/SLAM-Hive/slam_hive_results/mapping_results/3150/2355_vins-fusion-stereo-imu+MH_02_easy+Image_comb_test-15.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720550205.471148084]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720550205.473091746]: init begins[0m
[31m[ERROR] [1720550205.474175070]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/31b041f4-3e22-11ef-8298-0242ac110005/roslaunch-2521cc28e5bf-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://2521cc28e5bf:45285/[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] [1720550206.580006166]: 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] [1720550206.585002533]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720550206.585227191]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720550206.585250020]: ROW: 240 COL: 376 [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] [1720550206.585452238]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720550206.585641546]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720550206.585783603]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://2521cc28e5bf:11311/[0m
]2;roscore http://2521cc28e5bf:11311/
[1msetting /run_id to 31b041f4-3e22-11ef-8298-0242ac110005[0m
[0m[ INFO] [1720550206.626864357]: 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] [1720550215.611456308]: 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: 316913358.97 
init first imu pose
averge acc 9.704770 -0.367023 -3.127050
init R0 
 0.308595  0.110881  0.944709
        0 -0.993182   0.11657
 0.951193 -0.035973 -0.306492
[33m[ WARN] [1720550221.975147700]: gyroscope bias initial calibration   0.0381988 -0.00671364    0.064089[0m
[0m[ INFO] [1720550221.998221055]: Initialization finish![0m
time: 1403636862.851666, t: 0.010215 -0.070085 0.403053 q: 0.030448 0.838033 -0.010408 0.544669 
time: 1403636863.251667, t: 0.004494 -0.080490 0.429584 q: 0.038704 0.820863 -0.003229 0.569803 
time: 1403636863.651666, t: -0.017061 -0.096363 0.172498 q: 0.010492 0.841991 0.001621 0.539387 
time: 1403636864.051666, t: -0.032414 -0.093146 0.164746 q: 0.005367 0.859261 -0.004944 0.511485 
time: 1403636864.451667, t: -0.022778 -0.077399 0.432935 q: 0.016645 0.840303 -0.004075 0.541846 
time: 1403636864.851666, t: -0.007954 -0.081401 0.416339 q: 0.016365 0.822279 -0.000464 0.568849 
time: 1403636865.251667, t: -0.001790 -0.092941 0.181981 q: 0.006406 0.844144 -0.020984 0.535668 
time: 1403636865.651666, t: -0.001647 -0.091484 0.172748 q: 0.003401 0.857904 -0.004549 0.513779 
time: 1403636866.051666, t: 0.007339 -0.074341 0.427697 q: -0.010678 0.818184 -0.006851 0.574816 
time: 1403636866.451667, t: 0.003631 -0.074654 0.472680 q: 0.009081 0.809464 -0.002671 0.587093 
time: 1403636866.851666, t: -0.013553 -0.088125 0.283810 q: -0.008586 0.834418 0.013611 0.550897 
time: 1403636867.251667, t: -0.048460 -0.086777 0.216279 q: -0.038988 0.856378 0.020667 0.514461 
time: 1403636867.651666, t: -0.082560 -0.084900 0.228062 q: -0.032269 0.894126 0.029716 0.445663 
time: 1403636868.051666, t: -0.089740 -0.085273 0.220094 q: -0.025456 0.942073 0.012623 0.334203 
time: 1403636868.451667, t: -0.113112 -0.077138 0.228274 q: -0.037730 0.936045 0.012205 0.349638 
time: 1403636868.851666, t: -0.142498 -0.058430 0.241093 q: -0.030035 0.934775 0.014356 0.353676 
time: 1403636869.251667, t: -0.146589 -0.045275 0.243243 q: -0.042243 0.929906 0.025700 0.364459 
time: 1403636869.651666, t: -0.137643 -0.061861 0.239300 q: -0.042231 0.930540 0.026563 0.362776 
time: 1403636870.051666, t: -0.092477 -0.197532 0.238210 q: -0.030567 0.929175 0.002760 0.368363 
time: 1403636870.451667, t: -0.026813 -0.389371 0.235707 q: -0.009582 0.928238 -0.016452 0.371499 
time: 1403636870.851666, t: 0.000377 -0.504237 0.222111 q: -0.001025 0.926640 -0.041207 0.373682 
time: 1403636871.251667, t: -0.010437 -0.513384 0.220898 q: 0.004473 0.929251 -0.054633 0.365360 
time: 1403636871.651666, t: -0.027871 -0.386263 0.230557 q: -0.005000 0.929365 -0.041748 0.366759 
time: 1403636872.051666, t: -0.058217 -0.163839 0.235415 q: -0.032958 0.926101 -0.020941 0.375250 
time: 1403636872.451667, t: -0.071200 0.022825 0.216644 q: -0.053325 0.930302 0.007714 0.362814 
time: 1403636872.851666, t: -0.058101 0.017418 0.220391 q: -0.049987 0.928102 0.014379 0.368674 
time: 1403636873.251667, t: -0.082222 -0.211280 0.247349 q: -0.036927 0.929811 -0.010170 0.366038 
time: 1403636873.651666, t: 0.013285 -0.389347 0.196623 q: -0.012612 0.933771 -0.038147 0.355608 
time: 1403636874.051666, t: 0.035543 -0.458554 0.179190 q: -0.007444 0.934645 -0.049249 0.352077 
time: 1403636874.451667, t: -0.018648 -0.396892 0.196331 q: -0.021764 0.936773 -0.034304 0.347572 
time: 1403636874.851666, t: -0.036465 -0.170577 0.199686 q: -0.042702 0.933641 -0.010953 0.355486 
time: 1403636875.251667, t: -0.032855 -0.023225 0.190629 q: -0.037762 0.918663 -0.037921 0.391400 
time: 1403636875.651666, t: -0.108114 0.013014 0.183197 q: -0.040078 0.915687 -0.118605 0.381895 
time: 1403636876.051666, t: -0.233765 -0.105382 0.188459 q: 0.011593 0.906190 -0.190758 0.377223 
time: 1403636876.451667, t: -0.198314 -0.313146 0.196296 q: 0.064490 0.890206 -0.254847 0.372058 
time: 1403636876.851666, t: 0.041122 -0.457957 0.209638 q: 0.075142 0.889038 -0.202690 0.403585 
time: 1403636877.251667, t: 0.428670 -0.256175 0.303990 q: -0.008618 0.901188 -0.060265 0.429131 
time: 1403636877.651666, t: 0.295751 -0.032497 0.215475 q: -0.080425 0.909171 0.048219 0.405727 
time: 1403636878.051666, t: 0.136936 0.044481 0.205760 q: -0.077124 0.925495 0.020146 0.370278 
time: 1403636878.451667, t: 0.053018 -0.102552 0.191829 q: -0.023773 0.921232 -0.084493 0.378983 
time: 1403636878.851666, t: 0.161537 -0.337277 0.222582 q: 0.042294 0.906671 -0.151877 0.391270 
time: 1403636879.251667, t: 0.400279 -0.442767 0.251968 q: 0.039893 0.897774 -0.147701 0.413032 
time: 1403636879.651666, t: 1.659939 -0.374498 0.664324 q: -0.022809 0.899294 -0.053334 0.433481 
time: 1403636880.051666, t: 0.705883 -0.095353 0.321392 q: -0.057223 0.910370 -0.002571 0.409811 
time: 1403636880.451667, t: 0.572420 -0.127809 0.341365 q: -0.009920 0.906117 -0.054518 0.419382 
time: 1403636880.851666, t: 0.505253 -0.083958 0.377159 q: 0.017701 0.909952 -0.098026 0.402573 
time: 1403636881.251667, t: 0.240933 0.208761 0.052200 q: -0.020334 0.899006 -0.038085 0.435804 
time: 1403636881.651666, t: 0.552779 -0.163724 0.274352 q: -0.036901 0.890438 0.030807 0.452559 
time: 1403636882.051666, t: 1.161436 -0.059588 0.347935 q: -0.020155 0.894221 0.013437 0.446969 
time: 1403636882.451667, t: 0.250581 -0.304002 0.261710 q: -0.009991 0.885376 -0.009687 0.464667 
time: 1403636882.851666, t: 0.286978 -0.236904 0.203321 q: -0.064995 0.846310 0.036813 0.527428 
time: 1403636883.251667, t: 0.385992 -0.168806 0.095141 q: -0.106511 0.821095 0.105224 0.550804 
time: 1403636883.651666, t: 0.416570 -0.142061 0.046608 q: -0.126343 0.800331 0.128121 0.571920 
time: 1403636884.051666, t: 0.428019 -0.139859 0.031409 q: -0.142371 0.791180 0.141937 0.577597 
time: 1403636884.451667, t: 0.422328 -0.141627 0.031571 q: -0.142187 0.782905 0.143834 0.588348 
time: 1403636884.851666, t: 0.421374 -0.142246 0.031495 q: -0.141874 0.783316 0.143311 0.588005 
time: 1403636885.251667, t: 0.420790 -0.143143 0.031650 q: -0.140660 0.783652 0.143230 0.587869 
time: 1403636885.651666, t: 0.420695 -0.143592 0.031540 q: -0.140195 0.783765 0.143176 0.587842 
time: 1403636886.051666, t: 0.420730 -0.143814 0.031429 q: -0.140061 0.783874 0.143122 0.587742 
time: 1403636886.451667, t: 0.420644 -0.144131 0.031302 q: -0.139803 0.783960 0.143071 0.587701 
time: 1403636886.851666, t: 0.420733 -0.144335 0.031124 q: -0.139659 0.783989 0.143107 0.587687 
time: 1403636887.251667, t: 0.420736 -0.144570 0.030971 q: -0.139468 0.784021 0.143083 0.587697 
time: 1403636887.651666, t: 0.420757 -0.144728 0.030874 q: -0.139236 0.784080 0.143064 0.587677 
time: 1403636888.051666, t: 0.420786 -0.144947 0.030772 q: -0.139097 0.784178 0.143042 0.587585 
time: 1403636888.451667, t: 0.420751 -0.145159 0.030674 q: -0.139097 0.784240 0.142907 0.587535 
time: 1403636888.851666, t: 0.420671 -0.145108 0.030641 q: -0.138933 0.784149 0.143023 0.587666 
time: 1403636889.251667, t: 0.420638 -0.145029 0.030703 q: -0.139072 0.784237 0.142753 0.587582 
time: 1403636889.651666, t: 0.420628 -0.145944 0.029004 q: -0.139035 0.784044 0.142526 0.587903 
time: 1403636890.051666, t: 0.423899 -0.147017 0.026686 q: -0.138569 0.784183 0.142534 0.587826 
time: 1403636890.451667, t: 0.423735 -0.147204 0.026910 q: -0.138322 0.784139 0.142125 0.588041 
time: 1403636890.851666, t: 0.423787 -0.147298 0.026983 q: -0.138227 0.784037 0.142353 0.588145 
time: 1403636891.251667, t: 0.423771 -0.147192 0.026903 q: -0.138722 0.783980 0.142575 0.588051 
time: 1403636891.651666, t: 0.423818 -0.147183 0.026885 q: -0.138634 0.784006 0.142561 0.588041 
time: 1403636892.051666, t: 0.423787 -0.147204 0.026816 q: -0.138553 0.783964 0.142593 0.588108 
time: 1403636892.451667, t: 0.423850 -0.147256 0.026842 q: -0.138355 0.783862 0.142577 0.588294 
time: 1403636892.851666, t: 0.423858 -0.147288 0.026814 q: -0.138414 0.783974 0.142663 0.588111 
time: 1403636893.251667, t: 0.423857 -0.147287 0.026775 q: -0.138409 0.783909 0.142691 0.588191 
time: 1403636893.651666, t: 0.423881 -0.147288 0.026772 q: -0.138365 0.783882 0.142768 0.588218 
time: 1403636894.051666, t: 0.423919 -0.147325 0.026758 q: -0.138487 0.783964 0.142664 0.588106 
time: 1403636894.451667, t: 0.423867 -0.147345 0.026759 q: -0.138366 0.784011 0.142556 0.588098 
time: 1403636894.851666, t: 0.423931 -0.147370 0.026731 q: -0.138361 0.783963 0.142588 0.588155 
time: 1403636895.251667, t: 0.424024 -0.147402 0.026734 q: -0.138211 0.783910 0.142632 0.588251 
time: 1403636895.651666, t: 0.423970 -0.147417 0.026745 q: -0.138114 0.783877 0.142701 0.588301 
time: 1403636896.051666, t: 0.424089 -0.147513 0.026734 q: -0.138095 0.784054 0.142890 0.588023 
time: 1403636896.451667, t: 0.424197 -0.147584 0.026738 q: -0.137984 0.784406 0.143238 0.587495 
time: 1403636896.851666, t: 0.424375 -0.147385 0.026677 q: -0.138555 0.784525 0.143406 0.587161 
time: 1403636897.251667, t: 0.422119 -0.148773 0.026567 q: -0.141330 0.783758 0.148895 0.586156 
time: 1403636897.651666, t: 0.390550 -0.190834 0.027744 q: -0.111727 0.806024 0.144111 0.563094 
time: 1403636898.051666, t: 0.361857 -0.237627 0.094331 q: -0.095831 0.815407 0.155691 0.549262 
time: 1403636898.451667, t: 0.374095 -0.257078 0.158461 q: -0.107980 0.808058 0.164452 0.555282 
time: 1403636898.851666, t: 0.419625 -0.238638 0.237690 q: -0.113806 0.808506 0.170249 0.551707 
time: 1403636899.251667, t: 0.509341 -0.203102 0.279683 q: -0.108950 0.807468 0.138208 0.563049 
time: 1403636899.651666, t: 0.587611 -0.239298 0.319160 q: -0.069414 0.816119 0.064302 0.570085 
time: 1403636900.051666, t: 0.672784 -0.314542 0.325393 q: -0.043593 0.814712 0.054253 0.575675 
time: 1403636900.451667, t: 0.748599 -0.385055 0.389983 q: -0.042943 0.816077 0.061787 0.573024 
time: 1403636900.851666, t: 0.821705 -0.471189 0.443069 q: -0.053935 0.826920 0.066141 0.555805 
time: 1403636901.251667, t: 0.938708 -0.578087 0.433001 q: -0.068641 0.820504 0.058264 0.564506 
time: 1403636901.651666, t: 1.090454 -0.737408 0.462293 q: -0.053273 0.816890 0.068139 0.570272 
time: 1403636902.051666, t: 1.253313 -0.916962 0.429741 q: -0.053264 0.814991 0.070304 0.572722 
time: 1403636902.451667, t: 1.405634 -1.090048 0.399420 q: -0.055103 0.815902 0.067204 0.571621 
time: 1403636902.851666, t: 1.542011 -1.255755 0.315760 q: -0.042370 0.813536 0.067494 0.576029 
time: 1403636903.251667, t: 1.662154 -1.394005 0.352924 q: -0.049917 0.814631 0.071554 0.573380 
time: 1403636903.651666, t: 1.765354 -1.516949 0.413001 q: -0.049383 0.818069 0.077973 0.567666 
time: 1403636904.051666, t: 1.880365 -1.626100 0.430850 q: -0.065119 0.819370 0.068069 0.565473 
time: 1403636904.451667, t: 2.024401 -1.760628 0.529914 q: -0.063640 0.816221 0.064844 0.570551 
time: 1403636904.851666, t: 2.172761 -1.939412 0.574376 q: -0.048644 0.816185 0.067211 0.571803 
time: 1403636905.251667, t: 2.319927 -2.107692 0.583083 q: -0.035919 0.815923 0.066217 0.573232 
time: 1403636905.651666, t: 2.461615 -2.231971 0.647847 q: -0.034286 0.819270 0.079343 0.566857 
time: 1403636906.051666, t: 2.610351 -2.304814 0.636857 q: -0.046291 0.823821 0.085629 0.558430 
time: 1403636906.451667, t: 2.794565 -2.338204 0.625530 q: -0.062958 0.813890 0.079449 0.572107 
time: 1403636906.851666, t: 2.980095 -2.377699 0.637385 q: -0.058435 0.816764 0.082279 0.568078 
time: 1403636907.251667, t: 3.170466 -2.426569 0.637486 q: -0.054599 0.821902 0.092162 0.559466 
time: 1403636907.651666, t: 3.391747 -2.453424 0.647685 q: -0.073794 0.825347 0.082774 0.553629 
time: 1403636908.051666, t: 3.669775 -2.504308 0.700056 q: -0.067866 0.818169 0.089228 0.563944 
time: 1403636908.451667, t: 3.952760 -2.573074 0.699050 q: -0.067854 0.813969 0.100643 0.568086 
time: 1403636908.851666, t: 4.229887 -2.629783 0.688918 q: -0.074947 0.820456 0.104317 0.557093 
time: 1403636909.251667, t: 4.536449 -2.683987 0.760350 q: -0.079450 0.823520 0.101163 0.552511 
time: 1403636909.651666, t: 4.882473 -2.746499 0.765070 q: -0.078483 0.817519 0.096302 0.562342 
time: 1403636910.051666, t: 5.232691 -2.809821 0.684824 q: -0.047923 0.800470 0.113922 0.586492 
time: 1403636910.451667, t: 5.526700 -2.830684 0.620276 q: -0.067087 0.813836 0.105042 0.567570 
time: 1403636910.851666, t: 5.796997 -2.849815 0.586249 q: -0.071351 0.814605 0.107104 0.565559 
time: 1403636911.251667, t: 6.054756 -2.853831 0.536389 q: -0.077755 0.808396 0.104157 0.574109 
time: 1403636911.651666, t: 6.269999 -2.879080 0.578889 q: -0.069711 0.812985 0.107997 0.567920 
time: 1403636912.051666, t: 6.481923 -2.904931 0.576125 q: -0.081950 0.817824 0.096768 0.561324 
time: 1403636912.451667, t: 6.721655 -2.948772 0.569662 q: -0.076782 0.814869 0.098672 0.566000 
time: 1403636912.851666, t: 6.969132 -3.009780 0.533201 q: -0.089217 0.815297 0.086897 0.565492 
time: 1403636913.251667, t: 7.210688 -3.119574 0.450210 q: -0.073622 0.805362 0.097912 0.579986 
time: 1403636913.651666, t: 7.417935 -3.242768 0.426465 q: -0.076264 0.812731 0.094825 0.569791 
time: 1403636914.051666, t: 7.612131 -3.375963 0.400431 q: -0.071916 0.811271 0.097023 0.572062 
time: 1403636914.451667, t: 7.798511 -3.510284 0.396375 q: -0.069013 0.810989 0.097049 0.572813 
time: 1403636914.851666, t: 7.965989 -3.640520 0.440313 q: -0.063783 0.809345 0.097016 0.575744 
time: 1403636915.251667, t: 8.108727 -3.756313 0.438927 q: -0.059104 0.818834 0.094867 0.563043 
time: 1403636915.651666, t: 8.273066 -3.841503 0.400365 q: -0.074439 0.815879 0.083905 0.567240 
time: 1403636916.051666, t: 8.469291 -3.939528 0.459430 q: -0.069483 0.810923 0.088917 0.574169 
time: 1403636916.451667, t: 8.639009 -4.051609 0.509691 q: -0.057118 0.811159 0.095570 0.574130 
time: 1403636916.851666, t: 8.789146 -4.151106 0.529258 q: -0.028094 0.814125 0.058919 0.577009 
time: 1403636917.251667, t: 8.910745 -4.208560 0.466283 q: -0.022029 0.814998 0.038939 0.577734 
time: 1403636917.651666, t: 9.010326 -4.263678 0.347165 q: 0.017538 0.812996 -0.016457 0.581773 
time: 1403636918.051666, t: 9.071969 -4.289396 0.312075 q: 0.038119 0.811923 -0.040061 0.581139 
time: 1403636918.451667, t: 9.106593 -4.281016 0.293870 q: 0.045843 0.824121 -0.036482 0.563375 
time: 1403636918.851666, t: 9.187679 -4.228538 0.386857 q: 0.020892 0.821040 -0.044049 0.568785 
time: 1403636919.251667, t: 9.282839 -4.212249 0.551069 q: 0.014365 0.808174 -0.074574 0.584026 
time: 1403636919.651666, t: 9.331676 -4.281357 0.685957 q: 0.051260 0.806135 -0.070683 0.585254 
time: 1403636920.051666, t: 9.333843 -4.359490 0.711883 q: 0.044398 0.802564 -0.077030 0.589904 
time: 1403636920.451667, t: 9.277105 -4.452127 0.647048 q: 0.052548 0.803717 -0.066117 0.588987 
time: 1403636920.851666, t: 9.172335 -4.532498 0.647587 q: 0.054236 0.818569 -0.064988 0.568137 
time: 1403636921.251667, t: 9.078387 -4.584961 0.702679 q: 0.055174 0.814866 -0.066913 0.573125 
time: 1403636921.651666, t: 8.989924 -4.621201 0.672643 q: 0.037032 0.812320 -0.081151 0.576350 
time: 1403636922.051666, t: 8.904938 -4.679523 0.590202 q: 0.055255 0.817962 -0.077799 0.567302 
time: 1403636922.451667, t: 8.840345 -4.736810 0.542499 q: 0.073286 0.820962 -0.091117 0.558881 
time: 1403636922.851666, t: 8.817333 -4.780087 0.481987 q: 0.089884 0.802846 -0.123477 0.576292 
time: 1403636923.251667, t: 8.774738 -4.813738 0.450733 q: 0.095593 0.796933 -0.152522 0.576625 
time: 1403636923.651666, t: 8.700479 -4.860009 0.373562 q: 0.117332 0.817882 -0.172286 0.536301 
time: 1403636924.051666, t: 8.718991 -4.921876 0.380437 q: 0.123619 0.819190 -0.170747 0.533378 
time: 1403636924.451667, t: 8.845746 -4.996194 0.359380 q: 0.112851 0.812091 -0.172414 0.545937 
time: 1403636924.851666, t: 9.024463 -5.095270 0.376174 q: 0.089160 0.790616 -0.181418 0.577983 
time: 1403636925.251667, t: 9.134311 -5.263740 0.306135 q: 0.128238 0.795928 -0.185818 0.561716 
time: 1403636925.651666, t: 9.236034 -5.436101 0.194114 q: 0.138111 0.820029 -0.195610 0.519821 
time: 1403636926.051666, t: 9.464516 -5.610721 0.207426 q: 0.148400 0.798945 -0.190952 0.550638 
time: 1403636926.451667, t: 9.716033 -5.756101 0.161025 q: 0.126382 0.778254 -0.200311 0.581570 
time: 1403636926.851666, t: 9.871114 -5.888619 0.108064 q: 0.129988 0.789927 -0.203348 0.563710 
time: 1403636927.251667, t: 9.963708 -6.059969 0.097545 q: 0.166108 0.772761 -0.267453 0.551105 
time: 1403636927.651666, t: 10.033603 -6.263666 0.013917 q: 0.203846 0.780477 -0.308214 0.504289 
time: 1403636928.051666, t: 10.180238 -6.510055 -0.008700 q: 0.209084 0.776155 -0.315054 0.504588 
time: 1403636928.451667, t: 10.385631 -6.786295 -0.059931 q: 0.212675 0.752466 -0.306350 0.542876 
time: 1403636928.851666, t: 10.575638 -7.042798 -0.091433 q: 0.214054 0.767800 -0.302110 0.522871 
time: 1403636929.251667, t: 10.768466 -7.277940 -0.004308 q: 0.202834 0.748345 -0.308201 0.551226 
time: 1403636929.651666, t: 10.911625 -7.511000 0.058350 q: 0.211303 0.756627 -0.297698 0.542441 
time: 1403636930.051666, t: 11.009004 -7.720716 0.060345 q: 0.209138 0.755382 -0.297261 0.545248 
time: 1403636930.451667, t: 11.073385 -7.903535 0.135117 q: 0.208078 0.757892 -0.298965 0.541225 
time: 1403636930.851666, t: 11.091824 -8.060265 0.167272 q: 0.198562 0.753101 -0.305199 0.547965 
time: 1403636931.251667, t: 11.048626 -8.232477 0.147531 q: 0.223386 0.736472 -0.324429 0.549959 
time: 1403636931.651666, t: 10.933065 -8.369939 0.202064 q: 0.265029 0.738371 -0.312904 0.535405 
time: 1403636932.051666, t: 10.809764 -8.399572 0.204593 q: 0.242184 0.740276 -0.333142 0.531371 
time: 1403636932.451667, t: 10.676938 -8.377446 0.185321 q: 0.267554 0.732867 -0.323031 0.535697 
time: 1403636932.851666, t: 10.536007 -8.261259 0.268452 q: 0.280051 0.714461 -0.369413 0.524071 
time: 1403636933.251667, t: 10.385002 -8.081430 0.295515 q: 0.286863 0.713089 -0.406734 0.493742 
time: 1403636933.651666, t: 10.257089 -7.905402 0.236187 q: 0.286105 0.711990 -0.414068 0.489654 
time: 1403636934.051666, t: 10.158279 -7.754504 0.250456 q: 0.293676 0.696254 -0.418254 0.504031 
time: 1403636934.451667, t: 10.030815 -7.588583 0.190410 q: 0.335296 0.648904 -0.488402 0.477455 
time: 1403636934.851666, t: 9.866326 -7.413679 0.190888 q: 0.374315 0.610998 -0.548759 0.430619 
time: 1403636935.251667, t: 9.703255 -7.254127 0.317085 q: 0.383931 0.602420 -0.550379 0.432169 
time: 1403636935.651666, t: 9.542802 -7.117763 0.389663 q: 0.374393 0.604611 -0.545940 0.442973 
time: 1403636936.051666, t: 9.355045 -6.989822 0.345557 q: 0.353667 0.626426 -0.555207 0.417440 
time: 1403636936.451667, t: 9.168340 -6.956068 0.287082 q: 0.368903 0.617954 -0.546635 0.428058 
time: 1403636936.851666, t: 8.999019 -6.972777 0.277043 q: 0.380027 0.611706 -0.545287 0.429019 
time: 1403636937.251667, t: 8.849370 -6.989371 0.295324 q: 0.380626 0.609710 -0.548786 0.426862 
time: 1403636937.651666, t: 8.724151 -7.013263 0.285625 q: 0.385738 0.608617 -0.548786 0.423823 
time: 1403636938.051666, t: 8.625210 -7.025648 0.192142 q: 0.414618 0.602823 -0.533195 0.424734 
time: 1403636938.451667, t: 8.571531 -6.955737 0.074950 q: -0.387326 -0.568435 0.569922 -0.449498 
time: 1403636938.851666, t: 8.439353 -6.825676 0.055595 q: -0.380787 -0.572114 0.582814 -0.433606 
time: 1403636939.251667, t: 8.232782 -6.688086 0.047707 q: 0.394568 0.584287 -0.572656 0.418319 
time: 1403636939.651666, t: 8.013599 -6.562319 0.022527 q: 0.403009 0.581516 -0.557980 0.433683 
time: 1403636940.051666, t: 7.785446 -6.382543 0.013602 q: 0.401115 0.574227 -0.567335 0.433014 
time: 1403636940.451667, t: 7.534772 -6.158005 -0.069418 q: -0.403973 -0.560615 0.586910 -0.421963 
time: 1403636940.851666, t: 7.252692 -5.903223 -0.118869 q: -0.400395 -0.569188 0.598112 -0.397457 
time: 1403636941.251667, t: 6.965944 -5.692917 -0.050438 q: -0.409199 -0.567697 0.590574 -0.401868 
time: 1403636941.651666, t: 6.697312 -5.525009 0.003466 q: -0.411281 -0.572180 0.579857 -0.408930 
time: 1403636942.051666, t: 6.454242 -5.357372 0.037853 q: -0.401621 -0.575716 0.581191 -0.411667 
time: 1403636942.451667, t: 6.212676 -5.187445 0.073849 q: -0.396707 -0.566473 0.588316 -0.419066 
time: 1403636942.851666, t: 5.943861 -5.024140 0.032560 q: -0.397360 -0.569610 0.594666 -0.404997 
time: 1403636943.251667, t: 5.659827 -4.867196 0.057777 q: -0.412919 -0.562297 0.589843 -0.406700 
time: 1403636943.651666, t: 5.389061 -4.710531 0.036275 q: -0.422834 -0.558471 0.589632 -0.402063 
time: 1403636944.051666, t: 5.156985 -4.575868 -0.073940 q: -0.397133 -0.580048 0.592613 -0.393243 
time: 1403636944.451667, t: 4.960473 -4.500822 -0.137364 q: 0.387989 0.595443 -0.580518 0.397380 
time: 1403636944.851666, t: 4.793537 -4.449752 -0.098090 q: 0.407589 0.598255 -0.551412 0.414616 
time: 1403636945.251667, t: 4.694824 -4.361401 -0.067869 q: 0.398870 0.600526 -0.547335 0.425083 
time: 1403636945.651666, t: 4.646799 -4.265023 -0.060829 q: 0.392071 0.604377 -0.555028 0.415876 
time: 1403636946.051666, t: 4.627372 -4.155832 -0.107519 q: 0.391117 0.605646 -0.561355 0.406326 
time: 1403636946.451667, t: 4.647843 -4.093609 -0.242162 q: 0.403735 0.593382 -0.559320 0.414797 
time: 1403636946.851666, t: 4.694484 -4.009742 -0.401527 q: -0.379964 -0.576845 0.581148 -0.430284 
time: 1403636947.251667, t: 4.672040 -3.916324 -0.531374 q: 0.372683 0.588623 -0.587894 0.411108 
time: 1403636947.651666, t: 4.587733 -3.917304 -0.564586 q: 0.380654 0.596900 -0.584148 0.396968 
time: 1403636948.051666, t: 4.527414 -4.016835 -0.574056 q: 0.396170 0.605105 -0.571249 0.388036 
time: 1403636948.451667, t: 4.531563 -4.176543 -0.653798 q: 0.398587 0.612479 -0.562686 0.386499 
time: 1403636948.851666, t: 4.653090 -4.355743 -0.729084 q: 0.409786 0.609110 -0.547368 0.401808 
time: 1403636949.251667, t: 4.862093 -4.517562 -0.766057 q: 0.395107 0.595702 -0.551929 0.429422 
time: 1403636949.651666, t: 5.044727 -4.627046 -0.855176 q: 0.383167 0.590768 -0.557763 0.439404 
time: 1403636950.051666, t: 5.178375 -4.704274 -0.877944 q: 0.368435 0.606009 -0.568634 0.416732 
time: 1403636950.451667, t: 5.291382 -4.828325 -0.890276 q: 0.384124 0.607433 -0.560002 0.412154 
time: 1403636950.851666, t: 5.422855 -4.979314 -0.918520 q: 0.396186 0.602050 -0.550384 0.421484 
time: 1403636951.251667, t: 5.578862 -5.097995 -0.865712 q: 0.378143 0.600461 -0.561834 0.425202 
time: 1403636951.651666, t: 5.704494 -5.246104 -0.887831 q: 0.375749 0.613716 -0.564102 0.404911 
time: 1403636952.051666, t: 5.843287 -5.450500 -0.887055 q: 0.397077 0.611275 -0.549502 0.408313 
time: 1403636952.451667, t: 6.019441 -5.646641 -0.930498 q: 0.392464 0.595335 -0.551979 0.432282 
time: 1403636952.851666, t: 6.194949 -5.792283 -1.010865 q: 0.393039 0.603529 -0.550738 0.421853 
time: 1403636953.251667, t: 6.358276 -5.931551 -1.106535 q: 0.369610 0.602121 -0.568480 0.421509 
time: 1403636953.651666, t: 6.490889 -6.092038 -1.164229 q: 0.386513 0.610425 -0.554239 0.413290 
time: 1403636954.051666, t: 6.642927 -6.269411 -1.116759 q: 0.386250 0.616989 -0.550169 0.409207 
time: 1403636954.451667, t: 6.846265 -6.482559 -1.074698 q: 0.380913 0.616564 -0.555823 0.407204 
time: 1403636954.851666, t: 7.086942 -6.734036 -1.064154 q: 0.394681 0.604408 -0.557165 0.410469 
time: 1403636955.251667, t: 7.351121 -6.977934 -1.147290 q: 0.406343 0.592717 -0.563960 0.406844 
time: 1403636955.651666, t: 7.645895 -7.197845 -1.185356 q: 0.414488 0.585272 -0.570596 0.400095 
time: 1403636956.051666, t: 7.971716 -7.402538 -1.205738 q: -0.401471 -0.571637 0.584937 -0.412189 
time: 1403636956.451667, t: 8.252391 -7.570807 -1.187757 q: -0.410356 -0.572888 0.583391 -0.403810 
time: 1403636956.851666, t: 8.500866 -7.713389 -1.234588 q: 0.374629 0.593025 -0.554705 0.447523 
time: 1403636957.251667, t: 8.665433 -7.821024 -1.194419 q: 0.333517 0.667753 -0.468682 0.472451 
time: 1403636957.651666, t: 8.791654 -7.909337 -1.184848 q: 0.301636 0.691560 -0.435698 0.490844 
time: 1403636958.051666, t: 8.922479 -7.954741 -1.256461 q: 0.236866 0.733067 -0.365732 0.522253 
time: 1403636958.451667, t: 9.023191 -8.016631 -1.230042 q: 0.190732 0.768773 -0.287969 0.538222 
time: 1403636958.851666, t: 9.103505 -8.090753 -1.183269 q: 0.185837 0.775546 -0.271557 0.538749 
time: 1403636959.251667, t: 9.187003 -8.166110 -1.221774 q: 0.194267 0.774668 -0.278101 0.533676 
time: 1403636960.051666, t: 9.409536 -8.236384 -1.375212 q: 0.201064 0.768812 -0.286254 0.535314 
time: 1403636960.451667, t: 9.532693 -8.252164 -1.368672 q: 0.218346 0.769842 -0.272438 0.534272 
time: 1403636960.851666, t: 9.689211 -8.207714 -1.430459 q: 0.190787 0.772446 -0.258986 0.547590 
time: 1403636961.251667, t: 9.838707 -8.114877 -1.479539 q: 0.127830 0.795455 -0.183012 0.563398 
time: 1403636961.651666, t: 9.953748 -8.020298 -1.412748 q: 0.083611 0.806875 -0.119845 0.572362 
time: 1403636962.051666, t: 10.052021 -7.919783 -1.297756 q: 0.037776 0.814451 -0.050709 0.576777 
time: 1403636962.451667, t: 10.131432 -7.804661 -1.193633 q: -0.017122 0.814583 0.033042 0.578852 
time: 1403636962.851666, t: 10.186550 -7.665144 -1.049410 q: -0.044284 0.806888 0.118388 0.577023 
time: 1403636963.251667, t: 10.177377 -7.471238 -1.000276 q: -0.070182 0.799164 0.111662 0.586466 
time: 1403636963.651666, t: 10.123197 -7.271972 -0.997868 q: -0.064297 0.806986 0.097576 0.578894 
time: 1403636964.051666, t: 10.043274 -7.075071 -0.908586 q: -0.055549 0.807038 0.090012 0.580949 
time: 1403636964.451667, t: 9.918601 -6.873181 -0.805329 q: -0.052586 0.804727 0.096247 0.583426 
time: 1403636964.851666, t: 9.758206 -6.641571 -0.778892 q: -0.063823 0.796942 0.143900 0.583183 
time: 1403636965.251667, t: 9.511937 -6.350222 -0.722764 q: -0.121253 0.789166 0.208071 0.564997 
time: 1403636965.651666, t: 9.273401 -6.007260 -0.560239 q: -0.146145 0.803690 0.210205 0.537157 
time: 1403636966.051666, t: 9.112237 -5.654597 -0.379101 q: -0.137996 0.784592 0.206481 0.568100 
time: 1403636966.451667, t: 8.940099 -5.325319 -0.313544 q: -0.150353 0.785173 0.189117 0.570204 
time: 1403636966.851666, t: 8.713991 -5.063173 -0.347803 q: -0.141600 0.785103 0.185105 0.573845 
time: 1403636967.251667, t: 8.460917 -4.881568 -0.348508 q: -0.134843 0.784766 0.184950 0.575980 
time: 1403636967.651666, t: 8.190860 -4.721356 -0.350963 q: -0.127585 0.783533 0.185779 0.579038 
time: 1403636968.051666, t: 7.855718 -4.590414 -0.440957 q: -0.126924 0.782342 0.185534 0.580869 
time: 1403636968.451667, t: 7.469810 -4.478527 -0.563003 q: -0.131481 0.784990 0.183377 0.576955 
time: 1403636968.851666, t: 7.058146 -4.384755 -0.578229 q: -0.119378 0.783977 0.190854 0.578536 
time: 1403636969.251667, t: 6.607783 -4.281773 -0.539600 q: -0.129704 0.794932 0.182884 0.563749 
time: 1403636969.651666, t: 6.158878 -4.185043 -0.431926 q: -0.121813 0.806482 0.184365 0.548414 
time: 1403636970.051666, t: 5.765645 -4.074128 -0.401608 q: -0.124707 0.800890 0.181779 0.556759 
time: 1403636970.851666, t: 5.125454 -3.783732 -0.417558 q: -0.120662 0.816544 0.190656 0.531362 
time: 1403636971.251667, t: 4.909895 -3.597989 -0.406144 q: -0.153776 0.811577 0.168893 0.537745 
time: 1403636971.651666, t: 4.794554 -3.463200 -0.493770 q: -0.153238 0.799500 0.171302 0.554953 
time: 1403636972.051666, t: 4.702936 -3.399438 -0.598338 q: -0.146810 0.789012 0.179629 0.568894 
time: 1403636972.451667, t: 4.634036 -3.384580 -0.618038 q: -0.143409 0.800765 0.180325 0.552894 
time: 1403636972.851666, t: 4.608809 -3.395723 -0.551745 q: -0.135198 0.796102 0.182620 0.560885 
time: 1403636973.251667, t: 4.569111 -3.417225 -0.566855 q: -0.112968 0.806462 0.154984 0.559318 
time: 1403636973.651666, t: 4.547546 -3.430454 -0.658259 q: -0.100646 0.805320 0.140702 0.567038 
time: 1403636974.051666, t: 4.527467 -3.429525 -0.719726 q: -0.100844 0.804236 0.134945 0.569934 
time: 1403636974.451667, t: 4.512950 -3.439969 -0.762820 q: -0.045767 0.816009 0.065034 0.572543 
time: 1403636974.851666, t: 4.493575 -3.449521 -0.854205 q: 0.016838 0.820971 -0.039251 0.569370 
time: 1403636975.251667, t: 4.482232 -3.477248 -0.853448 q: 0.062059 0.813875 -0.105686 0.567967 
time: 1403636975.651666, t: 4.487279 -3.503878 -0.885909 q: 0.076441 0.814576 -0.108870 0.564597 
time: 1403636976.051666, t: 4.517567 -3.526072 -0.852236 q: 0.083935 0.813395 -0.131068 0.560505 
time: 1403636976.451667, t: 4.552993 -3.580392 -0.880032 q: 0.115751 0.781126 -0.228596 0.569376 
time: 1403636976.851666, t: 4.547882 -3.675450 -0.992071 q: 0.173688 0.776512 -0.264294 0.544986 
time: 1403636977.251667, t: 4.543826 -3.784757 -1.074596 q: 0.164125 0.780668 -0.274367 0.536976 
time: 1403636977.651666, t: 4.551340 -3.940090 -1.118946 q: 0.169094 0.772858 -0.256689 0.555165 
time: 1403636978.051666, t: 4.528590 -4.108879 -1.214654 q: 0.170779 0.769956 -0.270638 0.552048 
time: 1403636978.451667, t: 4.486125 -4.291424 -1.216458 q: 0.180944 0.779864 -0.270269 0.534814 
time: 1403636978.851666, t: 4.490182 -4.490381 -1.204093 q: 0.177897 0.792352 -0.275868 0.514225 
time: 1403636979.251667, t: 4.582571 -4.719217 -1.277051 q: 0.187449 0.774285 -0.268594 0.541483 
time: 1403636979.651666, t: 4.695445 -4.911832 -1.327162 q: 0.179916 0.789716 -0.274374 0.518361 
time: 1403636980.051666, t: 4.885498 -5.126429 -1.302805 q: 0.193598 0.778769 -0.274172 0.529970 
time: 1403636980.451667, t: 5.116048 -5.321882 -1.337163 q: 0.195018 0.766881 -0.279457 0.543843 
time: 1403636980.851666, t: 5.344805 -5.501844 -1.401638 q: 0.191030 0.768531 -0.277134 0.544118 
time: 1403636981.251667, t: 5.567765 -5.653192 -1.419658 q: 0.183077 0.768412 -0.282132 0.544452 
time: 1403636981.651666, t: 5.757070 -5.799286 -1.486315 q: 0.196250 0.771583 -0.282759 0.534970 
time: 1403636982.051666, t: 5.954702 -5.944216 -1.473056 q: 0.197512 0.786783 -0.293138 0.505996 
time: 1403636982.451667, t: 6.223660 -6.112006 -1.470113 q: 0.184802 0.775393 -0.303970 0.521743 
time: 1403636982.851666, t: 6.523039 -6.345216 -1.441653 q: 0.185516 0.773572 -0.296053 0.528699 
time: 1403636983.251667, t: 6.805819 -6.620031 -1.466412 q: 0.198459 0.769486 -0.284880 0.536049 
time: 1403636983.651666, t: 7.085086 -6.880283 -1.528870 q: 0.203387 0.772348 -0.285645 0.529640 
time: 1403636984.051666, t: 7.380350 -7.115237 -1.498095 q: 0.203097 0.780287 -0.293085 0.513814 
time: 1403636984.451667, t: 7.718565 -7.327291 -1.468147 q: 0.212537 0.769205 -0.293414 0.526365 
time: 1403636984.851666, t: 8.082850 -7.498838 -1.479407 q: 0.209897 0.765167 -0.295109 0.532329 
time: 1403636985.251667, t: 8.436666 -7.657716 -1.452834 q: 0.210847 0.766045 -0.295016 0.530740 
time: 1403636985.651666, t: 8.801008 -7.778232 -1.483250 q: 0.206215 0.775473 -0.267822 0.533280 
time: 1403636986.051666, t: 9.175636 -7.836178 -1.453215 q: 0.212965 0.753709 -0.242147 0.572654 
time: 1403636986.451667, t: 9.481501 -7.763282 -1.507831 q: 0.194460 0.776919 -0.254071 0.542245 
time: 1403636986.851666, t: 9.772036 -7.644256 -1.506701 q: 0.173501 0.773436 -0.267697 0.547753 
time: 1403636987.251667, t: 10.016416 -7.538343 -1.399633 q: 0.184183 0.769883 -0.266139 0.550024 
time: 1403636987.651666, t: 10.218144 -7.404155 -1.352948 q: 0.190529 0.763448 -0.252182 0.563250 
time: 1403636988.051666, t: 10.347758 -7.224178 -1.309311 q: 0.169323 0.767249 -0.257514 0.562446 
time: 1403636988.451667, t: 10.405323 -7.059688 -1.266941 q: 0.159607 0.755975 -0.266779 0.576070 
time: 1403636988.851666, t: 10.333680 -6.914877 -1.189111 q: 0.163257 0.747315 -0.264214 0.587417 
time: 1403636989.251667, t: 10.118365 -6.804413 -1.173514 q: 0.164125 0.743343 -0.266914 0.590984 
time: 1403636989.651666, t: 9.762213 -6.686373 -1.113769 q: 0.180236 0.770594 -0.262101 0.552270 
time: 1403636990.051666, t: 9.398179 -6.567904 -1.068042 q: 0.185625 0.764600 -0.259293 0.560087 
time: 1403636990.451667, t: 9.019442 -6.414028 -0.993889 q: 0.186095 0.770632 -0.255752 0.553251 
time: 1403636990.851666, t: 8.646364 -6.229243 -0.951067 q: 0.182138 0.777991 -0.253023 0.545467 
time: 1403636991.251667, t: 8.302885 -6.053028 -0.985721 q: 0.183380 0.778302 -0.253410 0.544428 
time: 1403636991.651666, t: 7.983347 -5.867868 -0.967451 q: 0.180752 0.776990 -0.261942 0.543140 
time: 1403636992.051666, t: 7.698842 -5.704003 -0.868798 q: 0.177697 0.772385 -0.276444 0.543529 
time: 1403636992.451667, t: 7.421602 -5.572682 -0.846997 q: 0.194603 0.771300 -0.273782 0.540620 
time: 1403636992.851666, t: 7.169531 -5.427946 -0.802093 q: 0.201277 0.774792 -0.278375 0.530747 
time: 1403636993.251667, t: 6.973994 -5.294651 -0.795408 q: 0.191842 0.767957 -0.273726 0.546363 
time: 1403636993.651666, t: 6.776210 -5.130984 -0.710351 q: 0.148724 0.785362 -0.216584 0.560517 
time: 1403636994.051666, t: 6.586911 -4.987318 -0.640173 q: 0.133821 0.790927 -0.183956 0.568055 
time: 1403636994.451667, t: 6.359187 -4.827296 -0.648394 q: 0.138822 0.776001 -0.175627 0.589667 
time: 1403636994.851666, t: 6.091033 -4.618328 -0.626213 q: 0.112499 0.790786 -0.197319 0.568389 
time: 1403636995.251667, t: 5.774765 -4.418583 -0.607739 q: 0.125285 0.783604 -0.187564 0.578869 
time: 1403636995.651666, t: 5.421486 -4.215554 -0.516216 q: 0.124437 0.792430 -0.183366 0.568285 
time: 1403636996.051666, t: 5.047721 -4.005437 -0.450826 q: 0.111187 0.795141 -0.194465 0.563535 
time: 1403636996.451667, t: 4.687638 -3.854310 -0.391379 q: 0.117773 0.800886 -0.177436 0.559667 
time: 1403636996.851666, t: 4.360741 -3.703118 -0.297578 q: 0.077870 0.814554 -0.116241 0.562961 
time: 1403636997.251667, t: 4.065736 -3.557626 -0.331507 q: 0.027770 0.824102 -0.050293 0.563520 
time: 1403636997.651666, t: 3.838303 -3.451470 -0.340040 q: 0.020991 0.826144 -0.036598 0.561878 
time: 1403636998.051666, t: 3.688368 -3.351921 -0.212292 q: 0.028994 0.827777 -0.042092 0.558724 
time: 1403636998.451667, t: 3.610198 -3.264557 -0.082636 q: 0.028915 0.826355 -0.050138 0.560167 
time: 1403636998.851666, t: 3.557036 -3.186349 0.056087 q: 0.041081 0.808693 -0.045371 0.585038 
time: 1403636999.251667, t: 3.480424 -3.093569 0.157272 q: 0.051624 0.810719 -0.041094 0.581705 
time: 1403636999.651666, t: 3.386919 -2.955358 0.179255 q: 0.040919 0.808107 -0.050473 0.585441 
time: 1403637000.051666, t: 3.262247 -2.805902 0.161413 q: 0.048524 0.807405 -0.047889 0.586045 
time: 1403637000.451667, t: 3.097291 -2.629554 0.192878 q: 0.046044 0.810798 -0.049331 0.581424 
time: 1403637000.851666, t: 2.912087 -2.431385 0.231908 q: 0.044241 0.808999 -0.051297 0.583894 
time: 1403637001.251667, t: 2.714743 -2.225348 0.264907 q: 0.042695 0.808550 -0.054492 0.584341 
time: 1403637001.651666, t: 2.497678 -2.025443 0.340671 q: 0.039049 0.814480 -0.060022 0.575756 
time: 1403637002.051666, t: 2.272051 -1.838019 0.358582 q: 0.042452 0.816221 -0.060217 0.573023 
time: 1403637002.451667, t: 2.042042 -1.658539 0.313337 q: 0.045718 0.816751 -0.057839 0.572261 
time: 1403637002.851666, t: 1.812073 -1.476941 0.351180 q: 0.049057 0.816219 -0.057424 0.572785 
time: 1403637003.251667, t: 1.598678 -1.281110 0.334204 q: 0.048361 0.815456 -0.064509 0.573177 
time: 1403637003.651666, t: 1.406358 -1.084667 0.338021 q: 0.046582 0.812179 -0.070560 0.577249 
time: 1403637004.051666, t: 1.211849 -0.903779 0.356421 q: 0.048088 0.819113 -0.064904 0.567916 
time: 1403637004.451667, t: 1.037457 -0.732517 0.344285 q: 0.042764 0.818586 -0.064275 0.569172 
time: 1403637004.851666, t: 0.878134 -0.574205 0.424326 q: 0.027286 0.812523 -0.086575 0.575818 
time: 1403637005.251667, t: 0.726836 -0.479405 0.367425 q: 0.047885 0.818266 -0.078233 0.567475 
time: 1403637005.651666, t: 0.607494 -0.403942 0.290051 q: 0.046897 0.818953 -0.070790 0.567543 
time: 1403637006.051666, t: 0.503888 -0.340965 0.320455 q: 0.044563 0.817767 -0.068029 0.569774 
time: 1403637006.451667, t: 0.413482 -0.294556 0.326726 q: 0.033925 0.829222 -0.074107 0.552944 
time: 1403637006.851666, t: 0.383587 -0.286124 0.319056 q: 0.013532 0.817697 -0.041756 0.573973 
time: 1403637007.251667, t: 0.382053 -0.288254 0.280362 q: -0.018185 0.815103 0.028449 0.578331 
time: 1403637007.651666, t: 0.344780 -0.283347 0.231363 q: -0.022530 0.819110 0.043749 0.571522 
time: 1403637008.051666, t: 0.311358 -0.251884 0.190814 q: -0.028515 0.813946 0.030497 0.579438 
time: 1403637008.451667, t: 0.287170 -0.219474 0.176849 q: -0.015764 0.828285 0.027467 0.559411 
time: 1403637008.851666, t: 0.302439 -0.180135 0.180418 q: -0.041814 0.821858 0.000897 0.568155 
time: 1403637009.251667, t: 0.336402 -0.206630 0.126280 q: -0.009496 0.822299 0.018719 0.568668 
time: 1403637009.651666, t: 0.356003 -0.239115 0.093086 q: -0.063461 0.785155 0.026815 0.615455 
time: 1403637010.051666, t: 0.354960 -0.239599 0.086903 q: -0.060932 0.791630 0.013278 0.607810 
time: 1403637010.451667, t: 0.338123 -0.247746 0.089547 q: -0.060821 0.791989 0.013655 0.607345 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720550370.267256878]: Shutdown request received.[0m
[33m[ WARN] [1720550370.267303811]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720550370.268307742]: Shutdown request received.[0m
[33m[ WARN] [1720550370.268332898]: Reason given for shutdown: [user request][0m
killed
