/SLAM-Hive/slam_hive_results/mapping_results/3145/2350_vins-fusion-stereo-imu+MH_02_easy+Image_comb_test-10.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720549255.500460780]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720549255.502296795]: init begins[0m
[31m[ERROR] [1720549255.503368930]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/fb76d41a-3e1f-11ef-ab33-0242ac110005/roslaunch-e3c56203d9a4-118.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;roscore
[1mstarted roslaunch server http://e3c56203d9a4:40873/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [155][0m
[0m[ INFO] [1720549256.609222025]: 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] [1720549256.613998678]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720549256.614262564]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720549256.614321269]: 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] [1720549256.614550602]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720549256.614741186]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720549256.614906180]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://e3c56203d9a4:11311/[0m
]2;roscore http://e3c56203d9a4:11311/
[1msetting /run_id to fb76d41a-3e1f-11ef-ab33-0242ac110005[0m
[0m[ INFO] [1720549256.656098128]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [248][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720549265.656226852]: Opening /slamhive/dataset/MH_02_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636856.854208   Duration: 0.000000 / 153.782490   Delay: 316912409.02 
init first imu pose
averge acc 9.580116 -0.442934 -3.147281
init R0 
   0.314883    0.132273    0.939868
3.08149e-33   -0.990242    0.139362
    0.94913  -0.0438827    -0.31181
feature tracking not enough, please slowly move you device! 
[33m[ WARN] [1720549269.941868540]: gyroscope bias initial calibration 0.0296833 0.0323316  0.115022[0m
[0m[ INFO] [1720549269.985259513]: Initialization finish![0m
time: 1403636860.751667, t: -0.071275 -0.082338 0.102780 q: 0.127191 0.800431 -0.132062 0.570695 
time: 1403636860.951667, t: -0.034448 -0.090449 0.138014 q: 0.024664 0.838283 -0.011343 0.544559 
time: 1403636861.151666, t: -0.061002 -0.100342 0.266781 q: 0.026513 0.834731 -0.010607 0.549916 
time: 1403636861.351666, t: -0.014361 -0.090730 0.364323 q: -0.002290 0.800794 0.013585 0.598781 
time: 1403636861.551666, t: -0.010174 -0.094375 0.409848 q: 0.009012 0.788944 0.001432 0.614397 
time: 1403636861.751667, t: -0.015100 -0.102535 0.344119 q: 0.003273 0.801622 0.004810 0.597803 
time: 1403636861.951667, t: -0.019023 -0.100512 0.234440 q: 0.005911 0.819081 0.000369 0.573647 
time: 1403636862.151666, t: -0.026758 -0.094775 0.133667 q: 0.000509 0.837354 -0.007998 0.546602 
time: 1403636862.351666, t: -0.028659 -0.092864 0.111074 q: 0.007740 0.845607 0.000213 0.533750 
time: 1403636862.551666, t: -0.027361 -0.093600 0.200965 q: 0.009938 0.842897 0.002650 0.537977 
time: 1403636862.751667, t: -0.020251 -0.094162 0.333418 q: 0.024548 0.828038 -0.003836 0.560122 
time: 1403636862.951667, t: -0.017560 -0.091087 0.456046 q: 0.019186 0.819768 -0.018205 0.572085 
time: 1403636863.151666, t: -0.019820 -0.094748 0.473437 q: 0.027389 0.808900 -0.009371 0.587233 
time: 1403636863.351666, t: -0.021168 -0.100007 0.376141 q: 0.040513 0.811729 -0.004665 0.582608 
time: 1403636863.551666, t: -0.023485 -0.100182 0.241217 q: 0.036386 0.821691 -0.011553 0.568653 
time: 1403636863.751667, t: -0.032424 -0.101146 0.127769 q: 0.015561 0.838866 -0.018440 0.543804 
time: 1403636863.951667, t: -0.038026 -0.104504 0.118810 q: 0.008722 0.850298 -0.015671 0.525997 
time: 1403636864.151666, t: -0.035173 -0.104002 0.232600 q: 0.008308 0.844930 -0.003059 0.534804 
time: 1403636864.351666, t: -0.031850 -0.099293 0.369005 q: 0.015095 0.837692 -0.004537 0.545915 
time: 1403636864.551666, t: -0.025567 -0.092828 0.465453 q: 0.009485 0.818293 -0.016735 0.574479 
time: 1403636864.751667, t: -0.020932 -0.091337 0.458023 q: 0.019869 0.808501 -0.011891 0.588040 
time: 1403636864.951667, t: -0.022447 -0.093682 0.355665 q: 0.022718 0.819797 -0.007975 0.572148 
time: 1403636865.351666, t: -0.022232 -0.095886 0.152586 q: -0.009286 0.838126 -0.022036 0.544953 
time: 1403636865.551666, t: -0.020851 -0.096729 0.142724 q: -0.000732 0.847279 -0.010089 0.531052 
time: 1403636865.751667, t: -0.018036 -0.085016 0.232426 q: -0.007810 0.846553 -0.003365 0.532236 
time: 1403636865.951667, t: -0.014614 -0.079331 0.364566 q: -0.012093 0.825552 -0.007862 0.564142 
time: 1403636866.151666, t: -0.016963 -0.079150 0.483458 q: -0.007312 0.795145 -0.012264 0.606251 
time: 1403636866.351666, t: -0.019779 -0.077762 0.507335 q: 0.005840 0.793343 -0.009969 0.608665 
time: 1403636866.551666, t: -0.015603 -0.081089 0.424048 q: 0.009922 0.807101 -0.005057 0.590308 
time: 1403636866.751667, t: -0.018620 -0.091611 0.320189 q: 0.015554 0.821433 -0.004773 0.570073 
time: 1403636866.951667, t: -0.031465 -0.097271 0.253223 q: -0.003638 0.835371 -0.002532 0.549668 
time: 1403636867.151666, t: -0.045282 -0.098852 0.220975 q: -0.011306 0.847731 -0.002621 0.530299 
time: 1403636867.351666, t: -0.064794 -0.095958 0.218463 q: -0.028243 0.853483 0.008446 0.520286 
time: 1403636867.551666, t: -0.078642 -0.095848 0.227982 q: -0.021753 0.869032 0.012626 0.494117 
time: 1403636867.751667, t: -0.099437 -0.097131 0.220560 q: -0.022024 0.916402 0.012956 0.399443 
time: 1403636867.951667, t: -0.111524 -0.101257 0.218396 q: -0.023490 0.942910 0.006727 0.332151 
time: 1403636868.151666, t: -0.114441 -0.099834 0.229669 q: -0.031494 0.934952 0.013066 0.353132 
time: 1403636868.351666, t: -0.128380 -0.096238 0.233513 q: -0.041596 0.934806 0.017292 0.352291 
time: 1403636868.551666, t: -0.144416 -0.085192 0.238710 q: -0.039643 0.930804 0.013100 0.363127 
time: 1403636868.751667, t: -0.160921 -0.076707 0.249272 q: -0.036916 0.930956 0.010322 0.363115 
time: 1403636868.951667, t: -0.171070 -0.068999 0.250608 q: -0.032119 0.932466 0.017680 0.359392 
time: 1403636869.151666, t: -0.171862 -0.060972 0.251820 q: -0.042951 0.928745 0.020931 0.367627 
time: 1403636869.351666, t: -0.170267 -0.057520 0.249090 q: -0.044159 0.928928 0.024589 0.366794 
time: 1403636869.551666, t: -0.166080 -0.062417 0.246837 q: -0.044574 0.928733 0.025327 0.367188 
time: 1403636869.751667, t: -0.157579 -0.097764 0.244686 q: -0.041151 0.931330 0.022181 0.361163 
time: 1403636869.951667, t: -0.134432 -0.166668 0.244266 q: -0.034326 0.928809 0.008726 0.368862 
time: 1403636870.151666, t: -0.102960 -0.257806 0.241478 q: -0.025697 0.930296 -0.007049 0.365840 
time: 1403636870.351666, t: -0.069777 -0.354901 0.240544 q: -0.017634 0.929615 -0.015597 0.367781 
time: 1403636870.551666, t: -0.044562 -0.438927 0.232057 q: -0.011510 0.928626 -0.027670 0.369805 
time: 1403636870.751667, t: -0.025604 -0.496160 0.220556 q: 0.000763 0.930015 -0.035313 0.365820 
time: 1403636870.951667, t: -0.015304 -0.519364 0.211229 q: -0.005832 0.922565 -0.041348 0.383576 
time: 1403636871.151666, t: -0.020739 -0.522407 0.206249 q: -0.000758 0.927006 -0.049330 0.371788 
time: 1403636871.351666, t: -0.028478 -0.500827 0.215386 q: 0.006119 0.927961 -0.052578 0.368899 
time: 1403636871.551666, t: -0.039936 -0.440595 0.223180 q: 0.004185 0.927884 -0.044985 0.370122 
time: 1403636871.751667, t: -0.056656 -0.345391 0.231381 q: -0.008849 0.929652 -0.039284 0.366231 
time: 1403636871.951667, t: -0.070740 -0.234708 0.235386 q: -0.018381 0.928727 -0.026858 0.369334 
time: 1403636872.151666, t: -0.078998 -0.119649 0.232812 q: -0.035592 0.924359 -0.013938 0.379604 
time: 1403636872.351666, t: -0.091077 -0.026227 0.223256 q: -0.044465 0.928387 0.001354 0.368942 
time: 1403636872.551666, t: -0.100575 0.022550 0.216258 q: -0.049722 0.929861 0.011360 0.364359 
time: 1403636872.751667, t: -0.102179 0.018652 0.220913 q: -0.048570 0.926844 0.016943 0.371905 
time: 1403636872.951667, t: -0.093586 -0.034000 0.221071 q: -0.042415 0.928473 0.009212 0.368855 
time: 1403636873.151666, t: -0.076348 -0.131352 0.217889 q: -0.034008 0.928912 -0.002297 0.368729 
time: 1403636873.351666, t: -0.049613 -0.248305 0.216156 q: -0.024133 0.930213 -0.018665 0.365750 
time: 1403636873.551666, t: -0.033740 -0.364224 0.210675 q: -0.015917 0.931767 -0.031655 0.361325 
time: 1403636873.751667, t: -0.026096 -0.451620 0.199723 q: -0.006311 0.934278 -0.042877 0.353902 
time: 1403636873.951667, t: -0.024688 -0.487611 0.189321 q: -0.004494 0.934288 -0.046486 0.353447 
time: 1403636874.151666, t: -0.024118 -0.485277 0.186395 q: -0.002586 0.934209 -0.049600 0.353251 
time: 1403636874.351666, t: -0.027558 -0.444115 0.190117 q: -0.005664 0.936143 -0.042190 0.349033 
time: 1403636874.551666, t: -0.031924 -0.354355 0.193266 q: -0.015096 0.935233 -0.031104 0.352340 
time: 1403636874.751667, t: -0.043954 -0.236548 0.194841 q: -0.025748 0.933448 -0.017637 0.357353 
time: 1403636874.951667, t: -0.053055 -0.125900 0.186881 q: -0.041045 0.934107 -0.009119 0.354508 
time: 1403636875.151666, t: -0.049526 -0.056974 0.182506 q: -0.036752 0.925039 -0.019516 0.377585 
time: 1403636875.351666, t: -0.063347 -0.011834 0.176023 q: -0.023764 0.914440 -0.065946 0.398605 
time: 1403636875.551666, t: -0.108838 0.010631 0.168933 q: -0.029320 0.914500 -0.107461 0.388950 
time: 1403636875.751667, t: -0.185774 -0.012128 0.167423 q: -0.021513 0.912746 -0.133825 0.385387 
time: 1403636875.951667, t: -0.266191 -0.072815 0.167424 q: 0.002784 0.909404 -0.169544 0.379779 
time: 1403636876.151666, t: -0.321677 -0.159602 0.174696 q: 0.040997 0.896825 -0.213618 0.385216 
time: 1403636876.351666, t: -0.321314 -0.266349 0.183751 q: 0.060594 0.889260 -0.245802 0.380954 
time: 1403636876.551666, t: -0.255057 -0.379085 0.181456 q: 0.080219 0.886515 -0.253941 0.378378 
time: 1403636876.751667, t: -0.149742 -0.455665 0.182965 q: 0.086814 0.884352 -0.227098 0.398512 
time: 1403636876.951667, t: -0.041872 -0.453150 0.198684 q: 0.070405 0.889905 -0.174082 0.415702 
time: 1403636877.151666, t: 0.060216 -0.380462 0.189110 q: 0.029328 0.896577 -0.100961 0.430229 
time: 1403636877.351666, t: 0.099502 -0.236853 0.193708 q: -0.017512 0.901546 -0.026704 0.431504 
time: 1403636877.551666, t: 0.078132 -0.096183 0.190587 q: -0.058216 0.905453 0.032103 0.419208 
time: 1403636877.951667, t: -0.085265 0.024650 0.179565 q: -0.083680 0.921457 0.036216 0.377628 
time: 1403636878.151666, t: -0.176317 0.004119 0.159564 q: -0.055462 0.926782 -0.004331 0.371457 
time: 1403636878.351666, t: -0.243827 -0.076765 0.151488 q: -0.031525 0.923190 -0.057408 0.378724 
time: 1403636878.551666, t: -0.275040 -0.189228 0.148115 q: -0.000936 0.917553 -0.109582 0.382214 
time: 1403636878.751667, t: -0.265271 -0.312560 0.163676 q: 0.034894 0.909429 -0.142787 0.389016 
time: 1403636879.151666, t: -0.111234 -0.481216 0.189850 q: 0.045204 0.901300 -0.156101 0.401557 
time: 1403636879.351666, t: -0.039381 -0.464880 0.212278 q: 0.038971 0.893022 -0.131839 0.428499 
time: 1403636879.551666, t: 0.010619 -0.387381 0.223276 q: 0.013952 0.894450 -0.079483 0.439827 
time: 1403636879.751667, t: 0.062632 -0.305835 0.222342 q: -0.024105 0.898918 -0.037150 0.435873 
time: 1403636879.951667, t: 0.023568 -0.208429 0.223292 q: -0.048106 0.906205 -0.009465 0.419987 
time: 1403636880.151666, t: -0.063182 -0.146382 0.233785 q: -0.052025 0.911508 -0.001193 0.407976 
time: 1403636880.351666, t: -0.161921 -0.179879 0.235471 q: -0.026559 0.908289 -0.032252 0.416252 
time: 1403636880.551666, t: -0.258774 -0.200623 0.241577 q: 0.013081 0.902539 -0.075146 0.423799 
time: 1403636880.751667, t: -0.340562 -0.187072 0.253915 q: 0.027384 0.906427 -0.098220 0.409869 
time: 1403636880.951667, t: -0.399873 -0.125909 0.264763 q: 0.011748 0.908087 -0.090013 0.408824 
time: 1403636881.151666, t: -0.394654 -0.052703 0.269875 q: -0.006545 0.900422 -0.056722 0.431254 
time: 1403636881.351666, t: -0.343489 0.002781 0.275912 q: -0.036698 0.896768 -0.011384 0.440830 
time: 1403636881.551666, t: -0.252314 0.004811 0.281564 q: -0.037691 0.892383 0.020543 0.449232 
time: 1403636881.751667, t: -0.147265 -0.052159 0.277443 q: -0.030203 0.889278 0.040592 0.454561 
time: 1403636881.951667, t: -0.062605 -0.143988 0.263760 q: -0.020468 0.892309 0.027438 0.450125 
time: 1403636882.151666, t: -0.029577 -0.239226 0.244754 q: -0.012796 0.891811 0.003164 0.452215 
time: 1403636882.351666, t: -0.048507 -0.295843 0.216305 q: -0.002345 0.886996 -0.010680 0.461649 
time: 1403636882.551666, t: -0.090935 -0.291018 0.183701 q: -0.021135 0.882977 -0.003105 0.468929 
time: 1403636882.751667, t: -0.081240 -0.254176 0.162828 q: -0.047537 0.862912 0.018741 0.502765 
time: 1403636882.951667, t: -0.041049 -0.216367 0.125363 q: -0.082504 0.834457 0.057359 0.541834 
time: 1403636883.151666, t: -0.008392 -0.184032 0.078222 q: -0.105932 0.827369 0.093848 0.543535 
time: 1403636883.351666, t: 0.021272 -0.159771 0.039903 q: -0.111691 0.815773 0.113421 0.556035 
time: 1403636883.551666, t: 0.039299 -0.148553 0.019553 q: -0.122679 0.805016 0.123315 0.567180 
time: 1403636883.751667, t: 0.046321 -0.142746 0.009125 q: -0.130562 0.797093 0.137079 0.573416 
time: 1403636883.951667, t: 0.049662 -0.140750 0.000778 q: -0.139342 0.795033 0.140612 0.573354 
time: 1403636884.151666, t: 0.050939 -0.142923 -0.000186 q: -0.144004 0.787233 0.144988 0.581813 
time: 1403636884.351666, t: 0.049774 -0.142876 0.000310 q: -0.143631 0.782347 0.144787 0.588506 
time: 1403636884.551666, t: 0.049759 -0.143071 0.000800 q: -0.143353 0.782381 0.144913 0.588498 
time: 1403636884.751667, t: 0.049618 -0.143416 0.001215 q: -0.143375 0.782657 0.144595 0.588204 
time: 1403636884.951667, t: 0.048853 -0.144167 0.002944 q: -0.143248 0.782735 0.144461 0.588164 
time: 1403636885.151666, t: 0.048837 -0.144284 0.002915 q: -0.142756 0.782889 0.144417 0.588089 
time: 1403636885.351666, t: 0.048869 -0.144323 0.002894 q: -0.142697 0.782989 0.144233 0.588016 
time: 1403636885.551666, t: 0.048865 -0.144390 0.002906 q: -0.142469 0.783018 0.144119 0.588061 
time: 1403636885.751667, t: 0.048828 -0.144465 0.002917 q: -0.142207 0.783058 0.144076 0.588081 
time: 1403636885.951667, t: 0.048812 -0.144511 0.002897 q: -0.141936 0.783122 0.144075 0.588061 
time: 1403636886.151666, t: 0.048813 -0.144500 0.002845 q: -0.142070 0.783206 0.143796 0.587986 
time: 1403636886.351666, t: 0.048840 -0.144524 0.002810 q: -0.142022 0.783290 0.143728 0.587902 
time: 1403636886.551666, t: 0.048844 -0.144574 0.002796 q: -0.141797 0.783284 0.143765 0.587955 
time: 1403636886.751667, t: 0.048452 -0.144941 0.003543 q: -0.141480 0.783345 0.143511 0.588012 
time: 1403636886.951667, t: 0.048452 -0.144979 0.003521 q: -0.141338 0.783365 0.143520 0.588018 
time: 1403636887.151666, t: 0.048461 -0.145001 0.003486 q: -0.141315 0.783422 0.143417 0.587972 
time: 1403636887.351666, t: 0.048405 -0.145004 0.003496 q: -0.141217 0.783433 0.143338 0.588000 
time: 1403636887.551666, t: 0.048449 -0.145031 0.003479 q: -0.141124 0.783522 0.143340 0.587904 
time: 1403636887.751667, t: 0.048465 -0.145049 0.003459 q: -0.141047 0.783535 0.143372 0.587898 
time: 1403636887.951667, t: 0.048472 -0.145069 0.003461 q: -0.140970 0.783589 0.143305 0.587861 
time: 1403636888.151666, t: 0.048470 -0.145097 0.003440 q: -0.140943 0.783629 0.143243 0.587829 
time: 1403636888.351666, t: 0.048491 -0.145100 0.003416 q: -0.141055 0.783640 0.143215 0.587794 
time: 1403636888.551666, t: 0.048451 -0.145093 0.003437 q: -0.140928 0.783711 0.143150 0.587745 
time: 1403636888.751667, t: 0.048281 -0.144991 0.003500 q: -0.140787 0.783453 0.143191 0.588113 
time: 1403636888.951667, t: 0.048279 -0.145150 0.003510 q: -0.140072 0.783639 0.142783 0.588135 
time: 1403636889.151666, t: 0.048335 -0.145092 0.003674 q: -0.140206 0.783664 0.142684 0.588094 
time: 1403636889.351666, t: 0.048692 -0.144981 0.003640 q: -0.140109 0.783713 0.142368 0.588128 
time: 1403636889.551666, t: 0.048815 -0.145035 0.003621 q: -0.140038 0.783714 0.142471 0.588118 
time: 1403636889.751667, t: 0.048652 -0.145181 0.003623 q: -0.139908 0.783555 0.142428 0.588372 
time: 1403636889.951667, t: 0.048527 -0.145192 0.003698 q: -0.139840 0.783626 0.142622 0.588247 
time: 1403636890.151666, t: 0.048593 -0.145345 0.003771 q: -0.139750 0.783482 0.142215 0.588558 
time: 1403636890.351666, t: 0.048203 -0.145208 0.003770 q: -0.139960 0.783872 0.142819 0.587843 
time: 1403636890.551666, t: 0.048471 -0.145242 0.003835 q: -0.139743 0.783366 0.142367 0.588677 
time: 1403636890.751667, t: 0.048363 -0.145300 0.003777 q: -0.139836 0.783856 0.142776 0.587903 
time: 1403636890.951667, t: 0.048395 -0.145302 0.003861 q: -0.140078 0.783514 0.142806 0.588295 
time: 1403636891.151666, t: 0.048389 -0.145322 0.003789 q: -0.140380 0.783466 0.142934 0.588256 
time: 1403636891.351666, t: 0.048446 -0.145223 0.003818 q: -0.140296 0.783431 0.143037 0.588297 
time: 1403636891.551666, t: 0.048423 -0.145258 0.003825 q: -0.140322 0.783468 0.143060 0.588235 
time: 1403636891.751667, t: 0.048444 -0.145271 0.003884 q: -0.140405 0.783463 0.143219 0.588185 
time: 1403636891.951667, t: 0.048362 -0.145190 0.003863 q: -0.140231 0.783475 0.143189 0.588217 
time: 1403636892.151666, t: 0.048362 -0.145204 0.003816 q: -0.140366 0.783478 0.143130 0.588194 
time: 1403636892.351666, t: 0.048363 -0.145216 0.003842 q: -0.140200 0.783476 0.143126 0.588238 
time: 1403636892.551666, t: 0.048363 -0.145227 0.003841 q: -0.140081 0.783481 0.143067 0.588274 
time: 1403636892.751667, t: 0.048372 -0.145226 0.003835 q: -0.140059 0.783498 0.143107 0.588247 
time: 1403636892.951667, t: 0.048399 -0.145198 0.003849 q: -0.140088 0.783511 0.143204 0.588199 
time: 1403636893.151666, t: 0.048371 -0.145230 0.003837 q: -0.140130 0.783454 0.143104 0.588290 
time: 1403636893.351666, t: 0.048362 -0.145220 0.003828 q: -0.140165 0.783475 0.143095 0.588255 
time: 1403636893.551666, t: 0.048362 -0.145228 0.003845 q: -0.140050 0.783514 0.143118 0.588225 
time: 1403636893.751667, t: 0.048323 -0.145230 0.003854 q: -0.140052 0.783478 0.143175 0.588258 
time: 1403636893.951667, t: 0.048360 -0.145209 0.003849 q: -0.140122 0.783589 0.143071 0.588120 
time: 1403636894.151666, t: 0.048365 -0.145210 0.003822 q: -0.140094 0.783592 0.142994 0.588141 
time: 1403636894.351666, t: 0.048379 -0.145215 0.003813 q: -0.140121 0.783599 0.142967 0.588132 
time: 1403636894.551666, t: 0.048390 -0.145225 0.003812 q: -0.140080 0.783570 0.142989 0.588175 
time: 1403636894.751667, t: 0.048357 -0.145222 0.003815 q: -0.140107 0.783558 0.142988 0.588184 
time: 1403636894.951667, t: 0.048367 -0.145234 0.003821 q: -0.139985 0.783580 0.142859 0.588215 
time: 1403636895.151666, t: 0.048366 -0.145245 0.003855 q: -0.139785 0.783500 0.143052 0.588323 
time: 1403636895.351666, t: 0.048368 -0.145220 0.003843 q: -0.139712 0.783559 0.142917 0.588295 
time: 1403636895.551666, t: 0.048357 -0.145241 0.003845 q: -0.139706 0.783553 0.142874 0.588314 
time: 1403636895.751667, t: 0.048379 -0.145212 0.003852 q: -0.139698 0.783520 0.142973 0.588337 
time: 1403636895.951667, t: 0.048371 -0.145226 0.003874 q: -0.139723 0.783480 0.143083 0.588357 
time: 1403636896.151666, t: 0.048497 -0.145252 0.003820 q: -0.139695 0.784370 0.143119 0.587168 
time: 1403636896.351666, t: 0.048529 -0.145256 0.003852 q: -0.139597 0.784359 0.143399 0.587138 
time: 1403636896.551666, t: 0.048485 -0.145218 0.003886 q: -0.139541 0.783875 0.143748 0.587712 
time: 1403636896.751667, t: 0.048628 -0.145250 0.003799 q: -0.139957 0.784376 0.143950 0.586894 
time: 1403636896.951667, t: 0.048720 -0.145315 0.003762 q: -0.140151 0.783973 0.144350 0.587288 
time: 1403636897.151666, t: 0.048532 -0.145180 0.004136 q: -0.141821 0.782663 0.148415 0.587621 
time: 1403636897.351666, t: 0.041758 -0.153089 0.003372 q: -0.140229 0.785087 0.146658 0.585206 
time: 1403636897.551666, t: 0.026706 -0.177310 0.002440 q: -0.124459 0.796197 0.142918 0.574592 
time: 1403636897.751667, t: 0.004372 -0.207550 0.012539 q: -0.101713 0.815400 0.149517 0.549930 
time: 1403636897.951667, t: -0.010210 -0.229530 0.048868 q: -0.093913 0.822243 0.155804 0.539279 
time: 1403636898.151666, t: -0.008584 -0.240399 0.077981 q: -0.102013 0.810550 0.157596 0.554766 
time: 1403636898.351666, t: -0.001251 -0.247806 0.106033 q: -0.106480 0.807914 0.162746 0.556282 
time: 1403636898.551666, t: 0.012102 -0.246768 0.145021 q: -0.112380 0.807374 0.167454 0.554507 
time: 1403636898.751667, t: 0.032675 -0.234816 0.182582 q: -0.113431 0.807618 0.172018 0.552537 
time: 1403636898.951667, t: 0.061077 -0.216904 0.208607 q: -0.121434 0.808758 0.170079 0.549761 
time: 1403636899.151666, t: 0.100981 -0.206306 0.230987 q: -0.121893 0.809234 0.153932 0.553703 
time: 1403636899.351666, t: 0.147717 -0.208438 0.250123 q: -0.100133 0.803065 0.121799 0.574652 
time: 1403636899.551666, t: 0.188069 -0.220875 0.264840 q: -0.078259 0.809538 0.080817 0.576187 
time: 1403636899.751667, t: 0.225638 -0.237759 0.276900 q: -0.067300 0.818485 0.057742 0.567644 
time: 1403636899.951667, t: 0.270567 -0.267935 0.283812 q: -0.051148 0.818430 0.055956 0.569583 
time: 1403636900.151666, t: 0.314233 -0.305977 0.285353 q: -0.046016 0.808714 0.057062 0.583616 
time: 1403636900.351666, t: 0.354832 -0.340200 0.315707 q: -0.046509 0.810353 0.061838 0.580810 
time: 1403636900.551666, t: 0.375731 -0.383046 0.362676 q: -0.049165 0.817276 0.067598 0.570152 
time: 1403636900.751667, t: 0.405691 -0.426365 0.394336 q: -0.054067 0.825218 0.071780 0.557619 
time: 1403636900.951667, t: 0.451664 -0.466227 0.404526 q: -0.068216 0.823546 0.066148 0.559234 
time: 1403636901.151666, t: 0.509055 -0.515776 0.397181 q: -0.075412 0.820451 0.061582 0.563366 
time: 1403636901.351666, t: 0.570385 -0.585172 0.393697 q: -0.070279 0.818720 0.064820 0.566177 
time: 1403636901.551666, t: 0.641336 -0.666410 0.413190 q: -0.060428 0.817572 0.070750 0.568260 
time: 1403636901.751667, t: 0.717075 -0.744044 0.419036 q: -0.060049 0.814632 0.071060 0.572467 
time: 1403636901.951667, t: 0.791306 -0.822044 0.399990 q: -0.058556 0.814530 0.072664 0.572566 
time: 1403636902.151666, t: 0.865989 -0.898046 0.384175 q: -0.057553 0.813390 0.075857 0.573873 
time: 1403636902.351666, t: 0.941317 -0.975421 0.381974 q: -0.060601 0.814350 0.072727 0.572601 
time: 1403636902.551666, t: 1.013013 -1.055153 0.340760 q: -0.054515 0.815346 0.071677 0.571928 
time: 1403636902.751667, t: 1.085366 -1.135495 0.297399 q: -0.045218 0.814284 0.072361 0.574161 
time: 1403636902.951667, t: 1.152646 -1.209398 0.283046 q: -0.049011 0.811398 0.071784 0.577994 
time: 1403636903.151666, t: 1.216225 -1.278359 0.297943 q: -0.053336 0.812885 0.074260 0.575203 
time: 1403636903.351666, t: 1.275918 -1.347294 0.341802 q: -0.054536 0.815135 0.078887 0.571278 
time: 1403636903.551666, t: 1.330877 -1.415033 0.372034 q: -0.053257 0.815366 0.083576 0.570401 
time: 1403636903.751667, t: 1.380712 -1.478298 0.374683 q: -0.058775 0.820450 0.081823 0.562771 
time: 1403636903.951667, t: 1.441532 -1.537377 0.379626 q: -0.068879 0.820934 0.075975 0.561739 
time: 1403636904.151666, t: 1.510049 -1.598529 0.414166 q: -0.073716 0.818277 0.072227 0.565484 
time: 1403636904.351666, t: 1.578403 -1.670522 0.464820 q: -0.074249 0.816233 0.069910 0.568651 
time: 1403636904.551666, t: 1.653354 -1.749255 0.496729 q: -0.067501 0.815183 0.071479 0.570798 
time: 1403636904.751667, t: 1.728608 -1.834934 0.515943 q: -0.059375 0.814938 0.073492 0.571795 
time: 1403636904.951667, t: 1.805985 -1.919547 0.528470 q: -0.050969 0.815423 0.075049 0.571713 
time: 1403636905.151666, t: 1.879630 -2.004653 0.528387 q: -0.046749 0.814288 0.073179 0.573929 
time: 1403636905.351666, t: 1.958701 -2.078036 0.544626 q: -0.041121 0.816715 0.072315 0.571014 
time: 1403636905.551666, t: 2.035227 -2.135851 0.581764 q: -0.039572 0.818436 0.081260 0.567445 
time: 1403636905.751667, t: 2.107317 -2.180055 0.603866 q: -0.046924 0.818255 0.087229 0.566258 
time: 1403636905.951667, t: 2.182858 -2.212377 0.595433 q: -0.053803 0.820310 0.088994 0.562385 
time: 1403636906.151666, t: 2.260209 -2.239686 0.572048 q: -0.053504 0.823375 0.093803 0.557128 
time: 1403636906.351666, t: 2.350825 -2.254767 0.570704 q: -0.060290 0.814723 0.091427 0.569415 
time: 1403636906.551666, t: 2.438863 -2.268075 0.588558 q: -0.079305 0.814086 0.077974 0.569995 
time: 1403636906.751667, t: 2.525278 -2.288885 0.594650 q: -0.070915 0.815630 0.082831 0.568206 
time: 1403636906.951667, t: 2.614602 -2.315996 0.584157 q: -0.060956 0.815557 0.092077 0.568043 
time: 1403636907.151666, t: 2.706293 -2.337734 0.588993 q: -0.059418 0.817127 0.097205 0.565087 
time: 1403636907.351666, t: 2.805797 -2.351994 0.583654 q: -0.064130 0.822859 0.097357 0.556158 
time: 1403636907.551666, t: 2.923550 -2.357896 0.584178 q: -0.076893 0.824922 0.089896 0.552729 
time: 1403636907.751667, t: 3.054072 -2.369359 0.614864 q: -0.081629 0.824316 0.086871 0.553438 
time: 1403636907.951667, t: 3.195726 -2.393878 0.640279 q: -0.081046 0.820931 0.087536 0.558427 
time: 1403636908.151666, t: 3.347059 -2.426360 0.631581 q: -0.071985 0.814358 0.097751 0.567524 
time: 1403636908.351666, t: 3.490974 -2.456227 0.633574 q: -0.071780 0.812207 0.103525 0.569605 
time: 1403636908.551666, t: 3.626695 -2.485295 0.617798 q: -0.074923 0.813258 0.106522 0.567142 
wait for imu ... 
time: 1403636908.751667, t: 3.758752 -2.515779 0.607692 q: -0.077542 0.815994 0.109528 0.562267 
time: 1403636908.951667, t: 3.901681 -2.541722 0.629521 q: -0.081423 0.820675 0.108914 0.554978 
time: 1403636909.151666, t: 4.056367 -2.563322 0.671801 q: -0.085409 0.821321 0.105721 0.554040 
time: 1403636909.351666, t: 4.212076 -2.597107 0.688907 q: -0.084627 0.821215 0.104819 0.554489 
time: 1403636909.551666, t: 4.384534 -2.631358 0.689560 q: -0.080633 0.816671 0.105157 0.561684 
time: 1403636909.751667, t: 4.559353 -2.667318 0.669148 q: -0.083814 0.811670 0.099414 0.569459 
time: 1403636909.951667, t: 4.731343 -2.708836 0.633017 q: -0.059734 0.802702 0.114414 0.582246 
time: 1403636910.151666, t: 4.884948 -2.738777 0.583996 q: -0.060578 0.801011 0.114751 0.584418 
time: 1403636910.351666, t: 5.026269 -2.753108 0.557815 q: -0.072187 0.810593 0.108742 0.570880 
time: 1403636910.551666, t: 5.163631 -2.759270 0.558866 q: -0.073369 0.812518 0.111264 0.567496 
time: 1403636910.751667, t: 5.298042 -2.760594 0.547147 q: -0.073994 0.812853 0.112460 0.566699 
time: 1403636910.951667, t: 5.428945 -2.760827 0.514198 q: -0.079829 0.812366 0.109263 0.567230 
time: 1403636911.151666, t: 5.558399 -2.762086 0.491217 q: -0.085681 0.801813 0.106059 0.581813 
time: 1403636911.351666, t: 5.675113 -2.770412 0.489425 q: -0.077048 0.811159 0.111330 0.568938 
time: 1403636911.551666, t: 5.781743 -2.779637 0.515974 q: -0.074523 0.811896 0.112490 0.567995 
time: 1403636911.751667, t: 5.882792 -2.793233 0.530592 q: -0.075542 0.812055 0.111207 0.567885 
time: 1403636911.951667, t: 5.987695 -2.804336 0.524341 q: -0.089469 0.816393 0.100057 0.561681 
time: 1403636912.151666, t: 6.103426 -2.818859 0.503321 q: -0.085221 0.816161 0.101541 0.562413 
time: 1403636912.351666, t: 6.220393 -2.843814 0.499530 q: -0.079330 0.813518 0.105061 0.566442 
time: 1403636912.551666, t: 6.341235 -2.866738 0.503657 q: -0.084378 0.814144 0.100001 0.565729 
time: 1403636912.751667, t: 6.462632 -2.896411 0.485621 q: -0.092997 0.814991 0.092002 0.564515 
time: 1403636912.951667, t: 6.587430 -2.937170 0.448949 q: -0.088526 0.812347 0.094183 0.568670 
time: 1403636913.151666, t: 6.704216 -2.996320 0.402411 q: -0.079439 0.806035 0.100687 0.577805 
time: 1403636913.351666, t: 6.821268 -3.054653 0.377806 q: -0.079312 0.807423 0.101456 0.575747 
time: 1403636913.551666, t: 6.935436 -3.113196 0.377983 q: -0.083899 0.812077 0.098205 0.569077 
time: 1403636913.751667, t: 7.042337 -3.179228 0.365708 q: -0.077919 0.812185 0.101157 0.569255 
time: 1403636913.951667, t: 7.151614 -3.247017 0.352622 q: -0.076239 0.811098 0.102765 0.570742 
time: 1403636914.151666, t: 7.254921 -3.312936 0.362767 q: -0.080715 0.811312 0.100142 0.570289 
time: 1403636914.351666, t: 7.351164 -3.382658 0.366221 q: -0.077846 0.811593 0.101477 0.570052 
time: 1403636914.751667, t: 7.518092 -3.528091 0.394171 q: -0.070974 0.809275 0.105541 0.573496 
time: 1403636914.951667, t: 7.588823 -3.594297 0.416753 q: -0.069272 0.810844 0.104967 0.571590 
time: 1403636915.151666, t: 7.653235 -3.656184 0.413944 q: -0.067453 0.814338 0.104348 0.566935 
time: 1403636915.351666, t: 7.720025 -3.708697 0.389567 q: -0.064697 0.822830 0.105001 0.554743 
time: 1403636915.551666, t: 7.799312 -3.754033 0.363753 q: -0.072932 0.819152 0.100086 0.560049 
time: 1403636915.751667, t: 7.888725 -3.799151 0.366641 q: -0.086855 0.811783 0.091921 0.570101 
time: 1403636915.951667, t: 7.977899 -3.858128 0.399785 q: -0.086796 0.810319 0.093561 0.571923 
time: 1403636916.151666, t: 8.064809 -3.925038 0.430320 q: -0.071760 0.808760 0.105822 0.574073 
time: 1403636916.351666, t: 8.143151 -3.988254 0.453365 q: -0.072773 0.809212 0.106609 0.573162 
time: 1403636916.551666, t: 8.215151 -4.048832 0.481148 q: -0.058668 0.810144 0.098969 0.574830 
time: 1403636916.751667, t: 8.278683 -4.103103 0.488919 q: -0.042406 0.811763 0.078789 0.577092 
time: 1403636916.951667, t: 8.347877 -4.143481 0.479542 q: -0.033165 0.812306 0.066672 0.578458 
time: 1403636917.151666, t: 8.412543 -4.172126 0.447218 q: -0.034374 0.813387 0.057917 0.577811 
time: 1403636917.351666, t: 8.477286 -4.200693 0.390062 q: -0.023936 0.813433 0.039337 0.579832 
time: 1403636917.551666, t: 8.531406 -4.229320 0.320717 q: -0.000355 0.813469 0.007819 0.581556 
time: 1403636917.751667, t: 8.579398 -4.249356 0.270088 q: 0.011828 0.812083 -0.014029 0.583253 
time: 1403636917.951667, t: 8.617960 -4.262908 0.255249 q: 0.023188 0.811015 -0.025207 0.584022 
time: 1403636918.151666, t: 8.646955 -4.270691 0.244109 q: 0.029853 0.813444 -0.028396 0.580182 
time: 1403636918.351666, t: 8.668510 -4.271306 0.233740 q: 0.034522 0.817300 -0.025226 0.574624 
time: 1403636918.551666, t: 8.687416 -4.259095 0.248562 q: 0.033598 0.828332 -0.023975 0.558716 
time: 1403636918.751667, t: 8.730020 -4.233454 0.299702 q: 0.026083 0.826290 -0.023914 0.562132 
time: 1403636918.951667, t: 8.779549 -4.201324 0.370763 q: 0.002236 0.815628 -0.043381 0.576944 
time: 1403636919.151666, t: 8.832656 -4.191231 0.453381 q: 0.000487 0.810104 -0.060202 0.583186 
time: 1403636919.351666, t: 8.870091 -4.205339 0.540747 q: 0.009149 0.808058 -0.067439 0.585158 
time: 1403636919.551666, t: 8.888652 -4.238109 0.609260 q: 0.032566 0.807819 -0.063274 0.585118 
time: 1403636919.751667, t: 8.894368 -4.280217 0.646725 q: 0.044624 0.806602 -0.060205 0.586325 
time: 1403636919.951667, t: 8.893721 -4.316033 0.663238 q: 0.040687 0.804585 -0.064037 0.588971 
time: 1403636920.151666, t: 8.879979 -4.354340 0.648084 q: 0.029208 0.802171 -0.069785 0.592283 
time: 1403636920.351666, t: 8.850241 -4.400509 0.615516 q: 0.036966 0.802358 -0.061891 0.592473 
time: 1403636920.551666, t: 8.806882 -4.449140 0.587938 q: 0.046836 0.807342 -0.053547 0.585779 
time: 1403636920.751667, t: 8.751585 -4.491007 0.588254 q: 0.046954 0.815657 -0.053882 0.574105 
time: 1403636920.951667, t: 8.693211 -4.528755 0.613602 q: 0.046005 0.819830 -0.056087 0.567993 
time: 1403636921.151666, t: 8.652001 -4.556928 0.640217 q: 0.046227 0.819255 -0.057176 0.568697 
time: 1403636921.351666, t: 8.612161 -4.577107 0.647304 q: 0.045717 0.809495 -0.058191 0.582444 
time: 1403636921.551666, t: 8.567780 -4.593340 0.632677 q: 0.033578 0.807074 -0.067174 0.585655 
time: 1403636921.751667, t: 8.513837 -4.614730 0.594750 q: 0.029148 0.823667 -0.072097 0.561716 
time: 1403636921.951667, t: 8.473775 -4.645868 0.555282 q: 0.039103 0.825213 -0.068353 0.559305 
time: 1403636922.151666, t: 8.446712 -4.680325 0.517932 q: 0.052702 0.813482 -0.069696 0.574988 
time: 1403636922.351666, t: 8.423253 -4.710141 0.500599 q: 0.061561 0.818404 -0.076237 0.566227 
time: 1403636922.551666, t: 8.403578 -4.733672 0.484027 q: 0.070297 0.824393 -0.088574 0.554608 
time: 1403636922.751667, t: 8.397761 -4.754741 0.452931 q: 0.083826 0.812676 -0.103458 0.567298 
time: 1403636922.951667, t: 8.395102 -4.764573 0.430151 q: 0.077137 0.798894 -0.121914 0.583913 
time: 1403636923.151666, t: 8.380739 -4.774968 0.420405 q: 0.078364 0.796402 -0.135668 0.584121 
time: 1403636923.351666, t: 8.351881 -4.795948 0.391890 q: 0.099426 0.804124 -0.148348 0.567002 
time: 1403636923.551666, t: 8.315147 -4.816845 0.348050 q: 0.108949 0.816428 -0.159351 0.544227 
time: 1403636923.751667, t: 8.300515 -4.842673 0.329879 q: 0.112656 0.821572 -0.163895 0.534290 
time: 1403636923.951667, t: 8.316215 -4.872270 0.337354 q: 0.116128 0.821493 -0.162710 0.534030 
time: 1403636924.151666, t: 8.353946 -4.903394 0.328544 q: 0.117554 0.820298 -0.159866 0.536409 
time: 1403636924.351666, t: 8.417803 -4.935648 0.306787 q: 0.114889 0.818309 -0.159267 0.540189 
time: 1403636924.551666, t: 8.499516 -4.969804 0.310750 q: 0.100346 0.807688 -0.167074 0.556468 
time: 1403636924.751667, t: 8.581852 -5.018231 0.327712 q: 0.087209 0.797271 -0.172629 0.571799 
time: 1403636924.951667, t: 8.654351 -5.084289 0.318871 q: 0.084728 0.789504 -0.176571 0.581659 
time: 1403636925.151666, t: 8.702712 -5.167847 0.280063 q: 0.108237 0.792676 -0.180451 0.572178 
time: 1403636925.351666, t: 8.739421 -5.251949 0.223057 q: 0.129791 0.805000 -0.179030 0.550525 
time: 1403636925.551666, t: 8.793154 -5.332020 0.161650 q: 0.133461 0.817336 -0.184369 0.529299 
time: 1403636925.751667, t: 8.872964 -5.412202 0.131988 q: 0.134148 0.823584 -0.187695 0.518155 
time: 1403636925.951667, t: 8.985369 -5.496065 0.144682 q: 0.139523 0.812576 -0.184106 0.535124 
time: 1403636926.151666, t: 9.119395 -5.577794 0.155514 q: 0.137307 0.790535 -0.183726 0.567844 
time: 1403636926.351666, t: 9.245604 -5.650677 0.134055 q: 0.122748 0.781184 -0.190247 0.581799 
time: 1403636926.551666, t: 9.347257 -5.719965 0.093906 q: 0.116636 0.782372 -0.190189 0.581480 
time: 1403636926.751667, t: 9.429189 -5.793166 0.071115 q: 0.121358 0.789855 -0.185537 0.571819 
time: 1403636926.951667, t: 9.493867 -5.868335 0.072141 q: 0.122179 0.791240 -0.207510 0.562095 
time: 1403636927.151666, t: 9.547445 -5.956835 0.066511 q: 0.141920 0.782375 -0.239516 0.557118 
time: 1403636927.351666, t: 9.583485 -6.051043 0.037318 q: 0.172677 0.772688 -0.272751 0.546574 
time: 1403636927.551666, t: 9.618689 -6.148622 -0.009350 q: 0.190840 0.782204 -0.291717 0.516370 
time: 1403636927.751667, t: 9.669641 -6.250727 -0.038531 q: 0.198588 0.785856 -0.301975 0.501801 
time: 1403636927.951667, t: 9.747170 -6.365333 -0.039740 q: 0.200723 0.782883 -0.305337 0.503561 
time: 1403636928.151666, t: 9.844502 -6.497684 -0.053514 q: 0.204513 0.776309 -0.301810 0.514227 
time: 1403636928.351666, t: 9.957940 -6.635031 -0.078000 q: 0.204465 0.760871 -0.298654 0.538586 
time: 1403636928.551666, t: 10.063237 -6.767260 -0.115844 q: 0.207948 0.757380 -0.293693 0.544865 
time: 1403636928.751667, t: 10.156646 -6.892672 -0.137438 q: 0.207117 0.768327 -0.292630 0.530230 
time: 1403636928.951667, t: 10.250260 -7.011776 -0.123551 q: 0.209121 0.771515 -0.290577 0.525926 
time: 1403636929.151666, t: 10.342901 -7.129432 -0.076825 q: 0.201175 0.754907 -0.294884 0.550171 
time: 1403636929.351666, t: 10.426927 -7.238883 -0.023881 q: 0.190084 0.753093 -0.300649 0.553470 
time: 1403636929.551666, t: 10.493016 -7.352103 0.007529 q: 0.196953 0.758087 -0.293234 0.548203 
time: 1403636929.951667, t: 10.586255 -7.552356 0.008126 q: 0.206441 0.761066 -0.283190 0.545860 
time: 1403636930.151666, t: 10.626761 -7.635473 0.018205 q: 0.199044 0.759430 -0.288675 0.548010 
time: 1403636930.351666, t: 10.660077 -7.717816 0.053887 q: 0.195578 0.760851 -0.291182 0.545956 
time: 1403636930.551666, t: 10.681465 -7.798157 0.095419 q: 0.205891 0.761218 -0.284524 0.545163 
time: 1403636930.751667, t: 10.694386 -7.873234 0.110636 q: 0.198377 0.759080 -0.288997 0.548567 
time: 1403636930.951667, t: 10.699190 -7.948234 0.104903 q: 0.187143 0.753925 -0.301143 0.553071 
time: 1403636931.151666, t: 10.689553 -8.036079 0.087819 q: 0.200622 0.745114 -0.314061 0.553102 
time: 1403636931.351666, t: 10.654073 -8.124333 0.097552 q: 0.227458 0.738338 -0.310904 0.553587 
time: 1403636931.551666, t: 10.597989 -8.193811 0.129000 q: 0.248469 0.741752 -0.304316 0.543561 
time: 1403636931.751667, t: 10.537358 -8.237305 0.160422 q: 0.253926 0.744369 -0.303350 0.537973 
time: 1403636931.951667, t: 10.476391 -8.253007 0.162929 q: 0.236132 0.748062 -0.317231 0.532925 
time: 1403636932.151666, t: 10.414802 -8.263184 0.146524 q: 0.233432 0.743546 -0.319995 0.538750 
time: 1403636932.351666, t: 10.346626 -8.261315 0.132898 q: 0.251421 0.740106 -0.310661 0.540852 
time: 1403636932.551666, t: 10.275448 -8.234761 0.146091 q: 0.261897 0.737008 -0.315950 0.537033 
time: 1403636932.751667, t: 10.201640 -8.180761 0.186138 q: 0.266984 0.725840 -0.344995 0.531841 
time: 1403636932.951667, t: 10.126384 -8.107243 0.240468 q: 0.274239 0.719438 -0.364790 0.523575 
time: 1403636933.151666, t: 10.050508 -8.021549 0.247560 q: 0.282199 0.714541 -0.382719 0.513147 
time: 1403636933.351666, t: 9.972400 -7.926711 0.220530 q: 0.272364 0.727148 -0.402976 0.484442 
time: 1403636933.551666, t: 9.908049 -7.844786 0.188863 q: 0.274362 0.723314 -0.404476 0.487792 
time: 1403636933.751667, t: 9.853013 -7.770789 0.174000 q: 0.281417 0.715441 -0.397182 0.501194 
time: 1403636933.951667, t: 9.803544 -7.699148 0.186097 q: 0.282005 0.708549 -0.397285 0.510486 
time: 1403636934.151666, t: 9.749160 -7.632873 0.193572 q: 0.294310 0.696235 -0.418460 0.503518 
time: 1403636934.351666, t: 9.687426 -7.561240 0.156841 q: 0.319340 0.672951 -0.453255 0.489610 
time: 1403636934.551666, t: 9.618638 -7.486387 0.125025 q: 0.336469 0.642252 -0.498612 0.475066 
time: 1403636934.751667, t: 9.535741 -7.407197 0.132636 q: 0.358648 0.621897 -0.530439 0.450833 
time: 1403636934.951667, t: 9.451411 -7.322799 0.169207 q: 0.370008 0.620565 -0.543520 0.427293 
time: 1403636935.151666, t: 9.367715 -7.246455 0.236540 q: 0.377572 0.615859 -0.541044 0.430613 
time: 1403636935.351666, t: 9.282312 -7.175225 0.298100 q: 0.373370 0.611350 -0.538580 0.443596 
time: 1403636935.551666, t: 9.198108 -7.113436 0.333676 q: 0.368304 0.614070 -0.535855 0.447358 
time: 1403636935.751667, t: 9.112463 -7.056734 0.341762 q: 0.364718 0.618549 -0.533914 0.446446 
time: 1403636935.951667, t: 9.019399 -6.999259 0.319151 q: 0.353558 0.631427 -0.539197 0.430771 
time: 1403636936.151666, t: 8.923053 -6.956905 0.277449 q: 0.345667 0.639469 -0.543877 0.419276 
time: 1403636936.351666, t: 8.828698 -6.937856 0.244564 q: 0.357077 0.633567 -0.537676 0.426606 
time: 1403636936.551666, t: 8.742640 -6.939665 0.241534 q: 0.367501 0.624297 -0.532966 0.437200 
time: 1403636936.751667, t: 8.662158 -6.946945 0.238211 q: 0.371580 0.620628 -0.534390 0.437237 
time: 1403636936.951667, t: 8.582831 -6.954596 0.225840 q: 0.376149 0.621177 -0.534390 0.432526 
time: 1403636937.151666, t: 8.509959 -6.964934 0.240488 q: 0.376752 0.620754 -0.535737 0.430938 
time: 1403636937.351666, t: 8.439291 -6.971751 0.259985 q: 0.374875 0.617657 -0.539022 0.432925 
time: 1403636937.551666, t: 8.370390 -6.977189 0.255103 q: 0.376690 0.616405 -0.539770 0.432201 
time: 1403636937.751667, t: 8.304494 -6.983397 0.228032 q: 0.386587 0.620187 -0.534708 0.424272 
time: 1403636937.951667, t: 8.251775 -6.990627 0.180544 q: 0.400512 0.615731 -0.527098 0.427355 
time: 1403636938.151666, t: 8.215409 -6.984353 0.119351 q: 0.411896 0.603592 -0.525189 0.436114 
time: 1403636938.351666, t: 8.191930 -6.953197 0.060545 q: 0.397930 0.585594 -0.544595 0.449607 
time: 1403636938.751667, t: 8.089975 -6.824890 0.022714 q: 0.368332 0.577638 -0.576133 0.445799 
time: 1403636938.951667, t: 7.990334 -6.759068 0.033821 q: 0.380428 0.589306 -0.569743 0.428236 
time: 1403636939.151666, t: 7.878119 -6.696232 0.032542 q: 0.387102 0.594923 -0.564201 0.421776 
time: 1403636939.351666, t: 7.764153 -6.638899 0.013634 q: 0.388857 0.594528 -0.559696 0.426694 
time: 1403636939.551666, t: 7.647160 -6.573740 0.000208 q: 0.392557 0.594527 -0.551818 0.433513 
time: 1403636939.751667, t: 7.527310 -6.499265 0.014633 q: 0.396841 0.590036 -0.545688 0.443395 
time: 1403636939.951667, t: 7.402308 -6.406623 0.013570 q: 0.393304 0.588772 -0.549629 0.443360 
time: 1403636940.151666, t: 7.272613 -6.299478 -0.010511 q: 0.393525 0.581472 -0.563652 0.435115 
time: 1403636940.351666, t: 7.140507 -6.183798 -0.051098 q: 0.395507 0.575311 -0.572579 0.429819 
time: 1403636940.551666, t: 6.999280 -6.058091 -0.097851 q: -0.396476 -0.570576 0.579351 -0.426149 
time: 1403636940.751667, t: 6.846529 -5.941113 -0.116638 q: -0.393385 -0.578442 0.585475 -0.409721 
time: 1403636940.951667, t: 6.692893 -5.838907 -0.103580 q: -0.394621 -0.584268 0.585626 -0.399934 
time: 1403636941.151666, t: 6.544484 -5.755294 -0.061396 q: 0.399756 0.581518 -0.581258 0.405181 
time: 1403636941.351666, t: 6.402067 -5.689944 -0.018040 q: 0.403737 0.580178 -0.575206 0.411739 
time: 1403636941.551666, t: 6.261836 -5.615761 0.003045 q: 0.404460 0.582945 -0.569214 0.415431 
time: 1403636941.751667, t: 6.125279 -5.542300 0.005287 q: 0.401633 0.587231 -0.566715 0.415554 
time: 1403636941.951667, t: 5.992854 -5.468127 0.018062 q: 0.396254 0.590305 -0.567336 0.415515 
time: 1403636942.151666, t: 5.861222 -5.394215 0.051732 q: 0.391436 0.587839 -0.569759 0.420236 
time: 1403636942.351666, t: 5.729817 -5.320846 0.069911 q: 0.389416 0.583261 -0.572666 0.424518 
time: 1403636942.551666, t: 5.594586 -5.232622 0.067639 q: 0.383887 0.579730 -0.579698 0.424847 
time: 1403636942.751667, t: 5.450658 -5.151973 0.044641 q: 0.383826 0.583768 -0.582825 0.414979 
time: 1403636942.951667, t: 5.299754 -5.077212 0.032655 q: 0.394359 0.583243 -0.578457 0.411941 
time: 1403636943.151666, t: 5.150463 -5.003907 0.055385 q: 0.401565 0.578722 -0.576238 0.414459 
time: 1403636943.351666, t: 5.005870 -4.923416 0.070427 q: 0.406498 0.576468 -0.576099 0.412982 
time: 1403636943.551666, t: 4.866937 -4.852258 0.061111 q: -0.410246 -0.574067 0.576793 -0.411648 
time: 1403636943.751667, t: 4.736413 -4.773227 0.029980 q: -0.414582 -0.572755 0.575896 -0.410387 
time: 1403636943.951667, t: 4.610198 -4.686578 -0.024542 q: 0.401895 0.583374 -0.576486 0.407209 
time: 1403636944.151666, t: 4.490797 -4.605527 -0.084125 q: 0.376019 0.606737 -0.578973 0.394044 
time: 1403636944.351666, t: 4.379241 -4.553414 -0.111139 q: 0.371370 0.612921 -0.572825 0.397849 
time: 1403636944.551666, t: 4.276669 -4.538559 -0.105589 q: 0.390639 0.609266 -0.554523 0.410733 
time: 1403636944.751667, t: 4.190410 -4.520480 -0.084496 q: 0.402587 0.613398 -0.537763 0.415304 
time: 1403636944.951667, t: 4.128216 -4.494565 -0.045809 q: 0.391480 0.612666 -0.536723 0.428149 
time: 1403636945.151666, t: 4.080541 -4.459095 -0.032126 q: 0.388822 0.614199 -0.533785 0.432030 
time: 1403636945.351666, t: 4.041488 -4.410564 -0.044807 q: 0.388443 0.615137 -0.531930 0.433322 
time: 1403636945.551666, t: 4.011562 -4.350434 -0.038772 q: 0.387704 0.614964 -0.533865 0.431848 
time: 1403636945.751667, t: 3.989978 -4.287955 -0.050358 q: 0.375717 0.624999 -0.545756 0.412751 
time: 1403636945.951667, t: 3.978555 -4.233133 -0.077431 q: 0.373410 0.626323 -0.550721 0.406191 
time: 1403636946.151666, t: 3.979599 -4.194008 -0.120493 q: 0.386460 0.615761 -0.544718 0.418054 
time: 1403636946.351666, t: 3.990228 -4.156306 -0.186823 q: 0.394635 0.609513 -0.542900 0.421920 
time: 1403636946.551666, t: 4.007378 -4.119794 -0.275722 q: 0.397020 0.604515 -0.545031 0.424120 
time: 1403636946.751667, t: 4.031739 -4.075789 -0.354064 q: 0.384042 0.597776 -0.557219 0.429748 
time: 1403636946.951667, t: 4.047908 -4.031983 -0.416105 q: 0.360123 0.585272 -0.575293 0.443629 
time: 1403636947.151666, t: 4.032550 -3.994450 -0.487204 q: 0.357324 0.586790 -0.578257 0.440019 
time: 1403636947.351666, t: 3.989419 -3.964729 -0.542214 q: 0.365542 0.614189 -0.573680 0.400052 
time: 1403636947.551666, t: 3.949247 -3.962161 -0.560146 q: 0.365079 0.614317 -0.575341 0.397887 
time: 1403636947.751667, t: 3.909797 -3.994537 -0.550384 q: 0.379028 0.609349 -0.566335 0.405334 
time: 1403636947.951667, t: 3.878993 -4.044418 -0.554636 q: 0.395219 0.616664 -0.553159 0.396917 
time: 1403636948.151666, t: 3.868206 -4.101315 -0.579497 q: 0.385020 0.618585 -0.558566 0.396379 
time: 1403636948.351666, t: 3.872073 -4.170415 -0.616865 q: 0.389184 0.621253 -0.551947 0.397411 
time: 1403636948.551666, t: 3.898128 -4.249010 -0.664558 q: 0.403755 0.629023 -0.536777 0.391385 
time: 1403636948.751667, t: 3.960288 -4.327605 -0.703221 q: 0.413938 0.629098 -0.525445 0.395977 
time: 1403636948.951667, t: 4.067238 -4.401007 -0.713635 q: 0.392485 0.610633 -0.538658 0.427705 
time: 1403636949.151666, t: 4.182770 -4.472138 -0.724949 q: 0.387005 0.604218 -0.540015 0.439922 
time: 1403636949.351666, t: 4.289652 -4.536523 -0.759587 q: 0.385985 0.605840 -0.538789 0.440091 
time: 1403636949.551666, t: 4.389716 -4.589014 -0.810081 q: 0.379784 0.602258 -0.542108 0.446282 
time: 1403636949.751667, t: 4.474650 -4.632343 -0.842190 q: 0.373818 0.607018 -0.546476 0.439492 
time: 1403636949.951667, t: 4.544597 -4.667342 -0.848954 q: 0.365089 0.615881 -0.552641 0.426602 
time: 1403636950.151666, t: 4.605781 -4.716608 -0.841785 q: 0.359681 0.619182 -0.557406 0.420169 
time: 1403636950.351666, t: 4.659791 -4.781211 -0.847763 q: 0.369011 0.620893 -0.552075 0.416576 
time: 1403636950.551666, t: 4.715154 -4.856769 -0.865498 q: 0.386978 0.620406 -0.539584 0.417365 
time: 1403636950.751667, t: 4.778611 -4.935398 -0.880544 q: 0.391355 0.618494 -0.535071 0.421907 
time: 1403636950.951667, t: 4.857506 -5.002073 -0.870546 q: 0.385724 0.613796 -0.537262 0.431069 
time: 1403636951.151666, t: 4.939372 -5.057513 -0.838699 q: 0.373666 0.609666 -0.544631 0.438244 
time: 1403636951.351666, t: 5.014640 -5.108903 -0.825944 q: 0.364816 0.619544 -0.551336 0.423205 
time: 1403636951.551666, t: 5.081487 -5.176329 -0.834724 q: 0.363770 0.625740 -0.552494 0.413366 
time: 1403636951.751667, t: 5.149083 -5.259789 -0.849553 q: 0.372080 0.624835 -0.547166 0.414423 
time: 1403636951.951667, t: 5.222997 -5.361683 -0.841981 q: 0.384893 0.623709 -0.538335 0.415980 
time: 1403636952.151666, t: 5.310136 -5.465128 -0.836767 q: 0.388112 0.621016 -0.536346 0.419572 
time: 1403636952.351666, t: 5.403051 -5.564927 -0.859727 q: 0.382790 0.610244 -0.539754 0.435591 
time: 1403636952.551666, t: 5.488801 -5.655110 -0.907795 q: 0.385441 0.609375 -0.536913 0.437975 
time: 1403636952.751667, t: 5.574239 -5.727885 -0.951456 q: 0.387885 0.611928 -0.534480 0.435223 
time: 1403636952.951667, t: 5.662197 -5.789108 -0.985144 q: 0.375395 0.617851 -0.543600 0.426424 
time: 1403636953.151666, t: 5.749628 -5.851726 -1.027791 q: 0.360571 0.614688 -0.554838 0.429304 
time: 1403636953.351666, t: 5.822810 -5.925371 -1.083116 q: 0.360788 0.616280 -0.554168 0.427702 
time: 1403636953.551666, t: 5.889193 -6.002311 -1.107323 q: 0.373803 0.618768 -0.543956 0.426039 
time: 1403636953.751667, t: 5.955529 -6.083312 -1.111686 q: 0.377987 0.628415 -0.538870 0.414536 
time: 1403636953.951667, t: 6.036120 -6.171365 -1.077260 q: 0.379679 0.631072 -0.535329 0.413538 
time: 1403636954.151666, t: 6.128105 -6.268989 -1.047636 q: 0.375919 0.628199 -0.537283 0.418780 
time: 1403636954.351666, t: 6.237492 -6.370392 -1.029849 q: 0.373317 0.628449 -0.540219 0.416953 
time: 1403636954.551666, t: 6.358100 -6.482893 -0.995121 q: 0.371918 0.628632 -0.544533 0.412290 
time: 1403636954.751667, t: 6.484703 -6.607975 -0.978600 q: 0.380021 0.622669 -0.544722 0.413698 
time: 1403636955.151666, t: 6.762763 -6.850411 -1.060068 q: 0.395395 0.608288 -0.548958 0.415084 
time: 1403636955.351666, t: 6.909659 -6.961447 -1.082921 q: 0.400721 0.602815 -0.553833 0.411468 
time: 1403636955.551666, t: 7.060546 -7.065487 -1.094849 q: 0.404244 0.598965 -0.557861 0.408190 
time: 1403636955.751667, t: 7.219073 -7.171043 -1.117216 q: 0.405596 0.596584 -0.560744 0.406381 
time: 1403636955.951667, t: 7.383439 -7.264668 -1.125446 q: 0.400149 0.591506 -0.567065 0.410412 
time: 1403636956.151666, t: 7.540099 -7.349830 -1.105138 q: -0.386428 -0.578862 0.579207 -0.424396 
time: 1403636956.351666, t: 7.673746 -7.422350 -1.090833 q: 0.392607 0.579758 -0.578005 0.419107 
time: 1403636956.551666, t: 7.793361 -7.490290 -1.100048 q: 0.406201 0.587614 -0.565057 0.412821 
time: 1403636956.751667, t: 7.910411 -7.544609 -1.123613 q: 0.384007 0.592989 -0.552936 0.441776 
time: 1403636956.951667, t: 8.014555 -7.595737 -1.138160 q: 0.351619 0.622842 -0.524668 0.461686 
time: 1403636957.151666, t: 8.094608 -7.633403 -1.116884 q: 0.333507 0.662844 -0.475503 0.472556 
time: 1403636957.351666, t: 8.163354 -7.669031 -1.079521 q: 0.313441 0.687968 -0.441869 0.482915 
time: 1403636957.551666, t: 8.234066 -7.696279 -1.066560 q: 0.298540 0.697059 -0.428541 0.491259 
time: 1403636957.751667, t: 8.306961 -7.721885 -1.088285 q: 0.280942 0.706371 -0.412920 0.501606 
time: 1403636957.951667, t: 8.375995 -7.743289 -1.121900 q: 0.246515 0.728353 -0.376108 0.516986 
time: 1403636958.151666, t: 8.437867 -7.762479 -1.141767 q: 0.211391 0.752553 -0.327453 0.530803 
time: 1403636958.351666, t: 8.489187 -7.795803 -1.131092 q: 0.186304 0.768801 -0.288896 0.539236 
time: 1403636958.551666, t: 8.533569 -7.829477 -1.097416 q: 0.176647 0.779382 -0.264104 0.540009 
time: 1403636958.751667, t: 8.573751 -7.865625 -1.077764 q: 0.175652 0.781111 -0.256674 0.541415 
time: 1403636958.951667, t: 8.615644 -7.894965 -1.076552 q: 0.179498 0.781218 -0.257326 0.539686 
time: 1403636959.151666, t: 8.659762 -7.926919 -1.096832 q: 0.181255 0.780724 -0.262387 0.537372 
time: 1403636959.351666, t: 8.701811 -7.951336 -1.142174 q: 0.191676 0.780685 -0.259472 0.535224 
time: 1403636959.551666, t: 8.757723 -7.972304 -1.202994 q: 0.196413 0.775878 -0.259513 0.540451 
time: 1403636959.751667, t: 8.817516 -7.985692 -1.251082 q: 0.191307 0.772670 -0.266553 0.543445 
time: 1403636959.951667, t: 8.877405 -7.995357 -1.266524 q: 0.190192 0.774735 -0.269988 0.539184 
time: 1403636960.151666, t: 8.939742 -8.004580 -1.258093 q: 0.191716 0.774569 -0.269800 0.538976 
time: 1403636960.351666, t: 9.007022 -8.011421 -1.254197 q: 0.204347 0.777455 -0.260806 0.534590 
time: 1403636960.551666, t: 9.078555 -8.006572 -1.264702 q: 0.207851 0.774574 -0.249254 0.542868 
time: 1403636960.751667, t: 9.160760 -7.982826 -1.294001 q: 0.193574 0.774537 -0.245488 0.549871 
time: 1403636960.951667, t: 9.236502 -7.940783 -1.335566 q: 0.165112 0.783067 -0.231570 0.553100 
time: 1403636961.151666, t: 9.307572 -7.892402 -1.360423 q: 0.133751 0.793336 -0.189789 0.562769 
time: 1403636961.351666, t: 9.370821 -7.844758 -1.354737 q: 0.103920 0.802818 -0.145585 0.568760 
time: 1403636961.551666, t: 9.426925 -7.800021 -1.314250 q: 0.083378 0.807429 -0.117810 0.572037 
time: 1403636961.751667, t: 9.481538 -7.754594 -1.248914 q: 0.061332 0.810376 -0.088921 0.575866 
time: 1403636961.951667, t: 9.532285 -7.706805 -1.188579 q: 0.039335 0.813257 -0.053787 0.578076 
time: 1403636962.151666, t: 9.578371 -7.656200 -1.151653 q: 0.012632 0.816525 -0.015461 0.576965 
time: 1403636962.351666, t: 9.614780 -7.595529 -1.103520 q: -0.015238 0.814940 0.026347 0.578746 
time: 1403636962.551666, t: 9.640430 -7.531416 -1.030635 q: -0.038496 0.811567 0.074372 0.578227 
time: 1403636962.751667, t: 9.658323 -7.459831 -0.960454 q: -0.050812 0.805784 0.121833 0.577311 
time: 1403636962.951667, t: 9.674250 -7.373044 -0.915215 q: -0.065324 0.802434 0.136018 0.577349 
time: 1403636963.151666, t: 9.669104 -7.272998 -0.889469 q: -0.079127 0.793316 0.130804 0.589304 
time: 1403636963.351666, t: 9.653449 -7.167336 -0.884167 q: -0.084375 0.800632 0.119859 0.580949 
time: 1403636963.551666, t: 9.628311 -7.064577 -0.883518 q: -0.078413 0.803880 0.113965 0.578481 
time: 1403636963.751667, t: 9.588559 -6.969467 -0.872928 q: -0.069855 0.805013 0.110013 0.578768 
time: 1403636963.951667, t: 9.546973 -6.869902 -0.828506 q: -0.065668 0.805037 0.106038 0.579965 
time: 1403636964.151666, t: 9.495059 -6.774525 -0.763483 q: -0.063824 0.804161 0.106520 0.581296 
time: 1403636964.351666, t: 9.425394 -6.677922 -0.710653 q: -0.063008 0.802840 0.109558 0.582645 
time: 1403636964.551666, t: 9.346651 -6.577747 -0.681610 q: -0.060795 0.802113 0.117158 0.582403 
time: 1403636964.751667, t: 9.257618 -6.467075 -0.669836 q: -0.063439 0.797520 0.143642 0.582499 
time: 1403636964.951667, t: 9.150507 -6.339315 -0.664253 q: -0.090840 0.787784 0.176226 0.583171 
time: 1403636965.151666, t: 9.023255 -6.194358 -0.635054 q: -0.123058 0.781424 0.209837 0.574632 
time: 1403636965.351666, t: 8.880634 -6.046642 -0.589442 q: -0.132257 0.795336 0.233760 0.543420 
time: 1403636965.551666, t: 8.749627 -5.884024 -0.512715 q: -0.140751 0.808623 0.236280 0.520086 
time: 1403636965.751667, t: 8.650088 -5.706496 -0.397862 q: -0.168277 0.791107 0.215554 0.547146 
time: 1403636965.951667, t: 8.562848 -5.538682 -0.306391 q: -0.155889 0.782222 0.219299 0.561903 
time: 1403636966.151666, t: 8.466718 -5.373173 -0.246411 q: -0.144274 0.778956 0.222563 0.568223 
time: 1403636966.351666, t: 8.358153 -5.211615 -0.215428 q: -0.145438 0.778358 0.218018 0.570503 
time: 1403636966.551666, t: 8.237218 -5.059164 -0.213846 q: -0.172068 0.782138 0.195437 0.566090 
time: 1403636966.751667, t: 8.115083 -4.939826 -0.229674 q: -0.154912 0.780951 0.202126 0.570318 
time: 1403636966.951667, t: 7.999423 -4.843987 -0.228436 q: -0.155896 0.781432 0.198442 0.570685 
time: 1403636967.151666, t: 7.869952 -4.759377 -0.218856 q: -0.147868 0.780778 0.201517 0.572636 
time: 1403636967.351666, t: 7.726869 -4.690958 -0.237195 q: -0.142993 0.779806 0.203585 0.574464 
time: 1403636967.551666, t: 7.574047 -4.618782 -0.240142 q: -0.140619 0.778908 0.203399 0.576332 
time: 1403636967.751667, t: 7.411099 -4.556589 -0.231064 q: -0.137839 0.778841 0.203460 0.577071 
time: 1403636967.951667, t: 7.235312 -4.497841 -0.276456 q: -0.137944 0.777709 0.203660 0.578500 
time: 1403636968.151666, t: 7.052411 -4.449065 -0.350837 q: -0.143038 0.777671 0.201775 0.577974 
time: 1403636968.351666, t: 6.858543 -4.406695 -0.411240 q: -0.143142 0.779514 0.202520 0.575199 
time: 1403636968.551666, t: 6.652717 -4.377328 -0.434748 q: -0.144869 0.780789 0.201957 0.573232 
time: 1403636968.751667, t: 6.439409 -4.344574 -0.436887 q: -0.134118 0.779453 0.209652 0.574902 
time: 1403636968.951667, t: 6.218119 -4.311664 -0.435899 q: -0.136882 0.780381 0.207613 0.573730 
time: 1403636969.151666, t: 5.987891 -4.278794 -0.405581 q: -0.143472 0.784276 0.203665 0.568197 
time: 1403636969.351666, t: 5.752830 -4.247579 -0.365540 q: -0.140985 0.796085 0.204964 0.551690 
time: 1403636969.551666, t: 5.524275 -4.211122 -0.310355 q: -0.135892 0.801247 0.206434 0.544906 
time: 1403636969.751667, t: 5.313970 -4.172040 -0.276640 q: -0.135346 0.801724 0.204902 0.544917 
time: 1403636969.951667, t: 5.130366 -4.112386 -0.254275 q: -0.134462 0.801816 0.204698 0.545078 
time: 1403636970.151666, t: 4.942714 -4.062299 -0.257389 q: -0.139014 0.790821 0.203318 0.560302 
time: 1403636970.351666, t: 4.755429 -4.012572 -0.274212 q: -0.141328 0.788802 0.203385 0.562541 
time: 1403636970.551666, t: 4.573436 -3.960003 -0.289821 q: -0.138416 0.799775 0.206595 0.546369 
time: 1403636970.751667, t: 4.403283 -3.893696 -0.273894 q: -0.136500 0.807603 0.210507 0.533696 
time: 1403636970.951667, t: 4.256168 -3.812225 -0.255984 q: -0.134766 0.815856 0.213430 0.520255 
time: 1403636971.151666, t: 4.146176 -3.714058 -0.257843 q: -0.153281 0.811752 0.201026 0.526453 
time: 1403636971.351666, t: 4.053885 -3.626831 -0.281140 q: -0.178364 0.804065 0.183695 0.536583 
time: 1403636971.551666, t: 3.987763 -3.564923 -0.317099 q: -0.176221 0.800744 0.186874 0.541141 
time: 1403636971.751667, t: 3.960776 -3.518673 -0.373193 q: -0.160014 0.789371 0.200147 0.557880 
time: 1403636971.951667, t: 3.921021 -3.490496 -0.432964 q: -0.161339 0.784725 0.201190 0.563648 
time: 1403636972.151666, t: 3.882912 -3.477290 -0.466550 q: -0.159259 0.785529 0.203212 0.562393 
time: 1403636972.351666, t: 3.832540 -3.478828 -0.475422 q: -0.160728 0.794917 0.201791 0.549139 
time: 1403636972.551666, t: 3.808455 -3.487750 -0.445626 q: -0.155988 0.793564 0.204326 0.551521 
time: 1403636972.751667, t: 3.787327 -3.500037 -0.404744 q: -0.150614 0.790179 0.206848 0.556908 
time: 1403636972.951667, t: 3.769469 -3.511391 -0.390138 q: -0.148019 0.792096 0.204033 0.555919 
time: 1403636973.151666, t: 3.754406 -3.523708 -0.400412 q: -0.134013 0.800057 0.186717 0.554153 
time: 1403636973.351666, t: 3.737685 -3.537630 -0.426180 q: -0.124845 0.802453 0.173610 0.557083 
time: 1403636973.551666, t: 3.727140 -3.548595 -0.468976 q: -0.118075 0.802915 0.168221 0.559543 
time: 1403636973.751667, t: 3.719628 -3.554646 -0.520057 q: -0.116204 0.798418 0.165800 0.567042 
time: 1403636973.951667, t: 3.707288 -3.558111 -0.547144 q: -0.117861 0.796082 0.165466 0.570073 
time: 1403636974.151666, t: 3.691975 -3.561623 -0.556532 q: -0.113747 0.805335 0.150208 0.562080 
time: 1403636974.351666, t: 3.681841 -3.572904 -0.574667 q: -0.082083 0.812006 0.115227 0.566244 
time: 1403636974.551666, t: 3.676851 -3.580713 -0.617465 q: -0.045860 0.814061 0.066328 0.575155 
time: 1403636974.751667, t: 3.667201 -3.585493 -0.669559 q: -0.011819 0.818012 0.014152 0.574905 
time: 1403636974.951667, t: 3.650872 -3.590456 -0.693227 q: 0.005871 0.825249 -0.037764 0.563475 
time: 1403636975.151666, t: 3.643436 -3.603927 -0.688563 q: 0.029781 0.822519 -0.072151 0.563356 
time: 1403636975.351666, t: 3.647190 -3.625725 -0.687568 q: 0.050871 0.811568 -0.081856 0.576254 
time: 1403636975.551666, t: 3.651461 -3.642660 -0.710325 q: 0.056910 0.814193 -0.082694 0.571851 
time: 1403636975.751667, t: 3.657879 -3.656362 -0.714460 q: 0.055272 0.820909 -0.078123 0.562983 
time: 1403636975.951667, t: 3.679413 -3.666200 -0.695714 q: 0.059882 0.822397 -0.086405 0.559116 
time: 1403636976.151666, t: 3.706765 -3.678424 -0.688876 q: 0.065338 0.808864 -0.126686 0.570456 
time: 1403636976.351666, t: 3.732687 -3.700255 -0.707145 q: 0.079804 0.794229 -0.178634 0.575257 
time: 1403636976.551666, t: 3.744174 -3.743650 -0.744244 q: 0.119775 0.786350 -0.215375 0.566499 
time: 1403636976.751667, t: 3.747224 -3.790258 -0.804604 q: 0.152103 0.783368 -0.229790 0.557132 
time: 1403636976.951667, t: 3.746023 -3.840450 -0.873077 q: 0.152494 0.787088 -0.244003 0.545620 
time: 1403636977.151666, t: 3.743136 -3.898907 -0.908032 q: 0.147982 0.788745 -0.247797 0.542751 
time: 1403636977.351666, t: 3.753774 -3.970316 -0.918024 q: 0.143993 0.789010 -0.243684 0.545296 
time: 1403636977.551666, t: 3.762819 -4.049379 -0.939457 q: 0.148526 0.783225 -0.232573 0.557144 
time: 1403636977.751667, t: 3.770485 -4.130710 -0.980975 q: 0.146879 0.781466 -0.233926 0.559479 
time: 1403636977.951667, t: 3.769920 -4.217410 -1.034736 q: 0.144075 0.780520 -0.244557 0.556977 
time: 1403636978.151666, t: 3.763933 -4.311312 -1.064138 q: 0.154679 0.780011 -0.242816 0.555605 
time: 1403636978.351666, t: 3.751986 -4.405995 -1.066354 q: 0.159904 0.784783 -0.243292 0.547134 
time: 1403636978.551666, t: 3.740409 -4.499104 -1.048746 q: 0.160445 0.794633 -0.245609 0.531500 
time: 1403636978.751667, t: 3.743096 -4.591070 -1.037539 q: 0.158986 0.801752 -0.249335 0.519373 
time: 1403636978.951667, t: 3.778726 -4.693100 -1.042720 q: 0.162346 0.796503 -0.247760 0.527107 
time: 1403636979.151666, t: 3.831272 -4.794735 -1.071693 q: 0.170160 0.781405 -0.242629 0.549165 
time: 1403636979.351666, t: 3.884204 -4.886557 -1.122031 q: 0.167174 0.789311 -0.244926 0.537636 
time: 1403636979.551666, t: 3.950227 -4.976835 -1.152518 q: 0.163685 0.797963 -0.247759 0.524478 
time: 1403636979.751667, t: 4.033168 -5.071254 -1.156845 q: 0.165572 0.799604 -0.249685 0.520458 
time: 1403636979.951667, t: 4.138225 -5.179879 -1.144193 q: 0.172890 0.790095 -0.249398 0.532598 
time: 1403636980.151666, t: 4.253740 -5.285047 -1.147851 q: 0.177140 0.785723 -0.250735 0.537022 
time: 1403636980.351666, t: 4.374073 -5.385345 -1.169292 q: 0.177263 0.780552 -0.253255 0.543303 
time: 1403636980.551666, t: 4.496126 -5.475759 -1.210468 q: 0.172729 0.773124 -0.255780 0.554094 
time: 1403636980.751667, t: 4.609903 -5.558744 -1.248997 q: 0.169024 0.772233 -0.255405 0.556646 
time: 1403636980.951667, t: 4.720987 -5.640173 -1.259298 q: 0.174642 0.782662 -0.247864 0.543603 
time: 1403636981.151666, t: 4.833005 -5.714516 -1.267515 q: 0.171779 0.781918 -0.249004 0.545063 
time: 1403636981.351666, t: 4.946114 -5.778616 -1.295139 q: 0.154757 0.771914 -0.264405 0.557036 
time: 1403636981.551666, t: 5.037945 -5.844995 -1.334049 q: 0.166592 0.775329 -0.261328 0.550290 
time: 1403636981.751667, t: 5.118911 -5.905432 -1.354707 q: 0.183438 0.783189 -0.255737 0.536251 
time: 1403636981.951667, t: 5.208226 -5.962625 -1.348411 q: 0.184039 0.791429 -0.261501 0.520948 
time: 1403636982.151666, t: 5.327627 -6.013740 -1.357055 q: 0.176394 0.798480 -0.271068 0.507777 
time: 1403636982.351666, t: 5.455647 -6.079814 -1.359253 q: 0.167417 0.792756 -0.278065 0.515936 
time: 1403636982.551666, t: 5.591004 -6.169468 -1.351292 q: 0.169522 0.776844 -0.274075 0.540980 
time: 1403636982.751667, t: 5.737376 -6.272827 -1.331421 q: 0.167910 0.778598 -0.271297 0.540360 
time: 1403636982.951667, t: 5.878491 -6.388325 -1.313894 q: 0.170322 0.783936 -0.266694 0.534144 
time: 1403636983.151666, t: 6.024253 -6.511746 -1.321488 q: 0.176341 0.778753 -0.261760 0.542153 
time: 1403636983.351666, t: 6.173583 -6.637357 -1.350279 q: 0.183508 0.776608 -0.257974 0.544660 
time: 1403636983.551666, t: 6.320223 -6.752189 -1.386347 q: 0.186001 0.776915 -0.258853 0.542957 
time: 1403636983.751667, t: 6.457307 -6.855385 -1.405719 q: 0.186611 0.783225 -0.262085 0.532022 
time: 1403636983.951667, t: 6.606670 -6.954251 -1.391687 q: 0.187364 0.787039 -0.265313 0.524474 
time: 1403636984.151666, t: 6.763900 -7.054616 -1.358160 q: 0.187907 0.787241 -0.268423 0.522390 
time: 1403636984.351666, t: 6.941991 -7.151294 -1.344217 q: 0.192834 0.779424 -0.268841 0.532013 
time: 1403636984.551666, t: 7.123194 -7.249651 -1.360593 q: 0.196305 0.775540 -0.268607 0.536519 
time: 1403636984.751667, t: 7.316441 -7.332866 -1.374679 q: 0.195845 0.774293 -0.267991 0.538791 
time: 1403636984.951667, t: 7.504847 -7.402433 -1.372672 q: 0.188387 0.771999 -0.272708 0.542364 
time: 1403636985.151666, t: 7.689227 -7.467962 -1.361323 q: 0.190642 0.773798 -0.271872 0.539423 
time: 1403636985.351666, t: 7.868626 -7.526682 -1.386089 q: 0.194671 0.774001 -0.268964 0.539151 
time: 1403636985.551666, t: 8.053159 -7.577025 -1.412367 q: 0.189891 0.779969 -0.252448 0.540240 
time: 1403636985.751667, t: 8.242325 -7.618760 -1.405488 q: 0.189158 0.782043 -0.235315 0.545211 
time: 1403636985.951667, t: 8.420221 -7.638753 -1.389442 q: 0.191126 0.764924 -0.222266 0.573550 
time: 1403636986.151666, t: 8.581867 -7.629716 -1.402652 q: 0.190798 0.764007 -0.218301 0.576398 
time: 1403636986.351666, t: 8.723859 -7.591947 -1.432789 q: 0.183607 0.781013 -0.223405 0.553532 
time: 1403636986.551666, t: 8.866065 -7.538069 -1.464779 q: 0.168524 0.783312 -0.233050 0.551098 
time: 1403636986.751667, t: 9.004534 -7.479102 -1.462332 q: 0.158132 0.782127 -0.238897 0.553353 
time: 1403636986.951667, t: 9.138332 -7.423864 -1.423633 q: 0.155034 0.780466 -0.240915 0.555695 
time: 1403636987.151666, t: 9.259716 -7.371673 -1.355052 q: 0.163450 0.779702 -0.238004 0.555610 
time: 1403636987.351666, t: 9.375444 -7.319226 -1.307102 q: 0.166322 0.776837 -0.239313 0.558203 
time: 1403636987.551666, t: 9.474158 -7.261538 -1.282422 q: 0.169123 0.772931 -0.229897 0.566677 
time: 1403636987.751667, t: 9.558232 -7.192371 -1.277052 q: 0.169061 0.770661 -0.223242 0.572418 
time: 1403636987.951667, t: 9.622423 -7.109407 -1.250946 q: 0.158264 0.772435 -0.225623 0.572181 
time: 1403636988.151666, t: 9.670992 -7.019166 -1.220249 q: 0.141530 0.777220 -0.236601 0.565612 
time: 1403636988.351666, t: 9.701570 -6.938889 -1.203983 q: 0.136486 0.770078 -0.241788 0.574360 
time: 1403636988.551666, t: 9.704897 -6.868301 -1.170071 q: 0.140685 0.761275 -0.239180 0.586055 
time: 1403636988.751667, t: 9.669194 -6.801461 -1.125633 q: 0.142436 0.758721 -0.237732 0.589524 
time: 1403636988.951667, t: 9.603317 -6.745100 -1.099584 q: 0.141171 0.753468 -0.238440 0.596241 
time: 1403636989.151666, t: 9.496239 -6.697166 -1.094185 q: 0.140450 0.750407 -0.240202 0.599554 
time: 1403636989.351666, t: 9.350079 -6.650463 -1.090900 q: 0.151324 0.761701 -0.236380 0.583984 
time: 1403636989.551666, t: 9.176405 -6.607568 -1.060101 q: 0.157085 0.777116 -0.235949 0.561910 
time: 1403636989.751667, t: 8.995836 -6.565244 -1.023620 q: 0.165432 0.782323 -0.231439 0.554110 
time: 1403636989.951667, t: 8.816053 -6.522222 -1.006526 q: 0.165143 0.778633 -0.231793 0.559223 
time: 1403636990.151666, t: 8.628946 -6.469709 -0.994201 q: 0.166648 0.771667 -0.229899 0.569126 
time: 1403636990.351666, t: 8.432218 -6.409884 -0.959252 q: 0.167709 0.776558 -0.227250 0.563196 
time: 1403636990.551666, t: 8.231824 -6.334704 -0.922204 q: 0.164123 0.781966 -0.226306 0.557117 
time: 1403636990.751667, t: 8.033415 -6.255708 -0.905104 q: 0.162257 0.786194 -0.224092 0.552589 
time: 1403636990.951667, t: 7.839420 -6.177428 -0.917215 q: 0.162133 0.787313 -0.221992 0.551879 
time: 1403636991.151666, t: 7.650995 -6.097932 -0.948575 q: 0.163026 0.786180 -0.221470 0.553439 
time: 1403636991.351666, t: 7.468003 -6.015034 -0.970286 q: 0.163452 0.786754 -0.222916 0.551915 
time: 1403636991.551666, t: 7.296356 -5.927885 -0.953142 q: 0.164180 0.786812 -0.225532 0.550552 
time: 1403636991.751667, t: 7.139471 -5.850275 -0.906545 q: 0.154723 0.784564 -0.237549 0.551444 
time: 1403636991.951667, t: 6.995315 -5.776044 -0.844031 q: 0.150845 0.782611 -0.246553 0.551342 
time: 1403636992.151666, t: 6.844867 -5.720474 -0.812866 q: 0.165432 0.779763 -0.241369 0.553483 
time: 1403636992.351666, t: 6.697813 -5.667659 -0.804846 q: 0.173504 0.777769 -0.239803 0.554496 
time: 1403636992.551666, t: 6.554887 -5.620745 -0.801305 q: 0.176013 0.783465 -0.242427 0.544455 
time: 1403636992.751667, t: 6.420620 -5.568627 -0.776400 q: 0.178004 0.785137 -0.245026 0.540220 
time: 1403636992.951667, t: 6.305597 -5.510319 -0.759789 q: 0.184212 0.784680 -0.244809 0.538899 
time: 1403636993.151666, t: 6.198780 -5.443956 -0.754162 q: 0.178608 0.777907 -0.246940 0.549527 
time: 1403636993.351666, t: 6.099087 -5.374869 -0.741848 q: 0.161242 0.780229 -0.229831 0.558946 
time: 1403636993.551666, t: 5.991823 -5.300238 -0.700092 q: 0.138757 0.787778 -0.197914 0.566553 
time: 1403636993.751667, t: 5.880423 -5.225868 -0.644435 q: 0.118730 0.797269 -0.171138 0.566549 
time: 1403636993.951667, t: 5.767257 -5.157319 -0.612609 q: 0.110592 0.800197 -0.155734 0.568508 
time: 1403636994.151666, t: 5.655923 -5.095210 -0.600929 q: 0.112460 0.791945 -0.145602 0.582216 
time: 1403636994.351666, t: 5.536628 -5.018628 -0.606236 q: 0.114072 0.783547 -0.141974 0.594041 
time: 1403636994.551666, t: 5.395397 -4.928055 -0.619470 q: 0.111147 0.783801 -0.144860 0.593564 
time: 1403636994.751667, t: 5.233793 -4.823347 -0.614633 q: 0.098328 0.794132 -0.155825 0.579141 
time: 1403636994.951667, t: 5.063991 -4.720548 -0.589062 q: 0.085322 0.797979 -0.167154 0.572721 
time: 1403636995.151666, t: 4.885408 -4.633802 -0.580795 q: 0.096685 0.791943 -0.158742 0.581618 
time: 1403636995.351666, t: 4.706324 -4.557490 -0.556661 q: 0.103495 0.790273 -0.151060 0.584755 
time: 1403636995.551666, t: 4.508428 -4.467033 -0.506958 q: 0.102120 0.797336 -0.149224 0.575811 
time: 1403636995.751667, t: 4.316694 -4.376037 -0.450529 q: 0.098947 0.798633 -0.151714 0.573915 
time: 1403636995.951667, t: 4.124787 -4.288029 -0.415406 q: 0.086086 0.800387 -0.162582 0.570559 
time: 1403636996.151666, t: 3.931941 -4.211213 -0.399443 q: 0.093540 0.803305 -0.158610 0.566387 
time: 1403636996.351666, t: 3.748223 -4.147175 -0.375356 q: 0.099235 0.805477 -0.151452 0.564288 
time: 1403636996.551666, t: 3.573546 -4.082643 -0.318383 q: 0.091076 0.808699 -0.133178 0.565663 
time: 1403636996.751667, t: 3.405752 -4.019574 -0.262035 q: 0.069903 0.815110 -0.102396 0.565883 
time: 1403636996.951667, t: 3.247248 -3.959303 -0.257575 q: 0.039790 0.820670 -0.065418 0.566248 
time: 1403636997.151666, t: 3.090208 -3.901414 -0.277091 q: 0.013981 0.824197 -0.029684 0.565351 
time: 1403636997.351666, t: 2.955080 -3.856422 -0.305066 q: 0.001179 0.825820 -0.010552 0.563834 
time: 1403636997.551666, t: 2.829387 -3.810680 -0.303042 q: -0.001026 0.826016 -0.004187 0.563629 
time: 1403636997.751667, t: 2.733014 -3.766750 -0.273092 q: 0.002382 0.827345 -0.005234 0.561665 
time: 1403636997.951667, t: 2.651953 -3.721946 -0.214841 q: 0.005857 0.828083 -0.009057 0.560502 
time: 1403636998.151666, t: 2.587869 -3.676772 -0.135203 q: 0.008273 0.827635 -0.013629 0.561040 
time: 1403636998.351666, t: 2.542870 -3.639319 -0.066187 q: 0.008035 0.827215 -0.018122 0.561536 
time: 1403636998.551666, t: 2.504786 -3.603962 -0.016760 q: 0.008699 0.825347 -0.020627 0.564181 
time: 1403636998.751667, t: 2.476877 -3.573059 0.058369 q: 0.012715 0.812154 -0.018892 0.582999 
time: 1403636998.951667, t: 2.447138 -3.537453 0.133777 q: 0.023103 0.808603 -0.013618 0.587743 
time: 1403636999.151666, t: 2.408550 -3.494505 0.186004 q: 0.028756 0.809762 -0.010962 0.585951 
time: 1403636999.351666, t: 2.364984 -3.438251 0.214206 q: 0.025810 0.813408 -0.014424 0.580942 
time: 1403636999.551666, t: 2.320898 -3.374939 0.223984 q: 0.019925 0.811704 -0.019481 0.583403 
time: 1403636999.751667, t: 2.264762 -3.311837 0.218301 q: 0.017979 0.808702 -0.021605 0.587546 
time: 1403636999.951667, t: 2.197315 -3.247197 0.205695 q: 0.021325 0.808541 -0.020584 0.587693 
time: 1403637000.151666, t: 2.113856 -3.177520 0.205466 q: 0.025632 0.810019 -0.017211 0.585590 
time: 1403637000.351666, t: 2.023027 -3.099229 0.223603 q: 0.023211 0.812487 -0.018476 0.582223 
time: 1403637000.551666, t: 1.931702 -3.015109 0.228060 q: 0.024605 0.811859 -0.017920 0.583059 
time: 1403637000.751667, t: 1.833126 -2.922172 0.241547 q: 0.022695 0.810893 -0.019407 0.584432 
time: 1403637000.951667, t: 1.728360 -2.828055 0.276841 q: 0.022133 0.810639 -0.021626 0.584729 
time: 1403637001.151666, t: 1.617819 -2.733609 0.289331 q: 0.021685 0.809928 -0.022881 0.585682 
time: 1403637001.351666, t: 1.496372 -2.639096 0.307519 q: 0.018603 0.810000 -0.025877 0.585563 
time: 1403637001.551666, t: 1.372021 -2.543431 0.353725 q: 0.017815 0.814877 -0.028816 0.578644 
time: 1403637001.751667, t: 1.244049 -2.451877 0.389500 q: 0.019014 0.815538 -0.030426 0.577590 
time: 1403637001.951667, t: 1.119775 -2.360369 0.397757 q: 0.019875 0.816614 -0.031516 0.575980 
time: 1403637002.151666, t: 1.000049 -2.271906 0.385987 q: 0.020655 0.817886 -0.032027 0.574117 
time: 1403637002.351666, t: 0.882715 -2.186451 0.367006 q: 0.022822 0.818373 -0.030925 0.573400 
time: 1403637002.551666, t: 0.771418 -2.105183 0.367622 q: 0.028497 0.818342 -0.026811 0.573398 
time: 1403637002.751667, t: 0.664348 -2.025972 0.394253 q: 0.029757 0.818507 -0.027182 0.573081 
time: 1403637002.951667, t: 0.559470 -1.934918 0.406694 q: 0.027054 0.817551 -0.031941 0.574333 
time: 1403637003.151666, t: 0.456214 -1.842128 0.394848 q: 0.027619 0.817865 -0.034713 0.573697 
time: 1403637003.351666, t: 0.356595 -1.752152 0.370828 q: 0.026943 0.816128 -0.038125 0.575982 
time: 1403637003.551666, t: 0.258044 -1.666367 0.372234 q: 0.026595 0.814322 -0.040121 0.578414 
time: 1403637003.751667, t: 0.151407 -1.577806 0.397356 q: 0.026308 0.814724 -0.041409 0.577769 
time: 1403637003.951667, t: 0.046662 -1.494372 0.408039 q: 0.026458 0.818340 -0.038476 0.572835 
time: 1403637004.151666, t: -0.063573 -1.415057 0.391330 q: 0.028368 0.821840 -0.033093 0.568049 
time: 1403637004.351666, t: -0.143046 -1.332772 0.379248 q: 0.025054 0.822946 -0.032917 0.566612 
time: 1403637004.551666, t: -0.225172 -1.259597 0.409807 q: 0.024086 0.815669 -0.035910 0.576901 
time: 1403637004.751667, t: -0.312602 -1.190729 0.462913 q: 0.011416 0.814187 -0.050963 0.578249 
time: 1403637004.951667, t: -0.392735 -1.128949 0.472478 q: 0.007567 0.819256 -0.059453 0.570287 
time: 1403637005.151666, t: -0.466592 -1.083768 0.436623 q: 0.024001 0.820411 -0.051500 0.568945 
time: 1403637005.351666, t: -0.535326 -1.048933 0.390243 q: 0.029807 0.822825 -0.047727 0.565502 
time: 1403637005.551666, t: -0.604128 -1.021536 0.345487 q: 0.030822 0.818717 -0.041380 0.571874 
time: 1403637005.751667, t: -0.667069 -0.994045 0.330926 q: 0.019139 0.824245 -0.044778 0.564136 
time: 1403637005.951667, t: -0.711775 -0.959106 0.350327 q: 0.023591 0.821520 -0.040024 0.568284 
time: 1403637006.151666, t: -0.762645 -0.938757 0.364963 q: 0.022011 0.817853 -0.040604 0.573571 
time: 1403637006.351666, t: -0.806812 -0.906102 0.365853 q: 0.017686 0.826065 -0.043789 0.561592 
time: 1403637006.551666, t: -0.829150 -0.882239 0.362404 q: 0.007747 0.829677 -0.049372 0.556002 
time: 1403637006.751667, t: -0.832684 -0.869485 0.352838 q: 0.003326 0.819861 -0.030093 0.571761 
time: 1403637006.951667, t: -0.830832 -0.864258 0.335103 q: -0.017178 0.819065 0.003330 0.573434 
time: 1403637007.151666, t: -0.831914 -0.862497 0.316450 q: -0.032808 0.816848 0.041154 0.574448 
time: 1403637007.351666, t: -0.836180 -0.864784 0.297622 q: -0.038112 0.807745 0.063115 0.584903 
time: 1403637007.551666, t: -0.853373 -0.862995 0.274037 q: -0.040237 0.809428 0.069332 0.581722 
time: 1403637007.751667, t: -0.879489 -0.854317 0.245279 q: -0.039513 0.823976 0.068211 0.561115 
time: 1403637007.951667, t: -0.899484 -0.841962 0.230113 q: -0.046264 0.816061 0.058955 0.573087 
time: 1403637008.151666, t: -0.917956 -0.826957 0.214137 q: -0.041737 0.819748 0.055417 0.568507 
time: 1403637008.351666, t: -0.931103 -0.813505 0.206011 q: -0.032629 0.831553 0.055940 0.551657 
time: 1403637008.551666, t: -0.928499 -0.790566 0.215282 q: -0.036399 0.819877 0.048553 0.569314 
time: 1403637008.751667, t: -0.919649 -0.768796 0.217919 q: -0.047914 0.816675 0.035965 0.573979 
time: 1403637008.951667, t: -0.907919 -0.758563 0.200093 q: -0.062320 0.824053 0.023325 0.562591 
time: 1403637009.151666, t: -0.888593 -0.772684 0.171142 q: -0.041222 0.821879 0.035351 0.567068 
time: 1403637009.351666, t: -0.862511 -0.795198 0.137014 q: -0.011101 0.820149 0.054779 0.569413 
time: 1403637009.551666, t: -0.850107 -0.812480 0.123334 q: -0.067802 0.799761 0.062403 0.593205 
time: 1403637009.751667, t: -0.848469 -0.823133 0.116260 q: -0.078185 0.792410 0.037465 0.603796 
time: 1403637009.951667, t: -0.852262 -0.820826 0.114876 q: -0.079901 0.790546 0.037232 0.606026 
time: 1403637010.151666, t: -0.866603 -0.825839 0.117755 q: -0.079734 0.790592 0.038206 0.605926 
time: 1403637010.351666, t: -0.859399 -0.824063 0.116191 q: -0.079337 0.790803 0.038305 0.605697 

Done.
time: 1403637010.551666, t: -0.855176 -0.822131 0.115495 q: -0.079156 0.790916 0.038207 0.605580 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720549420.347136421]: Shutdown request received.[0m
[33m[ WARN] [1720549420.347174384]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720549420.348121084]: Shutdown request received.[0m
[33m[ WARN] [1720549420.348151593]: Reason given for shutdown: [user request][0m
killed
