556, t: 0.152572 -0.200091 0.037813 q: -0.108743 0.806914 0.139067 0.563671 
time: 1403636627.813555, t: 0.148364 -0.214985 0.026719 q: -0.099201 0.814982 0.131368 0.555612 
optimize pose graph 
time: 1403636627.913555, t: 0.148295 -0.229519 0.014431 q: -0.089389 0.822195 0.123379 0.548436 
time: 1403636628.013556, t: 0.153546 -0.241523 0.009654 q: -0.081940 0.825114 0.117783 0.546442 
time: 1403636628.113555, t: 0.165129 -0.250422 0.017916 q: -0.079127 0.821035 0.111949 0.554172 
time: 1403636628.213556, t: 0.179603 -0.257648 0.035610 q: -0.081371 0.811803 0.105067 0.568608 
time: 1403636628.313555, t: 0.194164 -0.265239 0.058270 q: -0.087722 0.806572 0.097568 0.576391 
time: 1403636628.413555, t: 0.207730 -0.274609 0.082556 q: -0.091407 0.805678 0.093706 0.577708 
time: 1403636628.513556, t: 0.220718 -0.286736 0.102898 q: -0.093819 0.806036 0.092562 0.577007 
time: 1403636628.613555, t: 0.233140 -0.301682 0.115316 q: -0.096605 0.806745 0.092236 0.575606 
time: 1403636628.713556, t: 0.245873 -0.320388 0.122428 q: -0.094984 0.806836 0.093488 0.575547 
time: 1403636628.813555, t: 0.257160 -0.343299 0.122092 q: -0.085188 0.810536 0.093289 0.571902 
time: 1403636628.913555, t: 0.268534 -0.368387 0.120759 q: -0.075550 0.815980 0.090474 0.565935 
time: 1403636629.013556, t: 0.278145 -0.394394 0.128071 q: -0.069637 0.820135 0.087608 0.561118 
time: 1403636629.113555, t: 0.286609 -0.421483 0.145260 q: -0.065426 0.821801 0.084178 0.559712 
time: 1403636629.213556, t: 0.300337 -0.448774 0.160680 q: -0.060380 0.822224 0.076350 0.560779 
time: 1403636629.313555, t: 0.318188 -0.475904 0.171796 q: -0.056883 0.820771 0.067315 0.564418 
time: 1403636629.413555, t: 0.341965 -0.502085 0.177378 q: -0.058322 0.818427 0.058103 0.568683 
time: 1403636629.513556, t: 0.368975 -0.527485 0.176407 q: -0.058670 0.816361 0.044859 0.572801 
time: 1403636629.613555, t: 0.395685 -0.556641 0.165653 q: -0.051058 0.819338 0.031878 0.570142 
time: 1403636629.713556, t: 0.424615 -0.587665 0.147848 q: -0.037411 0.825832 0.018570 0.562367 
time: 1403636629.813555, t: 0.455795 -0.621811 0.125000 q: -0.021771 0.830635 0.002859 0.556384 
optimize pose graph 
time: 1403636629.913555, t: 0.493691 -0.652524 0.100366 q: -0.008002 0.833178 -0.014520 0.552756 
time: 1403636630.013556, t: 0.531622 -0.686077 0.080278 q: 0.002452 0.833284 -0.027630 0.552149 
time: 1403636630.113555, t: 0.574311 -0.719775 0.068809 q: 0.008764 0.829488 -0.036118 0.557287 
time: 1403636630.213556, t: 0.622447 -0.754225 0.067835 q: 0.012501 0.821434 -0.041511 0.568653 
time: 1403636630.313555, t: 0.671968 -0.788557 0.072457 q: 0.014395 0.815787 -0.044487 0.576459 
time: 1403636630.413555, t: 0.721229 -0.821114 0.080089 q: 0.015379 0.816921 -0.044964 0.574788 
time: 1403636630.513556, t: 0.768747 -0.852514 0.094128 q: 0.017220 0.819522 -0.042760 0.571190 
time: 1403636630.613555, t: 0.815091 -0.886667 0.112916 q: 0.020891 0.820756 -0.037791 0.569645 
time: 1403636630.713556, t: 0.865264 -0.915199 0.128219 q: 0.022058 0.822232 -0.033366 0.567746 
time: 1403636630.813555, t: 0.911301 -0.950534 0.138510 q: 0.018572 0.822557 -0.032961 0.567423 
time: 1403636630.913555, t: 0.961056 -0.977888 0.141588 q: 0.014513 0.822507 -0.033548 0.567579 
time: 1403636631.013556, t: 1.010351 -1.005783 0.139381 q: 0.012423 0.822226 -0.034289 0.567991 
time: 1403636631.113555, t: 1.061333 -1.033964 0.135455 q: 0.011499 0.820550 -0.034019 0.570445 
time: 1403636631.213556, t: 1.108655 -1.061717 0.129660 q: 0.011681 0.818365 -0.033956 0.573576 
time: 1403636631.313555, t: 1.155099 -1.091138 0.122913 q: 0.011833 0.817380 -0.033713 0.574990 
time: 1403636631.413555, t: 1.199586 -1.121389 0.113647 q: 0.012580 0.817234 -0.033287 0.575206 
time: 1403636631.513556, t: 1.245678 -1.149687 0.096441 q: 0.013964 0.817352 -0.031611 0.575101 
time: 1403636631.613555, t: 1.291386 -1.176343 0.077965 q: 0.015811 0.817360 -0.029390 0.575160 
time: 1403636631.713556, t: 1.332676 -1.204674 0.065299 q: 0.016760 0.817933 -0.027640 0.574405 
time: 1403636631.813555, t: 1.378173 -1.230008 0.057438 q: 0.016868 0.817992 -0.026170 0.574387 
time: 1403636631.913555, t: 1.426670 -1.253665 0.055601 q: 0.018701 0.818846 -0.024577 0.573181 
time: 1403636632.013556, t: 1.470669 -1.276365 0.055925 q: 0.019629 0.818818 -0.024743 0.573184 
time: 1403636632.113555, t: 1.511892 -1.300199 0.062707 q: 0.021712 0.816962 -0.024002 0.575782 
time: 1403636632.213556, t: 1.557098 -1.316313 0.063398 q: 0.026292 0.816121 -0.022385 0.576848 
time: 1403636632.313555, t: 1.597042 -1.329484 0.060762 q: 0.026076 0.815527 -0.024829 0.577598 
time: 1403636632.413555, t: 1.634225 -1.343921 0.053523 q: 0.026091 0.815806 -0.026512 0.577128 
time: 1403636632.513556, t: 1.675402 -1.352510 0.036587 q: 0.019669 0.819582 -0.030093 0.571832 
time: 1403636632.613555, t: 1.717405 -1.357615 0.015294 q: 0.007170 0.825717 -0.031299 0.563170 
time: 1403636632.713556, t: 1.757596 -1.367308 -0.004032 q: -0.006116 0.829320 -0.024156 0.558218 
time: 1403636632.813555, t: 1.802417 -1.376499 -0.019031 q: -0.017993 0.829568 -0.007316 0.558068 
time: 1403636632.913555, t: 1.850483 -1.384805 -0.025336 q: -0.024688 0.824787 0.018119 0.564614 
time: 1403636633.013556, t: 1.900958 -1.394480 -0.026462 q: -0.029415 0.820804 0.039979 0.569050 
time: 1403636633.113555, t: 1.954552 -1.402994 -0.025014 q: -0.034979 0.818894 0.055329 0.570200 
time: 1403636633.213556, t: 2.007586 -1.412271 -0.027570 q: -0.040145 0.817975 0.065109 0.570146 
time: 1403636633.413555, t: 2.113224 -1.427893 -0.051605 q: -0.051607 0.821347 0.068397 0.563957 
time: 1403636633.513556, t: 2.171101 -1.434094 -0.067265 q: -0.054527 0.823450 0.066680 0.560812 
time: 1403636633.613555, t: 2.228396 -1.441496 -0.086254 q: -0.054761 0.825825 0.064405 0.557553 
time: 1403636633.713556, t: 2.293903 -1.447632 -0.099358 q: -0.052708 0.826742 0.061973 0.556668 
time: 1403636633.813555, t: 2.358796 -1.455167 -0.106020 q: -0.052042 0.826508 0.058746 0.557427 
time: 1403636633.913555, t: 2.426032 -1.463876 -0.103688 q: -0.054976 0.825694 0.053187 0.558908 
time: 1403636634.013556, t: 2.496207 -1.472846 -0.103890 q: -0.059917 0.823956 0.046011 0.561596 
time: 1403636634.113555, t: 2.566020 -1.485762 -0.103035 q: -0.061000 0.824203 0.043831 0.561290 
time: 1403636634.213556, t: 2.640841 -1.500725 -0.100937 q: -0.057950 0.825511 0.047222 0.559414 
time: 1403636634.313555, t: 2.718059 -1.519475 -0.087315 q: -0.052909 0.823336 0.053002 0.562592 
time: 1403636634.413555, t: 2.800511 -1.534588 -0.074530 q: -0.049454 0.817855 0.057458 0.570409 
time: 1403636634.513556, t: 2.881443 -1.552436 -0.068408 q: -0.048180 0.813995 0.060712 0.575678 
time: 1403636634.613555, t: 2.961574 -1.568306 -0.069481 q: -0.048049 0.811752 0.064414 0.578447 
time: 1403636634.713556, t: 3.036349 -1.583034 -0.076211 q: -0.050307 0.810480 0.072266 0.579110 
time: 1403636634.813555, t: 3.109644 -1.596744 -0.080514 q: -0.054096 0.812170 0.079086 0.575499 
time: 1403636634.913555, t: 3.179411 -1.608724 -0.078356 q: -0.058241 0.813710 0.084615 0.572123 
time: 1403636635.013556, t: 3.249736 -1.619579 -0.069960 q: -0.060415 0.814788 0.090816 0.569406 
time: 1403636635.113555, t: 3.317767 -1.626915 -0.063227 q: -0.061561 0.815925 0.095662 0.566855 
time: 1403636635.213556, t: 3.388053 -1.634844 -0.062088 q: -0.063732 0.817123 0.098196 0.564452 
time: 1403636635.313555, t: 3.455035 -1.640211 -0.067043 q: -0.068641 0.818442 0.097889 0.562014 
time: 1403636635.413555, t: 3.524931 -1.645250 -0.071844 q: -0.074004 0.820341 0.095778 0.558919 
time: 1403636635.513556, t: 3.596803 -1.649841 -0.072082 q: -0.077982 0.820612 0.093241 0.558410 
time: 1403636635.613555, t: 3.668801 -1.656478 -0.065239 q: -0.079546 0.820395 0.091933 0.558725 
time: 1403636635.713556, t: 3.743087 -1.665199 -0.054353 q: -0.080199 0.819215 0.090180 0.560644 
time: 1403636635.813555, t: 3.824659 -1.672770 -0.033149 q: -0.085197 0.815446 0.085019 0.566182 
time: 1403636635.913555, t: 3.907414 -1.683616 -0.006542 q: -0.090453 0.815189 0.079508 0.566537 
time: 1403636636.013556, t: 3.990555 -1.697898 0.024084 q: -0.087775 0.820252 0.080071 0.559528 
time: 1403636636.113555, t: 4.076666 -1.715085 0.048544 q: -0.078654 0.823665 0.085604 0.555032 
time: 1403636636.213556, t: 4.163323 -1.734599 0.077110 q: -0.071819 0.819514 0.090523 0.561289 
time: 1403636636.313555, t: 4.251325 -1.753952 0.111762 q: -0.068195 0.812533 0.093287 0.571347 
time: 1403636636.413555, t: 4.337601 -1.771819 0.150564 q: -0.067481 0.803343 0.094151 0.584142 
time: 1403636636.513556, t: 4.418055 -1.790775 0.181415 q: -0.065276 0.797241 0.096012 0.592391 
time: 1403636636.613555, t: 4.492335 -1.809098 0.205247 q: -0.058704 0.795653 0.100717 0.594430 
time: 1403636636.713556, t: 4.560036 -1.825958 0.219567 q: -0.051237 0.795451 0.105903 0.594489 
time: 1403636636.813555, t: 4.619740 -1.842688 0.224346 q: -0.043646 0.795237 0.111864 0.594290 
time: 1403636636.913555, t: 4.675258 -1.851794 0.220644 q: -0.042255 0.797687 0.113866 0.590715 
time: 1403636637.013556, t: 4.726484 -1.857952 0.209669 q: -0.054319 0.801200 0.107826 0.586090 
time: 1403636637.113555, t: 4.772446 -1.856424 0.198098 q: -0.064393 0.804362 0.102387 0.581697 
time: 1403636637.213556, t: 4.820306 -1.857526 0.182473 q: -0.067504 0.809225 0.101028 0.574797 
time: 1403636637.313555, t: 4.866056 -1.852155 0.169492 q: -0.068431 0.812522 0.101364 0.569957 
time: 1403636637.413555, t: 4.914227 -1.847152 0.163007 q: -0.069077 0.813891 0.102345 0.567745 
time: 1403636637.513556, t: 4.958570 -1.840035 0.166190 q: -0.069821 0.815022 0.103719 0.565780 
time: 1403636637.613555, t: 5.000155 -1.834528 0.173572 q: -0.072195 0.815856 0.104037 0.564220 
time: 1403636637.713556, t: 5.045766 -1.826088 0.190534 q: -0.073119 0.815874 0.104545 0.563980 
time: 1403636637.813555, t: 5.094607 -1.816717 0.213732 q: -0.073630 0.813628 0.105555 0.566962 
time: 1403636637.913555, t: 5.141046 -1.809430 0.243886 q: -0.074890 0.811331 0.106230 0.569956 
time: 1403636638.013556, t: 5.189464 -1.799405 0.265474 q: -0.075995 0.808698 0.106400 0.573508 
time: 1403636638.113555, t: 5.234223 -1.789758 0.271537 q: -0.077509 0.806266 0.106634 0.576677 
time: 1403636638.213556, t: 5.280538 -1.779260 0.265222 q: -0.078471 0.805096 0.106907 0.578130 
time: 1403636638.313555, t: 5.320578 -1.769905 0.252941 q: -0.080249 0.805792 0.106683 0.576956 
time: 1403636638.413555, t: 5.360728 -1.761771 0.231688 q: -0.087170 0.815500 0.102063 0.562978 
time: 1403636638.513556, t: 5.402669 -1.753337 0.208292 q: -0.093056 0.826357 0.098156 0.546662 
time: 1403636638.613555, t: 5.445814 -1.751323 0.193864 q: -0.091889 0.830156 0.099330 0.540861 
time: 1403636638.713556, t: 5.498051 -1.749582 0.189235 q: -0.084623 0.827136 0.104874 0.545607 
time: 1403636638.913555, t: 5.620353 -1.749322 0.205092 q: -0.084780 0.817068 0.105993 0.560338 
time: 1403636639.013556, t: 5.687904 -1.750241 0.219666 q: -0.091783 0.815829 0.101586 0.561853 
time: 1403636639.113555, t: 5.759088 -1.752075 0.231140 q: -0.101263 0.815708 0.095285 0.561505 
time: 1403636639.213556, t: 5.831624 -1.757200 0.230685 q: -0.107253 0.816644 0.090923 0.559752 
time: 1403636639.313555, t: 5.907081 -1.766202 0.216428 q: -0.104187 0.817265 0.092920 0.559096 
time: 1403636639.413555, t: 5.981875 -1.779574 0.196727 q: -0.093412 0.817111 0.100568 0.559902 
time: 1403636639.513556, t: 6.060323 -1.795451 0.171914 q: -0.082515 0.815713 0.108471 0.562172 
time: 1403636639.613555, t: 6.140613 -1.810810 0.141790 q: -0.072010 0.812563 0.116432 0.566568 
time: 1403636639.713556, t: 6.220683 -1.822705 0.114357 q: -0.072494 0.808181 0.116747 0.572676 
time: 1403636639.813555, t: 6.295440 -1.836673 0.092500 q: -0.077726 0.805087 0.113523 0.576980 
time: 1403636639.913555, t: 6.368521 -1.848923 0.081148 q: -0.082555 0.804291 0.110835 0.577941 
time: 1403636640.013556, t: 6.436199 -1.859775 0.076137 q: -0.083787 0.803624 0.110918 0.578676 
time: 1403636640.113555, t: 6.506364 -1.871510 0.080251 q: -0.084767 0.802321 0.118099 0.578920 
time: 1403636640.213556, t: 6.569454 -1.881098 0.090809 q: -0.089858 0.800866 0.125837 0.578537 
time: 1403636640.313555, t: 6.634627 -1.894712 0.102230 q: -0.093354 0.801072 0.132240 0.576265 
time: 1403636640.413555, t: 6.690886 -1.905417 0.111121 q: -0.095958 0.800191 0.137570 0.575813 
time: 1403636640.513556, t: 6.746680 -1.919826 0.111351 q: -0.098100 0.800237 0.141264 0.574492 
time: 1403636640.613555, t: 6.798359 -1.930454 0.110894 q: -0.099731 0.799808 0.143650 0.574217 
time: 1403636640.713556, t: 6.845676 -1.942256 0.101553 q: -0.100978 0.799651 0.145203 0.573827 
time: 1403636640.813555, t: 6.896610 -1.953242 0.090021 q: -0.101334 0.801035 0.146467 0.571509 
time: 1403636640.913555, t: 6.943296 -1.961782 0.086929 q: -0.101059 0.802286 0.147811 0.569453 
time: 1403636641.013556, t: 6.986343 -1.970954 0.088845 q: -0.100411 0.802131 0.148089 0.569714 
time: 1403636641.113555, t: 7.027508 -1.981703 0.084240 q: -0.100852 0.801110 0.147209 0.571298 
time: 1403636641.213556, t: 7.067657 -1.988445 0.077716 q: -0.100065 0.800821 0.146628 0.571991 
time: 1403636641.313555, t: 7.105622 -1.995232 0.066052 q: -0.103917 0.800955 0.142959 0.572044 
time: 1403636641.413555, t: 7.143228 -2.003213 0.045694 q: -0.110470 0.801998 0.137698 0.570644 
time: 1403636641.513556, t: 7.179908 -2.008710 0.030530 q: -0.109208 0.801844 0.137378 0.571180 
time: 1403636641.613555, t: 7.213340 -2.018035 0.017159 q: -0.105203 0.801727 0.139420 0.571602 
time: 1403636641.713556, t: 7.249020 -2.029365 0.008722 q: -0.102506 0.801348 0.140531 0.572350 
time: 1403636641.813555, t: 7.281523 -2.038228 0.013224 q: -0.101056 0.801349 0.140609 0.572588 
time: 1403636641.913555, t: 7.313615 -2.047280 0.022164 q: -0.100086 0.800976 0.139485 0.573554 
time: 1403636642.013556, t: 7.349440 -2.056395 0.035089 q: -0.096691 0.801066 0.132930 0.575563 
time: 1403636642.113555, t: 7.377386 -2.065236 0.049915 q: -0.091118 0.801319 0.125329 0.577822 
time: 1403636642.213556, t: 7.405944 -2.075626 0.058829 q: -0.086724 0.801264 0.119174 0.579872 
time: 1403636642.313555, t: 7.428802 -2.087219 0.062284 q: -0.083702 0.801661 0.112611 0.581078 
time: 1403636642.413555, t: 7.446608 -2.098531 0.060842 q: -0.079013 0.801809 0.104013 0.583130 
time: 1403636642.513556, t: 7.463219 -2.110207 0.056074 q: -0.075019 0.803396 0.097712 0.582563 
time: 1403636642.613555, t: 7.474520 -2.123553 0.044406 q: -0.071712 0.808171 0.093914 0.576973 
time: 1403636642.713556, t: 7.485898 -2.136395 0.029468 q: -0.069354 0.813439 0.091218 0.570251 
time: 1403636642.813555, t: 7.496736 -2.149672 0.017269 q: -0.068829 0.817349 0.089866 0.564914 
time: 1403636642.913555, t: 7.506991 -2.162432 0.011280 q: -0.069210 0.819445 0.089252 0.561920 
time: 1403636643.013556, t: 7.523120 -2.172885 0.011462 q: -0.070062 0.819495 0.088510 0.561858 
time: 1403636643.113555, t: 7.540855 -2.183490 0.018065 q: -0.071449 0.814947 0.087712 0.568387 
time: 1403636643.213556, t: 7.561560 -2.194086 0.018813 q: -0.073155 0.811678 0.086840 0.572963 
time: 1403636643.313555, t: 7.582418 -2.204870 0.014294 q: -0.073355 0.811331 0.087205 0.573372 
time: 1403636643.413555, t: 7.604227 -2.216894 0.009576 q: -0.073530 0.813847 0.087808 0.569680 
time: 1403636643.513556, t: 7.628230 -2.228750 0.011199 q: -0.073988 0.818119 0.088591 0.563346 
time: 1403636643.613555, t: 7.654643 -2.240204 0.019316 q: -0.072957 0.821933 0.090231 0.557639 
time: 1403636643.713556, t: 7.682473 -2.253223 0.035404 q: -0.072356 0.825056 0.092736 0.552673 
time: 1403636643.813555, t: 7.714487 -2.264999 0.054137 q: -0.070585 0.827250 0.094717 0.549275 
time: 1403636643.913555, t: 7.752951 -2.278497 0.069564 q: -0.070097 0.829748 0.095851 0.545359 
time: 1403636644.013556, t: 7.797758 -2.287292 0.081052 q: -0.068411 0.831280 0.096982 0.543036 
time: 1403636644.113555, t: 7.845889 -2.296132 0.085780 q: -0.068055 0.832137 0.097184 0.541731 
time: 1403636644.213556, t: 7.897167 -2.303088 0.085784 q: -0.070387 0.828482 0.095301 0.547341 
time: 1403636644.313555, t: 7.958434 -2.308731 0.082699 q: -0.081688 0.820578 0.086874 0.558955 
time: 1403636644.413555, t: 8.017843 -2.315705 0.072605 q: -0.090593 0.813326 0.079774 0.569148 
time: 1403636644.513556, t: 8.079503 -2.327751 0.054669 q: -0.097989 0.807906 0.074145 0.576358 
time: 1403636644.613555, t: 8.140262 -2.345988 0.029253 q: -0.102759 0.805609 0.070756 0.579162 
time: 1403636644.713556, t: 8.200174 -2.370926 -0.001968 q: -0.093077 0.804170 0.077358 0.581947 
time: 1403636644.813555, t: 8.258051 -2.402779 -0.039482 q: -0.077586 0.803627 0.087694 0.583501 
time: 1403636644.913555, t: 8.312962 -2.435569 -0.080246 q: -0.069219 0.806034 0.091956 0.580571 
time: 1403636645.013556, t: 8.364099 -2.466673 -0.115307 q: -0.067421 0.812204 0.092198 0.572082 
time: 1403636645.113555, t: 8.411184 -2.498412 -0.144101 q: -0.067734 0.825553 0.090523 0.552883 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636645.213556, t: 8.463381 -2.528188 -0.165913 q: -0.065796 0.836349 0.090696 0.536624 
time: 1403636645.313555, t: 8.527399 -2.553289 -0.180237 q: -0.064761 0.838666 0.090723 0.533119 
time: 1403636645.413555, t: 8.599586 -2.575187 -0.190085 q: -0.063957 0.833473 0.090355 0.541358 
time: 1403636645.513556, t: 8.676288 -2.597174 -0.199954 q: -0.064163 0.829486 0.089790 0.547516 
time: 1403636645.613555, t: 8.762430 -2.614729 -0.217735 q: -0.063227 0.827624 0.089324 0.550511 
time: 1403636645.713556, t: 8.853384 -2.631660 -0.234245 q: -0.062220 0.826042 0.089922 0.552899 
time: 1403636645.813555, t: 8.948127 -2.646645 -0.243964 q: -0.063894 0.825285 0.088939 0.553996 
time: 1403636645.913555, t: 9.045282 -2.660590 -0.240582 q: -0.065253 0.826227 0.087653 0.552638 
time: 1403636646.013556, t: 9.145051 -2.675881 -0.227550 q: -0.066215 0.821802 0.081181 0.560059 
time: 1403636646.113555, t: 9.243865 -2.692804 -0.208614 q: -0.065151 0.819352 0.066493 0.565682 
time: 1403636646.213556, t: 9.345779 -2.713090 -0.190563 q: -0.058677 0.817245 0.045843 0.571459 
time: 1403636646.313555, t: 9.447279 -2.737549 -0.176019 q: -0.048582 0.814247 0.020298 0.578126 
time: 1403636646.413555, t: 9.543757 -2.766652 -0.168375 q: -0.033804 0.810514 -0.004915 0.584723 
time: 1403636646.513556, t: 9.635243 -2.800603 -0.163346 q: -0.013905 0.804752 -0.020721 0.593086 
time: 1403636646.613555, t: 9.720482 -2.836237 -0.156155 q: 0.000968 0.802704 -0.032078 0.595513 
time: 1403636646.713556, t: 9.803370 -2.872465 -0.141619 q: 0.011897 0.804911 -0.039256 0.591976 
time: 1403636646.813555, t: 9.878979 -2.909329 -0.117382 q: 0.017830 0.805106 -0.044561 0.591185 
time: 1403636646.913555, t: 9.951064 -2.945455 -0.086199 q: 0.020685 0.805395 -0.047795 0.590446 
time: 1403636647.013556, t: 10.016469 -2.980019 -0.057200 q: 0.022687 0.807103 -0.049086 0.587929 
time: 1403636647.113555, t: 10.080343 -3.014887 -0.034646 q: 0.023722 0.810929 -0.048604 0.582640 
time: 1403636647.213556, t: 10.143151 -3.049056 -0.017577 q: 0.023950 0.814055 -0.047919 0.578312 
time: 1403636647.313555, t: 10.202525 -3.084288 -0.006715 q: 0.021360 0.813416 -0.047852 0.579317 
time: 1403636647.413555, t: 10.263664 -3.120317 -0.001346 q: 0.018602 0.811466 -0.047500 0.582168 
time: 1403636647.513556, t: 10.321554 -3.157249 0.000036 q: 0.014566 0.808422 -0.047089 0.586536 
time: 1403636647.613555, t: 10.374750 -3.194978 0.002335 q: 0.008716 0.802800 -0.048547 0.594204 
time: 1403636647.713556, t: 10.424593 -3.234988 0.008223 q: 0.010578 0.802800 -0.049538 0.594092 
time: 1403636647.813555, t: 10.470098 -3.275607 0.019662 q: 0.015795 0.804639 -0.049631 0.591476 
time: 1403636647.913555, t: 10.510548 -3.318770 0.025909 q: 0.022226 0.805529 -0.054839 0.589595 
time: 1403636648.013556, t: 10.545649 -3.362900 0.024600 q: 0.031882 0.805025 -0.066179 0.588675 
time: 1403636648.113555, t: 10.575636 -3.408311 0.012907 q: 0.044981 0.803991 -0.084110 0.586942 
time: 1403636648.213556, t: 10.602287 -3.455502 -0.004197 q: 0.060553 0.801373 -0.105290 0.585704 
time: 1403636648.313555, t: 10.623583 -3.503620 -0.024346 q: 0.076278 0.798001 -0.128571 0.583820 
time: 1403636648.413555, t: 10.641528 -3.552103 -0.047067 q: 0.093453 0.793884 -0.151380 0.581462 
time: 1403636648.513556, t: 10.653510 -3.600886 -0.071822 q: 0.110031 0.789502 -0.175193 0.577830 
time: 1403636648.613555, t: 10.664324 -3.650588 -0.092225 q: 0.123304 0.785293 -0.193948 0.574888 
time: 1403636648.713556, t: 10.668331 -3.697567 -0.107801 q: 0.134594 0.784810 -0.206315 0.568676 
time: 1403636648.813555, t: 10.674066 -3.743704 -0.119021 q: 0.139355 0.788948 -0.215378 0.558349 
time: 1403636648.913555, t: 10.684812 -3.790759 -0.120759 q: 0.140754 0.795760 -0.220785 0.546085 
time: 1403636649.013556, t: 10.700148 -3.838495 -0.113092 q: 0.142186 0.798736 -0.222087 0.540816 
time: 1403636649.113555, t: 10.719291 -3.888009 -0.094912 q: 0.145474 0.793200 -0.219502 0.549081 
time: 1403636649.213556, t: 10.736074 -3.938796 -0.068115 q: 0.148164 0.785168 -0.215819 0.561232 
time: 1403636649.313555, t: 10.755814 -3.988700 -0.036512 q: 0.148716 0.781767 -0.212219 0.567175 
time: 1403636649.413555, t: 10.770718 -4.035364 -0.000518 q: 0.146843 0.784409 -0.210009 0.564833 
time: 1403636649.513556, t: 10.783683 -4.079465 0.041147 q: 0.144318 0.787174 -0.207409 0.562593 
time: 1403636649.613555, t: 10.793694 -4.123296 0.088367 q: 0.141405 0.784077 -0.206233 0.568063 
time: 1403636649.713556, t: 10.798215 -4.165961 0.133345 q: 0.141538 0.779038 -0.211470 0.573016 
time: 1403636649.813555, t: 10.799063 -4.205602 0.172021 q: 0.148212 0.775642 -0.217297 0.573755 
time: 1403636649.913555, t: 10.796516 -4.243732 0.205319 q: 0.154513 0.772943 -0.221742 0.574034 
time: 1403636650.013556, t: 10.791076 -4.281901 0.230129 q: 0.159738 0.771604 -0.224947 0.573158 
time: 1403636650.113555, t: 10.780882 -4.318371 0.245110 q: 0.163654 0.769203 -0.230668 0.573006 
time: 1403636650.313555, t: 10.742652 -4.390583 0.250408 q: 0.183931 0.760828 -0.259906 0.565473 
time: 1403636650.413555, t: 10.716809 -4.424340 0.244252 q: 0.197847 0.755587 -0.281319 0.557498 
time: 1403636650.513556, t: 10.687870 -4.455942 0.232166 q: 0.211502 0.751153 -0.303279 0.546863 
time: 1403636650.613555, t: 10.659696 -4.481927 0.216399 q: 0.221094 0.747649 -0.321425 0.537424 
time: 1403636650.713556, t: 10.632555 -4.507159 0.199003 q: 0.229069 0.744519 -0.333560 0.530996 
time: 1403636650.813555, t: 10.606576 -4.531782 0.188742 q: 0.234440 0.740864 -0.341875 0.528470 
time: 1403636650.913555, t: 10.581467 -4.554609 0.188043 q: 0.241041 0.735326 -0.344694 0.531395 
time: 1403636651.013556, t: 10.557971 -4.576752 0.192862 q: 0.245230 0.730842 -0.344701 0.535643 
time: 1403636651.113555, t: 10.533547 -4.596963 0.202610 q: 0.246423 0.729075 -0.343736 0.538117 
time: 1403636651.213556, t: 10.508027 -4.615127 0.216494 q: 0.244867 0.730981 -0.342929 0.536755 
time: 1403636651.313555, t: 10.478699 -4.629108 0.235231 q: 0.242000 0.734961 -0.342104 0.533135 
time: 1403636651.413555, t: 10.448751 -4.641041 0.253297 q: 0.238662 0.738474 -0.340963 0.530510 
time: 1403636651.513556, t: 10.418204 -4.652177 0.264672 q: 0.236491 0.739931 -0.338371 0.531111 
time: 1403636651.613555, t: 10.386491 -4.661861 0.269420 q: 0.236214 0.737419 -0.334674 0.537037 
time: 1403636651.713556, t: 10.352715 -4.668530 0.268475 q: 0.234867 0.734404 -0.333121 0.542695 
time: 1403636651.813555, t: 10.316893 -4.673932 0.263941 q: 0.231887 0.729264 -0.339500 0.546938 
time: 1403636651.913555, t: 10.276765 -4.678403 0.253243 q: 0.233912 0.721565 -0.351333 0.548811 
time: 1403636652.013556, t: 10.231012 -4.682691 0.241863 q: 0.243414 0.712670 -0.366878 0.546124 
time: 1403636652.113555, t: 10.179187 -4.687785 0.222004 q: 0.260598 0.705514 -0.385493 0.534540 
time: 1403636652.213556, t: 10.120377 -4.690921 0.201279 q: 0.281110 0.697018 -0.409233 0.517370 
time: 1403636652.313555, t: 10.055802 -4.687766 0.174523 q: 0.297840 0.687362 -0.437627 0.497300 
time: 1403636652.413555, t: 9.990642 -4.684393 0.143458 q: 0.310800 0.677109 -0.464146 0.479057 
time: 1403636652.513556, t: 9.927998 -4.684700 0.118063 q: 0.318791 0.667931 -0.483912 0.466979 
time: 1403636652.613555, t: 9.867386 -4.685833 0.101491 q: 0.322538 0.663024 -0.499134 0.455230 
time: 1403636652.713556, t: 9.812273 -4.693960 0.094635 q: 0.326845 0.662035 -0.507153 0.444610 
time: 1403636652.813555, t: 9.757757 -4.709226 0.096367 q: 0.328695 0.660205 -0.511064 0.441478 
time: 1403636652.913555, t: 9.707678 -4.729785 0.105932 q: 0.331365 0.657957 -0.511249 0.442622 
time: 1403636653.013556, t: 9.659984 -4.755496 0.121584 q: 0.334474 0.656704 -0.508597 0.445193 
time: 1403636653.113555, t: 9.613347 -4.784907 0.125939 q: 0.337725 0.655651 -0.503897 0.449613 
time: 1403636653.213556, t: 9.570974 -4.819740 0.121645 q: 0.342073 0.653275 -0.497627 0.456712 
time: 1403636653.313555, t: 9.527908 -4.851976 0.115408 q: 0.346891 0.650768 -0.490091 0.464734 
time: 1403636653.413555, t: 9.487832 -4.884690 0.117226 q: 0.347226 0.651449 -0.485252 0.468593 
time: 1403636653.513556, t: 9.450446 -4.915928 0.127645 q: 0.345221 0.654041 -0.482374 0.469434 
time: 1403636653.613555, t: 9.410367 -4.942942 0.143554 q: 0.343155 0.655044 -0.480134 0.471840 
time: 1403636653.713556, t: 9.371975 -4.966752 0.160298 q: 0.344503 0.654180 -0.476291 0.475935 
time: 1403636653.813555, t: 9.334624 -4.987730 0.170984 q: 0.345788 0.653163 -0.473640 0.479035 
time: 1403636653.913555, t: 9.302265 -5.002177 0.175122 q: 0.347141 0.652644 -0.472650 0.479740 
time: 1403636654.013556, t: 9.264322 -5.012692 0.170202 q: 0.342705 0.653011 -0.475677 0.479439 
time: 1403636654.113555, t: 9.226113 -5.019512 0.159643 q: 0.340274 0.651683 -0.478688 0.479979 
time: 1403636654.213556, t: 9.186650 -5.024311 0.151793 q: 0.343668 0.646670 -0.483343 0.479676 
time: 1403636654.313555, t: 9.143933 -5.024811 0.150887 q: 0.350600 0.642228 -0.490730 0.473083 
time: 1403636654.413555, t: 9.104804 -5.019983 0.157799 q: 0.357753 0.636148 -0.502589 0.463392 
time: 1403636654.513556, t: 9.064467 -5.014293 0.171254 q: 0.366948 0.627450 -0.515964 0.453253 
time: 1403636654.613555, t: 9.024740 -5.006594 0.188220 q: 0.374801 0.617970 -0.530520 0.442930 
time: 1403636654.713556, t: 8.986747 -4.997117 0.201471 q: 0.377169 0.610171 -0.544017 0.435294 
time: 1403636654.813555, t: 8.949224 -4.986554 0.209736 q: 0.381044 0.604990 -0.552395 0.428546 
time: 1403636654.913555, t: 8.911900 -4.977666 0.211667 q: 0.385458 0.600673 -0.557468 0.424079 
time: 1403636655.013556, t: 8.875459 -4.968907 0.208512 q: 0.393949 0.593792 -0.556846 0.426776 
time: 1403636655.113555, t: 8.840577 -4.959881 0.200352 q: 0.399567 0.587770 -0.556004 0.430966 
time: 1403636655.213556, t: 8.804912 -4.946388 0.189096 q: 0.403027 0.583493 -0.555074 0.434738 
time: 1403636655.313555, t: 8.767816 -4.928961 0.176809 q: 0.405752 0.577968 -0.557649 0.436286 
time: 1403636655.413555, t: 8.731694 -4.907889 0.164685 q: 0.408467 0.570881 -0.563077 0.436113 
time: 1403636655.513556, t: 8.692998 -4.878660 0.159334 q: -0.413157 -0.564327 0.569403 -0.431991 
time: 1403636655.613555, t: 8.653387 -4.841914 0.156558 q: -0.411993 -0.559970 0.582949 -0.420555 
time: 1403636655.713556, t: 8.613183 -4.802535 0.149675 q: -0.408489 -0.555098 0.597594 -0.409737 
time: 1403636655.813555, t: 8.569667 -4.764517 0.130624 q: -0.409280 -0.548509 0.609353 -0.400396 
time: 1403636655.913555, t: 8.523306 -4.726926 0.100486 q: -0.412829 -0.537208 0.622404 -0.391910 
time: 1403636656.013556, t: 8.474797 -4.693336 0.068929 q: -0.419223 -0.524072 0.633481 -0.385101 
time: 1403636656.113555, t: 8.423913 -4.660823 0.045799 q: -0.426102 -0.515343 0.640614 -0.377456 
time: 1403636656.213556, t: 8.370455 -4.631146 0.032762 q: -0.431144 -0.511791 0.645030 -0.368946 
time: 1403636656.313555, t: 8.315698 -4.602952 0.031271 q: -0.432787 -0.509852 0.648446 -0.363681 
time: 1403636656.413555, t: 8.260753 -4.578344 0.040342 q: -0.432890 -0.509154 0.650359 -0.361111 
time: 1403636656.513556, t: 8.205502 -4.558809 0.058347 q: -0.433066 -0.509763 0.650477 -0.359826 
time: 1403636656.613555, t: 8.148362 -4.542915 0.076689 q: -0.435784 -0.510717 0.647499 -0.360563 
time: 1403636656.713556, t: 8.089825 -4.526778 0.092536 q: -0.442910 -0.507602 0.640634 -0.368455 
time: 1403636656.813555, t: 8.032798 -4.511696 0.102533 q: -0.451016 -0.505229 0.632807 -0.375345 
time: 1403636656.913555, t: 7.975685 -4.494886 0.105009 q: -0.455730 -0.505620 0.627432 -0.378138 
time: 1403636657.013556, t: 7.921138 -4.473947 0.098953 q: -0.456144 -0.504973 0.625137 -0.382282 
time: 1403636657.113555, t: 7.865863 -4.446725 0.086028 q: -0.454403 -0.503715 0.624640 -0.386801 
time: 1403636657.213556, t: 7.813929 -4.416915 0.072249 q: -0.450850 -0.502482 0.625933 -0.390453 
time: 1403636657.313555, t: 7.758280 -4.381600 0.062784 q: -0.445948 -0.504128 0.628955 -0.389102 
time: 1403636657.413555, t: 7.701666 -4.342153 0.057181 q: -0.438615 -0.505548 0.634333 -0.386858 
time: 1403636657.513556, t: 7.647465 -4.298637 0.049184 q: -0.430437 -0.507620 0.640463 -0.383214 
time: 1403636657.613555, t: 7.590781 -4.254661 0.038721 q: -0.427844 -0.509204 0.642849 -0.380008 
time: 1403636657.713556, t: 7.531768 -4.209822 0.025529 q: -0.428204 -0.508565 0.643169 -0.379916 
time: 1403636657.813555, t: 7.468573 -4.166613 0.007143 q: -0.428121 -0.505083 0.646061 -0.379749 
time: 1403636657.913555, t: 7.399041 -4.126772 -0.015739 q: -0.422314 -0.500979 0.652429 -0.380798 
time: 1403636658.013556, t: 7.325664 -4.084120 -0.031685 q: -0.420028 -0.499711 0.656033 -0.378796 
time: 1403636658.113555, t: 7.245670 -4.042095 -0.037829 q: -0.425015 -0.502876 0.654326 -0.371935 
time: 1403636658.213556, t: 7.162834 -4.000652 -0.038672 q: -0.430985 -0.505998 0.652018 -0.364816 
time: 1403636658.313555, t: 7.077213 -3.965385 -0.041023 q: -0.435880 -0.509447 0.649598 -0.358462 
time: 1403636658.413555, t: 6.992329 -3.933606 -0.049075 q: -0.437645 -0.511284 0.649229 -0.354340 
time: 1403636658.513556, t: 6.908406 -3.905145 -0.059198 q: -0.440601 -0.514186 0.647759 -0.349129 
time: 1403636658.613555, t: 6.825638 -3.882097 -0.071305 q: -0.445188 -0.517550 0.644766 -0.343841 
time: 1403636658.713556, t: 6.744824 -3.864209 -0.086943 q: -0.448011 -0.518670 0.642819 -0.342126 
time: 1403636658.813555, t: 6.668821 -3.849839 -0.103847 q: -0.454573 -0.519564 0.638256 -0.340655 
time: 1403636658.913555, t: 6.597832 -3.838840 -0.121375 q: -0.458941 -0.516905 0.635280 -0.344386 
time: 1403636659.013556, t: 6.532892 -3.827951 -0.141967 q: -0.458283 -0.511251 0.635758 -0.352719 
time: 1403636659.113555, t: 6.472030 -3.816789 -0.166752 q: -0.459950 -0.506898 0.634455 -0.359120 
time: 1403636659.213556, t: 6.415815 -3.801577 -0.195672 q: -0.460979 -0.504446 0.633602 -0.362741 
time: 1403636659.413555, t: 6.315836 -3.763480 -0.248752 q: -0.454435 -0.508611 0.638066 -0.357318 
time: 1403636659.513556, t: 6.270318 -3.741916 -0.263992 q: -0.451607 -0.511851 0.640277 -0.352286 
time: 1403636659.613555, t: 6.227608 -3.721492 -0.275966 q: -0.452240 -0.510813 0.640502 -0.352571 
time: 1403636659.713556, t: 6.187500 -3.702510 -0.291313 q: -0.455565 -0.508724 0.639413 -0.353286 
time: 1403636659.813555, t: 6.150615 -3.685213 -0.313531 q: -0.457982 -0.507091 0.638890 -0.353455 
time: 1403636659.913555, t: 6.119079 -3.663537 -0.340007 q: -0.457105 -0.506009 0.640945 -0.352418 
time: 1403636660.013556, t: 6.089595 -3.644349 -0.373081 q: -0.452831 -0.508415 0.645158 -0.346740 
time: 1403636660.113555, t: 6.065199 -3.621318 -0.407665 q: -0.448273 -0.510286 0.649819 -0.341167 
time: 1403636660.213556, t: 6.041399 -3.600990 -0.445647 q: -0.445836 -0.511187 0.652162 -0.338530 
time: 1403636660.313555, t: 6.019448 -3.585210 -0.481824 q: -0.441950 -0.513584 0.655416 -0.333679 
time: 1403636660.413555, t: 6.000819 -3.574304 -0.512081 q: -0.433498 -0.517968 0.661630 -0.325629 
time: 1403636660.513556, t: 5.984224 -3.572510 -0.533755 q: -0.431495 -0.519303 0.663025 -0.323318 
time: 1403636660.613555, t: 5.969087 -3.580134 -0.555747 q: -0.439823 -0.516194 0.657442 -0.328435 
time: 1403636660.713556, t: 5.955324 -3.596236 -0.582527 q: -0.452944 -0.512753 0.647878 -0.334933 
time: 1403636660.813555, t: 5.946043 -3.613077 -0.614074 q: -0.465508 -0.512117 0.638565 -0.336560 
time: 1403636660.913555, t: 5.942756 -3.631455 -0.652478 q: -0.473602 -0.512929 0.632424 -0.335626 
time: 1403636661.013556, t: 5.945341 -3.649556 -0.695717 q: -0.472503 -0.510049 0.632945 -0.340547 
time: 1403636661.113555, t: 5.954432 -3.667831 -0.743412 q: -0.470227 -0.505945 0.634657 -0.346578 
time: 1403636661.213556, t: 5.968380 -3.684582 -0.790771 q: -0.468800 -0.502334 0.635828 -0.351583 
time: 1403636661.313555, t: 5.987002 -3.698398 -0.832391 q: -0.467270 -0.500617 0.637090 -0.353777 
time: 1403636661.413555, t: 6.008442 -3.708925 -0.865557 q: -0.467303 -0.500231 0.637016 -0.354411 
time: 1403636661.513556, t: 6.031743 -3.716121 -0.891380 q: -0.465539 -0.500294 0.638089 -0.354713 
time: 1403636661.613555, t: 6.058023 -3.721036 -0.910226 q: -0.461413 -0.499863 0.640677 -0.356045 
time: 1403636661.713556, t: 6.086929 -3.723733 -0.921931 q: -0.461526 -0.498853 0.640075 -0.358390 
time: 1403636661.813555, t: 6.117528 -3.724064 -0.924741 q: -0.457631 -0.493495 0.642467 -0.366432 
time: 1403636661.913555, t: 6.145978 -3.724212 -0.921394 q: -0.456408 -0.490957 0.642839 -0.370691 
time: 1403636662.013556, t: 6.172839 -3.720364 -0.911862 q: -0.456191 -0.490709 0.642486 -0.371896 
time: 1403636662.113555, t: 6.198648 -3.711169 -0.897210 q: -0.457708 -0.491406 0.641146 -0.371423 
time: 1403636662.213556, t: 6.223378 -3.699449 -0.886567 q: -0.460252 -0.495849 0.639953 -0.364365 
time: 1403636662.313555, t: 6.249404 -3.682161 -0.880059 q: -0.463611 -0.500671 0.638342 -0.356247 
time: 1403636662.413555, t: 6.276761 -3.664045 -0.879766 q: -0.463181 -0.504164 0.639597 -0.349568 
time: 1403636662.513556, t: 6.308610 -3.646718 -0.887108 q: -0.457505 -0.507191 0.644852 -0.342946 
time: 1403636662.613555, t: 6.341354 -3.630474 -0.896811 q: -0.449917 -0.505146 0.651008 -0.344370 
time: 1403636662.713556, t: 6.375151 -3.616554 -0.909009 q: -0.441702 -0.495807 0.657848 -0.355402 
time: 1403636662.813555, t: 6.406099 -3.604211 -0.926426 q: -0.438744 -0.488575 0.660815 -0.363485 
time: 1403636662.913555, t: 6.433235 -3.589323 -0.947427 q: -0.435606 -0.489722 0.663524 -0.360770 
time: 1403636663.013556, t: 6.453361 -3.578295 -0.970972 q: -0.429386 -0.490391 0.668189 -0.358704 
time: 1403636663.213556, t: 6.476902 -3.554395 -1.003387 q: -0.421329 -0.489639 0.674524 -0.357424 
time: 1403636663.313555, t: 6.478022 -3.546509 -1.017777 q: -0.431696 -0.500284 0.667864 -0.342508 
time: 1403636663.413555, t: 6.476964 -3.546731 -1.038057 q: -0.436770 -0.509834 0.664461 -0.328318 
time: 1403636663.513556, t: 6.478711 -3.549584 -1.065311 q: -0.436917 -0.515997 0.664379 -0.318514 
time: 1403636663.613555, t: 6.480205 -3.562691 -1.094829 q: -0.435945 -0.518741 0.664912 -0.314248 
time: 1403636663.713556, t: 6.482243 -3.587318 -1.125842 q: -0.437974 -0.521998 0.663024 -0.309993 
time: 1403636663.813555, t: 6.486614 -3.621780 -1.150616 q: -0.446951 -0.526335 0.655633 -0.305536 
time: 1403636663.913555, t: 6.499526 -3.667424 -1.168749 q: -0.457021 -0.528730 0.647095 -0.304704 
time: 1403636664.013556, t: 6.518435 -3.720286 -1.178205 q: -0.469729 -0.529382 0.636093 -0.307401 
time: 1403636664.113555, t: 6.548986 -3.780179 -1.182918 q: -0.472768 -0.526545 0.632375 -0.315188 
time: 1403636664.213556, t: 6.588573 -3.844163 -1.182988 q: -0.471906 -0.520640 0.631224 -0.328322 
time: 1403636664.313555, t: 6.635400 -3.907825 -1.187014 q: -0.470862 -0.515758 0.629629 -0.340367 
time: 1403636664.413555, t: 6.686929 -3.969437 -1.206679 q: -0.469179 -0.514089 0.628147 -0.347872 
time: 1403636664.513556, t: 6.742103 -4.028077 -1.237377 q: -0.467294 -0.513849 0.626473 -0.353732 
time: 1403636664.613555, t: 6.802388 -4.082126 -1.267972 q: -0.462026 -0.511663 0.626723 -0.363251 
time: 1403636664.713556, t: 6.864728 -4.133277 -1.292806 q: -0.456443 -0.511059 0.627406 -0.369919 
time: 1403636664.813555, t: 6.928382 -4.181080 -1.309700 q: -0.455732 -0.517593 0.625220 -0.365385 
time: 1403636664.913555, t: 6.992810 -4.228210 -1.319322 q: -0.453341 -0.519934 0.624072 -0.366995 
time: 1403636665.013556, t: 7.059040 -4.273874 -1.323887 q: -0.446558 -0.523479 0.626703 -0.365787 
time: 1403636665.113555, t: 7.125587 -4.316390 -1.321441 q: -0.438915 -0.527844 0.630297 -0.362574 
time: 1403636665.213556, t: 7.191982 -4.358984 -1.312090 q: -0.433020 -0.528244 0.633128 -0.364145 
time: 1403636665.313555, t: 7.258417 -4.405705 -1.299930 q: -0.432019 -0.521479 0.633233 -0.374747 
time: 1403636665.413555, t: 7.323412 -4.454705 -1.288366 q: -0.434341 -0.520923 0.631534 -0.375703 
time: 1403636665.513556, t: 7.384813 -4.499710 -1.277188 q: -0.439433 -0.526351 0.628906 -0.366510 
time: 1403636665.613555, t: 7.447578 -4.542607 -1.264797 q: -0.444388 -0.531098 0.626523 -0.357663 
time: 1403636665.713556, t: 7.513480 -4.585963 -1.251887 q: -0.448316 -0.531311 0.625370 -0.354449 
time: 1403636665.813555, t: 7.581622 -4.630252 -1.236659 q: -0.453013 -0.527830 0.623764 -0.356501 
time: 1403636665.913555, t: 7.653207 -4.673694 -1.220602 q: -0.448675 -0.517084 0.628200 -0.369702 
time: 1403636666.013556, t: 7.724785 -4.715835 -1.205839 q: -0.442224 -0.509456 0.634001 -0.378068 
time: 1403636666.113555, t: 7.793965 -4.754498 -1.196272 q: -0.442135 -0.508057 0.634788 -0.378734 
time: 1403636666.213556, t: 7.861138 -4.790068 -1.190996 q: -0.447774 -0.509800 0.631406 -0.375405 
time: 1403636666.313555, t: 7.927695 -4.821526 -1.192200 q: -0.448671 -0.508376 0.630888 -0.377131 
time: 1403636666.413555, t: 7.992110 -4.849127 -1.197268 q: -0.445372 -0.505834 0.632414 -0.381875 
time: 1403636666.513556, t: 8.052971 -4.871625 -1.199862 q: -0.440813 -0.506540 0.634424 -0.382893 
time: 1403636666.613555, t: 8.110291 -4.889462 -1.194028 q: -0.438986 -0.512399 0.634744 -0.376615 
time: 1403636666.713556, t: 8.166459 -4.904660 -1.181599 q: -0.437824 -0.520350 0.634380 -0.367569 
time: 1403636666.813555, t: 8.222030 -4.921156 -1.166874 q: -0.432618 -0.525766 0.636702 -0.361971 
time: 1403636666.913555, t: 8.276294 -4.940773 -1.157028 q: -0.417621 -0.525147 0.646099 -0.363827 
time: 1403636667.013556, t: 8.326082 -4.964060 -1.153761 q: -0.405933 -0.521413 0.653400 -0.369344 
time: 1403636667.113555, t: 8.368777 -4.992575 -1.152871 q: -0.413910 -0.520269 0.647655 -0.372212 
time: 1403636667.213556, t: 8.407809 -5.023122 -1.155313 q: -0.433132 -0.521084 0.634052 -0.372622 
time: 1403636667.313555, t: 8.445751 -5.053077 -1.162931 q: -0.446211 -0.523595 0.624272 -0.370173 
time: 1403636667.413555, t: 8.485727 -5.079828 -1.175614 q: -0.449188 -0.524725 0.621622 -0.369431 
time: 1403636667.513556, t: 8.528026 -5.104617 -1.190508 q: -0.444253 -0.528392 0.624378 -0.365505 
time: 1403636667.613555, t: 8.570508 -5.129373 -1.204551 q: -0.432408 -0.529204 0.632495 -0.364576 
time: 1403636667.713556, t: 8.613575 -5.153196 -1.210124 q: -0.424357 -0.527767 0.637688 -0.367065 
time: 1403636667.813555, t: 8.654695 -5.178178 -1.207652 q: -0.423879 -0.525558 0.638286 -0.369738 
time: 1403636667.913555, t: 8.693788 -5.204163 -1.203007 q: -0.423598 -0.523598 0.639205 -0.371250 
time: 1403636668.013556, t: 8.728956 -5.233444 -1.201417 q: -0.423820 -0.523413 0.639743 -0.370331 
time: 1403636668.113555, t: 8.763669 -5.264297 -1.206450 q: -0.428714 -0.524407 0.638031 -0.366222 
time: 1403636668.213556, t: 8.795562 -5.296934 -1.219467 q: -0.432020 -0.526202 0.637611 -0.360448 
time: 1403636668.313555, t: 8.827775 -5.331775 -1.236766 q: -0.434446 -0.527094 0.638251 -0.355054 
time: 1403636668.413555, t: 8.860855 -5.368310 -1.257387 q: -0.436916 -0.525688 0.638540 -0.353587 
time: 1403636668.513556, t: 8.894015 -5.405552 -1.279842 q: -0.440374 -0.523599 0.637956 -0.353450 
time: 1403636668.613555, t: 8.930058 -5.443538 -1.302102 q: -0.441640 -0.522175 0.638813 -0.352427 
time: 1403636668.713556, t: 8.965437 -5.485485 -1.326588 q: -0.445128 -0.522786 0.637873 -0.348818 
time: 1403636668.813555, t: 9.005485 -5.529721 -1.349661 q: -0.454628 -0.524564 0.632100 -0.344377 
time: 1403636668.913555, t: 9.052627 -5.573053 -1.366488 q: -0.465088 -0.526611 0.624844 -0.340506 
time: 1403636669.013556, t: 9.102137 -5.617481 -1.377876 q: -0.464440 -0.521430 0.625320 -0.348399 
time: 1403636669.113555, t: 9.158613 -5.657993 -1.381154 q: -0.461725 -0.514907 0.627725 -0.357272 
time: 1403636669.213556, t: 9.217196 -5.696241 -1.383430 q: -0.460692 -0.511557 0.629059 -0.361050 
time: 1403636669.313555, t: 9.278714 -5.732537 -1.391553 q: -0.461446 -0.510891 0.629071 -0.361009 
time: 1403636669.413555, t: 9.342670 -5.767518 -1.405781 q: -0.461203 -0.509975 0.629440 -0.361970 
time: 1403636669.513556, t: 9.409804 -5.798597 -1.421464 q: -0.464099 -0.507843 0.626977 -0.365524 
time: 1403636669.613555, t: 9.478442 -5.829928 -1.440438 q: -0.470292 -0.505201 0.621828 -0.370038 
time: 1403636669.713556, t: 9.550766 -5.855058 -1.454026 q: -0.476412 -0.502038 0.616173 -0.375927 
time: 1403636669.813555, t: 9.626771 -5.871461 -1.464655 q: -0.471830 -0.496824 0.618225 -0.385149 
time: 1403636669.913555, t: 9.705792 -5.878672 -1.466457 q: -0.451394 -0.486858 0.630977 -0.401349 
time: 1403636670.013556, t: 9.777908 -5.880144 -1.463611 q: -0.435716 -0.483404 0.641148 -0.406696 
time: 1403636670.113555, t: 9.838937 -5.870478 -1.453223 q: -0.425489 -0.483042 0.646286 -0.409809 
time: 1403636670.213556, t: 9.889633 -5.851123 -1.438273 q: -0.419520 -0.478141 0.645087 -0.423376 
time: 1403636670.313555, t: 9.929405 -5.826971 -1.426700 q: -0.413701 -0.472478 0.642655 -0.438875 
time: 1403636670.413555, t: 9.954275 -5.792629 -1.421739 q: -0.404369 -0.474619 0.641027 -0.447556 
time: 1403636670.513556, t: 9.961345 -5.747513 -1.417816 q: -0.391785 -0.481400 0.637720 -0.456148 
time: 1403636670.613555, t: 9.948843 -5.693717 -1.407184 q: -0.380161 -0.493133 0.629482 -0.464811 
time: 1403636670.713556, t: 9.917169 -5.634220 -1.389330 q: -0.370905 -0.507528 0.617411 -0.472915 
time: 1403636670.813555, t: 9.867844 -5.569679 -1.368150 q: -0.359073 -0.520712 0.604373 -0.484416 
time: 1403636670.913555, t: 9.802097 -5.498744 -1.348309 q: -0.342119 -0.531460 0.590956 -0.501275 
time: 1403636671.013556, t: 9.716428 -5.422612 -1.325117 q: -0.324459 -0.542750 0.572914 -0.521457 
time: 1403636671.113555, t: 9.605537 -5.340739 -1.290917 q: 0.314521 0.563155 -0.548780 0.531765 
time: 1403636671.213556, t: 9.468688 -5.255451 -1.249630 q: 0.305769 0.587614 -0.526098 0.533325 
time: 1403636671.313555, t: 9.309901 -5.166390 -1.204392 q: 0.302938 0.615341 -0.506729 0.522312 
time: 1403636671.413555, t: 9.137199 -5.077576 -1.158446 q: 0.309712 0.648717 -0.484156 0.498837 
time: 1403636671.513556, t: 8.961130 -4.989272 -1.120620 q: 0.306861 0.676864 -0.466081 0.480062 
time: 1403636671.613555, t: 8.786618 -4.902983 -1.087473 q: 0.296441 0.696452 -0.456704 0.467438 
time: 1403636671.713556, t: 8.617020 -4.823951 -1.059601 q: 0.286425 0.709237 -0.453068 0.457901 
time: 1403636671.813555, t: 8.453163 -4.751923 -1.036323 q: 0.281277 0.717813 -0.450868 0.449828 
time: 1403636671.913555, t: 8.297371 -4.689595 -1.013628 q: 0.276095 0.724679 -0.452779 0.440003 
time: 1403636672.013556, t: 8.152297 -4.640352 -0.985649 q: 0.275059 0.732429 -0.454254 0.426080 
time: 1403636672.113555, t: 8.019741 -4.605519 -0.948564 q: 0.285967 0.737331 -0.448224 0.416727 
time: 1403636672.213556, t: 7.903629 -4.583978 -0.903025 q: 0.296888 0.738464 -0.443084 0.412560 
time: 1403636672.313555, t: 7.803936 -4.576480 -0.859764 q: 0.305190 0.737537 -0.440112 0.411338 
time: 1403636672.413555, t: 7.719977 -4.578588 -0.821638 q: 0.320850 0.735586 -0.429806 0.413806 
time: 1403636672.513556, t: 7.653420 -4.586942 -0.796018 q: 0.332686 0.723745 -0.422542 0.432401 
time: 1403636672.613555, t: 7.599137 -4.595911 -0.787359 q: 0.333340 0.706473 -0.422619 0.459537 
time: 1403636672.713556, t: 7.551263 -4.603083 -0.797820 q: 0.327233 0.696166 -0.427466 0.474914 
time: 1403636672.813555, t: 7.508661 -4.608146 -0.827816 q: 0.314033 0.698684 -0.434723 0.473540 
time: 1403636672.913555, t: 7.470883 -4.612600 -0.850877 q: 0.306461 0.704788 -0.429780 0.473966 
time: 1403636673.013556, t: 7.439656 -4.617483 -0.867024 q: 0.299388 0.713348 -0.417943 0.476261 
time: 1403636673.113555, t: 7.417485 -4.622549 -0.879026 q: 0.291989 0.723296 -0.405175 0.476885 
time: 1403636673.213556, t: 7.402800 -4.627869 -0.882846 q: 0.279874 0.736118 -0.399167 0.469539 
time: 1403636673.313555, t: 7.394565 -4.633193 -0.877723 q: 0.269622 0.747812 -0.395365 0.460182 
time: 1403636673.413555, t: 7.394325 -4.642771 -0.869839 q: 0.264460 0.753228 -0.391449 0.457685 
time: 1403636673.513556, t: 7.404961 -4.658952 -0.866957 q: 0.263241 0.753950 -0.387511 0.460542 
time: 1403636673.713556, t: 7.452314 -4.708178 -0.871485 q: 0.271364 0.743862 -0.375989 0.481314 
time: 1403636673.813555, t: 7.485338 -4.732944 -0.876464 q: 0.276536 0.736945 -0.370284 0.493285 
time: 1403636673.913555, t: 7.522610 -4.754784 -0.878415 q: 0.279494 0.736435 -0.367127 0.494737 
time: 1403636674.013556, t: 7.566792 -4.775889 -0.877918 q: 0.278234 0.736848 -0.367954 0.494217 
time: 1403636674.113555, t: 7.614509 -4.794527 -0.878899 q: 0.276365 0.736583 -0.369303 0.494655 
time: 1403636674.213556, t: 7.665894 -4.810994 -0.885270 q: 0.275343 0.734148 -0.370216 0.498149 
time: 1403636674.313555, t: 7.723208 -4.826249 -0.900673 q: 0.268712 0.728948 -0.375500 0.505399 
time: 1403636674.413555, t: 7.782045 -4.840318 -0.922444 q: 0.255708 0.726086 -0.380540 0.512447 
time: 1403636674.513556, t: 7.841185 -4.853767 -0.949466 q: 0.243597 0.725730 -0.377580 0.520971 
time: 1403636674.613555, t: 7.896559 -4.867586 -0.983457 q: 0.236696 0.728557 -0.369737 0.525808 
time: 1403636674.713556, t: 7.948373 -4.882129 -1.020480 q: 0.232043 0.732097 -0.362309 0.528131 
time: 1403636674.813555, t: 7.996921 -4.898054 -1.061815 q: 0.222368 0.741166 -0.360753 0.520656 
time: 1403636674.913555, t: 8.041979 -4.916329 -1.098749 q: 0.213497 0.750501 -0.361289 0.510526 
time: 1403636675.013556, t: 8.085940 -4.942007 -1.125765 q: 0.207524 0.757637 -0.362157 0.501760 
time: 1403636675.113555, t: 8.132481 -4.975599 -1.142251 q: 0.209039 0.763447 -0.359706 0.494028 
time: 1403636675.213556, t: 8.184067 -5.017881 -1.148922 q: 0.220828 0.769070 -0.350633 0.486644 
time: 1403636675.313555, t: 8.242214 -5.066661 -1.149247 q: 0.231839 0.771139 -0.343352 0.483430 
time: 1403636675.413555, t: 8.312025 -5.119900 -1.143667 q: 0.241293 0.766316 -0.334116 0.492853 
time: 1403636675.513556, t: 8.389674 -5.172819 -1.140511 q: 0.244516 0.762730 -0.322201 0.504620 
time: 1403636675.613555, t: 8.472651 -5.223049 -1.143253 q: 0.247744 0.761078 -0.308358 0.514099 
time: 1403636675.713556, t: 8.559182 -5.268020 -1.152486 q: 0.244160 0.760752 -0.296810 0.523016 
time: 1403636675.813555, t: 8.648188 -5.305919 -1.168186 q: 0.228407 0.758258 -0.289332 0.537738 
time: 1403636675.913555, t: 8.737412 -5.339280 -1.191083 q: 0.199532 0.757326 -0.287356 0.551425 
time: 1403636676.013556, t: 8.823565 -5.369817 -1.219152 q: 0.173230 0.763081 -0.280937 0.555673 
time: 1403636676.113555, t: 8.904124 -5.401533 -1.249065 q: 0.160899 0.772794 -0.264065 0.554229 
time: 1403636676.213556, t: 8.981797 -5.433500 -1.279452 q: 0.161244 0.784095 -0.236549 0.550672 
time: 1403636676.313555, t: 9.058808 -5.464891 -1.312124 q: 0.161928 0.796192 -0.206260 0.545266 
time: 1403636676.413555, t: 9.141638 -5.492807 -1.339207 q: 0.160629 0.804138 -0.176431 0.544457 
time: 1403636676.513556, t: 9.224578 -5.511961 -1.359102 q: 0.145937 0.810241 -0.156717 0.545574 
time: 1403636676.613555, t: 9.313358 -5.526596 -1.371145 q: 0.124009 0.811933 -0.145741 0.551494 
time: 1403636676.713556, t: 9.406895 -5.537758 -1.373548 q: 0.106724 0.811490 -0.139799 0.557270 
time: 1403636676.813555, t: 9.500538 -5.546631 -1.370868 q: 0.092779 0.810560 -0.137354 0.561711 
time: 1403636676.913555, t: 9.591691 -5.554310 -1.362092 q: 0.081080 0.810560 -0.135261 0.564023 
time: 1403636677.013556, t: 9.681214 -5.562476 -1.362472 q: 0.078167 0.810250 -0.132215 0.565601 
time: 1403636677.113555, t: 9.769478 -5.571449 -1.376983 q: 0.086648 0.810647 -0.124862 0.565466 
time: 1403636677.213556, t: 9.856235 -5.582166 -1.403411 q: 0.094127 0.810222 -0.119703 0.565996 
time: 1403636677.313555, t: 9.941682 -5.587919 -1.428511 q: 0.096686 0.806723 -0.114253 0.571661 
time: 1403636677.413555, t: 10.026002 -5.593013 -1.448166 q: 0.094318 0.800778 -0.104362 0.582209 
time: 1403636677.513556, t: 10.108342 -5.590518 -1.459680 q: 0.085343 0.795209 -0.094360 0.592837 
time: 1403636677.613555, t: 10.185418 -5.584279 -1.465030 q: 0.070739 0.793861 -0.083789 0.598131 
time: 1403636677.713556, t: 10.256768 -5.574810 -1.464021 q: 0.051605 0.796491 -0.072985 0.598007 
time: 1403636677.813555, t: 10.318621 -5.562754 -1.458622 q: 0.029195 0.803261 -0.060737 0.591803 
time: 1403636677.913555, t: 10.373598 -5.551096 -1.449421 q: 0.002321 0.811376 -0.047996 0.582546 
time: 1403636678.013556, t: 10.425961 -5.542691 -1.438003 q: -0.016986 0.816941 -0.029216 0.575730 
time: 1403636678.113555, t: 10.476758 -5.540318 -1.428528 q: -0.025252 0.817756 -0.007051 0.574968 
time: 1403636678.213556, t: 10.526566 -5.542159 -1.425575 q: -0.024971 0.817431 0.013859 0.575318 
time: 1403636678.313555, t: 10.574738 -5.543981 -1.426023 q: -0.027496 0.816574 0.031553 0.575722 
time: 1403636678.413555, t: 10.619978 -5.544557 -1.422398 q: -0.038624 0.816225 0.044947 0.574686 
time: 1403636678.513556, t: 10.664146 -5.545889 -1.413207 q: -0.048417 0.816226 0.060491 0.572514 
time: 1403636678.613555, t: 10.705052 -5.547651 -1.397656 q: -0.060719 0.814207 0.078005 0.572098 
time: 1403636678.713556, t: 10.745351 -5.549244 -1.382754 q: -0.066416 0.810693 0.104034 0.572314 
time: 1403636678.813555, t: 10.784099 -5.548546 -1.372858 q: -0.067763 0.806374 0.135459 0.571682 
time: 1403636678.913555, t: 10.821100 -5.545170 -1.370525 q: -0.067582 0.801979 0.163587 0.570528 
time: 1403636679.013556, t: 10.853505 -5.536207 -1.374065 q: -0.076369 0.797856 0.183620 0.569102 
time: 1403636679.113555, t: 10.883346 -5.520157 -1.382749 q: -0.094023 0.792505 0.198104 0.569079 
time: 1403636679.213556, t: 10.908619 -5.497843 -1.395053 q: -0.122021 0.786239 0.207219 0.569209 
time: 1403636679.313555, t: 10.929592 -5.472183 -1.404719 q: -0.150301 0.779761 0.217937 0.567350 
time: 1403636679.413555, t: 10.947302 -5.445726 -1.406979 q: -0.171251 0.773445 0.234592 0.563403 
time: 1403636679.513556, t: 10.962235 -5.421437 -1.402607 q: -0.187285 0.767958 0.253144 0.557749 
time: 1403636679.613555, t: 10.975907 -5.398811 -1.391846 q: -0.198384 0.764358 0.267882 0.551942 
time: 1403636679.713556, t: 10.984002 -5.381973 -1.375608 q: -0.204773 0.762984 0.279313 0.545810 
time: 1403636679.813555, t: 10.991370 -5.369603 -1.350206 q: -0.207223 0.758146 0.287670 0.547283 
time: 1403636679.913555, t: 10.997538 -5.358260 -1.316413 q: -0.206130 0.750545 0.293531 0.555007 
time: 1403636680.013556, t: 11.001027 -5.346890 -1.277075 q: -0.197889 0.746852 0.300350 0.559323 
time: 1403636680.113555, t: 10.996788 -5.337453 -1.233596 q: -0.184212 0.742524 0.308848 0.565099 
time: 1403636680.213556, t: 10.983235 -5.326045 -1.195046 q: -0.180562 0.741972 0.309533 0.566625 
time: 1403636680.313555, t: 10.961271 -5.312164 -1.162698 q: -0.177656 0.739871 0.309023 0.570555 
time: 1403636680.413555, t: 10.930414 -5.294945 -1.135727 q: -0.165403 0.741880 0.313659 0.569098 
time: 1403636680.513556, t: 10.890486 -5.274540 -1.117691 q: -0.157754 0.744894 0.315195 0.566480 
time: 1403636680.613555, t: 10.841933 -5.246583 -1.103929 q: -0.160258 0.748330 0.310438 0.563868 
time: 1403636680.713556, t: 10.785929 -5.215884 -1.095225 q: -0.163924 0.751618 0.305610 0.561072 
time: 1403636680.813555, t: 10.722963 -5.176093 -1.090170 q: -0.177663 0.758515 0.294213 0.553652 
time: 1403636680.913555, t: 10.657816 -5.138283 -1.089359 q: -0.194703 0.767182 0.281250 0.542605 
time: 1403636681.013556, t: 10.592254 -5.098827 -1.096601 q: -0.198244 0.777655 0.277976 0.527902 
time: 1403636681.113555, t: 10.529768 -5.059159 -1.108812 q: -0.193574 0.785006 0.280888 0.517104 
time: 1403636681.213556, t: 10.472815 -5.017070 -1.121070 q: -0.188807 0.780779 0.284578 0.523213 
time: 1403636681.313555, t: 10.420671 -4.971431 -1.130109 q: -0.187718 0.770833 0.286748 0.536986 
time: 1403636681.413555, t: 10.368747 -4.923697 -1.132148 q: -0.191247 0.764156 0.285234 0.546015 
time: 1403636681.513556, t: 10.316085 -4.876268 -1.129880 q: -0.196103 0.761539 0.283271 0.548962 
time: 1403636681.613555, t: 10.261374 -4.830171 -1.124985 q: -0.195046 0.760471 0.286001 0.549404 
time: 1403636681.713556, t: 10.203971 -4.783140 -1.123129 q: -0.193768 0.759303 0.288384 0.550225 
time: 1403636681.813555, t: 10.147847 -4.736316 -1.125546 q: -0.193813 0.758077 0.290056 0.551021 
time: 1403636681.913555, t: 10.089437 -4.688789 -1.127441 q: -0.196007 0.756639 0.290732 0.551864 
time: 1403636682.013556, t: 10.029687 -4.640469 -1.121814 q: -0.199213 0.756617 0.290579 0.550826 
time: 1403636682.113555, t: 9.965924 -4.593374 -1.108170 q: -0.202291 0.756808 0.289945 0.549774 
time: 1403636682.213556, t: 9.899941 -4.549116 -1.091611 q: -0.203981 0.758861 0.289772 0.546400 
time: 1403636682.313555, t: 9.830413 -4.505326 -1.078601 q: -0.203205 0.764859 0.290006 0.538141 
time: 1403636682.413555, t: 9.763704 -4.459971 -1.071740 q: -0.201686 0.770570 0.289982 0.530523 
time: 1403636682.513556, t: 9.698953 -4.414677 -1.067002 q: -0.200665 0.767441 0.288781 0.536072 
time: 1403636682.613555, t: 9.636497 -4.369520 -1.067481 q: -0.198652 0.762571 0.288380 0.543930 
time: 1403636682.713556, t: 9.572048 -4.325228 -1.068338 q: -0.199178 0.759954 0.285839 0.548720 
time: 1403636682.913555, t: 9.442049 -4.237041 -1.057252 q: -0.196037 0.756917 0.283313 0.555320 
time: 1403636683.013556, t: 9.374159 -4.192907 -1.043990 q: -0.190348 0.756455 0.285973 0.556564 
time: 1403636683.113555, t: 9.301601 -4.151034 -1.032766 q: -0.190681 0.756419 0.285762 0.556606 
time: 1403636683.213556, t: 9.227846 -4.106811 -1.028080 q: -0.193977 0.758231 0.284524 0.553629 
time: 1403636683.313555, t: 9.151321 -4.063755 -1.029509 q: -0.197098 0.759093 0.284134 0.551542 
time: 1403636683.413555, t: 9.073555 -4.020082 -1.033775 q: -0.199470 0.759646 0.284256 0.549862 
time: 1403636683.513556, t: 8.997746 -3.978185 -1.042981 q: -0.201200 0.759787 0.285183 0.548555 
time: 1403636683.613555, t: 8.920159 -3.936694 -1.056913 q: -0.201922 0.760496 0.285902 0.546931 
time: 1403636683.713556, t: 8.842483 -3.898558 -1.073496 q: -0.202280 0.763113 0.287032 0.542544 
time: 1403636683.813555, t: 8.765674 -3.861513 -1.086036 q: -0.202492 0.766269 0.288195 0.537376 
time: 1403636683.913555, t: 8.691405 -3.824576 -1.092270 q: -0.203231 0.767441 0.289835 0.534535 
time: 1403636684.013556, t: 8.619451 -3.785541 -1.088517 q: -0.205743 0.766222 0.289610 0.535443 
time: 1403636684.113555, t: 8.549123 -3.747649 -1.077235 q: -0.207314 0.763499 0.290713 0.538123 
time: 1403636684.213556, t: 8.478827 -3.711234 -1.060558 q: -0.209427 0.761581 0.291709 0.539483 
time: 1403636684.313555, t: 8.407626 -3.674861 -1.037963 q: -0.211455 0.758970 0.292394 0.541994 
time: 1403636684.413555, t: 8.336167 -3.640452 -1.021533 q: -0.213116 0.756699 0.292946 0.544215 
time: 1403636684.513556, t: 8.263885 -3.608884 -1.010319 q: -0.217524 0.756401 0.291297 0.543772 
time: 1403636684.613555, t: 8.192628 -3.579811 -1.004165 q: -0.221283 0.755832 0.289380 0.544069 
time: 1403636684.713556, t: 8.120994 -3.553976 -1.005537 q: -0.222912 0.754895 0.289137 0.544834 
time: 1403636684.813555, t: 8.050011 -3.531616 -1.012814 q: -0.222811 0.754232 0.289524 0.545586 
time: 1403636684.913555, t: 7.978565 -3.513178 -1.025760 q: -0.219129 0.753301 0.292067 0.547007 
time: 1403636685.013556, t: 7.905948 -3.497792 -1.037566 q: -0.210289 0.753140 0.297426 0.547810 
time: 1403636685.113555, t: 7.832823 -3.482324 -1.043495 q: -0.206107 0.754442 0.298900 0.546805 
time: 1403636685.213556, t: 7.759499 -3.466049 -1.044133 q: -0.202286 0.757650 0.298942 0.543766 
time: 1403636685.313555, t: 7.683877 -3.451623 -1.037607 q: -0.195757 0.759571 0.300386 0.542679 
time: 1403636685.413555, t: 7.612321 -3.434711 -1.030203 q: -0.193587 0.760358 0.299181 0.543019 
time: 1403636685.513556, t: 7.535562 -3.417366 -1.024466 q: -0.195543 0.761867 0.295648 0.542138 
time: 1403636685.613555, t: 7.461067 -3.397222 -1.027001 q: -0.197657 0.763116 0.292526 0.541308 
time: 1403636685.713556, t: 7.383343 -3.378828 -1.032578 q: -0.196003 0.762104 0.292658 0.543260 
time: 1403636685.813555, t: 7.310115 -3.358640 -1.044857 q: -0.193624 0.760456 0.294117 0.545630 
time: 1403636685.913555, t: 7.231394 -3.337713 -1.060001 q: -0.193111 0.759717 0.294488 0.546640 
time: 1403636686.013556, t: 7.153569 -3.316832 -1.076604 q: -0.197827 0.762300 0.291718 0.542830 
time: 1403636686.113555, t: 7.071675 -3.294758 -1.089801 q: -0.201683 0.765553 0.289580 0.537955 
time: 1403636686.213556, t: 6.994575 -3.273171 -1.092865 q: -0.202764 0.766239 0.288531 0.537136 
time: 1403636686.313555, t: 6.919237 -3.250777 -1.091804 q: -0.203870 0.767975 0.287289 0.534899 
time: 1403636686.413555, t: 6.845176 -3.228665 -1.085088 q: -0.203760 0.769172 0.287119 0.533309 
time: 1403636686.513556, t: 6.773546 -3.207199 -1.079598 q: -0.204373 0.770986 0.286911 0.530561 
time: 1403636686.613555, t: 6.704997 -3.185233 -1.081291 q: -0.202918 0.770741 0.288539 0.530592 
time: 1403636686.713556, t: 6.636757 -3.165135 -1.086214 q: -0.202913 0.770264 0.289049 0.531009 
time: 1403636686.813555, t: 6.572505 -3.142146 -1.093405 q: -0.204286 0.768270 0.288640 0.533588 
time: 1403636686.913555, t: 6.509875 -3.120453 -1.092168 q: -0.207114 0.766852 0.287739 0.535022 
time: 1403636687.013556, t: 6.445626 -3.099095 -1.084003 q: -0.208928 0.765679 0.287385 0.536186 
time: 1403636687.113555, t: 6.388177 -3.076084 -1.071435 q: -0.209990 0.765663 0.286893 0.536056 
time: 1403636687.213556, t: 6.330022 -3.055103 -1.057931 q: -0.210314 0.764502 0.287135 0.537456 
time: 1403636687.313555, t: 6.273880 -3.036213 -1.049046 q: -0.210559 0.763524 0.287745 0.538423 
time: 1403636687.413555, t: 6.218540 -3.017105 -1.047191 q: -0.209867 0.761425 0.288676 0.541160 
time: 1403636687.513556, t: 6.167736 -3.001402 -1.053073 q: -0.210409 0.760442 0.288847 0.542239 
time: 1403636687.613555, t: 6.112134 -2.985209 -1.063033 q: -0.213046 0.760090 0.287784 0.542269 
time: 1403636687.713556, t: 6.058636 -2.971593 -1.082163 q: -0.215850 0.759301 0.286854 0.542758 
time: 1403636687.813555, t: 6.007678 -2.960173 -1.106935 q: -0.215934 0.759458 0.287620 0.542098 
time: 1403636687.913555, t: 5.958339 -2.950666 -1.137492 q: -0.214833 0.759557 0.288863 0.541736 
time: 1403636688.013556, t: 5.909764 -2.940835 -1.172648 q: -0.211115 0.758663 0.291550 0.543010 
time: 1403636688.113555, t: 5.860557 -2.929181 -1.209000 q: -0.205399 0.757590 0.295554 0.544533 
time: 1403636688.213556, t: 5.808813 -2.920811 -1.238824 q: -0.204584 0.757778 0.296354 0.544144 
time: 1403636688.313555, t: 5.756827 -2.911910 -1.262129 q: -0.207909 0.758386 0.294711 0.542927 
time: 1403636688.413555, t: 5.706158 -2.906457 -1.279687 q: -0.210438 0.759740 0.293790 0.540554 
time: 1403636688.513556, t: 5.654841 -2.896752 -1.302846 q: -0.206484 0.759285 0.296521 0.541227 
time: 1403636688.613555, t: 5.602553 -2.886609 -1.330369 q: -0.198439 0.758272 0.302032 0.542606 
time: 1403636688.713556, t: 5.548227 -2.875849 -1.361526 q: -0.195426 0.757099 0.305332 0.543490 
time: 1403636688.813555, t: 5.493027 -2.864143 -1.392593 q: -0.196988 0.757154 0.306741 0.542055 
time: 1403636688.913555, t: 5.436658 -2.848652 -1.419399 q: -0.201147 0.757231 0.310642 0.538185 
time: 1403636689.013556, t: 5.379178 -2.829915 -1.437308 q: -0.208065 0.757976 0.313646 0.532735 
time: 1403636689.213556, t: 5.265764 -2.785213 -1.449507 q: -0.221175 0.759071 0.319668 0.522212 
time: 1403636689.313555, t: 5.211624 -2.762556 -1.443818 q: -0.225084 0.759141 0.322831 0.518481 
time: 1403636689.413555, t: 5.161599 -2.736857 -1.429100 q: -0.227195 0.757759 0.325951 0.517629 
time: 1403636689.513556, t: 5.114631 -2.708734 -1.407993 q: -0.229070 0.757461 0.327437 0.516300 
time: 1403636689.613555, t: 5.067936 -2.682735 -1.380387 q: -0.230252 0.759669 0.328327 0.511946 
time: 1403636689.713556, t: 5.026100 -2.656069 -1.352432 q: -0.233629 0.764534 0.326259 0.504441 
time: 1403636689.813555, t: 4.991418 -2.627403 -1.329520 q: -0.238719 0.770370 0.321461 0.496192 
time: 1403636689.913555, t: 4.967006 -2.593526 -1.312196 q: -0.246559 0.771685 0.314082 0.495039 
time: 1403636690.013556, t: 4.950809 -2.560218 -1.298987 q: -0.249667 0.770998 0.309578 0.497383 
time: 1403636690.113555, t: 4.944832 -2.528593 -1.291541 q: -0.243116 0.770864 0.312624 0.498929 
time: 1403636690.213556, t: 4.943813 -2.500122 -1.283092 q: -0.233071 0.769944 0.318367 0.501505 
time: 1403636690.313555, t: 4.951374 -2.466245 -1.269517 q: -0.228640 0.768724 0.320797 0.503862 
time: 1403636690.413555, t: 4.963106 -2.433665 -1.249438 q: -0.226430 0.767891 0.321560 0.505640 
time: 1403636690.513556, t: 4.979553 -2.401122 -1.228881 q: -0.231771 0.767158 0.317978 0.506598 
time: 1403636690.613555, t: 4.999943 -2.367030 -1.214694 q: -0.240265 0.768209 0.311816 0.504874 
time: 1403636690.713556, t: 5.027555 -2.333795 -1.207819 q: -0.253279 0.768068 0.302594 0.504340 
time: 1403636690.813555, t: 5.059383 -2.306122 -1.213954 q: -0.269477 0.767235 0.290722 0.504196 
time: 1403636690.913555, t: 5.096918 -2.287170 -1.230019 q: -0.280737 0.761646 0.282915 0.510922 
time: 1403636691.013556, t: 5.142843 -2.276663 -1.244812 q: -0.291722 0.751843 0.275382 0.523254 
time: 1403636691.113555, t: 5.194495 -2.280910 -1.252022 q: -0.296165 0.742746 0.273475 0.534627 
time: 1403636691.213556, t: 5.249518 -2.300333 -1.250504 q: -0.289059 0.733079 0.280168 0.548221 
time: 1403636691.313555, t: 5.302658 -2.334888 -1.241449 q: -0.271946 0.725912 0.293991 0.559166 
time: 1403636691.413555, t: 5.351790 -2.380257 -1.228805 q: -0.259687 0.728234 0.305627 0.555724 
time: 1403636691.513556, t: 5.397418 -2.433330 -1.208446 q: -0.254044 0.737377 0.312968 0.542021 
time: 1403636691.613555, t: 5.440703 -2.492608 -1.175991 q: -0.251162 0.741886 0.318242 0.534083 
time: 1403636691.713556, t: 5.484913 -2.555266 -1.139685 q: -0.240304 0.742789 0.327827 0.532023 
time: 1403636691.813555, t: 5.527868 -2.616494 -1.108586 q: -0.234882 0.742390 0.332767 0.531934 
time: 1403636691.913555, t: 5.567788 -2.676289 -1.088419 q: -0.238142 0.743491 0.330974 0.530062 
time: 1403636692.013556, t: 5.606627 -2.737275 -1.070862 q: -0.245203 0.739595 0.326368 0.535126 
time: 1403636692.113555, t: 5.643786 -2.799559 -1.055607 q: -0.245491 0.739865 0.326038 0.534822 
time: 1403636692.213556, t: 5.679409 -2.862922 -1.034419 q: -0.237971 0.739401 0.330803 0.535934 
time: 1403636692.313555, t: 5.709624 -2.927257 -1.006148 q: -0.236569 0.740957 0.331008 0.534277 
time: 1403636692.413555, t: 5.735543 -2.993923 -0.968810 q: -0.237549 0.743103 0.329366 0.531870 
time: 1403636692.513556, t: 5.760904 -3.057846 -0.925509 q: -0.230809 0.742721 0.332645 0.533329 
time: 1403636692.613555, t: 5.784113 -3.120726 -0.875597 q: -0.230998 0.743321 0.331490 0.533131 
time: 1403636692.713556, t: 5.805125 -3.180670 -0.820517 q: -0.227905 0.744907 0.331873 0.532008 
time: 1403636692.813555, t: 5.824929 -3.237899 -0.770016 q: -0.211190 0.746005 0.341686 0.531155 
time: 1403636692.913555, t: 5.840542 -3.289889 -0.724248 q: -0.199915 0.746145 0.348622 0.530815 
time: 1403636693.013556, t: 5.853776 -3.333184 -0.684476 q: -0.202220 0.748549 0.347175 0.527496 
time: 1403636693.113555, t: 5.863553 -3.368183 -0.649843 q: -0.209583 0.748279 0.342618 0.527984 
time: 1403636693.213556, t: 5.871507 -3.401480 -0.621846 q: -0.215269 0.749369 0.340025 0.525821 
time: 1403636693.313555, t: 5.877502 -3.433457 -0.599129 q: -0.219428 0.754628 0.338475 0.517516 
time: 1403636693.413555, t: 5.884676 -3.457457 -0.583274 q: -0.222951 0.759721 0.337248 0.509294 
time: 1403636693.513556, t: 5.893250 -3.479341 -0.570408 q: -0.224217 0.765930 0.337135 0.499418 
time: 1403636693.613555, t: 5.904375 -3.497758 -0.558300 q: -0.222359 0.771498 0.339243 0.490164 
time: 1403636693.713556, t: 5.923539 -3.505371 -0.549643 q: -0.222713 0.772207 0.339567 0.488662 
time: 1403636693.813555, t: 5.945940 -3.505935 -0.539088 q: -0.224950 0.766035 0.338666 0.497888 
time: 1403636694.013556, t: 6.005179 -3.497825 -0.527858 q: -0.236524 0.748779 0.332604 0.522266 
time: 1403636694.113555, t: 6.035031 -3.491876 -0.526065 q: -0.239442 0.743501 0.331362 0.529220 
time: 1403636694.213556, t: 6.062934 -3.487421 -0.521462 q: -0.240960 0.740646 0.330865 0.532832 
time: 1403636694.313555, t: 6.089403 -3.484629 -0.513201 q: -0.239963 0.741472 0.332511 0.531105 
time: 1403636694.413555, t: 6.115668 -3.482042 -0.502168 q: -0.239306 0.744804 0.333385 0.526169 
time: 1403636694.513556, t: 6.140567 -3.479504 -0.491786 q: -0.236980 0.746798 0.334403 0.523744 
time: 1403636694.613555, t: 6.164657 -3.476476 -0.486044 q: -0.236061 0.747829 0.334612 0.522553 
time: 1403636694.713556, t: 6.187112 -3.475556 -0.485186 q: -0.234976 0.747198 0.334595 0.523953 
time: 1403636694.813555, t: 6.210751 -3.471804 -0.490932 q: -0.237487 0.745802 0.331348 0.526865 
time: 1403636694.913555, t: 6.233613 -3.468998 -0.502288 q: -0.245863 0.748499 0.324464 0.523472 
time: 1403636695.013556, t: 6.257198 -3.469807 -0.514258 q: -0.250522 0.751007 0.320083 0.520359 
time: 1403636695.113555, t: 6.283049 -3.470433 -0.526339 q: -0.245226 0.751093 0.322139 0.521488 
time: 1403636695.213556, t: 6.311593 -3.473521 -0.530527 q: -0.240198 0.750763 0.323472 0.523474 
time: 1403636695.313555, t: 6.340124 -3.477524 -0.526345 q: -0.235574 0.749450 0.324852 0.526594 
time: 1403636695.413555, t: 6.368233 -3.481757 -0.515278 q: -0.233108 0.749086 0.324911 0.528170 
time: 1403636695.513556, t: 6.395142 -3.485590 -0.503822 q: -0.229746 0.747980 0.325908 0.530591 
time: 1403636695.613555, t: 6.420253 -3.490551 -0.494546 q: -0.226819 0.746689 0.326795 0.533118 
time: 1403636695.713556, t: 6.442741 -3.494125 -0.490561 q: -0.223835 0.745765 0.327673 0.535129 
time: 1403636695.813555, t: 6.463220 -3.496792 -0.492529 q: -0.225831 0.747459 0.325445 0.533283 
time: 1403636695.913555, t: 6.481767 -3.498754 -0.498190 q: -0.225793 0.748557 0.324411 0.532387 
time: 1403636696.013556, t: 6.499301 -3.498903 -0.508016 q: -0.226495 0.751983 0.322964 0.528124 
time: 1403636696.113555, t: 6.516556 -3.498278 -0.520575 q: -0.221840 0.756008 0.324773 0.523223 
time: 1403636696.213556, t: 6.533411 -3.496298 -0.534600 q: -0.215851 0.756941 0.327985 0.522373 
time: 1403636696.313555, t: 6.547928 -3.491020 -0.551363 q: -0.216432 0.753307 0.327175 0.527865 
time: 1403636696.413555, t: 6.561865 -3.484816 -0.566068 q: -0.223862 0.745188 0.321287 0.539774 
time: 1403636696.513556, t: 6.572609 -3.479532 -0.577061 q: -0.228969 0.742535 0.316821 0.543911 
time: 1403636696.613555, t: 6.579795 -3.477932 -0.582586 q: -0.229633 0.744138 0.315794 0.542035 
time: 1403636696.713556, t: 6.583185 -3.476984 -0.582960 q: -0.230394 0.745974 0.314819 0.539750 
time: 1403636696.813555, t: 6.585235 -3.476945 -0.583647 q: -0.228759 0.747227 0.315539 0.538290 
time: 1403636696.913555, t: 6.585121 -3.478489 -0.589024 q: -0.226182 0.747497 0.317334 0.537949 
time: 1403636697.013556, t: 6.582978 -3.479976 -0.598013 q: -0.215020 0.744696 0.324824 0.541926 
time: 1403636697.113555, t: 6.576487 -3.479888 -0.605609 q: -0.203266 0.741912 0.332211 0.545789 
time: 1403636697.213556, t: 6.564326 -3.476276 -0.606371 q: -0.196236 0.739512 0.336463 0.549005 
time: 1403636697.313555, t: 6.542975 -3.467502 -0.599811 q: -0.196807 0.741239 0.335379 0.547132 
time: 1403636697.413555, t: 6.515416 -3.453615 -0.587541 q: -0.206147 0.746995 0.328765 0.539830 
time: 1403636697.513556, t: 6.482133 -3.438089 -0.565403 q: -0.212468 0.752282 0.324001 0.532871 
time: 1403636697.613555, t: 6.448766 -3.420565 -0.537512 q: -0.210291 0.755224 0.318833 0.532691 
time: 1403636697.713556, t: 6.415176 -3.403711 -0.512304 q: -0.201789 0.759763 0.307591 0.536124 
time: 1403636697.813555, t: 6.381056 -3.385398 -0.494335 q: -0.188843 0.766705 0.291425 0.539976 
time: 1403636697.913555, t: 6.344399 -3.366081 -0.480007 q: -0.178823 0.772557 0.274966 0.543666 
time: 1403636698.013556, t: 6.306026 -3.346384 -0.473496 q: -0.172082 0.777337 0.261066 0.545874 
time: 1403636698.113555, t: 6.266553 -3.322438 -0.471139 q: -0.167300 0.780152 0.251304 0.547924 
time: 1403636698.213556, t: 6.228314 -3.295024 -0.474358 q: -0.164173 0.782174 0.243582 0.549471 
time: 1403636698.313555, t: 6.189855 -3.266517 -0.481588 q: -0.157149 0.785322 0.234024 0.551186 
time: 1403636698.413555, t: 6.151819 -3.239812 -0.491577 q: -0.147057 0.789106 0.221075 0.553906 
time: 1403636698.513556, t: 6.113607 -3.211094 -0.506206 q: -0.134480 0.794315 0.205492 0.555655 
time: 1403636698.613555, t: 6.077122 -3.181664 -0.521071 q: -0.121419 0.799331 0.186595 0.558131 
time: 1403636698.713556, t: 6.039649 -3.152572 -0.540948 q: -0.108310 0.804847 0.164176 0.559943 
time: 1403636698.813555, t: 6.004806 -3.118989 -0.565265 q: -0.093154 0.810082 0.140007 0.561683 
time: 1403636698.913555, t: 5.969974 -3.081641 -0.589186 q: -0.078240 0.814336 0.113868 0.563711 
time: 1403636699.013556, t: 5.935539 -3.044883 -0.611119 q: -0.064298 0.817717 0.088093 0.565193 
time: 1403636699.113555, t: 5.903167 -3.007919 -0.625128 q: -0.051062 0.819576 0.061924 0.567322 
time: 1403636699.213556, t: 5.869524 -2.973564 -0.632439 q: -0.040526 0.821243 0.032680 0.568199 
time: 1403636699.313555, t: 5.839863 -2.942046 -0.632071 q: -0.028860 0.823267 0.002417 0.566915 
time: 1403636699.413555, t: 5.812919 -2.915249 -0.625844 q: -0.016321 0.824268 -0.025866 0.565373 
time: 1403636699.513556, t: 5.790340 -2.892526 -0.620633 q: -0.002846 0.824292 -0.050549 0.563896 
time: 1403636699.613555, t: 5.769394 -2.875104 -0.618798 q: 0.009294 0.823026 -0.075064 0.562944 
time: 1403636699.713556, t: 5.750630 -2.862786 -0.623144 q: 0.023098 0.820194 -0.098278 0.563107 
time: 1403636699.813555, t: 5.732790 -2.857724 -0.630684 q: 0.042226 0.817255 -0.111431 0.563821 
time: 1403636700.013556, t: 5.702088 -2.854220 -0.654234 q: 0.060334 0.810446 -0.127249 0.568633 
time: 1403636700.113555, t: 5.686717 -2.856879 -0.670661 q: 0.061344 0.809249 -0.131190 0.569334 
time: 1403636700.213556, t: 5.672192 -2.861089 -0.691651 q: 0.062603 0.808565 -0.132422 0.569884 
time: 1403636700.313555, t: 5.656981 -2.870122 -0.719655 q: 0.062660 0.809163 -0.135989 0.568186 
time: 1403636700.413555, t: 5.640332 -2.882663 -0.751009 q: 0.063500 0.809437 -0.145068 0.565451 
time: 1403636700.513556, t: 5.624054 -2.900014 -0.787099 q: 0.071416 0.805823 -0.151414 0.567999 
time: 1403636700.613555, t: 5.608403 -2.924665 -0.827583 q: 0.082015 0.801320 -0.156412 0.571573 
time: 1403636700.713556, t: 5.592276 -2.950975 -0.869155 q: 0.094479 0.797690 -0.164236 0.572530 
time: 1403636700.813555, t: 5.574021 -2.974287 -0.905690 q: 0.103709 0.795720 -0.170577 0.571820 
time: 1403636700.913555, t: 5.555384 -2.996450 -0.935674 q: 0.108130 0.797663 -0.175861 0.566670 
time: 1403636701.013556, t: 5.537105 -3.018660 -0.958601 q: 0.109646 0.800970 -0.179192 0.560638 
time: 1403636701.113555, t: 5.518368 -3.042433 -0.972687 q: 0.108676 0.806512 -0.180589 0.552373 
time: 1403636701.213556, t: 5.502909 -3.069107 -0.977173 q: 0.108751 0.809719 -0.178407 0.548361 
time: 1403636701.313555, t: 5.490102 -3.097661 -0.971681 q: 0.107417 0.811398 -0.175966 0.546929 
time: 1403636701.413555, t: 5.480656 -3.126329 -0.963074 q: 0.106735 0.810545 -0.173023 0.549261 
time: 1403636701.513556, t: 5.474373 -3.156646 -0.951811 q: 0.106751 0.806987 -0.168644 0.555820 
time: 1403636701.613555, t: 5.469309 -3.187284 -0.941777 q: 0.106255 0.803774 -0.164244 0.561855 
time: 1403636701.713556, t: 5.465569 -3.217827 -0.934306 q: 0.106474 0.801824 -0.161403 0.565411 
time: 1403636701.813555, t: 5.460398 -3.248184 -0.929959 q: 0.107642 0.801015 -0.166533 0.564849 
time: 1403636701.913555, t: 5.454876 -3.279023 -0.932231 q: 0.113505 0.799617 -0.177509 0.562334 
time: 1403636702.013556, t: 5.447984 -3.310495 -0.938678 q: 0.121990 0.796494 -0.192416 0.560082 
time: 1403636702.113555, t: 5.442767 -3.341260 -0.950742 q: 0.132698 0.791391 -0.211296 0.558073 
time: 1403636702.213556, t: 5.436774 -3.371764 -0.968792 q: 0.145435 0.785799 -0.230218 0.555309 
time: 1403636702.313555, t: 5.431355 -3.402031 -0.994406 q: 0.155377 0.783872 -0.244231 0.549321 
time: 1403636702.413555, t: 5.425999 -3.433151 -1.023976 q: 0.165177 0.783618 -0.252270 0.543157 
time: 1403636702.513556, t: 5.422539 -3.463917 -1.057279 q: 0.172719 0.783995 -0.257868 0.537610 
time: 1403636702.613555, t: 5.423100 -3.494235 -1.095509 q: 0.177234 0.784682 -0.261254 0.533488 
time: 1403636702.713556, t: 5.427124 -3.523295 -1.136714 q: 0.180655 0.786301 -0.262476 0.529339 
time: 1403636702.813555, t: 5.435211 -3.552778 -1.183435 q: 0.181353 0.787845 -0.263248 0.526414 
time: 1403636702.913555, t: 5.446784 -3.583990 -1.230847 q: 0.180595 0.789281 -0.263506 0.524390 
time: 1403636703.013556, t: 5.463384 -3.614905 -1.273664 q: 0.178805 0.787852 -0.263863 0.526968 
time: 1403636703.113555, t: 5.482302 -3.648084 -1.306614 q: 0.175207 0.783885 -0.265287 0.533339 
time: 1403636703.213556, t: 5.504360 -3.681562 -1.331310 q: 0.168077 0.776790 -0.268717 0.544186 
time: 1403636703.313555, t: 5.526749 -3.717323 -1.348993 q: 0.159845 0.770664 -0.273642 0.552854 
time: 1403636703.413555, t: 5.546237 -3.755637 -1.361851 q: 0.162849 0.769250 -0.270935 0.555274 
time: 1403636703.513556, t: 5.559870 -3.795078 -1.368203 q: 0.172548 0.773465 -0.263632 0.549979 
time: 1403636703.613555, t: 5.572683 -3.834728 -1.366080 q: 0.177442 0.777449 -0.259476 0.544756 
time: 1403636703.713556, t: 5.584884 -3.873282 -1.362700 q: 0.177623 0.779609 -0.258247 0.542189 
time: 1403636703.813555, t: 5.598227 -3.910632 -1.361483 q: 0.175377 0.777994 -0.258279 0.545216 
time: 1403636703.913555, t: 5.636506 -3.984575 -1.401091 q: 0.170041 0.775667 -0.258678 0.550011 
time: 1403636704.013556, t: 5.625358 -3.984942 -1.374729 q: 0.168134 0.774164 -0.259407 0.552367 
time: 1403636704.113555, t: 5.635925 -4.021378 -1.387795 q: 0.165432 0.774963 -0.259045 0.552232 
time: 1403636704.213556, t: 5.646600 -4.059767 -1.404780 q: 0.165227 0.779492 -0.257312 0.546702 
time: 1403636704.313555, t: 5.657134 -4.098803 -1.422811 q: 0.166651 0.783695 -0.255032 0.541302 
time: 1403636704.413555, t: 5.669438 -4.138401 -1.434106 q: 0.167134 0.786317 -0.253590 0.538018 
time: 1403636704.513556, t: 5.685565 -4.178414 -1.436876 q: 0.169238 0.789732 -0.251391 0.533372 
time: 1403636704.613555, t: 5.703483 -4.219069 -1.433469 q: 0.168778 0.792436 -0.251156 0.529603 
time: 1403636704.713556, t: 5.726517 -4.260016 -1.432398 q: 0.169382 0.796242 -0.250425 0.524019 
time: 1403636704.813555, t: 5.753354 -4.304335 -1.440891 q: 0.167839 0.799955 -0.250025 0.519027 
time: 1403636704.913555, t: 5.788304 -4.351083 -1.455358 q: 0.164748 0.803748 -0.250365 0.513969 
time: 1403636705.013556, t: 5.828142 -4.398583 -1.473368 q: 0.164249 0.806825 -0.249275 0.509821 
time: 1403636705.113555, t: 5.875471 -4.448163 -1.491018 q: 0.166566 0.805120 -0.246446 0.513129 
time: 1403636705.213556, t: 5.931333 -4.502303 -1.509128 q: 0.171744 0.796205 -0.241455 0.527504 
time: 1403636705.313555, t: 5.993108 -4.552705 -1.521024 q: 0.175236 0.790238 -0.238038 0.536800 
time: 1403636705.413555, t: 6.058079 -4.603804 -1.529774 q: 0.174952 0.789593 -0.237452 0.538100 
time: 1403636705.513556, t: 6.126051 -4.652197 -1.537899 q: 0.172813 0.792770 -0.239387 0.533240 
time: 1403636705.613555, t: 6.195838 -4.700228 -1.550078 q: 0.171463 0.795384 -0.240567 0.529237 
time: 1403636705.713556, t: 6.270368 -4.749358 -1.568395 q: 0.171604 0.794895 -0.240864 0.529790 
time: 1403636705.813555, t: 6.348419 -4.797262 -1.587611 q: 0.170133 0.791009 -0.242012 0.535527 
time: 1403636705.913555, t: 6.427431 -4.845041 -1.603411 q: 0.166282 0.785210 -0.244243 0.544188 
time: 1403636706.013556, t: 6.507782 -4.893093 -1.609595 q: 0.157362 0.779657 -0.249237 0.552497 
time: 1403636706.113555, t: 6.584670 -4.942864 -1.608164 q: 0.147418 0.775050 -0.254481 0.559290 
time: 1403636706.213556, t: 6.656679 -4.996331 -1.608919 q: 0.154145 0.775567 -0.247789 0.559764 
time: 1403636706.313555, t: 6.726053 -5.048758 -1.618548 q: 0.163771 0.779441 -0.239495 0.555242 
time: 1403636706.413555, t: 6.792082 -5.101479 -1.636778 q: 0.170204 0.784004 -0.233456 0.549424 
time: 1403636706.513556, t: 6.856942 -5.150266 -1.656047 q: 0.173491 0.787463 -0.230262 0.544777 
time: 1403636706.613555, t: 6.924241 -5.198604 -1.667315 q: 0.174235 0.789311 -0.229692 0.542100 
time: 1403636706.713556, t: 6.991672 -5.243117 -1.674250 q: 0.174587 0.791317 -0.230302 0.538793 
time: 1403636706.813555, t: 7.064838 -5.286843 -1.672079 q: 0.173178 0.794017 -0.232784 0.534189 
time: 1403636706.913555, t: 7.139360 -5.329426 -1.668878 q: 0.172728 0.794778 -0.235430 0.532038 
time: 1403636707.013556, t: 7.220882 -5.373480 -1.658122 q: 0.174630 0.792635 -0.236975 0.533926 
time: 1403636707.113555, t: 7.302806 -5.411820 -1.649559 q: 0.177822 0.789154 -0.237909 0.537601 
time: 1403636707.213556, t: 7.388158 -5.453122 -1.638760 q: 0.179798 0.788442 -0.240566 0.536805 
time: 1403636707.313555, t: 7.471251 -5.491140 -1.627903 q: 0.182492 0.788591 -0.242340 0.534876 
time: 1403636707.413555, t: 7.563398 -5.529642 -1.607685 q: 0.183234 0.788861 -0.244580 0.533201 
time: 1403636707.613555, t: 7.744636 -5.599390 -1.553486 q: 0.179907 0.788983 -0.248907 0.532151 
time: 1403636707.713556, t: 7.835362 -5.633173 -1.533202 q: 0.169904 0.788212 -0.255424 0.533492 
time: 1403636707.813555, t: 7.934903 -5.668552 -1.519591 q: 0.165187 0.787411 -0.258259 0.534790 
time: 1403636707.913555, t: 8.026071 -5.705931 -1.521291 q: 0.163530 0.785369 -0.257120 0.538835 
time: 1403636708.013556, t: 8.127057 -5.744444 -1.524644 q: 0.164893 0.784713 -0.253546 0.541064 
time: 1403636708.113555, t: 8.221042 -5.786054 -1.539655 q: 0.167656 0.784070 -0.248212 0.543614 
time: 1403636708.213556, t: 8.314846 -5.828264 -1.559329 q: 0.167659 0.783002 -0.245127 0.546545 
time: 1403636708.413555, t: 8.502564 -5.916264 -1.611696 q: 0.148167 0.774745 -0.255290 0.559146 
time: 1403636708.513556, t: 8.592830 -5.963853 -1.628844 q: 0.143081 0.772143 -0.257892 0.562862 
time: 1403636708.713556, t: 8.758651 -6.070697 -1.648661 q: 0.162363 0.773205 -0.245982 0.561503 
time: 1403636708.813555, t: 8.837773 -6.123745 -1.666664 q: 0.176873 0.773914 -0.237834 0.559651 
time: 1403636708.913555, t: 8.909941 -6.171385 -1.687778 q: 0.183977 0.772894 -0.236790 0.559212 
time: 1403636709.013556, t: 8.979763 -6.215254 -1.705545 q: 0.188630 0.769843 -0.237933 0.561380 
time: 1403636709.113555, t: 9.050946 -6.251145 -1.713629 q: 0.193727 0.767395 -0.238713 0.562664 
time: 1403636709.213556, t: 9.115941 -6.278803 -1.713846 q: 0.195176 0.768811 -0.242058 0.558788 
time: 1403636709.313555, t: 9.181245 -6.304614 -1.710386 q: 0.194996 0.772678 -0.244374 0.552473 
time: 1403636709.413555, t: 9.241466 -6.321970 -1.705094 q: 0.195622 0.775527 -0.245066 0.547935 
time: 1403636709.513556, t: 9.306275 -6.335559 -1.708690 q: 0.195715 0.776687 -0.245122 0.546230 
time: 1403636709.613555, t: 9.368189 -6.344154 -1.715061 q: 0.194744 0.778335 -0.245616 0.544005 
time: 1403636709.713556, t: 9.436480 -6.348610 -1.725944 q: 0.194571 0.779625 -0.244643 0.542658 
time: 1403636709.813555, t: 9.503506 -6.349854 -1.736840 q: 0.193422 0.780158 -0.243334 0.542890 
time: 1403636709.913555, t: 9.572698 -6.346512 -1.744709 q: 0.192438 0.780004 -0.242347 0.543903 
time: 1403636710.013556, t: 9.644006 -6.339114 -1.745468 q: 0.191192 0.779869 -0.241222 0.545033 
time: 1403636710.113555, t: 9.715438 -6.329595 -1.743811 q: 0.190405 0.779621 -0.239167 0.546567 
time: 1403636710.213556, t: 9.789807 -6.315151 -1.744780 q: 0.189809 0.779801 -0.236963 0.547478 
time: 1403636710.313555, t: 9.864463 -6.296839 -1.757955 q: 0.181812 0.778264 -0.238782 0.551573 
time: 1403636710.413555, t: 9.942397 -6.277353 -1.776868 q: 0.166097 0.777005 -0.242773 0.556539 
time: 1403636710.513556, t: 10.018377 -6.256933 -1.802478 q: 0.149878 0.778067 -0.240801 0.560502 
time: 1403636710.713556, t: 10.156435 -6.223227 -1.860347 q: 0.129557 0.782668 -0.221031 0.567267 
time: 1403636710.813555, t: 10.219801 -6.210462 -1.889015 q: 0.125164 0.786533 -0.201886 0.570037 
time: 1403636710.913555, t: 10.279529 -6.196190 -1.910528 q: 0.122469 0.792438 -0.179197 0.570028 
time: 1403636711.013556, t: 10.337490 -6.183347 -1.926124 q: 0.122235 0.797698 -0.158088 0.568986 
time: 1403636711.113555, t: 10.392071 -6.167824 -1.935779 q: 0.120436 0.800112 -0.144319 0.569638 
time: 1403636711.213556, t: 10.445679 -6.148340 -1.942614 q: 0.119417 0.800568 -0.135775 0.571310 
time: 1403636711.313555, t: 10.493347 -6.123640 -1.946146 q: 0.115781 0.799963 -0.132940 0.573569 
time: 1403636711.413555, t: 10.541341 -6.096241 -1.944878 q: 0.111067 0.795963 -0.134037 0.579776 
time: 1403636711.513556, t: 10.585514 -6.063557 -1.939778 q: 0.109985 0.787345 -0.135053 0.591399 
time: 1403636711.613555, t: 10.624764 -6.027523 -1.932451 q: 0.115357 0.782340 -0.133500 0.597339 
time: 1403636711.713556, t: 10.659323 -5.986136 -1.925770 q: 0.120630 0.782106 -0.133002 0.596715 
time: 1403636711.813555, t: 10.686255 -5.939349 -1.918110 q: 0.119835 0.783682 -0.136466 0.594019 
time: 1403636711.913555, t: 10.707556 -5.887345 -1.909278 q: 0.111645 0.787422 -0.144477 0.588752 
time: 1403636712.013556, t: 10.722683 -5.833561 -1.896231 q: 0.101303 0.790193 -0.153650 0.584572 
time: 1403636712.113555, t: 10.729797 -5.779785 -1.879297 q: 0.093420 0.790298 -0.160134 0.584002 
time: 1403636712.213556, t: 10.733916 -5.729900 -1.858394 q: 0.094255 0.790419 -0.155992 0.584825 
time: 1403636712.313555, t: 10.735193 -5.680045 -1.830627 q: 0.098290 0.792171 -0.139993 0.585838 
time: 1403636712.413555, t: 10.733685 -5.630336 -1.797417 q: 0.098544 0.793941 -0.122754 0.587264 
time: 1403636712.513556, t: 10.725253 -5.577038 -1.760910 q: 0.095675 0.794261 -0.108980 0.590016 
time: 1403636712.613555, t: 10.712275 -5.520938 -1.722053 q: 0.088896 0.793076 -0.100023 0.594242 
time: 1403636712.713556, t: 10.694834 -5.462466 -1.688100 q: 0.080117 0.789800 -0.094869 0.600664 
time: 1403636712.813555, t: 10.672962 -5.402725 -1.661657 q: 0.073715 0.789930 -0.091036 0.601905 
time: 1403636712.913555, t: 10.645517 -5.342126 -1.639541 q: 0.070322 0.793159 -0.089003 0.598358 
time: 1403636713.013556, t: 10.612613 -5.280243 -1.623904 q: 0.071369 0.796538 -0.086576 0.594085 
time: 1403636713.113555, t: 10.574751 -5.217062 -1.605614 q: 0.067710 0.796230 -0.087178 0.594839 
time: 1403636713.213556, t: 10.530081 -5.153960 -1.581066 q: 0.064593 0.798005 -0.087730 0.592721 
time: 1403636713.313555, t: 10.484114 -5.089132 -1.548246 q: 0.064037 0.800393 -0.088043 0.589508 
time: 1403636713.413555, t: 10.435926 -5.025001 -1.510268 q: 0.062032 0.801796 -0.089761 0.587553 
time: 1403636713.513556, t: 10.382875 -4.961179 -1.466214 q: 0.059163 0.802589 -0.092603 0.586323 
time: 1403636713.613555, t: 10.330958 -4.899278 -1.424826 q: 0.054603 0.803472 -0.097444 0.584770 
time: 1403636713.713556, t: 10.274442 -4.839354 -1.386347 q: 0.050263 0.804746 -0.102501 0.582538 
time: 1403636713.813555, t: 10.218451 -4.784662 -1.355809 q: 0.047158 0.805458 -0.106926 0.581017 
optimize pose graph 
time: 1403636713.913555, t: 10.157968 -4.733023 -1.330993 q: 0.049949 0.805779 -0.107506 0.580230 
time: 1403636714.013556, t: 10.097850 -4.688340 -1.311783 q: 0.054344 0.806671 -0.106909 0.578704 
time: 1403636714.113555, t: 10.034317 -4.646654 -1.295683 q: 0.060970 0.806644 -0.105169 0.578400 
time: 1403636714.213556, t: 9.971857 -4.610362 -1.289517 q: 0.063599 0.805480 -0.105859 0.579613 
time: 1403636714.313555, t: 9.908476 -4.569833 -1.282979 q: 0.060953 0.804127 -0.110247 0.580956 
time: 1403636714.413555, t: 9.848038 -4.536437 -1.283833 q: 0.061294 0.806631 -0.112202 0.577062 
time: 1403636714.513556, t: 9.781788 -4.502821 -1.284511 q: 0.058637 0.812294 -0.110182 0.569737 
time: 1403636714.613555, t: 9.721664 -4.475961 -1.292616 q: 0.051076 0.817579 -0.102950 0.564232 
time: 1403636714.713556, t: 9.667236 -4.453449 -1.297423 q: 0.042952 0.821592 -0.088505 0.561524 
time: 1403636714.813555, t: 9.614028 -4.431828 -1.294305 q: 0.034151 0.824335 -0.067072 0.561077 
time: 1403636714.913555, t: 9.564592 -4.411087 -1.282549 q: 0.024676 0.825839 -0.041713 0.561820 
time: 1403636715.013556, t: 9.518796 -4.390939 -1.262315 q: 0.012769 0.827430 -0.019027 0.561101 
time: 1403636715.113555, t: 9.477330 -4.372790 -1.236062 q: 0.004455 0.828688 -0.000188 0.559694 
time: 1403636715.213556, t: 9.441048 -4.353474 -1.207755 q: -0.002380 0.829038 0.011595 0.559067 
time: 1403636715.313555, t: 9.411521 -4.335741 -1.182795 q: -0.009455 0.827292 0.017178 0.561430 
time: 1403636715.413555, t: 9.386793 -4.317053 -1.164071 q: -0.016171 0.824328 0.018386 0.565583 
time: 1403636715.513556, t: 9.365731 -4.298284 -1.154144 q: -0.025631 0.820572 0.014012 0.570796 
time: 1403636715.613555, t: 9.345129 -4.282547 -1.152752 q: -0.035399 0.818864 0.007451 0.572847 
time: 1403636715.713556, t: 9.325217 -4.272919 -1.154044 q: -0.030457 0.812814 0.009414 0.581650 
time: 1403636715.813555, t: 9.302087 -4.265641 -1.156904 q: -0.021284 0.806679 0.013067 0.590462 
time: 1403636715.913555, t: 9.278069 -4.260587 -1.152597 q: -0.014691 0.801470 0.015234 0.597660 
time: 1403636716.013556, t: 9.246243 -4.257486 -1.144127 q: -0.012332 0.799053 0.014221 0.600965 
time: 1403636716.113555, t: 9.211370 -4.253551 -1.133416 q: -0.012163 0.800178 0.011060 0.599537 
time: 1403636716.213556, t: 9.170211 -4.252105 -1.117632 q: -0.013373 0.807244 0.006590 0.590030 
time: 1403636716.313555, t: 9.124818 -4.250316 -1.102090 q: -0.011732 0.811959 0.003282 0.583588 
time: 1403636716.413555, t: 9.078854 -4.251185 -1.093467 q: -0.010451 0.813891 0.000366 0.580923 
time: 1403636716.513556, t: 9.033261 -4.251741 -1.090699 q: -0.008328 0.814357 -0.001450 0.580303 
time: 1403636716.613555, t: 8.988092 -4.251401 -1.095534 q: -0.006466 0.813972 0.001986 0.580865 
time: 1403636716.713556, t: 8.939670 -4.248781 -1.103985 q: -0.010031 0.813573 0.009127 0.581304 
time: 1403636716.813555, t: 8.891958 -4.247389 -1.117121 q: -0.017921 0.813106 0.019240 0.581522 
time: 1403636716.913555, t: 8.845707 -4.247366 -1.130148 q: -0.029376 0.813044 0.033456 0.580498 
time: 1403636717.013556, t: 8.799466 -4.246822 -1.138894 q: -0.042018 0.812559 0.052893 0.578951 
time: 1403636717.113555, t: 8.751498 -4.245863 -1.138836 q: -0.054640 0.811545 0.072901 0.577143 
time: 1403636717.213556, t: 8.704734 -4.246687 -1.134029 q: -0.062802 0.810230 0.089263 0.575861 
time: 1403636717.313555, t: 8.656559 -4.249105 -1.127951 q: -0.063287 0.808861 0.104553 0.575158 
time: 1403636717.513556, t: 8.555181 -4.249524 -1.116443 q: -0.057472 0.805513 0.124606 0.576471 
time: 1403636717.613555, t: 8.504160 -4.243501 -1.119368 q: -0.063843 0.805735 0.122933 0.575850 
time: 1403636717.713556, t: 8.451819 -4.231422 -1.127758 q: -0.066796 0.805216 0.120787 0.576694 
time: 1403636717.813555, t: 8.396817 -4.216367 -1.139186 q: -0.064997 0.805202 0.125603 0.575890 
time: 1403636717.913555, t: 8.339894 -4.197015 -1.146139 q: -0.067250 0.804317 0.135144 0.574707 
time: 1403636718.013556, t: 8.280980 -4.172236 -1.145323 q: -0.073751 0.802150 0.147614 0.573869 
time: 1403636718.113555, t: 8.219877 -4.140749 -1.138621 q: -0.088070 0.800034 0.160045 0.571467 
time: 1403636718.213556, t: 8.156106 -4.107188 -1.132355 q: -0.105426 0.798280 0.171300 0.567707 
time: 1403636718.313555, t: 8.092752 -4.072130 -1.132544 q: -0.119356 0.797288 0.180114 0.563600 
time: 1403636718.413555, t: 8.030419 -4.032828 -1.140534 q: -0.131767 0.795813 0.190090 0.559629 
time: 1403636718.513556, t: 7.969733 -3.991791 -1.154396 q: -0.145751 0.793325 0.200303 0.556121 
time: 1403636718.613555, t: 7.910525 -3.950579 -1.173242 q: -0.159258 0.791881 0.207361 0.551873 
time: 1403636718.713556, t: 7.854765 -3.912859 -1.197687 q: -0.173157 0.791749 0.210822 0.546538 
time: 1403636718.813555, t: 7.802420 -3.879081 -1.225139 q: -0.176662 0.789668 0.218488 0.545416 
time: 1403636718.913555, t: 7.753712 -3.848340 -1.251368 q: -0.171173 0.786534 0.229095 0.547339 
time: 1403636719.013556, t: 7.706292 -3.818990 -1.270417 q: -0.166710 0.783477 0.236314 0.550024 
time: 1403636719.213556, t: 7.612307 -3.761220 -1.282907 q: -0.168029 0.776097 0.237870 0.559337 
time: 1403636719.313555, t: 7.564282 -3.733092 -1.287767 q: -0.171401 0.773424 0.234571 0.563395 
time: 1403636719.413555, t: 7.513219 -3.706506 -1.298421 q: -0.173075 0.771655 0.231985 0.566372 
time: 1403636719.513556, t: 7.463735 -3.681148 -1.314925 q: -0.174198 0.771983 0.229036 0.566780 
time: 1403636719.613555, t: 7.408263 -3.661255 -1.337223 q: -0.173928 0.775806 0.226929 0.562474 
time: 1403636719.713556, t: 7.353920 -3.641278 -1.350105 q: -0.170708 0.780586 0.225705 0.557316 
time: 1403636719.813555, t: 7.296228 -3.625786 -1.356663 q: -0.168593 0.783970 0.223131 0.554238 
time: 1403636719.913555, t: 7.239160 -3.613545 -1.354273 q: -0.167559 0.785460 0.220078 0.553662 
time: 1403636720.013556, t: 7.185865 -3.600218 -1.352452 q: -0.165478 0.787210 0.218484 0.552434 
time: 1403636720.113555, t: 7.133508 -3.590697 -1.356281 q: -0.164780 0.787987 0.217658 0.551860 
time: 1403636720.213556, t: 7.083939 -3.580300 -1.365175 q: -0.164906 0.788928 0.217051 0.550716 
time: 1403636720.313555, t: 7.034809 -3.572442 -1.379393 q: -0.165979 0.788819 0.216474 0.550776 
time: 1403636720.413555, t: 6.988360 -3.564964 -1.395308 q: -0.166585 0.788622 0.217211 0.550585 
time: 1403636720.613555, t: 6.899729 -3.554264 -1.421719 q: -0.168533 0.789112 0.218964 0.548593 
time: 1403636720.713556, t: 6.857986 -3.551595 -1.424607 q: -0.169823 0.788169 0.218983 0.549542 
time: 1403636720.813555, t: 6.822046 -3.550146 -1.418707 q: -0.167376 0.789722 0.215144 0.549579 
time: 1403636720.913555, t: 6.787514 -3.550472 -1.413090 q: -0.159933 0.792143 0.207397 0.551286 
time: 1403636721.013556, t: 6.754676 -3.553756 -1.414031 q: -0.154321 0.793630 0.195824 0.554968 
time: 1403636721.113555, t: 6.722496 -3.556868 -1.420317 q: -0.148050 0.795199 0.182548 0.558942 
time: 1403636721.213556, t: 6.691732 -3.562236 -1.430018 q: -0.138571 0.796513 0.167886 0.564074 
time: 1403636721.313555, t: 6.663230 -3.569528 -1.435518 q: -0.131176 0.797473 0.155296 0.568078 
time: 1403636721.413555, t: 6.633247 -3.579983 -1.430889 q: -0.123400 0.798632 0.146578 0.570503 
time: 1403636721.513556, t: 6.601825 -3.591459 -1.423931 q: -0.116155 0.800608 0.139880 0.570936 
time: 1403636721.613555, t: 6.570904 -3.604816 -1.419380 q: -0.107335 0.803147 0.132195 0.570927 
time: 1403636721.713556, t: 6.539235 -3.618952 -1.420818 q: -0.100328 0.804385 0.126852 0.571672 
time: 1403636721.813555, t: 6.507887 -3.633733 -1.428122 q: -0.095581 0.805040 0.124079 0.572171 
time: 1403636721.913555, t: 6.476198 -3.647217 -1.440476 q: -0.094731 0.804885 0.122199 0.572934 
time: 1403636722.013556, t: 6.443897 -3.659777 -1.452277 q: -0.089396 0.804191 0.125945 0.573954 
time: 1403636722.113555, t: 6.412413 -3.671556 -1.457275 q: -0.087191 0.803899 0.129253 0.573967 
time: 1403636722.213556, t: 6.377864 -3.681730 -1.455693 q: -0.090322 0.804385 0.128988 0.572860 
time: 1403636722.313555, t: 6.342736 -3.689988 -1.450046 q: -0.094293 0.804630 0.128569 0.571969 
time: 1403636722.413555, t: 6.308225 -3.697206 -1.447140 q: -0.093943 0.805298 0.127382 0.571352 
time: 1403636722.513556, t: 6.272592 -3.706781 -1.451506 q: -0.091529 0.805470 0.123148 0.572430 
time: 1403636722.613555, t: 6.236138 -3.714427 -1.457896 q: -0.087721 0.806065 0.120737 0.572701 
time: 1403636722.713556, t: 6.201539 -3.720463 -1.465370 q: -0.084677 0.806375 0.118915 0.573104 
time: 1403636722.813555, t: 6.165220 -3.725482 -1.475347 q: -0.081352 0.807093 0.118772 0.572604 
time: 1403636722.913555, t: 6.126481 -3.727990 -1.476241 q: -0.080570 0.807362 0.117731 0.572550 
time: 1403636723.013556, t: 6.088513 -3.731059 -1.472139 q: -0.083222 0.807636 0.115979 0.572143 
time: 1403636723.113555, t: 6.051275 -3.732799 -1.461361 q: -0.086211 0.807308 0.113972 0.572566 
time: 1403636723.213556, t: 6.013656 -3.736014 -1.453926 q: -0.086580 0.807365 0.113331 0.572557 
time: 1403636723.313555, t: 5.978937 -3.736525 -1.449949 q: -0.083072 0.807484 0.114946 0.572587 
time: 1403636723.413555, t: 5.940962 -3.739403 -1.453163 q: -0.077266 0.807358 0.112630 0.574037 
time: 1403636723.513556, t: 5.904073 -3.740931 -1.455746 q: -0.069448 0.804724 0.105223 0.580107 
time: 1403636723.613555, t: 5.869278 -3.737464 -1.449152 q: -0.068219 0.798643 0.092776 0.590685 
time: 1403636723.713556, t: 5.832240 -3.735218 -1.441892 q: -0.064098 0.800936 0.084919 0.589221 
time: 1403636723.813555, t: 5.788366 -3.731472 -1.432650 q: -0.060664 0.807106 0.078113 0.582064 
time: 1403636723.913555, t: 5.744517 -3.727967 -1.426643 q: -0.058529 0.811788 0.072796 0.576433 
time: 1403636724.013556, t: 5.697019 -3.724131 -1.424945 q: -0.055293 0.817185 0.067879 0.569688 
time: 1403636724.113555, t: 5.649796 -3.720664 -1.426668 q: -0.048362 0.822029 0.059314 0.564279 
time: 1403636724.213556, t: 5.605015 -3.719855 -1.433267 q: -0.039302 0.823708 0.047190 0.563679 
time: 1403636724.313555, t: 5.563528 -3.719107 -1.441781 q: -0.027415 0.823697 0.032802 0.565416 
time: 1403636724.413555, t: 5.524899 -3.718698 -1.450538 q: -0.015397 0.821276 0.017098 0.570066 
time: 1403636724.513556, t: 5.489557 -3.717590 -1.453859 q: -0.005754 0.818621 0.004970 0.574283 
time: 1403636724.613555, t: 5.454704 -3.714827 -1.451496 q: 0.000988 0.816920 -0.003637 0.576739 
time: 1403636724.713556, t: 5.422038 -3.708521 -1.441193 q: 0.004943 0.816403 -0.009106 0.577390 
time: 1403636724.813555, t: 5.391956 -3.700525 -1.423395 q: 0.006774 0.817202 -0.012295 0.576180 
time: 1403636724.913555, t: 5.361141 -3.691224 -1.397083 q: 0.004805 0.818310 -0.014366 0.574578 
time: 1403636725.013556, t: 5.334555 -3.680727 -1.364288 q: -0.000488 0.818993 -0.016564 0.573564 
time: 1403636725.113555, t: 5.306049 -3.672354 -1.322569 q: -0.005024 0.819023 -0.017724 0.573465 
time: 1403636725.213556, t: 5.277628 -3.665381 -1.278677 q: -0.006643 0.819542 -0.017196 0.572723 
time: 1403636725.313555, t: 5.253096 -3.659603 -1.239134 q: -0.005469 0.820120 -0.015356 0.571959 
time: 1403636725.413555, t: 5.227882 -3.656648 -1.207438 q: -0.003188 0.819939 -0.013221 0.572289 
time: 1403636725.513556, t: 5.203784 -3.653565 -1.180978 q: -0.001091 0.819918 -0.011711 0.572360 
time: 1403636725.613555, t: 5.181348 -3.650769 -1.159495 q: 0.001288 0.820207 -0.010621 0.571967 
time: 1403636725.713556, t: 5.159862 -3.647848 -1.142418 q: 0.001242 0.819044 -0.011124 0.573621 
time: 1403636725.813555, t: 5.140321 -3.645055 -1.133149 q: 0.001392 0.819049 -0.010690 0.573622 
time: 1403636725.913555, t: 5.121639 -3.641369 -1.129288 q: -0.001169 0.819888 -0.011762 0.572402 
time: 1403636726.013556, t: 5.103655 -3.638018 -1.129601 q: -0.002885 0.819702 -0.011914 0.572658 
time: 1403636726.113555, t: 5.086576 -3.634238 -1.134747 q: -0.001711 0.819206 -0.009908 0.573411 
time: 1403636726.213556, t: 5.070565 -3.630856 -1.143958 q: -0.001455 0.817597 -0.008412 0.575728 
time: 1403636726.313555, t: 5.055070 -3.626698 -1.153647 q: -0.001420 0.817192 -0.006758 0.576325 
time: 1403636726.413555, t: 5.040961 -3.623540 -1.156503 q: -0.001592 0.816140 -0.005015 0.577830 
time: 1403636726.513556, t: 5.026203 -3.620667 -1.152319 q: -0.005256 0.815354 -0.005649 0.578912 
time: 1403636726.613555, t: 5.013500 -3.618698 -1.136383 q: -0.019457 0.814158 -0.013644 0.580157 
time: 1403636726.713556, t: 4.999901 -3.620869 -1.121881 q: -0.027244 0.812524 -0.017890 0.582015 
time: 1403636726.813555, t: 4.978822 -3.626349 -1.096484 q: -0.019855 0.811784 -0.011821 0.583500 
time: 1403636726.913555, t: 4.961089 -3.633978 -1.068236 q: -0.013457 0.811388 -0.002335 0.584348 
time: 1403636727.013556, t: 4.942033 -3.643114 -1.033545 q: -0.011838 0.811190 0.003323 0.584654 
time: 1403636727.113555, t: 4.917737 -3.652455 -0.994236 q: -0.009463 0.811242 0.007943 0.584580 
time: 1403636727.213556, t: 4.897799 -3.660520 -0.963053 q: -0.005439 0.811978 0.012617 0.583527 
time: 1403636727.313555, t: 4.874784 -3.667867 -0.938321 q: -0.001122 0.812495 0.016574 0.582732 
time: 1403636727.413555, t: 4.844011 -3.668559 -0.911862 q: 0.000611 0.813601 0.018100 0.581142 
time: 1403636727.513556, t: 4.819023 -3.670897 -0.896343 q: -0.000298 0.812564 0.017571 0.582607 
time: 1403636727.613555, t: 4.790697 -3.667889 -0.876382 q: -0.004448 0.810850 0.014654 0.585054 
time: 1403636727.713556, t: 4.764143 -3.664166 -0.849917 q: -0.005854 0.811604 0.013616 0.584019 
time: 1403636727.813555, t: 4.734475 -3.660606 -0.814341 q: -0.003853 0.812180 0.015272 0.583194 
time: 1403636727.913555, t: 4.703435 -3.652048 -0.774844 q: 0.004899 0.812338 0.020649 0.582801 
time: 1403636728.013556, t: 4.663581 -3.640878 -0.734633 q: 0.004991 0.812513 0.020398 0.582564 
time: 1403636728.113555, t: 4.632033 -3.623151 -0.707331 q: 0.000638 0.811898 0.017150 0.583547 
time: 1403636728.213556, t: 4.598215 -3.605179 -0.683119 q: -0.002240 0.810704 0.014538 0.585271 
time: 1403636728.313555, t: 4.563266 -3.584830 -0.665500 q: -0.004371 0.810533 0.012654 0.585540 
time: 1403636728.413555, t: 4.521376 -3.564105 -0.644431 q: -0.007590 0.811270 0.010173 0.584533 
time: 1403636728.513556, t: 4.483320 -3.541557 -0.639618 q: -0.019007 0.811431 0.001810 0.584136 
time: 1403636728.613555, t: 4.445163 -3.523684 -0.638361 q: -0.025455 0.811476 0.000183 0.583831 
time: 1403636728.713556, t: 4.403681 -3.505812 -0.632766 q: -0.022594 0.811636 0.011897 0.583605 
time: 1403636728.813555, t: 4.364929 -3.487826 -0.624203 q: -0.023058 0.811408 0.028999 0.583304 
time: 1403636728.913555, t: 4.323043 -3.468151 -0.606173 q: -0.026914 0.809922 0.043889 0.584273 
time: 1403636729.013556, t: 4.278574 -3.447682 -0.593684 q: -0.032415 0.807910 0.054113 0.585920 
time: 1403636729.113555, t: 4.233035 -3.427663 -0.585222 q: -0.036798 0.805733 0.061799 0.587896 
time: 1403636729.213556, t: 4.188248 -3.408366 -0.582971 q: -0.039779 0.806776 0.066479 0.585757 
time: 1403636729.313555, t: 4.140613 -3.389406 -0.584167 q: -0.043538 0.807433 0.068221 0.584381 
time: 1403636729.413555, t: 4.090017 -3.369116 -0.588557 q: -0.045204 0.806864 0.069364 0.584907 
time: 1403636729.513556, t: 4.038607 -3.346064 -0.589683 q: -0.045830 0.806712 0.069826 0.585012 
time: 1403636729.613555, t: 3.983203 -3.324224 -0.584239 q: -0.046552 0.807540 0.069969 0.583795 
time: 1403636729.713556, t: 3.928382 -3.298145 -0.573904 q: -0.047565 0.807821 0.068679 0.583477 
time: 1403636729.813555, t: 3.871677 -3.275206 -0.559824 q: -0.046719 0.810225 0.068190 0.580262 
time: 1403636729.913555, t: 3.813698 -3.252305 -0.550473 q: -0.047198 0.812944 0.066893 0.576559 
time: 1403636730.013556, t: 3.760084 -3.225320 -0.547228 q: -0.046360 0.814917 0.066599 0.573869 
time: 1403636730.113555, t: 3.703703 -3.201207 -0.546939 q: -0.046878 0.815755 0.067119 0.572574 
time: 1403636730.213556, t: 3.653003 -3.174458 -0.551389 q: -0.046937 0.816361 0.066937 0.571726 
time: 1403636730.313555, t: 3.598282 -3.150337 -0.558664 q: -0.048878 0.816129 0.066378 0.571960 
time: 1403636730.413555, t: 3.550297 -3.124589 -0.568808 q: -0.048522 0.817153 0.067125 0.570439 
time: 1403636730.513556, t: 3.501028 -3.100830 -0.576786 q: -0.047702 0.821317 0.068356 0.564349 
time: 1403636730.613555, t: 3.462269 -3.075403 -0.575923 q: -0.048540 0.825429 0.067987 0.558291 
time: 1403636730.713556, t: 3.430441 -3.049647 -0.566723 q: -0.049228 0.826891 0.067835 0.556082 
time: 1403636730.813555, t: 3.400206 -3.023649 -0.548723 q: -0.048485 0.827688 0.068641 0.554861 
time: 1403636730.913555, t: 3.369078 -2.997827 -0.527393 q: -0.053068 0.828739 0.064990 0.553310 
time: 1403636731.013556, t: 3.342879 -2.972412 -0.508753 q: -0.061693 0.827669 0.058106 0.554781 
time: 1403636731.113555, t: 3.324242 -2.949558 -0.495419 q: -0.071073 0.821216 0.050276 0.563937 
time: 1403636731.213556, t: 3.307523 -2.932144 -0.485550 q: -0.071459 0.816040 0.049018 0.571462 
time: 1403636731.313555, t: 3.295981 -2.922214 -0.479853 q: -0.063414 0.812737 0.053585 0.576685 
time: 1403636731.413555, t: 3.283507 -2.913181 -0.479840 q: -0.055102 0.812641 0.058706 0.577176 
time: 1403636731.513556, t: 3.270556 -2.907352 -0.484078 q: -0.054685 0.812821 0.058734 0.576959 
time: 1403636731.613555, t: 3.255339 -2.901954 -0.491794 q: -0.060965 0.813289 0.054546 0.576081 
time: 1403636731.713556, t: 3.241457 -2.900822 -0.503830 q: -0.062677 0.813375 0.053308 0.575892 
time: 1403636731.813555, t: 3.227778 -2.902777 -0.520323 q: -0.058390 0.813363 0.056431 0.576061 
time: 1403636731.913555, t: 3.214757 -2.906480 -0.539977 q: -0.055297 0.813052 0.059512 0.576496 
time: 1403636732.013556, t: 3.202075 -2.910579 -0.562579 q: -0.054955 0.812387 0.060450 0.577367 
time: 1403636732.113555, t: 3.190271 -2.918104 -0.588921 q: -0.055255 0.811439 0.060927 0.578620 
time: 1403636732.213556, t: 3.176091 -2.924566 -0.619638 q: -0.054473 0.810265 0.062351 0.580185 
time: 1403636732.313555, t: 3.159921 -2.932437 -0.643906 q: -0.054471 0.809156 0.063390 0.581620 
time: 1403636732.413555, t: 3.141241 -2.941200 -0.659422 q: -0.048647 0.808143 0.067726 0.583054 
time: 1403636732.513556, t: 3.122039 -2.948241 -0.664249 q: -0.035788 0.804057 0.077160 0.588437 
time: 1403636732.613555, t: 3.098391 -2.952567 -0.663562 q: -0.027126 0.799692 0.083852 0.593907 
time: 1403636732.713556, t: 3.068010 -2.953877 -0.659173 q: -0.031961 0.797335 0.081653 0.597133 
time: 1403636732.813555, t: 3.032207 -2.948663 -0.648549 q: -0.041032 0.797322 0.076329 0.597300 
time: 1403636732.913555, t: 2.993445 -2.941358 -0.639895 q: -0.044121 0.797986 0.074822 0.596383 
time: 1403636733.013556, t: 2.946841 -2.931450 -0.636200 q: -0.045498 0.801064 0.074712 0.592152 
time: 1403636733.113555, t: 2.902374 -2.919794 -0.634739 q: -0.045767 0.805020 0.075104 0.586692 
time: 1403636733.213556, t: 2.850150 -2.905973 -0.624106 q: -0.043301 0.805696 0.077353 0.585659 
time: 1403636733.313555, t: 2.799747 -2.889030 -0.608452 q: -0.044482 0.806484 0.077465 0.584470 
time: 1403636733.413555, t: 2.743180 -2.872040 -0.586522 q: -0.047875 0.809398 0.076393 0.580298 
time: 1403636733.513556, t: 2.687265 -2.852724 -0.559883 q: -0.050215 0.811802 0.074900 0.576927 
time: 1403636733.613555, t: 2.632556 -2.830885 -0.537283 q: -0.050173 0.813369 0.075224 0.574679 
time: 1403636733.713556, t: 2.576545 -2.811682 -0.517661 q: -0.051428 0.814833 0.074650 0.572564 
time: 1403636733.813555, t: 2.523485 -2.789200 -0.506331 q: -0.051138 0.816062 0.075002 0.570790 
time: 1403636733.913555, t: 2.470501 -2.768366 -0.499834 q: -0.049954 0.815799 0.076113 0.571124 
time: 1403636734.013556, t: 2.421941 -2.744451 -0.497814 q: -0.046491 0.812377 0.078236 0.575987 
time: 1403636734.113555, t: 2.368636 -2.720435 -0.496673 q: -0.047227 0.809870 0.076516 0.579677 
time: 1403636734.213556, t: 2.316532 -2.694574 -0.493680 q: -0.048810 0.809448 0.075210 0.580306 
time: 1403636734.313555, t: 2.266726 -2.665484 -0.482360 q: -0.051759 0.809881 0.074122 0.579585 
time: 1403636734.413555, t: 2.211722 -2.638894 -0.465057 q: -0.054325 0.811694 0.073418 0.576898 
time: 1403636734.513556, t: 2.160184 -2.611732 -0.442403 q: -0.055308 0.813707 0.073856 0.573906 
time: 1403636734.613555, t: 2.105515 -2.587699 -0.425048 q: -0.056410 0.816070 0.074457 0.570353 
time: 1403636734.713556, t: 2.054242 -2.562708 -0.412197 q: -0.055500 0.817443 0.076313 0.568228 
time: 1403636734.813555, t: 2.003835 -2.538450 -0.407611 q: -0.055532 0.817686 0.077945 0.567653 
time: 1403636734.913555, t: 1.959175 -2.514642 -0.407860 q: -0.056946 0.817883 0.078719 0.567122 
time: 1403636735.013556, t: 1.913910 -2.490090 -0.412237 q: -0.057022 0.817803 0.079320 0.567147 
time: 1403636735.113555, t: 1.872556 -2.465866 -0.416383 q: -0.058331 0.817613 0.078270 0.567433 
time: 1403636735.213556, t: 1.832029 -2.441036 -0.420068 q: -0.059760 0.818397 0.076704 0.566367 
time: 1403636735.313555, t: 1.795089 -2.416583 -0.416353 q: -0.061152 0.820136 0.074177 0.564035 
time: 1403636735.513556, t: 1.731092 -2.371220 -0.375536 q: -0.059019 0.819135 0.069020 0.566367 
time: 1403636735.613555, t: 1.702646 -2.350291 -0.346857 q: -0.056206 0.817752 0.067044 0.568883 
time: 1403636735.713556, t: 1.674428 -2.331843 -0.318150 q: -0.054384 0.818180 0.064719 0.568714 
time: 1403636735.813555, t: 1.649483 -2.313025 -0.297199 q: -0.052928 0.818400 0.063242 0.568701 
time: 1403636735.913555, t: 1.626386 -2.293283 -0.280160 q: -0.052431 0.817746 0.062674 0.569749 
time: 1403636736.013556, t: 1.605342 -2.275097 -0.267422 q: -0.052002 0.816876 0.064735 0.570805 
time: 1403636736.113555, t: 1.588201 -2.255320 -0.251823 q: -0.056666 0.814645 0.071009 0.572801 
time: 1403636736.213556, t: 1.568403 -2.236231 -0.227117 q: -0.064515 0.811384 0.081035 0.575262 
time: 1403636736.313555, t: 1.548130 -2.218058 -0.201096 q: -0.070743 0.809445 0.091169 0.575745 
time: 1403636736.413555, t: 1.529424 -2.201005 -0.178128 q: -0.074583 0.808335 0.099716 0.575403 
time: 1403636736.513556, t: 1.511382 -2.186202 -0.162078 q: -0.071654 0.806307 0.109803 0.576783 
time: 1403636736.613555, t: 1.490578 -2.170327 -0.152441 q: -0.068301 0.804536 0.117727 0.578098 
time: 1403636736.713556, t: 1.468295 -2.150593 -0.147121 q: -0.068206 0.803153 0.121135 0.579326 
time: 1403636736.813555, t: 1.446208 -2.127680 -0.149241 q: -0.068093 0.802616 0.123555 0.579573 
time: 1403636736.913555, t: 1.421659 -2.099473 -0.153075 q: -0.069799 0.802848 0.124661 0.578812 
time: 1403636737.013556, t: 1.393559 -2.069685 -0.156856 q: -0.076077 0.803381 0.122946 0.577646 
time: 1403636737.113555, t: 1.370730 -2.034767 -0.170542 q: -0.084048 0.802983 0.120503 0.577610 
time: 1403636737.213556, t: 1.340174 -2.002147 -0.182286 q: -0.087765 0.803175 0.121168 0.576651 
time: 1403636737.413555, t: 1.282105 -1.936481 -0.210135 q: -0.092446 0.806896 0.123991 0.570087 
time: 1403636737.513556, t: 1.258115 -1.906970 -0.214020 q: -0.092550 0.809006 0.126608 0.566492 
time: 1403636737.613555, t: 1.226840 -1.877535 -0.208994 q: -0.096403 0.810360 0.125334 0.564194 
time: 1403636737.713556, t: 1.205457 -1.853457 -0.199223 q: -0.102497 0.812498 0.121852 0.560798 
time: 1403636737.813555, t: 1.179997 -1.829615 -0.180738 q: -0.106637 0.813601 0.118850 0.559067 
time: 1403636737.913555, t: 1.164371 -1.810900 -0.155181 q: -0.107984 0.813936 0.117219 0.558665 
time: 1403636738.013556, t: 1.147203 -1.792895 -0.122177 q: -0.107609 0.813661 0.116041 0.559383 
time: 1403636738.113555, t: 1.134873 -1.778778 -0.083551 q: -0.103417 0.812983 0.117241 0.560908 
time: 1403636738.213556, t: 1.127682 -1.769606 -0.049396 q: -0.100394 0.811575 0.117400 0.563457 
time: 1403636738.313555, t: 1.118085 -1.760073 -0.020739 q: -0.098569 0.811713 0.116650 0.563737 
time: 1403636738.413555, t: 1.115039 -1.753031 -0.002006 q: -0.097621 0.812264 0.115080 0.563431 
time: 1403636738.513556, t: 1.111368 -1.745120 0.014362 q: -0.094075 0.813867 0.110726 0.562592 
time: 1403636738.613555, t: 1.109219 -1.739371 0.022455 q: -0.088305 0.817261 0.100511 0.560521 
time: 1403636738.713556, t: 1.111744 -1.735753 0.025419 q: -0.079894 0.819052 0.084972 0.561739 
time: 1403636738.813555, t: 1.123028 -1.734129 0.018292 q: -0.070558 0.817972 0.064527 0.567256 
time: 1403636738.913555, t: 1.132590 -1.735874 0.006227 q: -0.060584 0.816905 0.040992 0.572115 
time: 1403636739.013556, t: 1.141398 -1.740490 -0.008542 q: -0.050579 0.816639 0.014325 0.574749 
time: 1403636739.113555, t: 1.152359 -1.749703 -0.026884 q: -0.035187 0.816779 -0.010945 0.575772 
time: 1403636739.213556, t: 1.162381 -1.765706 -0.049641 q: -0.012028 0.816646 -0.031276 0.576166 
time: 1403636739.313555, t: 1.168974 -1.789102 -0.077214 q: 0.013653 0.815701 -0.049832 0.576161 
time: 1403636739.413555, t: 1.175030 -1.813848 -0.104340 q: 0.038686 0.814448 -0.067529 0.574994 
time: 1403636739.513556, t: 1.179080 -1.839269 -0.123091 q: 0.056881 0.812762 -0.087541 0.573166 
time: 1403636739.613555, t: 1.185286 -1.862508 -0.133147 q: 0.065714 0.809953 -0.107073 0.572882 
time: 1403636739.713556, t: 1.191242 -1.883815 -0.137493 q: 0.073547 0.808679 -0.118768 0.571422 
time: 1403636739.813555, t: 1.198603 -1.904926 -0.143472 q: 0.074142 0.807445 -0.128296 0.571030 
optimize pose graph 
time: 1403636740.013556, t: 1.212397 -1.946533 -0.170764 q: 0.077892 0.807372 -0.132276 0.569725 
time: 1403636740.113555, t: 1.218092 -1.968118 -0.192688 q: 0.081212 0.807721 -0.128515 0.569628 
time: 1403636740.213556, t: 1.222955 -1.989549 -0.217564 q: 0.087018 0.808000 -0.121929 0.569822 
time: 1403636740.313555, t: 1.227598 -2.008242 -0.246974 q: 0.087927 0.807344 -0.118431 0.571348 
time: 1403636740.413555, t: 1.228724 -2.025240 -0.279376 q: 0.081536 0.806414 -0.119607 0.573360 
time: 1403636740.513556, t: 1.232030 -2.039831 -0.315716 q: 0.076085 0.805461 -0.120479 0.575264 
time: 1403636740.613555, t: 1.232589 -2.055368 -0.346844 q: 0.074414 0.805112 -0.118757 0.576328 
time: 1403636740.713556, t: 1.231680 -2.070464 -0.371908 q: 0.070643 0.807082 -0.119218 0.573947 
time: 1403636740.813555, t: 1.228327 -2.086433 -0.390513 q: 0.069563 0.809123 -0.117814 0.571491 
time: 1403636740.913555, t: 1.226514 -2.104116 -0.414773 q: 0.071258 0.808133 -0.114933 0.573267 
time: 1403636741.013556, t: 1.220739 -2.120385 -0.442481 q: 0.081159 0.807066 -0.107143 0.574959 
time: 1403636741.113555, t: 1.217260 -2.134855 -0.479086 q: 0.090904 0.805134 -0.104045 0.576776 
time: 1403636741.213556, t: 1.208965 -2.144596 -0.521411 q: 0.092377 0.802196 -0.113410 0.578867 
time: 1403636741.313555, t: 1.201588 -2.150779 -0.571713 q: 0.087767 0.801037 -0.125429 0.578709 
time: 1403636741.413555, t: 1.190647 -2.153345 -0.621558 q: 0.084477 0.804642 -0.135333 0.571926 
time: 1403636741.513556, t: 1.179488 -2.158531 -0.665032 q: 0.084357 0.810758 -0.140870 0.561881 
time: 1403636741.613555, t: 1.170644 -2.162802 -0.702700 q: 0.083892 0.814738 -0.144731 0.555173 
time: 1403636741.713556, t: 1.164894 -2.168796 -0.730557 q: 0.085471 0.815484 -0.144960 0.553775 
time: 1403636741.813555, t: 1.163127 -2.178804 -0.752012 q: 0.088623 0.813071 -0.141944 0.557596 
time: 1403636741.913555, t: 1.161472 -2.190686 -0.774840 q: 0.093387 0.811194 -0.136002 0.561022 
time: 1403636742.013556, t: 1.161457 -2.201806 -0.805308 q: 0.099616 0.811926 -0.128012 0.560773 
time: 1403636742.113555, t: 1.162827 -2.210823 -0.838106 q: 0.097138 0.816732 -0.125573 0.554747 
optimize pose graph 
time: 1403636742.213556, t: 1.170014 -2.217453 -0.866745 q: 0.090422 0.819597 -0.126770 0.551375 
time: 1403636742.313555, t: 1.180085 -2.223961 -0.887607 q: 0.083627 0.818747 -0.127671 0.553499 
time: 1403636742.413555, t: 1.190476 -2.231052 -0.900305 q: 0.080854 0.814218 -0.126648 0.560778 
time: 1403636742.513556, t: 1.204661 -2.237913 -0.907075 q: 0.079640 0.811686 -0.125160 0.564941 
time: 1403636742.613555, t: 1.219667 -2.245746 -0.911650 q: 0.079151 0.810047 -0.123453 0.567730 
time: 1403636742.713556, t: 1.235605 -2.255147 -0.916634 q: 0.078464 0.807253 -0.121993 0.572105 
time: 1403636742.813555, t: 1.249968 -2.262065 -0.936151 q: 0.078143 0.805236 -0.120696 0.575257 
time: 1403636742.913555, t: 1.261119 -2.270283 -0.959892 q: 0.075879 0.804212 -0.120434 0.577045 
time: 1403636743.013556, t: 1.268637 -2.279468 -0.990371 q: 0.076972 0.805086 -0.123173 0.575099 
time: 1403636743.113555, t: 1.276052 -2.287945 -1.030610 q: 0.077698 0.812326 -0.131175 0.562923 
time: 1403636743.213556, t: 1.283749 -2.297636 -1.067871 q: 0.078110 0.822410 -0.138269 0.546281 
time: 1403636743.313555, t: 1.294457 -2.309150 -1.094903 q: 0.079616 0.828446 -0.142946 0.535635 
time: 1403636743.413555, t: 1.312950 -2.324578 -1.112106 q: 0.078769 0.828896 -0.146941 0.533980 
time: 1403636743.513556, t: 1.340686 -2.343829 -1.124450 q: 0.080829 0.824677 -0.147650 0.539976 
time: 1403636743.613555, t: 1.374183 -2.365814 -1.142750 q: 0.085107 0.819116 -0.145412 0.548325 
time: 1403636743.713556, t: 1.412216 -2.388912 -1.166999 q: 0.090055 0.814517 -0.142337 0.555151 
time: 1403636743.813555, t: 1.453366 -2.414593 -1.197256 q: 0.095267 0.809180 -0.144574 0.561472 
time: 1403636743.913555, t: 1.493892 -2.437307 -1.232329 q: 0.098841 0.804350 -0.150034 0.566340 
time: 1403636744.013556, t: 1.536665 -2.463238 -1.273629 q: 0.102388 0.801188 -0.153174 0.569344 
time: 1403636744.113555, t: 1.579680 -2.485358 -1.319967 q: 0.109283 0.798896 -0.158006 0.569962 
time: 1403636744.213556, t: 1.620539 -2.508007 -1.372906 q: 0.112508 0.795930 -0.165622 0.571320 
time: 1403636744.313555, t: 1.656570 -2.527253 -1.432132 q: 0.112595 0.793127 -0.172675 0.573111 
time: 1403636744.413555, t: 1.694621 -2.543007 -1.496211 q: 0.109256 0.791598 -0.179262 0.573847 
time: 1403636744.513556, t: 1.728241 -2.560979 -1.565771 q: 0.101562 0.789864 -0.185723 0.575592 
time: 1403636744.613555, t: 1.759056 -2.579268 -1.640583 q: 0.097812 0.787559 -0.187518 0.578809 
time: 1403636744.713556, t: 1.784450 -2.601141 -1.718389 q: 0.099466 0.785577 -0.185555 0.581846 
time: 1403636744.813555, t: 1.803207 -2.624980 -1.795375 q: 0.107598 0.786437 -0.179878 0.581020 
time: 1403636744.913555, t: 1.818503 -2.647363 -1.864713 q: 0.112889 0.790691 -0.175924 0.575426 
time: 1403636745.013556, t: 1.833366 -2.669607 -1.924252 q: 0.112095 0.795491 -0.174237 0.569447 
time: 1403636745.113555, t: 1.847033 -2.691369 -1.977697 q: 0.109504 0.800993 -0.172215 0.562815 
time: 1403636745.213556, t: 1.861832 -2.712684 -2.023714 q: 0.106062 0.803068 -0.169749 0.561265 
time: 1403636745.313555, t: 1.879728 -2.735097 -2.064312 q: 0.104671 0.804160 -0.164770 0.561445 
time: 1403636745.413555, t: 1.895929 -2.758919 -2.093605 q: 0.105368 0.799675 -0.158883 0.569362 
time: 1403636745.513556, t: 1.911382 -2.780881 -2.112533 q: 0.106788 0.795750 -0.156579 0.575206 
time: 1403636745.613555, t: 1.925987 -2.803067 -2.127849 q: 0.108199 0.793784 -0.158550 0.577115 
time: 1403636745.713556, t: 1.940580 -2.822310 -2.133841 q: 0.112127 0.792435 -0.161696 0.577347 
time: 1403636745.813555, t: 1.951885 -2.837816 -2.132522 q: 0.118464 0.792505 -0.165007 0.575043 
time: 1403636745.913555, t: 1.964986 -2.851648 -2.124067 q: 0.126062 0.791974 -0.168300 0.573202 
time: 1403636746.013556, t: 1.974266 -2.861107 -2.110020 q: 0.135279 0.791900 -0.170325 0.570599 
time: 1403636746.113555, t: 1.985312 -2.864993 -2.089941 q: 0.143038 0.792556 -0.172105 0.567252 
time: 1403636746.213556, t: 1.994780 -2.863627 -2.063579 q: 0.147170 0.790602 -0.173765 0.568415 
time: 1403636746.313555, t: 2.002131 -2.855942 -2.032551 q: 0.150410 0.782462 -0.174403 0.578545 
time: 1403636746.413555, t: 2.009200 -2.842164 -2.008063 q: 0.150550 0.776883 -0.175242 0.585729 
time: 1403636746.513556, t: 2.012820 -2.822293 -1.994840 q: 0.144155 0.781256 -0.178817 0.580417 
time: 1403636746.613555, t: 2.015333 -2.797022 -1.990410 q: 0.133672 0.793130 -0.183368 0.565202 
time: 1403636746.713556, t: 2.017465 -2.769764 -1.991996 q: 0.118925 0.805396 -0.189392 0.548931 
time: 1403636746.813555, t: 2.023229 -2.745385 -1.996516 q: 0.105948 0.809875 -0.194105 0.543324 
time: 1403636747.013556, t: 2.045030 -2.711444 -2.001971 q: 0.098517 0.807492 -0.192758 0.548722 
time: 1403636747.113555, t: 2.062225 -2.702699 -1.990427 q: 0.108909 0.804342 -0.184228 0.554286 
time: 1403636747.213556, t: 2.082465 -2.697120 -1.970242 q: 0.117999 0.800650 -0.178068 0.559756 
time: 1403636747.313555, t: 2.105618 -2.691656 -1.940584 q: 0.124490 0.798895 -0.174634 0.561935 
time: 1403636747.413555, t: 2.126792 -2.682807 -1.908166 q: 0.127264 0.797655 -0.174687 0.563058 
time: 1403636747.513556, t: 2.151593 -2.671403 -1.881909 q: 0.128568 0.797760 -0.177090 0.561862 
time: 1403636747.613555, t: 2.169932 -2.655444 -1.862124 q: 0.128287 0.798363 -0.180189 0.560081 
time: 1403636747.713556, t: 2.195369 -2.639080 -1.838883 q: 0.129349 0.798414 -0.182661 0.558962 
time: 1403636747.813555, t: 2.220085 -2.621359 -1.808372 q: 0.130576 0.798409 -0.185203 0.557847 
time: 1403636747.913555, t: 2.247436 -2.601930 -1.768879 q: 0.125224 0.796066 -0.192224 0.560042 
time: 1403636748.013556, t: 2.276684 -2.583041 -1.727718 q: 0.113638 0.791298 -0.203473 0.565272 
time: 1403636748.113555, t: 2.298791 -2.568003 -1.696072 q: 0.108297 0.789608 -0.209947 0.566316 
time: 1403636748.213556, t: 2.319515 -2.555852 -1.669116 q: 0.107968 0.789927 -0.212681 0.564911 
time: 1403636748.313555, t: 2.342792 -2.550152 -1.646117 q: 0.119304 0.792693 -0.205375 0.561450 
time: 1403636748.413555, t: 2.364754 -2.547067 -1.629227 q: 0.131902 0.794817 -0.196011 0.558970 
time: 1403636748.513556, t: 2.387007 -2.543493 -1.608346 q: 0.136892 0.794477 -0.191899 0.559680 
time: 1403636748.613555, t: 2.407717 -2.538428 -1.585470 q: 0.134131 0.793134 -0.194479 0.561360 
time: 1403636748.713556, t: 2.431635 -2.533912 -1.553570 q: 0.126989 0.790852 -0.200280 0.564194 
time: 1403636748.813555, t: 2.454290 -2.530111 -1.525719 q: 0.120593 0.789242 -0.206279 0.565689 
time: 1403636748.913555, t: 2.472208 -2.528203 -1.506930 q: 0.118390 0.787341 -0.211060 0.567038 
time: 1403636749.013556, t: 2.490798 -2.529572 -1.486559 q: 0.118811 0.785942 -0.214849 0.567467 
time: 1403636749.113555, t: 2.506165 -2.532158 -1.472227 q: 0.114478 0.783579 -0.221427 0.569095 
time: 1403636749.213556, t: 2.518747 -2.540141 -1.457956 q: 0.115980 0.782660 -0.223133 0.569389 
time: 1403636749.313555, t: 2.528640 -2.552829 -1.436898 q: 0.127810 0.783343 -0.217635 0.568043 
time: 1403636749.413555, t: 2.535473 -2.567971 -1.409619 q: 0.136637 0.784838 -0.212831 0.565741 
time: 1403636749.513556, t: 2.541175 -2.581720 -1.378286 q: 0.144541 0.786196 -0.207727 0.563785 
time: 1403636749.613555, t: 2.541809 -2.598153 -1.346074 q: 0.151771 0.787460 -0.201533 0.562367 
time: 1403636749.713556, t: 2.548364 -2.613543 -1.319953 q: 0.151376 0.787409 -0.199946 0.563111 
time: 1403636749.813555, t: 2.553871 -2.620821 -1.298610 q: 0.149452 0.783415 -0.198993 0.569496 
time: 1403636749.913555, t: 2.559561 -2.624988 -1.284344 q: 0.146834 0.779058 -0.197914 0.576488 
time: 1403636750.013556, t: 2.559719 -2.629090 -1.275909 q: 0.143986 0.777047 -0.195205 0.580827 
time: 1403636750.113555, t: 2.555902 -2.625481 -1.270781 q: 0.140915 0.778181 -0.193576 0.580609 
time: 1403636750.213556, t: 2.547523 -2.619977 -1.262636 q: 0.137604 0.780959 -0.192623 0.577984 
time: 1403636750.313555, t: 2.537665 -2.611026 -1.248055 q: 0.134645 0.784896 -0.191228 0.573795 
time: 1403636750.413555, t: 2.525334 -2.600076 -1.223125 q: 0.131547 0.788029 -0.189914 0.570647 
time: 1403636750.513556, t: 2.512776 -2.588664 -1.188195 q: 0.129767 0.789448 -0.186487 0.570223 
time: 1403636750.613555, t: 2.498556 -2.576385 -1.145524 q: 0.127637 0.791116 -0.183348 0.569410 
time: 1403636750.713556, t: 2.482648 -2.563042 -1.097587 q: 0.127504 0.792371 -0.180010 0.568759 
time: 1403636750.813555, t: 2.468126 -2.547060 -1.044578 q: 0.126926 0.793994 -0.177954 0.567270 
time: 1403636750.913555, t: 2.451278 -2.529845 -0.982625 q: 0.127601 0.795927 -0.175934 0.565036 
time: 1403636751.013556, t: 2.433635 -2.510520 -0.921181 q: 0.129804 0.797611 -0.174146 0.562709 
time: 1403636751.113555, t: 2.416467 -2.485191 -0.866209 q: 0.130121 0.797799 -0.174730 0.562187 
time: 1403636751.213556, t: 2.401948 -2.463124 -0.817188 q: 0.129542 0.801603 -0.176684 0.556268 
time: 1403636751.313555, t: 2.389356 -2.439477 -0.771753 q: 0.126198 0.805072 -0.180632 0.550731 
time: 1403636751.413555, t: 2.379930 -2.416358 -0.726496 q: 0.120493 0.802773 -0.186529 0.553393 
time: 1403636751.513556, t: 2.375828 -2.393265 -0.682215 q: 0.113715 0.798130 -0.191977 0.559645 
time: 1403636751.613555, t: 2.369372 -2.374712 -0.638612 q: 0.106473 0.795340 -0.191524 0.565170 
time: 1403636751.713556, t: 2.363234 -2.357953 -0.600434 q: 0.099722 0.797858 -0.189386 0.563570 
time: 1403636751.813555, t: 2.353747 -2.346934 -0.566692 q: 0.093991 0.803683 -0.187431 0.556892 
time: 1403636751.913555, t: 2.347415 -2.342853 -0.529929 q: 0.097277 0.809591 -0.180648 0.549969 
time: 1403636752.013556, t: 2.345018 -2.344242 -0.495424 q: 0.103369 0.812762 -0.173285 0.546539 
time: 1403636752.113555, t: 2.345360 -2.348596 -0.460265 q: 0.106353 0.811784 -0.169404 0.548633 
time: 1403636752.313555, t: 2.357335 -2.357734 -0.393759 q: 0.102011 0.802860 -0.154880 0.566587 
optimize pose graph 
time: 1403636752.513556, t: 2.369462 -2.361852 -0.311583 q: 0.083254 0.803219 -0.126181 0.576182 
time: 1403636752.613555, t: 2.374878 -2.363966 -0.271306 q: 0.071810 0.807362 -0.107918 0.575642 
time: 1403636752.713556, t: 2.377360 -2.366324 -0.238313 q: 0.059066 0.811297 -0.089330 0.574742 
time: 1403636752.813555, t: 2.379522 -2.366390 -0.211074 q: 0.047384 0.814195 -0.069059 0.574519 
time: 1403636752.913555, t: 2.380269 -2.365586 -0.189701 q: 0.037079 0.816023 -0.046608 0.574943 
time: 1403636753.013556, t: 2.380964 -2.363185 -0.174431 q: 0.027874 0.817492 -0.022375 0.574829 
time: 1403636753.113555, t: 2.381496 -2.358679 -0.166911 q: 0.016576 0.818414 0.001695 0.574387 
time: 1403636753.213556, t: 2.383473 -2.351028 -0.164361 q: 0.003471 0.818583 0.025282 0.573821 
time: 1403636753.313555, t: 2.384459 -2.340101 -0.168820 q: -0.006558 0.817506 0.051213 0.573601 
time: 1403636753.413555, t: 2.385690 -2.325736 -0.176478 q: -0.020303 0.814940 0.068979 0.575067 
time: 1403636753.513556, t: 2.386201 -2.306985 -0.180391 q: -0.035311 0.813718 0.076730 0.575090 
time: 1403636753.613555, t: 2.383402 -2.286764 -0.176136 q: -0.046051 0.812177 0.080355 0.576013 
time: 1403636753.713556, t: 2.377799 -2.267183 -0.167661 q: -0.051600 0.811805 0.081333 0.575929 
time: 1403636753.813555, t: 2.372500 -2.246605 -0.162011 q: -0.051408 0.810650 0.082603 0.577391 
time: 1403636753.913555, t: 2.365483 -2.223798 -0.163039 q: -0.051204 0.810618 0.080943 0.577689 
time: 1403636754.013556, t: 2.357399 -2.200680 -0.168054 q: -0.048834 0.810074 0.079588 0.578845 
time: 1403636754.213556, t: 2.336154 -2.151880 -0.159682 q: -0.045149 0.803490 0.075298 0.588808 
time: 1403636754.313555, t: 2.319066 -2.125851 -0.147533 q: -0.041750 0.802822 0.074260 0.590101 
time: 1403636754.413555, t: 2.301061 -2.098600 -0.130581 q: -0.040709 0.802787 0.075140 0.590110 
optimize pose graph 
time: 1403636754.513556, t: 2.275371 -2.067816 -0.111610 q: -0.043430 0.803111 0.079217 0.588941 
time: 1403636754.613555, t: 2.246180 -2.034330 -0.099052 q: -0.046942 0.804220 0.088904 0.585767 
time: 1403636754.713556, t: 2.212865 -1.998550 -0.092593 q: -0.056058 0.803697 0.100477 0.583810 
time: 1403636754.913555, t: 2.138201 -1.922439 -0.092704 q: -0.075018 0.799954 0.124795 0.582127 
time: 1403636755.013556, t: 2.096142 -1.884189 -0.097484 q: -0.080691 0.798991 0.133833 0.580681 
time: 1403636755.113555, t: 2.051562 -1.844150 -0.103131 q: -0.085766 0.798236 0.138698 0.579850 
time: 1403636755.213556, t: 2.002163 -1.804066 -0.104525 q: -0.090156 0.798289 0.141186 0.578509 
time: 1403636755.313555, t: 1.952301 -1.763726 -0.099188 q: -0.091229 0.802561 0.143107 0.571920 
time: 1403636755.413555, t: 1.900720 -1.721900 -0.085923 q: -0.090246 0.809000 0.144539 0.562568 
time: 1403636755.513556, t: 1.852242 -1.677345 -0.069311 q: -0.089015 0.811536 0.144405 0.559136 
time: 1403636755.613555, t: 1.805656 -1.630283 -0.055971 q: -0.086088 0.810551 0.144710 0.560941 
time: 1403636755.713556, t: 1.762243 -1.581591 -0.050125 q: -0.087180 0.809633 0.142096 0.562764 
time: 1403636755.813555, t: 1.719506 -1.531514 -0.048454 q: -0.089006 0.807402 0.139205 0.566393 
time: 1403636755.913555, t: 1.675260 -1.480161 -0.049151 q: -0.090048 0.804998 0.137566 0.570040 
time: 1403636756.013556, t: 1.633044 -1.427712 -0.049663 q: -0.091816 0.803943 0.136073 0.571602 
time: 1403636756.113555, t: 1.590183 -1.373551 -0.042072 q: -0.091234 0.802908 0.136162 0.573128 
time: 1403636756.313555, t: 1.502521 -1.265177 -0.016669 q: -0.092523 0.801156 0.136115 0.575379 
time: 1403636756.413555, t: 1.457870 -1.211642 -0.008057 q: -0.092147 0.800191 0.137499 0.576453 
time: 1403636756.513556, t: 1.407712 -1.159092 -0.002819 q: -0.093586 0.799904 0.137663 0.576580 
time: 1403636756.613555, t: 1.359786 -1.105890 -0.005425 q: -0.094213 0.799301 0.138259 0.577171 
time: 1403636756.713556, t: 1.305627 -1.054359 -0.006780 q: -0.095536 0.798318 0.138538 0.578246 
time: 1403636756.813555, t: 1.253769 -1.001576 -0.004386 q: -0.096892 0.797441 0.138870 0.579150 
time: 1403636756.913555, t: 1.192047 -0.948949 0.005691 q: -0.097124 0.797605 0.139225 0.578800 
time: 1403636757.113555, t: 1.068330 -0.849383 0.035543 q: -0.099996 0.797668 0.138921 0.578298 
time: 1403636757.213556, t: 1.002785 -0.802088 0.045169 q: -0.100409 0.797950 0.138774 0.577872 
time: 1403636757.313555, t: 0.936300 -0.752048 0.049438 q: -0.097367 0.798365 0.140918 0.577300 
time: 1403636757.413555, t: 0.868148 -0.704352 0.046103 q: -0.096109 0.799816 0.142386 0.575139 
time: 1403636757.513556, t: 0.800819 -0.655874 0.041651 q: -0.093595 0.801871 0.146673 0.571603 
time: 1403636757.613555, t: 0.732490 -0.604315 0.043404 q: -0.095061 0.806552 0.153683 0.562867 
time: 1403636757.713556, t: 0.668411 -0.551954 0.051720 q: -0.097709 0.812555 0.160698 0.551710 
time: 1403636757.813555, t: 0.610787 -0.496149 0.067453 q: -0.101494 0.816634 0.166342 0.543266 
time: 1403636757.913555, t: 0.557394 -0.434632 0.094713 q: -0.106396 0.817315 0.169401 0.540351 
time: 1403636758.013556, t: 0.503941 -0.374299 0.127658 q: -0.112359 0.810906 0.170373 0.548434 
time: 1403636758.113555, t: 0.460007 -0.308340 0.155579 q: -0.117985 0.802977 0.169787 0.558999 
time: 1403636758.213556, t: 0.418827 -0.243902 0.177354 q: -0.121456 0.796997 0.169431 0.566867 
time: 1403636758.313555, t: 0.372057 -0.183056 0.189266 q: -0.124843 0.794665 0.167994 0.569825 
time: 1403636758.413555, t: 0.328825 -0.122725 0.192061 q: -0.127089 0.799672 0.166593 0.562690 
time: 1403636758.513556, t: 0.285277 -0.064595 0.185696 q: -0.132238 0.811915 0.162624 0.544849 
time: 1403636758.613555, t: 0.245738 -0.010102 0.175535 q: -0.140193 0.823438 0.156752 0.526996 
time: 1403636758.713556, t: 0.215765 0.040370 0.168248 q: -0.140932 0.821059 0.155282 0.530931 
time: 1403636758.813555, t: 0.198965 0.088024 0.161151 q: -0.138911 0.811406 0.155723 0.545962 
optimize pose graph 
time: 1403636758.913555, t: 0.180812 0.129032 0.151936 q: -0.133051 0.802640 0.159696 0.559074 
time: 1403636759.013556, t: 0.166647 0.169845 0.139538 q: -0.129912 0.798385 0.161593 0.565325 
time: 1403636759.213556, t: 0.138621 0.242785 0.107356 q: -0.156917 0.798150 0.143272 0.563744 
time: 1403636759.313555, t: 0.127049 0.266682 0.085502 q: -0.166527 0.798657 0.136972 0.561831 
time: 1403636759.413555, t: 0.117992 0.282757 0.061306 q: -0.154103 0.797189 0.146100 0.565152 
time: 1403636759.513556, t: 0.109077 0.290710 0.034723 q: -0.140915 0.795176 0.155809 0.568825 
time: 1403636759.613555, t: 0.098828 0.295297 0.006225 q: -0.132063 0.793335 0.163482 0.571360 
time: 1403636759.713556, t: 0.087372 0.297246 -0.012463 q: -0.127558 0.793137 0.167619 0.571461 
time: 1403636759.813555, t: 0.075724 0.297752 -0.019595 q: -0.127398 0.792019 0.168540 0.572773 
time: 1403636759.913555, t: 0.061893 0.296923 -0.024097 q: -0.126980 0.795626 0.168907 0.567737 
time: 1403636760.013556, t: 0.046742 0.295539 -0.031647 q: -0.125425 0.801589 0.169599 0.559428 
time: 1403636760.113555, t: 0.030984 0.293170 -0.041081 q: -0.124808 0.806761 0.169423 0.552137 
time: 1403636760.213556, t: 0.019202 0.292797 -0.051289 q: -0.125389 0.806553 0.168654 0.552545 
time: 1403636760.313555, t: 0.009970 0.291620 -0.060565 q: -0.129017 0.798551 0.165888 0.564050 
time: 1403636760.413555, t: 0.001326 0.290571 -0.074505 q: -0.127555 0.793583 0.166967 0.571032 
time: 1403636760.513556, t: -0.010019 0.287908 -0.090685 q: -0.124547 0.793519 0.169040 0.571175 
time: 1403636760.613555, t: -0.023413 0.284827 -0.107909 q: -0.121657 0.799366 0.171600 0.562821 
time: 1403636760.713556, t: -0.034913 0.284140 -0.124484 q: -0.117327 0.803210 0.175089 0.557165 
time: 1403636760.813555, t: -0.045047 0.285764 -0.138619 q: -0.115566 0.801247 0.176934 0.559770 
time: 1403636760.913555, t: -0.056246 0.288471 -0.150465 q: -0.114406 0.796891 0.178873 0.565579 
time: 1403636761.013556, t: -0.069747 0.292709 -0.163745 q: -0.115786 0.799244 0.178620 0.562048 
optimize pose graph 
time: 1403636761.113555, t: -0.083517 0.299862 -0.178168 q: -0.118356 0.806027 0.177333 0.552147 
time: 1403636761.213556, t: -0.095451 0.309222 -0.193015 q: -0.116896 0.814009 0.179031 0.540068 
time: 1403636761.313555, t: -0.103620 0.321091 -0.204821 q: -0.116867 0.817178 0.179236 0.535198 
time: 1403636761.413555, t: -0.105616 0.337092 -0.210655 q: -0.118882 0.811784 0.177993 0.543316 
time: 1403636761.513556, t: -0.103869 0.355033 -0.212290 q: -0.120848 0.803306 0.176144 0.555939 
time: 1403636761.613555, t: -0.101577 0.373837 -0.211255 q: -0.122892 0.797322 0.173617 0.564830 
time: 1403636761.713556, t: -0.100135 0.392638 -0.209031 q: -0.131923 0.796333 0.166202 0.566416 
time: 1403636761.813555, t: -0.099229 0.408972 -0.205074 q: -0.140918 0.797163 0.159169 0.565101 
time: 1403636761.913555, t: -0.097668 0.420549 -0.199650 q: -0.142067 0.797908 0.157994 0.564091 
time: 1403636762.013556, t: -0.096453 0.427477 -0.192022 q: -0.130867 0.796735 0.165028 0.566439 
time: 1403636762.113555, t: -0.096496 0.432490 -0.182377 q: -0.112234 0.793910 0.176981 0.570778 
time: 1403636762.213556, t: -0.098411 0.439332 -0.173754 q: -0.100875 0.796245 0.183846 0.567468 
time: 1403636762.313555, t: -0.102177 0.451062 -0.169078 q: -0.101611 0.805789 0.182466 0.554153 
time: 1403636762.413555, t: -0.104289 0.467607 -0.173326 q: -0.106379 0.812649 0.178598 0.544415 
time: 1403636762.513556, t: -0.103857 0.488523 -0.184143 q: -0.125889 0.813382 0.164745 0.543527 
time: 1403636762.613555, t: -0.100534 0.509461 -0.202211 q: -0.149859 0.809013 0.147654 0.548853 
time: 1403636762.713556, t: -0.092161 0.525172 -0.228835 q: -0.154673 0.802856 0.144699 0.557279 
time: 1403636762.813555, t: -0.081198 0.534404 -0.262687 q: -0.142002 0.799266 0.154434 0.563170 
time: 1403636762.913555, t: -0.084837 0.525885 -0.262318 q: -0.148242 0.774182 0.148290 0.597224 
time: 1403636763.013556, t: -0.097100 0.507323 -0.271466 q: -0.126046 0.798787 0.144855 0.570148 
time: 1403636763.113555, t: -0.106509 0.489253 -0.281438 q: -0.126956 0.796334 0.119610 0.579161 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636763.213556, t: -0.111402 0.483294 -0.285171 q: -0.125707 0.794658 0.108112 0.583976 
time: 1403636763.313555, t: -0.108129 0.479722 -0.287749 q: -0.127200 0.797819 0.107156 0.579502 
time: 1403636763.413555, t: -0.113435 0.478504 -0.292256 q: -0.127621 0.798648 0.106868 0.578320 
time: 1403636763.513556, t: -0.122925 0.472413 -0.281145 q: -0.127800 0.798566 0.106878 0.578391 
time: 1403636763.613555, t: -0.121042 0.471841 -0.295655 q: -0.127699 0.798473 0.106731 0.578570 
time: 1403636763.713556, t: -0.126034 0.471896 -0.293605 q: -0.127626 0.798407 0.106316 0.578753 
time: 1403636763.813555, t: -0.131945 0.467209 -0.302983 q: -0.128000 0.798207 0.106176 0.578971 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720541217.393363279]: Shutdown request received.[0m
[33m[ WARN] [1720541217.393409383]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720541217.394328557]: Shutdown request received.[0m
[33m[ WARN] [1720541217.394355353]: Reason given for shutdown: [user request][0m
killed
