/SLAM-Hive/slam_hive_results/mapping_results/3225/2430_vins-fusion-stereo-imu+MH_05_difficult+Image_comb_test-0.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720562429.271063014]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720562429.272518817]: init begins[0m
[31m[ERROR] [1720562429.273552059]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/a7a3227a-3e3e-11ef-a0fc-0242ac110005/roslaunch-a07fd8369153-119.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://a07fd8369153:34547/[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 [156][0m
[1mROS_MASTER_URI=http://a07fd8369153:11311/[0m
]2;roscore http://a07fd8369153:11311/
[1msetting /run_id to a7a3227a-3e3e-11ef-a0fc-0242ac110005[0m
[0m[ INFO] [1720562430.426500436]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720562430.428676793]: 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] [1720562430.434606538]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720562430.434827142]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720562430.434855292]: ROW: 480 COL: 752 [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] [1720562430.435099434]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720562430.435315903]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720562430.435480286]: 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
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 [226][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720562439.436053799]: Opening /slamhive/dataset/MH_05_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403638518.147706   Duration: 0.000000 / 114.773304   Delay: 316923921.51 
init first imu pose
averge acc 9.015113 -0.047866 -3.797742
init R0 
 0.388249 0.0116141  0.921482
        0 -0.999921 0.0126027
 0.921555 -0.004893 -0.388218
[33m[ WARN] [1720562440.831645986]: gyroscope bias initial calibration -0.00194295    0.020065   0.0779286[0m
[0m[ INFO] [1720562440.899974558]: Initialization finish![0m
time: 1403638519.127830, t: 0.000109 -0.000020 0.000354 q: -0.003994 0.832994 0.002750 0.553261 
time: 1403638519.227829, t: -0.000342 -0.000002 -0.000734 q: -0.004105 0.833027 0.002805 0.553209 
time: 1403638519.327830, t: 0.000175 0.002388 0.003310 q: -0.003692 0.833048 0.002487 0.553183 
time: 1403638519.427830, t: 0.000345 0.003267 0.002640 q: -0.003778 0.833052 0.002566 0.553176 
time: 1403638519.527829, t: 0.000215 0.003181 0.002341 q: -0.003864 0.833059 0.002627 0.553165 
time: 1403638519.627830, t: 0.000227 0.002875 0.002186 q: -0.003960 0.833071 0.002736 0.553145 
time: 1403638519.727829, t: 0.000566 0.003471 0.003615 q: -0.003890 0.833136 0.002713 0.553047 
time: 1403638519.827830, t: -0.000293 0.002889 0.001630 q: -0.003986 0.833056 0.002719 0.553168 
time: 1403638519.927830, t: 0.000381 0.003467 0.003347 q: -0.003921 0.833122 0.002678 0.553069 
time: 1403638520.027829, t: 0.000590 0.003138 0.003747 q: -0.004035 0.833143 0.002756 0.553035 
time: 1403638520.127830, t: 0.000487 0.003027 0.003636 q: -0.004022 0.833129 0.002766 0.553057 
time: 1403638520.227829, t: 0.000549 0.003442 0.003869 q: -0.003963 0.833151 0.002734 0.553024 
time: 1403638520.327830, t: 0.000560 0.003313 0.003893 q: -0.003960 0.833142 0.002776 0.553038 
time: 1403638520.427830, t: 0.000380 0.002694 0.003598 q: -0.004009 0.833129 0.002793 0.553057 
time: 1403638520.527829, t: 0.000543 0.003768 0.003683 q: -0.003891 0.833139 0.002664 0.553044 
time: 1403638520.627830, t: 0.000820 0.004895 0.003531 q: -0.003786 0.833146 0.002583 0.553034 
time: 1403638520.727829, t: 0.000728 0.003958 0.004002 q: -0.003854 0.833186 0.002631 0.552974 
time: 1403638520.827830, t: 0.000675 0.003904 0.004248 q: -0.003838 0.833194 0.002592 0.552961 
time: 1403638520.927830, t: 0.000344 0.003626 0.003544 q: -0.003800 0.833149 0.002699 0.553029 
time: 1403638521.027829, t: 0.000455 0.004593 0.002834 q: -0.003693 0.833125 0.002638 0.553066 
time: 1403638521.127830, t: -0.000321 0.003496 0.001865 q: -0.003743 0.833117 0.002529 0.553078 
time: 1403638521.227829, t: 0.000001 0.003521 0.004097 q: -0.003557 0.833170 0.002679 0.552999 
time: 1403638521.327830, t: -0.000391 0.002524 0.002633 q: -0.003423 0.833166 0.002956 0.553004 
time: 1403638521.427830, t: 0.000246 0.002918 0.003877 q: -0.003628 0.833225 0.002604 0.552916 
time: 1403638521.527829, t: 0.000265 0.002920 0.003568 q: -0.003752 0.833262 0.001961 0.552863 
time: 1403638521.627830, t: 0.000271 0.002761 0.003228 q: -0.003449 0.833218 0.002185 0.552930 
time: 1403638521.727829, t: 0.000187 0.002859 0.002837 q: -0.003822 0.833227 0.001929 0.552914 
time: 1403638521.827830, t: 0.000348 0.002812 0.003307 q: -0.003489 0.833265 0.002347 0.552858 
time: 1403638521.927830, t: 0.001057 0.003078 0.003967 q: -0.004309 0.833305 0.002212 0.552792 
time: 1403638522.027829, t: 0.002210 0.003547 0.002566 q: -0.005546 0.833640 0.004989 0.552258 
time: 1403638522.127830, t: 0.002160 0.002535 0.006124 q: -0.005367 0.836302 0.006837 0.548201 
time: 1403638522.227829, t: -0.002438 0.006766 0.019727 q: -0.014723 0.833236 0.010609 0.552620 
time: 1403638522.327830, t: -0.003240 0.009612 0.047471 q: -0.021372 0.827287 0.012542 0.561232 
time: 1403638522.427830, t: 0.007861 0.007178 0.089885 q: -0.030083 0.825957 0.015536 0.562716 
time: 1403638522.527829, t: 0.011816 0.006720 0.135000 q: -0.044906 0.829139 0.018453 0.556930 
time: 1403638522.627830, t: 0.016386 0.005674 0.179107 q: -0.058935 0.830776 0.020781 0.553087 
time: 1403638522.727829, t: 0.023255 0.006252 0.229019 q: -0.066507 0.823912 0.032482 0.561864 
time: 1403638522.827830, t: 0.028647 0.010203 0.278294 q: -0.064106 0.816413 0.029437 0.573144 
time: 1403638522.927830, t: 0.025740 0.010762 0.328853 q: -0.077840 0.805349 0.025734 0.587104 
time: 1403638523.027829, t: 0.025085 0.010079 0.371245 q: -0.070246 0.799561 0.015504 0.596261 
time: 1403638523.127830, t: 0.023557 0.008811 0.398554 q: -0.061410 0.797103 0.010830 0.600614 
time: 1403638523.227829, t: 0.022618 0.002422 0.403739 q: -0.053608 0.796637 0.008202 0.602021 
time: 1403638523.327830, t: 0.026672 -0.002775 0.381082 q: -0.033814 0.796551 0.000927 0.603625 
time: 1403638523.427830, t: 0.026627 -0.009219 0.342964 q: -0.030078 0.797112 0.001126 0.603081 
time: 1403638523.527829, t: 0.023808 -0.016600 0.296792 q: -0.024667 0.803326 0.004687 0.595010 
time: 1403638523.627830, t: 0.020157 -0.023584 0.248219 q: -0.015509 0.813118 0.006570 0.581855 
time: 1403638523.727829, t: 0.014900 -0.031221 0.200241 q: -0.011029 0.819856 0.009090 0.572391 
time: 1403638523.827830, t: 0.009230 -0.038283 0.154349 q: -0.013893 0.823542 0.014984 0.566886 
time: 1403638523.927830, t: 0.002654 -0.043877 0.114136 q: -0.010884 0.823870 0.022039 0.566245 
time: 1403638524.027829, t: -0.003353 -0.046531 0.088843 q: -0.003145 0.825675 0.030310 0.563323 
time: 1403638524.127830, t: -0.007082 -0.046701 0.089017 q: -0.000561 0.830009 0.038618 0.556411 
time: 1403638524.227829, t: -0.008366 -0.045754 0.119020 q: -0.003800 0.833224 0.040061 0.551469 
time: 1403638524.327830, t: -0.006997 -0.045252 0.168789 q: -0.012093 0.832405 0.039732 0.552610 
time: 1403638524.427830, t: -0.003005 -0.044083 0.227461 q: -0.020135 0.827909 0.037160 0.559268 
time: 1403638524.527829, t: 0.002485 -0.043360 0.288751 q: -0.031344 0.820761 0.040962 0.568938 
time: 1403638524.627830, t: 0.010206 -0.042152 0.347944 q: -0.038398 0.814215 0.041977 0.577770 
time: 1403638524.727829, t: 0.017474 -0.040138 0.396947 q: -0.036513 0.809968 0.041403 0.583870 
time: 1403638524.827830, t: 0.024007 -0.037906 0.431122 q: -0.024321 0.808319 0.036566 0.587104 
time: 1403638525.027829, t: 0.029366 -0.032688 0.450936 q: -0.031650 0.805029 0.039624 0.591064 
time: 1403638525.127830, t: 0.029991 -0.030433 0.428760 q: -0.026898 0.802516 0.043255 0.594453 
time: 1403638525.227829, t: 0.031454 -0.030173 0.388693 q: -0.023864 0.802925 0.047314 0.593720 
time: 1403638525.327830, t: 0.030437 -0.032566 0.338018 q: -0.026109 0.809272 0.052864 0.584468 
time: 1403638525.427830, t: 0.028390 -0.032504 0.284030 q: -0.030503 0.820758 0.055805 0.567725 
time: 1403638525.527829, t: 0.025460 -0.031056 0.232605 q: -0.038627 0.832466 0.055980 0.549885 
time: 1403638525.627830, t: 0.024046 -0.031486 0.186990 q: -0.041911 0.838799 0.054036 0.540130 
time: 1403638525.727829, t: 0.022019 -0.032127 0.151301 q: -0.040666 0.839329 0.049961 0.539793 
time: 1403638525.827830, t: 0.021157 -0.032166 0.124240 q: -0.037725 0.836484 0.045148 0.544824 
time: 1403638525.927830, t: 0.018021 -0.035842 0.107205 q: -0.031147 0.833920 0.044126 0.549237 
time: 1403638526.027829, t: 0.014384 -0.049502 0.101172 q: -0.025179 0.834397 0.044046 0.548825 
time: 1403638526.127830, t: 0.012135 -0.074186 0.105663 q: -0.023677 0.837079 0.038717 0.545197 
time: 1403638526.227829, t: 0.008141 -0.107754 0.117046 q: -0.021044 0.838240 0.029018 0.544122 
time: 1403638526.327830, t: 0.002909 -0.146878 0.131711 q: -0.019029 0.835499 0.021211 0.548753 
time: 1403638526.427830, t: -0.005618 -0.191433 0.145998 q: -0.016216 0.830864 0.011244 0.556125 
time: 1403638526.527829, t: -0.015022 -0.240233 0.156849 q: -0.015126 0.825669 -0.000550 0.563952 
time: 1403638526.627830, t: -0.025583 -0.296813 0.164695 q: -0.013206 0.820066 -0.010096 0.572027 
time: 1403638526.727829, t: -0.038297 -0.359982 0.170687 q: -0.007675 0.816186 -0.017449 0.577474 
time: 1403638526.827830, t: -0.053215 -0.427643 0.175060 q: 0.002925 0.813973 -0.021291 0.580505 
time: 1403638526.927830, t: -0.066810 -0.492827 0.177330 q: 0.006214 0.815403 -0.024499 0.578342 
time: 1403638527.027829, t: -0.080011 -0.554542 0.179282 q: 0.011485 0.819916 -0.033808 0.571370 
time: 1403638527.127830, t: -0.090138 -0.611574 0.182322 q: 0.018505 0.823870 -0.048075 0.564433 
time: 1403638527.227829, t: -0.091881 -0.658329 0.185713 q: 0.024130 0.824360 -0.060841 0.562269 
time: 1403638527.327830, t: -0.090465 -0.690797 0.190130 q: 0.037153 0.820806 -0.071401 0.565508 
time: 1403638527.427830, t: -0.091681 -0.704575 0.195365 q: 0.053131 0.816151 -0.079000 0.569941 
time: 1403638527.527829, t: -0.079063 -0.694258 0.194765 q: 0.057414 0.815487 -0.080092 0.570324 
time: 1403638527.627830, t: -0.068418 -0.663538 0.194118 q: 0.058804 0.816274 -0.080097 0.569055 
time: 1403638527.727829, t: -0.049749 -0.621148 0.191467 q: 0.052624 0.817110 -0.071635 0.569588 
time: 1403638527.827830, t: -0.029705 -0.567915 0.190081 q: 0.041361 0.819749 -0.064781 0.567543 
time: 1403638527.927830, t: -0.011801 -0.506881 0.192018 q: 0.027047 0.822327 -0.060196 0.565175 
time: 1403638528.027829, t: 0.005405 -0.444298 0.194833 q: 0.020887 0.821689 -0.054151 0.566974 
time: 1403638528.127830, t: 0.021366 -0.385110 0.194021 q: 0.011722 0.820342 -0.045891 0.569908 
time: 1403638528.227829, t: 0.039857 -0.329767 0.190032 q: 0.001229 0.821064 -0.036531 0.569665 
time: 1403638528.327830, t: 0.066001 -0.283680 0.184869 q: -0.009401 0.821622 -0.026551 0.569336 
time: 1403638528.427830, t: 0.098213 -0.249202 0.178607 q: -0.011172 0.820208 -0.021328 0.571558 
time: 1403638528.527829, t: 0.134160 -0.223250 0.173363 q: -0.008619 0.820973 -0.021680 0.570490 
time: 1403638528.627830, t: 0.171080 -0.204227 0.169050 q: -0.008460 0.823193 -0.029396 0.566937 
time: 1403638528.727829, t: 0.204823 -0.191290 0.169169 q: -0.005892 0.823285 -0.035495 0.566486 
time: 1403638528.827830, t: 0.229014 -0.182768 0.173295 q: -0.003725 0.822300 -0.041837 0.567502 
time: 1403638528.927830, t: 0.236014 -0.177775 0.182061 q: -0.009434 0.821421 -0.050063 0.568043 
time: 1403638529.027829, t: 0.225536 -0.171594 0.197880 q: -0.014406 0.821978 -0.054819 0.566691 
optimize pose graph 
time: 1403638529.127830, t: 0.200714 -0.161808 0.210782 q: -0.002987 0.822601 -0.051861 0.566241 
time: 1403638529.227829, t: 0.168849 -0.145463 0.215043 q: 0.012868 0.823740 -0.044743 0.565054 
time: 1403638529.327830, t: 0.129817 -0.123306 0.214655 q: 0.021731 0.827065 -0.040612 0.560216 
time: 1403638529.427830, t: 0.093693 -0.110225 0.193021 q: 0.023933 0.834262 -0.036976 0.549606 
time: 1403638529.527829, t: 0.062850 -0.093377 0.170388 q: 0.021245 0.845285 -0.035749 0.532695 
time: 1403638529.627830, t: 0.040381 -0.083414 0.146260 q: 0.022540 0.852474 -0.032423 0.521276 
time: 1403638529.727829, t: 0.025883 -0.072395 0.121813 q: 0.022912 0.852408 -0.030682 0.521473 
time: 1403638529.827830, t: 0.017578 -0.062559 0.099177 q: 0.021984 0.846297 -0.031736 0.531310 
time: 1403638529.927830, t: 0.014531 -0.055763 0.080625 q: 0.022171 0.841263 -0.032320 0.539204 
time: 1403638530.027829, t: 0.020622 -0.052451 0.068184 q: 0.022690 0.841027 -0.032546 0.539536 
time: 1403638530.127830, t: 0.031940 -0.051727 0.057762 q: 0.023018 0.843163 -0.034703 0.536042 
time: 1403638530.227829, t: 0.046593 -0.052512 0.047555 q: 0.025442 0.843613 -0.040582 0.534811 
time: 1403638530.327830, t: 0.060732 -0.054979 0.037389 q: 0.027100 0.842839 -0.046948 0.535428 
time: 1403638530.427830, t: 0.073785 -0.058472 0.028239 q: 0.030882 0.842173 -0.051253 0.535877 
time: 1403638530.527829, t: 0.083896 -0.062310 0.021665 q: 0.028848 0.841945 -0.055380 0.535938 
time: 1403638530.627830, t: 0.089939 -0.066567 0.015998 q: 0.031239 0.843079 -0.058233 0.533714 
time: 1403638530.727829, t: 0.093864 -0.069401 0.010088 q: 0.032108 0.846789 -0.060719 0.527476 
time: 1403638530.827830, t: 0.096711 -0.071672 0.004468 q: 0.032638 0.848694 -0.061719 0.524256 
time: 1403638530.927830, t: 0.098356 -0.072660 0.000976 q: 0.030965 0.847700 -0.061616 0.525975 
time: 1403638531.027829, t: 0.098938 -0.072760 -0.001549 q: 0.030142 0.844959 -0.061759 0.530398 
optimize pose graph 
time: 1403638531.127830, t: 0.098642 -0.071684 -0.001939 q: 0.032717 0.841347 -0.060450 0.536106 
time: 1403638531.227829, t: 0.099059 -0.070358 -0.002440 q: 0.034753 0.841077 -0.057622 0.536713 
time: 1403638531.327830, t: 0.098977 -0.068979 -0.003095 q: 0.035424 0.837564 -0.057695 0.542127 
time: 1403638531.427830, t: 0.098883 -0.069020 -0.003156 q: 0.035846 0.838453 -0.056955 0.540802 
time: 1403638531.527829, t: 0.098538 -0.069110 -0.003132 q: 0.035486 0.837635 -0.057539 0.542031 
time: 1403638531.627830, t: 0.098466 -0.069257 -0.003210 q: 0.036384 0.837702 -0.056730 0.541953 
time: 1403638531.727829, t: 0.098550 -0.069282 -0.003347 q: 0.036542 0.837782 -0.057292 0.541759 
time: 1403638531.827830, t: 0.098449 -0.069268 -0.003252 q: 0.036691 0.837738 -0.057504 0.541795 
time: 1403638531.927830, t: 0.098453 -0.069260 -0.003261 q: 0.036748 0.837669 -0.057777 0.541870 
time: 1403638532.027829, t: 0.098459 -0.069271 -0.003282 q: 0.036894 0.837603 -0.058059 0.541931 
time: 1403638532.127830, t: 0.098489 -0.069340 -0.003264 q: 0.037176 0.837536 -0.058313 0.541988 
time: 1403638532.227829, t: 0.098452 -0.069369 -0.003278 q: 0.037381 0.837558 -0.058207 0.541951 
time: 1403638532.327830, t: 0.098471 -0.069466 -0.003264 q: 0.037754 0.837472 -0.058345 0.542043 
time: 1403638532.427830, t: 0.098464 -0.069518 -0.003263 q: 0.037920 0.837450 -0.058359 0.542065 
time: 1403638532.527829, t: 0.098471 -0.069552 -0.003258 q: 0.038070 0.837410 -0.058475 0.542104 
time: 1403638532.627830, t: 0.098469 -0.069587 -0.003259 q: 0.038234 0.837383 -0.058616 0.542118 
time: 1403638532.727829, t: 0.098461 -0.069592 -0.003265 q: 0.038322 0.837341 -0.058719 0.542165 
time: 1403638532.827830, t: 0.098481 -0.069613 -0.003247 q: 0.038400 0.837308 -0.058838 0.542199 
time: 1403638532.927830, t: 0.098459 -0.069621 -0.003255 q: 0.038504 0.837301 -0.058847 0.542201 
time: 1403638533.027829, t: 0.098469 -0.069660 -0.003246 q: 0.038645 0.837268 -0.058944 0.542231 
time: 1403638533.127830, t: 0.098467 -0.069679 -0.003246 q: 0.038710 0.837249 -0.058989 0.542251 
time: 1403638533.227829, t: 0.098458 -0.069702 -0.003252 q: 0.038832 0.837215 -0.059058 0.542287 
time: 1403638533.327830, t: 0.098470 -0.069719 -0.003238 q: 0.038961 0.837178 -0.059118 0.542329 
time: 1403638533.427830, t: 0.098458 -0.069732 -0.003252 q: 0.038950 0.837160 -0.059174 0.542350 
time: 1403638533.527829, t: 0.098468 -0.069748 -0.003240 q: 0.039068 0.837134 -0.059238 0.542376 
time: 1403638533.627830, t: 0.098544 -0.069788 -0.003303 q: 0.039144 0.837126 -0.059241 0.542383 
time: 1403638533.727829, t: 0.098442 -0.069773 -0.003233 q: 0.039184 0.837140 -0.059240 0.542358 
time: 1403638533.827830, t: 0.098452 -0.069803 -0.003225 q: 0.039231 0.837086 -0.059337 0.542427 
time: 1403638533.927830, t: 0.098449 -0.069848 -0.003243 q: 0.039188 0.837125 -0.059258 0.542379 
time: 1403638534.027829, t: 0.098427 -0.069827 -0.003281 q: 0.039215 0.837093 -0.059363 0.542415 
time: 1403638534.127830, t: 0.098567 -0.069843 -0.003409 q: 0.039177 0.837150 -0.059444 0.542320 
time: 1403638534.227829, t: 0.098427 -0.069791 -0.003260 q: 0.038994 0.837112 -0.059378 0.542400 
time: 1403638534.327830, t: 0.098403 -0.069730 -0.003205 q: 0.038774 0.837148 -0.059289 0.542369 
time: 1403638534.427830, t: 0.098382 -0.069691 -0.003205 q: 0.038556 0.837232 -0.059228 0.542262 
time: 1403638534.527829, t: 0.098364 -0.069740 -0.003165 q: 0.038733 0.837235 -0.059446 0.542221 
time: 1403638534.627830, t: 0.098340 -0.069715 -0.003068 q: 0.038505 0.837298 -0.059013 0.542187 
time: 1403638534.727829, t: 0.098362 -0.069691 -0.003063 q: 0.038333 0.837306 -0.058750 0.542216 
time: 1403638534.827830, t: 0.098358 -0.069687 -0.003067 q: 0.038456 0.837277 -0.058841 0.542241 
time: 1403638534.927830, t: 0.098298 -0.069762 -0.003060 q: 0.038710 0.837297 -0.059041 0.542171 
time: 1403638535.027829, t: 0.098287 -0.069776 -0.003037 q: 0.038574 0.837312 -0.058937 0.542169 
time: 1403638535.127830, t: 0.098290 -0.069753 -0.003032 q: 0.038508 0.837341 -0.058843 0.542139 
time: 1403638535.227829, t: 0.098299 -0.069745 -0.003056 q: 0.038425 0.837317 -0.058821 0.542185 
time: 1403638535.327830, t: 0.098285 -0.069753 -0.003044 q: 0.038414 0.837329 -0.058841 0.542164 
time: 1403638535.427830, t: 0.098285 -0.069725 -0.003026 q: 0.038436 0.837335 -0.058780 0.542161 
time: 1403638535.527829, t: 0.098291 -0.069725 -0.003024 q: 0.038385 0.837322 -0.058820 0.542179 
time: 1403638535.627830, t: 0.098290 -0.069710 -0.003033 q: 0.038345 0.837352 -0.058756 0.542144 
time: 1403638535.727829, t: 0.098283 -0.069708 -0.003032 q: 0.038294 0.837345 -0.058760 0.542157 
time: 1403638535.827830, t: 0.098283 -0.069702 -0.003032 q: 0.038212 0.837343 -0.058705 0.542172 
time: 1403638535.927830, t: 0.098266 -0.069679 -0.003042 q: 0.038160 0.837358 -0.058709 0.542152 
time: 1403638536.027829, t: 0.098277 -0.069676 -0.003042 q: 0.038081 0.837365 -0.058675 0.542150 
time: 1403638536.127830, t: 0.098272 -0.069663 -0.003032 q: 0.038055 0.837364 -0.058656 0.542155 
time: 1403638536.227829, t: 0.098294 -0.069663 -0.003024 q: 0.037980 0.837353 -0.058625 0.542182 
time: 1403638536.327830, t: 0.098298 -0.069661 -0.003041 q: 0.037995 0.837298 -0.058624 0.542265 
time: 1403638536.427830, t: 0.098292 -0.069671 -0.003038 q: 0.038082 0.837298 -0.058693 0.542252 
time: 1403638536.527829, t: 0.098285 -0.069669 -0.003023 q: 0.038008 0.837317 -0.058623 0.542235 
time: 1403638536.627830, t: 0.098269 -0.069649 -0.003027 q: 0.038001 0.837288 -0.058696 0.542273 
time: 1403638536.727829, t: 0.098293 -0.069657 -0.003034 q: 0.038093 0.837291 -0.058631 0.542268 
time: 1403638536.827830, t: 0.098289 -0.069672 -0.003040 q: 0.038095 0.837281 -0.058666 0.542279 
time: 1403638536.927830, t: 0.098273 -0.069700 -0.003025 q: 0.038116 0.837263 -0.058667 0.542306 
time: 1403638537.027829, t: 0.098304 -0.069695 -0.003032 q: 0.038076 0.837298 -0.058617 0.542260 
time: 1403638537.127830, t: 0.098319 -0.069661 -0.003041 q: 0.038134 0.837301 -0.058560 0.542258 
time: 1403638537.227829, t: 0.098278 -0.069663 -0.003001 q: 0.038114 0.837329 -0.058660 0.542205 
time: 1403638537.327830, t: 0.098320 -0.069653 -0.003034 q: 0.038060 0.837305 -0.058647 0.542247 
time: 1403638537.427830, t: 0.098312 -0.069657 -0.003031 q: 0.038031 0.837306 -0.058635 0.542250 
time: 1403638537.527829, t: 0.098286 -0.069634 -0.002994 q: 0.038023 0.837333 -0.058586 0.542214 
time: 1403638537.627830, t: 0.098289 -0.069611 -0.002975 q: 0.037992 0.837357 -0.058447 0.542194 
time: 1403638537.727829, t: 0.098277 -0.069640 -0.002971 q: 0.037996 0.837408 -0.058479 0.542111 
time: 1403638537.827830, t: 0.098265 -0.069619 -0.002949 q: 0.037954 0.837386 -0.058481 0.542148 
time: 1403638537.927830, t: 0.098308 -0.069639 -0.002961 q: 0.038026 0.837361 -0.058524 0.542177 
time: 1403638538.027829, t: 0.098299 -0.069627 -0.002938 q: 0.037872 0.837410 -0.058453 0.542119 
time: 1403638538.127830, t: 0.098283 -0.069624 -0.002915 q: 0.037967 0.837344 -0.058447 0.542216 
time: 1403638538.227829, t: 0.098311 -0.069641 -0.002919 q: 0.038120 0.837392 -0.058607 0.542113 
time: 1403638538.327830, t: 0.098284 -0.069643 -0.002932 q: 0.038083 0.837418 -0.058526 0.542085 
time: 1403638538.427830, t: 0.098348 -0.069622 -0.002856 q: 0.038083 0.837294 -0.058573 0.542270 
time: 1403638538.527829, t: 0.098307 -0.069649 -0.002782 q: 0.037942 0.837280 -0.058595 0.542300 
time: 1403638538.627830, t: 0.098254 -0.069682 -0.002694 q: 0.038046 0.837107 -0.058690 0.542550 
time: 1403638538.727829, t: 0.098233 -0.069752 -0.002573 q: 0.038178 0.836835 -0.058685 0.542961 
time: 1403638538.827830, t: 0.099179 -0.069558 -0.002547 q: 0.037794 0.836328 -0.058291 0.543810 
time: 1403638538.927830, t: 0.101170 -0.069215 -0.000688 q: 0.037928 0.833427 -0.057489 0.548322 
time: 1403638539.027829, t: 0.106146 -0.069158 0.001758 q: 0.038793 0.828800 -0.057912 0.555187 
time: 1403638539.127830, t: 0.113388 -0.069342 0.006511 q: 0.038476 0.822145 -0.059262 0.564876 
time: 1403638539.227829, t: 0.122224 -0.069533 0.017449 q: 0.038268 0.817376 -0.058661 0.571831 
time: 1403638539.327830, t: 0.131544 -0.069922 0.036468 q: 0.037611 0.816416 -0.058338 0.573277 
time: 1403638539.427830, t: 0.140918 -0.070415 0.062685 q: 0.037412 0.818025 -0.057244 0.571103 
time: 1403638539.527829, t: 0.151432 -0.071127 0.093434 q: 0.036824 0.820038 -0.055993 0.568372 
time: 1403638539.627830, t: 0.162787 -0.072447 0.124010 q: 0.035673 0.820716 -0.054836 0.567579 
time: 1403638539.727829, t: 0.175560 -0.073956 0.145940 q: 0.034661 0.821362 -0.053659 0.566820 
time: 1403638539.827830, t: 0.188381 -0.074880 0.156391 q: 0.034441 0.822922 -0.052398 0.564684 
time: 1403638539.927830, t: 0.202380 -0.075270 0.165268 q: 0.033320 0.826706 -0.051864 0.559246 
time: 1403638540.027829, t: 0.218456 -0.075133 0.175517 q: 0.032477 0.832056 -0.052691 0.551228 
time: 1403638540.127830, t: 0.239810 -0.075652 0.182633 q: 0.032264 0.837881 -0.052632 0.542351 
time: 1403638540.227829, t: 0.270223 -0.076286 0.193716 q: 0.032831 0.837852 -0.051504 0.542470 
time: 1403638540.327830, t: 0.305658 -0.077738 0.203735 q: 0.033615 0.831688 -0.050395 0.551929 
time: 1403638540.427830, t: 0.345945 -0.079069 0.213341 q: 0.033087 0.827182 -0.046474 0.559031 
time: 1403638540.527829, t: 0.389425 -0.078549 0.221272 q: 0.027719 0.826790 -0.037895 0.560548 
time: 1403638540.627830, t: 0.436103 -0.076644 0.228719 q: 0.018945 0.827103 -0.023911 0.561222 
time: 1403638540.727829, t: 0.485607 -0.073956 0.236819 q: 0.011852 0.826414 -0.002505 0.562933 
time: 1403638540.827830, t: 0.536736 -0.067770 0.244466 q: 0.002988 0.825886 0.023648 0.563333 
time: 1403638540.927830, t: 0.588719 -0.056851 0.250855 q: -0.008594 0.824995 0.051661 0.562709 
time: 1403638541.027829, t: 0.641127 -0.041144 0.255431 q: -0.023412 0.823310 0.074146 0.562241 
optimize pose graph 
time: 1403638541.127830, t: 0.693066 -0.021466 0.257440 q: -0.035600 0.821036 0.090321 0.562560 
time: 1403638541.227829, t: 0.744159 0.000095 0.254845 q: -0.043345 0.820112 0.101424 0.561473 
time: 1403638541.327830, t: 0.796724 0.027345 0.253224 q: -0.047241 0.819452 0.107441 0.561003 
time: 1403638541.427830, t: 0.847897 0.058511 0.258524 q: -0.049825 0.819441 0.108833 0.560526 
time: 1403638541.527829, t: 0.900789 0.095401 0.269435 q: -0.048447 0.818203 0.109610 0.562300 
time: 1403638541.627830, t: 0.954464 0.140811 0.287602 q: -0.049377 0.816533 0.111946 0.564184 
time: 1403638541.727829, t: 1.007866 0.191731 0.310805 q: -0.056833 0.814586 0.116483 0.565377 
time: 1403638541.827830, t: 1.058113 0.250047 0.344007 q: -0.069678 0.813413 0.123274 0.564187 
time: 1403638541.927830, t: 1.104403 0.310040 0.377694 q: -0.082675 0.812083 0.135555 0.561525 
time: 1403638542.027829, t: 1.149291 0.370691 0.405287 q: -0.096774 0.810124 0.151726 0.557954 
time: 1403638542.227829, t: 1.233689 0.493545 0.446080 q: -0.127965 0.802830 0.192450 0.549592 
time: 1403638542.327830, t: 1.275526 0.557535 0.459089 q: -0.142993 0.797364 0.216200 0.544997 
time: 1403638542.427830, t: 1.320807 0.622107 0.469236 q: -0.152820 0.786143 0.236438 0.550202 
time: 1403638542.527829, t: 1.363109 0.686505 0.476918 q: -0.153734 0.772596 0.255604 0.560470 
time: 1403638542.627830, t: 1.400024 0.752863 0.484473 q: -0.151472 0.764175 0.270403 0.565663 
time: 1403638542.727829, t: 1.431672 0.822714 0.495504 q: -0.155288 0.764685 0.274652 0.561880 
time: 1403638542.827830, t: 1.455949 0.895739 0.514496 q: -0.164757 0.769357 0.271779 0.554149 
time: 1403638542.927830, t: 1.475324 0.970879 0.538359 q: -0.170714 0.774949 0.268460 0.546113 
time: 1403638543.027829, t: 1.491053 1.045945 0.567895 q: -0.173773 0.779032 0.265722 0.540652 
optimize pose graph 
time: 1403638543.127830, t: 1.505935 1.124296 0.595690 q: -0.175444 0.781339 0.262289 0.538455 
time: 1403638543.227829, t: 1.522745 1.203571 0.616953 q: -0.174467 0.782253 0.260454 0.538336 
time: 1403638543.327830, t: 1.537551 1.284753 0.632490 q: -0.174404 0.782896 0.257993 0.538606 
time: 1403638543.427830, t: 1.552589 1.367759 0.644184 q: -0.175287 0.782890 0.259272 0.537714 
time: 1403638543.627830, t: 1.584711 1.536027 0.654609 q: -0.184212 0.776578 0.281717 0.532567 
time: 1403638543.727829, t: 1.598889 1.622893 0.658086 q: -0.193486 0.769548 0.300889 0.528985 
time: 1403638543.827830, t: 1.609661 1.709538 0.668150 q: -0.203786 0.759490 0.323964 0.526016 
time: 1403638543.927830, t: 1.621068 1.802273 0.687165 q: -0.217922 0.749993 0.344282 0.521047 
time: 1403638544.027829, t: 1.631697 1.898197 0.711265 q: -0.232411 0.743442 0.358413 0.514606 
time: 1403638544.127830, t: 1.640513 1.996454 0.738028 q: -0.243889 0.739788 0.367570 0.508059 
time: 1403638544.227829, t: 1.650682 2.094879 0.762511 q: -0.253355 0.736833 0.371916 0.504546 
time: 1403638544.327830, t: 1.659669 2.193811 0.780299 q: -0.257825 0.734990 0.374941 0.502728 
time: 1403638544.427830, t: 1.670719 2.291982 0.792683 q: -0.259000 0.735472 0.376200 0.500474 
time: 1403638544.527829, t: 1.683588 2.389166 0.801310 q: -0.258475 0.734541 0.376416 0.501947 
time: 1403638544.627830, t: 1.699493 2.487506 0.811393 q: -0.262884 0.729242 0.375740 0.507856 
time: 1403638544.727829, t: 1.715790 2.585353 0.827759 q: -0.266440 0.724758 0.375897 0.512286 
time: 1403638544.827830, t: 1.729558 2.680222 0.846312 q: -0.265535 0.726452 0.378025 0.508779 
time: 1403638544.927830, t: 1.745369 2.773893 0.860060 q: -0.264481 0.729381 0.379601 0.503941 
time: 1403638545.027829, t: 1.761394 2.867417 0.867125 q: -0.265790 0.728828 0.379792 0.503908 
time: 1403638545.127830, t: 1.778332 2.958963 0.868243 q: -0.266887 0.727730 0.380235 0.504581 
time: 1403638545.227829, t: 1.793966 3.050547 0.863855 q: -0.265658 0.728022 0.382001 0.503473 
time: 1403638545.327830, t: 1.812064 3.140677 0.856029 q: -0.266460 0.725953 0.382587 0.505588 
time: 1403638545.427830, t: 1.830949 3.231754 0.840578 q: -0.268358 0.724982 0.381772 0.506591 
time: 1403638545.527829, t: 1.847008 3.322463 0.826141 q: -0.271378 0.723685 0.385250 0.504198 
time: 1403638545.627830, t: 1.864703 3.412714 0.818464 q: -0.278407 0.720234 0.394084 0.498447 
time: 1403638545.727829, t: 1.880703 3.504073 0.816700 q: -0.286521 0.714043 0.408157 0.491382 
time: 1403638545.827830, t: 1.898774 3.595147 0.822452 q: -0.296612 0.703620 0.426506 0.484802 
time: 1403638545.927830, t: 1.913388 3.687687 0.836889 q: -0.306825 0.691978 0.447493 0.476209 
time: 1403638546.027829, t: 1.930146 3.778335 0.857488 q: -0.315354 0.679707 0.468034 0.468502 
time: 1403638546.127830, t: 1.947538 3.869701 0.875746 q: -0.321639 0.669010 0.484076 0.463297 
time: 1403638546.227829, t: 1.961054 3.963820 0.887214 q: -0.328750 0.662583 0.493322 0.457755 
time: 1403638546.327830, t: 1.972940 4.059490 0.892165 q: -0.334735 0.659302 0.498158 0.452892 
time: 1403638546.427830, t: 1.983970 4.155584 0.892784 q: -0.339592 0.658909 0.499315 0.448555 
time: 1403638546.527829, t: 1.995552 4.251842 0.889458 q: -0.340885 0.657861 0.501166 0.447044 
time: 1403638546.627830, t: 2.005667 4.350172 0.888296 q: -0.342993 0.654074 0.506208 0.445304 
time: 1403638546.727829, t: 2.014508 4.447813 0.895773 q: -0.346931 0.649128 0.511945 0.442927 
time: 1403638546.827830, t: 2.022976 4.550498 0.912399 q: -0.347827 0.644728 0.517745 0.441908 
time: 1403638546.927830, t: 2.028810 4.651928 0.932585 q: -0.348113 0.641646 0.521999 0.441163 
time: 1403638547.027829, t: 2.035028 4.756267 0.946828 q: -0.346681 0.638546 0.525966 0.442076 
time: 1403638547.127830, t: 2.035809 4.856887 0.955131 q: -0.343299 0.635777 0.529971 0.443919 
time: 1403638547.227829, t: 2.036461 4.963502 0.957920 q: -0.341411 0.634447 0.532120 0.444707 
time: 1403638547.327830, t: 2.029430 5.065802 0.956655 q: -0.340367 0.633451 0.533026 0.445840 
time: 1403638547.427830, t: 2.021854 5.175090 0.952740 q: -0.345523 0.636829 0.529242 0.441550 
time: 1403638547.527829, t: 2.011184 5.283923 0.945013 q: -0.350326 0.640113 0.525281 0.437729 
time: 1403638547.627830, t: 1.996643 5.388509 0.930415 q: -0.352716 0.642333 0.522758 0.435574 
time: 1403638547.727829, t: 1.985219 5.502413 0.911339 q: -0.351364 0.642678 0.522435 0.436543 
time: 1403638547.827830, t: 1.971339 5.611452 0.889376 q: -0.347369 0.640434 0.524896 0.440073 
time: 1403638547.927830, t: 1.954054 5.727637 0.866226 q: -0.346906 0.640251 0.524863 0.440742 
time: 1403638548.027829, t: 1.937016 5.841816 0.847971 q: -0.348473 0.639590 0.526034 0.439066 
time: 1403638548.127830, t: 1.916400 5.963017 0.836998 q: -0.351929 0.636831 0.529847 0.435723 
time: 1403638548.227829, t: 1.893472 6.083359 0.835943 q: -0.358092 0.631461 0.536482 0.430365 
time: 1403638548.327830, t: 1.866970 6.205392 0.842970 q: -0.365680 0.623431 0.546212 0.423397 
time: 1403638548.427830, t: 1.837666 6.330034 0.857506 q: -0.372741 0.613729 0.558375 0.415473 
time: 1403638548.527829, t: 1.808697 6.453903 0.875948 q: -0.380519 0.605153 0.566900 0.409414 
time: 1403638548.627830, t: 1.778941 6.581073 0.889839 q: -0.385699 0.597937 0.573770 0.405581 
time: 1403638548.727829, t: 1.750781 6.708623 0.898347 q: -0.389347 0.593400 0.578305 0.402304 
time: 1403638548.827830, t: 1.720816 6.838177 0.908469 q: -0.391566 0.590546 0.581359 0.399941 
time: 1403638548.927830, t: 1.692111 6.970176 0.926121 q: -0.393353 0.588903 0.582669 0.398702 
time: 1403638549.027829, t: 1.663780 7.099819 0.950921 q: -0.392470 0.588166 0.584517 0.397953 
time: 1403638549.127830, t: 1.633457 7.231330 0.979964 q: -0.394651 0.588650 0.583013 0.397288 
time: 1403638549.227829, t: 1.604988 7.362117 1.017910 q: -0.395028 0.588756 0.582495 0.397515 
time: 1403638549.327830, t: 1.573859 7.501019 1.060052 q: -0.396482 0.590130 0.580548 0.396879 
time: 1403638549.427830, t: 1.546323 7.634676 1.104113 q: -0.398964 0.591422 0.578036 0.396135 
time: 1403638549.527829, t: 1.516610 7.775841 1.144425 q: -0.399599 0.592855 0.576574 0.395482 
time: 1403638549.627830, t: 1.489614 7.912544 1.177995 q: -0.401586 0.592070 0.574669 0.397413 
time: 1403638549.727829, t: 1.462721 8.055781 1.209123 q: -0.400386 0.591580 0.574611 0.399433 
time: 1403638549.827830, t: 1.438454 8.197864 1.242684 q: -0.400531 0.593151 0.574350 0.397327 
time: 1403638549.927830, t: 1.414840 8.336996 1.284011 q: -0.398678 0.593974 0.575122 0.396844 
time: 1403638550.027829, t: 1.392677 8.483021 1.331995 q: -0.399376 0.594838 0.574620 0.395573 
time: 1403638550.127830, t: 1.371800 8.624969 1.387591 q: -0.400580 0.595644 0.574169 0.393794 
time: 1403638550.227829, t: 1.352885 8.768560 1.449486 q: -0.400529 0.595251 0.575102 0.393079 
time: 1403638550.327830, t: 1.335854 8.913288 1.518546 q: -0.399781 0.594474 0.575998 0.393704 
time: 1403638550.427830, t: 1.321728 9.055448 1.581433 q: -0.402057 0.593834 0.575369 0.393271 
time: 1403638550.527829, t: 1.307670 9.203436 1.640268 q: -0.404493 0.595183 0.573940 0.390813 
time: 1403638550.627830, t: 1.297323 9.344630 1.691308 q: -0.409181 0.594266 0.571151 0.391415 
time: 1403638550.727829, t: 1.287721 9.490374 1.737049 q: -0.413199 0.593132 0.568270 0.393104 
time: 1403638550.827830, t: 1.284132 9.629526 1.777679 q: -0.416724 0.590780 0.565648 0.396690 
time: 1403638550.927830, t: 1.283170 9.768373 1.816278 q: -0.422853 0.586341 0.561014 0.403315 
time: 1403638551.027829, t: 1.283706 9.901206 1.848920 q: -0.427921 0.583264 0.557292 0.407569 
time: 1403638551.127830, t: 1.286746 10.029978 1.878823 q: -0.430988 0.582490 0.554838 0.408791 
time: 1403638551.327830, t: 1.307597 10.262697 1.953678 q: -0.431938 0.587342 0.551913 0.404785 
time: 1403638551.427830, t: 1.327396 10.367198 1.994013 q: -0.426150 0.597822 0.545376 0.404437 
time: 1403638551.527829, t: 1.354235 10.470051 2.027041 q: -0.418984 0.612458 0.532654 0.406973 
time: 1403638551.627830, t: 1.386524 10.567960 2.053271 q: -0.412903 0.628919 0.514652 0.411225 
time: 1403638551.727829, t: 1.428283 10.661256 2.073885 q: -0.405139 0.644077 0.496225 0.418076 
time: 1403638551.827830, t: 1.476696 10.747193 2.088901 q: -0.395761 0.657360 0.478362 0.427108 
time: 1403638551.927830, t: 1.533458 10.828231 2.105044 q: -0.383998 0.663994 0.467560 0.439369 
time: 1403638552.027829, t: 1.596677 10.901777 2.129301 q: -0.373515 0.665636 0.461378 0.452267 
time: 1403638552.127830, t: 1.664529 10.967604 2.161346 q: -0.365953 0.668473 0.457701 0.457965 
time: 1403638552.227829, t: 1.735559 11.029342 2.199184 q: -0.361343 0.673322 0.455749 0.456467 
time: 1403638552.327830, t: 1.811776 11.084883 2.240049 q: -0.359420 0.675800 0.454764 0.455303 
time: 1403638552.427830, t: 1.891073 11.134704 2.277256 q: -0.365320 0.674108 0.449906 0.457935 
time: 1403638552.527829, t: 1.974609 11.183460 2.307087 q: -0.372086 0.670581 0.445199 0.462245 
time: 1403638552.627830, t: 2.063384 11.220287 2.333576 q: -0.375683 0.666850 0.444133 0.465745 
time: 1403638552.727829, t: 2.155620 11.248858 2.353543 q: -0.375580 0.665878 0.446381 0.465070 
time: 1403638552.827830, t: 2.251115 11.271034 2.368362 q: -0.374345 0.664567 0.449769 0.464677 
time: 1403638552.927830, t: 2.347390 11.288937 2.376138 q: -0.370198 0.663102 0.455517 0.464492 
time: 1403638553.027829, t: 2.447384 11.300530 2.381686 q: -0.365321 0.660725 0.461776 0.465560 
time: 1403638553.127830, t: 2.546568 11.309425 2.385063 q: -0.365558 0.657977 0.464106 0.466947 
time: 1403638553.227829, t: 2.645887 11.311621 2.384880 q: -0.373481 0.653018 0.460451 0.471237 
time: 1403638553.327830, t: 2.746157 11.304118 2.385846 q: -0.378268 0.647181 0.458962 0.476889 
time: 1403638553.427830, t: 2.844351 11.287078 2.393466 q: -0.375939 0.641942 0.461836 0.482998 
time: 1403638553.527829, t: 2.942034 11.261491 2.407128 q: -0.372653 0.637513 0.465267 0.488091 
time: 1403638553.627830, t: 3.035926 11.221648 2.426036 q: -0.369655 0.634548 0.467914 0.491692 
time: 1403638553.727829, t: 3.124088 11.170165 2.451517 q: -0.367943 0.634093 0.469837 0.491729 
time: 1403638553.827830, t: 3.208842 11.110637 2.483735 q: -0.365534 0.635426 0.471754 0.489967 
time: 1403638553.927830, t: 3.289257 11.043264 2.520700 q: -0.363212 0.637424 0.472828 0.488059 
time: 1403638554.027829, t: 3.368204 10.976116 2.556195 q: -0.363191 0.642252 0.472539 0.481986 
time: 1403638554.127830, t: 3.442742 10.895635 2.583843 q: -0.360738 0.643996 0.474288 0.479779 
time: 1403638554.227829, t: 3.516370 10.818117 2.603832 q: -0.352165 0.649167 0.480440 0.473011 
time: 1403638554.327830, t: 3.584240 10.730699 2.617666 q: -0.345028 0.653657 0.485725 0.466648 
time: 1403638554.427830, t: 3.652694 10.650247 2.628853 q: -0.341106 0.656075 0.488807 0.462903 
time: 1403638554.527829, t: 3.717504 10.572805 2.638287 q: -0.339326 0.656938 0.490230 0.461481 
time: 1403638554.627830, t: 3.780491 10.496916 2.645820 q: -0.341973 0.658767 0.488983 0.458232 
time: 1403638554.727829, t: 3.842033 10.416435 2.656163 q: -0.347602 0.659650 0.485297 0.456642 
time: 1403638554.827830, t: 3.903301 10.341697 2.673968 q: -0.351965 0.660458 0.482801 0.454774 
time: 1403638554.927830, t: 3.966412 10.264997 2.694231 q: -0.355346 0.660684 0.480253 0.454513 
time: 1403638555.027829, t: 4.032449 10.191035 2.714919 q: -0.355536 0.662400 0.476316 0.456009 
time: 1403638555.127830, t: 4.101555 10.112086 2.724848 q: -0.349529 0.666813 0.471626 0.459085 
time: 1403638555.227829, t: 4.174585 10.033389 2.732138 q: -0.343677 0.673497 0.463697 0.461815 
time: 1403638555.327830, t: 4.248111 9.952851 2.733165 q: -0.337955 0.678606 0.457065 0.465159 
time: 1403638555.427830, t: 4.322638 9.871229 2.731196 q: -0.330460 0.680664 0.454340 0.470178 
time: 1403638555.527829, t: 4.397856 9.791374 2.725343 q: -0.327743 0.682639 0.450973 0.472453 
time: 1403638555.627830, t: 4.471130 9.711379 2.720173 q: -0.325573 0.683575 0.449677 0.473833 
time: 1403638555.727829, t: 4.544061 9.631189 2.723381 q: -0.326034 0.684958 0.448611 0.472528 
time: 1403638555.827830, t: 4.615074 9.550539 2.737025 q: -0.324593 0.685249 0.450017 0.471760 
time: 1403638555.927830, t: 4.683312 9.470619 2.754143 q: -0.323111 0.684989 0.451507 0.471732 
time: 1403638556.027829, t: 4.754632 9.397154 2.779033 q: -0.322129 0.683756 0.453101 0.472663 
time: 1403638556.127830, t: 4.824307 9.321711 2.802413 q: -0.320851 0.685683 0.454178 0.469697 
time: 1403638556.227829, t: 4.895309 9.251045 2.818224 q: -0.318746 0.690084 0.455543 0.463320 
time: 1403638556.327830, t: 4.967929 9.180910 2.829829 q: -0.317875 0.692601 0.456184 0.459515 
time: 1403638556.427830, t: 5.040611 9.117490 2.838429 q: -0.316899 0.694439 0.456919 0.456677 
time: 1403638556.527829, t: 5.116860 9.055907 2.846215 q: -0.314220 0.697905 0.458198 0.451939 
time: 1403638556.627830, t: 5.196184 9.002529 2.853586 q: -0.318645 0.700839 0.454569 0.447948 
time: 1403638556.727829, t: 5.279867 8.952204 2.866341 q: -0.326388 0.700302 0.448626 0.449202 
time: 1403638556.827830, t: 5.364428 8.901865 2.887761 q: -0.332626 0.697503 0.444170 0.453390 
time: 1403638557.027829, t: 5.553663 8.809818 2.942664 q: -0.338499 0.694889 0.440198 0.456917 
time: 1403638557.127830, t: 5.656116 8.765994 2.963017 q: -0.336080 0.693204 0.442482 0.459051 
time: 1403638557.227829, t: 5.762101 8.722606 2.976769 q: -0.335036 0.691933 0.443665 0.460587 
time: 1403638557.327830, t: 5.871609 8.679471 2.984036 q: -0.333945 0.691066 0.444988 0.461404 
time: 1403638557.427830, t: 5.984046 8.635359 2.991701 q: -0.330776 0.688925 0.448111 0.463860 
time: 1403638557.527829, t: 6.098686 8.592129 3.003336 q: -0.325260 0.686022 0.452611 0.467679 
time: 1403638557.627830, t: 6.212595 8.548779 3.020534 q: -0.322186 0.683595 0.455295 0.470745 
time: 1403638557.727829, t: 6.326222 8.507725 3.041890 q: -0.321356 0.682741 0.456137 0.471736 
time: 1403638557.827830, t: 6.438592 8.466660 3.060568 q: -0.319673 0.682308 0.457003 0.472666 
time: 1403638557.927830, t: 6.548804 8.426198 3.072922 q: -0.317144 0.682379 0.458830 0.472497 
time: 1403638558.027829, t: 6.657176 8.386383 3.077437 q: -0.315777 0.684813 0.459988 0.468751 
time: 1403638558.127830, t: 6.763245 8.347517 3.077696 q: -0.313864 0.689734 0.461022 0.461753 
time: 1403638558.227829, t: 6.868845 8.312400 3.080011 q: -0.310950 0.695934 0.462322 0.453039 
time: 1403638558.327830, t: 6.975402 8.284692 3.089804 q: -0.306790 0.697592 0.464697 0.450890 
time: 1403638558.427830, t: 7.082130 8.264388 3.109828 q: -0.300599 0.700014 0.468339 0.447527 
time: 1403638558.527829, t: 7.188610 8.252982 3.137020 q: -0.297009 0.703320 0.469916 0.443064 
time: 1403638558.627830, t: 7.297182 8.251054 3.170401 q: -0.301815 0.704664 0.466012 0.441802 
time: 1403638558.727829, t: 7.408617 8.258964 3.207219 q: -0.312175 0.705318 0.458218 0.441712 
time: 1403638558.827830, t: 7.523942 8.272260 3.238701 q: -0.317637 0.704852 0.453925 0.442993 
time: 1403638558.927830, t: 7.643550 8.289714 3.262714 q: -0.318571 0.701598 0.453404 0.447993 
time: 1403638559.027829, t: 7.767163 8.311935 3.280516 q: -0.319384 0.696314 0.453437 0.455561 
time: 1403638559.127830, t: 7.891396 8.335913 3.291956 q: -0.320646 0.692402 0.453158 0.460884 
time: 1403638559.227829, t: 8.015597 8.361196 3.296620 q: -0.319814 0.689009 0.454694 0.465015 
time: 1403638559.327830, t: 8.139159 8.388171 3.294681 q: -0.318218 0.686511 0.456743 0.467788 
time: 1403638559.427830, t: 8.260421 8.415786 3.287750 q: -0.314341 0.683809 0.460201 0.470968 
time: 1403638559.527829, t: 8.377041 8.443470 3.275906 q: -0.313049 0.681945 0.461444 0.473309 
time: 1403638559.627830, t: 8.491700 8.474480 3.258864 q: -0.313465 0.680227 0.461901 0.475056 
time: 1403638559.727829, t: 8.603259 8.506783 3.241980 q: -0.313930 0.679271 0.462418 0.475613 
time: 1403638559.827830, t: 8.711179 8.541072 3.231284 q: -0.315202 0.679769 0.462546 0.473933 
time: 1403638559.927830, t: 8.816393 8.577780 3.225771 q: -0.315409 0.680817 0.460178 0.474596 
time: 1403638560.027829, t: 8.918914 8.613298 3.216098 q: -0.312339 0.686843 0.450739 0.476997 
time: 1403638560.127830, t: 9.021202 8.649097 3.199543 q: -0.304945 0.696109 0.435096 0.482837 
time: 1403638560.227829, t: 9.122291 8.684445 3.176937 q: -0.293325 0.707014 0.415654 0.491247 
time: 1403638560.327830, t: 9.221830 8.718179 3.152482 q: -0.281530 0.716394 0.392927 0.503120 
time: 1403638560.427830, t: 9.319287 8.750587 3.125190 q: -0.269810 0.724886 0.368336 0.515821 
time: 1403638560.527829, t: 9.414604 8.779046 3.094602 q: -0.257350 0.733480 0.342889 0.527451 
time: 1403638560.627830, t: 9.506959 8.804400 3.059054 q: -0.247359 0.744307 0.315113 0.534345 
time: 1403638560.727829, t: 9.597323 8.825696 3.022346 q: -0.240247 0.754996 0.287877 0.537949 
time: 1403638560.827830, t: 9.684560 8.836988 2.993447 q: -0.229959 0.762775 0.264911 0.543245 
time: 1403638560.927830, t: 9.771062 8.841920 2.970809 q: -0.219768 0.768844 0.242482 0.549348 
time: 1403638561.027829, t: 9.856069 8.837563 2.956637 q: -0.207007 0.771541 0.222854 0.558757 
time: 1403638561.127830, t: 9.937671 8.823739 2.948895 q: -0.195688 0.774180 0.203750 0.566425 
time: 1403638561.227829, t: 10.015647 8.801934 2.949820 q: -0.186723 0.775537 0.188367 0.572883 
time: 1403638561.327830, t: 10.087910 8.771323 2.956871 q: -0.180580 0.777298 0.178347 0.575665 
time: 1403638561.427830, t: 10.155700 8.735956 2.961992 q: -0.168604 0.783529 0.178767 0.570699 
time: 1403638561.527829, t: 10.219331 8.695616 2.963001 q: -0.156048 0.788108 0.183785 0.566355 
time: 1403638561.627830, t: 10.278778 8.654258 2.958098 q: -0.149080 0.790962 0.187460 0.563039 
time: 1403638561.727829, t: 10.336188 8.611601 2.948855 q: -0.147509 0.791891 0.189874 0.561336 
time: 1403638561.827830, t: 10.388804 8.566624 2.933821 q: -0.145918 0.791455 0.191743 0.561731 
time: 1403638561.927830, t: 10.442647 8.521407 2.909948 q: -0.141670 0.791440 0.190616 0.563221 
time: 1403638562.027829, t: 10.489704 8.474567 2.886041 q: -0.135996 0.793032 0.183064 0.564883 
time: 1403638562.127830, t: 10.534255 8.426182 2.867000 q: -0.128377 0.795150 0.173249 0.566781 
time: 1403638562.227829, t: 10.576363 8.377651 2.853138 q: -0.121331 0.796575 0.165099 0.568761 
time: 1403638562.327830, t: 10.618126 8.329367 2.844119 q: -0.115411 0.797805 0.155343 0.571013 
time: 1403638562.427830, t: 10.653873 8.281087 2.839626 q: -0.108428 0.799313 0.141427 0.573882 
time: 1403638562.527829, t: 10.688125 8.232754 2.840692 q: -0.099327 0.802418 0.123578 0.575316 
time: 1403638562.627830, t: 10.720471 8.184257 2.850195 q: -0.090373 0.804774 0.100904 0.577918 
time: 1403638562.727829, t: 10.750091 8.133307 2.863599 q: -0.081166 0.807561 0.075841 0.579228 
time: 1403638562.827830, t: 10.775994 8.078544 2.874792 q: -0.069628 0.809557 0.050163 0.580735 
time: 1403638562.927830, t: 10.795653 8.019646 2.880055 q: -0.055575 0.811163 0.025904 0.581597 
time: 1403638563.027829, t: 10.811822 7.956423 2.879675 q: -0.043244 0.811508 0.002862 0.582732 
time: 1403638563.127830, t: 10.822457 7.888793 2.874425 q: -0.035908 0.811987 -0.021473 0.582174 
time: 1403638563.227829, t: 10.827753 7.816063 2.865285 q: -0.022379 0.810319 -0.037556 0.584355 
time: 1403638563.327830, t: 10.828523 7.738415 2.851309 q: -0.012416 0.805803 -0.048613 0.590054 
time: 1403638563.427830, t: 10.823850 7.657900 2.832361 q: -0.008476 0.797221 -0.057160 0.600915 
time: 1403638563.527829, t: 10.813045 7.574762 2.807811 q: -0.004784 0.794967 -0.060016 0.603658 
time: 1403638563.627830, t: 10.795939 7.486520 2.787219 q: -0.001193 0.797570 -0.059409 0.600293 
time: 1403638563.727829, t: 10.771966 7.394086 2.773745 q: -0.003614 0.800404 -0.060152 0.596425 
time: 1403638563.827830, t: 10.744667 7.296974 2.767471 q: -0.007316 0.801784 -0.060296 0.594519 
time: 1403638563.927830, t: 10.710018 7.194234 2.770315 q: -0.010583 0.801159 -0.059118 0.595430 
time: 1403638564.027829, t: 10.672221 7.085527 2.776753 q: -0.014457 0.800831 -0.056818 0.596014 
time: 1403638564.127830, t: 10.625849 6.971016 2.775871 q: -0.017788 0.800670 -0.053336 0.596461 
time: 1403638564.227829, t: 10.574593 6.852535 2.771642 q: -0.018182 0.799872 -0.047877 0.597981 
time: 1403638564.327830, t: 10.518242 6.729088 2.770123 q: -0.016320 0.798758 -0.041456 0.600000 
time: 1403638564.427830, t: 10.454119 6.602578 2.774402 q: -0.016622 0.796731 -0.037587 0.602935 
time: 1403638564.527829, t: 10.383533 6.471371 2.786666 q: -0.017886 0.796662 -0.035258 0.603131 
time: 1403638564.627830, t: 10.307931 6.334823 2.799516 q: -0.022047 0.798750 -0.036027 0.600179 
time: 1403638564.727829, t: 10.224517 6.195810 2.809771 q: -0.027026 0.800089 -0.039130 0.597994 
time: 1403638564.827830, t: 10.135003 6.052313 2.811248 q: -0.029780 0.800284 -0.042191 0.597393 
time: 1403638564.927830, t: 10.042051 5.905393 2.802365 q: -0.031858 0.799492 -0.044572 0.598173 
time: 1403638565.027829, t: 9.940859 5.752876 2.773462 q: -0.033089 0.799498 -0.045492 0.598029 
time: 1403638565.127830, t: 9.838800 5.596385 2.729449 q: -0.033867 0.800214 -0.046076 0.596982 
time: 1403638565.227829, t: 9.735285 5.433461 2.674346 q: -0.033444 0.801109 -0.045624 0.595839 
time: 1403638565.327830, t: 9.630579 5.263266 2.614956 q: -0.031133 0.802018 -0.044747 0.594807 
time: 1403638565.427830, t: 9.523346 5.089295 2.553825 q: -0.028920 0.802980 -0.043446 0.593716 
time: 1403638565.527829, t: 9.412193 4.910174 2.497157 q: -0.023457 0.801006 -0.041758 0.596737 
time: 1403638565.627830, t: 9.297179 4.727282 2.450682 q: -0.014906 0.799454 -0.038146 0.599330 
time: 1403638565.727829, t: 9.176864 4.543964 2.411579 q: -0.002672 0.800494 -0.031775 0.598492 
time: 1403638565.827830, t: 9.046599 4.358538 2.379390 q: 0.003498 0.803396 -0.029147 0.594721 
time: 1403638565.927830, t: 8.909970 4.176127 2.354133 q: 0.009476 0.805732 -0.026912 0.591592 
time: 1403638566.027829, t: 8.771246 4.000111 2.325302 q: 0.010316 0.806919 -0.027817 0.589916 
time: 1403638566.127830, t: 8.633949 3.827609 2.286932 q: 0.010652 0.807136 -0.028319 0.589590 
time: 1403638566.227829, t: 8.495580 3.658112 2.239958 q: 0.010997 0.806858 -0.028130 0.589972 
time: 1403638566.327830, t: 8.359703 3.490560 2.185486 q: 0.010308 0.807950 -0.028077 0.588491 
time: 1403638566.427830, t: 8.222488 3.329100 2.123577 q: 0.010026 0.807825 -0.026816 0.588727 
time: 1403638566.527829, t: 8.087151 3.172040 2.055870 q: 0.008042 0.808218 -0.026168 0.588246 
time: 1403638566.627830, t: 7.952011 3.018954 1.979921 q: 0.006303 0.814908 -0.024950 0.579019 
time: 1403638566.727829, t: 7.819505 2.868661 1.897696 q: 0.005308 0.827214 -0.023758 0.561360 
time: 1403638566.827830, t: 7.692277 2.720293 1.812368 q: 0.005909 0.836768 -0.020525 0.547141 
time: 1403638566.927830, t: 7.573771 2.571026 1.724452 q: 0.005638 0.842905 -0.017763 0.537740 
time: 1403638567.027829, t: 7.463926 2.424398 1.633660 q: 0.004339 0.842668 -0.016460 0.538164 
time: 1403638567.127830, t: 7.355925 2.279936 1.545246 q: 0.005910 0.830061 -0.013877 0.557469 
time: 1403638567.227829, t: 7.258547 2.138265 1.453962 q: 0.007275 0.818797 -0.012142 0.573909 
time: 1403638567.327830, t: 7.159340 1.999683 1.357875 q: 0.010287 0.813162 -0.010796 0.581846 
time: 1403638567.427830, t: 7.059485 1.865317 1.262235 q: 0.012525 0.812726 -0.010910 0.582409 
time: 1403638567.527829, t: 6.959967 1.733157 1.173047 q: 0.014060 0.815440 -0.011769 0.578552 
time: 1403638567.627830, t: 6.859344 1.607308 1.094190 q: 0.016118 0.819434 -0.012716 0.572805 
time: 1403638567.727829, t: 6.760962 1.485552 1.024228 q: 0.018594 0.822694 -0.013188 0.568028 
time: 1403638567.827830, t: 6.665542 1.369284 0.961079 q: 0.020469 0.826671 -0.013486 0.562151 
time: 1403638567.927830, t: 6.577593 1.257097 0.904888 q: 0.017936 0.828250 -0.016073 0.559841 
time: 1403638568.027829, t: 6.493300 1.149460 0.854935 q: 0.018931 0.828813 -0.016210 0.558970 
time: 1403638568.127830, t: 6.413425 1.045437 0.815212 q: 0.021405 0.827878 -0.014695 0.560306 
time: 1403638568.227829, t: 6.335821 0.945784 0.783811 q: 0.023279 0.827115 -0.013502 0.561388 
time: 1403638568.327830, t: 6.262753 0.850889 0.756044 q: 0.023807 0.827218 -0.013244 0.561221 
time: 1403638568.427830, t: 6.191422 0.762267 0.724817 q: 0.023747 0.828380 -0.013424 0.559502 
time: 1403638568.527829, t: 6.125143 0.682820 0.686836 q: 0.024735 0.828983 -0.013105 0.558572 
time: 1403638568.627830, t: 6.059825 0.603996 0.649456 q: 0.025103 0.830495 -0.012413 0.556322 
time: 1403638568.727829, t: 6.001584 0.535113 0.608937 q: 0.026978 0.831703 -0.010866 0.554458 
time: 1403638568.827830, t: 5.942393 0.470183 0.577453 q: 0.024961 0.831473 -0.011863 0.554878 
time: 1403638568.927830, t: 5.894894 0.411417 0.551538 q: 0.025983 0.831383 -0.011338 0.554977 
time: 1403638569.027829, t: 5.847060 0.358360 0.534463 q: 0.026057 0.830374 -0.011415 0.556479 
time: 1403638569.127830, t: 5.809439 0.309549 0.523663 q: 0.027682 0.830455 -0.010199 0.556304 
time: 1403638569.227829, t: 5.772831 0.264298 0.519855 q: 0.029547 0.832004 -0.009225 0.553906 
time: 1403638569.427830, t: 5.717197 0.194405 0.497814 q: 0.031764 0.831736 -0.008574 0.554196 
time: 1403638569.527829, t: 5.698882 0.166644 0.479780 q: 0.031792 0.830545 -0.008348 0.555981 
time: 1403638569.627830, t: 5.683739 0.145882 0.462198 q: 0.031426 0.829132 -0.009036 0.558096 
time: 1403638569.727829, t: 5.672566 0.131951 0.452657 q: 0.032345 0.828241 -0.008822 0.559368 
time: 1403638569.827830, t: 5.664621 0.120922 0.449691 q: 0.032243 0.827627 -0.008432 0.560289 
time: 1403638569.927830, t: 5.659716 0.116159 0.452007 q: 0.033339 0.825799 -0.007864 0.562923 
time: 1403638570.027829, t: 5.657892 0.117405 0.455146 q: 0.031225 0.824653 -0.009131 0.564703 
time: 1403638570.127830, t: 5.658296 0.123569 0.452737 q: 0.027773 0.824838 -0.011494 0.564569 
time: 1403638570.227829, t: 5.659224 0.133448 0.443160 q: 0.021764 0.824413 -0.014926 0.565373 
time: 1403638570.327830, t: 5.661823 0.145620 0.428744 q: 0.013038 0.824197 -0.021316 0.565752 
time: 1403638570.427830, t: 5.665376 0.156990 0.409539 q: 0.009343 0.824000 -0.031474 0.565637 
time: 1403638570.527829, t: 5.669502 0.164813 0.383201 q: 0.003042 0.823021 -0.053459 0.565481 
time: 1403638570.727829, t: 5.676835 0.156665 0.312653 q: 0.004037 0.812082 -0.110141 0.573040 
time: 1403638570.827830, t: 5.674547 0.141160 0.272590 q: 0.013325 0.799781 -0.137119 0.584269 
time: 1403638570.927830, t: 5.666322 0.113484 0.232391 q: 0.027250 0.790192 -0.159983 0.590982 
time: 1403638571.027829, t: 5.650585 0.074917 0.190204 q: 0.042228 0.783713 -0.180942 0.592681 
time: 1403638571.227829, t: 5.593629 -0.034355 0.107128 q: 0.083544 0.787579 -0.205248 0.574990 
time: 1403638571.327830, t: 5.555111 -0.098812 0.080047 q: 0.101755 0.788076 -0.209839 0.569693 
time: 1403638571.427830, t: 5.512150 -0.167047 0.062551 q: 0.109409 0.785994 -0.215793 0.568926 
time: 1403638571.527829, t: 5.464473 -0.239499 0.054243 q: 0.115112 0.783050 -0.218986 0.570637 
time: 1403638571.627830, t: 5.411832 -0.314501 0.044817 q: 0.121537 0.781897 -0.225841 0.568210 
time: 1403638571.727829, t: 5.355687 -0.392554 0.029807 q: 0.128410 0.781977 -0.237629 0.561743 
time: 1403638571.927830, t: 5.236087 -0.558274 -0.012884 q: 0.144030 0.776214 -0.272778 0.549854 
time: 1403638572.027829, t: 5.173326 -0.645752 -0.028396 q: 0.153090 0.769943 -0.292589 0.546024 
time: 1403638572.127830, t: 5.107059 -0.737135 -0.035354 q: 0.164244 0.762759 -0.310909 0.542732 
time: 1403638572.227829, t: 5.035562 -0.831604 -0.033863 q: 0.181038 0.757354 -0.325854 0.536152 
time: 1403638572.327830, t: 4.961452 -0.930504 -0.032861 q: 0.194454 0.753195 -0.343768 0.526031 
time: 1403638572.427830, t: 4.886894 -1.033967 -0.035298 q: 0.208179 0.748523 -0.360681 0.516027 
time: 1403638572.527829, t: 4.812799 -1.140980 -0.040078 q: 0.220866 0.745160 -0.371462 0.507908 
time: 1403638572.627830, t: 4.740373 -1.251416 -0.045876 q: 0.229426 0.741984 -0.378153 0.503810 
time: 1403638572.727829, t: 4.670695 -1.367298 -0.045713 q: 0.236407 0.741768 -0.380768 0.498906 
time: 1403638572.827830, t: 4.605064 -1.486321 -0.037297 q: 0.242253 0.743934 -0.379863 0.493538 
time: 1403638572.927830, t: 4.545237 -1.608381 -0.021279 q: 0.243660 0.745885 -0.379233 0.490376 
time: 1403638573.027829, t: 4.489783 -1.731610 -0.004601 q: 0.244089 0.748392 -0.378028 0.487263 
time: 1403638573.127830, t: 4.439079 -1.856763 0.005672 q: 0.242853 0.750623 -0.376315 0.485772 
time: 1403638573.227829, t: 4.392272 -1.983309 0.012067 q: 0.241319 0.751559 -0.374454 0.486526 
time: 1403638573.327830, t: 4.350709 -2.112380 0.018745 q: 0.239893 0.752563 -0.372406 0.487251 
time: 1403638573.427830, t: 4.313316 -2.242002 0.027645 q: 0.241062 0.753607 -0.372716 0.484818 
time: 1403638573.527829, t: 4.285028 -2.377185 0.042096 q: 0.244214 0.753431 -0.372788 0.483457 
time: 1403638573.627830, t: 4.262557 -2.509923 0.066705 q: 0.245764 0.753086 -0.373259 0.482845 
time: 1403638573.727829, t: 4.244499 -2.643851 0.096199 q: 0.250350 0.752405 -0.375231 0.480014 
time: 1403638573.827830, t: 4.234652 -2.782129 0.128778 q: 0.261423 0.745366 -0.379424 0.481794 
time: 1403638574.027829, t: 4.232135 -3.061973 0.176563 q: 0.283664 0.715051 -0.406561 0.492895 
time: 1403638574.127830, t: 4.232652 -3.199528 0.190040 q: 0.289367 0.693853 -0.429768 0.500134 
time: 1403638574.227829, t: 4.232307 -3.335449 0.196873 q: 0.296665 0.673062 -0.453735 0.503093 
time: 1403638574.327830, t: 4.225292 -3.465487 0.200264 q: 0.307598 0.657544 -0.475314 0.497086 
time: 1403638574.427830, t: 4.212099 -3.592729 0.199954 q: 0.321720 0.645823 -0.493911 0.485243 
time: 1403638574.527829, t: 4.192314 -3.717880 0.197457 q: 0.333536 0.634686 -0.511242 0.473877 
time: 1403638574.627830, t: 4.166757 -3.837583 0.204465 q: 0.344299 0.625143 -0.522069 0.467009 
time: 1403638574.727829, t: 4.138023 -3.956491 0.217772 q: 0.356626 0.622092 -0.526451 0.456803 
time: 1403638574.827830, t: 4.107649 -4.071960 0.235992 q: 0.363279 0.624147 -0.529367 0.445241 
time: 1403638574.927830, t: 4.076117 -4.184740 0.252455 q: 0.361990 0.626384 -0.534087 0.437444 
time: 1403638575.027829, t: 4.045259 -4.296258 0.264341 q: 0.358076 0.627200 -0.537810 0.434928 
time: 1403638575.127830, t: 4.012874 -4.404073 0.271586 q: 0.350747 0.624697 -0.542488 0.438676 
time: 1403638575.227829, t: 3.980852 -4.516128 0.273280 q: 0.346436 0.622626 -0.544260 0.442831 
time: 1403638575.327830, t: 3.944859 -4.627193 0.268884 q: 0.342938 0.623175 -0.544723 0.444210 
time: 1403638575.427830, t: 3.905955 -4.743442 0.260708 q: 0.339474 0.628285 -0.544295 0.440180 
time: 1403638575.627830, t: 3.822049 -4.980550 0.241501 q: 0.340325 0.639592 -0.537512 0.431488 
time: 1403638575.727829, t: 3.779049 -5.105768 0.242862 q: 0.342870 0.645788 -0.532878 0.425957 
time: 1403638575.927830, t: 3.698327 -5.367551 0.271747 q: 0.342716 0.653602 -0.528887 0.419081 
time: 1403638576.027829, t: 3.664424 -5.506344 0.301454 q: 0.342784 0.654103 -0.527536 0.419946 
time: 1403638576.127830, t: 3.632893 -5.648630 0.336184 q: 0.343449 0.653942 -0.526773 0.420611 
time: 1403638576.227829, t: 3.606069 -5.796057 0.371934 q: 0.345829 0.653148 -0.525007 0.422098 
time: 1403638576.327830, t: 3.583153 -5.946088 0.402780 q: 0.350650 0.654217 -0.521757 0.420493 
time: 1403638576.427830, t: 3.565086 -6.099409 0.426616 q: 0.354150 0.656282 -0.519589 0.417012 
time: 1403638576.527829, t: 3.552009 -6.255303 0.445219 q: 0.359709 0.659951 -0.515831 0.411087 
time: 1403638576.627830, t: 3.545667 -6.413196 0.459733 q: 0.363424 0.662627 -0.513491 0.406418 
time: 1403638576.727829, t: 3.548329 -6.572775 0.471195 q: 0.366727 0.661792 -0.511090 0.407836 
time: 1403638576.827830, t: 3.558740 -6.732953 0.477826 q: 0.371568 0.657652 -0.507710 0.414320 
time: 1403638576.927830, t: 3.576353 -6.892575 0.478548 q: 0.371627 0.652003 -0.508006 0.422747 
time: 1403638577.027829, t: 3.600046 -7.049933 0.475335 q: 0.367508 0.647238 -0.511037 0.429956 
time: 1403638577.127830, t: 3.627839 -7.205350 0.476693 q: 0.364231 0.643530 -0.513735 0.435065 
time: 1403638577.227829, t: 3.658824 -7.358833 0.485549 q: 0.361935 0.641901 -0.515597 0.437180 
time: 1403638577.327830, t: 3.691303 -7.512318 0.501102 q: 0.365713 0.644319 -0.512693 0.433882 
time: 1403638577.427830, t: 3.726730 -7.662568 0.524916 q: 0.371860 0.648911 -0.507747 0.427584 
time: 1403638577.527829, t: 3.769289 -7.809143 0.550760 q: 0.372367 0.649515 -0.507195 0.426879 
time: 1403638577.627830, t: 3.817479 -7.952669 0.569840 q: 0.369585 0.648611 -0.509201 0.428282 
time: 1403638577.727829, t: 3.869527 -8.093705 0.582067 q: 0.367209 0.648341 -0.510799 0.428831 
time: 1403638577.827830, t: 3.925310 -8.233503 0.586334 q: 0.364838 0.648014 -0.512113 0.429781 
time: 1403638577.927830, t: 3.983730 -8.374623 0.587270 q: 0.364739 0.648277 -0.511392 0.430326 
time: 1403638578.027829, t: 4.046443 -8.510035 0.589664 q: 0.365784 0.648351 -0.510074 0.430893 
time: 1403638578.127830, t: 4.113414 -8.649439 0.600179 q: 0.363201 0.646842 -0.510890 0.434365 
time: 1403638578.227829, t: 4.182195 -8.783636 0.614590 q: 0.355275 0.641654 -0.516104 0.442376 
time: 1403638578.327830, t: 4.251842 -8.917510 0.633589 q: 0.349383 0.638182 -0.520213 0.447250 
time: 1403638578.427830, t: 4.316848 -9.049854 0.648410 q: 0.349333 0.637505 -0.520680 0.447712 
time: 1403638578.527829, t: 4.378645 -9.179712 0.657838 q: 0.349371 0.636901 -0.521241 0.447889 
time: 1403638578.627830, t: 4.442085 -9.311907 0.662409 q: 0.350523 0.636008 -0.521175 0.448335 
time: 1403638578.727829, t: 4.496204 -9.438453 0.666051 q: 0.354367 0.637505 -0.518822 0.445910 
time: 1403638578.827830, t: 4.553719 -9.568368 0.664014 q: 0.359506 0.641180 -0.515170 0.440730 
time: 1403638578.927830, t: 4.606147 -9.688688 0.661976 q: 0.363535 0.642379 -0.512357 0.438955 
time: 1403638579.027829, t: 4.666870 -9.814654 0.660219 q: 0.365372 0.643515 -0.510164 0.438319 
time: 1403638579.127830, t: 4.728343 -9.931788 0.671715 q: 0.365782 0.643779 -0.509193 0.438719 
time: 1403638579.227829, t: 4.793260 -10.050757 0.686392 q: 0.365567 0.643779 -0.508862 0.439283 
time: 1403638579.327830, t: 4.859520 -10.161969 0.706211 q: 0.362442 0.642224 -0.510451 0.442295 
time: 1403638579.427830, t: 4.929189 -10.278690 0.724070 q: 0.354741 0.637727 -0.515672 0.448938 
time: 1403638579.527829, t: 4.995863 -10.385719 0.736477 q: 0.349789 0.634512 -0.518068 0.454585 
time: 1403638579.627830, t: 5.063205 -10.492053 0.747461 q: 0.351618 0.632105 -0.510033 0.465483 
time: 1403638579.727829, t: 5.128915 -10.594720 0.751891 q: 0.352858 0.637697 -0.493822 0.474314 
time: 1403638579.827830, t: 5.192330 -10.691477 0.751214 q: 0.346360 0.652905 -0.473650 0.478963 
time: 1403638579.927830, t: 5.255514 -10.783578 0.743636 q: 0.331947 0.673557 -0.450326 0.483052 
time: 1403638580.027829, t: 5.319797 -10.872248 0.731295 q: 0.315542 0.690860 -0.420407 0.496390 
time: 1403638580.127830, t: 5.384119 -10.952804 0.719525 q: 0.298596 0.703639 -0.383937 0.518000 
time: 1403638580.227829, t: 5.445486 -11.025110 0.701417 q: 0.274889 0.719171 -0.347225 0.535410 
time: 1403638580.327830, t: 5.505521 -11.086812 0.678360 q: 0.245848 0.736457 -0.315710 0.545450 
time: 1403638580.427830, t: 5.560153 -11.143184 0.649187 q: 0.215568 0.750042 -0.295188 0.551208 
time: 1403638580.527829, t: 5.609464 -11.196412 0.617782 q: 0.194291 0.758566 -0.280774 0.554973 
time: 1403638580.627830, t: 5.654062 -11.247246 0.584974 q: 0.178147 0.766718 -0.266962 0.556003 
time: 1403638580.727829, t: 5.693807 -11.295690 0.556098 q: 0.164575 0.777452 -0.251197 0.552616 
time: 1403638580.827830, t: 5.727263 -11.340641 0.536040 q: 0.157548 0.785382 -0.238207 0.549192 
time: 1403638580.927830, t: 5.759568 -11.384993 0.525924 q: 0.153632 0.789521 -0.230066 0.547835 
time: 1403638581.027829, t: 5.790670 -11.426960 0.525988 q: 0.149558 0.790592 -0.228139 0.548224 
time: 1403638581.127830, t: 5.822230 -11.470807 0.536827 q: 0.150689 0.791030 -0.226452 0.547982 
time: 1403638581.227829, t: 5.854255 -11.513225 0.552054 q: 0.153610 0.791115 -0.226153 0.547171 
time: 1403638581.327830, t: 5.887571 -11.552168 0.566550 q: 0.157900 0.790746 -0.226974 0.546142 
time: 1403638581.427830, t: 5.916336 -11.590806 0.582145 q: 0.161142 0.788893 -0.227919 0.547480 
time: 1403638581.527829, t: 5.949271 -11.626980 0.603698 q: 0.163864 0.787581 -0.230307 0.547561 
time: 1403638581.627830, t: 5.984733 -11.663312 0.629068 q: 0.167840 0.785243 -0.231467 0.549224 
time: 1403638581.727829, t: 6.022579 -11.699097 0.649788 q: 0.172487 0.780613 -0.231466 0.554360 
time: 1403638581.827830, t: 6.059693 -11.734928 0.664455 q: 0.174055 0.778998 -0.232919 0.555532 
time: 1403638581.927830, t: 6.095441 -11.766423 0.674155 q: 0.177167 0.772321 -0.232363 0.564039 
time: 1403638582.027829, t: 6.125900 -11.792266 0.679462 q: 0.179312 0.768842 -0.231588 0.568415 
time: 1403638582.127830, t: 6.152604 -11.812673 0.687612 q: 0.177285 0.775151 -0.233813 0.559502 
time: 1403638582.227829, t: 6.178619 -11.829296 0.707386 q: 0.174521 0.781220 -0.236209 0.550857 
time: 1403638582.327830, t: 6.203482 -11.843136 0.738471 q: 0.176608 0.779747 -0.234414 0.553041 
time: 1403638582.427830, t: 6.226971 -11.854777 0.777206 q: 0.178181 0.777262 -0.232896 0.556664 
time: 1403638582.527829, t: 6.247791 -11.862371 0.824750 q: 0.179067 0.776183 -0.231801 0.558340 
time: 1403638582.627830, t: 6.269217 -11.864533 0.882913 q: 0.179701 0.776112 -0.231278 0.558451 
time: 1403638582.727829, t: 6.284609 -11.863648 0.943853 q: 0.178625 0.778760 -0.231928 0.554829 
time: 1403638582.827830, t: 6.305060 -11.858743 1.015637 q: 0.178147 0.780121 -0.232873 0.552670 
time: 1403638582.927830, t: 6.324652 -11.850089 1.083069 q: 0.177832 0.781428 -0.233945 0.550468 
time: 1403638583.027829, t: 6.334666 -11.839675 1.133024 q: 0.176659 0.784218 -0.235042 0.546396 
time: 1403638583.127830, t: 6.353275 -11.825723 1.185427 q: 0.176189 0.786327 -0.236193 0.543010 
time: 1403638583.227829, t: 6.364895 -11.809479 1.219111 q: 0.175167 0.787397 -0.237240 0.541331 
time: 1403638583.327830, t: 6.387039 -11.791365 1.257232 q: 0.175642 0.787334 -0.237195 0.541289 
time: 1403638583.427830, t: 6.407420 -11.771780 1.286433 q: 0.175292 0.787698 -0.237409 0.540778 
time: 1403638583.527829, t: 6.432623 -11.748636 1.323590 q: 0.175039 0.788353 -0.237645 0.539801 
time: 1403638583.627830, t: 6.457384 -11.724716 1.362602 q: 0.175840 0.788294 -0.237092 0.539871 
time: 1403638583.727829, t: 6.482177 -11.698624 1.406572 q: 0.177049 0.788215 -0.236308 0.539934 
time: 1403638583.827830, t: 6.496519 -11.667905 1.431914 q: 0.177354 0.788027 -0.235831 0.540317 
time: 1403638583.927830, t: 6.524890 -11.638632 1.468178 q: 0.177086 0.787227 -0.235826 0.541572 
time: 1403638584.027829, t: 6.541964 -11.607415 1.476744 q: 0.177914 0.786463 -0.235286 0.542644 
time: 1403638584.127830, t: 6.570230 -11.574326 1.504743 q: 0.182252 0.779571 -0.231997 0.552477 
time: 1403638584.227829, t: 6.597327 -11.535850 1.524163 q: 0.186474 0.769884 -0.228291 0.566029 
time: 1403638584.327830, t: 6.611358 -11.493983 1.522697 q: 0.187547 0.763957 -0.227314 0.574042 
time: 1403638584.427830, t: 6.623461 -11.445702 1.518175 q: 0.187156 0.762931 -0.227564 0.575434 
time: 1403638584.527829, t: 6.629343 -11.394487 1.508230 q: 0.186294 0.762305 -0.228031 0.576357 
time: 1403638584.627830, t: 6.636050 -11.335245 1.511382 q: 0.185906 0.763548 -0.227751 0.574946 
time: 1403638584.727829, t: 6.638178 -11.268255 1.520282 q: 0.183743 0.767193 -0.228806 0.570352 
time: 1403638584.827830, t: 6.631385 -11.194580 1.526943 q: 0.179067 0.775028 -0.232109 0.559814 
time: 1403638584.927830, t: 6.628757 -11.121352 1.546336 q: 0.173953 0.781101 -0.236256 0.551185 
time: 1403638585.027829, t: 6.627444 -11.039334 1.545719 q: 0.172452 0.783606 -0.237577 0.547521 
time: 1403638585.127830, t: 6.625189 -10.961281 1.542843 q: 0.171319 0.783565 -0.238811 0.547398 
time: 1403638585.327830, t: 6.624865 -10.809154 1.538693 q: 0.172603 0.780170 -0.237841 0.552245 
time: 1403638585.427830, t: 6.622058 -10.732545 1.531443 q: 0.172400 0.779611 -0.237576 0.553212 
time: 1403638585.527829, t: 6.625225 -10.656705 1.523643 q: 0.172955 0.780612 -0.237435 0.551685 
time: 1403638585.627830, t: 6.625761 -10.578946 1.526956 q: 0.172109 0.782661 -0.237577 0.548979 
time: 1403638585.727829, t: 6.625819 -10.501482 1.536982 q: 0.170880 0.786627 -0.238336 0.543337 
time: 1403638585.827830, t: 6.626569 -10.424002 1.555390 q: 0.168027 0.791257 -0.240426 0.536539 
time: 1403638585.927830, t: 6.631305 -10.346125 1.581537 q: 0.165087 0.793481 -0.243157 0.532925 
time: 1403638586.027829, t: 6.636439 -10.269121 1.614144 q: 0.165392 0.790610 -0.243752 0.536812 
time: 1403638586.127830, t: 6.647910 -10.195922 1.642174 q: 0.167801 0.786833 -0.243501 0.541704 
time: 1403638586.227829, t: 6.651918 -10.120601 1.662716 q: 0.169711 0.784296 -0.242597 0.545183 
time: 1403638586.327830, t: 6.662952 -10.049187 1.679663 q: 0.173133 0.781072 -0.240834 0.549501 
time: 1403638586.427830, t: 6.670977 -9.974596 1.689077 q: 0.181058 0.778217 -0.236152 0.553018 
time: 1403638586.527829, t: 6.681565 -9.900681 1.697638 q: 0.187750 0.777238 -0.231978 0.553929 
time: 1403638586.627830, t: 6.688094 -9.822009 1.696540 q: 0.185315 0.777649 -0.233961 0.553338 
time: 1403638586.727829, t: 6.696324 -9.742034 1.692110 q: 0.181816 0.777632 -0.236533 0.553429 
time: 1403638586.827830, t: 6.704476 -9.659292 1.681898 q: 0.178731 0.776788 -0.238532 0.554759 
time: 1403638586.927830, t: 6.711341 -9.575189 1.663484 q: 0.178820 0.776079 -0.238188 0.555870 
time: 1403638587.027829, t: 6.717477 -9.488302 1.643666 q: 0.178113 0.775923 -0.238490 0.556186 
time: 1403638587.127830, t: 6.720720 -9.400120 1.624317 q: 0.177435 0.776003 -0.239224 0.555975 
time: 1403638587.227829, t: 6.724029 -9.311029 1.613889 q: 0.177228 0.778293 -0.238635 0.553086 
time: 1403638587.327830, t: 6.726220 -9.221855 1.609079 q: 0.176934 0.779774 -0.239352 0.550779 
time: 1403638587.427830, t: 6.727607 -9.130883 1.610854 q: 0.175516 0.780427 -0.240289 0.549899 
time: 1403638587.527829, t: 6.732021 -9.038569 1.611880 q: 0.174322 0.780187 -0.241293 0.550180 
time: 1403638587.627830, t: 6.734856 -8.946430 1.609425 q: 0.173417 0.780188 -0.242575 0.549900 
time: 1403638587.727829, t: 6.736965 -8.855884 1.602583 q: 0.173714 0.780085 -0.242548 0.549965 
time: 1403638587.827830, t: 6.739660 -8.764487 1.589437 q: 0.172972 0.779617 -0.243849 0.550287 
time: 1403638587.927830, t: 6.742416 -8.673728 1.576579 q: 0.172687 0.779410 -0.244392 0.550429 
time: 1403638588.027829, t: 6.744905 -8.582362 1.555487 q: 0.172554 0.778792 -0.244476 0.551307 
time: 1403638588.127830, t: 6.747284 -8.494059 1.535132 q: 0.175839 0.779283 -0.242317 0.550528 
time: 1403638588.327830, t: 6.750701 -8.314703 1.487200 q: 0.182789 0.780935 -0.236801 0.548319 
time: 1403638588.427830, t: 6.754325 -8.221318 1.472474 q: 0.182664 0.780875 -0.236672 0.548501 
time: 1403638588.527829, t: 6.757564 -8.128494 1.464425 q: 0.180429 0.780588 -0.238227 0.548977 
time: 1403638588.627830, t: 6.759551 -8.029862 1.466230 q: 0.178165 0.779942 -0.239448 0.550102 
time: 1403638588.727829, t: 6.758939 -7.932783 1.475920 q: 0.175475 0.778264 -0.241451 0.552463 
time: 1403638588.827830, t: 6.759996 -7.832693 1.485228 q: 0.174706 0.777632 -0.242172 0.553281 
time: 1403638588.927830, t: 6.759072 -7.735640 1.488813 q: 0.173362 0.777330 -0.243632 0.553486 
time: 1403638589.027829, t: 6.756413 -7.635906 1.482525 q: 0.173300 0.777284 -0.244286 0.553282 
time: 1403638589.127830, t: 6.753491 -7.537735 1.472835 q: 0.174748 0.777412 -0.243920 0.552808 
time: 1403638589.227829, t: 6.750242 -7.435566 1.457121 q: 0.174929 0.777084 -0.243835 0.553249 
time: 1403638589.327830, t: 6.745925 -7.337538 1.441149 q: 0.175026 0.776371 -0.244177 0.554068 
time: 1403638589.427830, t: 6.739943 -7.236090 1.424405 q: 0.174434 0.776400 -0.244404 0.554114 
time: 1403638589.527829, t: 6.735197 -7.139943 1.413183 q: 0.174083 0.776674 -0.244596 0.553755 
time: 1403638589.627830, t: 6.725653 -7.038582 1.410759 q: 0.174457 0.776452 -0.244322 0.554070 
time: 1403638589.727829, t: 6.717606 -6.944094 1.414935 q: 0.173640 0.778165 -0.245051 0.551597 
time: 1403638589.827830, t: 6.706888 -6.844384 1.424009 q: 0.173235 0.778954 -0.245988 0.550191 
time: 1403638589.927830, t: 6.697859 -6.749660 1.428444 q: 0.174290 0.779431 -0.246019 0.549168 
time: 1403638590.027829, t: 6.687442 -6.650929 1.427573 q: 0.173266 0.778971 -0.247542 0.549460 
time: 1403638590.227829, t: 6.668162 -6.455658 1.410526 q: 0.174365 0.777601 -0.248062 0.550817 
time: 1403638590.327830, t: 6.659214 -6.359858 1.395502 q: 0.174466 0.777318 -0.248240 0.551104 
time: 1403638590.427830, t: 6.645985 -6.262774 1.377248 q: 0.174858 0.778302 -0.248516 0.549464 
time: 1403638590.527829, t: 6.632333 -6.169845 1.357025 q: 0.173690 0.778345 -0.249327 0.549406 
time: 1403638590.627830, t: 6.619103 -6.074343 1.342850 q: 0.172838 0.780364 -0.249881 0.546552 
time: 1403638590.727829, t: 6.606250 -5.985812 1.337369 q: 0.170627 0.781421 -0.251212 0.545124 
time: 1403638590.827830, t: 6.594427 -5.893109 1.339689 q: 0.170830 0.782483 -0.251010 0.543629 
time: 1403638590.927830, t: 6.585629 -5.809391 1.348509 q: 0.169971 0.783021 -0.251773 0.542770 
time: 1403638591.027829, t: 6.571923 -5.719438 1.364915 q: 0.168914 0.783831 -0.252965 0.541373 
time: 1403638591.127830, t: 6.557804 -5.635547 1.379981 q: 0.168180 0.786640 -0.253433 0.537294 
time: 1403638591.227829, t: 6.548304 -5.553142 1.385315 q: 0.166536 0.791660 -0.255061 0.529608 
time: 1403638591.327830, t: 6.541164 -5.473437 1.387374 q: 0.163171 0.797467 -0.257412 0.520731 
time: 1403638591.427830, t: 6.542227 -5.399247 1.385040 q: 0.160736 0.800709 -0.259596 0.515402 
time: 1403638591.527829, t: 6.549925 -5.330395 1.375783 q: 0.157864 0.803249 -0.262054 0.511075 
time: 1403638591.627830, t: 6.562524 -5.269739 1.360584 q: 0.155863 0.805265 -0.263584 0.507718 
time: 1403638591.727829, t: 6.582084 -5.215922 1.343484 q: 0.155838 0.804042 -0.264348 0.509265 
time: 1403638591.827830, t: 6.607464 -5.168606 1.328155 q: 0.157442 0.801594 -0.263186 0.513217 
time: 1403638591.927830, t: 6.639359 -5.128919 1.316709 q: 0.158887 0.798847 -0.261981 0.517653 
time: 1403638592.027829, t: 6.676157 -5.095715 1.315431 q: 0.159476 0.796139 -0.261409 0.521915 
time: 1403638592.127830, t: 6.718848 -5.068309 1.322443 q: 0.159771 0.794480 -0.260208 0.524944 
time: 1403638592.227829, t: 6.765077 -5.046795 1.339775 q: 0.155875 0.789794 -0.256843 0.534752 
time: 1403638592.327830, t: 6.814239 -5.028219 1.368727 q: 0.149062 0.785086 -0.250188 0.546651 
time: 1403638592.427830, t: 6.862488 -5.014900 1.404615 q: 0.138047 0.784739 -0.238486 0.555205 
time: 1403638592.527829, t: 6.905969 -5.005152 1.447467 q: 0.127628 0.790004 -0.224098 0.556223 
time: 1403638592.627830, t: 6.945735 -4.999676 1.496052 q: 0.120829 0.797460 -0.210974 0.552221 
time: 1403638592.727829, t: 6.983651 -4.999109 1.547692 q: 0.115137 0.804684 -0.201618 0.546423 
time: 1403638592.827830, t: 7.022408 -5.001855 1.593564 q: 0.109965 0.811048 -0.196075 0.540059 
time: 1403638592.927830, t: 7.063002 -5.007714 1.632883 q: 0.108207 0.814463 -0.191776 0.536808 
time: 1403638593.027829, t: 7.104915 -5.018008 1.666929 q: 0.107206 0.815819 -0.189094 0.535901 
time: 1403638593.127830, t: 7.152719 -5.033099 1.698058 q: 0.106821 0.815858 -0.188006 0.536301 
time: 1403638593.227829, t: 7.204460 -5.052510 1.734256 q: 0.109857 0.812435 -0.185959 0.541572 
time: 1403638593.327830, t: 7.257513 -5.073575 1.775810 q: 0.118003 0.809787 -0.181063 0.545469 
time: 1403638593.427830, t: 7.310602 -5.096649 1.819396 q: 0.128051 0.805138 -0.175317 0.551923 
time: 1403638593.527829, t: 7.363012 -5.119487 1.858536 q: 0.133151 0.801266 -0.173220 0.556990 
time: 1403638593.727829, t: 7.472201 -5.157034 1.916207 q: 0.137686 0.797244 -0.172548 0.561847 
time: 1403638593.827830, t: 7.527842 -5.168388 1.939296 q: 0.136588 0.790890 -0.173546 0.570718 
time: 1403638593.927830, t: 7.578214 -5.175678 1.965840 q: 0.130834 0.781651 -0.171302 0.585286 
time: 1403638594.027829, t: 7.622561 -5.178548 1.994200 q: 0.122902 0.784057 -0.168450 0.584615 
time: 1403638594.127830, t: 7.660348 -5.178263 2.027855 q: 0.117348 0.789925 -0.165387 0.578701 
time: 1403638594.227829, t: 7.693461 -5.175760 2.062580 q: 0.117228 0.794648 -0.160307 0.573667 
time: 1403638594.327830, t: 7.723608 -5.171503 2.094972 q: 0.117506 0.794819 -0.156025 0.574553 
time: 1403638594.427830, t: 7.751417 -5.163142 2.129553 q: 0.122039 0.793372 -0.149722 0.577278 
time: 1403638594.527829, t: 7.775410 -5.151117 2.168534 q: 0.120564 0.793031 -0.148507 0.578370 
time: 1403638594.627830, t: 7.796054 -5.133851 2.216277 q: 0.114891 0.793588 -0.150957 0.578126 
time: 1403638594.727829, t: 7.814073 -5.115015 2.262398 q: 0.111217 0.794152 -0.153925 0.577287 
time: 1403638594.827830, t: 7.828937 -5.094712 2.305918 q: 0.109753 0.794528 -0.155669 0.576582 
time: 1403638594.927830, t: 7.838978 -5.073718 2.340184 q: 0.109609 0.795358 -0.156646 0.575199 
time: 1403638595.027829, t: 7.846750 -5.051570 2.367776 q: 0.108873 0.796869 -0.158292 0.572792 
time: 1403638595.127830, t: 7.852978 -5.028536 2.391177 q: 0.108649 0.797871 -0.159479 0.571108 
time: 1403638595.227829, t: 7.858110 -5.005788 2.405005 q: 0.109433 0.798326 -0.159855 0.570216 
time: 1403638595.327830, t: 7.860719 -4.982656 2.413410 q: 0.109854 0.798399 -0.160106 0.569963 
time: 1403638595.427830, t: 7.861916 -4.959011 2.416098 q: 0.109505 0.798256 -0.160926 0.569998 
time: 1403638595.527829, t: 7.861749 -4.935580 2.414040 q: 0.109531 0.798857 -0.160962 0.569141 
time: 1403638595.627830, t: 7.860195 -4.912055 2.413070 q: 0.110094 0.799480 -0.160302 0.568344 
time: 1403638595.727829, t: 7.856092 -4.887728 2.421187 q: 0.114183 0.800084 -0.157333 0.567515 
time: 1403638595.827830, t: 7.851353 -4.863354 2.428790 q: 0.116822 0.800912 -0.155793 0.566234 
time: 1403638595.927830, t: 7.846424 -4.837882 2.426874 q: 0.117981 0.800684 -0.155152 0.566493 
time: 1403638596.027829, t: 7.842698 -4.810617 2.411312 q: 0.122006 0.800468 -0.152472 0.566673 
time: 1403638596.127830, t: 7.839912 -4.779469 2.390902 q: 0.132257 0.801627 -0.145623 0.564531 
time: 1403638596.227829, t: 7.837161 -4.741795 2.376871 q: 0.144082 0.803695 -0.137071 0.560826 
time: 1403638596.327830, t: 7.836929 -4.697153 2.369021 q: 0.154963 0.804837 -0.128818 0.558238 
time: 1403638596.427830, t: 7.839073 -4.641377 2.370684 q: 0.161669 0.804783 -0.123321 0.557656 
time: 1403638596.527829, t: 7.844648 -4.573539 2.379729 q: 0.168326 0.804542 -0.117638 0.557260 
time: 1403638596.627830, t: 7.854163 -4.491643 2.398293 q: 0.175573 0.805006 -0.111823 0.555549 
time: 1403638596.727829, t: 7.866215 -4.394612 2.422608 q: 0.181839 0.805546 -0.106910 0.553716 
time: 1403638596.827830, t: 7.883526 -4.278898 2.455709 q: 0.185992 0.805106 -0.103374 0.553647 
time: 1403638596.927830, t: 7.903760 -4.147551 2.491366 q: 0.188373 0.803953 -0.101495 0.554864 
time: 1403638597.027829, t: 7.929259 -4.000032 2.526179 q: 0.190107 0.802783 -0.101543 0.555956 
time: 1403638597.127830, t: 7.957453 -3.836493 2.555245 q: 0.192756 0.801079 -0.100434 0.557701 
time: 1403638597.227829, t: 7.988792 -3.658482 2.578100 q: 0.193074 0.798890 -0.101578 0.560517 
time: 1403638597.327830, t: 8.024053 -3.465125 2.596053 q: 0.189270 0.796959 -0.104980 0.563926 
time: 1403638597.427830, t: 8.061324 -3.256418 2.608763 q: 0.183102 0.794937 -0.110825 0.567685 
time: 1403638597.527829, t: 8.098251 -3.035123 2.614963 q: 0.171042 0.790429 -0.120034 0.575811 
time: 1403638597.627830, t: 8.133493 -2.803845 2.616427 q: 0.161824 0.787083 -0.127511 0.581424 
time: 1403638597.727829, t: 8.166216 -2.565087 2.612033 q: 0.161398 0.786262 -0.128199 0.582502 
time: 1403638597.827830, t: 8.197918 -2.318124 2.603520 q: 0.166687 0.788854 -0.118560 0.579542 
time: 1403638597.927830, t: 8.227748 -2.062597 2.590947 q: 0.170760 0.791562 -0.107041 0.576900 
time: 1403638598.027829, t: 8.258575 -1.796117 2.580476 q: 0.168450 0.792630 -0.100342 0.577316 
time: 1403638598.127830, t: 8.288543 -1.517570 2.577935 q: 0.152983 0.793267 -0.104152 0.580065 
time: 1403638598.227829, t: 8.312839 -1.230189 2.581029 q: 0.132108 0.794380 -0.113688 0.581878 
time: 1403638598.327830, t: 8.334658 -0.939656 2.585575 q: 0.117655 0.797026 -0.120932 0.579899 
time: 1403638598.427830, t: 8.353495 -0.650054 2.585139 q: 0.110420 0.799165 -0.124335 0.577653 
time: 1403638598.527829, t: 8.368365 -0.361553 2.577699 q: 0.106500 0.800977 -0.124086 0.575931 
time: 1403638598.627830, t: 8.380650 -0.075728 2.561754 q: 0.101597 0.804346 -0.118854 0.573219 
time: 1403638598.727829, t: 8.392678 0.206893 2.543535 q: 0.095304 0.806211 -0.108535 0.573726 
time: 1403638598.827830, t: 8.403995 0.488539 2.529338 q: 0.086403 0.807439 -0.095813 0.575670 
time: 1403638598.927830, t: 8.412168 0.767055 2.519986 q: 0.076962 0.809926 -0.080264 0.575895 
time: 1403638599.027829, t: 8.419650 1.045175 2.514146 q: 0.064325 0.811643 -0.064644 0.576991 
time: 1403638599.127830, t: 8.423973 1.320305 2.517177 q: 0.053423 0.812737 -0.046419 0.578316 
time: 1403638599.227829, t: 8.424995 1.594428 2.524491 q: 0.042041 0.814235 -0.027782 0.578344 
time: 1403638599.327830, t: 8.424445 1.868347 2.538290 q: 0.029005 0.816189 -0.009617 0.576977 
time: 1403638599.427830, t: 8.419299 2.141368 2.559265 q: 0.019777 0.818953 0.006872 0.573479 
time: 1403638599.527829, t: 8.415707 2.413029 2.581323 q: 0.012982 0.821109 0.017871 0.570344 
time: 1403638599.627830, t: 8.412278 2.682270 2.596175 q: 0.007251 0.822764 0.023098 0.567867 
time: 1403638599.727829, t: 8.406096 2.948476 2.600350 q: 0.005108 0.823895 0.026267 0.566111 
time: 1403638599.827830, t: 8.405631 3.213542 2.595986 q: 0.004227 0.824486 0.025374 0.565297 
time: 1403638599.927830, t: 8.407713 3.475135 2.586149 q: 0.001556 0.825629 0.021487 0.563802 
time: 1403638600.027829, t: 8.412133 3.734437 2.570079 q: -0.003450 0.824901 0.014950 0.565069 
time: 1403638600.127830, t: 8.420389 3.988526 2.551601 q: -0.011725 0.826959 0.005503 0.562114 
time: 1403638600.227829, t: 8.431509 4.236011 2.530404 q: -0.023563 0.829791 -0.006219 0.557543 
time: 1403638600.327830, t: 8.446944 4.473727 2.507547 q: -0.032380 0.831586 -0.015898 0.554223 
time: 1403638600.427830, t: 8.466035 4.701683 2.487752 q: -0.040230 0.832849 -0.024336 0.551499 
time: 1403638600.527829, t: 8.491178 4.912544 2.475780 q: -0.041541 0.833658 -0.027184 0.550045 
time: 1403638600.627830, t: 8.521276 5.110189 2.472455 q: -0.041142 0.835079 -0.028664 0.547840 
time: 1403638600.727829, t: 8.555755 5.295143 2.476673 q: -0.041618 0.837292 -0.029956 0.544346 
time: 1403638600.827830, t: 8.596321 5.466330 2.487657 q: -0.037984 0.841279 -0.026891 0.538594 
time: 1403638600.927830, t: 8.642866 5.623409 2.503089 q: -0.022286 0.844438 -0.014481 0.534994 
time: 1403638601.027829, t: 8.698585 5.770605 2.512460 q: -0.008750 0.845210 -0.003455 0.534352 
optimize pose graph 
time: 1403638601.127830, t: 8.760874 5.911486 2.516975 q: -0.002258 0.843926 0.002581 0.536448 
time: 1403638601.227829, t: 8.829409 6.051795 2.518698 q: 0.006436 0.840898 0.009955 0.541064 
time: 1403638601.427830, t: 8.984763 6.331998 2.516935 q: 0.001898 0.829101 0.019327 0.558762 
time: 1403638601.527829, t: 9.067911 6.476221 2.523897 q: -0.010014 0.824872 0.029035 0.564485 
time: 1403638601.627830, t: 9.153536 6.619901 2.535447 q: -0.021174 0.821424 0.046054 0.568061 
time: 1403638601.727829, t: 9.237013 6.763959 2.553853 q: -0.033437 0.818670 0.069287 0.569088 
time: 1403638601.827830, t: 9.318068 6.908038 2.580255 q: -0.047023 0.814080 0.097144 0.570636 
time: 1403638601.927830, t: 9.395182 7.054709 2.611569 q: -0.061203 0.809297 0.124909 0.570693 
time: 1403638602.027829, t: 9.468028 7.202596 2.639736 q: -0.074238 0.806709 0.145203 0.568002 
time: 1403638602.127830, t: 9.538279 7.350971 2.661179 q: -0.082451 0.803462 0.160670 0.567305 
time: 1403638602.227829, t: 9.605866 7.501029 2.676396 q: -0.087957 0.796989 0.177482 0.570590 
time: 1403638602.327830, t: 9.667372 7.655395 2.687801 q: -0.101398 0.788211 0.193602 0.575291 
time: 1403638602.427830, t: 9.720749 7.812424 2.704366 q: -0.133615 0.772370 0.201258 0.587441 
time: 1403638602.527829, t: 9.761959 7.964651 2.733413 q: -0.169550 0.748655 0.206502 0.606734 
time: 1403638602.627830, t: 9.790582 8.106107 2.768896 q: -0.198843 0.731561 0.214523 0.615840 
time: 1403638602.727829, t: 9.803157 8.230915 2.806211 q: -0.213927 0.725153 0.231481 0.612213 
time: 1403638602.827830, t: 9.801356 8.337838 2.851348 q: -0.222010 0.721303 0.252648 0.605477 
time: 1403638602.927830, t: 9.784314 8.427270 2.898701 q: -0.236123 0.719436 0.270779 0.594422 
time: 1403638603.027829, t: 9.758151 8.506998 2.944223 q: -0.257725 0.717964 0.284241 0.580786 
time: 1403638603.127830, t: 9.722578 8.570214 2.985237 q: -0.274445 0.710050 0.298115 0.575879 
optimize pose graph 
time: 1403638603.227829, t: 9.680682 8.619095 3.015761 q: -0.278833 0.709266 0.313994 0.566216 
time: 1403638603.327830, t: 9.633738 8.654593 3.035767 q: -0.272498 0.721099 0.330666 0.544446 
time: 1403638603.427830, t: 9.583589 8.679297 3.048721 q: -0.266639 0.731855 0.341849 0.525767 
time: 1403638603.627830, t: 9.486650 8.716567 3.063684 q: -0.269167 0.729222 0.349627 0.523016 
time: 1403638603.727829, t: 9.440310 8.728390 3.064260 q: -0.266300 0.720834 0.354413 0.532798 
time: 1403638603.827830, t: 9.391850 8.736001 3.058304 q: -0.260104 0.712946 0.359594 0.542906 
time: 1403638603.927830, t: 9.336886 8.736637 3.046351 q: -0.253556 0.705585 0.364261 0.552424 
time: 1403638604.027829, t: 9.273349 8.736186 3.026796 q: -0.248297 0.700430 0.366843 0.559619 
time: 1403638604.127830, t: 9.200559 8.730640 3.008286 q: -0.245037 0.697226 0.368721 0.563807 
time: 1403638604.227829, t: 9.117243 8.726237 2.994568 q: -0.248102 0.698681 0.367129 0.561700 
time: 1403638604.327830, t: 9.021899 8.714869 2.989031 q: -0.254868 0.705161 0.363355 0.552959 
time: 1403638604.427830, t: 8.918411 8.698240 2.988124 q: -0.257131 0.713280 0.362162 0.542175 
time: 1403638604.527829, t: 8.809649 8.676310 2.995215 q: -0.254298 0.720393 0.364384 0.532532 
time: 1403638604.627830, t: 8.696800 8.652283 3.001413 q: -0.253411 0.723430 0.365296 0.528196 
time: 1403638604.727829, t: 8.582242 8.628704 3.001337 q: -0.257523 0.726110 0.362480 0.524457 
time: 1403638604.827830, t: 8.468172 8.604943 2.998423 q: -0.260713 0.728502 0.360016 0.521250 
time: 1403638604.927830, t: 8.354465 8.576968 2.999337 q: -0.259139 0.732670 0.360963 0.515507 
time: 1403638605.027829, t: 8.242096 8.548384 3.004701 q: -0.256216 0.739857 0.363061 0.505125 
time: 1403638605.127830, t: 8.132218 8.519008 3.019071 q: -0.253328 0.745234 0.365153 0.497106 
time: 1403638605.227829, t: 8.029514 8.493389 3.039879 q: -0.250305 0.747094 0.367462 0.494136 
optimize pose graph 
time: 1403638605.327830, t: 7.932802 8.473770 3.059614 q: -0.245585 0.746078 0.370979 0.495410 
time: 1403638605.427830, t: 7.839964 8.459804 3.073946 q: -0.238859 0.738381 0.376113 0.506240 
time: 1403638605.527829, t: 7.748828 8.448517 3.084596 q: -0.232966 0.728038 0.380930 0.520173 
time: 1403638605.627830, t: 7.654496 8.441428 3.088987 q: -0.226975 0.720449 0.385615 0.529846 
time: 1403638605.727829, t: 7.554059 8.439066 3.091642 q: -0.224216 0.717058 0.387868 0.533960 
time: 1403638605.827830, t: 7.445795 8.440554 3.101795 q: -0.222756 0.717510 0.388979 0.533155 
time: 1403638605.927830, t: 7.333375 8.448895 3.119127 q: -0.219966 0.716939 0.390579 0.533912 
time: 1403638606.027829, t: 7.213312 8.462487 3.139282 q: -0.216036 0.716160 0.392386 0.535235 
time: 1403638606.127830, t: 7.086690 8.482654 3.154630 q: -0.213171 0.716182 0.393352 0.535644 
time: 1403638606.227829, t: 6.952157 8.505726 3.160912 q: -0.210230 0.716157 0.394907 0.535696 
time: 1403638606.327830, t: 6.811796 8.537433 3.161768 q: -0.211453 0.720118 0.392945 0.531330 
time: 1403638606.427830, t: 6.664821 8.572757 3.152490 q: -0.218482 0.730360 0.387217 0.518559 
time: 1403638606.527829, t: 6.516261 8.612088 3.137676 q: -0.227129 0.740921 0.380518 0.504632 
time: 1403638606.627830, t: 6.369665 8.658217 3.119826 q: -0.232769 0.747002 0.379275 0.493920 
time: 1403638606.727829, t: 6.226766 8.712604 3.096298 q: -0.236860 0.748456 0.385841 0.484601 
time: 1403638606.827830, t: 6.088311 8.773779 3.069280 q: -0.243494 0.745897 0.396969 0.476198 
time: 1403638606.927830, t: 5.956239 8.843658 3.043911 q: -0.253237 0.739833 0.411203 0.468433 
time: 1403638607.027829, t: 5.831402 8.922313 3.026108 q: -0.266542 0.731552 0.426072 0.460706 
time: 1403638607.127830, t: 5.713654 9.007736 3.016946 q: -0.283324 0.723967 0.435559 0.453748 
time: 1403638607.227829, t: 5.603295 9.100683 3.013942 q: -0.297725 0.711424 0.441508 0.458592 
time: 1403638607.327830, t: 5.499181 9.196407 3.005267 q: -0.310565 0.699708 0.443476 0.466141 
time: 1403638607.427830, t: 5.398193 9.292832 2.988550 q: -0.319725 0.693233 0.443964 0.469148 
time: 1403638607.527829, t: 5.301623 9.386308 2.963347 q: -0.324006 0.692291 0.444576 0.467018 
time: 1403638607.627830, t: 5.209453 9.476675 2.933157 q: -0.325232 0.690970 0.445780 0.466974 
time: 1403638607.727829, t: 5.120193 9.565536 2.901345 q: -0.324890 0.688616 0.446053 0.470416 
time: 1403638607.827830, t: 5.036062 9.651498 2.865381 q: -0.324223 0.689209 0.445689 0.470352 
time: 1403638607.927830, t: 4.958372 9.734701 2.824460 q: -0.326678 0.693474 0.442295 0.465564 
time: 1403638608.027829, t: 4.884804 9.816697 2.780804 q: -0.328873 0.695265 0.438626 0.464818 
time: 1403638608.127830, t: 4.817100 9.895863 2.732849 q: -0.327374 0.692667 0.437635 0.470653 
time: 1403638608.227829, t: 4.752283 9.971477 2.679677 q: -0.323889 0.688712 0.438160 0.478317 
time: 1403638608.327830, t: 4.692001 10.044340 2.621956 q: -0.323997 0.683784 0.436599 0.486669 
time: 1403638608.427830, t: 4.630631 10.112323 2.559722 q: -0.324583 0.680237 0.435742 0.491989 
time: 1403638608.527829, t: 4.572022 10.176606 2.490492 q: -0.322986 0.682033 0.436499 0.489877 
time: 1403638608.627830, t: 4.511994 10.235112 2.420130 q: -0.325196 0.681146 0.434258 0.491638 
time: 1403638608.727829, t: 4.451540 10.288539 2.355126 q: -0.329030 0.678380 0.432025 0.494868 
time: 1403638608.827830, t: 4.394065 10.335444 2.293248 q: -0.327281 0.681017 0.433538 0.491068 
time: 1403638608.927830, t: 4.338466 10.377159 2.237727 q: -0.325629 0.684749 0.435164 0.485507 
time: 1403638609.027829, t: 4.285248 10.413125 2.188511 q: -0.325943 0.688384 0.435456 0.479861 
time: 1403638609.127830, t: 4.234283 10.446152 2.146639 q: -0.324938 0.689905 0.436094 0.477775 
time: 1403638609.227829, t: 4.184684 10.476089 2.108851 q: -0.331752 0.690002 0.431100 0.477484 
time: 1403638609.327830, t: 4.137259 10.501936 2.067168 q: -0.335525 0.690496 0.428018 0.476906 
time: 1403638609.427830, t: 4.093950 10.526098 2.017430 q: -0.332314 0.690547 0.429692 0.477575 
optimize pose graph 
time: 1403638609.527829, t: 4.054238 10.542520 1.962313 q: -0.328633 0.690540 0.431782 0.478247 
time: 1403638609.627830, t: 4.016848 10.559768 1.898942 q: -0.326696 0.690655 0.432394 0.478853 
time: 1403638609.727829, t: 3.982948 10.571406 1.834354 q: -0.323733 0.689395 0.434582 0.480697 
time: 1403638609.827830, t: 3.950805 10.583639 1.771693 q: -0.324117 0.690406 0.434129 0.479395 
time: 1403638609.927830, t: 3.920162 10.589915 1.718289 q: -0.324283 0.690057 0.433758 0.480120 
time: 1403638610.027829, t: 3.891909 10.597211 1.671939 q: -0.326403 0.688971 0.431892 0.481922 
time: 1403638610.127830, t: 3.869095 10.596429 1.633254 q: -0.329674 0.686094 0.429537 0.485889 
time: 1403638610.227829, t: 3.846420 10.592262 1.594584 q: -0.331042 0.683339 0.428434 0.489798 
time: 1403638610.327830, t: 3.824989 10.583849 1.548692 q: -0.332320 0.682462 0.427126 0.491296 
time: 1403638610.427830, t: 3.802455 10.573338 1.493944 q: -0.333521 0.682181 0.425558 0.492233 
time: 1403638610.527829, t: 3.785252 10.553772 1.439592 q: -0.333288 0.679165 0.425545 0.496554 
time: 1403638610.627830, t: 3.768453 10.530511 1.384537 q: -0.338907 0.672044 0.421688 0.505646 
time: 1403638610.727829, t: 3.749074 10.499944 1.329188 q: -0.339108 0.672744 0.422094 0.504240 
time: 1403638610.827830, t: 3.728184 10.459218 1.277718 q: -0.335880 0.679982 0.425651 0.493589 
time: 1403638610.927830, t: 3.710526 10.413062 1.233835 q: -0.334348 0.682832 0.428267 0.488405 
time: 1403638611.027829, t: 3.691003 10.362324 1.191563 q: -0.337148 0.681885 0.426106 0.489691 
time: 1403638611.127830, t: 3.672440 10.307501 1.142249 q: -0.339667 0.679452 0.424722 0.492526 
time: 1403638611.227829, t: 3.654187 10.245303 1.090432 q: -0.339426 0.678953 0.425479 0.492727 
time: 1403638611.327830, t: 3.639374 10.178919 1.046344 q: -0.336638 0.678322 0.427866 0.493443 
time: 1403638611.427830, t: 3.620690 10.106571 1.005592 q: -0.325903 0.673843 0.434537 0.500900 
time: 1403638611.527829, t: 3.604819 10.028530 0.976548 q: -0.315298 0.670867 0.441616 0.505470 
optimize pose graph 
time: 1403638611.627830, t: 3.579179 9.949567 0.952703 q: -0.309934 0.672890 0.444043 0.503969 
time: 1403638611.727829, t: 3.545713 9.868149 0.929390 q: -0.311650 0.677200 0.442030 0.498884 
time: 1403638611.827830, t: 3.512795 9.785162 0.903458 q: -0.317841 0.683076 0.437096 0.491255 
time: 1403638611.927830, t: 3.483103 9.701887 0.870648 q: -0.321549 0.687869 0.433605 0.485211 
time: 1403638612.027829, t: 3.450437 9.620565 0.836766 q: -0.323001 0.690593 0.432003 0.481793 
time: 1403638612.127830, t: 3.423900 9.539415 0.806071 q: -0.324372 0.692447 0.430528 0.479526 
time: 1403638612.227829, t: 3.398909 9.455260 0.783561 q: -0.323499 0.693015 0.430661 0.479176 
time: 1403638612.327830, t: 3.376527 9.372403 0.768082 q: -0.322956 0.692704 0.430808 0.479860 
time: 1403638612.427830, t: 3.358518 9.288260 0.754346 q: -0.322112 0.691686 0.430691 0.481996 
time: 1403638612.527829, t: 3.340203 9.203989 0.733988 q: -0.320079 0.689643 0.430610 0.486330 
time: 1403638612.627830, t: 3.321336 9.119107 0.708370 q: -0.315297 0.688005 0.432439 0.490136 
time: 1403638612.727829, t: 3.303055 9.034817 0.676435 q: -0.311085 0.686203 0.433528 0.494375 
time: 1403638612.827830, t: 3.282369 8.948666 0.641266 q: -0.310081 0.685264 0.431926 0.497699 
time: 1403638612.927830, t: 3.255369 8.862770 0.609146 q: -0.310826 0.684935 0.429368 0.499894 
time: 1403638613.027829, t: 3.227843 8.776974 0.582751 q: -0.310574 0.687359 0.428347 0.497595 
time: 1403638613.127830, t: 3.197842 8.690531 0.565009 q: -0.310708 0.688884 0.427438 0.496182 
time: 1403638613.227829, t: 3.163706 8.604628 0.556316 q: -0.310376 0.690682 0.427152 0.494132 
time: 1403638613.327830, t: 3.134120 8.518856 0.553069 q: -0.309373 0.691215 0.427762 0.493487 
time: 1403638613.427830, t: 3.099153 8.433969 0.553840 q: -0.308491 0.690604 0.428217 0.494499 
time: 1403638613.527829, t: 3.065852 8.346792 0.547234 q: -0.309646 0.690528 0.424731 0.496884 
optimize pose graph 
time: 1403638613.727829, t: 2.993666 8.173034 0.516413 q: -0.315263 0.691204 0.411894 0.503179 
time: 1403638613.827830, t: 2.957457 8.083807 0.491685 q: -0.315050 0.691827 0.404511 0.508419 
time: 1403638613.927830, t: 2.917606 7.989354 0.456917 q: -0.309553 0.696099 0.395534 0.513007 
time: 1403638614.027829, t: 2.881001 7.888670 0.419598 q: -0.299001 0.703217 0.384771 0.517721 
time: 1403638614.127830, t: 2.838028 7.784084 0.375181 q: -0.285942 0.712700 0.371505 0.521804 
time: 1403638614.227829, t: 2.793851 7.676470 0.334925 q: -0.272265 0.722767 0.357992 0.524710 
time: 1403638614.327830, t: 2.749622 7.567156 0.300443 q: -0.262296 0.730787 0.346501 0.526392 
time: 1403638614.427830, t: 2.708317 7.457288 0.273727 q: -0.257132 0.736576 0.336855 0.527132 
time: 1403638614.527829, t: 2.667359 7.345916 0.259655 q: -0.254362 0.741012 0.328897 0.527284 
time: 1403638614.627830, t: 2.625968 7.234355 0.251434 q: -0.250897 0.745571 0.318753 0.528744 
time: 1403638614.727829, t: 2.588608 7.123260 0.256314 q: -0.248580 0.753105 0.304632 0.527484 
time: 1403638614.827830, t: 2.552691 7.008238 0.268871 q: -0.243524 0.763866 0.287704 0.523863 
time: 1403638614.927830, t: 2.521497 6.889672 0.290627 q: -0.232829 0.774353 0.270230 0.522632 
time: 1403638615.027829, t: 2.497103 6.769666 0.319378 q: -0.218227 0.783635 0.249654 0.525324 
time: 1403638615.127830, t: 2.481430 6.645449 0.353847 q: -0.197839 0.790276 0.228505 0.533019 
time: 1403638615.227829, t: 2.470672 6.518795 0.394166 q: -0.173682 0.792481 0.207623 0.546535 
time: 1403638615.327830, t: 2.463151 6.390799 0.433067 q: -0.151636 0.795677 0.183722 0.556913 
time: 1403638615.427830, t: 2.454950 6.263811 0.465943 q: -0.130820 0.799343 0.157880 0.564810 
time: 1403638615.527829, t: 2.446054 6.135411 0.492481 q: -0.111315 0.803431 0.132500 0.569694 
time: 1403638615.627830, t: 2.435949 6.008574 0.511739 q: -0.096270 0.806084 0.111312 0.573211 
time: 1403638615.727829, t: 2.424234 5.884411 0.532208 q: -0.086279 0.808038 0.096373 0.574755 
time: 1403638615.827830, t: 2.409991 5.762527 0.559959 q: -0.079402 0.809385 0.085319 0.575597 
time: 1403638615.927830, t: 2.392684 5.642493 0.590278 q: -0.074111 0.810465 0.072621 0.576524 
time: 1403638616.027829, t: 2.374987 5.519364 0.614978 q: -0.065988 0.812167 0.060669 0.576498 
time: 1403638616.127830, t: 2.357705 5.396746 0.631380 q: -0.056253 0.813250 0.047959 0.577200 
time: 1403638616.227829, t: 2.338391 5.272315 0.632182 q: -0.046691 0.814800 0.031434 0.577004 
time: 1403638616.327830, t: 2.319571 5.148310 0.615472 q: -0.034317 0.815830 0.012428 0.577139 
time: 1403638616.427830, t: 2.300313 5.024693 0.587580 q: -0.021415 0.816583 -0.006662 0.576792 
time: 1403638616.527829, t: 2.279960 4.901311 0.554519 q: -0.011984 0.817447 -0.022348 0.575445 
time: 1403638616.627830, t: 2.260466 4.778054 0.517948 q: -0.004335 0.820513 -0.033379 0.570636 
time: 1403638616.727829, t: 2.241987 4.656301 0.478391 q: -0.002601 0.827835 -0.043019 0.559314 
time: 1403638616.827830, t: 2.225956 4.533198 0.433769 q: -0.007426 0.835471 -0.052252 0.546994 
time: 1403638616.927830, t: 2.216551 4.406858 0.394709 q: -0.007786 0.837612 -0.055068 0.543426 
time: 1403638617.027829, t: 2.214331 4.276440 0.366088 q: -0.000785 0.834343 -0.050359 0.548940 
time: 1403638617.127830, t: 2.217476 4.144616 0.346085 q: 0.006308 0.830430 -0.043696 0.555372 
time: 1403638617.227829, t: 2.225017 4.012632 0.332185 q: 0.009917 0.830184 -0.038108 0.556097 
time: 1403638617.327830, t: 2.236796 3.882164 0.323304 q: 0.009311 0.833274 -0.035182 0.551661 
time: 1403638617.427830, t: 2.253410 3.754005 0.321370 q: 0.010131 0.837318 -0.031525 0.545712 
time: 1403638617.527829, t: 2.276080 3.627808 0.328615 q: 0.010041 0.838997 -0.028123 0.543316 
time: 1403638617.627830, t: 2.306110 3.504919 0.344954 q: 0.010113 0.838528 -0.025326 0.544175 
time: 1403638617.727829, t: 2.343576 3.383743 0.369537 q: 0.011879 0.836777 -0.021231 0.547003 
time: 1403638617.827830, t: 2.389168 3.268473 0.401966 q: 0.012301 0.836703 -0.018740 0.547199 
time: 1403638617.927830, t: 2.438589 3.154742 0.441647 q: 0.010836 0.835518 -0.017781 0.549069 
time: 1403638618.027829, t: 2.491685 3.044772 0.480153 q: 0.009843 0.835037 -0.016688 0.549853 
time: 1403638618.127830, t: 2.548515 2.937318 0.512504 q: 0.007866 0.835129 -0.016297 0.549757 
time: 1403638618.227829, t: 2.608799 2.831639 0.538387 q: 0.007313 0.834874 -0.015127 0.550184 
time: 1403638618.327830, t: 2.671895 2.730284 0.560784 q: 0.007806 0.834245 -0.013761 0.551167 
time: 1403638618.427830, t: 2.740027 2.630782 0.577615 q: 0.007665 0.834140 -0.012701 0.551354 
time: 1403638618.527829, t: 2.811682 2.536055 0.594727 q: 0.007303 0.833671 -0.011652 0.552090 
time: 1403638618.627830, t: 2.885629 2.441205 0.608818 q: 0.009848 0.833335 -0.013396 0.552519 
time: 1403638618.727829, t: 2.966302 2.350878 0.623937 q: 0.014070 0.833164 -0.015614 0.552626 
time: 1403638618.827830, t: 3.050576 2.264936 0.644310 q: 0.015485 0.832027 -0.019522 0.554176 
time: 1403638618.927830, t: 3.137043 2.181960 0.671061 q: 0.020316 0.829408 -0.024783 0.557724 
time: 1403638619.027829, t: 3.225402 2.098897 0.694102 q: 0.028907 0.825008 -0.035924 0.563237 
time: 1403638619.127830, t: 3.313685 2.018371 0.709580 q: 0.042826 0.821416 -0.051693 0.566366 
time: 1403638619.227829, t: 3.402440 1.941995 0.717654 q: 0.056522 0.817857 -0.073348 0.567922 
time: 1403638619.327830, t: 3.490218 1.869946 0.718590 q: 0.072117 0.814325 -0.098217 0.567475 
time: 1403638619.427830, t: 3.574026 1.803017 0.709922 q: 0.085533 0.809741 -0.121583 0.567646 
time: 1403638619.527829, t: 3.656987 1.739582 0.699546 q: 0.093947 0.805757 -0.139909 0.567763 
time: 1403638619.627830, t: 3.737760 1.678993 0.686300 q: 0.096746 0.802787 -0.155304 0.567498 
time: 1403638619.727829, t: 3.816642 1.618488 0.671537 q: 0.091164 0.800196 -0.170053 0.567853 
time: 1403638619.827830, t: 3.893680 1.555446 0.655570 q: 0.088703 0.797541 -0.178858 0.569271 
time: 1403638619.927830, t: 3.967196 1.490092 0.637432 q: 0.089120 0.796142 -0.183743 0.569609 
time: 1403638620.027829, t: 4.037702 1.422009 0.613587 q: 0.091696 0.794925 -0.185720 0.570258 
time: 1403638620.127830, t: 4.100916 1.348038 0.598895 q: 0.094810 0.792335 -0.185601 0.573384 
time: 1403638620.227829, t: 4.160289 1.275598 0.586088 q: 0.097690 0.790091 -0.185089 0.576155 
time: 1403638620.327830, t: 4.211752 1.197336 0.585688 q: 0.101492 0.791927 -0.182457 0.573813 
time: 1403638620.427830, t: 4.258400 1.121179 0.588456 q: 0.102880 0.793062 -0.180641 0.572571 
time: 1403638620.527829, t: 4.300360 1.040738 0.597818 q: 0.103304 0.794507 -0.178259 0.571236 
time: 1403638620.627830, t: 4.339340 0.962534 0.600887 q: 0.101420 0.796679 -0.177479 0.568786 
time: 1403638620.727829, t: 4.375661 0.884683 0.597700 q: 0.097698 0.799889 -0.178098 0.564724 
time: 1403638620.827830, t: 4.408648 0.803482 0.591693 q: 0.096335 0.803087 -0.176433 0.560930 
time: 1403638620.927830, t: 4.443202 0.722028 0.580110 q: 0.101382 0.804945 -0.170490 0.559212 
time: 1403638621.027829, t: 4.475340 0.641299 0.564639 q: 0.106130 0.804096 -0.164634 0.561303 
time: 1403638621.127830, t: 4.501989 0.562407 0.550187 q: 0.106777 0.802987 -0.161364 0.563713 
time: 1403638621.227829, t: 4.532558 0.483853 0.544305 q: 0.106493 0.801439 -0.158948 0.566648 
time: 1403638621.327830, t: 4.561937 0.408701 0.546294 q: 0.108180 0.801913 -0.156032 0.566469 
time: 1403638621.427830, t: 4.589124 0.333929 0.545339 q: 0.108119 0.800723 -0.153932 0.568733 
time: 1403638621.627830, t: 4.637369 0.199690 0.529487 q: 0.109081 0.797001 -0.150093 0.574772 
optimize pose graph 
time: 1403638621.827830, t: 4.676461 0.078473 0.494669 q: 0.110976 0.793890 -0.147441 0.579383 
time: 1403638621.927830, t: 4.689172 0.021861 0.473157 q: 0.112386 0.790457 -0.145843 0.584190 
time: 1403638622.027829, t: 4.696893 -0.024517 0.449798 q: 0.111958 0.788975 -0.146059 0.586217 
time: 1403638622.127830, t: 4.701735 -0.073652 0.418511 q: 0.109292 0.789597 -0.148205 0.585343 
time: 1403638622.227829, t: 4.700000 -0.115038 0.390349 q: 0.106996 0.790010 -0.149946 0.584767 
time: 1403638622.327830, t: 4.694109 -0.157117 0.366940 q: 0.104653 0.790019 -0.151952 0.584661 
time: 1403638622.427830, t: 4.680066 -0.194895 0.352958 q: 0.107055 0.790856 -0.151290 0.583265 
time: 1403638622.527829, t: 4.659487 -0.228847 0.349691 q: 0.109930 0.790945 -0.150067 0.582924 
time: 1403638622.627830, t: 4.637483 -0.260413 0.350361 q: 0.114825 0.789391 -0.147470 0.584748 
time: 1403638622.727829, t: 4.609455 -0.286395 0.365539 q: 0.117956 0.781516 -0.145784 0.595034 
time: 1403638622.827830, t: 4.577290 -0.308438 0.384391 q: 0.119811 0.771910 -0.145289 0.607199 
time: 1403638622.927830, t: 4.533447 -0.323242 0.409167 q: 0.119321 0.772042 -0.146600 0.606813 
time: 1403638623.027829, t: 4.478986 -0.331086 0.427342 q: 0.116726 0.778189 -0.149790 0.598632 
time: 1403638623.127830, t: 4.419300 -0.336406 0.435265 q: 0.112667 0.783857 -0.153359 0.591063 
time: 1403638623.227829, t: 4.349477 -0.336164 0.441341 q: 0.108726 0.786851 -0.156462 0.586996 
time: 1403638623.327830, t: 4.275855 -0.334878 0.442368 q: 0.106326 0.790240 -0.158550 0.582304 
time: 1403638623.427830, t: 4.202129 -0.333897 0.438147 q: 0.106443 0.793001 -0.158625 0.578497 
time: 1403638623.627830, t: 4.041769 -0.329091 0.431267 q: 0.107916 0.792873 -0.158216 0.578510 
time: 1403638623.827830, t: 3.866305 -0.320895 0.449077 q: 0.111308 0.794387 -0.157450 0.575994 
optimize pose graph 
time: 1403638623.927830, t: 3.774868 -0.314015 0.466161 q: 0.112869 0.796056 -0.158049 0.573215 
time: 1403638624.027829, t: 3.683117 -0.305726 0.476360 q: 0.113164 0.796660 -0.159227 0.571991 
time: 1403638624.127830, t: 3.590757 -0.295472 0.485057 q: 0.111030 0.797100 -0.162161 0.570970 
time: 1403638624.227829, t: 3.500138 -0.283620 0.489040 q: 0.108649 0.797038 -0.165142 0.570661 
time: 1403638624.327830, t: 3.404769 -0.273767 0.487742 q: 0.107559 0.796286 -0.167118 0.571342 
time: 1403638624.427830, t: 3.310794 -0.263022 0.482392 q: 0.107506 0.796050 -0.168503 0.571273 
time: 1403638624.527829, t: 3.221098 -0.252184 0.473045 q: 0.106510 0.792983 -0.170953 0.574986 
time: 1403638624.627830, t: 3.123420 -0.243695 0.459380 q: 0.104024 0.783344 -0.173446 0.587765 
time: 1403638624.727829, t: 3.023414 -0.235757 0.445252 q: 0.108368 0.785809 -0.166725 0.585631 
time: 1403638624.827830, t: 2.928019 -0.227286 0.438800 q: 0.111584 0.792876 -0.157265 0.578069 
time: 1403638624.927830, t: 2.818583 -0.215462 0.439992 q: 0.108918 0.797307 -0.151876 0.573910 
time: 1403638625.027829, t: 2.716674 -0.197404 0.448046 q: 0.101982 0.798874 -0.150523 0.573361 
time: 1403638625.127830, t: 2.614047 -0.181535 0.452024 q: 0.093996 0.799942 -0.151265 0.573041 
time: 1403638625.227829, t: 2.507331 -0.169312 0.449746 q: 0.089913 0.801089 -0.150353 0.572334 
time: 1403638625.327830, t: 2.405788 -0.159683 0.445821 q: 0.088738 0.801449 -0.148915 0.572390 
time: 1403638625.427830, t: 2.298840 -0.151334 0.441968 q: 0.088263 0.801293 -0.147683 0.573000 
time: 1403638625.527829, t: 2.195142 -0.144091 0.445004 q: 0.088251 0.801110 -0.147223 0.573376 
time: 1403638625.627830, t: 2.087643 -0.137434 0.455089 q: 0.088806 0.802540 -0.147007 0.571343 
time: 1403638625.727829, t: 1.980141 -0.130697 0.470970 q: 0.087733 0.805429 -0.147788 0.567227 
time: 1403638625.827830, t: 1.873183 -0.123823 0.485801 q: 0.087054 0.809768 -0.148856 0.560838 
time: 1403638625.927830, t: 1.769927 -0.122264 0.494899 q: 0.088209 0.810793 -0.148621 0.559237 
optimize pose graph 
time: 1403638626.027829, t: 1.667697 -0.119439 0.499301 q: 0.088191 0.811533 -0.149679 0.557882 
time: 1403638626.127830, t: 1.568882 -0.121064 0.498112 q: 0.086471 0.811970 -0.151543 0.557011 
time: 1403638626.227829, t: 1.473468 -0.121480 0.492028 q: 0.088163 0.811829 -0.150950 0.557113 
time: 1403638626.327830, t: 1.380733 -0.127497 0.483141 q: 0.094406 0.809934 -0.147053 0.559883 
time: 1403638626.427830, t: 1.289777 -0.132097 0.471927 q: 0.100015 0.807800 -0.142907 0.563057 
time: 1403638626.627830, t: 1.113773 -0.138592 0.440965 q: 0.100183 0.811255 -0.142188 0.558222 
time: 1403638626.727829, t: 1.029171 -0.140444 0.426180 q: 0.098442 0.814084 -0.142885 0.554220 
time: 1403638626.827830, t: 0.947413 -0.143247 0.419041 q: 0.096641 0.817325 -0.143750 0.549524 
time: 1403638626.927830, t: 0.875693 -0.146223 0.419312 q: 0.096556 0.819636 -0.143246 0.546218 
time: 1403638627.027829, t: 0.805333 -0.148393 0.421902 q: 0.095835 0.819754 -0.142977 0.546238 
time: 1403638627.127830, t: 0.743472 -0.152498 0.421005 q: 0.095038 0.819581 -0.142737 0.546700 
time: 1403638627.227829, t: 0.685187 -0.156826 0.415973 q: 0.094411 0.819513 -0.142485 0.546977 
time: 1403638627.327830, t: 0.627255 -0.155460 0.404686 q: 0.097157 0.819462 -0.140285 0.547141 
time: 1403638627.427830, t: 0.581538 -0.160481 0.395981 q: 0.098245 0.819388 -0.139187 0.547337 
time: 1403638627.527829, t: 0.538928 -0.163843 0.382745 q: 0.097943 0.819038 -0.139468 0.547844 
time: 1403638627.627830, t: 0.500559 -0.167076 0.368396 q: 0.101128 0.817019 -0.137926 0.550664 
time: 1403638627.727829, t: 0.466859 -0.169641 0.353833 q: 0.102050 0.814015 -0.137645 0.554995 
time: 1403638627.827830, t: 0.433510 -0.167278 0.340523 q: 0.103376 0.812730 -0.137427 0.556684 
time: 1403638627.927830, t: 0.404182 -0.166649 0.326160 q: 0.104122 0.813915 -0.137414 0.554814 
time: 1403638628.027829, t: 0.376729 -0.162956 0.312733 q: 0.105450 0.815467 -0.137485 0.552260 
optimize pose graph 
time: 1403638628.127830, t: 0.353472 -0.161031 0.299409 q: 0.105951 0.816434 -0.137954 0.550616 
time: 1403638628.227829, t: 0.331987 -0.152546 0.289212 q: 0.106478 0.816562 -0.138867 0.550095 
time: 1403638628.327830, t: 0.317848 -0.143913 0.279024 q: 0.106268 0.817200 -0.140015 0.548897 
time: 1403638628.427830, t: 0.307868 -0.134691 0.272207 q: 0.103821 0.816768 -0.142093 0.549474 
time: 1403638628.527829, t: 0.302838 -0.124888 0.269008 q: 0.095565 0.811002 -0.148464 0.557765 
time: 1403638628.627830, t: 0.298662 -0.116231 0.268548 q: 0.089305 0.804290 -0.153174 0.567169 
time: 1403638628.727829, t: 0.288477 -0.107829 0.265621 q: 0.086899 0.803769 -0.154898 0.567812 
time: 1403638628.827830, t: 0.277176 -0.102727 0.258421 q: 0.090497 0.805137 -0.152762 0.565887 
time: 1403638628.927830, t: 0.267361 -0.100547 0.247202 q: 0.094909 0.805161 -0.150263 0.565799 
time: 1403638629.027829, t: 0.259047 -0.099284 0.237355 q: 0.099852 0.806170 -0.146771 0.564427 
time: 1403638629.127830, t: 0.251741 -0.098156 0.229551 q: 0.103273 0.807490 -0.143796 0.562688 
time: 1403638629.227829, t: 0.243507 -0.096155 0.224022 q: 0.104885 0.808470 -0.142309 0.561359 
time: 1403638629.327830, t: 0.233169 -0.091790 0.222420 q: 0.106010 0.809332 -0.141510 0.560105 
time: 1403638629.427830, t: 0.226679 -0.085216 0.220955 q: 0.105541 0.813391 -0.142419 0.554051 
time: 1403638629.527829, t: 0.220500 -0.077072 0.219992 q: 0.102680 0.818055 -0.144896 0.547035 
time: 1403638629.627830, t: 0.219724 -0.068432 0.221139 q: 0.095561 0.818370 -0.150232 0.546414 
time: 1403638629.727829, t: 0.224011 -0.061262 0.223554 q: 0.085539 0.814370 -0.158126 0.551798 
time: 1403638629.827830, t: 0.231371 -0.058692 0.226002 q: 0.081615 0.808399 -0.161415 0.560157 
time: 1403638629.927830, t: 0.237003 -0.059216 0.222159 q: 0.086701 0.802285 -0.158749 0.568876 
time: 1403638630.027829, t: 0.241270 -0.062922 0.209270 q: 0.097551 0.796482 -0.151577 0.577169 
time: 1403638630.127830, t: 0.242633 -0.066241 0.185182 q: 0.104027 0.796852 -0.146936 0.576728 
optimize pose graph 
time: 1403638630.227829, t: 0.241099 -0.067912 0.153572 q: 0.106449 0.800983 -0.144797 0.571077 
time: 1403638630.327830, t: 0.238272 -0.068210 0.116315 q: 0.108710 0.807596 -0.144287 0.561384 
time: 1403638630.427830, t: 0.248331 -0.065118 0.114903 q: 0.093979 0.813755 -0.150718 0.553403 
time: 1403638630.527829, t: 0.260808 -0.064896 0.123748 q: 0.102940 0.804213 -0.143333 0.567539 
time: 1403638630.627830, t: 0.272082 -0.063929 0.112300 q: 0.103653 0.803427 -0.143580 0.568460 
time: 1403638630.727829, t: 0.278436 -0.066154 0.094336 q: 0.094156 0.829530 -0.136746 0.533212 
time: 1403638630.827830, t: 0.275758 -0.075757 0.092658 q: 0.098224 0.827066 -0.138512 0.535844 
time: 1403638630.927830, t: 0.272172 -0.066562 0.085291 q: 0.097700 0.827772 -0.136958 0.535248 
time: 1403638631.027829, t: 0.287499 -0.081647 0.109831 q: 0.096909 0.828491 -0.137084 0.534246 
time: 1403638631.127830, t: 0.276389 -0.074375 0.109283 q: 0.096619 0.828361 -0.137493 0.534395 
time: 1403638631.227829, t: 0.276878 -0.074201 0.109085 q: 0.096857 0.828375 -0.137357 0.534365 
time: 1403638631.327830, t: 0.282503 -0.073429 0.108565 q: 0.097031 0.828396 -0.137588 0.534242 
time: 1403638631.427830, t: 0.281302 -0.073370 0.108202 q: 0.097257 0.828268 -0.137313 0.534471 
time: 1403638631.527829, t: 0.283215 -0.073152 0.107634 q: 0.097374 0.828342 -0.137296 0.534339 
time: 1403638631.627830, t: 0.283547 -0.073272 0.107405 q: 0.097599 0.828376 -0.137090 0.534298 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720562554.990791961]: Shutdown request received.[0m
[33m[ WARN] [1720562554.990837677]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720562554.991787698]: Shutdown request received.[0m
[33m[ WARN] [1720562554.991813207]: Reason given for shutdown: [user request][0m
killed
