#timestamp tx ty tz qx qy qz qw
1430.086452736 0.001768822 -0.000625737 -0.003842662 -0.000693001 -0.013476823 -0.004985989 0.999896512
1437.986204000 -0.013611351 0.003306574 0.499082778 -0.022968197 0.027315147 0.016664867 0.999224012
1438.786446976 -0.046727252 -0.016832591 0.996706731 -0.015226030 -0.020343918 -0.015182308 0.999561799
1444.486517984 0.411645119 -0.085350085 1.077794676 -0.029323912 0.082815286 0.016678777 0.995993749
1445.584622208 0.953236836 0.006877854 1.086441452 -0.031818653 0.063860700 0.016631884 0.997312768
1446.786971008 1.461308145 -0.028189872 1.162204090 -0.029972876 0.008614552 0.114857942 0.992892271
1447.684911776 1.958893409 -0.132471157 1.152631194 -0.024062480 0.010188124 0.168423019 0.985368397
1449.184816544 2.803524376 -0.120112749 1.165569163 -0.019123780 0.032719354 0.156714673 0.986916526
1450.286885888 3.326143153 -0.068153680 1.178253794 -0.005572704 0.035268319 0.116182399 0.992585886
1451.687102016 4.097478553 -0.165267474 1.200985109 -0.005407468 0.032455789 0.133947316 0.990442072
1452.584528608 4.633425892 -0.186658285 1.257497805 -0.012841721 0.022623841 0.163343924 0.986226149
1454.084927104 5.344792076 -0.142329398 1.222549617 -0.017614059 0.044729557 0.149581282 0.987580099
1455.885616768 5.853523683 -0.130574637 1.252257872 -0.024205181 0.049002502 0.074437314 0.995726845
1458.386418880 6.390412419 -0.253833126 1.247531383 -0.045580866 0.046722724 -0.041663736 0.996997244
1459.385094112 6.924039079 -0.250898351 1.252405139 -0.015179196 0.052971011 -0.100932266 0.993366167
1460.386841184 7.442049695 -0.254570288 1.270118042 -0.028067123 0.031886096 -0.090700922 0.994971786
1461.385098944 7.942568468 -0.374880784 1.291851952 -0.006769510 0.053195756 -0.075142343 0.995729889
1462.585112352 8.460429244 -0.409688011 1.299321446 -0.015273445 0.030712043 -0.182682051 0.982573540
1463.687036576 8.919388154 -0.640650223 1.321141656 -0.031437500 0.029784782 -0.145359592 0.988430642
1464.785221248 9.438201186 -0.701832026 1.296693321 -0.013194376 0.038031581 -0.130025406 0.990693138
1465.886741408 9.964342629 -0.668436034 1.325826225 -0.012844878 0.012931289 -0.104436497 0.994364522
1466.986359104 10.473061958 -0.739445189 1.332982028 -0.020815217 0.030680311 -0.079482460 0.996146563
1467.986179040 10.993155933 -0.830601959 1.344461702 -0.016074051 0.032839334 -0.121202125 0.991954253
1468.987531968 11.469315281 -1.000750478 1.359121620 -0.036997861 0.028451371 -0.032314568 0.998387419
1470.185304000 11.996357627 -1.115900348 1.368406477 -0.012518098 0.034093189 0.011055688 0.999279098
1471.287272960 12.513401285 -1.153525667 1.366780855 -0.001906659 0.035921843 0.019437817 0.999163725
1472.387916480 13.007675949 -1.240222467 1.388018996 -0.010924320 0.011924349 0.175182159 0.984403208
1473.486182624 13.555197043 -1.156939757 1.392985070 0.013514911 -0.008922698 0.224448362 0.974351402
1474.488829280 14.048588573 -1.049189779 1.403687133 -0.011942538 -0.019529304 0.322381275 0.946333081
1475.586791456 14.503674862 -0.783905332 1.420881015 -0.001463881 -0.025921485 0.354269762 0.934782797
1476.887268896 14.965599143 -0.408895535 1.419442703 0.005956362 -0.022153470 0.406776919 0.913239454
1477.888930048 15.437634188 -0.217500886 1.410791128 -0.015511087 -0.010123925 0.459330245 0.888072431
1478.986464224 15.885075972 0.055513371 1.435925579 -0.002435503 -0.035782669 0.486424102 0.872986429
1480.287557824 16.256259481 0.386634203 1.441509107 0.042731352 -0.085421961 0.575324760 0.812329124
1482.188152320 16.350247922 0.488384076 1.463590191 0.046969989 -0.069326601 0.792903054 0.603566484
1484.788649824 15.943061983 0.806608476 1.370789967 -0.039464854 -0.002513539 0.885254872 0.463422129
1485.989921280 15.778815670 1.300074605 1.367402599 -0.042836918 -0.015179022 0.904196956 0.424691127
1486.988337600 15.583550443 1.772877353 1.372962130 -0.032748175 0.003109039 0.895725472 0.443389077
1487.989817760 15.412199449 2.283990831 1.376006869 -0.012345213 0.016428274 0.862402085 0.505806970
1488.989215296 15.403486613 2.809095569 1.377967553 -0.041886423 -0.016360291 0.883526968 0.466216669
1490.088423040 15.393817615 3.368550998 1.353817635 -0.032007024 0.002162760 0.859125317 0.510759114
1491.190735360 15.387271267 3.915680797 1.343548089 -0.040373399 -0.000365647 0.855352359 0.516471041
1492.089121824 15.323811231 4.423757536 1.362091617 -0.023537237 -0.000572705 0.844457974 0.535104754
1493.090160320 15.185549342 4.941685631 1.350753920 -0.030491874 0.000987646 0.815400538 0.578093223
1494.091000192 15.196509523 5.478366551 1.354165039 -0.035412790 -0.015409702 0.830314876 0.555955390
1495.189448800 15.116531442 6.008703208 1.334642157 -0.035906857 0.003145002 0.828569215 0.558725589
1496.191204832 15.054230282 6.510739815 1.320811465 -0.039297025 -0.004863973 0.820613103 0.570111099
1497.190579968 15.051784156 7.024471807 1.327840178 -0.053434855 -0.008594921 0.841444312 0.537627661
1498.289834592 14.997854919 7.564002693 1.308394514 -0.044432779 0.001822977 0.801618856 0.596179904
1499.291951648 15.034577530 8.087428239 1.303419789 -0.056501227 0.001999163 0.803625728 0.592444321
1500.189527456 14.980598191 8.604553926 1.300671066 -0.046175056 0.006626284 0.798639773 0.599998724
1501.192373472 14.951038871 9.144839188 1.308265039 -0.038901546 0.008874764 0.800598654 0.597871956
1502.291482432 14.970823702 9.670338194 1.305365652 -0.059580174 -0.000973318 0.821706184 0.566788812
1503.390910880 14.918877684 10.178374238 1.278587575 -0.048967614 0.013384237 0.800542709 0.597122747
1504.493038624 14.951963667 10.722418377 1.276474506 -0.048531966 0.007221372 0.828705510 0.557531434
1505.591312736 15.048624639 11.218693876 1.276185178 -0.055052969 -0.003545596 0.823154680 0.565132288
1506.791936576 15.087756583 11.737014380 1.271822807 -0.038628886 0.022157217 0.810935013 0.583440436
1507.992861856 15.215614996 12.236721359 1.255726125 -0.062093020 0.009442398 0.822085922 0.565890137
1509.191698144 15.305625305 12.752879437 1.269954400 -0.056509029 0.007423795 0.806453872 0.588545003
1510.692075264 15.406608686 13.437740025 1.242599734 -0.046707366 0.026746735 0.781165430 0.622000720
1511.794016960 15.465910790 13.955927384 1.226598784 -0.076376930 0.026329797 0.807144516 0.584801211
1513.193954176 15.576524604 14.615607840 1.219084613 -0.090291040 0.034656416 0.820455423 0.563472305
1514.492368576 15.558590351 15.257334099 1.224790364 -0.082808412 0.031346026 0.829917720 0.550816092
1515.793090336 15.470913494 15.849335942 1.201553431 -0.078502375 0.039848451 0.808192962 0.582301543
1517.893202624 15.531654711 16.352744428 1.208998131 -0.075906253 0.047617897 0.659992795 0.745909667
1519.995008544 15.787041914 16.802389763 1.196098338 -0.085796741 0.053329354 0.614843205 0.782153127
1521.193688064 15.910514178 17.343428728 1.184706893 -0.084448496 0.043340232 0.608377750 0.787951356
1522.395311040 16.080831949 17.841976750 1.182065935 -0.078117581 0.041675911 0.590579492 0.802108146
1523.595730752 16.268176146 18.306887323 1.184340107 -0.094143287 0.025765970 0.669121279 0.736716273
1524.995087456 16.297992807 18.846724855 1.195020054 -0.081248424 0.019351415 0.753366545 0.652276301
1526.495653120 16.256871708 19.377788210 1.153273035 -0.063109198 0.029414152 0.827744549 0.556769899
1527.796947424 16.224981642 19.894707842 1.139575884 -0.075250518 0.028169650 0.889651426 0.449516309
1528.894585664 16.015756000 20.400949609 1.144260404 -0.069209382 0.023234246 0.866094585 0.494521027
1530.196299296 15.856406060 20.893606843 1.100899455 -0.059203108 0.063116178 0.832128816 0.547790701
1531.497046304 15.982368553 21.373833260 1.086576871 -0.084965670 0.053019326 0.831807343 0.545956139
1532.895795776 16.000855109 21.837934578 1.095386935 -0.085050502 0.056074204 0.766680102 0.633896690
1534.496499264 16.046266321 22.354896003 1.068446251 -0.073242948 0.072676433 0.656310239 0.747403088
1535.697827040 16.223091337 22.819849652 1.036414397 -0.078690048 0.051680951 0.675781777 0.731065553
1536.795811712 16.252101324 23.323516819 1.046429763 -0.073507309 0.053241861 0.686768986 0.721187434
1538.197471008 16.243919715 23.844585781 1.024188017 -0.064881168 0.028687560 0.719166634 0.691207553
1539.197696864 16.355792711 24.322793829 0.990024508 -0.096194416 0.026420056 0.720689971 0.686043515
1540.596353120 16.295123885 24.989637678 0.954136365 -0.101164596 0.056017818 0.671985216 0.731481062
1542.697061216 16.140951384 25.914653214 0.934626416 -0.098531641 0.039496989 0.718349862 0.687536210
1544.397021664 15.983884532 26.719487536 0.915184606 -0.076732175 0.045916716 0.763727514 0.639316340
1545.697871136 15.764710503 27.302197513 0.894884205 -0.048217664 0.067069296 0.727229641 0.681406655
1546.798653568 15.853533227 27.773760985 0.879057191 -0.058749187 0.066420141 0.764541604 0.638446805
1547.997187072 15.726776147 28.293854557 0.867250161 -0.045224523 0.063746953 0.763149188 0.641479342
1549.498204320 15.740847059 28.941015352 0.878306381 -0.037276950 0.060902522 0.693259572 0.717142649
1550.599349056 15.922993296 29.433398706 0.876668920 -0.063947408 0.036264086 0.741527663 0.666883469
1551.598244352 15.984613075 29.906163561 0.844944565 -0.081372399 0.064760820 0.751559481 0.651417056
1552.800807520 16.097000771 30.434155408 0.849736962 -0.089155089 0.047375047 0.806231767 0.582922871
1553.898584992 16.147236865 30.948099788 0.848408678 -0.108810170 0.026493351 0.807992413 0.578453484
1555.498378368 16.235746655 31.468092363 0.820153297 -0.083756735 0.072409941 0.647414204 0.754053972
1556.900297536 16.464701678 31.923342826 0.802564262 -0.103489421 0.069145328 0.597995868 0.791776919
1557.999590560 16.581063163 32.450299356 0.834380354 -0.090769208 0.040373354 0.638126686 0.763495979
1559.400462400 16.652828003 32.998935355 0.794883626 -0.104183620 0.054102162 0.626801960 0.770284926
1560.801190752 16.750468210 33.525388219 0.774070813 -0.114652133 0.035005482 0.742292923 0.659266324
1562.301348224 16.822360245 34.061202503 0.797911257 -0.114274483 0.058563812 0.836480390 0.532742118
1563.600553312 16.704459375 34.560027826 0.795093657 -0.081919762 0.046656970 0.848688935 0.520424468
1564.702398848 16.530713187 35.037736084 0.752513688 -0.096407931 0.042879412 0.902357491 0.417873729
1565.901056064 16.324674603 35.498509152 0.785978400 -0.126534058 -0.014522554 0.890645244 0.436497404
1567.802043392 16.061714382 36.116847930 0.741490285 -0.099872929 0.041659892 0.804797659 0.583602846
1571.801576768 16.162957033 37.774961217 0.759608988 -0.071900397 0.040923299 0.710157069 0.699166453
1573.201506688 16.204530135 38.395378376 0.735868579 -0.058983132 0.049767628 0.751552990 0.655143948
1574.802407776 16.158177999 39.095556386 0.731791497 -0.060850948 0.032647041 0.797133321 0.599842762
1576.002998208 16.120416845 39.652996433 0.702775304 -0.068784280 0.042360800 0.825197957 0.559038894
1577.001025056 16.013690226 40.164682916 0.693220196 -0.057505736 0.064667578 0.819329740 0.566755360
1578.102864096 15.902329375 40.662430094 0.660334582 -0.045717708 0.063521506 0.791675085 0.605909850
1579.503409504 15.900278174 41.277832910 0.644042489 -0.069166665 0.042459984 0.778622739 0.622222526
1580.802293824 15.868840163 41.843937147 0.621110529 -0.067539077 0.028726525 0.768058877 0.636160352
1582.301551296 15.912477802 42.450268982 0.583578796 -0.055599522 0.059949951 0.736106453 0.671910054
1583.603149856 16.079311643 42.996970326 0.573343769 -0.063840735 0.054314250 0.767698732 0.635306350
1584.802884640 16.241000447 43.532958005 0.543980623 -0.098355497 0.037577280 0.812192394 0.573811132
1586.101319584 16.227271479 44.083316363 0.512253482 -0.080633374 0.048751482 0.837291932 0.538577276
1587.503297632 16.144062074 44.685090493 0.491959510 -0.079620665 0.024540288 0.893359467 0.441551448
1588.802860128 15.842283166 45.136605642 0.460074528 -0.105840742 0.006083994 0.949457817 0.295450690
1590.101354016 15.465816812 45.489089822 0.452534569 -0.085956096 0.036638533 0.963681487 0.250175317
1591.502816992 15.201142099 45.965345303 0.432471112 -0.079887305 0.007248315 0.987557995 0.135260362
1594.302781568 14.668505253 46.172686680 0.426960467 -0.038641272 -0.013219127 0.983925919 -0.173845934
1597.602737248 13.193748720 46.103136569 0.405222609 -0.059133604 -0.013954165 0.980606093 -0.186335326
1598.800886624 12.679793102 45.960975885 0.406720484 -0.057391790 0.002685237 0.989166910 -0.135086014
1600.500990720 11.952368673 45.846202861 0.383529511 -0.075049251 -0.002712065 0.996802958 -0.027286326
1602.801143072 10.956551204 45.892924799 0.386255366 -0.052284850 0.010887561 0.998501775 0.011936769
1604.201631328 10.392243585 45.848376207 0.367199900 -0.053507980 0.005332028 0.991737359 -0.116473147
1605.303382944 9.966841178 45.934626475 0.373056241 -0.062363251 -0.034630674 0.985970238 -0.150912975
1606.803167232 9.377281552 46.117773949 0.338054403 -0.064182125 -0.033421718 0.977718274 -0.197056475
1608.000531808 8.894189869 46.148817585 0.343258344 -0.064856254 -0.011408150 0.983598601 -0.167922975
1609.402018560 8.377388038 46.279890091 0.346466371 -0.049639502 -0.001701980 0.990982477 -0.124448937
1610.802988032 7.802623085 46.407741021 0.302734349 -0.084693973 -0.016334302 0.989677549 -0.114451744
1612.101569760 7.288647141 46.497281183 0.307582829 -0.069136007 -0.013547355 0.994299158 0.080041538
1613.701565184 6.756516290 46.565126156 0.278593490 -0.088643267 0.023444166 0.951888351 0.292407314
1615.302828096 6.177588380 46.734211658 0.260401839 -0.061019288 0.024163228 0.954418309 0.291168534
1616.903623264 5.456457732 46.875143137 0.239115648 -0.050767712 0.010708303 0.970814540 0.234153109
1618.403227456 4.788517768 46.974493198 0.249603701 -0.037188629 -0.002225837 0.975275936 0.217829176
1619.801302560 4.210020209 46.990710248 0.213692496 -0.045215978 0.008471433 0.960800601 0.273398275
1621.103093696 3.703815756 47.055901724 0.208179100 -0.032167202 0.009723870 0.962966380 0.267520195
1623.101597120 3.158999636 47.073868841 0.195051963 -0.037036586 0.025581929 0.935543323 0.350333307
1624.802796000 2.566134548 47.058043945 0.183248727 -0.084165177 -0.016549147 0.987793392 0.130028111
1626.202560224 2.047586994 47.035133734 0.150852248 -0.108249518 0.008342964 0.983415106 0.145285821
1627.302781088 1.555445122 47.227204865 0.123264642 -0.112747119 -0.010907788 0.988116733 0.103899464
1628.500974944 1.018747589 47.295889661 0.110766691 -0.116093582 -0.003102623 0.988035439 0.101485492
1629.701963200 0.492506319 47.339067738 0.095478711 -0.098448464 -0.003668402 0.994720358 0.028749234
1630.702778432 0.052496001 47.330147346 0.093994170 -0.084569481 -0.008569589 0.971133702 -0.222878090
1632.101917504 -0.439688360 47.049655259 0.087917077 -0.104218465 0.012150265 0.964360334 -0.242900736
1633.103406720 -0.965014152 46.805442794 0.056922522 -0.095934731 -0.014044956 0.968018198 -0.231389269
1634.101620768 -1.498616541 46.632403457 0.112414056 -0.122117395 -0.010342677 0.970695337 -0.206717065
1635.401497056 -2.040814025 46.367105620 0.060285408 -0.120461002 -0.001151025 0.985604240 -0.118629197
1636.703161408 -2.554212921 46.329054511 0.039169482 -0.128653209 -0.010047468 0.981866976 -0.138872861
1638.302276096 -3.093484385 46.458813747 0.040126553 -0.125103054 -0.016190774 0.990387517 0.056750448
1639.802061408 -3.271068413 46.486441678 0.047775978 -0.125367786 0.009807937 0.941708320 0.312046862
1644.002476064 -3.714475375 46.800315206 0.004973086 -0.129029366 -0.025210122 0.989122007 0.065988388
1645.802373984 -4.454378170 46.814776362 0.006394357 -0.095841939 -0.002384344 0.994136094 -0.050029452
1647.301362368 -5.127706069 46.801167674 -0.002825067 -0.098512498 0.011088595 0.990910187 -0.090940720
1648.602498592 -5.673584357 46.856443294 -0.026975898 -0.099994181 0.029039592 0.990587349 -0.088856250
1650.302644320 -6.287645523 46.938350542 -0.053959753 -0.092221076 0.005588343 0.979032825 -0.181548017
1651.702570400 -6.821850992 46.920067914 -0.049828134 -0.093661991 -0.005420986 0.962865378 -0.253158472
1653.702335520 -7.629894302 46.843067979 -0.073492835 -0.106785545 -0.041006462 0.959445902 -0.257642790
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1950.089229696 -8.118331088 -0.749239809 0.310966038 -0.056947385 0.066559128 -0.016000934 0.996028087
1951.588378688 -7.557450348 -0.769228713 0.345770552 -0.037101051 0.079305008 -0.030233709 0.995701387
1952.789814784 -6.990184530 -0.762960958 0.396000533 -0.039309441 0.063034809 0.014025514 0.997138790
1953.888574656 -6.433502657 -0.643676530 0.456197632 -0.039952590 0.070762260 0.142165267 0.986502233
1954.989471744 -5.958769478 -0.434426207 0.511065286 -0.032389666 0.048391856 0.169144248 0.983870161
1956.090277696 -5.469519153 -0.405027551 0.548919622 -0.062709720 0.038590382 0.205619848 0.975858546
1957.288037728 -4.941147562 -0.190056262 0.597519004 -0.052142590 0.031764499 0.192282015 0.979439095
1958.290296928 -4.450849111 -0.002624685 0.659797816 -0.037945139 0.019692628 0.126944707 0.990988630
1959.389854080 -3.926767693 0.025037288 0.682866990 -0.062849690 0.030928394 0.102650930 0.992248552
1960.588704768 -3.385259396 0.094842475 0.714057765 -0.055756897 0.039723393 0.135371279 0.988427487
1962.089109984 -2.664711909 0.025425939 0.786053230 -0.035831002 0.007022312 0.010140302 0.999282262
1963.589982336 -1.963534389 -0.021053794 0.832728400 -0.049155793 0.012922318 0.019415950 0.998519295
1964.588091104 -1.499029407 -0.114980854 0.889903273 -0.045918831 0.014673082 0.052696034 0.997446907
1965.789068864 -0.926923995 -0.100689903 0.901350509 -0.038099614 0.019690304 -0.021929618 0.998839748
1968.989857536 0.660022471 -0.102605504 1.002750066 -0.019613507 0.022518945 -0.011788404 0.999485007
1969.988619520 1.133195659 -0.124976638 1.089614698 -0.044220542 0.002571856 0.003413585 0.999013171
1971.488255168 1.859997177 -0.222394668 1.072853436 -0.029810213 0.043355243 -0.046268595 0.997542947
1972.589499872 2.247970526 -0.329429899 -0.133031830 -0.038211542 0.051343296 -0.051681751 0.996611176
1973.588829568 2.777077770 -0.399503699 -0.108032924 -0.025605322 0.048051467 -0.012229160 0.998442269
1974.789073344 3.357375880 -0.389291306 -0.139822775 -0.018650132 0.059687790 -0.055608764 0.996493002
1975.790190784 3.883021576 -0.419471287 -0.169648497 -0.022808548 0.047303204 -0.003176329 0.998615633
1976.987560480 4.414927834 -0.391262847 -0.127411857 -0.010055854 0.061244495 -0.015944659 0.997945316
1978.089482912 4.919631018 -0.471045909 -0.134784827 -0.016546358 0.031781793 0.010835263 0.999299668
1978.988700416 5.442918822 -0.515192389 -0.124325318 -0.037115779 0.010200033 0.017038180 0.999114194
1980.189740352 6.006695640 -0.532124928 -0.137230012 -0.022287268 0.019877832 0.015179855 0.999439250
1981.089210112 6.527098074 -0.600737622 -0.147326100 -0.057351961 0.016967417 0.056883497 0.996588292
1982.088735040 7.060038574 -0.527843673 -0.193018251 -0.051046033 0.026013522 0.006650965 0.998335844
1983.389671968 7.716850818 -0.541003553 -0.186347611 -0.026394187 0.051586965 0.001928087 0.998318340
1984.789501600 8.384181424 -0.615592671 -0.206203842 -0.057775591 0.049704420 0.042593493 0.996181882
1985.788914944 8.907906531 -0.631047028 -0.221109740 -0.017978756 0.040919766 0.080936003 0.995717230
1986.890418112 9.409811756 -0.701659469 -0.219767255 -0.035580291 0.036042334 0.077206563 0.995728497
1989.588001984 10.880415765 -0.671288572 1.401431325 -0.048873481 0.005551762 0.002206990 0.998787631
1990.689679904 11.411370754 -0.775528129 1.435405091 -0.027176800 -0.017456396 0.019422582 0.999289998
1991.688790208 11.905991941 -0.951215508 1.441893834 -0.057063814 -0.014394924 0.122678547 0.990700529
1992.888886720 12.434224812 -0.993909492 1.447052601 -0.038006365 -0.008675017 0.161430796 0.986114308
1994.190519328 12.979338432 -1.093426778 1.453075148 -0.066419192 -0.009751794 0.278582478 0.958063842
1995.890733056 13.700467271 -1.136891930 1.432521251 -0.068653460 -0.023742573 0.406019686 0.910973259