/SLAM-Hive/slam_hive_results/mapping_results/3277/2190_vins-fusion-stereo+MH_02_easy+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/31796f6a-9d3d-11ef-b000-0242ac110002/roslaunch-e2e01b55c168-118.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;roscore
[0m[ INFO] [1731007162.417547687]: init begins[0m
[31m[ERROR] [1731007162.421040712]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1731007162.421105098]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[1mstarted roslaunch server http://e2e01b55c168:33501/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [155][0m
[0m[ INFO] [1731007163.679128372]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1731007163.679772799]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1731007163.713855779]:  fix extrinsic param [0m
[1mROS_MASTER_URI=http://e2e01b55c168:11311/[0m
]2;roscore http://e2e01b55c168:11311/
[1msetting /run_id to 31796f6a-9d3d-11ef-b000-0242ac110002[0m
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
camera number 2
[0m[ INFO] [1731007163.725467757]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731007163.725520480]: ROW: 480 COL: 752 [0m
no imu, fix extrinsic param; no time offset calibration
 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 9.8
[0m[ INFO] [1731007163.732079389]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1731007163.756628159]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731007163.756831739]: waiting for image and imu...[0m
[1mprocess[rosout-1]: started with pid [242][0m
started core service [/rosout]
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
VO input, perfrom 6 DoF pose graph optimization
no previous pose graph
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1731007171.924933267]: Opening /slamhive/dataset/MH_02_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636856.854208   Duration: 0.000000 / 153.782490   Delay: 327370315.45 
[0m[ INFO] [1731007175.448350748]: Initialization finish![0m
time: 1403636859.801666, t: 0.314711 0.065071 -0.090029 q: 0.997841 -0.062366 -0.006708 -0.019451 
time: 1403636859.901666, t: 0.359844 0.056859 -0.099073 q: 0.997374 -0.068366 -0.000553 -0.023913 
time: 1403636860.001667, t: 0.390684 0.058009 -0.111364 q: 0.997155 -0.071184 0.001321 -0.024750 
time: 1403636860.101666, t: 0.397917 0.062450 -0.111142 q: 0.996978 -0.074478 -0.002166 -0.021972 
time: 1403636860.201667, t: 0.376828 0.070792 -0.106629 q: 0.996988 -0.074797 -0.010111 -0.017828 
time: 1403636860.301666, t: 0.329925 0.076884 -0.094076 q: 0.997068 -0.072021 -0.023434 -0.010932 
time: 1403636860.401666, t: 0.271807 0.082281 -0.080872 q: 0.996353 -0.072815 -0.044248 -0.004478 
time: 1403636860.501667, t: 0.215907 0.087101 -0.071315 q: 0.995042 -0.072616 -0.067862 0.003557 
time: 1403636860.601666, t: 0.170206 0.089152 -0.061361 q: 0.993740 -0.070172 -0.086407 0.009529 
time: 1403636860.701667, t: 0.141127 0.089631 -0.057076 q: 0.993469 -0.065355 -0.092997 0.009996 
time: 1403636860.801666, t: 0.131944 0.091318 -0.058708 q: 0.993479 -0.064349 -0.094077 0.002734 
time: 1403636860.901666, t: 0.149637 0.090668 -0.065349 q: 0.993636 -0.062413 -0.093684 -0.003864 
time: 1403636861.001667, t: 0.191833 0.088657 -0.076835 q: 0.994095 -0.059930 -0.090087 -0.008243 
time: 1403636861.101666, t: 0.248071 0.086544 -0.090554 q: 0.995281 -0.059504 -0.076015 -0.009857 
time: 1403636861.201667, t: 0.310249 0.084763 -0.105268 q: 0.996668 -0.059897 -0.053863 -0.012802 
time: 1403636861.301666, t: 0.370954 0.083020 -0.120762 q: 0.997683 -0.059597 -0.029404 -0.014571 
time: 1403636861.401666, t: 0.420273 0.083020 -0.133890 q: 0.998029 -0.060597 -0.009355 -0.013380 
time: 1403636861.501667, t: 0.443534 0.084171 -0.139109 q: 0.997942 -0.062689 0.003078 -0.013121 
time: 1403636861.601666, t: 0.436183 0.087566 -0.135761 q: 0.997810 -0.064772 0.001668 -0.013316 
time: 1403636861.701667, t: 0.399924 0.091212 -0.123329 q: 0.997891 -0.063161 -0.009293 -0.011781 
time: 1403636861.801666, t: 0.349305 0.094442 -0.108629 q: 0.997759 -0.062128 -0.021450 -0.012511 
time: 1403636861.901666, t: 0.293824 0.095250 -0.094911 q: 0.997611 -0.058383 -0.035443 -0.010345 
time: 1403636862.001667, t: 0.236475 0.094414 -0.080006 q: 0.996875 -0.055512 -0.055971 -0.005152 
time: 1403636862.101666, t: 0.184657 0.092237 -0.067032 q: 0.995913 -0.053823 -0.072530 0.000749 
time: 1403636862.201667, t: 0.146822 0.090974 -0.058246 q: 0.995381 -0.050778 -0.081414 0.003055 
time: 1403636862.301666, t: 0.134732 0.090966 -0.057329 q: 0.994636 -0.051811 -0.089443 -0.003876 
time: 1403636862.401666, t: 0.153999 0.090044 -0.063086 q: 0.994107 -0.050776 -0.095556 -0.006425 
time: 1403636862.501667, t: 0.199999 0.088076 -0.075471 q: 0.994425 -0.051344 -0.091732 -0.008278 
time: 1403636862.601666, t: 0.260873 0.088008 -0.089378 q: 0.994774 -0.061184 -0.080371 -0.014878 
time: 1403636862.701667, t: 0.327287 0.086214 -0.104470 q: 0.995254 -0.069099 -0.065654 -0.019602 
time: 1403636862.801666, t: 0.394299 0.082120 -0.120349 q: 0.995726 -0.072194 -0.055757 -0.014447 
time: 1403636862.901666, t: 0.455476 0.078196 -0.137216 q: 0.995989 -0.074865 -0.048547 -0.006668 
time: 1403636863.001667, t: 0.496679 0.075275 -0.151158 q: 0.996591 -0.073251 -0.037902 -0.002120 
time: 1403636863.101666, t: 0.504544 0.076623 -0.155112 q: 0.996719 -0.075256 -0.027951 -0.010364 
time: 1403636863.201667, t: 0.480392 0.079589 -0.148830 q: 0.996423 -0.078369 -0.024728 -0.019677 
time: 1403636863.301666, t: 0.431271 0.083123 -0.133788 q: 0.996010 -0.080860 -0.027874 -0.025461 
time: 1403636863.401666, t: 0.370562 0.087296 -0.115526 q: 0.995399 -0.085934 -0.031825 -0.027971 
time: 1403636863.501667, t: 0.304410 0.091863 -0.096880 q: 0.995048 -0.088236 -0.039584 -0.022973 
time: 1403636863.601666, t: 0.237959 0.095068 -0.081737 q: 0.995306 -0.080262 -0.052804 -0.011666 
time: 1403636863.701667, t: 0.179882 0.097635 -0.069129 q: 0.994971 -0.073852 -0.067648 -0.001554 
time: 1403636863.801666, t: 0.143050 0.100425 -0.061326 q: 0.993992 -0.072230 -0.082077 0.005034 
time: 1403636863.901666, t: 0.138155 0.101316 -0.063128 q: 0.993094 -0.071193 -0.093089 0.005501 
time: 1403636864.001667, t: 0.168175 0.099784 -0.073127 q: 0.993143 -0.067633 -0.095258 0.004389 
time: 1403636864.101666, t: 0.225146 0.096252 -0.090304 q: 0.993811 -0.066283 -0.089124 -0.001771 
time: 1403636864.201667, t: 0.295984 0.092627 -0.109869 q: 0.994091 -0.071649 -0.081014 -0.009275 
time: 1403636864.301666, t: 0.363884 0.086654 -0.126391 q: 0.994434 -0.072976 -0.075217 -0.010856 
time: 1403636864.401666, t: 0.423833 0.079743 -0.141559 q: 0.994986 -0.073228 -0.067541 -0.008887 
time: 1403636864.501667, t: 0.473113 0.075211 -0.154450 q: 0.995894 -0.076467 -0.048317 -0.003785 
time: 1403636864.601666, t: 0.500927 0.070894 -0.158481 q: 0.996716 -0.076364 -0.026925 0.000856 
time: 1403636864.701667, t: 0.497298 0.071451 -0.156664 q: 0.996698 -0.078987 -0.017849 -0.005955 
time: 1403636864.801666, t: 0.464179 0.074478 -0.146806 q: 0.996391 -0.080575 -0.023371 -0.012872 
time: 1403636864.901666, t: 0.412323 0.077882 -0.130387 q: 0.996035 -0.081580 -0.032930 -0.013224 
time: 1403636865.001667, t: 0.354623 0.083236 -0.112407 q: 0.995070 -0.087363 -0.044430 -0.015172 
time: 1403636865.101666, t: 0.295342 0.088061 -0.094263 q: 0.994372 -0.088196 -0.057159 -0.013370 
time: 1403636865.201667, t: 0.242631 0.091358 -0.077728 q: 0.994552 -0.081072 -0.065402 0.003906 
time: 1403636865.301666, t: 0.201674 0.093354 -0.065772 q: 0.994753 -0.073758 -0.068827 0.017022 
time: 1403636865.401666, t: 0.176230 0.094962 -0.058178 q: 0.994564 -0.074579 -0.070630 0.017066 
time: 1403636865.501667, t: 0.171139 0.095363 -0.056804 q: 0.993792 -0.076767 -0.080018 0.009058 
time: 1403636865.601666, t: 0.193027 0.092553 -0.062414 q: 0.992936 -0.075808 -0.091197 0.003816 
time: 1403636865.701667, t: 0.238080 0.084951 -0.075645 q: 0.993366 -0.071036 -0.090366 0.003512 
time: 1403636865.801666, t: 0.297672 0.076806 -0.091915 q: 0.994551 -0.069492 -0.077620 0.003876 
time: 1403636865.901666, t: 0.363352 0.070599 -0.109129 q: 0.995855 -0.069077 -0.058947 0.005063 
time: 1403636866.001667, t: 0.429463 0.064306 -0.128262 q: 0.997059 -0.068571 -0.033574 0.006679 
time: 1403636866.101666, t: 0.486581 0.059385 -0.145678 q: 0.997366 -0.072105 -0.005794 0.005264 
time: 1403636866.301666, t: 0.538032 0.052790 -0.166088 q: 0.996799 -0.078903 0.011884 -0.004881 
time: 1403636866.401666, t: 0.520444 0.055609 -0.160519 q: 0.996368 -0.084615 0.001146 -0.009474 
time: 1403636866.501667, t: 0.480017 0.059711 -0.147407 q: 0.996133 -0.086486 -0.010691 -0.011163 
time: 1403636866.601666, t: 0.430929 0.064928 -0.131686 q: 0.995722 -0.088841 -0.022484 -0.011807 
time: 1403636866.701667, t: 0.378075 0.077126 -0.115992 q: 0.995047 -0.092071 -0.035212 -0.012792 
time: 1403636866.801666, t: 0.336722 0.082214 -0.109624 q: 0.995029 -0.087482 -0.045877 -0.012636 
time: 1403636866.901666, t: 0.300738 0.086731 -0.105729 q: 0.995399 -0.076538 -0.057339 -0.005893 
time: 1403636867.001667, t: 0.272584 0.088019 -0.104322 q: 0.994917 -0.069489 -0.072855 0.001642 
time: 1403636867.101666, t: 0.254002 0.088149 -0.104452 q: 0.994024 -0.069171 -0.084382 0.003455 
time: 1403636867.201667, t: 0.243952 0.087225 -0.109605 q: 0.993928 -0.062115 -0.090601 0.006405 
time: 1403636867.301666, t: 0.239488 0.084159 -0.117670 q: 0.994081 -0.051278 -0.095512 0.007181 
time: 1403636867.401666, t: 0.241001 0.082267 -0.126026 q: 0.993456 -0.049887 -0.102551 0.006251 
time: 1403636867.501667, t: 0.245238 0.079849 -0.135946 q: 0.991809 -0.052937 -0.116146 0.004709 
time: 1403636867.601666, t: 0.243927 0.078340 -0.144856 q: 0.987488 -0.055375 -0.147634 0.002133 
time: 1403636867.701667, t: 0.237869 0.077693 -0.153661 q: 0.978050 -0.055054 -0.200833 0.007300 
time: 1403636867.801666, t: 0.228721 0.078533 -0.162358 q: 0.964073 -0.058172 -0.258837 0.013499 
time: 1403636867.901666, t: 0.224926 0.079339 -0.166819 q: 0.954208 -0.063441 -0.291645 0.020139 
time: 1403636868.001667, t: 0.229260 0.078088 -0.167720 q: 0.953504 -0.066125 -0.293024 0.024406 
time: 1403636868.101666, t: 0.234636 0.076628 -0.168941 q: 0.957955 -0.066307 -0.278116 0.024003 
time: 1403636868.201667, t: 0.237151 0.074671 -0.172135 q: 0.960980 -0.064670 -0.267871 0.024086 
time: 1403636868.301666, t: 0.236207 0.071941 -0.177150 q: 0.961107 -0.063583 -0.267405 0.026909 
optimize pose graph 
time: 1403636868.501667, t: 0.232834 0.058090 -0.189448 q: 0.961926 -0.067221 -0.263075 0.031178 
time: 1403636868.601666, t: 0.235233 0.050635 -0.196026 q: 0.964218 -0.073233 -0.252841 0.031485 
time: 1403636868.701667, t: 0.237264 0.044656 -0.202993 q: 0.963961 -0.076290 -0.252801 0.032412 
time: 1403636868.801666, t: 0.235372 0.038711 -0.209716 q: 0.962210 -0.073796 -0.260508 0.029007 
time: 1403636868.901666, t: 0.234368 0.034000 -0.213659 q: 0.961600 -0.074301 -0.263170 0.023391 
time: 1403636869.001667, t: 0.234930 0.028813 -0.214360 q: 0.963413 -0.071730 -0.257272 0.022410 
time: 1403636869.101666, t: 0.236025 0.024899 -0.214263 q: 0.964976 -0.066515 -0.252619 0.024093 
time: 1403636869.201667, t: 0.234938 0.021789 -0.213698 q: 0.965436 -0.062773 -0.251841 0.023870 
time: 1403636869.301666, t: 0.234053 0.020314 -0.212233 q: 0.965282 -0.062048 -0.252758 0.022227 
time: 1403636869.401666, t: 0.233577 0.020087 -0.210379 q: 0.965452 -0.060502 -0.252481 0.022264 
time: 1403636869.501667, t: 0.233190 0.022257 -0.209052 q: 0.965552 -0.060241 -0.252146 0.022441 
time: 1403636869.601666, t: 0.233351 0.031074 -0.208269 q: 0.965413 -0.061074 -0.252444 0.022776 
time: 1403636869.701667, t: 0.233989 0.049785 -0.207661 q: 0.964321 -0.063001 -0.256099 0.023002 
time: 1403636869.801666, t: 0.236570 0.077764 -0.206078 q: 0.963384 -0.066981 -0.258448 0.024697 
time: 1403636869.901666, t: 0.241925 0.114717 -0.202511 q: 0.964056 -0.073802 -0.253690 0.028119 
time: 1403636870.001667, t: 0.246710 0.159033 -0.198045 q: 0.965046 -0.080318 -0.247373 0.032278 
time: 1403636870.101666, t: 0.250002 0.206852 -0.193423 q: 0.964057 -0.088744 -0.247677 0.037070 
time: 1403636870.201667, t: 0.257368 0.258395 -0.188372 q: 0.961356 -0.097017 -0.254853 0.037841 
time: 1403636870.301666, t: 0.264337 0.311059 -0.183856 q: 0.961027 -0.100724 -0.254280 0.040295 
time: 1403636870.401666, t: 0.270003 0.361820 -0.180179 q: 0.962323 -0.107500 -0.246505 0.040170 
time: 1403636870.501667, t: 0.271117 0.406886 -0.176187 q: 0.962064 -0.112944 -0.244612 0.042915 
time: 1403636870.601666, t: 0.269790 0.444059 -0.174519 q: 0.959293 -0.118988 -0.251605 0.047893 
time: 1403636870.701667, t: 0.269145 0.475167 -0.172560 q: 0.957440 -0.127146 -0.254806 0.047076 
time: 1403636870.801666, t: 0.268005 0.495457 -0.168507 q: 0.959524 -0.128107 -0.245530 0.051156 
time: 1403636870.901666, t: 0.264851 0.507945 -0.166360 q: 0.962238 -0.126504 -0.235098 0.053142 
time: 1403636871.001667, t: 0.261351 0.513401 -0.165314 q: 0.963602 -0.123631 -0.230101 0.056928 
time: 1403636871.101666, t: 0.256467 0.513460 -0.164183 q: 0.961465 -0.124552 -0.237261 0.061482 
time: 1403636871.201667, t: 0.254663 0.510113 -0.164786 q: 0.958245 -0.130506 -0.246952 0.061230 
time: 1403636871.301666, t: 0.257050 0.498077 -0.165523 q: 0.958146 -0.131557 -0.246617 0.061879 
time: 1403636871.501667, t: 0.260470 0.445209 -0.165880 q: 0.959623 -0.126051 -0.245321 0.055241 
time: 1403636871.601666, t: 0.260494 0.404329 -0.164861 q: 0.959683 -0.122879 -0.246754 0.054961 
time: 1403636871.701667, t: 0.260791 0.354443 -0.164122 q: 0.959899 -0.115565 -0.248986 0.056962 
time: 1403636871.801666, t: 0.260317 0.300381 -0.161821 q: 0.960668 -0.106998 -0.249629 0.057919 
time: 1403636871.901666, t: 0.257767 0.244544 -0.157401 q: 0.961957 -0.100160 -0.248367 0.054034 
time: 1403636872.001667, t: 0.254265 0.184427 -0.150751 q: 0.964465 -0.090896 -0.242249 0.053488 
time: 1403636872.101666, t: 0.250141 0.125804 -0.142923 q: 0.966898 -0.079683 -0.236472 0.053288 
time: 1403636872.201667, t: 0.244759 0.073175 -0.136444 q: 0.967664 -0.072390 -0.236223 0.050834 
time: 1403636872.301666, t: 0.237465 0.024851 -0.131200 q: 0.966686 -0.064265 -0.243074 0.047991 
time: 1403636872.401666, t: 0.230023 -0.014344 -0.127301 q: 0.965328 -0.056885 -0.250837 0.044571 
time: 1403636872.501667, t: 0.226849 -0.038373 -0.124863 q: 0.964893 -0.051315 -0.254000 0.042795 
time: 1403636872.601666, t: 0.226949 -0.047957 -0.124744 q: 0.965876 -0.047607 -0.251519 0.039434 
time: 1403636872.701667, t: 0.229059 -0.045821 -0.126457 q: 0.967190 -0.047187 -0.247033 0.035943 
time: 1403636872.801666, t: 0.231352 -0.032018 -0.128043 q: 0.967018 -0.050557 -0.247303 0.034079 
time: 1403636872.901666, t: 0.232782 -0.005246 -0.128799 q: 0.966181 -0.055121 -0.249148 0.037175 
time: 1403636873.001667, t: 0.234160 0.035592 -0.129504 q: 0.965497 -0.062446 -0.249796 0.038950 
time: 1403636873.101666, t: 0.235079 0.086300 -0.129600 q: 0.965271 -0.069583 -0.248522 0.040575 
time: 1403636873.201667, t: 0.236644 0.142785 -0.129335 q: 0.964474 -0.077271 -0.248627 0.044757 
time: 1403636873.301666, t: 0.239619 0.203158 -0.129295 q: 0.963461 -0.086093 -0.248738 0.049597 
time: 1403636873.401666, t: 0.243134 0.262944 -0.131101 q: 0.962196 -0.094795 -0.249742 0.053125 
time: 1403636873.501667, t: 0.244103 0.320517 -0.133549 q: 0.960742 -0.101665 -0.251784 0.056955 
time: 1403636873.601666, t: 0.242604 0.373080 -0.137805 q: 0.958530 -0.111703 -0.255464 0.059001 
time: 1403636873.701667, t: 0.238162 0.415971 -0.141652 q: 0.956753 -0.120173 -0.257807 0.060975 
time: 1403636873.801666, t: 0.234978 0.448048 -0.146726 q: 0.955660 -0.121534 -0.260943 0.062070 
time: 1403636873.901666, t: 0.232684 0.464867 -0.149854 q: 0.955175 -0.123802 -0.261365 0.063267 
time: 1403636874.001667, t: 0.230862 0.472680 -0.150280 q: 0.955070 -0.126477 -0.260266 0.064083 
time: 1403636874.101666, t: 0.229292 0.471610 -0.148974 q: 0.955023 -0.127147 -0.260008 0.064506 
time: 1403636874.201667, t: 0.229552 0.462747 -0.147408 q: 0.954786 -0.125642 -0.261660 0.064274 
time: 1403636874.301666, t: 0.230374 0.442240 -0.144879 q: 0.954768 -0.121893 -0.264149 0.061530 
time: 1403636874.401666, t: 0.230577 0.408488 -0.139731 q: 0.955244 -0.114088 -0.266190 0.060298 
time: 1403636874.501667, t: 0.230240 0.363726 -0.132971 q: 0.956748 -0.106567 -0.264238 0.058788 
time: 1403636874.601666, t: 0.230341 0.311465 -0.126100 q: 0.958580 -0.100904 -0.260666 0.054741 
time: 1403636874.701667, t: 0.227000 0.251490 -0.118941 q: 0.960439 -0.091746 -0.257786 0.051836 
time: 1403636874.801666, t: 0.222320 0.191051 -0.110911 q: 0.961270 -0.083915 -0.257631 0.050441 
time: 1403636874.901666, t: 0.214226 0.133745 -0.102346 q: 0.961585 -0.075407 -0.258792 0.051902 
time: 1403636875.001667, t: 0.208916 0.088094 -0.094271 q: 0.962404 -0.069134 -0.257517 0.051814 
time: 1403636875.101666, t: 0.206654 0.053475 -0.084276 q: 0.965194 -0.075021 -0.244905 0.052852 
time: 1403636875.201667, t: 0.204254 0.029370 -0.077410 q: 0.968052 -0.090691 -0.226041 0.059633 
time: 1403636875.301666, t: 0.197167 0.007922 -0.076242 q: 0.968475 -0.110747 -0.210775 0.073249 
time: 1403636875.401666, t: 0.189640 -0.011361 -0.081364 q: 0.965499 -0.126967 -0.206846 0.094367 
time: 1403636875.501667, t: 0.180970 -0.026461 -0.098892 q: 0.961501 -0.135755 -0.210362 0.113289 
time: 1403636875.601666, t: 0.169743 -0.032174 -0.129724 q: 0.957967 -0.140480 -0.215054 0.127735 
time: 1403636875.701667, t: 0.158216 -0.027193 -0.167690 q: 0.955206 -0.150244 -0.215361 0.136482 
time: 1403636875.801666, t: 0.146260 -0.011173 -0.208724 q: 0.952199 -0.166692 -0.212744 0.142378 
time: 1403636875.901666, t: 0.134209 0.008444 -0.249542 q: 0.946776 -0.188049 -0.214059 0.149773 
time: 1403636876.001667, t: 0.126818 0.036635 -0.289577 q: 0.940112 -0.212813 -0.213453 0.159180 
time: 1403636876.101666, t: 0.125216 0.075774 -0.323341 q: 0.933709 -0.242135 -0.206509 0.164047 time: 1403636876.201667, t: 0.126271 0.119416 -0.347008 q: 0.927884 -0.266789 -0.197664 0.169657 
time: 1403636876.301666, t: 0.128014 0.172728 -0.353681 q: 0.921927 -0.283196 -0.195972 0.177329 
time: 1403636876.401666, t: 0.134121 0.229479 -0.350018 q: 0.915553 -0.296467 -0.201164 0.182762 
optimize pose graph 
time: 1403636876.501667, t: 0.143042 0.291799 -0.331993 q: 0.912199 -0.307670 -0.202231 0.179818 
time: 1403636876.601666, t: 0.159282 0.349849 -0.301001 q: 0.914301 -0.312287 -0.195716 0.168004 
time: 1403636876.701667, t: 0.151840 0.248357 -0.361626 q: 0.918793 -0.327126 -0.152270 0.160070 
time: 1403636876.801666, t: 0.201813 0.429727 -0.208358 q: 0.927641 -0.293700 -0.183440 0.139902 
time: 1403636876.901666, t: 0.224679 0.440870 -0.150020 q: 0.936511 -0.274190 -0.182411 0.120384 
time: 1403636877.001667, t: 0.239302 0.432062 -0.092584 q: 0.947462 -0.244689 -0.177295 0.104927 
time: 1403636877.101666, t: 0.254510 0.403040 -0.034603 q: 0.958478 -0.207287 -0.175215 0.087475 
time: 1403636877.201667, t: 0.261728 0.356218 0.019502 q: 0.967822 -0.165761 -0.176316 0.068962 
time: 1403636877.301666, t: 0.269748 0.293480 0.055533 q: 0.974292 -0.125007 -0.179245 0.054772 
time: 1403636877.401666, t: 0.274388 0.224489 0.077832 q: 0.978264 -0.086413 -0.184314 0.039511 
time: 1403636877.501667, t: 0.268675 0.154299 0.086764 q: 0.979726 -0.052986 -0.191199 0.027797 
time: 1403636877.601666, t: 0.255819 0.087788 0.079452 q: 0.978863 -0.028398 -0.201172 0.023471 
time: 1403636877.701667, t: 0.239037 0.035378 0.061007 q: 0.976667 -0.012175 -0.212965 0.024879 
time: 1403636877.801666, t: 0.239186 0.153900 -0.024842 q: 0.969949 0.073923 -0.214125 0.088792 
time: 1403636877.901666, t: 0.235376 0.115827 -0.061556 q: 0.965178 0.045198 -0.240644 0.092082 
time: 1403636878.001667, t: 0.236949 0.102112 -0.094059 q: 0.954354 0.027057 -0.275002 0.113361 
time: 1403636878.101666, t: 0.197450 0.107016 -0.149529 q: 0.958660 0.015045 -0.259036 0.116816 
time: 1403636878.201667, t: 0.184324 0.126076 -0.194148 q: 0.956975 -0.014169 -0.261303 0.125373 
time: 1403636878.301666, t: 0.170057 0.152393 -0.233180 q: 0.954309 -0.045326 -0.260806 0.138633 
time: 1403636878.401666, t: 0.249666 0.065797 -0.269121 q: 0.923908 -0.166345 -0.308768 0.152922 
time: 1403636878.501667, t: 0.285012 -0.017432 -0.305131 q: 0.892215 -0.283541 -0.307611 0.170096 
time: 1403636878.601666, t: 0.252337 -0.081370 -0.295719 q: 0.868178 -0.399277 -0.263915 0.131126 
time: 1403636878.701667, t: 0.007417 0.452474 -0.365204 q: 0.960871 -0.080911 -0.180469 0.193936 
time: 1403636878.801666, t: 0.006587 0.483965 -0.345520 q: 0.963343 -0.160688 -0.137709 0.164879 
time: 1403636878.901666, t: -0.014214 0.567263 -0.269179 q: 0.971953 -0.131700 -0.136341 0.139186 
time: 1403636879.001667, t: 0.039525 0.666233 -0.244488 q: 0.962071 -0.104141 -0.171505 0.184823 
time: 1403636879.101666, t: 0.058115 0.702896 -0.209065 q: 0.961949 -0.092400 -0.171258 0.191802 
time: 1403636879.201667, t: 0.082695 0.720699 -0.167670 q: 0.965100 -0.090203 -0.156750 0.189408 
time: 1403636879.301666, t: 0.105749 0.721356 -0.131725 q: 0.969401 -0.083376 -0.141001 0.182837 
unstable tracking...
time: 1403636879.401666, t: 0.131549 0.707001 -0.099207 q: 0.974491 -0.068274 -0.128966 0.170512 
unstable tracking...
time: 1403636879.501667, t: 0.155660 0.676761 -0.071316 q: 0.979321 -0.043115 -0.121178 0.156162 
unstable tracking...
time: 1403636879.701667, t: 0.195517 0.577912 -0.054514 q: 0.983519 0.012384 -0.118132 0.136315 
time: 1403636879.801666, t: 0.209395 0.519629 -0.063758 q: 0.983303 0.037300 -0.120911 0.130782 
time: 1403636879.901666, t: 0.213874 0.464216 -0.083923 q: 0.982187 0.056260 -0.128141 0.125394 
time: 1403636880.001667, t: 0.210902 0.417986 -0.115597 q: 0.980641 0.067243 -0.137396 0.122245 
time: 1403636880.201667, t: 0.183420 0.387604 -0.194065 q: 0.979753 0.066414 -0.144946 0.121092 
time: 1403636880.301666, t: 0.162966 0.401036 -0.237034 q: 0.980439 0.046522 -0.142246 0.127836 
time: 1403636880.401666, t: 0.142270 0.423360 -0.279812 q: 0.980819 0.018951 -0.138503 0.135840 
time: 1403636880.501667, t: 0.125382 0.441930 -0.326012 q: 0.980303 -0.009978 -0.135787 0.143071 
time: 1403636880.701667, t: 0.100862 0.441536 -0.417607 q: 0.975862 -0.044187 -0.147057 0.155293 
time: 1403636880.801666, t: 0.094390 0.419647 -0.453220 q: 0.973556 -0.044581 -0.156118 0.160714 
time: 1403636880.901666, t: 0.093310 0.387466 -0.477348 q: 0.973671 -0.034637 -0.157081 0.161526 
time: 1403636881.001667, t: 0.097822 0.350701 -0.486587 q: 0.976253 -0.022595 -0.147602 0.156950 
time: 1403636881.101666, t: 0.109748 0.314968 -0.483363 q: 0.979923 -0.008144 -0.133857 0.147536 
time: 1403636881.201667, t: 0.124625 0.280837 -0.469591 q: 0.982703 0.015022 -0.122033 0.138483 
time: 1403636881.301666, t: 0.143496 0.254406 -0.447096 q: 0.984293 0.040731 -0.114721 0.127860 
time: 1403636881.401666, t: 0.164164 0.241201 -0.415508 q: 0.985432 0.058066 -0.110431 0.115569 
time: 1403636881.501667, t: 0.184731 0.242917 -0.374051 q: 0.987053 0.065496 -0.104618 0.102432 
time: 1403636881.601666, t: 0.203557 0.260245 -0.328394 q: 0.988805 0.068529 -0.097204 0.090111 
time: 1403636881.701667, t: 0.217420 0.290967 -0.279390 q: 0.989996 0.070799 -0.093268 0.078718 
time: 1403636881.801666, t: 0.225651 0.331788 -0.230720 q: 0.990493 0.068010 -0.095203 0.072348 
time: 1403636881.901666, t: 0.227934 0.378317 -0.187556 q: 0.990280 0.060482 -0.098996 0.076727 
time: 1403636882.001667, t: 0.223696 0.428005 -0.154626 q: 0.989714 0.051786 -0.102253 0.085605 
time: 1403636882.101666, t: 0.211789 0.475828 -0.133888 q: 0.989404 0.042142 -0.102258 0.094058 
time: 1403636882.201667, t: 0.192403 0.516807 -0.127601 q: 0.989520 0.031137 -0.099998 0.099401 
time: 1403636882.301666, t: 0.168397 0.543312 -0.131435 q: 0.989965 0.021500 -0.095047 0.102337 
time: 1403636882.401666, t: 0.144212 0.552627 -0.142421 q: 0.990227 0.022589 -0.090238 0.103909 
optimize pose graph 
time: 1403636882.501667, t: 0.123202 0.544698 -0.152709 q: 0.990085 0.032014 -0.085888 0.106445 
time: 1403636882.601666, t: 0.111023 0.526851 -0.155632 q: 0.990301 0.044091 -0.077732 0.106381 
time: 1403636882.701667, t: 0.107516 0.505179 -0.146866 q: 0.991285 0.057506 -0.055875 0.104522 
time: 1403636882.901666, t: 0.101242 0.460524 -0.099973 q: 0.990498 0.100881 0.005189 0.093329 
time: 1403636883.001667, t: 0.092100 0.438879 -0.072834 q: 0.988198 0.125098 0.016400 0.086871 
time: 1403636883.101666, t: 0.081306 0.419186 -0.046451 q: 0.986217 0.145035 0.018702 0.077397 
time: 1403636883.201667, t: 0.070948 0.402129 -0.022067 q: 0.985424 0.154383 0.027199 0.066071 
time: 1403636883.301666, t: 0.060266 0.387633 -0.001977 q: 0.984300 0.161779 0.037144 0.060017 
time: 1403636883.401666, t: 0.052160 0.377121 0.013895 q: 0.983148 0.167828 0.042481 0.058721 
time: 1403636883.501667, t: 0.046553 0.371316 0.024805 q: 0.981737 0.174268 0.050422 0.057276 
time: 1403636883.601666, t: 0.043784 0.367254 0.032095 q: 0.980044 0.181004 0.061662 0.054306 
time: 1403636883.701667, t: 0.041380 0.364060 0.038064 q: 0.978825 0.187392 0.066270 0.048926 
time: 1403636883.801666, t: 0.039684 0.362151 0.042186 q: 0.978065 0.191518 0.067076 0.047007 
time: 1403636883.901666, t: 0.036824 0.360874 0.045813 q: 0.976401 0.198603 0.068092 0.050604 
time: 1403636884.001667, t: 0.035696 0.360328 0.048226 q: 0.975623 0.201403 0.072230 0.048783 
time: 1403636884.101666, t: 0.034870 0.360826 0.049201 q: 0.973914 0.206670 0.078739 0.050793 
time: 1403636884.201667, t: 0.034693 0.361776 0.049036 q: 0.973809 0.205584 0.084647 0.047614 
time: 1403636884.301666, t: 0.034717 0.361690 0.047768 q: 0.973634 0.204633 0.088815 0.047683 
time: 1403636884.401666, t: 0.034613 0.361391 0.047395 q: 0.973411 0.205173 0.089478 0.048677 
time: 1403636884.501667, t: 0.034590 0.361608 0.047398 q: 0.973522 0.204779 0.089689 0.047708 
optimize pose graph 
time: 1403636884.601666, t: 0.034754 0.361472 0.047251 q: 0.973445 0.204994 0.089817 0.048115 
time: 1403636884.701667, t: 0.034707 0.361487 0.047364 q: 0.973478 0.204992 0.089473 0.048091 
time: 1403636884.801666, t: 0.034686 0.361539 0.047408 q: 0.973504 0.204881 0.089500 0.047988 
time: 1403636884.901666, t: 0.034684 0.361533 0.047414 q: 0.973504 0.204889 0.089472 0.048015 
time: 1403636885.001667, t: 0.034694 0.361504 0.047405 q: 0.973493 0.204952 0.089390 0.048117 
time: 1403636885.101666, t: 0.034676 0.361469 0.047388 q: 0.973467 0.205028 0.089418 0.048264 
time: 1403636885.201667, t: 0.034673 0.361454 0.047378 q: 0.973463 0.205048 0.089393 0.048318 
time: 1403636885.301666, t: 0.034674 0.361475 0.047380 q: 0.973473 0.205012 0.089389 0.048269 
time: 1403636885.401666, t: 0.034645 0.361495 0.047393 q: 0.973474 0.204973 0.089450 0.048296 
time: 1403636885.501667, t: 0.034635 0.361486 0.047387 q: 0.973473 0.204962 0.089463 0.048345 
time: 1403636885.601666, t: 0.034616 0.361489 0.047377 q: 0.973466 0.204966 0.089516 0.048382 
time: 1403636885.701667, t: 0.034632 0.361474 0.047410 q: 0.973471 0.204995 0.089364 0.048418 
time: 1403636885.801666, t: 0.034626 0.361482 0.047407 q: 0.973476 0.204952 0.089419 0.048407 
time: 1403636885.901666, t: 0.034618 0.361465 0.047403 q: 0.973468 0.205016 0.089330 0.048463 
time: 1403636886.001667, t: 0.034615 0.361459 0.047396 q: 0.973456 0.205028 0.089424 0.048486 
time: 1403636886.101666, t: 0.034603 0.361489 0.047392 q: 0.973477 0.204948 0.089454 0.048348 
time: 1403636886.201667, t: 0.034617 0.361511 0.047392 q: 0.973496 0.204904 0.089401 0.048235 
time: 1403636886.301666, t: 0.034609 0.361515 0.047392 q: 0.973494 0.204891 0.089461 0.048217 
time: 1403636886.401666, t: 0.034601 0.361493 0.047377 q: 0.973475 0.204950 0.089476 0.048329 
time: 1403636886.501667, t: 0.034590 0.361487 0.047366 q: 0.973465 0.204981 0.089496 0.048370 
time: 1403636886.601666, t: 0.034582 0.361495 0.047373 q: 0.973469 0.204971 0.089480 0.048362 
time: 1403636886.701667, t: 0.034571 0.361502 0.047368 q: 0.973469 0.204955 0.089518 0.048343 
time: 1403636886.801666, t: 0.034569 0.361499 0.047367 q: 0.973466 0.204958 0.089538 0.048368 
time: 1403636886.901666, t: 0.034578 0.361489 0.047376 q: 0.973462 0.204993 0.089482 0.048401 
time: 1403636887.001667, t: 0.034569 0.361500 0.047373 q: 0.973469 0.204959 0.089505 0.048357 
time: 1403636887.101666, t: 0.034573 0.361501 0.047376 q: 0.973472 0.204951 0.089498 0.048348 
time: 1403636887.201667, t: 0.034551 0.361497 0.047384 q: 0.973462 0.204968 0.089529 0.048411 
time: 1403636887.301666, t: 0.034553 0.361509 0.047384 q: 0.973465 0.204962 0.089521 0.048403 
time: 1403636887.401666, t: 0.034565 0.361509 0.047396 q: 0.973476 0.204932 0.089494 0.048356 
time: 1403636887.501667, t: 0.034559 0.361510 0.047397 q: 0.973480 0.204930 0.089467 0.048334 
time: 1403636887.601666, t: 0.034565 0.361496 0.047379 q: 0.973466 0.204956 0.089520 0.048406 
time: 1403636887.701667, t: 0.034558 0.361484 0.047377 q: 0.973461 0.204985 0.089487 0.048447 
time: 1403636887.801666, t: 0.034565 0.361479 0.047375 q: 0.973459 0.205001 0.089470 0.048451 
time: 1403636887.901666, t: 0.034571 0.361482 0.047372 q: 0.973463 0.204992 0.089456 0.048431 
time: 1403636888.001667, t: 0.034562 0.361488 0.047390 q: 0.973469 0.204977 0.089427 0.048423 
time: 1403636888.101666, t: 0.034569 0.361488 0.047385 q: 0.973465 0.204984 0.089467 0.048411 
time: 1403636888.201667, t: 0.034562 0.361492 0.047384 q: 0.973469 0.204977 0.089445 0.048404 
time: 1403636888.301666, t: 0.034572 0.361496 0.047385 q: 0.973470 0.204966 0.089464 0.048386 
time: 1403636888.401666, t: 0.034562 0.361510 0.047395 q: 0.973481 0.204938 0.089446 0.048327 
time: 1403636888.501667, t: 0.034567 0.361510 0.047393 q: 0.973480 0.204936 0.089458 0.048332 
time: 1403636888.601666, t: 0.034575 0.361488 0.047315 q: 0.973489 0.204862 0.089514 0.048347 
time: 1403636888.701667, t: 0.034604 0.361457 0.047288 q: 0.973436 0.205022 0.089745 0.048310 
time: 1403636888.801666, t: 0.034595 0.361401 0.047258 q: 0.973380 0.205322 0.089737 0.048177 
time: 1403636888.901666, t: 0.034455 0.361358 0.047230 q: 0.973413 0.205226 0.089461 0.048439 
time: 1403636889.001667, t: 0.034554 0.361333 0.047226 q: 0.973347 0.205455 0.089671 0.048410 
time: 1403636889.101666, t: 0.034527 0.361421 0.047265 q: 0.973423 0.205086 0.089610 0.048549 
time: 1403636889.201667, t: 0.034517 0.361441 0.047280 q: 0.973432 0.205045 0.089585 0.048587 
time: 1403636889.301666, t: 0.034520 0.361456 0.047335 q: 0.973462 0.204934 0.089477 0.048667 
time: 1403636889.401666, t: 0.034532 0.361438 0.047368 q: 0.973420 0.205122 0.089583 0.048508 
time: 1403636889.501667, t: 0.034529 0.361505 0.047357 q: 0.973466 0.204943 0.089559 0.048386 
time: 1403636889.701667, t: 0.034538 0.361573 0.047248 q: 0.973481 0.204761 0.089870 0.048283 
time: 1403636889.801666, t: 0.034524 0.361546 0.047218 q: 0.973451 0.204910 0.089889 0.048227 
time: 1403636890.001667, t: 0.034494 0.361542 0.047242 q: 0.973468 0.204879 0.089700 0.048354 
time: 1403636890.101666, t: 0.034508 0.361666 0.047250 q: 0.973560 0.204274 0.089858 0.048777 
time: 1403636890.201667, t: 0.034604 0.361522 0.047170 q: 0.973404 0.204842 0.090414 0.048464 
time: 1403636890.301666, t: 0.034512 0.361449 0.047200 q: 0.973379 0.205261 0.089902 0.048148 
time: 1403636890.401666, t: 0.034458 0.361574 0.047221 q: 0.973506 0.204682 0.089683 0.048458 
time: 1403636890.501667, t: 0.034571 0.361614 0.047202 q: 0.973481 0.204479 0.090315 0.048652 
time: 1403636890.601666, t: 0.034592 0.361467 0.047134 q: 0.973367 0.205128 0.090322 0.048180 
time: 1403636890.701667, t: 0.034447 0.361463 0.047188 q: 0.973419 0.205158 0.089690 0.048169 
time: 1403636890.801666, t: 0.034486 0.361592 0.047205 q: 0.973515 0.204507 0.089890 0.048625 
time: 1403636890.901666, t: 0.034554 0.361560 0.047177 q: 0.973453 0.204609 0.090348 0.048602 
time: 1403636891.001667, t: 0.034514 0.361520 0.047137 q: 0.973425 0.204806 0.090194 0.048608 
time: 1403636891.101666, t: 0.034515 0.361524 0.047152 q: 0.973443 0.204781 0.090129 0.048488 
time: 1403636891.201667, t: 0.034522 0.361522 0.047175 q: 0.973435 0.204810 0.090181 0.048419 
time: 1403636891.301666, t: 0.034509 0.361514 0.047165 q: 0.973433 0.204852 0.090110 0.048414 
time: 1403636891.401666, t: 0.034514 0.361509 0.047154 q: 0.973435 0.204818 0.090166 0.048420 
time: 1403636891.501667, t: 0.034510 0.361496 0.047171 q: 0.973427 0.204863 0.090149 0.048419 
time: 1403636891.601666, t: 0.034506 0.361506 0.047158 q: 0.973428 0.204861 0.090143 0.048416 
time: 1403636891.701667, t: 0.034510 0.361512 0.047130 q: 0.973436 0.204820 0.090151 0.048411 
time: 1403636891.801666, t: 0.034509 0.361486 0.047161 q: 0.973423 0.204886 0.090127 0.048433 
time: 1403636891.901666, t: 0.034506 0.361488 0.047146 q: 0.973422 0.204894 0.090136 0.048419 
time: 1403636892.001667, t: 0.034509 0.361505 0.047153 q: 0.973433 0.204850 0.090132 0.048376 
time: 1403636892.101666, t: 0.034507 0.361501 0.047177 q: 0.973435 0.204852 0.090115 0.048362 
time: 1403636892.201667, t: 0.034501 0.361510 0.047166 q: 0.973436 0.204849 0.090133 0.048329 
time: 1403636892.301666, t: 0.034518 0.361585 0.047238 q: 0.973491 0.204658 0.090120 0.048056 
time: 1403636892.401666, t: 0.034536 0.361570 0.047207 q: 0.973473 0.204647 0.090160 0.048381 
time: 1403636892.501667, t: 0.034536 0.361537 0.047164 q: 0.973456 0.204714 0.090217 0.048339 
time: 1403636892.601666, t: 0.034537 0.361530 0.047142 q: 0.973442 0.204772 0.090235 0.048347 
time: 1403636892.701667, t: 0.034545 0.361536 0.047143 q: 0.973441 0.204786 0.090241 0.048293 
time: 1403636892.801666, t: 0.034557 0.361530 0.047143 q: 0.973430 0.204834 0.090273 0.048240 
time: 1403636892.901666, t: 0.034536 0.361536 0.047159 q: 0.973447 0.204823 0.090117 0.048248 
time: 1403636893.001667, t: 0.034548 0.361544 0.047169 q: 0.973443 0.204796 0.090227 0.048227 
time: 1403636893.101666, t: 0.034552 0.361542 0.047164 q: 0.973441 0.204811 0.090224 0.048226 
time: 1403636893.201667, t: 0.034542 0.361530 0.047151 q: 0.973440 0.204820 0.090181 0.048280 
time: 1403636893.301666, t: 0.034539 0.361531 0.047154 q: 0.973438 0.204829 0.090165 0.048313 
time: 1403636893.401666, t: 0.034540 0.361535 0.047167 q: 0.973440 0.204827 0.090163 0.048274 
time: 1403636893.501667, t: 0.034545 0.361539 0.047173 q: 0.973444 0.204809 0.090160 0.048279 
time: 1403636893.601666, t: 0.034543 0.361546 0.047172 q: 0.973447 0.204792 0.090161 0.048291 
time: 1403636893.701667, t: 0.034546 0.361534 0.047174 q: 0.973438 0.204837 0.090173 0.048271 
time: 1403636893.801666, t: 0.034539 0.361519 0.047171 q: 0.973432 0.204867 0.090125 0.048337 
time: 1403636893.901666, t: 0.034533 0.361516 0.047158 q: 0.973430 0.204874 0.090123 0.048354 
time: 1403636894.001667, t: 0.034529 0.361510 0.047146 q: 0.973430 0.204872 0.090129 0.048364 
time: 1403636894.101666, t: 0.034523 0.361515 0.047134 q: 0.973434 0.204856 0.090122 0.048353 
time: 1403636894.201667, t: 0.034524 0.361522 0.047142 q: 0.973436 0.204849 0.090133 0.048332 
time: 1403636894.301666, t: 0.034528 0.361517 0.047143 q: 0.973430 0.204854 0.090164 0.048356 
time: 1403636894.401666, t: 0.034522 0.361518 0.047150 q: 0.973437 0.204848 0.090120 0.048342 
time: 1403636894.501667, t: 0.034526 0.361506 0.047152 q: 0.973422 0.204903 0.090142 0.048356 
time: 1403636894.601666, t: 0.034517 0.361510 0.047149 q: 0.973433 0.204862 0.090103 0.048398 
time: 1403636894.701667, t: 0.034522 0.361509 0.047136 q: 0.973423 0.204891 0.090146 0.048391 
time: 1403636894.801666, t: 0.034515 0.361518 0.047156 q: 0.973435 0.204856 0.090100 0.048382 
time: 1403636894.901666, t: 0.034540 0.361576 0.047202 q: 0.973472 0.204668 0.090154 0.048334 
time: 1403636895.001667, t: 0.034552 0.361557 0.047188 q: 0.973470 0.204702 0.090106 0.048308 
time: 1403636895.101666, t: 0.034539 0.361541 0.047181 q: 0.973459 0.204748 0.090104 0.048338 
time: 1403636895.201667, t: 0.034548 0.361550 0.047194 q: 0.973460 0.204706 0.090154 0.048412 
time: 1403636895.301666, t: 0.034559 0.361537 0.047178 q: 0.973447 0.204756 0.090176 0.048418 
time: 1403636895.401666, t: 0.034552 0.361536 0.047178 q: 0.973451 0.204763 0.090155 0.048350 
time: 1403636895.501667, t: 0.034562 0.361542 0.047172 q: 0.973446 0.204776 0.090190 0.048320 
time: 1403636895.601666, t: 0.034561 0.361541 0.047171 q: 0.973451 0.204760 0.090167 0.048347 
time: 1403636895.701667, t: 0.034570 0.361551 0.047179 q: 0.973452 0.204744 0.090204 0.048313 
time: 1403636895.801666, t: 0.034598 0.361565 0.047177 q: 0.973455 0.204705 0.090304 0.048235 
time: 1403636895.901666, t: 0.034611 0.361565 0.047192 q: 0.973445 0.204798 0.090248 0.048152 
time: 1403636896.001667, t: 0.034621 0.361561 0.047167 q: 0.973445 0.204824 0.090207 0.048116 
time: 1403636896.101666, t: 0.034598 0.361594 0.047377 q: 0.973474 0.204981 0.089512 0.048164 
time: 1403636896.201667, t: 0.034550 0.361667 0.047699 q: 0.973530 0.205209 0.088327 0.048235 
time: 1403636896.401666, t: 0.034614 0.361661 0.047455 q: 0.973492 0.205123 0.089098 0.047953 
time: 1403636896.501667, t: 0.034639 0.361640 0.047366 q: 0.973473 0.205096 0.089408 0.047886 
time: 1403636896.601666, t: 0.034640 0.361658 0.047384 q: 0.973483 0.205057 0.089381 0.047887 
time: 1403636896.701667, t: 0.034672 0.361721 0.047521 q: 0.973500 0.205208 0.088930 0.047740 
time: 1403636896.801666, t: 0.034663 0.361729 0.047580 q: 0.973505 0.205427 0.088383 0.047713 
time: 1403636896.901666, t: 0.034685 0.361811 0.047595 q: 0.973503 0.205447 0.088498 0.047450 
time: 1403636897.001667, t: 0.034764 0.361741 0.047302 q: 0.973399 0.205582 0.089293 0.047522 
time: 1403636897.101666, t: 0.034779 0.361926 0.046719 q: 0.973014 0.207459 0.089838 0.046192 
time: 1403636897.201667, t: 0.034025 0.362175 0.045728 q: 0.972489 0.210428 0.089352 0.044736 
time: 1403636897.301666, t: 0.032160 0.364803 0.044209 q: 0.972824 0.209332 0.088052 0.045159 
time: 1403636897.401666, t: 0.028284 0.371988 0.040070 q: 0.974410 0.203986 0.083197 0.044650 
time: 1403636897.501667, t: 0.022518 0.382586 0.032962 q: 0.976606 0.196942 0.075495 0.041885 
time: 1403636897.601666, t: 0.015670 0.395377 0.023647 q: 0.979061 0.189960 0.062801 0.037563 
time: 1403636897.701667, t: 0.024177 0.387827 0.015659 q: 0.982489 0.179031 0.044485 0.026178 
time: 1403636897.801666, t: 0.015661 0.425910 -0.002820 q: 0.983049 0.179424 0.032052 0.019842 
time: 1403636897.901666, t: 0.025991 0.444345 -0.018897 q: 0.983537 0.178717 0.022540 0.014415 
time: 1403636898.001667, t: 0.042628 0.457313 -0.029432 q: 0.983058 0.179953 0.031835 0.014180 
time: 1403636898.101666, t: 0.060976 0.468598 -0.072297 q: 0.985251 0.163732 0.048950 -0.008718 
time: 1403636898.201667, t: 0.064433 0.472165 -0.036390 q: 0.981215 0.186093 0.048142 0.016384 
time: 1403636898.301666, t: 0.078617 0.478194 -0.038848 q: 0.980662 0.188794 0.049454 0.014586 
time: 1403636898.401666, t: 0.096670 0.482944 -0.040627 q: 0.979994 0.192273 0.049663 0.013252 
time: 1403636898.501667, t: 0.118304 0.486841 -0.043176 q: 0.979284 0.196173 0.048587 0.012572 
time: 1403636898.601666, t: 0.140889 0.489750 -0.044880 q: 0.978831 0.198584 0.048338 0.010835 
time: 1403636898.701667, t: 0.163684 0.490837 -0.044387 q: 0.978590 0.200010 0.047825 0.008409 
time: 1403636898.801666, t: 0.185482 0.489784 -0.040916 q: 0.978061 0.202568 0.047775 0.008975 
time: 1403636898.901666, t: 0.205554 0.487104 -0.034949 q: 0.977560 0.205260 0.045948 0.011543 
time: 1403636899.001667, t: 0.225478 0.484345 -0.026077 q: 0.976869 0.208526 0.043671 0.018323 
time: 1403636899.101666, t: 0.244631 0.482599 -0.013444 q: 0.977463 0.204714 0.044542 0.025954 
time: 1403636899.201667, t: 0.263697 0.483177 0.003941 q: 0.979599 0.192107 0.050090 0.031157 
time: 1403636899.301666, t: 0.283109 0.486755 0.022175 q: 0.982154 0.173682 0.059689 0.040562 
time: 1403636899.401666, t: 0.299739 0.493568 0.041011 q: 0.985368 0.149044 0.066473 0.049156 
time: 1403636899.501667, t: 0.313521 0.502393 0.057388 q: 0.987710 0.128827 0.063037 0.062122 
time: 1403636899.601666, t: 0.324097 0.511755 0.073891 q: 0.989227 0.115399 0.052223 0.073392 
time: 1403636899.701667, t: 0.335486 0.524478 0.088147 q: 0.990095 0.105521 0.045802 0.080494 
time: 1403636899.801666, t: 0.346120 0.541209 0.103790 q: 0.991041 0.097052 0.040833 0.082167 
time: 1403636899.901666, t: 0.354635 0.559106 0.123944 q: 0.992175 0.089085 0.040811 0.077376 
time: 1403636900.001667, t: 0.362131 0.578743 0.145006 q: 0.992689 0.083677 0.046924 0.073244 
time: 1403636900.101666, t: 0.369098 0.598776 0.165939 q: 0.992504 0.081403 0.055559 0.072271 
time: 1403636900.201667, t: 0.380986 0.620957 0.183773 q: 0.992290 0.080825 0.062116 0.070500 
time: 1403636900.301666, t: 0.399543 0.642638 0.194469 q: 0.992473 0.081523 0.060909 0.068131 
time: 1403636900.401666, t: 0.421438 0.663534 0.202212 q: 0.992678 0.084936 0.053174 0.067451 
time: 1403636900.501667, t: 0.445690 0.686189 0.205696 q: 0.992865 0.088259 0.046693 0.065180 
optimize pose graph 
time: 1403636900.601666, t: 0.467472 0.709162 0.210778 q: 0.992778 0.091423 0.043358 0.064445 
time: 1403636900.701667, t: 0.484207 0.729642 0.223357 q: 0.992821 0.094638 0.035273 0.064082 
time: 1403636900.801666, t: 0.496714 0.749226 0.239011 q: 0.992562 0.098509 0.028299 0.065695 
time: 1403636900.901666, t: 0.508635 0.772595 0.256629 q: 0.991463 0.103308 0.030863 0.073324 
time: 1403636901.001667, t: 0.517840 0.796436 0.277951 q: 0.990655 0.105660 0.035670 0.078525 
time: 1403636901.101666, t: 0.522567 0.821925 0.303460 q: 0.990008 0.107651 0.038000 0.082773 
time: 1403636901.201667, t: 0.523797 0.849740 0.338675 q: 0.989749 0.108154 0.039647 0.084427 
time: 1403636901.301666, t: 0.527976 0.880275 0.373327 q: 0.990227 0.106180 0.041325 0.080431 
time: 1403636901.401666, t: 0.540530 0.919275 0.406488 q: 0.990683 0.104424 0.042231 0.076543 
time: 1403636901.501667, t: 0.558186 0.960132 0.436708 q: 0.991327 0.101577 0.043614 0.071073 
time: 1403636901.601666, t: 0.572941 1.001032 0.474974 q: 0.991669 0.099709 0.045214 0.067864 
time: 1403636901.701667, t: 0.582881 1.041158 0.510354 q: 0.991623 0.098760 0.048597 0.067592 
time: 1403636901.801666, t: 0.591035 1.084413 0.546946 q: 0.991452 0.099382 0.049310 0.068670 
time: 1403636901.901666, t: 0.590771 1.126887 0.583066 q: 0.991543 0.099326 0.049232 0.067480 
time: 1403636902.001667, t: 0.586483 1.162202 0.628290 q: 0.991674 0.098836 0.049843 0.065800 
time: 1403636902.101666, t: 0.585286 1.206470 0.663547 q: 0.991657 0.099360 0.050865 0.064477 
time: 1403636902.201667, t: 0.588325 1.247614 0.700582 q: 0.991718 0.099569 0.050702 0.063334 
time: 1403636902.301666, t: 0.592161 1.290029 0.735511 q: 0.991438 0.100374 0.050327 0.066660 
time: 1403636902.401666, t: 0.591351 1.331913 0.770155 q: 0.991449 0.099761 0.048820 0.068502 
time: 1403636902.501667, t: 0.575514 1.370798 0.811322 q: 0.991867 0.097204 0.047218 0.067246 
time: 1403636902.601666, t: 0.559381 1.411588 0.855170 q: 0.992624 0.092590 0.046915 0.062646 
optimize pose graph 
time: 1403636902.701667, t: 0.544242 1.451347 0.897696 q: 0.993123 0.088454 0.048478 0.059430 
time: 1403636902.801666, t: 0.537948 1.489543 0.934759 q: 0.993127 0.087163 0.049302 0.060580 
time: 1403636902.901666, t: 0.536688 1.527728 0.969006 q: 0.992712 0.088627 0.053308 0.061850 
time: 1403636903.001667, t: 0.540107 1.566335 0.998975 q: 0.992502 0.090724 0.053484 0.062036 
time: 1403636903.101666, t: 0.556671 1.603379 1.023891 q: 0.992311 0.093182 0.052551 0.062245 
time: 1403636903.201667, t: 0.574410 1.640834 1.043311 q: 0.992131 0.095669 0.051373 0.062322 
time: 1403636903.301666, t: 0.598954 1.676917 1.061084 q: 0.992206 0.097403 0.048985 0.060330 
time: 1403636903.401666, t: 0.623208 1.712271 1.078812 q: 0.992433 0.097698 0.047870 0.056919 
time: 1403636903.501667, t: 0.639085 1.747703 1.098470 q: 0.992458 0.098367 0.047779 0.055394 
time: 1403636903.601666, t: 0.653476 1.780011 1.120535 q: 0.992413 0.099415 0.047047 0.054945 
time: 1403636903.701667, t: 0.659910 1.808165 1.146519 q: 0.992213 0.101842 0.041778 0.058278 
time: 1403636903.801666, t: 0.662924 1.835281 1.174154 q: 0.991852 0.104523 0.037326 0.062541 
time: 1403636903.901666, t: 0.672781 1.865058 1.200752 q: 0.991338 0.106780 0.036608 0.067135 
time: 1403636904.001667, t: 0.688619 1.895854 1.228268 q: 0.990755 0.108350 0.039738 0.071319 
time: 1403636904.101666, t: 0.711921 1.930384 1.252826 q: 0.990291 0.109169 0.043112 0.074485 
time: 1403636904.201667, t: 0.741209 1.969632 1.275479 q: 0.989854 0.110350 0.043987 0.077954 
time: 1403636904.301666, t: 0.776804 2.011229 1.300202 q: 0.989841 0.109561 0.045302 0.078480 
time: 1403636904.401666, t: 0.806487 2.056067 1.325341 q: 0.990033 0.107707 0.047393 0.077376 
time: 1403636904.501667, t: 0.833445 2.102367 1.352014 q: 0.990431 0.105557 0.047980 0.074848 
time: 1403636904.601666, t: 0.855519 2.149073 1.381875 q: 0.990952 0.102890 0.048123 0.071495 
optimize pose graph 
time: 1403636904.701667, t: 0.873984 2.197428 1.412468 q: 0.991513 0.099797 0.047624 0.068377 
time: 1403636904.801666, t: 0.891130 2.244876 1.444691 q: 0.991952 0.096988 0.047876 0.065825 
time: 1403636904.901666, t: 0.905627 2.291707 1.476420 q: 0.992497 0.093803 0.047199 0.062629 
time: 1403636905.001667, t: 0.916139 2.334798 1.512388 q: 0.992882 0.091004 0.047032 0.060757 
time: 1403636905.101666, t: 0.922414 2.379335 1.547041 q: 0.993152 0.088366 0.047983 0.059489 
time: 1403636905.201667, t: 0.931764 2.420529 1.580941 q: 0.993368 0.085907 0.048725 0.058866 
time: 1403636905.301666, t: 0.946231 2.460539 1.613870 q: 0.993741 0.083531 0.046882 0.057473 
time: 1403636905.401666, t: 0.965054 2.498054 1.641965 q: 0.994071 0.082336 0.042309 0.057036 
time: 1403636905.501667, t: 0.989786 2.534425 1.667906 q: 0.994101 0.085217 0.041479 0.052735 
time: 1403636905.601666, t: 1.017557 2.563669 1.695461 q: 0.994079 0.088593 0.041767 0.047044 
time: 1403636905.701667, t: 1.037826 2.589513 1.725340 q: 0.993622 0.093815 0.040924 0.047317 
time: 1403636905.801666, t: 1.050120 2.613012 1.759467 q: 0.993002 0.098894 0.041091 0.049791 
time: 1403636905.901666, t: 1.058522 2.631174 1.796315 q: 0.992650 0.102467 0.039804 0.050613 
time: 1403636906.001667, t: 1.062859 2.645453 1.836977 q: 0.992522 0.105254 0.035812 0.050391 
time: 1403636906.101666, t: 1.064401 2.660938 1.879930 q: 0.992680 0.106460 0.032446 0.046897 
time: 1403636906.201667, t: 1.072502 2.670558 1.924795 q: 0.992514 0.107749 0.034085 0.046305 
time: 1403636906.301666, t: 1.090776 2.679185 1.967580 q: 0.991866 0.109308 0.043259 0.048819 
time: 1403636906.401666, t: 1.114192 2.688710 2.007581 q: 0.990950 0.111813 0.049623 0.055256 
time: 1403636906.501667, t: 1.141802 2.699125 2.045434 q: 0.989464 0.117155 0.050229 0.068645 
time: 1403636906.601666, t: 1.165658 2.709193 2.084175 q: 0.988967 0.119791 0.044822 0.074734 
time: 1403636906.701667, t: 1.184235 2.723686 2.125162 q: 0.989644 0.117403 0.045040 0.069228 
time: 1403636906.801666, t: 1.199118 2.739081 2.169253 q: 0.990638 0.113638 0.046041 0.060033 
time: 1403636906.901666, t: 1.210937 2.753352 2.215391 q: 0.991167 0.112337 0.045570 0.053783 
time: 1403636907.001667, t: 1.225777 2.770116 2.257925 q: 0.991323 0.112826 0.045725 0.049586 
time: 1403636907.101666, t: 1.246462 2.783932 2.299485 q: 0.991279 0.114165 0.044720 0.048300 
time: 1403636907.201667, t: 1.265411 2.795743 2.343379 q: 0.991442 0.115348 0.039761 0.046449 
time: 1403636907.401666, t: 1.296347 2.810859 2.441240 q: 0.990741 0.121335 0.031715 0.052000 
time: 1403636907.601666, t: 1.347586 2.828762 2.540394 q: 0.989373 0.127322 0.030746 0.063130 
time: 1403636907.701667, t: 1.385916 2.842229 2.590332 q: 0.988984 0.128679 0.030721 0.066394 
time: 1403636907.801666, t: 1.428719 2.861514 2.640059 q: 0.988694 0.129738 0.031193 0.068409 
time: 1403636907.901666, t: 1.469851 2.877425 2.698475 q: 0.988628 0.129618 0.033360 0.068559 
time: 1403636908.001667, t: 1.499094 2.897702 2.761996 q: 0.989144 0.127072 0.040231 0.061871 
time: 1403636908.101666, t: 1.523223 2.919236 2.828495 q: 0.989524 0.125459 0.046386 0.054322 
time: 1403636908.201667, t: 1.550648 2.941719 2.895227 q: 0.989389 0.126177 0.050816 0.051059 
time: 1403636908.301666, t: 1.580430 2.964877 2.957647 q: 0.989223 0.127756 0.052111 0.048989 
time: 1403636908.401666, t: 1.607143 2.986815 3.020781 q: 0.989049 0.129880 0.051221 0.047860 
time: 1403636908.501667, t: 1.626758 3.004349 3.085726 q: 0.988865 0.132207 0.049418 0.047181 
time: 1403636908.601666, t: 1.647729 3.025286 3.149533 q: 0.988676 0.134433 0.048248 0.046051 
time: 1403636908.701667, t: 1.670417 3.042400 3.214708 q: 0.988557 0.136481 0.045938 0.044914 
time: 1403636908.801666, t: 1.699133 3.059250 3.277776 q: 0.988330 0.139053 0.041369 0.046431 
time: 1403636908.901666, t: 1.734491 3.079793 3.337555 q: 0.988219 0.140874 0.036303 0.047536 
time: 1403636909.001667, t: 1.780520 3.100313 3.394680 q: 0.987991 0.142436 0.034729 0.048792 
time: 1403636909.101666, t: 1.829566 3.121859 3.455293 q: 0.987689 0.143724 0.033712 0.051737 
time: 1403636909.201667, t: 1.875925 3.141817 3.518650 q: 0.987674 0.143695 0.033070 0.052521 
time: 1403636909.301666, t: 1.914792 3.158407 3.590865 q: 0.987723 0.143176 0.032389 0.053436 
time: 1403636909.401666, t: 1.954358 3.176755 3.663581 q: 0.987931 0.141567 0.034510 0.052543 
time: 1403636909.501667, t: 1.989747 3.198363 3.738734 q: 0.988217 0.138961 0.039822 0.050316 
time: 1403636909.601666, t: 2.019006 3.215598 3.821022 q: 0.988142 0.138194 0.041681 0.052344 
time: 1403636909.701667, t: 2.043025 3.235364 3.904279 q: 0.987654 0.138615 0.045172 0.057319 
time: 1403636909.801666, t: 2.062086 3.251792 3.993428 q: 0.987967 0.134877 0.053832 0.053214 
time: 1403636909.901666, t: 2.077765 3.268891 4.081938 q: 0.989183 0.127594 0.060692 0.039403 
time: 1403636910.001667, t: 2.084523 3.283412 4.169921 q: 0.989849 0.121023 0.069443 0.027025 
time: 1403636910.101666, t: 2.090892 3.290850 4.256223 q: 0.989632 0.121503 0.071159 0.028320 
time: 1403636910.201667, t: 2.097738 3.295870 4.334374 q: 0.989265 0.126622 0.062813 0.037103 
time: 1403636910.301666, t: 2.110324 3.303357 4.403408 q: 0.989002 0.130334 0.055880 0.042014 
time: 1403636910.401666, t: 2.129137 3.310105 4.468988 q: 0.988831 0.132685 0.051523 0.044205 
time: 1403636910.501667, t: 2.155183 3.314664 4.530077 q: 0.988696 0.134230 0.050353 0.043900 
time: 1403636910.601666, t: 2.183734 3.322062 4.590933 q: 0.988799 0.134446 0.049666 0.041646 
time: 1403636910.701667, t: 2.205536 3.323576 4.654168 q: 0.988787 0.134754 0.049491 0.041129 
time: 1403636910.801666, t: 2.222795 3.326525 4.720886 q: 0.988638 0.135699 0.048724 0.042505 
time: 1403636910.901666, t: 2.235344 3.328081 4.786688 q: 0.988307 0.137480 0.047579 0.045650 
time: 1403636911.001667, t: 2.249919 3.328427 4.854039 q: 0.987206 0.139431 0.057665 0.051549 
time: 1403636911.101666, t: 2.267539 3.329963 4.916396 q: 0.986264 0.139491 0.069883 0.054247 
time: 1403636911.201667, t: 2.288221 3.336352 4.975398 q: 0.986906 0.138897 0.064041 0.051210 
time: 1403636911.301666, t: 2.312900 3.344636 5.027560 q: 0.987743 0.138291 0.054730 0.047374 
time: 1403636911.401666, t: 2.343744 3.356846 5.073488 q: 0.988191 0.137196 0.052010 0.044159 
time: 1403636911.501667, t: 2.380329 3.365803 5.119981 q: 0.988442 0.136215 0.050940 0.042824 
time: 1403636911.601666, t: 2.414746 3.373698 5.165609 q: 0.988557 0.135820 0.050207 0.042281 
time: 1403636911.701667, t: 2.444584 3.381557 5.213894 q: 0.988569 0.135711 0.050200 0.042360 
time: 1403636911.801666, t: 2.468677 3.385734 5.263053 q: 0.988172 0.137113 0.049591 0.047497 
time: 1403636911.901666, t: 2.486372 3.387431 5.316044 q: 0.987438 0.140356 0.045587 0.056465 
time: 1403636912.001667, t: 2.499306 3.390051 5.371169 q: 0.987218 0.141193 0.042585 0.060433 
time: 1403636912.101666, t: 2.511255 3.396678 5.428606 q: 0.987551 0.139623 0.042705 0.058529 
time: 1403636912.201667, t: 2.524749 3.404687 5.487580 q: 0.987833 0.138005 0.045365 0.055522 
time: 1403636912.301666, t: 2.545207 3.418284 5.542809 q: 0.988205 0.135983 0.048263 0.051290 
time: 1403636912.401666, t: 2.572046 3.429194 5.596661 q: 0.988395 0.134801 0.048081 0.050909 
time: 1403636912.501667, t: 2.594770 3.442699 5.653740 q: 0.987790 0.136884 0.047605 0.057159 
time: 1403636912.601666, t: 2.613304 3.456419 5.710071 q: 0.987728 0.136683 0.046906 0.059247 
time: 1403636912.701667, t: 2.625148 3.469873 5.771185 q: 0.987153 0.138197 0.046531 0.065312 
time: 1403636912.801666, t: 2.635943 3.487771 5.833896 q: 0.986531 0.140007 0.046643 0.070562 
time: 1403636912.901666, t: 2.641381 3.507850 5.898055 q: 0.986963 0.138079 0.048065 0.067292 
time: 1403636913.001667, t: 2.647871 3.531846 5.965525 q: 0.987519 0.134841 0.054163 0.060754 
time: 1403636913.101666, t: 2.647160 3.558990 6.030789 q: 0.987780 0.132621 0.059363 0.056377 
time: 1403636913.201667, t: 2.648291 3.586656 6.095405 q: 0.987876 0.131283 0.063709 0.052989 
time: 1403636913.301666, t: 2.652678 3.612887 6.153792 q: 0.988068 0.130849 0.062831 0.051503 
time: 1403636913.401666, t: 2.663217 3.643209 6.205301 q: 0.987879 0.133515 0.056452 0.055516 
time: 1403636913.501667, t: 2.677607 3.674346 6.253219 q: 0.987559 0.135644 0.051805 0.060359 
time: 1403636913.601666, t: 2.690285 3.709800 6.301401 q: 0.988019 0.134056 0.051051 0.056930 
time: 1403636913.701667, t: 2.697105 3.744118 6.352300 q: 0.988433 0.132270 0.050613 0.054256 
time: 1403636913.801666, t: 2.701449 3.776685 6.405350 q: 0.988582 0.131403 0.051319 0.052973 
time: 1403636913.901666, t: 2.709715 3.811889 6.454951 q: 0.988706 0.130591 0.052462 0.051518 
time: 1403636914.001667, t: 2.722302 3.848667 6.500076 q: 0.988722 0.130571 0.053421 0.050260 
time: 1403636914.101666, t: 2.741385 3.885184 6.541929 q: 0.988381 0.131863 0.053576 0.053329 
time: 1403636914.201667, t: 2.758326 3.922208 6.583933 q: 0.988175 0.132628 0.053035 0.055740 
time: 1403636914.301666, t: 2.768971 3.960579 6.626233 q: 0.988436 0.131661 0.052188 0.054186 
time: 1403636914.401666, t: 2.778168 3.999946 6.669230 q: 0.988805 0.129713 0.053870 0.050361 
time: 1403636914.501667, t: 2.789986 4.038474 6.712135 q: 0.989098 0.128315 0.054351 0.047609 
time: 1403636914.601666, t: 2.809844 4.076538 6.751224 q: 0.989237 0.127537 0.054600 0.046511 
time: 1403636914.701667, t: 2.832614 4.113014 6.784099 q: 0.989210 0.126759 0.056722 0.046678 
time: 1403636914.801666, t: 2.856784 4.149512 6.814705 q: 0.989339 0.125345 0.057874 0.046348 
time: 1403636914.901666, t: 2.877601 4.184799 6.847396 q: 0.989579 0.124305 0.056114 0.046183 
time: 1403636915.001667, t: 2.890224 4.217830 6.881734 q: 0.989872 0.123508 0.052633 0.046139 
time: 1403636915.101666, t: 2.900865 4.248758 6.916376 q: 0.990131 0.122780 0.049850 0.045619 
time: 1403636915.201667, t: 2.908210 4.275906 6.953609 q: 0.990459 0.122072 0.045370 0.045071 
time: 1403636915.301666, t: 2.909128 4.301334 6.993114 q: 0.990900 0.121747 0.036756 0.044079 
time: 1403636915.401666, t: 2.908706 4.323192 7.034992 q: 0.991153 0.121874 0.030172 0.043042 
time: 1403636915.501667, t: 2.913564 4.344627 7.077762 q: 0.990714 0.123303 0.033008 0.046817 
time: 1403636915.601666, t: 2.923707 4.365028 7.122096 q: 0.989369 0.126747 0.042542 0.057225 
time: 1403636915.701667, t: 2.941279 4.388970 7.163488 q: 0.988052 0.130376 0.048792 0.066145 
time: 1403636915.801666, t: 2.965600 4.416141 7.202246 q: 0.987699 0.131205 0.051530 0.067686 
time: 1403636915.901666, t: 2.992995 4.446610 7.237535 q: 0.987582 0.131479 0.053298 0.067486 
time: 1403636916.001667, t: 3.023974 4.482342 7.273262 q: 0.988308 0.128845 0.054799 0.060364 
time: 1403636916.101666, t: 3.047105 4.519222 7.307768 q: 0.989274 0.125259 0.055805 0.050327 
time: 1403636916.201667, t: 3.065146 4.554512 7.344195 q: 0.989706 0.123969 0.055553 0.045031 
time: 1403636916.401666, t: 3.108340 4.622556 7.409941 q: 0.989675 0.124643 0.054248 0.045439 
time: 1403636916.501667, t: 3.130610 4.657857 7.439928 q: 0.990604 0.116790 0.054802 0.045387 
time: 1403636916.601666, t: 3.149815 4.689467 7.471942 q: 0.992067 0.102854 0.053925 0.048131 
time: 1403636916.701667, t: 3.160307 4.721231 7.500318 q: 0.993115 0.090404 0.052986 0.052361 
time: 1403636916.801666, t: 3.169692 4.745551 7.532634 q: 0.993652 0.081143 0.052815 0.057291 
time: 1403636916.901666, t: 3.175765 4.762952 7.566837 q: 0.994198 0.073275 0.052094 0.059060 
time: 1403636917.001667, t: 3.174478 4.781154 7.600618 q: 0.994401 0.068861 0.052279 0.060767 
time: 1403636917.101666, t: 3.172090 4.792658 7.636061 q: 0.994321 0.066902 0.051301 0.064945 
time: 1403636917.201667, t: 3.165288 4.802803 7.672992 q: 0.994090 0.065101 0.050727 0.070528 
time: 1403636917.301666, t: 3.152173 4.814224 7.708817 q: 0.994320 0.055341 0.050770 0.075417 
time: 1403636917.401666, t: 3.133802 4.825536 7.745703 q: 0.994840 0.037014 0.050049 0.080120 
time: 1403636917.501667, t: 3.112840 4.831890 7.785172 q: 0.994839 0.017493 0.048116 0.087601 
time: 1403636917.601666, t: 3.093793 4.837839 7.818767 q: 0.994283 0.003325 0.047315 0.095661 
time: 1403636917.701667, t: 3.074993 4.847273 7.845334 q: 0.993674 -0.007106 0.048057 0.101255 
time: 1403636917.801666, t: 3.067137 4.851128 7.868294 q: 0.993225 -0.017290 0.047947 0.104433 
time: 1403636917.901666, t: 3.064735 4.860058 7.883646 q: 0.992864 -0.025084 0.048316 0.106103 
time: 1403636918.001667, t: 3.067653 4.864386 7.897518 q: 0.992701 -0.030155 0.046498 0.107113 
time: 1403636918.101666, t: 3.063800 4.868244 7.910515 q: 0.992782 -0.033482 0.044453 0.106239 
time: 1403636918.201667, t: 3.058709 4.868454 7.925195 q: 0.993104 -0.035503 0.041790 0.103618 
time: 1403636918.301666, t: 3.056492 4.866727 7.935437 q: 0.993412 -0.036375 0.040198 0.100959 
time: 1403636918.401666, t: 3.061673 4.860957 7.946476 q: 0.993914 -0.035188 0.029744 0.100056 
time: 1403636918.501667, t: 3.073920 4.855041 7.952799 q: 0.994317 -0.033579 0.019461 0.099137 
time: 1403636918.601666, t: 3.096387 4.847645 7.958122 q: 0.994519 -0.032113 0.016394 0.098144 
time: 1403636918.701667, t: 3.130048 4.839118 7.966108 q: 0.994466 -0.029499 0.019269 0.098975 
time: 1403636918.801666, t: 3.172040 4.827843 7.974127 q: 0.993188 -0.023124 0.025448 0.111332 
time: 1403636918.901666, t: 3.216593 4.820689 7.982077 q: 0.991260 -0.018315 0.036171 0.125540 
time: 1403636919.101666, t: 3.305396 4.822032 7.993176 q: 0.987806 -0.024722 0.047919 0.146054 
time: 1403636919.201667, t: 3.348550 4.833088 7.994463 q: 0.987129 -0.029749 0.050197 0.148902 
time: 1403636919.301666, t: 3.390217 4.851355 7.993504 q: 0.986940 -0.034709 0.050645 0.148926 
time: 1403636919.401666, t: 3.426113 4.872900 7.993167 q: 0.986907 -0.041763 0.050779 0.147284 
time: 1403636919.501667, t: 3.455198 4.898639 7.989760 q: 0.987811 -0.050224 0.050108 0.138553 
time: 1403636919.701667, t: 3.495252 4.950972 7.983862 q: 0.989132 -0.062128 0.049855 0.123579 
time: 1403636919.801666, t: 3.505967 4.971899 7.984212 q: 0.988887 -0.063015 0.050884 0.124672 
time: 1403636919.901666, t: 3.508064 4.990052 7.985395 q: 0.988578 -0.062698 0.051945 0.126826 
time: 1403636920.001667, t: 3.503364 5.008012 7.985154 q: 0.987941 -0.060653 0.054391 0.131665 
time: 1403636920.101666, t: 3.492263 5.025204 7.983955 q: 0.987185 -0.057682 0.056882 0.137489 
time: 1403636920.201667, t: 3.474087 5.042946 7.980688 q: 0.986549 -0.054819 0.058531 0.142441 
time: 1403636920.301666, t: 3.449355 5.062940 7.974916 q: 0.987416 -0.056673 0.058096 0.135727 
time: 1403636920.401666, t: 3.421230 5.083147 7.967024 q: 0.988630 -0.060178 0.057069 0.125430 
time: 1403636920.501667, t: 3.394851 5.102134 7.954561 q: 0.989572 -0.061763 0.052606 0.119014 
time: 1403636920.601666, t: 3.374124 5.120985 7.934603 q: 0.990109 -0.061684 0.046205 0.117239 
time: 1403636920.701667, t: 3.359795 5.138949 7.909329 q: 0.990444 -0.061298 0.038413 0.117421 
time: 1403636920.801666, t: 3.352118 5.156462 7.880473 q: 0.990587 -0.061035 0.031640 0.118371 
time: 1403636920.901666, t: 3.351949 5.174816 7.848779 q: 0.990562 -0.060407 0.028130 0.119775 
time: 1403636921.001667, t: 3.354266 5.193749 7.814870 q: 0.990537 -0.060829 0.027387 0.119943 
time: 1403636921.101666, t: 3.355662 5.207857 7.788360 q: 0.990384 -0.061472 0.028098 0.120709 
time: 1403636921.201667, t: 3.353106 5.219975 7.765913 q: 0.990298 -0.062542 0.030760 0.120216 
time: 1403636921.401666, t: 3.335786 5.237481 7.728629 q: 0.988968 -0.062963 0.048445 0.125020 
time: 1403636921.501667, t: 3.317628 5.244049 7.710137 q: 0.987993 -0.060280 0.051009 0.132791 
time: 1403636921.601666, t: 3.294054 5.249395 7.692639 q: 0.987437 -0.057463 0.045905 0.139851 
time: 1403636921.701667, t: 3.264115 5.254232 7.676366 q: 0.987835 -0.055903 0.029838 0.142005 
time: 1403636921.801666, t: 3.230657 5.263985 7.660093 q: 0.988510 -0.056118 0.013854 0.139664 
time: 1403636921.901666, t: 3.199380 5.276730 7.647066 q: 0.988914 -0.058627 0.012504 0.135853 
time: 1403636922.001667, t: 3.171648 5.291160 7.638498 q: 0.988996 -0.063756 0.022615 0.131573 
time: 1403636922.201667, t: 3.122332 5.318477 7.625150 q: 0.988052 -0.077685 0.036092 0.128122 
time: 1403636922.301666, t: 3.104574 5.331985 7.614883 q: 0.987979 -0.082703 0.028079 0.127553 
time: 1403636922.401666, t: 3.092092 5.343932 7.603114 q: 0.987645 -0.086275 0.020800 0.129159 
time: 1403636922.501667, t: 3.075699 5.356134 7.593820 q: 0.986881 -0.092136 0.013512 0.131887 
time: 1403636922.601666, t: 3.059367 5.366502 7.589048 q: 0.985420 -0.101747 0.009299 0.136044 
time: 1403636922.701667, t: 3.041869 5.374331 7.591314 q: 0.983881 -0.112840 0.016669 0.137720 
time: 1403636922.801666, t: 3.026702 5.377313 7.598276 q: 0.981769 -0.120676 0.031608 0.143417 
time: 1403636922.901666, t: 3.013579 5.381997 7.600511 q: 0.979524 -0.123309 0.042355 0.153406 
time: 1403636923.001667, t: 3.005787 5.385106 7.597339 q: 0.977517 -0.123933 0.048911 0.163431 
time: 1403636923.101666, t: 2.997725 5.391808 7.588157 q: 0.976417 -0.127943 0.048687 0.166941 
time: 1403636923.201667, t: 2.983556 5.398616 7.579400 q: 0.974872 -0.137234 0.043676 0.169955 
time: 1403636923.301666, t: 2.963496 5.406598 7.567724 q: 0.973710 -0.149381 0.032257 0.168919 
time: 1403636923.401666, t: 2.939282 5.412147 7.558093 q: 0.972716 -0.158769 0.018916 0.168104 
time: 1403636923.501667, t: 2.912920 5.418266 7.551765 q: 0.971655 -0.164608 0.005381 0.169594 
time: 1403636923.601666, t: 2.888526 5.426584 7.546482 q: 0.970730 -0.167065 -0.007247 0.172396 
time: 1403636923.701667, t: 2.874100 5.436985 7.543216 q: 0.970182 -0.169391 -0.013564 0.172828 
time: 1403636923.801666, t: 2.869408 5.452166 7.542945 q: 0.970024 -0.171139 -0.012854 0.172047 
time: 1403636923.901666, t: 2.873850 5.467021 7.548053 q: 0.970030 -0.171743 -0.013443 0.171362 
time: 1403636924.001667, t: 2.874791 5.483336 7.560311 q: 0.970359 -0.171959 -0.013478 0.169269 
time: 1403636924.101666, t: 2.873525 5.499591 7.580085 q: 0.970593 -0.172139 -0.012409 0.167818 
time: 1403636924.201667, t: 2.872845 5.516531 7.608357 q: 0.971023 -0.171926 -0.010187 0.165686 
time: 1403636924.301666, t: 2.871855 5.532742 7.641671 q: 0.971244 -0.170989 -0.007539 0.165501 
time: 1403636924.401666, t: 2.877380 5.549786 7.676957 q: 0.970713 -0.167625 -0.002953 0.172075 
time: 1403636924.501667, t: 2.895719 5.570528 7.712836 q: 0.969944 -0.164749 0.007479 0.178914 
time: 1403636924.601666, t: 2.918806 5.593458 7.748355 q: 0.968930 -0.161280 0.018890 0.186563 
time: 1403636924.701667, t: 2.937050 5.619016 7.784224 q: 0.968144 -0.158638 0.027564 0.191761 
time: 1403636924.801666, t: 2.948750 5.647902 7.821395 q: 0.967484 -0.155180 0.037023 0.196272 
time: 1403636924.901666, t: 2.957755 5.678924 7.858228 q: 0.966912 -0.155469 0.043557 0.197516 
time: 1403636925.001667, t: 2.951652 5.714713 7.891068 q: 0.965406 -0.162270 0.043323 0.199456 
time: 1403636925.101666, t: 2.937218 5.752073 7.923816 q: 0.964862 -0.172969 0.038046 0.194100 
time: 1403636925.201667, t: 2.919611 5.788969 7.956522 q: 0.965320 -0.184071 0.028056 0.182997 
time: 1403636925.301666, t: 2.891200 5.828031 7.985899 q: 0.965490 -0.190708 0.014475 0.176775 
time: 1403636925.401666, t: 2.858981 5.867964 8.015034 q: 0.965284 -0.193642 -0.001477 0.175293 
time: 1403636925.501667, t: 2.838381 5.899650 8.054707 q: 0.964562 -0.195650 -0.013407 0.176525 
time: 1403636925.601666, t: 2.819160 5.935734 8.091345 q: 0.963938 -0.196141 -0.023607 0.178313 
time: 1403636925.701667, t: 2.812243 5.974288 8.135029 q: 0.963354 -0.196418 -0.029753 0.180232 
time: 1403636925.801666, t: 2.818819 6.017281 8.184465 q: 0.963272 -0.197761 -0.031350 0.178927 
time: 1403636925.901666, t: 2.839213 6.063095 8.237334 q: 0.963540 -0.199971 -0.020485 0.176588 
time: 1403636926.001667, t: 2.868534 6.108997 8.294744 q: 0.963952 -0.203676 -0.001832 0.171201 
time: 1403636926.101666, t: 2.894016 6.149210 8.358695 q: 0.963259 -0.204832 0.019001 0.172668 
time: 1403636926.201667, t: 2.912020 6.191472 8.420593 q: 0.962213 -0.202205 0.033819 0.179207 
time: 1403636926.301666, t: 2.923175 6.227729 8.483613 q: 0.961430 -0.199073 0.041648 0.185169 
time: 1403636926.401666, t: 2.926138 6.262028 8.545743 q: 0.960765 -0.195134 0.046644 0.191515 
time: 1403636926.501667, t: 2.922598 6.293077 8.601416 q: 0.960794 -0.192298 0.046849 0.194167 
time: 1403636926.601666, t: 2.913702 6.326068 8.651954 q: 0.961979 -0.191777 0.041735 0.189937 
time: 1403636926.701667, t: 2.911439 6.360265 8.691925 q: 0.963029 -0.191911 0.036745 0.185461 
time: 1403636926.801666, t: 2.911833 6.396267 8.723482 q: 0.962283 -0.193189 0.029750 0.189221 
time: 1403636926.901666, t: 2.911854 6.434071 8.749958 q: 0.959500 -0.198687 0.024601 0.198187 
time: 1403636927.001667, t: 2.914701 6.475337 8.772336 q: 0.955070 -0.210432 0.022579 0.207483 
time: 1403636927.101666, t: 2.912576 6.517424 8.800197 q: 0.949573 -0.227817 0.020924 0.214413 
time: 1403636927.201667, t: 2.905360 6.560006 8.823924 q: 0.942651 -0.248378 0.019292 0.222137 
time: 1403636927.301666, t: 2.890454 6.599411 8.855463 q: 0.934950 -0.271724 0.016225 0.227534 
time: 1403636927.401666, t: 2.868497 6.645242 8.877132 q: 0.929449 -0.289393 0.005169 0.228800 
time: 1403636927.501667, t: 2.850920 6.688513 8.905768 q: 0.925186 -0.300380 -0.012095 0.231638 
time: 1403636927.601666, t: 2.827123 6.740618 8.925394 q: 0.921857 -0.306244 -0.026829 0.235953 
time: 1403636927.701667, t: 2.814971 6.785076 8.962658 q: 0.919328 -0.312342 -0.034298 0.236859 
time: 1403636927.801666, t: 2.813729 6.842386 8.992355 q: 0.917666 -0.314958 -0.035509 0.239646 
time: 1403636927.901666, t: 2.817781 6.900767 9.031140 q: 0.916905 -0.316709 -0.033912 0.240479 
time: 1403636928.001667, t: 2.818979 6.963940 9.075325 q: 0.916706 -0.317795 -0.031151 0.240180 
time: 1403636928.101666, t: 2.822110 7.027817 9.128052 q: 0.917067 -0.319584 -0.025040 0.237124 
time: 1403636928.201667, t: 2.820753 7.095896 9.182102 q: 0.917576 -0.321125 -0.012537 0.234041 
time: 1403636928.301666, t: 2.816786 7.159798 9.243590 q: 0.917537 -0.321660 0.002326 0.233787 
time: 1403636928.401666, t: 2.808837 7.227206 9.300843 q: 0.917987 -0.321750 0.012907 0.231538 
time: 1403636928.501667, t: 2.800167 7.290467 9.357088 q: 0.918520 -0.322548 0.017020 0.228022 
time: 1403636928.601666, t: 2.795159 7.352825 9.408608 q: 0.919249 -0.322078 0.013628 0.225969 
time: 1403636928.701667, t: 2.793166 7.412216 9.457436 q: 0.919899 -0.320658 0.003955 0.225720 
time: 1403636928.801666, t: 2.796202 7.469850 9.502524 q: 0.920377 -0.319415 -0.005096 0.225510 
time: 1403636928.901666, t: 2.812405 7.532318 9.545643 q: 0.920533 -0.319091 -0.009172 0.225203 
time: 1403636929.001667, t: 2.835384 7.594992 9.586092 q: 0.920372 -0.320626 0.001416 0.223858 
time: 1403636929.101666, t: 2.862306 7.656122 9.624638 q: 0.919230 -0.320168 0.017772 0.228458 
time: 1403636929.201667, t: 2.902139 7.719942 9.659216 q: 0.918177 -0.318520 0.025492 0.234191 
time: 1403636929.301666, t: 2.935106 7.781202 9.690879 q: 0.917499 -0.315614 0.026536 0.240581 
time: 1403636929.401666, t: 2.962313 7.842159 9.720231 q: 0.917762 -0.314432 0.025494 0.241236 
time: 1403636929.501667, t: 2.979569 7.901671 9.744398 q: 0.918882 -0.314655 0.021651 0.237020 
time: 1403636929.601666, t: 2.991130 7.959670 9.769291 q: 0.920321 -0.316684 0.016928 0.228984 
time: 1403636929.701667, t: 2.993899 8.017123 9.792109 q: 0.921660 -0.318420 0.013578 0.221286 
time: 1403636929.801666, t: 2.993539 8.069483 9.815327 q: 0.922373 -0.319159 0.011138 0.217350 
time: 1403636930.101666, t: 2.996304 8.208408 9.881607 q: 0.921460 -0.315612 0.016481 0.225895 
time: 1403636930.201667, t: 3.008573 8.255386 9.895221 q: 0.920903 -0.314274 0.016846 0.229970 
time: 1403636930.301666, t: 3.021343 8.301599 9.901504 q: 0.920672 -0.312697 0.015066 0.233144 
time: 1403636930.401666, t: 3.039527 8.347611 9.904126 q: 0.920864 -0.314109 0.015137 0.230471 
time: 1403636930.501667, t: 3.055174 8.393046 9.907699 q: 0.921429 -0.316979 0.013207 0.224318 
time: 1403636930.601666, t: 3.067704 8.440607 9.911580 q: 0.921820 -0.317729 0.012799 0.221657 
time: 1403636930.701667, t: 3.069824 8.479653 9.916924 q: 0.921233 -0.316066 0.015768 0.226236 
time: 1403636930.801666, t: 3.070095 8.521568 9.920504 q: 0.920252 -0.312388 0.018658 0.234950 
time: 1403636930.901666, t: 3.060690 8.557107 9.924653 q: 0.918895 -0.311550 0.022022 0.241005 
time: 1403636931.001667, t: 3.044121 8.595934 9.925956 q: 0.914977 -0.314399 0.025034 0.251683 
time: 1403636931.101666, t: 3.024039 8.637279 9.924537 q: 0.910828 -0.324649 0.025782 0.253634 
time: 1403636931.201667, t: 3.003732 8.676508 9.917164 q: 0.908492 -0.338354 0.026609 0.243826 
time: 1403636931.301666, t: 2.988969 8.717739 9.899967 q: 0.906395 -0.349355 0.030602 0.235506 
time: 1403636931.401666, t: 2.978338 8.757638 9.874136 q: 0.905179 -0.356973 0.029318 0.228828 
time: 1403636931.501667, t: 2.971194 8.795015 9.840001 q: 0.905153 -0.363390 0.022698 0.219388 
time: 1403636931.601666, t: 2.968884 8.824408 9.803631 q: 0.905299 -0.369116 0.015619 0.209626 
time: 1403636931.701667, t: 2.965632 8.845858 9.769192 q: 0.905124 -0.372458 0.013416 0.204559 
time: 1403636931.801666, t: 2.958568 8.855949 9.739892 q: 0.903833 -0.368499 0.011611 0.217164 
time: 1403636931.901666, t: 2.945869 8.859303 9.713880 q: 0.902654 -0.364762 0.008642 0.228230 
time: 1403636932.001667, t: 2.928951 8.858958 9.689459 q: 0.901768 -0.362972 0.007721 0.234535 
time: 1403636932.101666, t: 2.911843 8.857859 9.667116 q: 0.901193 -0.363703 0.011668 0.235448 
time: 1403636932.201667, t: 2.889244 8.854424 9.642550 q: 0.900766 -0.365918 0.015825 0.233397 
time: 1403636932.301666, t: 2.872371 8.850074 9.613548 q: 0.900925 -0.371892 0.017046 0.223024 
time: 1403636932.401666, t: 2.859217 8.840614 9.579955 q: 0.900829 -0.377432 0.015484 0.214037 
time: 1403636932.501667, t: 2.857563 8.826349 9.546475 q: 0.898761 -0.382924 0.014468 0.213048 
time: 1403636932.601666, t: 2.863016 8.805249 9.506397 q: 0.893361 -0.391251 0.011612 0.220669 
time: 1403636932.701667, t: 2.874326 8.778664 9.466102 q: 0.885543 -0.401726 0.011846 0.233001 
time: 1403636932.801666, t: 2.894419 8.752155 9.420376 q: 0.878965 -0.411785 0.011523 0.240252 
time: 1403636932.901666, t: 2.913200 8.720785 9.369995 q: 0.873461 -0.420104 0.008021 0.245995 
time: 1403636933.001667, t: 2.923400 8.680333 9.322371 q: 0.869016 -0.426436 0.003468 0.250902 
time: 1403636933.101666, t: 2.921256 8.636304 9.281363 q: 0.863165 -0.435463 -0.000027 0.255574 
time: 1403636933.201667, t: 2.906533 8.587389 9.245313 q: 0.858492 -0.439916 -0.007885 0.263444 
time: 1403636933.301666, t: 2.887340 8.534577 9.216040 q: 0.854907 -0.439725 -0.026954 0.273953 
time: 1403636933.401666, t: 2.869623 8.485576 9.184541 q: 0.852838 -0.437806 -0.036946 0.282184 
time: 1403636933.501667, t: 2.849790 8.441184 9.161900 q: 0.852291 -0.439691 -0.032785 0.281420 
time: 1403636933.601666, t: 2.833526 8.400144 9.140650 q: 0.852663 -0.442011 -0.024821 0.277444 
time: 1403636933.701667, t: 2.825298 8.363728 9.120071 q: 0.853474 -0.443759 -0.017526 0.272677 
time: 1403636933.801666, t: 2.823279 8.328460 9.098397 q: 0.854516 -0.444953 -0.010556 0.267784 
time: 1403636933.901666, t: 2.829712 8.297792 9.072646 q: 0.854516 -0.445002 -0.004102 0.267878 
time: 1403636934.001667, t: 2.835274 8.261511 9.045759 q: 0.851121 -0.449077 -0.002397 0.271876 
time: 1403636934.101666, t: 2.840064 8.227778 9.017819 q: 0.843652 -0.460029 -0.003567 0.276790 
time: 1403636934.201667, t: 2.826457 8.186106 8.992601 q: 0.832375 -0.477727 -0.006059 0.280878 
time: 1403636934.301666, t: 2.806393 8.146181 8.969800 q: 0.818450 -0.497740 -0.008746 0.286910 
time: 1403636934.401666, t: 2.788180 8.105416 8.945023 q: 0.801806 -0.517600 -0.008139 0.298550 
time: 1403636934.501667, t: 2.763053 8.059038 8.918283 q: 0.783780 -0.537122 -0.007218 0.311667 
time: 1403636934.701667, t: 2.751175 7.981522 8.844602 q: 0.749480 -0.575082 -0.016564 0.327545 
time: 1403636934.801666, t: 2.749332 7.939099 8.799620 q: 0.738698 -0.587123 -0.028490 0.329849 
time: 1403636934.901666, t: 2.750972 7.904457 8.748005 q: 0.732032 -0.594055 -0.039714 0.331134 
time: 1403636935.001667, t: 2.761315 7.871188 8.697431 q: 0.728557 -0.597674 -0.045343 0.331564 
time: 1403636935.101666, t: 2.779559 7.846644 8.647569 q: 0.728175 -0.600657 -0.042208 0.327400 
time: 1403636935.201667, t: 2.802148 7.821945 8.596150 q: 0.729316 -0.601206 -0.032539 0.324947 
time: 1403636935.301666, t: 2.821658 7.796737 8.548938 q: 0.730883 -0.599423 -0.026683 0.325255 
time: 1403636935.401666, t: 2.829391 7.772865 8.502342 q: 0.732886 -0.596265 -0.023249 0.326811 
time: 1403636935.501667, t: 2.835871 7.744982 8.457695 q: 0.734947 -0.593793 -0.021965 0.326771 
time: 1403636935.601666, t: 2.834352 7.716662 8.417329 q: 0.736646 -0.591730 -0.021283 0.326735 
time: 1403636935.801666, t: 2.813320 7.648419 8.339965 q: 0.739424 -0.587180 -0.029290 0.328046 
time: 1403636936.001667, t: 2.757316 7.580247 8.266566 q: 0.739678 -0.577686 -0.049033 0.341689 
time: 1403636936.101666, t: 2.729594 7.553849 8.231280 q: 0.739484 -0.574497 -0.055928 0.346393 
time: 1403636936.201667, t: 2.698109 7.534163 8.194203 q: 0.739764 -0.575631 -0.057469 0.343649 
time: 1403636936.301666, t: 2.669945 7.518992 8.162682 q: 0.739950 -0.579710 -0.052882 0.337066 
time: 1403636936.401666, t: 2.647878 7.513433 8.128011 q: 0.739632 -0.584071 -0.045827 0.331218 
time: 1403636936.501667, t: 2.628941 7.511339 8.090403 q: 0.739187 -0.588269 -0.037946 0.325734 
time: 1403636936.601666, t: 2.613620 7.510323 8.055100 q: 0.737755 -0.591606 -0.033784 0.323387 
time: 1403636936.701667, t: 2.591788 7.506732 8.020286 q: 0.736066 -0.593531 -0.032726 0.323817 
time: 1403636936.801666, t: 2.568323 7.505992 7.984683 q: 0.735082 -0.595324 -0.033726 0.322656 
time: 1403636936.901666, t: 2.545229 7.503639 7.951678 q: 0.734300 -0.597147 -0.036608 0.320747 
time: 1403636937.001667, t: 2.524063 7.501487 7.919214 q: 0.733832 -0.598499 -0.038905 0.319025 
time: 1403636937.101666, t: 2.510465 7.504599 7.886447 q: 0.732992 -0.599295 -0.039756 0.319355 
time: 1403636937.201667, t: 2.502539 7.505447 7.851371 q: 0.731693 -0.599215 -0.036383 0.322867 
time: 1403636937.301666, t: 2.495655 7.509356 7.818039 q: 0.730769 -0.599633 -0.035886 0.324237 
time: 1403636937.401666, t: 2.483646 7.511149 7.786686 q: 0.730031 -0.600542 -0.035178 0.324294 
time: 1403636937.501667, t: 2.465923 7.511537 7.758264 q: 0.729398 -0.601294 -0.034860 0.324360 
time: 1403636937.601666, t: 2.442502 7.511652 7.732288 q: 0.728772 -0.602571 -0.035129 0.323367 
time: 1403636937.701667, t: 2.416088 7.510620 7.710120 q: 0.728684 -0.605119 -0.040573 0.318126 
time: 1403636937.801666, t: 2.385910 7.507218 7.691394 q: 0.728781 -0.608053 -0.045167 0.311625 
time: 1403636937.901666, t: 2.354077 7.503477 7.676830 q: 0.728496 -0.612501 -0.041061 0.304056 
time: 1403636938.001667, t: 2.321649 7.496213 7.670805 q: 0.727890 -0.617837 -0.037076 0.295093 
time: 1403636938.101666, t: 2.287818 7.485671 7.667086 q: 0.725968 -0.622651 -0.030568 0.290417 
time: 1403636938.201667, t: 2.255176 7.468004 7.666850 q: 0.721154 -0.626504 -0.021490 0.294903 
time: 1403636938.301666, t: 2.230469 7.446698 7.666211 q: 0.716239 -0.627829 -0.012056 0.304446 
time: 1403636938.401666, t: 2.210186 7.415567 7.665411 q: 0.710451 -0.623956 0.000102 0.325480 
time: 1403636938.501667, t: 2.196728 7.383068 7.654400 q: 0.705238 -0.619317 0.005200 0.345050 
time: 1403636938.601666, t: 2.189038 7.349051 7.633028 q: 0.702154 -0.617246 0.001033 0.354945 
time: 1403636938.701667, t: 2.177708 7.312004 7.605273 q: 0.700481 -0.617587 -0.001212 0.357647 
time: 1403636938.801666, t: 2.169219 7.276817 7.563673 q: 0.700357 -0.619738 -0.007711 0.354069 
time: 1403636938.901666, t: 2.162516 7.242001 7.516138 q: 0.701405 -0.622517 -0.019527 0.346587 
time: 1403636939.001667, t: 2.150044 7.203525 7.463515 q: 0.702358 -0.624076 -0.030767 0.340992 
time: 1403636939.101666, t: 2.131169 7.167511 7.410232 q: 0.703306 -0.624465 -0.034825 0.337922 
time: 1403636939.201667, t: 2.106869 7.133954 7.356271 q: 0.704629 -0.624686 -0.032530 0.334974 
time: 1403636939.301666, t: 2.080982 7.098475 7.310172 q: 0.705880 -0.624704 -0.030067 0.332527 
time: 1403636939.401666, t: 2.050881 7.062265 7.261185 q: 0.707882 -0.623476 -0.029037 0.330662 
time: 1403636939.501667, t: 2.028622 7.026442 7.211468 q: 0.710139 -0.623182 -0.026257 0.326584 
time: 1403636939.601666, t: 2.013559 6.989464 7.159122 q: 0.712317 -0.624621 -0.020945 0.319398 
time: 1403636939.701667, t: 2.004993 6.952725 7.103210 q: 0.713170 -0.625078 -0.014293 0.316955 
time: 1403636939.801666, t: 1.993955 6.914872 7.044338 q: 0.713661 -0.625394 -0.013386 0.315262 
time: 1403636939.901666, t: 1.979642 6.869861 6.989807 q: 0.713141 -0.624326 -0.014161 0.318506 
time: 1403636940.001667, t: 1.962629 6.816062 6.935486 q: 0.708977 -0.626397 -0.013599 0.323719 
time: 1403636940.101666, t: 1.936093 6.758195 6.881012 q: 0.702828 -0.630717 -0.016248 0.328580 
time: 1403636940.201667, t: 1.905945 6.699804 6.829150 q: 0.697198 -0.633282 -0.018219 0.335464 
time: 1403636940.301666, t: 1.870647 6.635160 6.775269 q: 0.692971 -0.636539 -0.018841 0.338016 
time: 1403636940.401666, t: 1.828064 6.574391 6.718343 q: 0.689633 -0.639557 -0.018154 0.339180 
time: 1403636940.501667, t: 1.789031 6.507988 6.664790 q: 0.686560 -0.642330 -0.018436 0.340158 
time: 1403636940.601666, t: 1.756006 6.441496 6.605584 q: 0.683776 -0.642183 -0.023833 0.345663 
time: 1403636940.701667, t: 1.727840 6.379026 6.540305 q: 0.682230 -0.642257 -0.033581 0.347766 
time: 1403636940.801666, t: 1.704049 6.318738 6.473013 q: 0.681525 -0.641716 -0.041079 0.349337 
time: 1403636940.901666, t: 1.691336 6.263430 6.403124 q: 0.681147 -0.642038 -0.046899 0.348749 
time: 1403636941.001667, t: 1.686129 6.211063 6.331124 q: 0.681268 -0.643128 -0.046949 0.346491 
time: 1403636941.101666, t: 1.682537 6.166844 6.254833 q: 0.681754 -0.644670 -0.044797 0.342936 
time: 1403636941.201667, t: 1.683772 6.123713 6.179423 q: 0.682492 -0.645463 -0.042364 0.340276 
time: 1403636941.301666, t: 1.681570 6.087185 6.103548 q: 0.683993 -0.645917 -0.037909 0.336909 
time: 1403636941.401666, t: 1.678655 6.046543 6.033803 q: 0.686185 -0.645502 -0.036177 0.333418 
time: 1403636941.501667, t: 1.668740 6.005150 5.965515 q: 0.688592 -0.644270 -0.034605 0.330999 
time: 1403636941.601666, t: 1.656445 5.960226 5.901811 q: 0.690612 -0.642462 -0.035734 0.330182 
time: 1403636941.701667, t: 1.637463 5.915379 5.840572 q: 0.692406 -0.640756 -0.036859 0.329617 
time: 1403636941.801666, t: 1.621370 5.869292 5.781785 q: 0.693647 -0.638973 -0.037256 0.330422 
time: 1403636941.901666, t: 1.609896 5.821625 5.723530 q: 0.694451 -0.637324 -0.037979 0.331834 
time: 1403636942.001667, t: 1.604492 5.775856 5.662301 q: 0.694802 -0.635694 -0.037207 0.334304 
time: 1403636942.101666, t: 1.604285 5.734240 5.600083 q: 0.694539 -0.635047 -0.034621 0.336350 
time: 1403636942.201667, t: 1.604976 5.691529 5.536557 q: 0.693970 -0.635281 -0.031644 0.337376 
time: 1403636942.301666, t: 1.596586 5.648251 5.476909 q: 0.692950 -0.635756 -0.029043 0.338809 
time: 1403636942.401666, t: 1.585585 5.604012 5.415147 q: 0.691221 -0.635985 -0.025170 0.342203 
time: 1403636942.501667, t: 1.569261 5.558211 5.358506 q: 0.688917 -0.636297 -0.024067 0.346324 
time: 1403636942.601666, t: 1.543481 5.510106 5.299412 q: 0.687252 -0.635981 -0.026624 0.350005 
time: 1403636942.701667, t: 1.514591 5.462065 5.240496 q: 0.686112 -0.636133 -0.033289 0.351391 
time: 1403636942.801666, t: 1.485130 5.418291 5.179851 q: 0.685173 -0.637181 -0.037832 0.350867 
time: 1403636942.901666, t: 1.457694 5.376223 5.114394 q: 0.684859 -0.640869 -0.038003 0.344688 
time: 1403636943.001667, t: 1.437398 5.340575 5.044585 q: 0.684453 -0.643543 -0.037894 0.340502 
time: 1403636943.101666, t: 1.423631 5.305468 4.974458 q: 0.683859 -0.646612 -0.036660 0.335983 
time: 1403636943.201667, t: 1.412520 5.268564 4.904989 q: 0.682571 -0.648529 -0.033832 0.335205 
time: 1403636943.301666, t: 1.395247 5.230292 4.837563 q: 0.681386 -0.650477 -0.034030 0.333818 
time: 1403636943.401666, t: 1.375747 5.194083 4.770614 q: 0.679834 -0.652556 -0.033720 0.332955 
time: 1403636943.501667, t: 1.350469 5.152621 4.709592 q: 0.678576 -0.654296 -0.034031 0.332076 
time: 1403636943.601666, t: 1.321283 5.106766 4.652728 q: 0.677729 -0.656208 -0.034816 0.329942 
time: 1403636943.701667, t: 1.286323 5.061341 4.600208 q: 0.677165 -0.657877 -0.034254 0.327830 
time: 1403636943.801666, t: 1.249104 5.011581 4.550113 q: 0.676583 -0.658797 -0.035657 0.327033 
time: 1403636943.901666, t: 1.208422 4.963477 4.503212 q: 0.679841 -0.653257 -0.037905 0.331110 
time: 1403636944.001667, t: 1.164183 4.907632 4.465083 q: 0.685765 -0.641635 -0.047182 0.340301 
time: 1403636944.101666, t: 1.117139 4.862760 4.422889 q: 0.691235 -0.629504 -0.059233 0.349872 
time: 1403636944.201667, t: 1.080089 4.816312 4.380965 q: 0.695517 -0.621853 -0.066377 0.353763 
time: 1403636944.301666, t: 1.051321 4.784635 4.336919 q: 0.698912 -0.618196 -0.065872 0.353578 
time: 1403636944.401666, t: 1.030205 4.764000 4.291410 q: 0.702090 -0.618504 -0.058615 0.347975 
time: 1403636944.501667, t: 1.015217 4.749117 4.245392 q: 0.705528 -0.622613 -0.052206 0.334452 
time: 1403636944.701667, t: 0.998802 4.728248 4.157852 q: 0.713069 -0.628980 -0.051510 0.305391 
time: 1403636944.801666, t: 0.998556 4.715271 4.122457 q: 0.716908 -0.624350 -0.045197 0.306900 
time: 1403636944.901666, t: 1.008188 4.702887 4.085622 q: 0.719692 -0.619952 -0.039525 0.310064 
time: 1403636945.001667, t: 1.019225 4.686758 4.052305 q: 0.721847 -0.616906 -0.035638 0.311600 
time: 1403636945.101666, t: 1.020474 4.669674 4.026514 q: 0.723569 -0.615157 -0.034424 0.311198 
time: 1403636945.201667, t: 1.011997 4.645734 4.007197 q: 0.724898 -0.613680 -0.034210 0.311046 
time: 1403636945.301666, t: 1.004364 4.620050 3.990802 q: 0.725622 -0.612855 -0.033647 0.311047 
time: 1403636945.401666, t: 1.003532 4.593202 3.973970 q: 0.725732 -0.612765 -0.034735 0.310846 
time: 1403636945.501667, t: 1.009267 4.564492 3.957149 q: 0.725165 -0.613303 -0.034422 0.311144 
time: 1403636945.701667, t: 1.010564 4.500020 3.934728 q: 0.721704 -0.608748 -0.049365 0.325780 
time: 1403636945.801666, t: 1.004653 4.465429 3.930677 q: 0.719796 -0.605237 -0.062166 0.334242 
time: 1403636945.901666, t: 0.996006 4.433537 3.929878 q: 0.718080 -0.604863 -0.064868 0.338073 
time: 1403636946.001667, t: 0.985491 4.408275 3.934824 q: 0.717959 -0.610144 -0.057220 0.330128 
time: 1403636946.101666, t: 0.969215 4.388366 3.943874 q: 0.717429 -0.614819 -0.049925 0.323730 
time: 1403636946.201667, t: 0.947194 4.367106 3.957593 q: 0.716106 -0.617222 -0.046473 0.322597 
time: 1403636946.301666, t: 0.921531 4.343233 3.977467 q: 0.715139 -0.620792 -0.042884 0.318362 
time: 1403636946.401666, t: 0.890335 4.319523 4.000667 q: 0.713796 -0.623633 -0.039190 0.316292 
time: 1403636946.501667, t: 0.855197 4.293736 4.027451 q: 0.712214 -0.625328 -0.038057 0.316649 
time: 1403636946.601666, t: 0.822236 4.265842 4.055869 q: 0.710836 -0.627164 -0.037671 0.316161 
time: 1403636946.701667, t: 0.794111 4.239424 4.082721 q: 0.708888 -0.625261 -0.034674 0.324538 
time: 1403636946.801666, t: 0.771641 4.213965 4.108542 q: 0.705501 -0.620608 -0.021697 0.341530 
time: 1403636946.901666, t: 0.753218 4.186815 4.129182 q: 0.702967 -0.617310 -0.014411 0.352929 
time: 1403636947.001667, t: 0.728679 4.161816 4.145508 q: 0.700159 -0.612945 -0.004664 0.366134 
time: 1403636947.101666, t: 0.699150 4.135843 4.154796 q: 0.699482 -0.611883 -0.005665 0.369176 
time: 1403636947.201667, t: 0.662091 4.110982 4.153890 q: 0.701429 -0.613890 -0.024697 0.361285 
time: 1403636947.401666, t: 0.606235 4.073695 4.128479 q: 0.702983 -0.611111 -0.068083 0.357383 
time: 1403636947.501667, t: 0.591862 4.073541 4.113570 q: 0.702320 -0.611456 -0.069260 0.357871 
time: 1403636947.601666, t: 0.580043 4.081593 4.094547 q: 0.702159 -0.615008 -0.057276 0.354199 
time: 1403636947.701667, t: 0.574012 4.098662 4.078004 q: 0.702916 -0.618741 -0.053792 0.346663 
time: 1403636947.801666, t: 0.563212 4.119974 4.060995 q: 0.704308 -0.621319 -0.057751 0.338494 
time: 1403636947.901666, t: 0.547846 4.143028 4.047611 q: 0.706412 -0.624601 -0.065076 0.326529 
time: 1403636948.001667, t: 0.531875 4.169316 4.041800 q: 0.707085 -0.624192 -0.066396 0.325587 
time: 1403636948.101666, t: 0.510707 4.198744 4.040197 q: 0.707130 -0.619976 -0.066308 0.333467 
time: 1403636948.201667, t: 0.490329 4.227355 4.045466 q: 0.708473 -0.619338 -0.067774 0.331502 
time: 1403636948.301666, t: 0.466805 4.260659 4.056191 q: 0.710131 -0.619206 -0.068174 0.328100 
time: 1403636948.401666, t: 0.443120 4.296948 4.073444 q: 0.712105 -0.619093 -0.069873 0.323647 
time: 1403636948.501667, t: 0.420950 4.335875 4.095526 q: 0.714832 -0.620046 -0.074628 0.314626 
time: 1403636948.601666, t: 0.400563 4.377362 4.123712 q: 0.717945 -0.623510 -0.081626 0.298542 
time: 1403636948.701667, t: 0.383996 4.418415 4.163124 q: 0.720288 -0.625417 -0.080546 0.289053 
time: 1403636948.801666, t: 0.380331 4.461772 4.212994 q: 0.720484 -0.622696 -0.065552 0.298087 
time: 1403636948.901666, t: 0.388668 4.507080 4.264958 q: 0.720457 -0.619155 -0.047520 0.308757 
time: 1403636949.001667, t: 0.395620 4.548100 4.319308 q: 0.720227 -0.615821 -0.027707 0.318229 
time: 1403636949.101666, t: 0.403893 4.589250 4.372632 q: 0.720900 -0.614448 -0.021850 0.319811 
time: 1403636949.201667, t: 0.403857 4.623022 4.425683 q: 0.722329 -0.613924 -0.023122 0.317498 
time: 1403636949.301666, t: 0.404377 4.653941 4.480241 q: 0.723118 -0.613383 -0.025003 0.316601 
time: 1403636949.401666, t: 0.401403 4.681025 4.536430 q: 0.723262 -0.611892 -0.020727 0.319453 
time: 1403636949.501667, t: 0.394349 4.704377 4.591793 q: 0.723115 -0.610840 -0.016611 0.322030 
time: 1403636949.601666, t: 0.389429 4.724908 4.643339 q: 0.722923 -0.609228 -0.012896 0.325664 
time: 1403636949.701667, t: 0.385567 4.742116 4.687536 q: 0.722889 -0.607214 -0.017661 0.329258 
time: 1403636949.801666, t: 0.386199 4.758973 4.725424 q: 0.723346 -0.605079 -0.027030 0.331541 
time: 1403636949.901666, t: 0.390464 4.776949 4.758586 q: 0.723049 -0.601798 -0.034593 0.337407 
time: 1403636950.001667, t: 0.402058 4.798880 4.786631 q: 0.722489 -0.599217 -0.038901 0.342689 
time: 1403636950.101666, t: 0.415210 4.825550 4.811024 q: 0.721738 -0.597140 -0.042558 0.347430 
time: 1403636950.201667, t: 0.423826 4.853849 4.836033 q: 0.721550 -0.598074 -0.047172 0.345613 
time: 1403636950.301666, t: 0.426472 4.886690 4.861974 q: 0.721818 -0.600277 -0.049321 0.340903 
time: 1403636950.401666, t: 0.424207 4.920447 4.889343 q: 0.722441 -0.603684 -0.048382 0.333622 
time: 1403636950.501667, t: 0.416934 4.956674 4.918961 q: 0.723435 -0.608124 -0.047601 0.323358 
time: 1403636950.601666, t: 0.410601 4.993812 4.951361 q: 0.724690 -0.612252 -0.049228 0.312326 
time: 1403636950.701667, t: 0.408281 5.033299 4.985861 q: 0.725155 -0.612905 -0.046748 0.310342 
time: 1403636950.801666, t: 0.412190 5.070256 5.021806 q: 0.725237 -0.612237 -0.038758 0.312562 
time: 1403636950.901666, t: 0.422040 5.108490 5.057183 q: 0.725413 -0.610881 -0.033735 0.315377 
time: 1403636951.001667, t: 0.439453 5.145955 5.091261 q: 0.725768 -0.610086 -0.031312 0.316348 
time: 1403636951.101666, t: 0.462350 5.181275 5.123795 q: 0.725166 -0.607776 -0.025851 0.322607 
time: 1403636951.201667, t: 0.479407 5.213651 5.154436 q: 0.724266 -0.603699 -0.027517 0.332007 
time: 1403636951.301666, t: 0.492155 5.246311 5.185027 q: 0.723892 -0.601091 -0.037130 0.336588 
time: 1403636951.401666, t: 0.499079 5.277871 5.216973 q: 0.723580 -0.598645 -0.046974 0.340367 
time: 1403636951.501667, t: 0.499560 5.313000 5.250476 q: 0.723470 -0.598170 -0.052230 0.340669 
time: 1403636951.601666, t: 0.498024 5.352431 5.284904 q: 0.723654 -0.598882 -0.055122 0.338565 
time: 1403636951.701667, t: 0.497262 5.393327 5.320037 q: 0.723914 -0.601468 -0.054449 0.333499 
time: 1403636951.801666, t: 0.499060 5.442152 5.354297 q: 0.724318 -0.604149 -0.050056 0.328424 
time: 1403636951.901666, t: 0.504775 5.493155 5.386606 q: 0.725236 -0.607248 -0.049244 0.320714 
time: 1403636952.001667, t: 0.517020 5.547280 5.419187 q: 0.725880 -0.609609 -0.051338 0.314388 
time: 1403636952.101666, t: 0.527228 5.598825 5.457732 q: 0.725848 -0.611007 -0.048942 0.312122 
time: 1403636952.201667, t: 0.533751 5.646720 5.500990 q: 0.725455 -0.611475 -0.042341 0.313082 
time: 1403636952.301666, t: 0.533171 5.697911 5.550371 q: 0.724901 -0.610712 -0.032051 0.317053 
time: 1403636952.401666, t: 0.528704 5.743967 5.600208 q: 0.724348 -0.610200 -0.023640 0.320027 
time: 1403636952.501667, t: 0.520291 5.785406 5.650809 q: 0.724944 -0.611103 -0.023080 0.316981 
time: 1403636952.601666, t: 0.507643 5.825426 5.701107 q: 0.725904 -0.611908 -0.025957 0.312983 
time: 1403636952.701667, t: 0.500593 5.860000 5.749606 q: 0.726419 -0.612200 -0.027064 0.311117 
time: 1403636952.801666, t: 0.498982 5.891093 5.797874 q: 0.726286 -0.610290 -0.032905 0.314599 
time: 1403636952.901666, t: 0.500208 5.921181 5.843737 q: 0.725702 -0.607434 -0.037286 0.320921 
time: 1403636953.001667, t: 0.498554 5.948321 5.891890 q: 0.724101 -0.603476 -0.038004 0.331738 
time: 1403636953.201667, t: 0.478535 6.007626 5.989799 q: 0.721921 -0.599528 -0.034005 0.343860 
time: 1403636953.301666, t: 0.462742 6.038250 6.036532 q: 0.722175 -0.599559 -0.035207 0.343151 
time: 1403636953.401666, t: 0.449742 6.075522 6.078289 q: 0.723189 -0.600893 -0.036927 0.338469 
time: 1403636953.501667, t: 0.438884 6.115959 6.115514 q: 0.724922 -0.603489 -0.039301 0.329765 
time: 1403636953.601666, t: 0.433928 6.157240 6.150853 q: 0.726329 -0.604701 -0.042124 0.324050 
time: 1403636953.701667, t: 0.437575 6.199571 6.182564 q: 0.727750 -0.603776 -0.050475 0.321382 
time: 1403636953.801666, t: 0.446454 6.247558 6.212119 q: 0.729361 -0.603661 -0.058283 0.316591 
time: 1403636953.901666, t: 0.464722 6.303819 6.243812 q: 0.730677 -0.602748 -0.058087 0.315327 
time: 1403636954.001667, t: 0.480488 6.357539 6.278530 q: 0.731085 -0.601037 -0.054076 0.318346 
time: 1403636954.101666, t: 0.503717 6.411578 6.315247 q: 0.731006 -0.600553 -0.051592 0.319850 
time: 1403636954.201667, t: 0.524726 6.461953 6.358240 q: 0.730798 -0.600406 -0.049948 0.320861 
time: 1403636954.301666, t: 0.542031 6.518089 6.403303 q: 0.730534 -0.599640 -0.051888 0.322582 
time: 1403636954.401666, t: 0.561366 6.574958 6.450862 q: 0.729452 -0.598871 -0.053922 0.326107 
time: 1403636954.501667, t: 0.587399 6.635548 6.495669 q: 0.728188 -0.598932 -0.054644 0.328689 
time: 1403636954.601666, t: 0.611674 6.696753 6.541657 q: 0.726820 -0.601041 -0.056471 0.327557 
time: 1403636954.701667, t: 0.623344 6.758002 6.597240 q: 0.725016 -0.604831 -0.053726 0.325029 
time: 1403636954.801666, t: 0.627932 6.820251 6.658406 q: 0.722756 -0.609394 -0.047279 0.322534 
time: 1403636954.901666, t: 0.627603 6.877878 6.724477 q: 0.720231 -0.613973 -0.041430 0.320295 
time: 1403636955.001667, t: 0.622284 6.936124 6.796039 q: 0.717563 -0.618175 -0.038398 0.318574 
time: 1403636955.101666, t: 0.613153 6.990920 6.867036 q: 0.714939 -0.621311 -0.041029 0.318043 
time: 1403636955.201667, t: 0.616088 7.045802 6.935886 q: 0.712008 -0.624632 -0.043722 0.317756 
time: 1403636955.301666, t: 0.623827 7.101814 7.003702 q: 0.708628 -0.627981 -0.042589 0.318862 
time: 1403636955.401666, t: 0.636882 7.156397 7.070290 q: 0.705568 -0.631479 -0.042592 0.318738 
time: 1403636955.501667, t: 0.652773 7.206812 7.137596 q: 0.703230 -0.633996 -0.044019 0.318715 
time: 1403636955.601666, t: 0.667941 7.257080 7.205052 q: 0.701352 -0.635648 -0.044428 0.319503 
time: 1403636955.701667, t: 0.674742 7.305850 7.279963 q: 0.699768 -0.637242 -0.044915 0.319734 
time: 1403636955.801666, t: 0.688901 7.356079 7.352997 q: 0.698814 -0.638106 -0.045741 0.319980 
time: 1403636955.901666, t: 0.711741 7.406420 7.426524 q: 0.697278 -0.637633 -0.042662 0.324665 
time: 1403636956.001667, t: 0.735972 7.458205 7.497416 q: 0.694860 -0.635938 -0.033446 0.334117 
time: 1403636956.101666, t: 0.770067 7.508736 7.565115 q: 0.691977 -0.634473 -0.022440 0.343669 
time: 1403636956.201667, t: 0.798263 7.559554 7.624614 q: 0.690264 -0.633615 -0.017671 0.348934 
time: 1403636956.301666, t: 0.823199 7.605221 7.682762 q: 0.689307 -0.635190 -0.020349 0.347815 
time: 1403636956.401666, t: 0.838867 7.647798 7.735498 q: 0.690225 -0.639027 -0.031787 0.337969 
time: 1403636956.501667, t: 0.848336 7.688653 7.790314 q: 0.692223 -0.641432 -0.038493 0.328497 
time: 1403636956.601666, t: 0.860503 7.730011 7.849876 q: 0.698110 -0.638227 -0.031413 0.322989 
time: 1403636956.701667, t: 0.867454 7.763659 7.912910 q: 0.707646 -0.626830 -0.017520 0.325599 
time: 1403636956.801666, t: 0.868035 7.793591 7.971163 q: 0.721759 -0.607975 -0.008365 0.330696 
time: 1403636956.901666, t: 0.877485 7.821135 8.025569 q: 0.739857 -0.585870 -0.007119 0.330630 
time: 1403636957.001667, t: 0.888819 7.848885 8.070304 q: 0.760492 -0.565207 -0.009274 0.319541 
time: 1403636957.101666, t: 0.901988 7.873063 8.110403 q: 0.781820 -0.544268 -0.012457 0.303933 
time: 1403636957.201667, t: 0.933044 7.894572 8.143263 q: 0.800729 -0.523079 -0.016525 0.291461 
time: 1403636957.301666, t: 0.954384 7.911302 8.175889 q: 0.814468 -0.505642 -0.016281 0.284081 
time: 1403636957.401666, t: 0.975465 7.931499 8.209816 q: 0.823873 -0.492487 -0.015157 0.280109 
time: 1403636957.501667, t: 0.993638 7.945119 8.242461 q: 0.829637 -0.483524 -0.013403 0.278798 
time: 1403636957.601666, t: 1.004077 7.962148 8.277298 q: 0.834420 -0.475231 -0.010847 0.278893 
time: 1403636957.701667, t: 1.006027 7.975939 8.314018 q: 0.841166 -0.464062 -0.007968 0.277530 
time: 1403636957.801666, t: 1.003011 7.984430 8.354890 q: 0.851174 -0.446405 -0.005525 0.276036 
time: 1403636957.901666, t: 0.996025 7.996843 8.392813 q: 0.865477 -0.420810 -0.002166 0.271778 
time: 1403636958.001667, t: 0.991425 8.008886 8.429370 q: 0.881489 -0.391701 0.001173 0.263715 
time: 1403636958.101666, t: 0.994963 8.016611 8.464709 q: 0.896441 -0.363143 0.002760 0.253993 
time: 1403636958.201667, t: 1.004847 8.025728 8.490831 q: 0.908114 -0.339053 0.003244 0.245687 
time: 1403636958.301666, t: 1.018227 8.042462 8.513024 q: 0.917934 -0.318553 0.005709 0.236406 
time: 1403636958.401666, t: 1.037294 8.058967 8.527250 q: 0.926118 -0.301777 0.004367 0.226312 
time: 1403636958.501667, t: 1.058983 8.077642 8.538979 q: 0.931180 -0.290673 0.002902 0.220009 
time: 1403636958.601666, t: 1.070544 8.097614 8.556504 q: 0.933989 -0.284625 0.003382 0.215968 
time: 1403636958.701667, t: 1.081808 8.117452 8.570637 q: 0.935371 -0.282282 0.003758 0.213035 
time: 1403636958.801666, t: 1.093123 8.138643 8.585723 q: 0.935728 -0.281760 0.003579 0.212160 
time: 1403636958.901666, t: 1.099938 8.156460 8.604164 q: 0.935392 -0.283254 0.001594 0.211677 
time: 1403636959.001667, t: 1.104532 8.175879 8.623961 q: 0.934665 -0.286009 0.000533 0.211188 
time: 1403636959.101666, t: 1.102955 8.191857 8.648242 q: 0.933637 -0.288029 -0.001182 0.212978 
time: 1403636959.201667, t: 1.096025 8.206965 8.676021 q: 0.932637 -0.290245 -0.001488 0.214347 
time: 1403636959.301666, t: 1.083982 8.221637 8.705252 q: 0.932289 -0.294088 -0.002755 0.210573 
time: 1403636959.401666, t: 1.069316 8.233884 8.739468 q: 0.932163 -0.297963 -0.004813 0.205588 
time: 1403636959.501667, t: 1.051961 8.243140 8.777620 q: 0.931902 -0.301021 -0.002872 0.202329 
time: 1403636959.601666, t: 1.036035 8.251542 8.815453 q: 0.930811 -0.300985 0.006355 0.207265 
time: 1403636959.701667, t: 1.025653 8.257439 8.851667 q: 0.929946 -0.300913 0.006252 0.211215 
time: 1403636959.801666, t: 1.021185 8.262867 8.884168 q: 0.929241 -0.300939 0.003751 0.214318 
time: 1403636959.901666, t: 1.024982 8.268889 8.912946 q: 0.928617 -0.301354 0.001485 0.216456 
time: 1403636960.001667, t: 1.033478 8.276083 8.937811 q: 0.928317 -0.301427 0.000892 0.217642 
time: 1403636960.101666, t: 1.050966 8.284278 8.961084 q: 0.928236 -0.301724 0.001163 0.217574 
time: 1403636960.201667, t: 1.069597 8.292092 8.983514 q: 0.928516 -0.303014 -0.000279 0.214571 
time: 1403636960.301666, t: 1.084532 8.297543 9.009570 q: 0.929479 -0.306543 -0.004615 0.205129 
time: 1403636960.401666, t: 1.096505 8.300097 9.038970 q: 0.930032 -0.308700 -0.003762 0.199326 
time: 1403636960.501667, t: 1.108264 8.298416 9.071554 q: 0.931807 -0.307014 0.000883 0.193593 
time: 1403636960.601666, t: 1.116371 8.291806 9.109622 q: 0.934334 -0.303431 0.004290 0.186901 
time: 1403636960.701667, t: 1.123042 8.279414 9.148910 q: 0.935937 -0.296656 0.008369 0.189598 
time: 1403636960.801666, t: 1.124034 8.262515 9.189805 q: 0.937305 -0.285819 0.009449 0.199193 
time: 1403636960.901666, t: 1.125273 8.238996 9.231608 q: 0.941484 -0.269934 0.009874 0.201609 
time: 1403636961.001667, t: 1.129977 8.215233 9.274190 q: 0.948433 -0.249472 0.011586 0.195202 
time: 1403636961.101666, t: 1.137421 8.187872 9.313983 q: 0.956050 -0.225343 0.015330 0.186962 
time: 1403636961.201667, t: 1.151371 8.163591 9.348013 q: 0.963529 -0.198868 0.018446 0.178109 
time: 1403636961.401666, t: 1.201123 8.121298 9.404017 q: 0.974842 -0.154188 0.023056 0.159301 
time: 1403636961.501667, t: 1.233494 8.100867 9.424270 q: 0.977882 -0.139101 0.024396 0.154278 
time: 1403636961.601666, t: 1.270580 8.079292 9.442506 q: 0.980641 -0.124009 0.026537 0.149199 
time: 1403636961.701667, t: 1.313958 8.058071 9.456105 q: 0.983356 -0.107459 0.029641 0.143476 
time: 1403636961.801666, t: 1.360106 8.041723 9.465997 q: 0.986107 -0.090014 0.032145 0.135860 
time: 1403636961.901666, t: 1.398979 8.023946 9.475314 q: 0.988843 -0.071657 0.033150 0.126313 
time: 1403636962.001667, t: 1.432871 8.004606 9.487946 q: 0.991016 -0.050590 0.035508 0.118605 
time: 1403636962.101666, t: 1.464182 7.978781 9.502688 q: 0.992842 -0.029352 0.036161 0.109980 
time: 1403636962.201667, t: 1.496793 7.954362 9.514288 q: 0.994071 -0.007075 0.038430 0.101472 
time: 1403636962.301666, t: 1.535435 7.927314 9.523277 q: 0.994903 0.014845 0.042358 0.090298 
time: 1403636962.401666, t: 1.575869 7.903794 9.525676 q: 0.994961 0.038603 0.045606 0.080508 
time: 1403636962.501667, t: 1.622209 7.883619 9.523898 q: 0.994690 0.061451 0.048092 0.067098 
time: 1403636962.601666, t: 1.670075 7.858045 9.518598 q: 0.993986 0.083176 0.050573 0.050151 
time: 1403636962.701667, t: 1.716558 7.833600 9.512079 q: 0.992887 0.101325 0.053400 0.032527 
optimize pose graph 
time: 1403636962.801666, t: 1.753456 7.799277 9.508362 q: 0.991637 0.114437 0.055886 0.020891 
time: 1403636962.901666, t: 1.785489 7.764016 9.504701 q: 0.990330 0.124629 0.058240 0.017925 
time: 1403636963.001667, t: 1.814895 7.721590 9.498202 q: 0.988822 0.132552 0.063702 0.024570 
time: 1403636963.101666, t: 1.841154 7.676834 9.490870 q: 0.987524 0.136252 0.072576 0.031068 
time: 1403636963.201667, t: 1.859756 7.628150 9.483193 q: 0.987376 0.136326 0.072857 0.034581 
time: 1403636963.301666, t: 1.867282 7.577539 9.472894 q: 0.987501 0.137035 0.065847 0.041558 
time: 1403636963.401666, t: 1.869786 7.527838 9.461393 q: 0.987634 0.136249 0.060707 0.048277 
time: 1403636963.501667, t: 1.868686 7.476006 9.449682 q: 0.988395 0.131815 0.058558 0.047653 
time: 1403636963.601666, t: 1.872254 7.430017 9.432513 q: 0.989006 0.127627 0.058124 0.046910 
time: 1403636963.701667, t: 1.881064 7.385061 9.413437 q: 0.989656 0.123124 0.057200 0.046358 
time: 1403636963.801666, t: 1.895619 7.340901 9.387998 q: 0.990095 0.119653 0.056447 0.046988 
time: 1403636963.901666, t: 1.915293 7.297412 9.357904 q: 0.990381 0.116739 0.057455 0.047085 
time: 1403636964.001667, t: 1.938895 7.254520 9.324351 q: 0.990487 0.115225 0.058128 0.047740 
time: 1403636964.101666, t: 1.968110 7.212622 9.284681 q: 0.990537 0.114529 0.058850 0.047494 
time: 1403636964.201667, t: 1.995792 7.169643 9.242843 q: 0.990437 0.114353 0.061379 0.046810 
time: 1403636964.301666, t: 2.014091 7.124403 9.202053 q: 0.990534 0.114373 0.061383 0.044636 
time: 1403636964.401666, t: 2.027853 7.076690 9.160643 q: 0.990490 0.114820 0.062283 0.043200 
time: 1403636964.501667, t: 2.032344 7.025345 9.121473 q: 0.990490 0.115399 0.063458 0.039812 
time: 1403636964.601666, t: 2.035715 6.972668 9.080086 q: 0.990355 0.118222 0.065344 0.030837 
time: 1403636964.701667, t: 2.031005 6.910425 9.040444 q: 0.989446 0.126856 0.066573 0.021720 
time: 1403636964.801666, t: 2.020908 6.847088 8.997534 q: 0.987719 0.139464 0.069738 0.009899 
time: 1403636965.001667, t: 2.007469 6.708942 8.894605 q: 0.979365 0.185118 0.081083 -0.001096 
time: 1403636965.101666, t: 2.005747 6.635931 8.838079 q: 0.974565 0.208469 0.081923 -0.007241 
time: 1403636965.201667, t: 2.006486 6.561369 8.771150 q: 0.971010 0.226183 0.076182 -0.013335 
time: 1403636965.301666, t: 2.015763 6.489863 8.696193 q: 0.969146 0.238143 0.060063 -0.020907 
time: 1403636965.401666, t: 2.027665 6.418468 8.621081 q: 0.968242 0.245452 0.038104 -0.028432 
time: 1403636965.501667, t: 2.053450 6.342732 8.541449 q: 0.967301 0.251168 0.022591 -0.027070 
time: 1403636965.601666, t: 2.090961 6.264926 8.467191 q: 0.965984 0.256272 0.031312 -0.014840 
time: 1403636965.701667, t: 2.139511 6.188743 8.393710 q: 0.964038 0.260903 0.050550 0.002332 
time: 1403636965.801666, t: 2.188408 6.113393 8.329397 q: 0.963077 0.261486 0.063109 0.011223 
time: 1403636965.901666, t: 2.235166 6.041823 8.263684 q: 0.964205 0.255513 0.070754 0.004009 
time: 1403636966.001667, t: 2.257506 5.969825 8.206633 q: 0.965247 0.250141 0.075610 -0.003399 
time: 1403636966.101666, t: 2.277617 5.896874 8.147126 q: 0.965901 0.246627 0.078498 -0.006965 
time: 1403636966.201667, t: 2.291107 5.824571 8.094367 q: 0.966385 0.244284 0.079766 -0.007933 
time: 1403636966.301666, t: 2.297398 5.752215 8.039437 q: 0.966567 0.243059 0.081372 -0.006972 
time: 1403636966.401666, t: 2.296553 5.674256 7.986576 q: 0.965812 0.246471 0.080198 0.005285 
time: 1403636966.501667, t: 2.292526 5.596358 7.930828 q: 0.964259 0.252415 0.076815 0.024300 
time: 1403636966.601666, t: 2.281922 5.527587 7.880536 q: 0.964030 0.252826 0.076136 0.030486 
time: 1403636966.701667, t: 2.264924 5.461389 7.829686 q: 0.966051 0.245722 0.077039 0.020770 
time: 1403636966.801666, t: 2.246612 5.403176 7.778680 q: 0.967236 0.240625 0.079751 0.013893 
time: 1403636966.901666, t: 2.233732 5.348877 7.723477 q: 0.967397 0.239985 0.079312 0.016099 
time: 1403636967.001667, t: 2.223233 5.296781 7.661973 q: 0.967398 0.239860 0.078830 0.019865 
time: 1403636967.101666, t: 2.203994 5.250748 7.602315 q: 0.968102 0.236855 0.080224 0.015588 
time: 1403636967.201667, t: 2.184377 5.202355 7.543006 q: 0.968862 0.233775 0.080773 0.011447 
time: 1403636967.301666, t: 2.157822 5.161421 7.485747 q: 0.969171 0.232566 0.080705 0.010351 
time: 1403636967.401666, t: 2.130975 5.118978 7.424087 q: 0.969487 0.230740 0.082388 0.008128 
time: 1403636967.501667, t: 2.108299 5.077083 7.355946 q: 0.969577 0.230115 0.082972 0.009160 
time: 1403636967.601666, t: 2.093744 5.042843 7.283771 q: 0.969914 0.228500 0.083623 0.007831 
time: 1403636967.701667, t: 2.073427 5.007644 7.213292 q: 0.970316 0.226884 0.083504 0.006173 
time: 1403636967.801666, t: 2.039149 4.969524 7.143223 q: 0.970356 0.226581 0.083794 0.006984 
time: 1403636967.901666, t: 1.986088 4.931286 7.079099 q: 0.970265 0.226474 0.085114 0.007094 
time: 1403636968.001667, t: 1.928492 4.890107 7.013438 q: 0.970162 0.226747 0.085537 0.007439 
time: 1403636968.101666, t: 1.867597 4.847275 6.945743 q: 0.969763 0.228114 0.086257 0.009170 
time: 1403636968.201667, t: 1.804060 4.806835 6.874678 q: 0.969547 0.229582 0.084440 0.011890 
time: 1403636968.301666, t: 1.746046 4.768515 6.799452 q: 0.969684 0.229608 0.082849 0.011383 
time: 1403636968.401666, t: 1.693228 4.729003 6.719035 q: 0.969944 0.229242 0.080884 0.010655 
time: 1403636968.601666, t: 1.595203 4.670270 6.544308 q: 0.970153 0.228528 0.080558 0.009449 
time: 1403636968.701667, t: 1.551746 4.645222 6.450595 q: 0.970753 0.225626 0.081974 0.003275 
time: 1403636968.801666, t: 1.510864 4.618937 6.354321 q: 0.971157 0.223683 0.082569 -0.001509 
time: 1403636968.901666, t: 1.461860 4.591068 6.256241 q: 0.970980 0.224547 0.082303 0.001855 
time: 1403636969.001667, t: 1.424473 4.557441 6.147820 q: 0.970918 0.225187 0.081171 0.004545 
time: 1403636969.101666, t: 1.393416 4.530463 6.035237 q: 0.970524 0.227381 0.079284 0.009706 
time: 1403636969.201667, t: 1.360599 4.504626 5.921292 q: 0.971006 0.227941 0.071382 0.009726 
time: 1403636969.301666, t: 1.337334 4.483432 5.800250 q: 0.971683 0.228402 0.059839 0.009204 
time: 1403636969.401666, t: 1.321415 4.464510 5.681149 q: 0.972369 0.227390 0.052452 0.006443 
time: 1403636969.501667, t: 1.309562 4.441507 5.564513 q: 0.972938 0.226001 0.047879 0.004843 
time: 1403636969.601666, t: 1.292902 4.420038 5.453088 q: 0.973302 0.225005 0.045142 0.004266 
time: 1403636969.701667, t: 1.272708 4.394733 5.346949 q: 0.973429 0.224418 0.045285 0.004772 
time: 1403636969.801666, t: 1.247621 4.365411 5.250846 q: 0.973598 0.223692 0.045250 0.004627 
time: 1403636969.901666, t: 1.221733 4.334107 5.156661 q: 0.973618 0.223726 0.044530 0.005711 
time: 1403636970.001667, t: 1.189850 4.299764 5.073590 q: 0.973247 0.224371 0.048841 0.007897 
time: 1403636970.101666, t: 1.154565 4.263391 4.991060 q: 0.972604 0.224519 0.059598 0.008974 
time: 1403636970.201667, t: 1.123311 4.229848 4.912828 q: 0.972013 0.224871 0.067261 0.010000 
time: 1403636970.301666, t: 1.092449 4.189257 4.833451 q: 0.971809 0.225137 0.069319 0.009766 
time: 1403636970.401666, t: 1.056316 4.151548 4.755357 q: 0.972236 0.225565 0.061698 0.008376 
time: 1403636970.501667, t: 1.021489 4.113035 4.675093 q: 0.972585 0.226603 0.051731 0.007290 
time: 1403636970.601666, t: 0.990241 4.072055 4.600425 q: 0.972874 0.227109 0.043742 0.004976 
time: 1403636970.701667, t: 0.969048 4.031197 4.521426 q: 0.973062 0.227563 0.036914 0.001839 
time: 1403636970.801666, t: 0.955413 3.992879 4.446672 q: 0.973028 0.228698 0.030218 0.000161 
time: 1403636970.901666, t: 0.945793 3.950221 4.377195 q: 0.973062 0.229580 0.020978 -0.001901 
time: 1403636971.001667, t: 0.934064 3.901667 4.318378 q: 0.972608 0.231829 0.016915 0.001753 
time: 1403636971.101666, t: 0.923629 3.851062 4.269772 q: 0.971447 0.235940 0.021210 0.013168 
time: 1403636971.201667, t: 0.909555 3.799330 4.229984 q: 0.969662 0.241077 0.029677 0.027500 
time: 1403636971.301666, t: 0.895796 3.750849 4.196367 q: 0.967724 0.245730 0.037458 0.041517 
time: 1403636971.401666, t: 0.880416 3.705838 4.171741 q: 0.966314 0.249194 0.040447 0.050043 
time: 1403636971.501667, t: 0.860895 3.664655 4.157507 q: 0.966791 0.247778 0.042165 0.046307 
time: 1403636971.601666, t: 0.838839 3.634531 4.146685 q: 0.967649 0.244687 0.048460 0.037895 
time: 1403636971.701667, t: 0.812529 3.606193 4.142038 q: 0.968664 0.239806 0.059054 0.026373 
time: 1403636971.801666, t: 0.784456 3.579976 4.141188 q: 0.968531 0.238584 0.067107 0.022853 
time: 1403636971.901666, t: 0.753624 3.558315 4.138145 q: 0.968151 0.239075 0.070839 0.022559 
time: 1403636972.001667, t: 0.726197 3.539712 4.133498 q: 0.968091 0.239471 0.070650 0.021499 
time: 1403636972.101666, t: 0.705128 3.527804 4.123454 q: 0.968244 0.238954 0.070821 0.019710 
time: 1403636972.201667, t: 0.689902 3.522229 4.106744 q: 0.968313 0.240263 0.064694 0.021407 
time: 1403636972.301666, t: 0.678903 3.520935 4.089922 q: 0.968400 0.242075 0.055074 0.023823 
time: 1403636972.401666, t: 0.674238 3.519665 4.074048 q: 0.968974 0.240815 0.051598 0.020842 
time: 1403636972.501667, t: 0.678872 3.520354 4.058315 q: 0.969482 0.238617 0.053573 0.017252 
time: 1403636972.601666, t: 0.689393 3.526784 4.040748 q: 0.969774 0.236740 0.057064 0.015347 
time: 1403636972.701667, t: 0.703566 3.533324 4.022567 q: 0.970164 0.234392 0.060732 0.012402 
time: 1403636972.801666, t: 0.712313 3.540237 4.006480 q: 0.970367 0.233581 0.060718 0.011888 
time: 1403636972.901666, t: 0.713082 3.546109 3.994419 q: 0.970692 0.232307 0.060429 0.011803 
time: 1403636973.001667, t: 0.709129 3.552860 3.984145 q: 0.972555 0.225340 0.056321 0.013674 
time: 1403636973.101666, t: 0.699443 3.558349 3.977643 q: 0.975115 0.214858 0.051377 0.018607 
time: 1403636973.201667, t: 0.686913 3.562175 3.975198 q: 0.977183 0.205570 0.048551 0.022313 
time: 1403636973.301666, t: 0.668841 3.566347 3.973740 q: 0.978679 0.197761 0.049649 0.024754 
time: 1403636973.401666, t: 0.645923 3.569193 3.976202 q: 0.979730 0.192128 0.050132 0.026517 
time: 1403636973.501667, t: 0.621159 3.566829 3.982942 q: 0.980486 0.188099 0.049747 0.028115 
time: 1403636973.601666, t: 0.593507 3.563371 3.990733 q: 0.980952 0.184597 0.053323 0.028543 
time: 1403636973.701667, t: 0.565200 3.561670 3.997984 q: 0.981054 0.182896 0.056849 0.029151 
time: 1403636973.801666, t: 0.543876 3.556483 4.003597 q: 0.981093 0.181261 0.061898 0.027729 
time: 1403636973.901666, t: 0.528500 3.553918 4.004317 q: 0.980984 0.181238 0.063781 0.027498 
time: 1403636974.001667, t: 0.518734 3.554126 4.000393 q: 0.980876 0.182146 0.061231 0.030906 
time: 1403636974.101666, t: 0.512204 3.554009 3.993681 q: 0.981889 0.177464 0.055141 0.036875 
time: 1403636974.201667, t: 0.503630 3.556933 3.987343 q: 0.984444 0.162940 0.048997 0.043812 
time: 1403636974.301666, t: 0.492727 3.565424 3.979436 q: 0.987796 0.140096 0.046136 0.050041 
time: 1403636974.401666, t: 0.477605 3.568261 3.979240 q: 0.990778 0.113267 0.045061 0.059148 
time: 1403636974.501667, t: 0.457288 3.566380 3.985052 q: 0.992914 0.083918 0.046063 0.070408 
time: 1403636974.601666, t: 0.430760 3.562300 3.992602 q: 0.994155 0.053006 0.046874 0.081536 
time: 1403636974.701667, t: 0.406056 3.560680 3.995583 q: 0.994443 0.024562 0.041502 0.093583 
time: 1403636974.801666, t: 0.385416 3.560170 3.996196 q: 0.993658 0.000019 0.033036 0.107484 
time: 1403636974.901666, t: 0.372804 3.558306 3.994831 q: 0.991637 -0.020316 0.022972 0.125365 
time: 1403636975.001667, t: 0.369494 3.563235 3.989577 q: 0.989192 -0.039342 0.015007 0.140449 
time: 1403636975.101666, t: 0.372141 3.570291 3.985944 q: 0.987054 -0.059615 0.014106 0.148229 
time: 1403636975.201667, t: 0.375356 3.578607 3.986588 q: 0.985643 -0.077433 0.019725 0.148738 
time: 1403636975.301666, t: 0.374780 3.584738 3.993697 q: 0.984765 -0.090560 0.026972 0.145977 
time: 1403636975.401666, t: 0.369972 3.592089 4.000399 q: 0.984278 -0.097589 0.030988 0.143917 
time: 1403636975.501667, t: 0.359339 3.597225 4.009681 q: 0.984201 -0.099869 0.028596 0.143375 
time: 1403636975.601666, t: 0.348594 3.601405 4.017285 q: 0.984575 -0.099532 0.021822 0.142230 
time: 1403636975.701667, t: 0.347674 3.605596 4.023324 q: 0.985111 -0.097232 0.016806 0.140781 
time: 1403636975.801666, t: 0.354066 3.610252 4.028004 q: 0.985531 -0.094657 0.013613 0.139942 
time: 1403636975.901666, t: 0.365395 3.616315 4.032431 q: 0.984958 -0.099213 0.010491 0.141081 
time: 1403636976.001667, t: 0.375570 3.622937 4.040465 q: 0.982628 -0.109716 0.011311 0.149253 
time: 1403636976.101666, t: 0.382025 3.630453 4.049216 q: 0.978314 -0.124261 0.019622 0.164549 
time: 1403636976.201667, t: 0.383488 3.639247 4.061479 q: 0.972227 -0.140686 0.028014 0.184925 
time: 1403636976.301666, t: 0.378799 3.649424 4.074555 q: 0.965383 -0.161471 0.031442 0.202420 
time: 1403636976.401666, t: 0.366787 3.664843 4.088207 q: 0.958131 -0.186065 0.031458 0.215349 
time: 1403636976.501667, t: 0.348281 3.682550 4.100053 q: 0.951537 -0.213367 0.027089 0.219812 
time: 1403636976.601666, t: 0.325403 3.699885 4.111991 q: 0.947108 -0.237690 0.019912 0.214695 
time: 1403636976.701667, t: 0.295220 3.716774 4.125387 q: 0.943656 -0.254853 0.014914 0.210571 
time: 1403636976.801666, t: 0.259432 3.735104 4.136747 q: 0.940584 -0.264441 0.010884 0.212730 
time: 1403636976.901666, t: 0.222384 3.751722 4.149606 q: 0.938417 -0.267129 0.003438 0.219100 
time: 1403636977.001667, t: 0.190830 3.771690 4.157481 q: 0.937136 -0.267222 0.000657 0.224427 
time: 1403636977.101666, t: 0.167273 3.793740 4.165075 q: 0.936751 -0.266214 -0.001476 0.227213 
time: 1403636977.201667, t: 0.152717 3.821727 4.169893 q: 0.937048 -0.263628 -0.002889 0.228984 
time: 1403636977.301666, t: 0.142593 3.856599 4.173550 q: 0.937964 -0.260898 -0.002647 0.228361 
time: 1403636977.401666, t: 0.133658 3.890825 4.181417 q: 0.939293 -0.259693 0.002851 0.224232 
time: 1403636977.501667, t: 0.119556 3.927517 4.190604 q: 0.940832 -0.259407 0.009734 0.217825 
time: 1403636977.601666, t: 0.099328 3.963779 4.201343 q: 0.941665 -0.258719 0.015854 0.214663 
time: 1403636977.701667, t: 0.071319 4.000829 4.211718 q: 0.941770 -0.258862 0.017648 0.213889 
time: 1403636977.801666, t: 0.040717 4.037298 4.224240 q: 0.939800 -0.259351 0.015508 0.221975 
time: 1403636977.901666, t: 0.005010 4.074672 4.237695 q: 0.938027 -0.260572 0.013595 0.228083 
time: 1403636978.001667, t: -0.025945 4.113537 4.245689 q: 0.937298 -0.264916 0.015126 0.225971 
time: 1403636978.101666, t: -0.053563 4.155653 4.248092 q: 0.937259 -0.269663 0.014036 0.220524 
time: 1403636978.201667, t: -0.074443 4.200056 4.247375 q: 0.937159 -0.271904 0.010667 0.218376 
time: 1403636978.301666, t: -0.088272 4.244025 4.239566 q: 0.937133 -0.273384 0.005890 0.216813 
time: 1403636978.401666, t: -0.093948 4.287799 4.230506 q: 0.936909 -0.273994 -0.000158 0.217093 
time: 1403636978.501667, t: -0.094466 4.330398 4.223192 q: 0.936589 -0.274159 -0.010606 0.218004 
time: 1403636978.601666, t: -0.096850 4.374290 4.221100 q: 0.936021 -0.273526 -0.020690 0.220500 
time: 1403636978.701667, t: -0.104955 4.417860 4.227566 q: 0.935558 -0.273706 -0.026980 0.221559 
time: 1403636978.801666, t: -0.114483 4.465372 4.239036 q: 0.935251 -0.273731 -0.030919 0.222308 
time: 1403636978.901666, t: -0.125438 4.515749 4.255735 q: 0.935330 -0.275021 -0.025147 0.221109 
time: 1403636979.001667, t: -0.137176 4.564727 4.279693 q: 0.935640 -0.278952 -0.011300 0.215955 
time: 1403636979.101666, t: -0.152043 4.614139 4.305922 q: 0.935775 -0.282029 0.002309 0.211610 
time: 1403636979.201667, t: -0.171386 4.659777 4.337336 q: 0.935757 -0.283181 0.007180 0.210036 
time: 1403636979.301666, t: -0.193460 4.702657 4.371102 q: 0.935923 -0.281294 -0.001887 0.211941 
time: 1403636979.401666, t: -0.212694 4.747168 4.404278 q: 0.936044 -0.279110 -0.012440 0.213927 
time: 1403636979.501667, t: -0.222603 4.793904 4.436580 q: 0.935800 -0.276753 -0.019381 0.217508 
time: 1403636979.601666, t: -0.221149 4.841001 4.470449 q: 0.935547 -0.276438 -0.023182 0.218622 
time: 1403636979.701667, t: -0.211300 4.891141 4.504310 q: 0.935202 -0.278008 -0.026124 0.217774 
time: 1403636979.801666, t: -0.196947 4.943759 4.543889 q: 0.934696 -0.280035 -0.024648 0.217523 
time: 1403636979.901666, t: -0.176156 4.998679 4.587025 q: 0.934131 -0.284055 -0.016262 0.215515 
time: 1403636980.001667, t: -0.159959 5.053989 4.634478 q: 0.933624 -0.288004 -0.010502 0.212814 
time: 1403636980.101666, t: -0.145615 5.105165 4.684673 q: 0.933043 -0.290615 -0.007999 0.211920 
time: 1403636980.201667, t: -0.136198 5.155816 4.739362 q: 0.932324 -0.292198 -0.006302 0.212963 
time: 1403636980.301666, t: -0.130366 5.203108 4.796776 q: 0.931588 -0.293232 -0.002128 0.214837 
time: 1403636980.401666, t: -0.128671 5.247605 4.858137 q: 0.931106 -0.294191 0.005589 0.215552 
time: 1403636980.501667, t: -0.130759 5.289951 4.920767 q: 0.930701 -0.294193 0.012018 0.217027 
time: 1403636980.601666, t: -0.135202 5.329757 4.983676 q: 0.930364 -0.292320 0.016849 0.220652 
time: 1403636980.701667, t: -0.138023 5.367632 5.041690 q: 0.930631 -0.291328 0.018773 0.220685 
time: 1403636980.801666, t: -0.136840 5.406608 5.095615 q: 0.931697 -0.291093 0.013036 0.216879 
time: 1403636980.901666, t: -0.129621 5.444487 5.143099 q: 0.932868 -0.289706 0.004032 0.214034 
time: 1403636981.001667, t: -0.117185 5.481261 5.188524 q: 0.933757 -0.289225 -0.001299 0.210818 
time: 1403636981.101666, t: -0.106966 5.516666 5.236607 q: 0.933800 -0.288755 0.000396 0.211276 
time: 1403636981.201667, t: -0.100639 5.548752 5.287811 q: 0.932742 -0.287127 0.005354 0.217997 
time: 1403636981.301666, t: -0.096051 5.578642 5.338973 q: 0.930481 -0.284548 0.014392 0.230283 
time: 1403636981.401666, t: -0.097497 5.609063 5.390158 q: 0.928670 -0.283461 0.019938 0.238378 
time: 1403636981.501667, t: -0.102841 5.639518 5.438108 q: 0.928955 -0.287592 0.014775 0.232628 
time: 1403636981.601666, t: -0.107897 5.670860 5.481506 q: 0.929971 -0.293385 0.003881 0.221505 
time: 1403636981.701667, t: -0.109185 5.705342 5.520916 q: 0.930215 -0.297412 -0.004615 0.215001 
time: 1403636981.801666, t: -0.098379 5.737052 5.559998 q: 0.929668 -0.300135 -0.011729 0.213304 
time: 1403636982.001667, t: -0.057470 5.805065 5.639158 q: 0.927636 -0.299952 -0.030308 0.220457 
time: 1403636982.101666, t: -0.036829 5.840427 5.687452 q: 0.926410 -0.297944 -0.038495 0.226962 
time: 1403636982.201667, t: -0.021985 5.879216 5.745891 q: 0.925423 -0.296121 -0.040761 0.232901 
time: 1403636982.301666, t: -0.003690 5.920838 5.809296 q: 0.924540 -0.294208 -0.035368 0.239617 
time: 1403636982.401666, t: 0.013345 5.965878 5.878015 q: 0.924345 -0.294797 -0.023371 0.241111 
time: 1403636982.501667, t: 0.032950 6.016328 5.947024 q: 0.924694 -0.296273 -0.007210 0.238980 
time: 1403636982.601666, t: 0.057153 6.072173 6.011793 q: 0.925510 -0.297466 0.000675 0.234403 
time: 1403636982.701667, t: 0.083864 6.129484 6.074909 q: 0.925978 -0.295197 0.000461 0.235423 
time: 1403636982.801666, t: 0.109303 6.190752 6.139354 q: 0.927015 -0.293240 -0.005257 0.233721 
time: 1403636982.901666, t: 0.131759 6.253048 6.202503 q: 0.927732 -0.292952 -0.010826 0.231030 
time: 1403636983.101666, t: 0.159814 6.379433 6.333998 q: 0.928666 -0.295757 -0.003531 0.223818 
time: 1403636983.201667, t: 0.169678 6.444167 6.401441 q: 0.929097 -0.297940 -0.000944 0.219111 
time: 1403636983.301666, t: 0.169978 6.507225 6.474009 q: 0.929391 -0.300123 0.000673 0.214845 
time: 1403636983.401666, t: 0.167391 6.567231 6.545021 q: 0.929393 -0.301599 0.001796 0.212751 
time: 1403636983.501667, t: 0.162128 6.629356 6.616360 q: 0.929111 -0.301891 0.001945 0.213568 
time: 1403636983.601666, t: 0.166278 6.685273 6.684827 q: 0.928833 -0.302599 -0.002519 0.213770 
time: 1403636983.701667, t: 0.180996 6.736260 6.752395 q: 0.928193 -0.302973 -0.009814 0.215798 
time: 1403636983.801666, t: 0.201539 6.788887 6.820080 q: 0.927683 -0.304208 -0.015609 0.215911 
time: 1403636983.901666, t: 0.231354 6.846950 6.884778 q: 0.927171 -0.304401 -0.020485 0.217425 
time: 1403636984.001667, t: 0.264198 6.903039 6.951432 q: 0.926343 -0.305142 -0.023205 0.219634 
time: 1403636984.101666, t: 0.302766 6.956912 7.019235 q: 0.925538 -0.306382 -0.025388 0.221054 
time: 1403636984.201667, t: 0.339258 7.014805 7.091200 q: 0.925124 -0.308868 -0.021847 0.219701 
time: 1403636984.301666, t: 0.365703 7.073916 7.165782 q: 0.924871 -0.311514 -0.015021 0.217595 
time: 1403636984.401666, t: 0.391818 7.127645 7.249884 q: 0.924325 -0.313542 -0.010717 0.217258 
time: 1403636984.501667, t: 0.410945 7.180545 7.337340 q: 0.924033 -0.315667 -0.007114 0.215561 
time: 1403636984.601666, t: 0.427689 7.230721 7.427576 q: 0.924023 -0.316200 -0.005766 0.214863 
time: 1403636984.701667, t: 0.447541 7.278613 7.517108 q: 0.924199 -0.316202 -0.004922 0.214121 
time: 1403636984.801666, t: 0.475393 7.324735 7.603590 q: 0.924112 -0.314642 -0.002076 0.216825 
time: 1403636984.901666, t: 0.506872 7.369401 7.688751 q: 0.923549 -0.312306 0.000286 0.222534 
time: 1403636985.001667, t: 0.545299 7.414163 7.769231 q: 0.923399 -0.311664 0.001670 0.224049 
time: 1403636985.101666, t: 0.585507 7.458321 7.848147 q: 0.923465 -0.312354 0.000405 0.222816 
time: 1403636985.201667, t: 0.618648 7.497404 7.927721 q: 0.923685 -0.313538 -0.002126 0.220218 
time: 1403636985.301666, t: 0.636067 7.532175 8.016095 q: 0.923692 -0.315136 -0.002157 0.217894 
time: 1403636985.401666, t: 0.653142 7.564690 8.104633 q: 0.925098 -0.312746 -0.002855 0.215349 
time: 1403636985.501667, t: 0.670520 7.595575 8.193411 q: 0.928988 -0.305348 -0.003961 0.209112 
time: 1403636985.601666, t: 0.705171 7.622792 8.277293 q: 0.932544 -0.298463 -0.002939 0.203154 
time: 1403636985.701667, t: 0.740829 7.650811 8.361212 q: 0.935533 -0.293945 -0.001583 0.195888 
time: 1403636985.801666, t: 0.782394 7.676262 8.442089 q: 0.937678 -0.290465 0.003139 0.190735 
time: 1403636985.901666, t: 0.828884 7.696483 8.523279 q: 0.938880 -0.289999 0.021229 0.184268 
time: 1403636986.001667, t: 0.874468 7.706553 8.601151 q: 0.939159 -0.291107 0.040239 0.177814 
time: 1403636986.101666, t: 0.903066 7.708119 8.679380 q: 0.939749 -0.290168 0.041898 0.175841 
time: 1403636986.201667, t: 0.924398 7.699227 8.757079 q: 0.940359 -0.286546 0.029120 0.181023 
time: 1403636986.301666, t: 0.945027 7.682473 8.833268 q: 0.940757 -0.283314 0.013340 0.185827 
time: 1403636986.401666, t: 0.963396 7.661101 8.906965 q: 0.940758 -0.280405 0.005621 0.190568 
time: 1403636986.501667, t: 0.982896 7.634970 8.980576 q: 0.940179 -0.276590 0.004445 0.198852 
time: 1403636986.601666, t: 1.010718 7.605999 9.053760 q: 0.939519 -0.273570 0.006429 0.205965 
time: 1403636986.701667, t: 1.049110 7.580006 9.119860 q: 0.938933 -0.271349 0.007521 0.211468 
time: 1403636986.801666, t: 1.093226 7.557944 9.181253 q: 0.938314 -0.268776 0.009557 0.217337 
optimize pose graph 
time: 1403636986.901666, t: 1.146095 7.537285 9.236009 q: 0.937957 -0.268696 0.011235 0.218888 
time: 1403636987.001667, t: 1.203487 7.520456 9.278984 q: 0.938095 -0.270110 0.011860 0.216514 
time: 1403636987.101666, t: 1.259490 7.503699 9.323042 q: 0.938237 -0.273653 0.012009 0.211379 
time: 1403636987.201667, t: 1.314292 7.486757 9.364368 q: 0.937998 -0.275937 0.012985 0.209406 
time: 1403636987.301666, t: 1.362129 7.468950 9.406140 q: 0.937402 -0.277794 0.015156 0.209473 
time: 1403636987.401666, t: 1.406794 7.449069 9.449521 q: 0.937519 -0.277459 0.017491 0.209208 
time: 1403636987.601666, t: 1.475637 7.400357 9.538488 q: 0.940214 -0.275867 0.027768 0.197798 
time: 1403636987.701667, t: 1.498815 7.370844 9.578069 q: 0.941207 -0.274203 0.030720 0.194933 
time: 1403636987.801666, t: 1.525048 7.337522 9.612783 q: 0.942013 -0.271211 0.032244 0.194978 
time: 1403636987.901666, t: 1.561130 7.301997 9.638599 q: 0.942356 -0.267330 0.031828 0.198711 
time: 1403636988.001667, t: 1.596900 7.263795 9.657037 q: 0.942148 -0.261810 0.029417 0.207236 
time: 1403636988.101666, t: 1.632974 7.223304 9.673624 q: 0.941274 -0.257277 0.025271 0.217195 
time: 1403636988.201667, t: 1.663962 7.186376 9.685837 q: 0.940398 -0.254525 0.023259 0.224338 
time: 1403636988.301666, t: 1.684102 7.148519 9.698026 q: 0.939368 -0.254469 0.029138 0.228001 
time: 1403636988.401666, t: 1.706193 7.116659 9.701823 q: 0.938643 -0.256466 0.039370 0.227209 
time: 1403636988.501667, t: 1.729674 7.084995 9.699648 q: 0.938517 -0.259160 0.046176 0.223361 
time: 1403636988.601666, t: 1.754592 7.058416 9.683560 q: 0.938407 -0.259603 0.050000 0.222484 
time: 1403636988.701667, t: 1.773728 7.031986 9.660192 q: 0.938209 -0.259679 0.051919 0.222790 
time: 1403636988.801666, t: 1.784275 7.005070 9.628520 q: 0.938198 -0.260479 0.054750 0.221218 
time: 1403636988.901666, t: 1.785712 6.976800 9.592054 q: 0.937817 -0.260596 0.059013 0.221599 
time: 1403636989.001667, t: 1.778556 6.948376 9.545617 q: 0.937306 -0.260659 0.063123 0.222553 
optimize pose graph 
time: 1403636989.101666, t: 1.763202 6.917367 9.491357 q: 0.936774 -0.261019 0.065845 0.223582 
time: 1403636989.201667, t: 1.739770 6.886661 9.428392 q: 0.936515 -0.261445 0.065645 0.224225 
time: 1403636989.301666, t: 1.714610 6.856730 9.353599 q: 0.937653 -0.263983 0.054926 0.219323 
time: 1403636989.401666, t: 1.693057 6.826165 9.268906 q: 0.939126 -0.266246 0.037860 0.213826 
time: 1403636989.501667, t: 1.674736 6.798307 9.176537 q: 0.939746 -0.266442 0.024472 0.212806 
time: 1403636989.601666, t: 1.660323 6.771320 9.076977 q: 0.940148 -0.267475 0.017802 0.210385 
time: 1403636989.701667, t: 1.642820 6.744285 8.977204 q: 0.940807 -0.269082 0.012474 0.205721 
time: 1403636989.801666, t: 1.623962 6.716129 8.882496 q: 0.941099 -0.269677 0.009726 0.203746 
time: 1403636989.901666, t: 1.600069 6.685677 8.789645 q: 0.941001 -0.269606 0.012532 0.204137 
time: 1403636990.001667, t: 1.573593 6.654287 8.698874 q: 0.940686 -0.270244 0.020667 0.204085 
time: 1403636990.101666, t: 1.550204 6.621859 8.604534 q: 0.940511 -0.271244 0.027325 0.202780 
time: 1403636990.201667, t: 1.531143 6.587565 8.510283 q: 0.940751 -0.271767 0.027505 0.200932 
time: 1403636990.301666, t: 1.516538 6.551513 8.407779 q: 0.941393 -0.270830 0.022042 0.199859 
time: 1403636990.401666, t: 1.506591 6.513753 8.306042 q: 0.942110 -0.269597 0.016682 0.198667 
time: 1403636990.501667, t: 1.494784 6.474257 8.203435 q: 0.942587 -0.266539 0.012800 0.200808 
time: 1403636990.601666, t: 1.473433 6.432597 8.107067 q: 0.943142 -0.264583 0.010863 0.200899 
time: 1403636990.701667, t: 1.456620 6.388335 8.013056 q: 0.943681 -0.263065 0.007375 0.200518 
time: 1403636990.801666, t: 1.425999 6.342623 7.925415 q: 0.944203 -0.262192 0.006071 0.199246 
time: 1403636990.901666, t: 1.395760 6.295738 7.838571 q: 0.944428 -0.261220 0.005625 0.199469 
time: 1403636991.001667, t: 1.360852 6.249076 7.758399 q: 0.944565 -0.261340 0.005585 0.198661 
time: 1403636991.101666, t: 1.322834 6.201204 7.680069 q: 0.944518 -0.261983 0.006193 0.198022 
time: 1403636991.201667, t: 1.285363 6.152137 7.605979 q: 0.944352 -0.263131 0.005393 0.197313 
optimize pose graph 
time: 1403636991.301666, t: 1.252408 6.103755 7.529595 q: 0.944115 -0.263379 0.004558 0.198134 
time: 1403636991.401666, t: 1.228517 6.056707 7.453587 q: 0.943716 -0.263994 0.003232 0.199239 
time: 1403636991.501667, t: 1.215211 6.010445 7.375937 q: 0.943300 -0.265364 0.001900 0.199408 
time: 1403636991.601666, t: 1.208178 5.970780 7.297305 q: 0.942460 -0.265435 0.002536 0.203242 
time: 1403636991.701667, t: 1.205823 5.927621 7.218962 q: 0.940795 -0.264465 0.004301 0.212001 
time: 1403636991.801666, t: 1.207548 5.889412 7.143820 q: 0.939055 -0.264281 0.006008 0.219762 
time: 1403636991.901666, t: 1.207209 5.853451 7.063313 q: 0.937595 -0.264736 0.006282 0.225368 
time: 1403636992.001667, t: 1.202457 5.818479 6.989002 q: 0.936946 -0.267559 0.005681 0.224749 
time: 1403636992.101666, t: 1.191139 5.785487 6.915050 q: 0.937203 -0.273494 0.006906 0.216344 
time: 1403636992.201667, t: 1.174722 5.755123 6.845647 q: 0.937149 -0.278209 0.011022 0.210309 
time: 1403636992.301666, t: 1.156176 5.726796 6.774607 q: 0.936970 -0.280655 0.011795 0.207801 
time: 1403636992.401666, t: 1.133410 5.696758 6.707019 q: 0.936611 -0.281962 0.007106 0.207861 
time: 1403636992.501667, t: 1.112134 5.662445 6.639026 q: 0.936067 -0.282925 0.001082 0.209119 
time: 1403636992.601666, t: 1.097874 5.627821 6.576393 q: 0.935490 -0.284873 -0.002762 0.209040 
time: 1403636992.701667, t: 1.092762 5.595287 6.512320 q: 0.934882 -0.286717 -0.004504 0.209210 
time: 1403636992.801666, t: 1.087295 5.563003 6.447059 q: 0.934400 -0.288472 -0.006450 0.208899 
time: 1403636992.901666, t: 1.078552 5.529338 6.390870 q: 0.933990 -0.291067 -0.007005 0.207108 
time: 1403636993.101666, t: 1.050115 5.462297 6.291067 q: 0.932992 -0.292637 0.002465 0.209486 
time: 1403636993.201667, t: 1.039519 5.426084 6.242224 q: 0.934603 -0.285863 0.009300 0.211455 
time: 1403636993.301666, t: 1.035892 5.388777 6.192968 q: 0.938447 -0.274544 0.013308 0.209200 
time: 1403636993.401666, t: 1.040343 5.351716 6.142363 q: 0.943773 -0.259431 0.016889 0.204213 
time: 1403636993.501667, t: 1.051700 5.316118 6.088447 q: 0.949903 -0.241187 0.019319 0.197839 
time: 1403636993.601666, t: 1.065878 5.284543 6.031237 q: 0.956005 -0.222224 0.020613 0.190385 
time: 1403636993.701667, t: 1.078484 5.251819 5.973330 q: 0.960616 -0.206199 0.019482 0.185253 
time: 1403636993.801666, t: 1.087293 5.215868 5.916205 q: 0.963757 -0.195224 0.018039 0.180925 
time: 1403636993.901666, t: 1.087461 5.178580 5.862968 q: 0.966120 -0.188343 0.017780 0.175567 
time: 1403636994.001667, t: 1.083849 5.141651 5.810654 q: 0.967349 -0.184297 0.023203 0.172429 
time: 1403636994.101666, t: 1.076331 5.103125 5.759072 q: 0.968066 -0.184094 0.032081 0.167117 
time: 1403636994.201667, t: 1.063231 5.060606 5.709837 q: 0.968243 -0.184510 0.041043 0.163638 
time: 1403636994.301666, t: 1.045872 5.016024 5.656401 q: 0.968017 -0.185103 0.048663 0.162209 
time: 1403636994.401666, t: 1.026392 4.965041 5.603345 q: 0.967831 -0.186244 0.052710 0.160741 
time: 1403636994.501667, t: 1.003944 4.909453 5.542866 q: 0.967757 -0.186562 0.051403 0.161242 
time: 1403636994.601666, t: 0.982644 4.851542 5.478424 q: 0.967535 -0.184526 0.046350 0.166369 
time: 1403636994.801666, t: 0.956546 4.732163 5.329148 q: 0.965953 -0.176491 0.028325 0.187037 
time: 1403636994.901666, t: 0.947397 4.675595 5.248162 q: 0.964779 -0.173515 0.024925 0.196146 
time: 1403636995.001667, t: 0.932289 4.621272 5.167612 q: 0.964423 -0.174192 0.027598 0.196934 
time: 1403636995.101666, t: 0.911355 4.570951 5.088220 q: 0.965241 -0.177741 0.032810 0.188792 
time: 1403636995.201667, t: 0.890731 4.520483 5.007173 q: 0.966032 -0.180568 0.037302 0.181067 
time: 1403636995.301666, t: 0.872651 4.474299 4.923581 q: 0.966647 -0.181530 0.039907 0.176204 
time: 1403636995.401666, t: 0.860738 4.426738 4.835713 q: 0.967509 -0.181077 0.036377 0.172666 
time: 1403636995.501667, t: 0.852901 4.380032 4.742286 q: 0.968082 -0.179109 0.029059 0.172896 
time: 1403636995.601666, t: 0.850782 4.334152 4.642672 q: 0.968323 -0.177894 0.026334 0.173237 
time: 1403636995.701667, t: 0.850910 4.287731 4.545131 q: 0.968046 -0.176854 0.026421 0.175817 
time: 1403636995.801666, t: 0.844041 4.238217 4.447779 q: 0.967324 -0.175000 0.026510 0.181538 
time: 1403636995.901666, t: 0.827770 4.190055 4.356583 q: 0.966260 -0.171829 0.024641 0.190287 
time: 1403636996.001667, t: 0.808308 4.143811 4.263969 q: 0.965636 -0.170353 0.022625 0.194974 
time: 1403636996.101666, t: 0.786896 4.099017 4.177409 q: 0.966381 -0.172710 0.019061 0.189514 
time: 1403636996.201667, t: 0.762288 4.059618 4.087965 q: 0.967130 -0.175076 0.016821 0.183644 
time: 1403636996.301666, t: 0.742407 4.021730 3.998486 q: 0.967874 -0.176272 0.015818 0.178599 
time: 1403636996.401666, t: 0.733034 3.985202 3.906052 q: 0.969090 -0.172055 0.015799 0.176100 
time: 1403636996.501667, t: 0.730981 3.950432 3.814035 q: 0.971507 -0.163530 0.016268 0.170783 
time: 1403636996.601666, t: 0.737417 3.917024 3.717247 q: 0.974747 -0.150654 0.016291 0.164032 
time: 1403636996.701667, t: 0.743784 3.881902 3.624590 q: 0.978495 -0.133611 0.016255 0.156302 
time: 1403636996.801666, t: 0.733634 3.845933 3.550592 q: 0.982214 -0.113386 0.016809 0.148719 
time: 1403636996.901666, t: 0.712625 3.806248 3.478660 q: 0.985507 -0.090608 0.017874 0.142288 
time: 1403636997.001667, t: 0.684205 3.768222 3.411091 q: 0.988450 -0.067190 0.019558 0.134421 
time: 1403636997.101666, t: 0.655061 3.729266 3.347644 q: 0.990656 -0.046178 0.020320 0.126708 
time: 1403636997.201667, t: 0.622336 3.692348 3.289673 q: 0.991923 -0.030554 0.020334 0.121413 
time: 1403636997.301666, t: 0.587467 3.657334 3.234315 q: 0.992807 -0.020121 0.020358 0.116250 
time: 1403636997.401666, t: 0.558719 3.625015 3.184180 q: 0.993340 -0.014305 0.019983 0.112565 
optimize pose graph 
time: 1403636997.501667, t: 0.540670 3.596801 3.133338 q: 0.993565 -0.011883 0.020649 0.110734 
time: 1403636997.601666, t: 0.530960 3.569715 3.085860 q: 0.993591 -0.011544 0.019421 0.110754 
time: 1403636997.701667, t: 0.528714 3.545273 3.032878 q: 0.993677 -0.013027 0.018527 0.109973 
time: 1403636997.801666, t: 0.534261 3.523765 2.980215 q: 0.993775 -0.015626 0.016180 0.109115 
time: 1403636997.901666, t: 0.548466 3.505751 2.935313 q: 0.993715 -0.018212 0.015583 0.109341 
time: 1403636998.001667, t: 0.572210 3.488657 2.883981 q: 0.993554 -0.020305 0.015248 0.110483 
time: 1403636998.101666, t: 0.601479 3.470866 2.837716 q: 0.993380 -0.022236 0.014755 0.111736 
time: 1403636998.201667, t: 0.632086 3.456789 2.798080 q: 0.992965 -0.023347 0.016840 0.114853 
time: 1403636998.301666, t: 0.658252 3.440249 2.760700 q: 0.992881 -0.024964 0.015606 0.115413 
time: 1403636998.401666, t: 0.678813 3.423186 2.730547 q: 0.992690 -0.025782 0.016015 0.116809 
time: 1403636998.501667, t: 0.696776 3.406649 2.709250 q: 0.992443 -0.026495 0.016496 0.118672 
time: 1403636998.601666, t: 0.721868 3.395147 2.682423 q: 0.992406 -0.028116 0.022087 0.117692 
time: 1403636998.701667, t: 0.756490 3.384433 2.656707 q: 0.992279 -0.031571 0.035913 0.114436 
time: 1403636998.801666, t: 0.794468 3.378886 2.627136 q: 0.992143 -0.034232 0.044409 0.111844 
time: 1403636998.901666, t: 0.830141 3.369711 2.598765 q: 0.992568 -0.037261 0.046604 0.106057 
time: 1403636999.001667, t: 0.854923 3.357479 2.570629 q: 0.992894 -0.039315 0.045812 0.102551 
time: 1403636999.101666, t: 0.875497 3.340125 2.541668 q: 0.993133 -0.040763 0.045225 0.099897 
time: 1403636999.201667, t: 0.890231 3.317060 2.515656 q: 0.993334 -0.041679 0.042247 0.098817 
time: 1403636999.301666, t: 0.899903 3.290420 2.490680 q: 0.993289 -0.041212 0.039351 0.100644 
time: 1403636999.401666, t: 0.904059 3.260300 2.464834 q: 0.992809 -0.039255 0.038645 0.106280 
time: 1403636999.501667, t: 0.903663 3.228249 2.440189 q: 0.992440 -0.038090 0.039381 0.109826 
time: 1403636999.601666, t: 0.899720 3.194480 2.416448 q: 0.992034 -0.038011 0.043196 0.112066 
optimize pose graph 
time: 1403636999.701667, t: 0.894579 3.160002 2.390332 q: 0.991767 -0.038391 0.046139 0.113118 
time: 1403636999.801666, t: 0.885284 3.123797 2.363839 q: 0.991641 -0.038966 0.046739 0.113781 
time: 1403636999.901666, t: 0.874378 3.085582 2.338508 q: 0.991797 -0.040102 0.046180 0.112241 
time: 1403637000.001667, t: 0.861816 3.048086 2.307760 q: 0.992205 -0.042135 0.046037 0.107865 
time: 1403637000.101666, t: 0.852651 3.010007 2.272113 q: 0.992538 -0.042756 0.044337 0.105232 
time: 1403637000.201667, t: 0.853044 2.967730 2.235343 q: 0.992642 -0.042077 0.041391 0.105722 
time: 1403637000.301666, t: 0.853621 2.924406 2.193883 q: 0.992613 -0.041290 0.039088 0.107177 
time: 1403637000.401666, t: 0.853536 2.879978 2.153656 q: 0.992360 -0.040442 0.040075 0.109455 
time: 1403637000.501667, t: 0.848440 2.833650 2.112700 q: 0.992575 -0.041440 0.039878 0.107181 
time: 1403637000.601666, t: 0.844180 2.788985 2.068957 q: 0.992653 -0.041596 0.039492 0.106538 
time: 1403637000.701667, t: 0.842574 2.740934 2.022540 q: 0.992358 -0.040889 0.041081 0.108930 
time: 1403637000.801666, t: 0.846680 2.694243 1.971201 q: 0.992247 -0.041195 0.042084 0.109444 
time: 1403637000.901666, t: 0.849836 2.644313 1.921675 q: 0.992119 -0.041410 0.042001 0.110548 
time: 1403637001.001667, t: 0.849227 2.593774 1.872619 q: 0.992018 -0.042263 0.042290 0.111024 
time: 1403637001.101666, t: 0.843117 2.541175 1.822975 q: 0.991912 -0.042565 0.042505 0.111765 
time: 1403637001.201667, t: 0.833029 2.490126 1.771044 q: 0.991684 -0.042526 0.043663 0.113349 
time: 1403637001.301666, t: 0.825792 2.436842 1.717314 q: 0.991561 -0.042415 0.043446 0.114544 
time: 1403637001.401666, t: 0.824656 2.390120 1.654177 q: 0.991342 -0.041209 0.041379 0.117604 
time: 1403637001.501667, t: 0.826948 2.341991 1.589627 q: 0.991418 -0.041288 0.036298 0.118610 
time: 1403637001.601666, t: 0.831648 2.298171 1.520519 q: 0.991407 -0.041710 0.033497 0.119372 
time: 1403637001.701667, t: 0.832485 2.250771 1.455706 q: 0.991346 -0.042347 0.032999 0.119797 
time: 1403637001.801666, t: 0.825688 2.203156 1.399518 q: 0.991120 -0.042904 0.034386 0.121070 
time: 1403637001.901666, t: 0.812631 2.155413 1.340328 q: 0.991231 -0.043452 0.031754 0.120688 
time: 1403637002.001667, t: 0.795396 2.106749 1.284236 q: 0.991305 -0.043760 0.030211 0.120360 
time: 1403637002.101666, t: 0.774521 2.056770 1.234267 q: 0.991324 -0.044299 0.029002 0.120306 
time: 1403637002.201667, t: 0.750159 2.008012 1.184561 q: 0.991299 -0.044179 0.028805 0.120603 
time: 1403637002.301666, t: 0.726462 1.960731 1.136273 q: 0.991468 -0.045095 0.028441 0.118946 
time: 1403637002.401666, t: 0.702024 1.914497 1.084934 q: 0.991743 -0.045672 0.027627 0.116606 
time: 1403637002.501667, t: 0.686134 1.870271 1.032314 q: 0.991905 -0.046459 0.028504 0.114686 
time: 1403637002.601666, t: 0.677051 1.828578 0.974531 q: 0.992167 -0.047514 0.029152 0.111791 
time: 1403637002.701667, t: 0.676064 1.784583 0.920648 q: 0.992207 -0.048563 0.028618 0.111118 
time: 1403637002.801666, t: 0.675945 1.740087 0.869621 q: 0.992090 -0.049458 0.028785 0.111723 
time: 1403637002.901666, t: 0.672429 1.691928 0.817366 q: 0.991589 -0.049058 0.029630 0.116049 
time: 1403637003.001667, t: 0.661394 1.643480 0.768852 q: 0.991405 -0.049641 0.029027 0.117514 
time: 1403637003.101666, t: 0.649181 1.595277 0.724454 q: 0.991233 -0.050555 0.028012 0.118813 
time: 1403637003.201667, t: 0.630670 1.545580 0.683249 q: 0.991097 -0.051944 0.028413 0.119250 
time: 1403637003.301666, t: 0.608356 1.495356 0.642020 q: 0.990841 -0.052981 0.030137 0.120495 
time: 1403637003.401666, t: 0.593477 1.446699 0.599253 q: 0.990653 -0.053784 0.032033 0.121197 
time: 1403637003.501667, t: 0.584927 1.400054 0.552411 q: 0.990369 -0.054450 0.033880 0.122704 
time: 1403637003.601666, t: 0.578641 1.355172 0.497490 q: 0.990214 -0.054556 0.033390 0.124035 
time: 1403637003.701667, t: 0.580261 1.311965 0.447352 q: 0.990134 -0.055008 0.032965 0.124585 
time: 1403637003.801666, t: 0.572200 1.269039 0.389155 q: 0.990073 -0.053772 0.032480 0.125737 
optimize pose graph 
time: 1403637003.901666, t: 0.566342 1.223206 0.344829 q: 0.990497 -0.053613 0.029434 0.123188 
time: 1403637004.001667, t: 0.550740 1.176644 0.300469 q: 0.990954 -0.052306 0.025169 0.121003 
time: 1403637004.101666, t: 0.536114 1.136321 0.260062 q: 0.991428 -0.051291 0.021255 0.118271 
time: 1403637004.201667, t: 0.517321 1.092106 0.218475 q: 0.991738 -0.050405 0.019021 0.116420 
time: 1403637004.301666, t: 0.503352 1.048216 0.180558 q: 0.991751 -0.048447 0.018973 0.117144 
time: 1403637004.401666, t: 0.495196 1.007453 0.141461 q: 0.991403 -0.047559 0.021302 0.120014 
time: 1403637004.501667, t: 0.500667 0.969212 0.099695 q: 0.990993 -0.049044 0.028586 0.121283 
time: 1403637004.601666, t: 0.514408 0.934439 0.049481 q: 0.990459 -0.050440 0.032463 0.124071 
time: 1403637004.701667, t: 0.531257 0.899075 0.001961 q: 0.988963 -0.048706 0.033289 0.135909 
time: 1403637004.801666, t: 0.542705 0.862237 -0.041994 q: 0.987553 -0.047758 0.033586 0.146047 
time: 1403637004.901666, t: 0.537220 0.827856 -0.081522 q: 0.987062 -0.048172 0.028527 0.150246 
time: 1403637005.001667, t: 0.517201 0.794712 -0.111557 q: 0.987443 -0.050422 0.020780 0.148261 
time: 1403637005.101666, t: 0.491252 0.768386 -0.140979 q: 0.988344 -0.054972 0.020520 0.140477 
time: 1403637005.201667, t: 0.465514 0.745141 -0.163392 q: 0.989009 -0.058876 0.022179 0.133799 
time: 1403637005.301666, t: 0.434664 0.721831 -0.190549 q: 0.989530 -0.060250 0.018606 0.129823 
time: 1403637005.401666, t: 0.400767 0.701359 -0.214498 q: 0.989795 -0.059803 0.017206 0.128191 
time: 1403637005.501667, t: 0.370842 0.677430 -0.235801 q: 0.990222 -0.059449 0.022611 0.124155 
time: 1403637005.601666, t: 0.347005 0.653876 -0.256645 q: 0.990297 -0.057479 0.024388 0.124152 
time: 1403637005.701667, t: 0.335293 0.631632 -0.285151 q: 0.989991 -0.052860 0.017448 0.129689 
time: 1403637005.801666, t: 0.334483 0.616148 -0.312536 q: 0.989855 -0.050492 0.014712 0.131992 
time: 1403637005.901666, t: 0.339797 0.601304 -0.338280 q: 0.990335 -0.051784 0.017651 0.127452 
time: 1403637006.001667, t: 0.343575 0.586603 -0.362034 q: 0.990578 -0.053302 0.021826 0.124249 
optimize pose graph 
time: 1403637006.101666, t: 0.341120 0.630468 -0.329040 q: 0.989931 -0.045783 0.022773 0.131988 
time: 1403637006.201667, t: 0.343586 0.555570 -0.401547 q: 0.990176 -0.052165 0.025453 0.127211 
time: 1403637006.301666, t: 0.341019 0.541193 -0.417825 q: 0.990063 -0.050249 0.018152 0.130084 
time: 1403637006.401666, t: 0.337947 0.527341 -0.431767 q: 0.989974 -0.047865 0.006680 0.132721 
time: 1403637006.501667, t: 0.332601 0.516357 -0.440122 q: 0.989209 -0.044646 0.002196 0.139524 
time: 1403637006.601666, t: 0.329416 0.507826 -0.446005 q: 0.989255 -0.041202 0.010764 0.139858 
time: 1403637006.701667, t: 0.326614 0.501753 -0.448382 q: 0.990406 -0.034966 0.020650 0.132084 
time: 1403637006.801666, t: 0.321566 0.497318 -0.447866 q: 0.991601 -0.023244 0.029665 0.123725 
time: 1403637006.901666, t: 0.312543 0.492876 -0.446356 q: 0.992610 -0.004802 0.031700 0.117038 
time: 1403637007.001667, t: 0.303981 0.489245 -0.444780 q: 0.993955 0.015550 0.031264 0.104084 
time: 1403637007.101666, t: 0.295070 0.486887 -0.442598 q: 0.994601 0.032163 0.034420 0.092469 
time: 1403637007.201667, t: 0.285119 0.485674 -0.440977 q: 0.994684 0.045218 0.038459 0.084143 
time: 1403637007.301666, t: 0.276226 0.485419 -0.439715 q: 0.994703 0.051996 0.047229 0.075049 
time: 1403637007.401666, t: 0.265846 0.483412 -0.441630 q: 0.994598 0.055896 0.052777 0.069748 
time: 1403637007.501667, t: 0.253093 0.479710 -0.445681 q: 0.994605 0.059265 0.050229 0.068751 
time: 1403637007.601666, t: 0.237549 0.474057 -0.450549 q: 0.994812 0.061344 0.042410 0.069195 
time: 1403637007.701667, t: 0.220327 0.466500 -0.456598 q: 0.995232 0.062208 0.028049 0.069684 
time: 1403637007.801666, t: 0.206072 0.457693 -0.461442 q: 0.995535 0.060914 0.021477 0.068839 
time: 1403637007.901666, t: 0.196902 0.447545 -0.465245 q: 0.994936 0.060335 0.030181 0.074500 
time: 1403637008.001667, t: 0.189427 0.436717 -0.468489 q: 0.993835 0.060325 0.041470 0.083259 
time: 1403637008.101666, t: 0.180838 0.426993 -0.472619 q: 0.994246 0.057152 0.038236 0.082139 
time: 1403637008.201667, t: 0.171815 0.418071 -0.477174 q: 0.995056 0.054900 0.021984 0.079785 
optimize pose graph 
time: 1403637008.301666, t: 0.167054 0.409627 -0.481475 q: 0.995650 0.052036 0.010738 0.076532 
time: 1403637008.401666, t: 0.168488 0.400703 -0.483765 q: 0.995864 0.049381 0.010143 0.075582 
time: 1403637008.501667, t: 0.176425 0.391699 -0.483718 q: 0.995262 0.048351 0.023420 0.081043 
time: 1403637008.601666, t: 0.185539 0.382451 -0.481924 q: 0.994581 0.047176 0.034077 0.086155 
time: 1403637008.701667, t: 0.190561 0.372668 -0.478189 q: 0.993766 0.047831 0.037799 0.093340 
time: 1403637008.801666, t: 0.189607 0.363297 -0.472307 q: 0.992191 0.052905 0.031653 0.108423 
time: 1403637008.901666, t: 0.184677 0.357125 -0.464176 q: 0.991099 0.056489 0.024086 0.118116 
time: 1403637009.001667, t: 0.177431 0.357241 -0.453235 q: 0.991533 0.054164 0.023384 0.115678 
time: 1403637009.101666, t: 0.167346 0.363047 -0.438789 q: 0.993176 0.047949 0.025508 0.103208 
time: 1403637009.201667, t: 0.154906 0.371465 -0.422652 q: 0.994592 0.042089 0.027232 0.090960 
time: 1403637009.301666, t: 0.140894 0.380295 -0.404309 q: 0.996353 0.034546 0.026521 0.073377 
time: 1403637009.401666, t: 0.130689 0.387745 -0.390976 q: 0.995218 0.045706 0.034281 0.079226 
time: 1403637009.501667, t: 0.127026 0.395398 -0.388171 q: 0.993897 0.063094 0.050551 0.075050 
time: 1403637009.601666, t: 0.120763 0.399875 -0.386735 q: 0.986694 0.087588 0.088067 0.104921 
time: 1403637009.701667, t: 0.112517 0.405415 -0.393471 q: 0.988125 0.072899 0.077338 0.110969 
time: 1403637009.801666, t: 0.111056 0.407115 -0.394125 q: 0.987787 0.071486 0.077756 0.114547 
time: 1403637009.901666, t: 0.111150 0.407961 -0.395261 q: 0.987857 0.071816 0.077720 0.113753 
time: 1403637010.001667, t: 0.111236 0.407830 -0.395305 q: 0.987814 0.071998 0.077828 0.113941 
time: 1403637010.101666, t: 0.110929 0.407848 -0.395741 q: 0.987697 0.072442 0.077889 0.114633 
time: 1403637010.201667, t: 0.110981 0.407763 -0.395732 q: 0.987657 0.072580 0.077971 0.114828 
time: 1403637010.301666, t: 0.110960 0.407722 -0.395710 q: 0.987635 0.072786 0.077751 0.115041 
time: 1403637010.401666, t: 0.110974 0.407697 -0.395716 q: 0.987626 0.072755 0.077930 0.115013 
optimize pose graph 
time: 1403637010.501667, t: 0.110967 0.407702 -0.395709 q: 0.987636 0.072742 0.077837 0.115003 

Done.
time: 1403637010.601666, t: 0.110962 0.407688 -0.395705 q: 0.987621 0.072819 0.077831 0.115084 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731007329.534159623]: Shutdown request received.[0m
[33m[ WARN] [1731007329.534299865]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731007329.538361853]: Shutdown request received.[0m
[33m[ WARN] [1731007329.538486719]: Reason given for shutdown: [user request][0m
killed
