/SLAM-Hive/slam_hive_results/mapping_results/3308/2130_vins-fusion-mono-imu+MH_05_difficult+Image_comb_test-0.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1731013520.609346436]: init begins[0m
[31m[ERROR] [1731013520.610669954]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1731013520.611529403]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/ff7ae76e-9d4b-11ef-bf62-0242ac110002/roslaunch-4fc55fc92fd4-118.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;roscore
[1mstarted roslaunch server http://4fc55fc92fd4:44423/[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] [1731013521.724453430]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1731013521.728437079]: Connected to master at [localhost:11311][0m
[1mROS_MASTER_URI=http://4fc55fc92fd4:11311/[0m
]2;roscore http://4fc55fc92fd4:11311/
[1msetting /run_id to ff7ae76e-9d4b-11ef-bf62-0242ac110002[0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1731013521.764349260]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1731013521.764694778]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731013521.764733494]: ROW: 480 COL: 752 [0m
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
set g       0       0 9.81007
[0m[ INFO] [1731013521.765063465]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731013521.765643566]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [237][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1731013530.491430931]: Opening /slamhive/dataset/MH_05_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403638518.147706   Duration: 0.000000 / 114.773304   Delay: 327375012.57 
init first imu pose
averge acc 9.015113 -0.047866 -3.797742
init R0 
 0.388249 0.0116141  0.921482
        0 -0.999921 0.0126027
 0.921555 -0.004893 -0.388218
[0m[ INFO] [1731013531.840421911]: IMU excitation not enouth![0m
[0m[ INFO] [1731013532.043985135]: IMU excitation not enouth![0m
[0m[ INFO] [1731013532.044522030]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731013532.252740274]: IMU excitation not enouth![0m
[0m[ INFO] [1731013532.253111504]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731013532.351697191]: IMU excitation not enouth![0m
[0m[ INFO] [1731013532.352583229]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731013532.554169002]: IMU excitation not enouth![0m
[0m[ INFO] [1731013532.554501430]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731013532.756868423]: IMU excitation not enouth![0m
[0m[ INFO] [1731013532.757751325]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731013532.863320493]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731013533.051029461]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731013533.255373962]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731013533.354106070]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731013533.552532504]: IMU excitation not enouth![0m
[0m[ INFO] [1731013533.553429723]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731013533.754224040]: IMU excitation not enouth![0m
[0m[ INFO] [1731013533.755298961]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731013533.841067469]: IMU excitation not enouth![0m
[0m[ INFO] [1731013534.054701809]: IMU excitation not enouth![0m
[0m[ INFO] [1731013534.055065237]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731013534.252655610]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731013534.347428476]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731013534.562620739]: IMU excitation not enouth![0m
[0m[ INFO] [1731013534.761642719]: IMU excitation not enouth![0m
[0m[ INFO] [1731013534.761903377]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731013534.854811178]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1731013536.155754425]: gyroscope bias initial calibration 0.0147476 0.0163658 0.0988379[0m
[0m[ INFO] [1731013536.207447069]: Initialization finish![0m
time: 1403638523.327830, t: 0.029301 0.009674 0.362310 q: -0.052450 0.803562 0.023397 0.592444 
time: 1403638523.427830, t: 0.028720 -0.000668 0.329578 q: -0.051505 0.804431 0.025552 0.591258 
time: 1403638523.527829, t: 0.029092 -0.003985 0.280643 q: -0.045447 0.811595 0.028562 0.581750 
time: 1403638523.627830, t: 0.029184 0.009064 0.230489 q: -0.035459 0.822408 0.029513 0.567025 
time: 1403638523.727829, t: 0.024784 0.009283 0.187248 q: -0.031349 0.829750 0.031139 0.556383 
time: 1403638523.827830, t: 0.016226 -0.018006 0.144091 q: -0.033986 0.832088 0.036214 0.552416 
time: 1403638523.927830, t: 0.005817 -0.032969 0.101067 q: -0.029468 0.831612 0.040218 0.553114 
time: 1403638524.027829, t: 0.002099 -0.045350 0.075695 q: -0.022736 0.833049 0.048454 0.550604 
time: 1403638524.127830, t: -0.004483 -0.049804 0.076040 q: -0.019890 0.837090 0.056344 0.543792 
time: 1403638524.227829, t: -0.005505 -0.049951 0.106018 q: -0.024905 0.840264 0.059009 0.538382 
time: 1403638524.327830, t: -0.002778 -0.050297 0.155181 q: -0.033151 0.839172 0.058421 0.539702 
time: 1403638524.527829, t: 0.010095 -0.049468 0.274373 q: -0.047249 0.826452 0.055039 0.558314 
time: 1403638524.627830, t: 0.018684 -0.047786 0.332500 q: -0.047641 0.818565 0.051276 0.570134 
time: 1403638524.727829, t: 0.026686 -0.044148 0.380877 q: -0.038334 0.813704 0.045916 0.578194 
time: 1403638524.827830, t: 0.033430 -0.041054 0.414247 q: -0.025895 0.811238 0.040858 0.582712 
time: 1403638524.927830, t: 0.037404 -0.036780 0.433670 q: -0.029858 0.810156 0.040735 0.584035 
time: 1403638525.027829, t: 0.038265 -0.035109 0.434067 q: -0.034236 0.807943 0.044145 0.586607 
time: 1403638525.127830, t: 0.039845 -0.033702 0.411495 q: -0.029879 0.805608 0.047990 0.589746 
time: 1403638525.227829, t: 0.040544 -0.034197 0.370826 q: -0.028608 0.805840 0.053013 0.589061 
time: 1403638525.327830, t: 0.039404 -0.035442 0.320417 q: -0.029606 0.811682 0.057932 0.580464 
time: 1403638525.427830, t: 0.035884 -0.035887 0.267421 q: -0.034718 0.822906 0.061447 0.563777 
time: 1403638525.527829, t: 0.030213 -0.034362 0.217344 q: -0.043492 0.834325 0.062193 0.546024 
time: 1403638525.627830, t: 0.029079 -0.036398 0.172490 q: -0.046951 0.840313 0.060475 0.536668 
time: 1403638525.727829, t: 0.026429 -0.036934 0.137063 q: -0.045132 0.840955 0.056148 0.536288 
time: 1403638525.827830, t: 0.025374 -0.037148 0.110876 q: -0.040711 0.838073 0.050256 0.541712 
time: 1403638525.927830, t: 0.022599 -0.041139 0.094161 q: -0.031903 0.835073 0.047513 0.547154 
time: 1403638526.027829, t: 0.019411 -0.054698 0.088221 q: -0.025694 0.835402 0.047193 0.547007 
time: 1403638526.127830, t: 0.016647 -0.079509 0.091623 q: -0.022910 0.838099 0.040826 0.543505 
time: 1403638526.227829, t: 0.013102 -0.112670 0.102743 q: -0.020604 0.839268 0.031372 0.542421 
time: 1403638526.327830, t: 0.007721 -0.151353 0.117529 q: -0.017478 0.836542 0.022780 0.547150 
time: 1403638526.427830, t: -0.000405 -0.195096 0.131980 q: -0.015200 0.831817 0.013199 0.554685 
time: 1403638526.527829, t: -0.009746 -0.243587 0.143099 q: -0.014391 0.826886 0.001547 0.562184 
time: 1403638526.627830, t: -0.020420 -0.299495 0.151258 q: -0.012021 0.821455 -0.008157 0.570088 
time: 1403638526.727829, t: -0.032680 -0.361808 0.157244 q: -0.006614 0.817497 -0.015446 0.575688 
time: 1403638526.827830, t: -0.047266 -0.428172 0.161585 q: 0.003855 0.815370 -0.019152 0.578611 
time: 1403638526.927830, t: -0.062429 -0.492539 0.164960 q: 0.008446 0.816642 -0.023214 0.576616 
time: 1403638527.027829, t: -0.076776 -0.553228 0.167618 q: 0.014438 0.821041 -0.033002 0.569732 
time: 1403638527.127830, t: -0.088365 -0.609027 0.171785 q: 0.022555 0.824754 -0.047927 0.563005 
time: 1403638527.227829, t: -0.095951 -0.656067 0.177703 q: 0.031205 0.824272 -0.062580 0.561859 
time: 1403638527.327830, t: -0.099275 -0.689227 0.183908 q: 0.045673 0.819845 -0.074092 0.565931 
time: 1403638527.427830, t: -0.098110 -0.702324 0.188704 q: 0.059624 0.815126 -0.080408 0.570569 
time: 1403638527.527829, t: -0.089786 -0.691366 0.190396 q: 0.066094 0.813140 -0.083046 0.572309 
time: 1403638527.627830, t: -0.075754 -0.659451 0.188642 q: 0.066221 0.813471 -0.082240 0.571941 
time: 1403638527.727829, t: -0.060994 -0.617142 0.187410 q: 0.062417 0.814285 -0.075427 0.572150 
time: 1403638527.827830, t: -0.042344 -0.564693 0.186840 q: 0.052139 0.816931 -0.069248 0.570184 
time: 1403638527.927830, t: -0.023985 -0.505360 0.189343 q: 0.037457 0.819500 -0.064401 0.568216 
time: 1403638528.027829, t: -0.003441 -0.443985 0.189991 q: 0.030628 0.818967 -0.057842 0.570096 
time: 1403638528.127830, t: 0.014372 -0.384219 0.188070 q: 0.020942 0.818258 -0.049284 0.572352 
time: 1403638528.227829, t: 0.033781 -0.329361 0.183223 q: 0.009335 0.819533 -0.039176 0.571615 
time: 1403638528.327830, t: 0.060129 -0.283352 0.177814 q: -0.002234 0.820353 -0.028538 0.571141 
time: 1403638528.427830, t: 0.092137 -0.249363 0.171684 q: -0.004832 0.818997 -0.022733 0.573327 
time: 1403638528.527829, t: 0.128125 -0.224508 0.166704 q: -0.003295 0.819747 -0.022483 0.572275 
time: 1403638528.627830, t: 0.164782 -0.204613 0.162512 q: -0.003915 0.822002 -0.029678 0.568698 
time: 1403638528.727829, t: 0.196581 -0.189352 0.165072 q: -0.002208 0.822185 -0.035259 0.568123 
time: 1403638528.827830, t: 0.219853 -0.180629 0.169182 q: -0.000600 0.821215 -0.041127 0.569135 
time: 1403638528.927830, t: 0.226433 -0.174562 0.178448 q: -0.007086 0.820505 -0.048842 0.569504 
time: 1403638529.027829, t: 0.215723 -0.168187 0.193862 q: -0.012757 0.821198 -0.053023 0.568031 
time: 1403638529.127830, t: 0.192211 -0.156238 0.206897 q: -0.002138 0.821983 -0.049570 0.567347 
time: 1403638529.227829, t: 0.159435 -0.140251 0.212176 q: 0.013196 0.823198 -0.042124 0.566036 
time: 1403638529.327830, t: 0.121736 -0.121651 0.209111 q: 0.020865 0.826430 -0.036952 0.561437 
time: 1403638529.427830, t: 0.083543 -0.106523 0.191545 q: 0.022586 0.833955 -0.033003 0.550381 
time: 1403638529.527829, t: 0.054721 -0.091506 0.167666 q: 0.018992 0.845024 -0.031041 0.533489 
time: 1403638529.627830, t: 0.030902 -0.082161 0.142171 q: 0.019870 0.852318 -0.027431 0.521925 
time: 1403638529.727829, t: 0.015785 -0.072368 0.117658 q: 0.019611 0.852367 -0.025348 0.521960 
time: 1403638529.827830, t: 0.006658 -0.062260 0.094278 q: 0.018206 0.846350 -0.026253 0.531668 
time: 1403638529.927830, t: 0.002648 -0.054593 0.074745 q: 0.018058 0.841424 -0.026765 0.539409 
time: 1403638530.027829, t: 0.007303 -0.051273 0.061834 q: 0.018689 0.841095 -0.027159 0.539882 
time: 1403638530.127830, t: 0.019255 -0.050733 0.052158 q: 0.019141 0.843282 -0.029467 0.536322 
time: 1403638530.227829, t: 0.033792 -0.051316 0.042074 q: 0.021528 0.843829 -0.035394 0.535010 
time: 1403638530.327830, t: 0.047799 -0.053484 0.031795 q: 0.022783 0.843178 -0.041461 0.535549 
time: 1403638530.427830, t: 0.060562 -0.056770 0.022744 q: 0.026215 0.842652 -0.045549 0.535888 
time: 1403638530.527829, t: 0.071185 -0.060304 0.015755 q: 0.023944 0.842508 -0.049507 0.535869 
time: 1403638530.627830, t: 0.077175 -0.064410 0.010512 q: 0.025802 0.843722 -0.052042 0.533628 
time: 1403638530.727829, t: 0.080926 -0.067059 0.004998 q: 0.026252 0.847516 -0.054211 0.527342 
time: 1403638530.827830, t: 0.083772 -0.069147 -0.000590 q: 0.026329 0.849535 -0.054825 0.524015 
time: 1403638530.927830, t: 0.085566 -0.069993 -0.004231 q: 0.024071 0.848623 -0.054292 0.525654 
time: 1403638531.027829, t: 0.086238 -0.069994 -0.006840 q: 0.022770 0.845924 -0.054192 0.530054 
time: 1403638531.127830, t: 0.085610 -0.068896 -0.006963 q: 0.025253 0.842286 -0.052982 0.535826 
time: 1403638531.227829, t: 0.086201 -0.067649 -0.007662 q: 0.027525 0.841932 -0.050345 0.536524 
time: 1403638531.327830, t: 0.086141 -0.066379 -0.008353 q: 0.028463 0.838338 -0.050674 0.542044 
time: 1403638531.427830, t: 0.086195 -0.066556 -0.008499 q: 0.029330 0.839109 -0.050217 0.540846 
time: 1403638531.527829, t: 0.085863 -0.066665 -0.008478 q: 0.028970 0.838296 -0.050842 0.542066 
time: 1403638531.627830, t: 0.085776 -0.066779 -0.008565 q: 0.029657 0.838402 -0.049938 0.541950 
time: 1403638531.727829, t: 0.085763 -0.066771 -0.008632 q: 0.029789 0.838496 -0.050539 0.541740 
time: 1403638531.827830, t: 0.085800 -0.066792 -0.008661 q: 0.029928 0.838458 -0.050785 0.541768 
time: 1403638531.927830, t: 0.085801 -0.066780 -0.008687 q: 0.029980 0.838399 -0.051087 0.541829 
time: 1403638532.027829, t: 0.085809 -0.066773 -0.008732 q: 0.030045 0.838353 -0.051338 0.541872 
time: 1403638532.127830, t: 0.085848 -0.066804 -0.008739 q: 0.030133 0.838318 -0.051491 0.541908 
time: 1403638532.227829, t: 0.085809 -0.066838 -0.008752 q: 0.030377 0.838334 -0.051411 0.541876 
time: 1403638532.327830, t: 0.085829 -0.066915 -0.008758 q: 0.030665 0.838284 -0.051505 0.541930 
time: 1403638532.427830, t: 0.085821 -0.066960 -0.008767 q: 0.030766 0.838271 -0.051493 0.541944 
time: 1403638532.527829, t: 0.085826 -0.066982 -0.008777 q: 0.030830 0.838249 -0.051574 0.541967 
time: 1403638532.627830, t: 0.085827 -0.067026 -0.008792 q: 0.030996 0.838226 -0.051735 0.541978 
time: 1403638532.727829, t: 0.085822 -0.067017 -0.008807 q: 0.031016 0.838186 -0.051802 0.542032 
time: 1403638532.827830, t: 0.085844 -0.067028 -0.008798 q: 0.031047 0.838159 -0.051886 0.542064 
time: 1403638532.927830, t: 0.085818 -0.067036 -0.008800 q: 0.031161 0.838139 -0.051889 0.542088 
time: 1403638533.027829, t: 0.085831 -0.067067 -0.008799 q: 0.031259 0.838102 -0.051961 0.542132 
time: 1403638533.127830, t: 0.085827 -0.067087 -0.008805 q: 0.031309 0.838090 -0.052006 0.542145 
time: 1403638533.227829, t: 0.085818 -0.067103 -0.008822 q: 0.031373 0.838059 -0.052056 0.542184 
time: 1403638533.327830, t: 0.085830 -0.067113 -0.008818 q: 0.031472 0.838026 -0.052105 0.542224 
time: 1403638533.427830, t: 0.085815 -0.067125 -0.008837 q: 0.031457 0.838009 -0.052161 0.542245 
time: 1403638533.527829, t: 0.085825 -0.067138 -0.008831 q: 0.031537 0.837981 -0.052203 0.542280 
time: 1403638533.627830, t: 0.085827 -0.067172 -0.008827 q: 0.031640 0.837958 -0.052214 0.542308 
time: 1403638533.727829, t: 0.085801 -0.067176 -0.008829 q: 0.031729 0.837964 -0.052261 0.542290 
time: 1403638533.827830, t: 0.085819 -0.067197 -0.008836 q: 0.031734 0.837907 -0.052342 0.542370 
time: 1403638533.927830, t: 0.085839 -0.067265 -0.008876 q: 0.031725 0.837931 -0.052285 0.542338 
time: 1403638534.027829, t: 0.085808 -0.067269 -0.008905 q: 0.031866 0.837868 -0.052470 0.542410 
time: 1403638534.127830, t: 0.085802 -0.067286 -0.008886 q: 0.031988 0.837907 -0.052621 0.542328 
time: 1403638534.227829, t: 0.085795 -0.067272 -0.008885 q: 0.031861 0.837882 -0.052669 0.542369 
time: 1403638534.327830, t: 0.085763 -0.067239 -0.008819 q: 0.031701 0.837912 -0.052625 0.542337 
time: 1403638534.427830, t: 0.085738 -0.067237 -0.008787 q: 0.031682 0.837962 -0.052679 0.542255 
time: 1403638534.527829, t: 0.085756 -0.067292 -0.008777 q: 0.032000 0.837966 -0.052997 0.542199 
time: 1403638534.627830, t: 0.085730 -0.067313 -0.008685 q: 0.031866 0.838001 -0.052645 0.542187 
time: 1403638534.727829, t: 0.085757 -0.067322 -0.008673 q: 0.031758 0.838007 -0.052428 0.542205 
time: 1403638534.827830, t: 0.085749 -0.067324 -0.008674 q: 0.031885 0.837967 -0.052525 0.542251 
time: 1403638534.927830, t: 0.085704 -0.067385 -0.008678 q: 0.032179 0.837955 -0.052739 0.542231 
time: 1403638535.027829, t: 0.085697 -0.067431 -0.008649 q: 0.032138 0.837964 -0.052718 0.542222 
time: 1403638535.127830, t: 0.085696 -0.067436 -0.008632 q: 0.032163 0.837983 -0.052681 0.542194 
time: 1403638535.227829, t: 0.085703 -0.067445 -0.008653 q: 0.032127 0.837951 -0.052696 0.542244 
time: 1403638535.427830, t: 0.085685 -0.067438 -0.008614 q: 0.032207 0.837942 -0.052690 0.542255 
time: 1403638535.527829, t: 0.085701 -0.067436 -0.008610 q: 0.032199 0.837918 -0.052746 0.542287 
time: 1403638535.627830, t: 0.085706 -0.067433 -0.008613 q: 0.032212 0.837923 -0.052707 0.542282 
time: 1403638535.727829, t: 0.085700 -0.067444 -0.008604 q: 0.032234 0.837903 -0.052754 0.542307 
time: 1403638535.827830, t: 0.085696 -0.067452 -0.008601 q: 0.032180 0.837887 -0.052724 0.542337 
time: 1403638535.927830, t: 0.085680 -0.067435 -0.008605 q: 0.032159 0.837886 -0.052750 0.542338 
time: 1403638536.027829, t: 0.085690 -0.067447 -0.008600 q: 0.032108 0.837881 -0.052744 0.542350 
time: 1403638536.127830, t: 0.085691 -0.067444 -0.008594 q: 0.032124 0.837873 -0.052773 0.542357 
time: 1403638536.227829, t: 0.085714 -0.067461 -0.008579 q: 0.032113 0.837857 -0.052786 0.542382 
time: 1403638536.327830, t: 0.085716 -0.067451 -0.008600 q: 0.032091 0.837787 -0.052756 0.542495 
time: 1403638536.427830, t: 0.085712 -0.067448 -0.008602 q: 0.032136 0.837771 -0.052798 0.542512 
time: 1403638536.527829, t: 0.085706 -0.067459 -0.008579 q: 0.032106 0.837778 -0.052752 0.542508 
time: 1403638536.627830, t: 0.085690 -0.067441 -0.008580 q: 0.032117 0.837726 -0.052833 0.542580 
time: 1403638536.727829, t: 0.085715 -0.067442 -0.008587 q: 0.032178 0.837709 -0.052753 0.542609 
time: 1403638536.827830, t: 0.085710 -0.067458 -0.008595 q: 0.032164 0.837682 -0.052782 0.542649 
time: 1403638536.927830, t: 0.085703 -0.067478 -0.008589 q: 0.032163 0.837653 -0.052781 0.542694 
time: 1403638537.027829, t: 0.085714 -0.067481 -0.008564 q: 0.032169 0.837666 -0.052757 0.542676 
time: 1403638537.127830, t: 0.085737 -0.067444 -0.008557 q: 0.032273 0.837629 -0.052689 0.542734 
time: 1403638537.227829, t: 0.085732 -0.067437 -0.008527 q: 0.032284 0.837629 -0.052771 0.542726 
time: 1403638537.327830, t: 0.085756 -0.067422 -0.008531 q: 0.032273 0.837588 -0.052772 0.542789 
time: 1403638537.427830, t: 0.085753 -0.067421 -0.008524 q: 0.032237 0.837561 -0.052744 0.542835 
time: 1403638537.527829, t: 0.085753 -0.067410 -0.008495 q: 0.032282 0.837558 -0.052700 0.542841 
time: 1403638537.627830, t: 0.085761 -0.067408 -0.008442 q: 0.032368 0.837550 -0.052582 0.542861 
time: 1403638537.727829, t: 0.085763 -0.067443 -0.008421 q: 0.032415 0.837584 -0.052619 0.542802 
time: 1403638537.827830, t: 0.085756 -0.067419 -0.008394 q: 0.032411 0.837549 -0.052633 0.542854 
time: 1403638537.927830, t: 0.085801 -0.067408 -0.008412 q: 0.032422 0.837492 -0.052624 0.542943 
time: 1403638538.027829, t: 0.085779 -0.067447 -0.008342 q: 0.032448 0.837547 -0.052651 0.542854 
time: 1403638538.127830, t: 0.085778 -0.067434 -0.008323 q: 0.032550 0.837449 -0.052605 0.543004 
time: 1403638538.227829, t: 0.085830 -0.067394 -0.008348 q: 0.032560 0.837435 -0.052633 0.543022 
time: 1403638538.327830, t: 0.085812 -0.067398 -0.008350 q: 0.032557 0.837413 -0.052545 0.543064 
time: 1403638538.527829, t: 0.085830 -0.067414 -0.008150 q: 0.032570 0.837278 -0.052632 0.543263 
time: 1403638538.627830, t: 0.085787 -0.067439 -0.008043 q: 0.032735 0.837086 -0.052717 0.543540 
time: 1403638538.727829, t: 0.085772 -0.067483 -0.007918 q: 0.032814 0.836751 -0.052620 0.544060 
time: 1403638538.827830, t: 0.086544 -0.067278 -0.007745 q: 0.032304 0.836199 -0.052106 0.544989 
time: 1403638538.927830, t: 0.088685 -0.066877 -0.006069 q: 0.032332 0.833296 -0.051325 0.549490 
time: 1403638539.027829, t: 0.093467 -0.066888 -0.003477 q: 0.033478 0.828732 -0.052060 0.556212 
time: 1403638539.127830, t: 0.100837 -0.066981 0.001247 q: 0.033301 0.822048 -0.053427 0.565927 
time: 1403638539.227829, t: 0.109971 -0.066952 0.012027 q: 0.033098 0.817191 -0.052803 0.572988 
time: 1403638539.327830, t: 0.119294 -0.067176 0.031141 q: 0.032606 0.816197 -0.052566 0.574452 
time: 1403638539.427830, t: 0.128606 -0.067590 0.057612 q: 0.032530 0.817744 -0.051513 0.572349 
time: 1403638539.527829, t: 0.138782 -0.068366 0.088790 q: 0.032199 0.819711 -0.050405 0.569646 
time: 1403638539.627830, t: 0.149793 -0.069429 0.119805 q: 0.031366 0.820390 -0.049466 0.568797 
time: 1403638539.727829, t: 0.162509 -0.070901 0.140922 q: 0.030723 0.821054 -0.048484 0.567958 
time: 1403638539.827830, t: 0.176053 -0.071639 0.152093 q: 0.030533 0.822664 -0.047167 0.565744 
time: 1403638539.927830, t: 0.189958 -0.071856 0.160826 q: 0.029267 0.826491 -0.046490 0.560264 
time: 1403638540.027829, t: 0.207039 -0.071629 0.171401 q: 0.028052 0.831837 -0.046981 0.552316 
time: 1403638540.127830, t: 0.228395 -0.071901 0.178592 q: 0.027800 0.837639 -0.046789 0.543506 
time: 1403638540.227829, t: 0.258547 -0.071923 0.189107 q: 0.028334 0.837518 -0.045551 0.543771 
time: 1403638540.327830, t: 0.295299 -0.072512 0.201235 q: 0.029011 0.831305 -0.044531 0.553269 
time: 1403638540.427830, t: 0.336422 -0.072834 0.211019 q: 0.028312 0.826712 -0.040648 0.560440 
time: 1403638540.527829, t: 0.380050 -0.071352 0.218993 q: 0.022932 0.826198 -0.032109 0.561997 
time: 1403638540.627830, t: 0.426195 -0.068407 0.226381 q: 0.014210 0.826332 -0.018205 0.562709 
time: 1403638540.727829, t: 0.475006 -0.064411 0.233380 q: 0.007151 0.825411 0.003191 0.564477 
time: 1403638540.827830, t: 0.525699 -0.057327 0.239585 q: -0.001778 0.824654 0.029480 0.564865 
time: 1403638540.927830, t: 0.577851 -0.045673 0.245038 q: -0.013415 0.823509 0.057503 0.564222 
time: 1403638541.027829, t: 0.630679 -0.029283 0.248845 q: -0.028242 0.821617 0.079960 0.563697 
time: 1403638541.127830, t: 0.684044 -0.009125 0.250851 q: -0.040402 0.819173 0.096152 0.563984 
time: 1403638541.227829, t: 0.737873 0.013665 0.248400 q: -0.047919 0.818173 0.107080 0.562877 
time: 1403638541.327830, t: 0.791239 0.040910 0.246875 q: -0.051785 0.817507 0.112947 0.562355 
time: 1403638541.427830, t: 0.843894 0.072932 0.251648 q: -0.054176 0.817570 0.114135 0.561798 
optimize pose graph 
time: 1403638541.527829, t: 0.895383 0.110522 0.260872 q: -0.052847 0.816382 0.114836 0.563506 
time: 1403638541.627830, t: 0.949276 0.154264 0.278235 q: -0.053860 0.814786 0.117130 0.565247 
time: 1403638541.727829, t: 1.002326 0.204375 0.301909 q: -0.061035 0.812879 0.121429 0.566355 
time: 1403638541.827830, t: 1.052864 0.260857 0.333409 q: -0.073292 0.811736 0.127910 0.565113 
time: 1403638541.927830, t: 1.099049 0.319486 0.366930 q: -0.085182 0.810437 0.139596 0.562537 
time: 1403638542.027829, t: 1.143907 0.379772 0.394394 q: -0.098478 0.808450 0.155354 0.559085 
time: 1403638542.127830, t: 1.186328 0.440155 0.417186 q: -0.112276 0.805252 0.174618 0.555402 
time: 1403638542.227829, t: 1.227881 0.501870 0.434474 q: -0.128633 0.801074 0.195638 0.550871 
time: 1403638542.327830, t: 1.269811 0.565628 0.446174 q: -0.143296 0.795637 0.219211 0.546237 
time: 1403638542.427830, t: 1.312817 0.629937 0.454735 q: -0.153751 0.784147 0.239782 0.551343 
time: 1403638542.527829, t: 1.352780 0.693985 0.462128 q: -0.154917 0.770393 0.259041 0.561599 
time: 1403638542.627830, t: 1.390026 0.762437 0.469810 q: -0.152511 0.761864 0.273698 0.566916 
time: 1403638542.727829, t: 1.419040 0.832993 0.480836 q: -0.156648 0.762152 0.278078 0.563257 
time: 1403638542.827830, t: 1.442349 0.907682 0.498906 q: -0.166053 0.766738 0.275262 0.555671 
time: 1403638542.927830, t: 1.461945 0.985176 0.523293 q: -0.171949 0.772406 0.271907 0.547621 
time: 1403638543.027829, t: 1.475384 1.062473 0.553757 q: -0.174944 0.776548 0.269143 0.542153 
time: 1403638543.127830, t: 1.486883 1.141087 0.581342 q: -0.176762 0.778923 0.265877 0.539762 
time: 1403638543.227829, t: 1.502041 1.220500 0.603413 q: -0.175973 0.779925 0.264226 0.539385 
time: 1403638543.327830, t: 1.517565 1.302431 0.618403 q: -0.175757 0.780742 0.261703 0.539503 
time: 1403638543.427830, t: 1.532748 1.386221 0.629527 q: -0.176573 0.780820 0.262959 0.538511 
time: 1403638543.527829, t: 1.550993 1.471725 0.637731 q: -0.180048 0.779179 0.269861 0.536319 
optimize pose graph 
time: 1403638543.627830, t: 1.564123 1.557871 0.640431 q: -0.184869 0.774634 0.285144 0.533346 
time: 1403638543.727829, t: 1.579606 1.648251 0.644420 q: -0.193840 0.767713 0.304260 0.529593 
time: 1403638543.827830, t: 1.590739 1.739105 0.654368 q: -0.203552 0.757775 0.327097 0.526642 
time: 1403638543.927830, t: 1.602292 1.833877 0.672210 q: -0.217648 0.748236 0.347465 0.521575 
time: 1403638544.027829, t: 1.613941 1.929345 0.695673 q: -0.232240 0.741658 0.361749 0.514923 
time: 1403638544.127830, t: 1.624396 2.026173 0.721246 q: -0.243823 0.738090 0.370992 0.508073 
time: 1403638544.227829, t: 1.635607 2.144661 0.735886 q: -0.252717 0.735137 0.374871 0.505153 
time: 1403638544.327830, t: 1.646650 2.222134 0.761405 q: -0.257748 0.733329 0.378503 0.502523 
time: 1403638544.427830, t: 1.658108 2.316183 0.771964 q: -0.259020 0.733865 0.379832 0.500078 
time: 1403638544.527829, t: 1.671589 2.412020 0.780840 q: -0.258397 0.733009 0.380035 0.501500 
time: 1403638544.627830, t: 1.686650 2.510891 0.790697 q: -0.262933 0.727655 0.379448 0.507349 
time: 1403638544.727829, t: 1.702307 2.609563 0.807204 q: -0.266602 0.723152 0.379586 0.511751 
time: 1403638544.827830, t: 1.716369 2.702257 0.826291 q: -0.265740 0.724831 0.381697 0.508241 
time: 1403638544.927830, t: 1.729914 2.793880 0.839588 q: -0.264818 0.727655 0.383323 0.503442 
time: 1403638545.027829, t: 1.744909 2.885673 0.846430 q: -0.266277 0.727048 0.383628 0.503316 
time: 1403638545.127830, t: 1.758977 2.971793 0.848098 q: -0.267527 0.725883 0.384111 0.503965 
time: 1403638545.227829, t: 1.773930 3.061846 0.842856 q: -0.266366 0.726160 0.385864 0.502841 
time: 1403638545.327830, t: 1.789373 3.148873 0.833230 q: -0.267207 0.723996 0.386458 0.505055 
time: 1403638545.427830, t: 1.805928 3.240701 0.818288 q: -0.269168 0.723017 0.385680 0.506010 
time: 1403638545.527829, t: 1.820991 3.331177 0.803467 q: -0.272214 0.721681 0.389200 0.503587 
time: 1403638545.627830, t: 1.834485 3.415709 0.794522 q: -0.279375 0.718011 0.398133 0.497895 
time: 1403638545.727829, t: 1.847798 3.503125 0.791174 q: -0.287579 0.711632 0.412241 0.490852 
time: 1403638545.827830, t: 1.863539 3.589434 0.796420 q: -0.297769 0.700988 0.430663 0.484230 
time: 1403638545.927830, t: 1.877435 3.681114 0.810034 q: -0.307963 0.689226 0.451688 0.475505 
time: 1403638546.027829, t: 1.892400 3.770158 0.829787 q: -0.316404 0.676857 0.472190 0.467750 
time: 1403638546.127830, t: 1.907319 3.862152 0.848023 q: -0.322615 0.666057 0.488204 0.462541 
time: 1403638546.227829, t: 1.919693 3.953692 0.860057 q: -0.329776 0.659561 0.497457 0.456907 
time: 1403638546.327830, t: 1.931374 4.046924 0.864919 q: -0.335795 0.656300 0.502237 0.451963 
time: 1403638546.427830, t: 1.942441 4.141913 0.864680 q: -0.340628 0.655904 0.503369 0.447641 
time: 1403638546.527829, t: 1.953465 4.237546 0.860406 q: -0.341896 0.654814 0.505249 0.446149 
time: 1403638546.727829, t: 1.971177 4.431533 0.865874 q: -0.347796 0.646001 0.516077 0.442025 
time: 1403638546.827830, t: 1.979279 4.534544 0.882430 q: -0.348651 0.641559 0.521858 0.441032 
time: 1403638546.927830, t: 1.985617 4.636843 0.902519 q: -0.348995 0.638387 0.526117 0.440301 
time: 1403638547.027829, t: 1.991583 4.744680 0.916844 q: -0.347530 0.635275 0.529961 0.441350 
time: 1403638547.127830, t: 1.993370 4.848328 0.924037 q: -0.344194 0.632478 0.533982 0.443130 
time: 1403638547.227829, t: 1.993181 4.954735 0.926761 q: -0.342328 0.631106 0.536079 0.444000 
time: 1403638547.327830, t: 1.986184 5.057041 0.923202 q: -0.341298 0.630096 0.536976 0.445142 
time: 1403638547.427830, t: 1.976262 5.163058 0.918188 q: -0.346496 0.633418 0.533182 0.440953 
time: 1403638547.527829, t: 1.964231 5.269038 0.909969 q: -0.351302 0.636699 0.529223 0.437178 
time: 1403638547.627830, t: 1.946774 5.365024 0.894404 q: -0.353789 0.638850 0.526800 0.434955 
time: 1403638547.727829, t: 1.932806 5.473479 0.875376 q: -0.352441 0.639167 0.526455 0.436000 
time: 1403638547.827830, t: 1.915572 5.575926 0.853039 q: -0.348489 0.636927 0.528854 0.439537 
time: 1403638547.927830, t: 1.896810 5.688541 0.829283 q: -0.348054 0.636723 0.528806 0.440234 
time: 1403638548.027829, t: 1.876187 5.801441 0.811840 q: -0.349547 0.636104 0.529974 0.438538 
time: 1403638548.127830, t: 1.854184 5.922958 0.801698 q: -0.352862 0.633361 0.533833 0.435160 
time: 1403638548.227829, t: 1.829692 6.046001 0.801289 q: -0.358886 0.628036 0.540493 0.429697 
time: 1403638548.327830, t: 1.802912 6.168737 0.808027 q: -0.366423 0.620006 0.550265 0.422534 
time: 1403638548.427830, t: 1.774308 6.295131 0.822710 q: -0.373396 0.610285 0.562528 0.414355 
time: 1403638548.527829, t: 1.746114 6.412587 0.842244 q: -0.381224 0.601620 0.571162 0.408039 
time: 1403638548.627830, t: 1.717559 6.530700 0.856992 q: -0.386462 0.594273 0.578150 0.404017 
time: 1403638548.727829, t: 1.689955 6.652019 0.867179 q: -0.390176 0.589668 0.582761 0.400554 
time: 1403638548.827830, t: 1.661504 6.773045 0.878805 q: -0.392542 0.586693 0.585901 0.398023 
time: 1403638548.927830, t: 1.632660 6.898865 0.897622 q: -0.394447 0.585006 0.587225 0.396669 
time: 1403638549.027829, t: 1.603675 7.024397 0.921733 q: -0.393558 0.584270 0.589091 0.395871 
time: 1403638549.127830, t: 1.574242 7.149643 0.950870 q: -0.395760 0.584739 0.587659 0.395108 
time: 1403638549.227829, t: 1.544893 7.274874 0.987251 q: -0.396150 0.584831 0.587194 0.395274 
time: 1403638549.327830, t: 1.514416 7.404998 1.028160 q: -0.397646 0.586107 0.585328 0.394649 
time: 1403638549.427830, t: 1.485342 7.532622 1.070152 q: -0.400106 0.587381 0.582845 0.393943 
time: 1403638549.527829, t: 1.455750 7.665843 1.107277 q: -0.400814 0.588731 0.581387 0.393362 
time: 1403638549.627830, t: 1.428496 7.795168 1.139642 q: -0.402812 0.587934 0.579534 0.395241 
time: 1403638549.727829, t: 1.403057 7.928817 1.168883 q: -0.401623 0.587401 0.579510 0.397274 
time: 1403638549.827830, t: 1.377950 8.064122 1.199655 q: -0.401663 0.589076 0.579121 0.395316 
time: 1403638549.927830, t: 1.353378 8.197311 1.239917 q: -0.399730 0.589887 0.579937 0.394870 
time: 1403638550.027829, t: 1.330599 8.336942 1.286209 q: -0.400369 0.590843 0.579339 0.393670 
time: 1403638550.127830, t: 1.308887 8.476028 1.340835 q: -0.401505 0.591705 0.578880 0.391888 
time: 1403638550.227829, t: 1.288556 8.617253 1.401305 q: -0.401329 0.591423 0.579684 0.391307 
time: 1403638550.327830, t: 1.268479 8.764650 1.470702 q: -0.400631 0.590576 0.580475 0.392127 
time: 1403638550.427830, t: 1.249675 8.913168 1.534120 q: -0.402838 0.590066 0.579616 0.391903 
time: 1403638550.527829, t: 1.231492 9.064661 1.592035 q: -0.405219 0.591427 0.578062 0.389687 
time: 1403638550.627830, t: 1.217530 9.208022 1.640506 q: -0.409916 0.590655 0.575024 0.390440 
time: 1403638550.727829, t: 1.207678 9.348800 1.686185 q: -0.414141 0.589475 0.572109 0.392043 
time: 1403638550.827830, t: 1.201822 9.485915 1.723487 q: -0.417704 0.587211 0.569363 0.395642 
time: 1403638550.927830, t: 1.199115 9.623368 1.759675 q: -0.424001 0.582780 0.564527 0.402368 
time: 1403638551.027829, t: 1.198539 9.753139 1.790771 q: -0.429173 0.579730 0.560688 0.406636 
time: 1403638551.127830, t: 1.200920 9.876473 1.819798 q: -0.432368 0.578897 0.558261 0.407775 
time: 1403638551.227829, t: 1.207424 9.994590 1.853899 q: -0.436048 0.579354 0.556234 0.405973 
time: 1403638551.327830, t: 1.219102 10.111990 1.894248 q: -0.433212 0.583838 0.555350 0.403790 
time: 1403638551.427830, t: 1.237542 10.220119 1.935841 q: -0.427410 0.594377 0.548851 0.403484 
time: 1403638551.527829, t: 1.262151 10.330501 1.971906 q: -0.420087 0.609197 0.536165 0.406119 
time: 1403638551.627830, t: 1.294067 10.431783 2.000763 q: -0.414008 0.625766 0.518310 0.410327 
time: 1403638551.727829, t: 1.334739 10.529700 2.024251 q: -0.406109 0.641121 0.499947 0.417244 
time: 1403638551.827830, t: 1.383395 10.620099 2.041591 q: -0.396579 0.654616 0.482127 0.426329 
time: 1403638551.927830, t: 1.439642 10.705837 2.059584 q: -0.384655 0.661418 0.471286 0.438698 
time: 1403638552.027829, t: 1.503670 10.785825 2.084893 q: -0.374123 0.663194 0.465042 0.451598 
time: 1403638552.127830, t: 1.570791 10.855770 2.116526 q: -0.366472 0.666180 0.461219 0.457362 
time: 1403638552.227829, t: 1.641580 10.921203 2.153612 q: -0.361795 0.671110 0.459213 0.455894 
time: 1403638552.327830, t: 1.716227 10.978407 2.193596 q: -0.359798 0.673694 0.458069 0.454813 
time: 1403638552.427830, t: 1.794421 11.029955 2.230784 q: -0.365676 0.672109 0.453094 0.457444 
time: 1403638552.527829, t: 1.876789 11.078776 2.260468 q: -0.372487 0.668634 0.448357 0.461691 
time: 1403638552.627830, t: 1.962497 11.115205 2.286390 q: -0.376065 0.665068 0.446984 0.465258 
time: 1403638552.727829, t: 2.052084 11.144051 2.305736 q: -0.375914 0.664186 0.448981 0.464717 
time: 1403638552.827830, t: 2.146309 11.167366 2.320033 q: -0.374681 0.662902 0.452190 0.464435 
time: 1403638552.927830, t: 2.243344 11.187417 2.329405 q: -0.370663 0.661427 0.457905 0.464162 
time: 1403638553.027829, t: 2.343272 11.198796 2.334848 q: -0.365867 0.658985 0.464022 0.465364 
time: 1403638553.127830, t: 2.443623 11.207862 2.336902 q: -0.366300 0.656032 0.466414 0.466801 
time: 1403638553.227829, t: 2.544327 11.208373 2.336338 q: -0.374503 0.650905 0.462802 0.471047 
time: 1403638553.327830, t: 2.643990 11.198897 2.337345 q: -0.379427 0.645023 0.461291 0.476646 
time: 1403638553.427830, t: 2.744548 11.181281 2.344710 q: -0.377340 0.639698 0.464167 0.482649 
time: 1403638553.527829, t: 2.846484 11.156702 2.359195 q: -0.374195 0.635171 0.467652 0.487687 
time: 1403638553.627830, t: 2.944473 11.117091 2.377529 q: -0.371273 0.632167 0.470354 0.491211 
time: 1403638553.727829, t: 3.038710 11.066805 2.402551 q: -0.369679 0.631793 0.472362 0.490968 
time: 1403638553.827830, t: 3.128841 11.006206 2.434410 q: -0.367424 0.633100 0.474362 0.489045 
time: 1403638553.927830, t: 3.211604 10.934883 2.470700 q: -0.365253 0.634939 0.475661 0.487020 
time: 1403638554.027829, t: 3.299838 10.864672 2.506547 q: -0.365600 0.639522 0.475532 0.480851 
time: 1403638554.127830, t: 3.376871 10.780819 2.534386 q: -0.363248 0.641273 0.477299 0.478545 
time: 1403638554.227829, t: 3.462973 10.700923 2.557577 q: -0.354959 0.646175 0.483651 0.471745 
time: 1403638554.327830, t: 3.535361 10.611023 2.571891 q: -0.347808 0.650664 0.488994 0.465351 
time: 1403638554.427830, t: 3.614302 10.528290 2.585460 q: -0.344095 0.652992 0.492072 0.461591 
time: 1403638554.527829, t: 3.687410 10.446870 2.595174 q: -0.342513 0.653725 0.493461 0.460243 
time: 1403638554.627830, t: 3.755650 10.366663 2.602266 q: -0.345244 0.655521 0.492063 0.457136 
time: 1403638554.727829, t: 3.821535 10.282169 2.613481 q: -0.350893 0.656428 0.488376 0.455483 
time: 1403638554.827830, t: 3.886976 10.204333 2.630272 q: -0.355279 0.657280 0.485780 0.453627 
time: 1403638554.927830, t: 3.954488 10.122969 2.650958 q: -0.358654 0.657548 0.483233 0.453303 
time: 1403638555.027829, t: 4.023694 10.046800 2.669383 q: -0.358901 0.659353 0.479118 0.454851 
time: 1403638555.127830, t: 4.093598 9.962774 2.679876 q: -0.352772 0.663948 0.474283 0.458019 
time: 1403638555.227829, t: 4.167616 9.883385 2.687754 q: -0.346737 0.670811 0.466277 0.460838 
time: 1403638555.327830, t: 4.243406 9.799908 2.689437 q: -0.340880 0.676058 0.459630 0.464205 
time: 1403638555.427830, t: 4.319933 9.716277 2.688184 q: -0.333229 0.678235 0.456885 0.469267 
time: 1403638555.527829, t: 4.397216 9.632452 2.683643 q: -0.330380 0.680299 0.453386 0.471682 
time: 1403638555.627830, t: 4.473095 9.548824 2.679783 q: -0.328052 0.681331 0.451981 0.473164 
time: 1403638555.727829, t: 4.547035 9.465410 2.683950 q: -0.328310 0.682804 0.450722 0.472060 
time: 1403638555.827830, t: 4.619102 9.380630 2.698038 q: -0.326743 0.683130 0.451914 0.471536 
time: 1403638555.927830, t: 4.691851 9.295811 2.716147 q: -0.325318 0.682827 0.453441 0.471494 
time: 1403638556.027829, t: 4.764559 9.217895 2.741313 q: -0.324274 0.681671 0.454857 0.472521 
time: 1403638556.127830, t: 4.838826 9.137501 2.765756 q: -0.323023 0.683616 0.455963 0.469493 
time: 1403638556.227829, t: 4.910822 9.066222 2.783238 q: -0.320711 0.688228 0.457287 0.463007 
time: 1403638556.327830, t: 4.985573 8.992535 2.796108 q: -0.319731 0.690818 0.457925 0.459181 
time: 1403638556.427830, t: 5.057751 8.931745 2.806008 q: -0.318539 0.692832 0.458654 0.456239 
time: 1403638556.527829, t: 5.136396 8.867289 2.815314 q: -0.315751 0.696337 0.460011 0.451448 
time: 1403638556.627830, t: 5.215075 8.816060 2.824688 q: -0.319936 0.699473 0.456304 0.447397 
time: 1403638556.727829, t: 5.298651 8.767612 2.838379 q: -0.327528 0.699080 0.450290 0.448611 
time: 1403638556.827830, t: 5.384840 8.717230 2.860975 q: -0.333806 0.696287 0.445896 0.452697 
time: 1403638556.927830, t: 5.476391 8.674034 2.888796 q: -0.338505 0.694994 0.442476 0.454548 
time: 1403638557.027829, t: 5.572609 8.631909 2.915577 q: -0.339695 0.693724 0.441867 0.456188 
time: 1403638557.127830, t: 5.674755 8.589585 2.935055 q: -0.337304 0.691956 0.444115 0.458459 
time: 1403638557.227829, t: 5.779169 8.548226 2.947826 q: -0.336302 0.690603 0.445247 0.460134 
time: 1403638557.327830, t: 5.887057 8.506525 2.954585 q: -0.335127 0.689726 0.446534 0.461058 
time: 1403638557.427830, t: 5.998192 8.463313 2.961246 q: -0.331808 0.687635 0.449567 0.463629 
time: 1403638557.527829, t: 6.111135 8.421113 2.972497 q: -0.326156 0.684770 0.453972 0.467571 
time: 1403638557.627830, t: 6.222889 8.379117 2.989653 q: -0.322918 0.682468 0.456519 0.470693 
time: 1403638557.727829, t: 6.333841 8.339865 3.011043 q: -0.321868 0.681747 0.457262 0.471734 
time: 1403638557.827830, t: 6.444210 8.300232 3.030459 q: -0.320018 0.681427 0.458068 0.472673 
time: 1403638557.927830, t: 6.553233 8.260796 3.043466 q: -0.317347 0.681598 0.459843 0.472503 
time: 1403638558.027829, t: 6.660078 8.222897 3.049588 q: -0.315813 0.684198 0.460946 0.468684 
time: 1403638558.127830, t: 6.766074 8.185492 3.050614 q: -0.313823 0.689216 0.461942 0.461633 
time: 1403638558.227829, t: 6.872726 8.151363 3.053214 q: -0.310894 0.695384 0.463329 0.452893 
time: 1403638558.327830, t: 6.980154 8.123930 3.063256 q: -0.306756 0.697037 0.465705 0.450731 
time: 1403638558.427830, t: 7.087618 8.103593 3.084109 q: -0.300634 0.699381 0.469332 0.447452 
time: 1403638558.527829, t: 7.195551 8.091183 3.111149 q: -0.297198 0.702541 0.470942 0.443082 
time: 1403638558.627830, t: 7.306888 8.087736 3.145235 q: -0.302090 0.703810 0.467051 0.441879 
time: 1403638558.727829, t: 7.421393 8.093516 3.182844 q: -0.312543 0.704442 0.459241 0.441787 
time: 1403638558.827830, t: 7.537786 8.105900 3.215316 q: -0.318022 0.703986 0.454959 0.443034 
time: 1403638558.927830, t: 7.657459 8.123014 3.240478 q: -0.318872 0.700831 0.454355 0.448016 
time: 1403638559.027829, t: 7.778987 8.145354 3.258291 q: -0.319578 0.695662 0.454255 0.455606 
time: 1403638559.127830, t: 7.901337 8.170215 3.270231 q: -0.320714 0.691830 0.453979 0.460886 
time: 1403638559.227829, t: 8.025577 8.196182 3.275449 q: -0.319853 0.688466 0.455550 0.464954 
time: 1403638559.327830, t: 8.148954 8.223240 3.274655 q: -0.318160 0.686042 0.457604 0.467674 
time: 1403638559.427830, t: 8.269507 8.251395 3.268971 q: -0.314101 0.683334 0.461210 0.470829 
time: 1403638559.527829, t: 8.387555 8.280057 3.258226 q: -0.312815 0.681410 0.462622 0.473083 
time: 1403638559.627830, t: 8.501537 8.311367 3.241988 q: -0.313200 0.679667 0.463158 0.474808 
time: 1403638559.727829, t: 8.613910 8.344543 3.226022 q: -0.313689 0.678715 0.463736 0.475282 
time: 1403638559.827830, t: 8.722299 8.379269 3.214913 q: -0.315016 0.679248 0.463800 0.473578 
time: 1403638559.927830, t: 8.828512 8.415806 3.209000 q: -0.315335 0.680313 0.461321 0.474258 
time: 1403638560.027829, t: 8.931489 8.451910 3.198879 q: -0.312231 0.686329 0.451959 0.476652 
time: 1403638560.127830, t: 9.037191 8.488315 3.182108 q: -0.304998 0.695572 0.436377 0.482422 
time: 1403638560.227829, t: 9.141355 8.524017 3.159443 q: -0.293512 0.706454 0.416951 0.490841 
time: 1403638560.327830, t: 9.243000 8.558239 3.134782 q: -0.281804 0.715818 0.394225 0.502769 
time: 1403638560.427830, t: 9.340981 8.590761 3.107102 q: -0.270082 0.724261 0.369661 0.515609 
time: 1403638560.527829, t: 9.436506 8.619305 3.075234 q: -0.257689 0.732752 0.344227 0.527426 
time: 1403638560.627830, t: 9.528471 8.645153 3.038445 q: -0.247630 0.743476 0.316438 0.534594 
time: 1403638560.727829, t: 9.618066 8.666185 3.001075 q: -0.240483 0.754093 0.289100 0.538454 
time: 1403638560.827830, t: 9.705228 8.679437 2.970386 q: -0.230186 0.761790 0.266187 0.543907 
time: 1403638560.927830, t: 9.791128 8.686638 2.946186 q: -0.219969 0.767823 0.243640 0.550182 
time: 1403638561.027829, t: 9.876282 8.685785 2.930436 q: -0.207150 0.770549 0.223923 0.559644 
time: 1403638561.127830, t: 9.958181 8.676897 2.921006 q: -0.195624 0.773234 0.204719 0.567389 
time: 1403638561.227829, t: 10.035383 8.659170 2.919812 q: -0.186519 0.774524 0.189233 0.574032 
time: 1403638561.327830, t: 10.105241 8.631079 2.925044 q: -0.180389 0.776185 0.179322 0.576923 
time: 1403638561.427830, t: 10.173300 8.596947 2.927308 q: -0.168426 0.782303 0.179864 0.572088 
time: 1403638561.527829, t: 10.234755 8.555973 2.926741 q: -0.155935 0.786754 0.184911 0.567900 
time: 1403638561.627830, t: 10.292578 8.512410 2.920206 q: -0.149150 0.789450 0.188712 0.564722 
time: 1403638561.727829, t: 10.347457 8.468889 2.909852 q: -0.147622 0.790272 0.191171 0.563145 
time: 1403638561.827830, t: 10.399492 8.424491 2.895016 q: -0.146187 0.789802 0.193097 0.563521 
time: 1403638561.927830, t: 10.453544 8.379515 2.871444 q: -0.141952 0.789796 0.191949 0.565002 
time: 1403638562.027829, t: 10.504085 8.333060 2.847130 q: -0.136502 0.791361 0.184551 0.566618 
time: 1403638562.127830, t: 10.550558 8.284694 2.828164 q: -0.129053 0.793514 0.174795 0.568443 
time: 1403638562.227829, t: 10.593632 8.236485 2.814221 q: -0.122063 0.794960 0.166640 0.570413 
time: 1403638562.327830, t: 10.637458 8.188961 2.805025 q: -0.116174 0.796235 0.156949 0.572608 
time: 1403638562.427830, t: 10.675439 8.139583 2.800432 q: -0.109356 0.797783 0.143200 0.575393 
time: 1403638562.527829, t: 10.711829 8.089566 2.801956 q: -0.100423 0.800943 0.125505 0.576762 
time: 1403638562.627830, t: 10.746194 8.039109 2.810437 q: -0.091694 0.803265 0.103025 0.579434 
time: 1403638562.727829, t: 10.777389 7.986777 2.822721 q: -0.082637 0.806054 0.078098 0.580817 
time: 1403638562.827830, t: 10.805404 7.930690 2.832233 q: -0.071256 0.808056 0.052508 0.582418 
time: 1403638562.927830, t: 10.828021 7.871143 2.836927 q: -0.057387 0.809739 0.028431 0.583285 
time: 1403638563.027829, t: 10.846541 7.808422 2.836031 q: -0.045148 0.810172 0.005460 0.584426 
time: 1403638563.127830, t: 10.858147 7.742007 2.830184 q: -0.037876 0.810750 -0.018799 0.583863 
time: 1403638563.227829, t: 10.863444 7.670637 2.820445 q: -0.024402 0.809146 -0.034798 0.586068 
time: 1403638563.327830, t: 10.862547 7.595902 2.805931 q: -0.014396 0.804648 -0.045889 0.591802 
time: 1403638563.427830, t: 10.855847 7.517172 2.787305 q: -0.010410 0.796086 -0.054372 0.602646 
time: 1403638563.527829, t: 10.844233 7.433532 2.763840 q: -0.006770 0.793906 -0.057116 0.605314 
time: 1403638563.627830, t: 10.826142 7.344647 2.744222 q: -0.003087 0.796572 -0.056351 0.601903 
time: 1403638563.727829, t: 10.801446 7.251041 2.731401 q: -0.005473 0.799449 -0.056987 0.598000 
time: 1403638563.827830, t: 10.773426 7.151462 2.725457 q: -0.009225 0.800847 -0.057037 0.596076 
time: 1403638563.927830, t: 10.739185 7.047694 2.728616 q: -0.012561 0.800254 -0.055863 0.596922 
time: 1403638564.027829, t: 10.700616 6.937814 2.733427 q: -0.016395 0.799870 -0.053667 0.597544 
time: 1403638564.127830, t: 10.653082 6.823987 2.733180 q: -0.019655 0.799699 -0.050268 0.597971 
time: 1403638564.227829, t: 10.601698 6.704058 2.728988 q: -0.020070 0.798929 -0.044805 0.599418 
time: 1403638564.427830, t: 10.482270 6.449714 2.731434 q: -0.018473 0.795840 -0.034513 0.604240 
time: 1403638564.527829, t: 10.413285 6.317344 2.743608 q: -0.019646 0.795856 -0.032246 0.604307 
time: 1403638564.627830, t: 10.335038 6.182049 2.756188 q: -0.023744 0.798016 -0.033072 0.601260 
time: 1403638564.727829, t: 10.251732 6.043584 2.766965 q: -0.028646 0.799430 -0.036298 0.598977 
time: 1403638564.827830, t: 10.160941 5.898589 2.767711 q: -0.031414 0.799666 -0.039359 0.598330 
time: 1403638564.927830, t: 10.068613 5.749089 2.759585 q: -0.033622 0.798873 -0.041804 0.599102 
time: 1403638565.027829, t: 9.969595 5.593586 2.731483 q: -0.034898 0.798850 -0.042750 0.598994 
time: 1403638565.127830, t: 9.868349 5.433721 2.687141 q: -0.035745 0.799527 -0.043340 0.597997 
time: 1403638565.227829, t: 9.764501 5.267647 2.630977 q: -0.035299 0.800378 -0.042883 0.596917 
time: 1403638565.327830, t: 9.657838 5.092944 2.570990 q: -0.032980 0.801271 -0.041966 0.595915 
time: 1403638565.427830, t: 9.549674 4.918106 2.509267 q: -0.030609 0.802162 -0.040713 0.594930 
time: 1403638565.527829, t: 9.437256 4.736977 2.450705 q: -0.025072 0.800125 -0.039064 0.598035 
time: 1403638565.627830, t: 9.320736 4.550100 2.401167 q: -0.016598 0.798532 -0.035541 0.600673 
time: 1403638565.727829, t: 9.200435 4.361515 2.359029 q: -0.004470 0.799565 -0.029132 0.599856 
time: 1403638565.827830, t: 9.072521 4.174215 2.324595 q: 0.001782 0.802463 -0.026533 0.596109 
time: 1403638565.927830, t: 8.937403 3.988485 2.297214 q: 0.007786 0.804742 -0.024446 0.593070 
time: 1403638566.027829, t: 8.798593 3.807226 2.267495 q: 0.008567 0.805872 -0.025389 0.591483 
time: 1403638566.127830, t: 8.656712 3.629411 2.228727 q: 0.008983 0.805957 -0.025791 0.591344 
time: 1403638566.227829, t: 8.514692 3.454202 2.180243 q: 0.009304 0.805590 -0.025596 0.591847 
time: 1403638566.327830, t: 8.374306 3.282530 2.123626 q: 0.008670 0.806580 -0.025519 0.590510 
time: 1403638566.427830, t: 8.232814 3.115755 2.060826 q: 0.008293 0.806397 -0.024302 0.590817 
time: 1403638566.527829, t: 8.094544 2.954742 1.992423 q: 0.006315 0.806702 -0.023703 0.590449 
time: 1403638566.627830, t: 7.955515 2.799524 1.916758 q: 0.004605 0.813267 -0.022538 0.581436 
time: 1403638566.727829, t: 7.821457 2.652004 1.833666 q: 0.003814 0.825534 -0.021465 0.563931 
time: 1403638566.827830, t: 7.693083 2.505340 1.747212 q: 0.004451 0.835157 -0.018301 0.549689 
time: 1403638566.927830, t: 7.571408 2.355480 1.658023 q: 0.004190 0.841304 -0.015575 0.540321 
time: 1403638567.127830, t: 7.359090 2.066259 1.479296 q: 0.004321 0.828566 -0.011663 0.559753 
time: 1403638567.227829, t: 7.262413 1.925136 1.387063 q: 0.005677 0.817283 -0.010060 0.576120 
time: 1403638567.327830, t: 7.165941 1.786651 1.289112 q: 0.008673 0.811653 -0.008758 0.584009 
time: 1403638567.427830, t: 7.067004 1.651422 1.191207 q: 0.010866 0.811190 -0.008947 0.584614 
time: 1403638567.527829, t: 6.973163 1.522535 1.099496 q: 0.012514 0.813820 -0.009981 0.580896 
time: 1403638567.627830, t: 6.872748 1.396405 1.016916 q: 0.014662 0.817703 -0.011008 0.575349 
time: 1403638567.727829, t: 6.772822 1.275417 0.944388 q: 0.017329 0.820868 -0.011593 0.570738 
time: 1403638567.827830, t: 6.678082 1.160373 0.880081 q: 0.019318 0.824882 -0.011942 0.564849 
time: 1403638567.927830, t: 6.590834 1.051857 0.823112 q: 0.017023 0.826447 -0.014556 0.562568 
time: 1403638568.027829, t: 6.510036 0.948528 0.773928 q: 0.018204 0.827119 -0.014715 0.561539 
time: 1403638568.127830, t: 6.433786 0.847854 0.734037 q: 0.020872 0.826279 -0.013235 0.562719 
time: 1403638568.227829, t: 6.359571 0.753801 0.702757 q: 0.022969 0.825573 -0.012164 0.563696 
time: 1403638568.327830, t: 6.288555 0.665427 0.675626 q: 0.023848 0.825709 -0.012171 0.563461 
time: 1403638568.427830, t: 6.220214 0.581396 0.645552 q: 0.023939 0.826951 -0.012503 0.561625 
time: 1403638568.527829, t: 6.155317 0.502379 0.608895 q: 0.024827 0.827671 -0.012094 0.560534 
time: 1403638568.627830, t: 6.092478 0.427732 0.572327 q: 0.025440 0.829222 -0.011671 0.558217 
time: 1403638568.727829, t: 6.036269 0.358270 0.532083 q: 0.027194 0.830553 -0.010046 0.556184 
time: 1403638568.827830, t: 5.980371 0.294313 0.502125 q: 0.025185 0.830449 -0.011081 0.556415 
time: 1403638568.927830, t: 5.932927 0.235637 0.475687 q: 0.026236 0.830396 -0.010439 0.556457 
time: 1403638569.027829, t: 5.886987 0.180878 0.460406 q: 0.026168 0.829494 -0.010472 0.557804 
time: 1403638569.127830, t: 5.848249 0.131640 0.449231 q: 0.027804 0.829580 -0.009289 0.557618 
time: 1403638569.227829, t: 5.810030 0.085006 0.444866 q: 0.029696 0.831070 -0.008354 0.555312 
time: 1403638569.327830, t: 5.779500 0.046529 0.435568 q: 0.030865 0.831780 -0.008143 0.554187 
time: 1403638569.427830, t: 5.751074 0.011381 0.422811 q: 0.031782 0.830791 -0.007643 0.555624 
time: 1403638569.527829, t: 5.731880 -0.016250 0.404693 q: 0.031797 0.829579 -0.007371 0.557435 
time: 1403638569.627830, t: 5.716389 -0.037898 0.387562 q: 0.031318 0.828194 -0.008018 0.559508 
time: 1403638569.727829, t: 5.704793 -0.053469 0.376717 q: 0.032114 0.827287 -0.007752 0.560808 
time: 1403638569.827830, t: 5.697485 -0.062706 0.373390 q: 0.032054 0.826676 -0.007301 0.561717 
time: 1403638569.927830, t: 5.692713 -0.066732 0.375860 q: 0.033126 0.824853 -0.006661 0.564336 
time: 1403638570.027829, t: 5.691864 -0.064668 0.379104 q: 0.030915 0.823709 -0.007895 0.566114 
time: 1403638570.127830, t: 5.693450 -0.057577 0.377082 q: 0.027382 0.823912 -0.010221 0.565964 
time: 1403638570.227829, t: 5.696077 -0.047386 0.368525 q: 0.021290 0.823530 -0.013587 0.566711 
time: 1403638570.327830, t: 5.699699 -0.035212 0.354748 q: 0.012473 0.823347 -0.019924 0.567051 
time: 1403638570.427830, t: 5.705074 -0.022602 0.336054 q: 0.008802 0.823207 -0.030072 0.566876 
time: 1403638570.527829, t: 5.711426 -0.013663 0.309950 q: 0.002522 0.822310 -0.052079 0.566646 
time: 1403638570.627830, t: 5.715406 -0.011024 0.279150 q: -0.001606 0.819094 -0.081221 0.567878 
time: 1403638570.727829, t: 5.719713 -0.018164 0.243816 q: 0.003774 0.811601 -0.108842 0.573972 
time: 1403638570.827830, t: 5.719265 -0.034867 0.207266 q: 0.013093 0.799505 -0.136022 0.584909 
time: 1403638570.927830, t: 5.712426 -0.062383 0.168495 q: 0.027078 0.790020 -0.158949 0.591499 
time: 1403638571.027829, t: 5.697279 -0.100692 0.126749 q: 0.042181 0.783565 -0.180099 0.593137 
time: 1403638571.127830, t: 5.674115 -0.148055 0.081819 q: 0.062440 0.784896 -0.196038 0.584474 
time: 1403638571.227829, t: 5.643335 -0.205219 0.044226 q: 0.083902 0.787437 -0.204662 0.575341 
time: 1403638571.327830, t: 5.606671 -0.268524 0.017369 q: 0.102142 0.787938 -0.209416 0.569970 
time: 1403638571.427830, t: 5.563793 -0.334710 0.001050 q: 0.109894 0.785875 -0.215405 0.569143 
time: 1403638571.527829, t: 5.516891 -0.404878 -0.007320 q: 0.115703 0.782888 -0.218714 0.570844 
time: 1403638571.627830, t: 5.464709 -0.477699 -0.016878 q: 0.122241 0.781679 -0.225561 0.568469 
time: 1403638571.727829, t: 5.409706 -0.553680 -0.031929 q: 0.129190 0.781763 -0.237206 0.562041 
time: 1403638571.827830, t: 5.351419 -0.632914 -0.052508 q: 0.137420 0.780560 -0.252573 0.555022 
time: 1403638571.927830, t: 5.291895 -0.716266 -0.074312 q: 0.144744 0.776016 -0.271929 0.550366 
time: 1403638572.027829, t: 5.229052 -0.803471 -0.090061 q: 0.153601 0.769769 -0.291561 0.546675 
time: 1403638572.127830, t: 5.162881 -0.894775 -0.097184 q: 0.164588 0.762620 -0.309668 0.543531 
time: 1403638572.227829, t: 5.091771 -0.989000 -0.096236 q: 0.181222 0.757267 -0.324570 0.536991 
time: 1403638572.327830, t: 5.018993 -1.086567 -0.094597 q: 0.194566 0.753197 -0.342468 0.526834 
time: 1403638572.427830, t: 4.946229 -1.188477 -0.096809 q: 0.208224 0.748599 -0.359280 0.516876 
time: 1403638572.527829, t: 4.873830 -1.293533 -0.101585 q: 0.220895 0.745256 -0.369957 0.508853 
time: 1403638572.627830, t: 4.803488 -1.402062 -0.106594 q: 0.229425 0.742091 -0.376627 0.504793 
time: 1403638572.727829, t: 4.735928 -1.514468 -0.106279 q: 0.236540 0.741822 -0.379251 0.499917 
time: 1403638572.827830, t: 4.671897 -1.630766 -0.097274 q: 0.242371 0.743954 -0.378390 0.494580 
time: 1403638572.927830, t: 4.613605 -1.750409 -0.081041 q: 0.243767 0.745851 -0.377821 0.491463 
time: 1403638573.027829, t: 4.559513 -1.872065 -0.064417 q: 0.244210 0.748296 -0.376677 0.488394 
time: 1403638573.127830, t: 4.510792 -1.995560 -0.053640 q: 0.243032 0.750477 -0.375087 0.486856 
time: 1403638573.227829, t: 4.465112 -2.120923 -0.047926 q: 0.241544 0.751357 -0.373331 0.487589 
time: 1403638573.327830, t: 4.423542 -2.249236 -0.041287 q: 0.240072 0.752352 -0.371265 0.488359 
time: 1403638573.527829, t: 4.358986 -2.512863 -0.019028 q: 0.244261 0.753211 -0.371732 0.484586 
time: 1403638573.627830, t: 4.335818 -2.646891 0.003909 q: 0.245675 0.752834 -0.372210 0.484090 
time: 1403638573.727829, t: 4.317545 -2.782108 0.032534 q: 0.250147 0.752193 -0.374175 0.481275 
time: 1403638573.827830, t: 4.307370 -2.920103 0.064018 q: 0.261061 0.745141 -0.378392 0.483147 
time: 1403638573.927830, t: 4.302940 -3.057469 0.091579 q: 0.275327 0.732787 -0.387297 0.487052 
time: 1403638574.027829, t: 4.303991 -3.193385 0.111925 q: 0.283090 0.714775 -0.405810 0.494243 
time: 1403638574.127830, t: 4.305062 -3.327683 0.125138 q: 0.288706 0.693587 -0.429055 0.501495 
time: 1403638574.227829, t: 4.303940 -3.458693 0.132600 q: 0.296016 0.672816 -0.453011 0.504454 
time: 1403638574.327830, t: 4.297334 -3.585062 0.136270 q: 0.306908 0.657422 -0.474522 0.498431 
time: 1403638574.427830, t: 4.283552 -3.709018 0.136368 q: 0.320992 0.645801 -0.493077 0.486601 
time: 1403638574.527829, t: 4.262647 -3.830875 0.135281 q: 0.332854 0.634768 -0.510310 0.475248 
time: 1403638574.627830, t: 4.237266 -3.948525 0.142785 q: 0.343679 0.625310 -0.521075 0.468351 
time: 1403638574.727829, t: 4.208533 -4.064589 0.157464 q: 0.356078 0.622368 -0.525313 0.458162 
time: 1403638574.827830, t: 4.179009 -4.177367 0.176631 q: 0.362872 0.624448 -0.528134 0.446613 
time: 1403638574.927830, t: 4.149368 -4.287951 0.193321 q: 0.361669 0.626692 -0.532843 0.438783 
time: 1403638575.027829, t: 4.120637 -4.397826 0.204796 q: 0.357799 0.627531 -0.536601 0.436170 
time: 1403638575.127830, t: 4.090907 -4.504294 0.210541 q: 0.350450 0.625027 -0.541347 0.439853 
time: 1403638575.227829, t: 4.059232 -4.614135 0.212940 q: 0.346013 0.622987 -0.543142 0.444026 
time: 1403638575.327830, t: 4.024072 -4.724404 0.209451 q: 0.342420 0.623623 -0.543628 0.445322 
time: 1403638575.427830, t: 3.986529 -4.838367 0.201485 q: 0.338982 0.628766 -0.543196 0.441229 
time: 1403638575.527829, t: 3.945512 -4.954159 0.191009 q: 0.337545 0.633485 -0.540940 0.438343 
time: 1403638575.627830, t: 3.902858 -5.076512 0.184177 q: 0.339749 0.640223 -0.536272 0.432548 
time: 1403638575.727829, t: 3.859982 -5.202012 0.185580 q: 0.342253 0.646433 -0.531601 0.427070 
time: 1403638575.827830, t: 3.817979 -5.330034 0.194947 q: 0.343084 0.652342 -0.528859 0.420775 
time: 1403638575.927830, t: 3.780540 -5.462269 0.214216 q: 0.342126 0.654228 -0.527647 0.420147 
time: 1403638576.027829, t: 3.747772 -5.599016 0.243682 q: 0.342290 0.654637 -0.526350 0.421003 
time: 1403638576.127830, t: 3.717153 -5.740019 0.278981 q: 0.343040 0.654408 -0.525619 0.421660 
time: 1403638576.227829, t: 3.690242 -5.888541 0.315213 q: 0.345425 0.653561 -0.523895 0.423172 
time: 1403638576.327830, t: 3.666829 -6.039465 0.346179 q: 0.350224 0.654582 -0.520702 0.421585 
time: 1403638576.427830, t: 3.648294 -6.193808 0.370455 q: 0.353674 0.656649 -0.518568 0.418108 
time: 1403638576.527829, t: 3.634868 -6.349563 0.389868 q: 0.359166 0.660365 -0.514798 0.412190 
time: 1403638576.627830, t: 3.629798 -6.506401 0.404450 q: 0.362874 0.663073 -0.512467 0.407474 
time: 1403638576.727829, t: 3.632732 -6.666749 0.415232 q: 0.366091 0.662320 -0.509999 0.408914 
time: 1403638576.827830, t: 3.643470 -6.828052 0.421638 q: 0.370882 0.658217 -0.506588 0.415411 
time: 1403638576.927830, t: 3.661216 -6.989653 0.422768 q: 0.370891 0.652597 -0.506886 0.423821 
time: 1403638577.027829, t: 3.685370 -7.149643 0.419944 q: 0.366728 0.647867 -0.509922 0.430997 
time: 1403638577.127830, t: 3.713647 -7.306203 0.421614 q: 0.363452 0.644189 -0.512625 0.436048 
time: 1403638577.227829, t: 3.745081 -7.460282 0.430927 q: 0.361177 0.642576 -0.514457 0.438157 
time: 1403638577.327830, t: 3.778750 -7.614276 0.446920 q: 0.365028 0.644928 -0.511585 0.434861 
time: 1403638577.427830, t: 3.814870 -7.766094 0.471158 q: 0.371176 0.649501 -0.506603 0.428638 
time: 1403638577.527829, t: 3.857034 -7.913097 0.497429 q: 0.371625 0.650092 -0.506057 0.427998 
time: 1403638577.627830, t: 3.904283 -8.058113 0.517262 q: 0.368826 0.649195 -0.508030 0.429440 
time: 1403638577.727829, t: 3.956257 -8.199679 0.530193 q: 0.366517 0.648943 -0.509548 0.430000 
time: 1403638577.827830, t: 4.011298 -8.340286 0.535661 q: 0.364151 0.648652 -0.510757 0.431013 
time: 1403638577.927830, t: 4.069826 -8.481770 0.537586 q: 0.364053 0.648900 -0.510005 0.431612 
time: 1403638578.027829, t: 4.132131 -8.616830 0.540547 q: 0.365033 0.649035 -0.508618 0.432217 
time: 1403638578.127830, t: 4.199267 -8.760309 0.551326 q: 0.362362 0.647604 -0.509373 0.435709 
time: 1403638578.227829, t: 4.268443 -8.895328 0.567412 q: 0.354320 0.642523 -0.514544 0.443696 
time: 1403638578.327830, t: 4.336331 -9.030717 0.588170 q: 0.348249 0.639176 -0.518561 0.448632 
time: 1403638578.427830, t: 4.401753 -9.165542 0.603616 q: 0.348068 0.638561 -0.519022 0.449117 
time: 1403638578.527829, t: 4.465268 -9.297724 0.613097 q: 0.348093 0.637975 -0.519590 0.449271 
time: 1403638578.627830, t: 4.529293 -9.431886 0.619018 q: 0.349266 0.637108 -0.519502 0.449693 
time: 1403638578.727829, t: 4.587216 -9.562287 0.621468 q: 0.353130 0.638623 -0.517155 0.447226 
time: 1403638578.827830, t: 4.647031 -9.695071 0.619174 q: 0.358357 0.642302 -0.513447 0.442041 
time: 1403638578.927830, t: 4.705147 -9.818856 0.615058 q: 0.362527 0.643458 -0.510648 0.440198 
time: 1403638579.027829, t: 4.767363 -9.947908 0.614020 q: 0.364299 0.644584 -0.508506 0.439568 
time: 1403638579.127830, t: 4.832118 -10.068829 0.624490 q: 0.364762 0.644804 -0.507553 0.439962 
time: 1403638579.227829, t: 4.899803 -10.190053 0.640832 q: 0.364592 0.644740 -0.507288 0.440502 
time: 1403638579.327830, t: 4.969004 -10.302632 0.661267 q: 0.361511 0.643122 -0.508972 0.443455 
time: 1403638579.527829, t: 5.113291 -10.531167 0.694556 q: 0.348931 0.635384 -0.516655 0.455634 
time: 1403638579.627830, t: 5.181365 -10.638458 0.703923 q: 0.350759 0.632935 -0.508581 0.466590 
time: 1403638579.727829, t: 5.247729 -10.741586 0.708389 q: 0.351926 0.638494 -0.492339 0.475474 
time: 1403638579.827830, t: 5.311988 -10.838684 0.706878 q: 0.345382 0.653650 -0.472091 0.480191 
time: 1403638579.927830, t: 5.377689 -10.932614 0.698856 q: 0.330957 0.674206 -0.448757 0.484284 
time: 1403638580.027829, t: 5.442084 -11.023011 0.686409 q: 0.314398 0.691463 -0.418698 0.497720 
time: 1403638580.127830, t: 5.508969 -11.107091 0.674964 q: 0.297416 0.704123 -0.382168 0.519329 
time: 1403638580.227829, t: 5.572535 -11.180806 0.657243 q: 0.273727 0.719560 -0.345319 0.536714 
time: 1403638580.327830, t: 5.634270 -11.244230 0.634230 q: 0.244772 0.736724 -0.313693 0.546737 
time: 1403638580.427830, t: 5.689479 -11.300590 0.604621 q: 0.214559 0.750225 -0.293095 0.552470 
time: 1403638580.527829, t: 5.738698 -11.352768 0.571595 q: 0.193335 0.758681 -0.278628 0.556229 
time: 1403638580.627830, t: 5.782625 -11.402337 0.537173 q: 0.177179 0.766807 -0.264712 0.557263 
time: 1403638580.727829, t: 5.824111 -11.451348 0.507120 q: 0.163592 0.777549 -0.248892 0.553812 
time: 1403638580.827830, t: 5.861675 -11.499491 0.486252 q: 0.156541 0.785507 -0.235904 0.550294 
time: 1403638580.927830, t: 5.896249 -11.546198 0.474297 q: 0.152500 0.789683 -0.227704 0.548904 
time: 1403638581.127830, t: 5.964109 -11.640803 0.480270 q: 0.149150 0.791331 -0.223834 0.549042 
time: 1403638581.227829, t: 5.997352 -11.686246 0.494722 q: 0.151848 0.791487 -0.223352 0.548275 
time: 1403638581.327830, t: 6.027921 -11.725123 0.509847 q: 0.155948 0.791072 -0.224192 0.547378 
time: 1403638581.427830, t: 6.054667 -11.762001 0.525052 q: 0.159235 0.789257 -0.225126 0.548667 
time: 1403638581.527829, t: 6.079906 -11.791952 0.549361 q: 0.161950 0.787931 -0.227530 0.548787 
time: 1403638581.627830, t: 6.105936 -11.818052 0.577690 q: 0.166031 0.785529 -0.228731 0.550509 
time: 1403638581.727829, t: 6.134849 -11.842249 0.600091 q: 0.170821 0.780818 -0.228769 0.555705 
time: 1403638581.827830, t: 6.164497 -11.865853 0.613892 q: 0.172613 0.779145 -0.230263 0.556881 
time: 1403638581.927830, t: 6.195577 -11.889012 0.622257 q: 0.175823 0.772411 -0.229837 0.565369 
time: 1403638582.027829, t: 6.224124 -11.910837 0.626367 q: 0.178005 0.768920 -0.229113 0.569723 
time: 1403638582.127830, t: 6.249633 -11.929001 0.633448 q: 0.175961 0.775250 -0.231309 0.560822 
time: 1403638582.227829, t: 6.272658 -11.942717 0.651868 q: 0.173121 0.781307 -0.233626 0.552274 
time: 1403638582.327830, t: 6.294788 -11.954172 0.681827 q: 0.175134 0.779808 -0.231784 0.554530 
time: 1403638582.427830, t: 6.316982 -11.964470 0.720349 q: 0.176615 0.777323 -0.230196 0.558199 
time: 1403638582.527829, t: 6.339327 -11.973390 0.768603 q: 0.177439 0.776248 -0.229097 0.559883 
time: 1403638582.627830, t: 6.362220 -11.975504 0.828764 q: 0.178074 0.776127 -0.228601 0.560052 
time: 1403638582.727829, t: 6.387987 -11.981799 0.893985 q: 0.177040 0.778809 -0.229400 0.556317 
time: 1403638582.827830, t: 6.409585 -11.977082 0.967756 q: 0.176553 0.780156 -0.230364 0.554182 
time: 1403638582.927830, t: 6.430977 -11.966007 1.039102 q: 0.176357 0.781437 -0.231584 0.551926 
time: 1403638583.027829, t: 6.458860 -11.959009 1.100735 q: 0.175534 0.784218 -0.233207 0.547543 
time: 1403638583.127830, t: 6.483405 -11.947116 1.154333 q: 0.175106 0.786283 -0.234394 0.544202 
time: 1403638583.227829, t: 6.504407 -11.929140 1.200334 q: 0.174223 0.787297 -0.235849 0.542388 
time: 1403638583.327830, t: 6.527948 -11.910411 1.240875 q: 0.174702 0.787175 -0.235712 0.542470 
time: 1403638583.427830, t: 6.551753 -11.890123 1.276224 q: 0.174385 0.787495 -0.235937 0.542011 
time: 1403638583.527829, t: 6.577193 -11.868054 1.313487 q: 0.174085 0.788070 -0.235988 0.541248 
time: 1403638583.627830, t: 6.603860 -11.844631 1.360066 q: 0.174862 0.787980 -0.235371 0.541397 
time: 1403638583.727829, t: 6.631341 -11.816536 1.410535 q: 0.176125 0.787859 -0.234600 0.541499 
time: 1403638583.827830, t: 6.661277 -11.779019 1.445942 q: 0.176855 0.787599 -0.234179 0.541821 
time: 1403638583.927830, t: 6.689905 -11.742383 1.476546 q: 0.176644 0.786709 -0.234259 0.543146 
time: 1403638584.027829, t: 6.719196 -11.707399 1.507047 q: 0.177705 0.785998 -0.233464 0.544171 
time: 1403638584.127830, t: 6.749625 -11.671179 1.535320 q: 0.182010 0.779040 -0.230141 0.554080 
time: 1403638584.227829, t: 6.767671 -11.622674 1.541254 q: 0.186143 0.769264 -0.226540 0.567683 
time: 1403638584.327830, t: 6.783857 -11.571276 1.541265 q: 0.187425 0.763361 -0.225288 0.575670 
time: 1403638584.427830, t: 6.794917 -11.518297 1.532430 q: 0.187090 0.762403 -0.225256 0.577060 
time: 1403638584.527829, t: 6.800568 -11.459101 1.521059 q: 0.186357 0.761898 -0.225512 0.577864 
time: 1403638584.627830, t: 6.812007 -11.398034 1.527551 q: 0.186024 0.763109 -0.225304 0.576452 
time: 1403638584.727829, t: 6.817247 -11.330711 1.540174 q: 0.183849 0.766799 -0.226393 0.571809 
time: 1403638584.827830, t: 6.811849 -11.258783 1.535002 q: 0.179238 0.774893 -0.229479 0.561029 
time: 1403638584.927830, t: 6.809859 -11.180905 1.555610 q: 0.174165 0.780990 -0.233535 0.552433 
time: 1403638585.127830, t: 6.797851 -11.029044 1.552201 q: 0.171068 0.783928 -0.235999 0.548177 
time: 1403638585.227829, t: 6.797590 -10.950605 1.554894 q: 0.171021 0.782839 -0.236220 0.549650 
time: 1403638585.327830, t: 6.790874 -10.877132 1.546507 q: 0.172031 0.780497 -0.235145 0.553115 
time: 1403638585.427830, t: 6.789352 -10.798274 1.539546 q: 0.171821 0.779936 -0.234974 0.554044 
time: 1403638585.527829, t: 6.786820 -10.722273 1.530500 q: 0.172041 0.780959 -0.234822 0.552597 
time: 1403638585.627830, t: 6.786511 -10.644229 1.534012 q: 0.171151 0.783039 -0.234907 0.549888 
time: 1403638585.727829, t: 6.783644 -10.565849 1.541049 q: 0.169827 0.787001 -0.235716 0.544267 
time: 1403638585.827830, t: 6.785787 -10.486029 1.561317 q: 0.167022 0.791695 -0.237795 0.537378 
time: 1403638585.927830, t: 6.788260 -10.408981 1.585997 q: 0.163947 0.794013 -0.240390 0.533740 
time: 1403638586.027829, t: 6.793439 -10.329222 1.619061 q: 0.164177 0.791207 -0.240860 0.537610 
time: 1403638586.127830, t: 6.806404 -10.252818 1.649026 q: 0.166545 0.787453 -0.240631 0.542473 
time: 1403638586.227829, t: 6.807368 -10.170538 1.673284 q: 0.168389 0.784954 -0.239621 0.545961 
time: 1403638586.327830, t: 6.819786 -10.094320 1.691282 q: 0.171789 0.781724 -0.237884 0.550279 
time: 1403638586.427830, t: 6.823033 -10.013011 1.705663 q: 0.179570 0.778967 -0.233044 0.553765 
time: 1403638586.527829, t: 6.833417 -9.936162 1.714642 q: 0.186204 0.777922 -0.228896 0.554773 
time: 1403638586.627830, t: 6.836620 -9.849103 1.716897 q: 0.183738 0.778387 -0.230785 0.554160 
time: 1403638586.727829, t: 6.846421 -9.766487 1.712884 q: 0.180254 0.778393 -0.233373 0.554211 
time: 1403638586.827830, t: 6.854923 -9.681063 1.702779 q: 0.177172 0.777564 -0.235372 0.555521 
time: 1403638586.927830, t: 6.857100 -9.591432 1.685548 q: 0.177150 0.776874 -0.234934 0.556677 
time: 1403638587.027829, t: 6.864367 -9.505194 1.664203 q: 0.176361 0.776707 -0.235232 0.557036 
time: 1403638587.127830, t: 6.863594 -9.411774 1.645328 q: 0.175623 0.776809 -0.235856 0.556863 
time: 1403638587.227829, t: 6.867048 -9.321895 1.634261 q: 0.175387 0.779087 -0.235289 0.553988 
time: 1403638587.327830, t: 6.865046 -9.231277 1.631085 q: 0.175006 0.780624 -0.235806 0.551719 
time: 1403638587.427830, t: 6.867308 -9.138480 1.631705 q: 0.173585 0.781271 -0.236741 0.550852 
time: 1403638587.527829, t: 6.868479 -9.041859 1.631903 q: 0.172373 0.781002 -0.237750 0.551179 
time: 1403638587.627830, t: 6.869882 -8.947310 1.628262 q: 0.171405 0.780948 -0.239007 0.551014 
time: 1403638587.727829, t: 6.871302 -8.851582 1.618834 q: 0.171743 0.780789 -0.238995 0.551140 
time: 1403638587.827830, t: 6.872462 -8.758348 1.605782 q: 0.170988 0.780318 -0.240227 0.551506 
time: 1403638587.927830, t: 6.874281 -8.665688 1.588242 q: 0.170651 0.779969 -0.240776 0.551863 
time: 1403638588.027829, t: 6.875330 -8.573159 1.566197 q: 0.170488 0.779309 -0.240834 0.552820 
time: 1403638588.127830, t: 6.876787 -8.482650 1.541560 q: 0.173757 0.779661 -0.238662 0.552247 
time: 1403638588.227829, t: 6.876503 -8.392659 1.513558 q: 0.180096 0.780546 -0.233985 0.550966 
time: 1403638588.327830, t: 6.878241 -8.301513 1.489517 q: 0.180782 0.781201 -0.233124 0.550179 
time: 1403638588.427830, t: 6.880216 -8.203904 1.473810 q: 0.180649 0.781087 -0.233033 0.550422 
time: 1403638588.527829, t: 6.883968 -8.109709 1.465671 q: 0.178405 0.780870 -0.234522 0.550830 
time: 1403638588.627830, t: 6.883970 -8.007618 1.466866 q: 0.176126 0.780201 -0.235737 0.551990 
time: 1403638588.727829, t: 6.883694 -7.906133 1.474991 q: 0.173438 0.778523 -0.237775 0.554333 
time: 1403638588.827830, t: 6.882604 -7.804820 1.484040 q: 0.172618 0.777878 -0.238540 0.555164 
time: 1403638588.927830, t: 6.882172 -7.705946 1.487461 q: 0.171309 0.777666 -0.240092 0.555198 
time: 1403638589.027829, t: 6.877757 -7.602359 1.481349 q: 0.171218 0.777639 -0.240787 0.554963 
time: 1403638589.127830, t: 6.875217 -7.505682 1.473553 q: 0.172682 0.777825 -0.240399 0.554416 
time: 1403638589.227829, t: 6.870136 -7.400260 1.456880 q: 0.172861 0.777470 -0.240363 0.554873 
time: 1403638589.327830, t: 6.866392 -7.298574 1.441000 q: 0.173067 0.776786 -0.240592 0.555667 
time: 1403638589.427830, t: 6.858317 -7.191988 1.424633 q: 0.172464 0.776821 -0.240835 0.555701 
time: 1403638589.527829, t: 6.852962 -7.089585 1.415476 q: 0.172267 0.777178 -0.240932 0.555221 
time: 1403638589.627830, t: 6.842782 -6.983402 1.412620 q: 0.172676 0.776987 -0.240711 0.555457 
time: 1403638589.727829, t: 6.834099 -6.886163 1.419120 q: 0.171924 0.778745 -0.241461 0.552897 
time: 1403638589.927830, t: 6.813662 -6.689245 1.433894 q: 0.172711 0.780065 -0.242423 0.550365 
time: 1403638590.027829, t: 6.802190 -6.588431 1.432841 q: 0.171733 0.779631 -0.243892 0.550637 
time: 1403638590.127830, t: 6.794295 -6.491483 1.427838 q: 0.172391 0.779133 -0.244192 0.551003 
time: 1403638590.227829, t: 6.781774 -6.390102 1.416425 q: 0.172805 0.778276 -0.244472 0.551959 
time: 1403638590.427830, t: 6.756985 -6.195542 1.385628 q: 0.173199 0.779007 -0.244898 0.550613 
time: 1403638590.527829, t: 6.741498 -6.099376 1.366942 q: 0.171986 0.779047 -0.245701 0.550579 
time: 1403638590.627830, t: 6.726220 -6.001853 1.352469 q: 0.171101 0.781088 -0.246173 0.547746 
time: 1403638590.727829, t: 6.712943 -5.911338 1.347383 q: 0.168858 0.782130 -0.247595 0.546312 
time: 1403638590.827830, t: 6.697752 -5.817753 1.350064 q: 0.168969 0.783185 -0.247327 0.544886 
time: 1403638590.927830, t: 6.686034 -5.728257 1.359561 q: 0.168014 0.783739 -0.248053 0.544053 
time: 1403638591.027829, t: 6.672689 -5.634480 1.373736 q: 0.166876 0.784490 -0.249250 0.542772 
time: 1403638591.127830, t: 6.657732 -5.542885 1.386132 q: 0.166193 0.787145 -0.249926 0.538814 
time: 1403638591.227829, t: 6.647185 -5.450993 1.391758 q: 0.164635 0.792097 -0.251609 0.531197 
time: 1403638591.327830, t: 6.639536 -5.362696 1.390804 q: 0.161379 0.797761 -0.254212 0.522409 
time: 1403638591.527829, t: 6.643607 -5.206537 1.376694 q: 0.156127 0.803537 -0.258827 0.512798 
time: 1403638591.627830, t: 6.655492 -5.141039 1.360938 q: 0.154100 0.805599 -0.260314 0.509411 
time: 1403638591.727829, t: 6.674979 -5.088042 1.343347 q: 0.153906 0.804485 -0.261024 0.510865 
time: 1403638591.827830, t: 6.701143 -5.045885 1.327628 q: 0.155299 0.802088 -0.259846 0.514798 
time: 1403638591.927830, t: 6.733866 -5.012477 1.316385 q: 0.156541 0.799433 -0.258514 0.519204 
time: 1403638592.027829, t: 6.771444 -4.985615 1.315474 q: 0.156978 0.796805 -0.257937 0.523382 
time: 1403638592.127830, t: 6.813860 -4.964070 1.322609 q: 0.157021 0.795247 -0.256564 0.526404 
time: 1403638592.227829, t: 6.860256 -4.945610 1.340112 q: 0.153016 0.790574 -0.253188 0.536167 
time: 1403638592.327830, t: 6.908220 -4.931121 1.368660 q: 0.146007 0.785821 -0.246459 0.548111 
time: 1403638592.427830, t: 6.956421 -4.919359 1.404731 q: 0.134959 0.785366 -0.234740 0.556672 
time: 1403638592.527829, t: 6.999749 -4.909112 1.447898 q: 0.124501 0.790510 -0.220193 0.557771 
time: 1403638592.627830, t: 7.040072 -4.903695 1.496593 q: 0.117769 0.797869 -0.206991 0.553796 
time: 1403638592.727829, t: 7.080115 -4.902480 1.548484 q: 0.112111 0.805052 -0.197535 0.547998 
time: 1403638592.827830, t: 7.119548 -4.905216 1.595244 q: 0.106939 0.811387 -0.191978 0.541626 
time: 1403638592.927830, t: 7.159976 -4.911197 1.636327 q: 0.105075 0.814837 -0.187617 0.538330 
time: 1403638593.027829, t: 7.202658 -4.920684 1.672734 q: 0.104110 0.816227 -0.185020 0.537310 
time: 1403638593.127830, t: 7.251098 -4.936295 1.704333 q: 0.103654 0.816291 -0.183928 0.537675 
time: 1403638593.227829, t: 7.303546 -4.956364 1.741085 q: 0.106582 0.812863 -0.181947 0.542944 
time: 1403638593.327830, t: 7.357721 -4.977842 1.785119 q: 0.114745 0.810205 -0.177189 0.546814 
time: 1403638593.427830, t: 7.412921 -5.000226 1.831464 q: 0.124880 0.805551 -0.171618 0.553209 
time: 1403638593.527829, t: 7.468981 -5.021549 1.872435 q: 0.130218 0.801787 -0.169705 0.558015 
time: 1403638593.627830, t: 7.527100 -5.040462 1.906528 q: 0.133268 0.799839 -0.169475 0.560157 
time: 1403638593.727829, t: 7.585111 -5.055796 1.934947 q: 0.135159 0.797922 -0.169187 0.562520 
time: 1403638593.827830, t: 7.642915 -5.066917 1.958522 q: 0.134085 0.791594 -0.170179 0.571349 
time: 1403638593.927830, t: 7.696466 -5.073073 1.987989 q: 0.128326 0.782348 -0.167970 0.585875 
time: 1403638594.027829, t: 7.743486 -5.075027 2.018481 q: 0.120434 0.784763 -0.165117 0.585132 
time: 1403638594.127830, t: 7.782652 -5.074268 2.053731 q: 0.114881 0.790668 -0.162052 0.579126 
time: 1403638594.227829, t: 7.817214 -5.071994 2.090762 q: 0.114713 0.795461 -0.156984 0.573967 
time: 1403638594.327830, t: 7.849363 -5.067143 2.123134 q: 0.115019 0.795677 -0.152700 0.574762 
time: 1403638594.427830, t: 7.876316 -5.059803 2.159307 q: 0.119405 0.794211 -0.146309 0.577550 
time: 1403638594.527829, t: 7.900883 -5.047297 2.197392 q: 0.117943 0.793881 -0.145091 0.578611 
time: 1403638594.627830, t: 7.919142 -5.030286 2.245283 q: 0.112217 0.794405 -0.147540 0.578411 
time: 1403638594.827830, t: 7.947513 -4.991668 2.333182 q: 0.107033 0.795288 -0.152243 0.576959 
time: 1403638594.927830, t: 7.958353 -4.970833 2.366222 q: 0.106934 0.796154 -0.153261 0.575512 
time: 1403638595.027829, t: 7.966784 -4.948684 2.393208 q: 0.106275 0.797685 -0.154897 0.573072 
time: 1403638595.127830, t: 7.971210 -4.924580 2.416862 q: 0.106186 0.798598 -0.156083 0.571493 
time: 1403638595.227829, t: 7.977834 -4.901924 2.430740 q: 0.107024 0.799072 -0.156448 0.570573 
time: 1403638595.327830, t: 7.981403 -4.878454 2.439396 q: 0.107456 0.799164 -0.156684 0.570298 
time: 1403638595.427830, t: 7.983621 -4.854830 2.442530 q: 0.107098 0.799011 -0.157547 0.570342 
time: 1403638595.527829, t: 7.983325 -4.830794 2.440739 q: 0.107140 0.799591 -0.157537 0.569524 
time: 1403638595.627830, t: 7.981769 -4.806763 2.440490 q: 0.107727 0.800195 -0.156838 0.568758 
time: 1403638595.727829, t: 7.975491 -4.780779 2.449680 q: 0.111945 0.800664 -0.153853 0.568098 
time: 1403638595.927830, t: 7.965851 -4.728896 2.455382 q: 0.115911 0.801231 -0.151682 0.567085 
time: 1403638596.027829, t: 7.961307 -4.700451 2.440783 q: 0.119909 0.800992 -0.149009 0.567301 
time: 1403638596.127830, t: 7.958302 -4.668551 2.419987 q: 0.130215 0.802087 -0.142149 0.565238 
time: 1403638596.227829, t: 7.955451 -4.629944 2.403547 q: 0.142126 0.804034 -0.133461 0.561710 
time: 1403638596.327830, t: 7.952605 -4.581397 2.397856 q: 0.153078 0.805104 -0.125333 0.559166 
time: 1403638596.427830, t: 7.951866 -4.525241 2.398132 q: 0.159766 0.805003 -0.119776 0.558658 
time: 1403638596.527829, t: 7.955488 -4.456314 2.409271 q: 0.166369 0.804767 -0.114115 0.558255 
time: 1403638596.627830, t: 7.963816 -4.374935 2.426645 q: 0.173615 0.805213 -0.108252 0.556572 
time: 1403638596.727829, t: 7.975558 -4.277712 2.451418 q: 0.179895 0.805783 -0.103347 0.554681 
time: 1403638596.827830, t: 7.993442 -4.164294 2.485313 q: 0.184002 0.805394 -0.099837 0.554542 
time: 1403638596.927830, t: 8.013498 -4.033164 2.521951 q: 0.186336 0.804334 -0.097866 0.555651 
time: 1403638597.027829, t: 8.038009 -3.886501 2.557883 q: 0.188033 0.803286 -0.097807 0.556605 
time: 1403638597.127830, t: 8.066728 -3.725171 2.587763 q: 0.190706 0.801651 -0.096780 0.558230 
time: 1403638597.227829, t: 8.097165 -3.546617 2.610523 q: 0.191134 0.799471 -0.098034 0.560984 
time: 1403638597.327830, t: 8.129800 -3.352965 2.627224 q: 0.187427 0.797421 -0.101666 0.564495 
time: 1403638597.427830, t: 8.165378 -3.144433 2.637253 q: 0.181250 0.795413 -0.107369 0.568277 
time: 1403638597.527829, t: 8.201023 -2.921824 2.645904 q: 0.169208 0.791020 -0.116477 0.576272 
time: 1403638597.627830, t: 8.234644 -2.688749 2.647350 q: 0.159945 0.787717 -0.123925 0.581861 
time: 1403638597.727829, t: 8.265020 -2.448458 2.644270 q: 0.159500 0.786888 -0.124596 0.582960 
time: 1403638597.827830, t: 8.293342 -2.201279 2.636501 q: 0.164710 0.789407 -0.114833 0.580104 
time: 1403638597.927830, t: 8.320087 -1.944789 2.624253 q: 0.168777 0.791985 -0.103462 0.577555 
time: 1403638598.027829, t: 8.347449 -1.677817 2.612979 q: 0.166445 0.792962 -0.096892 0.578030 
time: 1403638598.127830, t: 8.374291 -1.398559 2.609138 q: 0.150899 0.793557 -0.100809 0.580804 
time: 1403638598.227829, t: 8.395669 -1.110303 2.610918 q: 0.130028 0.794670 -0.110422 0.582580 
time: 1403638598.327830, t: 8.414138 -0.818769 2.614602 q: 0.115619 0.797287 -0.117704 0.580613 
time: 1403638598.427830, t: 8.430775 -0.527813 2.612984 q: 0.108488 0.799338 -0.121210 0.578444 
time: 1403638598.527829, t: 8.443952 -0.238196 2.604312 q: 0.104641 0.800995 -0.121023 0.576898 
time: 1403638598.627830, t: 8.454134 0.048435 2.586505 q: 0.099846 0.804201 -0.115858 0.574342 
time: 1403638598.727829, t: 8.462880 0.331905 2.566801 q: 0.093597 0.805941 -0.105489 0.574953 
time: 1403638598.827830, t: 8.469838 0.613075 2.550643 q: 0.084623 0.806982 -0.092733 0.577079 
time: 1403638598.927830, t: 8.475281 0.891300 2.539763 q: 0.075253 0.809380 -0.077116 0.577316 
time: 1403638599.027829, t: 8.479644 1.168791 2.532583 q: 0.062602 0.811060 -0.061447 0.578349 
time: 1403638599.127830, t: 8.482141 1.443940 2.533959 q: 0.051744 0.812100 -0.043242 0.579609 
time: 1403638599.227829, t: 8.480810 1.718171 2.540054 q: 0.040280 0.813483 -0.024701 0.579667 
time: 1403638599.327830, t: 8.477845 1.991095 2.553355 q: 0.027152 0.815359 -0.006610 0.578281 
time: 1403638599.427830, t: 8.470368 2.262553 2.573375 q: 0.017904 0.818056 0.009852 0.574776 
time: 1403638599.527829, t: 8.463532 2.531905 2.595289 q: 0.010988 0.820134 0.020962 0.571681 
time: 1403638599.627830, t: 8.455584 2.799969 2.610969 q: 0.005133 0.821743 0.026271 0.569229 
time: 1403638599.727829, t: 8.445405 3.066176 2.617120 q: 0.002957 0.822885 0.029481 0.567435 
time: 1403638599.827830, t: 8.440855 3.330072 2.615443 q: 0.001890 0.823534 0.028632 0.566540 
time: 1403638599.927830, t: 8.438568 3.591868 2.608855 q: -0.000905 0.824780 0.024845 0.564906 
time: 1403638600.027829, t: 8.438839 3.852444 2.596779 q: -0.005904 0.824195 0.018283 0.565979 
time: 1403638600.127830, t: 8.444914 4.107752 2.581253 q: -0.014182 0.826378 0.008864 0.562868 
time: 1403638600.227829, t: 8.451984 4.354657 2.561673 q: -0.026137 0.829275 -0.002732 0.558223 
time: 1403638600.327830, t: 8.463898 4.591794 2.538808 q: -0.035026 0.831108 -0.012254 0.554872 
time: 1403638600.427830, t: 8.479239 4.818565 2.518623 q: -0.042906 0.832431 -0.020548 0.552083 
time: 1403638600.527829, t: 8.501170 5.028063 2.506123 q: -0.044183 0.833235 -0.023299 0.550659 
time: 1403638600.627830, t: 8.528540 5.225543 2.502577 q: -0.043776 0.834630 -0.024663 0.548515 
time: 1403638600.727829, t: 8.560770 5.409968 2.506160 q: -0.044293 0.836842 -0.025872 0.545035 
time: 1403638600.827830, t: 8.599630 5.579538 2.516188 q: -0.040731 0.840819 -0.022701 0.539304 
time: 1403638600.927830, t: 8.645192 5.733575 2.529614 q: -0.025158 0.843928 -0.010212 0.535769 
time: 1403638601.027829, t: 8.700186 5.878023 2.539104 q: -0.011698 0.844727 0.000997 0.535069 
time: 1403638601.127830, t: 8.761449 6.014268 2.544261 q: -0.005208 0.843495 0.006846 0.537068 
time: 1403638601.227829, t: 8.827386 6.150686 2.545564 q: 0.003435 0.840425 0.014197 0.541731 
time: 1403638601.327830, t: 8.900519 6.290861 2.544381 q: 0.009687 0.832950 0.020679 0.552877 
time: 1403638601.427830, t: 8.978852 6.434776 2.543492 q: -0.000766 0.828535 0.023110 0.559460 
time: 1403638601.527829, t: 9.059680 6.578656 2.549562 q: -0.012566 0.824228 0.032637 0.565177 
optimize pose graph 
time: 1403638601.627830, t: 9.141306 6.721289 2.561510 q: -0.023712 0.820716 0.049557 0.568689 
time: 1403638601.727829, t: 9.221588 6.865625 2.580257 q: -0.035851 0.817916 0.072558 0.569617 
time: 1403638601.827830, t: 9.299552 7.009566 2.607610 q: -0.049394 0.813283 0.100205 0.571043 
time: 1403638601.927830, t: 9.373720 7.154810 2.640349 q: -0.063531 0.808437 0.127808 0.571016 
time: 1403638602.027829, t: 9.444596 7.302361 2.669163 q: -0.076518 0.805840 0.147960 0.568220 
time: 1403638602.127830, t: 9.513070 7.449463 2.691297 q: -0.084736 0.802596 0.163316 0.567439 
time: 1403638602.227829, t: 9.578028 7.598172 2.707741 q: -0.090364 0.796107 0.180080 0.570630 
time: 1403638602.327830, t: 9.637998 7.750455 2.720489 q: -0.103829 0.787335 0.196133 0.575200 
time: 1403638602.427830, t: 9.687974 7.905354 2.739534 q: -0.136081 0.771452 0.203719 0.587233 
time: 1403638602.527829, t: 9.728574 8.057366 2.769098 q: -0.171918 0.747784 0.208721 0.606382 
time: 1403638602.627830, t: 9.755226 8.195921 2.805272 q: -0.201293 0.730683 0.216639 0.615346 
time: 1403638602.727829, t: 9.767016 8.318185 2.844120 q: -0.216366 0.724259 0.233457 0.611664 
time: 1403638602.827830, t: 9.763051 8.422828 2.889130 q: -0.224518 0.720263 0.254614 0.604966 
time: 1403638602.927830, t: 9.746123 8.513816 2.936185 q: -0.238461 0.718467 0.272653 0.593803 
time: 1403638603.027829, t: 9.719869 8.593305 2.982174 q: -0.260125 0.716986 0.286210 0.579957 
time: 1403638603.127830, t: 9.684775 8.655095 3.023387 q: -0.276944 0.709020 0.300112 0.574914 
time: 1403638603.227829, t: 9.642786 8.701920 3.054764 q: -0.281357 0.708206 0.316025 0.565164 
time: 1403638603.327830, t: 9.596411 8.736850 3.075350 q: -0.275027 0.719938 0.332840 0.543384 
time: 1403638603.427830, t: 9.546593 8.760647 3.089387 q: -0.269137 0.730668 0.344140 0.524649 
time: 1403638603.527829, t: 9.496750 8.780607 3.099894 q: -0.267130 0.734145 0.349509 0.517220 
optimize pose graph 
time: 1403638603.627830, t: 9.449001 8.799347 3.107190 q: -0.271545 0.728062 0.351776 0.521960 
time: 1403638603.727829, t: 9.401636 8.811729 3.108190 q: -0.268790 0.719572 0.356728 0.531707 
time: 1403638603.827830, t: 9.352611 8.819946 3.102183 q: -0.262787 0.711492 0.362174 0.541805 
time: 1403638603.927830, t: 9.296719 8.824056 3.089680 q: -0.256114 0.704175 0.366672 0.551447 
time: 1403638604.027829, t: 9.232458 8.823621 3.070587 q: -0.250871 0.699019 0.369263 0.558643 
time: 1403638604.127830, t: 9.159512 8.821638 3.051518 q: -0.247421 0.695894 0.370955 0.562945 
time: 1403638604.227829, t: 9.076544 8.815261 3.037933 q: -0.250622 0.697267 0.369520 0.560770 
time: 1403638604.327830, t: 8.981535 8.802988 3.031911 q: -0.257453 0.703671 0.365817 0.552036 
time: 1403638604.427830, t: 8.877364 8.785878 3.031725 q: -0.259692 0.711774 0.364709 0.541225 
time: 1403638604.527829, t: 8.768491 8.763853 3.038895 q: -0.256742 0.718946 0.366898 0.531588 
time: 1403638604.627830, t: 8.656845 8.740830 3.045195 q: -0.255765 0.722009 0.367789 0.527274 
time: 1403638604.727829, t: 8.543780 8.715991 3.045816 q: -0.259940 0.724633 0.365131 0.523467 
time: 1403638604.827830, t: 8.430616 8.689121 3.044262 q: -0.263302 0.726959 0.362801 0.520172 
time: 1403638604.927830, t: 8.319098 8.659556 3.043932 q: -0.261785 0.731061 0.363879 0.514403 
time: 1403638605.027829, t: 8.208811 8.628423 3.049228 q: -0.258865 0.738229 0.366003 0.504032 
time: 1403638605.127830, t: 8.100354 8.597268 3.062865 q: -0.255992 0.743623 0.368001 0.496052 
time: 1403638605.227829, t: 7.998774 8.572406 3.083568 q: -0.252893 0.745506 0.370113 0.493236 
time: 1403638605.327830, t: 7.902896 8.552919 3.102113 q: -0.248131 0.744472 0.373434 0.494711 
time: 1403638605.427830, t: 7.810216 8.537768 3.116244 q: -0.241460 0.736736 0.378458 0.505655 
time: 1403638605.527829, t: 7.718624 8.527612 3.125095 q: -0.235506 0.726477 0.382887 0.519775 
time: 1403638605.627830, t: 7.624908 8.521319 3.128300 q: -0.229401 0.718991 0.387290 0.529560 
optimize pose graph 
time: 1403638605.727829, t: 7.525725 8.519593 3.129889 q: -0.226597 0.715690 0.389388 0.533684 
time: 1403638605.827830, t: 7.419412 8.522178 3.138848 q: -0.225082 0.716225 0.390303 0.532937 
time: 1403638605.927830, t: 7.307156 8.530375 3.155959 q: -0.222261 0.715628 0.391823 0.533809 
time: 1403638606.027829, t: 7.188701 8.546107 3.175108 q: -0.218225 0.714911 0.393537 0.535171 
time: 1403638606.127830, t: 7.062211 8.566310 3.190627 q: -0.215292 0.714972 0.394415 0.535631 
time: 1403638606.227829, t: 6.929460 8.591634 3.196262 q: -0.212232 0.715088 0.395921 0.535587 
time: 1403638606.327830, t: 6.789070 8.621766 3.197622 q: -0.213415 0.719072 0.393992 0.531186 
time: 1403638606.427830, t: 6.643023 8.657360 3.188871 q: -0.220327 0.729366 0.388370 0.518315 
time: 1403638606.527829, t: 6.493301 8.696984 3.174826 q: -0.228869 0.739966 0.381668 0.504380 
time: 1403638606.627830, t: 6.344737 8.742777 3.156380 q: -0.234361 0.746011 0.380409 0.493794 
time: 1403638606.727829, t: 6.202565 8.797185 3.132298 q: -0.238381 0.747391 0.386918 0.484640 
time: 1403638606.827830, t: 6.064853 8.857651 3.104394 q: -0.244974 0.744729 0.398024 0.476385 
time: 1403638606.927830, t: 5.932185 8.926627 3.079024 q: -0.254650 0.738583 0.412261 0.468711 
time: 1403638607.027829, t: 5.805614 9.004585 3.060297 q: -0.267879 0.730254 0.427050 0.461084 
time: 1403638607.127830, t: 5.688084 9.089080 3.052180 q: -0.284648 0.722635 0.436526 0.454113 
time: 1403638607.227829, t: 5.575480 9.180223 3.049937 q: -0.299143 0.709974 0.442497 0.458963 
time: 1403638607.327830, t: 5.468252 9.274536 3.042319 q: -0.312064 0.698222 0.444364 0.466522 
time: 1403638607.427830, t: 5.365220 9.370498 3.025361 q: -0.321258 0.691680 0.444864 0.469540 
time: 1403638607.527829, t: 5.267167 9.464518 2.999844 q: -0.325510 0.690763 0.445418 0.467432 
time: 1403638607.627830, t: 5.172377 9.555536 2.969350 q: -0.326621 0.689508 0.446615 0.467368 
time: 1403638607.727829, t: 5.081745 9.645244 2.936772 q: -0.326241 0.687157 0.446912 0.470799 
optimize pose graph 
time: 1403638607.827830, t: 4.995186 9.732585 2.900820 q: -0.325485 0.687818 0.446527 0.470723 
time: 1403638607.927830, t: 4.914900 9.816995 2.860551 q: -0.327783 0.692119 0.443135 0.466006 
time: 1403638608.027829, t: 4.841163 9.898847 2.816224 q: -0.330012 0.693868 0.439527 0.465248 
time: 1403638608.127830, t: 4.772438 9.979150 2.768005 q: -0.328521 0.691288 0.438462 0.471111 
time: 1403638608.227829, t: 4.710606 10.054514 2.714560 q: -0.325136 0.687308 0.438970 0.478748 
time: 1403638608.327830, t: 4.649415 10.127319 2.657401 q: -0.325209 0.682360 0.437382 0.487156 
time: 1403638608.427830, t: 4.588905 10.194604 2.594799 q: -0.325829 0.678829 0.436479 0.492456 
time: 1403638608.527829, t: 4.529668 10.259421 2.525895 q: -0.324161 0.680708 0.437189 0.490329 
time: 1403638608.627830, t: 4.470375 10.318717 2.454428 q: -0.326349 0.679962 0.434764 0.492066 
time: 1403638608.727829, t: 4.410208 10.373458 2.389191 q: -0.330259 0.677216 0.432496 0.495233 
time: 1403638608.827830, t: 4.352126 10.418766 2.326557 q: -0.328605 0.679887 0.433926 0.491407 
time: 1403638608.927830, t: 4.292899 10.462752 2.270942 q: -0.326842 0.683808 0.435316 0.485882 
time: 1403638609.027829, t: 4.237011 10.500338 2.221225 q: -0.327027 0.687494 0.435579 0.480288 
time: 1403638609.127830, t: 4.182588 10.535893 2.179129 q: -0.325885 0.689014 0.436326 0.478203 
time: 1403638609.227829, t: 4.130875 10.566795 2.140752 q: -0.332670 0.689099 0.431467 0.477817 
time: 1403638609.327830, t: 4.083701 10.590382 2.098754 q: -0.336520 0.689555 0.428443 0.477184 
time: 1403638609.427830, t: 4.039769 10.614805 2.048258 q: -0.333332 0.689550 0.430343 0.477720 
time: 1403638609.527829, t: 3.998792 10.631575 1.992887 q: -0.329590 0.689606 0.432489 0.478296 
time: 1403638609.727829, t: 3.924842 10.661359 1.864150 q: -0.324566 0.688481 0.435540 0.480578 
time: 1403638609.827830, t: 3.892837 10.675610 1.800907 q: -0.325000 0.689503 0.435294 0.479041 
optimize pose graph 
time: 1403638609.927830, t: 3.863706 10.681419 1.747963 q: -0.325239 0.689093 0.435064 0.479676 
time: 1403638610.027829, t: 3.838937 10.689700 1.702367 q: -0.327553 0.687970 0.433436 0.481185 
time: 1403638610.127830, t: 3.815027 10.689663 1.665082 q: -0.330727 0.685131 0.431120 0.485130 
time: 1403638610.227829, t: 3.792924 10.685899 1.626952 q: -0.332095 0.682366 0.430091 0.488990 
time: 1403638610.327830, t: 3.771069 10.678163 1.582484 q: -0.333309 0.681499 0.428839 0.490470 
time: 1403638610.427830, t: 3.752031 10.668296 1.532967 q: -0.334573 0.681163 0.427587 0.491169 
time: 1403638610.527829, t: 3.732420 10.654111 1.478039 q: -0.334121 0.678242 0.427504 0.495571 
time: 1403638610.627830, t: 3.713959 10.631444 1.421151 q: -0.339735 0.671115 0.423465 0.504839 
time: 1403638610.727829, t: 3.692446 10.598116 1.364215 q: -0.339964 0.671818 0.423720 0.503534 
time: 1403638610.827830, t: 3.670304 10.558396 1.310408 q: -0.336689 0.679093 0.427195 0.492928 
time: 1403638610.927830, t: 3.651245 10.512578 1.266684 q: -0.335052 0.682000 0.429771 0.487763 
time: 1403638611.027829, t: 3.632882 10.462323 1.225043 q: -0.337800 0.680997 0.427916 0.488898 
time: 1403638611.127830, t: 3.615464 10.409204 1.179111 q: -0.340295 0.678385 0.426843 0.491729 
time: 1403638611.227829, t: 3.598867 10.350498 1.129388 q: -0.340025 0.677849 0.427808 0.491817 
time: 1403638611.327830, t: 3.583929 10.284153 1.084348 q: -0.337293 0.677176 0.430153 0.492579 
time: 1403638611.427830, t: 3.567177 10.209527 1.043617 q: -0.326644 0.672514 0.437153 0.499926 
time: 1403638611.527829, t: 3.550222 10.131694 1.013504 q: -0.315995 0.669553 0.444090 0.504609 
time: 1403638611.627830, t: 3.525922 10.050518 0.987136 q: -0.310766 0.671430 0.446644 0.503106 
time: 1403638611.727829, t: 3.496670 9.968724 0.963035 q: -0.312623 0.675645 0.444853 0.497872 
time: 1403638611.827830, t: 3.465938 9.884254 0.935911 q: -0.318947 0.681524 0.439878 0.490210 
time: 1403638611.927830, t: 3.436123 9.803134 0.902590 q: -0.322561 0.686349 0.436370 0.484212 
time: 1403638612.027829, t: 3.405813 9.720963 0.867859 q: -0.324142 0.689073 0.434714 0.480764 
time: 1403638612.127830, t: 3.377626 9.638179 0.838725 q: -0.325511 0.690979 0.433108 0.478549 
time: 1403638612.227829, t: 3.353353 9.553329 0.816959 q: -0.324684 0.691511 0.433278 0.478187 
time: 1403638612.327830, t: 3.330825 9.470368 0.804228 q: -0.324098 0.691183 0.433498 0.478858 
time: 1403638612.427830, t: 3.311690 9.386403 0.790316 q: -0.323256 0.690162 0.433266 0.481106 
time: 1403638612.527829, t: 3.292211 9.299868 0.770816 q: -0.321248 0.688137 0.433142 0.485444 
time: 1403638612.627830, t: 3.273999 9.214980 0.745471 q: -0.316446 0.686470 0.434952 0.489324 
time: 1403638612.727829, t: 3.254102 9.127465 0.712657 q: -0.312173 0.684688 0.436005 0.493609 
time: 1403638612.827830, t: 3.235511 9.043720 0.676777 q: -0.311201 0.683785 0.434394 0.496884 
time: 1403638612.927830, t: 3.210195 8.956469 0.643645 q: -0.312085 0.683402 0.431924 0.499006 
time: 1403638613.027829, t: 3.184469 8.871336 0.617278 q: -0.311895 0.685892 0.430932 0.496559 
time: 1403638613.127830, t: 3.155616 8.784580 0.599493 q: -0.312086 0.687420 0.430050 0.495089 
time: 1403638613.227829, t: 3.122685 8.693654 0.589387 q: -0.311948 0.689128 0.429780 0.493032 
time: 1403638613.327830, t: 3.092530 8.607836 0.585913 q: -0.310931 0.689702 0.430319 0.492401 
time: 1403638613.427830, t: 3.057968 8.518565 0.585964 q: -0.310149 0.688996 0.430827 0.493438 
time: 1403638613.527829, t: 3.025113 8.431752 0.580053 q: -0.311306 0.688951 0.427327 0.495810 time: 1403638613.627830, t: 2.992161 8.344472 0.568102 q: -0.313199 0.690595 0.421157 0.497605 
time: 1403638613.727829, t: 2.956374 8.253102 0.549438 q: -0.317186 0.689664 0.414522 0.501924 
time: 1403638613.827830, t: 2.921673 8.164311 0.522933 q: -0.317024 0.690252 0.407166 0.507211 
time: 1403638613.927830, t: 2.884417 8.067043 0.489562 q: -0.311703 0.694546 0.398336 0.511640 
optimize pose graph 
time: 1403638614.027829, t: 2.850214 7.966496 0.453118 q: -0.301219 0.701746 0.387693 0.516250 
time: 1403638614.127830, t: 2.811137 7.858179 0.411229 q: -0.288272 0.711339 0.374690 0.520099 
time: 1403638614.227829, t: 2.770173 7.746650 0.371835 q: -0.274713 0.721427 0.361372 0.522959 
time: 1403638614.327830, t: 2.728135 7.632145 0.337947 q: -0.264866 0.729435 0.350102 0.524594 
time: 1403638614.427830, t: 2.686964 7.518953 0.312280 q: -0.259661 0.735337 0.340468 0.525297 
time: 1403638614.527829, t: 2.645769 7.406649 0.296841 q: -0.256746 0.739857 0.332400 0.525550 
time: 1403638614.627830, t: 2.605572 7.295129 0.288717 q: -0.253211 0.744478 0.322401 0.526967 
time: 1403638614.727829, t: 2.569232 7.185954 0.293637 q: -0.250786 0.752154 0.308311 0.525657 
time: 1403638614.827830, t: 2.535145 7.074495 0.307104 q: -0.245625 0.763005 0.291413 0.522083 
time: 1403638614.927830, t: 2.507130 6.962581 0.330124 q: -0.234921 0.773559 0.273952 0.520930 
time: 1403638615.027829, t: 2.485718 6.849875 0.358034 q: -0.220363 0.782849 0.253411 0.523803 
time: 1403638615.127830, t: 2.471973 6.734808 0.390652 q: -0.199931 0.789529 0.232232 0.531732 
time: 1403638615.227829, t: 2.465558 6.619085 0.429827 q: -0.175857 0.791807 0.211368 0.545380 
time: 1403638615.327830, t: 2.460110 6.501101 0.466910 q: -0.153848 0.795100 0.187363 0.555915 
time: 1403638615.427830, t: 2.454709 6.382188 0.498047 q: -0.133166 0.798837 0.161529 0.563946 
time: 1403638615.527829, t: 2.449546 6.262223 0.522380 q: -0.113757 0.803021 0.136197 0.568917 
time: 1403638615.627830, t: 2.442579 6.141224 0.540155 q: -0.098719 0.805681 0.115236 0.572585 
time: 1403638615.727829, t: 2.434227 6.022895 0.558726 q: -0.088710 0.807677 0.100489 0.574187 
time: 1403638615.827830, t: 2.423153 5.906662 0.585709 q: -0.081893 0.809014 0.089585 0.575121 
time: 1403638615.927830, t: 2.409243 5.791279 0.615329 q: -0.076673 0.810129 0.076909 0.576106 
time: 1403638616.027829, t: 2.393718 5.674097 0.639358 q: -0.068555 0.811819 0.065007 0.576215 
time: 1403638616.127830, t: 2.377214 5.555969 0.654017 q: -0.058833 0.812861 0.052364 0.577108 
time: 1403638616.227829, t: 2.358482 5.438315 0.654074 q: -0.049070 0.814437 0.035904 0.577057 
time: 1403638616.327830, t: 2.339924 5.317991 0.638146 q: -0.036690 0.815564 0.016914 0.577255 
time: 1403638616.427830, t: 2.321422 5.194045 0.611739 q: -0.023908 0.816403 -0.001964 0.576985 
time: 1403638616.527829, t: 2.302593 5.068932 0.581141 q: -0.014609 0.817362 -0.017467 0.575674 
time: 1403638616.627830, t: 2.284315 4.946233 0.546428 q: -0.006818 0.820432 -0.028343 0.571000 
time: 1403638616.727829, t: 2.266925 4.825562 0.507425 q: -0.005069 0.827725 -0.037873 0.559831 
time: 1403638616.827830, t: 2.252723 4.706857 0.464488 q: -0.009644 0.835399 -0.047052 0.547542 
time: 1403638616.927830, t: 2.245312 4.581525 0.426622 q: -0.010007 0.837540 -0.049813 0.544008 
time: 1403638617.027829, t: 2.244901 4.452533 0.399230 q: -0.003056 0.834259 -0.045003 0.549524 
time: 1403638617.127830, t: 2.249923 4.320639 0.380788 q: 0.003839 0.830327 -0.038256 0.555949 
time: 1403638617.227829, t: 2.259457 4.188971 0.368190 q: 0.007278 0.830097 -0.032609 0.556617 
time: 1403638617.327830, t: 2.272745 4.058782 0.360531 q: 0.006592 0.833237 -0.029671 0.552080 
time: 1403638617.427830, t: 2.291139 3.931889 0.359718 q: 0.007380 0.837348 -0.026032 0.546001 
time: 1403638617.527829, t: 2.315418 3.808087 0.367754 q: 0.007267 0.839074 -0.022745 0.543493 
time: 1403638617.627830, t: 2.347366 3.688928 0.384195 q: 0.007325 0.838606 -0.019987 0.544322 
time: 1403638617.727829, t: 2.386061 3.572438 0.409643 q: 0.009054 0.836852 -0.015848 0.547124 
time: 1403638617.827830, t: 2.431362 3.462478 0.441783 q: 0.009417 0.836721 -0.013227 0.547388 
time: 1403638617.927830, t: 2.480746 3.355191 0.481101 q: 0.007944 0.835525 -0.012193 0.549260 
time: 1403638618.027829, t: 2.533657 3.249626 0.518765 q: 0.006904 0.835020 -0.011016 0.550065 
time: 1403638618.127830, t: 2.590609 3.147057 0.550047 q: 0.004911 0.835110 -0.010548 0.549961 
time: 1403638618.227829, t: 2.651493 3.045438 0.575061 q: 0.004317 0.834855 -0.009389 0.550373 
time: 1403638618.327830, t: 2.713651 2.947815 0.595774 q: 0.004668 0.834150 -0.007865 0.551462 
time: 1403638618.427830, t: 2.782120 2.852345 0.611667 q: 0.004459 0.834049 -0.006820 0.551631 
time: 1403638618.527829, t: 2.852504 2.760996 0.627116 q: 0.003858 0.833499 -0.005660 0.552478 
time: 1403638618.627830, t: 2.925936 2.671534 0.640179 q: 0.006509 0.833155 -0.007518 0.552951 
time: 1403638618.727829, t: 3.003904 2.584969 0.654780 q: 0.010653 0.832941 -0.009701 0.553174 
time: 1403638618.827830, t: 3.085889 2.503246 0.673592 q: 0.011954 0.831812 -0.013644 0.554761 
time: 1403638618.927830, t: 3.169480 2.425999 0.699030 q: 0.016790 0.829215 -0.019007 0.558354 
time: 1403638619.027829, t: 3.255928 2.349101 0.720140 q: 0.025394 0.824878 -0.030280 0.563928 
time: 1403638619.127830, t: 3.342166 2.274623 0.734567 q: 0.039367 0.821412 -0.046133 0.567102 
time: 1403638619.227829, t: 3.428895 2.203258 0.741560 q: 0.053113 0.817978 -0.067865 0.568757 
time: 1403638619.327830, t: 3.515370 2.134094 0.741319 q: 0.068590 0.814564 -0.092771 0.568484 
time: 1403638619.427830, t: 3.598546 2.068812 0.732586 q: 0.081896 0.810148 -0.116198 0.568728 
time: 1403638619.527829, t: 3.682019 2.006739 0.721613 q: 0.090173 0.806304 -0.134568 0.568888 
time: 1403638619.627830, t: 3.764104 1.947578 0.708689 q: 0.092932 0.803430 -0.150052 0.568637 
time: 1403638619.727829, t: 3.844754 1.889037 0.693224 q: 0.087420 0.800880 -0.164906 0.568994 
time: 1403638619.827830, t: 3.921861 1.828886 0.675462 q: 0.085055 0.798136 -0.173850 0.570544 
time: 1403638619.927830, t: 3.994232 1.766659 0.656439 q: 0.085591 0.796629 -0.178843 0.571026 
time: 1403638620.027829, t: 4.065198 1.701552 0.632093 q: 0.088220 0.795411 -0.180849 0.571693 
time: 1403638620.127830, t: 4.129431 1.632022 0.614989 q: 0.091552 0.792649 -0.180897 0.574980 
time: 1403638620.227829, t: 4.187965 1.561152 0.603114 q: 0.094323 0.790400 -0.180380 0.577784 
time: 1403638620.327830, t: 4.240184 1.487171 0.600268 q: 0.098355 0.792091 -0.177828 0.575583 
time: 1403638620.427830, t: 4.286101 1.413093 0.603205 q: 0.099687 0.793197 -0.176080 0.574366 
time: 1403638620.527829, t: 4.328925 1.336538 0.610581 q: 0.100297 0.794523 -0.173825 0.573114 
time: 1403638620.627830, t: 4.368311 1.260261 0.613486 q: 0.098406 0.796708 -0.173040 0.570640 
time: 1403638620.727829, t: 4.404049 1.183603 0.609864 q: 0.094612 0.799917 -0.173641 0.566595 
time: 1403638620.827830, t: 4.438634 1.104631 0.602696 q: 0.093330 0.803040 -0.172059 0.562861 
time: 1403638620.927830, t: 4.472603 1.023567 0.591176 q: 0.098294 0.804878 -0.166040 0.561195 
time: 1403638621.027829, t: 4.505840 0.943863 0.576934 q: 0.102999 0.804042 -0.160214 0.563240 
time: 1403638621.127830, t: 4.536159 0.864392 0.563059 q: 0.103593 0.802942 -0.157109 0.565569 
time: 1403638621.227829, t: 4.567237 0.786890 0.556849 q: 0.103237 0.801379 -0.154757 0.568493 
time: 1403638621.327830, t: 4.599090 0.711018 0.559091 q: 0.104772 0.801894 -0.151753 0.568295 
time: 1403638621.427830, t: 4.627162 0.638114 0.558391 q: 0.104636 0.800668 -0.149740 0.570578 
time: 1403638621.627830, t: 4.676260 0.503499 0.542978 q: 0.105368 0.796981 -0.145817 0.576591 
time: 1403638621.727829, t: 4.695058 0.444180 0.527658 q: 0.105641 0.796137 -0.144668 0.577994 
time: 1403638621.827830, t: 4.712165 0.384401 0.508054 q: 0.107015 0.793820 -0.143089 0.581312 
time: 1403638621.927830, t: 4.724471 0.329516 0.486705 q: 0.108392 0.790374 -0.141540 0.586111 
time: 1403638622.027829, t: 4.729984 0.283483 0.462544 q: 0.107693 0.788850 -0.141554 0.588286 
optimize pose graph 
time: 1403638622.127830, t: 4.734955 0.236917 0.432588 q: 0.105114 0.789495 -0.143770 0.587349 
time: 1403638622.227829, t: 4.732896 0.198632 0.403887 q: 0.102875 0.789855 -0.145474 0.586842 
time: 1403638622.327830, t: 4.726634 0.158245 0.380096 q: 0.100593 0.789850 -0.147474 0.586744 
time: 1403638622.427830, t: 4.712982 0.122336 0.366478 q: 0.103076 0.790698 -0.146876 0.585320 
time: 1403638622.527829, t: 4.692621 0.093056 0.362225 q: 0.106141 0.790744 -0.145609 0.585026 
time: 1403638622.627830, t: 4.670819 0.061567 0.362738 q: 0.111066 0.789175 -0.143130 0.586840 
time: 1403638622.727829, t: 4.642166 0.039181 0.377116 q: 0.114256 0.781226 -0.141514 0.597165 
time: 1403638622.827830, t: 4.610527 0.016901 0.395800 q: 0.116023 0.771574 -0.141141 0.609337 
time: 1403638622.927830, t: 4.569110 0.005243 0.419835 q: 0.115611 0.771676 -0.142353 0.609004 
time: 1403638623.027829, t: 4.516943 -0.001372 0.437406 q: 0.113079 0.777849 -0.145375 0.600857 
time: 1403638623.127830, t: 4.458650 -0.005959 0.446077 q: 0.109160 0.783580 -0.148938 0.593215 
time: 1403638623.227829, t: 4.392584 -0.004605 0.451177 q: 0.105215 0.786682 -0.151904 0.589055 
time: 1403638623.327830, t: 4.322422 -0.003603 0.451372 q: 0.102794 0.790148 -0.153783 0.584338 
time: 1403638623.427830, t: 4.249852 -0.003278 0.446860 q: 0.102940 0.792902 -0.153855 0.580551 
time: 1403638623.527829, t: 4.173497 -0.001098 0.440302 q: 0.101588 0.793424 -0.154741 0.579839 
time: 1403638623.627830, t: 4.094226 0.000984 0.440130 q: 0.104407 0.792817 -0.153476 0.580505 
time: 1403638623.727829, t: 4.009703 0.004081 0.446813 q: 0.106099 0.793504 -0.153088 0.579361 
time: 1403638623.827830, t: 3.922471 0.008621 0.459283 q: 0.107789 0.794366 -0.152790 0.577944 
time: 1403638623.927830, t: 3.831083 0.014511 0.475843 q: 0.109393 0.796101 -0.153414 0.575083 
time: 1403638624.027829, t: 3.738430 0.019978 0.485971 q: 0.109586 0.796801 -0.154533 0.573775 
time: 1403638624.127830, t: 3.644562 0.028945 0.493257 q: 0.107385 0.797301 -0.157427 0.572710 
optimize pose graph 
time: 1403638624.227829, t: 3.552176 0.037609 0.497304 q: 0.104908 0.797317 -0.160316 0.572346 
time: 1403638624.327830, t: 3.455394 0.046931 0.495043 q: 0.103820 0.796597 -0.162301 0.572985 
time: 1403638624.427830, t: 3.359882 0.056357 0.489146 q: 0.103774 0.796363 -0.163645 0.572937 
time: 1403638624.527829, t: 3.267891 0.064332 0.481499 q: 0.102662 0.793295 -0.166039 0.576693 
time: 1403638624.627830, t: 3.168122 0.071809 0.467286 q: 0.100027 0.783613 -0.168573 0.589516 
time: 1403638624.727829, t: 3.066001 0.078266 0.453127 q: 0.104348 0.786030 -0.161788 0.587446 
time: 1403638624.827830, t: 2.971306 0.083501 0.447680 q: 0.107485 0.793048 -0.152165 0.579972 
time: 1403638624.927830, t: 2.859905 0.094103 0.448193 q: 0.104838 0.797460 -0.146695 0.575800 
time: 1403638625.027829, t: 2.760270 0.104627 0.454705 q: 0.097610 0.799057 -0.145057 0.575272 
time: 1403638625.127830, t: 2.660009 0.115044 0.457932 q: 0.089403 0.800158 -0.145690 0.574916 
time: 1403638625.227829, t: 2.550319 0.126029 0.455508 q: 0.085287 0.801278 -0.144808 0.574204 
time: 1403638625.327830, t: 2.448714 0.132552 0.451515 q: 0.083966 0.801631 -0.143364 0.574269 
time: 1403638625.427830, t: 2.340087 0.138594 0.447251 q: 0.083429 0.801458 -0.142104 0.574901 
time: 1403638625.527829, t: 2.236364 0.143869 0.451687 q: 0.083402 0.801284 -0.141686 0.575251 
time: 1403638625.627830, t: 2.128073 0.148760 0.461656 q: 0.083944 0.802740 -0.141454 0.573195 
time: 1403638625.727829, t: 2.021043 0.152428 0.477734 q: 0.082857 0.805666 -0.142200 0.569049 
time: 1403638625.827830, t: 1.913766 0.155192 0.492138 q: 0.082215 0.809996 -0.143208 0.562706 
time: 1403638625.927830, t: 1.809309 0.155062 0.500674 q: 0.083411 0.811021 -0.142941 0.561120 
time: 1403638626.027829, t: 1.705860 0.155245 0.504088 q: 0.083411 0.811761 -0.144011 0.559775 
time: 1403638626.127830, t: 1.605833 0.152636 0.502411 q: 0.081722 0.812187 -0.145918 0.558911 
time: 1403638626.227829, t: 1.511699 0.149340 0.495024 q: 0.083374 0.812053 -0.145333 0.559014 
time: 1403638626.327830, t: 1.417940 0.143342 0.485255 q: 0.089708 0.810103 -0.141495 0.561841 
time: 1403638626.427830, t: 1.326473 0.136735 0.472647 q: 0.095305 0.807920 -0.137379 0.565074 
time: 1403638626.527829, t: 1.233790 0.132986 0.456706 q: 0.096796 0.809189 -0.135976 0.563342 
time: 1403638626.627830, t: 1.147439 0.127905 0.440384 q: 0.095574 0.811287 -0.136707 0.560348 
time: 1403638626.727829, t: 1.066471 0.123572 0.425571 q: 0.093871 0.814139 -0.137409 0.556313 
time: 1403638626.827830, t: 0.986645 0.121446 0.417577 q: 0.092207 0.817364 -0.138357 0.551607 
time: 1403638626.927830, t: 0.913546 0.118059 0.417680 q: 0.092208 0.819620 -0.137858 0.548375 
time: 1403638627.027829, t: 0.844490 0.116061 0.419896 q: 0.091602 0.819689 -0.137664 0.548422 
time: 1403638627.127830, t: 0.780123 0.111873 0.419187 q: 0.090828 0.819474 -0.137483 0.548919 
time: 1403638627.227829, t: 0.719668 0.106506 0.414230 q: 0.090181 0.819372 -0.137252 0.549234 
time: 1403638627.327830, t: 0.664548 0.104482 0.402256 q: 0.092885 0.819374 -0.134983 0.549344 
time: 1403638627.427830, t: 0.618157 0.099456 0.393185 q: 0.094026 0.819261 -0.133933 0.549575 
time: 1403638627.527829, t: 0.576203 0.095489 0.380376 q: 0.093730 0.818928 -0.134220 0.550051 
time: 1403638627.627830, t: 0.539030 0.092363 0.365736 q: 0.096969 0.816873 -0.132727 0.552901 
time: 1403638627.727829, t: 0.507572 0.089608 0.349911 q: 0.097856 0.813828 -0.132501 0.557271 
time: 1403638627.827830, t: 0.479255 0.089925 0.332168 q: 0.099074 0.812541 -0.132181 0.559009 
time: 1403638627.927830, t: 0.445899 0.089631 0.317450 q: 0.099841 0.813687 -0.132149 0.557210 
time: 1403638628.027829, t: 0.421239 0.090529 0.301647 q: 0.101072 0.815291 -0.132106 0.554647 
time: 1403638628.127830, t: 0.397527 0.092222 0.288561 q: 0.101619 0.816245 -0.132617 0.553019 
time: 1403638628.227829, t: 0.374926 0.097959 0.276551 q: 0.102038 0.816386 -0.133384 0.552549 
optimize pose graph 
time: 1403638628.327830, t: 0.361724 0.106681 0.265621 q: 0.101820 0.817052 -0.134569 0.551317 
time: 1403638628.427830, t: 0.353344 0.115868 0.259096 q: 0.099350 0.816643 -0.136670 0.551856 
time: 1403638628.527829, t: 0.350004 0.126202 0.256327 q: 0.091024 0.810886 -0.143072 0.560098 
time: 1403638628.627830, t: 0.347901 0.136379 0.256696 q: 0.084719 0.804158 -0.147843 0.569469 
time: 1403638628.727829, t: 0.348042 0.144877 0.256513 q: 0.082356 0.803734 -0.149658 0.569940 
time: 1403638628.827830, t: 0.337756 0.149519 0.249842 q: 0.086019 0.805151 -0.147670 0.567914 
time: 1403638628.927830, t: 0.326813 0.152080 0.238797 q: 0.090461 0.805195 -0.145264 0.567782 
time: 1403638629.027829, t: 0.316590 0.154010 0.228675 q: 0.095461 0.806175 -0.141821 0.566442 
time: 1403638629.127830, t: 0.308642 0.155256 0.220997 q: 0.098974 0.807469 -0.139017 0.564688 
time: 1403638629.227829, t: 0.297568 0.159776 0.214735 q: 0.100707 0.808426 -0.137462 0.563391 
time: 1403638629.327830, t: 0.287077 0.164962 0.213807 q: 0.102012 0.809249 -0.136740 0.562149 
time: 1403638629.427830, t: 0.281353 0.170730 0.211631 q: 0.101570 0.813297 -0.137632 0.556138 
time: 1403638629.527829, t: 0.277089 0.178114 0.211629 q: 0.098825 0.817955 -0.140141 0.549130 
time: 1403638629.627830, t: 0.277819 0.185863 0.213370 q: 0.091765 0.818297 -0.145555 0.548436 
time: 1403638629.727829, t: 0.283043 0.191918 0.216521 q: 0.081628 0.814343 -0.153298 0.553789 
time: 1403638629.827830, t: 0.289567 0.194876 0.219027 q: 0.077681 0.808365 -0.156569 0.562137 
time: 1403638629.927830, t: 0.295300 0.194158 0.215268 q: 0.082792 0.802194 -0.153934 0.570907 
time: 1403638630.027829, t: 0.299482 0.191263 0.201875 q: 0.093657 0.796269 -0.146843 0.579328 
time: 1403638630.127830, t: 0.300553 0.188791 0.177412 q: 0.100257 0.796626 -0.142245 0.578880 
time: 1403638630.227829, t: 0.298808 0.187401 0.145762 q: 0.102803 0.800724 -0.140117 0.573271 
time: 1403638630.327830, t: 0.295993 0.187466 0.107943 q: 0.105236 0.807391 -0.139602 0.563521 
optimize pose graph 
time: 1403638630.427830, t: 0.305824 0.191006 0.105630 q: 0.090582 0.813658 -0.145997 0.555374 
time: 1403638630.527829, t: 0.317819 0.191784 0.113537 q: 0.099557 0.804051 -0.138744 0.569509 
time: 1403638630.627830, t: 0.328483 0.193210 0.101294 q: 0.100320 0.803259 -0.139079 0.570410 
time: 1403638630.727829, t: 0.334287 0.191594 0.082559 q: 0.091071 0.829406 -0.132074 0.535114 
time: 1403638630.827830, t: 0.329637 0.184273 0.078565 q: 0.095184 0.826952 -0.133890 0.537740 
time: 1403638630.927830, t: 0.325151 0.191059 0.071716 q: 0.094629 0.827710 -0.132321 0.537060 
time: 1403638631.027829, t: 0.341675 0.175229 0.101729 q: 0.093525 0.828410 -0.132396 0.536154 
time: 1403638631.127830, t: 0.318677 0.175098 0.082331 q: 0.092772 0.828189 -0.132395 0.536627 
time: 1403638631.227829, t: 0.309208 0.196234 0.057088 q: 0.093967 0.827957 -0.132929 0.536644 
time: 1403638631.327830, t: 0.303487 0.196260 0.051708 q: 0.093876 0.827875 -0.132939 0.536784 
time: 1403638631.427830, t: 0.297121 0.196349 0.047224 q: 0.094043 0.827900 -0.132735 0.536767 
time: 1403638631.527829, t: 0.292090 0.195966 0.042344 q: 0.094026 0.828012 -0.132805 0.536580 
time: 1403638631.627830, t: 0.286497 0.194674 0.037959 q: 0.094212 0.828100 -0.132604 0.536461 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731013646.079459701]: Shutdown request received.[0m
[33m[ WARN] [1731013646.079503832]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731013646.080444436]: Shutdown request received.[0m
[33m[ WARN] [1731013646.080486371]: Reason given for shutdown: [user request][0m
killed
