/SLAM-Hive/slam_hive_results/mapping_results/3152/2357_vins-fusion-stereo-imu+MH_02_easy+Image_comb_test-17.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720550584.037572527]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720550584.039151778]: init begins[0m
[31m[ERROR] [1720550584.040232108]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/1354a564-3e23-11ef-b3f0-0242ac110005/roslaunch-40babc907203-118.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://40babc907203:39937/[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] [1720550585.143862455]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720550585.145099828]: 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] [1720550585.150816614]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720550585.151027438]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720550585.151049365]: ROW: 96 COL: 150 [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] [1720550585.151230262]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720550585.151451196]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720550585.151628381]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1mROS_MASTER_URI=http://40babc907203:11311/[0m
]2;roscore http://40babc907203:11311/
[1msetting /run_id to 1354a564-3e23-11ef-b3f0-0242ac110005[0m
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [248][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720550594.197766523]: 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: 316913737.56 
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
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
wait for imu ... 
feature tracking not enough, please slowly move you device! 
[33m[ WARN] [1720550600.566694562]: gyroscope bias initial calibration   0.0527021 -0.00716277    0.120975[0m
[0m[ INFO] [1720550600.592693358]: Initialization finish![0m
time: 1403636862.851666, t: 3.319783 -0.090202 0.913344 q: -0.004964 0.743597 0.124563 0.656904 
wait for imu ... 
time: 1403636863.251667, t: 0.962006 1.982326 -0.340938 q: 0.069240 0.758836 0.089055 0.641438 
time: 1403636863.651666, t: -0.462742 -0.481861 0.185259 q: 0.149884 0.812539 -0.151235 0.542626 
time: 1403636864.051666, t: 6.943831 2.235624 -3.132197 q: 0.259213 0.799389 -0.321702 0.436226 
time: 1403636864.451667, t: 4.358277 1.849114 -1.701197 q: 0.357147 0.747168 -0.385772 0.406652 
time: 1403636864.851666, t: 1.094723 3.485734 -0.560101 q: 0.457845 0.678306 -0.431412 0.379688 
time: 1403636865.251667, t: 2.064386 -0.808025 -0.435018 q: 0.431728 0.624857 -0.582308 0.289969 
time: 1403636865.651666, t: 0.618529 -1.290548 -0.665499 q: 0.341610 0.791583 -0.306466 0.403458 
time: 1403636866.051666, t: 7.994124 -1.088871 -2.434893 q: 0.521958 0.612857 -0.453875 0.382052 
time: 1403636866.451667, t: 9.182463 -3.200149 -1.627510 q: 0.587284 0.543444 -0.510986 0.314102 
time: 1403636866.851666, t: 9.085528 -5.241061 -1.092081 q: 0.585766 0.511658 -0.573148 0.258040 
time: 1403636867.251667, t: 8.119122 -1.779785 -1.023137 q: 0.507671 0.518624 -0.660178 0.193557 
time: 1403636867.651666, t: 7.562005 10.985369 -0.730295 q: 0.541748 0.426409 -0.711039 0.138231 
time: 1403636868.051666, t: 4.135105 -1.788308 -1.207538 q: -0.378921 -0.571966 0.725227 -0.057620 
time: 1403636868.451667, t: 6.989995 -1.360879 -1.573316 q: -0.405072 -0.522845 0.746858 -0.068948 
time: 1403636868.851666, t: 7.842147 -3.303891 -1.549877 q: -0.403334 -0.458742 0.791450 -0.022013 
time: 1403636869.251667, t: 11.674471 -2.962332 -0.273840 q: -0.421744 -0.446651 0.788923 -0.015348 
time: 1403636869.651666, t: 8.714967 -4.431174 -1.116985 q: -0.406399 -0.406957 0.817093 0.039820 
time: 1403636870.051666, t: 17.033606 11.721558 0.194182 q: 0.523235 0.147227 -0.832464 -0.107488 
time: 1403636870.451667, t: -13.091620 21.159216 5.057499 q: -0.447976 -0.072198 0.880269 0.138674 
time: 1403636870.851666, t: -26.596434 10.525232 1.885439 q: -0.415564 -0.053049 0.888578 0.186872 
time: 1403636871.251667, t: -4.580012 -6.843727 -7.825034 q: -0.410056 0.033235 0.866055 0.284073 
wait for imu ... 
time: 1403636871.651666, t: -43.955254 -31.370973 -17.023523 q: -0.391973 -0.112859 0.909259 0.082877 
time: 1403636872.051666, t: -41.780393 9.445831 -13.253565 q: -0.499359 -0.077388 0.862919 0.004874 
time: 1403636872.451667, t: -8.635843 46.005204 -8.849851 q: 0.557985 -0.009874 -0.825161 -0.087548 
time: 1403636872.851666, t: -1.218580 52.720157 -5.928816 q: -0.476634 0.068732 0.846291 0.227788 
time: 1403636873.251667, t: -29.486724 30.281101 -18.066231 q: -0.384346 0.145586 0.856086 0.313367 
time: 1403636873.651666, t: -13.882444 49.922184 -11.490261 q: -0.454136 0.185406 0.831719 0.260054 
time: 1403636874.051666, t: 43.060468 42.501141 -8.515441 q: -0.489014 0.308290 0.726828 0.370870 
time: 1403636874.451667, t: 50.550247 -39.952765 -3.711479 q: -0.407477 0.304523 0.643266 0.572221 
time: 1403636874.851666, t: 27.916768 -41.623446 -5.666621 q: -0.358907 0.202219 0.768766 0.489174 
time: 1403636875.251667, t: 16.022770 -42.429646 -11.570765 q: -0.430104 0.228083 0.750318 0.447226 
time: 1403636875.651666, t: 8.401748 -36.207480 -17.116278 q: -0.446977 0.315138 0.721376 0.424872 
time: 1403636876.051666, t: 2.125554 -53.035517 4.733661 q: -0.361022 0.380034 0.666950 0.529542 
time: 1403636876.451667, t: 10.100116 -34.718602 -12.804356 q: -0.353843 0.474510 0.607083 0.530174 
time: 1403636876.851666, t: 19.828849 -22.874592 -20.230481 q: -0.350505 0.463456 0.597448 0.552640 
time: 1403636877.251667, t: 30.197561 -14.485789 -23.602421 q: -0.353750 0.384470 0.678100 0.516938 
time: 1403636877.651666, t: 40.953402 -7.140966 -25.493755 q: -0.325828 0.347017 0.747573 0.463195 
time: 1403636878.051666, t: 51.610171 1.535532 -26.688042 q: -0.285213 0.423505 0.719001 0.471525 
time: 1403636878.451667, t: 61.072342 13.433817 -27.291450 q: -0.268746 0.522510 0.610102 0.531539 
time: 1403636878.851666, t: 67.509323 29.647752 -27.227210 q: -0.231279 0.579418 0.514055 0.588670 
time: 1403636879.251667, t: 67.765133 50.595955 -26.524025 q: -0.223200 0.584527 0.500403 0.598420 
time: 1403636879.651666, t: 57.965012 72.851320 -25.692180 q: -0.219373 0.539201 0.572693 0.577200 
time: 1403636880.051666, t: 57.218336 99.732591 -17.568088 q: -0.212314 0.519161 0.662234 0.496832 
time: 1403636880.451667, t: 28.781627 118.884598 -18.265434 q: -0.116689 0.594988 0.532043 0.591019 
time: 1403636880.851666, t: -7.881046 122.281477 -17.896698 q: -0.031567 0.648311 0.425555 0.630555 
time: 1403636881.251667, t: -5.343327 148.198648 -35.244608 q: -0.183474 0.548830 0.670967 0.463601 
time: 1403636881.651666, t: -24.834286 156.417829 -36.699982 q: -0.099399 0.546747 0.605427 0.569777 
time: 1403636882.051666, t: -64.932746 144.022245 -34.823077 q: -0.016082 0.591411 0.481098 0.646931 
time: 1403636882.451667, t: -86.725555 123.181591 -41.052899 q: 0.003489 0.611980 0.395669 0.684773 
time: 1403636882.851666, t: -98.293914 127.482519 -43.910926 q: -0.038831 0.572252 0.414859 0.706337 
time: 1403636883.251667, t: -119.884081 87.450356 -46.918217 q: 0.022872 0.582580 0.329663 0.742563 
time: 1403636883.651666, t: -101.039916 41.611493 -67.941846 q: 0.032658 0.607710 0.208865 0.765504 
time: 1403636884.051666, t: -112.193940 35.687440 -73.086441 q: 0.039237 0.615881 0.180647 0.765844 
time: 1403636884.451667, t: -62.826122 -14.884439 -75.174037 q: 0.069055 0.653203 0.056116 0.751936 
time: 1403636884.851666, t: -129.273548 20.277609 -60.026978 q: 0.131932 0.606760 0.241452 0.745746 
time: 1403636885.251667, t: -126.631522 2.411003 -57.934184 q: 0.000251 0.667030 0.186742 0.721247 
time: 1403636885.651666, t: -137.648861 -5.285556 -60.303168 q: 0.013907 0.681351 0.144001 0.717518 
time: 1403636886.051666, t: -166.137638 15.406063 -25.381439 q: 0.141721 0.671928 0.115873 0.717636 
time: 1403636886.451667, t: -180.424663 10.901303 -23.873333 q: 0.156851 0.681353 0.073906 0.711121 
time: 1403636886.851666, t: -195.194603 6.228756 -22.350260 q: 0.171577 0.689353 0.031885 0.703091 
time: 1403636887.251667, t: -210.451414 1.363650 -20.816111 q: 0.185931 0.695875 -0.010166 0.693603 
time: 1403636887.651666, t: -226.200688 -3.718203 -19.276744 q: 0.200056 0.700936 -0.052238 0.682596 
time: 1403636888.051666, t: -240.555378 18.987398 -38.835487 q: 0.140747 0.734124 0.032710 0.663462 
time: 1403636888.451667, t: -256.229687 16.345981 -39.454050 q: 0.153328 0.740289 -0.006501 0.654539 
time: 1403636888.851666, t: -272.236980 13.423973 -40.088324 q: 0.166115 0.744914 -0.045735 0.644529 
time: 1403636889.251667, t: -279.998083 -13.915968 -47.094116 q: 0.200180 0.712979 -0.270831 0.615012 
time: 1403636889.651666, t: -297.125357 -20.862227 -48.962164 q: 0.211352 0.708576 -0.312753 0.596184 
time: 1403636890.051666, t: -314.906264 -28.290953 -50.997077 q: 0.222042 0.702746 -0.354315 0.575593 
time: 1403636890.451667, t: -333.367432 -36.206801 -53.215408 q: 0.232230 0.694859 -0.395182 0.554140 
time: 1403636890.851666, t: -276.523879 -127.752473 -62.393790 q: 0.168348 0.746088 -0.378549 0.521261 
time: 1403636891.251667, t: -24.789540 -29.853456 -72.295056 q: -0.045534 0.881567 0.015972 0.469586 
time: 1403636891.651666, t: -96.596725 -148.424336 -46.211224 q: -0.410245 -0.537594 0.564444 -0.473387 
time: 1403636892.051666, t: -295.044527 -109.704551 -82.943841 q: 0.633200 0.136818 -0.747908 0.144820 
time: 1403636892.451667, t: -51.947341 63.681741 -90.141422 q: -0.243982 0.834557 0.261644 0.418962 
time: 1403636892.851666, t: -71.874260 86.818108 -155.743575 q: 0.110942 0.971067 0.166059 0.130938 
time: 1403636893.251667, t: -151.151830 116.484777 -201.893363 q: 0.037258 0.951777 0.260108 0.158355 
time: 1403636893.651666, t: -212.853153 134.244167 -232.104408 q: 0.107934 0.955907 0.241752 0.127079 
time: 1403636894.051666, t: -182.853127 143.918733 -241.086711 q: 0.142763 0.973228 0.177760 -0.029117 
time: 1403636894.451667, t: -181.396943 156.952471 -257.031294 q: 0.158569 0.969417 0.187267 0.004262 
time: 1403636894.851666, t: -248.068823 185.962337 -302.395662 q: 0.191629 0.953308 0.214682 0.091612 
time: 1403636895.251667, t: -319.005115 206.844331 -325.207928 q: 0.202052 0.949183 0.221303 0.096185 
time: 1403636895.651666, t: -319.902123 219.162685 -351.467062 q: 0.513411 0.850096 0.061338 -0.099914 
time: 1403636896.051666, t: -280.864837 239.825526 -378.120584 q: 0.582290 0.796900 0.029089 -0.158249 
time: 1403636896.451667, t: -251.887706 251.283188 -399.793863 q: 0.576039 0.810780 0.014246 -0.103015 
time: 1403636896.851666, t: -250.635144 269.424083 -428.335766 q: 0.645552 0.761095 -0.021183 -0.059561 
time: 1403636897.251667, t: -224.345353 278.592038 -457.796330 q: 0.646489 0.749813 -0.035804 -0.136198 
time: 1403636897.651666, t: -188.965588 279.810928 -489.348923 q: 0.671424 0.715599 -0.067363 -0.180470 
time: 1403636898.051666, t: -149.073166 269.582450 -521.925828 q: 0.697500 0.678525 -0.084397 -0.214419 
time: 1403636898.851666, t: -213.008993 333.682972 -584.126722 q: 0.819514 0.518932 -0.150250 -0.191132 
time: 1403636899.251667, t: -198.703277 346.481054 -617.249330 q: 0.864704 0.439994 -0.168776 -0.173802 
time: 1403636899.651666, t: -177.926542 359.228213 -650.855405 q: 0.913862 0.325160 -0.182651 -0.160520 
time: 1403636900.051666, t: -160.033122 372.485577 -685.433676 q: 0.936825 0.237099 -0.194235 -0.168568 
time: 1403636900.451667, t: -132.367899 382.233174 -720.856266 q: 0.940984 0.197411 -0.211316 -0.175849 
time: 1403636900.851666, t: -110.409927 395.942031 -757.211274 q: 0.942840 0.138506 -0.251870 -0.168616 
time: 1403636901.251667, t: -84.515938 416.916288 -792.430631 q: 0.955683 -0.042210 -0.277475 -0.088856 
time: 1403636901.651666, t: -59.300873 433.881566 -831.093842 q: 0.945115 -0.111627 -0.290645 -0.099111 
time: 1403636902.051666, t: -22.261034 440.378043 -870.379080 q: 0.947830 -0.013843 -0.274818 -0.160942 
time: 1403636902.451667, t: 15.624147 399.597754 -920.862629 q: 0.887918 0.198601 -0.294801 -0.291980 
time: 1403636902.851666, t: 46.796843 375.662458 -974.005577 q: 0.927138 -0.041080 -0.283004 -0.242151 
time: 1403636903.251667, t: 28.895705 355.610202 -1034.429038 q: 0.910419 -0.039985 -0.342141 -0.229080 
time: 1403636903.651666, t: 84.599599 241.086368 -1088.125709 q: 0.832555 0.241423 -0.266996 -0.421047 
time: 1403636904.051666, t: 85.933021 145.700974 -1145.892502 q: 0.878072 -0.010845 -0.253878 -0.405485 
time: 1403636904.451667, t: 31.042238 78.327055 -1223.734549 q: 0.866625 -0.174531 -0.323786 -0.337140 
time: 1403636904.851666, t: 7.997367 66.616384 -1307.218592 q: 0.839950 -0.354418 -0.252192 -0.324456 
time: 1403636905.251667, t: -25.662085 39.233655 -1392.143703 q: 0.823611 0.063770 -0.205101 -0.524911 
time: 1403636905.651666, t: -34.620356 9.595585 -1461.767187 q: 0.836993 -0.103005 -0.143087 -0.518034 
time: 1403636906.051666, t: -69.216484 20.211950 -1560.925849 q: 0.811504 -0.123396 -0.347846 -0.453031 
time: 1403636906.451667, t: -91.513200 6.341223 -1638.305260 q: 0.833400 -0.165480 -0.255863 -0.461079 
time: 1403636906.851666, t: -121.084973 0.969334 -1725.779245 q: 0.763738 0.094773 -0.116385 -0.627835 
time: 1403636907.251667, t: -125.404473 -12.246937 -1809.149103 q: 0.814209 -0.211126 -0.042900 -0.539118 
time: 1403636907.651666, t: -145.924808 -8.251082 -1903.105047 q: 0.806565 -0.106570 -0.212692 -0.541163 
time: 1403636908.051666, t: -147.948336 16.415595 -2003.281450 q: 0.785096 -0.046127 -0.241762 -0.568373 
time: 1403636908.451667, t: -167.798162 3.084328 -2084.171451 q: 0.708032 -0.507054 -0.231737 -0.433457 
time: 1403636908.851666, t: -127.202743 -1.400131 -2182.500625 q: 0.823976 -0.235678 0.082233 -0.508682 
time: 1403636909.251667, t: -126.579640 -18.203438 -2273.099125 q: 0.813675 -0.257059 -0.123994 -0.506438 
time: 1403636909.651666, t: -121.352821 -29.862833 -2367.231285 q: 0.802924 -0.087151 -0.145966 -0.571324 
time: 1403636910.051666, t: -115.756118 -52.087650 -2459.354790 q: 0.717820 0.089187 -0.116450 -0.680603 
time: 1403636910.451667, t: -115.051116 -66.418749 -2545.416985 q: 0.636000 -0.619306 -0.147407 -0.436160 
time: 1403636910.851666, t: -113.642528 -79.103002 -2637.743014 q: 0.787438 -0.217222 -0.276911 -0.506040 
time: 1403636911.251667, t: -131.133852 -103.345612 -2734.287979 q: 0.801745 -0.106833 -0.086389 -0.581660 
time: 1403636911.651666, t: -144.673281 -125.395048 -2829.616467 q: 0.788061 -0.281410 -0.099165 -0.538456 
time: 1403636912.051666, t: -149.846314 -130.136593 -2922.978639 q: 0.696046 -0.562847 -0.152137 -0.419020 
time: 1403636912.451667, t: -158.105488 -135.762451 -3026.028837 q: 0.794194 -0.195219 -0.251520 -0.517574 
time: 1403636912.851666, t: -222.276041 -150.012484 -3126.115321 q: 0.763091 -0.014191 -0.200137 -0.614358 
time: 1403636913.251667, t: -304.505288 -129.402846 -3219.261956 q: 0.771175 -0.245589 -0.043310 -0.585747 
time: 1403636913.651666, t: -347.184634 -106.240151 -3308.391569 q: 0.631976 0.119805 -0.350768 -0.680599 
time: 1403636914.051666, t: -385.501307 -105.509737 -3387.962236 q: 0.674521 -0.046885 -0.314939 -0.666060 
time: 1403636914.451667, t: -430.150107 -40.388462 -3474.839900 q: 0.659116 -0.066161 -0.251686 -0.705580 
time: 1403636914.851666, t: -419.457659 65.200441 -3562.035138 q: 0.669029 -0.159998 -0.159482 -0.708072 
time: 1403636915.251667, t: -334.965896 -14.648263 -3605.459273 q: 0.574450 0.037748 -0.369669 -0.729333 
time: 1403636915.651666, t: -262.849080 -135.732900 -3652.925562 q: 0.627395 -0.133838 -0.442330 -0.626743 
time: 1403636916.051666, t: -260.884805 -157.082172 -3737.578483 q: 0.622785 -0.182247 -0.433695 -0.625167 
time: 1403636916.451667, t: -264.015653 -214.268899 -3813.403356 q: 0.606739 -0.351006 -0.358347 -0.616644 
time: 1403636916.851666, t: -268.114981 -261.931830 -3894.415480 q: 0.596828 -0.299680 -0.357115 -0.653037 
time: 1403636917.251667, t: -182.671321 -310.267044 -3969.849017 q: 0.593864 -0.208926 -0.376732 -0.679520 
time: 1403636917.651666, t: -173.588613 -342.840509 -4051.986204 q: 0.592658 -0.305743 -0.314315 -0.675635 
time: 1403636918.051666, t: -207.923072 -384.049139 -4146.317654 q: 0.538272 -0.182779 -0.391179 -0.723764 
time: 1403636918.451667, t: -204.191305 -431.347099 -4235.923114 q: 0.510183 -0.129589 -0.371580 -0.764753 
time: 1403636918.851666, t: -190.691276 -482.498608 -4327.115990 q: 0.543862 -0.127741 -0.336223 -0.758189 
time: 1403636919.251667, t: -178.061379 -525.189892 -4413.003067 q: 0.593949 -0.191697 -0.287290 -0.726595 
time: 1403636919.651666, t: -185.601500 -569.378956 -4499.959607 q: 0.564474 -0.240452 -0.281820 -0.737652 
time: 1403636920.051666, t: -211.486709 -646.670725 -4615.634285 q: 0.526239 -0.164959 -0.320461 -0.770173 
time: 1403636920.451667, t: -215.954515 -710.688156 -4713.881897 q: 0.574867 -0.231776 -0.250799 -0.743578 
time: 1403636920.851666, t: -216.778499 -762.177293 -4802.954216 q: 0.574649 -0.300316 -0.251702 -0.718494 
time: 1403636921.251667, t: -224.628380 -814.085777 -4892.812203 q: 0.569491 -0.337992 -0.252304 -0.705539 
time: 1403636921.651666, t: -256.706969 -884.285348 -5006.033172 q: 0.563978 -0.299908 -0.288868 -0.713120 
time: 1403636922.051666, t: -261.498873 -939.153348 -5095.616286 q: 0.550925 -0.358185 -0.273315 -0.702484 
time: 1403636922.451667, t: -308.333469 -997.916593 -5199.397959 q: 0.541401 -0.349288 -0.282540 -0.710671 
time: 1403636922.851666, t: -324.156822 -1055.238517 -5300.551981 q: -0.480776 0.326817 0.346722 0.736091 
time: 1403636923.251667, t: -406.474021 -1151.848758 -5441.731132 q: 0.509708 -0.379442 -0.225213 -0.738580 
time: 1403636923.651666, t: -494.075720 -1204.397809 -5563.575218 q: -0.481769 0.532004 0.118207 0.686220 
time: 1403636924.051666, t: -570.372646 -1240.884738 -5668.725390 q: 0.512732 -0.481878 -0.141488 -0.696334 
time: 1403636924.451667, t: -576.828299 -1312.724460 -5772.729246 q: -0.490445 0.451208 0.206829 0.716308 
time: 1403636924.851666, t: -579.491278 -1386.623591 -5874.329685 q: 0.502666 -0.458887 -0.170391 -0.712542 
time: 1403636925.251667, t: -602.558347 -1445.778610 -5967.112276 q: -0.463399 0.516689 0.133531 0.707434 
time: 1403636925.651666, t: -623.847729 -1505.111762 -6059.090047 q: -0.434678 0.589961 0.117980 0.670136 
time: 1403636926.051666, t: -643.101716 -1564.674426 -6150.381726 q: -0.426726 0.597435 0.071267 0.675202 
time: 1403636926.451667, t: -649.978577 -1628.515423 -6242.352825 q: -0.451604 0.591980 0.037807 0.666471 
time: 1403636926.851666, t: -664.142248 -1689.126890 -6332.711103 q: -0.435368 0.639492 0.017233 0.633409 
time: 1403636927.251667, t: -675.853697 -1750.320436 -6422.976771 q: -0.397524 0.697161 -0.074179 0.591979 
time: 1403636927.651666, t: -684.929075 -1812.293864 -6513.726647 q: -0.343136 0.765161 -0.125082 0.530228 
time: 1403636928.051666, t: -670.359136 -1880.359140 -6606.112512 q: -0.322357 0.783495 -0.153930 0.508455 
time: 1403636928.451667, t: -538.166108 -1953.914922 -6704.405798 q: -0.218508 0.798201 -0.186961 0.529315 
time: 1403636928.851666, t: -643.562810 -2012.729875 -6795.365148 q: 0.073910 0.795495 -0.479285 0.363333 
time: 1403636929.251667, t: -1002.563143 -1918.230148 -6888.094967 q: -0.270587 -0.561831 0.773893 -0.110531 
time: 1403636929.651666, t: -1202.694969 -1780.607921 -6992.631369 q: -0.288004 -0.531105 0.782411 -0.151045 
time: 1403636930.051666, t: -1337.371438 -1507.080281 -7098.546335 q: -0.106693 -0.506764 0.854556 -0.039264 
time: 1403636930.451667, t: -1252.921314 -1231.540956 -7187.204614 q: -0.163865 -0.357193 0.913838 0.102279 
time: 1403636930.851666, t: -1197.477799 -1241.038766 -7265.109868 q: -0.211487 -0.254160 0.882029 0.335710 
time: 1403636931.251667, t: -1219.786117 -1190.603086 -7375.646039 q: -0.166530 -0.240758 0.923458 0.248051 
time: 1403636931.651666, t: -1160.730984 -1183.529409 -7504.525420 q: -0.012478 -0.258316 0.946714 0.191963 
time: 1403636932.051666, t: -1113.434932 -1194.465740 -7621.197013 q: -0.158755 -0.203224 0.959648 0.112126 
time: 1403636932.451667, t: -1053.227287 -1228.150322 -7739.865107 q: -0.169427 -0.141297 0.907095 0.358481 
time: 1403636932.851666, t: -1061.250383 -1204.788074 -7858.646585 q: -0.146480 -0.132717 0.968371 0.152277 
time: 1403636933.251667, t: -1057.606391 -1198.656033 -8006.206378 q: 0.022441 -0.158326 0.987128 -0.002760 
time: 1403636933.651666, t: -1036.252681 -1229.945248 -8145.063335 q: -0.119969 -0.052804 0.977622 0.164544 
time: 1403636934.051666, t: -997.181105 -1275.392597 -8267.359152 q: -0.172068 0.031263 0.925561 0.335785 
time: 1403636934.451667, t: -978.702829 -1322.639312 -8409.434994 q: -0.112646 0.088867 0.871173 0.469544 
time: 1403636934.851666, t: -1002.545155 -1325.103787 -8541.951301 q: -0.069873 0.060671 0.951286 0.294094 
time: 1403636935.251667, t: -1061.311244 -1327.649179 -8705.691971 q: -0.003875 0.106040 0.945029 0.309292 
time: 1403636935.651666, t: -1069.564728 -1329.327528 -8848.639935 q: -0.066633 0.197696 0.867961 0.450689 
time: 1403636936.051666, t: -1090.802258 -1314.876150 -8976.328926 q: -0.065055 0.067839 0.990468 0.100693 
time: 1403636936.451667, t: -1140.389200 -1218.186596 -9144.609754 q: -0.031684 0.167300 0.977059 0.127914 
time: 1403636936.851666, t: -1110.113877 -1206.243158 -9271.107493 q: -0.050003 0.256107 0.892678 0.367470 
time: 1403636937.251667, t: -1053.973351 -1233.269592 -9370.843053 q: -0.125668 0.177566 0.964112 0.152204 
time: 1403636937.651666, t: -1139.176632 -1221.123214 -9496.628402 q: -0.143990 0.018338 0.984564 -0.097796 
time: 1403636938.051666, t: -1160.723181 -1069.793906 -9639.454312 q: -0.132291 0.243497 0.951263 0.135304 
time: 1403636938.451667, t: -1149.792236 -1018.131530 -9740.022990 q: -0.145877 0.130729 0.973624 -0.116986 
time: 1403636938.851666, t: -1099.440013 -975.461200 -9868.500394 q: -0.095571 0.339364 0.907528 0.228235 
time: 1403636939.251667, t: -1045.066376 -952.817734 -9972.750719 q: -0.085227 0.210355 0.973660 0.021740 
time: 1403636939.651666, t: -1030.499580 -919.943421 -10085.170696 q: -0.006373 0.385553 0.866590 0.316749 
time: 1403636940.051666, t: -996.237581 -960.358448 -10221.162607 q: -0.109777 0.490211 0.644597 0.576314 
time: 1403636940.451667, t: -939.653474 -964.405854 -10340.192936 q: -0.023138 0.451699 0.755179 0.474487 
time: 1403636940.851666, t: -906.074067 -1008.127348 -10442.995818 q: 0.056161 0.354191 0.912953 0.194706 
time: 1403636941.251667, t: -918.263616 -1039.070789 -10535.884048 q: 0.060133 0.434218 0.854880 0.277521 
time: 1403636941.651666, t: -884.200930 -1101.645830 -10676.973831 q: -0.021100 0.586921 0.600466 0.542697 
time: 1403636942.051666, t: -832.492136 -1116.279277 -10758.455913 q: 0.074952 0.540191 0.728571 0.414439 
time: 1403636942.451667, t: -836.675514 -1184.922799 -10872.877819 q: 0.105624 0.476067 0.816294 0.309625 
time: 1403636942.851666, t: -954.963465 -1223.808325 -10974.044227 q: 0.113210 0.429484 0.860908 0.248119 
time: 1403636943.251667, t: -986.594284 -1247.592369 -11124.419475 q: 0.039243 0.655216 0.548788 0.517672 
time: 1403636943.651666, t: -908.717402 -1221.128960 -11180.382265 q: 0.030915 0.778869 0.490308 0.389879 
time: 1403636944.051666, t: -864.979398 -1140.055919 -11269.885836 q: -0.032962 0.803219 0.559922 0.200601 
time: 1403636944.451667, t: -912.876720 -1067.283917 -11380.104040 q: -0.041810 0.807594 0.569252 0.148314 
time: 1403636944.851666, t: -885.665197 -1119.983720 -11515.598662 q: 0.110148 0.737393 0.363813 0.558354 
time: 1403636945.251667, t: -852.774732 -1095.885059 -11547.117792 q: 0.178565 0.790584 0.476175 0.341099 
time: 1403636945.651666, t: -874.849525 -1053.624868 -11644.608719 q: 0.138568 0.845143 0.442726 0.265567 
time: 1403636946.051666, t: -931.946794 -1028.490010 -11742.935206 q: 0.136577 0.873140 0.423306 0.199461 
time: 1403636946.451667, t: -884.550390 -1071.649754 -11884.153728 q: 0.307997 0.760518 0.224806 0.525559 
time: 1403636946.851666, t: -874.711340 -1065.598826 -11972.348384 q: 0.236670 0.874478 0.239843 0.348927 
time: 1403636947.251667, t: -897.141265 -1042.223743 -12075.623763 q: 0.196253 0.920888 0.237168 0.239170 
time: 1403636947.651666, t: -935.679103 -1035.236936 -12182.588834 q: 0.205392 0.936553 0.243074 0.146964 
time: 1403636948.051666, t: -896.054280 -1042.193649 -12297.431224 q: 0.344053 0.846211 0.079430 0.399055 
time: 1403636948.451667, t: -841.169110 -1067.033294 -12393.065554 q: 0.313640 0.899824 0.121536 0.277806 
time: 1403636948.851666, t: -856.226211 -1022.628434 -12506.682312 q: 0.194955 0.943279 0.154233 0.220067 
time: 1403636949.251667, t: -881.970629 -996.934975 -12622.670813 q: 0.161168 0.967372 0.119296 0.154870 
time: 1403636949.651666, t: -837.620821 -1039.171724 -12732.776919 q: 0.360836 0.799455 -0.141567 0.458942 
time: 1403636950.051666, t: -843.967665 -1008.513507 -12848.569506 q: 0.193189 0.951869 -0.027190 0.236396 
time: 1403636950.451667, t: -808.610301 -1015.151183 -12978.388413 q: 0.284707 0.945315 -0.046507 0.152179 
time: 1403636950.851666, t: -821.257189 -977.377534 -13095.491948 q: 0.256016 0.959579 -0.072613 0.091601 
time: 1403636951.251667, t: -842.971395 -970.439976 -13218.292584 q: 0.133719 0.976412 -0.145387 0.087182 
time: 1403636951.651666, t: -848.338829 -1001.542107 -13346.561905 q: 0.080929 0.972855 -0.159165 0.147210 
time: 1403636952.051666, t: -791.727984 -1039.245993 -13443.592077 q: 0.378194 0.891075 -0.220601 0.119541 
time: 1403636952.451667, t: -761.163223 -996.639739 -13556.959176 q: 0.304056 0.911355 -0.271323 0.058022 
time: 1403636952.851666, t: -763.885712 -984.397463 -13670.280634 q: 0.084742 0.920154 -0.270239 0.270383 
time: 1403636953.251667, t: -731.064325 -1018.566990 -13795.699381 q: 0.165729 0.932387 -0.306357 0.096607 
time: 1403636953.651666, t: -674.339248 -1024.097910 -13899.902662 q: 0.373704 0.829803 -0.393714 0.129465 
time: 1403636954.051666, t: -643.812897 -973.629421 -14014.572371 q: 0.270407 0.872540 -0.406880 -0.001480 
time: 1403636954.451667, t: -629.479083 -1025.808133 -14099.701117 q: 0.464905 0.664494 -0.539141 0.227241 
time: 1403636954.851666, t: -607.659408 -955.229700 -14216.640697 q: 0.291965 0.834851 -0.456072 0.098888 
time: 1403636955.251667, t: -602.484481 -1027.402726 -14336.342626 q: 0.152394 0.862652 -0.449839 0.173929 
time: 1403636955.651666, t: -550.985485 -1183.427302 -14439.051732 q: 0.269721 0.805988 -0.521426 -0.075818 
time: 1403636956.051666, t: -464.066240 -1276.080285 -14542.194444 q: 0.129347 0.827958 -0.543975 0.042961 
time: 1403636956.451667, t: -368.465280 -1273.150172 -14639.329026 q: 0.244902 0.793611 -0.542654 0.125426 
time: 1403636956.851666, t: -271.013610 -1058.729447 -14742.968660 q: 0.029073 0.844042 -0.416004 0.337178 
time: 1403636957.251667, t: -293.129528 -1135.246119 -14843.125136 q: 0.139561 0.833903 -0.524316 0.101100 
time: 1403636957.651666, t: -289.222635 -1296.303752 -14929.852868 q: 0.157460 0.788929 -0.592126 0.046739 
time: 1403636958.051666, t: -227.140492 -1280.414677 -15030.302611 q: 0.015183 0.829130 -0.485455 0.276851 
time: 1403636958.451667, t: -169.085580 -1279.521977 -15131.343779 q: 0.097655 0.819740 -0.547727 0.135956 
time: 1403636958.851666, t: -145.101584 -1411.239879 -15212.563551 q: 0.048960 0.792014 -0.607538 0.034852 
time: 1403636959.251667, t: -60.131177 -1357.484969 -15316.716676 q: 0.177789 0.780827 -0.582354 0.139872 
time: 1403636959.651666, t: 13.417458 -1267.105106 -15423.091381 q: 0.245085 0.732746 -0.631475 0.065233 
time: 1403636960.051666, t: -10.886526 -1306.507812 -15517.447994 q: 0.140440 0.763135 -0.619714 0.117716 
time: 1403636960.451667, t: -69.626799 -1460.940047 -15597.558252 q: 0.078495 0.748299 -0.658111 -0.027873 
time: 1403636960.851666, t: -74.338651 -1533.879868 -15705.627228 q: 0.097886 0.770417 -0.623202 0.092164 
time: 1403636961.251667, t: 23.350698 -1505.233450 -15825.456435 q: 0.100355 0.758051 -0.641578 0.060544 
time: 1403636961.651666, t: 83.998058 -1442.596264 -15941.220583 q: 0.149572 0.774464 -0.575402 0.216209 
time: 1403636962.051666, t: 106.478709 -1453.720041 -16041.612206 q: -0.015440 0.775342 -0.622016 0.108180 
time: 1403636962.451667, t: 131.128893 -1425.589037 -16148.108721 q: 0.054832 0.787813 -0.585205 0.184065 
time: 1403636962.851666, t: 164.148777 -1429.716231 -16236.914411 q: -0.089203 0.774190 -0.624926 0.046256 
time: 1403636963.251667, t: 229.223352 -1311.638884 -16337.457049 q: 0.085825 0.735847 -0.669158 0.058222 
time: 1403636963.651666, t: 210.678407 -1438.006369 -16384.372559 q: 0.085733 0.717472 -0.691059 -0.017911 
time: 1403636964.051666, t: 227.340114 -1392.999791 -16503.328991 q: 0.094565 0.741313 -0.648366 0.145376 
time: 1403636964.451667, t: 220.434742 -1345.601351 -16616.545656 q: 0.010189 0.730662 -0.679800 0.062462 
time: 1403636964.851666, t: 245.675322 -1258.441979 -16705.954794 q: 0.223660 0.695207 -0.682885 0.018213 
time: 1403636965.251667, t: 235.021307 -1189.221699 -16804.303930 q: 0.093231 0.711836 -0.696130 -0.001153 
time: 1403636965.651666, t: 234.212263 -1198.219625 -16882.091070 q: -0.286059 -0.652937 0.694739 -0.095817 
time: 1403636966.051666, t: 181.959789 -1121.504885 -16982.868085 q: 0.171784 0.707236 -0.682577 0.066299 
time: 1403636966.451667, t: 174.515390 -1160.252105 -17055.830836 q: -0.125909 -0.650973 0.727454 0.176611 
time: 1403636966.851666, t: 137.715194 -1149.631455 -17158.267814 q: -0.116641 -0.641623 0.745860 0.135675 
time: 1403636967.251667, t: 136.842185 -1271.870442 -17224.060698 q: -0.290187 -0.574405 0.742919 0.184176 
time: 1403636967.651666, t: 154.426221 -1292.588570 -17334.557102 q: -0.030169 -0.626914 0.747196 0.218556 
time: 1403636968.051666, t: 144.102173 -1336.849716 -17440.941440 q: -0.125384 -0.613617 0.768684 0.129916 
time: 1403636968.451667, t: 18.682056 -1434.750240 -17553.348474 q: -0.064581 -0.610274 0.788560 -0.039595 
time: 1403636968.851666, t: 75.838828 -1508.359390 -17650.659186 q: -0.084098 -0.590729 0.772881 0.215920 
time: 1403636969.251667, t: -185.302025 -1530.083043 -17734.583286 q: 0.027761 -0.577998 0.806375 0.122092 
time: 1403636969.651666, t: -245.965588 -1523.472287 -17830.362576 q: -0.148700 -0.537769 0.817646 0.141946 
time: 1403636970.051666, t: -429.205994 -1490.056088 -17922.612729 q: -0.082121 -0.539616 0.836894 0.040973 
time: 1403636970.451667, t: -541.596483 -1353.175956 -17999.479867 q: -0.278225 -0.462812 0.835370 -0.102728 
time: 1403636970.851666, t: -576.914735 -1323.597949 -18075.158327 q: -0.192328 -0.473658 0.857341 0.060205 
time: 1403636971.251667, t: -593.454581 -1133.933824 -18159.424807 q: -0.359892 -0.340525 0.867961 -0.034129 
time: 1403636971.651666, t: -657.173052 -1370.737377 -18241.245706 q: -0.128575 -0.465260 0.872658 0.073960 
time: 1403636972.051666, t: -666.499910 -1196.725757 -18315.567689 q: -0.360325 -0.313322 0.870237 0.121171 
time: 1403636972.451667, t: -633.418617 -1294.686721 -18382.459007 q: -0.264768 -0.333807 0.863908 0.268575 
time: 1403636972.851666, t: -670.234055 -1240.537317 -18468.056585 q: -0.328548 -0.285134 0.864614 0.251393 
time: 1403636973.251667, t: -745.972675 -1353.432107 -18556.471439 q: -0.281735 -0.302939 0.905461 0.094834 
time: 1403636973.651666, t: -835.572435 -1313.901937 -18634.080093 q: -0.412161 -0.184548 0.887439 0.092286 
time: 1403636974.051666, t: -902.870098 -1333.759907 -18703.615161 q: -0.277733 -0.222887 0.886347 0.295930 
time: 1403636974.451667, t: -955.213274 -1288.747332 -18784.388947 q: -0.351285 -0.110627 0.867926 0.333265 
time: 1403636974.851666, t: -1053.016653 -1339.814888 -18857.222555 q: -0.388817 0.008210 0.901575 0.189515 
time: 1403636975.251667, t: -1164.112866 -1351.526234 -18930.800695 q: -0.436742 0.134771 0.866472 0.200796 
time: 1403636975.651666, t: -1311.719384 -1253.195770 -18987.605480 q: -0.384200 0.151396 0.870394 0.268112 
time: 1403636976.051666, t: -1388.050836 -1371.205344 -19061.214704 q: -0.418001 0.158932 0.890530 0.083500 
time: 1403636976.451667, t: -1319.059067 -1776.840767 -19145.357367 q: -0.351581 0.107486 0.926120 -0.084494 
time: 1403636976.851666, t: -1043.248690 -2086.961168 -19284.834183 q: -0.342695 0.084834 0.927468 -0.123157 
time: 1403636977.251667, t: -208.018534 -1698.805818 -19452.260899 q: -0.061795 -0.151308 0.965189 -0.204201 
time: 1403636977.651666, t: -435.169031 -986.933821 -19562.031785 q: -0.030717 -0.116325 0.987783 0.099048 
time: 1403636978.051666, t: -948.327910 -917.595187 -19639.162167 q: -0.203042 -0.066382 0.956811 0.197180 
time: 1403636978.451667, t: -1254.882141 -1514.950760 -19712.501155 q: -0.297987 -0.048009 0.946886 0.110930 
time: 1403636978.851666, t: -777.934484 -1950.582533 -19836.553246 q: -0.067292 -0.153891 0.982275 -0.083219 
time: 1403636979.251667, t: -325.269152 -1692.939661 -19962.677147 q: 0.100017 -0.197367 0.968758 -0.112032 
time: 1403636979.651666, t: -351.032566 -1226.480722 -20074.576079 q: 0.117149 -0.169119 0.972499 0.109186 
time: 1403636980.051666, t: -718.299101 -1039.122914 -20172.355965 q: -0.115402 -0.062231 0.921781 0.364868 
time: 1403636980.451667, t: -1073.438187 -1576.597057 -20277.227175 q: -0.178275 -0.148382 0.959230 0.161488 
time: 1403636980.851666, t: -816.430873 -1867.510274 -20398.124346 q: -0.025348 -0.206413 0.977591 -0.032668 
time: 1403636981.251667, t: -421.923185 -1791.240174 -20519.514773 q: 0.077504 -0.174333 0.981430 -0.019899 
time: 1403636981.651666, t: -332.635614 -1390.976500 -20641.296712 q: 0.131251 -0.158218 0.972336 0.110918 
time: 1403636982.051666, t: -694.429057 -1181.697472 -20756.352665 q: 0.051906 -0.092057 0.938989 0.327310 
time: 1403636982.451667, t: -929.083797 -1309.090195 -20869.836872 q: 0.014072 -0.094642 0.962885 0.252383 
time: 1403636982.851666, t: -950.997280 -1666.920498 -20984.633216 q: -0.105135 -0.003576 0.933427 0.343000 
time: 1403636983.251667, t: -637.302378 -1854.618374 -21093.865632 q: -0.318524 0.171169 0.871642 0.330883 
time: 1403636983.651666, t: -386.633036 -1473.829722 -21239.574497 q: -0.172884 0.055921 0.941674 0.283256 
time: 1403636984.051666, t: -608.048064 -1263.125928 -21350.900462 q: -0.058940 0.055313 0.932483 0.352055 
time: 1403636984.451667, t: -833.746630 -1343.762339 -21461.184783 q: -0.037920 0.057097 0.937740 0.340507 
time: 1403636984.851666, t: -891.886045 -1623.605277 -21583.989070 q: 0.150192 -0.015352 0.970847 0.186178 
time: 1403636985.251667, t: -691.241455 -1805.730210 -21706.810227 q: 0.246746 0.034624 0.959265 0.133145 
time: 1403636985.651666, t: -501.648399 -1775.994418 -21829.022398 q: 0.330275 0.052691 0.938186 0.089153 
time: 1403636986.051666, t: -394.117096 -1572.631345 -21947.386207 q: 0.069347 0.109285 0.891594 0.433944 
time: 1403636986.451667, t: -529.732414 -1383.923019 -22077.101761 q: 0.027262 0.159377 0.868485 0.468604 
time: 1403636986.851666, t: -763.960960 -1435.454994 -22192.715363 q: 0.008792 0.183400 0.923526 0.336731 
time: 1403636987.251667, t: -833.450300 -1598.425814 -22311.967364 q: 0.076058 0.169011 0.947756 0.259634 
time: 1403636987.651666, t: -741.468861 -1782.649202 -22434.432416 q: 0.163293 0.178040 0.944327 0.223346 
time: 1403636988.051666, t: -569.286436 -1824.299049 -22557.218219 q: 0.230960 0.241865 0.920977 0.199901 
time: 1403636988.451667, t: -453.179350 -1754.184453 -22680.400086 q: 0.256680 0.292463 0.892617 0.227631 
time: 1403636988.851666, t: -411.395672 -1646.891410 -22801.491465 q: 0.216258 0.333320 0.871943 0.286087 
time: 1403636989.251667, t: -509.052613 -1500.658307 -22918.069418 q: 0.192281 0.369687 0.846743 0.330736 
time: 1403636989.651666, t: -623.124689 -1482.899618 -23036.157436 q: 0.201984 0.400675 0.836987 0.313231 
time: 1403636990.051666, t: -731.321214 -1549.220302 -23155.180616 q: 0.167692 0.426265 0.836356 0.301141 
time: 1403636990.451667, t: -769.973796 -1682.701528 -23274.464810 q: 0.195994 0.451848 0.844625 0.209827 
time: 1403636990.851666, t: -705.972789 -1809.867094 -23397.219292 q: 0.288179 0.465988 0.817259 0.178594 
time: 1403636991.251667, t: -586.136913 -1851.667930 -23519.922390 q: 0.341049 0.495366 0.779508 0.175114 
time: 1403636991.651666, t: -471.656668 -1782.090561 -23640.566074 q: 0.329865 0.534187 0.729383 0.271722 
time: 1403636992.051666, t: -455.904661 -1664.403561 -23757.442308 q: 0.265230 0.595573 0.688304 0.318094 
time: 1403636992.451667, t: -553.763650 -1572.913708 -23872.915944 q: 0.278676 0.605600 0.667048 0.332617 
time: 1403636992.851666, t: -686.428256 -1608.471569 -23987.376143 q: 0.288889 0.630090 0.655609 0.299509 
time: 1403636993.251667, t: -737.504573 -1735.690039 -24104.003941 q: 0.273607 0.654857 0.642327 0.289339 
time: 1403636993.651666, t: -665.449091 -1851.666766 -24220.483844 q: 0.255218 0.683105 0.645802 0.226209 
time: 1403636994.051666, t: -517.561080 -1822.300726 -24334.368822 q: 0.310682 0.666171 0.619192 0.276215 
time: 1403636994.451667, t: -511.801929 -1688.934684 -24441.684710 q: 0.181639 0.698769 0.569633 0.392744 
time: 1403636994.851666, t: -612.412878 -1645.266214 -24547.188236 q: 0.138895 0.781020 0.521892 0.313600 
time: 1403636995.251667, t: -687.052194 -1744.939609 -24651.916903 q: 0.205510 0.792919 0.523862 0.233695 
time: 1403636995.651666, t: -601.696534 -1840.704654 -24758.719354 q: 0.324046 0.738660 0.496997 0.319953 
time: 1403636996.051666, t: -621.099667 -1776.694281 -24835.502791 q: -0.321236 0.805801 0.275984 0.413915 
time: 1403636996.451667, t: -638.869611 -1795.280047 -24939.677687 q: -0.146702 0.808217 0.508763 0.257728 
time: 1403636996.851666, t: -576.266665 -1801.371919 -25040.973812 q: -0.064878 0.838446 0.515865 0.163347 
time: 1403636997.251667, t: -580.224311 -1733.588023 -25143.169761 q: 0.285610 0.777249 0.496922 0.259576 
time: 1403636997.651666, t: -611.114323 -1664.996461 -25226.467478 q: 0.275089 0.596689 -0.109554 0.745846 
time: 1403636998.051666, t: -520.193347 -1591.078385 -25328.538600 q: 0.584212 0.156887 -0.308263 0.734204 
time: 1403636998.851666, t: -489.608252 -1278.285285 -25454.900335 q: 0.591854 0.209286 -0.328805 0.705546 
time: 1403636999.251667, t: -485.928889 -1226.601999 -25559.858642 q: 0.592126 0.187589 -0.367946 0.691963 
time: 1403636999.651666, t: -484.304155 -1171.500778 -25664.955192 q: 0.575231 0.159430 -0.402002 0.694324 
time: 1403637000.051666, t: -482.881749 -1117.412523 -25772.058646 q: 0.572114 0.134819 -0.436665 0.681053 
time: 1403637000.451667, t: -482.559332 -1062.104063 -25880.340505 q: 0.557990 0.113627 -0.472067 0.672970 
time: 1403637000.851666, t: -483.336616 -1005.598820 -25989.849506 q: 0.546411 0.085440 -0.502469 0.664575 
time: 1403637001.251667, t: -483.941147 -946.040785 -26100.249026 q: 0.532472 0.054915 -0.529179 0.658352 
time: 1403637001.651666, t: -486.753496 -886.830970 -26212.437400 q: 0.509375 0.033278 -0.565472 0.647820 
time: 1403637002.051666, t: -490.628579 -826.414898 -26326.064132 q: 0.494711 0.009960 -0.597929 0.630589 
time: 1403637002.451667, t: -534.289056 -711.156775 -26428.912059 q: 0.468597 -0.026624 -0.522042 0.712166 
time: 1403637002.851666, t: -567.269371 -628.189070 -26519.249146 q: -0.464596 0.065456 0.714811 -0.518566 
time: 1403637003.251667, t: -580.093076 -556.727766 -26633.444021 q: -0.443185 0.095888 0.739286 -0.497844 
time: 1403637003.651666, t: -897.367939 -574.197169 -26748.581600 q: 0.411496 0.173254 -0.594094 0.669109 
time: 1403637004.051666, t: -654.205178 -417.097855 -26869.703588 q: -0.351439 0.254633 0.718738 -0.543202 
time: 1403637004.451667, t: -570.134116 -322.525650 -26969.249203 q: -0.364389 0.217588 0.815730 -0.393015 
time: 1403637004.851666, t: -185.931409 -368.134469 -27072.145036 q: -0.139579 0.505411 0.850888 0.032651 
time: 1403637005.251667, t: 107.461984 -570.461693 -27176.212282 q: 0.181266 0.527812 0.826233 0.076789 
time: 1403637005.651666, t: 256.397387 -1014.774479 -27285.178910 q: 0.357210 0.498915 0.789604 0.003161 
time: 1403637006.051666, t: -161.883899 -1576.645679 -27387.314511 q: 0.488367 0.449594 0.692130 -0.283405 
time: 1403637006.451667, t: -895.520128 -1356.710141 -27501.575173 q: 0.184147 0.489883 0.751542 -0.401609 
time: 1403637006.851666, t: -920.066551 -702.577300 -27636.724395 q: -0.013187 0.580729 0.784735 -0.216266 
time: 1403637007.251667, t: -704.145621 -524.078555 -27813.465053 q: -0.054184 0.490407 0.735359 -0.464557 
time: 1403637007.651666, t: -443.519170 -439.608861 -27942.392423 q: 0.053059 0.533910 0.840097 -0.079765 
time: 1403637008.051666, t: -29.783940 -554.889404 -28045.751381 q: 0.061788 0.591657 0.803464 0.023861 
time: 1403637008.451667, t: 118.250081 -677.882730 -28114.175999 q: 0.310315 0.538394 0.782990 -0.027632 
time: 1403637008.851666, t: 171.124468 -1024.282646 -28203.344142 q: 0.515850 0.489082 0.703275 -0.010112 
time: 1403637009.251667, t: -400.171441 -1409.416579 -28288.065864 q: 0.521466 0.494843 0.653803 -0.236104 
time: 1403637009.651666, t: -793.486542 -897.110751 -28409.234912 q: 0.226795 0.679848 0.662841 -0.216823 
time: 1403637010.051666, t: -567.763057 -640.063038 -28574.069922 q: 0.243101 0.688725 0.630285 -0.263252 
time: 1403637010.451667, t: -327.642368 -546.110439 -28687.196563 q: 0.085610 0.702603 0.704803 -0.047667 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720550748.730996326]: Shutdown request received.[0m
[33m[ WARN] [1720550748.731050402]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720550748.731971552]: Shutdown request received.[0m
[33m[ WARN] [1720550748.731999988]: Reason given for shutdown: [user request][0m
killed
