/SLAM-Hive/slam_hive_results/mapping_results/3115/2320_vins-fusion-stereo-imu+MH_01_easy+Image_comb_test-10.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720542823.794034830]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720542823.798262650]: init begins[0m
[31m[ERROR] [1720542823.799593350]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/01dd24e4-3e11-11ef-84f2-0242ac110005/roslaunch-00e97414331e-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://00e97414331e:33513/[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] [1720542824.900211526]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720542824.904147207]: 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] [1720542824.910609697]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720542824.910829875]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720542824.910852680]: ROW: 192 COL: 300 [0m
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
 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] [1720542824.911074899]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720542824.911312736]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720542824.911467722]: 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://00e97414331e:11311/[0m
]2;roscore http://00e97414331e:11311/
[1msetting /run_id to 01dd24e4-3e11-11ef-84f2-0242ac110005[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] [1720542833.952141780]: 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: 316906255.22 
init first imu pose
averge acc 7.915898 -0.433127 -2.692743
init R0 
  0.325749   0.150146   0.933458
         0  -0.987309   0.158808
  0.945456 -0.0517317  -0.321615
[33m[ WARN] [1720542837.257065850]: gyroscope bias initial calibration -0.00299169   0.0217491   0.0778114[0m
[0m[ INFO] [1720542837.304113683]: Initialization finish![0m
time: 1403636581.863555, t: 0.016114 0.005664 -0.067504 q: 0.004381 0.786639 0.010489 0.617308 
time: 1403636582.063555, t: 0.019993 -0.000296 -0.183438 q: 0.038026 0.792558 -0.022522 0.608193 
time: 1403636582.263556, t: 0.007796 -0.005047 -0.222201 q: -0.000926 0.818785 0.009586 0.574020 
time: 1403636582.463556, t: 0.010406 -0.003382 -0.146609 q: -0.047975 0.815416 0.040369 0.575470 
time: 1403636582.663555, t: 0.005834 -0.002956 -0.015827 q: -0.027602 0.807368 0.031451 0.588563 
time: 1403636582.863555, t: 0.009128 -0.007354 0.117340 q: -0.018313 0.798892 0.015214 0.601004 
time: 1403636583.063555, t: 0.005531 -0.011969 0.208283 q: -0.012312 0.780202 0.006968 0.625367 
time: 1403636583.263556, t: 0.005956 -0.013658 0.182654 q: -0.001319 0.779181 0.006249 0.626766 
time: 1403636583.463556, t: 0.013009 -0.019279 0.072667 q: 0.001123 0.782990 0.006217 0.622002 
time: 1403636583.663555, t: 0.017921 -0.025513 -0.063243 q: 0.006029 0.795700 0.005804 0.605634 
time: 1403636583.863555, t: 0.018047 -0.028351 -0.177726 q: -0.002510 0.819590 -0.000374 0.572945 
time: 1403636584.063555, t: 0.008432 -0.027401 -0.228396 q: 0.004475 0.825340 0.005793 0.564588 
time: 1403636584.263556, t: 0.009042 -0.023762 -0.177164 q: 0.000733 0.824333 0.009618 0.566023 
time: 1403636584.463556, t: 0.015258 -0.020228 -0.056596 q: 0.010786 0.819198 0.011603 0.573292 
time: 1403636584.663555, t: 0.020019 -0.017393 0.088025 q: 0.017581 0.800727 0.003625 0.598760 
time: 1403636584.863555, t: 0.017358 -0.010837 0.203468 q: 0.024352 0.778811 -0.006094 0.626757 
time: 1403636585.063555, t: 0.014907 -0.007289 0.233328 q: 0.025775 0.775242 -0.016656 0.630918 
time: 1403636585.263556, t: 0.019714 -0.011723 0.166598 q: 0.046962 0.782041 -0.030432 0.620710 
time: 1403636585.463556, t: 0.025583 -0.026310 0.061659 q: 0.054761 0.790554 -0.022720 0.609516 
time: 1403636585.663555, t: 0.014926 -0.034858 -0.026069 q: 0.029086 0.806395 -0.003553 0.590650 
time: 1403636585.863555, t: -0.004519 -0.037674 -0.061126 q: -0.000330 0.825894 0.001679 0.563822 
time: 1403636586.063555, t: -0.020540 -0.036543 -0.063333 q: 0.002905 0.850837 -0.010676 0.525314 
time: 1403636586.263556, t: -0.031520 -0.029307 -0.056351 q: 0.011802 0.872146 -0.027063 0.488353 
time: 1403636586.463556, t: -0.052371 -0.028936 -0.052926 q: 0.004469 0.895980 -0.029765 0.443074 
time: 1403636586.663555, t: -0.067430 -0.042243 -0.045077 q: -0.008186 0.908098 -0.015084 0.418405 
time: 1403636586.863555, t: -0.063785 -0.060146 -0.039632 q: -0.017448 0.903869 -0.007200 0.427393 
time: 1403636587.063555, t: -0.054439 -0.064199 -0.039732 q: -0.020652 0.902635 0.004558 0.429886 
time: 1403636587.263556, t: -0.041979 -0.077143 -0.039384 q: -0.021400 0.906348 0.010198 0.421867 
time: 1403636587.463556, t: -0.023999 -0.116957 -0.041881 q: -0.022692 0.907973 0.005070 0.418384 
time: 1403636587.663555, t: -0.007787 -0.181523 -0.042094 q: -0.021804 0.907773 -0.005585 0.418857 
time: 1403636587.863555, t: 0.006872 -0.255184 -0.040148 q: -0.013959 0.903075 -0.023193 0.428629 
time: 1403636588.063555, t: 0.014396 -0.320681 -0.047477 q: -0.002389 0.909420 -0.036369 0.414279 
time: 1403636588.263556, t: 0.018152 -0.358872 -0.058229 q: -0.003490 0.911463 -0.036866 0.409713 
time: 1403636588.463556, t: 0.021566 -0.364152 -0.063761 q: -0.012489 0.909232 -0.036283 0.414519 
time: 1403636588.663555, t: 0.014901 -0.338394 -0.058054 q: -0.012620 0.909147 -0.035028 0.414807 
time: 1403636588.863555, t: 0.000895 -0.284286 -0.055745 q: -0.020104 0.911136 -0.028199 0.410648 
time: 1403636589.063555, t: -0.014469 -0.207697 -0.048953 q: -0.028730 0.909057 -0.018359 0.415275 
time: 1403636589.263556, t: -0.029984 -0.119194 -0.037463 q: -0.034583 0.906349 -0.008442 0.421028 
time: 1403636589.463556, t: -0.044618 -0.025517 -0.034007 q: -0.037492 0.908734 0.003126 0.415677 
time: 1403636589.663555, t: -0.060576 0.067451 -0.035880 q: -0.039708 0.906597 0.008859 0.420032 
time: 1403636589.863555, t: -0.074846 0.153283 -0.041133 q: -0.048192 0.908312 0.019171 0.415065 
time: 1403636590.063555, t: -0.089425 0.216147 -0.044922 q: -0.063063 0.908175 0.030893 0.412658 
time: 1403636590.263556, t: -0.095162 0.237202 -0.040704 q: -0.068975 0.903546 0.036995 0.421282 
time: 1403636590.463556, t: -0.101282 0.207748 -0.033634 q: -0.062113 0.904807 0.035242 0.419790 
time: 1403636590.663555, t: -0.100009 0.140559 -0.027067 q: -0.051646 0.903200 0.029366 0.425089 
time: 1403636590.863555, t: -0.089604 0.055849 -0.029305 q: -0.048131 0.906949 0.019982 0.418004 
time: 1403636591.063555, t: -0.072932 -0.036345 -0.036152 q: -0.047794 0.908331 0.016393 0.415190 
time: 1403636591.263556, t: -0.054463 -0.119026 -0.042979 q: -0.049581 0.909000 0.012065 0.413660 
time: 1403636591.463556, t: -0.037077 -0.174194 -0.057897 q: -0.044457 0.910899 0.003514 0.410212 
time: 1403636591.663555, t: -0.019290 -0.205225 -0.073112 q: -0.026669 0.902702 -0.012714 0.429250 
time: 1403636591.863555, t: -0.006102 -0.217530 -0.075469 q: -0.008253 0.884302 -0.025569 0.466142 
time: 1403636592.063555, t: 0.012059 -0.232928 -0.074806 q: 0.000285 0.884333 -0.046788 0.464506 
time: 1403636592.263556, t: 0.052149 -0.255926 -0.078373 q: 0.007035 0.891228 -0.064874 0.448837 
time: 1403636592.463556, t: 0.110164 -0.258533 -0.079220 q: -0.004430 0.896246 -0.060444 0.439398 
time: 1403636592.663555, t: 0.174668 -0.222632 -0.077240 q: -0.021663 0.889838 -0.029429 0.454812 
time: 1403636592.863555, t: 0.219571 -0.146578 -0.078183 q: -0.052619 0.888602 0.012591 0.455477 
time: 1403636593.063555, t: 0.206628 -0.040500 -0.079320 q: -0.089464 0.890181 0.058297 0.442917 
time: 1403636593.263556, t: 0.138718 0.073532 -0.076557 q: -0.124060 0.887014 0.091542 0.435241 
time: 1403636593.463556, t: 0.043947 0.142137 -0.078049 q: -0.131757 0.889063 0.102156 0.426345 
time: 1403636593.663555, t: -0.048876 0.139173 -0.092287 q: -0.119859 0.897557 0.079414 0.416795 
time: 1403636593.863555, t: -0.116766 0.073290 -0.108288 q: -0.086035 0.906321 0.022310 0.413137 
time: 1403636594.063555, t: -0.152022 -0.028060 -0.110032 q: -0.036413 0.899690 -0.046855 0.432477 
time: 1403636594.263556, t: -0.139168 -0.137858 -0.108593 q: 0.000500 0.896687 -0.096447 0.432031 
time: 1403636594.463556, t: -0.056702 -0.239571 -0.109769 q: 0.027613 0.892537 -0.108410 0.436878 
time: 1403636594.663555, t: 0.040756 -0.298300 -0.106652 q: 0.027163 0.883552 -0.106535 0.455246 
time: 1403636595.063555, t: 0.160524 -0.128196 -0.116873 q: -0.029104 0.881707 -0.014106 0.470687 
time: 1403636595.263556, t: 0.142897 0.019937 -0.121070 q: -0.078213 0.883725 0.047123 0.459012 
time: 1403636595.463556, t: 0.103415 0.100887 -0.123345 q: -0.105487 0.883818 0.080435 0.448630 
time: 1403636595.663555, t: 0.015354 0.060369 -0.123520 q: -0.101337 0.887866 0.081639 0.441316 
time: 1403636595.863555, t: -0.026355 -0.034895 -0.143405 q: -0.065105 0.892515 0.051516 0.443310 
time: 1403636596.063555, t: -0.078494 -0.140998 -0.155272 q: -0.024180 0.897930 0.001386 0.439471 
time: 1403636596.263556, t: -0.144934 -0.161831 -0.153063 q: -0.009424 0.898887 -0.030598 0.437009 
time: 1403636596.463556, t: -0.220840 -0.100171 -0.123969 q: -0.008236 0.894548 -0.032973 0.445677 
time: 1403636596.663555, t: -0.283687 -0.043236 -0.111451 q: -0.006543 0.892862 -0.023602 0.449665 
time: 1403636596.863555, t: -0.285493 -0.016278 -0.110778 q: -0.003485 0.890870 -0.014999 0.453997 
time: 1403636597.063555, t: -0.203461 -0.033409 -0.116677 q: 0.003393 0.892953 -0.011035 0.450001 
time: 1403636597.263556, t: -0.076290 -0.059222 -0.116317 q: -0.009345 0.899410 0.006412 0.436959 
time: 1403636597.663555, t: 0.138090 -0.044053 -0.104180 q: -0.057218 0.886075 0.073184 0.454139 
time: 1403636597.863555, t: 0.125686 0.008546 -0.109841 q: -0.079716 0.875421 0.099133 0.466323 
time: 1403636598.063555, t: 0.046302 0.026590 -0.118195 q: -0.080935 0.875851 0.115149 0.461601 
time: 1403636598.263556, t: -0.043332 0.016832 -0.133958 q: -0.071691 0.891500 0.113651 0.432634 
time: 1403636598.463556, t: -0.067412 -0.006090 -0.162112 q: -0.055496 0.898735 0.109387 0.420987 
time: 1403636598.663555, t: -0.013365 -0.020586 -0.190134 q: -0.064738 0.887557 0.114436 0.441539 
time: 1403636598.863555, t: 0.052234 -0.030758 -0.227703 q: -0.089323 0.864264 0.123477 0.479398 
time: 1403636599.063555, t: 0.106159 -0.036250 -0.272465 q: -0.096683 0.845676 0.122097 0.510468 
time: 1403636599.263556, t: 0.136768 -0.038290 -0.298049 q: -0.112737 0.815679 0.118186 0.554969 
time: 1403636599.463556, t: 0.156493 -0.038495 -0.318081 q: -0.108587 0.798633 0.110814 0.581476 
time: 1403636599.663555, t: 0.166796 -0.039631 -0.336701 q: -0.099421 0.806525 0.100358 0.574074 
time: 1403636599.863555, t: 0.166247 -0.043382 -0.341377 q: -0.102623 0.791838 0.097679 0.594070 
time: 1403636600.063555, t: 0.164290 -0.046526 -0.342566 q: -0.106564 0.791876 0.092324 0.594182 
time: 1403636600.263556, t: 0.164453 -0.048258 -0.342835 q: -0.109179 0.790091 0.091156 0.596260 
time: 1403636600.463556, t: 0.164232 -0.048676 -0.342996 q: -0.110133 0.790274 0.090349 0.595965 
time: 1403636600.663555, t: 0.163841 -0.049163 -0.342382 q: -0.109404 0.790415 0.090346 0.595914 
time: 1403636600.863555, t: 0.164058 -0.049764 -0.341935 q: -0.109538 0.790563 0.090422 0.595681 
time: 1403636601.063555, t: 0.163822 -0.050128 -0.341843 q: -0.109316 0.790678 0.090384 0.595575 
time: 1403636601.263556, t: 0.163750 -0.050190 -0.341845 q: -0.109044 0.790791 0.090252 0.595495 
time: 1403636601.463556, t: 0.163779 -0.050275 -0.341908 q: -0.108668 0.790878 0.090138 0.595464 
time: 1403636601.663555, t: 0.163837 -0.050386 -0.342006 q: -0.108286 0.790886 0.089997 0.595546 
time: 1403636601.863555, t: 0.163850 -0.050442 -0.342061 q: -0.108115 0.790950 0.089919 0.595503 
time: 1403636602.063555, t: 0.163819 -0.050540 -0.342081 q: -0.107719 0.791056 0.089872 0.595441 
time: 1403636602.263556, t: 0.163813 -0.050572 -0.342063 q: -0.107391 0.791134 0.089836 0.595403 
time: 1403636602.463556, t: 0.163812 -0.050606 -0.342096 q: -0.107378 0.791175 0.089642 0.595379 
time: 1403636602.663555, t: 0.163792 -0.050629 -0.342078 q: -0.107131 0.791281 0.089560 0.595296 
time: 1403636602.863555, t: 0.163771 -0.050650 -0.342098 q: -0.106946 0.791318 0.089431 0.595299 
time: 1403636603.063555, t: 0.163756 -0.050683 -0.342108 q: -0.106737 0.791371 0.089362 0.595276 
time: 1403636603.263556, t: 0.163753 -0.050733 -0.342120 q: -0.106522 0.791440 0.089291 0.595234 
time: 1403636603.463556, t: 0.163738 -0.050760 -0.342126 q: -0.106306 0.791470 0.089246 0.595239 
time: 1403636603.663555, t: 0.163747 -0.050783 -0.342130 q: -0.106102 0.791576 0.089181 0.595145 
time: 1403636603.863555, t: 0.163741 -0.050823 -0.342137 q: -0.105981 0.791599 0.089079 0.595151 
time: 1403636604.063555, t: 0.163731 -0.050868 -0.342174 q: -0.105812 0.791665 0.089030 0.595100 
time: 1403636604.263556, t: 0.163690 -0.050890 -0.342149 q: -0.105683 0.791710 0.088925 0.595079 
time: 1403636604.463556, t: 0.163711 -0.050934 -0.342182 q: -0.105560 0.791770 0.088945 0.595018 
time: 1403636604.663555, t: 0.163704 -0.051042 -0.342147 q: -0.105465 0.791773 0.089055 0.595014 
time: 1403636604.863555, t: 0.163685 -0.051056 -0.342123 q: -0.105300 0.791834 0.088957 0.594977 
time: 1403636605.063555, t: 0.163689 -0.051079 -0.342121 q: -0.105215 0.791926 0.088868 0.594883 
time: 1403636605.263556, t: 0.163685 -0.051091 -0.342135 q: -0.105071 0.791937 0.088754 0.594910 
time: 1403636605.463556, t: 0.163686 -0.051112 -0.342136 q: -0.104967 0.791998 0.088663 0.594862 
time: 1403636605.663555, t: 0.163690 -0.051133 -0.342141 q: -0.104824 0.792057 0.088598 0.594818 
time: 1403636605.863555, t: 0.163158 -0.051045 -0.341959 q: -0.104579 0.792075 0.088561 0.594843 
time: 1403636606.063555, t: 0.163441 -0.051013 -0.341868 q: -0.104489 0.792129 0.088637 0.594774 
time: 1403636606.263556, t: 0.163423 -0.051012 -0.341860 q: -0.104323 0.792168 0.088533 0.594768 
time: 1403636606.463556, t: 0.163411 -0.051018 -0.341866 q: -0.104203 0.792206 0.088406 0.594757 
time: 1403636606.663555, t: 0.163411 -0.051016 -0.341877 q: -0.104042 0.792221 0.088306 0.594780 
time: 1403636606.863555, t: 0.163417 -0.051032 -0.341871 q: -0.103952 0.792280 0.088266 0.594724 
time: 1403636607.063555, t: 0.163410 -0.051038 -0.341865 q: -0.103780 0.792340 0.088161 0.594689 
time: 1403636607.263556, t: 0.163409 -0.051048 -0.341860 q: -0.103623 0.792395 0.088068 0.594656 
time: 1403636607.463556, t: 0.163409 -0.051059 -0.341858 q: -0.103536 0.792436 0.088013 0.594626 
time: 1403636607.663555, t: 0.163396 -0.051056 -0.341850 q: -0.103323 0.792484 0.087916 0.594612 
time: 1403636608.263556, t: 0.163382 -0.051070 -0.341862 q: -0.103141 0.792569 0.087680 0.594566 
time: 1403636608.463556, t: 0.163382 -0.051072 -0.341858 q: -0.103041 0.792593 0.087662 0.594553 
time: 1403636608.663555, t: 0.163381 -0.051061 -0.341864 q: -0.102869 0.792603 0.087579 0.594582 
time: 1403636608.863555, t: 0.163369 -0.051071 -0.341853 q: -0.102762 0.792659 0.087525 0.594534 
time: 1403636609.063555, t: 0.163370 -0.051080 -0.341853 q: -0.102727 0.792675 0.087491 0.594524 
time: 1403636609.263556, t: 0.163376 -0.051086 -0.341870 q: -0.102705 0.792668 0.087421 0.594547 
time: 1403636609.463556, t: 0.163362 -0.051091 -0.341857 q: -0.102601 0.792724 0.087378 0.594497 
time: 1403636609.663555, t: 0.163356 -0.051090 -0.341877 q: -0.102579 0.792757 0.087267 0.594473 
time: 1403636609.863555, t: 0.163351 -0.051103 -0.341859 q: -0.102469 0.792759 0.087250 0.594491 
time: 1403636610.463556, t: 0.163339 -0.051105 -0.341866 q: -0.102360 0.792820 0.087074 0.594455 
time: 1403636610.663555, t: 0.163483 -0.051086 -0.341988 q: -0.102094 0.792867 0.087024 0.594446 
time: 1403636610.863555, t: 0.163443 -0.051123 -0.341949 q: -0.102274 0.793009 0.087167 0.594205 
time: 1403636611.063555, t: 0.163435 -0.051112 -0.341848 q: -0.102019 0.792976 0.087177 0.594291 
time: 1403636611.263556, t: 0.163797 -0.051193 -0.341987 q: -0.102115 0.792956 0.087063 0.594317 
time: 1403636611.463556, t: 0.163743 -0.051353 -0.342153 q: -0.103012 0.793145 0.086413 0.594006 
time: 1403636611.663555, t: 0.163713 -0.051398 -0.342063 q: -0.102398 0.793033 0.086626 0.594230 
time: 1403636611.863555, t: 0.163641 -0.051547 -0.341926 q: -0.101670 0.792789 0.086906 0.594640 
time: 1403636612.063555, t: 0.163700 -0.051504 -0.341942 q: -0.101864 0.793047 0.087086 0.594235 
time: 1403636612.263556, t: 0.163584 -0.051719 -0.341796 q: -0.100379 0.792725 0.088196 0.594754 
time: 1403636612.463556, t: 0.163558 -0.051657 -0.341869 q: -0.101189 0.792862 0.087781 0.594496 
time: 1403636612.663555, t: 0.163584 -0.051651 -0.341932 q: -0.101543 0.792865 0.087430 0.594484 
time: 1403636612.863555, t: 0.163647 -0.051635 -0.342026 q: -0.102151 0.792834 0.087130 0.594465 
time: 1403636613.063555, t: 0.163747 -0.051605 -0.342188 q: -0.102506 0.792784 0.086707 0.594532 
time: 1403636613.263556, t: 0.163750 -0.051618 -0.342263 q: -0.102457 0.792780 0.086659 0.594553 
time: 1403636613.463556, t: 0.163811 -0.051651 -0.342261 q: -0.102485 0.792746 0.086717 0.594585 
time: 1403636613.663555, t: 0.163854 -0.051698 -0.342268 q: -0.102418 0.792812 0.086703 0.594510 
time: 1403636613.863555, t: 0.163873 -0.051715 -0.342259 q: -0.102212 0.792836 0.086715 0.594512 
time: 1403636614.063555, t: 0.163906 -0.051746 -0.342275 q: -0.102144 0.792836 0.086735 0.594520 
time: 1403636614.263556, t: 0.163874 -0.051764 -0.342247 q: -0.102010 0.792882 0.086663 0.594492 
time: 1403636614.463556, t: 0.163885 -0.051783 -0.342259 q: -0.101901 0.792852 0.086660 0.594553 
time: 1403636614.663555, t: 0.163886 -0.051769 -0.342240 q: -0.101890 0.792910 0.086595 0.594486 
time: 1403636614.863555, t: 0.163899 -0.051756 -0.342249 q: -0.101827 0.792953 0.086534 0.594447 
time: 1403636615.063555, t: 0.163893 -0.051736 -0.342255 q: -0.101779 0.792918 0.086431 0.594518 
time: 1403636615.263556, t: 0.163893 -0.051730 -0.342236 q: -0.101696 0.792916 0.086440 0.594533 
time: 1403636615.463556, t: 0.163892 -0.051722 -0.342239 q: -0.101544 0.792965 0.086372 0.594505 
time: 1403636615.663555, t: 0.163883 -0.051706 -0.342226 q: -0.101477 0.793000 0.086306 0.594479 
time: 1403636615.863555, t: 0.163894 -0.051703 -0.342231 q: -0.101417 0.793037 0.086245 0.594448 
time: 1403636616.063555, t: 0.163897 -0.051711 -0.342236 q: -0.101301 0.793059 0.086241 0.594439 
time: 1403636616.263556, t: 0.163882 -0.051686 -0.342231 q: -0.101150 0.793044 0.086195 0.594492 
time: 1403636616.463556, t: 0.163896 -0.051702 -0.342237 q: -0.101144 0.793056 0.086157 0.594483 
time: 1403636616.663555, t: 0.163895 -0.051696 -0.342234 q: -0.101062 0.793080 0.086091 0.594474 
time: 1403636616.863555, t: 0.163914 -0.051714 -0.342236 q: -0.101075 0.793102 0.086052 0.594448 
time: 1403636617.063555, t: 0.163903 -0.051704 -0.342248 q: -0.100991 0.793087 0.086002 0.594490 
time: 1403636617.263556, t: 0.163908 -0.051704 -0.342245 q: -0.100932 0.793111 0.086018 0.594465 
time: 1403636617.463556, t: 0.163905 -0.051694 -0.342232 q: -0.100867 0.793143 0.085968 0.594440 
time: 1403636617.663555, t: 0.163910 -0.051702 -0.342243 q: -0.100841 0.793165 0.085876 0.594429 
time: 1403636617.863555, t: 0.163902 -0.051690 -0.342241 q: -0.100760 0.793159 0.085829 0.594458 
time: 1403636618.063555, t: 0.163914 -0.051685 -0.342242 q: -0.100704 0.793179 0.085782 0.594447 
time: 1403636618.263556, t: 0.163900 -0.051689 -0.342241 q: -0.100613 0.793174 0.085809 0.594466 
time: 1403636618.463556, t: 0.163908 -0.051687 -0.342251 q: -0.100568 0.793170 0.085747 0.594488 
time: 1403636618.663555, t: 0.163586 -0.051605 -0.342127 q: -0.100597 0.793144 0.085823 0.594506 
time: 1403636618.863555, t: 0.163725 -0.051677 -0.342212 q: -0.100834 0.793168 0.085689 0.594453 
time: 1403636619.063555, t: 0.163667 -0.051651 -0.342164 q: -0.100944 0.793229 0.085808 0.594336 
time: 1403636619.263556, t: 0.163685 -0.051725 -0.342237 q: -0.100690 0.793280 0.085215 0.594397 
time: 1403636619.463556, t: 0.163660 -0.051699 -0.342211 q: -0.101021 0.793247 0.085545 0.594336 
time: 1403636619.663555, t: 0.163522 -0.051726 -0.342185 q: -0.100708 0.793273 0.085436 0.594371 
time: 1403636619.863555, t: 0.163550 -0.051751 -0.342181 q: -0.100877 0.793287 0.085320 0.594341 
time: 1403636620.063555, t: 0.163536 -0.051758 -0.342181 q: -0.100828 0.793293 0.085416 0.594326 
time: 1403636620.263556, t: 0.163560 -0.051773 -0.342143 q: -0.100833 0.793332 0.085510 0.594261 
time: 1403636620.463556, t: 0.163531 -0.051756 -0.342154 q: -0.100719 0.793278 0.085490 0.594355 
time: 1403636620.663555, t: 0.163553 -0.051780 -0.342138 q: -0.100763 0.793336 0.085454 0.594275 
time: 1403636620.863555, t: 0.163539 -0.051774 -0.342156 q: -0.100817 0.793285 0.085445 0.594335 
time: 1403636621.063555, t: 0.163487 -0.051832 -0.342087 q: -0.100277 0.793236 0.085645 0.594463 
time: 1403636621.263556, t: 0.163551 -0.051825 -0.342128 q: -0.100557 0.793211 0.085617 0.594453 
time: 1403636621.463556, t: 0.163582 -0.051836 -0.342183 q: -0.100695 0.793177 0.085582 0.594480 
time: 1403636621.663555, t: 0.163629 -0.051873 -0.342192 q: -0.100449 0.793268 0.085558 0.594404 
time: 1403636621.863555, t: 0.163585 -0.051866 -0.342247 q: -0.100576 0.793231 0.085475 0.594443 
time: 1403636622.063555, t: 0.163624 -0.051823 -0.342244 q: -0.100621 0.793199 0.085438 0.594483 
time: 1403636622.263556, t: 0.163619 -0.051814 -0.342142 q: -0.100617 0.793270 0.085551 0.594373 
wait for imu ... 
time: 1403636622.463556, t: 0.163597 -0.051823 -0.342129 q: -0.100561 0.793346 0.085463 0.594294 
time: 1403636622.863555, t: 0.163605 -0.051841 -0.342145 q: -0.100581 0.793157 0.085258 0.594572 
wait for imu ... 
time: 1403636623.063555, t: 0.163599 -0.051884 -0.342121 q: -0.100477 0.792960 0.085129 0.594871 
time: 1403636623.263556, t: 0.163626 -0.051901 -0.342095 q: -0.100730 0.793027 0.085160 0.594735 
time: 1403636623.463556, t: 0.163593 -0.051924 -0.342028 q: -0.100794 0.792993 0.085195 0.594764 
time: 1403636623.663555, t: 0.163430 -0.052789 -0.340975 q: -0.100558 0.793324 0.085155 0.594368 
time: 1403636623.863555, t: 0.165897 -0.054099 -0.339423 q: -0.100234 0.793273 0.084478 0.594588 
time: 1403636624.063555, t: 0.166460 -0.055169 -0.339229 q: -0.099964 0.793376 0.084197 0.594536 
time: 1403636624.263556, t: 0.165044 -0.055804 -0.339005 q: -0.099369 0.794057 0.083422 0.593835 
time: 1403636624.663555, t: 0.149717 -0.074419 -0.340016 q: -0.084621 0.808345 0.081844 0.576818 
time: 1403636624.863555, t: 0.135880 -0.101882 -0.338398 q: -0.066738 0.810357 0.095321 0.574266 
time: 1403636625.063555, t: 0.111599 -0.132101 -0.309818 q: -0.045404 0.823493 0.111839 0.554337 
time: 1403636625.263556, t: 0.095337 -0.143626 -0.255940 q: -0.056176 0.825408 0.106263 0.551593 
time: 1403636625.463556, t: 0.089970 -0.146376 -0.238657 q: -0.061536 0.824386 0.105395 0.552715 
time: 1403636625.663555, t: 0.101772 -0.141643 -0.247209 q: -0.061614 0.824624 0.108261 0.551795 
time: 1403636625.863555, t: 0.126428 -0.126330 -0.194841 q: -0.066819 0.813423 0.107454 0.567743 
time: 1403636626.063555, t: 0.158675 -0.104574 -0.105020 q: -0.074946 0.807683 0.103753 0.575557 
time: 1403636626.263556, t: 0.185280 -0.082857 -0.029095 q: -0.089864 0.807080 0.094114 0.575924 
time: 1403636626.463556, t: 0.208903 -0.080440 0.001430 q: -0.087324 0.805694 0.096739 0.577817 
time: 1403636626.663555, t: 0.212138 -0.106272 0.015239 q: -0.078821 0.796819 0.106144 0.589576 
time: 1403636626.863555, t: 0.210933 -0.129279 -0.000352 q: -0.078947 0.801762 0.110876 0.581938 
time: 1403636627.063555, t: 0.198321 -0.150678 -0.024152 q: -0.076285 0.811526 0.113741 0.568040 
time: 1403636627.463556, t: 0.177694 -0.188505 0.018858 q: -0.081773 0.806229 0.111468 0.575224 
time: 1403636627.663555, t: 0.165222 -0.210954 0.047477 q: -0.075215 0.811578 0.099244 0.570819 
time: 1403636627.863555, t: 0.155445 -0.237926 0.026202 q: -0.057246 0.825921 0.082846 0.554720 
time: 1403636628.063555, t: 0.163767 -0.261322 0.018328 q: -0.042917 0.830678 0.070622 0.550586 
time: 1403636628.263556, t: 0.192550 -0.276510 0.050975 q: -0.045575 0.814333 0.057820 0.575710 
time: 1403636628.463556, t: 0.216834 -0.297036 0.095370 q: -0.053683 0.810812 0.049449 0.580738 
time: 1403636628.663555, t: 0.236711 -0.329290 0.121087 q: -0.058245 0.811793 0.049048 0.578959 
time: 1403636628.863555, t: 0.255780 -0.376413 0.120846 q: -0.041967 0.818041 0.048390 0.571582 
time: 1403636629.063555, t: 0.269293 -0.430219 0.135407 q: -0.030544 0.825523 0.041460 0.562014 
time: 1403636629.263556, t: 0.282266 -0.487749 0.166740 q: -0.019947 0.825044 0.027550 0.564044 
time: 1403636629.463556, t: 0.318058 -0.544247 0.176932 q: -0.020804 0.819304 0.007585 0.572931 
time: 1403636629.663555, t: 0.350177 -0.614845 0.157883 q: -0.006385 0.823249 -0.019653 0.567304 
time: 1403636629.863555, t: 0.398464 -0.692622 0.120939 q: 0.022290 0.830952 -0.050791 0.553572 
time: 1403636630.063555, t: 0.463655 -0.771872 0.084177 q: 0.042023 0.829592 -0.075858 0.551595 
time: 1403636630.263556, t: 0.546065 -0.847291 0.078562 q: 0.051395 0.814854 -0.085983 0.570945 
time: 1403636630.463556, t: 0.623296 -0.928341 0.092226 q: 0.054388 0.815559 -0.086346 0.569604 
time: 1403636630.663555, t: 0.735498 -0.990890 0.120017 q: 0.055090 0.819957 -0.074491 0.564877 
time: 1403636630.863555, t: 0.826937 -1.067430 0.135467 q: 0.047980 0.821153 -0.071233 0.564209 
time: 1403636631.063555, t: 0.939777 -1.132656 0.127914 q: 0.039787 0.820537 -0.069913 0.565905 
time: 1403636631.263556, t: 1.038448 -1.199125 0.111269 q: 0.038892 0.816597 -0.068516 0.571806 
time: 1403636631.463556, t: 1.128075 -1.268909 0.086110 q: 0.039000 0.816482 -0.067207 0.572119 
time: 1403636631.663555, t: 1.214648 -1.333673 0.050570 q: 0.041869 0.817188 -0.063048 0.571381 
time: 1403636631.863555, t: 1.300463 -1.390331 0.033660 q: 0.043633 0.817786 -0.060223 0.570697 
time: 1403636632.063555, t: 1.387596 -1.439239 0.036140 q: 0.046151 0.817348 -0.059654 0.571186 
time: 1403636632.263556, t: 1.470785 -1.474885 0.038926 q: 0.052276 0.815093 -0.058320 0.574012 
time: 1403636632.463556, t: 1.546767 -1.501631 0.020169 q: 0.049812 0.816780 -0.063367 0.571291 
time: 1403636632.663555, t: 1.622413 -1.521605 -0.016363 q: 0.026049 0.827227 -0.063950 0.557609 
time: 1403636632.863555, t: 1.713602 -1.543792 -0.045747 q: 0.003672 0.828522 -0.029859 0.559148 
time: 1403636633.063555, t: 1.813109 -1.573398 -0.047015 q: -0.006602 0.822761 0.013795 0.568182 
time: 1403636633.263556, t: 1.914043 -1.599455 -0.052607 q: -0.017414 0.822299 0.032604 0.567853 
time: 1403636633.463556, t: 2.018309 -1.621866 -0.079137 q: -0.028255 0.826325 0.032214 0.561560 
time: 1403636633.663555, t: 2.134288 -1.643973 -0.114465 q: -0.027788 0.830398 0.027776 0.555784 
time: 1403636633.863555, t: 2.264592 -1.669855 -0.127770 q: -0.026611 0.829335 0.020966 0.557724 
time: 1403636634.063555, t: 2.405869 -1.697386 -0.126837 q: -0.034059 0.826834 0.008038 0.561356 
time: 1403636634.263556, t: 2.554916 -1.734907 -0.118702 q: -0.028200 0.828343 0.014877 0.559313 
time: 1403636634.463556, t: 2.716406 -1.779364 -0.100133 q: -0.020931 0.819658 0.024659 0.571939 
time: 1403636634.663555, t: 2.873822 -1.822650 -0.106297 q: -0.021737 0.815019 0.034060 0.578024 
time: 1403636634.863555, t: 3.022295 -1.859630 -0.116706 q: -0.028772 0.817778 0.048020 0.572805 
time: 1403636635.063555, t: 3.165191 -1.890126 -0.106332 q: -0.034130 0.820596 0.059750 0.567352 
time: 1403636635.263556, t: 3.297805 -1.919133 -0.103088 q: -0.039830 0.823084 0.064423 0.562846 
time: 1403636635.463556, t: 3.432889 -1.947127 -0.112166 q: -0.049654 0.825482 0.061270 0.558892 
time: 1403636635.663555, t: 3.575541 -1.976695 -0.097493 q: -0.054452 0.825082 0.057335 0.559453 
time: 1403636635.863555, t: 3.730252 -2.010596 -0.059770 q: -0.062373 0.819131 0.049271 0.568073 
time: 1403636636.063555, t: 3.889529 -2.057900 -0.007980 q: -0.058723 0.827097 0.049614 0.556777 
time: 1403636636.263556, t: 4.053610 -2.113025 0.049060 q: -0.044802 0.820808 0.059772 0.566298 
time: 1403636636.463556, t: 4.223758 -2.165094 0.114756 q: -0.042057 0.804370 0.062482 0.589335 
time: 1403636636.663555, t: 4.371028 -2.215406 0.158392 q: -0.028903 0.801137 0.072022 0.593428 
time: 1403636636.863555, t: 4.490477 -2.256672 0.167184 q: -0.014347 0.801566 0.083366 0.591891 
time: 1403636637.063555, t: 4.597255 -2.270841 0.149266 q: -0.034532 0.808027 0.072509 0.583646 
time: 1403636637.263556, t: 4.685885 -2.281131 0.115568 q: -0.043796 0.816132 0.068975 0.572061 
time: 1403636637.463556, t: 4.785755 -2.276455 0.110351 q: -0.044303 0.820205 0.071235 0.565886 
time: 1403636637.663555, t: 4.876770 -2.267777 0.128908 q: -0.048183 0.821873 0.071163 0.563151 
time: 1403636637.863555, t: 4.975325 -2.258881 0.174555 q: -0.049146 0.818193 0.073364 0.568123 
time: 1403636638.063555, t: 5.080187 -2.238715 0.221998 q: -0.050795 0.813493 0.074048 0.574600 
time: 1403636638.263556, t: 5.176870 -2.225586 0.213267 q: -0.052140 0.810703 0.074730 0.578322 
time: 1403636638.463556, t: 5.261903 -2.213929 0.175530 q: -0.064771 0.827097 0.066840 0.554299 
time: 1403636638.663555, t: 5.349171 -2.214094 0.139516 q: -0.063594 0.834521 0.069071 0.542918 
time: 1403636638.863555, t: 5.468020 -2.220893 0.150056 q: -0.058228 0.824630 0.074037 0.557775 
time: 1403636639.063555, t: 5.591537 -2.228688 0.177707 q: -0.072468 0.821154 0.065213 0.562318 
time: 1403636639.263556, t: 5.729210 -2.244335 0.177067 q: -0.083805 0.822478 0.057559 0.559637 
time: 1403636639.463556, t: 5.881619 -2.277938 0.139039 q: -0.063408 0.822726 0.072115 0.560268 
time: 1403636639.663555, t: 6.032200 -2.327518 0.081383 q: -0.046542 0.816826 0.085904 0.568550 
time: 1403636639.863555, t: 6.179534 -2.369650 0.040888 q: -0.055895 0.810662 0.080748 0.577220 
time: 1403636640.063555, t: 6.320282 -2.406829 0.030834 q: -0.060503 0.809302 0.082548 0.578408 
time: 1403636640.263556, t: 6.448168 -2.440522 0.052765 q: -0.067610 0.807788 0.099361 0.577091 
time: 1403636640.463556, t: 6.567317 -2.469838 0.069482 q: -0.073311 0.806777 0.109622 0.575950 
time: 1403636640.663555, t: 6.676770 -2.499659 0.061640 q: -0.076837 0.806516 0.114769 0.574854 
time: 1403636640.863555, t: 6.769733 -2.529183 0.045087 q: -0.078158 0.809057 0.117985 0.570436 
time: 1403636641.063555, t: 6.931015 -2.526901 0.073934 q: -0.074895 0.810723 0.116433 0.568825 
time: 1403636641.263556, t: 6.943990 -2.564990 0.041743 q: -0.078465 0.807644 0.116830 0.572630 
time: 1403636641.463556, t: 7.014653 -2.583831 0.009178 q: -0.088205 0.809000 0.108720 0.570893 
time: 1403636641.663555, t: 7.080273 -2.606206 -0.018195 q: -0.081384 0.808874 0.112431 0.571366 
time: 1403636641.863555, t: 7.140625 -2.631011 -0.016305 q: -0.078868 0.807620 0.113415 0.573295 
time: 1403636642.063555, t: 7.204242 -2.649963 0.006836 q: -0.072142 0.807460 0.101840 0.576570 
time: 1403636642.263556, t: 7.260592 -2.668648 0.029379 q: -0.062940 0.807347 0.089475 0.579848 
time: 1403636642.463556, t: 7.299909 -2.690393 0.025404 q: -0.054069 0.807770 0.073677 0.582371 
time: 1403636642.663555, t: 7.332568 -2.709060 -0.003672 q: -0.047821 0.816057 0.064699 0.572345 
time: 1403636642.863555, t: 7.359080 -2.729187 -0.034275 q: -0.046238 0.823228 0.060946 0.562534 
time: 1403636643.063555, t: 7.387480 -2.751470 -0.032698 q: -0.047632 0.822169 0.059871 0.564078 
time: 1403636643.263556, t: 7.419021 -2.778834 -0.031030 q: -0.050286 0.815624 0.058466 0.573420 
time: 1403636643.463556, t: 7.457019 -2.807941 -0.036406 q: -0.051209 0.820420 0.059278 0.566369 
time: 1403636643.663555, t: 7.510908 -2.834872 -0.015173 q: -0.050142 0.828305 0.062528 0.554516 
time: 1403636643.863555, t: 7.577465 -2.865199 0.025061 q: -0.047992 0.833778 0.065939 0.546043 
time: 1403636644.063555, t: 7.661340 -2.893423 0.050473 q: -0.046167 0.836667 0.067640 0.541555 
time: 1403636644.263556, t: 7.768753 -2.916959 0.053247 q: -0.053145 0.829798 0.062406 0.552011 
time: 1403636644.463556, t: 7.891591 -2.940924 0.032298 q: -0.070374 0.814991 0.049322 0.573065 
time: 1403636644.663555, t: 8.012565 -2.983030 -0.020583 q: -0.076009 0.809258 0.045045 0.580771 
time: 1403636644.863555, t: 8.123900 -3.047215 -0.098600 q: -0.048276 0.809430 0.062454 0.581886 
time: 1403636645.063555, t: 8.222564 -3.110636 -0.172046 q: -0.044605 0.823727 0.061377 0.561888 
time: 1403636645.263556, t: 8.320331 -3.172441 -0.211533 q: -0.042590 0.843507 0.060086 0.532044 
time: 1403636645.463556, t: 8.454805 -3.223362 -0.227175 q: -0.041569 0.835916 0.058799 0.544113 
time: 1403636645.663555, t: 8.619758 -3.265401 -0.257166 q: -0.039420 0.831614 0.058799 0.550824 
time: 1403636645.863555, t: 8.805587 -3.302075 -0.280764 q: -0.040928 0.830699 0.057333 0.552248 
time: 1403636646.063555, t: 9.003591 -3.338440 -0.260507 q: -0.043048 0.824702 0.043748 0.562227 
time: 1403636646.263556, t: 9.202485 -3.385278 -0.231307 q: -0.029550 0.818485 0.003051 0.573760 
time: 1403636646.463556, t: 9.396845 -3.447798 -0.223425 q: 0.001456 0.807948 -0.043958 0.587611 
time: 1403636646.663555, t: 9.567596 -3.521818 -0.214490 q: 0.033944 0.803294 -0.065661 0.590979 
time: 1403636646.863555, t: 9.717919 -3.597436 -0.172026 q: 0.046679 0.803766 -0.077715 0.587998 
time: 1403636647.063555, t: 9.851073 -3.672749 -0.121550 q: 0.049684 0.807229 -0.080862 0.582559 
time: 1403636647.263556, t: 9.961454 -3.746414 -0.094383 q: 0.049273 0.812245 -0.080725 0.575599 
time: 1403636647.463556, t: 10.072271 -3.820933 -0.079395 q: 0.043178 0.808492 -0.080517 0.581371 
time: 1403636647.663555, t: 10.172270 -3.901601 -0.072829 q: 0.036164 0.800212 -0.082808 0.592871 
time: 1403636647.863555, t: 10.259299 -3.995559 -0.052692 q: 0.044927 0.803535 -0.085601 0.587355 
time: 1403636648.063555, t: 10.324731 -4.094409 -0.058400 q: 0.063886 0.801451 -0.108322 0.584690 
time: 1403636648.263556, t: 10.364041 -4.196006 -0.090760 q: 0.093508 0.794616 -0.150148 0.580773 
time: 1403636648.463556, t: 10.381932 -4.298848 -0.139774 q: 0.126475 0.784776 -0.196101 0.574173 
time: 1403636648.663555, t: 10.384941 -4.398186 -0.183113 q: 0.153573 0.775594 -0.233229 0.566104 
time: 1403636648.863555, t: 10.384531 -4.492885 -0.203511 q: 0.163715 0.782491 -0.251611 0.545525 
time: 1403636649.063555, t: 10.396638 -4.592725 -0.185675 q: 0.167300 0.787085 -0.254676 0.536328 
time: 1403636649.263556, t: 10.428843 -4.700171 -0.134346 q: 0.172713 0.773353 -0.245979 0.558202 
time: 1403636649.463556, t: 10.447545 -4.800836 -0.061703 q: 0.168284 0.778512 -0.240531 0.554748 
time: 1403636649.663555, t: 10.456887 -4.892154 0.035177 q: 0.163330 0.772989 -0.239188 0.564447 
time: 1403636649.863555, t: 10.452246 -4.977985 0.114425 q: 0.173190 0.765686 -0.249793 0.566863 
time: 1403636650.063555, t: 10.438318 -5.055762 0.156508 q: 0.182435 0.761884 -0.256838 0.565938 
time: 1403636650.263556, t: 10.401007 -5.123206 0.161348 q: 0.199519 0.753720 -0.279858 0.560159 
time: 1403636650.463556, t: 10.349027 -5.180369 0.141634 q: 0.226076 0.741638 -0.322185 0.543193 
time: 1403636650.663555, t: 10.287674 -5.223148 0.110951 q: 0.245815 0.732739 -0.357378 0.524356 
time: 1403636650.863555, t: 10.221801 -5.256112 0.088179 q: 0.259042 0.724192 -0.372882 0.519039 
time: 1403636651.063555, t: 10.165094 -5.293562 0.100093 q: 0.267812 0.715571 -0.372729 0.526600 
time: 1403636651.263556, t: 10.108338 -5.325114 0.127220 q: 0.264667 0.718632 -0.370891 0.525318 
time: 1403636651.463556, t: 10.052098 -5.352208 0.162420 q: 0.256887 0.726137 -0.367948 0.520912 
time: 1403636651.663555, t: 9.991481 -5.372566 0.172960 q: 0.255618 0.722895 -0.360713 0.531007 
time: 1403636651.863555, t: 9.925082 -5.384664 0.163900 q: 0.251488 0.712481 -0.371541 0.539519 
time: 1403636652.063555, t: 9.836015 -5.389143 0.134873 q: 0.269805 0.694909 -0.402195 0.531550 
time: 1403636652.263556, t: 9.722251 -5.387509 0.090498 q: 0.307682 0.676515 -0.448132 0.496826 
time: 1403636652.463556, t: 9.598554 -5.372981 0.032146 q: 0.331833 0.655177 -0.498898 0.460141 
time: 1403636652.663555, t: 9.480173 -5.369419 -0.000600 q: 0.339765 0.644723 -0.527907 0.436126 
time: 1403636652.863555, t: 9.375824 -5.394350 0.004524 q: 0.345128 0.641159 -0.535085 0.428353 
time: 1403636653.063555, t: 9.285335 -5.448887 0.036974 q: 0.351695 0.639437 -0.529094 0.433001 
time: 1403636653.263556, t: 9.200538 -5.518895 0.031515 q: 0.359514 0.635019 -0.516958 0.447498 
time: 1403636653.463556, t: 9.118981 -5.583128 0.035524 q: 0.361435 0.636499 -0.506836 0.455358 
time: 1403636653.663555, t: 9.038258 -5.635784 0.067185 q: 0.358906 0.638628 -0.501285 0.460493 
time: 1403636653.863555, t: 8.958549 -5.673305 0.091978 q: 0.362425 0.636952 -0.495750 0.466017 
time: 1403636654.063555, t: 8.879622 -5.691337 0.082124 q: 0.356154 0.636887 -0.500014 0.466385 
time: 1403636654.263556, t: 8.796699 -5.693935 0.064507 q: 0.362590 0.628394 -0.509030 0.463183 
time: 1403636654.463556, t: 8.709116 -5.681829 0.070565 q: 0.376376 0.615129 -0.530773 0.445239 
time: 1403636654.663555, t: 8.624513 -5.662714 0.098946 q: 0.389016 0.596057 -0.558366 0.426157 
time: 1403636654.863555, t: 8.548286 -5.642429 0.111044 q: 0.395957 0.585161 -0.574827 0.412770 
time: 1403636655.063555, t: 8.479196 -5.622863 0.100596 q: -0.409972 -0.572748 0.575264 -0.415876 
time: 1403636655.263556, t: 8.413573 -5.597478 0.078152 q: -0.416740 -0.563328 0.574844 -0.422545 
time: 1403636655.463556, t: 8.342902 -5.553749 0.054925 q: -0.423488 -0.549899 0.584030 -0.420925 
time: 1403636655.663555, t: 8.267120 -5.484328 0.047075 q: -0.421883 -0.538623 0.609122 -0.401085 
time: 1403636655.863555, t: 8.186732 -5.401530 0.008917 q: -0.421789 -0.523667 0.633863 -0.382209 
time: 1403636656.063555, t: 8.095867 -5.320096 -0.052263 q: -0.433844 -0.497915 0.654963 -0.367264 
time: 1403636656.263556, t: 7.992730 -5.242686 -0.075972 q: -0.442951 -0.489259 0.664049 -0.351367 
time: 1403636656.463556, t: 7.885348 -5.178208 -0.057900 q: -0.443416 -0.487564 0.667740 -0.346101 
time: 1403636656.663555, t: 7.779165 -5.138988 -0.016237 q: -0.449051 -0.489064 0.661652 -0.348405 
time: 1403636656.863555, t: 7.668564 -5.104090 0.000959 q: -0.464697 -0.485533 0.646413 -0.361199 
wait for imu ... 
time: 1403636657.063555, t: 7.563507 -5.060073 -0.012931 q: -0.466667 -0.484638 0.640861 -0.369655 
time: 1403636657.263556, t: 7.458665 -4.997464 -0.043452 q: -0.459151 -0.483544 0.643563 -0.375756 
time: 1403636657.463556, t: 7.351827 -4.917813 -0.059112 q: -0.445059 -0.486977 0.653665 -0.370808 
time: 1403636657.663555, t: 7.240596 -4.835378 -0.085314 q: -0.437961 -0.489499 0.659097 -0.366294 
time: 1403636657.863555, t: 7.117668 -4.752897 -0.124826 q: -0.436064 -0.482691 0.664701 -0.367465 
time: 1403636658.063555, t: 6.979745 -4.670735 -0.158525 q: -0.431372 -0.480596 0.671920 -0.362587 
time: 1403636658.263556, t: 6.823851 -4.582872 -0.163632 q: -0.444482 -0.487638 0.666406 -0.347200 
time: 1403636658.463556, t: 6.659050 -4.517106 -0.181206 q: -0.449055 -0.492117 0.664901 -0.337754 
time: 1403636658.663555, t: 6.501568 -4.459964 -0.207560 q: -0.456497 -0.497896 0.660242 -0.328315 
time: 1403636658.863555, t: 6.356849 -4.414796 -0.239877 q: -0.468414 -0.498934 0.651996 -0.326427 
time: 1403636659.063555, t: 6.235606 -4.374125 -0.284753 q: -0.471708 -0.488204 0.649858 -0.341808 
time: 1403636659.263556, t: 6.128262 -4.334225 -0.343492 q: -0.473203 -0.484318 0.648239 -0.348282 
time: 1403636659.463556, t: 6.034462 -4.290416 -0.392355 q: -0.463738 -0.491184 0.654457 -0.339663 
time: 1403636659.863555, t: 5.871852 -4.195335 -0.464843 q: -0.469841 -0.486962 0.653096 -0.339973 
time: 1403636660.063555, t: 5.811608 -4.147400 -0.531344 q: -0.461369 -0.490262 0.661201 -0.331051 
time: 1403636660.263556, t: 5.763855 -4.116865 -0.609987 q: -0.454417 -0.493209 0.667435 -0.323698 
time: 1403636660.463556, t: 5.724147 -4.104433 -0.675369 q: -0.441080 -0.499802 0.677173 -0.311581 
time: 1403636660.663555, t: 5.692843 -4.122839 -0.722398 q: -0.456248 -0.495472 0.666627 -0.319303 
time: 1403636660.863555, t: 5.676619 -4.155477 -0.787180 q: -0.480794 -0.494158 0.648718 -0.322196 
time: 1403636661.063555, t: 5.682519 -4.186977 -0.869277 q: -0.482116 -0.488951 0.647586 -0.330339 
time: 1403636661.263556, t: 5.711120 -4.221498 -0.958593 q: -0.478199 -0.482659 0.650516 -0.339403 
time: 1403636661.463556, t: 5.753269 -4.244824 -1.023633 q: -0.477385 -0.481186 0.650842 -0.342008 
time: 1403636661.663555, t: 5.803629 -4.257926 -1.061044 q: -0.471283 -0.480521 0.654240 -0.344909 
time: 1403636661.863555, t: 5.861383 -4.263265 -1.069716 q: -0.467130 -0.473080 0.656186 -0.356938 
time: 1403636662.063555, t: 5.916905 -4.254601 -1.047371 q: -0.467812 -0.471869 0.655195 -0.359459 
time: 1403636662.263556, t: 5.969599 -4.232492 -1.022706 q: -0.472757 -0.479704 0.652602 -0.347126 
time: 1403636662.463556, t: 6.027125 -4.198761 -1.023450 q: -0.470193 -0.486556 0.656543 -0.333367 
time: 1403636662.663555, t: 6.094549 -4.168514 -1.044292 q: -0.454702 -0.480619 0.669450 -0.337769 
time: 1403636662.863555, t: 6.157148 -4.149251 -1.078370 q: -0.446714 -0.468090 0.676292 -0.352090 
time: 1403636663.063555, t: 6.204120 -4.128566 -1.124970 q: -0.435288 -0.468626 0.685489 -0.347878 
time: 1403636663.263556, t: 6.221287 -4.116900 -1.152490 q: -0.437177 -0.474895 0.685300 -0.337217 
time: 1403636663.463556, t: 6.219414 -4.118164 -1.191300 q: -0.445784 -0.493159 0.679484 -0.310440 
time: 1403636663.663555, t: 6.217726 -4.149200 -1.248590 q: -0.443904 -0.499705 0.680712 -0.299793 
time: 1403636663.863555, t: 6.224631 -4.217777 -1.298417 q: -0.460709 -0.508300 0.666910 -0.290877 
time: 1403636664.063555, t: 6.257081 -4.326481 -1.319691 q: -0.480686 -0.508324 0.650101 -0.296507 
time: 1403636664.263556, t: 6.328205 -4.453273 -1.319297 q: -0.481082 -0.497357 0.646633 -0.321032 
time: 1403636664.463556, t: 6.425791 -4.576962 -1.353407 q: -0.477897 -0.493058 0.644342 -0.336649 
time: 1403636664.663555, t: 6.538176 -4.694396 -1.413228 q: -0.470698 -0.490015 0.643152 -0.353106 
time: 1403636664.863555, t: 6.655361 -4.804133 -1.447522 q: -0.465331 -0.498077 0.641610 -0.351743 
time: 1403636665.063555, t: 6.777850 -4.901845 -1.453832 q: -0.453453 -0.504252 0.646187 -0.350075 
time: 1403636665.263556, t: 6.902604 -4.999045 -1.435743 q: -0.442579 -0.502204 0.651636 -0.356772 
time: 1403636665.463556, t: 7.023537 -5.094680 -1.409502 q: -0.448140 -0.501362 0.647581 -0.358394 
time: 1403636665.663555, t: 7.142793 -5.184715 -1.386493 q: -0.456785 -0.510290 0.643680 -0.341509 
time: 1403636665.863555, t: 7.272244 -5.282192 -1.355876 q: -0.462540 -0.501082 0.642673 -0.349207 
time: 1403636666.063555, t: 7.410057 -5.373410 -1.327686 q: -0.451990 -0.485984 0.652408 -0.365908 
time: 1403636666.263556, t: 7.536761 -5.455197 -1.319403 q: -0.459373 -0.487852 0.648303 -0.361496 
time: 1403636666.463556, t: 7.659539 -5.519267 -1.329431 q: -0.453869 -0.483474 0.651115 -0.369196 
time: 1403636666.663555, t: 7.768706 -5.566735 -1.319161 q: -0.450110 -0.493897 0.651782 -0.358674 
time: 1403636666.863555, t: 7.873269 -5.605850 -1.291144 q: -0.437846 -0.503764 0.658264 -0.348141 
time: 1403636667.063555, t: 7.969358 -5.656510 -1.279885 q: -0.417804 -0.496712 0.670869 -0.358680 
time: 1403636667.263556, t: 8.045239 -5.726252 -1.282052 q: -0.452869 -0.499343 0.646626 -0.356988 
time: 1403636667.463556, t: 8.119377 -5.791169 -1.309650 q: -0.458615 -0.503655 0.641637 -0.352570 
time: 1403636667.663555, t: 8.205809 -5.849183 -1.335142 q: -0.438984 -0.505120 0.655068 -0.350760 
time: 1403636667.863555, t: 8.287342 -5.907918 -1.333224 q: -0.435759 -0.500652 0.658019 -0.355631 
time: 1403636668.063555, t: 8.356205 -5.969274 -1.332362 q: -0.438380 -0.499848 0.658085 -0.353413 
time: 1403636668.263556, t: 8.417309 -6.037464 -1.357697 q: -0.445181 -0.503104 0.656921 -0.342279 
time: 1403636668.463556, t: 8.478616 -6.115212 -1.398777 q: -0.451060 -0.500397 0.657156 -0.338075 
time: 1403636668.663555, t: 8.545842 -6.200542 -1.446286 q: -0.454417 -0.497866 0.658221 -0.335232 
time: 1403636668.863555, t: 8.622548 -6.292815 -1.492585 q: -0.471706 -0.502526 0.647597 -0.324929 
time: 1403636669.063555, t: 8.723665 -6.389791 -1.513632 q: -0.475755 -0.494530 0.645353 -0.335584 
time: 1403636669.263556, t: 8.842805 -6.473814 -1.518198 q: -0.473948 -0.487231 0.647768 -0.344057 
time: 1403636669.463556, t: 8.969295 -6.547028 -1.537777 q: -0.475500 -0.484851 0.647299 -0.346154 
time: 1403636669.663555, t: 9.107662 -6.607659 -1.569809 q: -0.486774 -0.480363 0.637492 -0.354833 
time: 1403636669.863555, t: 9.258330 -6.643249 -1.584896 q: -0.477088 -0.468004 0.641326 -0.376909 
time: 1403636670.063555, t: 9.402714 -6.643781 -1.576034 q: -0.444884 -0.459180 0.661402 -0.392147 
time: 1403636670.263556, t: 9.510313 -6.616030 -1.546629 q: -0.431963 -0.451346 0.660476 -0.416492 
time: 1403636670.463556, t: 9.567857 -6.553662 -1.534491 q: -0.413453 -0.454080 0.657135 -0.437083 
time: 1403636670.663555, t: 9.546265 -6.446455 -1.510049 q: -0.391396 -0.477573 0.642048 -0.454431 
time: 1403636670.863555, t: 9.452137 -6.317810 -1.465608 q: -0.366902 -0.505077 0.617163 -0.478947 
time: 1403636671.063555, t: 9.281372 -6.159488 -1.419240 q: -0.335392 -0.531841 0.581502 -0.516250 
time: 1403636671.263556, t: 9.016425 -5.979622 -1.341278 q: 0.319711 0.581861 -0.538233 0.519161 
time: 1403636671.463556, t: 8.690713 -5.782160 -1.255330 q: 0.325513 0.646653 -0.498135 0.477223 
time: 1403636671.663555, t: 8.359162 -5.594405 -1.188506 q: 0.306366 0.686932 -0.480179 0.451322 
time: 1403636671.863555, t: 8.042611 -5.439810 -1.138629 q: 0.293334 0.704668 -0.477492 0.435200 
time: 1403636672.063555, t: 7.756772 -5.324930 -1.082991 q: 0.292574 0.719279 -0.478406 0.410080 
time: 1403636672.263556, t: 7.527595 -5.260497 -1.001790 q: 0.313381 0.722912 -0.467628 0.400643 
time: 1403636672.463556, t: 7.362069 -5.247765 -0.930310 q: 0.342150 0.717890 -0.448719 0.407700 
time: 1403636672.663555, t: 7.254347 -5.250379 -0.912320 q: 0.346312 0.685939 -0.447413 0.457578 
time: 1403636672.863555, t: 7.174799 -5.257089 -0.957793 q: 0.325070 0.687793 -0.457104 0.460788 
time: 1403636673.063555, t: 7.102214 -5.247258 -0.993226 q: 0.311492 0.705099 -0.434837 0.465537 
time: 1403636673.263556, t: 7.058366 -5.250458 -0.995815 q: 0.288939 0.730031 -0.420971 0.454260 
time: 1403636673.463556, t: 7.050666 -5.275343 -0.981321 q: 0.276884 0.741243 -0.414251 0.449768 
time: 1403636673.663555, t: 7.081234 -5.320492 -0.980396 q: 0.283041 0.735295 -0.403026 0.465617 
time: 1403636673.863555, t: 7.148302 -5.382025 -0.986230 q: 0.292707 0.724312 -0.392128 0.485726 
time: 1403636674.063555, t: 7.233043 -5.437589 -0.985525 q: 0.291747 0.726075 -0.391630 0.484071 
time: 1403636674.263556, t: 7.337269 -5.485452 -1.004078 q: 0.287231 0.720910 -0.394834 0.491826 
time: 1403636674.463556, t: 7.449668 -5.523654 -1.048957 q: 0.263507 0.714662 -0.402176 0.508012 
time: 1403636674.663555, t: 7.557840 -5.561232 -1.114168 q: 0.249724 0.719693 -0.387140 0.519425 
time: 1403636674.863555, t: 7.653036 -5.606227 -1.195984 q: 0.231322 0.735719 -0.384110 0.507610 
time: 1403636675.063555, t: 7.740228 -5.661928 -1.253559 q: 0.219891 0.750256 -0.385254 0.490248 
time: 1403636675.263556, t: 7.840047 -5.761371 -1.265608 q: 0.239361 0.760322 -0.370751 0.476614 
time: 1403636675.463556, t: 7.975006 -5.883244 -1.253647 q: 0.255238 0.754550 -0.353126 0.490724 
time: 1403636675.663555, t: 8.133325 -6.006950 -1.256283 q: 0.259349 0.752890 -0.326236 0.509377 
time: 1403636675.863555, t: 8.318463 -6.104840 -1.283864 q: 0.228322 0.749228 -0.311991 0.537762 
time: 1403636676.063555, t: 8.494004 -6.179226 -1.336848 q: 0.178679 0.760223 -0.298322 0.548762 
time: 1403636676.263556, t: 8.651578 -6.246465 -1.398832 q: 0.177064 0.784612 -0.245897 0.540894 
time: 1403636676.463556, t: 8.810477 -6.308442 -1.456824 q: 0.167855 0.803237 -0.191442 0.538502 
time: 1403636676.663555, t: 8.991535 -6.350643 -1.485822 q: 0.128625 0.807982 -0.168132 0.549866 
time: 1403636676.863555, t: 9.180839 -6.380338 -1.485627 q: 0.099274 0.806997 -0.162727 0.558946 
time: 1403636677.063555, t: 9.355802 -6.406893 -1.485902 q: 0.095906 0.806702 -0.154128 0.562387 
time: 1403636677.263556, t: 9.531936 -6.434407 -1.534944 q: 0.110467 0.805187 -0.142777 0.564876 
time: 1403636677.463556, t: 9.706690 -6.450466 -1.576756 q: 0.105952 0.794469 -0.124582 0.584869 
time: 1403636677.663555, t: 9.860446 -6.450407 -1.589972 q: 0.077468 0.792552 -0.103592 0.595927 
time: 1403636677.863555, t: 9.987596 -6.433134 -1.574753 q: 0.030579 0.805306 -0.080727 0.586540 
time: 1403636678.063555, t: 10.086047 -6.422812 -1.557373 q: -0.007883 0.816578 -0.044204 0.575487 
time: 1403636678.263556, t: 10.181828 -6.434962 -1.549250 q: -0.010008 0.817079 -0.002555 0.576433 
time: 1403636678.463556, t: 10.270344 -6.448426 -1.541711 q: -0.028811 0.817014 0.026716 0.575277 
time: 1403636678.663555, t: 10.364446 -6.463449 -1.505455 q: -0.049842 0.814947 0.063675 0.573867 
time: 1403636678.863555, t: 10.443487 -6.472467 -1.482990 q: -0.053317 0.808765 0.123589 0.572522 
time: 1403636679.063555, t: 10.512781 -6.457906 -1.485472 q: -0.069675 0.801185 0.164739 0.571059 
time: 1403636679.263556, t: 10.563345 -6.412676 -1.508830 q: -0.120899 0.789043 0.185971 0.572895 
time: 1403636679.463556, t: 10.593913 -6.367830 -1.510860 q: -0.164293 0.777616 0.217712 0.566500 
time: 1403636679.663555, t: 10.619235 -6.327795 -1.489589 q: -0.186438 0.772004 0.247923 0.554784 
time: 1403636679.863555, t: 10.637559 -6.302054 -1.440635 q: -0.191443 0.763900 0.264165 0.556797 
time: 1403636680.063555, t: 10.649194 -6.278066 -1.361211 q: -0.174416 0.754679 0.278702 0.567771 
time: 1403636680.263556, t: 10.629016 -6.253379 -1.281995 q: -0.163430 0.750699 0.282537 0.574381 
time: 1403636680.463556, t: 10.573639 -6.219084 -1.230685 q: -0.143803 0.753701 0.288970 0.572497 
time: 1403636680.663555, t: 10.490318 -6.152168 -1.207927 q: -0.143025 0.759757 0.282004 0.568143 
time: 1403636680.863555, t: 10.377152 -6.061577 -1.193328 q: -0.168333 0.772020 0.260578 0.554750 
time: 1403636681.063555, t: 10.247689 -5.971639 -1.210372 q: -0.179236 0.791361 0.251076 0.527810 
time: 1403636681.263556, t: 10.143146 -5.879811 -1.231599 q: -0.169767 0.784932 0.258564 0.536848 
time: 1403636681.463556, t: 10.046116 -5.777715 -1.236773 q: -0.176062 0.772365 0.256311 0.553859 
time: 1403636681.663555, t: 9.945110 -5.677661 -1.227242 q: -0.176306 0.769722 0.260095 0.555693 
time: 1403636681.863555, t: 9.835166 -5.579883 -1.234696 q: -0.176838 0.767256 0.263712 0.557227 
time: 1403636682.063555, t: 9.718616 -5.479525 -1.224378 q: -0.183257 0.766716 0.263391 0.556047 
time: 1403636682.263556, t: 9.596076 -5.381772 -1.198131 q: -0.187207 0.771114 0.262625 0.548966 
time: 1403636682.463556, t: 9.478452 -5.287347 -1.184934 q: -0.185286 0.779283 0.262772 0.537901 
time: 1403636682.663555, t: 9.365095 -5.195880 -1.185705 q: -0.181503 0.770241 0.261470 0.552647 
time: 1403636682.863555, t: 9.249895 -5.103791 -1.183264 q: -0.182629 0.766302 0.256714 0.559933 
time: 1403636683.063555, t: 9.117122 -5.013501 -1.165626 q: -0.174242 0.764759 0.259365 0.563484 
time: 1403636683.263556, t: 8.977575 -4.922584 -1.162178 q: -0.179442 0.767428 0.257935 0.558859 
time: 1403636683.463556, t: 8.833507 -4.828879 -1.181157 q: -0.185690 0.768401 0.257870 0.555502 
time: 1403636683.663555, t: 8.681315 -4.734843 -1.211892 q: -0.187169 0.769995 0.259497 0.552030 
time: 1403636683.863555, t: 8.530160 -4.646861 -1.242799 q: -0.189844 0.775967 0.260627 0.542132 
time: 1403636684.063555, t: 8.386346 -4.563219 -1.239547 q: -0.191836 0.772914 0.262415 0.544923 
time: 1403636684.263556, t: 8.252127 -4.480048 -1.207292 q: -0.196020 0.768696 0.264150 0.548550 
time: 1403636684.463556, t: 8.113396 -4.407296 -1.169270 q: -0.199449 0.764680 0.264963 0.552520 
time: 1403636684.663555, t: 7.972127 -4.343557 -1.153963 q: -0.207151 0.763671 0.261704 0.552635 
time: 1403636684.863555, t: 7.826798 -4.292161 -1.162704 q: -0.206632 0.762804 0.262331 0.553730 
time: 1403636685.063555, t: 7.679049 -4.253203 -1.184031 q: -0.192189 0.762359 0.270573 0.555574 
time: 1403636685.263556, t: 7.522989 -4.220006 -1.179925 q: -0.183246 0.767912 0.271667 0.550389 
time: 1403636685.463556, t: 7.367483 -4.182002 -1.158552 q: -0.178626 0.770704 0.268797 0.549415 
time: 1403636685.663555, t: 7.213582 -4.140379 -1.157036 q: -0.180618 0.772236 0.263937 0.548968 
time: 1403636685.863555, t: 7.061056 -4.090522 -1.174454 q: -0.175614 0.769185 0.266607 0.553565 
time: 1403636686.063555, t: 6.902417 -4.036336 -1.202206 q: -0.183439 0.774127 0.262042 0.546270 
time: 1403636686.263556, t: 6.747309 -3.981108 -1.209928 q: -0.186839 0.777028 0.259130 0.542374 
time: 1403636686.463556, t: 6.603203 -3.920322 -1.189726 q: -0.186845 0.780235 0.258439 0.538082 
time: 1403636686.663555, t: 6.468512 -3.871129 -1.194867 q: -0.185573 0.780831 0.260438 0.536691 
time: 1403636686.863555, t: 6.342583 -3.817802 -1.205232 q: -0.188689 0.777825 0.259861 0.540238 
time: 1403636687.063555, t: 6.227607 -3.763331 -1.193933 q: -0.192740 0.775875 0.258234 0.542388 
time: 1403636687.263556, t: 6.124643 -3.717980 -1.171484 q: -0.193426 0.774136 0.259183 0.544173 
time: 1403636687.463556, t: 6.023411 -3.675001 -1.166446 q: -0.193029 0.770929 0.260736 0.548110 
time: 1403636687.663555, t: 5.928273 -3.635204 -1.193433 q: -0.196984 0.770067 0.259613 0.548447 
time: 1403636687.863555, t: 5.831382 -3.606321 -1.241870 q: -0.198908 0.769603 0.259771 0.548330 
time: 1403636688.063555, t: 5.740941 -3.584999 -1.312087 q: -0.191078 0.768141 0.266084 0.550134 
time: 1403636688.263556, t: 5.637273 -3.564163 -1.369562 q: -0.189244 0.767730 0.267544 0.550634 
time: 1403636688.463556, t: 5.528971 -3.541686 -1.408140 q: -0.191885 0.769655 0.265899 0.547822 
time: 1403636688.663555, t: 5.427898 -3.516574 -1.463326 q: -0.179357 0.768087 0.275261 0.549641 
time: 1403636689.063555, t: 5.204327 -3.439530 -1.570537 q: -0.194977 0.768938 0.285742 0.537653 
time: 1403636689.263556, t: 5.094361 -3.389992 -1.573743 q: -0.206874 0.769918 0.291860 0.528438 
time: 1403636689.463556, t: 4.999976 -3.330926 -1.546334 q: -0.211999 0.768399 0.297149 0.525663 
time: 1403636689.663555, t: 4.919781 -3.262871 -1.497885 q: -0.215479 0.772998 0.297939 0.516987 
time: 1403636689.863555, t: 4.853711 -3.202024 -1.453749 q: -0.225554 0.781867 0.288694 0.504445 
time: 1403636690.063555, t: 4.825830 -3.134761 -1.427704 q: -0.232340 0.780933 0.280199 0.507593 
time: 1403636690.263556, t: 4.830964 -3.079061 -1.406924 q: -0.215321 0.780025 0.289905 0.511032 
time: 1403636690.463556, t: 4.862629 -3.014362 -1.370666 q: -0.211813 0.778083 0.291428 0.514579 
time: 1403636690.663555, t: 4.909737 -2.945932 -1.341892 q: -0.228489 0.778678 0.278871 0.513502 
time: 1403636690.863555, t: 4.979946 -2.888893 -1.354850 q: -0.258136 0.774527 0.257448 0.516908 
time: 1403636691.063555, t: 5.071458 -2.873428 -1.381473 q: -0.276947 0.755618 0.244697 0.540800 
time: 1403636691.263556, t: 5.179739 -2.918091 -1.380861 q: -0.261511 0.738214 0.258627 0.565477 
time: 1403636691.463556, t: 5.273660 -3.021921 -1.353198 q: -0.237225 0.743302 0.281277 0.558667 
time: 1403636691.663555, t: 5.350412 -3.153893 -1.287229 q: -0.228581 0.753249 0.293379 0.542490 
time: 1403636691.863555, t: 5.425404 -3.295333 -1.223320 q: -0.218506 0.754436 0.302753 0.539835 
time: 1403636692.063555, t: 5.488771 -3.437528 -1.185368 q: -0.229498 0.750767 0.295017 0.544650 
time: 1403636692.263556, t: 5.544063 -3.581067 -1.138499 q: -0.218390 0.751680 0.301202 0.544574 
time: 1403636692.463556, t: 5.587673 -3.720483 -1.070181 q: -0.216737 0.755019 0.300264 0.541121 
time: 1403636692.663555, t: 5.623034 -3.848397 -0.977803 q: -0.212303 0.755970 0.299917 0.541744 
time: 1403636692.863555, t: 5.649557 -3.964622 -0.884814 q: -0.185685 0.758906 0.315024 0.538834 
time: 1403636693.063555, t: 5.664894 -4.046561 -0.809922 q: -0.186258 0.761909 0.314026 0.534968 
time: 1403636693.263556, t: 5.672359 -4.104867 -0.753888 q: -0.197105 0.764767 0.308280 0.530325 
time: 1403636693.463556, t: 5.676538 -4.155919 -0.714193 q: -0.204173 0.775362 0.305561 0.513574 
time: 1403636693.663555, t: 5.698625 -4.186830 -0.693452 q: -0.202690 0.786270 0.307285 0.496259 
time: 1403636693.863555, t: 5.744581 -4.195501 -0.674739 q: -0.208066 0.775282 0.305404 0.512226 
time: 1403636694.063555, t: 5.804053 -4.193298 -0.665529 q: -0.218353 0.757992 0.300209 0.536325 
time: 1403636694.263556, t: 5.860548 -4.189916 -0.659128 q: -0.220232 0.753402 0.300301 0.541944 
time: 1403636694.463556, t: 5.911193 -4.188120 -0.634873 q: -0.218313 0.759101 0.302065 0.533724 
time: 1403636694.663555, t: 5.958755 -4.187105 -0.622188 q: -0.215045 0.761031 0.303175 0.531669 
time: 1403636694.863555, t: 6.001929 -4.188005 -0.630539 q: -0.221893 0.760079 0.296052 0.534225 
time: 1403636695.063555, t: 6.047511 -4.192986 -0.652957 q: -0.227704 0.764134 0.289248 0.529703 
time: 1403636695.263556, t: 6.100681 -4.202500 -0.658578 q: -0.216738 0.762584 0.293023 0.534443 
time: 1403636695.463556, t: 6.154830 -4.214308 -0.638904 q: -0.210980 0.761293 0.293590 0.538261 
time: 1403636695.663555, t: 6.204026 -4.225999 -0.619850 q: -0.202894 0.758851 0.296662 0.543112 
time: 1403636695.863555, t: 6.245675 -4.230428 -0.625864 q: -0.204776 0.760589 0.293316 0.541790 
time: 1403636696.063555, t: 6.279656 -4.233413 -0.646449 q: -0.203775 0.766826 0.291804 0.534140 
time: 1403636696.263556, t: 6.312952 -4.231191 -0.675465 q: -0.193559 0.768126 0.296563 0.533449 
time: 1403636696.463556, t: 6.343588 -4.219790 -0.702213 q: -0.206430 0.755911 0.286433 0.551309 
time: 1403636696.663555, t: 6.358052 -4.215031 -0.710331 q: -0.208355 0.758210 0.283609 0.548883 
time: 1403636696.863555, t: 6.360430 -4.217692 -0.712058 q: -0.206125 0.760324 0.284995 0.546075 
time: 1403636697.063555, t: 6.356251 -4.219359 -0.730643 q: -0.187737 0.756271 0.297483 0.551645 
time: 1403636697.263556, t: 6.333103 -4.208978 -0.731310 q: -0.172853 0.752587 0.306181 0.556766 
time: 1403636697.463556, t: 6.279973 -4.178830 -0.699714 q: -0.188381 0.763042 0.295608 0.543043 
time: 1403636697.663555, t: 6.216738 -4.140935 -0.646006 q: -0.184764 0.769423 0.283647 0.541659 
time: 1403636697.863555, t: 6.149270 -4.099957 -0.613203 q: -0.162083 0.780745 0.251698 0.548465 
time: 1403636698.063555, t: 6.078677 -4.050043 -0.599711 q: -0.147539 0.788555 0.224194 0.553308 
time: 1403636698.263556, t: 6.006086 -3.993739 -0.605574 q: -0.140100 0.793137 0.206540 0.555560 
time: 1403636698.463556, t: 5.935911 -3.929808 -0.628797 q: -0.119639 0.800288 0.180498 0.559148 
time: 1403636698.663555, t: 5.865465 -3.863118 -0.662028 q: -0.093006 0.809001 0.141997 0.562765 
time: 1403636698.863555, t: 5.798072 -3.792265 -0.710449 q: -0.064290 0.817146 0.092357 0.565339 
time: 1403636699.063555, t: 5.735529 -3.716960 -0.751034 q: -0.035568 0.821311 0.041188 0.567880 
time: 1403636699.263556, t: 5.673176 -3.645826 -0.764110 q: -0.012126 0.822127 -0.016563 0.568934 
time: 1403636699.463556, t: 5.626303 -3.584471 -0.759790 q: 0.012077 0.822444 -0.073254 0.563981 
time: 1403636699.663555, t: 5.587037 -3.547319 -0.759467 q: 0.037732 0.817782 -0.121938 0.561196 
time: 1403636699.863555, t: 5.554895 -3.537794 -0.775411 q: 0.072322 0.810040 -0.150240 0.562168 
time: 1403636700.063555, t: 5.520184 -3.536891 -0.802630 q: 0.084281 0.804111 -0.163340 0.565352 
time: 1403636700.263556, t: 5.489145 -3.547171 -0.845019 q: 0.084961 0.802669 -0.167128 0.566191 
time: 1403636700.463556, t: 5.453878 -3.572124 -0.910909 q: 0.089985 0.801305 -0.182473 0.562598 
time: 1403636700.663555, t: 5.423355 -3.615441 -0.992275 q: 0.112018 0.792647 -0.193241 0.567293 
time: 1403636700.863555, t: 5.378465 -3.666590 -1.069647 q: 0.128446 0.789238 -0.206521 0.563874 
time: 1403636701.063555, t: 5.335769 -3.713082 -1.117553 q: 0.131073 0.796099 -0.212782 0.551153 
time: 1403636701.263556, t: 5.300602 -3.763828 -1.128445 q: 0.129072 0.802711 -0.210401 0.542888 
time: 1403636701.463556, t: 5.283333 -3.820457 -1.112821 q: 0.127731 0.801905 -0.204079 0.546796 
time: 1403636701.663555, t: 5.272541 -3.882690 -1.095606 q: 0.128547 0.795747 -0.194995 0.558784 
time: 1403636701.863555, t: 5.259245 -3.946657 -1.089082 q: 0.133252 0.792850 -0.203938 0.558607 
time: 1403636702.063555, t: 5.245119 -4.010810 -1.106288 q: 0.148948 0.785440 -0.234281 0.553183 
time: 1403636702.263556, t: 5.224970 -4.075294 -1.144200 q: 0.171949 0.774044 -0.269754 0.546372 
time: 1403636702.463556, t: 5.205152 -4.138395 -1.201116 q: 0.189412 0.773137 -0.287415 0.532705 
time: 1403636702.663555, t: 5.195733 -4.199398 -1.277290 q: 0.198950 0.774457 -0.294003 0.523639 
time: 1403636702.863555, t: 5.203104 -4.256590 -1.371625 q: 0.201441 0.777188 -0.295118 0.517982 
time: 1403636703.063555, t: 5.231787 -4.322035 -1.458749 q: 0.198259 0.774836 -0.295887 0.522277 
time: 1403636703.263556, t: 5.265658 -4.384061 -1.500723 q: 0.185128 0.761522 -0.303130 0.542148 
time: 1403636703.463556, t: 5.295602 -4.460029 -1.522426 q: 0.189168 0.759422 -0.299163 0.545890 
time: 1403636703.663555, t: 5.314790 -4.541630 -1.519627 q: 0.198911 0.767531 -0.290874 0.535466 
time: 1403636703.863555, t: 5.331022 -4.625030 -1.515359 q: 0.194402 0.765372 -0.290665 0.540304 
time: 1403636704.063555, t: 5.349600 -4.703390 -1.528796 q: 0.187318 0.762708 -0.291319 0.546189 
time: 1403636704.263556, t: 5.360974 -4.782539 -1.561040 q: 0.185955 0.770861 -0.288789 0.536466 
time: 1403636704.463556, t: 5.374301 -4.862118 -1.579240 q: 0.188264 0.777164 -0.285039 0.528513 
time: 1403636704.663555, t: 5.401637 -4.950785 -1.573790 q: 0.188556 0.782773 -0.283710 0.520790 
time: 1403636704.863555, t: 5.445751 -5.044798 -1.586936 q: 0.185391 0.791369 -0.283279 0.509036 
time: 1403636705.063555, t: 5.518853 -5.162764 -1.609282 q: 0.182904 0.797444 -0.280772 0.501793 
time: 1403636705.263556, t: 5.618928 -5.258740 -1.653937 q: 0.194096 0.782277 -0.271957 0.525746 
time: 1403636705.463556, t: 5.742839 -5.368748 -1.670065 q: 0.194271 0.780239 -0.271638 0.528865 
time: 1403636705.663555, t: 5.878211 -5.475656 -1.691628 q: 0.191599 0.785618 -0.274332 0.520419 
time: 1403636705.863555, t: 6.028667 -5.582986 -1.727059 q: 0.189797 0.777766 -0.275482 0.532135 
time: 1403636706.063555, t: 6.182200 -5.693514 -1.738041 q: 0.172559 0.766748 -0.284790 0.548832 
time: 1403636706.263556, t: 6.316424 -5.809414 -1.743530 q: 0.179316 0.766691 -0.276639 0.550910 
time: 1403636706.463556, t: 6.439513 -5.928597 -1.772237 q: 0.192432 0.776223 -0.264263 0.539085 
time: 1403636706.663555, t: 6.564121 -6.036109 -1.789383 q: 0.194728 0.780354 -0.262674 0.533039 
time: 1403636706.863555, t: 6.703719 -6.137896 -1.780468 q: 0.192615 0.785078 -0.266966 0.524673 
time: 1403636707.063555, t: 6.857551 -6.235872 -1.775828 q: 0.196194 0.780796 -0.270112 0.528115 
time: 1403636707.263556, t: 7.012957 -6.329933 -1.757889 q: 0.200631 0.778012 -0.274570 0.528258 
time: 1403636707.463556, t: 7.188601 -6.425390 -1.717970 q: 0.203405 0.779093 -0.277648 0.523977 
time: 1403636707.663555, t: 7.376005 -6.506921 -1.653979 q: 0.193662 0.778245 -0.286439 0.524196 
time: 1403636707.863555, t: 7.585318 -6.642394 -1.639181 q: 0.182461 0.776712 -0.290209 0.528399 
time: 1403636708.063555, t: 7.752694 -6.687477 -1.657262 q: 0.186975 0.774428 -0.283916 0.533566 
time: 1403636708.263556, t: 7.935738 -6.778329 -1.702756 q: 0.186368 0.771696 -0.278482 0.540556 
time: 1403636708.463556, t: 8.114924 -6.873946 -1.753539 q: 0.166871 0.762315 -0.289734 0.554151 
time: 1403636708.663555, t: 8.269303 -6.986098 -1.777764 q: 0.177412 0.762167 -0.283129 0.554495 
time: 1403636708.863555, t: 8.408178 -7.097314 -1.806205 q: 0.203005 0.764037 -0.269465 0.549932 
time: 1403636709.063555, t: 8.531343 -7.190742 -1.835893 q: 0.215200 0.758650 -0.268752 0.553092 
time: 1403636709.263556, t: 8.645036 -7.260026 -1.838523 q: 0.217472 0.760940 -0.273726 0.546580 
time: 1403636709.463556, t: 8.764683 -7.302267 -1.830274 q: 0.216183 0.765865 -0.276220 0.538905 
time: 1403636709.663555, t: 8.890257 -7.326482 -1.844888 q: 0.215743 0.769205 -0.275747 0.534549 
time: 1403636710.063555, t: 9.161361 -7.331962 -1.869424 q: 0.211792 0.770376 -0.270188 0.537275 
time: 1403636710.263556, t: 9.309204 -7.310442 -1.880259 q: 0.208531 0.770235 -0.266572 0.540547 
time: 1403636710.463556, t: 9.461221 -7.280633 -1.917071 q: 0.179260 0.767887 -0.272456 0.551347 
time: 1403636710.663555, t: 9.604626 -7.251930 -1.971690 q: 0.154568 0.772042 -0.258870 0.559506 
time: 1403636710.863555, t: 9.735406 -7.228871 -2.026757 q: 0.145970 0.781788 -0.221753 0.564204 
time: 1403636711.063555, t: 9.849448 -7.210529 -2.056614 q: 0.141914 0.792689 -0.182945 0.563947 
time: 1403636711.263556, t: 9.958739 -7.181593 -2.065788 q: 0.140474 0.795266 -0.165085 0.566185 
time: 1403636711.463556, t: 10.060157 -7.134543 -2.064491 q: 0.132282 0.785941 -0.166588 0.580558 
time: 1403636711.663555, t: 10.150164 -7.071258 -2.050731 q: 0.140672 0.776138 -0.164994 0.592113 
time: 1403636711.863555, t: 10.210860 -6.985357 -2.034837 q: 0.139041 0.779803 -0.171991 0.585656 
time: 1403636712.063555, t: 10.248261 -6.884039 -2.009172 q: 0.118366 0.784455 -0.190005 0.578375 
time: 1403636712.263556, t: 10.263513 -6.784757 -1.961690 q: 0.118731 0.785857 -0.180950 0.579301 
time: 1403636712.463556, t: 10.263588 -6.684908 -1.894843 q: 0.119817 0.789610 -0.147429 0.583460 
time: 1403636712.663555, t: 10.242785 -6.575731 -1.816055 q: 0.106436 0.787694 -0.129159 0.592898 
time: 1403636712.863555, t: 10.208261 -6.454353 -1.760616 q: 0.094405 0.788038 -0.122043 0.595978 
time: 1403636713.063555, t: 10.143072 -6.329226 -1.724232 q: 0.092535 0.792706 -0.119217 0.590629 
time: 1403636713.263556, t: 10.068812 -6.193359 -1.676760 q: 0.086237 0.795813 -0.120681 0.587095 
time: 1403636713.463556, t: 9.983893 -6.057360 -1.597832 q: 0.083422 0.798310 -0.123797 0.583451 
time: 1403636713.663555, t: 9.886455 -5.923208 -1.514895 q: 0.075064 0.800075 -0.132814 0.580177 
time: 1403636713.863555, t: 9.776173 -5.802065 -1.454617 q: 0.070021 0.800843 -0.140798 0.577861 
time: 1403636714.063555, t: 9.663713 -5.704654 -1.416371 q: 0.081574 0.801928 -0.137999 0.575512 
time: 1403636714.263556, t: 9.548472 -5.616038 -1.396812 q: 0.084722 0.799868 -0.141405 0.577095 
time: 1403636714.463556, t: 9.431686 -5.536682 -1.395363 q: 0.082666 0.804487 -0.145400 0.569935 
time: 1403636714.663555, t: 9.315305 -5.464614 -1.407687 q: 0.070026 0.815214 -0.130637 0.559872 
time: 1403636714.863555, t: 9.207664 -5.404971 -1.403644 q: 0.052448 0.822110 -0.088851 0.559902 
time: 1403636715.063555, t: 9.116501 -5.354902 -1.371681 q: 0.030093 0.826763 -0.044524 0.559977 
time: 1403636715.263556, t: 9.043560 -5.311352 -1.320548 q: 0.016571 0.828216 -0.020085 0.559804 
time: 1403636715.463556, t: 8.999068 -5.272725 -1.282225 q: 0.002808 0.822214 -0.018030 0.568886 
time: 1403636715.663555, t: 8.955702 -5.238486 -1.278488 q: -0.011606 0.815795 -0.027496 0.577570 
time: 1403636715.863555, t: 8.919931 -5.222880 -1.279099 q: 0.005395 0.803926 -0.020475 0.594353 
time: 1403636716.063555, t: 8.862831 -5.210301 -1.263890 q: 0.013255 0.799248 -0.021046 0.600486 
time: 1403636716.263556, t: 8.784333 -5.199125 -1.232417 q: 0.011722 0.809226 -0.029793 0.586624 
time: 1403636716.463556, t: 8.693331 -5.191379 -1.213280 q: 0.014709 0.813869 -0.035059 0.579804 
time: 1403636716.663555, t: 8.601817 -5.186744 -1.220173 q: 0.015727 0.813288 -0.029443 0.580903 
time: 1403636717.063555, t: 8.405004 -5.174578 -1.258927 q: -0.025920 0.814290 0.029673 0.579119 
time: 1403636717.263556, t: 8.306530 -5.168443 -1.249685 q: -0.041816 0.812713 0.063911 0.577637 
time: 1403636717.463556, t: 8.204177 -5.161165 -1.235087 q: -0.034426 0.809962 0.089829 0.578538 
time: 1403636717.663555, t: 8.099429 -5.136864 -1.238323 q: -0.042652 0.809798 0.089114 0.578331 
time: 1403636717.863555, t: 7.990738 -5.101303 -1.262612 q: -0.043012 0.809586 0.097464 0.577253 
time: 1403636718.063555, t: 7.877194 -5.040735 -1.266700 q: -0.056830 0.806823 0.122061 0.575246 
time: 1403636718.263556, t: 7.754666 -4.957090 -1.261812 q: -0.090164 0.804061 0.143427 0.569899 
time: 1403636718.463556, t: 7.636148 -4.859342 -1.281338 q: -0.116749 0.801849 0.161563 0.563299 
time: 1403636718.663555, t: 7.517680 -4.763469 -1.323461 q: -0.144730 0.799206 0.175845 0.556239 
time: 1403636718.863555, t: 7.410656 -4.683154 -1.378974 q: -0.151371 0.796316 0.191284 0.553514 
time: 1403636719.063555, t: 7.325610 -4.619701 -1.417298 q: -0.143782 0.790480 0.205073 0.558940 
time: 1403636719.263556, t: 7.237199 -4.559009 -1.423667 q: -0.145966 0.782971 0.204475 0.569069 
time: 1403636719.463556, t: 7.134383 -4.505912 -1.441583 q: -0.150997 0.779873 0.198396 0.574140 
time: 1403636719.663555, t: 7.023195 -4.458888 -1.481125 q: -0.149597 0.786273 0.194735 0.566986 
time: 1403636719.863555, t: 6.912177 -4.416094 -1.489107 q: -0.145722 0.792817 0.189790 0.560523 
time: 1403636720.063555, t: 6.806846 -4.382277 -1.485620 q: -0.143265 0.795712 0.186217 0.558248 
time: 1403636720.263556, t: 6.711243 -4.353406 -1.507109 q: -0.143039 0.796816 0.185452 0.556985 
time: 1403636720.463556, t: 6.628614 -4.341521 -1.548499 q: -0.146182 0.796601 0.186222 0.556219 
time: 1403636720.663555, t: 6.543960 -4.325220 -1.569767 q: -0.148622 0.796869 0.187923 0.554613 
time: 1403636720.863555, t: 6.473196 -4.320905 -1.567452 q: -0.142544 0.798141 0.181283 0.556586 
time: 1403636721.063555, t: 6.408773 -4.321856 -1.572506 q: -0.130330 0.800522 0.158702 0.563021 
time: 1403636721.263556, t: 6.351712 -4.329525 -1.592372 q: -0.113966 0.801608 0.130333 0.572233 
time: 1403636721.463556, t: 6.291655 -4.345082 -1.590581 q: -0.099207 0.803964 0.112809 0.575390 
time: 1403636721.663555, t: 6.225280 -4.366131 -1.582135 q: -0.082201 0.808368 0.098661 0.574501 
time: 1403636721.863555, t: 6.159986 -4.389889 -1.595641 q: -0.073844 0.808526 0.092280 0.576470 
time: 1403636722.063555, t: 6.094068 -4.411085 -1.615597 q: -0.065489 0.807771 0.097951 0.577602 
time: 1403636722.263556, t: 6.026942 -4.425130 -1.611455 q: -0.070751 0.808884 0.098582 0.575311 
time: 1403636722.463556, t: 5.954700 -4.436971 -1.603477 q: -0.071277 0.809293 0.095182 0.575244 
time: 1403636722.663555, t: 5.883166 -4.449921 -1.614927 q: -0.064946 0.810402 0.089395 0.575359 
time: 1403636722.863555, t: 5.809361 -4.455728 -1.630478 q: -0.058942 0.810940 0.088802 0.575340 
time: 1403636723.063555, t: 5.731865 -4.455482 -1.623121 q: -0.064335 0.811052 0.084794 0.575209 
time: 1403636723.263556, t: 5.658247 -4.452159 -1.610479 q: -0.064482 0.811428 0.084275 0.574738 
time: 1403636723.463556, t: 5.585684 -4.449916 -1.613606 q: -0.051512 0.809887 0.080673 0.578723 
time: 1403636723.663555, t: 5.513013 -4.442308 -1.608534 q: -0.045225 0.801117 0.058792 0.593894 
time: 1403636723.863555, t: 5.428746 -4.429896 -1.591642 q: -0.038453 0.811728 0.045609 0.580981 
time: 1403636724.063555, t: 5.338854 -4.414925 -1.590027 q: -0.031915 0.821303 0.034161 0.568574 
time: 1403636724.263556, t: 5.257557 -4.407405 -1.609543 q: -0.013654 0.824799 0.010187 0.565169 
time: 1403636724.463556, t: 5.185748 -4.399185 -1.631558 q: 0.009652 0.819787 -0.019232 0.572265 
time: 1403636724.663555, t: 5.118547 -4.384359 -1.625989 q: 0.024106 0.815373 -0.035671 0.577333 
time: 1403636724.863555, t: 5.057822 -4.359237 -1.584969 q: 0.027330 0.816568 -0.042467 0.575036 
time: 1403636725.063555, t: 5.004762 -4.333179 -1.518656 q: 0.017836 0.817396 -0.046425 0.573925 
time: 1403636725.263556, t: 4.954697 -4.310875 -1.436372 q: 0.013359 0.818445 -0.046122 0.572575 
time: 1403636725.463556, t: 4.909867 -4.299555 -1.370777 q: 0.018141 0.818672 -0.042192 0.572422 
time: 1403636725.663555, t: 4.868540 -4.289354 -1.330258 q: 0.022082 0.818066 -0.040367 0.573281 
time: 1403636725.863555, t: 4.833580 -4.279662 -1.309395 q: 0.021217 0.818825 -0.040982 0.572185 
time: 1403636726.063555, t: 4.796854 -4.271133 -1.307392 q: 0.017899 0.818291 -0.040979 0.573062 
time: 1403636726.263556, t: 4.762795 -4.266610 -1.323596 q: 0.019270 0.816432 -0.036903 0.575940 
time: 1403636726.463556, t: 4.732158 -4.260028 -1.329532 q: 0.017425 0.814781 -0.034015 0.578508 
time: 1403636726.663555, t: 4.704876 -4.253100 -1.309648 q: -0.005853 0.811122 -0.046824 0.582971 
time: 1403636726.863555, t: 4.666596 -4.262075 -1.261317 q: 0.004364 0.810359 -0.035862 0.584818 
time: 1403636727.063555, t: 4.620096 -4.282447 -1.189945 q: 0.009462 0.810337 -0.023548 0.585414 
time: 1403636727.263556, t: 4.568068 -4.294656 -1.125360 q: 0.016535 0.811777 -0.014653 0.583549 
time: 1403636727.463556, t: 4.514565 -4.297004 -1.081710 q: 0.021441 0.813071 -0.010597 0.581673 
time: 1403636727.663555, t: 4.455763 -4.286435 -1.030926 q: 0.013860 0.810247 -0.016035 0.585705 
time: 1403636727.863555, t: 4.398061 -4.268607 -0.959825 q: 0.021100 0.812357 -0.011484 0.582666 
time: 1403636728.063555, t: 4.332531 -4.235622 -0.884889 q: 0.024078 0.812614 -0.010237 0.582214 
time: 1403636728.263556, t: 4.263400 -4.193143 -0.834791 q: 0.017377 0.810041 -0.015841 0.585902 
time: 1403636728.463556, t: 4.187130 -4.144822 -0.807414 q: 0.007699 0.810407 -0.023121 0.585360 
time: 1403636728.663555, t: 4.106561 -4.099722 -0.801876 q: -0.003548 0.811091 -0.024455 0.584397 
time: 1403636728.863555, t: 4.025192 -4.059830 -0.784636 q: -0.004464 0.811365 0.007230 0.584479 
time: 1403636729.063555, t: 3.939258 -4.019395 -0.757953 q: -0.013855 0.807665 0.029249 0.588753 
time: 1403636729.263556, t: 3.850085 -3.975060 -0.753672 q: -0.022453 0.808753 0.038088 0.586484 
time: 1403636729.463556, t: 3.752392 -3.926028 -0.760823 q: -0.025146 0.808214 0.040990 0.586922 
time: 1403636729.663555, t: 3.648856 -3.874396 -0.750027 q: -0.026520 0.809462 0.041070 0.585134 
time: 1403636729.863555, t: 3.542213 -3.818786 -0.725069 q: -0.025993 0.813406 0.039696 0.579757 
time: 1403636730.063555, t: 3.433401 -3.757636 -0.717120 q: -0.026836 0.817019 0.038055 0.574728 
time: 1403636730.263556, t: 3.329293 -3.695203 -0.726517 q: -0.027160 0.817994 0.038564 0.573290 
time: 1403636730.463556, t: 3.229617 -3.633743 -0.748460 q: -0.029033 0.820812 0.038221 0.569178 
time: 1403636730.663555, t: 3.146217 -3.572698 -0.746614 q: -0.029162 0.827917 0.038431 0.558773 
time: 1403636731.063555, t: 3.046467 -3.454610 -0.667289 q: -0.047734 0.826206 0.024327 0.560815 
time: 1403636731.263556, t: 3.018376 -3.420078 -0.644405 q: -0.047726 0.815403 0.022486 0.576484 
time: 1403636731.463556, t: 2.998192 -3.404505 -0.642937 q: -0.033529 0.814051 0.031352 0.578977 
time: 1403636731.663555, t: 2.973089 -3.396117 -0.657601 q: -0.043224 0.815149 0.025180 0.577087 
time: 1403636731.863555, t: 2.951150 -3.403793 -0.689307 q: -0.036764 0.815237 0.030467 0.577155 
time: 1403636732.063555, t: 2.929095 -3.415404 -0.735923 q: -0.035134 0.813479 0.033719 0.579552 
time: 1403636732.263556, t: 2.899962 -3.428250 -0.792514 q: -0.033868 0.811761 0.036419 0.581868 
time: 1403636732.463556, t: 2.862896 -3.447160 -0.822524 q: -0.023793 0.808717 0.044783 0.586008 
time: 1403636732.663555, t: 2.810183 -3.453261 -0.820834 q: -0.008675 0.800912 0.057024 0.595997 
time: 1403636732.863555, t: 2.741201 -3.440479 -0.802044 q: -0.023394 0.799796 0.048686 0.597837 
time: 1403636733.063555, t: 2.654851 -3.415182 -0.796432 q: -0.026165 0.805128 0.048375 0.590546 
time: 1403636733.263556, t: 2.557339 -3.382754 -0.776883 q: -0.023840 0.808620 0.051704 0.585569 
time: 1403636733.463556, t: 2.450784 -3.340927 -0.737523 q: -0.031287 0.813090 0.048123 0.579301 
time: 1403636733.663555, t: 2.344415 -3.293301 -0.692644 q: -0.033134 0.816703 0.047494 0.574145 
time: 1403636733.863555, t: 2.240709 -3.242458 -0.668428 q: -0.032826 0.819142 0.048424 0.570599 
time: 1403636734.063555, t: 2.140197 -3.191919 -0.661014 q: -0.027797 0.813642 0.051584 0.578406 
time: 1403636734.263556, t: 2.039191 -3.136305 -0.651387 q: -0.032016 0.811664 0.048606 0.581218 
time: 1403636734.463556, t: 1.938388 -3.077172 -0.616571 q: -0.036809 0.815332 0.047587 0.575860 
time: 1403636734.663555, t: 1.837967 -3.023905 -0.578431 q: -0.038193 0.819700 0.049283 0.569390 
time: 1403636734.863555, t: 1.742998 -2.971035 -0.568283 q: -0.038726 0.820341 0.052536 0.568138 
time: 1403636735.063555, t: 1.657702 -2.918033 -0.575324 q: -0.040516 0.820086 0.052972 0.568341 
time: 1403636735.263556, t: 1.582844 -2.863644 -0.583214 q: -0.043499 0.821599 0.049559 0.566239 
time: 1403636735.463556, t: 1.520945 -2.811907 -0.552053 q: -0.043626 0.821825 0.044141 0.566350 
time: 1403636735.663555, t: 1.466524 -2.764971 -0.494521 q: -0.037356 0.819622 0.040328 0.570262 
time: 1403636735.863555, t: 1.417500 -2.721581 -0.451344 q: -0.035119 0.819941 0.037116 0.570162 
time: 1403636736.063555, t: 1.376016 -2.686678 -0.419707 q: -0.036153 0.818345 0.042097 0.572042 
time: 1403636736.263556, t: 1.336974 -2.651370 -0.371575 q: -0.051090 0.813145 0.060776 0.576620 
time: 1403636736.463556, t: 1.294800 -2.619696 -0.322777 q: -0.056788 0.810872 0.079699 0.576984 
time: 1403636736.663555, t: 1.255417 -2.582399 -0.303169 q: -0.051406 0.807737 0.094566 0.579633 
time: 1403636736.863555, t: 1.212096 -2.532204 -0.301909 q: -0.052792 0.806591 0.098489 0.580451 
time: 1403636737.063555, t: 1.161747 -2.467059 -0.311406 q: -0.062294 0.807445 0.097083 0.578556 
time: 1403636737.263556, t: 1.102626 -2.398545 -0.334392 q: -0.073555 0.807652 0.096136 0.577101 
time: 1403636737.463556, t: 1.045856 -2.328835 -0.357845 q: -0.076053 0.812263 0.100295 0.569549 
time: 1403636737.663555, t: 0.994669 -2.267011 -0.348810 q: -0.082648 0.815546 0.098772 0.564179 
time: 1403636737.863555, t: 0.953280 -2.212156 -0.313171 q: -0.090307 0.817953 0.092775 0.560527 
time: 1403636738.063555, t: 0.924660 -2.173671 -0.245114 q: -0.088845 0.818040 0.091226 0.560888 
time: 1403636738.263556, t: 0.914130 -2.148261 -0.174828 q: -0.081882 0.815867 0.092267 0.564928 
time: 1403636738.463556, t: 0.909358 -2.133730 -0.128931 q: -0.078240 0.817009 0.089657 0.564212 
time: 1403636738.663555, t: 0.912922 -2.125564 -0.110245 q: -0.066534 0.821984 0.069507 0.561324 
time: 1403636738.863555, t: 0.924930 -2.125479 -0.117898 q: -0.048350 0.819459 0.029111 0.570352 
time: 1403636739.063555, t: 0.938145 -2.136725 -0.152122 q: -0.026847 0.817470 -0.022670 0.574898 
time: 1403636739.263556, t: 0.955965 -2.174158 -0.203034 q: 0.018081 0.815649 -0.063930 0.574720 
time: 1403636739.463556, t: 0.967783 -2.222538 -0.255423 q: 0.066398 0.811753 -0.099646 0.571593 
time: 1403636739.663555, t: 0.978962 -2.266311 -0.279258 q: 0.087648 0.806841 -0.136034 0.568173 
time: 1403636739.863555, t: 0.997332 -2.305738 -0.297178 q: 0.092172 0.803819 -0.153352 0.567330 
time: 1403636740.063555, t: 1.014081 -2.353186 -0.329115 q: 0.095565 0.804414 -0.153191 0.565967 
time: 1403636740.263556, t: 1.024895 -2.401784 -0.377283 q: 0.105082 0.805312 -0.141122 0.566141 
time: 1403636740.463556, t: 1.028231 -2.438288 -0.441304 q: 0.094818 0.803720 -0.142226 0.569927 
time: 1403636740.663555, t: 1.026804 -2.473216 -0.501977 q: 0.087935 0.802865 -0.141086 0.572511 
time: 1403636740.863555, t: 1.018000 -2.505938 -0.547947 q: 0.084716 0.805666 -0.139149 0.569529 
time: 1403636741.063555, t: 1.003774 -2.540794 -0.605730 q: 0.103220 0.803646 -0.125046 0.572592 
time: 1403636741.263556, t: 0.990936 -2.562335 -0.692355 q: 0.105634 0.798179 -0.141033 0.576074 
time: 1403636741.463556, t: 0.967762 -2.567720 -0.788617 q: 0.099568 0.803273 -0.159497 0.565154 
time: 1403636741.663555, t: 0.945637 -2.575758 -0.862510 q: 0.099237 0.811944 -0.166368 0.550654 
time: 1403636741.863555, t: 0.938267 -2.593816 -0.906284 q: 0.105851 0.808109 -0.160126 0.556880 
time: 1403636742.063555, t: 0.939915 -2.617468 -0.964946 q: 0.114287 0.810482 -0.147126 0.555348 
time: 1403636742.263556, t: 0.947192 -2.632591 -1.019864 q: 0.100154 0.816511 -0.149737 0.548505 
time: 1403636742.463556, t: 0.967493 -2.647794 -1.045870 q: 0.094527 0.809346 -0.147658 0.560554 
time: 1403636742.663555, t: 0.996507 -2.666179 -1.059405 q: 0.093870 0.805183 -0.144196 0.567518 
time: 1403636742.863555, t: 1.025580 -2.683958 -1.092285 q: 0.091735 0.801244 -0.141994 0.573961 
time: 1403636743.063555, t: 1.041480 -2.701231 -1.157083 q: 0.092409 0.804342 -0.148535 0.567831 
time: 1403636743.263556, t: 1.055019 -2.721164 -1.228468 q: 0.093882 0.822970 -0.162521 0.536184 
time: 1403636743.463556, t: 1.096964 -2.755147 -1.262788 q: 0.093403 0.822825 -0.169671 0.534271 
time: 1403636743.663555, t: 1.160345 -2.801024 -1.294529 q: 0.101546 0.813456 -0.165588 0.548232 
time: 1403636743.863555, t: 1.236509 -2.852414 -1.352849 q: 0.109687 0.802646 -0.170093 0.561067 
time: 1403636744.063555, t: 1.317165 -2.904102 -1.433349 q: 0.120918 0.796055 -0.175716 0.566392 
time: 1403636744.263556, t: 1.392971 -2.951249 -1.536347 q: 0.126733 0.789873 -0.190368 0.569034 
time: 1403636744.463556, t: 1.460604 -2.991258 -1.662731 q: 0.120817 0.786584 -0.202572 0.570661 
time: 1403636744.663555, t: 1.517410 -3.035475 -1.807484 q: 0.111294 0.782198 -0.207487 0.576827 
time: 1403636744.863555, t: 1.553844 -3.087494 -1.957772 q: 0.124268 0.783954 -0.197545 0.575282 
time: 1403636745.063555, t: 1.575143 -3.135361 -2.079705 q: 0.124610 0.793989 -0.192963 0.562867 
time: 1403636745.263556, t: 1.600508 -3.182292 -2.173451 q: 0.117693 0.800260 -0.187508 0.557291 
time: 1403636745.463556, t: 1.630553 -3.231595 -2.236161 q: 0.119793 0.794065 -0.176644 0.569128 
time: 1403636745.663555, t: 1.659166 -3.274594 -2.265365 q: 0.123033 0.789439 -0.180416 0.573671 
time: 1403636745.863555, t: 1.681937 -3.311090 -2.260063 q: 0.135482 0.788688 -0.186670 0.569886 
time: 1403636746.063555, t: 1.708603 -3.335536 -2.230133 q: 0.151943 0.788220 -0.191584 0.564728 
time: 1403636746.263556, t: 1.730143 -3.337401 -2.178899 q: 0.161093 0.783849 -0.194754 0.567187 
time: 1403636746.463556, t: 1.742598 -3.311049 -2.128429 q: 0.160521 0.774240 -0.196739 0.579723 
time: 1403636746.663555, t: 1.747873 -3.260988 -2.120631 q: 0.139172 0.795546 -0.205788 0.552620 
time: 1403636746.863555, t: 1.759497 -3.212024 -2.127826 q: 0.113518 0.805427 -0.215430 0.540362 
time: 1403636747.063555, t: 1.786570 -3.184791 -2.123457 q: 0.115431 0.801862 -0.208159 0.548054 
time: 1403636747.263556, t: 1.828412 -3.174415 -2.082958 q: 0.134306 0.795464 -0.195291 0.557727 
time: 1403636747.463556, t: 1.876634 -3.157192 -2.022490 q: 0.141698 0.793425 -0.194468 0.559089 
time: 1403636747.663555, t: 1.924658 -3.128882 -1.979060 q: 0.141774 0.794415 -0.200744 0.555433 
time: 1403636747.863555, t: 1.977005 -3.095102 -1.918574 q: 0.143001 0.793176 -0.206531 0.554768 
time: 1403636748.063555, t: 2.033981 -3.063793 -1.838622 q: 0.122559 0.785138 -0.227052 0.563014 
time: 1403636748.263556, t: 2.082200 -3.046193 -1.781904 q: 0.125446 0.786556 -0.228510 0.559800 
time: 1403636748.463556, t: 2.121744 -3.040128 -1.744002 q: 0.146752 0.790210 -0.213173 0.555508 
time: 1403636748.663555, t: 2.167575 -3.033966 -1.696600 q: 0.143472 0.787604 -0.215640 0.559103 
time: 1403636748.863555, t: 2.208427 -3.025133 -1.645129 q: 0.131896 0.783456 -0.227131 0.563215 
time: 1403636749.063555, t: 2.244850 -3.025516 -1.610175 q: 0.129560 0.779722 -0.236472 0.565091 
time: 1403636749.263556, t: 2.265283 -3.042631 -1.580491 q: 0.134704 0.777720 -0.238487 0.565800 
time: 1403636749.463556, t: 2.280426 -3.069718 -1.527781 q: 0.153522 0.780085 -0.228219 0.561974 
time: 1403636749.663555, t: 2.290818 -3.098400 -1.462989 q: 0.165158 0.782892 -0.218568 0.558598 
time: 1403636749.863555, t: 2.300685 -3.119281 -1.421058 q: 0.160747 0.775835 -0.216786 0.570301 
time: 1403636750.063555, t: 2.305053 -3.127834 -1.404135 q: 0.155796 0.772363 -0.212324 0.578015 
time: 1403636750.263556, t: 2.290891 -3.116930 -1.388600 q: 0.149699 0.778843 -0.209506 0.571928 
time: 1403636750.463556, t: 2.269329 -3.095791 -1.339501 q: 0.143730 0.784868 -0.205985 0.566475 
time: 1403636750.663555, t: 2.246280 -3.069321 -1.249786 q: 0.141194 0.787466 -0.199132 0.565958 
time: 1403636750.863555, t: 2.219352 -3.038389 -1.136847 q: 0.139346 0.790619 -0.195091 0.563422 
time: 1403636751.063555, t: 2.188199 -2.997334 -1.012118 q: 0.142938 0.793946 -0.192093 0.558856 
time: 1403636751.263556, t: 2.158427 -2.949014 -0.912180 q: 0.140137 0.800102 -0.196576 0.549141 
time: 1403636751.463556, t: 2.137947 -2.901937 -0.818911 q: 0.128827 0.796180 -0.207790 0.553466 
time: 1403636751.663555, t: 2.120485 -2.864966 -0.733351 q: 0.114881 0.791350 -0.208164 0.563236 
time: 1403636751.863555, t: 2.103780 -2.841985 -0.660270 q: 0.106233 0.802994 -0.202591 0.550338 
time: 1403636752.063555, t: 2.092917 -2.837287 -0.588061 q: 0.116737 0.808649 -0.189050 0.544719 
time: 1403636752.263556, t: 2.100029 -2.845792 -0.520772 q: 0.116532 0.801339 -0.177823 0.559156 
time: 1403636752.463556, t: 2.116952 -2.857329 -0.440274 q: 0.100341 0.798734 -0.153010 0.573187 
time: 1403636752.663555, t: 2.127755 -2.864143 -0.358118 q: 0.077507 0.807720 -0.116843 0.572650 
time: 1403636752.863555, t: 2.136176 -2.871745 -0.302229 q: 0.052596 0.814466 -0.077033 0.572665 
time: 1403636753.063555, t: 2.142851 -2.874539 -0.273597 q: 0.033816 0.817863 -0.028655 0.573704 
time: 1403636753.263556, t: 2.150825 -2.865611 -0.268034 q: 0.008942 0.819075 0.019387 0.573289 
time: 1403636753.463556, t: 2.154343 -2.837681 -0.283505 q: -0.017157 0.815547 0.055226 0.575794 
time: 1403636753.663555, t: 2.150757 -2.797193 -0.279320 q: -0.037547 0.813221 0.062938 0.577322 
time: 1403636753.863555, t: 2.141478 -2.750519 -0.269812 q: -0.038501 0.811767 0.064006 0.579185 
time: 1403636754.063555, t: 2.121851 -2.702987 -0.273464 q: -0.036182 0.809663 0.059919 0.582706 
time: 1403636754.263556, t: 2.099734 -2.648940 -0.259109 q: -0.030312 0.804231 0.056857 0.590813 
time: 1403636754.463556, t: 2.064865 -2.586407 -0.223245 q: -0.028855 0.804465 0.058540 0.590404 
time: 1403636754.663555, t: 2.013533 -2.512835 -0.200658 q: -0.037730 0.805884 0.076490 0.585898 
time: 1403636754.863555, t: 1.955419 -2.429703 -0.197482 q: -0.058380 0.803900 0.100958 0.583219 
time: 1403636755.063555, t: 1.879624 -2.345786 -0.210779 q: -0.070364 0.801576 0.118055 0.581884 
time: 1403636755.263556, t: 1.787975 -2.258971 -0.215233 q: -0.077138 0.802833 0.124635 0.577905 
time: 1403636755.463556, t: 1.691132 -2.164352 -0.194406 q: -0.076695 0.814097 0.126735 0.561518 
time: 1403636755.663555, t: 1.605862 -2.062404 -0.170945 q: -0.073485 0.813046 0.125470 0.563749 
time: 1403636755.863555, t: 1.522854 -1.955301 -0.168035 q: -0.076027 0.809446 0.120674 0.569609 
time: 1403636756.063555, t: 1.442368 -1.841185 -0.168173 q: -0.078424 0.806337 0.118107 0.574213 
time: 1403636756.263556, t: 1.364361 -1.728518 -0.144832 q: -0.078276 0.804174 0.118819 0.577113 
time: 1403636756.463556, t: 1.279586 -1.617299 -0.127050 q: -0.079216 0.802872 0.120390 0.578470 
time: 1403636756.663555, t: 1.187923 -1.506841 -0.131903 q: -0.081662 0.801977 0.121268 0.579188 
time: 1403636756.863555, t: 1.083853 -1.401871 -0.127951 q: -0.084542 0.800370 0.121991 0.580844 
time: 1403636757.063555, t: 0.971378 -1.300152 -0.098471 q: -0.087425 0.800872 0.122039 0.579714 
time: 1403636757.263556, t: 0.848288 -1.201294 -0.083586 q: -0.087602 0.800745 0.122892 0.579682 
time: 1403636757.463556, t: 0.718076 -1.105159 -0.090177 q: -0.082888 0.803397 0.127530 0.575690 
time: 1403636757.663555, t: 0.584183 -1.005196 -0.087812 q: -0.085592 0.812188 0.140959 0.559603 
time: 1403636757.863555, t: 0.464857 -0.889077 -0.053307 q: -0.094613 0.820205 0.151348 0.543512 
time: 1403636758.063555, t: 0.372765 -0.764628 0.009813 q: -0.105547 0.809388 0.153930 0.556827 
time: 1403636758.263556, t: 0.287091 -0.639328 0.053086 q: -0.113599 0.798402 0.152332 0.571354 
time: 1403636758.463556, t: 0.194003 -0.520661 0.058391 q: -0.119737 0.807684 0.148469 0.557912 
time: 1403636758.663555, t: 0.116648 -0.409688 0.044259 q: -0.131930 0.827070 0.138839 0.528463 
time: 1403636758.863555, t: 0.091997 -0.306901 0.031928 q: -0.126752 0.809223 0.140162 0.556280 
time: 1403636759.063555, t: 0.064941 -0.228155 0.003499 q: -0.121150 0.800160 0.143954 0.569511 
time: 1403636759.263556, t: 0.047306 -0.156403 -0.034869 q: -0.153167 0.801172 0.122221 0.565442 
time: 1403636759.463556, t: 0.028342 -0.120652 -0.084228 q: -0.136284 0.798767 0.135507 0.570119 
time: 1403636759.663555, t: 0.013760 -0.110664 -0.139515 q: -0.117910 0.796231 0.151085 0.573834 
time: 1403636759.863555, t: -0.012699 -0.105889 -0.156431 q: -0.116177 0.795870 0.153551 0.574035 
time: 1403636760.063555, t: -0.043351 -0.106274 -0.165911 q: -0.114991 0.807508 0.153790 0.557724 
time: 1403636760.263556, t: -0.068014 -0.106072 -0.185216 q: -0.115289 0.805833 0.152535 0.560424 
time: 1403636760.463556, t: -0.085184 -0.108817 -0.211977 q: -0.115052 0.796099 0.153041 0.574081 
time: 1403636760.663555, t: -0.110899 -0.115035 -0.245151 q: -0.108457 0.804781 0.158706 0.561585 
time: 1403636760.863555, t: -0.132343 -0.112075 -0.270564 q: -0.103910 0.802320 0.163358 0.564623 
time: 1403636761.063555, t: -0.157151 -0.101788 -0.295433 q: -0.106318 0.805627 0.163103 0.559516 
time: 1403636761.263556, t: -0.183127 -0.082932 -0.321714 q: -0.107119 0.820006 0.163554 0.537928 
time: 1403636761.463556, t: -0.188376 -0.050534 -0.332267 q: -0.108813 0.810713 0.162449 0.551828 
time: 1403636761.663555, t: -0.187468 -0.016126 -0.327577 q: -0.115923 0.799910 0.156196 0.567723 
time: 1403636761.863555, t: -0.184771 0.013961 -0.319539 q: -0.133121 0.800669 0.142949 0.566368 
time: 1403636762.063555, t: -0.179581 0.028958 -0.304958 q: -0.112505 0.798943 0.155879 0.569855 
time: 1403636762.263556, t: -0.182605 0.043094 -0.288841 q: -0.090428 0.804477 0.169661 0.562010 
time: 1403636762.463556, t: -0.187117 0.076142 -0.296291 q: -0.103412 0.817663 0.159347 0.543454 
time: 1403636762.663555, t: -0.174678 0.117753 -0.333833 q: -0.147133 0.808677 0.128492 0.554873 
time: 1403636762.863555, t: -0.157472 0.131738 -0.385051 q: -0.142713 0.783657 0.133404 0.589676 
time: 1403636763.063555, t: -0.178589 0.099234 -0.399731 q: -0.117025 0.804004 0.116091 0.571319 
time: 1403636763.263556, t: -0.184912 0.088517 -0.415796 q: -0.116055 0.801893 0.094253 0.578460 
time: 1403636763.463556, t: -0.195809 0.085266 -0.421952 q: -0.116709 0.800618 0.093619 0.580195 
time: 1403636763.663555, t: -0.192467 0.066025 -0.409831 q: -0.118259 0.800704 0.093860 0.579722 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720543022.530018381]: Shutdown request received.[0m
[33m[ WARN] [1720543022.530059925]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720543022.531021702]: Shutdown request received.[0m
[33m[ WARN] [1720543022.531052258]: Reason given for shutdown: [user request][0m
killed
