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imu_odom_:  1691062772.648927970  0.823605   -0.371101  9.94791    -0.0585895  0.00532632  0.173638    0.09       0             pose: 0.6772377     0.243657   0.00740406  0 -0.00186864 0.00914152  -0.0350932  0.99934        uwb: 0.50237675     845.654  1005.66  
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imu_odom_:  1691062772.682041193  1.28569    -0.150835  9.44034    -0.036219   0.00426106  0.0585895   0.09       0             pose: 0.0           0.243657   0.00740406  0 -0.00186864 0.00914152  -0.0350932  0.99934        uwb: 0.0            845.654  1005.66  
imu_odom_:  1691062772.698933783  0.85473    0.318429   10.0365    -0.0553937  0.0298274   0.0575243   0.1        -0.02         pose: 0.49956525    0.249301   -0.0008506640 -0.00292043 0.00679392  -0.0336279  0.999407       uwb: 0.0            845.654  1005.66  
imu_odom_:  1691062772.715857872  0.529119   -0.342371  9.8665     -0.076699   -0.00319579 0.0639159   0.06       0.02          pose: 0.0           0.249301   -0.0008506640 -0.00292043 0.00679392  -0.0336279  0.999407       uwb: 0.0            845.654  1005.66  
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imu_odom_:  1691062772.747794000  0.840365   -0.241814  9.77074    -0.0426106  -0.0181095  0.0170442   0.06       0.02          pose: 0.0           0.257539   0.00481792  0 -0.00269174 0.00104393  -0.0315733  0.999497       uwb: 0.0            845.654  1005.66  
imu_odom_:  1691062772.763794146  0.90022    -0.126893  9.96467    -0.0575243  0           0.0532632   0.05       0.02          pose: 0.0           0.257539   0.00481792  0 -0.00269174 0.00104393  -0.0315733  0.999497       uwb: 0.99935798     845.792  1005.52  
imu_odom_:  1691062772.779854954  0.550666   -0.428562  9.74919    -0.056459   0.00532632  0.0553937   0.05       0.02          pose: 0.31984542    0.257539   0.00481792  0 -0.00362393 -0.00218674 -0.0317309  0.999487       uwb: 0.0            845.792  1005.52  
imu_odom_:  1691062772.796947616  0.596156   -0.258574  10.0078    -0.0468716  -0.00745685 0.0191748   0.04       0.02          pose: 0.41053945    0.257539   0.00481792  0 -0.00456531 -0.00505095 -0.0316002  0.999477       uwb: 0.0            845.792  1005.52  
imu_odom_:  1691062772.814806148  0.682347   -0.117316  9.83538    -0.0532632  -0.015979   0.0308927   0.04       0.02          pose: 0.0           0.257539   0.00481792  0 -0.00456531 -0.00505095 -0.0316002  0.999477       uwb: 0.49927652     845.754  1005.12  
imu_odom_:  1691062772.832058342  0.711078   -0.287304  9.91199    -0.0596548  0.00319579  0.0426106   0.04       0.02          pose: 0.0           0.257539   0.00481792  0 -0.00456531 -0.00505095 -0.0316002  0.999477       uwb: 0.0            845.754  1005.12  
imu_odom_:  1691062772.857927300  0.311246   -0.234632  9.88087    -0.0511327  0.0138484   0.04048     0.03       0.02          pose: 0.8057090     0.257539   0.00481792  0 -0.00420684 -0.005803   -0.031687   0.999472       uwb: 0.50014271     846.442  1004.16  
imu_odom_:  1691062772.881823837  -0.672771  -0.289698  9.60554    -0.056459   0.0852212   0.0788296   0.03       0.02          pose: 0.70015256    0.263238   -0.00339959 0 -0.00247794 -0.00679743 -0.0318348  0.999467       uwb: 0.0            846.442  1004.16  
imu_odom_:  1691062772.908820892  -1.30963   -0.349553  9.84975    -0.0436758  -0.0383495  0.0649811   0.07       0.02          pose: 0.0           0.263238   -0.00339959 0 -0.00247794 -0.00679743 -0.0318348  0.999467       uwb: 0.50004356     846.712  1004.42  
imu_odom_:  1691062772.925116478  -0.246603  -0.0287304 9.80665    -0.0511327  -0.076699   0.0511327   0.07       0.02          pose: 0.30946855    0.263238   -0.00339959 0 -0.00242376 -0.00275293 -0.0312717  0.999504       uwb: 0.0            846.712  1004.42  
imu_odom_:  1691062772.951819260  0.629675   -0.335188  9.70849    -0.0596548  -0.0245011  0.0756338   0.11       0.02          pose: 0.0           0.263238   -0.00339959 0 -0.00242376 -0.00275293 -0.0312717  0.999504       uwb: 0.49986565     846.452  1003.62  
imu_odom_:  1691062772.977773963  -0.0670376 -0.260968  9.87608    -0.0458064  0.0436758   0.02024     0.11       0.02          pose: 0.43069530    0.271449   0.00230823  0 -0.00204742 -0.000860692-0.0307919  0.999523       uwb: 0.0            846.452  1003.62  
imu_odom_:  1691062772.994898414  -0.0837971 -0.282516  9.95509    -0.0777643  -0.0298274  0.0703074   0.14       0             pose: 0.0           0.271449   0.00230823  0 -0.00204742 -0.000860692-0.0307919  0.999523       uwb: 0.0            846.452  1003.62  
imu_odom_:  1691062773.10837022   0.0670376  -0.0694318 9.61272    -0.0873517  -0.0468716  0.0692422   0.14       0             pose: 0.45830278    0.271449   0.00230823  0 -0.00261392 0.000323725 -0.0306816  0.999526       uwb: 0.49850073     846.924  1003.34  
imu_odom_:  1691062773.36766353   0.186748   -0.325611  9.98861    -0.0980043  -0.0138484  0.0575243   0.15       0.02          pose: 0.0           0.271449   0.00230823  0 -0.00261392 0.000323725 -0.0306816  0.999526       uwb: 0.0            846.924  1003.34  
imu_odom_:  1691062773.62852298   0.1652     -0.509965  10.2352    -0.0468716  -0.0149137  0.0426106   0.15       0.02          pose: 0.41036446    0.271449   0.00230817  0 -0.00261585 0.00351147  -0.0300974  0.999537       uwb: 0.50009315     846.937  1002.81  
imu_odom_:  1691062773.89901268   0.42138    -0.167594  9.90002    -0.0276969  -0.0340885  0.0415453   0.15       0             pose: 0.44041889    0.285348   -0.0003018870 -0.00569537 0.00642482  -0.0298989  0.999516       uwb: 0.0            846.937  1002.81  
imu_odom_:  1691062773.114819160  0.301669   -0.11971   9.93594    -0.0394148  -0.0553937  0.0447411   0.15       0             pose: 0.6953200     0.285348   -0.0003018870 -0.00509014 0.00584682  -0.0298916  0.999523       uwb: 0.50125392     846.684  1001.87  
imu_odom_:  1691062773.131826078  0.227449   -0.131681  10.1394    -0.0383495  -0.00958738 0.0394148   0.15       -0.02         pose: 0.0           0.285348   -0.0003018870 -0.00509014 0.00584682  -0.0298916  0.999523       uwb: 0.0            846.684  1001.87  
imu_odom_:  1691062773.147822141  0.380678   -0.007182619.99579    -0.0500674  -0.0213053  0.0436758   0.15       -0.02         pose: 0.45013662    0.285348   -0.0003018870 -0.0006777110.00378518  -0.0297939  0.999549       uwb: 0.0            846.684  1001.87  
imu_odom_:  1691062773.174801115  0.730232   -0.368707  10.4507    -0.0458064  -0.0458064  0.0426106   0.19       0             pose: 0.0           0.285348   -0.0003018870 -0.0006777110.00378518  -0.0297939  0.999549       uwb: 0.50131807     846.846  1001.34  
imu_odom_:  1691062773.199805627  -0.0502782 -0.438139  9.25359    -0.0468716  0.0394148   0.04048     0.19       0             pose: 0.33002981    0.296418   0.00123019  0 0.00221302  0.00416007  -0.0297501  0.999546       uwb: 0.50058896     847.007  1000     
imu_odom_:  1691062773.216792421  0.114922   -0.160412  9.83299    -0.0383495  -0.0266316  0.0585895   0.17       -0.02         pose: 0.0           0.296418   0.00123019  0 0.00221302  0.00416007  -0.0297501  0.999546       uwb: 0.0            847.007  1000     
imu_odom_:  1691062773.241756977  0.00718261 -0.129287  10.1801    -0.0479369  0.00426106  0.036219    0.17       -0.02         pose: 0.59020972    0.299249   -0.00290291 0 0.000308946 0.00454539  -0.0296356  0.99955        uwb: 0.0            847.007  1000     
imu_odom_:  1691062773.268857277  -0.270545  -0.035913  9.99579    -0.0649811  -0.0372843  0.0692422   0.18       0.02          pose: 0.34913864    0.307498   0.00274946  0 0.0014707   0.00788964  -0.0295799  0.99953        uwb: 0.49807494     847.009  999.332  
imu_odom_:  1691062773.284894171  0.234632   -0.371101  10.0868    -0.0660464  -0.0308927  0.0713727   0.18       0.02          pose: 0.7008905     0.307498   0.00274946  0 0.00165481  0.00844058  -0.029475   0.999529       uwb: 0.0            847.009  999.332  
imu_odom_:  1691062773.311916601  0.244209   -0.0790087 10.1873    -0.0426106  0.00852212  0.0330232   0.2        0             pose: 0.0           0.307498   0.00274946  0 0.00165481  0.00844058  -0.029475   0.999529       uwb: 0.49885656     846.77   999.331  
imu_odom_:  1691062773.329033471  0.306458   -0.292093  9.32302    -0.0735032  0           0.0671117   0.2        0             pose: 0.36128289    0.313154   -0.00549788 0 0.00050459  0.00958983  -0.0289345  0.999535       uwb: 0.0            846.77   999.331  
imu_odom_:  1691062773.344412988  0.167594   -0.287304  10.0054    -0.0607201  -0.0117179  0.0468716   0.16       -0.02         pose: 0.0           0.313154   -0.00549788 0 0.00050459  0.00958983  -0.0289345  0.999535       uwb: 0.0            846.77   999.331  
imu_odom_:  1691062773.368885532  0.158017   -0.0215478 9.68694    -0.0490022  0.0298274   0.036219    0.16       -0.02         pose: 0.50941717    0.321338   0.000248027 0 0.00102683  0.00866107  -0.0287542  0.999548       uwb: 0.50008149     846.864  999.599  
imu_odom_:  1691062773.395755722  0.354342   -0.519542  9.54808    -0.0660464  0.0276969   0.0543285   0.22       0.02          pose: 0.0           0.321338   0.000248027 0 0.00102683  0.00866107  -0.0287542  0.999548       uwb: 0.0            846.864  999.599  
imu_odom_:  1691062773.411748577  0.512359   -0.21069   9.24641    -0.0436758  0.0234358   0.036219    0.22       0.02          pose: 0.40075465    0.335269   -0.00218487 0 0.00204518  0.0101932   -0.0287033  0.999534       uwb: 0.50123058     846.749  998.796  
imu_odom_:  1691062773.438801046  0.593762   -0.447716  9.52174    -0.0830906  0.0223706   0.0532632   0.21       0.02          pose: 0.35837224    0.335269   -0.00218487 0 0.000193389 0.00841572  -0.0286005  0.999555       uwb: 0.0            846.749  998.796  
imu_odom_:  1691062773.454911436  0.102951   -0.457293  9.90481    -0.0820254  -0.00958738 0.036219    0.21       0.02          pose: 0.8050674     0.335269   -0.00218487 0 -0.0003801760.00786793  -0.0285485  0.999561       uwb: 0.49985400     846.893  998.663  
imu_odom_:  1691062773.481873494  0.287304   -0.452504  9.36133    -0.0639159  -0.0255663  0.0596548   0.21       0             pose: 0.0           0.335269   -0.00218487 0 -0.0003801760.00786793  -0.0285485  0.999561       uwb: 0.0            846.893  998.663  
imu_odom_:  1691062773.507884195  0.191536   -0.289698  9.77074    -0.0575243  -0.00745685 0.0330232   0.21       0             pose: 0.35112185    0.346708   -0.00106671 0 -0.00315388 0.00761035  -0.0284568  0.999561       uwb: 0.50103518     847.007  997.329  
imu_odom_:  1691062773.524882655  0.691924   -0.136469  9.93354    -0.0266316  0.0383495   0.036219    0.23       -0.02         pose: 0.0           0.346708   -0.00106671 0 -0.00315388 0.00761035  -0.0284568  0.999561       uwb: 0.0            847.007  997.329  
imu_odom_:  1691062773.542896053  -0.0837971 -0.476446  9.33978    -0.0500674  -0.0127832  0.0532632   0.23       -0.02         pose: 0.52972759    0.349202   -0.00461207 0 -0.00465954 0.00924703  -0.0282673  0.999547       uwb: 0.0            847.007  997.329  
imu_odom_:  1691062773.565893437  0.502782   0.0909797  10.4579    -0.0415453  -0.0245011  0.0436758   0.15       0             pose: 0.0           0.349202   -0.00461207 0 -0.00465954 0.00924703  -0.0282673  0.999547       uwb: 0.49804870     847.126  995.332  
imu_odom_:  1691062773.582890731  0.493206   -0.181959  9.68455    -0.0596548  0.0543285   0.0585895   0.15       0             pose: 0.42055760    0.363136   -0.0070328  0 -0.0040218  0.00902019  -0.028162   0.999555       uwb: 0.0            847.126  995.332  
imu_odom_:  1691062773.598829339  0.639252   -0.371101  10.4866    -0.0639159  -0.0266316  0.0255663   0.15       0             pose: 0.0           0.363136   -0.0070328  0 -0.0040218  0.00902019  -0.028162   0.999555       uwb: 0.49936986     847.101  993.997  
imu_odom_:  1691062773.616728994  0.718261   0.059855   9.83777    -0.0490022  0.00213053  0.0266316   0.17       -0.02         pose: 0.39816189    0.363136   -0.0070328  0 -0.00237221 0.00604177  -0.028013   0.999586       uwb: 0.0            847.101  993.997  
imu_odom_:  1691062773.641882246  0.296881   -0.258574  10.3382    -0.0671117  0.00426106  0.0511327   0.17       -0.02         pose: 0.0           0.363136   -0.0070328  0 -0.00237221 0.00604177  -0.028013   0.999586       uwb: 0.0            847.101  993.997  
imu_odom_:  1691062773.668868220  0.189142   -0.0957681 9.79707    -0.0607201  -0.00213053 0.036219    0.17       0             pose: 0.35098769    0.37131    -0.00127192 0 -0.00182614 0.00451803  -0.0281473  0.999592       uwb: 0.50200929     846.765  993.447  
imu_odom_:  1691062773.684859908  0.153229   -0.385466  9.71088    -0.0916127  -0.00106526 0.0671117   0.17       0             pose: 0.0           0.37131    -0.00127192 0 -0.00182614 0.00451803  -0.0281473  0.999592       uwb: 0.0            846.765  993.447  
imu_odom_:  1691062773.709841672  0.505177   -0.275333  10.2208    -0.036219   -0.0447411  0.0298274   0.18       -0.02         pose: 0.52039483    0.385244   -0.00368847 0 -0.0008871340.00798304  -0.0279679  0.999577       uwb: 0.50106142     846.754  992.641  
imu_odom_:  1691062773.723952225  0.497994   -0.292093  9.66779    -0.056459   -0.0255663  0.0511327   0.18       -0.02         pose: 0.0           0.385244   -0.00368847 0 -0.0008871340.00798304  -0.0279679  0.999577       uwb: 0.0            846.754  992.641  
imu_odom_:  1691062773.748809163  0.407014   -0.304064  10.0078    -0.0340885  -0.0543285  0.0330232   0.17       -0.02         pose: 0.38865705    0.385244   -0.00368847 0 -0.00187677 0.00481159  -0.0279594  0.999596       uwb: 0.49717667     846.879  991.172  
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imu_odom_:  1691062773.791951606  0.663194   -0.430956  9.7037     -0.0500674  0.0543285   0.0266316   0.24       0             pose: 0.40008094    0.399179   -0.00609982 0 -0.00240557 0.00118489  -0.0279349  0.999606       uwb: 0.0            846.879  991.172  
imu_odom_:  1691062773.809892384  0.502782   -0.177171  9.93115    -0.0511327  -0.0298274  0.0468716   0.24       0             pose: 0.0           0.399179   -0.00609982 0 -0.00240557 0.00118489  -0.0279349  0.999606       uwb: 0.50027981     846.709  989.684  
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imu_odom_:  1691062773.849743570  0.399832   -0.141258  10.1035    -0.0447411  0.00958738  0.0436758   0.24       -0.02         pose: 0.0           0.399179   -0.00609982 0 -0.00225989 -0.000851836-0.0279827  0.999605       uwb: 0.49999399     846.25   989.383  
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imu_odom_:  1691062773.891860285  0.509965   -0.0215478 10.2376    -0.0500674  -0.0266316  0.0372843   0.19       -0.02         pose: 0.0           0.413114   -0.00851147 0 -0.00207257 -0.000640181-0.0277019  0.999614       uwb: 0.0            846.25   989.383  
imu_odom_:  1691062773.916864505  0.272939   -0.37589   9.42118    -0.0788296  0.0106526   0.0628506   0.17       0.02          pose: 0.25106588    0.413114   -0.00851147 0 -0.00118405 -0.000247401-0.0275466  0.99962        uwb: 0.50153390     846.274  988.71   
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imu_odom_:  1691062773.995885004  0.543484   0.023942   10.0389    -0.0617853  0.00319579  0.0468716   0.22       0.02          pose: 0.35052397    0.435215   -0.00513277 0 -0.00569352 -0.00030613 -0.026964   0.99962        uwb: 0.0            846.855  987.408  
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imu_odom_:  1691062774.64771292   0.258574   -0.335188  9.50019    -0.0426106  -0.0319579  0.0436758   0.25       0             pose: 0.52982676    0.449156   -0.00751002 0 -0.0069373  -0.000568486-0.0268091  0.999616       uwb: 0.0            846.724  985.375  
imu_odom_:  1691062774.88854777   0.514753   -0.0670376 9.87129    -0.052198   -0.0319579  0.0490022   0.24       0             pose: 0.35991216    0.449156   -0.00751002 0 -0.00628799 0.0027283   -0.0267262  0.999619       uwb: 0.0            846.724  985.375  
imu_odom_:  1691062774.114844480  0.610521   -0.538695  9.69652    -0.0532632  0.0138484   0.0394148   0.24       0             pose: 0.0           0.449156   -0.00751002 0 -0.00628799 0.0027283   -0.0267262  0.999619       uwb: 0.99997927     846.432  984.669  
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imu_odom_:  1691062774.182712038  0.426168   -0.251391  9.46188    -0.0617853  0.0234358   0.0511327   0.22       0.02          pose: 0.42996037    0.473299   -0.0116223  0 -0.00251911 -0.00173782 -0.0266443  0.99964        uwb: 0.0            846.705  983.884  
imu_odom_:  1691062774.207701968  -0.110133  -0.316035  9.23444    -0.036219   0.0426106   0.0298274   0.22       0.02          pose: 0.0           0.473299   -0.0116223  0 -0.00251911 -0.00173782 -0.0266443  0.99964        uwb: 0.49961778     846.741  982.667  
imu_odom_:  1691062774.223928435  0.347159   -0.198719  10.1897    -0.0532632  -0.0191748  0.0543285   0.18       -0.02         pose: 0.30892320    0.477039   -0.0122592  0 -0.0009185540.00116693  -0.0265292  0.999647       uwb: 0.0            846.741  982.667  
imu_odom_:  1691062774.249844350  0.933739   -0.229843  9.84975    -0.0543285  -0.0458064  0.0340885   0.18       -0.02         pose: 0.0           0.477039   -0.0122592  0 -0.0009185540.00116693  -0.0265292  0.999647       uwb: 0.49930864     846.835  981.863  
imu_odom_:  1691062774.274906901  0.543484   -0.490811  9.59835    -0.0553937  -0.015979   0.0426106   0.18       0             pose: 0.25027261    0.485196   -0.00647422 0 -0.0004205410.00321951  -0.026574   0.999642       uwb: 0.0            846.835  981.863  
imu_odom_:  1691062774.296712317  0.349553   -0.395043  9.61511    -0.0181095  0           0.0191748   0.18       0             pose: 0.0           0.485196   -0.00647422 0 -0.0004205410.00321951  -0.026574   0.999642       uwb: 0.0            846.835  981.863  
imu_odom_:  1691062774.322753642  0.399832   -0.191536  10.5441    -0.0426106  -0.0426106  0.0543285   0.18       0             pose: 0.67097897    0.490982   -0.0146306  0 -0.00233978 -0.00119354 -0.0265867  0.999643       uwb: 0.50081938     847.202  980.821  
imu_odom_:  1691062774.338888238  0.806846   -0.282516  9.33739    -0.0447411  0.0223706   0.0372843   0.18       0             pose: 0.0           0.490982   -0.0146306  0 -0.00233978 -0.00119354 -0.0265867  0.999643       uwb: 0.0            847.202  980.821  
imu_odom_:  1691062774.363862711  0.342371   -0.258574  9.86172    -0.0596548  0.0490022   0.0596548   0.22       0.02          pose: 0.47901863    0.499139   -0.00884609 0 -0.000717524-0.00108626 -0.0265579  0.999646       uwb: 0.50105561     847.056  979.715  
imu_odom_:  1691062774.389974906  0.260968   -0.0095768110.2448    -0.0500674  -0.015979   0.0394148   0.21       0.02          pose: 0.35102853    0.513081   -0.011218   0 -0.00149905 0.00113153  -0.026317   0.999652       uwb: 0.0            847.056  979.715  
imu_odom_:  1691062774.415779995  0.708684   -0.3304    10.0341    -0.0788296  -0.0319579  0.076699    0.21       0.02          pose: 0.0           0.513081   -0.011218   0 -0.00149905 0.00113153  -0.026317   0.999652       uwb: 0.49869909     847.176  977.153  
imu_odom_:  1691062774.432837660  0.742203   -0.189142  10.0293    -0.0394148  0.0287621   0.0319579   0.23       -0.02         pose: 0.7899309     0.513081   -0.011218   0 -0.0007659350.00142422  -0.0263163  0.999652       uwb: 0.0            847.176  977.153  
imu_odom_:  1691062774.458699912  0.136469   -0.481235  9.31105    -0.0713727  0.0181095   0.0639159   0.23       -0.02         pose: 0.0           0.513081   -0.011218   0 -0.0007659350.00142422  -0.0263163  0.999652       uwb: 0.50073188     847.568  975.713  
imu_odom_:  1691062774.476139638  -0.208296  -0.320823  9.59357    -0.0553937  -0.02024    0.0372843   0.25       0             pose: 0.51219951    0.527024   -0.0135794  0 -0.000258829-0.00123933 -0.0258632  0.999665       uwb: 0.0            847.568  975.713  
imu_odom_:  1691062774.501723073  0.627281   -0.198719  10.3549    -0.0628506  -0.0575243  0.0532632   0.25       0             pose: 0.0           0.527024   -0.0135794  0 -0.000258829-0.00123933 -0.0258632  0.999665       uwb: 0.50030024     847.662  973.548  
imu_odom_:  1691062774.517711262  0.837971   -0.356736  9.42837    -0.0660464  0.0106526   0.0500674   0.24       0             pose: 0.42875587    0.527024   -0.0135794  0 -0.00201837 0.00088255  -0.0255901  0.99967        uwb: 0.0            847.662  973.548  
imu_odom_:  1691062774.543833665  0.92895    -0.342371  9.34457    -0.0809601  -0.0308927  0.0596548   0.24       0             pose: 0.0           0.527024   -0.0135794  0 -0.00201837 0.00088255  -0.0255901  0.99967        uwb: 0.0            847.662  973.548  
imu_odom_:  1691062774.567837239  0.47884    -0.454898  9.81623    -0.0532632  0.0447411   0.0223706   0.21       -0.02         pose: 0.41892730    0.540971   -0.015924   0 -0.00191609 -0.00189246 -0.0253967  0.999674       uwb: 0.49777165     847.851  972.348  
imu_odom_:  1691062774.593953225  -0.110133  -0.265756  10.3477    -0.0692422  -0.00958738 0.0468716   0.21       -0.02         pose: 0.0           0.540971   -0.015924   0 -0.00191609 -0.00189246 -0.0253967  0.999674       uwb: 0.0            847.851  972.348  
imu_odom_:  1691062774.609837587  0.251391   -0.213084  9.70849    -0.04048    -0.00532632 0.0330232   0.19       0             pose: 0.42999246    0.549114   -0.0101186  0 -0.00379925 -0.00534818 -0.0251435  0.999662       uwb: 0.50114602     847.855  971.662  
imu_odom_:  1691062774.635871329  0.383072   -0.402226  9.63906    -0.0639159  0.0245011   0.0490022   0.19       0             pose: 0.0           0.549114   -0.0101186  0 -0.00379925 -0.00534818 -0.0251435  0.999662       uwb: 0.0            847.855  971.662  
imu_odom_:  1691062774.660682187  0.562637   -0.0550666 9.51456    -0.0383495  -0.0479369  0.0468716   0.21       0             pose: 0.50098561    0.554922   -0.018259   0 -0.00491967 -0.00143262 -0.0251938  0.999669       uwb: 0.49989193     847.887  970.98   
imu_odom_:  1691062774.682657343  0.624887   -0.234632  9.87369    -0.076699   -0.0213053  0.0543285   0.21       0             pose: 0.0           0.554922   -0.018259   0 -0.00491967 -0.00143262 -0.0251938  0.999669       uwb: 0.0            847.887  970.98   
imu_odom_:  1691062774.699660178  0.148441   -0.225055  9.82341    -0.0383495  0.0340885   0.0149137   0.17       0             pose: 0.41875523    0.563063   -0.0124517  0 -0.00632346 9.99611e-05 -0.0250694  0.999666       uwb: 0.50037899     848.127  970.614  
imu_odom_:  1691062774.723740748  -0.0215478 -0.574608  9.72285    -0.072438   -0.0106526  0.052198    0.17       0             pose: 0.0           0.563063   -0.0124517  0 -0.00632346 9.99611e-05 -0.0250694  0.999666       uwb: 0.0            848.127  970.614  
imu_odom_:  1691062774.746755632  0.356736   -0.337582  9.41161    -0.0468716  -0.0383495  0.0308927   0.19       -0.02         pose: 0.46936214    0.577012   -0.014778   0 -0.00396869 -0.00268718 -0.0249395  0.999677       uwb: 0.0            848.127  970.614  
imu_odom_:  1691062774.763748551  0.550666   -0.117316  10.0509    -0.056459   -0.0181095  0.0585895   0.19       -0.02         pose: 0.0           0.577012   -0.014778   0 -0.00396869 -0.00268718 -0.0249395  0.999677       uwb: 0.50009900     848.638  968.791  
imu_odom_:  1691062774.787730543  0.536301   -0.440533  10.0173    -0.0372843  0.0298274   0.0351537   0.25       -0.02         pose: 0.74088719    0.590962   -0.0171046  0 -0.00500864 0.000760906 -0.0248298  0.999679       uwb: 0.0            848.638  968.791  
imu_odom_:  1691062774.812668268  1.00317    -0.272939  9.71088    -0.0596548  0.00426106  0.056459    0.25       -0.02         pose: 0.7079776     0.590962   -0.0171046  0 -0.00541864 0.00035653  -0.024849   0.999676       uwb: 0.49935822     848.719  967.704  
imu_odom_:  1691062774.837723528  0.802058   -0.263362  9.80904    -0.036219   -0.00426106 0.0351537   0.18       0.02          pose: 0.41839941    0.596546   -0.0131151  0 -0.00623845 -0.00298499 -0.0247012  0.999671       uwb: 0.0            848.719  967.704  
imu_odom_:  1691062774.854668033  0.344765   -0.25618   9.85453    -0.0468716  -0.0607201  0.0553937   0.18       0.02          pose: 0.0           0.596546   -0.0131151  0 -0.00623845 -0.00298499 -0.0247012  0.999671       uwb: 0.50011650     848.921  967.333  
imu_odom_:  1691062774.879714835  0.258574   -0.251391  9.67018    -0.0351537  -0.0340885  0.0255663   0.18       0.02          pose: 0.41999765    0.604913   -0.0194262  0 -0.00484298 -0.00436921 -0.0246306  0.999675       uwb: 0.0            848.921  967.333  
imu_odom_:  1691062774.904747638  0.447716   -0.445322  9.52892    -0.0660464  -0.036219   0.0660464   0.18       0.02          pose: 0.0           0.604913   -0.0194262  0 -0.00484298 -0.00436921 -0.0246306  0.999675       uwb: 0.49991818     849.069  965.568  
imu_odom_:  1691062774.930642846  0.471658   -0.0622492 9.95509    -0.0468716  0.00319579  0.0415453   0.2        0             pose: 0.50079605    0.613048   -0.0136104  0 -0.00661979 -0.00264218 -0.0244555  0.999676       uwb: 0.0            849.069  965.568  
imu_odom_:  1691062774.947636057  0.584185   -0.0957681 9.94312    -0.0788296  -0.0170442  0.0692422   0.2        0             pose: 0.0           0.613048   -0.0136104  0 -0.00661979 -0.00264218 -0.0244555  0.999676       uwb: 0.0            849.069  965.568  
imu_odom_:  1691062774.972796894  0.739808   -0.0383072 10.1203    -0.052198   -0.0447411  0.0447411   0.21       0             pose: 0.32976734    0.618868   -0.0217427  0 -0.00341885 -0.0031762  -0.0243371  0.999693       uwb: 0.50049857     849.283  963.816  
imu_odom_:  1691062774.997822405  0.56982    -0.306458  10.1394    -0.0671117  -0.00426106 0.0585895   0.23       0.02          pose: 0.0           0.618868   -0.0217427  0 -0.00341885 -0.0031762  -0.0243371  0.999693       uwb: 0.0            849.283  963.816  
imu_odom_:  1691062775.19780355   0.466869   -0.179565  9.73961    -0.0543285  0.0223706   0.0351537   0.23       0.02          pose: 0.42084051    0.626998   -0.0159214  0 -0.00173075 -0.00656196 -0.0240694  0.999687       uwb: 0.49945737     849.33   962.713  
imu_odom_:  1691062775.35862164   0.390255   -0.167594  10.0126    -0.100135   -0.0213053  0.0681769   0.23       0.02          pose: 0.0           0.626998   -0.0159214  0 -0.00173075 -0.00656196 -0.0240694  0.999687       uwb: 0.0            849.33   962.713  
imu_odom_:  1691062775.52639847   1.18752    -0.189142  9.71806    -0.0788296  0.00213053  0.0383495   0.19       0             pose: 0.45916902    0.640952   -0.0182237  0 -0.0014971  -0.00530572 -0.0238644  0.9997         uwb: 0.50185183     849.118  962.381  
imu_odom_:  1691062775.77842681   0.61531    -0.296881  9.73482    -0.0756338  0.00213053  0.0511327   0.19       0             pose: 0.0           0.640952   -0.0182237  0 -0.0014971  -0.00530572 -0.0238644  0.9997         uwb: 0.0            849.118  962.381  
imu_odom_:  1691062775.101766636  0.222661   -0.308852  10.0293    -0.0372843  -0.0276969  0.0319579   0.18       0.02          pose: 0.35045400    0.640952   -0.0182237  0 -0.00184216 -0.00679851 -0.0236874  0.999695       uwb: 0.49742169     849.196  960.719  
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imu_odom_:  1691062775.151694002  0.888249   -0.287304  10.2927    -0.0479369  -0.0191748  0.0468716   0.18       0             pose: 0.40995911    0.653208   -0.0181479  0 -0.00297736 -0.00605374 -0.0236657  0.999697       uwb: 0.50189849     848.989  959.818  
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imu_odom_:  1691062775.190805570  0.47884    -0.0383072 10.4651    -0.0330232  -0.0127832  0.0511327   0.25       0.02          pose: 0.0           0.654907   -0.0205152  0 -0.00362726 -0.0059303  -0.0236241  0.999697       uwb: 0.0            848.989  959.818  
imu_odom_:  1691062775.206663684  0.723049   -0.445322  9.3709     -0.0777643  -0.00319579 0.0639159   0.25       0.02          pose: 0.0           0.654907   -0.0205152  0 -0.00362726 -0.0059303  -0.0236241  0.999697       uwb: 0.49927949     848.928  958.67   
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imu_odom_:  1691062775.254623295  0.347159   -0.529119  9.09078    -0.0575243  0.02024     0.0447411   0.17       0             pose: 0.0           0.663029   -0.0146811  0 -0.0047297  -0.00769285 -0.023387   0.999686       uwb: 0.49941073     848.673  957.889  
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imu_odom_:  1691062775.304670236  0.174777   -0.292093  10.0892    -0.0703074  -0.0830906  0.0671117   0.23       0             pose: 0.41975851    0.68862    -0.0209029  0 -0.00542783 -0.00455573 -0.0229963  0.99971        uwb: 0.50000278     848.511  956.273  
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imu_odom_:  1691062775.356660143  0.248997   -0.131681  9.89763    -0.0490022  -0.0479369  0.0383495   0.21       0             pose: 0.6857540     0.690941   -0.0192314  0 -0.00540907 -0.00414216 -0.0228974  0.999715       uwb: 0.49886243     848.312  955.929  
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imu_odom_:  1691062775.423644008  0.407014   -0.0574608 10.1586    -0.0351537  0.00532632  0.0500674   0.21       -0.02         pose: 0.0           0.690941   -0.0192314  0 -0.0038674  -0.00538493 -0.0226564  0.999721       uwb: 0.49984821     848.258  954.763  
imu_odom_:  1691062775.449627878  0.648829   -0.227449  10.1011    -0.0649811  -0.00106526 0.04048     0.19       0             pose: 0.50913722    0.704901   -0.0214939  0 -0.00176968 -0.00211523 -0.0225318  0.999742       uwb: 0.50165642     847.906  953.208  
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imu_odom_:  1691062775.487761256  0.196325   -0.356736  9.95988    -0.0649811  0.0436758   0.0553937   0.18       0             pose: 0.75126700    0.718862   -0.0237507  0 0.000945883 -0.00346496 -0.0222326  0.999746       uwb: 0.0            847.906  953.208  
imu_odom_:  1691062775.511736541  0.603339   0          10.2663    -0.0617853  -0.0170442  0.0585895   0.18       0             pose: 0.0           0.718862   -0.0237507  0 0.000945883 -0.00346496 -0.0222326  0.999746       uwb: 0.50082231     847.592  952.528  
imu_odom_:  1691062775.537769700  0.658405   -0.181959  10.2065    -0.0852212  0.0223706   0.0426106   0.25       0.02          pose: 0.6856665     0.718862   -0.0237507  0 0.000580475 -0.0027015  -0.0221778  0.99975        uwb: 0.0            847.592  952.528  
imu_odom_:  1691062775.562823794  0.500388   -0.521936  9.70609    -0.0553937  0.0245011   0.0575243   0.19       0             pose: 0.49187452    0.732828   -0.0259975  0 0.00127638  -0.00322341 -0.0218018  0.999756       uwb: 0.49872828     847.628  951.224  
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imu_odom_:  1691062775.603877743  0.517148   0.0335188  10.4842    -0.056459   0.00426106  0.0500674   0.19       0             pose: 0.25821422    0.732828   -0.0259975  0 0.000215909 -0.00465695 -0.0216977  0.999754       uwb: 0.50121312     847.342  950.248  
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imu_odom_:  1691062775.655783946  0.849942   -0.31364   9.55047    -0.0585895  0.052198    0.0436758   0.19       0             pose: 0.43103366    0.75249    -0.0241037  0 -0.00120904 -0.00716885 -0.0213269  0.999746       uwb: 0.49795248     847.377  949.225  
imu_odom_:  1691062775.680750254  0.198719   -0.105345  10.5345    -0.0330232  0.015979    0.0287621   0.19       0             pose: 0.0           0.75249    -0.0241037  0 -0.00120904 -0.00716885 -0.0213269  0.999746       uwb: 0.0            847.377  949.225  
imu_odom_:  1691062775.694609115  0.131681   -0.241814  9.44991    -0.0543285  -0.0181095  0.0543285   0.18       0             pose: 0.49970821    0.759294   -0.0284291  0 -0.000698396-0.0063084  -0.0214117  0.999751       uwb: 0.0            847.377  949.225  
imu_odom_:  1691062775.710661468  0.433351   -0.146046  10.4674    -0.052198   -0.0191748  0.0394148   0.18       0             pose: 0.0           0.759294   -0.0284291  0 -0.000698396-0.0063084  -0.0214117  0.999751       uwb: 0.50047525     846.9    947.581  
imu_odom_:  1691062775.731589022  0.172383   -0.25618   9.70609    -0.0415453  0.00958738  0.0372843   0.18       0             pose: 0.0           0.759294   -0.0284291  0 -0.000698396-0.0063084  -0.0214117  0.999751       uwb: 0.0            846.9    947.581  
imu_odom_:  1691062775.745659912  0.545878   -0.189142  10.477     -0.0628506  -0.0319579  0.056459    0.18       -0.02         pose: 0.36855664    0.76886    -0.0245873  0 0.00045666  -0.00334926 -0.0213227  0.999767       uwb: 0.0            846.9    947.581  
imu_odom_:  1691062775.762601502  0.464475   -0.323217  9.57202    -0.052198   0.0223706   0.0266316   0.18       -0.02         pose: 0.0           0.76886    -0.0245873  0 0.00045666  -0.00334926 -0.0213227  0.999767       uwb: 0.49885660     846.906  946.686  
imu_odom_:  1691062775.779603755  0.399832   -0.0957681 9.88087    -0.0532632  -0.0223706  0.04048     0.18       0             pose: 0.0           0.76886    -0.0245873  0 0.00045666  -0.00334926 -0.0213227  0.999767       uwb: 0.0            846.906  946.686  
imu_odom_:  1691062775.796680669  0.653617   -0.0861913 10.161     -0.0735032  -0.0383495  0.0511327   0.18       0             pose: 0.52000114    0.782826   -0.0268132  0 -0.000518098-0.00292385 -0.0213217  0.999768       uwb: 0.0            846.906  946.686  
imu_odom_:  1691062775.821627145  0.237026   -0.124498  9.74201    -0.056459   0.0245011   0.036219    0.18       -0.02         pose: 0.0           0.782826   -0.0268132  0 -0.000518098-0.00292385 -0.0213217  0.999768       uwb: 0.50126562     846.688  946.008  
imu_odom_:  1691062775.847608099  0.440533   -0.459687  9.46428    -0.0511327  -0.02024    0.0468716   0.21       0.02          pose: 0.27074637    0.782826   -0.0268132  0 0.00109448  -0.00438431 -0.0212229  0.999765       uwb: 0.0            846.688  946.008  
imu_odom_:  1691062775.872717898  0.354342   -0.299275  9.5792     -0.0479369  0.0191748   0.0436758   0.18       0.02          pose: 0.50927430    0.794971   -0.0265256  0 -0.000761789-0.00185449 -0.0211716  0.999774       uwb: 0.49993570     846.777  943.928  
imu_odom_:  1691062775.898598524  -0.0430956 -0.244209  10.0054    -0.0276969  0.0213053   0.0415453   0.21       0.05          pose: 0.0           0.794971   -0.0265256  0 -0.000761789-0.00185449 -0.0211716  0.999774       uwb: 0.0            846.777  943.928  
imu_odom_:  1691062775.922611724  0.191536   -0.138864  9.90721    -0.0447411  -0.0585895  0.0585895   0.21       0.05          pose: 0.33051105    0.796793   -0.0290367  0 -0.00208551 0.00128549  -0.0211065  0.999774       uwb: 0.50016318     847.194  942.868  
imu_odom_:  1691062775.940613165  0.893037   -0.248997  9.9503     -0.052198   -0.0117179  0.0308927   0.19       0.02          pose: 0.0           0.796793   -0.0290367  0 -0.00208551 0.00128549  -0.0211065  0.999774       uwb: 0.0            847.194  942.868  
imu_odom_:  1691062775.964705693  0.42138    -0.42138   9.73482    -0.0660464  0.0394148   0.0713727   0.19       0.02          pose: 0.50104980    0.804886   -0.0231632  0 -0.0001814750.00369276  -0.020884   0.999775       uwb: 0.49842496     847.202  941.498  
imu_odom_:  1691062775.988596691  0.232238   -0.158017  9.88805    -0.0308927  0.0191748   0.0383495   0.25       0             pose: 0.33941509    0.8165     -0.0270864  0 -0.00265052 0.00245999  -0.0205506  0.999782       uwb: 0.0            847.202  941.498  
imu_odom_:  1691062776.6588508    0.215478   -0.237026  9.55765    -0.0607201  -0.0266316  0.0628506   0.25       0             pose: 0.0           0.8165     -0.0270864  0 -0.00265052 0.00245999  -0.0205506  0.999782       uwb: 0.49978987     847.155  940.56   
imu_odom_:  1691062776.30627082   0.94571    -0.304064  9.62708    -0.0585895  -0.0234358  0.0319579   0.18       0.02          pose: 0.6956991     0.818853   -0.0253752  0 -0.00209188 0.00305253  -0.0205528  0.999782       uwb: 0.0            847.155  940.56   
imu_odom_:  1691062776.47633127   0.392649   -0.0909797 10.4603    -0.0585895  0.0213053   0.0532632   0.18       0.02          pose: 0.0           0.818853   -0.0253752  0 -0.00209188 0.00305253  -0.0205528  0.999782       uwb: 0.0            847.155  940.56   
imu_odom_:  1691062776.71884021   0.639252   -0.122104  10.2424    -0.0756338  0.0170442   0.0447411   0.19       0             pose: 0.41939688    0.818853   -0.0253752  0 -0.0009677580.00532999  -0.020375   0.999778       uwb: 0.50400713     847.255  939.521  
imu_odom_:  1691062776.95713773   0.56982    0.0454898  10.1682    -0.0671117  -0.0106526  0.0490022   0.19       0             pose: 0.0           0.818853   -0.0253752  0 -0.0009677580.00532999  -0.020375   0.999778       uwb: 0.0            847.255  939.521  
imu_odom_:  1691062776.120602795  0.859518   -0.0694318 9.87369    -0.0649811  -0.0479369  0.0415453   0.25       0             pose: 0.42041474    0.832823   -0.0275747  0 0.000455398 0.00233666  -0.0203     0.999791       uwb: 0.49589638     847.505  938.384  
imu_odom_:  1691062776.143600765  0.383072   -0.270545  9.44752    -0.0852212  0.00852212  0.0511327   0.25       0             pose: 0.0           0.832823   -0.0275747  0 0.000455398 0.00233666  -0.0203     0.999791       uwb: 0.0            847.505  938.384  
imu_odom_:  1691062776.168625987  -0.110133  -0.462081  9.12909    -0.0394148  0.0298274   0.0298274   0.18       0             pose: 0.48032524    0.846793   -0.0297705  0 0.00256209  -0.00155832 -0.0201314  0.999793       uwb: 0.50043736     847.487  936.977  
imu_odom_:  1691062776.185693278  0.143652   -0.167594  9.97903    -0.0585895  -0.0383495  0.0458064   0.18       0             pose: 0.0           0.846793   -0.0297705  0 0.00256209  -0.00155832 -0.0201314  0.999793       uwb: 0.0            847.487  936.977  
imu_odom_:  1691062776.209629483  0.383072   -0.248997  9.61272    -0.0436758  -0.0500674  0.0351537   0.18       0             pose: 0.48061398    0.846793   -0.0297705  0 0.000411216 -0.00109725 -0.0200169  0.999799       uwb: 0.50111106     847.616  935.312  
imu_odom_:  1691062776.235683350  0.682347   -0.517148  9.62708    -0.0639159  -0.0191748  0.0553937   0.18       0             pose: 0.0           0.846793   -0.0297705  0 0.000411216 -0.00109725 -0.0200169  0.999799       uwb: 0.0            847.616  935.312  
imu_odom_:  1691062776.251561005  0.577003   -0.138864  10.1921    -0.0511327  0.0191748   0.0468716   0.19       0             pose: 0.41856861    0.860765   -0.03196    0 -0.0004629840.0015637   -0.0200638  0.999797       uwb: 0.50112564     848.622  933.703  
imu_odom_:  1691062776.276557937  0.59855    -0.237026  9.43076    -0.072438   -0.0308927  0.0585895   0.19       0             pose: 0.0           0.860765   -0.03196    0 -0.0004629840.0015637   -0.0200638  0.999797       uwb: 0.0            848.622  933.703  
imu_odom_:  1691062776.299589155  0.677559   -0.148441  9.58878    -0.0468716  -0.00852212 0.0266316   0.18       -0.02         pose: 0.48972509    0.868845   -0.0260689  0 -0.00322723 -0.00199468 -0.0198779  0.999795       uwb: 0.50003780     848.644  933.238  
imu_odom_:  1691062776.323618104  0.270545   -0.574608  9.01417    -0.0607201  0.00745685  0.0500674   0.18       -0.02         pose: 0.0           0.868845   -0.0260689  0 -0.00322723 -0.00199468 -0.0198779  0.999795       uwb: 0.0            848.644  933.238  
imu_odom_:  1691062776.349579519  0.205901   -0.19393   9.38766    -0.0266316  -0.0106526  0.0319579   0.23       0             pose: 0.40183962    0.87474    -0.0341468  0 -0.00207369 -0.00586313 -0.019661   0.999787       uwb: 0.49750336     848.826  932.535  
imu_odom_:  1691062776.363584205  0.409408   -0.112527  10.2544    -0.0468716  -0.02024    0.0532632   0.23       0             pose: 0.0           0.87474    -0.0341468  0 -0.00207369 -0.00586313 -0.019661   0.999787       uwb: 0.0            848.826  932.535  
imu_odom_:  1691062776.386596758  0.517148   -0.225055  10.0054    -0.052198   -0.0500674  0.0340885   0.17       -0.02         pose: 0.48862266    0.882816   -0.0282497  0 -0.00273946 -0.00494926 -0.0196654  0.999791       uwb: 0.0            848.826  932.535  
imu_odom_:  1691062776.404805562  0.536301   -0.122104  10.0604    -0.0500674  0.00852212  0.0372843   0.17       -0.02         pose: 0.0           0.882816   -0.0282497  0 -0.00273946 -0.00494926 -0.0196654  0.999791       uwb: 0.49994447     848.617  931.488  
imu_odom_:  1691062776.428704144  0.373495   -0.201113  10.1586    -0.0500674  0.00852212  0.0298274   0.18       0             pose: 0.73192196    0.896789   -0.0304287  0 0.00121337  -0.00595544 -0.0197319  0.999787       uwb: 0.0            848.617  931.488  
imu_odom_:  1691062776.453587041  0.390255   -0.203507  9.62469    -0.0639159  -0.02024    0.0553937   0.18       0             pose: 0.7835438     0.896789   -0.0304287  0 0.00118133  -0.00512322 -0.0197706  0.999791       uwb: 0.50007862     848.667  931.032  
imu_odom_:  1691062776.476636925  0.696713   -0.519542  9.0836     -0.0436758  0.0383495   0.0351537   0.18       0             pose: 0.40946041    0.909095   -0.030328   0 0.000690721 -0.00114227 -0.0196557  0.999806       uwb: 0.0            848.667  931.032  
imu_odom_:  1691062776.492771815  0.488417   -0.100556  10.1107    -0.0340885  -0.0127832  0.0532632   0.18       0             pose: 0.0           0.909095   -0.030328   0 0.000690721 -0.00114227 -0.0196557  0.999806       uwb: 0.0            848.667  931.032  
imu_odom_:  1691062776.509608411  0.529119   -0.213084  9.74919    -0.0436758  -0.04048    0.0553937   0.22       0             pose: 0.0           0.909095   -0.030328   0 0.000690721 -0.00114227 -0.0196557  0.999806       uwb: 0.50354341     848.736  930.425  
imu_odom_:  1691062776.526841067  0.390255   0.0287304  10.0556    -0.0468716  -0.015979   0.0415453   0.22       0             pose: 0.46141182    0.918839   -0.0267144  0 0.000650131 -0.00352831 -0.0195401  0.999803       uwb: 0.0            848.736  930.425  
imu_odom_:  1691062776.549652382  0.471658   -0.349553  10.003     -0.0777643  -0.0426106  0.0745685   0.19       0             pose: 0.0           0.918839   -0.0267144  0 0.000650131 -0.00352831 -0.0195401  0.999803       uwb: 0.49684716     848.263  929.404  
imu_odom_:  1691062776.574767140  0.411803   -0.129287  10.1394    -0.0575243  -0.0426106  0.0372843   0.19       0             pose: 0.33903596    0.924738   -0.0347889  0 0.0013969   -0.00416554 -0.0193303  0.999803       uwb: 0.0            848.263  929.404  
imu_odom_:  1691062776.598702178  0.105345   -0.337582  10.0269    -0.0575243  -0.0479369  0.056459    0.21       0             pose: 0.41135321    0.932811   -0.0288867  0 0.00151476  -0.00321855 -0.0190819  0.999812       uwb: 0.49936700     847.998  928.958  
imu_odom_:  1691062776.615589230  1.00317    -0.275333  10.5321    -0.0532632  -0.0181095  0.0308927   0.21       0             pose: 0.7859937     0.932811   -0.0288867  0 0.00120791  -0.00266153 -0.0190161  0.999815       uwb: 0.0            847.998  928.958  
imu_odom_:  1691062776.640692614  0.612916   -0.251391  9.89284    -0.0703074  0.0543285   0.0671117   0.18       -0.02         pose: 0.0           0.932811   -0.0288867  0 0.00120791  -0.00266153 -0.0190161  0.999815       uwb: 0.0            847.998  928.958  
imu_odom_:  1691062776.665609050  0.565032   0.124498   10.0245    -0.0617853  -0.0213053  0.0447411   0.18       -0.02         pose: 0.41007870    0.946787   -0.0310457  0 4.02912e-05 -0.00383913 -0.0188416  0.999815       uwb: 0.50039944     847.815  928.06   
imu_odom_:  1691062776.679560073  0.696713   -0.184354  9.40442    -0.076699   -0.0340885  0.0532632   0.18       -0.02         pose: 0.0           0.946787   -0.0310457  0 4.02912e-05 -0.00383913 -0.0188416  0.999815       uwb: 0.0            847.815  928.06   
imu_odom_:  1691062776.696559410  0.715866   -0.354342  10.0245    -0.076699   -0.0117179  0.0372843   0.18       -0.02         pose: 0.47978278    0.946787   -0.0310457  0 0.00165939  -0.0063481  -0.0185112  0.999807       uwb: 0.0            847.815  928.06   
imu_odom_:  1691062776.721544676  0.445322   -0.466869  9.53371    -0.052198   -0.0553937  0.052198    0.2        0             pose: 0.0           0.946787   -0.0310457  0 0.00165939  -0.0063481  -0.0185112  0.999807       uwb: 0.50201225     848.385  927.194  
imu_odom_:  1691062776.744596018  0.459687   -0.280122  9.39006    -0.0383495  -0.0245011  0.036219    0.2        0             pose: 0.33249720    0.960766   -0.033193   0 -0.000618643-0.00834019 -0.0184071  0.999796       uwb: 0.0            848.385  927.194  
imu_odom_:  1691062776.770660384  0.909797   -0.325611  9.67257    -0.0585895  0.0170442   0.0511327   0.25       0             pose: 0.39733073    0.960766   -0.033193   0 -0.00256135 -0.0060697  -0.0183162  0.999811       uwb: 0.49866122     847.828  927.253  
imu_odom_:  1691062776.792687747  0.742203   -0.244209  10.5082    -0.0372843  0           0.0340885   0.25       0             pose: 0.0           0.960766   -0.033193   0 -0.00256135 -0.0060697  -0.0183162  0.999811       uwb: 0.0            847.828  927.253  
imu_odom_:  1691062776.816566206  0.881066   -0.0790087 10.5225    -0.0649811  -0.0436758  0.0607201   0.21       0             pose: 0.48091729    0.972631   -0.0324556  0 -0.00249926 -0.010485   -0.0182383  0.999776       uwb: 0.49882453     848.04   926.21   
imu_odom_:  1691062776.842611032  0.744597   0.0837971  9.98861    -0.052198   -0.00852212 0.036219    0.21       0             pose: 0.0           0.972631   -0.0324556  0 -0.00249926 -0.010485   -0.0182383  0.999776       uwb: 0.0            848.04   926.21   
imu_odom_:  1691062776.856679881  0.35913    -0.217872  9.73243    -0.0671117  0.00958738  0.0479369   0.18       0             pose: 0.49923285    0.982803   -0.0294112  0 0.00126808  -0.0137038  -0.018081   0.999742       uwb: 0.49982781     848.238  924.995  
imu_odom_:  1691062776.879683392  0.177171   -0.162806  9.50977    -0.0532632  0.0181095   0.0340885   0.18       0             pose: 0.0           0.982803   -0.0294112  0 0.00126808  -0.0137038  -0.018081   0.999742       uwb: 0.0            848.238  924.995  
imu_odom_:  1691062776.903534144  0.471658   -0.100556  10.1538    -0.0798948  -0.0106526  0.0681769   0.23       0.02          pose: 0.37072360    0.99407    -0.0335404  0 0.00127505  -0.00965331 -0.0180913  0.999789       uwb: 0.50122188     848.317  923.714  
imu_odom_:  1691062776.920660348  1.06542    -0.402226  9.60075    -0.0468716  -0.00745685 0.0308927   0.23       0.02          pose: 0.0           0.99407    -0.0335404  0 0.00127505  -0.00965331 -0.0180913  0.999789       uwb: 0.0            848.317  923.714  
imu_odom_:  1691062776.944657799  0.684742   -0.349553  9.81862    -0.0575243  -0.0106526  0.0553937   0.18       0             pose: 0.40976956    0.996784   -0.0315465  0 0.00169122  -0.00935267 -0.0178336  0.999796       uwb: 0.0            848.317  923.714  
imu_odom_:  1691062776.970531427  0.318429   -0.237026  10.2065    -0.0308927  -0.0383495  0.0394148   0.18       0             pose: 0.0           0.996784   -0.0315465  0 0.00169122  -0.00935267 -0.0178336  0.999796       uwb: 0.49987447     848.187  923.815  
imu_odom_:  1691062776.994674994  0.665588   -0.21069   10.3741    -0.0639159  -0.02024    0.056459    0.18       0             pose: 0.49871079    1.0085     -0.0353407  0 -0.000224382-0.00846899 -0.0176194  0.999809       uwb: 0.0            848.187  923.815  
imu_odom_:  1691062777.10561399   0.912191   -0.354342  9.89284    -0.0553937  0.00639159  0.0319579   0.18       0             pose: 0.0           1.0085     -0.0353407  0 -0.000224382-0.00846899 -0.0176194  0.999809       uwb: 0.49878662     847.466  923.286  
imu_odom_:  1691062777.36674472   0.215478   -0.304064  9.88087    -0.0660464  0.0181095   0.076699    0.25       -0.02         pose: 0.40029972    1.01076    -0.0336722  0 -0.000932676-0.0124153  -0.0174703  0.99977        uwb: 0.0            847.466  923.286  
imu_odom_:  1691062777.61584202   0.469264   -0.184354  9.98622    -0.0490022  -0.00852212 0.0479369   0.25       -0.02         pose: 0.0           1.01076    -0.0336722  0 -0.000932676-0.0124153  -0.0174703  0.99977        uwb: 0.50141148     847.639  921.53   
imu_odom_:  1691062777.86525138   0.584185   -0.292093  10.2232    -0.0862864  -0.0245011  0.0671117   0.21       0.02          pose: 0.34010341    1.02475    -0.0357859  0 -0.00111311 -0.00884293 -0.0169498  0.999817       uwb: 0.0            847.639  921.53   
imu_odom_:  1691062777.99523927   0.921768   -0.270545  9.62948    -0.0617853  -0.0170442  0.0351537   0.21       0.02          pose: 0.0           1.02475    -0.0357859  0 -0.00111311 -0.00884293 -0.0169498  0.999817       uwb: 0.0            847.639  921.53   
imu_odom_:  1691062777.123596916  0.593762   -0.600945  9.21528    -0.076699   -0.00213053 0.0660464   0.18       0             pose: 0.54952187    1.03279    -0.0298423  0 -0.00308317 -0.00994488 -0.0165582  0.999809       uwb: 0.0            847.639  921.53   
imu_odom_:  1691062777.141598359  0.636858   -0.162806  10.4315    -0.072438   0.0138484   0.0543285   0.18       0             pose: 0.0           1.03279    -0.0298423  0 -0.00308317 -0.00994488 -0.0165582  0.999809       uwb: 0.0            847.639  921.53   
imu_odom_:  1691062777.165506275  0.442927   0.0574608  10.1873    -0.0649811  0.0106526   0.0543285   0.18       0.02          pose: 0.42074432    1.03874    -0.03788    0 -0.00412916 -0.0100856  -0.0161076  0.999811       uwb: 0.99876320     847.624  920.679  
imu_odom_:  1691062777.191575892  0.687136   -0.158017  9.59596    -0.0671117  -0.0585895  0.0458064   0.18       0.02          pose: 0.7977180     1.03874    -0.03788    0 -0.00343902 -0.00969902 -0.0160555  0.999818       uwb: 0.0            847.624  920.679  
imu_odom_:  1691062777.215554095  0.416591   -0.543484  9.56244    -0.0745685  -0.0138484  0.0511327   0.19       0.05          pose: 0.23970620    1.04677    -0.0319246  0 -0.0016139  -0.00977583 -0.015932   0.999824       uwb: 0.50115775     847.593  919.304  
imu_odom_:  1691062777.241619046  0.316035   -0.363919  9.64624    -0.0266316  -0.0181095  0.0372843   0.21       0.02          pose: 0.26138155    1.05273    -0.0399563  0 -0.00136461 -0.0112662  -0.0158345  0.99981        uwb: 0.0            847.593  919.304  
imu_odom_:  1691062777.264542938  0.442927   -0.237026  10.1466    -0.0468716  -0.0383495  0.0479369   0.21       0.02          pose: 0.0           1.05273    -0.0399563  0 -0.00136461 -0.0112662  -0.0158345  0.99981        uwb: 0.49920077     847.249  919.293  
imu_odom_:  1691062777.280672287  1.05105    -0.387861  9.50977    -0.052198   0.0255663   0.0330232   0.21       0.02          pose: 0.0           1.05273    -0.0399563  0 -0.00136461 -0.0112662  -0.0158345  0.99981        uwb: 0.0            847.249  919.293  
imu_odom_:  1691062777.305535061  0.277727   -0.385466  9.48104    -0.0958738  -0.00532632 0.0809601   0.19       0             pose: 0.24026325    1.06076    -0.0339969  0 -0.0029738  -0.00973986 -0.015732   0.999824       uwb: 0.49948952     846.018  919.33   
imu_odom_:  1691062777.328587571  0.325611   -0.241814  9.94312    -0.00745685 -0.0213053  0.02024     0.18       0             pose: 0.48843602    1.06076    -0.0339969  0 -0.0026269  -0.00704465 -0.0156675  0.999849       uwb: 0.0            846.018  919.33   
imu_odom_:  1691062777.344510432  0.40462    -0.493206  9.60075    -0.0607201  -0.0575243  0.0575243   0.18       0             pose: 0.32980820    1.07247    -0.0377565  0 -0.0043001  -0.00542679 -0.0151705  0.999861       uwb: 0.0            846.018  919.33   
imu_odom_:  1691062777.370505970  0.914585   -0.474052  9.42358    -0.04048    0.00106526  0.0532632   0.25       -0.02         pose: 0.7064902     1.07475    -0.0360619  0 -0.00391798 -0.00481637 -0.015236   0.999865       uwb: 0.50041987     846.211  917.193  
imu_odom_:  1691062777.392540625  0.361524   -0.500388  9.20092    -0.0394148  0.0106526   0.0298274   0.25       -0.02         pose: 0.0           1.07475    -0.0360619  0 -0.00391798 -0.00481637 -0.015236   0.999865       uwb: 0.0            846.211  917.193  
imu_odom_:  1691062777.408522400  0.440533   0.138864   10.6135    -0.0468716  0.00106526  0.0319579   0.25       -0.02         pose: 0.0           1.07475    -0.0360619  0 -0.00391798 -0.00481637 -0.015236   0.999865       uwb: 0.50097400     846.218  915.635  
imu_odom_:  1691062777.434527854  0.964863   -0.0837971 10.2711    -0.0798948  0.00958738  0.0607201   0.19       0             pose: 0.39922355    1.07475    -0.0360619  0 -0.00486718 -0.00411057 -0.0151808  0.999864       uwb: 0.0            846.218  915.635  
imu_odom_:  1691062777.456654087  0.976834   0.011971   10.1394    -0.0575243  -0.0383495  0.0319579   0.18       0.02          pose: 0.48036901    1.08874    -0.0381154  0 -0.00611733 -0.0040955  -0.0151862  0.999858       uwb: 0.49842208     845.686  915.519  
imu_odom_:  1691062777.482516633  0.78051    -0.514753  9.58878    -0.0596548  -0.015979   0.0458064   0.18       0.02          pose: 0.33968635    1.09472    -0.0336642  0 -0.00448856 -0.00616548 -0.0149637  0.999859       uwb: 0.0            845.686  915.519  
imu_odom_:  1691062777.499483889  0.462081   -0.308852  9.70131    -0.052198   -0.0213053  0.0266316   0.18       0.02          pose: 0.0           1.09472    -0.0336642  0 -0.00448856 -0.00616548 -0.0149637  0.999859       uwb: 0.50062111     845.604  915.123  
imu_odom_:  1691062777.523492132  0.893037   -0.553061  9.55765    -0.0596548  -0.0532632  0.056459    0.23       -0.02         pose: 0.6138917     1.09676    -0.0321451  0 -0.00415137 -0.0067784  -0.014991   0.999856       uwb: 0.0            845.604  915.123  
imu_odom_:  1691062777.540556507  0.220267   -0.232238  9.90242    -0.04048    0.0117179   0.0415453   0.23       -0.02         pose: 0.0           1.09676    -0.0321451  0 -0.00415137 -0.0067784  -0.014991   0.999856       uwb: 0.0            845.604  915.123  
imu_odom_:  1691062777.565637434  0.672771   0.0742203  9.93594    -0.0511327  0.02024     0.052198    0.23       -0.02         pose: 0.49910453    1.11076    -0.0341929  0 -0.00522987 -0.00949708 -0.0150185  0.999828       uwb: 0.49988907     845.394  914.127  
imu_odom_:  1691062777.582828093  0.318429   -0.225055  9.90002    -0.0575243  0.0170442   0.04048     0.23       -0.02         pose: 0.0           1.11076    -0.0341929  0 -0.00522987 -0.00949708 -0.0150185  0.999828       uwb: 0.0            845.394  914.127  
imu_odom_:  1691062777.607757363  0.282516   -0.268151  9.77313    -0.0692422  -0.0319579  0.0671117   0.23       -0.02         pose: 0.83163674    1.12475    -0.036236   0 -0.00342813 -0.00875072 -0.0147056  0.999848       uwb: 0.49999698     845.804  913.295  
imu_odom_:  1691062777.633673865  0.869095   -0.232238  10.1251    -0.0553937  -0.00745685 0.0351537   0.23       0             pose: 0.34016465    1.12475    -0.036236   0 -0.0033192  -0.00561326 -0.0143508  0.999876       uwb: 0.0            845.804  913.295  
imu_odom_:  1691062777.658510974  0.277727   -0.158017  9.65582    -0.0681769  -0.00852212 0.0532632   0.23       0             pose: 0.0           1.12475    -0.036236   0 -0.0033192  -0.00561326 -0.0143508  0.999876       uwb: 0.50008447     846.027  912.177  
imu_odom_:  1691062777.675576807  0.517148   -0.275333  10.2041    -0.0820254  0.015979    0.0394148   0.21       -0.02         pose: 0.7892310     1.12475    -0.036236   0 -0.00322574 -0.00641069 -0.0143713  0.999871       uwb: 0.0            846.027  912.177  
imu_odom_:  1691062777.699490264  0.845153   -0.56982   9.77792    -0.0628506  0.0319579   0.0468716   0.21       -0.02         pose: 0.0           1.12475    -0.036236   0 -0.00322574 -0.00641069 -0.0143713  0.999871       uwb: 0.49994449     846.181  911.192  
imu_odom_:  1691062777.725467720  0.411803   -0.361524  9.25119    -0.0511327  0.0245011   0.0490022   0.2        -0.02         pose: 0.50873478    1.13875    -0.0382668  0 -0.00306851 -0.00558162 -0.0142468  0.999878       uwb: 0.0            846.181  911.192  
imu_odom_:  1691062777.739524320  0.150835   -0.263362  10.137     -0.0458064  0.0213053   0.0436758   0.2        -0.02         pose: 0.0           1.13875    -0.0382668  0 -0.00306851 -0.00558162 -0.0142468  0.999878       uwb: 0.0            846.181  911.192  
imu_odom_:  1691062777.756526574  0.251391   0.0837971  9.91439    -0.0660464  -0.015979   0.0607201   0.2        -0.02         pose: 0.0           1.13875    -0.0382668  0 -0.00306851 -0.00558162 -0.0142468  0.999878       uwb: 0.50306512     846.392  909.695  
imu_odom_:  1691062777.782499364  0.191536   -0.414197  9.8258     -0.0607201  0.0351537   0.0351537   0.18       0.02          pose: 0.41027996    1.15274    -0.0402933  0 -0.00591603 -0.00565808 -0.0141134  0.999867       uwb: 0.0            846.392  909.695  
imu_odom_:  1691062777.807537419  0.493206   -0.205901  10.1394    -0.0607201  -0.00213053 0.04048     0.22       0             pose: 0.74948217    1.1648     -0.0397137  0 -0.00574187 0.00131211  -0.0138476  0.999887       uwb: 0.49597806     847.281  907.509  
imu_odom_:  1691062777.832494979  0.136469   -0.335188  9.53132    -0.0532632  -0.0213053  0.0500674   0.22       0             pose: 0.0           1.1648     -0.0397137  0 -0.00574187 0.00131211  -0.0138476  0.999887       uwb: 0.0            847.281  907.509  
imu_odom_:  1691062777.857711231  0.926556   -0.169988  9.83059    -0.0372843  -0.02024    0.0330232   0.2        -0.02         pose: 0.8085965     1.16674    -0.0423112  0 -0.00517633 0.000762958 -0.0138465  0.99989        uwb: 0.50069694     847.301  906.606  
imu_odom_:  1691062777.882530550  0.328006   -0.174777  10.4555    -0.056459   -0.0149137  0.0511327   0.2        -0.02         pose: 0.0           1.16674    -0.0423112  0 -0.00517633 0.000762958 -0.0138465  0.99989        uwb: 0.0            847.301  906.606  
imu_odom_:  1691062777.907513775  0.88346    0.0981623  10.2496    -0.0447411  -0.0628506  0.0330232   0.2        0             pose: 0.48935763    1.17475    -0.0363202  0 -0.00412909 0.00112518  -0.013728   0.999897       uwb: 0.49940493     846.874  906.712  
imu_odom_:  1691062777.932498166  0.533907   -0.299275  9.97664    -0.0777643  -0.015979   0.0468716   0.19       0.02          pose: 0.0           1.17475    -0.0363202  0 -0.00296054 -0.000349801-0.0136466  0.999905       uwb: 0.0            846.874  906.712  
imu_odom_:  1691062777.949619413  0.464475   -0.423774  9.44991    -0.0415453  -0.0511327  0.0245011   0.19       0.02          pose: 0.0           1.18874    -0.0383335  0 -0.00115915 -0.000281013-0.0136731  0.999906       uwb: 0.50052487     846.488  906.661  
imu_odom_:  1691062777.974474896  0.64404    -0.308852  10.161     -0.072438   -0.0181095  0.0617853   0.19       0.02          pose: 0.0           1.18874    -0.0383335  0 -0.00115915 -0.000281013-0.0136731  0.999906       uwb: 0.0            846.488  906.661  
imu_odom_:  1691062777.998605340  0.54109    -0.19393   10.0628    -0.0340885  -0.036219   0.0330232   0.18       0             pose: 0.67148943    1.20274    -0.040346   0 -0.00391649 -0.00518676 -0.0136694  0.999885       uwb: 0.50104400     846.808  904.643  
imu_odom_:  1691062778.21488693   0.222661   -0.102951  10.1849    -0.056459   -0.0106526  0.0639159   0.19       0             pose: 0.0           1.20274    -0.040346   0 -0.00391649 -0.00518676 -0.0136694  0.999885       uwb: 0.0            846.808  904.643  
imu_odom_:  1691062778.36471571   0.620098   -0.181959  9.94791    -0.0394148  -0.0266316  0.0415453   0.19       0             pose: 0.40967041    1.20274    -0.040346   0 -0.00164351 -0.00734771 -0.0135802  0.999879       uwb: 0.0            846.808  904.643  
imu_odom_:  1691062778.54631380   0.296881   -0.215478  9.81144    -0.0340885  -0.0149137  0.0607201   0.19       0             pose: 0.0           1.20274    -0.040346   0 -0.00164351 -0.00734771 -0.0135802  0.999879       uwb: 0.49722925     847.075  904.438  
imu_odom_:  1691062778.78675788   0.0143652  -0.162806  9.6606     -0.02024    0           0.0276969   0.18       0.02          pose: 0.6942993     1.20274    -0.040346   0 -0.00136272 -0.00673587 -0.0134968  0.999885       uwb: 0.0            847.075  904.438  
imu_odom_:  1691062778.104470381  0.426168   -0.459687  9.78031    -0.0713727  -0.0490022  0.0756338   0.18       0.02          pose: 0.0           1.20274    -0.040346   0 -0.00136272 -0.00673587 -0.0134968  0.999885       uwb: 0.50245268     846.716  904.028  
imu_odom_:  1691062778.128594701  0.447716   -0.134075  10.1418    -0.04048    -0.0351537  0.0458064   0.18       0             pose: 0.56964566    1.21674    -0.0423528  0 0.00037246  -0.00438176 -0.0131473  0.999904       uwb: 0.0            846.716  904.028  
imu_odom_:  1691062778.154528994  0.459687   -0.397437  9.75158    -0.072438   0.0330232   0.0585895   0.19       0             pose: 0.49995908    1.22474    -0.0363512  0 -0.00108372 -0.00302213 -0.0127492  0.999914       uwb: 0.49886540     846.115  903.464  
imu_odom_:  1691062778.179590674  0.222661   -0.0957681 10.2304    -0.0543285  0.0308927   0.0511327   0.19       0             pose: 0.0           1.22474    -0.0363512  0 -0.00108372 -0.00302213 -0.0127492  0.999914       uwb: 0.0            846.115  903.464  
imu_odom_:  1691062778.202478694  0.78051    -0.023942  10.5082    -0.0735032  0.0117179   0.0543285   0.21       0.02          pose: 0.67081867    1.23874    -0.038335   0 -0.00069652 -4.59641e-05-0.0123042  0.999924       uwb: 0.50126858     845.878  903.127  
imu_odom_:  1691062778.219534903  0.54109    -0.222661  9.65582    -0.0500674  -0.0181095  0.0426106   0.21       0.02          pose: 0.6954075     1.23874    -0.038335   0 -0.000433437-0.000604396-0.0122534  0.999925       uwb: 0.0            845.878  903.127  
imu_odom_:  1691062778.245528109  0.349553   -0.337582  9.59596    -0.092678   0.00958738  0.0617853   0.18       0.02          pose: 0.0           1.23874    -0.038335   0 -0.000433437-0.000604396-0.0122534  0.999925       uwb: 0.0            845.878  903.127  
imu_odom_:  1691062778.270459422  0.636858   -0.126893  10.0652    -0.0607201  -0.00213053 0.0511327   0.18       0.02          pose: 0.32990154    1.24873    -0.0433289  0 -2.17899e-06-0.00369612 -0.0121103  0.99992        uwb: 0.49902581     846.214  901.268  
imu_odom_:  1691062778.295524893  0.490811   -0.071826  10.2448    -0.052198   0.015979    0.0330232   0.19       0             pose: 0.50924519    1.25274    -0.0403059  0 -0.0010148  -0.00371529 -0.0116801  0.999924       uwb: 0.0            846.214  901.268  
imu_odom_:  1691062778.320634111  0.833182   -0.418985  9.46428    -0.0713727  -0.0426106  0.056459    0.19       0             pose: 0.0           1.25274    -0.0403059  0 -0.0010148  -0.00371529 -0.0116801  0.999924       uwb: 0.49863792     846.822  899.762  
imu_odom_:  1691062778.336460437  0.215478   -0.296881  9.61272    -0.04048    0.0191748   0.0394148   0.2        0             pose: 0.50174689    1.26675    -0.0422628  0 -6.86561e-05-0.00625339 -0.011553   0.999914       uwb: 0.0            846.822  899.762  
imu_odom_:  1691062778.353459192  0.936133   -0.126893  10.2137    -0.052198   -0.0500674  0.052198    0.2        0             pose: 0.0           1.26675    -0.0422628  0 -6.86561e-05-0.00625339 -0.011553   0.999914       uwb: 0.50068820     846.545  900.536  
imu_odom_:  1691062778.378460792  0.572214   -0.009576819.86411    -0.0394148  0.00106526  0.0543285   0.18       -0.02         pose: 0.32825081    1.27071    -0.0392734  0 1.36025e-05 -0.00659282 -0.0114456  0.999913       uwb: 0.0            846.545  900.536  
imu_odom_:  1691062778.402462327  0.306458   -0.114922  9.56723    -0.0479369  0.0287621   0.0511327   0.18       -0.02         pose: 0.9073780     1.27473    -0.0362348  0 0.000974157 -0.00675739 -0.011384   0.999912       uwb: 0.50016324     847.386  898.605  
imu_odom_:  1691062778.427600419  0.555455   -0.270545  9.87129    -0.0394148  0.00106526  0.0351537   0.25       0             pose: 0.39929355    1.28076    -0.0442125  0 0.00327038  -0.00430797 -0.0111457  0.999923       uwb: 0.0            847.386  898.605  
imu_odom_:  1691062778.452454736  0.349553   -0.299275  9.53132    -0.0649811  0.0607201   0.0553937   0.25       0             pose: 0.0           1.28076    -0.0442125  0 0.00327038  -0.00430797 -0.0111457  0.999923       uwb: 0.49996783     848.376  897.343  
imu_odom_:  1691062778.469440950  0.579397   -0.169988  10.8218    -0.0394148  0.00426106  0.0394148   0.19       0             pose: 0.8039302     1.28076    -0.0442125  0 0.00263145  -0.00467913 -0.0111588  0.999923       uwb: 0.0            848.376  897.343  
imu_odom_:  1691062778.494568250  0.665588   0.059855   10.4579    -0.0511327  -0.0149137  0.0607201   0.19       0             pose: 0.0           1.28076    -0.0442125  0 0.00263145  -0.00467913 -0.0111588  0.999923       uwb: 0.0            848.376  897.343  
imu_odom_:  1691062778.517495643  0.684742   -0.0933739 10.1083    -0.0468716  -0.0415453  0.0319579   0.23       0             pose: 0.49980742    1.29477    -0.0461532  0 0.000115553 -0.00332333 -0.0109863  0.999934       uwb: 0.49957411     848.602  896.335  
imu_odom_:  1691062778.543603176  0.708684   -0.299275  9.83777    -0.0660464  -0.0426106  0.0490022   0.23       0             pose: 0.42027186    1.30274    -0.040115   0 0.00295476  -0.00657189 -0.0107599  0.999916       uwb: 0.0            848.602  896.335  
imu_odom_:  1691062778.558599761  0.418985   -0.383072  9.87608    -0.0543285  0.00213053  0.0330232   0.18       -0.02         pose: 0.0           1.30274    -0.040115   0 0.00295476  -0.00657189 -0.0107599  0.999916       uwb: 0.50018657     849.061  895.292  
imu_odom_:  1691062778.584498764  0.1652     -0.292093  9.79947    -0.0500674  -0.0458064  0.0490022   0.18       -0.02         pose: 0.0           1.30274    -0.040115   0 0.00295476  -0.00657189 -0.0107599  0.999916       uwb: 0.0            849.061  895.292  
imu_odom_:  1691062778.609446409  0.835576   -0.423774  9.39006    -0.0319579  -0.00319579 0.0383495   0.2        -0.02         pose: 0.48080067    1.31675    -0.0420456  0 0.00098717  -0.0100088  -0.0106926  0.999892       uwb: 0.49859125     849.066  894.122  
imu_odom_:  1691062778.634554752  0.184354   -0.371101  9.68694    -0.0458064  0.00213053  0.0607201   0.2        -0.02         pose: 0.41925401    1.31675    -0.0420456  0 -0.000402071-0.00806483 -0.0105885  0.999911       uwb: 0.0            849.066  894.122  
imu_odom_:  1691062778.658484542  0.349553   -0.124498  10.1035    -0.0617853  -0.0383495  0.0479369   0.18       0             pose: 0.0           1.31675    -0.0420456  0 -0.000402071-0.00806483 -0.0105885  0.999911       uwb: 0.50203562     849.265  892.484  
imu_odom_:  1691062778.675607539  0.423774   -0.462081  9.8689     -0.0649811  0.0276969   0.0798948   0.18       0             pose: 0.49060007    1.33076    -0.0439692  0 -0.00149836 -0.00649311 -0.0102858  0.999925       uwb: 0.0            849.265  892.484  
imu_odom_:  1691062778.699429419  0.452504   -0.292093  9.71567    -0.0415453  0.0468716   0.036219    0.19       0             pose: 0.0           1.33076    -0.0439692  0 -0.00149836 -0.00649311 -0.0102858  0.999925       uwb: 0.49936412     848.663  891.856  
imu_odom_:  1691062778.724542429  0.301669   -0.59855   9.47146    -0.0735032  -0.0149137  0.0639159   0.19       0             pose: 0.41030330    1.33076    -0.0439692  0 -0.00271961 -0.00380593 -0.00987411 0.99994        uwb: 0.0            848.663  891.856  
imu_odom_:  1691062778.748417681  0.19393    -0.280122  9.63666    -0.0266316  0.0106526   0.0266316   0.23       0             pose: 0.41937067    1.34477    -0.0458743  0 -0.00622808 -0.00119479 -0.00958049 0.999934       uwb: 0.50045781     848.047  891.616  
imu_odom_:  1691062778.763429140  0.213084   -0.1652    10.3286    -0.0447411  -0.0149137  0.0585895   0.23       0             pose: 0.0           1.34477    -0.0458743  0 -0.00622808 -0.00119479 -0.00958049 0.999934       uwb: 0.0            848.047  891.616  
imu_odom_:  1691062778.787486089  0.624887   -0.0646434 10.4555    -0.0458064  -0.00532632 0.0447411   0.18       0             pose: 0.38886711    1.35273    -0.0398164  0 -0.00419992 0.00229396  -0.00957193 0.999943       uwb: 0.0            848.047  891.616  
imu_odom_:  1691062778.812434026  0.608127   -0.325611  10.0676    -0.0788296  0.0383495   0.0543285   0.18       0             pose: 0.0           1.35273    -0.0398164  0 -0.00419992 0.00229396  -0.00957193 0.999943       uwb: 0.49918913     847.447  891.188  
imu_odom_:  1691062778.836435561  0.320823   0.0502782  10.1849    -0.0340885  -0.00639159 0.0287621   0.18       0             pose: 0.32068252    1.35879    -0.0477719  0 -0.00282608 -0.000137939-0.00945751 0.999951       uwb: 0.0            847.447  891.188  
imu_odom_:  1691062778.859471448  0.411803   -0.150835  10.1083    -0.0660464  -0.0735032  0.0532632   0.18       0             pose: 0.0           1.35879    -0.0477719  0 -0.00282608 -0.000137939-0.00945751 0.999951       uwb: 0.49917163     847.251  890.645  
imu_odom_:  1691062778.876406623  0.646434   -0.356736  9.44034    -0.036219   0.0639159   0.0255663   0.19       -0.02         pose: 0.47941534    1.36674    -0.0417109  0 -0.000297801-0.000897594-0.00942011 0.999955       uwb: 0.0            847.251  890.645  
imu_odom_:  1691062778.892482309  0.227449   -0.42138   9.92157    -0.0532632  -0.0191748  0.0553937   0.19       -0.02         pose: 0.0           1.36674    -0.0417109  0 -0.000297801-0.000897594-0.00942011 0.999955       uwb: 0.0            847.251  890.645  
imu_odom_:  1691062778.909472898  0.612916   -0.0766145 10.3765    -0.0585895  -0.00532632 0.04048     0.25       0             pose: 0.49043383    1.38076    -0.0436034  0 -0.000754698-0.00109407 -0.00929661 0.999956       uwb: 0.50236227     847.615  889.692  
imu_odom_:  1691062778.934476247  0.292093   -0.009576819.57681    -0.0660464  -0.0127832  0.0532632   0.25       0             pose: 0.7011239     1.38076    -0.0436034  0 -0.000326638-0.00164466 -0.00929435 0.999955       uwb: 0.0            847.615  889.692  
imu_odom_:  1691062778.960414623  0.248997   -0.395043  9.69652    -0.0394148  0.015979    0.0234358   0.23       0             pose: 0.34982699    1.38076    -0.0436034  0 0.00212751  -0.00100434 -0.00912568 0.999956       uwb: 0.49879832     847.214  888.587  
imu_odom_:  1691062778.974479682  0.0957681  -0.368707  10.0556    -0.0490022  0.00319579  0.0330232   0.2        -0.02         pose: 0.0           1.38076    -0.0436034  0 0.00212751  -0.00100434 -0.00912568 0.999956       uwb: 0.0            847.214  888.587  
imu_odom_:  1691062778.998411805  0.572214   -0.323217  10.4435    -0.0617853  -0.015979   0.0415453   0.18       0             pose: 0.40003435    1.39477    -0.0454908  0 -0.0003188810.00216638  -0.0093828  0.999954       uwb: 0.49988034     846.773  888.265  
imu_odom_:  1691062779.24520797   1.11091    -0.160412  10.0628    -0.0671117  -0.02024    0.0543285   0.25       0             pose: 0.0           1.39477    -0.0454908  0 -0.0003188810.00216638  -0.0093828  0.999954       uwb: 0.0            846.773  888.265  
imu_odom_:  1691062779.40464366   0.0574608  -0.40462   9.59835    -0.0713727  0.0319579   0.0617853   0.25       0             pose: 0.32027421    1.39477    -0.0454908  0 -0.0014064  -0.000997315-0.00930345 0.999955       uwb: 0.0            846.773  888.265  
imu_odom_:  1691062779.65401221   0.675165   -0.059855  9.93354    -0.0447411  0.00958738  0.0351537   0.25       0             pose: 0.0           1.39477    -0.0454908  0 -0.0014064  -0.000997315-0.00930345 0.999955       uwb: 0.49910457     846.716  886.578  
imu_odom_:  1691062779.87447835   0.282516   -0.141258  10.0676    -0.0617853  -0.02024    0.0607201   0.23       0             pose: 0.41967108    1.40879    -0.0473802  0 -0.00150817 -0.00174349 -0.00901273 0.999957       uwb: 0.0            846.716  886.578  
imu_odom_:  1691062779.112573970  0.150835   0.0023942  9.60554    -0.0575243  -0.0149137  0.0585895   0.19       0             pose: 0.38973624    1.41431    -0.0431685  0 0.000460638 -0.00114256 -0.00882337 0.99996        uwb: 0.50004076     846.453  886.175  
imu_odom_:  1691062779.138427768  0.622492   -0.426168  9.71806    -0.0543285  0.0330232   0.0308927   0.19       0             pose: 0.0           1.41431    -0.0431685  0 0.000460638 -0.00114256 -0.00882337 0.99996        uwb: 0.0            846.453  886.175  
imu_odom_:  1691062779.152419915  0.0790087  -0.220267  10.2376    -0.0372843  -0.00426106 0.0500674   0.19       0             pose: 0.0           1.41431    -0.0431685  0 0.000460638 -0.00114256 -0.00882337 0.99996        uwb: 0.49958579     847.31   884.319  
imu_odom_:  1691062779.176452075  0.258574   -0.287304  10.094     -0.0628506  0.00106526  0.0532632   0.2        0             pose: 0.7052653     1.41674    -0.0413117  0 0.000884736 -0.000621676-0.00875712 0.999961       uwb: 0.0            847.31   884.319  
imu_odom_:  1691062779.202411742  0.153229   -0.167594  9.79228    -0.0553937  -0.0149137  0.0543285   0.25       0             pose: 0.50073489    1.42281    -0.0492574  0 0.000131344 5.69179e-05 -0.00866441 0.999962       uwb: 0.50089530     847.546  883.656  
imu_odom_:  1691062779.216463094  0.684742   -0.158017  10.4579    -0.0830906  -0.0149137  0.0649811   0.25       0             pose: 0.0           1.42281    -0.0492574  0 0.000131344 5.69179e-05 -0.00866441 0.999962       uwb: 0.0            847.546  883.656  
imu_odom_:  1691062779.240465506  0.845153   0.059855   10.501     -0.0617853  -0.0234358  0.0500674   0.17       -0.02         pose: 0.39889110    1.43075    -0.0431843  0 -0.0008373020.0036912   -0.00839938 0.999958       uwb: 0.0            847.546  883.656  
imu_odom_:  1691062779.267464901  0.505177   -0.234632  10.6566    -0.072438   0.0106526   0.0532632   0.17       -0.02         pose: 0.0           1.43075    -0.0431843  0 -0.0008373020.0036912   -0.00839938 0.999958       uwb: 0.50016325     847.305  883.894  
imu_odom_:  1691062779.293399195  0.586579   -0.148441  9.75398    -0.0873517  0.0191748   0.0607201   0.19       0             pose: 0.39939565    1.44477    -0.0450441  0 0.000141623 0.00303735  -0.0080399  0.999963       uwb: 0.0            847.305  883.894  
imu_odom_:  1691062779.319447815  0.543484   -0.258574  9.65582    -0.0596548  -0.0575243  0.0426106   0.19       0             pose: 0.0           1.44477    -0.0450441  0 0.000141623 0.00303735  -0.0080399  0.999963       uwb: 0.50003201     846.958  882.784  
imu_odom_:  1691062779.342395041  0.342371   -0.428562  9.75158    -0.0798948  -0.00639159 0.0500674   0.19       0             pose: 0.51077052    1.44477    -0.0450441  0 3.13851e-05 -0.00157926 -0.00768244 0.999969       uwb: 0.0            846.958  882.784  
imu_odom_:  1691062779.359471958  0.622492   -0.0454898 10.0916    -0.0511327  -0.00532632 0.0617853   0.19       0             pose: 0.0           1.44477    -0.0450441  0 3.13851e-05 -0.00157926 -0.00768244 0.999969       uwb: 0.49978412     846.588  881.863  
imu_odom_:  1691062779.374524249  0.452504   -0.201113  10.0916    -0.0383495  0.00319579  0.14168     0.19       0.14          pose: 0.50980225    1.45879    -0.0468881  0 -0.00165632 -0.00544486 -0.00741008 0.999956       uwb: 0.0            846.588  881.863  
imu_odom_:  1691062779.390583311  0.222661   -0.988805  9.73961    -0.0447411  0.00319579  0.223706    0.19       0.14          pose: 0.0           1.45879    -0.0468881  0 -0.00165632 -0.00544486 -0.00741008 0.999956       uwb: 0.0            846.588  881.863  
imu_odom_:  1691062779.407515571  0.512359   -0.371101  9.78271    -0.0415453  -0.0287621  0.275903    0.19       0.14          pose: 0.0           1.45879    -0.0468881  0 -0.00165632 -0.00544486 -0.00741008 0.999956       uwb: 0.49948079     846.137  881.515  
imu_odom_:  1691062779.424409041  0.97444    -0.186748  10.1275    -0.0351537  -0.0532632  0.32171     0.18       0.2           pose: 0.40023268    1.46672    -0.0407951  0 -0.0010284  -0.00467746 -0.00678216 0.999966       uwb: 0.0            846.137  881.515  
imu_odom_:  1691062779.440380608  0.684742   -0.754174  9.62708    -0.0745685  0.0330232   0.376038    0.18       0.2           pose: 0.0           1.46672    -0.0407951  0 -0.0010284  -0.00467746 -0.00678216 0.999966       uwb: 0.0            846.137  881.515  
imu_odom_:  1691062779.456367925  0.411803   0.0335188  10.1682    -0.0223706  0.0127832   0.395213    0.23       0.41          pose: 0.32047838    1.47275    -0.0487775  0 -0.00260299 -0.00379051 -0.00394643 0.999982       uwb: 0.0            846.137  881.515  
imu_odom_:  1691062779.473413344  0.493206   -0.28491   10.501     -0.0585895  -0.0639159  0.429302    0.23       0.41          pose: 0.41849573    1.48067    -0.0427148  0 -0.00459792 -0.00646295 0.00218907  0.999966       uwb: 0.0            846.137  881.515  
imu_odom_:  1691062779.490420558  1.02472    -0.605733  9.73961    -0.0596548  0.00958738  0.467651    0.23       0.41          pose: 0.0           1.48067    -0.0427148  0 -0.00459792 -0.00646295 0.00218907  0.999966       uwb: 0.0            846.137  881.515  
imu_odom_:  1691062779.506416332  0.766145   -0.447716  9.79468    -0.0426106  -0.00426106 0.491087    0.18       0.44          pose: 0.7064320     1.4807     -0.0427088  0 -0.00382359 -0.00615865 0.00344248  0.999968       uwb: 0.100054233    845.876  880.455  
imu_odom_:  1691062779.523527664  0.993594   -0.287304  9.96706    -0.0383495  0.0383495   0.498544    0.18       0.44          pose: 0.0           1.4807     -0.0427088  0 -0.00382359 -0.00615865 0.00344248  0.999968       uwb: 0.0            845.876  880.455  
imu_odom_:  1691062779.540575416  0.493206   -0.708684  9.69412    -0.0830906  0.0543285   0.572047    0.18       0.44          pose: 0.0           1.4807     -0.0427088  0 -0.00382359 -0.00615865 0.00344248  0.999968       uwb: 0.0            845.876  880.455  
imu_odom_:  1691062779.556394452  0.186748   -0.244209  9.59117    -0.0511327  0.0287621   0.573112    0.24       0.7           pose: 0.50988974    1.4947     -0.0446607  0 -0.00476028 -0.00669085 0.0138028   0.999871       uwb: 0.49985703     845.82   878.677  
imu_odom_:  1691062779.573523574  0.452504   -0.272939  9.70609    -0.02024    -0.0458064  0.588026    0.18       0.55          pose: 0.0           1.4947     -0.0446607  0 -0.00476028 -0.00669085 0.0138028   0.999871       uwb: 0.0            845.82   878.677  
imu_odom_:  1691062779.590642197  0.268151   -0.246603  10.3645    -0.0213053  -0.056459   0.60507     0.18       0.55          pose: 0.66143343    1.50871    -0.0465314  0 -0.00572232 -0.00565217 0.0305375   0.999501       uwb: 0.0            845.82   878.677  
imu_odom_:  1691062779.608378241  0.885855   -0.624887  10.1299    -0.0372843  -0.0383495  0.649811    0.18       0.58          pose: 0.0           1.50871    -0.0465314  0 -0.00572232 -0.00565217 0.0305375   0.999501       uwb: 0.50052490     846.012  877.516  
imu_odom_:  1691062779.622422301  1.14203    -0.332794  9.63427    -0.052198   -0.0852212  0.660464    0.18       0.58          pose: 0.0           1.50871    -0.0465314  0 -0.00572232 -0.00565217 0.0305375   0.999501       uwb: 0.0            846.012  877.516  
imu_odom_:  1691062779.637418012  0.828394   -0.105345  9.83777    -0.0298274  -0.0223706  0.656203    0.18       0.58          pose: 0.34066339    1.50871    -0.0465314  0 -0.00461573 -0.00471877 0.0402782   0.999167       uwb: 0.0            846.012  877.516  
imu_odom_:  1691062779.654364270  1.2785     -0.071826  9.663      -0.056459   -0.0713727  0.680704    0.21       0.67          pose: 0.38774428    1.51663    -0.0404807  0 -0.00393479 -0.00885776 0.0522019   0.99859        uwb: 0.0            846.012  877.516  
imu_odom_:  1691062779.670416917  1.39343    -0.368707  9.59117    -0.0660464  -0.00639159 0.60294     0.21       0.67          pose: 0.7950932     1.51666    -0.0404747  0 -0.00366673 -0.00985822 0.0547421   0.998445       uwb: 0.0            846.012  877.516  
imu_odom_:  1691062779.687482168  1.38145    -0.328006  10.0149    -0.0575243  0.036219    0.461259    0.21       0.67          pose: 0.0           1.51666    -0.0404747  0 -0.00366673 -0.00985822 0.0547421   0.998445       uwb: 0.0            846.012  877.516  
imu_odom_:  1691062779.704350556  1.22104    0.0622492  9.8665     -0.0798948  0.0628506   0.38243     0.12       0.38          pose: 0.42113224    1.52692    -0.0452036  0 -0.00360707 -0.0139509  0.0657027   0.997735       uwb: 0.99819455     845.859  877.175  
imu_odom_:  1691062779.720348372  0.90022    -0.191536  10.1227    -0.0692422  0.0713727   0.34408     0.11       0.29          pose: 0.0           1.52692    -0.0452036  0 -0.00360707 -0.0139509  0.0657027   0.997735       uwb: 0.0            845.859  877.175  
imu_odom_:  1691062779.737345378  0.536301   -0.347159  10.1754    -0.0617853  -0.0170442  0.313188    0.11       0.29          pose: 0.0           1.52692    -0.0452036  0 -0.00360707 -0.0139509  0.0657027   0.997735       uwb: 0.0            845.859  877.175  
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imu_odom_:  1691062779.770455109  1.02951    -0.248997  10.1179    -0.0617853  -0.0127832  0.306796    0.1        0.26          pose: 0.0           1.53063    -0.0423293  0 -0.00260016 -0.0150774  0.0696186   0.997456       uwb: 0.0            845.689  876.818  
imu_odom_:  1691062779.786502214  0.797269   -0.328006  9.6199     -0.056459   -0.00319579 0.309992    0.1        0.26          pose: 0.33986428    1.53063    -0.0423293  0 -0.00378919 -0.0143279  0.0743183   0.997124       uwb: 0.0            845.689  876.818  
imu_odom_:  1691062779.803360686  0.787692   -0.275333  9.87369    -0.0468716  -0.015979   0.289752    0.11       0.32          pose: 0.41151366    1.5306     -0.0423357  0 -0.00422881 -0.0178661  0.0797462   0.996646       uwb: 0.50153984     846.205  875.684  
imu_odom_:  1691062779.819362294  0.799663   -0.246603  9.92875    -0.0458064  0           0.268447    0.11       0.32          pose: 0.7991471     1.53063    -0.0423295  0 -0.00356854 -0.0183842  0.0807293   0.99656        uwb: 0.0            846.205  875.684  
imu_odom_:  1691062779.836361341  0.751779   -0.148441  10.0509    -0.0490022  0.00745685  0.255663    0.11       0.32          pose: 0.0           1.53063    -0.0423295  0 -0.00356854 -0.0183842  0.0807293   0.99656        uwb: 0.0            846.205  875.684  
imu_odom_:  1691062779.852361782  0.696713   -0.217872  9.89524    -0.0575243  -0.00958738 0.249272    0.06       0.23          pose: 0.41867656    1.53855    -0.0362694  0 0.000253782 -0.0188553  0.0854172   0.996167       uwb: 0.49992410     846.674  874.506  
imu_odom_:  1691062779.869354413  0.574608   -0.241814  9.77553    -0.052198   -0.00319579 0.227967    0.09       0.26          pose: 0.0           1.53855    -0.0362694  0 0.000253782 -0.0188553  0.0854172   0.996167       uwb: 0.0            846.674  874.506  
imu_odom_:  1691062779.885470347  0.806846   -0.1652    9.9503     -0.0532632  -0.00532632 0.209857    0.09       0.26          pose: 0.0           1.53855    -0.0362694  0 0.000253782 -0.0188553  0.0854172   0.996167       uwb: 0.0            846.674  874.506  
imu_odom_:  1691062779.902360025  0.742203   -0.059855  9.89045    -0.0532632  0.00532632  0.207727    0.09       0.26          pose: 0.24044992    1.53858    -0.036263   0 0.000441225 -0.0165356  0.0878412   0.995997       uwb: 0.50073197     846.031  874.204  
imu_odom_:  1691062779.918418504  0.347159   -0.251391  9.91918    -0.0585895  0.0223706   0.251402    0.07       0.32          pose: 0.0           1.53858    -0.036263   0 0.000441225 -0.0165356  0.0878412   0.995997       uwb: 0.0            846.031  874.204  
imu_odom_:  1691062779.934412238  0.392649   -0.581791  9.82341    -0.0575243  -0.0170442  0.286556    0.07       0.32          pose: 0.32006424    1.54468    -0.0441876  0 0.0020619   -0.0168032  0.0906021   0.995743       uwb: 0.0            846.031  874.204  
imu_odom_:  1691062779.950343850  0.517148   -0.385466  9.91918    -0.0436758  -0.0181095  0.265251    0.04       0.23          pose: 0.41999481    1.54468    -0.0441876  0 0.00117774  -0.0142084  0.095101    0.995366       uwb: 0.49677721     846.383  872.918  
imu_odom_:  1691062779.967339688  0.744597   0.0143652  9.90002    -0.0511327  -0.00745685 0.280165    0.04       0.23          pose: 0.8001970     1.54468    -0.0441876  0 0.000596864 -0.0137543  0.0960092   0.995285       uwb: 0.0            846.383  872.918  
imu_odom_:  1691062779.983336046  0.804452   -0.21069   9.92636    -0.0617853  0.00106526  0.288687    0.04       0.23          pose: 0.0           1.54468    -0.0441876  0 0.000596864 -0.0137543  0.0960092   0.995285       uwb: 0.0            846.383  872.918  
imu_odom_:  1691062779.999355153  0.593762   -0.323217  9.75637    -0.0553937  0.0127832   0.26312     0.05       0.32          pose: 0.40921838    1.5489     -0.0409802  0 0.00173812  -0.0152535  0.100902    0.994778       uwb: 0.50186065     846.174  871.61   
imu_odom_:  1691062780.16411072   0.490811   -0.234632  9.94073    -0.0543285  0.0117179   0.262055    0.04       0.23          pose: 0.0           1.5489     -0.0409802  0 0.00173812  -0.0152535  0.100902    0.994778       uwb: 0.0            846.174  871.61   
imu_odom_:  1691062780.32345018   0.474052   -0.234632  9.9096     -0.0585895  -0.00532632 0.28123     0.04       0.23          pose: 0.0           1.5489     -0.0409802  0 0.00173812  -0.0152535  0.100902    0.994778       uwb: 0.0            846.174  871.61   
imu_odom_:  1691062780.48399414   0.605733   -0.301669  9.89524    -0.0543285  -0.00426106 0.271642    0.04       0.23          pose: 0.24100989    1.55263    -0.038127   0 0.000326781 -0.0132796  0.103598    0.994531       uwb: 0.49975205     846.047  871.504  
imu_odom_:  1691062780.75404061   0.708684   -0.222661  9.9527     -0.0490022  -0.00639159 0.255663    0.03       0.23          pose: 0.0           1.55263    -0.038127   0 0.000326781 -0.0132796  0.103598    0.994531       uwb: 0.0            846.047  871.504  
imu_odom_:  1691062780.91334507   -0.0454898 -0.205901  9.61272    -0.0607201  0.0777643   0.249272    0.03       0.23          pose: 0.31911931    1.55263    -0.038127   0 -0.000692999-0.0107464  0.107326    0.994166       uwb: 0.0            846.047  871.504  
imu_odom_:  1691062780.108371760  -0.986411  -0.292093  10.0437    -0.0628506  0.0894822   0.207727    0.03       0.2           pose: 0.16089103    1.55263    -0.038127   0 -0.00122316 -0.0113607  0.10913     0.993962       uwb: 0.50182276     845.789  871.516  
imu_odom_:  1691062780.124474571  -1.24977   -0.0287304 9.92636    -0.0617853  -0.0319579  0.138484    0.03       0.2           pose: 0.0           1.55263    -0.038127   0 -0.00122316 -0.0113607  0.10913     0.993962       uwb: 0.0            845.789  871.516  
imu_odom_:  1691062780.141540114  -0.397437  -0.0742203 9.78271    -0.056459   -0.0852212  0.0916127   0.1        0.02          pose: 0.27960379    1.55263    -0.038127   0 -0.000253445-0.0119561  0.112093    0.993626       uwb: 0.0            845.789  871.516  
imu_odom_:  1691062780.157419521  0.383072   -0.258574  9.87848    -0.0543285  -0.0490022  0.0745685   0.1        0.02          pose: 0.0           1.55263    -0.038127   0 -0.000253445-0.0119561  0.112093    0.993626       uwb: 0.49689680     846.006  870.554  
imu_odom_:  1691062780.174334282  0.418985   -0.356736  9.75158    -0.0607201  0.0127832   0.0735032   0.1        0.02          pose: 0.0           1.55263    -0.038127   0 -0.000253445-0.0119561  0.112093    0.993626       uwb: 0.0            846.006  870.554  
imu_odom_:  1691062780.190330349  -0.00718261-0.339977  9.83538    -0.0532632  0.00639159  0.0830906   0.1        0.02          pose: 0.49033179    1.55263    -0.038127   0 -0.000714157-0.00651075 0.115348    0.993304       uwb: 0.0            846.006  870.554  
imu_odom_:  1691062780.206370164  -0.203507  -0.385466  10.0078    -0.0468716  0           0.076699    0.13       0             pose: 0.0           1.55263    -0.038127   0 -0.000714157-0.00651075 0.115348    0.993304       uwb: 0.50065616     846.289  869.412  
imu_odom_:  1691062780.221474077  0.023942   -0.0574608 10.1011    -0.0479369  -0.0308927  0.0628506   0.13       0             pose: 0.0           1.55263    -0.038127   0 -0.000714157-0.00651075 0.115348    0.993304       uwb: 0.0            846.289  869.412  
imu_odom_:  1691062780.238472832  0.153229   0.143652   9.86172    -0.0649811  -0.0490022  0.0820254   0.13       0             pose: 0.64905004    1.56058    -0.0320537  0 -0.00311526 -0.00156272 0.116641    0.993168       uwb: 0.0            846.289  869.412  
imu_odom_:  1691062780.254412903  0.418985   -0.347159  10.0437    -0.056459   -0.0255663  0.092678    0.12       0.02          pose: 0.0           1.56058    -0.0320537  0 -0.00311526 -0.00156272 0.116641    0.993168       uwb: 0.50037618     845.486  869.885  
imu_odom_:  1691062780.270344224  0.308852   -0.287304  10.0844    -0.0639159  -0.0245011  0.0596548   0.12       0.02          pose: 0.31148102    1.56058    -0.0320537  0 -0.00209871 0.000781337 0.11714     0.993113       uwb: 0.0            845.486  869.885  
imu_odom_:  1691062780.287536634  0.227449   -0.0790087 9.91918    -0.0543285  -0.00106526 0.0543285   0.12       0.02          pose: 0.41859491    1.57082    -0.0367995  0 -0.00331136 0.00157373  0.117934    0.993015       uwb: 0.0            845.486  869.885  
imu_odom_:  1691062780.303323589  0.383072   -0.248997  9.9527     -0.0596548  -0.0308927  0.0735032   0.12       0.02          pose: 0.0           1.57082    -0.0367995  0 -0.00331136 0.00157373  0.117934    0.993015       uwb: 0.50013994     845.754  868.724  
imu_odom_:  1691062780.320334303  0.514753   -0.385466  10.2807    -0.0532632  -0.0479369  0.0553937   0.12       0.02          pose: 0.0           1.57082    -0.0367995  0 -0.00331136 0.00157373  0.117934    0.993015       uwb: 0.0            845.754  868.724  
imu_odom_:  1691062780.336386366  0.447716   -0.169988  10.2208    -0.0596548  -0.00852212 0.0649811   0.16       0             pose: 0.8139045     1.5746     -0.0338891  0 -0.0027012  0.00212923  0.117996    0.993008       uwb: 0.0            845.754  868.724  
imu_odom_:  1691062780.352445721  0.895431   -0.433351  10.331     -0.0351537  -0.0692422  0.0777643   0.16       0             pose: 0.0           1.5746     -0.0338891  0 -0.0027012  0.00212923  0.117996    0.993008       uwb: 0.50051616     845.194  868.247  
imu_odom_:  1691062780.368370917  0.881066   -0.294487  9.50019    -0.0468716  -0.0532632  0.113983    0.16       0             pose: 0.0           1.5746     -0.0338891  0 -0.0027012  0.00212923  0.117996    0.993008       uwb: 0.0            845.194  868.247  
imu_odom_:  1691062780.384367276  0.758962   -0.227449  9.62469    -0.0639159  -0.00319579 0.183225    0.1        -0.02         pose: 0.47905956    1.5746     -0.0338891  0 -0.0023028  -0.0008904160.118535    0.992947       uwb: 0.0            845.194  868.247  
imu_odom_:  1691062780.401307993  1.25217    -0.646434  10.2352    -0.0841559  -0.0660464  0.171508    0.12       0             pose: 0.0           1.5746     -0.0338891  0 -0.0023028  -0.0008904160.118535    0.992947       uwb: 0.49752094     845.645  867.465  
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imu_odom_:  1691062780.433329292  1.24498    0.344765   9.79707    -0.056459   0.00639159  0.036219    0.11       0             pose: 0.0           1.5825     -0.0277632  0 -0.00146813 -0.00759252 0.121143    0.992605       uwb: 0.0            845.645  867.465  
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imu_odom_:  1691062780.652359654  0.651223   -0.337582  10.1778    -0.0532632  -0.0276969  -0.309992   0.09       -0.32         pose: 0.0           1.59654    -0.0294795  0 -0.000620588-0.00824211 0.11777     0.993007       uwb: 0.50102072     844.655  866.144  
imu_odom_:  1691062780.667413695  0.1652     -0.150835  9.80665    -0.04048    -0.00426106 -0.343015   0.09       -0.32         pose: 0.31991259    1.59654    -0.0294795  0 -0.00054072 -0.00589728 0.113255    0.993548       uwb: 0.0            844.655  866.144  
imu_odom_:  1691062780.683363390  -0.177171  -0.0143652 9.77074    -0.0575243  -0.0127832  -0.370712   0.12       -0.5          pose: 0.40041352    1.6044     -0.0232931  0 -0.00133239 -0.00560437 0.106238    0.994324       uwb: 0.0            844.655  866.144  
imu_odom_:  1691062780.700463056  0.100556   0.011971   10.2951    -0.0532632  -0.0330232  -0.401605   0.12       -0.5          pose: 0.0           1.6044     -0.0232931  0 -0.00133239 -0.00560437 0.106238    0.994324       uwb: 0.50134737     843.935  865.999  
imu_odom_:  1691062780.717313946  0.107739   -0.380678  9.59357    -0.0713727  0.0149137   -0.458064   0.12       -0.5          pose: 0.0           1.6044     -0.0232931  0 -0.00133239 -0.00560437 0.106238    0.994324       uwb: 0.0            843.935  865.999  
imu_odom_:  1691062780.733312638  0.059855   -0.126893  10.0748    -0.0511327  0.00958738  -0.453803   0.13       -0.55         pose: 0.6964576     1.6044     -0.0232931  0 -0.00117181 -0.00495763 0.104818    0.994478       uwb: 0.0            843.935  865.999  
imu_odom_:  1691062780.750440302  0.172383   -0.31364   9.46667    -0.0777643  -0.015979   -0.472977   0.15       -0.64         pose: 0.0           1.6044     -0.0232931  0 -0.00117181 -0.00495763 0.104818    0.994478       uwb: 0.50056866     844.279  865.346  
imu_odom_:  1691062780.767585174  -0.110133  -0.232238  9.66779    -0.0575243  -0.0149137  -0.486826   0.15       -0.64         pose: 0.66143344    1.61057    -0.0311651  0 -0.00114516 0.00102297  0.089293    0.996004       uwb: 0.0            844.279  865.346  
imu_odom_:  1691062780.784426731  0.198719   -0.0646434 9.96467    -0.0511327  -0.0276969  -0.528371   0.19       -0.82         pose: 0.0           1.61057    -0.0311651  0 -0.00114516 0.00102297  0.089293    0.996004       uwb: 0.0            844.279  865.346  
imu_odom_:  1691062780.801425196  0.232238   -0.232238  9.54808    -0.0735032  -0.0127832  -0.531567   0.19       -0.82         pose: 0.0           1.61057    -0.0311651  0 -0.00114516 0.00102297  0.089293    0.996004       uwb: 0.49865545     844.571  864.648  
imu_odom_:  1691062780.818384871  0.196325   -0.25618   9.80665    -0.0394148  0.00319579  -0.547546   0.19       -0.82         pose: 0.34116796    1.61847    -0.0250432  0 -0.00127341 0.00383326  0.0802739   0.996765       uwb: 0.0            844.571  864.648  
imu_odom_:  1691062780.835324713  0.672771   -0.0742203 10.0341    -0.0511327  -0.052198   -0.517718   0.13       -0.55         pose: 0.43746460    1.62278    -0.0216475  0 -0.0016177  0.00756953  0.0676953   0.997676       uwb: 0.0            844.571  864.648  
imu_odom_:  1691062780.849301695  0.773327   -0.0909797 9.96467    -0.0745685  -0.0500674  -0.451672   0.13       -0.55         pose: 0.8078674     1.62637    -0.0189054  0 -0.00126363 0.00664046  0.0654512   0.997833       uwb: 0.49805757     844.54   864.143  
imu_odom_:  1691062780.865440962  1.1995     -0.339977  9.80904    -0.0500674  -0.0617853  -0.394148   0.13       -0.55         pose: 0.0           1.62637    -0.0189054  0 -0.00126363 0.00664046  0.0654512   0.997833       uwb: 0.0            844.54   864.143  
imu_odom_:  1691062780.881365283  1.28808    -0.280122  9.91199    -0.052198   -0.0756338  -0.396278   0.1        -0.44         pose: 0.38977417    1.62637    -0.0189054  0 -0.0006162370.00189603  0.0560702   0.998425       uwb: 0.0            844.54   864.143  
imu_odom_:  1691062780.898297834  1.652      0.00718261 9.86411    -0.0671117  0.00532632  -0.336624   0.09       -0.38         pose: 0.0           1.62637    -0.0189054  0 -0.0006162370.00189603  0.0560702   0.998425       uwb: 0.0            844.54   864.143  
imu_odom_:  1691062780.914414061  1.32399    -0.395043  10.082     -0.0585895  -0.00639159 -0.26099    0.09       -0.38         pose: 0.0           1.62637    -0.0189054  0 -0.0006162370.00189603  0.0560702   0.998425       uwb: 0.50002911     845.022  863.127  
imu_odom_:  1691062780.931422441  0.320823   -0.675165  9.59596    -0.0479369  0.0351537   -0.270577   0.1        -0.41         pose: 0.23926583    1.62637    -0.0189054  0 -0.000431752-0.00100903 0.0511006   0.998693       uwb: 0.0            845.022  863.127  
imu_odom_:  1691062780.948425572  0.730232   -0.105345  10.1466    -0.0351537  -0.0138484  -0.275903   0.1        -0.41         pose: 0.0           1.62637    -0.0189054  0 -0.000431752-0.00100903 0.0511006   0.998693       uwb: 0.50126279     844.974  862.36   
imu_odom_:  1691062780.964409973  0.605733   0.0335188  9.81383    -0.0735032  -0.00958738 -0.219444   0.1        -0.41         pose: 0.0           1.62637    -0.0189054  0 -0.000431752-0.00100903 0.0511006   0.998693       uwb: 0.0            844.974  862.36   
imu_odom_:  1691062780.981288861  0.703895   -0.373495  10.0987    -0.0703074  -0.00532632 -0.181095   0.06       -0.23         pose: 0.75042428    1.64038    -0.0206544  0 0.000316761 -0.00483505 0.0396134   0.999203       uwb: 0.0            844.974  862.36   
imu_odom_:  1691062780.998428483  0.744597   -0.507571  9.8665     -0.0553937  -0.0106526  -0.184291   0.06       -0.23         pose: 0.7946557     1.64041    -0.0206476  0 -0.000205956-0.00548376 0.0387393   0.999234       uwb: 0.50079615     844.637  862.061  
imu_odom_:  1691062781.14339681   0.653617   -0.19393   9.77074    -0.052198   0.00639159  -0.155529   0.06       -0.23         pose: 0.0           1.64041    -0.0206476  0 -0.000205956-0.00548376 0.0387393   0.999234       uwb: 0.0            844.637  862.061  
imu_odom_:  1691062781.31366144   0.577003   -0.201113  9.85214    -0.0628506  0           -0.120375   0.05       -0.17         pose: 0.41983151    1.64038    -0.0206543  0 -0.001168   -0.00864902 0.0342857   0.999374       uwb: 0.0            844.637  862.061  
imu_odom_:  1691062781.47402167   0.646434   -0.349553  9.95988    -0.0596548  -0.0138484  -0.127832   0.06       -0.26         pose: 0.0           1.64038    -0.0206543  0 -0.001168   -0.00864902 0.0342857   0.999374       uwb: 0.0            844.637  862.061  
imu_odom_:  1691062781.63333488   0.581791   -0.162806  9.88087    -0.0596548  -0.00958738 -0.145941   0.06       -0.26         pose: 0.0           1.64038    -0.0206543  0 -0.001168   -0.00864902 0.0342857   0.999374       uwb: 0.50169153     845.044  860.964  
imu_odom_:  1691062781.79267143   0.651223   -0.25618   9.89045    -0.0575243  -0.0149137  -0.129962   0.05       -0.2          pose: 0.24010579    1.64041    -0.0206475  0 -0.000149119-0.00918051 0.0323303   0.999435       uwb: 0.0            845.044  860.964  
imu_odom_:  1691062781.105437674  0.751779   -0.395043  9.87608    -0.0628506  0.00639159  -0.0852212  0.05       -0.2          pose: 0.0           1.64041    -0.0206475  0 -0.000149119-0.00918051 0.0323303   0.999435       uwb: 0.49763761     845.65   859.552  
imu_odom_:  1691062781.121424701  0.244209   -0.452504  9.84496    -0.0607201  0.0394148   -0.0990696  0.05       -0.2          pose: 0.31996510    1.64041    -0.0206475  0 0.000192714 -0.0100691  0.0294974   0.999514       uwb: 0.0            845.65   859.552  
imu_odom_:  1691062781.138419374  -0.114922  -0.150835  10.228     -0.0458064  0.0319579   -0.206661   0.04       -0.14         pose: 0.42035065    1.64041    -0.0206475  0 -0.00271707 -0.0116502  0.0266572   0.999573       uwb: 0.0            845.65   859.552  
imu_odom_:  1691062781.155325386  -1.60412   0.344765   9.36133    -0.0308927  0.0585895   -0.2024     0.04       -0.14         pose: 0.0           1.64041    -0.0206475  0 -0.00271707 -0.0116502  0.0266572   0.999573       uwb: 0.50036744     845.475  859.146  
imu_odom_:  1691062781.171332828  -1.12049   -0.399832  10.1562    -0.0617853  -0.0511327  -0.0809601  0.08       -0.08         pose: 0.42943551    1.64041    -0.0206475  0 -0.00215052 -0.00649151 0.0219047   0.999737       uwb: 0.0            845.475  859.146  
imu_odom_:  1691062781.188352875  0.253785   -0.964863  9.69891    -0.0660464  -0.113983   -0.0468716  0.08       -0.08         pose: 0.0           1.64041    -0.0206475  0 -0.00215052 -0.00649151 0.0219047   0.999737       uwb: 0.0            845.475  859.146  
imu_odom_:  1691062781.205449625  0.572214   -0.411803  9.50498    -0.0596548  -0.0117179  -0.0703074  0.08       -0.08         pose: 0.0           1.64041    -0.0206475  0 -0.00215052 -0.00649151 0.0219047   0.999737       uwb: 0.50049577     845.388  858.819  
imu_odom_:  1691062781.221421486  0.452504   -0.0837971 9.7875     -0.0639159  0.0319579   -0.0511327  0.1        -0.11         pose: 0.6951452     1.64041    -0.0206475  0 -0.00224    -0.00596453 0.0214881   0.999749       uwb: 0.0            845.388  858.819  
imu_odom_:  1691062781.238281126  -0.191536  -0.1652    10.24      -0.0735032  0.0266316   -0.0447411  0.1        -0.11         pose: 0.0           1.64041    -0.0206475  0 -0.00224    -0.00596453 0.0214881   0.999749       uwb: 0.0            845.388  858.819  
imu_odom_:  1691062781.255318380  0.0215478  -0.146046  10.173     -0.0617853  0.00639159  -0.0958738  0.1        -0.11         pose: 0.67087706    1.65444    -0.0223741  0 -0.00405525 -0.00489078 0.0182205   0.999814       uwb: 0.49871672     844.826  859.049  
imu_odom_:  1691062781.271349154  0.47884    -0.155623  9.74919    -0.0617853  -0.0383495  -0.0660464  0.15       -0.08         pose: 0.0           1.65444    -0.0223741  0 -0.00405525 -0.00489078 0.0182205   0.999814       uwb: 0.0            844.826  859.049  
imu_odom_:  1691062781.288264207  0.320823   -0.490811  9.48104    -0.0830906  0.00745685  -0.0319579  0.15       -0.08         pose: 0.0           1.65444    -0.0223741  0 -0.00405525 -0.00489078 0.0182205   0.999814       uwb: 0.0            844.826  859.049  
imu_odom_:  1691062781.304259399  0.25618    -0.301669  10.1442    -0.04048    -0.015979   -0.0607201  0.15       -0.08         pose: 0.32956034    1.65444    -0.0223741  0 -0.00287701 -0.00245824 0.0163254   0.99986        uwb: 0.49873421     844.457  858.961  
imu_odom_:  1691062781.320454371  0.0023942  0.138864   10.1083    -0.0394148  -0.0149137  -0.0458064  0.12       -0.08         pose: 0.41938821    1.66233    -0.0162219  0 -0.00374775 -0.0004309410.0144512   0.999888       uwb: 0.0            844.457  858.961  
imu_odom_:  1691062781.337476460  0.833182   -0.316035  10.3813    -0.0628506  -0.0213053  -0.0287621  0.12       -0.08         pose: 0.7048863     1.66233    -0.0162219  0 -0.00318687 2.5411e-05  0.0141521   0.999895       uwb: 0.0            844.457  858.961  
imu_odom_:  1691062781.354268145  0.517148   -0.636858  9.92875    -0.0596548  -0.0255663  -0.036219   0.12       -0.08         pose: 0.0           1.66233    -0.0162219  0 -0.00318687 2.5411e-05  0.0141521   0.999895       uwb: 0.50158070     844.846  858.323  
imu_odom_:  1691062781.370457576  0.445322   -0.354342  9.88087    -0.0436758  0.00745685  -0.0468716  0.13       -0.05         pose: 0.42959883    1.66845    -0.0241322  0 -0.00435122 -0.0018285  0.0125434   0.99991        uwb: 0.0            844.846  858.323  
imu_odom_:  1691062781.386375190  0.311246   -0.191536  9.80665    -0.0532632  -0.0372843  -0.0127832  0.13       -0.05         pose: 0.0           1.66845    -0.0241322  0 -0.00435122 -0.0018285  0.0125434   0.99991        uwb: 0.0            844.846  858.323  
imu_odom_:  1691062781.403266036  0.821211   -0.265756  9.98143    -0.0468716  -0.072438   -0.00106526 0.13       -0.05         pose: 0.0           1.66845    -0.0241322  0 -0.00435122 -0.0018285  0.0125434   0.99991        uwb: 0.50059785     844.865  858.092  
imu_odom_:  1691062781.420258377  1.09894    -0.430956  9.34217    -0.0511327  -0.0319579  0.0298274   0.14       -0.08         pose: 0.23085761    1.67637    -0.0180275  0 -0.00535306 -0.00161546 0.0116672   0.999916       uwb: 0.0            844.865  858.092  
imu_odom_:  1691062781.436344855  0.885855   -0.574608  9.50259    -0.0490022  0.0223706   0.0298274   0.14       -0.08         pose: 0.0           1.67637    -0.0180275  0 -0.00535306 -0.00161546 0.0116672   0.999916       uwb: 0.0            844.865  858.092  
imu_odom_:  1691062781.453256117  1.31442    -0.3304    10.2161    -0.0490022  -0.00852212 0.00745685  0.14       -0.08         pose: 0.33058695    1.67637    -0.0180275  0 -0.00454077 -0.00419521 0.0110487   0.99992        uwb: 0.50041410     844.853  857.333  
imu_odom_:  1691062781.469249851  1.24259    0.047884   9.80426    -0.052198   0.0319579   -0.00852212 0.08       -0.08         pose: 0.42843516    1.67637    -0.0180275  0 -0.00550258 -0.00813789 0.0106363   0.999895       uwb: 0.0            844.853  857.333  
imu_odom_:  1691062781.485309790  0.969652   -0.102951  9.5385     -0.052198   0.0553937   -0.015979   0.08       -0.08         pose: 0.7033113     1.67637    -0.0180275  0 -0.00514916 -0.00862584 0.0104603   0.999895       uwb: 0.0            844.853  857.333  
imu_odom_:  1691062781.502258966  0.454898   -0.354342  9.63187    -0.0479369  0.00852212  -0.056459   0.08       -0.08         pose: 0.0           1.67637    -0.0180275  0 -0.00514916 -0.00862584 0.0104603   0.999895       uwb: 0.49811883     845.519  856.195  
imu_odom_:  1691062781.519250723  0.648829   -0.21069   10.0102    -0.0500674  -0.0255663  -0.0735032  0.09       -0.08         pose: 0.41969736    1.6869     -0.0224669  0 -0.00456129 -0.00854386 0.0089741   0.999913       uwb: 0.0            845.519  856.195  
imu_odom_:  1691062781.535236291  0.873884   -0.191536  9.77313    -0.0628506  0.00319579  -0.0543285  0.06       -0.05         pose: 0.0           1.6869     -0.0224669  0 -0.00456129 -0.00854386 0.0089741   0.999913       uwb: 0.0            845.519  856.195  
imu_odom_:  1691062781.551232650  0.952892   -0.373495  10.1466    -0.056459   -0.00106526 -0.0191748  0.06       -0.05         pose: 0.0           1.6869     -0.0224669  0 -0.00456129 -0.00854386 0.0089741   0.999913       uwb: 0.49990956     845.533  855.451  
imu_odom_:  1691062781.568292653  0.622492   -0.339977  9.5792     -0.056459   0.00426106  -0.0287621  0.06       -0.05         pose: 0.25059349    1.6904     -0.0197821  0 -0.00296155 -0.010527   0.00761441  0.999911       uwb: 0.0            845.533  855.451  
imu_odom_:  1691062781.584398672  0.562637   -0.201113  9.94073    -0.0372843  0.00213053  -0.0255663  0.05       0             pose: 0.0           1.6904     -0.0197821  0 -0.00296155 -0.010527   0.00761441  0.999911       uwb: 0.0            845.533  855.451  
imu_odom_:  1691062781.611514729  0.505177   -0.184354  9.85693    -0.0596548  0.00106526  0.00639159  0.05       0             pose: 0.31979594    1.6904     -0.0197821  0 -0.00398978 -0.012468   0.00650325  0.999893       uwb: 0.50054535     845.832  854.718  
imu_odom_:  1691062781.627394137  0.653617   -0.356736  10.1059    -0.056459   0.015979    0.0213053   0.04       -0.02         pose: 0.34120005    1.6904     -0.0197821  0 -0.00282279 -0.0104337  0.00551925  0.999926       uwb: 0.0            845.832  854.718  
imu_odom_:  1691062781.654308956  -1.12767   -0.280122  9.98143    -0.0436758  0.0692422   0.0223706   0.04       -0.02         pose: 0.0           1.6904     -0.0197821  0 -0.00282279 -0.0104337  0.00551925  0.999926       uwb: 0.49991247     845.886  854.005  
imu_odom_:  1691062781.681452428  -0.28491   -0.181959  9.7875     -0.0596548  -0.092678   0.0287621   0.05       -0.02         pose: 0.42936552    1.6904     -0.0197821  0 -0.00297946 -0.00849619 0.0050003   0.999947       uwb: 0.0            845.886  854.005  
imu_odom_:  1691062781.706278166  0.821211   -0.402226  9.82102    -0.0511327  -0.0351537  0.0330232   0.09       -0.02         pose: 0.45097962    1.6904     -0.0197821  0 -0.00265598 -0.00454055 0.00471291  0.999975       uwb: 0.0            845.886  854.005  
imu_odom_:  1691062781.733272314  0.169988   0.0191536  9.99819    -0.0575243  0.0149137   0.00213053  0.09       -0.02         pose: 0.0           1.6904     -0.0197821  0 -0.00265598 -0.00454055 0.00471291  0.999975       uwb: 0.0            845.886  854.005  
imu_odom_:  1691062781.758311831  -0.184354  -0.545878  9.8258     -0.0596548  0.0106526   0.0383495   0.11       0             pose: 0.8139629     1.6904     -0.0197821  0 -0.00294398 -0.00542131 0.004686    0.99997        uwb: 0.100032950    845.85   853.459  
imu_odom_:  1691062781.775239425  0.23942    -0.493206  10.0485    -0.0351537  -0.0426106  0.00639159  0.11       0             pose: 0.0           1.6904     -0.0197821  0 -0.00294398 -0.00542131 0.004686    0.99997        uwb: 0.0            845.85   853.459  
imu_odom_:  1691062781.800244527  0.277727   0.0311246  10.0652    -0.0607201  0.0106526   0.0319579   0.13       -0.02         pose: 0.51820761    1.70443    -0.0215614  0 -0.00221507 -0.00405795 0.00411733  0.999981       uwb: 0.49976956     844.988  853.922  
imu_odom_:  1691062781.827268131  -0.102951  -0.263362  9.68933    -0.0479369  -0.015979   0.0170442   0.13       -0.02         pose: 0.0           1.70443    -0.0215614  0 -0.00221507 -0.00405795 0.00411733  0.999981       uwb: 0.0            844.988  853.922  
imu_odom_:  1691062781.853381208  0.363919   -0.469264  9.90721    -0.0649811  0.00532632  0.0181095   0.13       0             pose: 0.41842285    1.70443    -0.0215614  0 -0.00328213 -0.00113342 0.00380898  0.999987       uwb: 0.49878671     844.788  853.478  
imu_odom_:  1691062781.869243117  0.0814029  -0.162806  9.64624    -0.0340885  0.0127832   0.00745685  0.13       0             pose: 0.0           1.70443    -0.0215614  0 -0.00328213 -0.00113342 0.00380898  0.999987       uwb: 0.0            844.788  853.478  
imu_odom_:  1691062781.895250033  0.938527   -0.325611  9.94073    -0.0607201  -0.0117179  0.0266316   0.18       -0.02         pose: 0.52042123    1.71234    -0.015449   0 -0.00262391 0.00229234  0.00335688  0.999988       uwb: 0.0            844.788  853.478  
imu_odom_:  1691062781.922238931  0.679953   -0.337582  10.0604    -0.0490022  -0.00532632 0.02024     0.18       0             pose: 0.59952807    1.72415    -0.0189778  0 -0.00388055 0.00119145  0.00273301  0.999988       uwb: 0.50122197     844.957  852.61   
imu_odom_:  1691062781.938364782  0.497994   -0.160412  9.48583    -0.052198   0.0245011   0.0213053   0.18       0             pose: 0.0           1.72415    -0.0189778  0 -0.00388055 0.00119145  0.00273301  0.999988       uwb: 0.0            844.957  852.61   
imu_odom_:  1691062781.965234104  0.837971   -0.361524  9.59357    -0.0607201  0.0276969   0.0308927   0.2        0             pose: 0.6998407     1.72637    -0.0172703  0 -0.00396193 0.00049537  0.00266251  0.999988       uwb: 0.50056285     845.087  851.959  
imu_odom_:  1691062781.990260205  0.189142   -0.174777  10.6398    -0.052198   0.0607201   0.02024     0.2        0             pose: 0.0           1.72637    -0.0172703  0 -0.00396193 0.00049537  0.00266251  0.999988       uwb: 0.0            845.087  851.959  
imu_odom_:  1691062782.7231546    -0.280122  -0.335188  9.2895     -0.0628506  0.0543285   0.0649811   0.18       -0.05         pose: 0.43059919    1.72637    -0.0172703  0 -0.0029061  -0.00255069 0.00227564  0.99999        uwb: 0.0            845.087  851.959  
imu_odom_:  1691062782.23216532   -0.351948  -0.497994  9.74201    -0.0585895  -0.0191748  0.0394148   0.18       -0.05         pose: 0.0           1.72637    -0.0172703  0 -0.0029061  -0.00255069 0.00227564  0.99999        uwb: 0.0            845.087  851.959  
imu_odom_:  1691062782.40258453   0.308852   -0.117316  9.8689     -0.0436758  -0.0511327  0.0223706   0.18       -0.05         pose: 0.0           1.72637    -0.0172703  0 -0.0029061  -0.00255069 0.00227564  0.99999        uwb: 0.0            845.087  851.959  
imu_odom_:  1691062782.66281702   0.0814029  -0.208296  9.50019    -0.0798948  -0.0106526  0.0607201   0.15       -0.02         pose: 0.52077995    1.74039    -0.0191153  0 -0.00261848 -9.55185e-050.00203533  0.999994       uwb: 0.99845713     844.417  851.838  
imu_odom_:  1691062782.93354305   0.143652   0.047884   10.343     -0.056459   0.0245011   0.00852212  0.21       -0.02         pose: 0.50913151    1.74039    -0.0191153  0 -0.00152132 0.00340286  0.00211173  0.999991       uwb: 0.0            844.417  851.838  
imu_odom_:  1691062782.118353866  0.842759   -0.435745  10.3358    -0.0681769  -0.0127832  0.0532632   0.16       0             pose: 0.0           1.74039    -0.0191153  0 -0.00152132 0.00340286  0.00211173  0.999991       uwb: 0.0            844.417  851.838  
imu_odom_:  1691062782.145231647  0.940921   -0.146046  10.0796    -0.0532632  0.0181095   0.00852212  0.2        -0.02         pose: 0.53070770    1.75443    -0.0208234  0 0.000505423 0.00601324  0.00195278  0.99998        uwb: 0.0            844.417  851.838  
imu_odom_:  1691062782.170362159  0.670376   -0.258574  9.88805    -0.0916127  0.00532632  0.0458064   0.2        -0.02         pose: 0.0           1.75443    -0.0208234  0 0.000505423 0.00601324  0.00195278  0.99998        uwb: 0.99986872     844.495  851.653  
imu_odom_:  1691062782.196257083  0.179565   -0.454898  9.60554    -0.0543285  0.0394148   0.0117179   0.19       0             pose: 0.68991884    1.76668    -0.0202467  0 -0.000726957-0.0003660310.00172844  0.999998       uwb: 0.0            844.495  851.653  
imu_odom_:  1691062782.212490845  0.4956     -0.320823  10.0916    -0.0660464  0.02024     0.0340885   0.19       0             pose: 0.7018531     1.76847    -0.022538   0 -0.0012171  0.000287722 0.00163109  0.999998       uwb: 0.49968501     844.464  851.104  
imu_odom_:  1691062782.238244027  0.272939   -0.177171  10.149     -0.0372843  0.0330232   0.00958738  0.2        0             pose: 0.0           1.76847    -0.022538   0 -0.0012171  0.000287722 0.00163109  0.999998       uwb: 0.0            844.464  851.104  
imu_odom_:  1691062782.254411585  0.138864   0.0502782  10.0437    -0.0351537  -0.00852212 0.0234358   0.2        0             pose: 0.35110155    1.77635    -0.0163811  0 -0.0032469  0.000743184 0.00131929  0.999994       uwb: 0.50275023     843.916  850.58   
imu_odom_:  1691062782.281539600  0.292093   -0.308852  9.43794    -0.0468716  -0.0287621  0.0276969   0.2        0.02          pose: 0.0           1.77635    -0.0163811  0 -0.0032469  0.000743184 0.00131929  0.999994       uwb: 0.0            843.916  850.58   
imu_odom_:  1691062782.297498046  0.641646   -0.19393   9.72764    -0.0287621  -0.0287621  0.0149137   0.2        0.02          pose: 0.41920740    1.77961    -0.0205686  0 0.000187545 0.00403753  0.00081328  0.999992       uwb: 0.0            843.916  850.58   
imu_odom_:  1691062782.314363228  0.68953    -0.426168  9.57202    -0.0756338  -0.00106526 0.0532632   0.2        0.02          pose: 0.0           1.77961    -0.0205686  0 0.000187545 0.00403753  0.00081328  0.999992       uwb: 0.49929128     844.707  849.248  
imu_odom_:  1691062782.339216381  0.847547   -0.225055  9.57681    -0.0479369  0.0234358   -0.00106526 0.24       0             pose: 0.50962440    1.79039    -0.0181254  0 -0.00217647 0.00218611  0.00049344  0.999995       uwb: 0.0            844.707  849.248  
imu_odom_:  1691062782.366213447  0.23942    -0.414197  9.39485    -0.076699   0.00958738  0.0479369   0.22       0             pose: 0.0           1.79039    -0.0181254  0 -0.00217647 0.00218611  0.00049344  0.999995       uwb: 0.49747430     845.361  848.037  
imu_odom_:  1691062782.382401420  0.533907   -0.138864  10.1682    -0.0479369  -0.0117179  0.0223706   0.22       0             pose: 0.40878095    1.79652    -0.0260209  0 -0.00291864 -0.0001514017.09286e-05 0.999996       uwb: 0.0            845.361  848.037  
imu_odom_:  1691062782.399210897  0.720655   -0.0167594 9.50259    -0.056459   0.00852212  0.0287621   0.22       0             pose: 0.0           1.79652    -0.0260209  0 -0.00291864 -0.0001514017.09286e-05 0.999996       uwb: 0.50037621     846.123  846.393  
imu_odom_:  1691062782.424421029  0.565032   -0.545878  9.24641    -0.0756338  0.0138484   0.0287621   0.24       0             pose: 0.43040672    1.80442    -0.0198886  0 -0.00279869 -0.000198471-2.30695e-050.999996       uwb: 0.0            846.123  846.393  
imu_odom_:  1691062782.451356848  0.387861   -0.220267  9.79707    -0.0394148  0.00426106  0.036219    0.2        0             pose: 0.35128237    1.81004    -0.0155255  0 -0.00469814 -0.00180914 -0.0002167360.999987       uwb: 0.50020997     846.041  845.504  
imu_odom_:  1691062782.467345624  0.675165   -0.529119  9.67257    -0.0692422  0.00958738  0.056459    0.2        0             pose: 0.0           1.81004    -0.0155255  0 -0.00469814 -0.00180914 -0.0002167360.999987       uwb: 0.0            846.041  845.504  
imu_odom_:  1691062782.494359897  0.328006   -0.136469  10.0365    -0.0553937  0.0181095   0.04048     0.24       0.02          pose: 0.6952327     1.81232    -0.0137586  0 -0.00404364 -0.00142648 -0.0002278860.999991       uwb: 0.0            846.041  845.504  
imu_odom_:  1691062782.510254763  0.153229   -0.155623  9.51695    -0.056459   -0.0543285  0.0436758   0.24       0.02          pose: 0.0           1.81232    -0.0137586  0 -0.00404364 -0.00142648 -0.0002278860.999991       uwb: 0.49951876     846.08   844.731  
imu_odom_:  1691062782.527290559  0.878672   -0.184354  10.4052    -0.0394148  0.0149137   0.02024     0.24       0.02          pose: 0.0           1.81232    -0.0137586  0 -0.00404364 -0.00142648 -0.0002278860.999991       uwb: 0.0            846.08   844.731  
imu_odom_:  1691062782.544266276  -0.172383  -0.124498  9.86411    -0.0426106  -0.00319579 0.056459    0.24       0             pose: 0.42992841    1.81845    -0.0216613  0 -0.00284239 -0.000850583-0.0001238190.999996       uwb: 0.0            846.08   844.731  
imu_odom_:  1691062782.560195556  0.213084   -0.493206  9.54568    -0.0660464  -0.015979   0.052198    0.24       0             pose: 0.0           1.81845    -0.0216613  0 -0.00284239 -0.000850583-0.0001238190.999996       uwb: 0.50068536     846.025  843.587  
imu_odom_:  1691062782.586324674  0.423774   -0.112527  9.85932    -0.0468716  -0.00426106 0.0532632   0.17       -0.02         pose: 0.85829359    1.83661    -0.0202331  0 -0.00149165 0.00246306  -2.63701e-060.999996       uwb: 0.0            846.025  843.587  
imu_odom_:  1691062782.609333149  0.586579   -0.155623  10.1969    -0.0820254  -0.00958738 0.0458064   0.17       -0.02         pose: 0.0           1.83661    -0.0202331  0 -0.00149165 0.00246306  -2.63701e-060.999996       uwb: 0.50136782     846.022  842.761  
imu_odom_:  1691062782.634406206  0.682347   0.023942   10.2352    -0.0628506  -0.0415453  0.0585895   0.18       0.02          pose: 0.8092966     1.84038    -0.0173039  0 -0.0007400940.00208782  5.3851e-05  0.999998       uwb: 0.0            846.022  842.761  
imu_odom_:  1691062782.661243156  0.581791   -0.169988  10.6662    -0.0532632  0.00106526  0.0426106   0.21       0.02          pose: 0.0           1.84038    -0.0173039  0 -0.0007400940.00208782  5.3851e-05  0.999998       uwb: 0.49750055     846.087  842.002  
imu_odom_:  1691062782.687257947  0.59855    0.0766145  10.2328    -0.0841559  0.00852212  0.0628506   0.18       0.02          pose: 0.66117684    1.85213    -0.0208376  0 0.00258851  -0.00345824 0.00049236  0.999991       uwb: 0.0            846.087  842.002  
imu_odom_:  1691062782.714227014  0.603339   -0.160412  10.1634    -0.0660464  -0.0649811  0.0447411   0.23       0.02          pose: 0.34866919    1.85441    -0.0190653  0 0.00301973  -0.00623783 0.000629801 0.999976       uwb: 0.50177321     846.727  840.724  
imu_odom_:  1691062782.740334259  0.347159   -0.349553  9.78031    -0.0916127  -0.0266316  0.0490022   0.23       0.02          pose: 0.0           1.85441    -0.0190653  0 0.00301973  -0.00623783 0.000629801 0.999976       uwb: 0.0            846.727  840.724  
imu_odom_:  1691062782.767326657  0.543484   -0.299275  10.2855    -0.0479369  -0.0468716  0.0436758   0.25       0.02          pose: 0.71061134    1.86845    -0.0208136  0 0.00097323  -0.00807894 0.00103968  0.999966       uwb: 0.49921837     846.317  840.297  
imu_odom_:  1691062782.792301429  0.40462    -0.0790087 9.79947    -0.0511327  -0.0308927  0.0436758   0.25       0.02          pose: 0.7005698     1.86845    -0.0208136  0 0.000316115 -0.00807205 0.00105945  0.999967       uwb: 0.0            846.317  840.297  
imu_odom_:  1691062782.809182360  0.136469   -0.213084  9.77313    -0.0308927  0.0745685   0.0340885   0.21       0             pose: 0.0           1.86845    -0.0208136  0 0.000316115 -0.00807205 0.00105945  0.999967       uwb: 0.49941376     846.451  839.317  
imu_odom_:  1691062782.834222461  0.155623   -0.167594  9.89524    -0.0553937  0.0287621   0.056459    0.21       0             pose: 0.51826596    1.88248    -0.0225516  0 0.000397276 -0.00572353 0.00113756  0.999983       uwb: 0.0            846.451  839.317  
imu_odom_:  1691062782.861234400  0.35913    -0.383072  9.80186    -0.0511327  -0.0245011  0.0596548   0.18       0             pose: 0.18070566    1.88248    -0.0225516  0 0.000595393 -0.00339228 0.00117803  0.999993       uwb: 0.50318188     846.954  838.153  
imu_odom_:  1691062782.886268668  0.160412   -0.162806  9.88087    -0.0543285  0.00213053  0.0447411   0.18       0             pose: 0.43997281    1.89037    -0.0164019  0 -0.00167919 -0.00071707 0.00159365  0.999997       uwb: 0.0            846.954  838.153  
imu_odom_:  1691062782.913169489  0.289698   -0.268151  9.98143    -0.0490022  0.00852212  0.052198    0.18       0             pose: 0.0           1.89037    -0.0164019  0 -0.00167919 -0.00071707 0.00159365  0.999997       uwb: 0.49846299     847.474  836.722  
imu_odom_:  1691062782.929181598  0.557849   -0.390255  10.2089    -0.0585895  0.0138484   0.0490022   0.19       0             pose: 0.8109006     1.89037    -0.0164019  0 -0.00142203 8.02398e-05 0.00161565  0.999998       uwb: 0.0            847.474  836.722  
imu_odom_:  1691062782.955382461  0.248997   -0.155623  9.83777    -0.052198   0.0138484   0.0543285   0.19       0             pose: 0.0           1.89037    -0.0164019  0 -0.00142203 8.02398e-05 0.00161565  0.999998       uwb: 0.49832884     846.545  836.587  
imu_odom_:  1691062782.980386106  0.287304   -0.351948  9.4547     -0.0607201  0.0372843   0.0372843   0.19       0             pose: 0.51839720    1.9044     -0.0181243  0 -0.00233002 0.00373746  0.00186576  0.999989       uwb: 0.0            846.545  836.587  
imu_odom_:  1691062783.7220140    0.280122   -0.275333  9.8665     -0.052198   -0.0394148  0.04048     0.19       0             pose: 0.0           1.9044     -0.0181243  0 -0.00233002 0.00373746  0.00186576  0.999989       uwb: 0.50107033     846.33   835.784  
imu_odom_:  1691062783.23216791   0.402226   -0.150835  10.2208    -0.0383495  -0.0490022  0.0394148   0.18       0             pose: 0.41202700    1.91844    -0.0198392  0 -0.00139302 0.0052979   0.00209213  0.999983       uwb: 0.0            846.33   835.784  
imu_odom_:  1691062783.50169235   0.323217   -0.158017  10.3956    -0.0458064  -0.00213053 0.0490022   0.18       0             pose: 0.0           1.91844    -0.0198392  0 -0.00139302 0.0052979   0.00209213  0.999983       uwb: 0.50011083     846.726  834.478  
imu_odom_:  1691062783.66187469   0.622492   -0.371101  9.51216    -0.0511327  -0.00852212 0.0415453   0.25       0             pose: 0.52854367    1.91844    -0.0198392  0 -0.00192828 0.00725647  0.00208996  0.99997        uwb: 0.0            846.726  834.478  
imu_odom_:  1691062783.93310236   0.42138    -0.241814  10.082     -0.0436758  -0.00745685 0.0543285   0.25       0             pose: 0.0           1.91844    -0.0198392  0 -0.00192828 0.00725647  0.00208996  0.99997        uwb: 0.0            846.726  834.478  
imu_odom_:  1691062783.118211221  0.464475   -0.0383072 10.3118    -0.0543285  -0.00852212 0.0372843   0.25       -0.02         pose: 0.43019967    1.93248    -0.0215483  0 0.000650978 0.00432485  0.0022368   0.999988       uwb: 0.50004666     846.806  833.985  
imu_odom_:  1691062783.145296365  0.73502    -0.452504  9.80665    -0.0639159  0.0138484   0.0703074   0.23       0             pose: 0.16032816    1.93248    -0.0215483  0 5.30333e-05 0.00284019  0.00230207  0.999993       uwb: 0.0            846.806  833.985  
imu_odom_:  1691062783.170170227  0.672771   -0.153229  10.0102    -0.0340885  0.0319579   0.036219    0.23       0             pose: 0.0           1.93248    -0.0215483  0 5.30333e-05 0.00284019  0.00230207  0.999993       uwb: 0.49879549     846.535  833.108  
imu_odom_:  1691062783.187216815  -0.23942   -0.251391  9.53611    -0.0820254  -0.0266316  0.0596548   0.23       -0.02         pose: 0.50922486    1.94035    -0.0153808  0 0.00133499  -0.0005113010.00252204  0.999996       uwb: 0.0            846.535  833.108  
imu_odom_:  1691062783.213335434  -0.0167594 -0.179565  9.63666    -0.0372843  -0.0319579  0.0276969   0.23       -0.02         pose: 0.0           1.94035    -0.0153808  0 0.00133499  -0.0005113010.00252204  0.999996       uwb: 0.50106744     846.057  832.295  
imu_odom_:  1691062783.240198050  0.416591   -0.25618   10.1035    -0.0692422  -0.0532632  0.056459    0.23       0             pose: 0.52081498    1.95439    -0.0170776  0 0.000735624 -0.00320514 0.00286179  0.99999        uwb: 0.0            846.057  832.295  
imu_odom_:  1691062783.265199654  0.423774   0.150835   10.1299    -0.0553937  -0.0149137  0.0479369   0.23       0             pose: 0.0           1.95439    -0.0170776  0 0.000735624 -0.00320514 0.00286179  0.99999        uwb: 0.49733141     846.735  830.972  
imu_odom_:  1691062783.282296406  0.687136   -0.390255  9.31584    -0.0884169  -0.0213053  0.0511327   0.21       0             pose: 0.42895141    1.95439    -0.0170776  0 0.00017896  -0.0003833050.00286155  0.999996       uwb: 0.0            846.735  830.972  
imu_odom_:  1691062783.307290427  0.112527   -0.287304  10.1418    -0.0426106  0.0117179   0.0308927   0.21       0             pose: 0.0           1.95439    -0.0170776  0 0.00017896  -0.0003833050.00286155  0.999996       uwb: 0.50127742     846.195  830.376  
imu_odom_:  1691062783.334212539  0.251391   -0.141258  9.76355    -0.0671117  -0.0713727  0.0394148   0.23       0             pose: 0.51952298    1.96843    -0.018766   0 6.14722e-05 -0.00199186 0.00317285  0.999993       uwb: 0.0            846.195  830.376  
imu_odom_:  1691062783.360149462  0.991199   -0.411803  9.73004    -0.0532632  -0.0191748  0.0415453   0.2        -0.02         pose: 0.42168934    1.98247    -0.020446   0 -0.0006464550.000132032 0.00312733  0.999995       uwb: 0.50009042     845.93   829.786  
imu_odom_:  1691062783.387150319  0.294487   -0.292093  9.98382    -0.0436758  0.04048     0.0245011   0.23       -0.02         pose: 0.0           1.98247    -0.020446   0 -0.0006464550.000132032 0.00312733  0.999995       uwb: 0.0            845.93   829.786  
imu_odom_:  1691062783.412158923  0.679953   -0.466869  9.35654    -0.0628506  0.00958738  0.0585895   0.2        0             pose: 0.52874200    1.99033    -0.0142652  0 -0.000805086-0.0006893610.00310046  0.999995       uwb: 0.49996208     845.178  829.255  
imu_odom_:  1691062783.429290089  0.565032   -0.158017  10.2065    -0.0394148  -0.0468716  0.0170442   0.2        0             pose: 0.0           1.99033    -0.0142652  0 -0.000805086-0.0006893610.00310046  0.999995       uwb: 0.0            845.178  829.255  
imu_odom_:  1691062783.445150249  0.656011   -0.11971   10.07      -0.0553937  -0.00532632 0.0383495   0.2        0             pose: 0.0           1.99033    -0.0142652  0 -0.000805086-0.0006893610.00310046  0.999995       uwb: 0.0            845.178  829.255  
imu_odom_:  1691062783.472173272  0.646434   -0.260968  10.1634    -0.0553937  -0.00958738 0.0394148   0.25       0             pose: 0.77962716    2.00438    -0.0159487  0 -0.00109643 -0.00336964 0.00297375  0.999989       uwb: 0.50050747     845.482  828.089  
imu_odom_:  1691062783.488166716  0.593762   -0.189142  9.47864    -0.0468716  -0.00532632 0.0351537   0.25       0             pose: 0.7031947     2.00438    -0.0159487  0 -0.00119018 -0.00408636 0.00297273  0.999987       uwb: 0.0            845.482  828.089  
imu_odom_:  1691062783.515293857  0.138864   -0.447716  9.61511    -0.0458064  -0.0234358  0.04048     0.23       0             pose: 0.0           2.00438    -0.0159487  0 -0.00119018 -0.00408636 0.00297273  0.999987       uwb: 0.49806929     845.762  826.886  
imu_odom_:  1691062783.541292901  0.380678   -0.134075  9.74201    -0.0553937  0.0138484   0.0479369   0.18       -0.02         pose: 0.35984520    2.01055    -0.0238119  0 -0.00046886 -0.00744103 0.00292729  0.999968       uwb: 0.0            845.762  826.886  
imu_odom_:  1691062783.568299299  0.294487   -0.35913   9.09078    -0.0383495  0.0394148   0.04048     0.25       -0.02         pose: 0.53126185    2.01842    -0.0176343  0 8.11114e-05 -0.00315543 0.00305375  0.99999        uwb: 0.50147282     845.777  825.987  
imu_odom_:  1691062783.594380296  0.0526724  -0.21069   9.84975    -0.0468716  -0.0330232  0.052198    0.18       0             pose: 0.0           2.01842    -0.0176343  0 8.11114e-05 -0.00315543 0.00305375  0.99999        uwb: 0.0            845.777  825.987  
imu_odom_:  1691062783.621256328  0.94571    -0.0790087 10.343     -0.0308927  -0.0458064  0.0447411   0.18       0             pose: 0.35019453    2.03246    -0.0193171  0 -0.0013789  0.000138431 0.00312406  0.999994       uwb: 0.50103827     845.081  825.815  
imu_odom_:  1691062783.637141278  0.514753   -0.253785  9.76116    -0.0735032  0.0287621   0.0639159   0.18       0             pose: 0.44943974    2.03808    -0.0149014  0 -8.905e-05  -0.00147034 0.00330873  0.999993       uwb: 0.0            845.081  825.815  
imu_odom_:  1691062783.664197257  0.577003   -0.191536  9.93354    -0.052198   -0.0213053  0.0543285   0.18       0             pose: 0.8026178     2.04032    -0.0131358  0 -0.000488709-0.0020718  0.00340668  0.999992       uwb: 0.49874008     844.73   825.114  
imu_odom_:  1691062783.690190759  0.543484   -0.244209  10.0556    -0.0809601  0           0.0490022   0.18       -0.02         pose: 0.34914751    2.04474    -0.0187421  0 2.73061e-05 -0.0054554  0.00369782  0.999978       uwb: 0.0            844.73   825.114  
imu_odom_:  1691062783.717253155  0.529119   -0.263362  10.1394    -0.0617853  -0.00745685 0.0607201   0.18       -0.02         pose: 0.0           2.04474    -0.0187421  0 2.73061e-05 -0.0054554  0.00369782  0.999978       uwb: 0.50120743     844.334  824.359  
imu_odom_:  1691062783.742417499  0.787692   -0.110133  10.7571    -0.0543285  0.00852212  0.0447411   0.18       0             pose: 0.33140359    2.04651    -0.0209915  0 -0.00232083 -0.00664365 0.00390655  0.999968       uwb: 0.0            844.334  824.359  
imu_odom_:  1691062783.769125833  0.457293   -0.0933739 10.0102    -0.0948085  -0.00426106 0.0617853   0.21       0.02          pose: 0.45079883    2.0588     -0.020422   0 -0.00169871 -0.00677522 0.00417695  0.999967       uwb: 0.49874008     844.803  822.718  
imu_odom_:  1691062783.785174398  0.251391   -0.292093  9.39245    -0.0862864  0.0106526   0.0490022   0.21       0.02          pose: 0.0           2.0588     -0.020422   0 -0.00169871 -0.00677522 0.00417695  0.999967       uwb: 0.0            844.803  822.718  
imu_odom_:  1691062783.812254584  0.40462    -0.371101  9.90481    -0.0660464  -0.0223706  0.0468716   0.25       0.02          pose: 0.0           2.0588     -0.020422   0 -0.00169871 -0.00677522 0.00417695  0.999967       uwb: 0.50057163     844.336  822.498  
imu_odom_:  1691062783.838176340  0.548272   -0.299275  10.1562    -0.0468716  0.0181095   0.0351537   0.25       0.02          pose: 0.50783661    2.0684     -0.0164479  0 -0.00134736 -0.00360294 0.00456484  0.999982       uwb: 0.0            844.336  822.498  
imu_odom_:  1691062783.865190322  0.430956   -0.237026  9.51216    -0.0458064  0.00958738  0.0500674   0.23       0.02          pose: 0.44975180    2.07852    -0.017629   0 -0.00364106 -0.00514241 0.00457692  0.99997        uwb: 0.49934962     844.273  821.485  
imu_odom_:  1691062783.881251428  0.201113   -0.3304    10.0724    -0.04048    0           0.0468716   0.23       0.02          pose: 0.0           2.07852    -0.017629   0 -0.00364106 -0.00514241 0.00457692  0.99997        uwb: 0.0            844.273  821.485  
imu_odom_:  1691062783.908178207  0.658405   -0.296881  9.84735    -0.0681769  -0.0372843  0.0500674   0.25       0             pose: 0.6955827     2.08245    -0.0180882  0 -0.00321987 -0.00451568 0.00461351  0.999974       uwb: 0.49991251     844.951  820.053  
imu_odom_:  1691062783.924117696  0.632069   -0.0766145 10.3501    -0.0330232  -0.0181095  0.0500674   0.25       0             pose: 0.0           2.08245    -0.0180882  0 -0.00321987 -0.00451568 0.00461351  0.999974       uwb: 0.0            844.951  820.053  
imu_odom_:  1691062783.951234046  0.469264   -0.217872  9.9503     -0.0692422  -0.0255663  0.0575243   0.23       0             pose: 0.43001593    2.08245    -0.0180882  0 -0.00249531 -0.00192925 0.004817    0.999983       uwb: 0.50120742     845.384  818.965  
imu_odom_:  1691062783.967325192  0.536301   -0.488417  9.32542    -0.0532632  -0.00106526 0.0351537   0.23       0             pose: 0.0           2.08245    -0.0180882  0 -0.00249531 -0.00192925 0.004817    0.999983       uwb: 0.0            845.384  818.965  
imu_odom_:  1691062783.994297468  0.28491    -0.253785  10.1203    -0.0479369  0.00106526  0.0575243   0.25       0.02          pose: 0.43002759    2.0965     -0.0197215  0 -0.00109887 -0.00476951 0.00505641  0.999975       uwb: 0.0            845.384  818.965  
imu_odom_:  1691062784.20217475   0.622492   -0.114922  10.4196    -0.0447411  0.0181095   0.0436758   0.25       0.02          pose: 0.0           2.0965     -0.0197215  0 -0.00109887 -0.00476951 0.00505641  0.999975       uwb: 0.50020708     845.302  818.227  
imu_odom_:  1691062784.47232916   0.179565   -0.466869  9.77792    -0.0511327  0.0394148   0.0585895   0.23       0.02          pose: 0.43031924    2.10433    -0.0135096  0 -0.00164573 -0.00301122 0.00526501  0.99998        uwb: 0.49723226     845.093  817.66   
imu_odom_:  1691062784.72163359   0.28491    -0.25618   9.93594    -0.0383495  0.056459    0.0383495   0.18       0.02          pose: 0.52936030    2.11055    -0.0213446  0 -0.000505713-0.00214428 0.00556403  0.999982       uwb: 0.0            845.093  817.66   
imu_odom_:  1691062784.89138202   0.497994   -0.301669  9.73482    -0.0660464  -0.036219   0.0415453   0.18       0.02          pose: 0.0           2.11055    -0.0213446  0 -0.000505713-0.00214428 0.00556403  0.999982       uwb: 0.0            845.093  817.66   
imu_odom_:  1691062784.114333170  0.299275   -0.35913   9.43794    -0.0276969  0.0223706   0.0351537   0.18       0             pose: 0.28038254    2.11838    -0.015125   0 -0.0017994  0.000812169 0.00575547  0.999981       uwb: 0.50068248     845.496  815.866  
imu_odom_:  1691062784.141289989  0.533907   -0.114922  9.84975    -0.0436758  -0.0308927  0.0468716   0.18       0             pose: 0.42060151    2.1246     -0.0229538  0 -0.00290556 0.00176633  0.00574237  0.999978       uwb: 0.0            845.496  815.866  
imu_odom_:  1691062784.166104356  0.533907   0.21069    10.0293    -0.0287621  -0.0138484  0.0458064   0.18       -0.02         pose: 0.44087111    2.13243    -0.0167324  0 -0.00199637 0.000751256 0.00580172  0.999981       uwb: 0.50187240     846.348  814.264  
imu_odom_:  1691062784.193086549  0.502782   -0.0622492 9.93354    -0.0553937  -0.0106526  0.0372843   0.18       -0.02         pose: 0.0           2.13243    -0.0167324  0 -0.00199637 0.000751256 0.00580172  0.999981       uwb: 0.0            846.348  814.264  
imu_odom_:  1691062784.210136054  0.6608     -0.366313  10.1586    -0.0649811  -0.0372843  0.0617853   0.19       0.02          pose: 0.51796560    2.14648    -0.0183376  0 0.00292456  -0.00172669 0.00584909  0.999977       uwb: 0.49859427     845.738  814.187  
imu_odom_:  1691062784.234163259  0.814029   -0.299275  10.331     -0.0671117  -0.0223706  0.0500674   0.19       0.02          pose: 0.0           2.14648    -0.0183376  0 0.00292456  -0.00172669 0.00584909  0.999977       uwb: 0.0            845.738  814.187  
imu_odom_:  1691062784.258164509  0.658405   -0.112527  10.1921    -0.0649811  -0.0330232  0.0628506   0.18       0             pose: 0.41076710    2.15202    -0.0139318  0 0.00077083  -0.00575395 0.0061745   0.999964       uwb: 0.50182574     845.505  813.244  
imu_odom_:  1691062784.274214824  0.502782   -0.3304    9.7444     -0.0798948  0.00106526  0.0500674   0.18       0             pose: 0.6977410     2.15431    -0.012112   0 0.00111209  -0.0064442  0.00625368  0.999959       uwb: 0.0            845.505  813.244  
imu_odom_:  1691062784.291104797  -0.268151  -0.296881  9.75158    -0.0436758  0.0394148   0.0276969   0.25       0.02          pose: 0.24973023    2.16054    -0.0199347  0 0.00109956  -0.00783306 0.00649334  0.999948       uwb: 0.0            845.505  813.244  
imu_odom_:  1691062784.317286414  0.167594   -0.272939  10.3669    -0.0553937  -0.0127832  0.0575243   0.25       0.02          pose: 0.0           2.16054    -0.0199347  0 0.00109956  -0.00783306 0.00649334  0.999948       uwb: 0.49683271     845.456  812.519  
imu_odom_:  1691062784.344123366  0.624887   0.0694318  10.2208    -0.0511327  -0.0340885  0.0490022   0.23       0             pose: 0.15097499    2.16054    -0.0199347  0 0.000200713 -0.00668353 0.00649994  0.999957       uwb: 0.0            845.456  812.519  
imu_odom_:  1691062784.369095806  0.342371   -0.011971  10.2687    -0.0585895  -0.0223706  0.0447411   0.23       0             pose: 0.0           2.16054    -0.0199347  0 0.000200713 -0.00668353 0.00649994  0.999957       uwb: 0.49993586     845.498  811.231  
imu_odom_:  1691062784.396139828  0.0622492  -0.301669  10.4052    -0.0639159  0.0383495   0.036219    0.21       -0.02         pose: 0.42934514    2.16835    -0.0137006  0 0.000298501 -0.00344532 0.00670986  0.999972       uwb: 0.0            845.498  811.231  
imu_odom_:  1691062784.421219595  0.344765   -0.232238  10.1658    -0.0436758  0           0.0266316   0.19       0             pose: 0.52019963    2.18241    -0.0152793  0 0.00353798  -0.00236581 0.00683724  0.999968       uwb: 0.50005251     845.815  810.271  
imu_odom_:  1691062784.448302407  0.54109    -0.373495  9.75877    -0.0617853  -0.0447411  0.0532632   0.19       0             pose: 0.0           2.18241    -0.0152793  0 0.00353798  -0.00236581 0.00683724  0.999968       uwb: 0.50053082     845.293  809.629  
imu_odom_:  1691062784.474247204  0.459687   -0.100556  10.422     -0.0340885  0.00213053  0.0298274   0.18       0.02          pose: 0.72136739    2.19246    -0.0164089  0 -0.00112717 -0.0008603020.00681762  0.999976       uwb: 0.0            845.293  809.629  
imu_odom_:  1691062784.501124404  0.88346    -0.25618   10.0006    -0.072438   -0.00958738 0.0436758   0.18       0.02          pose: 0.7955016     2.19646    -0.016858   0 -0.000274962-0.00104661 0.00677797  0.999976       uwb: 0.50053957     844.319  809.113  
imu_odom_:  1691062784.517112015  0.292093   -0.205901  9.26317    -0.0287621  0.0468716   0.02024     0.2        0             pose: 0.0           2.19646    -0.016858   0 -0.000274962-0.00104661 0.00677797  0.999976       uwb: 0.0            844.319  809.113  
imu_odom_:  1691062784.544275905  0.600945   -0.459687  9.90721    -0.0830906  -0.0149137  0.0383495   0.2        0             pose: 0.44866981    2.20225    -0.0122398  0 0.00100554  -0.00419871 0.00674783  0.999968       uwb: 0.0            844.319  809.113  
imu_odom_:  1691062784.569198765  0.390255   -0.385466  9.6606     -0.0479369  -0.0181095  0.0394148   0.24       0             pose: 0.22983394    2.21051    -0.0184386  0 0.000427949 -0.00258479 0.00659049  0.999975       uwb: 0.49874009     844.313  808.082  
imu_odom_:  1691062784.596214789  0.351948   -0.387861  9.91199    -0.0543285  -0.00213053 0.0372843   0.23       0             pose: 0.0           2.21051    -0.0184386  0 0.000427949 -0.00258479 0.00659049  0.999975       uwb: 0.0            844.313  808.082  
imu_odom_:  1691062784.621197728  0.562637   -0.196325  9.96946    -0.0436758  -0.0191748  0.0468716   0.23       0             pose: 0.52110373    2.21833    -0.0122039  0 -0.0041418  -0.00212106 0.00658586  0.999967       uwb: 0.49986003     845.339  806.256  
imu_odom_:  1691062784.638181612  0.452504   -0.351948  10.2424    -0.0394148  -0.0106526  0.052198    0.21       -0.02         pose: 0.0           2.21833    -0.0122039  0 -0.0041418  -0.00212106 0.00658586  0.999967       uwb: 0.0            845.339  806.256  
imu_odom_:  1691062784.664068372  0.497994   -0.215478  10.4411    -0.0511327  -0.00319579 0.0500674   0.21       -0.02         pose: 0.51915844    2.22457    -0.0200222  0 -0.00438702 -0.00270813 0.00669849  0.999964       uwb: 0.50335398     844.594  805.671  
imu_odom_:  1691062784.691114144  0.708684   -0.260968  10.3094    -0.0276969  -0.0490022  0.0330232   0.25       0             pose: 0.0           2.22457    -0.0200222  0 -0.00438702 -0.00270813 0.00669849  0.999964       uwb: 0.0            844.594  805.671  
imu_odom_:  1691062784.707054800  0.919373   -0.241814  9.75877    -0.0468716  0.0266316   0.052198    0.25       0             pose: 0.43020259    2.23238    -0.0137856  0 -0.00268071 -0.00439621 0.00686533  0.999963       uwb: 0.49860593     844.307  804.963  
imu_odom_:  1691062784.724218340  0.174777   -0.507571  9.61033    -0.0660464  -0.0191748  0.056459    0.25       0             pose: 0.0           2.23238    -0.0137856  0 -0.00268071 -0.00439621 0.00686533  0.999963       uwb: 0.0            844.307  804.963  
imu_odom_:  1691062784.750138639  0.392649   -0.0933739 9.87608    -0.0490022  -0.0234358  0.0585895   0.25       0             pose: 0.42949681    2.24644    -0.0153609  0 -0.00256645 -0.00764646 0.00695594  0.999943       uwb: 0.0            844.307  804.963  
imu_odom_:  1691062784.777262281  0.47884    -0.395043  9.92157    -0.056459   0.0287621   0.0426106   0.23       0             pose: 0.36034684    2.24644    -0.0153609  0 -0.00106837 -0.00551429 0.00728642  0.999958       uwb: 0.0            844.307  804.963  
imu_odom_:  1691062784.793067904  0.308852   -0.0742203 10.1347    -0.0532632  0.0149137   0.0415453   0.23       0             pose: 0.6973617     2.24644    -0.0153609  0 -0.00175837 -0.00526506 0.00730076  0.999958       uwb: 0.0            844.307  804.963  
imu_odom_:  1691062784.820053013  0.490811   -0.23942   10.1754    -0.0585895  -0.0383495  0.0447411   0.25       0.02          pose: 0.0           2.24644    -0.0153609  0 -0.00175837 -0.00526506 0.00730076  0.999958       uwb: 0.99941965     844.266  804.211  
imu_odom_:  1691062784.845215025  0.411803   -0.0981623 9.96227    -0.072438   0.00213053  0.052198    0.25       0.02          pose: 0.44087112    2.26049    -0.0169244  0 -0.00190369 -0.00398534 0.00737358  0.999963       uwb: 0.0            844.266  804.211  
imu_odom_:  1691062784.872214133  0.181959   -0.306458  10.1347    -0.0479369  -0.0181095  0.0383495   0.21       -0.02         pose: 0.44015657    2.26604    -0.0124897  0 0.00132836  -0.00379712 0.00756249  0.999963       uwb: 0.50004960     844.797  802.767  
imu_odom_:  1691062784.898202678  0.438139   -0.205901  9.8665     -0.0756338  0.0127832   0.0490022   0.18       0             pose: 0.6994033     2.2683     -0.0106765  0 0.00109201  -0.00319679 0.00755838  0.999966       uwb: 0.50083705     844.374  802.229  
imu_odom_:  1691062784.925200912  0.059855   -0.222661  9.68455    -0.0266316  0.0223706   0.0394148   0.23       0             pose: 0.45993620    2.28016    -0.013992   0 0.000511673 -0.00383432 0.0076692   0.999963       uwb: 0.0            844.374  802.229  
imu_odom_:  1691062784.950052026  0.0622492  -0.023942  9.72764    -0.0426106  -0.0170442  0.0468716   0.19       0             pose: 0.0           2.28016    -0.013992   0 0.000511673 -0.00383432 0.0076692   0.999963       uwb: 0.49874885     843.99   801.028  
imu_odom_:  1691062784.967085490  0.670376   -0.158017  10.07      -0.0340885  -0.0117179  0.0394148   0.19       0             pose: 0.34899004    2.28236    -0.0122322  0 0.00116022  -0.00011186 0.0076958   0.99997        uwb: 0.0            843.99   801.028  
imu_odom_:  1691062784.993172904  0.430956   -0.316035  9.69652    -0.0553937  0.0106526   0.052198    0.18       0.02          pose: 0.0           2.28236    -0.0122322  0 0.00116022  -0.00011186 0.0076958   0.99997        uwb: 0.0            843.99   801.028  
imu_odom_:  1691062785.10167580   0.186748   -0.23942   9.93833    -0.0436758  -0.00319579 0.0426106   0.18       0.02          pose: 0.42205975    2.29641    -0.0137844  0 0.00148468  -0.0005089210.00781027  0.999968       uwb: 0.49997085     843.466  800.359  
imu_odom_:  1691062785.26046115   0.572214   -0.304064  9.5816     -0.0543285  -0.0117179  0.0490022   0.18       0.02          pose: 0.0           2.29641    -0.0137844  0 0.00148468  -0.0005089210.00781027  0.999968       uwb: 0.0            843.466  800.359  
imu_odom_:  1691062785.53048141   0.395043   -0.248997  10.1586    -0.0276969  0.00426106  0.0298274   0.18       0             pose: 0.42791316    2.29641    -0.0137844  0 -0.0006507250.000326354 0.00798782  0.999968       uwb: 0.49998837     843.613  799.105  
imu_odom_:  1691062785.78114493   0.146046   -0.234632  9.57441    -0.0649811  0.0127832   0.0543285   0.2        0             pose: 0.34949168    2.3062     -0.0148595  0 -0.00241572 0.00167468  0.00789572  0.999965       uwb: 0.0            843.613  799.105  
imu_odom_:  1691062785.96094942   0.73502    -0.167594  10.2615    -0.0415453  -0.00958738 0.0351537   0.2        0             pose: 0.0           2.3062     -0.0148595  0 -0.00241572 0.00167468  0.00789572  0.999965       uwb: 0.0            843.613  799.105  
imu_odom_:  1691062785.112050180  0.761356   -0.146046  10.1251    -0.0458064  -0.00532632 0.0532632   0.2        0             pose: 0.0           2.3062     -0.0148595  0 -0.00241572 0.00167468  0.00789572  0.999965       uwb: 0.50005253     843.457  798.179  
imu_odom_:  1691062785.136035973  0.526724   -0.105345  9.94312    -0.0692422  -0.0617853  0.0426106   0.18       0.02          pose: 0.8257748     2.31047    -0.0153294  0 -0.00236956 0.00256634  0.00795862  0.999962       uwb: 0.0            843.457  798.179  
imu_odom_:  1691062785.161038745  0.550666   -0.325611  9.60314    -0.056459   -0.0223706  0.0490022   0.18       0.02          pose: 0.0           2.31047    -0.0153294  0 -0.00236956 0.00256634  0.00795862  0.999962       uwb: 0.50053375     842.966  797.545  
imu_odom_:  1691062785.188023855  0.294487   -0.138864  9.96946    -0.0372843  0.00852212  0.0276969   0.21       0             pose: 0.57886191    2.31827    -0.00907203 0 -0.0008291290.000302892 0.00816253  0.999966       uwb: 0.0            842.966  797.545  
imu_odom_:  1691062785.214024942  0.59855    -0.342371  9.57202    -0.0681769  -0.0276969  0.0511327   0.19       0             pose: 0.48920319    2.32453    -0.0168709  0 -0.00108327 -0.00280602 0.00826669  0.999961       uwb: 0.49978713     842.636  796.754  
imu_odom_:  1691062785.241125837  0.500388   -0.208296  9.66779    -0.0127832  0.00213053  0.0351537   0.19       0             pose: 0.0           2.32453    -0.0168709  0 -0.00108327 -0.00280602 0.00826669  0.999961       uwb: 0.0            842.636  796.754  
imu_odom_:  1691062785.266051614  0.64404    -0.337582  9.71328    -0.0703074  -0.00532632 0.0490022   0.18       -0.02         pose: 0.73013438    2.34417    -0.0139314  0 0.00103903  -0.005076   0.00823161  0.999953       uwb: 0.50040834     843.312  795.429  
imu_odom_:  1691062785.293183132  0.442927   -0.0191536 9.91678    -0.052198   -0.015979   0.0660464   0.18       -0.02         pose: 0.7936643     2.34639    -0.0121489  0 0.000425238 -0.00564917 0.00827207  0.99995        uwb: 0.0            843.312  795.429  
imu_odom_:  1691062785.309056709  0.395043   -0.323217  9.991      -0.076699   -0.0181095  0.0585895   0.2        -0.02         pose: 0.0           2.34639    -0.0121489  0 0.000425238 -0.00564917 0.00827207  0.99995        uwb: 0.49946632     842.896  794.885  
imu_odom_:  1691062785.326058384  1.16358    -0.1652    9.88087    -0.0458064  0.00639159  0.0319579   0.2        -0.02         pose: 0.44120652    2.35085    -0.0177081  0 0.00162559  -0.00591437 0.00870217  0.999943       uwb: 0.0            842.896  794.885  
imu_odom_:  1691062785.352099719  0.512359   -0.354342  9.69891    -0.0777643  0.0245011   0.0490022   0.18       0             pose: 0.0           2.35085    -0.0177081  0 0.00162559  -0.00591437 0.00870217  0.999943       uwb: 0.49973755     842.379  794.211  
imu_odom_:  1691062785.369227386  -0.0023942 -0.445322  9.42597    -0.052198   0.0798948   0.0213053   0.18       0             pose: 0.32875252    2.36044    -0.0136743  0 0.000476044 -0.00658354 0.0087926   0.99994        uwb: 0.0            842.379  794.211  
imu_odom_:  1691062785.394179120  0.454898   -0.538695  9.74679    -0.0639159  0.0383495   0.0617853   0.18       0             pose: 0.0           2.36044    -0.0136743  0 0.000476044 -0.00658354 0.0087926   0.99994        uwb: 0.0            842.379  794.211  
imu_odom_:  1691062785.421159272  0.411803   -0.110133  10.2639    -0.0553937  -0.0127832  0.036219    0.18       0             pose: 0.43169002    2.36479    -0.0101754  0 -0.00298049 -0.0036067  0.00877981  0.999951       uwb: 0.50064166     841.877  793.555  
imu_odom_:  1691062785.446189168  0.371101   -0.418985  10.2352    -0.0681769  0.0117179   0.0426106   0.18       -0.02         pose: 0.51931886    2.3745     -0.0151945  0 -0.00295749 -0.00242628 0.00901535  0.999952       uwb: 0.0            841.877  793.555  
imu_odom_:  1691062785.463168095  0.397437   -0.316035  9.25838    -0.0436758  0.0276969   0.0255663   0.18       -0.02         pose: 0.0           2.3745     -0.0151945  0 -0.00295749 -0.00242628 0.00901535  0.999952       uwb: 0.50116079     843.062  791.736  
imu_odom_:  1691062785.488267694  0.45011    -0.172383  9.80665    -0.0596548  0.052198    0.0319579   0.18       -0.02         pose: 0.42008823    2.38577    -0.0132409  0 -0.00552143 0.000918625 0.00894999  0.999944       uwb: 0.0            843.062  791.736  
imu_odom_:  1691062785.515026193  0.287304   -0.11971   10.2376    -0.0479369  -0.0671117  0.0458064   0.18       -0.02         pose: 0.0           2.38577    -0.0132409  0 -0.00552143 0.000918625 0.00894999  0.999944       uwb: 0.49948674     843.408  790.678  
imu_odom_:  1691062785.541031071  0.624887   -0.275333  10.489     -0.04048    -0.0340885  0.0287621   0.19       -0.02         pose: 0.51858098    2.3941     -0.0122568  0 -0.0009190710.00124939  0.0089394   0.999959       uwb: 0.0            843.408  790.678  
imu_odom_:  1691062785.566031802  0.68953    -0.071826  10.07      -0.0553937  -0.0671117  0.0500674   0.23       0             pose: 0.0           2.3941     -0.0122568  0 -0.0009190710.00124939  0.0089394   0.999959       uwb: 0.0            843.408  790.678  
imu_odom_:  1691062785.589192520  0.418985   -0.232238  9.98382    -0.0436758  -0.0468716  0.0191748   0.23       0             pose: 0.33021077    2.39635    -0.0104392  0 -0.000740969-0.00250923 0.00883166  0.999958       uwb: 0.0            843.408  790.678  
imu_odom_:  1691062785.605115969  0.799663   -0.129287  9.92875    -0.0553937  -0.0287621  0.04048     0.23       0             pose: 0.0           2.39635    -0.0104392  0 -0.000740969-0.00250923 0.00883166  0.999958       uwb: 0.99739856     844.481  789.058  
imu_odom_:  1691062785.623010673  0.536301   -0.519542  9.82341    -0.0841559  -0.0181095  0.0447411   0.18       0.02          pose: 0.49034646    2.41041    -0.0119598  0 -6.17234e-05-0.00370537 0.00869267  0.999955       uwb: 0.0            844.481  789.058  
imu_odom_:  1691062785.648003530  0.553061   -0.143652  9.34457    -0.0458064  -0.0234358  0.0383495   0.18       0.02          pose: 0.0           2.41041    -0.0119598  0 -6.17234e-05-0.00370537 0.00869267  0.999955       uwb: 0.49976671     843.82   788.548  
imu_odom_:  1691062785.675112882  0.356736   -0.462081  9.77792    -0.0543285  -0.0149137  0.0447411   0.18       0.02          pose: 0.33006786    2.41041    -0.0119598  0 -0.00121477 -0.00537899 0.00874075  0.999947       uwb: 0.0            843.82   788.548  
imu_odom_:  1691062785.700159110  0.538695   -0.174777  9.81623    -0.0500674  0.0149137   0.0490022   0.18       0.02          pose: 0.45024180    2.42447    -0.0134829  0 -0.0018035  -0.00505855 0.00880488  0.999947       uwb: 0.50194825     843.973  787.206  
imu_odom_:  1691062785.724013661  0.624887   -0.0790087 9.64624    -0.0426106  0.0127832   0.0394148   0.18       0.02          pose: 0.0           2.42447    -0.0134829  0 -0.0018035  -0.00505855 0.00880488  0.999947       uwb: 0.0            843.973  787.206  
imu_odom_:  1691062785.748209441  0.708684   -0.198719  9.95509    -0.0649811  -0.00745685 0.0553937   0.18       0             pose: 0.8097925     2.42447    -0.0134829  0 -0.00105388 -0.00533631 0.00883866  0.999946       uwb: 0.50079915     844.95   785.414  
imu_odom_:  1691062785.764158846  0.136469   -0.407014  9.52653    -0.052198   0.0458064   0.0255663   0.18       0             pose: 0.0           2.42447    -0.0134829  0 -0.00105388 -0.00533631 0.00883866  0.999946       uwb: 0.0            844.95   785.414  
imu_odom_:  1691062785.781161980  0.627281   -0.124498  10.2185    -0.0308927  -0.04048    0.0458064   0.23       0             pose: 0.47959044    2.43853    -0.015003   0 0.00232534  -0.00796973 0.0089572   0.999925       uwb: 0.0            844.95   785.414  
imu_odom_:  1691062785.806152211  0.462081   -0.246603  9.73722    -0.0490022  -0.0266316  0.0553937   0.23       0             pose: 0.0           2.43853    -0.015003   0 0.00232534  -0.00796973 0.0089572   0.999925       uwb: 0.49734895     845.408  784.068  
imu_odom_:  1691062785.823274046  0.584185   -0.0646434 9.85214    -0.0458064  -0.0298274  0.0511327   0.21       0.02          pose: 0.40068482    2.43853    -0.015003   0 0.00181865  -0.00847603 0.0090104   0.999922       uwb: 0.0            845.408  784.068  
imu_odom_:  1691062785.848134785  0.526724   -0.0837971 9.84496    -0.0713727  -0.0351537  0.0532632   0.21       0.02          pose: 0.0           2.43853    -0.015003   0 0.00181865  -0.00847603 0.0090104   0.999922       uwb: 0.50172076     845.308  783.529  
imu_odom_:  1691062785.875060691  0.629675   0.0861913  10.3262    -0.0607201  -0.0596548  0.0553937   0.23       0             pose: 0.41900912    2.45259    -0.0165179  0 0.00203739  -0.00782383 0.00927822  0.999924       uwb: 0.0            845.308  783.529  
imu_odom_:  1691062785.891235833  0.636858   -0.203507  9.84735    -0.0756338  -0.0106526  0.056459    0.23       0             pose: 0.0           2.45259    -0.0165179  0 0.00203739  -0.00782383 0.00927822  0.999924       uwb: 0.0            845.308  783.529  
imu_odom_:  1691062785.918049453  0.232238   -0.167594  9.59835    -0.0628506  -0.0181095  0.0468716   0.23       0             pose: 0.41862415    2.46038    -0.0102407  0 0.00571362  -0.00787318 0.00952491  0.999907       uwb: 0.49871386     845.301  782.317  
imu_odom_:  1691062785.943049018  0.380678   -0.248997  9.38048    -0.0873517  -0.00106526 0.0511327   0.23       0             pose: 0.0           2.46038    -0.0102407  0 0.00571362  -0.00787318 0.00952491  0.999907       uwb: 0.0            845.301  782.317  
imu_odom_:  1691062785.967994044  0.428562   0.0023942  9.9503     -0.0830906  -0.0191748  0.0447411   0.21       0.02          pose: 0.43015302    2.46666    -0.0180213  0 0.00574626  -0.0091724  0.00984401  0.999893       uwb: 0.49955381     845.396  781.238  
imu_odom_:  1691062785.982042773  0.696713   -0.335188  9.68933    -0.0649811  -0.0191748  0.0479369   0.21       0.02          pose: 0.0           2.46666    -0.0180213  0 0.00574626  -0.0091724  0.00984401  0.999893       uwb: 0.0            845.396  781.238  
imu_odom_:  1691062786.6970592    0.258574   -0.289698  10.0149    -0.0383495  -0.0181095  0.0415453   0.18       0             pose: 0.51983800    2.47444    -0.0117366  0 0.00381     -0.00511216 0.010064    0.999929       uwb: 0.49918342     844.263  781.26   
imu_odom_:  1691062786.30963677   0.280122   0.0981623  9.9503     -0.0479369  -0.056459   0.0372843   0.18       0             pose: 0.0           2.47444    -0.0117366  0 0.00381     -0.00511216 0.010064    0.999929       uwb: 0.0            844.263  781.26   
imu_odom_:  1691062786.55134084   0.632069   -0.0023942 10.24      -0.0532632  -0.0500674  0.0426106   0.18       0             pose: 0.39149496    2.4885     -0.0132218  0 0.00375769  -0.00492099 0.0101713   0.999929       uwb: 0.50198618     845.072  779.56   
imu_odom_:  1691062786.80135690   0.514753   -0.397437  9.42358    -0.0426106  -0.0394148  0.0479369   0.18       0             pose: 0.0           2.4885     -0.0132218  0 0.00375769  -0.00492099 0.0101713   0.999929       uwb: 0.0            845.072  779.56   
imu_odom_:  1691062786.107017558  0.385466   -0.25618   9.85214    -0.0575243  0.0234358   0.0511327   0.23       0             pose: 0.49174930    2.4885     -0.0132218  0 0.0053795   -0.00346894 0.0101603   0.999928       uwb: 0.49864971     844.831  778.807  
imu_odom_:  1691062786.123103164  0.337582   -0.153229  9.9503     -0.052198   -0.0106526  0.036219    0.23       0             pose: 0.0           2.4885     -0.0132218  0 0.0053795   -0.00346894 0.0101603   0.999928       uwb: 0.0            844.831  778.807  
imu_odom_:  1691062786.149972199  0.179565   -0.47884   9.7875     -0.0692422  -0.0234358  0.0639159   0.19       -0.02         pose: 0.48850616    2.50257    -0.0147046  0 0.00350879  -0.00520795 0.0103466   0.999927       uwb: 0.50050752     844.871  777.627  
imu_odom_:  1691062786.175128088  0.849942   -0.0933739 10.5273    -0.0415453  0.00639159  0.0287621   0.2        0             pose: 0.27961844    2.51034    -0.00841161 0 0.0022678   -0.00268905 0.0104485   0.999939       uwb: 0.0            844.871  777.627  
imu_odom_:  1691062786.199001013  1.08697    -0.110133  11.0923    -0.0596548  -0.0553937  0.0575243   0.2        0             pose: 0.34834551    2.51476    -0.0138729  0 0.000132121 -0.00047451 0.0107589   0.999942       uwb: 0.49934384     845.427  776.35   
imu_odom_:  1691062786.213983603  0.605733   -0.0622492 9.52653    -0.0713727  -0.0905475  0.0340885   0.2        0             pose: 0.0           2.51476    -0.0138729  0 0.000132121 -0.00047451 0.0107589   0.999942       uwb: 0.0            845.427  776.35   
imu_odom_:  1691062786.238110263  0.35913    -0.351948  10.0556    -0.0628506  -0.0351537  0.0447411   0.18       0             pose: 0.8015388     2.51664    -0.0161807  0 0.000405634 -0.00120331 0.0107156   0.999942       uwb: 0.0            845.427  776.35   
imu_odom_:  1691062786.264972298  0.035913   -0.141258  10.3166    -0.0394148  0.00532632  0.0298274   0.23       0             pose: 0.48024667    2.5244     -0.00988162 0 0.00180694  -0.0064503  0.0108149   0.999919       uwb: 0.50127164     845.506  775.208  
imu_odom_:  1691062786.290126437  0.483629   -0.23942   9.71088    -0.0703074  -0.0276969  0.0511327   0.23       0             pose: 0.0           2.5244     -0.00988162 0 0.00180694  -0.0064503  0.0108149   0.999919       uwb: 0.0            845.506  775.208  
imu_odom_:  1691062786.307069200  0.802058   -0.222661  9.88805    -0.0330232  0           0.0351537   0.23       0             pose: 0.38970133    2.53847    -0.0113464  0 0.000744562 -0.0052037  0.010824    0.999928       uwb: 0.49808100     846.286  773.389  
imu_odom_:  1691062786.331946272  0.567426   -0.150835  10.3573    -0.052198   -0.00852212 0.0543285   0.23       0             pose: 0.0           2.53847    -0.0113464  0 0.000744562 -0.0052037  0.010824    0.999928       uwb: 0.0            846.286  773.389  
imu_odom_:  1691062786.358994379  0.656011   -0.225055  9.42118    -0.056459   0.0351537   0.0394148   0.23       -0.02         pose: 0.52261159    2.53847    -0.0113464  0 -0.00120833 -0.00515713 0.0108611   0.999927       uwb: 0.50086334     845.637  772.433  
imu_odom_:  1691062786.384114104  0.23942    -0.241814  9.59117    -0.0628506  0.00319579  0.0660464   0.23       -0.02         pose: 0.0           2.53847    -0.0113464  0 -0.00120833 -0.00515713 0.0108611   0.999927       uwb: 0.0            845.637  772.433  
imu_odom_:  1691062786.408993510  0.237026   -0.122104  9.94073    -0.0447411  0.00852212  0.04048     0.23       -0.05         pose: 0.41806128    2.55254    -0.0128093  0 0.00110022  -0.00772339 0.0110085   0.999909       uwb: 0.50037627     846.224  771.154  
imu_odom_:  1691062786.423105236  -0.134075  -0.184354  9.40921    -0.0820254  -0.00319579 0.0649811   0.23       -0.05         pose: 0.0           2.55254    -0.0128093  0 0.00110022  -0.00772339 0.0110085   0.999909       uwb: 0.0            846.224  771.154  
imu_odom_:  1691062786.448221752  -0.306458  -0.323217  9.71088    -0.0426106  0.04048     0.0255663   0.18       0             pose: 0.52000134    2.5603     -0.00650296 0 0.000413094 -0.0059587  0.0113483   0.999918       uwb: 0.50205618     846.509  770.281  
imu_odom_:  1691062786.472990040  0.253785   -0.148441  10.5919    -0.0585895  -0.0234358  0.0596548   0.18       0             pose: 0.0           2.5603     -0.00650296 0 0.000413094 -0.0059587  0.0113483   0.999918       uwb: 0.0            846.509  770.281  
imu_odom_:  1691062786.496160966  0.574608   -0.071826  10.1155    -0.0468716  0.015979    0.036219    0.18       0.02          pose: 0.81940232    2.57436    -0.00794974 0 0.00137831  0.00242508  0.011602    0.999929       uwb: 0.0            846.509  770.281  
imu_odom_:  1691062786.512101331  0.991199   -0.196325  9.76116    -0.0894822  -0.00745685 0.0511327   0.18       0.02          pose: 0.0           2.57436    -0.00794974 0 0.00137831  0.00242508  0.011602    0.999929       uwb: 0.0            846.509  770.281  
imu_odom_:  1691062786.539157896  0.179565   -0.282516  9.40203    -0.0500674  0.0394148   0.0319579   0.23       0             pose: 0.39111291    2.58843    -0.00939261 0 0.00223367  -0.00100259 0.0116648   0.999929       uwb: 0.0            846.509  770.281  
imu_odom_:  1691062786.555035848  0.335188   -0.347159  10.2927    -0.0671117  -0.00213053 0.0372843   0.23       0             pose: 0.0           2.58843    -0.00939261 0 0.00223367  -0.00100259 0.0116648   0.999929       uwb: 0.99857102     845.705  769.514  
imu_odom_:  1691062786.582104371  0.766145   -0.270545  9.86172    -0.0351537  0.0298274   0.0223706   0.25       -0.02         pose: 0.42934517    2.58843    -0.00939261 0 -0.0005036730.00231053  0.0115372   0.999931       uwb: 0.0            845.705  769.514  
imu_odom_:  1691062786.607112977  0.586579   -0.430956  9.68455    -0.0649811  -0.0447411  0.052198    0.19       0             pose: 0.0           2.58843    -0.00939261 0 -0.0005036730.00231053  0.0115372   0.999931       uwb: 0.49924760     845.584  768.46   
imu_odom_:  1691062786.633968596  0.366313   -0.0215478 9.94551    -0.0447411  -0.0298274  0.0426106   0.23       0             pose: 0.34985042    2.6025     -0.0108405  0 -0.00113288 -0.0006158120.0113512   0.999935       uwb: 0.0            845.584  768.46   
imu_odom_:  1691062786.659000534  0.782904   -0.308852  9.6606     -0.0713727  0.0127832   0.04048     0.18       -0.02         pose: 0.43947706    2.60801    -0.00635959 0 0.000220708 -0.00160946 0.011497    0.999933       uwb: 0.49854472     845.696  767.309  
imu_odom_:  1691062786.685074242  0.0407014  -0.363919  9.79947    -0.0617853  0.0245011   0.0415453   0.18       -0.02         pose: 0.8156547     2.61026    -0.00452958 0 -5.70794e-05-0.00232883 0.0115011   0.999931       uwb: 0.0            845.696  767.309  
imu_odom_:  1691062786.701088103  0.517148   -0.366313  10.1011    -0.0681769  -0.0245011  0.0436758   0.2        0             pose: 0.0           2.61026    -0.00452958 0 -5.70794e-05-0.00232883 0.0115011   0.999931       uwb: 0.50290196     846.503  765.873  
imu_odom_:  1691062786.727942264  0.682347   -0.023942  9.97185    -0.0553937  0.0266316   0.0383495   0.2        0             pose: 0.42949099    2.61486    -0.0101894  0 -0.00152598 -0.0009622940.0115393   0.999932       uwb: 0.0            846.503  765.873  
imu_odom_:  1691062786.752979452  0.179565   -0.445322  9.77074    -0.0543285  0.02024     0.0319579   0.17       0             pose: 0.42868022    2.62433    -0.00597399 0 -0.000917095-0.00355559 0.0115446   0.999927       uwb: 0.49838723     846.511  764.994  
imu_odom_:  1691062786.776920914  0.440533   -0.129287  10.0245    -0.0479369  -0.02024    0.0436758   0.17       0             pose: 0.0           2.62433    -0.00597399 0 -0.000917095-0.00355559 0.0115446   0.999927       uwb: 0.0            846.511  764.994  
imu_odom_:  1691062786.792002082  0.749385   -0.538695  9.91199    -0.0681769  -0.00532632 0.0575243   0.18       0.02          pose: 0.48978650    2.63611    -0.00927435 0 7.42545e-05 -0.00164211 0.0115023   0.999932       uwb: 0.0            846.511  764.994  
imu_odom_:  1691062786.816082953  0.531513   -0.222661  9.8258     -0.0490022  0.0181095   0.0511327   0.18       0.02          pose: 0.0           2.63611    -0.00927435 0 7.42545e-05 -0.00164211 0.0115023   0.999932       uwb: 0.49934675     846.922  763.826  
imu_odom_:  1691062786.841132390  0.318429   -0.42138   9.63666    -0.0479369  0.036219    0.0255663   0.23       0             pose: 0.39162039    2.63839    -0.00741902 0 -0.000563364-0.00480724 0.0117743   0.999919       uwb: 0.0            846.922  763.826  
imu_odom_:  1691062786.855081376  -0.0047884 -0.320823  10.0628    -0.0223706  -0.00426106 0.0287621   0.23       0             pose: 0.0           2.63839    -0.00741902 0 -0.000563364-0.00480724 0.0117743   0.999919       uwb: 0.50003214     847.107  762.752  
imu_odom_:  1691062786.871120610  0.61531    -0.409408  10.1778    -0.0287621  -0.0607201  0.036219    0.23       0             pose: 0.0           2.63839    -0.00741902 0 -0.000563364-0.00480724 0.0117743   0.999919       uwb: 0.0            847.107  762.752  
imu_odom_:  1691062786.888052873  0.440533   -0.0766145 9.7875     -0.0117179  -0.00639159 0.0330232   0.19       0.02          pose: 0.45998289    2.65246    -0.00885805 0 -0.00265022 -0.00200714 0.011526    0.999928       uwb: 0.0            847.107  762.752  
imu_odom_:  1691062786.903955324  0.579397   -0.047884  9.94551    -0.0319579  -0.0298274  0.0745685   0.19       0.02          pose: 0.0           2.65246    -0.00885805 0 -0.00265022 -0.00200714 0.011526    0.999928       uwb: 0.49868763     847.604  760.78   
imu_odom_:  1691062786.930061405  0.701501   -0.222661  9.99819    -0.0788296  0.02024     0.052198    0.25       0             pose: 0.41874082    2.65658    -0.00550946 0 0.000508889 -0.00385692 0.011726    0.999924       uwb: 0.0            847.604  760.78   
imu_odom_:  1691062786.955925126  0.54109    -0.323217  9.96467    -0.0820254  0.0426106   0.0553937   0.25       0             pose: 0.7073362     2.66022    -0.00254493 0 0.000378314 -0.00447799 0.0117708   0.999921       uwb: 0.50182285     846.363  760.679  
imu_odom_:  1691062786.972920969  0.548272   -0.287304  10.2855    -0.0873517  0.00745685  0.036219    0.23       0.05          pose: 0.0           2.66022    -0.00254493 0 0.000378314 -0.00447799 0.0117708   0.999921       uwb: 0.0            846.363  760.679  
imu_odom_:  1691062786.998109231  0.31364    -0.241814  9.51935    -0.072438   0.0138484   0.056459    0.23       0.05          pose: 0.44896440    2.66653    -0.0102983  0 -0.00287972 -0.00597802 0.0121095   0.999905       uwb: 0.50093333     846.126  759.85   
imu_odom_:  1691062787.23949912   0.529119   -0.517148  9.50019    -0.0703074  0.00639159  0.04048     0.18       0             pose: 0.25099601    2.67428    -0.00397752 0 -0.00383293 -0.00653195 0.0121487   0.999898       uwb: 0.0            846.126  759.85   
imu_odom_:  1691062787.48982726   0.481235   -0.287304  9.73243    -0.072438   -0.0213053  0.0553937   0.19       0             pose: 0.0           2.67428    -0.00397752 0 -0.00383293 -0.00653195 0.0121487   0.999898       uwb: 0.49902596     847.352  758.064  
imu_odom_:  1691062787.66028442   0.0885855  -0.323217  9.7851     -0.0490022  0.0149137   0.0490022   0.19       0             pose: 0.49959467    2.6806     -0.0117252  0 -0.00577978 -0.00485246 0.0123696   0.999895       uwb: 0.0            847.352  758.064  
imu_odom_:  1691062787.91044048   0.3304     -0.25618   9.82102    -0.0447411  0.015979    0.036219    0.18       0             pose: 0.0           2.6806     -0.0117252  0 -0.00577978 -0.00485246 0.0123696   0.999895       uwb: 0.0            847.352  758.064  
imu_odom_:  1691062787.116087070  0.217872   -0.28491   10.2424    -0.036219   0.0223706   0.0447411   0.18       0             pose: 0.42939477    2.68835    -0.00540005 0 -0.00401378 -0.00172801 0.0125842   0.999911       uwb: 0.49831725     847.273  757      
imu_odom_:  1691062787.128916999  0.179565   -0.189142  9.81383    -0.0213053  0.00426106  0.0394148   0.18       0             pose: 0.0           2.68835    -0.00540005 0 -0.00401378 -0.00172801 0.0125842   0.999911       uwb: 0.0            847.273  757      
imu_odom_:  1691062787.154963002  0.363919   -0.342371  9.65582    -0.0436758  -0.0181095  0.0479369   0.18       0             pose: 0.48148619    2.70242    -0.00681493 0 -0.0028276  0.00347278  0.012634    0.99991        uwb: 0.50098584     847.799  755.474  
imu_odom_:  1691062787.180065811  0.543484   -0.260968  9.55526    -0.0479369  -0.0617853  0.0596548   0.25       0             pose: 0.32890712    2.70242    -0.00681493 0 -0.00458068 0.00277758  0.012732    0.999905       uwb: 0.0            847.799  755.474  
imu_odom_:  1691062787.193064606  0.581791   -0.0790087 10.0652    -0.0276969  -0.0340885  0.0511327   0.25       0             pose: 0.0           2.70242    -0.00681493 0 -0.00458068 0.00277758  0.012732    0.999905       uwb: 0.0            847.799  755.474  
imu_odom_:  1691062787.218047839  0.505177   -0.150835  10.2185    -0.0213053  -0.00745685 0.04048     0.25       0             pose: 0.0           2.70242    -0.00681493 0 -0.00458068 0.00277758  0.012732    0.999905       uwb: 0.50112583     847.804  754.528  
imu_odom_:  1691062787.243052071  0.758962   -0.167594  10.3477    -0.0543285  -0.0170442  0.0415453   0.17       0             pose: 0.7000741     2.70242    -0.00681493 0 -0.00440354 0.00189239  0.0128005   0.999907       uwb: 0.0            847.804  754.528  
imu_odom_:  1691062787.267985141  0.512359   -0.124498  10.149     -0.0511327  0.00106526  0.0607201   0.18       0             pose: 0.39059379    2.71649    -0.00822416 0 -0.00192072 -0.00181356 0.0130514   0.999911       uwb: 0.49887139     847.559  753.653  
imu_odom_:  1691062787.291928063  0.371101   -0.354342  9.35893    -0.0681769  0.00852212  0.0351537   0.18       0             pose: 0.0           2.71649    -0.00822416 0 -0.00192072 -0.00181356 0.0130514   0.999911       uwb: 0.0            847.559  753.653  
imu_odom_:  1691062787.309965968  0.0766145  0.0263362  10.3813    -0.0383495  -0.0351537  0.0330232   0.21       -0.02         pose: 0.48902824    2.72423    -0.00188875 0 0.00099798  -0.00533214 0.013147    0.999899       uwb: 0.0            847.559  753.653  
imu_odom_:  1691062787.333955554  0.296881   -0.471658  9.87848    -0.0585895  -0.0170442  0.0372843   0.21       -0.02         pose: 0.0           2.72423    -0.00188875 0 0.00099798  -0.00533214 0.013147    0.999899       uwb: 0.0            847.559  753.653  
imu_odom_:  1691062787.358885707  1.075      -0.296881  9.91439    -0.0458064  -0.0330232  0.0532632   0.23       0.02          pose: 0.50005839    2.73057    -0.00962489 0 0.00114839  -0.00324361 0.0132539   0.999906       uwb: 0.99925643     848.038  752.5    
imu_odom_:  1691062787.381033238  0.466869   -0.414197  9.71328    -0.0468716  0.00532632  0.036219    0.23       0.02          pose: 0.0           2.73057    -0.00962489 0 0.00114839  -0.00324361 0.0132539   0.999906       uwb: 0.0            848.038  752.5    
imu_odom_:  1691062787.394902896  0.342371   -0.316035  9.64863    -0.0276969  0.0394148   0.0308927   0.17       0             pose: 0.41091881    2.7383     -0.00328654 0 -0.000486981-0.00236531 0.0132426   0.999909       uwb: 0.0            848.038  752.5    
imu_odom_:  1691062787.419907711  0.280122   -0.418985  9.93354    -0.0649811  -0.0213053  0.0500674   0.17       0             pose: 0.0           2.7383     -0.00328654 0 -0.000486981-0.00236531 0.0132426   0.999909       uwb: 0.0            848.038  752.5    
imu_odom_:  1691062787.440948726  0.45011    -0.0311246 9.93833    -0.0649811  -0.0628506  0.052198    0.18       0.02          pose: 0.46033873    2.75237    -0.00468225 0 -0.00281697 -0.003384   0.0133136   0.999902       uwb: 0.0            848.038  752.5    
imu_odom_:  1691062787.455058411  0.842759   -0.272939  9.89045    -0.0841559  -0.0458064  0.0735032   0.18       0.02          pose: 0.0           2.75237    -0.00468225 0 -0.00281697 -0.003384   0.0133136   0.999902       uwb: 0.100108506    847.954  751.39   
imu_odom_:  1691062787.471097646  0.656011   -0.385466  9.84735    -0.0596548  0.015979    0.0479369   0.18       0.02          pose: 0.0           2.75237    -0.00468225 0 -0.00281697 -0.003384   0.0133136   0.999902       uwb: 0.0            847.954  751.39   
imu_odom_:  1691062787.496027216  0.0814029  -0.0766145 10.1586    -0.0703074  0.0213053   0.0596548   0.18       -0.02         pose: 0.38845892    2.75237    -0.00468225 0 -0.00417632 -0.00104234 0.0134616   0.9999         uwb: 0.0            847.954  751.39   
imu_odom_:  1691062787.519900725  0.577003   -0.100556  10.2783    -0.0617853  0.0372843   0.0308927   0.18       -0.02         pose: 0.0           2.75237    -0.00468225 0 -0.00417632 -0.00104234 0.0134616   0.9999         uwb: 0.50088668     849.146  749.921  
imu_odom_:  1691062787.545051365  0.663194   -0.292093  9.68694    -0.0862864  0.00213053  0.0543285   0.23       0             pose: 0.52163750    2.76645    -0.00607251 0 -0.0035202  -0.00386162 0.0139278   0.999889       uwb: 0.0            849.146  749.921  
imu_odom_:  1691062787.569041826  0.802058   -0.328006  9.5792     -0.0500674  0.0255663   0.0308927   0.23       0             pose: 0.48855284    2.77417    0.000278314 0 -0.00131163 -0.00362786 0.014047    0.999894       uwb: 0.49738398     848.086  749.156  
imu_odom_:  1691062787.585094768  0.344765   -0.189142  10.0437    -0.0692422  0.00745685  0.0490022   0.19       -0.02         pose: 0.0           2.77417    0.000278314 0 -0.00131163 -0.00362786 0.014047    0.999894       uwb: 0.0            848.086  749.156  
imu_odom_:  1691062787.601037175  0.220267   -0.0167594 10.228     -0.0617853  -0.0213053  0.0490022   0.19       -0.02         pose: 0.0           2.77417    0.000278314 0 -0.00131163 -0.00362786 0.014047    0.999894       uwb: 0.50051920     846.952  748.77   
imu_odom_:  1691062787.627118759  0.52433    -0.318429  9.88566    -0.0649811  0.0298274   0.0319579   0.18       0.02          pose: 0.74114710    2.78825    -0.00109375 0 -0.00115655 -0.0045944  0.0142191   0.999888       uwb: 0.0            846.952  748.77   
imu_odom_:  1691062787.652027038  0.0502782  -0.292093  10.1131    -0.0415453  0.0255663   0.02024     0.18       0.02          pose: 0.0           2.78825    -0.00109375 0 -0.00115655 -0.0045944  0.0142191   0.999888       uwb: 0.50174413     846.804  748.032  
imu_odom_:  1691062787.678009461  0.0814029  -0.301669  9.72046    -0.0639159  -0.0127832  0.0490022   0.21       0.02          pose: 0.7871606     2.78825    -0.00109375 0 -0.00192448 -0.00476233 0.0141918   0.999886       uwb: 0.0            846.804  748.032  
imu_odom_:  1691062787.703886890  0.600945   -0.0670376 9.54089    -0.0223706  -0.0287621  0.0255663   0.19       -0.02         pose: 0.51072983    2.80232    -0.00246613 0 -0.00366241 -0.00152489 0.0139372   0.999895       uwb: 0.49898513     846.584  747.173  
imu_odom_:  1691062787.728880915  0.677559   -0.158017  10.5105    -0.072438   -0.0383495  0.0458064   0.19       -0.02         pose: 0.0           2.80232    -0.00246613 0 -0.00366241 -0.00152489 0.0139372   0.999895       uwb: 0.0            846.584  747.173  
imu_odom_:  1691062787.753967976  0.665588   0.0047884  10.58      -0.0383495  -0.0490022  0.02024     0.19       0             pose: 0.68899151    2.8164     -0.00384212 0 -0.000793058-0.00459991 0.0139153   0.999892       uwb: 0.49939635     846.243  746.111  
imu_odom_:  1691062787.770082164  0.351948   -0.347159  9.1674     -0.0862864  0.00745685  0.0532632   0.19       0             pose: 0.6068923     2.8164     -0.00384212 0 -0.000236987-0.00507696 0.0138544   0.999891       uwb: 0.0            846.243  746.111  
imu_odom_:  1691062787.794911990  0.138864   -0.265756  9.35415    -0.0585895  -0.0308927  0.0340885   0.19       0             pose: 0.0           2.8164     -0.00384212 0 -0.000236987-0.00507696 0.0138544   0.999891       uwb: 0.0            846.243  746.111  
imu_odom_:  1691062787.820897038  0.533907   -0.172383  9.9096     -0.0788296  0.00639159  0.0415453   0.19       0             pose: 0.35132326    2.82074    -0.0002741030 0.000142736 -0.00531495 0.0137778   0.999891       uwb: 0.50052212     845.977  745.17   
imu_odom_:  1691062787.837046224  0.565032   -0.289698  10.1993    -0.0287621  0.0213053   0.0213053   0.19       0             pose: 0.0           2.82074    -0.0002741030 0.000142736 -0.00531495 0.0137778   0.999891       uwb: 0.0            845.977  745.17   
imu_odom_:  1691062787.853911117  0.509965   -0.332794  9.5385     -0.0639159  0.0106526   0.0426106   0.19       0             pose: 0.50814874    2.83047    -0.00522319 0 0.000949654 -0.00515986 0.0137301   0.999892       uwb: 0.50114916     845.66   744.646  
imu_odom_:  1691062787.878028154  0.134075   -0.143652  9.84256    -0.0170442  0.015979    0.0468716   0.19       0             pose: 0.0           2.83047    -0.00522319 0 0.000949654 -0.00515986 0.0137301   0.999892       uwb: 0.0            845.66   744.646  
imu_odom_:  1691062787.895011456  0.550666   -0.138864  10.082     -0.056459   -0.0127832  0.0490022   0.19       0             pose: 0.41023052    2.8382     0.00112172  0 -0.00159358 -0.00482287 0.0136568   0.999894       uwb: 0.0            845.66   744.646  
imu_odom_:  1691062787.911882474  0.368707   -0.138864  9.63427    -0.0511327  0.04048     0.0245011   0.19       0             pose: 0.0           2.8382     0.00112172  0 -0.00159358 -0.00482287 0.0136568   0.999894       uwb: 0.49735190     844.191  744.738  
imu_odom_:  1691062787.929149550  0.538695   -0.25618   10.0461    -0.0319579  -0.0340885  0.0426106   0.19       0             pose: 0.41114921    2.85228    -0.0002629350 0.0008172   -0.00343041 0.0137304   0.9999         uwb: 0.0            844.191  744.738  
imu_odom_:  1691062787.954018458  0.414197   -0.292093  9.65582    -0.0575243  -0.0276969  0.0490022   0.19       0             pose: 0.0           2.85228    -0.0002629350 0.0008172   -0.00343041 0.0137304   0.9999         uwb: 0.50200953     843.128  744.505  
imu_odom_:  1691062787.978926154  0.433351   -0.0885855 9.50977    -0.0628506  0.00426106  0.0585895   0.19       0             pose: 0.34078598    2.85228    -0.0002629350 -0.000191269-0.00371152 0.0137321   0.999899       uwb: 0.0            843.128  744.505  
imu_odom_:  1691062788.3888681    0.0454898  -0.23942   9.59357    -0.0617853  0.036219    0.0351537   0.17       0.02          pose: 0.0           2.85228    -0.0002629350 -0.000191269-0.00371152 0.0137321   0.999899       uwb: 0.49849224     842.113  744.355  
imu_odom_:  1691062788.20881316   0.703895   0.0502782  10.2879    -0.0671117  -0.0372843  0.0532632   0.17       0.02          pose: 0.41812545    2.8641     -0.00349596 0 0.000819268 -0.00236699 0.0140465   0.999898       uwb: 0.0            842.113  744.355  
imu_odom_:  1691062788.38021526   0.696713   -0.253785  9.73243    -0.0756338  -0.00639159 0.0532632   0.17       0.02          pose: 0.0           2.8641     -0.00349596 0 0.000819268 -0.00236699 0.0140465   0.999898       uwb: 0.0            842.113  744.355  
imu_odom_:  1691062788.62878768   0.131681   -0.222661  9.69891    -0.0671117  0.015979    0.04048     0.18       0.02          pose: 0.7002783     2.86635    -0.00164427 0 0.000716346 -0.00152928 0.0140307   0.9999         uwb: 0.49946636     842.414  742.842  
imu_odom_:  1691062788.88934396   0.440533   -0.181959  9.55765    -0.0905475  -0.0213053  0.0490022   0.18       0.02          pose: 0.0           2.86635    -0.00164427 0 0.000716346 -0.00152928 0.0140307   0.9999         uwb: 0.0            842.414  742.842  
imu_odom_:  1691062788.105227658  0.349553   -0.380678  10.4052    -0.0649811  0.0170442   0.036219    0.25       0             pose: 0.59990152    2.87407    0.00470752  0 0.00077535  -0.00179219 0.0142303   0.999897       uwb: 0.49997675     842.725  741.327  
imu_odom_:  1691062788.129983697  0.988805   -0.232238  10.1107    -0.0703074  -0.02024    0.0426106   0.25       0             pose: 0.0           2.87407    0.00470752  0 0.00077535  -0.00179219 0.0142303   0.999897       uwb: 0.0            842.725  741.327  
imu_odom_:  1691062788.154923476  0.859518   -0.332794  10.5369    -0.0479369  -0.0500674  0.0458064   0.18       0             pose: 0.50028882    2.88043    -0.00301473 0 0.000763867 -0.00199079 0.0143499   0.999895       uwb: 0.50040839     842.296  740.622  
imu_odom_:  1691062788.180002080  0.428562   -0.174777  10.0293    -0.0607201  -0.0223706  0.0298274   0.19       0             pose: 0.16960846    2.88815    0.00334059  0 -0.000175131-0.00230121 0.0143472   0.999894       uwb: 0.0            842.296  740.622  
imu_odom_:  1691062788.197000257  0.177171   -0.215478  9.70131    -0.0266316  0.00213053  0.0394148   0.19       0             pose: 0.42014659    2.90003    0.000167818 0 -0.000899639-0.00712088 0.0144527   0.99987        uwb: 0.0            842.296  740.622  
imu_odom_:  1691062788.221053714  0.371101   -0.344765  9.41879    -0.0639159  -0.0106526  0.0468716   0.19       0             pose: 0.0           2.90003    0.000167818 0 -0.000899639-0.00712088 0.0144527   0.99987        uwb: 0.50055422     843.183  739.012  
imu_odom_:  1691062788.245993784  0.138864   -0.363919  9.90721    -0.0585895  -0.0394148  0.0575243   0.18       0             pose: 0.7102527     2.90222    0.00197564  0 -0.000600304-0.00654993 0.0144163   0.999874       uwb: 0.0            843.183  739.012  
imu_odom_:  1691062788.260962668  0.61531    -0.512359  9.49062    -0.0649811  0.00213053  0.0500674   0.18       0             pose: 0.0           2.90222    0.00197564  0 -0.000600304-0.00654993 0.0144163   0.999874       uwb: 0.49984551     843.071  738.31   
imu_odom_:  1691062788.283964731  0.739808   -0.380678  9.84735    -0.0276969  0.00532632  0.0287621   0.18       0             pose: 0.43234628    2.90222    0.00197564  0 -0.000357902-0.00291033 0.0143564   0.999893       uwb: 0.0            843.071  738.31   
imu_odom_:  1691062788.301828522  0.227449   -0.35913   9.46667    -0.0681769  0           0.0500674   0.18       0             pose: 0.0           2.90222    0.00197564  0 -0.000357902-0.00291033 0.0143564   0.999893       uwb: 0.50093044     843.335  737.191  
imu_odom_:  1691062788.317886714  0.617704   -0.28491   10.1825    -0.0436758  -0.0255663  0.0351537   0.18       0.02          pose: 0.47629777    2.9163     0.000610484 0 -0.00323956 -0.00062572 0.0146831   0.999887       uwb: 0.0            843.335  737.191  
imu_odom_:  1691062788.343945550  1.03908    -0.0742203 10.6279    -0.0607201  -0.0458064  0.0575243   0.18       0.02          pose: 0.0           2.9163     0.000610484 0 -0.00323956 -0.00062572 0.0146831   0.999887       uwb: 0.0            843.335  737.191  
imu_odom_:  1691062788.368892912  1.0319     0.0263362  10.1706    -0.0436758  -0.0117179  0.0266316   0.19       0             pose: 0.57001625    2.93038    -0.0007453550 -0.00461682 -0.00237417 0.014672    0.999879       uwb: 0.49836977     844.016  735.718  
imu_odom_:  1691062788.392833209  0.47884    -0.316035  9.80665    -0.0681769  -0.0458064  0.0458064   0.23       0             pose: 0.0           2.93038    -0.0007453550 -0.00461682 -0.00237417 0.014672    0.999879       uwb: 0.0            844.016  735.718  
imu_odom_:  1691062788.418998497  0.308852   -0.196325  9.67736    -0.0127832  0.00426106  0.0372843   0.25       0             pose: 0.66998769    2.93809    0.00561696  0 -0.00250038 -0.00790349 0.0147266   0.999857       uwb: 0.50032964     843.183  735.363  
imu_odom_:  1691062788.434854868  0.646434   -0.402226  9.28711    -0.0671117  -0.0149137  0.0553937   0.25       0             pose: 0.0           2.93809    0.00561696  0 -0.00250038 -0.00790349 0.0147266   0.999857       uwb: 0.0            843.183  735.363  
imu_odom_:  1691062788.452003828  0.550666   -0.323217  10.1203    -0.0287621  0.02024     0.0298274   0.25       -0.02         pose: 0.57964066    2.94875    0.00144823  0 -0.00320858 -0.00564865 0.0148896   0.999868       uwb: 0.49946637     844.152  733.834  
imu_odom_:  1691062788.478114577  0.502782   -0.117316  10.1682    -0.0543285  -0.0298274  0.0585895   0.25       -0.02         pose: 0.7019700     2.95217    0.0042646   0 -0.00365024 -0.00601848 0.0148572   0.999865       uwb: 0.0            844.152  733.834  
imu_odom_:  1691062788.504042171  0.574608   -0.237026  9.47625    -0.0468716  0.056459    0.0351537   0.23       0             pose: 0.36240009    2.95653    -0.00102116 0 -0.00169956 -0.00641911 0.0150452   0.999865       uwb: 0.50028590     844.34   732.552  
imu_odom_:  1691062788.519890376  0.196325   -0.280122  9.80426    -0.0745685  0.0117179   0.0671117   0.23       0             pose: 0.0           2.95653    -0.00102116 0 -0.00169956 -0.00641911 0.0150452   0.999865       uwb: 0.0            844.34   732.552  
imu_odom_:  1691062788.536897594  0.667982   -0.237026  10.2304    -0.0639159  -0.0234358  0.0468716   0.23       0             pose: 0.0           2.95653    -0.00102116 0 -0.00169956 -0.00641911 0.0150452   0.999865       uwb: 0.0            844.34   732.552  
imu_odom_:  1691062788.552824545  0.186748   -0.0957681 10.0317    -0.0415453  0.0170442   0.0372843   0.23       0             pose: 0.48813872    2.96624    0.00291727  0 -0.00136026 -0.00723351 0.0152233   0.999857       uwb: 0.49917763     845.908  730.939  
imu_odom_:  1691062788.569844304  0.107739   -0.25618   9.30866    -0.0830906  -0.0117179  0.0596548   0.23       0             pose: 0.0           2.96624    0.00291727  0 -0.00136026 -0.00723351 0.0152233   0.999857       uwb: 0.0            845.908  730.939  
imu_odom_:  1691062788.595820895  0.146046   -0.1652    9.83299    -0.036219   -0.00319579 0.0223706   0.25       -0.02         pose: 0.33955232    2.96624    0.00291727  0 -0.000846846-0.0058872  0.0153188   0.999865       uwb: 0.0            845.908  730.939  
imu_odom_:  1691062788.612874777  0.907402   -0.385466  9.84975    -0.092678   0.00426106  0.0553937   0.25       -0.02         pose: 0.0           2.96624    0.00291727  0 -0.000846846-0.0058872  0.0153188   0.999865       uwb: 0.50285825     847.056  729.121  
imu_odom_:  1691062788.627874867  0.502782   -0.349553  9.42358    -0.0692422  0.00852212  0.0511327   0.21       -0.02         pose: 0.43000433    2.98032    0.00157934  0 -0.000732953-0.00318584 0.0152509   0.999878       uwb: 0.0            847.056  729.121  
imu_odom_:  1691062788.645932896  0.354342   -0.0335188 10.6326    -0.0500674  -0.02024    0.036219    0.21       -0.02         pose: 0.0           2.98032    0.00157934  0 -0.000732953-0.00318584 0.0152509   0.999878       uwb: 0.0            847.056  729.121  
imu_odom_:  1691062788.661859555  0.234632   -0.186748  9.99579    -0.0852212  0.0298274   0.056459    0.18       0             pose: 0.0           2.98032    0.00157934  0 -0.000732953-0.00318584 0.0152509   0.999878       uwb: 0.0            847.056  729.121  
imu_odom_:  1691062788.687967388  0.543484   -0.392649  9.38527    -0.0468716  0.0245011   0.0298274   0.18       0             pose: 0.42048782    2.99159    0.00364435  0 -0.00115079 -0.00348603 0.0153797   0.999875       uwb: 0.0            847.056  729.121  
imu_odom_:  1691062788.703812093  0.646434   -0.409408  10.0341    -0.0745685  -0.0383495  0.0394148   0.18       0             pose: 0.7944810     2.9944     0.000240144 0 -0.00111441 -0.00257364 0.0154465   0.999877       uwb: 0.99861191     846.367  728.454  
imu_odom_:  1691062788.720877641  0.160412   -0.174777  10.2615    -0.0447411  0.0351537   0.0287621   0.25       0             pose: 0.0           2.9944     0.000240144 0 -0.00111441 -0.00257364 0.0154465   0.999877       uwb: 0.0            846.367  728.454  
imu_odom_:  1691062788.745815378  0.837971   -0.505177  9.44513    -0.0532632  0.0276969   0.0468716   0.18       0             pose: 0.0           2.9944     0.000240144 0 -0.00111441 -0.00257364 0.0154465   0.999877       uwb: 0.0            846.367  728.454  
imu_odom_:  1691062788.770831277  1.01275    -0.0837971 10.7212    -0.0394148  -0.0191748  0.0234358   0.23       -0.02         pose: 0.66999935    3.00211    0.00661172  0 -0.00346469 -0.00244572 0.0152963   0.999874       uwb: 0.49897640     845.793  727.994  
imu_odom_:  1691062788.795938463  0.85473    -0.565032  9.47625    -0.0713727  0.00639159  0.0575243   0.23       -0.02         pose: 0.32988999    3.00848    -0.00109615 0 -0.00425528 -0.00501661 0.0153118   0.999861       uwb: 0.0            845.793  727.994  
imu_odom_:  1691062788.819897134  0.94571    -0.301669  9.45949    -0.0511327  0.0287621   0.015979    0.18       0             pose: 0.42071823    3.01619    0.00527437  0 -0.00523017 -0.00847226 0.0153931   0.999832       uwb: 0.50108502     844.957  727.63   
imu_odom_:  1691062788.843964299  0.337582   -0.378284  9.34936    -0.0916127  -0.0106526  0.0500674   0.18       0             pose: 0.7998764     3.01619    0.00527437  0 -0.00517484 -0.0091394  0.0152936   0.999828       uwb: 0.0            844.957  727.63   
imu_odom_:  1691062788.869837646  0.0191536  -0.0550666 9.66539    -0.0500674  -0.0223706  0.0340885   0.25       0             pose: 0.40027072    3.02772    0.0018307   0 -0.00614468 -0.00823086 0.0152357   0.999831       uwb: 0.49999133     843.846  727.342  
imu_odom_:  1691062788.885937544  0.739808   -0.366313  10.1083    -0.0862864  -0.0234358  0.0532632   0.25       0             pose: 0.0           3.02772    0.0018307   0 -0.00614468 -0.00823086 0.0152357   0.999831       uwb: 0.0            843.846  727.342  
imu_odom_:  1691062788.909839927  0.746991   -0.215478  10.3573    -0.0287621  -0.0138484  0.0170442   0.25       0             pose: 0.41973245    3.03027    0.00393667  0 -0.0055158  -0.00787938 0.0152754   0.999837       uwb: 0.50122209     842.376  726.991  
imu_odom_:  1691062788.934880033  0.600945   -0.28491   9.92636    -0.0628506  -0.00639159 0.0575243   0.25       0             pose: 0.0           3.03027    0.00393667  0 -0.0055158  -0.00787938 0.0152754   0.999837       uwb: 0.0            842.376  726.991  
imu_odom_:  1691062788.947865121  0.531513   -0.177171  10.1466    -0.0458064  -0.0234358  0.0468716   0.19       0.02          pose: 0.0           3.03027    0.00393667  0 -0.0055158  -0.00787938 0.0152754   0.999837       uwb: 0.49604532     843.956  724.757  
imu_odom_:  1691062788.971801043  0.543484   -0.263362  10.2759    -0.0543285  -0.00106526 0.0511327   0.19       0.02          pose: 0.48942489    3.04435    0.00259592  0 -0.00158548 -0.0107087  0.0151848   0.999826       uwb: 0.0            843.956  724.757  
imu_odom_:  1691062788.996791861  0.416591   -0.215478  10.489     -0.0276969  -0.0372843  0.0330232   0.22       -0.02         pose: 0.36921010    3.04947    0.00682782  0 -0.00184756 -0.00769344 0.0153774   0.99985        uwb: 0.0            843.956  724.757  
imu_odom_:  1691062789.10800928   0.732626   0.0263362  10.0868    -0.0330232  -0.0308927  0.0479369   0.22       -0.02         pose: 0.0           3.04947    0.00682782  0 -0.00184756 -0.00769344 0.0153774   0.99985        uwb: 0.50123085     843.997  723.706  
imu_odom_:  1691062789.34987961   0.512359   -0.21069   9.76595    -0.0532632  -0.0181095  0.0511327   0.17       0.02          pose: 0.0           3.04947    0.00682782  0 -0.00184756 -0.00769344 0.0153774   0.99985        uwb: 0.0            843.997  723.706  
imu_odom_:  1691062789.60791605   0.435745   -0.0023942 10.0533    -0.0511327  -0.00426106 0.056459    0.17       0.02          pose: 0.38999885    3.05843    0.00125775  0 0.000380982 -0.00674287 0.0153513   0.999859       uwb: 0.49981635     843.626  723.049  
imu_odom_:  1691062789.73877311   0.107739   -0.289698  9.92636    -0.0681769  -0.00106526 0.0628506   0.18       -0.02         pose: 0.0           3.05843    0.00125775  0 0.000380982 -0.00674287 0.0153513   0.999859       uwb: 0.0            843.626  723.049  
imu_odom_:  1691062789.97786403   0.387861   -0.0766145 9.83059    -0.0394148  0.00958738  0.0372843   0.18       -0.02         pose: 0.55996021    3.06613    0.00762926  0 0.00249827  -0.00320801 0.0157675   0.999867       uwb: 0.50013426     843.313  722.495  
imu_odom_:  1691062789.115846767  0.172383   -0.306458  9.27035    -0.0937433  0           0.0596548   0.22       0.02          pose: 0.0           3.06613    0.00762926  0 0.00249827  -0.00320801 0.0157675   0.999867       uwb: 0.0            843.313  722.495  
imu_odom_:  1691062789.131797049  0.739808   -0.143652  10.2113    -0.0607201  -0.0266316  0.0394148   0.22       0.02          pose: 0.38998719    3.07251    -7.35069e-050 0.00373839  -0.0003189990.0158921   0.999867       uwb: 0.0            843.313  722.495  
imu_odom_:  1691062789.148850932  0.213084   -0.146046  9.40921    -0.0628506  -0.0149137  0.0447411   0.22       0.02          pose: 0.0           3.07251    -7.35069e-050 0.00373839  -0.0003189990.0158921   0.999867       uwb: 0.50170042     842.827  722.202  
imu_odom_:  1691062789.165959061  0.553061   -0.402226  9.93594    -0.092678   -0.0127832  0.072438    0.18       -0.02         pose: 0.43055264    3.08021    0.0063056   0 0.00301499  0.000358144 0.0160313   0.999867       uwb: 0.0            842.827  722.202  
imu_odom_:  1691062789.179785265  0.179565   -0.562637  9.76116    -0.0585895  0.0255663   0.0383495   0.18       -0.02         pose: 0.0           3.08021    0.0063056   0 0.00301499  0.000358144 0.0160313   0.999867       uwb: 0.0            842.827  722.202  
imu_odom_:  1691062789.202783828  0.287304   -0.347159  10.0006    -0.0681769  -0.0117179  0.0543285   0.17       0             pose: 0.8062928     3.08021    0.0063056   0 0.00218982  -0.0001211460.0161648   0.999867       uwb: 0.49929722     843.605  720.737  
imu_odom_:  1691062789.227780188  0.624887   -0.418985  10.1299    -0.0532632  0.0181095   0.0308927   0.21       0.02          pose: 0.0           3.08021    0.0063056   0 0.00218982  -0.0001211460.0161648   0.999867       uwb: 0.0            843.605  720.737  
imu_odom_:  1691062789.249772271  -0.112527  -0.373495  10.1131    -0.0575243  -0.0234358  0.0351537   0.18       0             pose: 0.70866328    3.09429    0.00499132  0 -0.00320126 -0.0002130490.0163598   0.999861       uwb: 0.49928556     842.725  720.313  
imu_odom_:  1691062789.262825896  0.344765   -0.114922  10.1969    -0.0596548  -0.0426106  0.0340885   0.18       0             pose: 0.0           3.09429    0.00499132  0 -0.00320126 -0.0002130490.0163598   0.999861       uwb: 0.0            842.725  720.313  
imu_odom_:  1691062789.277778740  1.10133    -0.222661  9.55526    -0.0447411  0.00639159  0.0372843   0.17       -0.02         pose: 0.0           3.09429    0.00499132  0 -0.00320126 -0.0002130490.0163598   0.999861       uwb: 0.0            842.725  720.313  
imu_odom_:  1691062789.302773349  0.778116   -0.361524  9.55047    -0.0617853  -0.00745685 0.0500674   0.17       -0.02         pose: 0.43049723    3.10837    0.00368171  0 -0.00228736 0.000914098 0.0162757   0.999865       uwb: 0.49990969     841.949  719.506  
imu_odom_:  1691062789.316759376  0.385466   -0.126893  9.98143    -0.0415453  0.0319579   0.0394148   0.17       -0.02         pose: 0.0           3.10837    0.00368171  0 -0.00228736 0.000914098 0.0162757   0.999865       uwb: 0.0            841.949  719.506  
imu_odom_:  1691062789.333923794  0.311246   -0.332794  9.65342    -0.0511327  -0.0330232  0.0500674   0.18       -0.02         pose: 0.38941555    3.10837    0.00368171  0 -0.00222328 -0.00179816 0.0163902   0.999862       uwb: 0.0            841.949  719.506  
imu_odom_:  1691062789.358802910  0.488417   -0.258574  9.63666    -0.0447411  -0.00213053 0.0298274   0.18       -0.02         pose: 0.0           3.10837    0.00368171  0 -0.00222328 -0.00179816 0.0163902   0.999862       uwb: 0.49955096     841.709  718.506  
imu_odom_:  1691062789.375922414  0.47884    0.138864   10.2759    -0.04048    -0.0106526  0.0447411   0.18       0             pose: 0.31246106    3.11607    0.0100686   0 -0.002457   -0.0009843290.0164463   0.999861       uwb: 0.0            841.709  718.506  
imu_odom_:  1691062789.390932128  0.407014   -0.476446  8.99741    -0.0596548  -0.00106526 0.0468716   0.18       0             pose: 0.0           3.11607    0.0100686   0 -0.002457   -0.0009843290.0164463   0.999861       uwb: 0.0            841.709  718.506  
imu_odom_:  1691062789.407807522  0.294487   -0.0694318 10.4722    -0.0330232  0.0330232   0.0415453   0.18       0             pose: 0.49914556    3.13015    0.0087623   0 -0.0019079  -0.0025835  0.0164537   0.999859       uwb: 0.50165958     840.658  718.368  
imu_odom_:  1691062789.424064620  0.45011    -0.160412  10.0413    -0.0479369  0.0319579   0.056459    0.18       0             pose: 0.0           3.13015    0.0087623   0 -0.0019079  -0.0025835  0.0164537   0.999859       uwb: 0.0            840.658  718.368  
imu_odom_:  1691062789.441049673  -0.0622492 -0.181959  9.79468    -0.0585895  -0.0127832  0.0511327   0.18       0             pose: 0.0           3.13015    0.0087623   0 -0.0019079  -0.0025835  0.0164537   0.999859       uwb: 0.0            840.658  718.368  
imu_odom_:  1691062789.458116971  0.758962   0.047884   10.5105    -0.0340885  -0.0223706  0.0308927   0.18       0             pose: 0.7975725     3.13015    0.0087623   0 -0.001228   -0.00189977 0.016461    0.999862       uwb: 0.49814813     841.136  716.91   
imu_odom_:  1691062789.475058569  0.126893   -0.332794  9.56005    -0.056459   0.00106526  0.0458064   0.18       0             pose: 0.0           3.13015    0.0087623   0 -0.001228   -0.00189977 0.016461    0.999862       uwb: 0.0            841.136  716.91   
imu_odom_:  1691062789.489927709  0.251391   -0.471658  9.91439    -0.0596548  -0.00745685 0.036219    0.18       0             pose: 0.0           3.13015    0.0087623   0 -0.001228   -0.00189977 0.016461    0.999862       uwb: 0.0            841.136  716.91   
imu_odom_:  1691062789.507867330  0.320823   -0.181959  9.77792    -0.0181095  -0.00319579 0.0394148   0.24       0             pose: 0.50035591    3.14423    0.00745954  0 0.00163338  -0.0004956080.0166667   0.99986        uwb: 0.49910474     840.652  716.047  
imu_odom_:  1691062789.523913274  0.0574608  -0.11971   10.1299    -0.0532632  0           0.0490022   0.18       0             pose: 0.0           3.14423    0.00745954  0 0.00163338  -0.0004956080.0166667   0.99986        uwb: 0.0            840.652  716.047  
imu_odom_:  1691062789.540913201  0.749385   -0.342371  9.83777    -0.036219   0.00106526  0.0308927   0.18       0             pose: 0.66996146    3.15192    0.0138504   0 0.00131736  0.00329308  0.0166883   0.999854       uwb: 0.0            840.652  716.047  
imu_odom_:  1691062789.558019581  0.521936   0.222661   10.082     -0.04048    -0.00426106 0.0426106   0.18       0             pose: 0.0           3.15192    0.0138504   0 0.00131736  0.00329308  0.0166883   0.999854       uwb: 0.50118711     839.111  716.213  
imu_odom_:  1691062789.582816744  0.280122   -0.19393   9.64624    -0.0500674  -0.0372843  0.0490022   0.18       0             pose: 0.32518862    3.15831    0.0061593   0 0.00185533  0.00225967  0.0166645   0.999857       uwb: 0.0            839.111  716.213  
imu_odom_:  1691062789.605903677  0.454898   0.0143652  9.93354    -0.0585895  0.00319579  0.0639159   0.18       0             pose: 0.34358292    3.16384    0.0107518   0 0.00196239  0.00380475  0.0167886   0.99985        uwb: 0.50054840     839.166  715.154  
imu_odom_:  1691062789.631752235  -0.141258  -0.289698  9.90002    -0.0479369  0.0415453   0.0287621   0.18       0             pose: 0.7032823     3.166      0.0125509   0 0.00254358  0.00345069  0.0168772   0.999848       uwb: 0.0            839.166  715.154  
imu_odom_:  1691062789.655746780  -0.0981623 -0.107739  9.69652    -0.0681769  -0.00319579 0.0692422   0.17       -0.02         pose: 0.41902668    3.1724     0.00486256  0 0.00315494  0.00569453  0.01693     0.999835       uwb: 0.50043757     838.43   714.434  
imu_odom_:  1691062789.680888380  0.675165   -0.148441  9.91918    -0.0639159  0.0330232   0.0223706   0.17       -0.02         pose: 0.0           3.1724     0.00486256  0 0.00315494  0.00569453  0.01693     0.999835       uwb: 0.0            838.43   714.434  
imu_odom_:  1691062789.703908526  0.837971   -0.28491   9.94312    -0.0905475  -0.0191748  0.0585895   0.18       0             pose: 0.49136145    3.18009    0.0112596   0 0.00315989  0.00604292  0.0170751   0.999831       uwb: 0.50066797     839.184  712.847  
imu_odom_:  1691062789.726754266  0.782904   -0.354342  9.6606     -0.0585895  0.00745685  0.0340885   0.18       0             pose: 0.0           3.18009    0.0112596   0 0.00315989  0.00604292  0.0170751   0.999831       uwb: 0.0            839.184  712.847  
imu_odom_:  1691062789.744792172  0.237026   -0.402226  9.78031    -0.0735032  0.02024     0.0500674   0.2        0             pose: 0.30909251    3.19417    0.00997331  0 0.00195236  0.00292532  0.0172792   0.999845       uwb: 0.0            839.184  712.847  
imu_odom_:  1691062789.768883545  0.581791   -0.158017  9.99819    -0.0575243  -0.0127832  0.0234358   0.2        0             pose: 0.0           3.19417    0.00997331  0 0.00195236  0.00292532  0.0172792   0.999845       uwb: 0.49995636     840.029  711.406  
imu_odom_:  1691062789.794885510  0.56982    -0.392649  10.0652    -0.0830906  -0.0276969  0.0415453   0.18       -0.02         pose: 0.41111716    3.19417    0.00997331  0 -0.0001134910.00195631  0.0172658   0.999849       uwb: 0.0            840.029  711.406  
imu_odom_:  1691062789.818838058  0.366313   -0.244209  10.0604    -0.0276969  0.0383495   0.0298274   0.2        0             pose: 0.41976163    3.2043     0.00905052  0 -0.00190925 -0.00177465 0.0171631   0.999849       uwb: 0.49964720     840.354  710.204  
imu_odom_:  1691062789.835754573  0.0766145  -0.280122  10.1562    -0.0447411  0.072438    0.0447411   0.2        0             pose: 0.0           3.2043     0.00905052  0 -0.00190925 -0.00177465 0.0171631   0.999849       uwb: 0.0            840.354  710.204  
imu_odom_:  1691062789.851819183  0.275333   -0.356736  9.50019    -0.0490022  -0.0287621  0.0351537   0.2        0             pose: 0.0           3.2043     0.00905052  0 -0.00190925 -0.00177465 0.0171631   0.999849       uwb: 0.49734609     841.04   709.049  
imu_odom_:  1691062789.868811527  0.746991   -0.023942  10.24      -0.0447411  -0.0671117  0.0383495   0.18       -0.02         pose: 0.7018241     3.20825    0.00868927  0 -0.00173911 -0.0009246560.01713     0.999851       uwb: 0.0            841.04   709.049  
imu_odom_:  1691062789.884778434  0.584185   -0.42138   9.44752    -0.0703074  0.0223706   0.056459    0.18       -0.02         pose: 0.0           3.20825    0.00868927  0 -0.00173911 -0.0009246560.01713     0.999851       uwb: 0.0            841.04   709.049  
imu_odom_:  1691062789.910890643  0.100556   -0.272939  9.56723    -0.0330232  0.0106526   0.015979    0.24       0             pose: 0.57857325    3.21594    0.0150868   0 -0.00240981 0.00306867  0.0170507   0.999847       uwb: 0.50236538     842.34   707.192  
imu_odom_:  1691062789.935746135  0.440533   -0.40462   9.70849    -0.0809601  -0.0149137  0.0490022   0.2        -0.02         pose: 0.0           3.21594    0.0150868   0 -0.00240981 0.00306867  0.0170507   0.999847       uwb: 0.0            842.34   707.192  
imu_odom_:  1691062789.959738056  0.316035   -0.301669  9.14824    -0.0585895  -0.0532632  0.0372843   0.19       0.02          pose: 0.75985059    3.23002    0.0137969   0 -0.00498891 0.0020367   0.0169813   0.999841       uwb: 0.49753566     842.685  705.991  
imu_odom_:  1691062789.983907590  0.383072   -0.356736  9.65103    -0.0820254  -0.0245011  0.0458064   0.19       0.02          pose: 0.0           3.23002    0.0137969   0 -0.00498891 0.0020367   0.0169813   0.999841       uwb: 0.0            842.685  705.991  
imu_odom_:  1691062790.7872679    0.603339   -0.366313  10.0844    -0.0468716  0.00852212  0.0287621   0.2        -0.02         pose: 0.31160653    3.23642    0.00610929  0 -0.00550169 0.00323208  0.0169873   0.999835       uwb: 0.50008759     843.161  704.404  
imu_odom_:  1691062790.32743047   0.270545   -0.19393   10.228     -0.0394148  -0.00639159 0.0479369   0.23       0             pose: 0.40965891    3.2441     0.012505    0 -0.00685908 -0.0004692440.0168838   0.999834       uwb: 0.0            843.161  704.404  
imu_odom_:  1691062790.57802111   0.579397   -0.225055  10.5129    -0.0553937  -0.00852212 0.0511327   0.23       0             pose: 0.7937811     3.2441     0.012505    0 -0.00620721 5.68009e-05 0.0169205   0.999838       uwb: 0.0            843.161  704.404  
imu_odom_:  1691062790.81845946   0.253785   -0.272939  10.3286    -0.0287621  -0.00106526 0.0287621   0.18       0             pose: 0.41991621    3.25425    0.0115739   0 -0.00376551 -0.0011509  0.0171341   0.999845       uwb: 0.0            843.161  704.404  
imu_odom_:  1691062790.97921055   0.744597   0.0407014  10.2951    -0.036219   -0.036219   0.0468716   0.18       0             pose: 0.0           3.25425    0.0115739   0 -0.00376551 -0.0011509  0.0171341   0.999845       uwb: 0.100273007    844.544  702.637  
imu_odom_:  1691062790.122872210  0.59855    -0.174777  9.65103    -0.0532632  -0.0330232  0.0479369   0.2        0.02          pose: 0.40118944    3.25819    0.0112139   0 -0.00198906 -0.0001595660.0170699   0.999852       uwb: 0.0            844.544  702.637  
imu_odom_:  1691062790.148803596  0.361524   -0.244209  9.36372    -0.0756338  0.0170442   0.0585895   0.2        0.02          pose: 0.0           3.25819    0.0112139   0 -0.00198906 -0.0001595660.0170699   0.999852       uwb: 0.49825605     845.181  701.324  
imu_odom_:  1691062790.163751191  0.584185   -0.265756  10.0078    -0.0798948  -0.00745685 0.0500674   0.19       0             pose: 0.50882541    3.27227    0.00992604  0 -0.0015858  2.51722e-05 0.017419    0.999847       uwb: 0.0            845.181  701.324  
imu_odom_:  1691062790.189787863  0.471658   -0.0071826110.4052    -0.0617853  -0.0415453  0.0511327   0.19       0             pose: 0.0           3.27227    0.00992604  0 -0.0015858  2.51722e-05 0.017419    0.999847       uwb: 0.0            845.181  701.324  
imu_odom_:  1691062790.205717147  0.816423   -0.172383  9.87848    -0.0830906  -0.0127832  0.0532632   0.2        0             pose: 0.0           3.27227    0.00992604  0 -0.0015858  2.51722e-05 0.017419    0.999847       uwb: 0.50058633     846.275  699.595  
imu_odom_:  1691062790.230892872  0.201113   -0.0837971 9.51695    -0.0585895  0.00852212  0.0415453   0.2        0             pose: 0.40984267    3.27779    0.014528    0 0.000600267 -0.00233447 0.0176417   0.999841       uwb: 0.0            846.275  699.595  
imu_odom_:  1691062790.253779151  0.306458   -0.122104  9.69412    -0.0958738  -0.0181095  0.0511327   0.18       0             pose: 0.41105009    3.2845     0.0108842   0 0.00147382  -0.00150751 0.0177702   0.99984        uwb: 0.50084298     845.09   699.224  
imu_odom_:  1691062790.278788052  0.131681   -0.0454898 10.1347    -0.0660464  0.0223706   0.0340885   0.18       0             pose: 0.0           3.2845     0.0108842   0 0.00147382  -0.00150751 0.0177702   0.99984        uwb: 0.0            845.09   699.224  
imu_odom_:  1691062790.302765099  0.162806   -0.179565  9.87608    -0.0479369  -0.00639159 0.0490022   0.23       0.02          pose: 0.47895180    3.29404    0.0150607   0 0.00293862  0.00298502  0.0178246   0.999832       uwb: 0.49840771     844.154  698.7    
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imu_odom_:  1691062790.334714080  0.833182   -0.373495  9.99579    -0.0639159  -0.036219   0.0436758   0.18       0.02          pose: 0.0           3.29404    0.0150607   0 0.00293862  0.00298502  0.0178246   0.999832       uwb: 0.0            844.154  698.7    
imu_odom_:  1691062790.361873017  -0.88346   -0.167594  7.40527    -0.0351537  0.136354    0.0447411   0.18       0.02          pose: 0.40088613    3.30453    0.010797    0 0.00166344  0.00385952  0.0179493   0.99983        uwb: 0.50001470     845.02   697.143  
imu_odom_:  1691062790.386749510  -1.29766   -0.155623  11.9519    -0.0511327  0.137419    0.0596548   0.19       0             pose: 0.42996352    3.30812    0.0137951   0 0.00132032  0.00674549  0.0180504   0.999813       uwb: 0.0            845.02   697.143  
imu_odom_:  1691062790.403784727  -0.253785  -0.246603  9.52413    -0.0490022  0.0394148   0.0436758   0.19       0             pose: 0.0           3.30812    0.0137951   0 0.00132032  0.00674549  0.0180504   0.999813       uwb: 0.49997387     845.154  696.096  
imu_odom_:  1691062790.419879377  0.641646   -0.272939  10.6111    -0.0585895  -0.104396   0.0575243   0.18       0             pose: 0.0           3.30812    0.0137951   0 0.00132032  0.00674549  0.0180504   0.999813       uwb: 0.0            845.154  696.096  
imu_odom_:  1691062790.445715394  0.232238   -0.181959  10.1993    -0.0415453  0.0170442   0.0553937   0.18       0             pose: 0.49886269    3.32221    0.0125369   0 0.00100308  0.0118658   0.0183983   0.99976        uwb: 0.0            845.154  696.096  
imu_odom_:  1691062790.468772580  -0.0837971 -0.31364   9.75158    -0.0607201  0.00426106  0.036219    0.18       0             pose: 0.33956108    3.32772    0.017153    0 0.00173091  0.00843831  0.0186827   0.999788       uwb: 0.49925933     845.749  694.633  
imu_odom_:  1691062790.486739325  0.833182   -0.0095768110.5034    -0.0436758  0.0223706   0.0106526   0.18       0             pose: 0.7009784     3.32987    0.018956    0 0.00142957  0.00911021  0.0186676   0.999783       uwb: 0.0            845.749  694.633  
imu_odom_:  1691062790.502713815  0.672771   -0.217872  9.83777    -0.0575243  0.00958738  0.036219    0.18       0             pose: 0.0           3.32987    0.018956    0 0.00142957  0.00911021  0.0186676   0.999783       uwb: 0.50073215     845.465  693.405  
imu_odom_:  1691062790.526743942  0.373495   -0.215478  9.59596    -0.0745685  -0.0426106  0.036219    0.19       0             pose: 0.41044346    3.3363     0.0112907   0 0.00131549  0.00851564  0.0183683   0.999794       uwb: 0.0            845.465  693.405  
imu_odom_:  1691062790.551819631  0.457293   -0.277727  9.92157    -0.0585895  -0.0703074  0.0511327   0.18       0             pose: 0.0           3.3363     0.0112907   0 0.00131549  0.00851564  0.0183683   0.999794       uwb: 0.50000595     844.343  693.181  
imu_odom_:  1691062790.576718580  0.31364    -0.143652  10.003     -0.0415453  0.0191748   0.0308927   0.18       0             pose: 0.40038157    3.34397    0.0177078   0 0.000209823 0.0039993   0.018354    0.999824       uwb: 0.0            844.343  693.181  
imu_odom_:  1691062790.601766854  0.1652     -0.186748  10.0341    -0.0532632  0.02024     0.0458064   0.25       0.02          pose: 0.42910899    3.35568    0.0144667   0 0.00163034  0.00348282  0.0183508   0.999824       uwb: 0.49906392     845.767  691.331  
imu_odom_:  1691062790.617818923  0.361524   -0.378284  9.56005    -0.0415453  0.0276969   0.0340885   0.25       0.02          pose: 0.7998474     3.35805    0.0164553   0 0.00159528  0.00438091  0.0183743   0.99982        uwb: 0.0            845.767  691.331  
imu_odom_:  1691062790.642753745  0.0909797  -0.102951  9.95748    -0.0426106  0.00106526  0.056459    0.18       -0.02         pose: 0.0           3.35805    0.0164553   0 0.00159528  0.00438091  0.0183743   0.99982        uwb: 0.0            845.767  691.331  
imu_odom_:  1691062790.667700233  0.354342   -0.0047884 10.4172    -0.0543285  0.00745685  0.036219    0.18       -0.02         pose: 0.41100926    3.35805    0.0164553   0 0.000564439 0.0066684   0.0184409   0.999808       uwb: 0.50216415     845.521  690.164  
imu_odom_:  1691062790.682737947  0.502782   -0.0742203 9.85453    -0.0585895  -0.02024    0.0628506   0.18       0             pose: 0.0           3.35805    0.0164553   0 0.000564439 0.0066684   0.0184409   0.999808       uwb: 0.0            845.521  690.164  
imu_odom_:  1691062790.707759389  0.435745   -0.378284  9.80665    -0.0596548  0.0287621   0.0351537   0.18       0             pose: 0.48938409    3.37214    0.0152065   0 0.0037589   0.00627119  0.0186507   0.999799       uwb: 0.49977263     846.166  688.74   
imu_odom_:  1691062790.732697128  -0.110133  -0.181959  9.91439    -0.0713727  0.0436758   0.0617853   0.18       0.02          pose: 0.33003000    3.37736    0.0195813   0 0.00176374  0.00458746  0.0186879   0.999813       uwb: 0.0            846.166  688.74   
imu_odom_:  1691062790.749689473  -0.0383072 -0.430956  9.9096     -0.0596548  -0.00745685 0.0436758   0.18       0.02          pose: 0.7951810     3.3798     0.0216285   0 0.00167541  0.00557216  0.0187753   0.999807       uwb: 0.49938182     846.367  687.775  
imu_odom_:  1691062790.774742705  0.21069    -0.0957681 10.2328    -0.056459   -0.0213053  0.04048     0.18       0             pose: 0.0           3.3798     0.0216285   0 0.00167541  0.00557216  0.0187753   0.999807       uwb: 0.0            846.367  687.775  
imu_odom_:  1691062790.799699400  0.229843   -0.318429  9.88566    -0.0639159  -0.0234358  0.0468716   0.18       0             pose: 0.33978274    3.38623    0.0139644   0 0.000325193 0.00892032  0.018986    0.99978        uwb: 0.50062716     846.436  686.535  
imu_odom_:  1691062790.815757302  0.663194   0.0143652  10.0748    -0.0628506  -0.0170442  0.0490022   0.19       -0.02         pose: 0.0           3.38623    0.0139644   0 0.000325193 0.00892032  0.018986    0.99978        uwb: 0.0            846.436  686.535  
imu_odom_:  1691062790.841721062  0.023942   -0.0526724 10.0533    -0.0713727  -0.0234358  0.0351537   0.19       -0.02         pose: 0.57037502    3.39389    0.0203915   0 0.000510013 0.00804454  0.0191247   0.999785       uwb: 0.0            846.436  686.535  
imu_odom_:  1691062790.857755632  -0.0766145 -0.328006  10.2089    -0.0511327  0.00958738  0.0383495   0.19       0.02          pose: 0.0           3.39389    0.0203915   0 0.000510013 0.00804454  0.0191247   0.999785       uwb: 0.49740444     848.036  684.946  
imu_odom_:  1691062790.883844801  0.263362   -0.150835  9.76355    -0.0596548  -0.0511327  0.0383495   0.19       0.02          pose: 0.42063367    3.40798    0.0191608   0 0.00165926  0.00986147  0.0191133   0.999767       uwb: 0.0            848.036  684.946  
imu_odom_:  1691062790.900848520  0.586579   -0.23942   9.5816     -0.0266316  0.0458064   0.0266316   0.19       0.02          pose: 0.35054459    3.40798    0.0191608   0 0.00248049  0.00782516  0.0191027   0.999784       uwb: 0.0            848.036  684.946  
imu_odom_:  1691062790.924837817  -0.0957681 -0.383072  9.58638    -0.0607201  0.015979    0.0383495   0.19       0.02          pose: 0.8015973     3.40798    0.0191608   0 0.00242986  0.00724197  0.0190512   0.999789       uwb: 0.0            848.036  684.946  
imu_odom_:  1691062790.949832719  -0.00957681-0.035913  9.42837    -0.0500674  -0.00426106 0.0490022   0.19       0             pose: 0.32977043    3.41973    0.0159691   0 0.00106729  0.00888753  0.0189664   0.99978        uwb: 0.100046395    848.886  683.181  
imu_odom_:  1691062790.974734876  -0.201113  -0.318429  9.63187    -0.0543285  0.0543285   0.0266316   0.19       0             pose: 0.0           3.41973    0.0159691   0 0.00106729  0.00888753  0.0189664   0.99978        uwb: 0.0            848.886  683.181  
imu_odom_:  1691062791.684928     -0.380678  -0.263362  9.82102    -0.0660464  0.0213053   0.0415453   0.25       -0.02         pose: 0.49897059    3.42727    0.022294    0 0.00147275  0.0140635   0.0189161   0.999721       uwb: 0.50009053     849.137  682.279  
imu_odom_:  1691062791.14802198   0.426168   -0.531513  10.2352    -0.0777643  -0.00426106 0.0330232   0.25       -0.02         pose: 0.0           3.42727    0.022294    0 0.00147275  0.0140635   0.0189161   0.999721       uwb: 0.0            849.137  682.279  
imu_odom_:  1691062791.31681384   0.402226   -0.306458  9.8282     0.0138484   -0.056459   -0.0820254  0.18       -0.05         pose: 0.0           3.42727    0.022294    0 0.00147275  0.0140635   0.0189161   0.999721       uwb: 0.0            849.137  682.279  
imu_odom_:  1691062791.46798135   -0.0742203 -0.222661  9.086      0.0223706   -0.0468716  -0.15979    0.18       -0.05         pose: 0.40067322    3.43615    0.0166928   0 -0.0002349950.0158924   0.0188746   0.999696       uwb: 0.0            849.137  682.279  
imu_odom_:  1691062791.62797125   -0.0167594 0.543484   10.477     -0.0575243  -0.135289   -0.127832   0.18       -0.05         pose: 0.0           3.43615    0.0166928   0 -0.0002349950.0158924   0.0188746   0.999696       uwb: 0.49983097     847.405  682.22   
imu_odom_:  1691062791.77733053   -0.143652  0.100556   9.66539    -0.208792   -0.136354   -0.076699   0.19       -0.23         pose: 0.47994927    3.44742    0.0187828   0 0.00192031  0.0142411   0.0150006   0.999784       uwb: 0.0            847.405  682.22   
imu_odom_:  1691062791.94697984   0.0263362  -0.325611  9.34936    -0.176834   -0.0500674  -0.133158   0.19       -0.23         pose: 0.0           3.44742    0.0187828   0 0.00192031  0.0142411   0.0150006   0.999784       uwb: 0.0            847.405  682.22   
imu_odom_:  1691062791.119824129  1.10373    -0.653617  10.489     -0.0585895  -0.0447411  -0.253533   0.19       -0.35         pose: 0.31900859    3.45018    0.0154294   0 -0.0005940020.0149197   0.0126869   0.999808       uwb: 0.50020720     847.181  681.753  
imu_odom_:  1691062791.136812391  0.754174   -0.196325  9.89524    -0.0490022  0.0117179   -0.280165   0.22       -0.44         pose: 0.0           3.45018    0.0154294   0 -0.0005940020.0149197   0.0126869   0.999808       uwb: 0.0            847.181  681.753  
imu_odom_:  1691062791.152872044  1.38145    -0.220267  10.161     -0.0319579  0.00958738  -0.351537   0.19       -0.41         pose: 0.0           3.45018    0.0154294   0 -0.0005940020.0149197   0.0126869   0.999808       uwb: 0.49945767     847.797  680.18   
imu_odom_:  1691062791.170873787  0.112527   0.280122   8.72208    -0.0340885  0.00958738  -0.425041   0.19       -0.41         pose: 0.50204167    3.45786    0.0219076   0 -0.00136641 0.00976895  0.00468921  0.99994        uwb: 0.0            847.797  680.18   
imu_odom_:  1691062791.187745681  0.3304     0.023942   10.0245    -0.0681769  -0.00745685 -0.411192   0.19       -0.47         pose: 0.0           3.45786    0.0219076   0 -0.00136641 0.00976895  0.00468921  0.99994        uwb: 0.0            847.797  680.18   
imu_odom_:  1691062791.202810227  0.227449   -0.167594  9.64384    -0.0830906  -0.0553937  -0.429302   0.19       -0.47         pose: 0.0           3.45786    0.0219076   0 -0.00136641 0.00976895  0.00468921  0.99994        uwb: 0.50192501     848.523  678.82   
imu_odom_:  1691062791.219868486  0.213084   -0.270545  9.83777    -0.0585895  -0.056459   -0.491087   0.19       -0.47         pose: 0.33981192    3.47198    0.0208131   0 0.00126548  0.00922398  -0.00283631 0.999953       uwb: 0.0            848.523  678.82   
imu_odom_:  1691062791.234811997  0.289698   -0.225055  8.88488    -0.0585895  0.0106526   -0.527306   0.19       -0.55         pose: 0.40985143    3.47193    0.0208043   0 0.00116173  0.00903886  -0.0128899  0.999875       uwb: 0.0            848.523  678.82   
imu_odom_:  1691062791.251692350  0.0957681  -0.114922  10.0126    -0.0745685  0.0436758   -0.551807   0.19       -0.55         pose: 0.6904206     3.47198    0.0208134   0 0.000756461 0.00851448  -0.0148492  0.999853       uwb: 0.49623495     848.101  677.926  
imu_odom_:  1691062791.267797499  0.608127   -0.337582  10.2903    -0.0798948  0.00319579  -0.58483    0.19       -0.55         pose: 0.0           3.47198    0.0208134   0 0.000756461 0.00851448  -0.0148492  0.999853       uwb: 0.0            848.101  677.926  
imu_odom_:  1691062791.284863924  0.430956   -0.0311246 9.42118    -0.0330232  -0.0351537  -0.615723   0.25       -0.82         pose: 0.41024807    3.48608    0.0197525   0 0.0002214   0.00827791  -0.0271408  0.999597       uwb: 0.0            848.101  677.926  
imu_odom_:  1691062791.302684553  0.691924   -0.112527  9.24401    -0.1012     -0.0681769  -0.581634   0.18       -0.61         pose: 0.0           3.48608    0.0197525   0 0.0002214   0.00827791  -0.0271408  0.999597       uwb: 0.50168586     849.021  676.221  
imu_odom_:  1691062791.317681144  0.174777   0.00957681 9.89284    -0.112918   -0.0181095  -0.5827     0.18       -0.61         pose: 0.0           3.48608    0.0197525   0 0.0002214   0.00827791  -0.0271408  0.999597       uwb: 0.0            849.021  676.221  
imu_odom_:  1691062791.334729195  0.584185   -0.1652    9.93115    -0.0671117  -0.0479369  -0.619984   0.18       -0.61         pose: 0.26086253    3.48608    0.0197533   0 0.00144245  0.0056057   -0.0355187  0.999352       uwb: 0.0            849.021  676.221  
imu_odom_:  1691062791.350791180  0.227449   -0.167594  9.7851     -0.0553937  -0.0213053  -0.661529   0.18       -0.64         pose: 0.0           3.48608    0.0197533   0 0.00144245  0.0056057   -0.0355187  0.999352       uwb: 0.50002346     849.188  675.105  
imu_odom_:  1691062791.367666867  0.433351   0.220267   10.2855    -0.0394148  -0.0351537  -0.670051   0.18       -0.64         pose: 0.30829633    3.50018    0.0186734   0 0.00209315  0.00434189  -0.0452184  0.998965       uwb: 0.0            849.188  675.105  
imu_odom_:  1691062791.384952320  0.88346    -0.122104  9.65582    -0.0788296  -0.0223706  -0.680704   0.18       -0.7          pose: 0.42953482    3.50013    0.018664    0 0.00388733  0.00374014  -0.0601116  0.998177       uwb: 0.0            849.188  675.105  
imu_odom_:  1691062791.401942915  0.861913   0.0502782  9.63906    -0.0575243  -0.0479369  -0.689226   0.18       -0.7          pose: 0.0           3.50013    0.018664    0 0.00388733  0.00374014  -0.0601116  0.998177       uwb: 0.50123672     849      674.699  
imu_odom_:  1691062791.417865784  0.90022    0.138864   10.003     -0.0798948  -0.0458064  -0.657268   0.18       -0.7          pose: 0.0           3.50013    0.018664    0 0.00388733  0.00374014  -0.0601116  0.998177       uwb: 0.0            849      674.699  
imu_odom_:  1691062791.434661559  1.36709    -0.134075  10.0173    -0.0660464  0.00745685  -0.585895   0.21       -0.85         pose: 0.8296539     3.50018    0.0186731   0 0.00375857  0.0028517   -0.0630908  0.997997       uwb: 0.0            849      674.699  
imu_odom_:  1691062791.450659090  1.4054     -0.708684  9.8258     -0.0596548  0.0223706   -0.568851   0.14       -0.58         pose: 0.0           3.50018    0.0186731   0 0.00375857  0.0028517   -0.0630908  0.997997       uwb: 0.50099466     847.78   674.307  
imu_odom_:  1691062791.467777136  0.620098   -0.47884   8.96868    -0.0436758  0.04048     -0.546481   0.14       -0.58         pose: 0.66836326    3.51428    0.0175198   0 0.00381872  -0.00390315 -0.0857049  0.996306       uwb: 0.0            847.78   674.307  
imu_odom_:  1691062791.483793041  0.842759   -0.227449  10.8553    -0.056459   0           -0.4815     0.12       -0.47         pose: 0.0           3.51428    0.0175198   0 0.00381872  -0.00390315 -0.0857049  0.996306       uwb: 0.0            847.78   674.307  
imu_odom_:  1691062791.500645104  1.04866    -0.107739  10.4244    -0.0820254  -0.0436758  -0.412257   0.12       -0.47         pose: 0.0           3.51428    0.0175198   0 0.00381872  -0.00390315 -0.0857049  0.996306       uwb: 0.49799067     846.902  673.913  
imu_odom_:  1691062791.516672675  1.16837    -0.184354  9.73004    -0.0543285  0.00319579  -0.379234   0.12       -0.47         pose: 0.32986669    3.52079    0.00992708  0 0.00167527  -0.00532646 -0.0951415  0.995448       uwb: 0.0            846.902  673.913  
imu_odom_:  1691062791.532786865  0.976834   -0.395043  9.52413    -0.0756338  0.015979    -0.343015   0.14       -0.5          pose: 0.40886274    3.52832    0.0164316   0 0.00113115  -0.00959441 -0.104335   0.994495       uwb: 0.0            846.902  673.913  
imu_odom_:  1691062791.549636011  0.679953   -0.454898  10.0604    -0.0575243  0.0213053   -0.340885   0.14       -0.5          pose: 0.7103403     3.52837    0.0164407   0 0.000671911 -0.0100953  -0.105682   0.994349       uwb: 0.49987764     846.427  673.642  
imu_odom_:  1691062791.565636750  0.718261   -0.316035  9.87848    -0.0575243  0           -0.320645   0.14       -0.5          pose: 0.0           3.52837    0.0164407   0 0.000671911 -0.0100953  -0.105682   0.994349       uwb: 0.0            846.427  673.642  
imu_odom_:  1691062791.591648925  0.797269   -0.138864  10.2017    -0.0468716  -0.0287621  -0.272708   0.09       -0.32         pose: 0.41860672    3.52832    0.0164315   0 -0.00273107 -0.0117606  -0.113409   0.993475       uwb: 0.0            846.427  673.642  
imu_odom_:  1691062791.607791405  0.799663   -0.280122  9.94073    -0.0479369  -0.0223706  -0.251402   0.09       -0.32         pose: 0.0           3.52832    0.0164315   0 -0.00273107 -0.0117606  -0.113409   0.993475       uwb: 0.50082841     846.658  672.65   
imu_odom_:  1691062791.623741689  0.636858   -0.385466  9.73004    -0.0490022  0.0170442   -0.26099    0.09       -0.32         pose: 0.33024292    3.53488    0.00884599  0 -0.0018089  -0.0150156  -0.118463   0.992843       uwb: 0.0            846.658  672.65   
imu_odom_:  1691062791.640819488  -0.88346   -0.100556  9.38288    -0.0458064  0.12144     -0.140615   0.11       -0.05         pose: 0.0           3.53488    0.00884599  0 -0.0018089  -0.0150156  -0.118463   0.992843       uwb: 0.0            846.658  672.65   
imu_odom_:  1691062791.658781275  -1.1971    -0.873884  10.3525    -0.0617853  -0.00532632 0.0969391   0.11       -0.05         pose: 0.0           3.53488    0.00884599  0 -0.0018089  -0.0150156  -0.118463   0.992843       uwb: 0.50032386     845.5    672.414  
imu_odom_:  1691062791.673698247  -0.490811  -0.878672  9.83059    -0.0436758  -0.126766   0.150202    0.11       -0.05         pose: 0.33128701    3.53488    0.00884599  0 -0.00331666 -0.0135455  -0.122851   0.992327       uwb: 0.0            845.5    672.414  
imu_odom_:  1691062791.690718882  0.620098   -0.325611  9.87608    -0.0245011  -0.0980043  0.197074    0.11       0.11          pose: 0.41908504    3.53885    0.0122197   0 -0.00402979 -0.0098843  -0.122311   0.992434       uwb: 0.0            845.5    672.414  
imu_odom_:  1691062791.706659542  0.687136   -0.186748  9.42118    -0.0426106  -0.0181095  0.270577    0.11       0.11          pose: 0.7138692     3.54252    0.0153012   0 -0.00467278 -0.0103346  -0.121744   0.992497       uwb: 0.49764361     844.31   672.118  
imu_odom_:  1691062791.723770005  0.416591   -0.191536  10.1394    -0.04048    0.00106526  0.313188    0.11       0.11          pose: 0.0           3.54252    0.0153012   0 -0.00467278 -0.0103346  -0.121744   0.992497       uwb: 0.0            844.31   672.118  
imu_odom_:  1691062791.741830953  0.277727   -0.739808  10.0413    -0.0490022  0.0106526   0.319579    0.13       0.29          pose: 0.42933066    3.54887    0.00761795  0 -0.00343896 -0.0105089  -0.116826   0.993091       uwb: 0.0            844.31   672.118  
imu_odom_:  1691062791.756771840  -0.0407014 -0.244209  9.79707    -0.0468716  0.0245011   0.34408     0.13       0.29          pose: 0.0           3.54887    0.00761795  0 -0.00343896 -0.0105089  -0.116826   0.993091       uwb: 0.50055426     844.334  671.43   
imu_odom_:  1691062791.772823618  0.136469   -0.452504  9.97424    -0.0511327  0.00213053  0.393083    0.13       0.29          pose: 0.0           3.54887    0.00761795  0 -0.00343896 -0.0105089  -0.116826   0.993091       uwb: 0.0            844.334  671.43   
imu_odom_:  1691062791.787830417  0.287304   -0.574608  9.67976    -0.0458064  -0.0117179  0.42291     0.13       0.29          pose: 0.24900992    3.54893    0.00762669  0 -0.0045841  -0.00839133 -0.113262   0.993519       uwb: 0.0            844.334  671.43   
imu_odom_:  1691062791.804791265  0.351948   -0.248997  10.3908    -0.0340885  -0.0138484  0.437824    0.14       0.35          pose: 0.0           3.54893    0.00762669  0 -0.0045841  -0.00839133 -0.113262   0.993519       uwb: 0.50121048     842.924  671.423  
imu_odom_:  1691062791.821695241  -0.071826  0.0287304  9.52653    -0.0553937  -0.0276969  0.494283    0.14       0.35          pose: 0.0           3.54893    0.00762669  0 -0.0045841  -0.00839133 -0.113262   0.993519       uwb: 0.0            842.924  671.423  
imu_odom_:  1691062791.838821745  0.469264   -0.54109   9.87608    -0.0607201  -0.0841559  0.531567    0.2        0.61          pose: 0.73024244    3.56297    0.00646629  0 -0.00380116 -0.00226348 -0.0991448  0.995063       uwb: 0.0            842.924  671.423  
imu_odom_:  1691062791.854841441  0.663194   -0.428562  9.80665    -0.0511327  -0.0138484  0.508131    0.2        0.61          pose: 0.0           3.56297    0.00646629  0 -0.00380116 -0.00226348 -0.0991448  0.995063       uwb: 0.49993888     841.788  671.263  
imu_odom_:  1691062791.871954530  0.3304     -0.272939  10.0126    -0.0308927  -0.0649811  0.520914    0.2        0.61          pose: 0.0           3.56297    0.00646629  0 -0.00380116 -0.00226348 -0.0991448  0.995063       uwb: 0.0            841.788  671.263  
imu_odom_:  1691062791.887777655  1.06303    -0.471658  10.0796    -0.0458064  -0.0383495  0.506001    0.14       0.41          pose: 0.7080071     3.56302    0.00647467  0 -0.00455946 -0.00250691 -0.0974087  0.995231       uwb: 0.0            841.788  671.263  
imu_odom_:  1691062791.903629070  1.10133    -0.155623  9.64384    -0.0255663  0.0351537   0.485761    0.17       0.5           pose: 0.0           3.56302    0.00647467  0 -0.00455946 -0.00250691 -0.0974087  0.995231       uwb: 0.50016929     838.932  671.945  
imu_odom_:  1691062791.920642414  1.35751    -0.454898  10.2185    -0.0511327  -0.0500674  0.462325    0.17       0.5           pose: 0.65955547    3.56947    -0.00116899 0 -0.00589554 -0.00548411 -0.0818855  0.996609       uwb: 0.0            838.932  671.945  
imu_odom_:  1691062791.937627177  1.64482    0.00718261 9.5385     -0.0372843  -0.0234358  0.330232    0.14       0.35          pose: 0.0           3.56947    -0.00116899 0 -0.00589554 -0.00548411 -0.0818855  0.996609       uwb: 0.0            838.932  671.945  
imu_odom_:  1691062791.953622083  1.3623     0.189142   9.92397    -0.0394148  0.0575243   0.278034    0.14       0.35          pose: 0.0           3.56947    -0.00116899 0 -0.00589554 -0.00548411 -0.0818855  0.996609       uwb: 0.50049594     838.835  671.023  
imu_odom_:  1691062791.970625803  0.835576   -0.0407014 10.1203    -0.0671117  0.036219    0.268447    0.14       0.35          pose: 0.33026624    3.57714    0.00524365  0 -0.00581875 -0.00896671 -0.0753046  0.997103       uwb: 0.0            838.835  671.023  
imu_odom_:  1691062791.986766825  0.553061   -0.509965  9.90721    -0.0671117  0.0287621   0.2024      0.08       0.17          pose: 0.42868320    3.57709    0.00523506  0 -0.00348126 -0.0117481  -0.0700746  0.997466       uwb: 0.0            838.835  671.023  
imu_odom_:  1691062792.3771712    0.837971   -0.335188  9.77553    -0.0468716  -0.036219   0.148072    0.08       0.17          pose: 0.8155090     3.57714    0.00524392  0 -0.00427739 -0.0112878  -0.0694035  0.997516       uwb: 0.49740445     837.109  671.139  
imu_odom_:  1691062792.21942612   0.821211   -0.0957681 9.63666    -0.0671117  -0.00319579 0.153398    0.08       0.17          pose: 0.0           3.57714    0.00524392  0 -0.00427739 -0.0112878  -0.0694035  0.997516       uwb: 0.0            837.109  671.139  
imu_odom_:  1691062792.36636764   0.871489   -0.208296  10.0724    -0.056459   0.0181095   0.175769    0.07       0.17          pose: 0.34131682    3.5836     -0.00239707 0 -0.00480845 -0.0133781  -0.0673198  0.99763        uwb: 0.0            837.109  671.139  
imu_odom_:  1691062792.53760353   0.691924   -0.433351  9.87129    -0.0553937  0.00639159  0.176834    0.06       0.17          pose: 0.0           3.5836     -0.00239707 0 -0.00480845 -0.0133781  -0.0673198  0.99763        uwb: 0.50190753     837.413  670.306  
imu_odom_:  1691062792.69752926   0.507571   -0.148441  9.72046    -0.0585895  -0.0170442  0.186421    0.06       0.17          pose: 0.0           3.5836     -0.00239707 0 -0.00480845 -0.0133781  -0.0673198  0.99763        uwb: 0.0            837.413  670.306  
imu_odom_:  1691062792.86765396   0.557849   -0.320823  9.76595    -0.0596548  0.00426106  0.199204    0.06       0.17          pose: 0.30982458    3.5836     -0.00239732 0 -0.00450855 -0.0150777  -0.0653242  0.99774        uwb: 0.0            837.413  670.306  
imu_odom_:  1691062792.102752720  0.624887   -0.191536  10.0221    -0.056459   -0.00639159 0.183225    0.06       0.17          pose: 0.0           3.5836     -0.00239732 0 -0.00450855 -0.0150777  -0.0653242  0.99774        uwb: 0.49871981     837.132  669.736  
imu_odom_:  1691062792.119636281  0.73502    -0.270545  9.80665    -0.0532632  -0.0170442  0.177899    0.06       0.17          pose: 0.33875908    3.5836     -0.00239741 0 -0.00467427 -0.0129911  -0.0628289  0.997929       uwb: 0.0            837.132  669.736  
imu_odom_:  1691062792.135753389  0.648829   -0.222661  9.95509    -0.0617853  0.00958738  0.174703    0.04       0.11          pose: 0.41865340    3.59128    0.00400159  0 -0.00355054 -0.0136253  -0.0598153  0.99811        uwb: 0.0            837.132  669.736  
imu_odom_:  1691062792.152750985  0.608127   -0.351948  9.84975    -0.0607201  -0.0138484  0.183225    0.04       0.11          pose: 0.8117175     3.59128    0.00400159  0 -0.00285302 -0.013205   -0.0592775  0.99815        uwb: 0.50070594     836.027  669.679  
imu_odom_:  1691062792.168615816  0.64404    -0.294487  9.93115    -0.056459   0.00852212  0.181095    0.04       0.11          pose: 0.0           3.59128    0.00400159  0 -0.00285302 -0.013205   -0.0592775  0.99815        uwb: 0.0            836.027  669.679  
imu_odom_:  1691062792.185753987  0.584185   -0.225055  9.87848    -0.056459   -0.00639159 0.198139    0.05       0.23          pose: 0.40862360    3.59128    0.00400159  0 -0.00535379 -0.0118533  -0.0563681  0.998325       uwb: 0.0            836.027  669.679  
imu_odom_:  1691062792.202759166  0.629675   -0.275333  10.0149    -0.0553937  0           0.201335    0.03       0.17          pose: 0.0           3.59128    0.00400159  0 -0.00535379 -0.0118533  -0.0563681  0.998325       uwb: 0.49988348     835.508  669.359  
imu_odom_:  1691062792.229624997  0.596156   -0.263362  9.84256    -0.052198   0           0.190682    0.03       0.17          pose: 0.25210140    3.59128    0.00400159  0 -0.00342373 -0.0115846  -0.0543811  0.998447       uwb: 0.0            835.508  669.359  
imu_odom_:  1691062792.245740647  -0.0933739 -0.162806  9.663      -0.0596548  0.0713727   0.210922    0.04       0.2           pose: 0.0           3.59128    0.00400159  0 -0.00342373 -0.0115846  -0.0543811  0.998447       uwb: 0.0            835.508  669.359  
imu_odom_:  1691062792.262743784  -1.07739   -0.438139  9.99819    -0.0649811  0.0788296   0.305731    0.04       0.2           pose: 0.0           3.59128    0.00400159  0 -0.00342373 -0.0115846  -0.0543811  0.998447       uwb: 0.49930894     834.58   669.665  
imu_odom_:  1691062792.278802270  -1.09176   -0.682347  9.98861    -0.0607201  -0.036219   0.38456     0.04       0.2           pose: 0.15853166    3.59128    0.00400159  0 -0.00291527 -0.0115583  -0.053144   0.998516       uwb: 0.0            834.58   669.665  
imu_odom_:  1691062792.294751680  -0.351948  -0.493206  9.66539    -0.0426106  -0.0777643  0.415453    0.06       0.32          pose: 0.27965932    3.59128    0.00400159  0 -0.00287668 -0.00843018 -0.0509471  0.998662       uwb: 0.0            834.58   669.665  
imu_odom_:  1691062792.311676072  0.407014   0.023942   9.69412    -0.0351537  -0.0287621  0.448476    0.06       0.32          pose: 0.0           3.59128    0.00400159  0 -0.00287668 -0.00843018 -0.0509471  0.998662       uwb: 0.49936435     833.631  669.931  
imu_odom_:  1691062792.327743891  0.349553   -0.241814  9.73482    -0.0543285  0.00426106  0.507066    0.12       0.55          pose: 0.32996294    3.59771    -0.00365905 0 -0.00308297 -0.00426177 -0.0466289  0.998898       uwb: 0.0            833.631  669.931  
imu_odom_:  1691062792.343735006  0.28491    -0.371101  9.72525    -0.0585895  0.0213053   0.509196    0.12       0.55          pose: 0.0           3.59771    -0.00365905 0 -0.00308297 -0.00426177 -0.0466289  0.998898       uwb: 0.0            833.631  669.931  
imu_odom_:  1691062792.360655023  -0.11971   -0.416591  9.80665    -0.0511327  -0.0138484  0.540089    0.12       0.55          pose: 0.0           3.59771    -0.00365905 0 -0.00308297 -0.00426177 -0.0466289  0.998898       uwb: 0.50176171     834.7    669.183  
imu_odom_:  1691062792.378730846  0.1652     -0.335188  9.75877    -0.0649811  0.00426106  0.559264    0.11       0.5           pose: 0.47987928    3.59771    -0.00365905 0 -0.00167048 -0.00188602 -0.0371367  0.999307       uwb: 0.0            834.7    669.183  
imu_odom_:  1691062792.393720147  0.172383   -0.354342  10.2304    -0.0500674  0.00319579  0.579504    0.11       0.53          pose: 0.0           3.59771    -0.00365905 0 -0.00167048 -0.00188602 -0.0371367  0.999307       uwb: 0.0            834.7    669.183  
imu_odom_:  1691062792.410685078  0.349553   -0.323217  10.0389    -0.0553937  0.00745685  0.601874    0.11       0.53          pose: 0.67115728    3.60538    0.00275021  0 -0.00383772 0.00458324  -0.02042    0.999774       uwb: 0.49932352     833.334  669.342  
imu_odom_:  1691062792.426735690  -0.0933739 -0.366313  9.64863    -0.0394148  0.0255663   0.632767    0.12       0.55          pose: 0.0           3.60538    0.00275021  0 -0.00383772 0.00458324  -0.02042    0.999774       uwb: 0.0            833.334  669.342  
imu_odom_:  1691062792.443610793  0.203507   -0.543484  10.0796    -0.0617853  -0.00852212 0.644485    0.12       0.55          pose: 0.0           3.60538    0.00275021  0 -0.00383772 0.00458324  -0.02042    0.999774       uwb: 0.0            833.334  669.342  
imu_odom_:  1691062792.460714257  0.356736   -0.25618   9.98382    -0.0415453  0.00213053  0.64342     0.12       0.55          pose: 0.33008835    3.61181    -0.00490904 0 -0.00487689 0.00490436  -0.0111124  0.999914       uwb: 0.49925644     833.069  668.817  
imu_odom_:  1691062792.476775952  0.105345   -0.521936  9.71088    -0.0511327  -0.00426106 0.674312    0.13       0.61          pose: 0.41960418    3.61942    0.00150731  0 -0.00509338 0.00534035  0.00151837  0.999972       uwb: 0.0            833.069  668.817  
imu_odom_:  1691062792.493603808  0.445322   -0.268151  10.1323    -0.0511327  -0.0245011  0.695618    0.13       0.61          pose: 0.7021742     3.61948    0.0015157   0 -0.0055818  0.0058296   0.00374628  0.99996        uwb: 0.0            833.069  668.817  
imu_odom_:  1691062792.510615695  0.466869   -0.529119  9.91199    -0.0426106  -0.0351537  0.690291    0.13       0.61          pose: 0.0           3.61948    0.0015157   0 -0.0055818  0.0058296   0.00374628  0.99996        uwb: 0.50265707     832.653  668.711  
imu_odom_:  1691062792.527714201  0.770933   -0.311246  9.991      -0.036219   -0.0308927  0.66579     0.17       0.76          pose: 0.42879696    3.61942    0.00150713  0 -0.00669713 0.00348872  0.0176522   0.999816       uwb: 0.0            832.653  668.711  
imu_odom_:  1691062792.544836623  1.21386    -0.354342  9.53371    -0.0660464  -0.0340885  0.677508    0.11       0.44          pose: 0.0           3.61942    0.00150713  0 -0.00669713 0.00348872  0.0176522   0.999816       uwb: 0.0            832.653  668.711  
imu_odom_:  1691062792.561640564  1.47483    -0.289698  9.72046    -0.0351537  -0.052198   0.60294     0.11       0.44          pose: 0.0           3.61942    0.00150713  0 -0.00669713 0.00348872  0.0176522   0.999816       uwb: 0.49631954     831.027  669.088  
imu_odom_:  1691062792.577638971  1.70228    -0.047884  9.89763    -0.056459   0.00958738  0.497478    0.09       0.38          pose: 0.25220931    3.62592    -0.0061319  0 -0.00638461 0.000676259 0.0255804   0.999652       uwb: 0.0            831.027  669.088  
imu_odom_:  1691062792.593588963  1.22104    0.110133   9.92636    -0.0639159  0.0308927   0.413323    0.09       0.38          pose: 0.0           3.62592    -0.0061319  0 -0.00638461 0.000676259 0.0255804   0.999652       uwb: 0.0            831.027  669.088  
imu_odom_:  1691062792.610574602  0.653617   -0.011971  9.77313    -0.0532632  0.04048     0.339819    0.09       0.38          pose: 0.33751665    3.63356    0.00031911  0 -0.0059296  -0.0030906  0.0349808   0.999366       uwb: 0.50039387     829.498  669.661  
imu_odom_:  1691062792.626570675  0.629675   -0.265756  10.082     -0.0607201  -0.00106526 0.30147     0.1        0.44          pose: 0.40986311    3.63351    0.000310234 0 -0.00344056 -0.00519914 0.0423174   0.999085       uwb: 0.0            829.498  669.661  
imu_odom_:  1691062792.643583728  0.749385   -0.251391  9.93354    -0.0553937  -0.0170442  0.275903    0.1        0.44          pose: 0.6005344     3.63356    0.000319039 0 -0.00333393 -0.00577443 0.0431001   0.999049       uwb: 0.0            829.498  669.661  
imu_odom_:  1691062792.659569594  0.869095   -0.28491   9.79468    -0.0607201  -0.00532632 0.276969    0.1        0.44          pose: 0.0           3.63356    0.000319039 0 -0.00333393 -0.00577443 0.0431001   0.999049       uwb: 0.50071177     830.674  668.397  
imu_odom_:  1691062792.674639098  0.739808   -0.275333  9.94073    -0.056459   0.00106526  0.286556    0.05       0.26          pose: 0.42989648    3.63356    0.000319039 0 -0.00287343 -0.0101109  0.048292    0.998778       uwb: 0.0            830.674  668.397  
imu_odom_:  1691062792.691629986  0.694318   -0.35913   9.87129    -0.052198   0.00532632  0.270577    0.06       0.26          pose: 0.0           3.63356    0.000319039 0 -0.00287343 -0.0101109  0.048292    0.998778       uwb: 0.0            830.674  668.397  
imu_odom_:  1691062792.707557522  0.593762   -0.196325  9.91439    -0.0553937  0.00319579  0.237554    0.06       0.26          pose: 0.0           3.63356    0.000319039 0 -0.00287343 -0.0101109  0.048292    0.998778       uwb: 0.49976975     831.242  668.081  
imu_odom_:  1691062792.723560303  0.418985   -0.0933739 9.75637    -0.0553937  0.0138484   0.227967    0.06       0.32          pose: 0.22068789    3.63356    0.00031885  0 -0.00327914 -0.0120171  0.0509553   0.998623       uwb: 0.0            831.242  668.081  
imu_odom_:  1691062792.740559357  0.440533   -0.270545  9.92636    -0.0639159  -0.00319579 0.247141    0.06       0.32          pose: 0.0           3.63356    0.00031885  0 -0.00327914 -0.0120171  0.0509553   0.998623       uwb: 0.0            831.242  668.081  
imu_odom_:  1691062792.756551639  0.560243   -0.440533  9.85214    -0.0500674  -0.00106526 0.249272    0.06       0.32          pose: 0.32942922    3.63356    0.00031885  0 -0.00220467 -0.0112062  0.054331    0.998458       uwb: 0.50010514     831.018  667.64   
imu_odom_:  1691062792.772683329  0.703895   -0.325611  9.83538    -0.052198   -0.0127832  0.250337    0.04       0.23          pose: 0.41970334    3.64452    0.00279079  0 -0.00354572 -0.00868888 0.0586253   0.998236       uwb: 0.0            831.018  667.64   
imu_odom_:  1691062792.788579659  0.634463   -0.198719  9.91199    -0.0500674  -0.00213053 0.269512    0.04       0.23          pose: 0.8024723     3.64764    -0.0007844850 -0.00367753 -0.00951079 0.0594676   0.998178       uwb: 0.0            831.018  667.64   
imu_odom_:  1691062792.805588337  0.699107   -0.320823  9.94551    -0.0553937  -0.00319579 0.279099    0.04       0.23          pose: 0.0           3.64764    -0.0007844850 -0.00367753 -0.00951079 0.0594676   0.998178       uwb: 0.50052220     832.529  666.297  
imu_odom_:  1691062792.822707551  0.641646   -0.311246  9.88805    -0.0500674  0.00213053  0.26099     0.04       0.29          pose: 0.41011975    3.64758    -0.0007933630 -0.00300159 -0.01224    0.0641612   0.99786        uwb: 0.0            832.529  666.297  
imu_odom_:  1691062792.847570629  0.591368   -0.229843  9.83299    -0.052198   -0.00106526 0.267381    0.02       0.23          pose: 0.0           3.64758    -0.0007933630 -0.00300159 -0.01224    0.0641612   0.99786        uwb: 0.49960933     833.226  665.502  
imu_odom_:  1691062792.864567642  0.390255   -0.251391  9.97664    -0.0553937  0.0351537   0.268447    0.02       0.23          pose: 0.25054109    3.64764    -0.0007846760 -0.00398213 -0.0121075  0.0669671   0.997674       uwb: 0.0            833.226  665.502  
imu_odom_:  1691062792.880560215  -0.677559  -0.351948  9.80665    -0.0596548  0.104396    0.251402    0.04       0.2           pose: 0.0           3.64764    -0.0007846760 -0.00398213 -0.0121075  0.0669671   0.997674       uwb: 0.0            833.226  665.502  
imu_odom_:  1691062792.896615202  -1.50356   -0.174777  10.058     -0.0575243  0.0340885   0.210922    0.04       0.2           pose: 0.0           3.64764    -0.0007846760 -0.00398213 -0.0121075  0.0669671   0.997674       uwb: 0.50039388     835.024  663.982  
imu_odom_:  1691062792.913613381  -1.04866   -0.141258  9.84017    -0.0575243  -0.0617853  0.18216     0.04       0.2           pose: 0.41925711    3.64764    -0.0007846760 -0.00265931 -0.00790491 0.0716693   0.997394       uwb: 0.0            835.024  663.982  
imu_odom_:  1691062792.929557832  0.0550666  -0.0766145 9.98143    -0.0585895  -0.0948085  0.152333    0.07       0.11          pose: 0.32092766    3.64764    -0.0007846760 -0.00288474 -0.00418887 0.0744668   0.997211       uwb: 0.0            835.024  663.982  
imu_odom_:  1691062792.946624549  0.651223   -0.222661  9.92636    -0.0543285  -0.0394148  0.127832    0.07       0.11          pose: 0.0           3.64764    -0.0007846760 -0.00288474 -0.00418887 0.0744668   0.997211       uwb: 0.0            835.024  663.982  
imu_odom_:  1691062792.963603480  0.395043   -0.426168  9.62948    -0.0607201  0.0330232   0.118244    0.12       0.11          pose: 0.41963626    3.64764    -0.0007846760 -0.00175888 -0.004722   0.0767539   0.997037       uwb: 0.50047553     835.014  663.961  
imu_odom_:  1691062792.980568411  -0.28491   -0.232238  9.7851     -0.0735032  0.0234358   0.122505    0.12       0.11          pose: 0.0           3.64764    -0.0007846760 -0.00175888 -0.004722   0.0767539   0.997037       uwb: 0.0            835.014  663.961  
imu_odom_:  1691062792.995576377  -0.265756  -0.335188  9.7037     -0.0436758  -0.00852212 0.0980043   0.12       0.11          pose: 0.0           3.64764    -0.0007846760 -0.00175888 -0.004722   0.0767539   0.997037       uwb: 0.0            835.014  663.961  
imu_odom_:  1691062793.11640113   0.232238   -0.272939  10.0149    -0.0415453  -0.0170442  0.108657    0.11       0.08          pose: 0.7302891     3.64764    -0.0007846760 -0.00245406 -0.00428283 0.0770436   0.997016       uwb: 0.49818318     836.886  662.578  
imu_odom_:  1691062793.27690142   0.586579   -0.311246  10.0628    -0.0553937  0.00639159  0.124636    0.12       0.05          pose: 0.0           3.64764    -0.0007846760 -0.00245406 -0.00428283 0.0770436   0.997016       uwb: 0.0            836.886  662.578  
imu_odom_:  1691062793.45628307   0.428562   -0.438139  10.5441    -0.036219   0.0340885   0.0958738   0.12       0.05          pose: 0.0           3.64764    -0.0007846760 -0.00245406 -0.00428283 0.0770436   0.997016       uwb: 0.0            836.886  662.578  
imu_odom_:  1691062793.62706398   0.0885855  0.134075   9.76595    -0.0575243  0.0223706   0.106526    0.17       0.08          pose: 0.64721291    3.65526    0.00569005  0 -0.00360112 0.000537316 0.0794303   0.996834       uwb: 0.50076428     836.702  662.196  
imu_odom_:  1691062793.79689704   0.160412   -0.373495  9.93594    -0.0543285  -0.00319579 0.11931     0.17       0.08          pose: 0.0           3.65526    0.00569005  0 -0.00360112 0.000537316 0.0794303   0.996834       uwb: 0.0            836.702  662.196  
imu_odom_:  1691062793.93703148   0.397437   -0.397437  10.0461    -0.0681769  -0.0490022  0.1012      0.17       0.08          pose: 0.34074813    3.66177    -0.00190013 0 -0.00471576 0.000147525 0.0805491   0.996739       uwb: 0.0            836.702  662.196  
imu_odom_:  1691062793.109625726  0.701501   -0.229843  9.88566    -0.0532632  -0.0255663  0.106526    0.13       0.02          pose: 0.40979604    3.66941    0.00455174  0 -0.00592423 0.00138296  0.0819895   0.996615       uwb: 0.49992725     837.363  661.303  
imu_odom_:  1691062793.125553262  0.957681   -0.409408  10.1993    -0.04048    -0.04048    0.113983    0.13       0.02          pose: 0.6956412     3.66941    0.00455174  0 -0.00566083 0.000660744 0.0822187   0.996598       uwb: 0.0            837.363  661.303  
imu_odom_:  1691062793.142548526  0.981623   -0.366313  9.73482    -0.0468716  -0.0649811  0.135289    0.13       0.02          pose: 0.0           3.66941    0.00455174  0 -0.00566083 0.000660744 0.0822187   0.996598       uwb: 0.0            837.363  661.303  
imu_odom_:  1691062793.158600596  0.914585   -0.349553  9.40442    -0.0511327  0.00532632  0.187487    0.14       0.02          pose: 0.41888966    3.66941    0.00455174  0 -0.00518594 -0.00434151 0.0839012   0.996451       uwb: 0.50044347     836.955  661.212  
imu_odom_:  1691062793.174540965  1.2809     -0.4956    10.1634    -0.0639159  -0.0308927  0.213053    0.14       0.02          pose: 0.0           3.66941    0.00455174  0 -0.00518594 -0.00434151 0.0839012   0.996451       uwb: 0.0            836.955  661.212  
imu_odom_:  1691062793.190600618  1.64242    -0.174777  9.96706    -0.0500674  0.00426106  0.138484    0.14       0.02          pose: 0.0           3.66941    0.00455174  0 -0.00518594 -0.00434151 0.0839012   0.996451       uwb: 0.0            836.955  661.212  
imu_odom_:  1691062793.207680460  1.24977    0.203507   9.64624    -0.056459   0.0394148   0.0639159   0.08       0             pose: 0.39006306    3.677      0.0110632   0 -0.00523623 -0.0083031  0.0867852   0.996179       uwb: 0.50010224     837.846  660.029  
imu_odom_:  1691062793.224688556  0.608127   0.059855   9.88326    -0.0649811  0.0330232   0.0394148   0.1        0.02          pose: 0.0           3.677      0.0110632   0 -0.00523623 -0.0083031  0.0867852   0.996179       uwb: 0.0            837.846  660.029  
imu_odom_:  1691062793.240714377  0.634463   -0.533907  9.96227    -0.072438   0.0106526   0.0319579   0.1        0.02          pose: 0.33172451    3.68355    0.00350772  0 -0.00323444 -0.00986711 0.0874034   0.996119       uwb: 0.0            837.846  660.029  
imu_odom_:  1691062793.257547776  0.658405   -0.488417  9.82102    -0.0585895  -0.0170442  0.0149137   0.09       0.05          pose: 0.0           3.68355    0.00350772  0 -0.00323444 -0.00986711 0.0874034   0.996119       uwb: 0.49989225     840.438  657.818  
imu_odom_:  1691062793.274654157  0.866701   -0.196325  9.94551    -0.0511327  -0.00106526 0.0575243   0.09       0.05          pose: 0.0           3.68355    0.00350772  0 -0.00323444 -0.00986711 0.0874034   0.996119       uwb: 0.0            840.438  657.818  
imu_odom_:  1691062793.290591026  0.629675   -0.222661  9.72046    -0.072438   0.0181095   0.0884169   0.09       0.05          pose: 0.33032752    3.68355    0.00350772  0 -0.00463445 -0.0103132  0.0872606   0.996121       uwb: 0.0            840.438  657.818  
imu_odom_:  1691062793.306601099  0.555455   -0.368707  9.98143    -0.0511327  0           0.0703074   0.05       0.05          pose: 0.42830991    3.68349    0.0034983   0 -0.00309956 -0.0119008  0.0876477   0.996076       uwb: 0.49875482     840.539  657.252  
imu_odom_:  1691062793.322591923  0.684742   -0.225055  9.85453    -0.0553937  -0.0106526  0.0639159   0.05       0.05          pose: 0.7952686     3.68355    0.00350745  0 -0.00368282 -0.0113562  0.0877786   0.996068       uwb: 0.0            840.539  657.252  
imu_odom_:  1691062793.338643702  0.720655   -0.169988  9.88087    -0.0596548  -0.00106526 0.0873517   0.05       0.05          pose: 0.0           3.68355    0.00350745  0 -0.00368282 -0.0113562  0.0877786   0.996068       uwb: 0.0            840.539  657.252  
imu_odom_:  1691062793.365521784  0.565032   -0.383072  9.88805    -0.0553937  -0.00532632 0.0713727   0.05       0.05          pose: 0.40099990    3.69116    0.00999462  0 -0.00165954 -0.0126248  0.088449    0.995999       uwb: 0.49982517     840.08   657.05   
imu_odom_:  1691062793.382522880  0.337582   -0.201113  9.79228    -0.0628506  0.0170442   0.0372843   0.04       0.08          pose: 0.0           3.69116    0.00999462  0 -0.00165954 -0.0126248  0.088449    0.995999       uwb: 0.0            840.08   657.05   
imu_odom_:  1691062793.409533954  -1.53229   -0.0191536 10.1083    -0.0511327  0.056459    0.0170442   0.04       0.08          pose: 0.34959676    3.69116    0.00999462  0 -0.00379631 -0.0104252  0.0888983   0.995979       uwb: 0.49983101     841.013  655.917  
imu_odom_:  1691062793.425623647  -0.960075  -0.761356  9.76116    -0.0735032  -0.0916127  0.04048     0.07       0.05          pose: 0.0           3.69116    0.00999462  0 -0.00379631 -0.0104252  0.0888983   0.995979       uwb: 0.0            841.013  655.917  
imu_odom_:  1691062793.441555850  0.232238   -0.550666  9.62708    -0.0340885  -0.0681769  -0.0585895  0.07       0.05          pose: 0.15937161    3.69116    0.00999462  0 -0.00355575 -0.00856474 0.0888121   0.996005       uwb: 0.0            841.013  655.917  
imu_odom_:  1691062793.458547030  0.134075   0.294487   9.87129    -0.056459   0.0138484   -0.092678   0.07       0.05          pose: 0.0           3.69116    0.00999462  0 -0.00355575 -0.00856474 0.0888121   0.996005       uwb: 0.50141466     842.03   654.957  
imu_odom_:  1691062793.475653995  0.122104   -0.0215478 9.93354    -0.076699   0.00319579  -0.131028   0.09       -0.2          pose: 0.60038284    3.69116    0.00999462  0 -0.00450608 -0.00410337 0.0873171   0.996162       uwb: 0.0            842.03   654.957  
imu_odom_:  1691062793.492588595  0.19393    -0.486023  10.0102    -0.0628506  -0.0181095  -0.238619   0.09       -0.2          pose: 0.0           3.69116    0.00999462  0 -0.00450608 -0.00410337 0.0873171   0.996162       uwb: 0.0            842.03   654.957  
imu_odom_:  1691062793.506535543  0.746991   -0.0454898 9.67976    -0.0500674  -0.02024    -0.330232   0.11       -0.32         pose: 0.43009772    3.7052     0.00884876  0 -0.00426735 -0.0009839780.0829322   0.996546       uwb: 0.50007016     842.096  654.306  
imu_odom_:  1691062793.521584633  0.979228   0.203507   9.87129    -0.0628506  -0.0127832  -0.335558   0.11       -0.32         pose: 0.0           3.7052     0.00884876  0 -0.00426735 -0.0009839780.0829322   0.996546       uwb: 0.0            842.096  654.306  
imu_odom_:  1691062793.537519752  0.383072   -0.332794  9.77313    -0.0809601  0.052198    -0.367516   0.11       -0.32         pose: 0.0           3.7052     0.00884876  0 -0.00426735 -0.0009839780.0829322   0.996546       uwb: 0.0            842.096  654.306  
imu_odom_:  1691062793.552641170  0.591368   -0.105345  10.2568    -0.0628506  0.0181095   -0.423975   0.12       -0.41         pose: 0.5957223     3.70526    0.00885777  0 -0.00384774 -0.00147823 0.0818325   0.996638       uwb: 0.49972309     843.655  652.927  
imu_odom_:  1691062793.569577229  -0.347159  -0.0981623 10.0245    -0.0575243  -0.00852212 -0.46339    0.12       -0.41         pose: 0.0           3.70526    0.00885777  0 -0.00384774 -0.00147823 0.0818325   0.996638       uwb: 0.0            843.655  652.927  
imu_odom_:  1691062793.585632507  0.205901   -0.0814029 9.98861    -0.0745685  -0.0276969  -0.459129   0.12       -0.41         pose: 0.0           3.70526    0.00885777  0 -0.00384774 -0.00147823 0.0818325   0.996638       uwb: 0.0            843.655  652.927  
imu_odom_:  1691062793.601575209  0.0454898  -0.122104  9.52413    -0.052198   -0.0106526  -0.485761   0.18       -0.67         pose: 0.46098336    3.70526    0.0088578   0 -0.00306647 -0.0020715  0.0726585   0.99735        uwb: 0.50019849     844.284  651.897  
imu_odom_:  1691062793.618573972  0.213084   -0.208296  10.0556    -0.056459   -0.00958738 -0.529436   0.13       -0.55         pose: 0.0           3.70526    0.0088578   0 -0.00306647 -0.0020715  0.0726585   0.99735        uwb: 0.0            844.284  651.897  
imu_odom_:  1691062793.634572088  0.6608     -0.0574608 9.86172    -0.056459   -0.0276969  -0.549676   0.13       -0.55         pose: 0.64888699    3.7128     0.0154175   0 -0.0009029180.00250367  0.0561316   0.99842        uwb: 0.0            844.284  651.897  
imu_odom_:  1691062793.651525645  0.196325   -0.0383072 9.61272    -0.0287621  -0.00426106 -0.545415   0.13       -0.58         pose: 0.0           3.7128     0.0154175   0 -0.0009029180.00250367  0.0561316   0.99842        uwb: 0.49864983     844.034  651.339  
imu_odom_:  1691062793.668576030  0.198719   -0.512359  9.70849    -0.0617853  0.0106526   -0.563525   0.13       -0.58         pose: 0.0           3.7128     0.0154175   0 -0.0009029180.00250367  0.0561316   0.99842        uwb: 0.0            844.034  651.339  
imu_odom_:  1691062793.684569187  0.955286   -0.0957681 10.41      -0.0628506  -0.0490022  -0.566721   0.13       -0.58         pose: 0.33176534    3.71934    0.00785126  0 0.000630705 0.00241269  0.0464822   0.998916       uwb: 0.0            844.034  651.339  
imu_odom_:  1691062793.700519764  1.31681    -0.114922  9.4571     -0.0809601  -0.0692422  -0.466586   0.16       -0.64         pose: 0.41859800    3.72685    0.0143828   0 -1.99557e-050.00191104  0.0339207   0.999423       uwb: 0.49955394     844.699  650.373  
imu_odom_:  1691062793.717629354  0.933739   -0.512359  9.66539    -0.0372843  0.0511327   -0.383495   0.16       -0.64         pose: 0.7041866     3.72691    0.0143923   0 -8.96261e-060.000981756 0.0321398   0.999483       uwb: 0.0            844.699  650.373  
imu_odom_:  1691062793.734573578  1.31921    -0.54109   10.0437    -0.036219   -0.0436758  -0.337689   0.16       -0.64         pose: 0.0           3.72691    0.0143923   0 -8.96261e-060.000981756 0.0321398   0.999483       uwb: 0.0            844.699  650.373  
imu_odom_:  1691062793.750623024  0.993594   0.0646434  9.40442    -0.0383495  0.00106526  -0.314253   0.09       -0.38         pose: 0.32973838    3.72691    0.0143923   0 -0.000791938-0.0020288  0.0249574   0.999686       uwb: 0.50105593     843.573  650.308  
imu_odom_:  1691062793.766567476  0.586579   -0.21069   9.87848    -0.0468716  0.02024     -0.267381   0.12       -0.53         pose: 0.0           3.72691    0.0143923   0 -0.000791938-0.0020288  0.0249574   0.999686       uwb: 0.0            843.573  650.308  
imu_odom_:  1691062793.783576155  0.481235   -0.385466  9.81862    -0.0500674  0.00319579  -0.282295   0.12       -0.53         pose: 0.0           3.72691    0.0143923   0 -0.000791938-0.0020288  0.0249574   0.999686       uwb: 0.0            843.573  650.308  
imu_odom_:  1691062793.800513672  0.627281   -0.21069   9.8665     -0.0543285  -0.0479369  -0.266316   0.1        -0.38         pose: 0.32992212    3.72691    0.0143924   0 6.22714e-05 -0.0051222  0.0191639   0.999803       uwb: 0.50054846     841.922  650.716  
imu_odom_:  1691062793.816621447  0.672771   -0.203507  9.84017    -0.0617853  -0.00745685 -0.225836   0.1        -0.38         pose: 0.0           3.72691    0.0143924   0 6.22714e-05 -0.0051222  0.0191639   0.999803       uwb: 0.0            841.922  650.716  
imu_odom_:  1691062793.832618688  0.787692   -0.411803  10.1562    -0.0479369  -0.00852212 -0.213053   0.1        -0.38         pose: 0.32961006    3.74101    0.0133041   0 -0.00121649 -0.00633882 0.0139907   0.999881       uwb: 0.0            841.922  650.716  
imu_odom_:  1691062793.848562556  0.739808   -0.253785  9.83538    -0.0532632  -0.0255663  -0.198139   0.06       -0.23         pose: 0.42080579    3.74095    0.0132943   0 -0.00152882 -0.0103282  0.00830905  0.999911       uwb: 0.49866441     842.004  650.085  
imu_odom_:  1691062793.865501823  0.893037   -0.306458  9.57681    -0.052198   0.0106526   -0.169377   0.06       -0.23         pose: 0.7891439     3.74101    0.0133037   0 -0.00154864 -0.0112027  0.00737052  0.999909       uwb: 0.0            842.004  650.085  
imu_odom_:  1691062793.881617181  0.466869   -0.363919  9.88805    -0.0596548  -0.00745685 -0.153398   0.06       -0.23         pose: 0.0           3.74101    0.0133037   0 -0.00154864 -0.0112027  0.00737052  0.999909       uwb: 0.0            842.004  650.085  
imu_odom_:  1691062793.898510367  0.588974   -0.126893  10.1586    -0.0479369  -0.0181095  -0.165116   0.06       -0.26         pose: 0.41107054    3.74101    0.0133037   0 -0.00268968 -0.0122451  0.00310331  0.999917       uwb: 0.50011974     842.088  649.454  
imu_odom_:  1691062793.914568271  0.579397   -0.0957681 9.83059    -0.0596548  -0.0255663  -0.138484   0.04       -0.17         pose: 0.0           3.74101    0.0133037   0 -0.00268968 -0.0122451  0.00310331  0.999917       uwb: 0.0            842.088  649.454  
imu_odom_:  1691062793.931627697  0.720655   -0.332794  9.93833    -0.0628506  -0.0106526  -0.118244   0.04       -0.17         pose: 0.0           3.74101    0.0133037   0 -0.00268968 -0.0122451  0.00310331  0.999917       uwb: 0.0            842.088  649.454  
imu_odom_:  1691062793.947511194  0.775721   -0.378284  9.84975    -0.0575243  -0.0351537  -0.103331   0.04       -0.11         pose: 0.24920825    3.74101    0.0133037   0 -0.000305708-0.0115161  0.000634962 0.999933       uwb: 0.49987475     841.981  649.218  
imu_odom_:  1691062793.963669716  0.670376   -0.383072  9.84256    -0.0532632  0.00213053  -0.0990696  0.04       -0.11         pose: 0.0           3.74101    0.0133037   0 -0.000305708-0.0115161  0.000634962 0.999933       uwb: 0.0            841.981  649.218  
imu_odom_:  1691062793.980765890  0.624887   -0.136469  10.0437    -0.0543285  -0.015979   -0.0820254  0.04       -0.11         pose: 0.32976172    3.74101    0.0133038   0 -0.00156323 -0.0130527  -0.00197619 0.999912       uwb: 0.0            841.981  649.218  
imu_odom_:  1691062793.997654993  0.639252   -0.337582  9.78031    -0.0596548  -0.0127832  -0.0681769  0.04       -0.14         pose: 0.41251712    3.74101    0.0133038   0 -0.00209224 -0.0132388  -0.00469767 0.999899       uwb: 0.50041139     841.194  649.109  
imu_odom_:  1691062794.14647340   0.754174   -0.311246  9.94551    -0.056459   -0.00958738 -0.0575243  0.04       -0.14         pose: 0.7006868     3.74101    0.0133038   0 -0.00278396 -0.0131032  -0.00506592 0.999897       uwb: 0.0            841.194  649.109  
imu_odom_:  1691062794.30627374   0.687136   -0.294487  9.88566    -0.0596548  -0.00745685 -0.0500674  0.04       -0.14         pose: 0.0           3.74101    0.0133038   0 -0.00278396 -0.0131032  -0.00506592 0.999897       uwb: 0.0            841.194  649.109  
imu_odom_:  1691062794.46639780   0.634463   -0.241814  9.97424    -0.052198   -0.00532632 -0.036219   0.02       -0.08         pose: 0.42854616    3.74101    0.0133038   0 -0.0042314  -0.0130377  -0.0071204  0.999881       uwb: 0.0            841.194  649.109  
imu_odom_:  1691062794.63706498   0.663194   -0.275333  9.83059    -0.0575243  -0.0138484  -0.0255663  0.01       -0.02         pose: 0.0           3.74101    0.0133038   0 -0.0042314  -0.0130377  -0.0071204  0.999881       uwb: 0.50148467     841.317  648.563  
imu_odom_:  1691062794.79819524   0.682347   -0.323217  9.90002    -0.0543285  -0.00852212 -0.0213053  0.01       -0.02         pose: 0.0           3.74101    0.0133038   0 -0.0042314  -0.0130377  -0.0071204  0.999881       uwb: 0.0            841.317  648.563  
imu_odom_:  1691062794.96637757   0.653617   -0.28491   9.89284    -0.056459   -0.00639159 -0.00213053 0.01       -0.02         pose: 0.24051129    3.74856    0.0198598   0 -0.00310495 -0.0131269  -0.00800232 0.999877       uwb: 0.49977853     839.087  649.345  
imu_odom_:  1691062794.114558131  0.696713   -0.335188  9.90242    -0.0532632  0.00106526  0.0138484   0.01       -0.02         pose: 0.0           3.74856    0.0198598   0 -0.00310495 -0.0131269  -0.00800232 0.999877       uwb: 0.0            839.087  649.345  
imu_odom_:  1691062794.130547206  0.514753   -0.277727  9.87129    -0.0543285  0.00106526  0.0319579   0.01       -0.02         pose: 0.32947299    3.74856    0.0198598   0 -0.00454754 -0.0136454  -0.00892976 0.999857       uwb: 0.0            839.087  649.345  
imu_odom_:  1691062794.146486700  0.533907   -0.299275  9.92157    -0.0543285  -0.00745685 0.0490022   0          0.05          pose: 0.42921404    3.74856    0.0198598   0 -0.00490867 -0.0124941  -0.00939829 0.999866       uwb: 0.0            839.087  649.345  
imu_odom_:  1691062794.162538771  0.526724   -0.244209  9.88805    -0.0543285  -0.00426106 0.0479369   0          0.05          pose: 0.6950288     3.74856    0.0198598   0 -0.00484312 -0.0118128  -0.00936291 0.999875       uwb: 0.49808112     839.919  648.732  
imu_odom_:  1691062794.177541781  0.519542   -0.248997  9.93594    -0.052198   -0.00106526 0.0447411   0          0.05          pose: 0.0           3.74856    0.0198598   0 -0.00484312 -0.0118128  -0.00936291 0.999875       uwb: 0.0            839.919  648.732  
imu_odom_:  1691062794.199483704  0.399832   -0.237026  9.92875    -0.0553937  0           0.0383495   0          0             pose: 0.40044287    3.74856    0.0198598   0 -0.00309123 -0.00826794 -0.00921702 0.999919       uwb: 0.50095679     839.88   648.646  
imu_odom_:  1691062794.216470801  -0.272939  -0.241814  9.77792    -0.0447411  0.0703074   0.0862864   0          0.02          pose: 0.0           3.74856    0.0198598   0 -0.00309123 -0.00826794 -0.00921702 0.999919       uwb: 0.0            839.88   648.646  
imu_odom_:  1691062794.232584410  -1.16837   -0.538695  9.92397    -0.0532632  0.0660464   0.208792    0          0.02          pose: 0.28978830    3.74856    0.0198598   0 -0.00253171 -0.00511459 -0.00906278 0.999943       uwb: 0.0            839.88   648.646  
imu_odom_:  1691062794.248469658  -1.06303   -0.828394  9.991      -0.0649811  -0.04048    0.330232    0.04       0.29          pose: 0.0           3.74856    0.0198598   0 -0.00253171 -0.00511459 -0.00906278 0.999943       uwb: 0.49858860     838.282  649.198  
imu_odom_:  1691062794.265600247  -0.11971   -0.577003  9.83059    -0.0458064  -0.0671117  0.393083    0.04       0.29          pose: 0.0           3.74856    0.0198598   0 -0.00253171 -0.00511459 -0.00906278 0.999943       uwb: 0.0            838.282  649.198  
imu_odom_:  1691062794.282579762  0.646434   -0.208296  10.2137    -0.0543285  -0.0351537  0.451672    0.04       0.29          pose: 0.32948174    3.75508    0.0122818   0 -0.00294895 -0.00106295 -0.00645917 0.999974       uwb: 0.0            838.282  649.198  
imu_odom_:  1691062794.298620458  0.383072   -0.0814029 9.8665     -0.0436758  0.0191748   0.471912    0.07       0.47          pose: 0.33068042    3.75508    0.0122818   0 -0.00382868 -0.00016589 -0.0006860040.999992       uwb: 0.50014017     837.808  648.976  
imu_odom_:  1691062794.315618638  0.110133   -0.347159  9.76834    -0.0468716  0.0298274   0.478304    0.07       0.47          pose: 0.0           3.75508    0.0122818   0 -0.00382868 -0.00016589 -0.0006860040.999992       uwb: 0.0            837.808  648.976  
imu_odom_:  1691062794.333476017  -0.215478  -0.442927  9.90481    -0.0447411  -0.00745685 0.508131    0.07       0.47          pose: 0.0           3.75508    0.0122818   0 -0.00382868 -0.00016589 -0.0006860040.999992       uwb: 0.0            837.808  648.976  
imu_odom_:  1691062794.347613703  0.0861913  -0.373495  10.0054    -0.0394148  -0.0276969  0.537959    0.07       0.47          pose: 0.43081811    3.75503    0.0122726   0 -0.00229303 0.0012038   0.00857788  0.99996        uwb: 0.50094512     838.166  648.137  
imu_odom_:  1691062794.363750644  0.325611   -0.122104  9.95748    -0.0351537  -0.0117179  0.565655    0.07       0.47          pose: 0.0           3.75503    0.0122726   0 -0.00229303 0.0012038   0.00857788  0.99996        uwb: 0.0            838.166  648.137  
imu_odom_:  1691062794.379484234  0.141258   -0.423774  9.90721    -0.0426106  -0.00106526 0.606135    0.09       0.53          pose: 0.8008099     3.75508    0.012282    0 -0.00249096 0.00195897  0.0104553   0.99994        uwb: 0.0            838.166  648.137  
imu_odom_:  1691062794.395535722  0.253785   -0.414197  9.64384    -0.0468716  -0.02024    0.595483    0.09       0.53          pose: 0.0           3.75508    0.012282    0 -0.00249096 0.00195897  0.0104553   0.99994        uwb: 0.0            838.166  648.137  
imu_odom_:  1691062794.411614041  -0.155623  -0.0981623 9.7875     -0.0436758  0.00106526  0.615723    0.09       0.53          pose: 0.0           3.75508    0.012282    0 -0.00249096 0.00195897  0.0104553   0.99994        uwb: 0.49863817     837.522  648.357  
imu_odom_:  1691062794.428527060  0.0909797  -0.339977  9.76834    -0.0426106  -0.00958738 0.646616    0.11       0.64          pose: 0.46945286    3.75508    0.012282    0 -0.00180723 0.00447419  0.022469    0.999736       uwb: 0.0            837.522  648.357  
imu_odom_:  1691062794.444530426  0.258574   -0.287304  9.53132    -0.0436758  -0.00639159 0.654072    0.11       0.64          pose: 0.0           3.75508    0.012282    0 -0.00180723 0.00447419  0.022469    0.999736       uwb: 0.0            837.522  648.357  
imu_odom_:  1691062794.461478442  0.263362   -0.361524  9.80665    -0.0319579  -0.00106526 0.660464    0.11       0.64          pose: 0.0           3.75508    0.012282    0 -0.00180723 0.00447419  0.022469    0.999736       uwb: 0.50144968     838.038  647.86   
imu_odom_:  1691062794.479624553  0.114922   -0.416591  9.76834    -0.0596548  -0.00319579 0.687096    0.12       0.61          pose: 0.47966933    3.76263    0.0188374   0 -0.00335861 0.00764052  0.0361806   0.99931        uwb: 0.0            838.038  647.86   
imu_odom_:  1691062794.494505362  0.782904   -0.316035  9.72525    -0.0500674  -0.04048    0.656203    0.11       0.61          pose: 0.0           3.76263    0.0188374   0 -0.00335861 0.00764052  0.0361806   0.99931        uwb: 0.0            838.038  647.86   
imu_odom_:  1691062794.511607077  0.90022    -0.232238  9.70609    -0.052198   0.00319579  0.628506    0.11       0.61          pose: 0.66980699    3.76917    0.0112679   0 -0.00667922 0.00786277  0.0570294   0.998319       uwb: 0.50044932     839.593  646.374  
imu_odom_:  1691062794.529474955  1.67834    -0.1652    10.1251    -0.0394148  -0.04048    0.570982    0.08       0.41          pose: 0.0           3.76917    0.0112679   0 -0.00667922 0.00786277  0.0570294   0.998319       uwb: 0.0            839.593  646.374  
imu_odom_:  1691062794.545524984  1.36469    0.023942   9.2895     -0.0394148  0.0223706   0.493217    0.08       0.41          pose: 0.0           3.76917    0.0112679   0 -0.00667922 0.00786277  0.0570294   0.998319       uwb: 0.0            839.593  646.374  
imu_odom_:  1691062794.561465645  1.37906    -0.023942  10.568     -0.0607201  0.0639159   0.417584    0.08       0.41          pose: 0.34111854    3.77673    0.0178169   0 -0.00588644 0.00433083  0.0669327   0.997731       uwb: 0.49865859     838.272  646.743  
imu_odom_:  1691062794.577517425  0.414197   -0.148441  9.50977    -0.0575243  0.04048     0.351537    0.06       0.29          pose: 0.41834136    3.77667    0.0178073   0 -0.00440464 0.00101327  0.0761576   0.997086       uwb: 0.0            838.272  646.743  
imu_odom_:  1691062794.594515605  0.428562   -0.213084  10.0054    -0.0596548  0.0213053   0.278034    0.06       0.29          pose: 0.8004600     3.77673    0.0178171   0 -0.00363531 0.00106433  0.0774021   0.996993       uwb: 0.0            838.272  646.743  
imu_odom_:  1691062794.610456849  0.725443   0.0023942  9.96467    -0.052198   -0.0330232  0.230097    0.06       0.29          pose: 0.0           3.77673    0.0178171   0 -0.00363531 0.00106433  0.0774021   0.996993       uwb: 0.49929439     840.636  645.386  
imu_odom_:  1691062794.626510087  0.907402   -0.268151  9.76116    -0.0532632  -0.00426106 0.214118    0.07       0.35          pose: 0.40986604    3.77673    0.0178171   0 -0.000476807-0.00113528 0.0821838   0.996616       uwb: 0.0            840.636  645.386  
imu_odom_:  1691062794.642451039  0.782904   -0.23942   9.97424    -0.0500674  0.00852212  0.229032    0.04       0.26          pose: 0.0           3.77673    0.0178171   0 -0.000476807-0.00113528 0.0821838   0.996616       uwb: 0.0            840.636  645.386  
imu_odom_:  1691062794.659517757  0.174777   -0.423774  9.69652    -0.0511327  0.0255663   0.276969    0.04       0.26          pose: 0.0           3.77673    0.0178171   0 -0.000476807-0.00113528 0.0821838   0.996616       uwb: 0.50172965     840.336  645.547  
imu_odom_:  1691062794.675508873  0.37589    -0.466869  10.1083    -0.0596548  -0.0149137  0.291882    0.04       0.26          pose: 0.24060170    3.77673    0.0178169   0 -0.000415621-0.00348632 0.0843341   0.996431       uwb: 0.0            840.336  645.547  
imu_odom_:  1691062794.692564509  0.629675   -0.201113  9.89284    -0.036219   -0.0245011  0.267381    0.03       0.2           pose: 0.0           3.77673    0.0178169   0 -0.000415621-0.00348632 0.0843341   0.996431       uwb: 0.0            840.336  645.547  
imu_odom_:  1691062794.709448071  0.811634   0.0023942  9.80426    -0.0532632  0           0.258859    0.03       0.2           pose: 0.32998921    3.78324    0.0102259   0 -0.00218012 -0.00245635 0.0881129   0.996105       uwb: 0.49782448     838.963  645.807  
imu_odom_:  1691062794.733448161  0.596156   -0.316035  9.89524    -0.0543285  0.00958738  0.238619    0.03       0.2           pose: 0.41932131    3.78749    0.0138584   0 -0.000854066-0.00516147 0.0928843   0.995663       uwb: 0.0            838.963  645.807  
imu_odom_:  1691062794.749494691  -0.158017  -0.304064  9.72285    -0.0617853  0.0830906   0.217314    0.03       0.2           pose: 0.0           3.78749    0.0138584   0 -0.000854066-0.00516147 0.0928843   0.995663       uwb: 0.50247336     840.792  644.904  
imu_odom_:  1691062794.766494912  -1.14922   -0.172383  10.0437    -0.0607201  0.0841559   0.214118    0.05       0.14          pose: 0.7032824     3.79082    0.0167492   0 -0.00124554 -0.00569923 0.0935823   0.995594       uwb: 0.0            840.792  644.904  
imu_odom_:  1691062794.783454303  -1.22583   -0.339977  10.0341    -0.0628506  -0.0181095  0.209857    0.06       0.14          pose: 0.0           3.79082    0.0167492   0 -0.00124554 -0.00569923 0.0935823   0.995594       uwb: 0.0            840.792  644.904  
imu_odom_:  1691062794.800612599  -0.347159  -0.23942   9.74679    -0.0479369  -0.0553937  0.186421    0.1        0.2           pose: 0.0           3.79082    0.0167492   0 -0.00124554 -0.00569923 0.0935823   0.995594       uwb: 0.49851277     840.386  644.828  
imu_odom_:  1691062794.816507180  0.531513   -0.316035  10.0413    -0.0511327  -0.0617853  0.175769    0.1        0.2           pose: 0.74193180    3.79082    0.016749    0 -0.00301864 -0.0001623240.100141    0.994969       uwb: 0.0            840.386  644.828  
imu_odom_:  1691062794.833562523  0.691924   -0.335188  9.75877    -0.0607201  0.00958738  0.178964    0.12       0.14          pose: 0.0           3.79082    0.016749    0 -0.00301864 -0.0001623240.100141    0.994969       uwb: 0.0            840.386  644.828  
imu_odom_:  1691062794.850504998  0.251391   -0.447716  9.97903    -0.0617853  0.036219    0.170442    0.12       0.14          pose: 0.32779309    3.79082    0.016749    0 -0.00332118 -0.00207145 0.102423    0.994733       uwb: 0.50178215     840.844  644.185  
imu_odom_:  1691062794.866441868  -0.275333  -0.138864  9.74201    -0.0511327  0.0276969   0.157659    0.12       0.14          pose: 0.0           3.79082    0.016749    0 -0.00332118 -0.00207145 0.102423    0.994733       uwb: 0.0            840.844  644.185  
imu_odom_:  1691062794.883479421  0.201113   -0.220267  10.1347    -0.0660464  0.00319579  0.175769    0.1        0.08          pose: 0.42988484    3.79481    0.0202206   0 -0.00451005 0.000392493 0.105171    0.994444       uwb: 0.0            840.844  644.185  
imu_odom_:  1691062794.899484245  0.304064   -0.1652    9.9096     -0.0596548  0.02024     0.149137    0.1        0.08          pose: 0.7994683     3.79838    0.023291    0 -0.00430489 0.00117935  0.105716    0.994386       uwb: 0.49954813     839.912  644.604  
imu_odom_:  1691062794.915479444  0.201113   -0.19393   10.4435    -0.0447411  -0.0149137  0.135289    0.1        0.08          pose: 0.0           3.79838    0.023291    0 -0.00430489 0.00117935  0.105716    0.994386       uwb: 0.0            839.912  644.604  
imu_odom_:  1691062794.931418938  0.00957681 -0.289698  9.82341    -0.0340885  -0.0426106  0.155529    0.11       0.11          pose: 0.41042893    3.80209    0.0190249   0 -0.00203431 0.00443779  0.107975    0.994142       uwb: 0.0            839.912  644.604  
imu_odom_:  1691062794.947468384  -0.177171  -0.500388  9.89763    -0.0681769  -0.00639159 0.162985    0.15       0.08          pose: 0.0           3.80209    0.0190249   0 -0.00203431 0.00443779  0.107975    0.994142       uwb: 0.49801113     839.097  644.455  
imu_odom_:  1691062794.964585266  0.162806   -0.347159  10.1227    -0.0458064  -0.0245011  0.13955     0.15       0.08          pose: 0.0           3.80209    0.0190249   0 -0.00203431 0.00443779  0.107975    0.994142       uwb: 0.0            839.097  644.455  
imu_odom_:  1691062794.981447538  0.627281   -0.445322  9.83777    -0.0468716  -0.0149137  0.133158    0.17       0.11          pose: 0.23014025    3.80494    0.0157458   0 -0.00267899 0.00626497  0.109327    0.993983       uwb: 0.0            839.097  644.455  
imu_odom_:  1691062794.999611731  0.0502782  -0.3304    9.58399    -0.0532632  0.0394148   0.142745    0.17       0.11          pose: 0.0           3.80494    0.0157458   0 -0.00267899 0.00626497  0.109327    0.993983       uwb: 0.50199214     839.515  643.724  
imu_odom_:  1691062795.14589367   0.790087   -0.411803  10.5201    -0.0575243  -0.0213053  0.131028    0.17       0.11          pose: 0.34037191    3.81249    0.022307    0 -0.00459114 0.00717568  0.111084    0.993775       uwb: 0.0            839.515  643.724  
imu_odom_:  1691062795.30638814   0.979228   -0.181959  9.88566    -0.0585895  -0.0245011  0.151268    0.11       0.05          pose: 0.42058707    3.81249    0.022307    0 -0.00542592 0.00680271  0.113099    0.993546       uwb: 0.0            839.515  643.724  
imu_odom_:  1691062795.48658058   0.931344   -0.196325  10.1179    -0.0692422  0.0234358   0.213053    0.11       0.05          pose: 0.6982953     3.81249    0.022307    0 -0.00523169 0.00606228  0.113486    0.993507       uwb: 0.49984853     839.721  643.348  
imu_odom_:  1691062795.66586016   1.55623    -0.277727  10.2951    -0.0372843  -0.0639159  0.188552    0.1        0.05          pose: 0.0           3.81249    0.022307    0 -0.00523169 0.00606228  0.113486    0.993507       uwb: 0.0            839.721  643.348  
imu_odom_:  1691062795.82499554   1.43652    -0.0454898 9.46188    -0.04048    -0.00426106 0.129962    0.08       0.05          pose: 0.35023258    3.81249    0.022307    0 -0.0044233  0.00259635  0.116119    0.993222       uwb: 0.0            839.721  643.348  
imu_odom_:  1691062795.98433799   1.2809     -0.0023942 10.1227    -0.0660464  0.0490022   0.102265    0.08       0.02          pose: 0.0           3.81249    0.022307    0 -0.0044233  0.00259635  0.116119    0.993222       uwb: 0.49885985     841.046  642.138  
imu_odom_:  1691062795.114430749  0.292093   -0.0311246 10.137     -0.0575243  0           0.0777643   0.08       0.02          pose: 0.0           3.81249    0.022307    0 -0.0044233  0.00259635  0.116119    0.993222       uwb: 0.0            841.046  642.138  
imu_odom_:  1691062795.130433823  0.519542   -0.380678  9.84256    -0.0585895  -0.00958738 0.0394148   0.06       0.05          pose: 0.32968299    3.81999    0.0289262   0 -0.00327722 -0.0006218840.117781    0.993034       uwb: 0.0            841.046  642.138  
imu_odom_:  1691062795.146430481  0.890643   -0.186748  10.1083    -0.0543285  -0.0415453  0.0415453   0.06       0.05          pose: 0.0           3.81999    0.0289262   0 -0.00327722 -0.0006218840.117781    0.993034       uwb: 0.0            841.046  642.138  
imu_odom_:  1691062795.163409122  0.775721   -0.296881  9.61033    -0.056459   -0.00106526 0.0681769   0.06       0.05          pose: 0.31940528    3.82661    0.0214354   0 -0.00216769 -0.0008093020.118357    0.992968       uwb: 0.49941106     839.869  642.019  
imu_odom_:  1691062795.179462943  0.857124   -0.409408  10.082     -0.0628506  0.0181095   0.0830906   0.07       0.05          pose: 0.41904717    3.82661    0.0214354   0 -0.00224421 -0.00499255 0.118602    0.992927       uwb: 0.0            839.869  642.019  
imu_odom_:  1691062795.196436625  0.64404    -0.385466  9.83059    -0.0479369  0           0.0713727   0.07       0.05          pose: 0.7001326     3.82661    0.0214354   0 -0.00245218 -0.0055964  0.118752    0.992905       uwb: 0.49849529     838.171  642.421  
imu_odom_:  1691062795.213585005  0.675165   -0.141258  9.8665     -0.052198   0.00426106  0.0596548   0.07       0.05          pose: 0.0           3.82661    0.0214354   0 -0.00245218 -0.0055964  0.118752    0.992905       uwb: 0.0            838.171  642.421  
imu_odom_:  1691062795.229575539  0.703895   -0.172383  9.79707    -0.0532632  -0.00319579 0.0660464   0.04       0.05          pose: 0.43174557    3.82661    0.0214354   0 -0.00212028 -0.00859447 0.11937     0.99281        uwb: 0.0            838.171  642.421  
imu_odom_:  1691062795.256457705  0.730232   -0.241814  9.98622    -0.0553937  -0.00426106 0.0660464   0.05       0.05          pose: 0.0           3.82661    0.0214354   0 -0.00212028 -0.00859447 0.11937     0.99281        uwb: 0.50148760     837.723  642.263  
imu_odom_:  1691062795.272573065  0.110133   -0.466869  9.67736    -0.0649811  0.0639159   0.0245011   0.05       0.05          pose: 0.24084378    3.83413    0.0280264   0 -0.000827128-0.0105415  0.119671    0.992757       uwb: 0.0            837.723  642.263  
imu_odom_:  1691062795.289571829  -0.936133  0.131681   10.3118    -0.0468716  0.106526    -0.104396   0.04       0.05          pose: 0.0           3.83413    0.0280264   0 -0.000827128-0.0105415  0.119671    0.992757       uwb: 0.0            837.723  642.263  
imu_odom_:  1691062795.306451309  -1.47243   0.308852   9.75877    -0.0415453  -0.0213053  -0.186421   0.04       0.05          pose: 0.0           3.83413    0.0280264   0 -0.000827128-0.0105415  0.119671    0.992757       uwb: 0.0            837.723  642.263  
imu_odom_:  1691062795.323573732  -0.45011   -0.196325  9.97185    -0.0585895  -0.0777643  -0.236489   0.1        -0.35         pose: 0.26922122    3.83413    0.0280264   0 -0.000864514-0.0113908  0.119853    0.992726       uwb: 0.0            837.723  642.263  
imu_odom_:  1691062795.340417047  0.361524   -0.373495  9.55047    -0.0532632  -0.0372843  -0.286556   0.1        -0.35         pose: 0.41859804    3.83407    0.0280164   0 -0.000724124-0.00626365 0.116693    0.993148       uwb: 0.0            837.723  642.263  
imu_odom_:  1691062795.356562738  0.189142   -0.418985  10.0772    -0.0500674  0.0138484   -0.289752   0.1        -0.35         pose: 0.0           3.83407    0.0280164   0 -0.000724124-0.00626365 0.116693    0.993148       uwb: 0.0            837.723  642.263  
imu_odom_:  1691062795.372464318  0.217872   -0.289698  9.80186    -0.0671117  0.0245011   -0.302535   0.1        -0.38         pose: 0.7060531     3.83413    0.0280264   0 -0.000747581-0.0058191  0.115727    0.993264       uwb: 0.0            837.723  642.263  
imu_odom_:  1691062795.388468851  -0.371101  -0.191536  9.66779    -0.052198   0.0181095   -0.354733   0.1        -0.38         pose: 0.0           3.83413    0.0280264   0 -0.000747581-0.0058191  0.115727    0.993264       uwb: 0.0            837.723  642.263  
imu_odom_:  1691062795.404405721  -0.237026  -0.124498  9.95988    -0.04048    -0.0138484  -0.413323   0.1        -0.38         pose: 0.0           3.83413    0.0280264   0 -0.000747581-0.0058191  0.115727    0.993264       uwb: 0.150039431    839.104  641.15   
imu_odom_:  1691062795.420561328  0.25618    0.071826   9.69891    -0.0490022  -0.0308927  -0.444215   0.11       -0.47         pose: 0.49967938    3.83413    0.0280259   0 -0.00304797 -0.00213589 0.107819    0.994164       uwb: 0.0            839.104  641.15   
imu_odom_:  1691062795.437557467  0.225055   -0.179565  9.72525    -0.0681769  -0.0383495  -0.445281   0.14       -0.55         pose: 0.0           3.83413    0.0280259   0 -0.00304797 -0.00213589 0.107819    0.994164       uwb: 0.0            839.104  641.15   
imu_odom_:  1691062795.454548357  0.445322   -0.0837971 10.3837    -0.0607201  -0.04048    -0.478304   0.14       -0.55         pose: 0.64144706    3.8483     0.0270992   0 -0.00115596 0.00308277  0.0939881   0.995568       uwb: 0.0            839.104  641.15   
imu_odom_:  1691062795.471618575  0.047884   -0.0933739 9.53132    -0.0639159  -0.0436758  -0.512392   0.12       -0.5          pose: 0.0           3.8483     0.0270992   0 -0.00115596 0.00308277  0.0939881   0.995568       uwb: 0.0            839.104  641.15   
imu_odom_:  1691062795.488640671  0.636858   -0.0023942 10.0868    -0.0660464  -0.00532632 -0.527306   0.12       -0.5          pose: 0.0           3.8483     0.0270992   0 -0.00115596 0.00308277  0.0939881   0.995568       uwb: 0.0            839.104  641.15   
imu_odom_:  1691062795.506547047  -0.198719  -0.318429  9.70849    -0.0468716  -0.00745685 -0.548611   0.12       -0.5          pose: 0.33987904    3.8483     0.0270994   0 0.000606011 0.00309041  0.0852735   0.996353       uwb: 0.99936167     837.912  641.016  
imu_odom_:  1691062795.520580907  0.150835   -0.234632  9.99579    -0.0319579  -0.0234358  -0.568851   0.13       -0.55         pose: 0.44934659    3.85581    0.0336988   0 0.00121526  0.00416002  0.0724619   0.997362       uwb: 0.0            837.912  641.016  
imu_odom_:  1691062795.537532132  0.837971   -0.124498  10.0293    -0.0543285  -0.0436758  -0.52411    0.13       -0.55         pose: 0.5892185     3.85581    0.0336988   0 0.00107571  0.00466389  0.070672    0.997488       uwb: 0.0            837.912  641.016  
imu_odom_:  1691062795.554641723  1.07021    -0.203507  9.61511    -0.076699   -0.0394148  -0.401605   0.13       -0.55         pose: 0.0           3.85581    0.0336988   0 0.00107571  0.00466389  0.070672    0.997488       uwb: 0.50040267     839.412  639.312  
imu_odom_:  1691062795.571734398  1.35033    -0.641646  10.1299    -0.0553937  -0.00745685 -0.336624   0.1        -0.47         pose: 0.42202491    3.85965    0.0292316   0 0.00110335  0.00134771  0.0596701   0.998217       uwb: 0.0            839.412  639.312  
imu_odom_:  1691062795.587601856  1.35751    -0.342371  9.79228    -0.0628506  -0.0255663  -0.291882   0.1        -0.41         pose: 0.0           3.85965    0.0292316   0 0.00110335  0.00134771  0.0596701   0.998217       uwb: 0.0            839.412  639.312  
imu_odom_:  1691062795.605635391  1.48441    -0.0622492 10.0963    -0.0532632  0           -0.241815   0.1        -0.41         pose: 0.0           3.85965    0.0292316   0 0.00110335  0.00134771  0.0596701   0.998217       uwb: 0.50244421     837.467  640.03   
imu_odom_:  1691062795.621426728  1.37427    -0.304064  9.68933    -0.0394148  0.0308927   -0.237554   0.07       -0.32         pose: 0.25097858    3.8699     0.0327203   0 0.000381741 -0.00115157 0.055137    0.998478       uwb: 0.0            837.467  640.03   
imu_odom_:  1691062795.637400929  0.490811   -0.179565  9.65342    -0.036219   0.0394148   -0.255663   0.07       -0.32         pose: 0.0           3.8699     0.0327203   0 0.000381741 -0.00115157 0.055137    0.998478       uwb: 0.0            837.467  640.03   
imu_odom_:  1691062795.653396712  0.454898   -0.124498  10.0485    -0.0490022  -0.00958738 -0.252468   0.07       -0.32         pose: 0.32875554    3.8699     0.0327202   0 0.000675317 -0.00431992 0.0503369   0.998723       uwb: 0.49827947     837.007  639.85   
imu_odom_:  1691062795.669451700  0.526724   -0.213084  9.91678    -0.0639159  -0.00532632 -0.238619   0.06       -0.26         pose: 0.40781577    3.86984    0.03271     0 0.00367971  -0.00318562 0.0444154   0.999001       uwb: 0.0            837.007  639.85   
imu_odom_:  1691062795.686379302  0.586579   -0.318429  9.97424    -0.0639159  -0.00958738 -0.209857   0.06       -0.26         pose: 0.8013349     3.8699     0.0327204   0 0.00306373  -0.00373564 0.0433056   0.99905        uwb: 0.0            837.007  639.85   
imu_odom_:  1691062795.703478976  0.739808   -0.366313  9.90002    -0.052198   -0.00852212 -0.194943   0.06       -0.26         pose: 0.0           3.8699     0.0327204   0 0.00306373  -0.00373564 0.0433056   0.99905        uwb: 0.49849528     837.786  639.061  
imu_odom_:  1691062795.719426929  0.732626   -0.280122  9.78031    -0.0511327  -0.00532632 -0.16192    0.05       -0.17         pose: 0.42068915    3.8699     0.0327204   0 0.000100137 -0.0067783  0.0380929   0.999251       uwb: 0.0            837.786  639.061  
imu_odom_:  1691062795.736395070  0.577003   -0.227449  9.88087    -0.0596548  0.0138484   -0.145941   0.04       -0.14         pose: 0.0           3.8699     0.0327204   0 0.000100137 -0.0067783  0.0380929   0.999251       uwb: 0.0            837.786  639.061  
imu_odom_:  1691062795.762443121  0.577003   -0.318429  9.88087    -0.0596548  -0.0127832  -0.128897   0.04       -0.14         pose: 0.22981361    3.8699     0.0327206   0 -0.000354307-0.00896231 0.0358381   0.999317       uwb: 0.49935565     835.902  639.086  
imu_odom_:  1691062795.779445676  0.45011    -0.222661  10.0221    -0.0628506  0.0149137   -0.131028   0.04       -0.17         pose: 0.0           3.8699     0.0327206   0 -0.000354307-0.00896231 0.0358381   0.999317       uwb: 0.0            835.902  639.086  
imu_odom_:  1691062795.796558183  -0.179565  -0.296881  9.76355    -0.0553937  0.0660464   -0.184291   0.04       -0.17         pose: 0.0           3.8699     0.0327206   0 -0.000354307-0.00896231 0.0358381   0.999317       uwb: 0.50085473     836.31   638.307  
imu_odom_:  1691062795.813375542  -1.37188   0.232238   9.81383    -0.0447411  0.0436758   -0.154463   0.1        -0.17         pose: 0.70097846    3.87741    0.0393271   0 -0.00263817 -0.00548722 0.0293876   0.99955        uwb: 0.0            836.31   638.307  
imu_odom_:  1691062795.830427678  -1.04387   -0.787692  10.0102    -0.0745685  -0.0575243  -0.0628506  0.1        -0.17         pose: 0.0           3.87741    0.0393271   0 -0.00263817 -0.00548722 0.0293876   0.99955        uwb: 0.0            836.31   638.307  
imu_odom_:  1691062795.846367756  -0.0550666 -0.411803  9.95988    -0.052198   -0.0798948  -0.0894822  0.1        -0.17         pose: 0.0           3.87741    0.0393271   0 -0.00263817 -0.00548722 0.0293876   0.99955        uwb: 0.0            836.31   638.307  
imu_odom_:  1691062795.862426244  0.725443   -0.0383072 10.1849    -0.0340885  -0.0745685  -0.056459   0.09       -0.11         pose: 0.6903333     3.87741    0.0393271   0 -0.00244452 -0.00465061 0.0287189   0.999574       uwb: 0.50033559     836.816  637.743  
imu_odom_:  1691062795.878420860  0.687136   -0.0167594 9.85214    -0.0692422  0.0181095   -0.0298274  0.09       -0.11         pose: 0.0           3.87741    0.0393271   0 -0.00244452 -0.00465061 0.0287189   0.999574       uwb: 0.0            836.816  637.743  
imu_odom_:  1691062795.895404459  -0.0311246 -0.275333  10.1275    -0.0415453  0.0276969   -0.0745685  0.09       -0.11         pose: 0.0           3.87741    0.0393271   0 -0.00244452 -0.00465061 0.0287189   0.999574       uwb: 0.0            836.816  637.743  
imu_odom_:  1691062795.911714348  -0.160412  -0.28491   9.68455    -0.0543285  -0.0372843  -0.0873517  0.11       -0.11         pose: 0.49972313    3.88398    0.0317924   0 -0.0027957  -0.00217658 0.02553     0.999668       uwb: 0.49954813     836.048  637.729  
imu_odom_:  1691062795.929653388  0.0526724  -0.158017  9.5792     -0.0649811  -0.0383495  -0.0575243  0.15       -0.11         pose: 0.0           3.88398    0.0317924   0 -0.0027957  -0.00217658 0.02553     0.999668       uwb: 0.0            836.048  637.729  
imu_odom_:  1691062795.946536368  0.361524   -0.129287  9.76834    -0.0575243  -0.0245011  -0.0585895  0.15       -0.11         pose: 0.66237871    3.89151    0.0383699   0 -0.00110166 -9.73514e-050.0221507   0.999754       uwb: 0.0            836.048  637.729  
imu_odom_:  1691062795.960446860  0.23942    -0.265756  9.79228    -0.0798948  -0.00532632 -0.0298274  0.12       -0.08         pose: 0.0           3.89151    0.0383699   0 -0.00110166 -9.73514e-050.0221507   0.999754       uwb: 0.49876944     836.736  636.722  
imu_odom_:  1691062795.977439791  0.208296   -0.457293  9.8282     -0.056459   0.00639159  -0.0585895  0.12       -0.08         pose: 0.0           3.89151    0.0383699   0 -0.00110166 -9.73514e-050.0221507   0.999754       uwb: 0.0            836.736  636.722  
imu_odom_:  1691062795.993376078  -0.0023942 -0.306458  9.96467    -0.0735032  -0.00319579 -0.0532632  0.12       -0.08         pose: 0.32932134    3.89151    0.0383701   0 0.00032319  0.00155314  0.0206295   0.999786       uwb: 0.0            836.736  636.722  
imu_odom_:  1691062796.10435797   0.0646434  -0.258574  9.91678    -0.072438   -0.00106526 -0.0298274  0.13       -0.05         pose: 0.40772244    3.89812    0.0308604   0 -0.00204362 0.00478924  0.0187816   0.99981        uwb: 0.50054558     836.236  636.457  
imu_odom_:  1691062796.27559971   0.469264   -0.395043  10.3789    -0.0660464  -0.0330232  -0.0340885  0.13       -0.05         pose: 0.7071031     3.89812    0.0308604   0 -0.00213502 0.00550525  0.0185378   0.999811       uwb: 0.0            836.236  636.457  
imu_odom_:  1691062796.44437410   0.634463   -0.270545  9.98861    -0.0553937  -0.0308927  -0.0415453  0.13       -0.05         pose: 0.0           3.89812    0.0308604   0 -0.00213502 0.00550525  0.0185378   0.999811       uwb: 0.0            836.236  636.457  
imu_odom_:  1691062796.62431281   1.08697    -0.0814029 10.0485    -0.0553937  -0.0671117  -0.0266316  0.12       -0.08         pose: 0.33996071    3.90565    0.0374319   0 -0.00326444 0.00405171  0.0172736   0.999837       uwb: 0.50050184     837.247  635.308  
imu_odom_:  1691062796.79505583   1.02232    -0.155623  9.61033    -0.0553937  0.0245011   0.0170442   0.1        -0.05         pose: 0.0           3.90565    0.0374319   0 -0.00326444 0.00405171  0.0172736   0.999837       uwb: 0.0            837.247  635.308  
imu_odom_:  1691062796.96504056   1.16119    -0.603339  10.3645    -0.0585895  -0.0117179  0.0436758   0.1        -0.05         pose: 0.35063798    3.90565    0.0374322   0 -0.00259556 2.29476e-05 0.016186    0.999866       uwb: 0.0            837.247  635.308  
imu_odom_:  1691062796.114432597  1.25456    -0.320823  9.97903    -0.052198   -0.0191748  -0.00213053 0.09       -0.08         pose: 0.0           3.90565    0.0374322   0 -0.00259556 2.29476e-05 0.016186    0.999866       uwb: 0.50103265     838.331  634.311  
imu_odom_:  1691062796.129428317  1.09894    0.1652     9.79947    -0.0223706  0.00106526  -0.0426106  0.09       -0.08         pose: 0.0           3.90565    0.0374322   0 -0.00259556 2.29476e-05 0.016186    0.999866       uwb: 0.0            838.331  634.311  
imu_odom_:  1691062796.146372543  0.794875   -0.0694318 9.50977    -0.0596548  -0.00213053 -0.036219   0.09       -0.08         pose: 0.34879476    3.91226    0.0299293   0 -0.00313357 -0.00328533 0.0159355   0.999863       uwb: 0.0            838.331  634.311  
imu_odom_:  1691062796.163349142  0.76375    -0.488417  10.0796    -0.056459   0.00106526  -0.0468716  0.08       -0.05         pose: 0.32048439    3.91977    0.0365375   0 -0.00163463 -0.00610327 0.0148312   0.99987        uwb: 0.49872570     838.198  634.01   
imu_odom_:  1691062796.180406820  0.754174   -0.488417  9.80426    -0.0628506  -0.0127832  -0.0660464  0.08       -0.05         pose: 0.0           3.91977    0.0365375   0 -0.00163463 -0.00610327 0.0148312   0.99987        uwb: 0.0            838.198  634.01   
imu_odom_:  1691062796.198407399  0.739808   -0.172383  9.88087    -0.0468716  -0.0127832  -0.0575243  0.06       -0.02         pose: 0.43971927    3.91977    0.0365375   0 -0.0036901  -0.00924128 0.0128294   0.999868       uwb: 0.49976980     837.903  633.344  
imu_odom_:  1691062796.212362806  0.617704   -0.160412  9.69891    -0.0596548  -0.00106526 -0.0255663  0.06       -0.02         pose: 0.0           3.91977    0.0365375   0 -0.0036901  -0.00924128 0.0128294   0.999868       uwb: 0.0            837.903  633.344  
imu_odom_:  1691062796.238367985  0.677559   -0.335188  9.82102    -0.0500674  0.0149137   -0.0500674  0.06       -0.02         pose: 0.0           3.91977    0.0365375   0 -0.0036901  -0.00924128 0.0128294   0.999868       uwb: 0.0            837.903  633.344  
imu_odom_:  1691062796.263513382  -0.823605  -0.191536  9.30626    -0.0585895  0.110787    0           0.05       0             pose: 0.8000517     3.91977    0.0365375   0 -0.00316702 -0.00991266 0.0124345   0.999869       uwb: 0.49983106     838.402  632.738  
imu_odom_:  1691062796.280418236  -1.39103   -0.407014  10.5153    -0.0479369  0.0127832   0.0181095   0.07       -0.02         pose: 0.0           3.91977    0.0365375   0 -0.00316702 -0.00991266 0.0124345   0.999869       uwb: 0.0            838.402  632.738  
imu_odom_:  1691062796.306398916  0.217872   0.0047884  9.96467    -0.0553937  -0.11931    0.0223706   0.07       -0.02         pose: 0.82069458    3.91977    0.0365375   0 -0.00316397 -0.00735028 0.00975922  0.99992        uwb: 0.50069433     839.8    631.562  
imu_odom_:  1691062796.323531840  0.574608   -0.342371  9.4547     -0.0532632  -0.0490022  0.0308927   0.08       0             pose: 0.0           3.91977    0.0365375   0 -0.00316397 -0.00735028 0.00975922  0.99992        uwb: 0.0            839.8    631.562  
imu_odom_:  1691062796.348390546  0.241814   -0.134075  9.93354    -0.0500674  -0.00106526 0.0127832   0.08       0             pose: 0.18060076    3.91977    0.0365375   0 -0.00265105 -0.00613782 0.00958651  0.999932       uwb: 0.49999729     839.869  630.84   
imu_odom_:  1691062796.375517116  -0.167594  -0.308852  10.1011    -0.0479369  -0.00319579 0.00745685  0.14       -0.02         pose: 0.42887867    3.93388    0.035602    0 -0.00251833 -0.00641303 0.00926035  0.999933       uwb: 0.0            839.869  630.84   
imu_odom_:  1691062796.391375241  -0.00957681-0.150835  10.0556    -0.0500674  -0.0298274  0.0191748   0.14       -0.02         pose: 0.0           3.93388    0.035602    0 -0.00251833 -0.00641303 0.00926035  0.999933       uwb: 0.0            839.869  630.84   
imu_odom_:  1691062796.408354173  0.184354   -0.433351  9.76834    -0.0436758  0           0.0191748   0.17       -0.05         pose: 0.23940887    3.93388    0.035602    0 -0.0018184  -0.00413595 0.00892253  0.99995        uwb: 0.50058059     838.11   631.197  
imu_odom_:  1691062796.425522094  0.0814029  -0.229843  10.0604    -0.0394148  -0.0127832  0.00532632  0.12       -0.02         pose: 0.0           3.93388    0.035602    0 -0.0018184  -0.00413595 0.00892253  0.99995        uwb: 0.0            838.11   631.197  
imu_odom_:  1691062796.451361617  0.409408   -0.19393   9.80186    -0.0585895  -0.0351537  0.0255663   0.13       0.02          pose: 0.70156469    3.94142    0.0421707   0 -0.0022171  0.00221454  0.00798491  0.999963       uwb: 0.49990688     838.186  630.495  
imu_odom_:  1691062796.477423959  0.253785   -0.208296  10.082     -0.0607201  -0.0340885  0.0447411   0.13       0             pose: 0.0           3.94142    0.0421707   0 -0.0022171  0.00221454  0.00798491  0.999963       uwb: 0.0            838.186  630.495  
imu_odom_:  1691062796.502404575  -0.071826  -0.351948  9.44273    -0.0639159  -0.00319579 0.0149137   0.13       0             pose: 0.32864182    3.94798    0.034625    0 -0.0001781970.000833138 0.00782421  0.999969       uwb: 0.49985147     839.089  629.922  
imu_odom_:  1691062796.519475668  -0.158017  -0.181959  9.72525    -0.0532632  -0.02024    0.0191748   0.14       0             pose: 0.44018299    3.95349    0.0394097   0 -0.0009849390.0048403   0.00756426  0.999959       uwb: 0.0            839.089  629.922  
imu_odom_:  1691062796.536460434  0.232238   -0.19393   10.1945    -0.0415453  -0.0575243  0.02024     0.14       0             pose: 0.7016201     3.95553    0.0411849   0 -0.0009068670.00548225  0.0074937   0.999956       uwb: 0.0            839.089  629.922  
imu_odom_:  1691062796.553363829  0.600945   -0.306458  9.26795    -0.0468716  -0.0468716  0.0181095   0.14       0             pose: 0.0           3.95553    0.0411849   0 -0.0009068670.00548225  0.0074937   0.999956       uwb: 0.49990980     837.779  630.443  
imu_odom_:  1691062796.578409191  0.497994   -0.146046  9.85453    -0.0340885  -0.0596548  0.0234358   0.18       -0.05         pose: 0.33932783    3.96209    0.0336338   0 0.000255055 0.00644225  0.00716055  0.999954       uwb: 0.0            837.779  630.443  
imu_odom_:  1691062796.595452870  1.12049    -0.112527  10.2615    -0.0468716  -0.0617853  0.0436758   0.18       -0.05         pose: 0.0           3.96209    0.0336338   0 0.000255055 0.00644225  0.00716055  0.999954       uwb: 0.0            837.779  630.443  
imu_odom_:  1691062796.611517774  0.802058   -0.435745  9.5385     -0.0585895  0.015979    0.0340885   0.17       -0.02         pose: 0.52099311    3.9663     0.0372911   0 0.00137636  2.66199e-05 0.00688842  0.999975       uwb: 0.49879861     839.417  628.908  
imu_odom_:  1691062796.629451857  0.25618    -0.0383072 10.6614    -0.0383495  -0.00852212 0.0149137   0.17       -0.02         pose: 0.0           3.9663     0.0372911   0 0.00137636  2.66199e-05 0.00688842  0.999975       uwb: 0.0            839.417  628.908  
imu_odom_:  1691062796.646328129  0.531513   -0.126893  10.1155    -0.0649811  0.00852212  0.0468716   0.15       0             pose: 0.0           3.9663     0.0372911   0 0.00137636  2.66199e-05 0.00688842  0.999975       uwb: 0.0            839.417  628.908  
imu_odom_:  1691062796.669620389  0.603339   -0.251391  10.137     -0.056459   -0.0394148  0.0298274   0.15       0             pose: 0.40958900    3.97619    0.0326227   0 0.00212319  -0.0005233530.00664995  0.999975       uwb: 0.50095682     838.685  628.995  
imu_odom_:  1691062796.694344645  -0.0622492 -0.143652  10.2448    -0.0607201  0.00106526  0.0500674   0.18       0             pose: 0.33208619    3.9814     0.0371334   0 0.00140464  -0.00388878 0.00657989  0.99997        uwb: 0.0            838.685  628.995  
imu_odom_:  1691062796.721385761  0.550666   -0.380678  9.72525    -0.0607201  -0.0479369  0.0223706   0.21       -0.02         pose: 0.0           3.9814     0.0371334   0 0.00140464  -0.00388878 0.00657989  0.99997        uwb: 0.49848947     839.443  628.077  
imu_odom_:  1691062796.737448041  0.0933739  -0.201113  9.84256    -0.0532632  0.0340885   0.0276969   0.18       0             pose: 0.31735791    3.98375    0.0391655   0 0.000905723 -0.0018839  0.00664603  0.999976       uwb: 0.0            839.443  628.077  
imu_odom_:  1691062796.754391392  0.141258   -0.237026  10.2232    -0.0649811  -0.0255663  0.0436758   0.18       0             pose: 0.0           3.98375    0.0391655   0 0.000905723 -0.0018839  0.00664603  0.999976       uwb: 0.50038227     840.521  627      
imu_odom_:  1691062796.770376677  0.488417   -0.366313  9.86411    -0.072438   -0.0394148  0.0223706   0.16       0             pose: 0.0           3.98375    0.0391655   0 0.000905723 -0.0018839  0.00664603  0.999976       uwb: 0.0            840.521  627      
imu_odom_:  1691062796.787311570  0.167594   -0.201113  9.78031    -0.0351537  0.0490022   0.02024     0.16       0             pose: 0.61032521    3.99786    0.0381453   0 -0.00158272 -0.0005409960.00634906  0.999978       uwb: 0.0            840.521  627      
imu_odom_:  1691062796.804367498  0.217872   -0.196325  9.81862    -0.0649811  -0.00639159 0.0617853   0.16       0             pose: 0.0           3.99786    0.0381453   0 -0.00158272 -0.0005409960.00634906  0.999978       uwb: 0.49976397     839.405  627.095  
imu_odom_:  1691062796.821364221  0.198719   -0.179565  9.68933    -0.0585895  -0.015979   0.0383495   0.24       0             pose: 0.41978797    3.99786    0.0381453   0 -0.0013603  0.00260268  0.00631174  0.999976       uwb: 0.0            839.405  627.095  
imu_odom_:  1691062796.837362921  0.287304   -0.253785  9.21528    -0.0500674  -0.0276969  0.0255663   0.24       0             pose: 0.0           3.99786    0.0381453   0 -0.0013603  0.00260268  0.00631174  0.999976       uwb: 0.0            839.405  627.095  
imu_odom_:  1691062796.854387351  0.131681   -0.294487  10.2017    -0.0617853  -0.00639159 0.0383495   0.24       0             pose: 0.25003656    4.01197    0.0372577   0 -0.00117813 0.00467546  0.00624786  0.999969       uwb: 0.50215841     838.837  626.674  
imu_odom_:  1691062796.871320203  0.687136   -0.42138   9.96467    -0.0649811  -0.0117179  0.0213053   0.17       0             pose: 0.0           4.01197    0.0372577   0 -0.00117813 0.00467546  0.00624786  0.999969       uwb: 0.0            838.837  626.674  
imu_odom_:  1691062796.886317380  -0.0430956 -0.23942   9.62469    -0.0415453  0.0436758   0.0223706   0.17       -0.02         pose: 0.0           4.01197    0.0372577   0 -0.00117813 0.00467546  0.00624786  0.999969       uwb: 0.0            838.837  626.674  
imu_odom_:  1691062796.911309954  0.648829   -0.47884   10.1059    -0.0596548  0.00426106  0.0436758   0.17       -0.02         pose: 0.33017589    4.01197    0.0372577   0 -0.00245641 0.00609606  0.00610403  0.99996        uwb: 0.49994188     839.798  625.314  
imu_odom_:  1691062796.936307193  0.577003   -0.035913  10.3046    -0.0372843  -0.0106526  0.0276969   0.23       -0.02         pose: 0.30956504    4.01197    0.0372577   0 -0.00295913 0.00649633  0.00590342  0.999957       uwb: 0.0            839.798  625.314  
imu_odom_:  1691062796.959347468  0.531513   -0.203507  10.3908    -0.0617853  -0.0127832  0.04048     0.23       -0.02         pose: 0.42961946    4.02609    0.0363586   0 -0.0019145  0.00308974  0.00578237  0.999977       uwb: 0.49886861     840.232  624.516  
imu_odom_:  1691062796.984465451  0.325611   -0.0790087 9.84496    -0.0266316  -0.0319579  0.0106526   0.19       0             pose: 0.0           4.02609    0.0363586   0 -0.0019145  0.00308974  0.00578237  0.999977       uwb: 0.0            840.232  624.516  
imu_odom_:  1691062797.1478506    0.732626   -0.277727  9.72525    -0.092678   -0.00106526 0.0500674   0.19       0             pose: 0.6042094     4.02609    0.0363586   0 -0.00177789 0.00247991  0.00578457  0.999979       uwb: 0.49877237     840.704  623.804  
imu_odom_:  1691062797.26479246   0.47884    -0.493206  9.61033    -0.0490022  0.0127832   0.0149137   0.22       -0.02         pose: 0.0           4.02609    0.0363586   0 -0.00177789 0.00247991  0.00578457  0.999979       uwb: 0.0            840.704  623.804  
imu_odom_:  1691062797.50398260   0.684742   -0.318429  10.0604    -0.0756338  -0.00639159 0.0511327   0.22       0             pose: 0.49124198    4.03359    0.0429626   0 0.00101522  0.00066273  0.00546833  0.999984       uwb: 0.49997980     840.128  623.359  
imu_odom_:  1691062797.65469808   0.136469   -0.399832  9.43076    -0.0468716  0.0127832   0.0351537   0.22       0             pose: 0.0           4.03359    0.0429626   0 0.00101522  0.00066273  0.00546833  0.999984       uwb: 0.0            840.128  623.359  
imu_odom_:  1691062797.90427676   0.124498   -0.0622492 9.82102    -0.0639159  0.02024     0.0543285   0.22       0             pose: 0.42093125    4.0402     0.0354505   0 -0.00200076 -0.00137842 0.00525469  0.999983       uwb: 0.0            840.128  623.359  
imu_odom_:  1691062797.107464064  0.131681   -0.416591  9.93354    -0.0628506  -0.00639159 0.0596548   0.17       0.02          pose: 0.0           4.0402     0.0354505   0 -0.00200076 -0.00137842 0.00525469  0.999983       uwb: 0.50092184     839.111  622.795  
imu_odom_:  1691062797.133325753  0.25618    -0.162806  10.0556    -0.0426106  0.0340885   0.0383495   0.17       0.02          pose: 0.38864570    4.04771    0.0420484   0 -0.00275085 -0.0008578460.00537333  0.999981       uwb: 0.0            839.111  622.795  
imu_odom_:  1691062797.157427922  0.490811   -0.361524  10.003     -0.04048    0.0223706   0.0372843   0.19       -0.02         pose: 0.0           4.04771    0.0420484   0 -0.00275085 -0.0008578460.00537333  0.999981       uwb: 0.49870530     837.826  622.526  
imu_odom_:  1691062797.172402351  0.129287   -0.0766145 9.49301    -0.0245011  -0.00213053 0.0298274   0.19       -0.02         pose: 0.0           4.04771    0.0420484   0 -0.00275085 -0.0008578460.00537333  0.999981       uwb: 0.0            837.826  622.526  
imu_odom_:  1691062797.197293723  0.497994   -0.414197  9.45231    -0.0639159  -0.0138484  0.0500674   0.17       0.02          pose: 0.8022391     4.05431    0.0345353   0 -0.00218607 0.00296043  0.00567854  0.999977       uwb: 0.50212343     838.585  621.562  
imu_odom_:  1691062797.222438830  0.806846   -0.205901  10.07      -0.0490022  -0.0596548  0.052198    0.17       0             pose: 0.81807268    4.07373    0.0382919   0 -0.00278832 0.00227573  0.00568948  0.999977       uwb: 0.0            838.585  621.562  
imu_odom_:  1691062797.236448484  0.847547   -0.277727  10.0628    -0.0745685  -0.0319579  0.0671117   0.22       0             pose: 0.0           4.07373    0.0382919   0 -0.00278832 0.00227573  0.00568948  0.999977       uwb: 0.0            838.585  621.562  
imu_odom_:  1691062797.261546635  0.744597   -0.141258  9.75398    -0.0479369  0.0213053   0.0266316   0.22       0             pose: 0.7036034     4.07593    0.0402323   0 -0.00266146 0.00138428  0.00573266  0.999979       uwb: 0.49855656     837.517  620.894  
imu_odom_:  1691062797.278354370  0.0502782  -0.268151  9.8689     -0.072438   0.00745685  0.0692422   0.17       0             pose: 0.0           4.07593    0.0402323   0 -0.00266146 0.00138428  0.00573266  0.999979       uwb: 0.0            837.517  620.894  
imu_odom_:  1691062797.303288031  0.31364    -0.148441  9.97903    -0.0543285  0.0149137   0.0383495   0.17       0             pose: 0.39062016    4.07593    0.0402323   0 -0.00221817 -0.00305739 0.0059863   0.999975       uwb: 0.50016647     836.226  620.63   
imu_odom_:  1691062797.320396456  0.799663   -0.172383  10.0987    -0.0617853  -0.00106526 0.0500674   0.18       0.02          pose: 0.0           4.07593    0.0402323   0 -0.00221817 -0.00305739 0.0059863   0.999975       uwb: 0.0            836.226  620.63   
imu_odom_:  1691062797.336279372  0.416591   -0.191536  9.89045    -0.0809601  -0.0245011  0.0628506   0.18       0.02          pose: 0.0           4.07593    0.0402323   0 -0.00221817 -0.00305739 0.0059863   0.999975       uwb: 0.0            836.226  620.63   
imu_odom_:  1691062797.363326031  0.622492   -0.0670376 10.4387    -0.0585895  0.0149137   0.0532632   0.24       0             pose: 0.42917325    4.09005    0.0393363   0 -0.00123695 -0.00199019 0.00610862  0.999979       uwb: 0.50034145     838.64   618.933  
imu_odom_:  1691062797.379291775  -0.035913  -0.37589   9.00699    -0.0916127  0.0340885   0.0607201   0.24       0             pose: 0.0           4.09005    0.0393363   0 -0.00123695 -0.00199019 0.00610862  0.999979       uwb: 0.0            838.64   618.933  
imu_odom_:  1691062797.406312477  -0.0885855 -0.296881  10.6111    -0.0479369  -0.0308927  0.0245011   0.25       0.02          pose: 0.57017682    4.10416    0.0384465   0 0.00114887  -0.00159959 0.00641732  0.999977       uwb: 0.49831449     841.258  616.766  
imu_odom_:  1691062797.422299803  0.215478   -0.225055  9.69412    -0.0745685  0.0308927   0.0511327   0.18       0             pose: 0.0           4.10416    0.0384465   0 0.00114887  -0.00159959 0.00641732  0.999977       uwb: 0.0            841.258  616.766  
imu_odom_:  1691062797.439352815  0.706289   -0.612916  9.2895     -0.0490022  -0.0213053  0.0426106   0.25       0.02          pose: 0.78973023    4.11827    0.0375682   0 0.00044241  0.00285468  0.00660564  0.999974       uwb: 0.0            841.258  616.766  
imu_odom_:  1691062797.456272835  0.371101   -0.0694318 10.5441    -0.0415453  -0.0681769  0.0383495   0.25       0.02          pose: 0.0           4.11827    0.0375682   0 0.00044241  0.00285468  0.00660564  0.999974       uwb: 0.50121640     840.309  616.371  
imu_odom_:  1691062797.480291301  0.146046   -0.198719  9.4978     -0.056459   0.00319579  0.0500674   0.18       0             pose: 0.33973032    4.11827    0.0375682   0 0.00103199  0.00103826  0.00662061  0.999977       uwb: 0.0            840.309  616.371  
imu_odom_:  1691062797.505346580  0.162806   -0.227449  9.63906    -0.0479369  -0.00426106 0.0532632   0.18       0             pose: 0.7015326     4.11827    0.0375682   0 0.00101279  0.00176562  0.00665668  0.999976       uwb: 0.50167429     839.911  615.416  
imu_odom_:  1691062797.522562915  0.220267   -0.208296  10.0652    -0.0447411  0.00213053  0.056459    0.22       -0.02         pose: 0.42058419    4.1304     0.0389074   0 0.000592148 0.00599224  0.00691105  0.999958       uwb: 0.0            839.911  615.416  
imu_odom_:  1691062797.547297672  0.328006   0.035913   9.93354    -0.0372843  -0.00958738 0.0511327   0.22       -0.02         pose: 0.0           4.1304     0.0389074   0 0.000592148 0.00599224  0.00691105  0.999958       uwb: 0.49736955     840.497  613.976  
imu_odom_:  1691062797.564413388  0.471658   -0.339977  9.46907    -0.0532632  -0.0287621  0.0511327   0.23       0             pose: 0.7136360     4.13238    0.0366858   0 0.000555227 0.00672481  0.00697015  0.999953       uwb: 0.0            840.497  613.976  
imu_odom_:  1691062797.581407487  0.483629   -0.071826  10.2185    -0.04048    0.0351537   0.0383495   0.23       0             pose: 0.0           4.13238    0.0366858   0 0.000555227 0.00672481  0.00697015  0.999953       uwb: 0.0            840.497  613.976  
imu_odom_:  1691062797.598285509  0.299275   -0.349553  9.8258     -0.04048    0.00639159  0.0383495   0.23       0             pose: 0.0           4.13238    0.0366858   0 0.000555227 0.00672481  0.00697015  0.999953       uwb: 0.50144681     840.431  612.859  
imu_odom_:  1691062797.614340790  0.275333   -0.0742203 9.97664    -0.056459   -0.0372843  0.0479369   0.26       0             pose: 0.41944676    4.13989    0.0432883   0 0.00261431  0.00633921  0.00725258  0.99995        uwb: 0.0            840.431  612.859  
imu_odom_:  1691062797.632282748  0.682347   -0.308852  9.62469    -0.0671117  0.0149137   0.0479369   0.26       0             pose: 0.0           4.13989    0.0432883   0 0.00261431  0.00633921  0.00725258  0.99995        uwb: 0.0            840.431  612.859  
imu_odom_:  1691062797.648306239  0.339977   -0.459687  10.0892    -0.0660464  -0.04048    0.0585895   0.18       0.02          pose: 0.77855132    4.15086    0.0395619   0 0.00208611  0.00333205  0.00743655  0.999965       uwb: 0.49775452     841.045  611.463  
imu_odom_:  1691062797.672421824  0.481235   -0.186748  10.2615    -0.0436758  -0.0191748  0.0223706   0.18       0.02          pose: 0.0           4.15086    0.0395619   0 0.00208611  0.00333205  0.00743655  0.999965       uwb: 0.0            841.045  611.463  
imu_odom_:  1691062797.689291972  0.457293   -0.248997  9.83777    -0.0468716  -0.0223706  0.0372843   0.18       0             pose: 0.7078906     4.154      0.0422883   0 0.00134059  0.00319074  0.00750136  0.999966       uwb: 0.0            841.045  611.463  
imu_odom_:  1691062797.714415205  0.600945   -0.289698  10.2185    -0.0223706  0.0372843   0.0298274   0.26       0             pose: 0.0           4.154      0.0422883   0 0.00134059  0.00319074  0.00750136  0.999966       uwb: 0.50138847     840.644  610.484  
imu_odom_:  1691062797.740320932  0.153229   -0.234632  10.0317    -0.0532632  0.0372843   0.0660464   0.17       0             pose: 0.75053551    4.16811    0.0412912   0 -0.000630525-0.00282555 0.00723697  0.99997        uwb: 0.0            840.644  610.484  
imu_odom_:  1691062797.757423816  0.227449   -0.191536  9.97903    -0.0468716  -0.0255663  0.0436758   0.17       0             pose: 0.0           4.16811    0.0412912   0 -0.000630525-0.00282555 0.00723697  0.99997        uwb: 0.50328128     839.392  610.337  
imu_odom_:  1691062797.782420474  0.201113   -0.107739  9.97424    -0.0575243  -0.0415453  0.0649811   0.21       0             pose: 0.32901222    4.17466    0.0337382   0 -0.00051414 0.000913798 0.00759626  0.999971       uwb: 0.0            839.392  610.337  
imu_odom_:  1691062797.807276264  0.356736   -0.114922  9.663      -0.0426106  -0.0170442  0.0340885   0.21       0.02          pose: 0.0           4.17466    0.0337382   0 -0.00051414 0.000913798 0.00759626  0.999971       uwb: 0.49654127     839.302  609.154  
imu_odom_:  1691062797.830452740  0.174777   -0.263362  9.69412    -0.0798948  -0.0223706  0.0745685   0.21       0.02          pose: 0.41991047    4.18221    0.0402959   0 0.00180707  0.00321889  0.00792171  0.999962       uwb: 0.0            839.302  609.154  
imu_odom_:  1691062797.855333904  0.191536   -0.25618   9.71088    -0.0543285  0.0308927   0.0276969   0.19       0             pose: 0.41145266    4.19188    0.0396226   0 0.00208165  0.0044006   0.00827307  0.999954       uwb: 0.0            839.302  609.154  
imu_odom_:  1691062797.872263840  -0.00718261-0.114922  10.1849    -0.0649811  -0.0117179  0.0490022   0.19       0             pose: 0.0           4.19188    0.0396226   0 0.00208165  0.0044006   0.00827307  0.999954       uwb: 0.0            839.302  609.154  
imu_odom_:  1691062797.897324660  0.665588   -0.0454898 10.0892    -0.0490022  0.00852212  0.0308927   0.18       0             pose: 0.41811100    4.19632    0.0393609   0 0.00113256  0.00847758  0.00819802  0.99993        uwb: 0.100110871    838.972  608.349  
imu_odom_:  1691062797.923405085  0.529119   -0.565032  9.53371    -0.0916127  -0.00426106 0.0607201   0.18       0             pose: 0.0           4.19632    0.0393609   0 0.00113256  0.00847758  0.00819802  0.99993        uwb: 0.0            838.972  608.349  
imu_odom_:  1691062797.948262042  0.191536   -0.37589   9.30387    -0.0511327  -0.00426106 0.036219    0.2        -0.02         pose: 0.51141245    4.20849    0.0407255   0 -0.0006407670.00486183  0.00836617  0.999953       uwb: 0.49720623     839.001  607.448  
imu_odom_:  1691062797.975414278  0.488417   -0.227449  10.319     -0.0553937  -0.0213053  0.0319579   0.2        -0.02         pose: 0.0           4.20849    0.0407255   0 -0.0006407670.00486183  0.00836617  0.999953       uwb: 0.0            839.001  607.448  
imu_odom_:  1691062797.991270945  0.474052   -0.201113  9.67497    -0.0394148  0.04048     0.0287621   0.17       0             pose: 0.31992735    4.21044    0.038527    0 -0.00240227 0.00565094  0.00828763  0.999947       uwb: 0.0            839.001  607.448  
imu_odom_:  1691062798.18378559   0.502782   -0.299275  9.44513    -0.0777643  0.0383495   0.0447411   0.17       0             pose: 0.0           4.21044    0.038527    0 -0.00240227 0.00565094  0.00828763  0.999947       uwb: 0.50338627     838.599  606.469  
imu_odom_:  1691062798.34382510   0.356736   -0.385466  10.1801    -0.0447411  0.0553937   0.0266316   0.19       0             pose: 0.43029027    4.22456    0.0376936   0 -0.00169882 0.00187261  0.00813818  0.999964       uwb: 0.0            838.599  606.469  
imu_odom_:  1691062798.52256514   0.383072   -0.308852  10.1083    -0.0394148  -0.036219   0.0458064   0.19       0             pose: 0.0           4.22456    0.0376936   0 -0.00169882 0.00187261  0.00813818  0.999964       uwb: 0.49825326     838.198  605.49   
imu_odom_:  1691062798.69326734   -0.134075  -0.629675  9.87848    0.00958738  -0.0266316  0.00639159  0.19       0             pose: 0.0           4.22456    0.0376936   0 -0.00169882 0.00187261  0.00813818  0.999964       uwb: 0.0            838.198  605.49   
imu_odom_:  1691062798.86350581   0.371101   0.272939   10.1754    -0.0553937  -0.0830906  0.0458064   0.18       -0.02         pose: 0.60905073    4.23203    0.0443343   0 -0.00556632 0.000603811 0.00801749  0.999952       uwb: 0.0            838.198  605.49   
imu_odom_:  1691062798.103311141  0.289698   -0.177171  9.23683    -0.131028   -0.052198   0.100135    0.18       -0.02         pose: 0.0           4.23203    0.0443343   0 -0.00556632 0.000603811 0.00801749  0.999952       uwb: 0.0            838.198  605.49   
imu_odom_:  1691062798.119307801  0.893037   -0.366313  10.4842    -0.0681769  -0.0372843  0.0394148   0.18       0             pose: 0.43979221    4.24283    0.0405514   0 -0.00342331 0.00144522  0.00843734  0.999958       uwb: 0.0            838.198  605.49   
imu_odom_:  1691062798.137375169  0.849942   -0.272939  9.91199    -0.0671117  -0.00213053 -0.00319579 0.18       0             pose: 0.0           4.24283    0.0405514   0 -0.00342331 0.00144522  0.00843734  0.999958       uwb: 0.0            838.198  605.49   
imu_odom_:  1691062798.153305040  0.497994   -0.19393   9.67257    -0.0692422  -0.00852212 0.0138484   0.18       0             pose: 0.0           4.24283    0.0405514   0 -0.00342331 0.00144522  0.00843734  0.999958       uwb: 0.100403981    838.832  604.088  
imu_odom_:  1691062798.177307467  -0.0526724 -0.368707  10.0844    -0.0394148  0.0276969   0.0394148   0.19       0             pose: 0.24072131    4.24615    0.043499    0 -0.00376841 -0.00120281 0.0082555   0.999958       uwb: 0.0            838.832  604.088  
imu_odom_:  1691062798.193257171  0.304064   -0.337582  10.1035    -0.0553937  -0.0138484  0.0511327   0.18       -0.02         pose: 0.0           4.24615    0.043499    0 -0.00376841 -0.00120281 0.0082555   0.999958       uwb: 0.0            838.832  604.088  
imu_odom_:  1691062798.220292164  0.667982   -0.203507  10.1227    -0.0468716  -0.0319579  0.0479369   0.18       -0.02         pose: 0.65873899    4.26027    0.0426578   0 -0.00367869 0.000982313 0.00792821  0.999961       uwb: 0.49599298     840.185  602.45   
imu_odom_:  1691062798.245396441  0.612916   -0.28491   10.173     -0.0543285  -0.00319579 0.0447411   0.23       0             pose: 0.8001392     4.26027    0.0426578   0 -0.00340986 0.000105611 0.00795943  0.999963       uwb: 0.0            840.185  602.45   
imu_odom_:  1691062798.262466369  0.237026   -0.21069   9.48104    -0.0191748  0.036219    0.0287621   0.23       0             pose: 0.0           4.26027    0.0426578   0 -0.00340986 0.000105611 0.00795943  0.999963       uwb: 0.49991858     839.869  601.665  
imu_odom_:  1691062798.287261789  0.438139   -0.306458  9.58878    -0.0575243  -0.0181095  0.0511327   0.22       0             pose: 0.44137878    4.27025    0.0420634   0 -0.00294708 -0.00447382 0.0080918   0.999953       uwb: 0.0            839.869  601.665  
imu_odom_:  1691062798.311296880  0.766145   -0.21069   10.2089    -0.0415453  -0.0553937  0.0553937   0.22       0             pose: 0.41865348    4.27439    0.0418185   0 -0.00470245 -0.00209332 0.00815373  0.999954       uwb: 0.50069145     839.466  600.662  
imu_odom_:  1691062798.326296391  0.876278   -0.148441  9.991      -0.0692422  -0.0426106  0.0703074   0.23       0             pose: 0.0           4.27439    0.0418185   0 -0.00470245 -0.00209332 0.00815373  0.999954       uwb: 0.0            839.466  600.662  
imu_odom_:  1691062798.351283425  0.581791   -0.227449  9.7037     -0.0436758  0.0287621   0.0351537   0.23       0             pose: 0.39034602    4.28189    0.0413752   0 -0.00336283 -0.00668608 0.00855754  0.999935       uwb: 0.49898822     839.848  599.597  
imu_odom_:  1691062798.368511718  0.011971   -0.311246  10.0868    -0.0692422  0.0106526   0.0628506   0.18       0             pose: 0.0           4.28189    0.0413752   0 -0.00336283 -0.00668608 0.00855754  0.999935       uwb: 0.0            839.848  599.597  
imu_odom_:  1691062798.384512461  0.517148   -0.217872  10.2304    -0.052198   -0.02024    0.0447411   0.18       0             pose: 0.0           4.28189    0.0413752   0 -0.00336283 -0.00668608 0.00855754  0.999935       uwb: 0.0            839.848  599.597  
imu_odom_:  1691062798.411397255  0.203507   -0.227449  10.252     -0.0649811  0.0511327   0.0543285   0.25       0.02          pose: 0.50007899    4.2885     0.0409898   0 -0.00099784 -0.00598398 0.00870361  0.999944       uwb: 0.49858282     838.834  599.091  
imu_odom_:  1691062798.436278420  0.172383   -0.260968  9.71328    -0.0468716  0.04048     0.0319579   0.25       0.02          pose: 0.35092965    4.3006     0.0423366   0 -0.000426482-0.00237213 0.00891909  0.999957       uwb: 0.0            838.834  599.091  
imu_odom_:  1691062798.453382762  0.395043   -0.0383072 9.73004    -0.0937433  -0.0511327  0.0575243   0.23       0             pose: 0.7910106     4.30261    0.0401571   0 -0.000508679-0.00141092 0.00888957  0.999959       uwb: 0.50170930     837.038  598.676  
imu_odom_:  1691062798.469433669  0.76375    -0.311246  9.82102    -0.0969391  0.0266316   0.0575243   0.18       0.02          pose: 0.0           4.30261    0.0401571   0 -0.000508679-0.00141092 0.00888957  0.999959       uwb: 0.0            837.038  598.676  
imu_odom_:  1691062798.487341796  0.347159   -0.35913   10.003     -0.0426106  0.0255663   0.0340885   0.25       -0.02         pose: 0.42135998    4.31014    0.0467341   0 0.000306101 -0.0004292990.00905416  0.999959       uwb: 0.0            837.038  598.676  
imu_odom_:  1691062798.511429676  -0.00957681-0.464475  9.58638    -0.0436758  0           0.0532632   0.25       -0.02         pose: 0.0           4.31014    0.0467341   0 0.000306101 -0.0004292990.00905416  0.999959       uwb: 0.50009065     835.649  598.277  
imu_odom_:  1691062798.537252575  0.148441   -0.1652    9.84017    -0.0234358  -0.0330232  0.0394148   0.23       -0.02         pose: 0.33830125    4.31672    0.0392036   0 -0.00189248 0.000745815 0.00913444  0.999956       uwb: 0.0            835.649  598.277  
imu_odom_:  1691062798.562258275  0.325611   -0.155623  9.55526    -0.052198   0.00213053  0.0458064   0.23       -0.02         pose: 0.0           4.31672    0.0392036   0 -0.00189248 0.000745815 0.00913444  0.999956       uwb: 0.50221094     836.357  596.999  
imu_odom_:  1691062798.586368903  0.490811   -0.186748  10.1155    -0.0543285  -0.0287621  0.0490022   0.21       0.02          pose: 0.50119600    4.32425    0.0457851   0 -0.0002553370.00419733  0.00928198  0.999948       uwb: 0.0            836.357  596.999  
imu_odom_:  1691062798.611376935  0.610521   -0.179565  10.2927    -0.0372843  -0.0490022  0.0468716   0.18       0             pose: 0.40975819    4.33083    0.0382576   0 0.00146894  0.00152233  0.00945798  0.999953       uwb: 0.49881323     836.065  596.28   
imu_odom_:  1691062798.628422073  0.11971    -0.222661  9.81144    -0.0287621  0.0213053   0.0458064   0.18       0             pose: 0.7026409     4.33083    0.0382576   0 0.00155504  0.000662866 0.00948434  0.999954       uwb: 0.0            836.065  596.28   
imu_odom_:  1691062798.644225369  0.129287   -0.428562  9.56005    -0.0607201  -0.00426106 0.0511327   0.18       0             pose: 0.0           4.33083    0.0382576   0 0.00155504  0.000662866 0.00948434  0.999954       uwb: 0.0            836.065  596.28   
imu_odom_:  1691062798.670286255  -0.215478  -0.339977  9.34457    -0.0266316  0.015979    0.0330232   0.18       0.02          pose: 0.40837285    4.33836    0.0448435   0 0.00134201  0.000794834 0.00963561  0.999952       uwb: 0.49747456     835.42   595.705  
imu_odom_:  1691062798.686267748  0.577003   0.059855   10.4986    -0.0468716  -0.0287621  0.0436758   0.18       0.02          pose: 0.0           4.33836    0.0448435   0 0.00134201  0.000794834 0.00963561  0.999952       uwb: 0.0            835.42   595.705  
imu_odom_:  1691062798.703290138  0.399832   -0.438139  9.16022    -0.0639159  -0.0191748  0.0415453   0.23       0             pose: 0.43048569    4.35247    0.0439092   0 0.000918558 0.00375068  0.00961989  0.999946       uwb: 0.49996232     833.794  595.76   
imu_odom_:  1691062798.728209800  0.411803   -0.488417  9.63427    -0.0788296  -0.0255663  0.0575243   0.18       0             pose: 0.0           4.35247    0.0439092   0 0.000918558 0.00375068  0.00961989  0.999946       uwb: 0.0            833.794  595.76   
imu_odom_:  1691062798.744191294  0.42138    -0.347159  9.71328    -0.072438   -0.02024    0.04048     0.23       0             pose: 0.34078026    4.35247    0.0439092   0 -0.00101984 0.00227266  0.00972404  0.99995        uwb: 0.0            833.794  595.76   
imu_odom_:  1691062798.761190351  0.299275   -0.146046  9.90721    -0.0191748  0.0149137   0.0223706   0.23       0             pose: 0.0           4.35247    0.0439092   0 -0.00101984 0.00227266  0.00972404  0.99995        uwb: 0.49998858     832.412  595.415  
imu_odom_:  1691062798.778198158  0.409408   -0.172383  9.90002    -0.0553937  -0.04048    0.0394148   0.24       0             pose: 0.49831159    4.36658    0.042977    0 -0.00255234 0.00173757  0.00973201  0.999948       uwb: 0.0            832.412  595.415  
imu_odom_:  1691062798.794266272  0.584185   -0.275333  10.0078    -0.0245011  0.0213053   0.0298274   0.24       0             pose: 0.0           4.36658    0.042977    0 -0.00255234 0.00173757  0.00973201  0.999948       uwb: 0.0            832.412  595.415  
imu_odom_:  1691062798.820262994  0.45011    -0.169988  10.2855    -0.0500674  0.00532632  0.0553937   0.25       -0.02         pose: 0.7124695     4.36658    0.042977    0 -0.00189703 0.00132573  0.00973218  0.99995        uwb: 0.50058645     831.771  594.867  
imu_odom_:  1691062798.836353273  0.234632   -0.246603  9.63906    -0.0490022  -0.0351537  0.0458064   0.25       -0.02         pose: 0.0           4.36658    0.042977    0 -0.00189703 0.00132573  0.00973218  0.99995        uwb: 0.0            831.771  594.867  
imu_odom_:  1691062798.862235086  0.397437   -0.25618   9.99819    -0.0617853  -0.052198   0.0596548   0.25       -0.02         pose: 0.0           4.36658    0.042977    0 -0.00189703 0.00132573  0.00973218  0.99995        uwb: 0.50128058     832.438  593.471  
imu_odom_:  1691062798.887333530  0.452504   -0.105345  10.1849    -0.0394148  -0.0170442  0.0383495   0.22       0             pose: 0.68038227    4.38069    0.0420461   0 0.000926014 -0.0003773790.00990319  0.99995        uwb: 0.0            832.438  593.471  
imu_odom_:  1691062798.904252675  0.488417   -0.100556  10.0173    -0.0788296  0           0.076699    0.22       0             pose: 0.0           4.38069    0.0420461   0 0.000926014 -0.0003773790.00990319  0.99995        uwb: 0.49930611     833.504  592.018  
imu_odom_:  1691062798.929349077  0.536301   -0.174777  10.24      -0.0756338  0.00319579  0.0298274   0.21       0.02          pose: 0.33980324    4.38069    0.0420461   0 -0.000834518-0.0007245850.0101572   0.999948       uwb: 0.0            833.504  592.018  
imu_odom_:  1691062798.946372050  0.600945   -0.143652  9.92875    -0.0436758  -0.0234358  0.036219    0.21       0.02          pose: 0.42021089    4.3948     0.0411269   0 0.00208049  -0.00290947 0.0104204   0.999939       uwb: 0.0            833.504  592.018  
imu_odom_:  1691062798.971191385  0.593762   -0.25618   10.1131    -0.0458064  -0.0308927  0.0287621   0.23       0.02          pose: 0.0           4.3948     0.0411269   0 0.00208049  -0.00290947 0.0104204   0.999939       uwb: 0.49994774     834.428  590.197  
imu_odom_:  1691062798.995306096  0.323217   -0.232238  10.161     -0.0703074  -0.00958738 0.0596548   0.23       0             pose: 0.41870598    4.40225    0.0478016   0 0.00190036  -0.00688769 0.0102757   0.999922       uwb: 0.0            834.428  590.197  
imu_odom_:  1691062799.10191573   -0.107739  -0.141258  9.64145    -0.0649811  -0.015979   0.0575243   0.23       0             pose: 0.0           4.40225    0.0478016   0 0.00190036  -0.00688769 0.0102757   0.999922       uwb: 0.50052521     833.028  589.826  
imu_odom_:  1691062799.25194293   0.289698   -0.397437  9.47864    -0.0447411  -0.00426106 0.0319579   0.23       0             pose: 0.47979479    4.40885    0.040287    0 0.000162987 -0.00513444 0.0104979   0.999932       uwb: 0.0            833.028  589.826  
imu_odom_:  1691062799.43254370   0.708684   -0.181959  10.0485    -0.0830906  -0.0276969  0.04048     0.24       0             pose: 0.0           4.40885    0.040287    0 0.000162987 -0.00513444 0.0104979   0.999932       uwb: 0.0            833.028  589.826  
imu_odom_:  1691062799.67216550   0.78051    -0.339977  9.63427    -0.0511327  0.0213053   0.0223706   0.24       0             pose: 0.41049607    4.42023    0.0425682   0 -0.00063029 -0.0052882  0.0105212   0.99993        uwb: 0.49880741     833.734  588.475  
imu_odom_:  1691062799.90389527   0.656011   -0.328006  9.79468    -0.0660464  -0.0468716  0.0490022   0.23       0             pose: 0.0           4.42023    0.0425682   0 -0.00063029 -0.0052882  0.0105212   0.99993        uwb: 0.0            833.734  588.475  
imu_odom_:  1691062799.115263401  0.718261   0.035913   9.87129    -0.0394148  -0.0106526  0.0319579   0.26       0             pose: 0.6965455     4.42297    0.0395182   0 -0.000871143-0.00584721 0.0104622   0.999928       uwb: 0.49977277     834.093  587.291  
imu_odom_:  1691062799.139265245  0.80924    -0.112527  9.97664    -0.0703074  -0.00532632 0.0458064   0.18       -0.02         pose: 0.0           4.42297    0.0395182   0 -0.000871143-0.00584721 0.0104622   0.999928       uwb: 0.0            834.093  587.291  
imu_odom_:  1691062799.164231281  0.646434   0.208296   10.0796    -0.0426106  -0.0330232  0.0351537   0.2        0             pose: 0.72111400    4.43041    0.0461936   0 -0.000120507-0.0112126  0.0103337   0.999884       uwb: 0.49903781     829.591  588.57   
imu_odom_:  1691062799.189227356  0.335188   -0.19393   10.2951    -0.0617853  0.00426106  0.036219    0.2        0             pose: 0.0           4.43041    0.0461936   0 -0.000120507-0.0112126  0.0103337   0.999884       uwb: 0.0            829.591  588.57   
imu_odom_:  1691062799.203189764  -0.0814029 -0.339977  9.26795    -0.0436758  0.0330232   0.0245011   0.2        0             pose: 0.48915382    4.44454    0.0454203   0 0.0031477   -0.0122341  0.0102771   0.999867       uwb: 0.49970569     826.07   589.228  
imu_odom_:  1691062799.226188626  0.035913   -0.248997  10.1801    -0.0692422  0.0138484   0.0553937   0.18       0             pose: 0.0           4.44454    0.0454203   0 0.0031477   -0.0122341  0.0102771   0.999867       uwb: 0.0            826.07   589.228  
imu_odom_:  1691062799.244186874  0.940921   -0.122104  10.2496    -0.0287621  -0.0127832  0.015979    0.18       0             pose: 0.38980357    4.45121    0.0379718   0 0.00239055  -0.00800842 0.0101951   0.999913       uwb: 0.0            826.07   589.228  
imu_odom_:  1691062799.260177409  0.699107   -0.023942  9.93594    -0.0596548  -0.0127832  0.0543285   0.21       0             pose: 0.0           4.45121    0.0379718   0 0.00239055  -0.00800842 0.0101951   0.999913       uwb: 0.49983984     827.071  587.583  
imu_odom_:  1691062799.286185215  0.509965   -0.351948  9.66539    -0.0500674  0.0276969   0.0383495   0.21       0             pose: 0.49950445    4.45866    0.044643    0 0.00364561  -0.00930254 0.0102204   0.999898       uwb: 0.0            827.071  587.583  
imu_odom_:  1691062799.310292928  0.229843   -0.184354  9.48583    -0.0628506  0.0138484   0.0511327   0.17       -0.02         pose: 0.0           4.45866    0.044643    0 0.00364561  -0.00930254 0.0102204   0.999898       uwb: 0.50267468     826.337  586.846  
imu_odom_:  1691062799.328229929  0.476446   -0.201113  10.0245    -0.0287621  0.00852212  0.0372843   0.17       -0.02         pose: 0.8008392     4.45866    0.044643    0 0.00290601  -0.00891822 0.0102224   0.999904       uwb: 0.0            826.337  586.846  
imu_odom_:  1691062799.352249855  0.610521   -0.0383072 10.647     -0.0436758  -0.0149137  0.0543285   0.18       0             pose: 0.0           4.45866    0.044643    0 0.00290601  -0.00891822 0.0102224   0.999904       uwb: 0.49831161     826.751  585.805  
imu_odom_:  1691062799.369258537  0.146046   -0.201113  9.39006    -0.0628506  0.0276969   0.0479369   0.2        0             pose: 0.84064054    4.47278    0.0438657   0 0.00295178  -0.00522622 0.0105159   0.999927       uwb: 0.0            826.751  585.805  
imu_odom_:  1691062799.385342400  0.289698   -0.107739  9.84496    -0.0372843  -0.00106526 0.0447411   0.18       0             pose: 0.0           4.47278    0.0438657   0 0.00295178  -0.00522622 0.0105159   0.999927       uwb: 0.0            826.751  585.805  
imu_odom_:  1691062799.403171491  0.864307   -0.181959  10.0437    -0.0798948  -0.0351537  0.0617853   0.18       0             pose: 0.0           4.47278    0.0438657   0 0.00295178  -0.00522622 0.0105159   0.999927       uwb: 0.50149641     828.556  584.012  
imu_odom_:  1691062799.419340808  0.203507   -0.323217  9.50498    -0.0532632  0.0330232   0.0415453   0.18       0             pose: 0.41046690    4.4869     0.0430975   0 0.00313652  -0.00261803 0.0107105   0.999934       uwb: 0.0            828.556  584.012  
imu_odom_:  1691062799.433174015  0.325611   -0.225055  10.2232    -0.0308927  0.00852212  0.0383495   0.18       0             pose: 0.0           4.4869     0.0430975   0 0.00313652  -0.00261803 0.0107105   0.999934       uwb: 0.0            828.556  584.012  
imu_odom_:  1691062799.457183441  0.423774   -0.35913   9.90721    -0.0735032  -0.00426106 0.0479369   0.18       0             pose: 0.39877470    4.49034    0.0461858   0 0.00171363  -0.0007288310.0108293   0.99994        uwb: 0.50042023     828.643  583.189  
imu_odom_:  1691062799.481212992  0.457293   -0.287304  9.75637    -0.0543285  -0.0500674  0.0447411   0.17       -0.02         pose: 0.8069638     4.49434    0.0497778   0 0.000833461 -0.00076577 0.0108636   0.99994        uwb: 0.0            828.643  583.189  
imu_odom_:  1691062799.498185801  0.433351   -0.107739  9.93594    -0.0788296  -0.0213053  0.0575243   0.17       -0.02         pose: 0.0           4.49434    0.0497778   0 0.000833461 -0.00076577 0.0108636   0.99994        uwb: 0.49922738     830.822  581.235  
imu_odom_:  1691062799.515182234  0.814029   -0.0981623 9.9503     -0.0458064  -0.0149137  0.0351537   0.18       -0.02         pose: 0.47012664    4.50102    0.0423376   0 -0.00223359 -0.00273295 0.0110557   0.999933       uwb: 0.0            830.822  581.235  
imu_odom_:  1691062799.530177371  0.574608   -0.129287  9.51216    -0.0948085  -0.0287621  0.0628506   0.18       -0.02         pose: 0.0           4.50102    0.0423376   0 -0.00223359 -0.00273295 0.0110557   0.999933       uwb: 0.0            830.822  581.235  
imu_odom_:  1691062799.553380097  0.471658   -0.177171  9.87848    -0.0745685  -0.0426106  0.0479369   0.17       0.02          pose: 0.33965159    4.50846    0.049022    0 -0.000248079-0.00488442 0.01118     0.999926       uwb: 0.49790913     829.719  580.617  
imu_odom_:  1691062799.579318490  0.54109    -0.213084  9.93354    -0.0681769  -0.0170442  0.0436758   0.23       0             pose: 0.31158621    4.51515    0.041586    0 0.00149608  -0.00421406 0.011356    0.999926       uwb: 0.0            829.719  580.617  
imu_odom_:  1691062799.604184782  0.526724   -0.282516  10.1083    -0.0234358  -0.0394148  0.0330232   0.17       0             pose: 0.7833694     4.51515    0.041586    0 0.00110968  -0.00497197 0.0113742   0.999922       uwb: 0.50061272     828.158  579.933  
imu_odom_:  1691062799.630168673  0.493206   -0.21069   9.52413    -0.0660464  -0.0234358  0.052198    0.2        0             pose: 0.42970991    4.52258    0.0482752   0 -0.0018469  -0.00680841 0.0113538   0.999911       uwb: 0.0            828.158  579.933  
imu_odom_:  1691062799.655229494  0.414197   -0.217872  9.92157    -0.052198   0.0234358   0.0511327   0.2        0             pose: 0.0           4.52258    0.0482752   0 -0.0018469  -0.00680841 0.0113538   0.999911       uwb: 0.49942570     826.69   579.494  
imu_odom_:  1691062799.672136974  0.474052   -0.143652  9.9503     -0.0585895  -0.0458064  0.0532632   0.2        0             pose: 0.51044712    4.5367     0.0475319   0 -0.000100639-0.00240399 0.0116534   0.999929       uwb: 0.0            826.69   579.494  
imu_odom_:  1691062799.697307747  0.751779   -0.258574  9.91678    -0.0298274  -0.0340885  0.0351537   0.22       0             pose: 0.0           4.5367     0.0475319   0 -0.000100639-0.00240399 0.0116534   0.999929       uwb: 0.0            826.69   579.494  
imu_odom_:  1691062799.723166813  1.01993    -0.0622492 9.81144    -0.0447411  0.00958738  0.0436758   0.23       -0.02         pose: 0.25112152    4.5367     0.0475319   0 0.00140437  -0.00417452 0.0117488   0.999921       uwb: 0.0            826.69   579.494  
imu_odom_:  1691062799.748149764  0.792481   0.00957681 9.97664    -0.0468716  0.0117179   0.0340885   0.23       -0.02         pose: 0.42825167    4.54856    0.0447669   0 0.00204142  -0.00838999 0.0117679   0.999893       uwb: 0.100356738    826.97   578.083  
imu_odom_:  1691062799.774366682  0.354342   -0.263362  9.5792     -0.072438   -0.0234358  0.0447411   0.22       0             pose: 0.8069346     4.55084    0.0467823   0 0.00259923  -0.00894013 0.011743    0.999888       uwb: 0.0            826.97   578.083  
imu_odom_:  1691062799.799327468  0.150835   -0.4956    9.93354    -0.0756338  -0.0319579  0.0617853   0.22       0             pose: 0.43130523    4.56026    0.046216    0 0.00236506  -0.00800366 0.0117585   0.999896       uwb: 0.49688253     827.063  577.257  
imu_odom_:  1691062799.817288093  0.335188   -0.402226  9.79228    -0.0607201  -0.0319579  0.04048     0.21       0.02          pose: 0.0           4.56026    0.046216    0 0.00236506  -0.00800366 0.0117585   0.999896       uwb: 0.0            827.063  577.257  
imu_odom_:  1691062799.832224317  0.244209   -0.122104  9.75158    -0.0127832  0.0117179   0.0255663   0.21       0.02          pose: 0.0           4.56026    0.046216    0 0.00236506  -0.00800366 0.0117585   0.999896       uwb: 0.0            827.063  577.257  
imu_odom_:  1691062799.858216082  0.459687   -0.181959  9.85693    -0.0447411  -0.0575243  0.0351537   0.23       0.02          pose: 0.50886347    4.56496    0.0459383   0 -0.000341415-0.00461787 0.0120005   0.999917       uwb: 0.50072937     828.895  575.398  
imu_odom_:  1691062799.880162383  0.620098   -0.169988  9.96227    -0.0372843  -0.0543285  0.0479369   0.23       0.02          pose: 0.32963053    4.57515    0.0453115   0 0.00241624  -0.00322366 0.0118858   0.999921       uwb: 0.0            828.895  575.398  
imu_odom_:  1691062799.897210438  0.543484   -0.378284  9.74919    -0.0490022  -0.00319579 0.0585895   0.19       0             pose: 0.6924041     4.57907    0.0450698   0 0.0024791   -0.00408873 0.0119162   0.999918       uwb: 0.50126601     829.649  574.057  
imu_odom_:  1691062799.922193973  0.675165   0.0215478  10.1658    -0.0298274  -0.0340885  0.0479369   0.19       0             pose: 0.32070315    4.579      0.0450594   0 0.000975613 -0.00617463 0.0121551   0.999907       uwb: 0.0            829.649  574.057  
imu_odom_:  1691062799.939130909  0.617704   -0.464475  9.40442    -0.0671117  0.036219    0.0607201   0.18       0.02          pose: 0.0           4.579      0.0450594   0 0.000975613 -0.00617463 0.0121551   0.999907       uwb: 0.0            829.649  574.057  
imu_odom_:  1691062799.964273684  0.579397   -0.232238  9.75158    -0.0511327  0.0415453   0.0436758   0.18       0.02          pose: 0.0           4.579      0.0450594   0 0.000975613 -0.00617463 0.0121551   0.999907       uwb: 0.49901448     828.761  572.919  
imu_odom_:  1691062799.981197788  0.409408   -0.177171  9.60075    -0.0830906  -0.0117179  0.0617853   0.21       0             pose: 0.41920471    4.58998    0.0478544   0 0.00162502  -0.00795473 0.0124431   0.99989        uwb: 0.0            828.761  572.919  
imu_odom_:  1691062799.997178699  0.751779   0.0047884  10.3046    -0.0617853  -0.0213053  0.0340885   0.21       0             pose: 0.0           4.58998    0.0478544   0 0.00162502  -0.00795473 0.0124431   0.99989        uwb: 0.50016358     827.083  573.063  
imu_odom_:  1691062800.23239586   0.0335188  -0.100556  10.1993    -0.0681769  0.0138484   0.0447411   0.25       0             pose: 0.58047790    4.6006     0.0510403   0 0.000833135 -0.00814241 0.0126454   0.999887       uwb: 0.0            827.083  573.063  
imu_odom_:  1691062800.48136502   0.64404    -0.260968  9.64145    -0.0553937  0.0127832   0.0213053   0.25       0             pose: 0.0           4.6006     0.0510403   0 0.000833135 -0.00814241 0.0126454   0.999887       uwb: 0.49829412     828.164  571.436  
imu_odom_:  1691062800.72138929   0.586579   -0.263362  9.65103    -0.0841559  0.00639159  0.0628506   0.21       0.02          pose: 0.32992802    4.60731    0.0436241   0 0.000816532 -0.00591069 0.0126448   0.999902       uwb: 0.0            828.164  571.436  
imu_odom_:  1691062800.89131280   0.620098   -0.272939  10.2232    -0.052198   -0.0149137  0.0298274   0.21       0.02          pose: 0.0           4.60731    0.0436241   0 0.000816532 -0.00591069 0.0126448   0.999902       uwb: 0.0            828.164  571.436  
imu_odom_:  1691062800.106266247  0.56982    0.227449   10.0604    -0.0458064  -0.00213053 0.0351537   0.21       0.02          pose: 0.25997308    4.61472    0.0503312   0 -0.00065005 -0.00788832 0.0125835   0.999889       uwb: 0.50179683     828.932  570.092  
imu_odom_:  1691062800.121193430  0.402226   -0.512359  10.0126    -0.0628506  0.0415453   0.0298274   0.19       -0.05         pose: 0.0           4.61472    0.0503312   0 -0.00065005 -0.00788832 0.0125835   0.999889       uwb: 0.0            828.932  570.092  
imu_odom_:  1691062800.138132117  0.711078   -0.385466  9.8689     -0.052198   0.0149137   0.0245011   0.19       -0.05         pose: 0.0           4.61472    0.0503312   0 -0.00065005 -0.00788832 0.0125835   0.999889       uwb: 0.0            828.932  570.092  
imu_odom_:  1691062800.163253602  1.08218    -0.19393   9.49301    -0.0713727  -0.00958738 0.0490022   0.2        -0.02         pose: 0.71981326    4.62885    0.0496264   0 -0.00257102 -0.00960132 0.0125314   0.999872       uwb: 0.49797039     828.26   569.5    
imu_odom_:  1691062800.189282116  0.548272   0.00718261 10.6326    -0.0479369  0.00106526  0.0287621   0.2        -0.02         pose: 0.35103467    4.62885    0.0496264   0 -0.0029914  -0.0127653  0.0125643   0.999835       uwb: 0.0            828.26   569.5    
imu_odom_:  1691062800.214133243  0.543484   -0.409408  9.63666    -0.0830906  0.0340885   0.0415453   0.19       -0.02         pose: 0.0           4.62885    0.0496264   0 -0.0029914  -0.0127653  0.0125643   0.999835       uwb: 0.50090438     831.536  566.795  
imu_odom_:  1691062800.239119403  0.397437   -0.270545  9.92157    -0.0596548  -0.0127832  0.0479369   0.2        0             pose: 0.50879641    4.64297    0.048914    0 -0.00314215 -0.0101901  0.0124448   0.999866       uwb: 0.0            831.536  566.795  
imu_odom_:  1691062800.264277344  0.299275   -0.196325  10.2951    -0.0617853  0.0106526   0.0319579   0.19       0             pose: 0.0           4.64297    0.048914    0 -0.00314215 -0.0101901  0.0124448   0.999866       uwb: 0.49942280     835.427  564.472  
imu_odom_:  1691062800.289185634  0.703895   -0.114922  10.0461    -0.0639159  -0.0287621  0.0340885   0.18       0             pose: 0.32136812    4.64297    0.048914    0 -0.0029404  -0.00706213 0.0125294   0.999892       uwb: 0.0            835.427  564.472  
imu_odom_:  1691062800.306125196  0.476446   -0.196325  9.59117    -0.0543285  0.00958738  0.0351537   0.18       0             pose: 0.0           4.64297    0.048914    0 -0.0029404  -0.00706213 0.0125294   0.999892       uwb: 0.49968529     835.493  563.493  
imu_odom_:  1691062800.331121272  0.557849   0.0167594  10.0413    -0.0628506  0.00852212  0.052198    0.18       0.02          pose: 0.49857994    4.6571     0.0482031   0 -0.000697631-0.00682666 0.0123629   0.9999         uwb: 0.0            835.493  563.493  
imu_odom_:  1691062800.355312689  0.445322   -0.318429  9.52413    -0.0511327  0.0276969   0.0383495   0.18       0.02          pose: 0.34993223    4.66725    0.0476881   0 0.00217832  -0.00609335 0.0124804   0.999901       uwb: 0.50039691     835.992  562.502  
imu_odom_:  1691062800.372150173  0.514753   -0.237026  10.307     -0.0415453  0.00958738  0.0351537   0.18       0.02          pose: 0.0           4.66725    0.0476881   0 0.00217832  -0.00609335 0.0124804   0.999901       uwb: 0.0            835.992  562.502  
imu_odom_:  1691062800.388130793  0.715866   -0.325611  9.70609    -0.0639159  -0.0468716  0.0543285   0.18       0.02          pose: 0.0           4.66725    0.0476881   0 0.00217832  -0.00609335 0.0124804   0.999901       uwb: 0.0            835.992  562.502  
imu_odom_:  1691062800.413168283  0.500388   0.0167594  9.80186    -0.0372843  -0.0170442  0.0468716   0.18       0.02          pose: 0.7020577     4.67122    0.0474876   0 0.00156121  -0.00566995 0.0124796   0.999905       uwb: 0.50023651     837.17   560.984  
imu_odom_:  1691062800.436108525  0.0335188  -0.19393   9.40203    -0.0617853  0.02024     0.0479369   0.23       0             pose: 0.41030359    4.67122    0.0474876   0 -0.00145019 -0.00636208 0.0124995   0.999901       uwb: 0.0            837.17   560.984  
imu_odom_:  1691062800.460112703  0.0023942  -0.225055  9.81144    -0.0660464  0.0170442   0.0543285   0.18       0.02          pose: 0.0           4.67122    0.0474876   0 -0.00145019 -0.00636208 0.0124995   0.999901       uwb: 0.50056898     835.308  560.676  
imu_odom_:  1691062800.484096465  0.950498   -0.318429  9.85214    -0.0617853  -0.0181095  0.04048     0.18       0.02          pose: 0.40971155    4.68535    0.0467761   0 0.000844896 -0.00630904 0.0126708   0.999899       uwb: 0.0            835.308  560.676  
imu_odom_:  1691062800.509123748  0.52433    -0.234632  9.91918    -0.0745685  0.015979    0.0692422   0.25       0             pose: 0.0           4.68535    0.0467761   0 0.000844896 -0.00630904 0.0126708   0.999899       uwb: 0.49939072     836.009  559.034  
imu_odom_:  1691062800.534120407  0.205901   -0.169988  10.3549    -0.0617853  0.0319579   0.0394148   0.25       0             pose: 0.48050353    4.69276    0.0534855   0 0.000317031 -0.00271562 0.0129158   0.999913       uwb: 0.0            836.009  559.034  
imu_odom_:  1691062800.559247434  0.356736   -0.184354  9.84975    -0.092678   -0.00639159 0.0617853   0.18       0             pose: 0.0           4.69276    0.0534855   0 0.000317031 -0.00271562 0.0129158   0.999913       uwb: 0.49993611     833.688  558.699  
imu_odom_:  1691062800.572247400  0.107739   -0.251391  9.76595    -0.072438   -0.00213053 0.0436758   0.18       0             pose: 0.48985379    4.69947    0.0460745   0 -0.00125956 -0.0054507  0.0132978   0.999896       uwb: 0.0            833.688  558.699  
imu_odom_:  1691062800.596243120  0.167594   0.0407014  10.0173    -0.0852212  -0.00745685 0.0490022   0.18       0             pose: 0.0           4.69947    0.0460745   0 -0.00125956 -0.0054507  0.0132978   0.999896       uwb: 0.49939072     832.643  558.264  
imu_odom_:  1691062800.614372027  0.80924    -0.409408  10.1754    -0.0969391  0.0170442   0.0617853   0.18       0             pose: 0.47981816    4.70688    0.0527925   0 -0.000563915-0.0006092440.0135844   0.999907       uwb: 0.0            832.643  558.264  
imu_odom_:  1691062800.638245837  0.905008   -0.0814029 10.1562    -0.0585895  -0.00745685 0.036219    0.19       0             pose: 0.0           4.70688    0.0527925   0 -0.000563915-0.0006092440.0135844   0.999907       uwb: 0.0            832.643  558.264  
imu_odom_:  1691062800.664299725  0.464475   -0.337582  9.52892    -0.0649811  0.02024     0.0383495   0.19       0             pose: 0.39113350    4.72101    0.0521115   0 0.000236112 0.00101265  0.0138031   0.999904       uwb: 0.49986903     834.671  556.624  
imu_odom_:  1691062800.680097772  0.011971   -0.220267  9.93594    -0.02024    -0.0191748  0.0351537   0.19       0             pose: 0.0           4.72101    0.0521115   0 0.000236112 0.00101265  0.0138031   0.999904       uwb: 0.0            834.671  556.624  
imu_odom_:  1691062800.704096117  0.323217   -0.215478  9.63427    -0.0553937  -0.0213053  0.0436758   0.19       0             pose: 0.41863600    4.72101    0.0521115   0 -0.000579001-0.00217429 0.0138714   0.999901       uwb: 0.50138560     835.456  555.179  
imu_odom_:  1691062800.728106419  0.577003   -0.323217  9.96467    -0.056459   -0.0468716  0.0532632   0.27       0.02          pose: 0.0           4.72101    0.0521115   0 -0.000579001-0.00217429 0.0138714   0.999901       uwb: 0.0            835.456  555.179  
imu_odom_:  1691062800.753099579  0.761356   -0.244209  9.90721    -0.0436758  -0.0394148  0.0447411   0.27       0.02          pose: 0.42107128    4.73513    0.0514377   0 -0.00174879 -0.0001243980.0138517   0.999903       uwb: 0.50012860     837.029  553.449  
imu_odom_:  1691062800.776204602  0.47884    -0.328006  9.6606     -0.0777643  -0.0436758  0.0660464   0.18       -0.02         pose: 0.0           4.73513    0.0514377   0 -0.00174879 -0.0001243980.0138517   0.999903       uwb: 0.0            837.029  553.449  
imu_odom_:  1691062800.793091376  0.746991   -0.222661  10.1227    -0.0500674  0.0234358   0.0415453   0.18       -0.02         pose: 0.87959613    4.74926    0.0507698   0 -0.00438119 -0.00468062 0.0144241   0.999875       uwb: 0.0            837.029  553.449  
imu_odom_:  1691062800.816089656  0.667982   0.0263362  10.0485    -0.04048    -0.0298274  0.0372843   0.2        -0.02         pose: 0.0           4.74926    0.0507698   0 -0.00438119 -0.00468062 0.0144241   0.999875       uwb: 0.49986902     839.077  551.784  
imu_odom_:  1691062800.841198308  0.167594   0.0215478  10.0006    -0.0681769  -0.0394148  0.0468716   0.2        -0.02         pose: 0.7945688     4.74926    0.0507698   0 -0.00410724 -0.00532321 0.014427    0.999873       uwb: 0.0            839.077  551.784  
imu_odom_:  1691062800.858139912  0.0143652  -0.28491   9.87129    -0.0490022  0.00426106  0.0500674   0.22       0             pose: 0.0           4.74926    0.0507698   0 -0.00410724 -0.00532321 0.014427    0.999873       uwb: 0.49714211     839.942  550.501  
imu_odom_:  1691062800.881083945  0.462081   -0.378284  9.8689     -0.0713727  -0.0234358  0.0436758   0.22       0             pose: 0.39950383    4.76339    0.0501116   0 -0.00111154 -0.00674849 0.0144165   0.999873       uwb: 0.0            839.942  550.501  
imu_odom_:  1691062800.907228827  0.770933   -0.174777  10.3789    -0.0394148  -0.0191748  0.0255663   0.21       0             pose: 0.0           4.76339    0.0501116   0 -0.00111154 -0.00674849 0.0144165   0.999873       uwb: 0.50137685     838.023  550.09   
imu_odom_:  1691062800.932170948  0.672771   -0.380678  9.72525    -0.0308927  -0.00745685 0.0330232   0.21       0             pose: 0.83128154    4.77542    0.0517504   0 -0.00179207 -0.0065493  0.0144274   0.999873       uwb: 0.0            838.023  550.09   
imu_odom_:  1691062800.950095701  0.263362   -0.0957681 10.07      -0.0351537  -0.0458064  0.0500674   0.2        -0.02         pose: 0.0           4.77542    0.0517504   0 -0.00179207 -0.0065493  0.0144274   0.999873       uwb: 0.50178516     837.439  549.701  
imu_odom_:  1691062800.974261744  0.0622492  -0.292093  9.14346    -0.0628506  -0.0223706  0.0490022   0.2        -0.02         pose: 0.33019342    4.77751    0.0494576   0 -0.00263865 -0.00792933 0.0143973   0.999861       uwb: 0.0            837.439  549.701  
imu_odom_:  1691062800.998134971  0.442927   -0.196325  9.82102    -0.052198   -0.00852212 0.0553937   0.23       0             pose: 0.0           4.77751    0.0494576   0 -0.00263865 -0.00792933 0.0143973   0.999861       uwb: 0.49807831     838.885  547.535  
imu_odom_:  1691062801.23083217   0.117316   -0.258574  9.92397    -0.0458064  0.0319579   0.0383495   0.23       0             pose: 0.41961887    4.79164    0.0487993   0 -0.00176439 -0.00457222 0.0146307   0.999881       uwb: 0.0            838.885  547.535  
imu_odom_:  1691062801.48082210   0.136469   -0.306458  9.83538    -0.0809601  -0.0117179  0.0756338   0.19       0             pose: 0.40873161    4.79673    0.0534404   0 -0.00071119 -0.0005911130.0147407   0.999891       uwb: 0.50130978     837.834  547.087  
imu_odom_:  1691062801.65137558   0.73502    0.0311246  10.2831    -0.0639159  -0.0330232  0.0383495   0.19       0             pose: 0.0           4.79673    0.0534404   0 -0.00071119 -0.0005911130.0147407   0.999891       uwb: 0.0            837.834  547.087  
imu_odom_:  1691062801.89207940   0.263362   -0.110133  10.2065    -0.0639159  0.0170442   0.0458064   0.18       0.02          pose: 0.8070514     4.79903    0.0555375   0 -0.00104345 0.000152137 0.0148868   0.999889       uwb: 0.0            837.834  547.087  
imu_odom_:  1691062801.114192643  0.861913   -0.107739  10.0365    -0.0447411  -0.0191748  0.0266316   0.18       0.02          pose: 0.0           4.79903    0.0555375   0 -0.00104345 0.000152137 0.0148868   0.999889       uwb: 0.49871703     837.905  546.038  
imu_odom_:  1691062801.128184216  0.517148   -0.328006  9.51216    -0.0628506  -0.0127832  0.0553937   0.18       -0.02         pose: 0.0           4.79903    0.0555375   0 -0.00104345 0.000152137 0.0148868   0.999889       uwb: 0.0            837.905  546.038  
imu_odom_:  1691062801.145066616  1.08697    -0.248997  9.89763    -0.076699   -0.0149137  0.0585895   0.18       -0.02         pose: 0.41976178    4.80577    0.048153    0 -0.0002706440.000819158 0.0152081   0.999884       uwb: 0.0            837.905  546.038  
imu_odom_:  1691062801.159129935  0.720655   -0.0646434 9.67497    -0.0660464  0.0117179   0.0330232   0.18       -0.02         pose: 0.0           4.80577    0.048153    0 -0.0002706440.000819158 0.0152081   0.999884       uwb: 0.49980488     835.301  546.252  
imu_odom_:  1691062801.175067391  0.577003   -0.306458  9.47146    -0.072438   0.0138484   0.0372843   0.19       -0.05         pose: 0.48002232    4.81315    0.0548987   0 0.000752232 -0.0008771670.0151553   0.999874       uwb: 0.0            835.301  546.252  
imu_odom_:  1691062801.192099989  0.591368   -0.213084  10.3669    -0.0543285  -0.0319579  0.0351537   0.19       -0.05         pose: 0.0           4.82335    0.0506737   0 0.000581114 -0.00421611 0.0153235   0.999874       uwb: 0.0            835.301  546.252  
imu_odom_:  1691062801.207042630  0.349553   -0.280122  9.70849    -0.036219   0.0351537   0.0372843   0.18       0             pose: 0.0           4.82335    0.0506737   0 0.000581114 -0.00421611 0.0153235   0.999874       uwb: 0.50028901     832.991  546.07   
imu_odom_:  1691062801.224292508  0.25618    -0.349553  10.3238    -0.056459   0.0500674   0.0458064   0.18       0             pose: 0.8010142     4.82728    0.0542628   0 -6.58787e-05-0.00470103 0.0153168   0.999872       uwb: 0.0            832.991  546.07   
imu_odom_:  1691062801.249075389  0.746991   -0.42138   9.98143    -0.0511327  0.0415453   0.0287621   0.18       0             pose: 0.0           4.82728    0.0542628   0 -6.58787e-05-0.00470103 0.0153168   0.999872       uwb: 0.0            832.991  546.07   
imu_odom_:  1691062801.275061615  0.54109    -0.11971   10.3956    -0.052198   -0.0234358  0.0468716   0.21       -0.02         pose: 0.47951777    4.82728    0.0542628   0 -0.000989934-0.00441667 0.0152842   0.999873       uwb: 0.0            832.991  546.07   
imu_odom_:  1691062801.300067899  0.361524   -0.126893  10.0796    -0.0287621  -0.015979   0.0234358   0.19       0             pose: 0.0           4.82728    0.0542628   0 -0.000989934-0.00441667 0.0152842   0.999873       uwb: 0.100003848    829.115  546.561  
imu_odom_:  1691062801.317135496  0.536301   -0.452504  9.47625    -0.0841559  -0.0117179  0.052198    0.19       0             pose: 0.69034798    4.84141    0.053629    0 0.000476873 -0.0049947  0.0151887   0.999872       uwb: 0.0            829.115  546.561  
imu_odom_:  1691062801.342091617  0.0790087  -0.289698  9.32542    -0.0436758  -0.00213053 0.0276969   0.18       -0.02         pose: 0.0           4.84141    0.053629    0 0.000476873 -0.0049947  0.0151887   0.999872       uwb: 0.0            829.115  546.561  
imu_odom_:  1691062801.368046927  0.272939   -0.383072  9.85693    -0.0745685  -0.0245011  0.0436758   0.18       -0.02         pose: 0.42124919    4.85554    0.0529914   0 -0.00053273 -0.00327928 0.0151175   0.99988        uwb: 0.49839622     827.874  545.673  
imu_odom_:  1691062801.392047314  0.292093   -0.272939  10.0916    -0.0426106  -0.00532632 0.036219    0.18       -0.02         pose: 0.0           4.85554    0.0529914   0 -0.00053273 -0.00327928 0.0151175   0.99988        uwb: 0.0            827.874  545.673  
imu_odom_:  1691062801.416052951  0.0670376  -0.519542  9.95748    -0.0660464  -0.00852212 0.0649811   0.18       -0.02         pose: 0.48835765    4.86292    0.0597359   0 -0.00276167 0.000596783 0.0150731   0.999882       uwb: 0.50126604     829.098  544.107  
imu_odom_:  1691062801.433101590  0.486023   -0.0909797 9.89763    -0.0287621  -0.0426106  0.0383495   0.19       0             pose: 0.0           4.86292    0.0597359   0 -0.00276167 0.000596783 0.0150731   0.999882       uwb: 0.0            829.098  544.107  
imu_odom_:  1691062801.458107875  0.797269   -0.335188  9.75158    -0.0596548  -0.0458064  0.0511327   0.19       0             pose: 0.47974817    4.86966    0.0523522   0 -0.00379466 0.00346748  0.015352    0.999869       uwb: 0.49909034     829.134  542.99   
imu_odom_:  1691062801.476096791  0.351948   -0.306458  9.51935    -0.0255663  0.0372843   0.0298274   0.18       0             pose: 0.0           4.86966    0.0523522   0 -0.00379466 0.00346748  0.015352    0.999869       uwb: 0.0            829.134  542.99   
imu_odom_:  1691062801.500157841  0.423774   -0.337582  9.61272    -0.0628506  0.00426106  0.052198    0.18       0             pose: 0.43044781    4.88379    0.0517201   0 -0.00351037 0.00053536  0.0154477   0.999874       uwb: 0.50042317     829.245  542.07   
imu_odom_:  1691062801.526090986  0.696713   -0.337582  10.3477    -0.0436758  -0.0660464  0.0543285   0.2        0             pose: 0.34050907    4.88873    0.056238    0 -0.00558712 -4.88642e-050.0155433   0.999864       uwb: 0.0            829.245  542.07   
imu_odom_:  1691062801.550026918  0.610521   -0.0383072 9.67018    -0.0649811  -0.00852212 0.036219    0.2        0             pose: 0.0           4.88873    0.056238    0 -0.00558712 -4.88642e-050.0155433   0.999864       uwb: 0.50168893     827.381  541.966  
imu_odom_:  1691062801.574117133  -0.567426  0.0861913  11.3174    -0.0532632  -0.0234358  0.0490022   0.2        0             pose: 0.7912148     4.89117    0.0584699   0 -0.00554801 -0.00108472 0.0155985   0.999862       uwb: 0.0            827.381  541.966  
imu_odom_:  1691062801.599050214  0.349553   0.0837971  10.5608    -0.0607201  -0.0596548  0.0426106   0.23       0             pose: 0.0           4.89117    0.0584699   0 -0.00554801 -0.00108472 0.0155985   0.999862       uwb: 0.49826789     826.706  541.392  
imu_odom_:  1691062801.615162951  0.344765   -0.435745  9.38048    -0.0681769  -0.0213053  0.0532632   0.23       0             pose: 0.50020735    4.89792    0.0510937   0 -0.00315286 -0.00386302 0.0157107   0.999864       uwb: 0.0            826.706  541.392  
imu_odom_:  1691062801.641174550  0.318429   -0.232238  9.95748    -0.0671117  -0.00319579 0.0394148   0.18       -0.02         pose: 0.0           4.89792    0.0510937   0 -0.00315286 -0.00386302 0.0157107   0.999864       uwb: 0.0            826.706  541.392  
imu_odom_:  1691062801.665046320  0.258574   0.0430956  9.84017    -0.0841559  -0.0191748  0.0543285   0.18       -0.02         pose: 0.47959651    4.9053     0.0578475   0 -0.00097551 -0.00220874 0.0158747   0.999871       uwb: 0.50000320     828.375  539.737  
imu_odom_:  1691062801.683176977  0.536301   -0.351948  10.1227    -0.0948085  -0.00639159 0.0585895   0.2        0             pose: 0.0           4.9053     0.0578475   0 -0.00097551 -0.00220874 0.0158747   0.999871       uwb: 0.0            828.375  539.737  
imu_odom_:  1691062801.707095994  0.80924    -0.150835  10.3286    -0.0660464  0.00745685  0.0436758   0.2        0             pose: 0.42036842    4.91943    0.0572308   0 -0.00111297 0.00092254  0.0159928   0.999871       uwb: 0.50043193     827.652  539.029  
imu_odom_:  1691062801.733032056  0.414197   -0.244209  9.89763    -0.0585895  0.0117179   0.036219    0.23       0.05          pose: 0.0           4.91943    0.0572308   0 -0.00111297 0.00092254  0.0159928   0.999871       uwb: 0.0            827.652  539.029  
imu_odom_:  1691062801.757141520  0.603339   -0.500388  9.80426    -0.0553937  -0.0127832  0.0468716   0.23       0.05          pose: 0.43095236    4.91943    0.0572308   0 -0.00119735 -0.0006324720.016307    0.999866       uwb: 0.49995361     828.187  538.002  
imu_odom_:  1691062801.774063583  0.622492   -0.229843  9.50737    -0.0585895  0.00106526  0.0458064   0.19       0.02          pose: 0.0           4.91943    0.0572308   0 -0.00119735 -0.0006324720.016307    0.999866       uwb: 0.0            828.187  538.002  
imu_odom_:  1691062801.798086135  0.28491    -0.373495  9.80426    -0.0468716  -0.02024    0.0543285   0.19       0.02          pose: 0.48918885    4.93355    0.0566261   0 -0.00244234 3.31959e-05 0.0163224   0.999864       uwb: 0.50006153     826.762  537.881  
imu_odom_:  1691062801.823185164  0.555455   -0.143652  10.137     -0.0415453  -0.0372843  0.0372843   0.2        0             pose: 0.0           4.93355    0.0566261   0 -0.00244234 3.31959e-05 0.0163224   0.999864       uwb: 0.0            826.762  537.881  
imu_odom_:  1691062801.848038333  0.454898   -0.1652    9.86411    -0.0628506  -0.0149137  0.0607201   0.2        0             pose: 0.41209725    4.94092    0.0633891   0 -0.00360402 -0.00217414 0.0164843   0.999855       uwb: 0.49851871     826.301  536.649  
imu_odom_:  1691062801.873301852  0.682347   -0.0933739 10.5153    -0.0468716  0.0585895   0.0308927   0.19       0             pose: 0.49875494    4.94769    0.0560246   0 -0.00148906 -0.00287192 0.0166626   0.999856       uwb: 0.0            826.301  536.649  
imu_odom_:  1691062801.890038719  0.148441   -0.407014  9.9503     -0.0426106  0.00958738  0.0351537   0.19       0             pose: 0.0           4.94769    0.0560246   0 -0.00148906 -0.00287192 0.0166626   0.999856       uwb: 0.0            826.301  536.649  
imu_odom_:  1691062801.915031004  0.323217   -0.215478  9.8282     -0.0479369  0.0117179   0.036219    0.2        0.02          pose: 0.24881459    4.95505    0.062793    0 0.000558119 -0.00331854 0.0168003   0.999853       uwb: 0.50219640     822.726  536.974  
imu_odom_:  1691062801.940172031  0.696713   -0.292093  10.3765    -0.0660464  -0.052198   0.0553937   0.19       0             pose: 0.42096630    4.96182    0.0554326   0 0.00058359  -0.00189506 0.0166753   0.999859       uwb: 0.0            822.726  536.974  
imu_odom_:  1691062801.965110653  0.691924   -0.385466  9.91439    -0.0330232  0.0308927   0.0234358   0.19       0             pose: 0.42007385    4.9738     0.0571743   0 -0.000342623-0.0031102  0.0168462   0.999853       uwb: 0.49871703     821.268  536.804  
imu_odom_:  1691062801.981106730  0.23942    -0.308852  9.96946    -0.04048    0.00958738  0.0298274   0.19       0             pose: 0.0           4.9738     0.0571743   0 -0.000342623-0.0031102  0.0168462   0.999853       uwb: 0.0            821.268  536.804  
imu_odom_:  1691062802.6030770    0.174777   -0.354342  9.89045    -0.0191748  0.00745685  0.0319579   0.18       0.02          pose: 0.7952979     4.97595    0.0548388   0 -0.000708434-0.00362455 0.0167834   0.999852       uwb: 0.50119313     823.709  534.689  
imu_odom_:  1691062802.29020594   0.299275   -0.289698  9.76595    -0.056459   -0.00213053 0.0617853   0.18       0             pose: 0.0           4.97595    0.0548388   0 -0.000708434-0.00362455 0.0167834   0.999852       uwb: 0.0            823.709  534.689  
imu_odom_:  1691062802.45005589   0.572214   -0.0837971 10.1347    -0.0436758  -0.0532632  0.0426106   0.18       0             pose: 0.0           4.97595    0.0548388   0 -0.000708434-0.00362455 0.0167834   0.999852       uwb: 0.0            823.709  534.689  
imu_odom_:  1691062802.70138158   0.543484   -0.237026  9.9503     -0.0628506  -0.0490022  0.0628506   0.25       -0.02         pose: 0.40049253    4.98331    0.0616068   0 -0.00190567 -0.00235954 0.0165513   0.999858       uwb: 0.0            823.709  534.689  
imu_odom_:  1691062802.92993823   0.301669   -0.196325  9.90002    -0.0351537  -0.0170442  0.0383495   0.25       -0.02         pose: 0.81963895    4.99744    0.0610118   0 -0.00153765 -0.00296905 0.0170621   0.999849       uwb: 0.0            823.709  534.689  
imu_odom_:  1691062802.109009150  0.505177   -0.112527  9.82102    -0.0777643  -0.0170442  0.0777643   0.25       -0.02         pose: 0.0           4.99744    0.0610118   0 -0.00153765 -0.00296905 0.0170621   0.999849       uwb: 0.99884566     822.737  534.58   
imu_odom_:  1691062802.133993270  0.605733   -0.0861913 10.1059    -0.0713727  -0.0191748  0.0394148   0.19       0             pose: 0.6891085     4.99744    0.0610118   0 -0.00127388 -0.00234931 0.0170586   0.999851       uwb: 0.0            822.737  534.58   
imu_odom_:  1691062802.158065404  0.158017   -0.122104  10.3765    -0.0639159  0.015979    0.0468716   0.18       0.02          pose: 0.0           4.99744    0.0610118   0 -0.00127388 -0.00234931 0.0170586   0.999851       uwb: 0.50012571     822.835  533.613  
imu_odom_:  1691062802.181996670  0.61531    -0.136469  10.0341    -0.0500674  0.0149137   0.0287621   0.18       0.02          pose: 0.40087169    5.01157    0.0604326   0 0.000895099 -0.00265292 0.0173528   0.999846       uwb: 0.0            822.835  533.613  
imu_odom_:  1691062802.197990415  0.636858   -0.481235  10.082     -0.0330232  -0.0223706  0.0383495   0.18       0.02          pose: 0.0           5.01157    0.0604326   0 0.000895099 -0.00265292 0.0173528   0.999846       uwb: 0.50143521     821.228  533.069  
imu_odom_:  1691062802.214995599  0.122104   -0.430956  9.36133    -0.02024    0.015979    0.0213053   0.23       -0.02         pose: 0.0           5.01157    0.0604326   0 0.000895099 -0.00265292 0.0173528   0.999846       uwb: 0.0            821.228  533.069  
imu_odom_:  1691062802.238039086  0.888249   0.124498   10.5177    -0.0458064  -0.0500674  0.0681769   0.23       -0.02         pose: 0.47884407    5.01157    0.0604326   0 0.00221827  -0.00211265 0.0173955   0.999844       uwb: 0.0            821.228  533.069  
imu_odom_:  1691062802.263045955  0.351948   0.0981623  10.1682    -0.0980043  -0.0458064  0.0671117   0.25       0             pose: 0.41002947    5.0257     0.0598582   0 0.00108994  -0.00375202 0.0172329   0.999844       uwb: 0.49853330     823.679  530.908  
imu_odom_:  1691062802.286067860  0.600945   0.035913   10.2208    -0.0703074  -0.0852212  0.0266316   0.18       -0.02         pose: 0.32035320    5.0257     0.0598582   0 0.00228833  -0.00524775 0.0174792   0.999831       uwb: 0.0            823.679  530.908  
imu_odom_:  1691062802.310065914  0.876278   -0.265756  10.0604    -0.0660464  -0.00213053 0.0287621   0.18       -0.02         pose: 0.7979520     5.0257     0.0598582   0 0.00280189  -0.00500127 0.0175832   0.999829       uwb: 0.49879871     826.149  528.76   
imu_odom_:  1691062802.335178068  0.174777   -0.225055  9.80186    -0.0500674  -0.00745685 0.0543285   0.21       -0.02         pose: 0.0           5.0257     0.0598582   0 0.00280189  -0.00500127 0.0175832   0.999829       uwb: 0.0            826.149  528.76   
imu_odom_:  1691062802.351059237  0.354342   -0.572214  9.81383    -0.0607201  0.0213053   0.0447411   0.21       -0.02         pose: 0.48093228    5.03983    0.0592892   0 0.00535146  -0.0072993  0.0176097   0.999804       uwb: 0.50108815     825.815  527.856  
imu_odom_:  1691062802.377161831  0.596156   -0.19393   9.99579    -0.0607201  -0.0266316  0.0500674   0.19       0             pose: 0.0           5.03983    0.0592892   0 0.00535146  -0.0072993  0.0176097   0.999804       uwb: 0.0            825.815  527.856  
imu_odom_:  1691062802.402062539  0.636858   -0.035913  10.3166    -0.0596548  -0.00426106 0.0319579   0.19       0             pose: 0.48030523    5.04718    0.0660707   0 0.00336391  -0.00600892 0.0177372   0.999819       uwb: 0.49858871     826.551  527.31   
imu_odom_:  1691062802.418996561  0.260968   -0.25618   9.77553    -0.056459   0.0319579   0.0255663   0.22       0             pose: 0.0           5.04718    0.0660707   0 0.00336391  -0.00600892 0.0177372   0.999819       uwb: 0.0            826.551  527.31   
imu_odom_:  1691062802.443979514  0.227449   -0.452504  9.51216    -0.0298274  -0.0383495  0.0298274   0.22       0             pose: 0.42930747    5.05396    0.0587228   0 0.00238672  -0.00866644 0.0178746   0.9998         uwb: 0.0            826.551  527.31   
imu_odom_:  1691062802.467120995  0.418985   -0.325611  9.90721    -0.0681769  0.00106526  0.0639159   0.24       0             pose: 0.0           5.05396    0.0587228   0 0.00238672  -0.00866644 0.0178746   0.9998         uwb: 0.50009071     824.989  526.884  
imu_odom_:  1691062802.483999312  0.459687   -0.107739  10.0054    -0.052198   -0.0181095  0.0575243   0.24       0             pose: 0.43075989    5.06809    0.0581602   0 0.00280062  -0.00690336 0.0176376   0.999817       uwb: 0.0            824.989  526.884  
imu_odom_:  1691062802.508994223  0.440533   -0.146046  10.1706    -0.0511327  0.00639159  0.0468716   0.18       0             pose: 0.0           5.06809    0.0581602   0 0.00280062  -0.00690336 0.0176376   0.999817       uwb: 0.50194560     823.926  526.552  
imu_odom_:  1691062802.525053589  0.545878   -0.373495  9.73722    -0.0468716  0.00213053  0.0383495   0.18       0             pose: 0.46996627    5.07544    0.064943    0 0.000607008 -0.00447369 0.0179242   0.999829       uwb: 0.0            823.926  526.552  
imu_odom_:  1691062802.551054689  0.802058   -0.296881  9.96706    -0.0436758  -0.0276969  0.0532632   0.19       0             pose: 0.0           5.07544    0.064943    0 0.000607008 -0.00447369 0.0179242   0.999829       uwb: 0.49862663     825.582  524.663  
imu_odom_:  1691062802.568051124  0.488417   -0.328006  9.94073    -0.0596548  0.00106526  0.0543285   0.19       0             pose: 0.40864414    5.08222    0.0575985   0 0.00247997  -0.00245383 0.0180801   0.99983        uwb: 0.0            825.582  524.663  
imu_odom_:  1691062802.593129447  0.629675   -0.186748  9.73004    -0.0575243  0.0223706   0.0596548   0.18       -0.02         pose: 0.0           5.08222    0.0575985   0 0.00247997  -0.00245383 0.0180801   0.99983        uwb: 0.0            825.582  524.663  
imu_odom_:  1691062802.618999305  0.248997   -0.344765  9.21768    -0.0596548  0.0372843   0.036219    0.18       -0.02         pose: 0.41996303    5.08957    0.0643865   0 0.000377191 -0.00546607 0.0183166   0.999817       uwb: 0.50057776     825.977  523.167  
imu_odom_:  1691062802.635022506  0.347159   -0.172383  9.97185    -0.0394148  0.00852212  0.0426106   0.18       0             pose: 0.0           5.08957    0.0643865   0 0.000377191 -0.00546607 0.0183166   0.999817       uwb: 0.0            825.977  523.167  
imu_odom_:  1691062802.661105852  0.454898   -0.320823  10.1323    -0.0575243  -0.00532632 0.0436758   0.18       0             pose: 0.43029908    5.1037     0.0638416   0 -0.00019218 -0.00642456 0.0186301   0.999806       uwb: 0.49999739     824.471  522.919  
imu_odom_:  1691062802.685996353  0.529119   -0.0023942 9.90242    -0.0745685  0           0.0532632   0.2        0             pose: 0.0           5.1037     0.0638416   0 -0.00019218 -0.00642456 0.0186301   0.999806       uwb: 0.0            824.471  522.919  
imu_odom_:  1691062802.711982871  0.203507   -0.316035  9.65821    -0.0511327  0.0426106   0.0308927   0.2        0             pose: 0.41001489    5.1037     0.0638416   0 -0.000969781-0.00282968 0.0186451   0.999822       uwb: 0.49869371     824.572  521.905  
imu_odom_:  1691062802.728049528  0.232238   -0.0957681 10.1873    -0.0703074  -0.0117179  0.0490022   0.17       0             pose: 0.0           5.1037     0.0638416   0 -0.000969781-0.00282968 0.0186451   0.999822       uwb: 0.0            824.572  521.905  
imu_odom_:  1691062802.751024477  0.215478   -0.567426  9.70609    -0.0756338  0.0127832   0.0585895   0.17       0             pose: 0.52026991    5.11783    0.0633027   0 -0.000970603-0.00237951 0.0188169   0.99982        uwb: 0.0            824.572  521.905  
imu_odom_:  1691062802.777043951  0.641646   -0.342371  9.88805    -0.0617853  -0.0319579  0.0436758   0.25       0.02          pose: 0.0           5.11783    0.0633027   0 -0.000970603-0.00237951 0.0188169   0.99982        uwb: 0.0            824.572  521.905  
imu_odom_:  1691062802.801023049  0.301669   -0.612916  9.57681    -0.0447411  0.02024     0.036219    0.25       0.02          pose: 0.41020446    5.12516    0.070102    0 -0.00133951 0.00127608  0.018886    0.99982        uwb: 0.100048765    826.301  520.15   
imu_odom_:  1691062802.828103251  0.435745   -0.114922  10.149     -0.0468716  -0.0415453  0.0468716   0.19       0.02          pose: 0.49950449    5.13196    0.0627699   0 -0.00433016 -0.0004583830.01907     0.999809       uwb: 0.0            826.301  520.15   
imu_odom_:  1691062802.852995793  0.751779   -0.0191536 10.0317    -0.0383495  0.00213053  0.0468716   0.18       -0.02         pose: 0.0           5.13196    0.0627699   0 -0.00433016 -0.0004583830.01907     0.999809       uwb: 0.49947241     827.605  518.507  
imu_odom_:  1691062802.880254776  0.272939   -0.162806  9.94551    -0.0468716  -0.00958738 0.0543285   0.18       -0.02         pose: 0.67960073    5.1461     0.062243    0 -0.00121615 -0.00257526 0.019229    0.999811       uwb: 0.0            827.605  518.507  
imu_odom_:  1691062802.896103280  0.792481   -0.229843  10.0078    -0.0234358  -0.0543285  0.036219    0.19       0             pose: 0.8042516     5.1461     0.062243    0 -0.000881262-0.00184989 0.0192886   0.999812       uwb: 0.49965032     827.655  517.317  
imu_odom_:  1691062802.922117504  0.699107   -0.316035  9.69652    -0.0436758  -0.04048    0.0458064   0.19       0             pose: 0.0           5.1461     0.062243    0 -0.000881262-0.00184989 0.0192886   0.999812       uwb: 0.0            827.655  517.317  
imu_odom_:  1691062802.944965003  0.246603   -0.1652    9.49301    -0.0223706  -0.0138484  0.036219    0.17       0.02          pose: 0.35064971    5.15342    0.0690491   0 0.000154927 -0.0020935  0.0194042   0.99981        uwb: 0.0            827.655  517.317  
imu_odom_:  1691062802.971038432  0.0981623  0.0454898  10.0317    -0.0415453  -0.0117179  0.0447411   0.17       0.02          pose: 0.48861723    5.16529    0.0664282   0 0.000277947 -0.0028692  0.0194501   0.999807       uwb: 0.50038236     824.784  517.277  
imu_odom_:  1691062802.987028678  0.799663   -0.361524  9.62469    -0.0703074  0.00639159  0.052198    0.18       0.02          pose: 0.0           5.16529    0.0664282   0 0.000277947 -0.0028692  0.0194501   0.999807       uwb: 0.0            824.784  517.277  
imu_odom_:  1691062803.12961824   0.407014   -0.294487  9.72046    -0.0596548  -0.00745685 0.0394148   0.18       0.02          pose: 0.42063675    5.17116    0.0645766   0 0.00113742  -0.00217521 0.0196173   0.999805       uwb: 0.49977864     824.455  516.371  
imu_odom_:  1691062803.29075146   0.775721   -0.277727  10.0006    -0.0394148  0.00213053  0.02024     0.19       0.02          pose: 0.0           5.17116    0.0645766   0 0.00113742  -0.00217521 0.0196173   0.999805       uwb: 0.0            824.455  516.371  
imu_odom_:  1691062803.44948732   0.172383   -0.402226  9.66539    -0.0394148  0.00426106  0.0319579   0.19       0.02          pose: 0.0           5.17116    0.0645766   0 0.00113742  -0.00217521 0.0196173   0.999805       uwb: 0.0            824.455  516.371  
imu_odom_:  1691062803.61067011   0.502782   -0.423774  9.99819    -0.0394148  -0.0585895  0.036219    0.19       0.02          pose: 0.49047504    5.1817     0.0678562   0 -0.0016681  -0.00226303 0.0194369   0.999807       uwb: 0.50037362     826.18   514.526  
imu_odom_:  1691062803.76969470   0.454898   -0.232238  9.77792    -0.0117179  0.036219    0.0383495   0.2        0             pose: 0.0           5.1817     0.0678562   0 -0.0016681  -0.00226303 0.0194369   0.999807       uwb: 0.0            826.18   514.526  
imu_odom_:  1691062803.93011629   0.25618    -0.241814  9.91439    -0.0511327  0.00213053  0.0543285   0.2        0             pose: 0.0           5.1817     0.0678562   0 -0.0016681  -0.00226303 0.0194369   0.999807       uwb: 0.0            826.18   514.526  
imu_odom_:  1691062803.109009166  0.593762   -0.141258  9.92636    -0.0383495  -0.0713727  0.0415453   0.21       0             pose: 0.48941637    5.19583    0.0671973   0 -0.00144379 -0.00148434 0.0194265   0.999809       uwb: 0.49950743     824.623  514.187  
imu_odom_:  1691062803.126056057  0.897826   0.0622492  10.1921    -0.0543285  -0.0596548  0.052198    0.23       0             pose: 0.0           5.19583    0.0671973   0 -0.00144379 -0.00148434 0.0194265   0.999809       uwb: 0.0            824.623  514.187  
imu_odom_:  1691062803.141951516  0.794875   -0.557849  9.37569    -0.0628506  0.0266316   0.0596548   0.23       0             pose: 0.41038238    5.19575    0.0671849   0 0.000505897 -0.00445156 0.0196052   0.999798       uwb: 0.0            824.623  514.187  
imu_odom_:  1691062803.167117626  0.339977   -0.294487  10.0652    -0.052198   0.0245011   0.0553937   0.19       0             pose: 0.15895459    5.20319    0.0668779   0 -0.000730895-0.00528108 0.0197703   0.99979        uwb: 0.49998573     824.248  513.148  
imu_odom_:  1691062803.192960945  0.658405   -0.380678  9.77074    -0.0681769  -0.0138484  0.0426106   0.19       0             pose: 0.0           5.20319    0.0668779   0 -0.000730895-0.00528108 0.0197703   0.99979        uwb: 0.0            824.248  513.148  
imu_odom_:  1691062803.208033662  0.301669   -0.335188  9.91918    -0.0575243  0.0500674   0.0287621   0.18       0             pose: 0.8053890     5.20996    0.0665831   0 -0.00101987 -0.00441625 0.0198361   0.999793       uwb: 0.49975533     821.777  512.972  
imu_odom_:  1691062803.226200485  0.208296   -0.208296  10.0078    -0.0703074  -0.0234358  0.0500674   0.18       0             pose: 0.0           5.20996    0.0665831   0 -0.00101987 -0.00441625 0.0198361   0.999793       uwb: 0.0            821.777  512.972  
imu_odom_:  1691062803.242197731  0.670376   -0.481235  9.48822    -0.0596548  -0.0308927  0.0319579   0.18       0             pose: 0.25101947    5.20996    0.0665831   0 -0.00210511 -0.00329711 0.0199879   0.999793       uwb: 0.0            821.777  512.972  
imu_odom_:  1691062803.258961138  0.191536   -0.134075  10.0269    -0.0543285  0.00532632  0.0468716   0.18       0             pose: 0.0           5.20996    0.0665831   0 -0.00210511 -0.00329711 0.0199879   0.999793       uwb: 0.50069443     821.479  512.156  
imu_odom_:  1691062803.275087875  0.356736   -0.536301  9.76595    -0.0777643  0.0181095   0.0617853   0.18       0             pose: 0.0           5.20996    0.0665831   0 -0.00210511 -0.00329711 0.0199879   0.999793       uwb: 0.0            821.479  512.156  
imu_odom_:  1691062803.290948337  0.617704   -0.299275  10.1634    -0.0575243  -0.0255663  0.0372843   0.24       0             pose: 0.58992157    5.22409    0.066083    0 -0.00377047 -0.0022032  0.0200078   0.99979        uwb: 0.0            821.479  512.156  
imu_odom_:  1691062803.316086157  0.703895   -0.0646434 10.4028    -0.0607201  -0.0330232  0.0383495   0.24       0             pose: 0.0           5.22409    0.066083    0 -0.00377047 -0.0022032  0.0200078   0.99979        uwb: 0.50021322     820.261  511.476  
imu_odom_:  1691062803.342088133  0.890643   -0.189142  9.54329    -0.0511327  0.0308927   0.0223706   0.19       -0.02         pose: 0.64903300    5.23141    0.0729027   0 -0.00443882 -0.00324508 0.0201877   0.999781       uwb: 0.0            820.261  511.476  
imu_odom_:  1691062803.367162373  0.682347   -0.294487  9.43794    -0.0681769  0.00426106  0.0511327   0.2        0             pose: 0.25130237    5.23822    0.0655885   0 -0.00303208 -0.00530856 0.0200961   0.999779       uwb: 0.49938202     820.042  510.881  
imu_odom_:  1691062803.384080063  0.651223   -0.497994  10.4124    -0.0490022  0.0308927   0.0266316   0.21       0             pose: 0.0           5.23822    0.0655885   0 -0.00303208 -0.00530856 0.0200961   0.999779       uwb: 0.0            820.042  510.881  
imu_odom_:  1691062803.409958672  0.493206   -0.363919  9.48583    -0.0532632  -0.00426106 0.0553937   0.21       0             pose: 0.51011179    5.24554    0.0724064   0 -0.00389993 -0.00920803 0.0200267   0.999749       uwb: 0.49982240     822.174  508.753  
imu_odom_:  1691062803.435936732  0.507571   -0.023942  10.1251    -0.0308927  -0.00745685 0.02024     0.18       0             pose: 0.34814446    5.25236    0.0650904   0 -0.00621846 -0.0072142  0.0202045   0.999751       uwb: 0.0            822.174  508.753  
imu_odom_:  1691062803.460915312  0.792481   -0.294487  9.8282     -0.0756338  -0.00319579 0.0436758   0.19       -0.02         pose: 0.0           5.25236    0.0650904   0 -0.00621846 -0.0072142  0.0202045   0.999751       uwb: 0.50003240     822.156  507.36   
imu_odom_:  1691062803.487223228  0.656011   -0.160412  9.85214    -0.0479369  0.0287621   0.0255663   0.19       -0.02         pose: 0.50956640    5.25967    0.0719093   0 -0.00364967 -0.00938421 0.0199809   0.99975        uwb: 0.0            822.156  507.36   
imu_odom_:  1691062803.511940781  0.234632   -0.383072  9.37569    -0.056459   0.0170442   0.0330232   0.19       0             pose: 0.0           5.25967    0.0719093   0 -0.00364967 -0.00938421 0.0199809   0.99975        uwb: 0.50115816     822.707  506.188  
imu_odom_:  1691062803.537162305  0.414197   -0.265756  9.67497    -0.072438   0.00532632  0.0607201   0.19       0             pose: 0.33185877    5.2738     0.0714072   0 -0.00150535 -0.00947306 0.0197505   0.999759       uwb: 0.0            822.707  506.188  
imu_odom_:  1691062803.560074550  0.208296   -0.220267  9.57681    -0.0468716  0.0138484   0.0447411   0.18       0             pose: 0.25058199    5.2738     0.0714072   0 -0.00232    -0.00688434 0.0197788   0.999778       uwb: 0.49750671     823.615  504.642  
imu_odom_:  1691062803.585912619  0.186748   -0.277727  9.59596    -0.0607201  -0.00852212 0.0532632   0.18       0             pose: 0.0           5.2738     0.0714072   0 -0.00232    -0.00688434 0.0197788   0.999778       uwb: 0.0            823.615  504.642  
imu_odom_:  1691062803.609979212  0.339977   -0.328006  9.50737    -0.0276969  0.0266316   0.0298274   0.25       0             pose: 0.24932791    5.2738     0.0714072   0 -0.00247108 -0.00425196 0.019992    0.999788       uwb: 0.50001198     822.528  504.331  
imu_odom_:  1691062803.625971499  0.586579   0.0909797  10.9654    -0.0490022  -0.00958738 0.0585895   0.25       0             pose: 0.0           5.2738     0.0714072   0 -0.00247108 -0.00425196 0.019992    0.999788       uwb: 0.0            822.528  504.331  
imu_odom_:  1691062803.652933293  0.481235   -0.1652    10.2472    -0.0500674  0.0468716   0.036219    0.18       0             pose: 0.48845101    5.28794    0.0709069   0 -0.00293855 0.000577124 0.020186    0.999792       uwb: 0.50001781     823.079  503.137  
imu_odom_:  1691062803.677980409  0.565032   -0.407014  9.61033    -0.0735032  0.00532632  0.0607201   0.19       0.02          pose: 0.0           5.28794    0.0709069   0 -0.00293855 0.000577124 0.020186    0.999792       uwb: 0.0            823.079  503.137  
imu_odom_:  1691062803.693937407  0.162806   -0.174777  9.48343    -0.0319579  -0.0223706  0.0319579   0.19       0.02          pose: 0.41165105    5.30207    0.0704125   0 -0.00192653 0.000803434 0.0202419   0.999793       uwb: 0.0            823.079  503.137  
imu_odom_:  1691062803.719915468  0.526724   -0.292093  9.73482    -0.0820254  -0.0138484  0.0628506   0.18       0.02          pose: 0.0           5.30207    0.0704125   0 -0.00192653 0.000803434 0.0202419   0.999793       uwb: 0.50123399     825.62   500.646  
imu_odom_:  1691062803.745938443  0.153229   -0.191536  9.43794    -0.0511327  0.0383495   0.0458064   0.18       0.02          pose: 0.50830064    5.30207    0.0704125   0 -0.00232554 -0.00101957 0.0204461   0.999788       uwb: 0.50303054     826.076  499.145  
imu_odom_:  1691062803.771051472  0.45011    -0.112527  10.1347    -0.0798948  -0.00852212 0.0585895   0.19       0.02          pose: 0.0           5.30207    0.0704125   0 -0.00232554 -0.00101957 0.0204461   0.999788       uwb: 0.0            826.076  499.145  
imu_odom_:  1691062803.786933516  0.301669   -0.244209  9.57441    -0.0436758  -0.0117179  0.0330232   0.19       0.02          pose: 0.43047700    5.31621    0.0699267   0 -0.00285825 -0.0018952  0.0207381   0.999779       uwb: 0.0            826.076  499.145  
imu_odom_:  1691062803.814058633  0.605733   -0.260968  9.86172    -0.0735032  0.00852212  0.0617853   0.18       0.02          pose: 0.0           5.31621    0.0699267   0 -0.00285825 -0.0018952  0.0207381   0.999779       uwb: 0.0            826.076  499.145  
imu_odom_:  1691062803.838044147  0.533907   -0.158017  10.228     -0.0468716  -0.00319579 0.0330232   0.18       0.02          pose: 0.49967950    5.32351    0.0767563   0 -0.0004290733.91602e-05 0.0210124   0.999779       uwb: 0.0            826.076  499.145  
imu_odom_:  1691062803.854005228  0.260968   -0.299275  9.7444     -0.076699   0.00532632  0.0500674   0.19       0             pose: 0.0           5.32351    0.0767563   0 -0.0004290733.91602e-05 0.0210124   0.999779       uwb: 0.99673124     823.619  499.133  
imu_odom_:  1691062803.880919774  0.0694318  -0.565032  9.60314    -0.0245011  0.0340885   0.0330232   0.19       0             pose: 0.76057129    5.33765    0.0762856   0 -0.000377536-0.0019166  0.0212842   0.999772       uwb: 0.0            823.619  499.133  
imu_odom_:  1691062803.905928102  0.641646   -0.0502782 9.70849    -0.0511327  -0.0191748  0.0479369   0.17       0             pose: 0.0           5.33765    0.0762856   0 -0.000377536-0.0019166  0.0212842   0.999772       uwb: 0.50063611     822.408  498.49   
imu_odom_:  1691062803.932170688  0.457293   -0.332794  10.0604    -0.0479369  -0.0351537  0.0511327   0.17       0             pose: 0.7973687     5.33765    0.0762856   0 -0.000811891-0.00118757 0.0212596   0.999773       uwb: 0.0            822.408  498.49   
imu_odom_:  1691062803.956928489  0.629675   -0.117316  10.058     -0.0394148  -0.0106526  0.0394148   0.19       0.02          pose: 0.52113029    5.35178    0.0758206   0 -0.000946013-0.00186969 0.0213514   0.99977        uwb: 0.50058069     823.27   496.741  
imu_odom_:  1691062803.983052375  0.316035   -0.138864  9.8258     -0.0671117  0.0298274   0.056459    0.22       0             pose: 0.0           5.35178    0.0758206   0 -0.000946013-0.00186969 0.0213514   0.99977        uwb: 0.0            823.27   496.741  
imu_odom_:  1691062803.999902402  0.497994   -0.134075  10.2208    -0.0319579  -0.0458064  0.0383495   0.22       0             pose: 0.25986227    5.35178    0.0758206   0 -0.00204823 -0.00316058 0.0214552   0.999763       uwb: 0.49931494     826.436  494.498  
imu_odom_:  1691062804.24955644   0.454898   -0.248997  9.9934     -0.0372843  0.00213053  0.0394148   0.22       0             pose: 0.50912601    5.36591    0.0753625   0 0.000959035 -0.00234157 0.0216584   0.999762       uwb: 0.0            826.436  494.498  
imu_odom_:  1691062804.48909661   0.373495   -0.0861913 9.94551    -0.0458064  0.00639159  0.0383495   0.25       0             pose: 0.33964872    5.36591    0.0753625   0 -0.000487438-0.00268633 0.0216578   0.999762       uwb: 0.49939953     827.328  492.778  
imu_odom_:  1691062804.64894949   0.272939   -0.0574608 10.1299    -0.0852212  0.00532632  0.0607201   0.25       0             pose: 0.0           5.36591    0.0753625   0 -0.000487438-0.00268633 0.0216578   0.999762       uwb: 0.0            827.328  492.778  
imu_odom_:  1691062804.89892195   0.35913    -0.301669  9.59357    -0.0585895  -0.0191748  0.0298274   0.19       0             pose: 0.6011180     5.36591    0.0753625   0 5.2146e-05  -0.00233636 0.021653    0.999763       uwb: 0.0            827.328  492.778  
imu_odom_:  1691062804.115012808  0.102951   -0.378284  10.0054    -0.0394148  0.00745685  0.0298274   0.19       0             pose: 0.0           5.36591    0.0753625   0 5.2146e-05  -0.00233636 0.021653    0.999763       uwb: 0.50151690     825.261  492.517  
imu_odom_:  1691062804.139870354  0.921768   -0.172383  9.68215    -0.0170442  -0.00532632 0.0287621   0.19       0             pose: 0.40955702    5.38005    0.074909    0 0.00170624  0.000207497 0.021769    0.999762       uwb: 0.0            825.261  492.517  
imu_odom_:  1691062804.152876446  0.936133   -0.203507  10.2735    -0.0319579  -0.0500674  0.0490022   0.19       0             pose: 0.0           5.38005    0.074909    0 0.00170624  0.000207497 0.021769    0.999762       uwb: 0.49846334     825.437  491.587  
imu_odom_:  1691062804.168870192  0.603339   -0.035913  9.42358    -0.0575243  0.00958738  0.0500674   0.21       0             pose: 0.0           5.38005    0.074909    0 0.00170624  0.000207497 0.021769    0.999762       uwb: 0.0            825.437  491.587  
imu_odom_:  1691062804.193016989  0.548272   -0.201113  9.9503     -0.0543285  -0.00213053 0.0553937   0.21       0             pose: 0.88955314    5.39418    0.0744566   0 0.00047053  -0.00164168 0.0215208   0.999767       uwb: 0.0            825.437  491.587  
imu_odom_:  1691062804.207106266  0.979228   -0.433351  9.42118    -0.0798948  0.0245011   0.0617853   0.19       0             pose: 0.0           5.39418    0.0744566   0 0.00047053  -0.00164168 0.0215208   0.999767       uwb: 0.50116984     827.281  489.718  
imu_odom_:  1691062804.222015077  0.0909797  -0.277727  10.3238    -0.0394148  0.04048     0.0340885   0.19       0             pose: 0.38180077    5.40832    0.0739993   0 0.000637482 -0.00499111 0.0218238   0.999749       uwb: 0.0            827.281  489.718  
imu_odom_:  1691062804.247884937  0.371101   -0.19393   9.67976    -0.0862864  -0.0106526  0.0681769   0.25       0             pose: 0.0           5.40832    0.0739993   0 0.000637482 -0.00499111 0.0218238   0.999749       uwb: 0.50047863     828.713  488.071  
imu_odom_:  1691062804.274039155  0.296881   -0.146046  9.78989    -0.0479369  0.0319579   0.0287621   0.17       -0.02         pose: 0.14975890    5.40832    0.0739993   0 0.000137345 -0.00477353 0.0218969   0.999749       uwb: 0.0            828.713  488.071  
imu_odom_:  1691062804.300034715  0.426168   -0.25618   9.75158    -0.0745685  -0.0298274  0.0479369   0.23       -0.02         pose: 0.0           5.40832    0.0739993   0 0.000137345 -0.00477353 0.0218969   0.999749       uwb: 0.49969701     828.422  487.203  
imu_odom_:  1691062804.326013652  0.339977   -0.35913   9.72525    -0.0660464  -0.0149137  0.0532632   0.18       0.02          pose: 0.67987492    5.42246    0.0735576   0 0.000628948 0.00088813  0.0221325   0.999754       uwb: 0.0            828.422  487.203  
imu_odom_:  1691062804.352910408  0.553061   -0.169988  9.7875     -0.0713727  -0.0884169  0.0511327   0.18       0.02          pose: 0.43992353    5.42773    0.0785149   0 -0.00337776 0.000629602 0.022387    0.999743       uwb: 0.49713342     827.229  486.612  
imu_odom_:  1691062804.368985816  0.907402   0.0335188  10.173     -0.0458064  -0.0106526  0.0340885   0.2        0             pose: 0.6876794     5.42974    0.0804077   0 -0.00303054 -0.0002233880.0224261   0.999744       uwb: 0.0            827.229  486.612  
imu_odom_:  1691062804.384922107  0.56982    -0.567426  9.07881    -0.0660464  -0.00745685 0.0468716   0.2        0             pose: 0.0           5.42974    0.0804077   0 -0.00303054 -0.0002233880.0224261   0.999744       uwb: 0.0            827.229  486.612  
imu_odom_:  1691062804.401952373  0.725443   -0.186748  10.41      -0.0415453  -0.00426106 0.0287621   0.2        0             pose: 0.52031661    5.44044    0.0767401   0 -0.00264984 -0.00458365 0.0225542   0.999732       uwb: 0.49990991     826.854  485.499  
imu_odom_:  1691062804.418955225  0.92895    -0.201113  9.98382    -0.0703074  -0.0234358  0.0543285   0.25       0             pose: 0.0           5.44044    0.0767401   0 -0.00264984 -0.00458365 0.0225542   0.999732       uwb: 0.0            826.854  485.499  
imu_odom_:  1691062804.434873142  0.124498   -0.452504  9.60075    -0.0660464  0.0181095   0.0447411   0.25       0             pose: 0.0           5.44044    0.0767401   0 -0.00264984 -0.00458365 0.0225542   0.999732       uwb: 0.0            826.854  485.499  
imu_odom_:  1691062804.461869059  0.234632   -0.153229  10.0341    -0.0447411  0.0138484   0.0490022   0.25       0             pose: 0.42010888    5.44388    0.0799766   0 -0.00216707 -0.00720909 0.0225995   0.999716       uwb: 0.50139149     826.584  484.698  
imu_odom_:  1691062804.486951175  0.117316   -0.222661  10.2352    -0.0330232  -0.00426106 0.0298274   0.19       0             pose: 0.34936064    5.45584    0.0775035   0 -0.00150057 -0.00362497 0.0227519   0.999733       uwb: 0.0            826.584  484.698  
imu_odom_:  1691062804.514025546  0.244209   -0.0670376 9.80186    -0.0905475  -0.00852212 0.0553937   0.21       0             pose: 0.0           5.45584    0.0775035   0 -0.00150057 -0.00362497 0.0227519   0.999733       uwb: 0.49868499     827.57   483.154  
imu_odom_:  1691062804.539004709  0.155623   -0.35913   9.46907    -0.056459   0.0447411   0.0319579   0.19       0             pose: 0.32091319    5.45801    0.0795517   0 -0.000763194-0.0006064720.0226895   0.999742       uwb: 0.0            827.57   483.154  
imu_odom_:  1691062804.565858010  0.28491    -0.246603  9.97903    -0.0681769  -0.0532632  0.0458064   0.19       0             pose: 0.0           5.45801    0.0795517   0 -0.000763194-0.0006064720.0226895   0.999742       uwb: 0.50129817     826.347  482.498  
imu_odom_:  1691062804.581914752  0.986411   -0.0885855 9.98622    -0.0330232  0.00958738  0.0223706   0.21       0             pose: 0.51918501    5.47215    0.0791271   0 -0.00139384 0.0040188   0.0227731   0.999732       uwb: 0.0            826.347  482.498  
imu_odom_:  1691062804.609009246  0.577003   -0.167594  10.0604    -0.0639159  0.0372843   0.0681769   0.21       0             pose: 0.36035873    5.47215    0.0791271   0 -0.00137763 0.00403243  0.0226969   0.999733       uwb: 0.50147607     824.646  481.931  
imu_odom_:  1691062804.635047679  0.399832   -0.433351  9.97903    -0.0468716  0.0138484   0.0383495   0.19       0             pose: 0.7032827     5.47215    0.0791271   0 -0.00120239 0.00350584  0.0227973   0.999733       uwb: 0.0            824.646  481.931  
imu_odom_:  1691062804.659903475  0.517148   -0.361524  9.93833    -0.0426106  -0.00639159 0.0372843   0.19       0             pose: 0.46100100    5.48628    0.0787058   0 -0.00315119 0.00172729  0.0230618   0.999728       uwb: 0.49856541     823.356  481.104  
imu_odom_:  1691062804.675003608  0.308852   -0.114922  9.77553    -0.0223706  0.0276969   0.0372843   0.18       0.02          pose: 0.0           5.48628    0.0787058   0 -0.00315119 0.00172729  0.0230618   0.999728       uwb: 0.0            823.356  481.104  
imu_odom_:  1691062804.700989544  0.440533   -0.246603  9.70131    -0.0617853  0.015979    0.0479369   0.18       0.02          pose: 0.39955929    5.49719    0.0817097   0 -0.002639   0.000536065 0.0230085   0.999732       uwb: 0.50121067     823.628  480.416  
imu_odom_:  1691062804.723915498  0.694318   -0.177171  10.2903    -0.0479369  -0.0372843  0.0543285   0.2        0             pose: 0.0           5.49719    0.0817097   0 -0.002639   0.000536065 0.0230085   0.999732       uwb: 0.0            823.628  480.416  
imu_odom_:  1691062804.749014821  0.562637   -0.138864  10.2352    -0.056459   -0.0511327  0.0468716   0.2        0             pose: 0.48911890    5.50538    0.0829712   0 -0.000983995-0.00418294 0.0232753   0.99972        uwb: 0.49915455     822.115  480.435  
imu_odom_:  1691062804.765986174  0.373495   -0.205901  9.77074    -0.0394148  0.00639159  0.0394148   0.23       0             pose: 0.0           5.50538    0.0829712   0 -0.000983995-0.00418294 0.0232753   0.99972        uwb: 0.0            822.115  480.435  
imu_odom_:  1691062804.790981670  0.263362   -0.430956  9.25838    -0.0660464  0.0213053   0.056459    0.23       0             pose: 0.32107943    5.51456    0.0778826   0 0.0010373   -0.00552143 0.0233567   0.999711       uwb: 0.0            822.115  480.435  
imu_odom_:  1691062804.818077331  0.4956     -0.19393   9.92397    -0.0479369  -0.0266316  0.0468716   0.2        0.02          pose: 0.0           5.51456    0.0778826   0 0.0010373   -0.00552143 0.0233567   0.999711       uwb: 0.49918954     818.681  480.778  
imu_odom_:  1691062804.843004873  0.646434   -0.167594  9.83538    -0.0681769  -0.0266316  0.0415453   0.2        0             pose: 0.41872938    5.51456    0.0778826   0 -0.000452665-0.00305092 0.023597    0.999717       uwb: 0.0            818.681  480.778  
imu_odom_:  1691062804.859863650  0.323217   -0.215478  10.0173    -0.0617853  0.0106526   0.0511327   0.2        0             pose: 0.0           5.51456    0.0778826   0 -0.000452665-0.00305092 0.023597    0.999717       uwb: 0.50148774     818.479  480.201  
imu_odom_:  1691062804.877008826  0.294487   -0.392649  9.60554    -0.0862864  -0.02024    0.0628506   0.2        0             pose: 0.51989955    5.52869    0.0774841   0 0.00128924  -0.0067162  0.0237285   0.999695       uwb: 0.0            818.479  480.201  
imu_odom_:  1691062804.894045801  0.670376   -0.162806  10.0173    -0.0713727  -0.00426106 0.0415453   0.18       0.02          pose: 0.0           5.52869    0.0774841   0 0.00128924  -0.0067162  0.0237285   0.999695       uwb: 0.0            818.479  480.201  
imu_odom_:  1691062804.910034881  0.682347   -0.435745  9.94073    -0.0681769  -0.0138484  0.0490022   0.18       0.02          pose: 0.44159467    5.53596    0.0843549   0 0.000128083 -0.0061593  0.0240016   0.999693       uwb: 0.49729382     818.663  479.267  
imu_odom_:  1691062804.926978819  0.481235   -0.047884  10.307     -0.0394148  -0.0319579  0.0500674   0.23       0             pose: 0.7936356     5.53596    0.0843549   0 -0.000556498-0.00667669 0.0240426   0.999688       uwb: 0.0            818.663  479.267  
imu_odom_:  1691062804.943837888  0.708684   -0.371101  9.4164     -0.04048    0.0287621   0.036219    0.23       0             pose: 0.0           5.53596    0.0843549   0 -0.000556498-0.00667669 0.0240426   0.999688       uwb: 0.0            818.663  479.267  
imu_odom_:  1691062804.957980245  0.746991   -0.466869  9.61272    -0.0703074  -0.02024    0.0415453   0.23       0             pose: 0.41855731    5.54711    0.0811412   0 -0.00050974 -0.00783073 0.0241442   0.999678       uwb: 0.50119026     818.439  478.624  
imu_odom_:  1691062804.974037862  0.289698   -0.105345  9.72525    -0.052198   -0.0170442  0.0468716   0.17       0             pose: 0.0           5.54711    0.0811412   0 -0.00050974 -0.00783073 0.0241442   0.999678       uwb: 0.0            818.439  478.624  
imu_odom_:  1691062804.990967219  0.521936   -0.100556  9.94551    -0.0532632  0.036219    0.0500674   0.17       0             pose: 0.0           5.54711    0.0811412   0 -0.00050974 -0.00783073 0.0241442   0.999678       uwb: 0.0            818.439  478.624  
imu_odom_:  1691062805.8003610    0.0670376  -0.452504  9.83299    -0.0532632  0.0276969   0.052198    0.17       0             pose: 0.21041026    5.55009    0.0839713   0 -0.00137348 -0.00829076 0.0241889   0.999672       uwb: 0.50004407     814.974  478.946  
imu_odom_:  1691062805.24898844   0.45011    -0.047884  9.98861    -0.0372843  -0.00106526 0.0415453   0.27       -0.02         pose: 0.0           5.55009    0.0839713   0 -0.00137348 -0.00829076 0.0241889   0.999672       uwb: 0.0            814.974  478.946  
imu_odom_:  1691062805.40888507   -0.0191536 -0.383072  9.81144    -0.0383495  0.0213053   0.0490022   0.18       0             pose: 0.34093781    5.55696    0.0766955   0 0.000314613 -0.00596647 0.02435     0.999686       uwb: 0.0            814.974  478.946  
imu_odom_:  1691062805.67849135   0.670376   -0.445322  10.1035    -0.0543285  0.015979    0.0468716   0.18       0             pose: 0.0           5.55696    0.0766955   0 0.000314613 -0.00596647 0.02435     0.999686       uwb: 0.49862667     815.751  478.247  
imu_odom_:  1691062805.83829466   0.0383072  -0.258574  9.35415    -0.0298274  0.00958738  0.0234358   0.25       -0.02         pose: 0.49898540    5.56428    0.083503    0 0.000551496 -0.00323247 0.0245272   0.999694       uwb: 0.0            815.751  478.247  
imu_odom_:  1691062805.99884167   0.665588   0.110133   10.4722    -0.0596548  0.00213053  -0.0351537  0.25       -0.02         pose: 0.34958231    5.57518    0.0865494   0 -0.000801227-0.00258683 0.0244759   0.999697       uwb: 0.49995660     817.675  476.428  
imu_odom_:  1691062805.115887537  0.184354   -0.0383072 9.2919     -0.0628506  -0.04048    -0.0809601  0.18       -0.14         pose: 0.7053534     5.57842    0.0831299   0 -0.000205264-0.00291789 0.0242104   0.999703       uwb: 0.0            817.675  476.428  
imu_odom_:  1691062805.131827037  0.0263362  0.158017   10.3094    -0.0756338  -0.00852212 -0.107592   0.18       -0.14         pose: 0.0           5.57842    0.0831299   0 -0.000205264-0.00291789 0.0242104   0.999703       uwb: 0.0            817.675  476.428  
imu_odom_:  1691062805.148834847  0.727837   -0.411803  9.56723    -0.076699   -0.0436758  -0.143811   0.18       -0.14         pose: 0.32017824    5.57842    0.0831299   0 0.00165815  -0.00169994 0.0223859   0.999747       uwb: 0.50128943     815.047  476.254  
imu_odom_:  1691062805.164828302  0.342371   -0.447716  9.76834    -0.0639159  0.0181095   -0.193878   0.25       -0.41         pose: 0.0           5.57842    0.0831299   0 0.00165815  -0.00169994 0.0223859   0.999747       uwb: 0.0            815.047  476.254  
imu_odom_:  1691062805.181889192  1.04627    -0.107739  9.66779    -0.0511327  -0.00852212 -0.254598   0.25       -0.41         pose: 0.0           5.57842    0.0831299   0 0.00165815  -0.00169994 0.0223859   0.999747       uwb: 0.0            815.047  476.254  
imu_odom_:  1691062805.197881772  0.282516   0.160412   10.0054    -0.0308927  0.0245011   -0.339819   0.25       -0.41         pose: 0.32935935    5.58569    0.089999    0 0.000259955 -0.00236278 0.019355    0.99981        uwb: 0.49971452     812.021  476.434  
imu_odom_:  1691062805.213892726  0.754174   0.215478   10.3358    -0.0138484  -0.0330232  -0.36432    0.18       -0.38         pose: 0.42045013    5.59249    0.0827282   0 0.00141658  -0.00263675 0.012759    0.999914       uwb: 0.0            812.021  476.434  
imu_odom_:  1691062805.229820559  0.174777   -0.0837971 9.04529    -0.0468716  0.00319579  -0.396278   0.23       -0.55         pose: 0.8010435     5.59257    0.0827419   0 0.00223907  -0.00321527 0.0111407   0.99993        uwb: 0.0            812.021  476.434  
imu_odom_:  1691062805.243882713  0.177171   -0.0909797 10.4651    -0.0500674  -0.00426106 -0.425041   0.23       -0.55         pose: 0.0           5.59257    0.0827419   0 0.00223907  -0.00321527 0.0111407   0.99993        uwb: 0.0            812.021  476.434  
imu_odom_:  1691062805.260827527  -0.0383072 -0.25618   9.61033    -0.0447411  -0.0149137  -0.449542   0.17       -0.47         pose: 0.37990506    5.60343    0.0858108   0 0.00382163  -0.0007784120.00277544  0.999989       uwb: 0.49997118     811.775  475.749  
imu_odom_:  1691062805.277929540  0.198719   -0.184354  9.92875    -0.0671117  -0.0223706  -0.469782   0.17       -0.47         pose: 0.0           5.60343    0.0858108   0 0.00382163  -0.0007784120.00277544  0.999989       uwb: 0.0            811.775  475.749  
imu_odom_:  1691062805.294866480  0.0311246  -0.129287  9.30147    -0.076699   0.00319579  -0.476173   0.17       -0.47         pose: 0.0           5.60343    0.0858108   0 0.00382163  -0.0007784120.00277544  0.999989       uwb: 0.0            811.775  475.749  
imu_odom_:  1691062805.310869559  0.864307   -0.177171  9.95509    -0.0820254  -0.00319579 -0.498544   0.19       -0.61         pose: 0.25014454    5.60672    0.0824251   0 0.00329091  0.00151524  -0.00343305 0.999988       uwb: 0.50146733     813.766  474.092  
imu_odom_:  1691062805.327925491  0.699107   -0.272939  9.56244    -0.072438   -0.00639159 -0.533697   0.19       -0.61         pose: 0.0           5.60672    0.0824251   0 0.00329091  0.00151524  -0.00343305 0.999988       uwb: 0.0            813.766  474.092  
imu_odom_:  1691062805.344920761  1.10852    0.0861913  9.79947    -0.0639159  -0.0383495  -0.532632   0.19       -0.61         pose: 0.33939500    5.61394    0.0893446   0 0.00287313  0.0033074   -0.0122501  0.999915       uwb: 0.0            813.766  474.092  
imu_odom_:  1691062805.359814407  1.403      0.00718261 9.4954     -0.0841559  -0.0703074  -0.477238   0.17       -0.55         pose: 0.42084094    5.62086    0.0821344   0 0.00248661  -0.000993386-0.0241514  0.999705       uwb: 0.49879875     817.127  471.894  
imu_odom_:  1691062805.376865381  1.49877    -0.395043  9.9096     -0.0617853  -0.00319579 -0.482565   0.14       -0.47         pose: 0.6899251     5.62086    0.0821344   0 0.00248804  -0.00189654 -0.0259326  0.999659       uwb: 0.0            817.127  471.894  
imu_odom_:  1691062805.390920827  0.909797   -0.500388  9.70849    -0.0490022  0.0234358   -0.490022   0.14       -0.47         pose: 0.0           5.62086    0.0821344   0 0.00248804  -0.00189654 -0.0259326  0.999659       uwb: 0.0            817.127  471.894  
imu_odom_:  1691062805.405794933  0.852336   -0.316035  10.4722    -0.0703074  0.0127832   -0.451672   0.14       -0.47         pose: 0.39100815    5.62805    0.088996    0 0.00119952  -0.0054565  -0.0361532  0.999331       uwb: 0.50113486     817.805  470.865  
imu_odom_:  1691062805.421904172  0.732626   -0.0191536 10.386     -0.0500674  -0.00213053 -0.381365   0.12       -0.38         pose: 0.0           5.62805    0.088996    0 0.00119952  -0.0054565  -0.0361532  0.999331       uwb: 0.0            817.805  470.865  
imu_odom_:  1691062805.438787740  1.10373    -0.464475  9.75158    -0.0639159  0.0191748   -0.315318   0.12       -0.38         pose: 0.0           5.62805    0.088996    0 0.00119952  -0.0054565  -0.0361532  0.999331       uwb: 0.0            817.805  470.865  
imu_odom_:  1691062805.454898729  1.18752    -0.363919  9.83777    -0.0681769  0.00319579  -0.26099    0.14       -0.47         pose: 0.21877476    5.63503    0.0817785   0 0.00101102  -0.00721447 -0.0412744  0.999121       uwb: 0.49734925     818.387  469.548  
imu_odom_:  1691062805.472080654  0.859518   -0.385466  9.81383    -0.0596548  0.0117179   -0.22051    0.14       -0.47         pose: 0.0           5.63503    0.0817785   0 0.00101102  -0.00721447 -0.0412744  0.999121       uwb: 0.0            818.387  469.548  
imu_odom_:  1691062805.489077673  0.677559   -0.244209  9.31344    -0.0351537  0.0276969   -0.252468   0.14       -0.47         pose: 0.0           5.63503    0.0817785   0 0.00101102  -0.00721447 -0.0412744  0.999121       uwb: 0.0            818.387  469.548  
imu_odom_:  1691062805.504966717  0.586579   -0.112527  10.0485    -0.0649811  -0.0127832  -0.24075    0.08       -0.29         pose: 0.66156521    5.63503    0.0817789   0 -0.00113503 -0.0123245  -0.0518063  0.99858        uwb: 0.50082862     817.247  469.244  
imu_odom_:  1691062805.522052106  0.90022    -0.174777  9.83059    -0.0681769  0           -0.203466   0.11       -0.35         pose: 0.0           5.63503    0.0817789   0 -0.00113503 -0.0123245  -0.0518063  0.99858        uwb: 0.0            817.247  469.244  
imu_odom_:  1691062805.547807640  1.03908    -0.416591  9.97185    -0.0596548  -0.0266316  -0.194943   0.11       -0.35         pose: 0.43097282    5.64224    0.0887142   0 -0.000110134-0.014005   -0.0575924  0.998242       uwb: 0.49905248     817.893  468.104  
imu_odom_:  1691062805.564874947  0.723049   -0.277727  9.96946    -0.052198   0.0351537   -0.192813   0.07       -0.23         pose: 0.0           5.64224    0.0887142   0 -0.000110134-0.014005   -0.0575924  0.998242       uwb: 0.0            817.893  468.104  
imu_odom_:  1691062805.590855926  -0.287304  -0.0023942 10.1778    -0.0447411  0.0490022   -0.339819   0.07       -0.23         pose: 0.7823196     5.64224    0.0887142   0 -0.000559158-0.0147384  -0.0585017  0.998178       uwb: 0.0            817.893  468.104  
imu_odom_:  1691062805.607857028  -0.658405  0.37589    9.88805    -0.0468716  -0.0351537  -0.475108   0.09       -0.32         pose: 0.0           5.64224    0.0887142   0 -0.000559158-0.0147384  -0.0585017  0.998178       uwb: 0.50025408     817.665  467.437  
imu_odom_:  1691062805.624917335  -0.548272  0.158017   9.4547     -0.0830906  0.00532632  -0.497478   0.09       -0.32         pose: 0.0           5.64224    0.0887142   0 -0.000559158-0.0147384  -0.0585017  0.998178       uwb: 0.0            817.665  467.437  
imu_odom_:  1691062805.639905476  -0.184354  -0.428562  10.137     -0.0820254  -0.0319579  -0.479369   0.11       -0.47         pose: 0.77981726    5.64907    0.0814723   0 -0.00120578 -0.0114696  -0.0718329  0.99735        uwb: 0.0            817.665  467.437  
imu_odom_:  1691062805.655849058  -0.0742203 -0.557849  9.69412    -0.0692422  -0.0543285  -0.492152   0.11       -0.47         pose: 0.0           5.64907    0.0814723   0 -0.00120578 -0.0114696  -0.0718329  0.99735        uwb: 0.50123110     818.789  466.161  
imu_odom_:  1691062805.672938530  0.675165   -0.124498  9.8282     -0.0617853  -0.0298274  -0.515588   0.11       -0.47         pose: 0.39000196    5.64915    0.0814859   0 -0.00151558 -0.00804877 -0.0821264  0.996588       uwb: 0.0            818.789  466.161  
imu_odom_:  1691062805.688927610  0.0766145  0.0885855  9.71567    -0.056459   0.0106526   -0.511327   0.12       -0.55         pose: 0.0           5.64915    0.0814859   0 -0.00151558 -0.00804877 -0.0821264  0.996588       uwb: 0.0            818.789  466.161  
imu_odom_:  1691062805.706077454  0.428562   -0.258574  10.2208    -0.0500674  -0.0181095  -0.508131   0.12       -0.55         pose: 0.42070386    5.6632     0.0810507   0 8.02514e-05 -0.00761522 -0.0936348  0.995577       uwb: 0.49918664     815.301  466.612  
imu_odom_:  1691062805.722837945  0.423774   -0.332794  9.84975    -0.0553937  -0.0138484  -0.536893   0.12       -0.55         pose: 0.7153570     5.66328    0.0810642   0 -0.000133232-0.00699236 -0.0955836  0.995397       uwb: 0.0            815.301  466.612  
imu_odom_:  1691062805.737937204  0.196325   -0.0095768110.0317    -0.0479369  -0.00532632 -0.557133   0.13       -0.61         pose: 0.0           5.66328    0.0810642   0 -0.000133232-0.00699236 -0.0955836  0.995397       uwb: 0.0            815.301  466.612  
imu_odom_:  1691062805.753805541  0.311246   0.0526724  9.76834    -0.0575243  -0.0149137  -0.561394   0.13       -0.58         pose: 0.41856024    5.6632     0.0810507   0 -0.000510651-0.0039243  -0.107589   0.994188       uwb: 0.49940829     818.674  464.29   
imu_odom_:  1691062805.769786455  0.0814029  -0.009576819.84256    -0.0585895  -0.0340885  -0.5827     0.13       -0.58         pose: 0.0           5.6632     0.0810507   0 -0.000510651-0.0039243  -0.107589   0.994188       uwb: 0.0            818.674  464.29   
imu_odom_:  1691062805.785879653  0.572214   -0.265756  9.59357    -0.0553937  0.00213053  -0.596548   0.13       -0.58         pose: 0.0           5.6632     0.0810507   0 -0.000510651-0.0039243  -0.107589   0.994188       uwb: 0.0            818.674  464.29   
imu_odom_:  1691062805.802793261  0.653617   0.0454898  10.2951    -0.0575243  -0.0170442  -0.593352   0.13       -0.64         pose: 0.22874624    5.66328    0.0810642   0 0.00126378  -0.00281925 -0.114501   0.993418       uwb: 0.50046698     819.452  463.507  
imu_odom_:  1691062805.818795757  0.629675   -0.160412  10.0916    -0.0479369  -0.0340885  -0.616788   0.13       -0.64         pose: 0.0           5.66328    0.0810642   0 0.00126378  -0.00281925 -0.114501   0.993418       uwb: 0.0            819.452  463.507  
imu_odom_:  1691062805.844843232  0.409408   0.134075   10.0126    -0.0649811  -0.00319579 -0.658333   0.15       -0.67         pose: 0.33041221    5.67018    0.0738208   0 0.00124362  -0.00395863 -0.12486    0.992166       uwb: 0.0            819.452  463.507  
imu_odom_:  1691062805.861775213  0.356736   0.0383072  10.2065    -0.0692422  0.0330232   -0.689226   0.15       -0.67         pose: 0.32940893    5.67736    0.0807795   0 0.00253905  -0.00626955 -0.135641   0.990735       uwb: 0.49948121     820.531  462.056  
imu_odom_:  1691062805.877880661  -0.009576810.0526724  9.69652    -0.0607201  0.0468716   -0.668986   0.15       -0.67         pose: 0.0           5.67736    0.0807795   0 0.00253905  -0.00626955 -0.135641   0.990735       uwb: 0.0            820.531  462.056  
imu_odom_:  1691062805.893942653  0.612916   -0.699107  9.6223     -0.0319579  0.0958738   -0.682835   0.2        -0.97         pose: 0.51086719    5.68422    0.0735712   0 0.0063168   -0.00254633 -0.153655   0.988101       uwb: 0.0            820.531  462.056  
imu_odom_:  1691062805.910822721  0.0430956  0.0550666  9.16979    -0.0639159  -0.036219   -0.713727   0.15       -0.7          pose: 0.0           5.68422    0.0735712   0 0.0063168   -0.00254633 -0.153655   0.988101       uwb: 0.49988951     817.905  462.021  
imu_odom_:  1691062805.927843656  -0.323217  -0.0526724 10.3166    -0.0490022  -0.0298274  -0.743555   0.15       -0.7          pose: 0.0           5.68422    0.0735712   0 0.0063168   -0.00254633 -0.153655   0.988101       uwb: 0.0            817.905  462.021  
imu_odom_:  1691062805.943821653  0.754174   0.19393    10.2615    -0.0713727  -0.0255663  -0.753142   0.15       -0.73         pose: 0.6945332     5.6843     0.0735852   0 0.00576753  -0.00229169 -0.15613    0.987717       uwb: 0.0            817.905  462.021  
imu_odom_:  1691062805.960934457  0.426168   -0.0790087 10.1107    -0.0660464  -0.0585895  -0.76699    0.15       -0.73         pose: 0.0           5.6843     0.0735852   0 0.00576753  -0.00229169 -0.15613    0.987717       uwb: 0.49997993     817.216  461.536  
imu_odom_:  1691062805.976980700  0.42138    0.134075   10.1179    -0.0681769  -0.0458064  -0.775513   0.15       -0.73         pose: 0.66118023    5.69846    0.0732952   0 0.00659828  -0.00169005 -0.181286   0.983407       uwb: 0.0            817.216  461.536  
imu_odom_:  1691062805.992830080  0.363919   0.136469   9.79947    -0.0553937  -0.0330232  -0.774447   0.22       -1.03         pose: 0.0           5.69846    0.0732952   0 0.00659828  -0.00169005 -0.181286   0.983407       uwb: 0.0            817.216  461.536  
imu_odom_:  1691062806.8828493    0.574608   -0.272939  10.4244    -0.0585895  0.00106526  -0.78723    0.22       -1.03         pose: 0.0           5.69846    0.0732952   0 0.00659828  -0.00169005 -0.181286   0.983407       uwb: 0.49995368     821.172  459.269  
imu_odom_:  1691062806.25825513   0.778116   -0.0646434 9.84735    -0.0532632  -0.0117179  -0.811731   0.22       -1.03         pose: 0.32909396    5.70539    0.0660842   0 0.00838399  -0.00329803 -0.194414   0.980878       uwb: 0.0            821.172  459.269  
imu_odom_:  1691062806.41751888   0.653617   -0.110133  9.66779    -0.0543285  0.015979    -0.804275   0.16       -0.79         pose: 0.41972101    5.70531    0.066071    0 0.00735781  -0.00528084 -0.211533   0.977329       uwb: 0.0            821.172  459.269  
imu_odom_:  1691062806.57810965   0.289698   -0.0622492 10.2137    -0.0575243  -0.00852212 -0.795753   0.22       -1.09         pose: 0.0           5.70531    0.066071    0 0.00735781  -0.00528084 -0.211533   0.977329       uwb: 0.50005868     820.906  458.467  
imu_odom_:  1691062806.74787569   0.270545   -0.0407014 10.3214    -0.0596548  -0.0607201  -0.798948   0.22       -1.09         pose: 0.0           5.70531    0.066071    0 0.00735781  -0.00528084 -0.211533   0.977329       uwb: 0.0            820.906  458.467  
imu_odom_:  1691062806.91749299   0.0933739  -0.1652    9.71088    -0.0447411  -0.0319579  -0.814927   0.22       -1.11         pose: 0.7935773     5.70539    0.0660842   0 0.0070136   -0.00587374 -0.214797   0.976616       uwb: 0.0            820.906  458.467  
imu_odom_:  1691062806.107812750  0.134075   -0.059855  9.71088    -0.0436758  -0.00958738 -0.815993   0.22       -1.11         pose: 0.0           5.70539    0.0660842   0 0.0070136   -0.00587374 -0.214797   0.976616       uwb: 0.50022492     822.157  457.486  
imu_odom_:  1691062806.123841495  0.268151   -0.071826  9.97185    -0.0298274  0.0138484   -0.819188   0.22       -1.11         pose: 0.65996407    5.71952    0.0656884   0 0.00758103  -0.0013951  -0.241971   0.970253       uwb: 0.0            822.157  457.486  
imu_odom_:  1691062806.140978214  0.814029   -0.265756  10.0126    -0.0671117  -0.0319579  -0.752077   0.15       -0.76         pose: 0.0           5.71952    0.0656884   0 0.00758103  -0.0013951  -0.241971   0.970253       uwb: 0.0            822.157  457.486  
imu_odom_:  1691062806.157905822  1.00078    -0.100556  9.96467    -0.0735032  0.00426106  -0.658333   0.15       -0.76         pose: 0.0           5.71952    0.0656884   0 0.00758103  -0.0013951  -0.241971   0.970253       uwb: 0.50242105     822.404  456.639  
imu_odom_:  1691062806.175091538  1.30484    -0.476446  9.84496    -0.0628506  -0.0479369  -0.570982   0.15       -0.76         pose: 0.32045823    5.72642    0.0584483   0 0.00776443  0.000409419 -0.255041   0.966899       uwb: 0.0            822.404  456.639  
imu_odom_:  1691062806.192037811  1.1564     -0.553061  9.40203    -0.072438   -0.04048    -0.566721   0.18       -0.88         pose: 0.43288022    5.73034    0.0543027   0 0.00525481  -0.003508   -0.269287   0.963039       uwb: 0.0            822.404  456.639  
imu_odom_:  1691062806.207901774  1.14203    -0.296881  9.36851    -0.0436758  0.0245011   -0.561394   0.11       -0.55         pose: 0.6687807     5.73333    0.0512177   0 0.00467884  -0.00404892 -0.271236   0.962493       uwb: 0.49973204     824.677  455.556  
imu_odom_:  1691062806.224819757  0.924162   -0.059855  10.4148    -0.0458064  0.0213053   -0.508131   0.11       -0.55         pose: 0.0           5.73333    0.0512177   0 0.00467884  -0.00404892 -0.271236   0.962493       uwb: 0.0            824.677  455.556  
imu_odom_:  1691062806.241811819  0.591368   -0.172383  10.1801    -0.052198   -0.0266316  -0.445281   0.11       -0.55         pose: 0.43040412    5.73325    0.0512045   0 0.0030839   -0.00750855 -0.283228   0.959018       uwb: 0.0            824.677  455.556  
imu_odom_:  1691062806.257800316  0.490811   -0.416591  9.92397    -0.036219   -0.0351537  -0.433563   0.09       -0.47         pose: 0.0           5.73325    0.0512045   0 0.0030839   -0.00750855 -0.283228   0.959018       uwb: 0.49926248     827.262  453.794  
imu_odom_:  1691062806.273836935  0.471658   -0.160412  9.54089    -0.0351537  -0.0426106  -0.412257   0.09       -0.47         pose: 0.0           5.73325    0.0512045   0 0.0030839   -0.00750855 -0.283228   0.959018       uwb: 0.0            827.262  453.794  
imu_odom_:  1691062806.290838621  0.641646   0.129287   9.8689     -0.0553937  -0.0308927  -0.335558   0.07       -0.38         pose: 0.23934186    5.73333    0.0512177   0 0.00103828  -0.00828662 -0.288732   0.957374       uwb: 0.0            827.262  453.794  
imu_odom_:  1691062806.307853431  0.658405   -0.665588  9.96227    -0.0671117  -0.00213053 -0.30147    0.07       -0.38         pose: 0.0           5.73333    0.0512177   0 0.00103828  -0.00828662 -0.288732   0.957374       uwb: 0.50084322     827.057  453.145  
imu_odom_:  1691062806.323769016  0.658405   -0.409408  9.8282     -0.0447411  -0.0170442  -0.319579   0.07       -0.38         pose: 0.33072720    5.74019    0.0439415   0 0.00156637  -0.00744221 -0.29568    0.955257       uwb: 0.0            827.057  453.145  
imu_odom_:  1691062806.350773976  0.514753   0.105345   9.91439    -0.0511327  -0.00852212 -0.257794   0.09       -0.47         pose: 0.41942353    5.74019    0.0439415   0 -0.00103296 -0.00822055 -0.302767   0.953029       uwb: 0.49743968     824.99   453.261  
imu_odom_:  1691062806.375940088  0.181959   -0.414197  9.87608    -0.0660464  0.0394148   -0.298274   0.06       -0.32         pose: 0.8084806     5.74019    0.0439415   0 -0.000211224-0.00835933 -0.303918   0.952661       uwb: 0.0            824.99   453.261  
imu_odom_:  1691062806.392782242  -0.68953   0.174777   10.07      -0.0266316  0.0117179   -0.465521   0.06       -0.32         pose: 0.0           5.74019    0.0439415   0 -0.000211224-0.00835933 -0.303918   0.952661       uwb: 0.0            824.99   453.261  
imu_odom_:  1691062806.418820385  -0.366313  0.675165   9.92157    -0.0660464  0.00745685  -0.588026   0.1        -0.53         pose: 0.50971227    5.74019    0.0439417   0 0.00145649  -0.00514352 -0.312312   0.949965       uwb: 0.0            824.99   453.261  
imu_odom_:  1691062806.435861444  -0.469264  -0.318429  10.0413    -0.0745685  -0.0138484  -0.536893   0.1        -0.53         pose: 0.0           5.74019    0.0439417   0 0.00145649  -0.00514352 -0.312312   0.949965       uwb: 0.0            824.99   453.261  
imu_odom_:  1691062806.461799842  0.25618    -0.227449  10.161     -0.0490022  -0.0468716  -0.565655   0.14       -0.67         pose: 0.18046082    5.74019    0.0439417   0 0.00289126  -0.00384948 -0.317115   0.948375       uwb: 0.100000946    823.341  453.051  
imu_odom_:  1691062806.478888440  0.54109    0.0454898  9.71567    -0.056459   0.00958738  -0.559264   0.14       -0.67         pose: 0.42944168    5.74704    0.0366562   0 0.00419272  -0.000594099-0.329392   0.944184       uwb: 0.0            823.341  453.051  
imu_odom_:  1691062806.494887728  -0.0215478 -0.126893  9.88566    -0.0628506  0.02024     -0.566721   0.15       -0.82         pose: 0.0           5.74704    0.0366562   0 0.00419272  -0.000594099-0.329392   0.944184       uwb: 0.0            823.341  453.051  
imu_odom_:  1691062806.511785295  0.356736   -0.148441  10.0868    -0.0756338  -0.0479369  -0.632767   0.15       -0.82         pose: 0.51072429    5.75795    0.0395385   0 0.00500576  0.00113406  -0.343908   0.938989       uwb: 0.50100362     822.168  452.69   
imu_odom_:  1691062806.528885559  0.378284   -0.141258  9.54808    -0.0745685  -0.00213053 -0.659399   0.15       -0.82         pose: 0.0           5.75795    0.0395385   0 0.00500576  0.00113406  -0.343908   0.938989       uwb: 0.0            822.168  452.69   
imu_odom_:  1691062806.543802829  0.61531    -0.131681  10.082     -0.0798948  0.0213053   -0.653007   0.13       -0.61         pose: 0.0           5.75795    0.0395385   0 0.00500576  0.00113406  -0.343908   0.938989       uwb: 0.0            822.168  452.69   
imu_odom_:  1691062806.569078309  0.35913    -0.141258  9.78031    -0.0703074  -0.0330232  -0.657268   0.13       -0.61         pose: 0.7016203     5.76119    0.0361519   0 0.00418339  0.000968212 -0.346124   0.938179       uwb: 0.49908458     821.979  452.11   
imu_odom_:  1691062806.595874448  0.122104   0.0574608  10.5752    -0.0649811  -0.0458064  -0.681769   0.19       -0.97         pose: 0.0           5.76119    0.0361519   0 0.00418339  0.000968212 -0.346124   0.938179       uwb: 0.49999452     823.27   451.198  
imu_odom_:  1691062806.620743661  0.277727   -0.136469  10.1945    -0.0553937  -0.00426106 -0.709466   0.15       -0.76         pose: 0.48896144    5.76119    0.0361516   0 0.00375108  -0.000782859-0.361924   0.9322         uwb: 0.0            823.27   451.198  
imu_odom_:  1691062806.647934110  0.191536   -0.009576819.58638    -0.0575243  -0.0181095  -0.715858   0.17       -0.88         pose: 0.53155387    5.768      0.0288302   0 0.00610458  0.00243356  -0.379636   0.925113       uwb: 0.50112321     821.167  451.238  
imu_odom_:  1691062806.673832261  0.0526724  0.0670376  10.1275    -0.0543285  -0.00745685 -0.743555   0.17       -0.88         pose: 0.0           5.768      0.0288302   0 0.00610458  0.00243356  -0.379636   0.925113       uwb: 0.0            821.167  451.238  
imu_odom_:  1691062806.700743893  0.502782   -0.0622492 9.54568    -0.0607201  -0.052198   -0.755272   0.19       -1            pose: 0.69876799    5.77457    0.0214976   0 0.0106975   0.00589921  -0.404178   0.914599       uwb: 0.49930040     822.003  450.546  
imu_odom_:  1691062806.716818135  0.071826   -0.146046  9.84975    -0.0703074  0.00426106  -0.761664   0.19       -1            pose: 0.6939499     5.77484    0.0215363   0 0.0103454   0.00513695  -0.406698   0.91349        uwb: 0.0            822.003  450.546  
imu_odom_:  1691062806.743905631  0.35913    -0.3304    9.61272    -0.0543285  -0.0117179  -0.777643   0.21       -1.09         pose: 0.36046375    5.78134    0.0141869   0 0.00936414  0.0047189   -0.419794   0.907559       uwb: 0.0            822.003  450.546  
imu_odom_:  1691062806.769736995  0.138864   -0.323217  9.75637    -0.0394148  -0.00532632 -0.784035   0.21       -1.09         pose: 0.0           5.78134    0.0141869   0 0.00936414  0.0047189   -0.419794   0.907559       uwb: 0.49980495     824.165  449.037  
imu_odom_:  1691062806.796734955  0.42138    -0.203507  10.0628    -0.0596548  -0.0607201  -0.781904   0.2        -1.03         pose: 0.52918860    5.78638    0.00899262  0 0.00541689  0.00692573  -0.439432   0.898233       uwb: 0.49925081     820.256  450.078  
imu_odom_:  1691062806.812717036  0.316035   -0.28491   9.35415    -0.0575243  0.0149137   -0.776578   0.2        -1.03         pose: 0.0           5.78638    0.00899262  0 0.00541689  0.00692573  -0.439432   0.898233       uwb: 0.0            820.256  450.078  
imu_odom_:  1691062806.839717913  0.325611   -0.225055  10.6805    -0.0820254  -0.0149137  -0.78723    0.22       -1.14         pose: 0.42980041    5.78845    0.00694944  0 0.00199454  0.004824    -0.455199   0.890375       uwb: 0.0            820.256  450.078  
imu_odom_:  1691062806.865783470  0.177171   -0.126893  9.95509    -0.0639159  -0.00958738 -0.777643   0.17       -0.82         pose: 0.0           5.78845    0.00694944  0 0.00199454  0.004824    -0.455199   0.890375       uwb: 0.50038825     822.493  448.784  
imu_odom_:  1691062806.892866300  0.45011    -0.102951  9.75398    -0.076699   -0.00319579 -0.819188   0.19       -1            pose: 0.35067600    5.78804    -0.00716971 0 0.000849724 0.002959    -0.468026   0.883709       uwb: 0.0            822.493  448.784  
imu_odom_:  1691062806.918880236  0.603339   -0.177171  9.69173    -0.0617853  0.00106526  -0.796818   0.17       -0.85         pose: 0.45081664    5.7927     -0.0123853  0 0.00248919  0.0014047   -0.484705   0.874673       uwb: 0.49966496     822.27   448.091  
imu_odom_:  1691062806.935870840  0.399832   -0.0837971 9.20571    -0.0713727  -0.0287621  -0.794687   0.17       -0.85         pose: 0.0           5.7927     -0.0123853  0 0.00248919  0.0014047   -0.484705   0.874673       uwb: 0.0            822.27   448.091  
imu_odom_:  1691062806.952872526  0.538695   0.114922   9.75637    -0.0841559  -0.00639159 -0.801079   0.17       -0.85         pose: 0.0           5.7927     -0.0123853  0 0.00248919  0.0014047   -0.484705   0.874673       uwb: 0.50043783     824.581  447.007  
imu_odom_:  1691062806.967868541  0.347159   -0.181959  10.3453    -0.056459   -0.0415453  -0.80534    0.17       -0.82         pose: 0.51013225    5.80171    -0.021766   0 0.00290146  -0.00227337 -0.503246   0.864135       uwb: 0.0            824.581  447.007  
imu_odom_:  1691062806.983864621  0.995988   -0.23942   10.0102    -0.0905475  -0.0426106  -0.824515   0.17       -0.82         pose: 0.0           5.80171    -0.021766   0 0.00290146  -0.00227337 -0.503246   0.864135       uwb: 0.0            824.581  447.007  
imu_odom_:  1691062806.998742227  0.150835   0.0694318  9.52892    -0.0532632  -0.00745685 -0.835167   0.17       -0.82         pose: 0.0           5.80171    -0.021766   0 0.00290146  -0.00227337 -0.503246   0.864135       uwb: 0.49999452     826.884  445.888  
imu_odom_:  1691062807.14919421   0.172383   -0.169988  10.0126    -0.0351537  0.0181095   -0.841559   0.17       -0.88         pose: 0.46877348    5.80171    -0.021766   0 0.00223676  -0.00278153 -0.520464   0.853876       uwb: 0.0            826.884  445.888  
imu_odom_:  1691062807.31866861   0.0023942  0.0766145  9.84735    -0.0319579  -0.0255663  -0.841559   0.17       -0.88         pose: 0.0           5.80171    -0.021766   0 0.00223676  -0.00278153 -0.520464   0.853876       uwb: 0.0            826.884  445.888  
imu_odom_:  1691062807.47879274   0.37589    -0.536301  9.83777    -0.04048    0.00532632  -0.840494   0.18       -0.97         pose: 0.41109988    5.80824    -0.0290942  0 0.00548619  -0.000381272-0.535828   0.844309       uwb: 0.49810173     826.365  445.927  
imu_odom_:  1691062807.74757658   0.299275   0.1652     9.81144    -0.0383495  -0.056459   -0.82558    0.18       -0.97         pose: 0.0           5.80824    -0.0290942  0 0.00548619  -0.000381272-0.535828   0.844309       uwb: 0.0            826.365  445.927  
imu_odom_:  1691062807.91727555   -0.0670376 0.100556   9.55765    -0.0351537  -0.00319579 -0.837298   0.17       -0.88         pose: 0.8001686     5.80857    -0.0290458  0 0.00485903  2.83905e-05 -0.538801   0.842419       uwb: 0.0            826.365  445.927  
imu_odom_:  1691062807.108919397  -0.0407014 0.282516   10.817     -0.0340885  -0.0340885  -0.842624   0.25       -1.26         pose: 0.0           5.80857    -0.0290458  0 0.00485903  2.83905e-05 -0.538801   0.842419       uwb: 0.50059825     826.211  445.434  
imu_odom_:  1691062807.124851898  0.617704   0.19393    10.2208    -0.0532632  -0.0617853  -0.82558    0.17       -0.85         pose: 0.0           5.80857    -0.0290458  0 0.00485903  2.83905e-05 -0.538801   0.842419       uwb: 0.0            826.211  445.434  
imu_odom_:  1691062807.141908998  1.11809    -0.0933739 10.0461    -0.0639159  -0.0308927  -0.831972   0.17       -0.85         pose: 0.76875505    5.80821    -0.0431842  0 0.00972805  -0.0012953  -0.566749   0.823832       uwb: 0.0            826.211  445.434  
imu_odom_:  1691062807.159851836  1.00556    0.059855   9.52413    -0.0735032  -0.0426106  -0.840494   0.17       -0.85         pose: 0.0           5.80821    -0.0431842  0 0.00972805  -0.0012953  -0.566749   0.823832       uwb: 0.49992746     825.123  445.358  
imu_odom_:  1691062807.173852162  0.162806   0.184354   9.98622    -0.0500674  -0.0276969  -0.846885   0.17       -0.88         pose: 0.33004475    5.81506    -0.0504676  0 0.00791722  -0.00442396 -0.578528   0.815612       uwb: 0.0            825.123  445.358  
imu_odom_:  1691062807.189757247  0.395043   0.124498   10.2783    -0.0436758  -0.0447411  -0.846885   0.17       -0.88         pose: 0.0           5.81506    -0.0504676  0 0.00791722  -0.00442396 -0.578528   0.815612       uwb: 0.0            825.123  445.358  
imu_odom_:  1691062807.205683915  0.390255   -0.177171  9.32781    -0.0553937  -0.0617853  -0.834102   0.18       -0.88         pose: 0.40008720    5.82184    -0.057754   0 0.00978812  -0.0064895  -0.59286    0.80522        uwb: 0.50060117     826.991  444.527  
imu_odom_:  1691062807.221738909  0.380678   -0.292093  9.57202    -0.0575243  0.0117179   -0.840494   0.18       -0.88         pose: 0.0           5.82184    -0.057754   0 0.00978812  -0.0064895  -0.59286    0.80522        uwb: 0.0            826.991  444.527  
imu_odom_:  1691062807.237742864  0.457293   0.0287304  10.3549    -0.0266316  0.00532632  -0.841559   0.18       -0.88         pose: 0.0           5.82184    -0.057754   0 0.00978812  -0.0064895  -0.59286    0.80522        uwb: 0.0            826.991  444.527  
imu_odom_:  1691062807.254683596  0.275333   0.0215478  9.80186    -0.036219   -0.0490022  -0.82771    0.2        -1            pose: 0.6943291     5.82192    -0.0577426  0 0.00913541  -0.00620204 -0.595307   0.803422       uwb: 0.49936749     823.922  444.925  
imu_odom_:  1691062807.272734636  0.624887   0.217872   9.46428    -0.0553937  -0.0990696  -0.821319   0.2        -1            pose: 0.0           5.82192    -0.0577426  0 0.00913541  -0.00620204 -0.595307   0.803422       uwb: 0.0            823.922  444.925  
imu_odom_:  1691062807.287733860  0.141258   -0.105345  9.96227    -0.0426106  -0.0255663  -0.84582    0.2        -1            pose: 0.0           5.82192    -0.0577426  0 0.00913541  -0.00620204 -0.595307   0.803422       uwb: 0.0            823.922  444.925  
imu_odom_:  1691062807.303910762  0.143652   0          10.3358    -0.0458064  -0.0340885  -0.854342   0.18       -0.88         pose: 0.48041322    5.82152    -0.0718476  0 0.00822885  -0.00597952 -0.612112   0.790706       uwb: 0.50056033     821.922  445.342  
imu_odom_:  1691062807.320764583  0.584185   0.203507   10.0892    -0.0585895  -0.0884169  -0.852212   0.17       -0.88         pose: 0.0           5.82152    -0.0718476  0 0.00822885  -0.00597952 -0.612112   0.790706       uwb: 0.0            821.922  445.342  
imu_odom_:  1691062807.337837432  1.11809    -0.0430956 9.73961    -0.0500674  -0.0479369  -0.853277   0.17       -0.88         pose: 0.67002015    5.82841    -0.0790948  0 0.00984553  -0.00654384 -0.635144   0.772303       uwb: 0.0            821.922  445.342  
imu_odom_:  1691062807.355725732  1.51553    0.0167594  9.82102    -0.0585895  -0.0511327  -0.828776   0.17       -0.88         pose: 0.0           5.82841    -0.0790948  0 0.00984553  -0.00654384 -0.635144   0.772303       uwb: 0.49981663     821.907  445.297  
imu_odom_:  1691062807.369832509  0.988805   0.191536   10.0006    -0.0628506  -0.0596548  -0.757403   0.17       -0.88         pose: 0.0           5.82841    -0.0790948  0 0.00984553  -0.00654384 -0.635144   0.772303       uwb: 0.0            821.907  445.297  
imu_odom_:  1691062807.385686265  1.07021    -0.428562  9.55047    -0.0426106  0.0127832   -0.696683   0.17       -0.88         pose: 0.34100492    5.82118    -0.0860031  0 0.00767608  -0.00985993 -0.646722   0.762624       uwb: 0.0            821.907  445.297  
imu_odom_:  1691062807.400712903  1.21625    -0.608127  9.41161    -0.0415453  -0.0106526  -0.66579    0.14       -0.73         pose: 0.39841898    5.82801    -0.0932407  0 0.004809    -0.0124874  -0.658611   0.752364       uwb: 0.50025119     822.805  444.763  
imu_odom_:  1691062807.417694758  1.30005    0.0191536  9.75158    -0.0458064  -0.0649811  -0.651942   0.14       -0.73         pose: 0.7160569     5.82809    -0.0932296  0 0.00415279  -0.0126179  -0.660503   0.750706       uwb: 0.0            822.805  444.763  
imu_odom_:  1691062807.432692232  1.13485    -0.0047884 10.2855    -0.0372843  0.00745685  -0.640224   0.14       -0.73         pose: 0.0           5.82809    -0.0932296  0 0.00415279  -0.0126179  -0.660503   0.750706       uwb: 0.0            822.805  444.763  
imu_odom_:  1691062807.447750952  1.33836    -0.208296  10.1131    -0.036219   0.0458064   -0.580569   0.1        -0.53         pose: 0.39845398    5.82801    -0.0932403  0 0.00133078  -0.0155789  -0.670703   0.741561       uwb: 0.50059242     822.392  445.141  
imu_odom_:  1691062807.462963662  1.01275    -0.545878  9.67976    -0.0511327  -0.00106526 -0.50387    0.1        -0.53         pose: 0.0           5.82801    -0.0932403  0 0.00133078  -0.0155789  -0.670703   0.741561       uwb: 0.0            822.392  445.141  
imu_odom_:  1691062807.487844834  1.24259    -0.371101  10.0987    -0.04048    0.0149137   -0.436758   0.09       -0.47         pose: 0.30271430    5.82415    -0.09691    0 -0.00093638 -0.0159745  -0.677162   0.73566        uwb: 0.0            822.392  445.141  
imu_odom_:  1691062807.505063799  1.09415    0.0837971  10.4172    -0.0479369  -0.00745685 -0.351537   0.12       -0.61         pose: 0.0           5.82415    -0.09691    0 -0.00093638 -0.0159745  -0.677162   0.73566        uwb: 0.50064491     824.459  444.927  
imu_odom_:  1691062807.521815834  -0.914585  -0.328006  8.73644    -0.0532632  0.151268    -0.331297   0.11       -0.38         pose: 0.0           5.82415    -0.09691    0 -0.00093638 -0.0159745  -0.677162   0.73566        uwb: 0.0            824.459  444.927  
imu_odom_:  1691062807.537808998  -1.64242   -0.0311246 10.9367    -0.0181095  0.0543285   -0.346211   0.11       -0.38         pose: 0.49880170    5.82769    -0.107353   0 -0.0027813  -0.0171384  -0.684967   0.728367       uwb: 0.0            824.459  444.927  
imu_odom_:  1691062807.553743832  -0.837971  -0.124498  9.9934     -0.0617853  -0.152333   -0.289752   0.12       -0.32         pose: 0.0           5.82769    -0.107353   0 -0.0027813  -0.0171384  -0.684967   0.728367       uwb: 0.49860920     826.42   444.385  
imu_odom_:  1691062807.569682749  1.31681    -0.0502782 10.0748    -0.0660464  -0.151268   -0.249272   0.12       -0.32         pose: 0.0           5.82769    -0.107353   0 -0.0027813  -0.0171384  -0.684967   0.728367       uwb: 0.0            826.42   444.385  
imu_odom_:  1691062807.586683561  0.895431   -0.593762  9.36612    -0.0532632  0.04048     -0.234358   0.12       -0.32         pose: 0.31973495    5.82769    -0.107353   0 -1.66403e-05-0.0144037  -0.6893     0.724333       uwb: 0.0            826.42   444.385  
imu_odom_:  1691062807.602826924  0.706289   0.100556   10.501     -0.0372843  0.00958738  -0.239684   0.13       -0.26         pose: 0.41866234    5.82743    -0.115148   0 -0.00318726 -0.0152403  -0.69368    0.720115       uwb: 0.50044368     825.521  444.913  
imu_odom_:  1691062807.620823426  -0.0167594 -0.0191536 9.93833    -0.0490022  0.0543285   -0.252468   0.13       -0.26         pose: 0.0           5.82743    -0.115148   0 -0.00318726 -0.0152403  -0.69368    0.720115       uwb: 0.0            825.521  444.913  
imu_odom_:  1691062807.637866527  -0.0430956 -0.308852  10.3382    -0.0703074  0.00319579  -0.188552   0.13       -0.26         pose: 0.0           5.82743    -0.115148   0 -0.00318726 -0.0152403  -0.69368    0.720115       uwb: 0.0            825.521  444.913  
imu_odom_:  1691062807.654705181  0.363919   -0.380678  10.2185    -0.0372843  -0.0511327  -0.199204   0.14       -0.2          pose: 0.8158301     5.82733    -0.121491   0 -0.00261449 -0.0159272  -0.694499   0.719313       uwb: 0.49919250     828.504  444.254  
imu_odom_:  1691062807.672816010  1.14682    -0.23942   10.0461    -0.036219   0.0191748   -0.192813   0.18       -0.29         pose: 0.0           5.82733    -0.121491   0 -0.00261449 -0.0159272  -0.694499   0.719313       uwb: 0.0            828.504  444.254  
imu_odom_:  1691062807.689818863  0.222661   -0.311246  10.2304    -0.0649811  0.0319579   -0.166181   0.18       -0.29         pose: 0.67890087    5.82733    -0.121491   0 -0.000892599-0.012335   -0.70073    0.713319       uwb: 0.0            828.504  444.254  
imu_odom_:  1691062807.706731888  -0.0670376 -0.129287  9.96946    -0.0511327  -0.0138484  -0.171508   0.15       -0.23         pose: 0.0           5.82733    -0.121491   0 -0.000892599-0.012335   -0.70073    0.713319       uwb: 0.49875503     828.56   444.434  
imu_odom_:  1691062807.724852049  0.349553   -0.21069   9.92157    -0.056459   0.0191748   -0.143811   0.15       -0.23         pose: 0.0           5.82733    -0.121491   0 -0.000892599-0.012335   -0.70073    0.713319       uwb: 0.0            828.56   444.434  
imu_odom_:  1691062807.741817280  0.296881   -0.129287  9.98622    -0.0575243  -0.0191748  -0.116114   0.15       -0.23         pose: 0.34104576    5.82694    -0.13564    0 -0.000661591-0.0103394  -0.703348   0.710771       uwb: 0.0            828.56   444.434  
imu_odom_:  1691062807.756729009  0.577003   -0.227449  10.1682    -0.0479369  0.00958738  -0.145941   0.15       -0.2          pose: 0.34996438    5.82694    -0.13564    0 0.000840105 -0.00716678 -0.705681   0.708493       uwb: 0.50035910     830.542  443.973  
imu_odom_:  1691062807.772717798  1.19231    -0.0526724 10.0485    -0.0575243  -0.00958738 -0.129962   0.15       -0.2          pose: 0.0           5.82694    -0.13564    0 0.000840105 -0.00716678 -0.705681   0.708493       uwb: 0.0            830.542  443.973  
imu_odom_:  1691062807.788717670  1.16358    -0.347159  9.81623    -0.0671117  -0.02024    -0.0894822  0.15       -0.2          pose: 0.0           5.82694    -0.13564    0 0.000840105 -0.00716678 -0.705681   0.708493       uwb: 0.0            830.542  443.973  
imu_odom_:  1691062807.805720815  1.1157     -0.198719  10.477     -0.0596548  0.0170442   -0.052198   0.14       -0.17         pose: 0.48892937    5.82663    -0.149779   0 -0.00181307 -0.00786593 -0.708517   0.705647       uwb: 0.50039409     833.402  442.913  
imu_odom_:  1691062807.822717252  1.33118    -0.258574  10.4435    -0.0660464  -0.0671117  -0.0394148  0.14       -0.17         pose: 0.0           5.82663    -0.149779   0 -0.00181307 -0.00786593 -0.708517   0.705647       uwb: 0.0            833.402  442.913  
imu_odom_:  1691062807.838722956  1.84354    0.143652   9.71088    -0.0585895  -0.0245011  -0.0798948  0.11       -0.2          pose: 0.41991352    5.82663    -0.149779   0 -0.00566193 -0.0104247  -0.709864   0.704239       uwb: 0.0            833.402  442.913  
imu_odom_:  1691062807.855659022  1.67594    0.275333   9.85932    -0.0426106  0.0458064   -0.111853   0.11       -0.2          pose: 0.0           5.82663    -0.149779   0 -0.00566193 -0.0104247  -0.709864   0.704239       uwb: 0.49946082     831.54   443.768  
imu_odom_:  1691062807.872658667  0.773327   -0.0981623 9.80186    -0.0553937  0.0415453   -0.127832   0.11       -0.2          pose: 0.0           5.82663    -0.149779   0 -0.00566193 -0.0104247  -0.709864   0.704239       uwb: 0.0            831.54   443.768  
imu_odom_:  1691062807.889783430  0.59855    -0.337582  9.77313    -0.0426106  -0.0245011  -0.138484   0.12       -0.17         pose: 0.7008037     5.82663    -0.149779   0 -0.00608497 -0.0110653  -0.710152   0.703935       uwb: 0.0            831.54   443.768  
imu_odom_:  1691062807.907720727  0.782904   -0.272939  9.5385     -0.056459   -0.0234358  -0.117179   0.08       -0.11         pose: 0.0           5.82663    -0.149779   0 -0.00608497 -0.0110653  -0.710152   0.703935       uwb: 0.50066533     833.106  443.688  
imu_odom_:  1691062807.924715997  0.682347   -0.241814  10.0102    -0.0671117  0.00852212  -0.0873517  0.08       -0.11         pose: 0.67997705    5.83353    -0.157015   0 -0.008864   -0.0130053  -0.713879   0.700092       uwb: 0.0            833.106  443.688  
imu_odom_:  1691062807.941770180  0.811634   -0.227449  10.137     -0.0639159  -0.0394148  -0.0617853  0.07       -0.08         pose: 0.0           5.83353    -0.157015   0 -0.008864   -0.0130053  -0.713879   0.700092       uwb: 0.0            833.106  443.688  
imu_odom_:  1691062807.957651643  0.878672   -0.126893  9.97664    -0.0500674  -0.015979   -0.0500674  0.07       -0.08         pose: 0.0           5.83353    -0.157015   0 -0.008864   -0.0130053  -0.713879   0.700092       uwb: 0.49959206     835.036  443.064  
imu_odom_:  1691062807.974696493  0.802058   -0.215478  9.8665     -0.0532632  0.0106526   -0.0149137  0.07       -0.08         pose: 0.34007456    5.8263     -0.16392    0 -0.0110683  -0.0115758  -0.715401   0.69853        uwb: 0.0            835.036  443.064  
imu_odom_:  1691062807.999683242  0.584185   -0.0574608 10.161     -0.0500674  0           -0.0266316  0.06       -0.05         pose: 0.42966043    5.8263     -0.16392    0 -0.0140887  -0.014069   -0.71652    0.697282       uwb: 0.49986913     831.199  444.387  
imu_odom_:  1691062808.25862836   0.191536   -0.215478  9.71088    -0.0628506  0.0383495   -0.0607201  0.06       -0.08         pose: 0.8210799     5.8263     -0.16392    0 -0.0132474  -0.0139416  -0.716725   0.69709        uwb: 0.0            831.199  444.387  
imu_odom_:  1691062808.51661828   -1.39343   0.21069    9.52653    -0.0479369  0.0479369   -0.113983   0.08       -0.02         pose: 0.42955544    5.82623    -0.163929   0 -0.00941831 -0.0112966  -0.718096   0.695788       uwb: 0.50292854     830.263  444.795  
imu_odom_:  1691062808.68666140   -1.01035   -0.531513  10.2783    -0.072438   -0.0191748  -0.015979   0.08       -0.02         pose: 0.0           5.82623    -0.163929   0 -0.00941831 -0.0112966  -0.718096   0.695788       uwb: 0.0            830.263  444.795  
imu_odom_:  1691062808.93722593   0.646434   -0.280122  10.094     -0.0372843  -0.0788296  0.00852212  0.1        -0.02         pose: 0.42803304    5.83036    -0.168141   0 -0.00593326 -0.00807088 -0.71985    0.694058       uwb: 0.0            830.263  444.795  
imu_odom_:  1691062808.119740905  0.624887   0.0909797  10.24      -0.0735032  0.00639159  0.0191748   0.13       -0.05         pose: 0.0           5.83036    -0.168141   0 -0.00593326 -0.00807088 -0.71985    0.694058       uwb: 0.49820674     830.332  445.019  
imu_odom_:  1691062808.144789192  -0.282516  -0.158017  9.68455    -0.0639159  0.0117179   -0.0394148  0.12       -0.02         pose: 0.51074765    5.82599    -0.178041   0 -0.00693535 -0.00948389 -0.720296   0.693567       uwb: 0.0            830.332  445.019  
imu_odom_:  1691062808.170775423  0.0311246  -0.299275  9.82341    -0.0490022  -0.0191748  0.00319579  0.13       -0.02         pose: 0.0           5.82599    -0.178041   0 -0.00693535 -0.00948389 -0.720296   0.693567       uwb: 0.49990997     833.319  444.409  
imu_odom_:  1691062808.187759320  0.502782   -0.526724  9.87129    -0.0511327  -0.0298274  0.0127832   0.13       -0.02         pose: 0.32928356    5.82599    -0.178041   0 -0.00460691 -0.00697394 -0.721111   0.69277        uwb: 0.0            833.319  444.409  
imu_odom_:  1691062808.212692697  0.371101   -0.0167594 9.55765    -0.0330232  -0.0340885  -0.00852212 0.18       -0.05         pose: 0.0           5.82599    -0.178041   0 -0.00460691 -0.00697394 -0.721111   0.69277        uwb: 0.50050785     833.481  444.949  
imu_odom_:  1691062808.234752163  0.150835   -0.11971   10.3046    -0.0458064  0.0330232   -0.00426106 0.18       -0.05         pose: 0.42050557    5.83287    -0.185296   0 -0.00420106 -0.00468478 -0.721618   0.692263       uwb: 0.0            833.481  444.949  
imu_odom_:  1691062808.251694937  -0.167594  -0.280122  9.80186    -0.0575243  0.00745685  0.00213053  0.18       -0.05         pose: 0.0           5.83287    -0.185296   0 -0.00420106 -0.00468478 -0.721618   0.692263       uwb: 0.49986331     836.958  444.236  
imu_odom_:  1691062808.277836326  0.0454898  -0.167594  9.56484    -0.0426106  0.0170442   0.00426106  0.13       0             pose: 0.48035198    5.82561    -0.192168   0 0.000192748 -0.00309421 -0.722376   0.691494       uwb: 0.0            836.958  444.236  
imu_odom_:  1691062808.302660918  0.232238   -0.402226  9.91918    -0.0628506  0.0266316   0.0149137   0.15       -0.05         pose: 0.35081310    5.83062    -0.197489   0 0.00298165  -0.000473805-0.722815   0.691035       uwb: 0.49960082     836.598  444.806  
imu_odom_:  1691062808.328790640  1.01993    -0.011971  10.3597    -0.0383495  0.0106526   -0.0106526  0.15       -0.05         pose: 0.0           5.83062    -0.197489   0 0.00298165  -0.000473805-0.722815   0.691035       uwb: 0.0            836.598  444.806  
imu_odom_:  1691062808.344672686  0.452504   -0.19393   9.26317    -0.0681769  0.036219    0.0276969   0.14       -0.02         pose: 0.6998704     5.83246    -0.19945    0 0.00287465  0.000300423 -0.722876   0.690972       uwb: 0.0            836.598  444.806  
imu_odom_:  1691062808.371915924  0.565032   -0.232238  10.58      -0.0490022  -0.0149137  0.0213053   0.14       -0.02         pose: 0.0           5.83246    -0.19945    0 0.00287465  0.000300423 -0.722876   0.690972       uwb: 0.49851881     838.078  444.471  
imu_odom_:  1691062808.397639088  0.445322   -0.174777  9.99819    -0.0447411  -0.0138484  0.0138484   0.17       0             pose: 0.50965980    5.82517    -0.206296   0 0.00114941  -0.000372984-0.723513   0.690309       uwb: 0.50137405     839.16   444.572  
imu_odom_:  1691062808.423729729  0.169988   -0.354342  9.69652    -0.0617853  0           0.0245011   0.17       0             pose: 0.0           5.82517    -0.206296   0 0.00114941  -0.000372984-0.723513   0.690309       uwb: 0.0            839.16   444.572  
imu_odom_:  1691062808.448642982  0.488417   -0.105345  8.98783    -0.056459   -0.02024    0.0170442   0.16       -0.02         pose: 0.42885258    5.83208    -0.213529   0 -0.00116263 -0.00262272 -0.723778   0.690027       uwb: 0.49851006     840.587  444.063  
imu_odom_:  1691062808.465658377  0.897826   -0.272939  9.99579    -0.0681769  -0.0276969  0.0500674   0.16       -0.02         pose: 0.0           5.83208    -0.213529   0 -0.00116263 -0.00262272 -0.723778   0.690027       uwb: 0.0            840.587  444.063  
imu_odom_:  1691062808.483646713  0.275333   -0.414197  9.35175    -0.0596548  0.0255663   0.0980043   0.18       0             pose: 0.52029625    5.82484    -0.220429   0 0.00101273  -0.00145893 -0.724143   0.689648       uwb: 0.0            840.587  444.063  
imu_odom_:  1691062808.499838782  0.0502782  -0.466869  9.91439    -0.0500674  0.0213053   0.190682    0.18       0             pose: 0.0           5.82484    -0.220429   0 0.00101273  -0.00145893 -0.724143   0.689648       uwb: 0.50185235     840.659  444.312  
imu_odom_:  1691062808.517718042  0.318429   -0.509965  10.0437    -0.0511327  -0.109722   0.268447    0.17       0.2           pose: 0.24987624    5.82484    -0.220429   0 0.000113537 -0.0037142  -0.72425    0.689527       uwb: 0.0            840.659  444.312  
imu_odom_:  1691062808.534834638  0.969652   -0.356736  10.2017    -0.0319579  -0.036219   0.313188    0.17       0.2           pose: 0.44135265    5.8244     -0.234577   0 -0.000374282-0.000531245-0.723008   0.69084        uwb: 0.0            840.659  444.312  
imu_odom_:  1691062808.551663378  0.921768   -0.0790087 10.0556    -0.0266316  0.00213053  0.380299    0.17       0.2           pose: 0.0           5.8244     -0.234577   0 -0.000374282-0.000531245-0.723008   0.69084        uwb: 0.49834382     841.622  444.012  
imu_odom_:  1691062808.568771517  0.186748   -0.658405  9.82341    -0.0777643  0.0798948   0.427171    0.22       0.41          pose: 0.8190092     5.82448    -0.234567   0 -0.00102892 -0.000103147-0.722359   0.691517       uwb: 0.0            841.622  444.012  
imu_odom_:  1691062808.584760598  0.42138    -0.124498  10.252     -0.04048    0.00426106  0.426106    0.22       0.41          pose: 0.0           5.82448    -0.234567   0 -0.00102892 -0.000103147-0.722359   0.691517       uwb: 0.0            841.622  444.012  
imu_odom_:  1691062808.601878361  0.251391   -0.320823  10.0078    -0.0628506  -0.0553937  0.4815      0.22       0.41          pose: 0.0           5.82448    -0.234567   0 -0.00102892 -0.000103147-0.722359   0.691517       uwb: 0.50161028     843.551  443.417  
imu_odom_:  1691062808.618748806  1.10373    -0.260968  9.63666    -0.0777643  0.0213053   0.52198     0.17       0.47          pose: 0.50627084    5.82408    -0.248703   0 -0.00379091 -0.00152672 -0.717029   0.697032       uwb: 0.0            843.551  443.417  
imu_odom_:  1691062808.633796444  0.462081   -0.464475  9.94791    -0.0639159  -0.0138484  0.548611    0.17       0.44          pose: 0.0           5.82408    -0.248703   0 -0.00379091 -0.00152672 -0.717029   0.697032       uwb: 0.0            843.551  443.417  
imu_odom_:  1691062808.649648159  0.37589    -0.222661  9.65342    -0.0798948  -0.0245011  0.566721    0.17       0.44          pose: 0.66989184    5.82408    -0.248703   0 -0.00371386 -3.23164e-05-0.706735   0.707468       uwb: 0.50064785     845.977  442.717  
imu_odom_:  1691062808.664758501  0.268151   -0.354342  10.0102    -0.0415453  -0.0234358  0.591222    0.17       0.44          pose: 0.0           5.82408    -0.248703   0 -0.00371386 -3.23164e-05-0.706735   0.707468       uwb: 0.0            845.977  442.717  
imu_odom_:  1691062808.681784978  0.490811   -0.656011  9.80186    -0.0745685  -0.0266316  0.618919    0.17       0.53          pose: 0.0           5.82408    -0.248703   0 -0.00371386 -3.23164e-05-0.706735   0.707468       uwb: 0.0            845.977  442.717  
imu_odom_:  1691062808.696610963  0.198719   -0.292093  9.91918    -0.0500674  -0.00958738 0.601874    0.17       0.53          pose: 0.31004638    5.82372    -0.262841   0 -0.00284872 0.00140327  -0.700919   0.713234       uwb: 0.49973498     845.553  443.078  
imu_odom_:  1691062808.712666248  0.292093   -0.4956    10.1011    -0.0532632  -0.0266316  0.619984    0.16       0.55          pose: 0.39961183    5.8234     -0.262877   0 -0.00314573 0.00389985  -0.692775   0.721136       uwb: 0.0            845.553  443.078  
imu_odom_:  1691062808.729611647  0.890643   -0.316035  10.1227    -0.0553937  -0.0777643  0.609331    0.16       0.55          pose: 0.0           5.8234     -0.262877   0 -0.00314573 0.00389985  -0.692775   0.721136       uwb: 0.0            845.553  443.078  
imu_odom_:  1691062808.747660063  1.07739    -0.0909797 9.9527     -0.0394148  -0.0596548  0.600809    0.16       0.55          pose: 0.0           5.8234     -0.262877   0 -0.00314573 0.00389985  -0.692775   0.721136       uwb: 0.50011996     842.258  444.392  
imu_odom_:  1691062808.764646293  1.34075    -0.361524  9.39006    -0.0596548  -0.04048    0.592287    0.14       0.44          pose: 0.6123757     5.82372    -0.262841   0 -0.00336799 0.00443494  -0.691489   0.722365       uwb: 0.0            842.258  444.392  
imu_odom_:  1691062808.779723970  1.70467    -0.225055  10.1682    -0.0330232  -0.0298274  0.513457    0.13       0.38          pose: 0.0           5.82372    -0.262841   0 -0.00336799 0.00443494  -0.691489   0.722365       uwb: 0.0            842.258  444.392  
imu_odom_:  1691062808.796719533  1.61848    0.0981623  9.62948    -0.056459   0.0394148   0.416518    0.13       0.38          pose: 0.67979333    5.82326    -0.276975   0 -0.0079786  -0.000444662-0.677715   0.735281       uwb: 0.0            842.258  444.392  
imu_odom_:  1691062808.813595811  1.37188    0.198719   9.84256    -0.056459   0.0490022   0.356864    0.11       0.29          pose: 0.0           5.82326    -0.276975   0 -0.0079786  -0.000444662-0.677715   0.735281       uwb: 0.0            842.258  444.392  
imu_odom_:  1691062808.830609747  0.335188   -0.0981623 9.4164     -0.0681769  0.036219    0.30147     0.11       0.29          pose: 0.0           5.82326    -0.276975   0 -0.0079786  -0.000444662-0.677715   0.735281       uwb: 0.0            842.258  444.392  
imu_odom_:  1691062808.855595330  0.73502    -0.289698  9.92157    -0.052198   -0.0436758  0.243946    0.11       0.29          pose: 0.32942063    5.83017    -0.284205   0 -0.00892821 -0.00310051 -0.672978   0.739602       uwb: 0.99758008     840.815  444.853  
imu_odom_:  1691062808.872720676  0.577003   -0.134075  9.75398    -0.0575243  0.0532632   0.203466    0.1        0.32          pose: 0.33960794    5.82294    -0.29112    0 -0.00770533 -0.00385611 -0.669645   0.742631       uwb: 0.0            840.815  444.853  
imu_odom_:  1691062808.889649451  -0.198719  -0.227449  10.0341    -0.0426106  0.0841559   0.184291    0.1        0.32          pose: 0.0           5.82294    -0.29112    0 -0.00770533 -0.00385611 -0.669645   0.742631       uwb: 0.0            840.815  444.853  
imu_odom_:  1691062808.905714361  -0.933739  -0.272939  9.89763    -0.072438   0.0351537   0.225836    0.11       0.23          pose: 0.52032541    5.82294    -0.29112    0 -0.00575684 -0.00418527 -0.666345   0.74561        uwb: 0.50191068     844.149  443.664  
imu_odom_:  1691062808.923689864  -0.21069   -0.627281  10.0389    -0.0713727  -0.0788296  0.256729    0.11       0.23          pose: 0.0           5.82294    -0.29112    0 -0.00575684 -0.00418527 -0.666345   0.74561        uwb: 0.0            844.149  443.664  
imu_odom_:  1691062808.941588373  0.756568   -0.447716  10.1275    -0.036219   -0.0372843  0.216249    0.11       0.23          pose: 0.0           5.82294    -0.29112    0 -0.00575684 -0.00418527 -0.666345   0.74561        uwb: 0.0            844.149  443.664  
imu_odom_:  1691062808.955593656  0.816423   0.155623   10.4986    -0.0458064  0.0149137   0.233293    0.12       0.17          pose: 0.7004829     5.82294    -0.29112    0 -0.00525545 -0.00350712 -0.665862   0.746049       uwb: 0.49803175     841.811  444.666  
imu_odom_:  1691062808.972646674  0.380678   -0.248997  10.0461    -0.0436758  -0.00852212 0.252468    0.12       0.17          pose: 0.0           5.82294    -0.29112    0 -0.00525545 -0.00350712 -0.665862   0.746049       uwb: 0.0            841.811  444.666  
imu_odom_:  1691062808.989599364  0.280122   -0.486023  9.50737    -0.0213053  -0.00106526 0.186421    0.12       0.17          pose: 0.65946247    5.82985    -0.29835    0 -0.00551606 -0.00290094 -0.661013   0.750348       uwb: 0.0            841.811  444.666  
imu_odom_:  1691062809.7679861    0.107739   -0.11971   9.86411    -0.04048    -0.04048    0.198139    0.17       0.2           pose: 0.0           5.82985    -0.29835    0 -0.00551606 -0.00290094 -0.661013   0.750348       uwb: 0.50051077     841.952  445.163  
imu_odom_:  1691062809.24651217   0.4956     -0.45011   10.0054    -0.0639159  -0.0245011  0.217314    0.17       0.2           pose: 0.0           5.82985    -0.29835    0 -0.00551606 -0.00290094 -0.661013   0.750348       uwb: 0.0            841.952  445.163  
imu_odom_:  1691062809.38667584   1.01275    -0.423774  10.3884    -0.0511327  -0.0458064  0.194943    0.17       0.2           pose: 0.34997315    5.82257    -0.305208   0 -0.00404789 -0.000520107-0.658795   0.752311       uwb: 0.0            841.952  445.163  
imu_odom_:  1691062809.55586443   0.639252   0.023942   10.2615    -0.0468716  -0.0372843  0.188552    0.14       0.14          pose: 0.41069742    5.82948    -0.312445   0 -0.00618525 -0.000614918-0.656228   0.754537       uwb: 0.50050204     845.428  444.502  
imu_odom_:  1691062809.72585506   0.715866   0.0957681  10.24      -0.052198   0.0436758   0.199204    0.14       0.14          pose: 0.7047410     5.82948    -0.312445   0 -0.00594062 -0.0013587  -0.655835   0.75488        uwb: 0.0            845.428  444.502  
imu_odom_:  1691062809.90640047   0.0383072  -0.4956    9.39006    -0.0553937  0.0394148   0.18003     0.19       0.17          pose: 0.0           5.82948    -0.312445   0 -0.00594062 -0.0013587  -0.655835   0.75488        uwb: 0.0            845.428  444.502  
imu_odom_:  1691062809.107572614  0.201113   -0.306458  9.96946    -0.0479369  0.0255663   0.152333    0.15       0.11          pose: 0.44925053    5.82919    -0.320328   0 -0.00409618 -0.0016281  -0.653308   0.75708        uwb: 0.49861798     843.091  445.474  
imu_odom_:  1691062809.122568630  0.234632   -0.112527  9.85932    -0.0628506  0.0223706   0.189617    0.15       0.11          pose: 0.0           5.82919    -0.320328   0 -0.00409618 -0.0016281  -0.653308   0.75708        uwb: 0.0            843.091  445.474  
imu_odom_:  1691062809.138623916  0.591368   -0.189142  9.75877    -0.0596548  -0.0319579  0.198139    0.15       0.11          pose: 0.0           5.82919    -0.320328   0 -0.00409618 -0.0016281  -0.653308   0.75708        uwb: 0.0            843.091  445.474  
imu_odom_:  1691062809.155568440  0.782904   -0.28491   9.87129    -0.0713727  -0.0660464  0.215183    0.15       0.11          pose: 0.23001494    5.82916    -0.326584   0 -0.002405   0.000214009 -0.652241   0.758008       uwb: 0.50223734     845.61   445.133  
imu_odom_:  1691062809.173627356  1.39103    -0.308852  9.80665    -0.0639159  -0.0575243  0.245011    0.14       0.08          pose: 0.0           5.82916    -0.326584   0 -0.002405   0.000214009 -0.652241   0.758008       uwb: 0.0            845.61   445.133  
imu_odom_:  1691062809.191585361  1.79565    -0.316035  9.53371    -0.0553937  -0.0276969  0.184291    0.14       0.08          pose: 0.31983121    5.82916    -0.326584   0 -0.00301688 -0.00165721 -0.6503     0.75967        uwb: 0.0            845.61   445.133  
imu_odom_:  1691062809.207600983  1.71185    0.138864   10.1442    -0.0607201  0.0117179   0.138484    0.12       0.02          pose: 0.35986881    5.83607    -0.333805   0 -0.00629193 -0.00472903 -0.647771   0.761794       uwb: 0.49785969     843.227  445.948  
imu_odom_:  1691062809.225721728  1.04627    -0.0885855 9.94551    -0.0511327  0.0330232   0.110787    0.12       0.02          pose: 0.0           5.83607    -0.333805   0 -0.00629193 -0.00472903 -0.647771   0.761794       uwb: 0.0            843.227  445.948  
imu_odom_:  1691062809.242712625  0.758962   -0.296881  9.84975    -0.0479369  0.015979    0.0788296   0.12       0.02          pose: 0.0           5.83607    -0.333805   0 -0.00629193 -0.00472903 -0.647771   0.761794       uwb: 0.0            843.227  445.948  
imu_odom_:  1691062809.259585987  0.799663   -0.320823  10.0604    -0.0511327  0           0.076699    0.08       0.05          pose: 0.16997897    5.83607    -0.333805   0 -0.00729501 -0.00613529 -0.646951   0.762472       uwb: 0.50000623     844.183  445.63   
imu_odom_:  1691062809.276583300  0.931344   -0.208296  9.8258     -0.0575243  -0.0149137  0.0884169   0.1        0.08          pose: 0.0           5.83607    -0.333805   0 -0.00729501 -0.00613529 -0.646951   0.762472       uwb: 0.0            844.183  445.63   
imu_odom_:  1691062809.292718206  0.830788   -0.332794  9.93594    -0.0553937  -0.00532632 0.117179    0.1        0.08          pose: 0.67987501    5.82885    -0.340715   0 -0.0113292  -0.0101296  -0.645449   0.763652       uwb: 0.0            844.183  445.63   
imu_odom_:  1691062809.310712959  0.766145   -0.241814  9.83299    -0.0575243  0.015979    0.123571    0.09       0.05          pose: 0.0           5.82885    -0.340715   0 -0.0113292  -0.0101296  -0.645449   0.763652       uwb: 0.50114075     844.253  445.879  
imu_odom_:  1691062809.327620444  0.864307   -0.136469  10.0485    -0.0500674  -0.015979   0.12144     0.09       0.05          pose: 0.0           5.82885    -0.340715   0 -0.0113292  -0.0101296  -0.645449   0.763652       uwb: 0.0            844.253  445.879  
imu_odom_:  1691062809.352646566  0.727837   -0.0957681 10.24      -0.052198   0.00958738  0.109722    0.05       0.08          pose: 0.61023503    5.83578    -0.347917   0 -0.0128282  -0.0148098  -0.643663   0.765059       uwb: 0.50136531     845.624  445.178  
imu_odom_:  1691062809.370813101  0.244209   -0.246603  9.65821    -0.0660464  0.0308927   0.072438    0.05       0.08          pose: 0.7189443     5.83578    -0.347917   0 -0.0120823  -0.0149012  -0.643484   0.765219       uwb: 0.0            845.624  445.178  
imu_odom_:  1691062809.395609112  -1.01514   0.1652     9.61033    -0.04048    0.0798948   -0.04048    0.07       0.05          pose: 0.0           5.83578    -0.347917   0 -0.0120823  -0.0149012  -0.643484   0.765219       uwb: 0.49779845     847.143  445.026  
imu_odom_:  1691062809.422714984  -0.679953  -0.885855  10.0796    -0.0820254  -0.052198   0.111853    0.07       0.05          pose: 0.36003214    5.83578    -0.347917   0 -0.00913334 -0.0132838  -0.642834   0.765836       uwb: 0.0            847.143  445.026  
imu_odom_:  1691062809.448587181  0.488417   -0.196325  9.87129    -0.0213053  -0.0458064  0.0852212   0.1        0.05          pose: 0.51901883    5.8306     -0.352868   0 -0.00651585 -0.00867366 -0.642891   0.76588        uwb: 0.50025705     851.49   443.822  
imu_odom_:  1691062809.475720177  0.529119   -0.0957681 9.92397    -0.0671117  0.0276969   0.128897    0.1        0.05          pose: 0.0           5.8306     -0.352868   0 -0.00651585 -0.00867366 -0.642891   0.76588        uwb: 0.0            851.49   443.822  
imu_odom_:  1691062809.491691468  0.550666   -0.246603  9.93354    -0.0585895  0.00213053  0.0681769   0.13       0.05          pose: 0.32860986    5.83547    -0.36205    0 -0.00404472 -0.00753544 -0.642218   0.766474       uwb: 0.0            851.49   443.822  
imu_odom_:  1691062809.518874044  0.222661   -0.105345  10.4244    -0.0490022  -0.0117179  0.0692422   0.13       0.05          pose: 0.0           5.83547    -0.36205    0 -0.00404472 -0.00753544 -0.642218   0.766474       uwb: 0.49986332     855.885  442.74   
imu_odom_:  1691062809.543777091  -0.071826  -0.426168  9.78271    -0.0735032  0.00213053  0.0884169   0.13       0.02          pose: 0.28117895    5.83547    -0.36205    0 -0.00261903 -0.00720607 -0.641454   0.767123       uwb: 0.0            855.885  442.74   
imu_odom_:  1691062809.560592998  0.215478   -0.160412  10.0245    -0.0490022  -0.02024    0.0671117   0.13       0.02          pose: 0.0           5.83547    -0.36205    0 -0.00261903 -0.00720607 -0.641454   0.767123       uwb: 0.49955126     855.85   442.604  
imu_odom_:  1691062809.586706389  0.191536   -0.0167594 9.85932    -0.0543285  0.00319579  0.0798948   0.14       0.02          pose: 0.43065498    5.83547    -0.36205    0 -0.000941191-0.00434558 -0.640924   0.767591       uwb: 0.0            855.85   442.604  
imu_odom_:  1691062809.613723600  0.521936   -0.217872  9.64145    -0.0585895  -0.0415453  0.0596548   0.18       0.05          pose: 0.41860403    5.83521    -0.376162   0 0.00141492  -0.0013495  -0.640312   0.768112       uwb: 0.50311812     856.859  442.489  
imu_odom_:  1691062809.638708016  0.179565   -0.318429  9.75877    -0.0500674  0.0170442   0.072438    0.15       0.02          pose: 0.26227717    5.83521    -0.376162   0 0.00239494  -0.00136437 -0.639969   0.768396       uwb: 0.0            856.859  442.489  
imu_odom_:  1691062809.655566213  -0.0502782 -0.258574  9.96946    -0.0639159  -0.0298274  0.0735032   0.15       0.02          pose: 0.0           5.83521    -0.376162   0 0.00239494  -0.00136437 -0.639969   0.768396       uwb: 0.49692059     856.87   442.535  
imu_odom_:  1691062809.680706078  0.311246   -0.306458  9.52413    -0.0511327  -0.015979   0.0681769   0.19       0             pose: 0.26871970    5.8421     -0.383402   0 0.00068646  -0.00164678 -0.639722   0.768604       uwb: 0.0            856.87   442.535  
imu_odom_:  1691062809.707616254  0.557849   -0.344765  10.3334    -0.0830906  0.02024     0.0809601   0.19       0.02          pose: 0.23988726    5.8421     -0.383402   0 0.00144362  0.000677731 -0.639418   0.768858       uwb: 0.49925960     854.505  443.439  
imu_odom_:  1691062809.732634210  0.61531    -0.454898  10.1562    -0.0628506  0.0191748   0.0553937   0.19       0.02          pose: 0.34997899    5.83696    -0.388312   0 0.000754034 0.00358345  -0.639015   0.769186       uwb: 0.0            854.505  443.439  
imu_odom_:  1691062809.759715876  0.00957681 -0.342371  9.55765    -0.0617853  0.00319579  0.0756338   0.19       0.02          pose: 0.6929293     5.83487    -0.390312   0 0.000116936 0.00339562  -0.638906   0.769277       uwb: 0.49988957     855.913  442.854  
imu_odom_:  1691062809.785606447  0.385466   -0.304064  9.25838    -0.0543285  0.0127832   0.0575243   0.19       0.02          pose: 0.0           5.83487    -0.390312   0 0.000116936 0.00339562  -0.638906   0.769277       uwb: 0.0            855.913  442.854  
imu_odom_:  1691062809.809592257  0.816423   -0.339977  10.2208    -0.0575243  0.0191748   0.0585895   0.2        0.02          pose: 0.52089705    5.84179    -0.397534   0 -0.00364408 0.00318809  -0.638342   0.769738       uwb: 0.49922461     861.16   441.064  
imu_odom_:  1691062809.824820134  0.952892   -0.268151  9.4571     -0.0596548  0.00213053  0.0500674   0.2        0.02          pose: 0.0           5.84179    -0.397534   0 -0.00364408 0.00318809  -0.638342   0.769738       uwb: 0.0            861.16   441.064  
imu_odom_:  1691062809.849622853  0.624887   -0.339977  10.0365    -0.0511327  -0.02024    0.0777643   0.15       0.05          pose: 0.53004026    5.84872    -0.404745   0 -0.00412571 0.00242742  -0.63784    0.770154       uwb: 0.50233359     863.715  440.919  
imu_odom_:  1691062809.866545796  0.418985   -0.335188  9.95748    -0.056459   -0.0213053  0.0692422   0.15       0.05          pose: 0.0           5.84872    -0.404745   0 -0.00412571 0.00242742  -0.63784    0.770154       uwb: 0.0            863.715  440.919  
imu_odom_:  1691062809.882596124  0.538695   -0.141258  9.98861    -0.0532632  -0.0330232  0.0639159   0.17       0             pose: 0.38968994    5.84152    -0.411682   0 -0.00662047 -0.000287841-0.637562   0.770371       uwb: 0.0            863.715  440.919  
imu_odom_:  1691062809.900697328  0.64404    -0.328006  10.0437    -0.0575243  0.0543285   0.0713727   0.17       0             pose: 0.0           5.84152    -0.411682   0 -0.00662047 -0.000287841-0.637562   0.770371       uwb: 0.49891255     861.29   441.588  
imu_odom_:  1691062809.917617354  0.282516   -0.129287  9.82102    -0.052198   0.00532632  0.0671117   0.17       0             pose: 0.0           5.84152    -0.411682   0 -0.00662047 -0.000287841-0.637562   0.770371       uwb: 0.0            861.29   441.588  
imu_odom_:  1691062809.930802813  -0.203507  -0.0861913 9.54808    -0.0511327  0.0276969   0.0607201   0.16       0.02          pose: 0.42908299    5.84846    -0.41888    0 -0.00689064 -0.000918301-0.637027   0.77081        uwb: 0.0            861.29   441.588  
imu_odom_:  1691062809.946569074  0.332794   -0.277727  9.88326    -0.0617853  0.00106526  0.0671117   0.16       0.02          pose: 0.0           5.84846    -0.41888    0 -0.00689064 -0.000918301-0.637027   0.77081        uwb: 0.50302188     866.605  440.053  
imu_odom_:  1691062809.964676695  0.486023   -0.361524  9.02614    -0.0596548  -0.0287621  0.0649811   0.16       0.02          pose: 0.0           5.84846    -0.41888    0 -0.00689064 -0.000918301-0.637027   0.77081        uwb: 0.0            866.605  440.053  
imu_odom_:  1691062809.988678546  0.141258   -0.222661  9.79228    -0.0500674  0.00639159  0.0671117   0.23       0.02          pose: 0.80123898    5.84822    -0.43302    0 -0.00459429 0.00055114  -0.636207   0.771504       uwb: 0.0            866.605  440.053  
imu_odom_:  1691062810.15698091   0.28491    -0.0407014 10.6135    -0.0681769  -0.00958738 0.0660464   0.21       0.02          pose: 0.33948253    5.85298    -0.438033   0 -0.00357827 0.00214479  -0.635849   0.771802       uwb: 0.49710141     868.536  439.476  
imu_odom_:  1691062810.40790710   0.713472   -0.296881  9.94073    -0.076699   0.015979    0.0575243   0.18       0             pose: 0.0           5.85298    -0.438033   0 -0.00357827 0.00214479  -0.635849   0.771802       uwb: 0.0            868.536  439.476  
imu_odom_:  1691062810.64591615   0.586579   -0.237026  9.98382    -0.0436758  -0.0575243  0.0458064   0.22       0             pose: 0.52112164    5.85289    -0.452286   0 -0.00301573 0.000271977 -0.635403   0.772175       uwb: 0.0            868.536  439.476  
imu_odom_:  1691062810.81544014   0.486023   -0.150835  9.94551    -0.0266316  0.00852212  0.0575243   0.22       0             pose: 0.0           5.85289    -0.452286   0 -0.00301573 0.000271977 -0.635403   0.772175       uwb: 0.0            868.536  439.476  
imu_odom_:  1691062810.97811621   0.512359   -0.483629  10.0772    -0.0372843  -0.0181095  0.0532632   0.17       0             pose: 0.40753304    5.85485    -0.454341   0 -0.00281687 -0.00340909 -0.635234   0.772307       uwb: 0.100174779    863.688  440.732  
imu_odom_:  1691062810.114657277  0.790087   -0.0191536 10.0126    -0.0415453  -0.0340885  0.0490022   0.17       0             pose: 0.8160344     5.85485    -0.454341   0 -0.00346534 -0.00303185 -0.635187   0.772345       uwb: 0.0            863.688  440.732  
imu_odom_:  1691062810.131554263  0.634463   -0.035913  9.86411    -0.0511327  0.0170442   0.0660464   0.17       0             pose: 0.0           5.85485    -0.454341   0 -0.00346534 -0.00303185 -0.635187   0.772345       uwb: 0.0            863.688  440.732  
imu_odom_:  1691062810.146525198  0.0407014  -0.129287  10.0197    -0.0639159  0.0255663   0.052198    0.17       0.02          pose: 0.32891901    5.85454    -0.468479   0 -0.00390206 -0.00530119 -0.634999   0.772485       uwb: 0.49785096     867.941  439.085  
imu_odom_:  1691062810.162667104  0.19393    -0.294487  9.99819    -0.052198   -0.015979   0.0585895   0.17       0.02          pose: 0.0           5.85454    -0.468479   0 -0.00390206 -0.00530119 -0.634999   0.772485       uwb: 0.0            867.941  439.085  
imu_odom_:  1691062810.177770448  0.385466   -0.129287  9.69412    -0.0319579  -0.0703074  0.0692422   0.18       0.02          pose: 0.0           5.85454    -0.468479   0 -0.00390206 -0.00530119 -0.634999   0.772485       uwb: 0.0            867.941  439.085  
imu_odom_:  1691062810.193579291  0.876278   -0.122104  10.0796    -0.0468716  -0.0298274  0.0511327   0.18       0.02          pose: 0.40070845    5.85454    -0.468479   0 -0.00180656 -0.0034178  -0.634731   0.772724       uwb: 0.0            867.941  439.085  
imu_odom_:  1691062810.215652466  0.138864   -0.0526724 9.55526    -0.0490022  -0.0170442  0.0585895   0.18       0.02          pose: 0.0           5.85454    -0.468479   0 -0.00180656 -0.0034178  -0.634731   0.772724       uwb: 0.0            867.941  439.085  
imu_odom_:  1691062810.236533671  0.56982    -0.277727  10.1394    -0.0639159  -0.0170442  0.0532632   0.18       0.02          pose: 0.6996080     5.85454    -0.468479   0 -0.00120726 -0.00349561 -0.634653   0.772789       uwb: 0.0            867.941  439.085  
imu_odom_:  1691062810.250585037  0.612916   -0.287304  9.48104    -0.0575243  -0.0617853  0.0415453   0.18       -0.02         pose: 0.0           5.85454    -0.468479   0 -0.00120726 -0.00349561 -0.634653   0.772789       uwb: 0.99900047     865.948  439.413  
imu_odom_:  1691062810.267540936  0.54109    -0.31364   9.99579    -0.0500674  0.0458064   0.0511327   0.18       -0.02         pose: 0.72883710    5.86119    -0.489831   0 -0.00252652 -0.00451391 -0.634206   0.773147       uwb: 0.0            865.948  439.413  
imu_odom_:  1691062810.292536436  0.586579   -0.138864  10.0197    -0.0511327  0.0106526   0.0532632   0.18       0             pose: 0.0           5.86119    -0.489831   0 -0.00252652 -0.00451391 -0.634206   0.773147       uwb: 0.0            865.948  439.413  
imu_odom_:  1691062810.317722966  1.12527    -0.105345  9.55047    -0.0490022  0.00319579  0.0436758   0.18       0             pose: 0.32072075    5.86119    -0.489831   0 -0.00440245 -0.00440338 -0.634076   0.773246       uwb: 0.49981958     866.814  438.7    
imu_odom_:  1691062810.342518103  0.675165   -0.0909797 10.0245    -0.0394148  -0.0213053  0.0340885   0.19       0             pose: 0.43103997    5.86099    -0.500114   0 -0.0049336  -0.0081907  -0.633932   0.773329       uwb: 0.0            866.814  438.7    
imu_odom_:  1691062810.368526500  0.114922   -0.328006  9.67736    -0.0639159  0.00106526  0.0575243   0.19       0             pose: 0.6816424     5.86092    -0.503971   0 -0.00481694 -0.00894265 -0.633946   0.773311       uwb: 0.50199529     865.85   439.002  
imu_odom_:  1691062810.393542999  0.600945   -0.442927  9.35175    -0.0532632  -0.0468716  0.0500674   0.2        0             pose: 0.43987110    5.86572    -0.508952   0 -0.00367219 -0.00835126 -0.633817   0.773429       uwb: 0.0            865.85   439.002  
imu_odom_:  1691062810.410786464  0.591368   -0.294487  9.53371    -0.0500674  -0.015979   0.0532632   0.2        0             pose: 0.0           5.86572    -0.508952   0 -0.00367219 -0.00835126 -0.633817   0.773429       uwb: 0.49979043     863.81   439.131  
imu_odom_:  1691062810.436515170  0.665588   -0.191536  9.94312    -0.0500674  -0.0415453  0.0500674   0.22       0             pose: 0.32173569    5.86786    -0.511173   0 -0.00671777 -0.00709212 -0.633652   0.773556       uwb: 0.0            863.81   439.131  
imu_odom_:  1691062810.461529336  0.263362   -0.287304  10.173     -0.0585895  0.0255663   0.0596548   0.22       0             pose: 0.0           5.86786    -0.511173   0 -0.00671777 -0.00709212 -0.633652   0.773556       uwb: 0.49958043     864.373  439.309  
imu_odom_:  1691062810.476571433  0.383072   -0.155623  9.71806    -0.0553937  0.00319579  0.0447411   0.22       0             pose: 0.42822264    5.8676     -0.525312   0 -0.00741789 -0.00886655 -0.633433   0.773711       uwb: 0.0            864.373  439.309  
imu_odom_:  1691062810.500507080  0.78051    0.0215478  9.87608    -0.0607201  -0.00639159 0.052198    0.22       0             pose: 0.0           5.8676     -0.525312   0 -0.00741789 -0.00886655 -0.633433   0.773711       uwb: 0.49975835     864.329  439.127  
imu_odom_:  1691062810.525498205  0.624887   -0.323217  9.68694    -0.0681769  -0.0181095  0.0394148   0.17       0             pose: 0.40077553    5.8676     -0.525312   0 -0.00502289 -0.0069068  -0.633251   0.773899       uwb: 0.0            864.329  439.127  
imu_odom_:  1691062810.549495973  0.402226   -0.275333  9.36851    -0.0671117  0.0287621   0.0500674   0.2        0             pose: 0.41898319    5.86909    -0.537699   0 -0.00734296 -0.00754979 -0.633149   0.773958       uwb: 0.49862382     858.49   440.692  
imu_odom_:  1691062810.573526406  0.311246   -0.277727  9.83777    -0.0532632  0.0319579   0.0458064   0.2        0             pose: 0.0           5.86909    -0.537699   0 -0.00734296 -0.00754979 -0.633149   0.773958       uwb: 0.0            858.49   440.692  
imu_odom_:  1691062810.599498056  0.114922   -0.189142  9.55047    -0.0649811  0.0287621   0.0575243   0.23       -0.02         pose: 0.6000390     5.86737    -0.539457   0 -0.00703913 -0.00691357 -0.633128   0.773984       uwb: 0.49990709     855.648  441.783  
imu_odom_:  1691062810.615623338  0.914585   -0.356736  10.2424    -0.0436758  -0.0383495  0.0426106   0.23       -0.02         pose: 0.0           5.86737    -0.539457   0 -0.00703913 -0.00691357 -0.633128   0.773984       uwb: 0.0            855.648  441.783  
imu_odom_:  1691062810.639537986  0.667982   -0.260968  9.91439    -0.0458064  -0.00532632 0.0436758   0.25       0.02          pose: 0.50014624    5.87432    -0.546644   0 -0.0039223  -0.00198107 -0.632958   0.774174       uwb: 0.0            855.648  441.783  
imu_odom_:  1691062810.665481929  0.703895   -0.102951  10.1107    -0.0490022  -0.00639159 0.04048     0.25       0.02          pose: 0.0           5.87432    -0.546644   0 -0.0039223  -0.00198107 -0.632958   0.774174       uwb: 0.50098326     854.613  441.809  
imu_odom_:  1691062810.679693993  0.627281   0.0287304  9.71806    -0.0532632  0.0127832   0.0511327   0.19       0             pose: 0.83968710    5.87411    -0.56077    0 -0.00528006 -0.00628014 -0.632765   0.7743         uwb: 0.0            854.613  441.809  
imu_odom_:  1691062810.704567001  0.536301   -0.117316  10.2448    -0.0639159  -0.00532632 0.052198    0.19       0             pose: 0.6129008     5.87411    -0.56077    0 -0.0048856  -0.00674232 -0.632741   0.774319       uwb: 0.50031831     853.603  441.927  
imu_odom_:  1691062810.729642412  0.435745   -0.395043  9.7444     -0.0745685  0.00958738  0.0543285   0.19       0             pose: 0.32956064    5.87611    -0.572757   0 -0.00201582 -0.00777877 -0.632606   0.774432       uwb: 0.0            853.603  441.927  
imu_odom_:  1691062810.753504272  0.639252   0.105345   10.2113    -0.0671117  -0.00639159 0.0394148   0.19       0             pose: 0.0           5.87611    -0.572757   0 -0.00201582 -0.00777877 -0.632606   0.774432       uwb: 0.50068287     853.615  441.973  
imu_odom_:  1691062810.771588562  0.387861   -0.138864  10.0269    -0.0458064  -0.0255663  0.0383495   0.25       0.02          pose: 0.48937271    5.87859    -0.579756   0 -0.00214957 -0.00724581 -0.632468   0.77455        uwb: 0.0            853.615  441.973  
imu_odom_:  1691062810.795627452  0.316035   -0.337582  10.0963    -0.0596548  -0.0426106  0.036219    0.25       0.02          pose: 0.0           5.87859    -0.579756   0 -0.00214957 -0.00724581 -0.632468   0.77455        uwb: 0.49918963     854.514  441.422  
imu_odom_:  1691062810.813630664  0.143652   -0.0933739 9.69652    -0.0532632  0.0245011   0.0596548   0.23       0.02          pose: 0.42123180    5.87594    -0.586853   0 -0.00143411 -0.00411883 -0.632524   0.774529       uwb: 0.0            854.514  441.422  
imu_odom_:  1691062810.837545020  0.179565   -0.272939  10.0341    -0.0692422  0.0319579   0.052198    0.23       0.02          pose: 0.0           5.87594    -0.586853   0 -0.00143411 -0.00411883 -0.632524   0.774529       uwb: 0.0            854.514  441.422  
imu_odom_:  1691062810.864547650  0.227449   -0.581791  10.0102    -0.0490022  0.00213053  0.052198    0.21       -0.02         pose: 0.41917568    5.88064    -0.596228   0 0.00113626  -0.000180216-0.632277   0.774741       uwb: 0.49866466     856.398  440.644  
imu_odom_:  1691062810.888500796  0.464475   -0.395043  10.1011    -0.0383495  -0.0351537  0.0479369   0.21       -0.02         pose: 0.7040703     5.88064    -0.596228   0 0.000839507 0.000446211 -0.632244   0.774769       uwb: 0.0            856.398  440.644  
imu_odom_:  1691062810.915530257  0.620098   -0.347159  10.2496    -0.0553937  0.0276969   0.052198    0.21       -0.02         pose: 0.27998028    5.88761    -0.603399   0 -0.0008257080.00218185  -0.632121   0.774866       uwb: 0.50030955     855.009  441.318  
imu_odom_:  1691062810.932576859  0.316035   -0.0885855 10.1179    -0.0532632  -0.0340885  0.0330232   0.21       -0.02         pose: 0.0           5.88761    -0.603399   0 -0.0008257080.00218185  -0.632121   0.774866       uwb: 0.0            855.009  441.318  
imu_odom_:  1691062810.957496822  0.253785   -0.122104  10.161     -0.056459   -0.0585895  0.072438    0.19       0             pose: 0.23942355    5.88761    -0.603399   0 -0.00304463 0.00175499  -0.632033   0.774933       uwb: 0.49991584     855.874  440.633  
imu_odom_:  1691062810.982546568  0.292093   -0.301669  9.90721    -0.0308927  0.0127832   0.0415453   0.18       0.02          pose: 0.60970716    5.88741    -0.617538   0 -0.0008871740.000506537 -0.63167    0.775236       uwb: 0.0            855.874  440.633  
imu_odom_:  1691062811.6595084    0.411803   -0.373495  9.96706    -0.0585895  -0.0276969  0.0553937   0.18       0.02          pose: 0.0           5.88741    -0.617538   0 -0.0008871740.000506537 -0.63167    0.775236       uwb: 0.50235693     860.271  439.494  
imu_odom_:  1691062811.21532188   0.737414   0.237026   10.5728    -0.0671117  -0.0436758  0.0585895   0.18       0.02          pose: 0.0           5.88741    -0.617538   0 -0.0008871740.000506537 -0.63167    0.775236       uwb: 0.0            860.271  439.494  
imu_odom_:  1691062811.37580183   0.691924   -0.148441  9.51456    -0.0532632  0.0266316   0.0511327   0.18       0.02          pose: 0.8120971     5.88741    -0.617538   0 -0.0006438180.00130071  -0.631663   0.775241       uwb: 0.0            860.271  439.494  
imu_odom_:  1691062811.54579247   0.550666   -0.304064  9.94791    -0.0756338  -0.00639159 0.0585895   0.18       0.02          pose: 0.0           5.88741    -0.617538   0 -0.0006438180.00130071  -0.631663   0.775241       uwb: 0.0            860.271  439.494  
imu_odom_:  1691062811.72520629   0.605733   0.0335188  10.0149    -0.0447411  0.0234358   0.0394148   0.18       0.02          pose: 0.47928749    5.88723    -0.63168    0 -0.00256827 0.00266966  -0.631452   0.775406       uwb: 0.0            860.271  439.494  
imu_odom_:  1691062811.90628835   0.387861   -0.167594  9.81383    -0.0809601  -0.0213053  0.0628506   0.18       0.02          pose: 0.0           5.88723    -0.63168    0 -0.00256827 0.00266966  -0.631452   0.775406       uwb: 0.0            860.271  439.494  
imu_odom_:  1691062811.106505049  0.225055   0.0407014  10.3214    -0.0703074  -0.0138484  0.0511327   0.18       0.02          pose: 0.0           5.88723    -0.63168    0 -0.00256827 0.00266966  -0.631452   0.775406       uwb: 0.99920465     858.758  439.68   
imu_odom_:  1691062811.131530589  0.220267   -0.366313  9.63187    -0.0777643  0.036219    0.0585895   0.23       0             pose: 0.48981312    5.89422    -0.638835   0 -0.00387193 -0.000999984-0.631206   0.775605       uwb: 0.0            858.758  439.68   
imu_odom_:  1691062811.156513841  0.54109    -0.237026  9.74201    -0.0436758  -0.00213053 0.0351537   0.18       0.02          pose: 0.69002735    5.89202    -0.650885   0 -0.0002000080.00161415  -0.630798   0.775945       uwb: 0.49835552     856.313  440.302  
imu_odom_:  1691062811.173459241  0.265756   -0.138864  10.0389    -0.036219   -0.0436758  0.0415453   0.18       0.02          pose: 0.0           5.89202    -0.650885   0 -0.0002000080.00161415  -0.630798   0.775945       uwb: 0.0            856.313  440.302  
imu_odom_:  1691062811.186456586  0.35913    -0.409408  10.3238    -0.0319579  -0.0170442  0.0308927   0.18       0             pose: 0.0           5.89202    -0.650885   0 -0.0002000080.00161415  -0.630798   0.775945       uwb: 0.0            856.313  440.302  
imu_odom_:  1691062811.204578208  0.514753   -0.0837971 10.0556    -0.0351537  0.0266316   0.0394148   0.18       0             pose: 0.48000788    5.89406    -0.65297    0 -0.0004776810.000243235 -0.630851   0.775904       uwb: 0.50110869     861.604  438.656  
imu_odom_:  1691062811.218465083  0.596156   -0.0287304 9.62469    -0.0553937  -0.00213053 0.0575243   0.18       0             pose: 0.0           5.89406    -0.65297    0 -0.0004776810.000243235 -0.630851   0.775904       uwb: 0.0            861.604  438.656  
imu_odom_:  1691062811.235511977  0.323217   -0.184354  10.2161    -0.0340885  0.0213053   0.0436758   0.2        -0.02         pose: 0.31051012    5.89391    -0.667112   0 -1.79183e-05-0.00153333 -0.630834   0.775916       uwb: 0.0            861.604  438.656  
imu_odom_:  1691062811.251510101  0.215478   0.100556   9.95988    -0.04048    0           0.0415453   0.2        -0.02         pose: 0.0           5.89391    -0.667112   0 -1.79183e-05-0.00153333 -0.630834   0.775916       uwb: 0.49854218     865.117  438.188  
imu_odom_:  1691062811.268512664  0.169988   -0.423774  9.77553    -0.056459   -0.00213053 0.0468716   0.23       0.02          pose: 0.40927712    5.89782    -0.671103   0 0.003123    -0.0011459  -0.63074    0.775987       uwb: 0.0            865.117  438.188  
imu_odom_:  1691062811.285509103  0.560243   -0.0191536 10.1754    -0.0372843  -0.0426106  0.0351537   0.23       0.02          pose: 0.0           5.89782    -0.671103   0 0.003123    -0.0011459  -0.63074    0.775987       uwb: 0.0            865.117  438.188  
imu_odom_:  1691062811.302447795  0.31364    -0.37589   9.33739    -0.0607201  0.0149137   0.0415453   0.23       0.02          pose: 0.0           5.89782    -0.671103   0 0.003123    -0.0011459  -0.63074    0.775987       uwb: 0.49998292     868.523  437.236  
imu_odom_:  1691062811.319457650  0.603339   -0.162806  10.2807    -0.056459   -0.015979   0.0351537   0.18       0.02          pose: 0.7061701     5.90091    -0.674257   0 0.00296908  -0.000447972-0.630722   0.776003       uwb: 0.0            868.523  437.236  
imu_odom_:  1691062811.336496670  0.373495   -0.0502782 9.663      -0.0468716  0.0287621   0.0319579   0.18       0             pose: 0.0           5.90091    -0.674257   0 0.00296908  -0.000447972-0.630722   0.776003       uwb: 0.0            868.523  437.236  
imu_odom_:  1691062811.354438052  0.490811   -0.234632  10.0413    -0.0628506  -0.0511327  0.0543285   0.18       0             pose: 0.67895053    5.90076    -0.688398   0 0.0015987   -0.00159898 -0.630761   0.775974       uwb: 0.50141784     870.591  437.215  
imu_odom_:  1691062811.370486922  1.1971     -0.270545  9.85453    -0.0532632  0.0213053   0.0426106   0.18       0             pose: 0.0           5.90076    -0.688398   0 0.0015987   -0.00159898 -0.630761   0.775974       uwb: 0.0            870.591  437.215  
imu_odom_:  1691062811.385597266  0.418985   -0.251391  9.95509    -0.0585895  0.0543285   0.0319579   0.18       0             pose: 0.0           5.90076    -0.688398   0 0.0015987   -0.00159898 -0.630761   0.775974       uwb: 0.0            870.591  437.215  
imu_odom_:  1691062811.400594158  0.114922   -0.272939  9.87369    -0.056459   0.00426106  0.0436758   0.18       0             pose: 0.34976610    5.90076    -0.688398   0 0.000128288 -0.00284647 -0.630676   0.776041       uwb: 0.49987794     871.951  436.374  
imu_odom_:  1691062811.418460878  0.620098   -0.335188  9.39245    -0.0415453  -0.0106526  0.0266316   0.26       0             pose: 0.39150693    5.90061    -0.70254    0 -3.39539e-06-0.000228563-0.630684   0.776039       uwb: 0.0            871.951  436.374  
imu_odom_:  1691062811.434584411  0.869095   -0.102951  9.85693    -0.0479369  -0.0394148  0.0298274   0.26       0             pose: 0.8001687     5.90061    -0.70254    0 -0.000724246-0.000569275-0.630724   0.776006       uwb: 0.0            871.951  436.374  
imu_odom_:  1691062811.452467755  0.962469   -0.294487  10.1299    -0.0500674  -0.0106526  0.0788296   0.23       0.02          pose: 0.0           5.90061    -0.70254    0 -0.000724246-0.000569275-0.630724   0.776006       uwb: 0.49928588     880.328  434.632  
imu_odom_:  1691062811.469589019  1.10612    -0.282516  10.7284    -0.0415453  -0.0490022  0.0905475   0.15       -0.02         pose: 0.43871910    5.90761    -0.709683   0 -0.00371008 -0.00399876 -0.630554   0.776127       uwb: 0.0            880.328  434.632  
imu_odom_:  1691062811.483599262  1.43173    -0.110133  9.90481    -0.0276969  -0.072438   0.04048     0.14       -0.05         pose: 0.0           5.90761    -0.709683   0 -0.00371008 -0.00399876 -0.630554   0.776127       uwb: 0.0            880.328  434.632  
imu_odom_:  1691062811.500641782  1.5706     0.035913   9.35415    -0.0511327  0.0138484   -0.00852212 0.14       -0.05         pose: 0.0           5.90761    -0.709683   0 -0.00371008 -0.00399876 -0.630554   0.776127       uwb: 0.49929755     882.277  434.079  
imu_odom_:  1691062811.514583487  1.29287    -0.148441  9.59596    -0.0660464  0.0479369   -0.00426106 0.14       -0.05         pose: 0.23136237    5.90761    -0.709683   0 -0.00545418 -0.00630576 -0.6302     0.776388       uwb: 0.0            882.277  434.079  
imu_odom_:  1691062811.531633881  0.991199   -0.248997  9.81862    -0.0692422  0.0276969   0.0213053   0.12       -0.05         pose: 0.0           5.90761    -0.709683   0 -0.00545418 -0.00630576 -0.6302     0.776388       uwb: 0.0            882.277  434.079  
imu_odom_:  1691062811.544577855  1.00556    -0.423774  9.991      -0.0553937  0.0372843   0.056459    0.12       -0.05         pose: 0.0           5.90761    -0.709683   0 -0.00545418 -0.00630576 -0.6302     0.776388       uwb: 0.0            882.277  434.079  
imu_odom_:  1691062811.560516190  0.878672   -0.488417  9.75398    -0.0479369  0.036219    0.0585895   0.1        -0.02         pose: 0.30988599    5.90048    -0.71669    0 -0.00681094 -0.0090735  -0.630601   0.776024       uwb: 0.50005584     879.321  434.75   
imu_odom_:  1691062811.578503361  0.567426   -0.167594  10.1155    -0.0500674  -0.00426106 0.0181095   0.1        -0.02         pose: 0.37985264    5.90755    -0.723762   0 -0.00936367 -0.0106548  -0.630742   0.775863       uwb: 0.0            879.321  434.75   
imu_odom_:  1691062811.596442410  0.665588   0.0143652  9.93115    -0.0511327  -0.0223706  0.0138484   0.1        -0.02         pose: 0.0           5.90755    -0.723762   0 -0.00936367 -0.0106548  -0.630742   0.775863       uwb: 0.50182323     887.121  432.662  
imu_odom_:  1691062811.612719934  1.09654    -0.146046  10.1873    -0.0692422  -0.036219   0.0415453   0.08       0             pose: 0.7898734     5.90755    -0.723762   0 -0.0100315  -0.0105267  -0.630673   0.775912       uwb: 0.0            887.121  432.662  
imu_odom_:  1691062811.629444556  1.14443    -0.493206  9.95988    -0.0607201  -0.00639159 0.0383495   0.1        -0.02         pose: 0.0           5.90755    -0.723762   0 -0.0100315  -0.0105267  -0.630673   0.775912       uwb: 0.0            887.121  432.662  
imu_odom_:  1691062811.645445304  0.68953    -0.186748  9.71567    -0.052198   0.0319579   0.0213053   0.1        -0.02         pose: 0.0           5.90755    -0.723762   0 -0.0100315  -0.0105267  -0.630673   0.775912       uwb: 0.49935004     888.531  431.977  
imu_odom_:  1691062811.663485847  0.517148   0.059855   10.0102    -0.0607201  -0.02024    0.0266316   0.1        -0.02         pose: 0.68271572    5.90755    -0.723762   0 -0.0095841  -0.0128524  -0.630936   0.77567        uwb: 0.0            888.531  431.977  
imu_odom_:  1691062811.679452472  0.591368   -0.208296  9.88805    -0.0575243  -0.0234358  0.0287621   0.1        -0.02         pose: 0.0           5.90755    -0.723762   0 -0.0095841  -0.0128524  -0.630936   0.77567        uwb: 0.0            888.531  431.977  
imu_odom_:  1691062811.696499075  0.770933   -0.430956  9.88805    -0.0553937  -0.0234358  0.0351537   0.1        -0.02         pose: 0.32707288    5.91461    -0.730843   0 -0.00795245 -0.0125258  -0.631119   0.775544       uwb: 0.49939963     892.506  431.235  
imu_odom_:  1691062811.712442077  0.85473    -0.323217  9.85214    -0.0585895  -0.00639159 0.0383495   0.05       0.02          pose: 0.43043626    5.91067    -0.734771   0 -0.00851081 -0.0108739  -0.631264   0.775445       uwb: 0.0            892.506  431.235  
imu_odom_:  1691062811.729430058  0.634463   -0.0694318 9.91439    -0.0543285  0.00426106  0.0436758   0.05       0.02          pose: 0.8006936     5.90753    -0.737901   0 -0.00928419 -0.0111325  -0.631258   0.775438       uwb: 0.0            892.506  431.235  
imu_odom_:  1691062811.747432103  0.675165   -0.160412  9.8689     -0.0607201  -0.0106526  0.0394148   0.05       0.02          pose: 0.0           5.90753    -0.737901   0 -0.00928419 -0.0111325  -0.631258   0.775438       uwb: 0.50048748     894.423  430.47   
imu_odom_:  1691062811.761568630  0.667982   -0.0909797 9.90242    -0.0617853  -0.015979   0.0383495   0.05       0.02          pose: 0.42926092    5.90753    -0.737901   0 -0.00678893 -0.0125524  -0.631272   0.775431       uwb: 0.0            894.423  430.47   
imu_odom_:  1691062811.777673497  0.581791   -0.287304  9.8282     -0.0543285  -0.00319579 0.0585895   0.04       0.02          pose: 0.0           5.90753    -0.737901   0 -0.00678893 -0.0125524  -0.631272   0.775431       uwb: 0.0            894.423  430.47   
imu_odom_:  1691062811.792674764  0.591368   -0.390255  10.0245    -0.0585895  -0.0138484  0.0862864   0.04       0.02          pose: 0.0           5.90753    -0.737901   0 -0.00678893 -0.0125524  -0.631272   0.775431       uwb: 0.0            894.423  430.47   
imu_odom_:  1691062811.809555710  0.517148   -0.217872  9.81144    -0.0426106  0.00106526  0.0969391   0.03       0.08          pose: 0.21134649    5.90753    -0.737901   0 -0.00589928 -0.0126667  -0.63124    0.775461       uwb: 0.50038248     898.89   429.612  
imu_odom_:  1691062811.822486559  0.627281   -0.141258  9.95509    -0.056459   -0.0117179  0.126766    0.03       0.08          pose: 0.0           5.90753    -0.737901   0 -0.00589928 -0.0126667  -0.63124    0.775461       uwb: 0.0            898.89   429.612  
imu_odom_:  1691062811.838422853  0.600945   -0.287304  9.84017    -0.0617853  -0.00958738 0.133158    0.03       0.08          pose: 0.0           5.90753    -0.737901   0 -0.00589928 -0.0126667  -0.63124    0.775461       uwb: 0.0            898.89   429.612  
imu_odom_:  1691062811.855503287  0.699107   -0.148441  9.90002    -0.0447411  0.00106526  0.106526    0.04       0.11          pose: 0.69856101    5.90753    -0.737901   0 -0.00647595 -0.00890297 -0.629508   0.776916       uwb: 0.49887758     899.404  429.617  
imu_odom_:  1691062811.871428499  0.600945   -0.131681  9.8258     -0.0553937  -0.00532632 0.116114    0.04       0.11          pose: 0.0           5.90753    -0.737901   0 -0.00647595 -0.00890297 -0.629508   0.776916       uwb: 0.0            899.404  429.617  
imu_odom_:  1691062811.888704046  0.679953   -0.275333  9.93594    -0.0553937  -0.00213053 0.12144     0.04       0.11          pose: 0.0           5.90753    -0.737901   0 -0.00647595 -0.00890297 -0.629508   0.776916       uwb: 0.0            899.404  429.617  
imu_odom_:  1691062811.905696693  0.670376   -0.246603  9.84975    -0.0532632  -0.00426106 0.12144     0.02       0.08          pose: 0.7010080     5.90753    -0.737901   0 -0.00649603 -0.00960889 -0.629324   0.777057       uwb: 0.50071788     902.885  428.966  
imu_odom_:  1691062811.922692548  0.658405   -0.155623  9.90481    -0.0532632  -0.00106526 0.132093    0.02       0.08          pose: 0.0           5.90753    -0.737901   0 -0.00649603 -0.00960889 -0.629324   0.777057       uwb: 0.0            902.885  428.966  
imu_odom_:  1691062811.938558847  0.691924   -0.198719  9.86172    -0.0596548  -0.00639159 0.133158    0.02       0.08          pose: 0.0           5.90753    -0.737901   0 -0.00649603 -0.00960889 -0.629324   0.777057       uwb: 0.0            902.885  428.966  
imu_odom_:  1691062811.955687694  0.658405   -0.138864  9.90002    -0.0490022  0.00319579  0.120375    0.02       0.14          pose: 0.51030730    5.90753    -0.737901   0 -0.00737704 -0.0100552  -0.627779   0.778292       uwb: 0.0            902.885  428.966  
imu_odom_:  1691062811.971568575  0.608127   -0.148441  9.86172    -0.0575243  0           0.129962    0.01       0.11          pose: 0.0           5.90753    -0.737901   0 -0.00737704 -0.0100552  -0.627779   0.778292       uwb: 0.0            902.885  428.966  
imu_odom_:  1691062811.989544080  0.665588   -0.253785  9.92636    -0.0575243  -0.00639159 0.143811    0.01       0.11          pose: 0.67138223    5.91458    -0.744993   0 -0.0059807  -0.0117327  -0.625494   0.780118       uwb: 0.0            902.885  428.966  
imu_odom_:  1691062812.5546579    0.622492   -0.260968  9.85693    -0.052198   0.00319579  0.134223    0.01       0.11          pose: 0.0           5.91458    -0.744993   0 -0.0059807  -0.0117327  -0.625494   0.780118       uwb: 0.100069206    903.341  428.627  
imu_odom_:  1691062812.21549952   0.481235   -0.0814029 9.91199    -0.0553937  0.00426106  0.123571    0          0.08          pose: 0.0           5.91458    -0.744993   0 -0.0059807  -0.0117327  -0.625494   0.780118       uwb: 0.0            903.341  428.627  
imu_odom_:  1691062812.37541660   0.459687   -0.102951  9.88805    -0.0553937  -0.00532632 0.108657    0          0.08          pose: 0.33822263    5.91458    -0.744993   0 -0.00738001 -0.00981878 -0.624177   0.781187       uwb: 0.0            903.341  428.627  
imu_odom_:  1691062812.54428148   0.562637   -0.141258  9.89045    -0.0543285  -0.00852212 0.0777643   0          0.05          pose: 0.40117511    5.91449    -0.744998   0 -0.00464372 -0.00827563 -0.622948   0.782205       uwb: 0.49854802     900.86   429.123  
imu_odom_:  1691062812.70409939   0.59855    -0.184354  9.90481    -0.056459   -0.00639159 0.0681769   0          0.05          pose: 0.0           5.91449    -0.744998   0 -0.00464372 -0.00827563 -0.622948   0.782205       uwb: 0.0            900.86   429.123  
imu_odom_:  1691062812.86420896   0.591368   -0.227449  9.88805    -0.0553937  -0.00532632 0.0532632   0          0.05          pose: 0.0           5.91449    -0.744998   0 -0.00464372 -0.00827563 -0.622948   0.782205       uwb: 0.0            900.86   429.123  
imu_odom_:  1691062812.100404016  0.555455   -0.124498  9.87129    -0.0532632  -0.00106526 0.0394148   0          0             pose: 0.7882986     5.91458    -0.744993   0 -0.00387606 -0.00842888 -0.622837   0.782296       uwb: 0.49999169     900.369  429.257  
imu_odom_:  1691062812.114660411  0.457293   -0.112527  9.87369    -0.0575243  0.00319579  0.0351537   0          0             pose: 0.0           5.91458    -0.744993   0 -0.00387606 -0.00842888 -0.622837   0.782296       uwb: 0.0            900.369  429.257  
imu_odom_:  1691062812.136462354  0.380678   -0.28491   9.89524    -0.0553937  -0.00319579 0.036219    0          0             pose: 0.46995474    5.91458    -0.744993   0 -0.0052485  -0.00786937 -0.622426   0.782622       uwb: 0.0            900.369  429.257  
imu_odom_:  1691062812.153462293  -0.122104  -0.251391  9.71328    -0.0553937  0.0617853   0.0287621   0          0.02          pose: 0.0           5.91458    -0.744993   0 -0.0052485  -0.00786937 -0.622426   0.782622       uwb: 0.49992752     902.367  428.912  
imu_odom_:  1691062812.170405361  -1.05105   -0.124498  10.1107    -0.0511327  0.0671117   0.0330232   0.02       0             pose: 0.0           5.91458    -0.744993   0 -0.0052485  -0.00786937 -0.622426   0.782622       uwb: 0.0            902.367  428.912  
imu_odom_:  1691062812.186410776  -1.16358   -0.244209  9.8258     -0.0617853  -0.0351537  0.0575243   0.02       0             pose: 0.69003904    5.91458    -0.744993   0 -0.000895532-0.0026589  -0.622606   0.78253        uwb: 0.0            902.367  428.912  
imu_odom_:  1691062812.204406405  0.117316   -0.3304    9.92875    -0.052198   -0.0756338  0.0788296   0.04       0.02          pose: 0.0           5.91458    -0.744993   0 -0.000895532-0.0026589  -0.622606   0.78253        uwb: 0.50245905     903.837  428.495  
imu_odom_:  1691062812.221449217  0.545878   -0.397437  9.87608    -0.0585895  -0.0308927  0.0969391   0.04       0.02          pose: 0.0           5.91458    -0.744993   0 -0.000895532-0.0026589  -0.622606   0.78253        uwb: 0.0            903.837  428.495  
imu_odom_:  1691062812.238643978  0.323217   0          10.1059    -0.0468716  0.0298274   0.0745685   0.04       0.02          pose: 0.33061643    5.91458    -0.744993   0 0.000693635 -7.07149e-05-0.622398   0.782701       uwb: 0.0            903.837  428.495  
imu_odom_:  1691062812.255411764  -0.189142  -0.134075  9.77074    -0.0628506  0.0149137   0.0830906   0.07       0.02          pose: 0.44158311    5.91458    -0.744993   0 0.000726836 2.99275e-05 -0.621629   0.783311       uwb: 0.49562861     904.321  428.319  
imu_odom_:  1691062812.272458075  -0.241814  -0.205901  9.94073    -0.0660464  -0.0170442  0.0830906   0.07       0.02          pose: 0.0           5.91458    -0.744993   0 0.000726836 2.99275e-05 -0.621629   0.783311       uwb: 0.0            904.321  428.319  
imu_odom_:  1691062812.286418738  0.347159   -0.287304  10.3382    -0.052198   -0.0468716  0.0777643   0.07       0.02          pose: 0.0           5.91458    -0.744993   0 0.000726836 2.99275e-05 -0.621629   0.783311       uwb: 0.0            904.321  428.319  
imu_odom_:  1691062812.304460156  0.457293   -0.19393   9.64145    -0.052198   -0.00639159 0.0830906   0.09       0.02          pose: 0.6769177     5.91458    -0.744993   0 0.00122825  0.000572694 -0.621514   0.783402       uwb: 0.50104746     900.836  428.985  
imu_odom_:  1691062812.317452836  0.306458   0.0215478  9.89045    -0.0585895  -0.0351537  0.0980043   0.09       0             pose: 0.0           5.91458    -0.744993   0 0.00122825  0.000572694 -0.621514   0.783402       uwb: 0.0            900.836  428.985  
imu_odom_:  1691062812.335387802  0.162806   -0.304064  9.93115    -0.0575243  -0.0479369  0.0884169   0.09       0             pose: 0.65010060    5.90747    -0.752028   0 0.00125487  0.000977215 -0.620403   0.784281       uwb: 0.0            900.836  428.985  
imu_odom_:  1691062812.348380190  -0.00718261-0.323217  9.50977    -0.0617853  -0.0138484  0.0649811   0.09       0             pose: 0.0           5.90747    -0.752028   0 0.00125487  0.000977215 -0.620403   0.784281       uwb: 0.50075289     899.805  428.974  
imu_odom_:  1691062812.365376337  0.172383   -0.134075  9.77313    -0.0596548  -0.0117179  0.0671117   0.1        0.05          pose: 0.0           5.90747    -0.752028   0 0.00125487  0.000977215 -0.620403   0.784281       uwb: 0.0            899.805  428.974  
imu_odom_:  1691062812.381431625  0.25618    -0.146046  10.0054    -0.0479369  -0.0436758  0.0777643   0.1        0.05          pose: 0.30971977    5.91451    -0.759126   0 0.002079    0.00264732  -0.619838   0.784722       uwb: 0.0            899.805  428.974  
imu_odom_:  1691062812.399408297  0.112527   -0.208296  9.47625    -0.0287621  -0.052198   0.0692422   0.11       0.02          pose: 0.40036433    5.91451    -0.759126   0 0.00524914  0.0035238   -0.619328   0.785107       uwb: 0.50093080     901.275  428.551  
imu_odom_:  1691062812.414525349  0.842759   -0.150835  9.87369    -0.0511327  -0.0436758  0.0884169   0.11       0.02          pose: 0.7952106     5.91451    -0.759126   0 0.00559652  0.00400559  -0.619236   0.785175       uwb: 0.0            901.275  428.551  
imu_odom_:  1691062812.432525644  0.972046   -0.387861  9.67497    -0.0692422  -0.036219   0.131028    0.11       0.02          pose: 0.0           5.91451    -0.759126   0 0.00559652  0.00400559  -0.619236   0.785175       uwb: 0.0            901.275  428.551  
imu_odom_:  1691062812.448534268  0.962469   -0.466869  9.89524    -0.0649811  0.0117179   0.158724    0.09       0.02          pose: 0.43141913    5.92158    -0.766204   0 0.00323598  0.00195613  -0.618194   0.786017       uwb: 0.49983128     904.786  428.027  
imu_odom_:  1691062812.465537707  1.4054     -0.198719  9.91678    -0.052198   -0.0394148  0.138484    0.12       -0.05         pose: 0.0           5.92158    -0.766204   0 0.00323598  0.00195613  -0.618194   0.786017       uwb: 0.0            904.786  428.027  
imu_odom_:  1691062812.481523290  1.33596    0.136469   9.69652    -0.0500674  0.00106526  0.0628506   0.12       -0.05         pose: 0.0           5.92158    -0.766204   0 0.00323598  0.00195613  -0.618194   0.786017       uwb: 0.0            904.786  428.027  
imu_odom_:  1691062812.498540436  0.962469   0.117316   9.9527     -0.0607201  0.0255663   0.0351537   0.09       0.02          pose: 0.24021102    5.92158    -0.766204   0 0.00127091  0.000598299 -0.617136   0.786856       uwb: 0.49884259     906.246  427.619  
imu_odom_:  1691062812.514657262  0.667982   -0.215478  9.83299    -0.0703074  0.0266316   0.00639159  0.09       0.02          pose: 0.0           5.92158    -0.766204   0 0.00127091  0.000598299 -0.617136   0.786856       uwb: 0.0            906.246  427.619  
imu_odom_:  1691062812.531472295  0.672771   -0.387861  10.0341    -0.052198   -0.0298274  -0.00958738 0.09       0.02          pose: 0.32983481    5.91454    -0.773306   0 0.000135966 -0.00244223 -0.61665    0.787233       uwb: 0.0            906.246  427.619  
imu_odom_:  1691062812.547532832  0.742203   -0.1652    9.77553    -0.0585895  -0.0213053  0.00106526  0.05       0.02          pose: 0.41942068    5.91454    -0.773306   0 -0.00286673 -0.00434947 -0.617187   0.786799       uwb: 0.50019001     906.258  427.689  
imu_odom_:  1691062812.564520522  0.857124   -0.205901  9.93594    -0.0553937  0.00958738  0.0426106   0.05       0.02          pose: 0.7122073     5.91454    -0.773306   0 -0.00325065 -0.00501736 -0.617292   0.786711       uwb: 0.0            906.258  427.689  
imu_odom_:  1691062812.580382738  0.608127   -0.347159  9.91439    -0.0585895  -0.00319579 0.0479369   0.05       0.02          pose: 0.0           5.91454    -0.773306   0 -0.00325065 -0.00501736 -0.617292   0.786711       uwb: 0.0            906.258  427.689  
imu_odom_:  1691062812.597437507  0.548272   -0.169988  9.78989    -0.0426106  0.00213053  0.0319579   0.05       0.02          pose: 0.41788370    5.91793    -0.776804   0 -0.00620175 -0.00643574 -0.617331   0.786653       uwb: 0.50000919     910.258  427.024  
imu_odom_:  1691062812.613371176  0.648829   -0.0454898 9.92875    -0.0500674  -0.00958738 0.0340885   0.04       0.02          pose: 0.0           5.91793    -0.776804   0 -0.00620175 -0.00643574 -0.617331   0.786653       uwb: 0.0            910.258  427.024  
imu_odom_:  1691062812.636424003  0.672771   -0.241814  9.89524    -0.0617853  0.00213053  0.0500674   0.04       0.02          pose: 0.25028166    5.92162    -0.780368   0 -0.00411728 -0.00766037 -0.617414   0.78659        uwb: 0.0            910.258  427.024  
imu_odom_:  1691062812.662521354  0.227449   -0.232238  9.69652    -0.052198   0.0596548   0.0287621   0.04       0.02          pose: 0.0           5.92162    -0.780368   0 -0.00411728 -0.00766037 -0.617414   0.78659        uwb: 0.50093955     907.253  427.455  
imu_odom_:  1691062812.676573304  -1.07021   0.0407014  9.64863    -0.0479369  0.0884169   0.0394148   0.04       0.02          pose: 0.39024702    5.92162    -0.780368   0 -0.0054363  -0.00805707 -0.617356   0.786624       uwb: 0.0            907.253  427.455  
imu_odom_:  1691062812.700368669  -1.04387   -0.325611  10.1251    -0.0692422  -0.0703074  0.0905475   0.06       0.05          pose: 0.32137698    5.92162    -0.780368   0 -0.00259548 -0.00466678 -0.617455   0.786588       uwb: 0.49859469     907.215  427.224  
imu_odom_:  1691062812.725437665  0.627281   -0.306458  9.97903    -0.0500674  -0.072438   0.0479369   0.06       0.05          pose: 0.7969605     5.92162    -0.780368   0 -0.00236329 -0.00417391 -0.617297   0.786715       uwb: 0.0            907.215  427.224  
imu_odom_:  1691062812.739389287  0.677559   -0.0047884 9.46667    -0.0607201  -0.0106526  0.0777643   0.09       0             pose: 0.0           5.92162    -0.780368   0 -0.00236329 -0.00417391 -0.617297   0.786715       uwb: 0.0            907.215  427.224  
imu_odom_:  1691062812.763395223  0.181959   -0.428562  9.73482    -0.0745685  0.0553937   0.0671117   0.09       0             pose: 0.47890254    5.92162    -0.780368   0 -0.00457157 -0.0053609  -0.616784   0.787101       uwb: 0.50130119     904.741  427.797  
imu_odom_:  1691062812.789522615  0.136469   -0.0311246 10.2855    -0.0490022  -0.0351537  0.04048     0.12       0             pose: 0.30962060    5.92157    -0.789774   0 -0.00382889 -0.00293574 -0.616425   0.787399       uwb: 0.0            904.741  427.797  
imu_odom_:  1691062812.805424495  0.474052   -0.462081  9.71806    -0.0703074  -0.0319579  0.0798948   0.12       0             pose: 0.8016853     5.92155    -0.79451    0 -0.00314193 -0.00274817 -0.616425   0.787403       uwb: 0.49873176     903.279  428.28   
imu_odom_:  1691062812.830501366  0.385466   0.0526724  10.082     -0.0383495  -0.0234358  0.04048     0.15       0.02          pose: 0.0           5.92155    -0.79451    0 -0.00314193 -0.00274817 -0.616425   0.787403       uwb: 0.0            903.279  428.28   
imu_odom_:  1691062812.855392457  0.186748   -0.241814  10.0269    -0.072438   -0.0138484  0.076699    0.15       0.02          pose: 0.42024605    5.92155    -0.79451    0 -0.00239146 -0.00194569 -0.616165   0.787611       uwb: 0.50060707     900.759  428.545  
imu_odom_:  1691062812.873407044  0.114922   -0.387861  9.95509    -0.0490022  -0.00213053 0.036219    0.12       0             pose: 0.0           5.92155    -0.79451    0 -0.00239146 -0.00194569 -0.616165   0.787611       uwb: 0.0            900.759  428.545  
imu_odom_:  1691062812.890446355  0.023942   -0.0694318 9.61511    -0.0543285  0.00426106  0.0607201   0.12       0             pose: 0.50084622    5.92861    -0.801602   0 0.000227415 0.000212747 -0.615814   0.787892       uwb: 0.0            900.759  428.545  
imu_odom_:  1691062812.915443898  0.263362   -0.0335188 10.0724    -0.0553937  -0.00319579 0.0490022   0.13       0             pose: 0.0           5.92861    -0.801602   0 0.000227415 0.000212747 -0.615814   0.787892       uwb: 0.49860344     902.729  428.04   
imu_odom_:  1691062812.939386254  0.586579   -0.0837971 10.3525    -0.0372843  -0.0340885  0.052198    0.13       0             pose: 0.33889635    5.92861    -0.801602   0 0.00259792  0.00190795  -0.615653   0.78801        uwb: 0.0            902.729  428.04   
imu_odom_:  1691062812.957399966  0.37589    -0.387861  10.2256    -0.04048    -0.0426106  0.0585895   0.19       0             pose: 0.0           5.92861    -0.801602   0 0.00259792  0.00190795  -0.615653   0.78801        uwb: 0.50249695     901.289  428.62   
imu_odom_:  1691062812.982505127  -0.105345  -0.177171  9.79228    -0.0372843  -0.0553937  0.0585895   0.19       0             pose: 0.50109412    5.92858    -0.815743   0 0.00276616  -0.000778929-0.6154     0.78821        uwb: 0.0            901.289  428.62   
imu_odom_:  1691062812.999378491  0.316035   -0.0694318 9.49062    -0.0511327  -0.0511327  0.0532632   0.2        0             pose: 0.0           5.92858    -0.815743   0 0.00276616  -0.000778929-0.6154     0.78821        uwb: 0.49859178     901.764  428.395  
imu_odom_:  1691062813.24485694   0.550666   -0.35913   9.77074    -0.052198   -0.0426106  0.0681769   0.2        0             pose: 0.41995732    5.92858    -0.815743   0 0.00384733  0.000584191 -0.615103   0.788437       uwb: 0.0            901.764  428.395  
imu_odom_:  1691062813.49478863   -0.318429  -0.0071826110.0126    -0.0287621  0.02024     0.0500674   0.17       0             pose: 0.0           5.92858    -0.815743   0 0.00384733  -0.000595217-0.61477    0.788704       uwb: 0.50124579     904.764  427.936  
imu_odom_:  1691062813.62349050   0.114922   -0.459687  9.13148    -0.0468716  0.052198    0.052198    0.17       0             pose: 0.8057392     5.93565    -0.822815   0 0.00266166  -8.13236e-05-0.614736   0.788728       uwb: 0.0            904.764  427.936  
imu_odom_:  1691062813.86361694   1.1157     -0.196325  10.0963    -0.0788296  -0.0543285  0.072438    0.15       0.02          pose: 0.0           5.93565    -0.822815   0 0.00266166  -8.13236e-05-0.614736   0.788728       uwb: 0.0            904.764  427.936  
imu_odom_:  1691062813.112458463  0.639252   -0.0670376 9.88326    -0.0500674  -0.0340885  0.0543285   0.15       0.02          pose: 0.37883771    5.92858    -0.829889   0 0.00352693  0.00176913  -0.6145     0.788907       uwb: 0.49690313     904.21   427.695  
imu_odom_:  1691062813.134326903  0.658405   -0.248997  10.0365    -0.0745685  -0.00532632 0.0649811   0.16       0             pose: 0.0           5.92858    -0.829889   0 0.00352693  0.00176913  -0.6145     0.788907       uwb: 0.0            904.21   427.695  
imu_odom_:  1691062813.152388737  0.213084   -0.454898  9.63666    -0.0777643  0.0319579   0.0500674   0.16       0             pose: 0.48915694    5.93566    -0.836952   0 0.000675569 -0.00287721 -0.614067   0.789248       uwb: 0.50121080     897.788  429.045  
imu_odom_:  1691062813.166340359  -0.186748  -0.0837971 10.0437    -0.0607201  0.0340885   -0.00106526 0.16       0             pose: 0.0           5.93566    -0.836952   0 0.000675569 -0.00287721 -0.614067   0.789248       uwb: 0.0            897.788  429.045  
imu_odom_:  1691062813.183331841  0.311246   0.122104   10.1394    -0.0841559  -0.0553937  -0.04048    0.16       -0.08         pose: 0.38991163    5.93566    -0.836952   0 -0.000456523-0.000931622-0.613935   0.789356       uwb: 0.0            897.788  429.045  
imu_odom_:  1691062813.199333174  0.409408   -0.0981623 10.1323    -0.0660464  -0.00745685 -0.106526   0.16       -0.08         pose: 0.0           5.93566    -0.836952   0 -0.000456523-0.000931622-0.613935   0.789356       uwb: 0.50001212     897.76   428.883  
imu_odom_:  1691062813.217378092  0.773327   -0.335188  9.99819    -0.0639159  -0.0255663  -0.156594   0.21       -0.35         pose: 0.0           5.93566    -0.836952   0 -0.000456523-0.000931622-0.613935   0.789356       uwb: 0.0            897.76   428.883  
imu_odom_:  1691062813.234434612  0.531513   0.047884   9.87129    -0.0553937  0.00213053  -0.252468   0.21       -0.35         pose: 0.49005813    5.9357     -0.851095   0 0.00166099  -0.00252686 -0.616137   0.787633       uwb: 0.0            897.76   428.883  
imu_odom_:  1691062813.250376448  0.814029   0.186748   9.80426    -0.0319579  0.0106526   -0.332363   0.21       -0.35         pose: 0.0           5.9357     -0.851095   0 0.00166099  -0.00252686 -0.616137   0.787633       uwb: 0.50038543     896.757  429.04   
imu_odom_:  1691062813.268334747  0.68953    0.248997   10.2376    -0.0575243  -0.0191748  -0.345146   0.17       -0.38         pose: 0.43036921    5.94273    -0.858121   0 0.00186713  -0.0060625  -0.621184   0.783639       uwb: 0.0            896.757  429.04   
imu_odom_:  1691062813.285322437  0.220267   -0.287304  9.12909    -0.0777643  0.00852212  -0.378169   0.17       -0.44         pose: 0.0           5.94273    -0.858121   0 0.00186713  -0.0060625  -0.621184   0.783639       uwb: 0.0            896.757  429.04   
imu_odom_:  1691062813.302415121  0.47884    -0.0191536 10.1083    -0.0894822  -0.00745685 -0.40267    0.17       -0.44         pose: 0.0           5.94273    -0.858121   0 0.00186713  -0.0060625  -0.621184   0.783639       uwb: 0.49942298     897.227  428.788  
imu_odom_:  1691062813.319336898  0.138864   -0.409408  9.72046    -0.056459   0.00958738  -0.430367   0.17       -0.47         pose: 0.25952986    5.93581    -0.865252   0 0.00243371  -0.00692938 -0.62519    0.780438       uwb: 0.0            897.227  428.788  
imu_odom_:  1691062813.337486519  0.59855    -0.217872  10.3238    -0.0649811  -0.0234358  -0.480434   0.17       -0.47         pose: 0.0           5.93581    -0.865252   0 0.00243371  -0.00692938 -0.62519    0.780438       uwb: 0.0            897.227  428.788  
imu_odom_:  1691062813.353343194  0.215478   -0.275333  9.60554    -0.0798948  0.0266316   -0.511327   0.17       -0.47         pose: 0.33033354    5.94292    -0.872283   0 0.00332136  -0.00629225 -0.630871   0.775855       uwb: 0.49886010     897.739  428.768  
imu_odom_:  1691062813.370345466  0.799663   -0.011971  10.2759    -0.0639159  0.0340885   -0.549676   0.17       -0.55         pose: 0.36042006    5.94292    -0.872283   0 0.00148675  -0.00474876 -0.638019   0.770004       uwb: 0.0            897.739  428.768  
imu_odom_:  1691062813.388543792  0.59855    -0.263362  10.137     -0.072438   0.00745685  -0.567786   0.17       -0.55         pose: 0.0           5.94292    -0.872283   0 0.00148675  -0.00474876 -0.638019   0.770004       uwb: 0.0            897.739  428.768  
imu_odom_:  1691062813.404361969  0.500388   0.268151   9.57202    -0.0500674  -0.0181095  -0.569916   0.17       -0.61         pose: 0.43138998    5.94299    -0.886429   0 -0.000621961-0.00506494 -0.647753   0.761833       uwb: 0.49988963     896.271  429.2    
imu_odom_:  1691062813.421396032  1.17076    -0.205901  9.80186    -0.0532632  -0.0756338  -0.535828   0.17       -0.61         pose: 0.0           5.94299    -0.886429   0 -0.000621961-0.00506494 -0.647753   0.761833       uwb: 0.0            896.271  429.2    
imu_odom_:  1691062813.437341076  1.44131    -0.186748  9.62948    -0.0575243  -0.0458064  -0.525175   0.17       -0.61         pose: 0.0           5.94299    -0.886429   0 -0.000621961-0.00506494 -0.647753   0.761833       uwb: 0.0            896.271  429.2    
imu_odom_:  1691062813.454479549  1.71664    -0.191536  9.59596    -0.0330232  0.0308927   -0.530502   0.18       -0.61         pose: 0.6836549     5.94307    -0.886424   0 -0.000124403-0.00557729 -0.649339   0.760478       uwb: 0.50024835     896.786  429.202  
imu_odom_:  1691062813.471539277  1.14203    -0.138864  9.23922    -0.0479369  -0.0170442  -0.497478   0.18       -0.61         pose: 0.0           5.94307    -0.886424   0 -0.000124403-0.00557729 -0.649339   0.760478       uwb: 0.0            896.786  429.202  
imu_odom_:  1691062813.488475053  0.964863   -0.21069   10.3765    -0.0490022  0.00852212  -0.438889   0.18       -0.61         pose: 0.0           5.94307    -0.886424   0 -0.000124403-0.00557729 -0.649339   0.760478       uwb: 0.0            896.786  429.202  
imu_odom_:  1691062813.505358333  0.948104   -0.141258  10.5656    -0.0447411  0.0149137   -0.365386   0.11       -0.35         pose: 0.50037668    5.95023    -0.893414   0 -0.00276296 -0.00980239 -0.66022    0.751003       uwb: 0.50091915     893.326  429.862  
imu_odom_:  1691062813.521493825  1.04387    -0.289698  9.78031    -0.052198   -0.0436758  -0.298274   0.15       -0.53         pose: 0.0           5.95023    -0.893414   0 -0.00276296 -0.00980239 -0.66022    0.751003       uwb: 0.0            893.326  429.862  
imu_odom_:  1691062813.537471242  1.00078    -0.371101  9.77313    -0.0575243  -0.00319579 -0.248207   0.15       -0.53         pose: 0.66949529    5.94319    -0.90052    0 -0.00727836 -0.0142284  -0.671932   0.74044        uwb: 0.0            893.326  429.862  
imu_odom_:  1691062813.554466515  0.986411   -0.167594  10.2017    -0.0553937  0.0127832   -0.192813   0.12       -0.41         pose: 0.0           5.94319    -0.90052    0 -0.00727836 -0.0142284  -0.671932   0.74044        uwb: 0.50051083     891.84   430.19   
imu_odom_:  1691062813.570476014  0.486023   -0.275333  9.71806    -0.0511327  0.0415453   -0.189617   0.12       -0.41         pose: 0.0           5.94319    -0.90052    0 -0.00727836 -0.0142284  -0.671932   0.74044        uwb: 0.0            891.84   430.19   
imu_odom_:  1691062813.587456996  0.126893   0.0837971  10.0293    -0.0394148  -0.00532632 -0.246076   0.12       -0.41         pose: 0.33110058    5.95033    -0.907523   0 -0.0102678  -0.0154971  -0.675402   0.737215       uwb: 0.0            891.84   430.19   
imu_odom_:  1691062813.603347211  0.651223   0.011971   9.80186    -0.0585895  -0.0415453  -0.233293   0.07       -0.23         pose: 0.41979400    5.95033    -0.907523   0 -0.0083146  -0.0137518  -0.679333   0.733654       uwb: 0.49937049     891.361  430.377  
imu_odom_:  1691062813.620479851  0.878672   -0.397437  9.91918    -0.0628506  -0.00213053 -0.199204   0.07       -0.23         pose: 0.8017728     5.95033    -0.907523   0 -0.00767518 -0.0141837  -0.680144   0.732901       uwb: 0.0            891.361  430.377  
imu_odom_:  1691062813.636452893  0.907402   -0.641646  9.9934     -0.056459   -0.0276969  -0.190682   0.07       -0.23         pose: 0.0           5.95033    -0.907523   0 -0.00767518 -0.0141837  -0.680144   0.732901       uwb: 0.0            891.361  430.377  
imu_odom_:  1691062813.653351631  0.92895    -0.0742203 9.68933    -0.0511327  -0.00532632 -0.173638   0.08       -0.29         pose: 0.40978169    5.95033    -0.907523   0 -0.0103149  -0.01376    -0.68373    0.729533       uwb: 0.49984880     889.953  431.101  
imu_odom_:  1691062813.669480414  0.610521   -0.102951  9.96946    -0.0532632  0.0181095   -0.131028   0.06       -0.17         pose: 0.0           5.95033    -0.907523   0 -0.0103149  -0.01376    -0.68373    0.729533       uwb: 0.0            889.953  431.101  
imu_odom_:  1691062813.687605244  0.529119   -0.21069   10.0126    -0.0628506  -0.00532632 -0.138484   0.06       -0.17         pose: 0.0           5.95033    -0.907523   0 -0.0103149  -0.01376    -0.68373    0.729533       uwb: 0.0            889.953  431.101  
imu_odom_:  1691062813.704443027  0.600945   -0.1652    9.8258     -0.0436758  -0.0213053  -0.173638   0.05       -0.17         pose: 0.25150660    5.95033    -0.907523   0 -0.00990248 -0.0150101  -0.685558   0.727795       uwb: 0.50021335     894.897  430.072  
imu_odom_:  1691062813.729446112  0.742203   -0.189142  9.84975    -0.0649811  -0.0117179  -0.129962   0.05       -0.17         pose: 0.0           5.95033    -0.907523   0 -0.00990248 -0.0150101  -0.685558   0.727795       uwb: 0.0            894.897  430.072  
imu_odom_:  1691062813.745465818  0.31364    -0.402226  9.85693    -0.0628506  0.0319579   -0.140615   0.05       -0.17         pose: 0.34054417    5.94335    -0.914688   0 -0.0078314  -0.0124257  -0.687885   0.725671       uwb: 0.49873761     900.342  428.904  
imu_odom_:  1691062813.762380596  -0.68953   -0.007182619.95748    -0.0351537  0.117179    -0.199204   0.05       -0.11         pose: 0.0           5.94335    -0.914688   0 -0.0078314  -0.0124257  -0.687885   0.725671       uwb: 0.0            900.342  428.904  
imu_odom_:  1691062813.778426260  -1.43892   0.191536   10.1418    -0.0511327  0.0383495   -0.120375   0.05       -0.11         pose: 0.41799745    5.95047    -0.921709   0 -0.00939514 -0.0119722  -0.6906     0.723077       uwb: 0.0            900.342  428.904  
imu_odom_:  1691062813.795361453  -0.706289  -0.596156  9.89524    -0.072438   -0.104396   -0.0394148  0.11       -0.11         pose: 0.40968545    5.95047    -0.921709   0 -0.00535463 -0.00826284 -0.693552   0.720339       uwb: 0.50040293     898.837  429.121  
imu_odom_:  1691062813.811304164  0.794875   -0.3304    9.92875    -0.0447411  -0.0948085  -0.0532632  0.11       -0.11         pose: 0.0           5.95047    -0.921709   0 -0.00535463 -0.00826284 -0.693552   0.720339       uwb: 0.0            898.837  429.121  
imu_odom_:  1691062813.828343768  0.890643   -0.11971   9.96467    -0.0458064  0.0266316   -0.0479369  0.11       -0.11         pose: 0.0           5.95047    -0.921709   0 -0.00535463 -0.00826284 -0.693552   0.720339       uwb: 0.0            898.837  429.121  
imu_odom_:  1691062813.844399639  0.373495   0.0335188  9.78989    -0.0543285  0.0585895   -0.0500674  0.11       -0.08         pose: 0.6942125     5.95047    -0.921709   0 -0.00533068 -0.00784914 -0.693753   0.720151       uwb: 0.49985754     901.335  428.731  
imu_odom_:  1691062813.861280877  -0.0311246 -0.158017  10.137     -0.0553937  0.0181095   -0.0628506  0.14       -0.08         pose: 0.0           5.95047    -0.921709   0 -0.00533068 -0.00784914 -0.693753   0.720151       uwb: 0.0            901.335  428.731  
imu_odom_:  1691062813.877285418  0.0622492  -0.138864  10.0772    -0.0511327  0.00106526  -0.0660464  0.14       -0.08         pose: 0.66926489    5.95047    -0.921709   0 -0.00520541 -0.0084766  -0.695918   0.718053       uwb: 0.0            901.335  428.731  
imu_odom_:  1691062813.894285358  0.706289   -0.186748  9.98861    -0.0585895  -0.0127832  -0.0330232  0.15       -0.11         pose: 0.0           5.95047    -0.921709   0 -0.00520541 -0.0084766  -0.695918   0.718053       uwb: 0.49945799     903.366  428.575  
imu_odom_:  1691062813.910312356  0.567426   -0.407014  9.80426    -0.052198   0.0106526   -0.0223706  0.15       -0.11         pose: 0.0           5.95047    -0.921709   0 -0.00520541 -0.0084766  -0.695918   0.718053       uwb: 0.0            903.366  428.575  
imu_odom_:  1691062813.927326586  0.361524   -0.0430956 10.0054    -0.0543285  0.0149137   -0.0447411  0.15       -0.11         pose: 0.31989542    5.95054    -0.935859   0 -0.00381625 -0.00715453 -0.697051   0.716976       uwb: 0.0            903.366  428.575  
imu_odom_:  1691062813.943435537  0.169988   -0.0311246 9.73243    -0.0639159  0.0181095   -0.0213053  0.12       -0.08         pose: 0.43042170    5.95054    -0.935859   0 -0.00383195 -0.00623    -0.698179   0.715886       uwb: 0.0            903.366  428.575  
imu_odom_:  1691062813.960296360  0.287304   -0.31364   10.2208    -0.0575243  0.0266316   -0.0234358  0.12       -0.08         pose: 0.8130596     5.95054    -0.935859   0 -0.00304499 -0.00581966 -0.698362   0.715714       uwb: 0.49998003     901.759  428.206  
imu_odom_:  1691062813.976489598  0.572214   -0.339977  9.75877    -0.0639159  0           -0.0319579  0.12       -0.08         pose: 0.0           5.95054    -0.935859   0 -0.00304499 -0.00581966 -0.698362   0.715714       uwb: 0.0            901.759  428.206  
imu_odom_:  1691062813.992435809  0.907402   -0.0071826110.1754    -0.0458064  0.015979    -0.0234358  0.18       -0.08         pose: 0.41032416    5.94352    -0.942989   0 -0.00335932 -0.00317414 -0.699335   0.71478        uwb: 0.0            901.759  428.206  
imu_odom_:  1691062814.6569129    1.00556    -0.0502782 10.1155    -0.0692422  -0.015979   0.00426106  0.13       -0.02         pose: 0.0           5.94352    -0.942989   0 -0.00335932 -0.00317414 -0.699335   0.71478        uwb: 0.50146453     903.804  428.12   
imu_odom_:  1691062814.24561259   1.07021    -0.007182619.68933    -0.0553937  -0.00213053 -0.00639159 0.13       -0.02         pose: 0.0           5.94352    -0.942989   0 -0.00335932 -0.00317414 -0.699335   0.71478        uwb: 0.0            903.804  428.12   
imu_odom_:  1691062814.41324963   0.950498   -0.25618   9.95748    -0.0649811  0.0255663   0.0276969   0.11       -0.05         pose: 0.22858005    5.95063    -0.950025   0 -0.00403869 -0.00525011 -0.699776   0.714332       uwb: 0.0            903.804  428.12   
imu_odom_:  1691062814.56558676   1.15879    -0.383072  9.8665     -0.076699   -0.0149137  0.0553937   0.11       -0.05         pose: 0.0           5.95063    -0.950025   0 -0.00403869 -0.00525011 -0.699776   0.714332       uwb: 0.50165703     902.815  428.359  
imu_odom_:  1691062814.73586614   1.39343    -0.241814  10.1011    -0.0543285  -0.00852212 0.0319579   0.11       -0.05         pose: 0.33101600    5.95063    -0.950025   0 -0.00576291 -0.00785091 -0.700179   0.713901       uwb: 0.0            902.815  428.359  
imu_odom_:  1691062814.89416457   1.32639    0.122104   9.66779    -0.0479369  -0.00745685 -0.0106526  0.09       -0.08         pose: 0.41137411    5.95063    -0.950025   0 -0.0092401  -0.0100408  -0.700138   0.713877       uwb: 0.0            902.815  428.359  
imu_odom_:  1691062814.106482602  1.07739    -0.107739  9.83299    -0.0596548  0.0340885   -0.0287621  0.09       -0.08         pose: 0.7992646     5.95063    -0.950025   0 -0.00947371 -0.0108324  -0.700277   0.713726       uwb: 0.49992464     905.831  427.949  
imu_odom_:  1691062814.123296178  0.555455   -0.31364   9.91439    -0.0596548  -0.00213053 -0.0490022  0.09       -0.08         pose: 0.0           5.95063    -0.950025   0 -0.00947371 -0.0108324  -0.700277   0.713726       uwb: 0.0            905.831  427.949  
imu_odom_:  1691062814.139357591  0.751779   -0.225055  9.79468    -0.0607201  -0.0394148  -0.0692422  0.1        -0.05         pose: 0.41716918    5.94764    -0.96109    0 -0.0101951  -0.0111004  -0.701353   0.712655       uwb: 0.0            905.831  427.949  
imu_odom_:  1691062814.155290095  0.916979   -0.225055  9.8282     -0.056459   0           -0.0319579  0.06       -0.05         pose: 0.0           5.94764    -0.96109    0 -0.0101951  -0.0111004  -0.701353   0.712655       uwb: 0.49880178     911.297  427.076  
imu_odom_:  1691062814.172278660  0.921768   -0.268151  10.0293    -0.0660464  0.00106526  0.0127832   0.06       -0.05         pose: 0.0           5.94764    -0.96109    0 -0.0101951  -0.0111004  -0.701353   0.712655       uwb: 0.0            911.297  427.076  
imu_odom_:  1691062814.188337448  0.442927   -0.356736  9.69891    -0.052198   0.0149137   0.00532632  0.06       -0.05         pose: 0.24020519    5.95079    -0.964184   0 -0.012436   -0.0125005  -0.702142   0.711818       uwb: 0.0            911.297  427.076  
imu_odom_:  1691062814.205283725  0.579397   0.0454898  9.9934     -0.052198   -0.0234358  -0.00639159 0.05       -0.05         pose: 0.0           5.95079    -0.964184   0 -0.012436   -0.0125005  -0.702142   0.711818       uwb: 0.50184077     912.85   427.171  
imu_odom_:  1691062814.229261080  0.701501   -0.282516  9.76355    -0.0671117  0.00213053  0.02024     0.05       -0.05         pose: 0.33003898    5.95079    -0.964184   0 -0.0141637  -0.0129244  -0.702575   0.711352       uwb: 0.0            912.85   427.171  
imu_odom_:  1691062814.254268249  0.328006   -0.418985  9.68694    -0.0553937  0.0276969   -0.0106526  0.04       0             pose: 0.33146515    5.95079    -0.964184   0 -0.0124382  -0.0117903  -0.703036   0.710948       uwb: 0.49641027     914.373  427.107  
imu_odom_:  1691062814.268319324  -0.665588  0.160412   9.991      -0.0543285  0.112918    -0.04048    0.04       0             pose: 0.0           5.95079    -0.964184   0 -0.0124382  -0.0117903  -0.703036   0.710948       uwb: 0.0            914.373  427.107  
imu_odom_:  1691062814.292258181  -1.45567   -0.342371  9.93594    -0.0735032  -0.0426106  0.0436758   0.07       -0.02         pose: 0.54852214    5.95079    -0.964184   0 -0.00985685 -0.00634777 -0.704019   0.710085       uwb: 0.0            914.373  427.107  
imu_odom_:  1691062814.316341114  0.368707   -0.378284  9.92636    -0.0500674  -0.0969391  0.0138484   0.07       -0.02         pose: 0.0           5.95079    -0.964184   0 -0.00985685 -0.00634777 -0.704019   0.710085       uwb: 0.50109998     914.877  427.056  
imu_odom_:  1691062814.339269407  0.804452   -0.0814029 9.65103    -0.0671117  0.00639159  0.0532632   0.14       -0.02         pose: 0.7949773     5.95079    -0.964184   0 -0.0094774  -0.00582015 -0.70401    0.710103       uwb: 0.0            914.877  427.056  
imu_odom_:  1691062814.356269930  -0.177171  0.0335188  10.0461    -0.0585895  0.0191748   0.0330232   0.14       -0.02         pose: 0.0           5.95079    -0.964184   0 -0.0094774  -0.00582015 -0.70401    0.710103       uwb: 0.49930342     915.405  427.167  
imu_odom_:  1691062814.372279429  -0.138864  -0.395043  10.2232    -0.056459   -0.0245011  0.0191748   0.11       0             pose: 0.47026683    5.94374    -0.971271   0 -0.00873304 -0.00395813 -0.704172   0.709964       uwb: 0.0            915.405  427.167  
imu_odom_:  1691062814.399551546  0.507571   -0.169988  10.4244    -0.0639159  -0.0426106  0.0266316   0.11       0             pose: 0.0           5.94374    -0.971271   0 -0.00873304 -0.00395813 -0.704172   0.709964       uwb: 0.49955133     916.362  426.718  
imu_odom_:  1691062814.425418496  0.158017   -0.143652  9.69652    -0.0511327  0.00319579  0.0266316   0.12       0             pose: 0.76255766    5.95082    -0.978328   0 -0.00434387 -0.00465505 -0.704412   0.709762       uwb: 0.0            916.362  426.718  
imu_odom_:  1691062814.442285152  -0.0909797 0.0047884  10.2903    -0.0617853  -0.0181095  0.0308927   0.12       0             pose: 0.8893550     5.95082    -0.978328   0 -0.00357685 -0.00413697 -0.704458   0.709725       uwb: 0.0            916.362  426.718  
imu_odom_:  1691062814.458300776  0.440533   -0.306458  9.96227    -0.0585895  -0.0426106  0.0330232   0.12       -0.02         pose: 0.0           5.95082    -0.978328   0 -0.00357685 -0.00413697 -0.704458   0.709725       uwb: 0.49982255     912.392  427.526  
imu_odom_:  1691062814.475445666  0.823605   -0.335188  10.0341    -0.0479369  -0.04048    0.0170442   0.12       -0.02         pose: 0.42059606    5.95084    -0.99247    0 -0.00137699 -0.00195744 -0.704618   0.709583       uwb: 0.0            912.392  427.526  
imu_odom_:  1691062814.500323051  -0.0814029 -0.167594  9.52413    -0.0543285  0.0894822   0.0276969   0.13       0.02          pose: 0.0           5.95084    -0.99247    0 -0.00137699 -0.00195744 -0.704618   0.709583       uwb: 0.50019296     908.436  428.407  
imu_odom_:  1691062814.517281868  -0.167594  -0.383072  10.1323    -0.0585895  0.0500674   0.0276969   0.13       0.02          pose: 0.33825473    5.95084    -0.99247    0 -0.00270576 -0.00170225 -0.704808   0.709391       uwb: 0.0            908.436  428.407  
imu_odom_:  1691062814.542403655  0.514753   -0.174777  10.0844    -0.04048    -0.00106526 0.02024     0.14       -0.02         pose: 0.0           5.95084    -0.99247    0 -0.00270576 -0.00170225 -0.704808   0.709391       uwb: 0.0            908.436  428.407  
imu_odom_:  1691062814.569459367  0.325611   -0.241814  9.73482    -0.0745685  -0.015979   0.0415453   0.14       -0.02         pose: 0.41963945    5.95084    -0.99247    0 -5.04829e-050.000769283 -0.705011   0.709196       uwb: 0.50093374     911.42   427.842  
imu_odom_:  1691062814.595265071  0.514753   -0.189142  10.1155    -0.0532632  -0.0585895  0.0287621   0.14       0             pose: 0.0           5.95084    -0.99247    0 -5.04829e-050.000769283 -0.705011   0.709196       uwb: 0.49948716     911.906  427.671  
imu_odom_:  1691062814.612450792  0.730232   0.129287   10.2185    -0.0543285  0.0149137   0.0276969   0.14       0             pose: 0.51112396    5.95098    -1.00661    0 -0.0001173620.000819841 -0.705134   0.709073       uwb: 0.0            911.906  427.671  
imu_odom_:  1691062814.637454752  0.0790087  -0.373495  9.61033    -0.072438   -0.00745685 0.0426106   0.15       0             pose: 0.0           5.95098    -1.00661    0 -0.0001173620.000819841 -0.705134   0.709073       uwb: 0.0            911.906  427.671  
imu_odom_:  1691062814.664404013  0.553061   -0.1652    9.67257    -0.0553937  0.0149137   0.0319579   0.15       0             pose: 0.42995216    5.95098    -1.00661    0 -0.000805541-0.00193374 -0.705267   0.708938       uwb: 0.50179119     912.9    427.472  
imu_odom_:  1691062814.690280588  0.414197   -0.270545  10.5201    -0.0671117  -0.0170442  0.0458064   0.15       -0.02         pose: 0.44002281    5.9511     -1.02075    0 -0.00132879 -0.00249633 -0.705321   0.708882       uwb: 0.0            912.9    427.472  
imu_odom_:  1691062814.706528656  0.428562   -0.217872  9.54568    -0.0500674  0.00426106  0.0170442   0.15       -0.02         pose: 0.0           5.9511     -1.02075    0 -0.00132879 -0.00249633 -0.705321   0.708882       uwb: 0.49883095     907.985  428.741  
imu_odom_:  1691062814.732507017  0.42138    -0.349553  10.149     -0.072438   0.00745685  0.0553937   0.17       -0.02         pose: 0.33015564    5.9511     -1.02075    0 -0.00155523 -0.000419452-0.705321   0.708887       uwb: 0.0            907.985  428.741  
imu_odom_:  1691062814.756277301  0.507571   -0.213084  9.97664    -0.0479369  -0.0340885  0.0181095   0.17       -0.02         pose: 0.0           5.9511     -1.02075    0 -0.00155523 -0.000419452-0.705321   0.708887       uwb: 0.50113790     906.036  429.32   
imu_odom_:  1691062814.781411629  0.316035   -0.28491   9.78271    -0.076699   0           0.0553937   0.23       0             pose: 0.41850493    5.95123    -1.0349     0 -0.00279044 0.000463464 -0.705297   0.708906       uwb: 0.0            906.036  429.32   
imu_odom_:  1691062814.796256573  0.414197   -0.730232  9.43794    -0.0511327  0.04048     0.0372843   0.23       0             pose: 0.0           5.95123    -1.0349     0 -0.00279044 0.000463464 -0.705297   0.708906       uwb: 0.49991005     909.067  429.09   
imu_odom_:  1691062814.822522791  0.0287304  -0.153229  9.85453    -0.0319579  0.0713727   0.0287621   0.16       -0.02         pose: 0.49163013    5.95123    -1.0349     0 -0.00261091 0.00161797  -0.70529    0.708912       uwb: 0.0            909.067  429.09   
imu_odom_:  1691062814.845460417  0.332794   -0.603339  9.75158    -0.0788296  0.0266316   0.0511327   0.16       -0.02         pose: 0.34089708    5.94945    -1.04716    0 0.000258331 0.0039201   -0.705391   0.708807       uwb: 0.49781018     907.105  429.573  
imu_odom_:  1691062814.871450152  -0.0191536 -0.0407014 10.094     -0.0372843  0.00639159  0.0372843   0.17       0             pose: 0.0           5.94945    -1.04716    0 0.000258331 0.0039201   -0.705391   0.708807       uwb: 0.0            907.105  429.573  
imu_odom_:  1691062814.888310683  0.804452   -0.344765  9.65342    -0.0884169  -0.036219   0.0617853   0.17       0             pose: 0.7013872     5.95135    -1.04904    0 -0.0002015280.00456942  -0.705362   0.708832       uwb: 0.0            907.105  429.573  
imu_odom_:  1691062814.913265063  0.526724   -0.162806  9.55765    -0.0479369  -0.00852212 0.0213053   0.17       -0.02         pose: 0.0           5.95135    -1.04904    0 -0.0002015280.00456942  -0.705362   0.708832       uwb: 0.0            907.105  429.573  
imu_odom_:  1691062814.936221063  0.141258   -0.0694318 9.57681    -0.0937433  -0.00319579 0.0607201   0.17       -0.02         pose: 0.49867637    5.95135    -1.04904    0 0.000787888 0.00581702  -0.705245   0.708939       uwb: 0.0            907.105  429.573  
imu_odom_:  1691062814.961221816  0.316035   -0.318429  9.77792    -0.0798948  0.0490022   0.0245011   0.23       0             pose: 0.0           5.95135    -1.04904    0 0.000787888 0.00581702  -0.705245   0.708939       uwb: 0.99965678     905.113  429.901  
imu_odom_:  1691062814.975275807  0.342371   -0.138864  9.60314    -0.0671117  0.0372843   0.0308927   0.23       0             pose: 0.40906133    5.95148    -1.06318    0 -1.16454e-050.00290412  -0.705295   0.708908       uwb: 0.0            905.113  429.901  
imu_odom_:  1691062815.278893     0.143652   -0.483629  9.53132    -0.0532632  0.04048     0.0340885   0.17       0             pose: 0.0           5.95148    -1.06318    0 -1.16454e-050.00290412  -0.705295   0.708908       uwb: 0.50113498     906.19   430.223  
imu_odom_:  1691062815.17385285   0.131681   -0.0957681 10.1945    -0.0447411  -0.0671117  0.0426106   0.17       0             pose: 0.47915630    5.94447    -1.07031    0 0.000896478 0.00573969  -0.705322   0.708863       uwb: 0.0            906.19   430.223  
imu_odom_:  1691062815.43287526   0.361524   -0.059855  9.63666    -0.0660464  -0.0117179  0.0383495   0.17       0.02          pose: 0.0           5.94447    -1.07031    0 0.000896478 0.00573969  -0.705322   0.708863       uwb: 0.0            906.19   430.223  
imu_odom_:  1691062815.59228196   0.131681   -0.208296  10.0149    -0.0415453  0.0191748   0.036219    0.17       0.02          pose: 0.40151053    5.95161    -1.07732    0 0.00212182  0.00776561  -0.705371   0.708793       uwb: 0.49928886     905.703  430.374  
imu_odom_:  1691062815.76385919   -0.129287  -0.21069   10.0221    -0.056459   -0.015979   0.0394148   0.17       -0.02         pose: 0.0           5.95161    -1.07732    0 0.00212182  0.00776561  -0.705371   0.708793       uwb: 0.0            905.703  430.374  
imu_odom_:  1691062815.102471315  0.311246   -0.112527  9.97664    -0.0340885  -0.0106526  0.0340885   0.17       -0.02         pose: 0.0           5.95161    -1.07732    0 0.00212182  0.00776561  -0.705371   0.708793       uwb: 0.50250282     909.16   429.646  
imu_odom_:  1691062815.118240496  0.308852   -0.201113  10.2161    -0.0639159  -0.0426106  0.0543285   0.18       0             pose: 0.41875284    5.9446     -1.08445    0 0.00426118  0.00537766  -0.70537    0.708807       uwb: 0.0            909.16   429.646  
imu_odom_:  1691062815.144279812  0.533907   -0.260968  10.0604    -0.0479369  -0.0266316  0.0234358   0.18       0             pose: 0.0           5.9446     -1.08445    0 0.00426118  0.00537766  -0.70537    0.708807       uwb: 0.0            909.16   429.646  
imu_odom_:  1691062815.158369676  0.56982    0.0574608  10.4435    -0.0447411  -0.0372843  0.0415453   0.18       0             pose: 0.76043155    5.94472    -1.09859    0 0.00422582  0.00286788  -0.705392   0.708799       uwb: 0.49845474     906.709  430.28   
imu_odom_:  1691062815.173342946  0.811634   -0.342371  9.72764    -0.0628506  -0.0351537  0.0575243   0.18       0             pose: 0.0           5.94472    -1.09859    0 0.00422582  0.00286788  -0.705392   0.708799       uwb: 0.0            906.709  430.28   
imu_odom_:  1691062815.190433881  0.179565   -0.349553  9.51216    -0.0436758  -0.0191748  0.0213053   0.18       0             pose: 0.0           5.94472    -1.09859    0 0.00422582  0.00286788  -0.705392   0.708799       uwb: 0.0            906.709  430.28   
imu_odom_:  1691062815.216343705  -0.071826  -0.275333  9.7037     -0.0713727  -0.0106526  0.0639159   0.17       0.02          pose: 0.47047391    5.95185    -1.1056     0 0.000988444 -0.000598642-0.705396   0.708812       uwb: 0.49977007     909.116  429.368  
imu_odom_:  1691062815.232206797  0.651223   -0.270545  9.92397    -0.0543285  -0.0447411  0.0319579   0.17       0.02          pose: 0.0           5.95185    -1.1056     0 0.000988444 -0.000598642-0.705396   0.708812       uwb: 0.0            909.116  429.368  
imu_odom_:  1691062815.258208198  0.457293   -0.1652    10.1538    -0.0468716  -0.00426106 0.0319579   0.17       0             pose: 0.7960274     5.95185    -1.1056     0 0.00110872  0.00011325  -0.705448   0.70876        uwb: 0.49736689     912.599  428.848  
imu_odom_:  1691062815.274220031  0.328006   -0.148441  9.88087    -0.0585895  -0.0490022  0.04048     0.22       -0.02         pose: 0.0           5.95185    -1.1056     0 0.00110872  0.00011325  -0.705448   0.70876        uwb: 0.0            912.599  428.848  
imu_odom_:  1691062815.289344376  0.68953    -0.1652    9.64624    -0.0213053  -0.02024    0.0117179   0.18       0.02          pose: 0.83916808    5.95197    -1.11975    0 0.00116367  -0.000646248-0.705397   0.708812       uwb: 0.0            912.599  428.848  
imu_odom_:  1691062815.305227591  0.725443   -0.258574  10.07      -0.0394148  -0.04048    0.0468716   0.18       0.02          pose: 0.0           5.95197    -1.11975    0 0.00116367  -0.000646248-0.705397   0.708812       uwb: 0.50075002     913.639  428.975  
imu_odom_:  1691062815.331338361  0.483629   -0.201113  9.83538    -0.0415453  -0.0351537  0.0415453   0.18       0             pose: 0.31024184    5.95209    -1.13389    0 0.000328075 -0.00244106 -0.705522   0.708684       uwb: 0.0            913.639  428.975  
imu_odom_:  1691062815.356204080  0.308852   -0.227449  9.96467    -0.0500674  -0.0223706  0.056459    0.18       0             pose: 0.35094149    5.95209    -1.13389    0 -0.00323689 -0.00396508 -0.705467   0.708724       uwb: 0.50104749     915.642  428.723  
imu_odom_:  1691062815.378205513  0.136469   -0.169988  10.1634    -0.0426106  -0.00319579 0.04048     0.19       0             pose: 0.0           5.95209    -1.13389    0 -0.00323689 -0.00396508 -0.705467   0.708724       uwb: 0.0            915.642  428.723  
imu_odom_:  1691062815.391404973  0.0646434  -0.169988  9.60314    -0.0479369  -0.00532632 0.0532632   0.19       0             pose: 0.0           5.95209    -1.13389    0 -0.00323689 -0.00396508 -0.705467   0.708724       uwb: 0.0            915.642  428.723  
imu_odom_:  1691062815.416340396  0.107739   -0.512359  9.5816     -0.0703074  0.00426106  0.0511327   0.18       0             pose: 0.6963125     5.95209    -1.13389    0 -0.00283791 -0.00347543 -0.705427   0.708768       uwb: 0.50038254     914.651  428.918  
imu_odom_:  1691062815.433316130  0.531513   0.129287   9.75398    -0.0436758  -0.0138484  0.0479369   0.18       0             pose: 0.0           5.95209    -1.13389    0 -0.00283791 -0.00347543 -0.705427   0.708768       uwb: 0.0            914.651  428.918  
imu_odom_:  1691062815.457199866  0.471658   -0.203507  9.92875    -0.0628506  -0.0191748  0.0553937   0.18       0             pose: 0.44964141    5.95221    -1.14803    0 0.000424161 -0.000632819-0.705296   0.708912       uwb: 0.49909637     917.174  428.76   
imu_odom_:  1691062815.484274245  0.347159   -0.0550666 10.0437    -0.0383495  0           0.0372843   0.18       0             pose: 0.40067642    5.95221    -1.14803    0 0.00111406  0.00185401  -0.705134   0.709071       uwb: 0.0            917.174  428.76   
imu_odom_:  1691062815.509199461  0.40462    -0.363919  9.73004    -0.072438   0.00319579  0.0500674   0.17       0.02          pose: 0.0           5.95221    -1.14803    0 0.00111406  0.00185401  -0.705134   0.709071       uwb: 0.50124290     922.227  428.524  
imu_odom_:  1691062815.526333268  0.361524   -0.158017  9.39964    -0.0458064  -0.0117179  0.0330232   0.17       0.02          pose: 0.41878493    5.95235    -1.16217    0 0.000446439 -0.00125121 -0.704977   0.709229       uwb: 0.0            922.227  428.524  
imu_odom_:  1691062815.552267299  0.512359   -0.186748  10.2448    -0.0692422  -0.052198   0.0575243   0.18       0.02          pose: 0.0           5.95235    -1.16217    0 0.000446439 -0.00125121 -0.704977   0.709229       uwb: 0.0            922.227  428.524  
imu_odom_:  1691062815.579476128  0.816423   0.110133   10.1538    -0.0649811  -0.0372843  0.0436758   0.18       0.02          pose: 0.51168686    5.94535    -1.16931    0 0.00119775  -0.000192493-0.704918   0.709288       uwb: 0.0            922.227  428.524  
imu_odom_:  1691062815.604228104  0.483629   0.0407014  10.1562    -0.056459   -0.0213053  0.0479369   0.2        0.02          pose: 0.0           5.94535    -1.16931    0 0.00119775  -0.000192493-0.704918   0.709288       uwb: 0.99870312     929.216  427.687  
imu_odom_:  1691062815.621235919  0.505177   -0.328006  10.0149    -0.0468716  -0.0287621  0.036219    0.2        0.02          pose: 0.42886432    5.95249    -1.17631    0 -0.000515901-0.00318704 -0.70476    0.709438       uwb: 0.0            929.216  427.687  
imu_odom_:  1691062815.646351290  0.373495   -0.263362  10.4315    -0.0553937  -0.0415453  0.0447411   0.18       0             pose: 0.0           5.95249    -1.17631    0 -0.000515901-0.00318704 -0.70476    0.709438       uwb: 0.50035337     927.211  427.892  
imu_odom_:  1691062815.662347374  0.648829   -0.198719  9.39724    -0.0383495  0.036219    0.0330232   0.18       0             pose: 0.52042467    5.95264    -1.19045    0 7.51979e-05 -0.00675697 -0.70466    0.709513       uwb: 0.0            927.211  427.892  
imu_odom_:  1691062815.679342940  0.316035   -0.246603  10.1203    -0.0671117  0.0255663   0.0511327   0.18       0             pose: 0.0           5.95264    -1.19045    0 7.51979e-05 -0.00675697 -0.70466    0.709513       uwb: 0.0            927.211  427.892  
imu_odom_:  1691062815.705304677  0.512359   -0.294487  9.97424    -0.0479369  0.015979    0.0330232   0.18       0             pose: 0.68033593    5.95279    -1.20459    0 -0.0011939  -0.00306045 -0.704599   0.709598       uwb: 0.49831474     927.74   428.061  
imu_odom_:  1691062815.730191395  0.4956     -0.603339  9.54808    -0.0703074  0.00532632  0.0532632   0.2        0             pose: 0.7981272     5.95279    -1.20459    0 -0.0018683  -0.0027569  -0.704616   0.709581       uwb: 0.0            927.74   428.061  
imu_odom_:  1691062815.757205694  0.641646   0.047884   10.3549    -0.0319579  -0.02024    0.0532632   0.2        0             pose: 0.42867183    5.94778    -1.20971    0 -0.00529227 -0.000199313-0.70452    0.709664       uwb: 0.50109125     930.753  427.807  
imu_odom_:  1691062815.782211989  0.732626   -0.373495  10.4507    -0.0543285  -0.00532632 0.0436758   0.18       0.02          pose: 0.0           5.94778    -1.20971    0 -0.00529227 -0.000199313-0.70452    0.709664       uwb: 0.0            930.753  427.807  
imu_odom_:  1691062815.809243787  0.399832   -0.0502782 9.79228    -0.0468716  0.0170442   0.0436758   0.23       0.02          pose: 0.52020594    5.95294    -1.21873    0 -0.00674016 -0.00368456 -0.704346   0.709815       uwb: 0.50048753     932.261  427.721  
imu_odom_:  1691062815.825333198  0.215478   -0.0957681 10.1251    -0.0628506  -0.0511327  0.0490022   0.23       0.02          pose: 0.0           5.95294    -1.21873    0 -0.00674016 -0.00368456 -0.704346   0.709815       uwb: 0.0            932.261  427.721  
imu_odom_:  1691062815.852261169  0.59855    -0.138864  10.6159    -0.076699   -0.0468716  0.052198    0.25       0             pose: 0.35051567    5.94595    -1.22588    0 -0.00321072 -0.00379774 -0.704303   0.709882       uwb: 0.50001215     932.256  427.674  
imu_odom_:  1691062815.877286712  0.538695   -0.100556  10.0676    -0.0468716  -0.00213053 0.0276969   0.25       0             pose: 0.34997613    5.95311    -1.23287    0 -0.00387893 -0.00640545 -0.70415    0.710012       uwb: 0.0            932.256  427.674  
imu_odom_:  1691062815.904383548  0.471658   -0.0670376 9.98382    -0.0639159  -0.0394148  0.052198    0.23       0.02          pose: 0.8005479     5.95311    -1.23287    0 -0.00321765 -0.00691736 -0.704187   0.709974       uwb: 0.49997422     932.239  427.534  
imu_odom_:  1691062815.930234167  0.881066   -0.162806  9.49301    -0.0319579  0.0255663   0.0319579   0.23       0.02          pose: 0.44116900    5.95119    -1.24498    0 0.000476023 -0.00810347 -0.70416    0.709995       uwb: 0.0            932.239  427.534  
imu_odom_:  1691062815.957203552  0.440533   -0.0502782 9.81144    -0.0649811  -0.00213053 0.052198    0.23       0             pose: 0.0           5.95119    -1.24498    0 0.000476023 -0.00810347 -0.70416    0.709995       uwb: 0.50071211     933.226  427.3    
imu_odom_:  1691062815.982324465  0.646434   -0.189142  10.0868    -0.0660464  -0.0394148  0.0511327   0.19       0             pose: 0.32853700    5.95328    -1.24701    0 -0.00049521 -0.00928031 -0.704181   0.70996        uwb: 0.0            933.226  427.3    
imu_odom_:  1691062815.999387984  0.40462    -0.138864  10.0221    -0.0585895  0.0213053   0.0617853   0.19       0             pose: 0.0           5.95328    -1.24701    0 -0.00049521 -0.00928031 -0.704181   0.70996        uwb: 0.49862097     936.737  426.973  
imu_odom_:  1691062816.24253704   0.141258   -0.122104  9.9503     -0.0500674  0.0330232   0.0468716   0.19       0             pose: 0.52127920    5.95345    -1.26115    0 -0.00113963 -0.00834709 -0.70394    0.71021        uwb: 0.0            936.737  426.973  
imu_odom_:  1691062816.41223897   0.232238   -0.392649  9.54089    -0.0948085  0.00639159  0.0649811   0.19       0             pose: 0.0           5.95345    -1.26115    0 -0.00113963 -0.00834709 -0.70394    0.71021        uwb: 0.0            936.737  426.973  
imu_odom_:  1691062816.57180317   0.76375    0.0023942  10.4698    -0.0756338  -0.0223706  0.0426106   0.19       0             pose: 0.51858729    5.95042    -1.27216    0 0.00125708  -0.00336288 -0.703674   0.710514       uwb: 0.50189621     939.236  426.655  
imu_odom_:  1691062816.84322651   1.00078    -0.323217  9.84975    -0.0830906  0.00639159  0.0468716   0.25       0             pose: 0.8104348     5.95363    -1.27529    0 0.00086526  -0.00411855 -0.703663   0.710522       uwb: 0.0            939.236  426.655  
imu_odom_:  1691062816.100179327  0.023942   -0.363919  10.1562    -0.0447411  -0.00213053 0.0394148   0.25       0             pose: 0.0           5.95363    -1.27529    0 0.00086526  -0.00411855 -0.703663   0.710522       uwb: 0.49845183     939.758  426.812  
imu_odom_:  1691062816.127186627  0.505177   -0.181959  10.4172    -0.0479369  -0.0596548  0.0447411   0.25       0             pose: 0.34994406    5.95363    -1.27529    0 -0.00211168 -0.0057002  -0.703568   0.710602       uwb: 0.0            939.758  426.812  
imu_odom_:  1691062816.152319206  0.708684   -0.117316  9.80426    -0.0511327  0.0223706   0.036219    0.18       0             pose: 0.42863976    5.95165    -1.28732    0 -0.00441232 -0.00584517 -0.703507   0.71065        uwb: 0.49836434     938.301  427.392  
imu_odom_:  1691062816.179383961  0.893037   -0.272939  9.18416    -0.0468716  0.0245011   0.0383495   0.21       -0.02         pose: 0.0           5.95165    -1.28732    0 -0.00441232 -0.00584517 -0.703507   0.71065        uwb: 0.0            938.301  427.392  
imu_odom_:  1691062816.195226346  0.476446   -0.1652    10.1227    -0.0383495  0.015979    0.0351537   0.21       -0.02         pose: 0.32144409    5.95382    -1.28943    0 -0.0054931  -0.00830395 -0.703525   0.710601       uwb: 0.50015215     939.311  427.379  
imu_odom_:  1691062816.211224472  0.938527   -0.301669  9.70849    -0.056459   -0.0308927  0.0490022   0.18       0.02          pose: 0.0           5.95382    -1.28943    0 -0.0054931  -0.00830395 -0.703525   0.710601       uwb: 0.0            939.311  427.379  
imu_odom_:  1691062816.238351349  0.864307   -0.162806  10.5297    -0.0426106  -0.00213053 0.0255663   0.18       0.02          pose: 0.42870976    5.95402    -1.30357    0 -0.00622437 -0.00850234 -0.703523   0.710594       uwb: 0.0            939.311  427.379  
imu_odom_:  1691062816.265304402  0.497994   -0.356736  9.23922    -0.0532632  0.0149137   0.0543285   0.18       0             pose: 0.36149337    5.94899    -1.30874    0 -0.00865551 -0.0112178  -0.703592   0.710463       uwb: 0.49981092     939.875  427.934  
imu_odom_:  1691062816.281295820  0.225055   -0.272939  9.56962    -0.0458064  -0.0383495  0.0213053   0.18       0             pose: 0.0           5.94899    -1.30874    0 -0.00865551 -0.0112178  -0.703592   0.710463       uwb: 0.0            939.875  427.934  
imu_odom_:  1691062816.308184711  0.588974   -0.205901  10.1227    -0.0798948  -0.0543285  0.0575243   0.19       0             pose: 0.6965166     5.94704    -1.31074    0 -0.00863258 -0.0104794  -0.703557   0.710509       uwb: 0.50118750     940.346  427.624  
imu_odom_:  1691062816.324299204  0.682347   -0.011971  10.1011    -0.056459   -0.00532632 0.0276969   0.19       0             pose: 0.0           5.94704    -1.31074    0 -0.00863258 -0.0104794  -0.703557   0.710509       uwb: 0.0            940.346  427.624  
imu_odom_:  1691062816.351218718  0.588974   -0.198719  10.0892    -0.0596548  -0.0298274  0.0415453   0.2        0.02          pose: 0.43989742    5.95421    -1.31771    0 -0.00717969 -0.00718739 -0.703521   0.710602       uwb: 0.50108251     945.811  426.774  
imu_odom_:  1691062816.376177766  0.605733   -0.21069   10.0078    -0.0234358  -0.00106526 0.0170442   0.18       0             pose: 0.0           5.95421    -1.31771    0 -0.00717969 -0.00718739 -0.703521   0.710602       uwb: 0.0            945.811  426.774  
imu_odom_:  1691062816.403227647  0.73502    -0.181959  9.83538    -0.0500674  -0.0149137  0.0543285   0.18       0             pose: 0.42881767    5.94724    -1.32488    0 -0.00582315 -0.00773875 -0.703479   0.71065        uwb: 0.49895347     944.85   427.291  
imu_odom_:  1691062816.429140971  0.665588   -0.208296  10.082     -0.0383495  -0.0255663  0.0426106   0.18       0             pose: 0.0           5.94724    -1.32488    0 -0.00582315 -0.00773875 -0.703479   0.71065        uwb: 0.0            944.85   427.291  
imu_odom_:  1691062816.446221990  0.493206   -0.234632  9.12191    -0.0607201  0.0308927   0.0511327   0.18       0             pose: 0.51021405    5.95441    -1.33185    0 -0.0074154  -0.00946939 -0.703607   0.710487       uwb: 0.49975259     950.361  426.905  
imu_odom_:  1691062816.472221351  0.126893   -0.136469  9.4954     -0.0394148  0.0383495   0.0458064   0.18       0             pose: 0.0           5.95441    -1.33185    0 -0.0074154  -0.00946939 -0.703607   0.710487       uwb: 0.0            950.361  426.905  
imu_odom_:  1691062816.499294272  0.591368   -0.361524  9.44752    -0.0649811  -0.036219   0.0500674   0.18       0             pose: 0.53028826    5.9546     -1.34599    0 -0.00873753 -0.00822885 -0.703422   0.710671       uwb: 0.49997716     946.86   427.242  
imu_odom_:  1691062816.524296776  0.61531    -0.287304  10.0126    -0.052198   -0.0117179  0.0490022   0.2        0             pose: 0.42944179    5.94763    -1.35316    0 -0.00605194 -0.00530177 -0.703323   0.710825       uwb: 0.0            946.86   427.242  
imu_odom_:  1691062816.551295035  0.342371   -0.0933739 9.81383    -0.0330232  0.0276969   0.0234358   0.22       0             pose: 0.0           5.94763    -1.35316    0 -0.00605194 -0.00530177 -0.703323   0.710825       uwb: 0.49909929     943.819  427.131  
imu_odom_:  1691062816.577243940  0.189142   -0.0957681 9.76595    -0.0788296  0           0.0660464   0.22       0             pose: 0.52131422    5.9548     -1.36013    0 -0.00975632 -0.00508733 -0.703171   0.710936       uwb: 0.0            943.819  427.131  
imu_odom_:  1691062816.604143330  0.545878   -0.361524  9.32781    -0.0671117  0.0106526   0.036219    0.25       0             pose: 0.0           5.9548     -1.36013    0 -0.00975632 -0.00508733 -0.703171   0.710936       uwb: 0.49968551     941.316  427.359  
imu_odom_:  1691062816.629282034  0.35913    -0.328006  10.1442    -0.0681769  -0.015979   0.0543285   0.25       0             pose: 0.72829474    5.95501    -1.37427    0 -0.00747669 -0.00178455 -0.703094   0.711055       uwb: 0.0            941.316  427.359  
imu_odom_:  1691062816.646266226  0.363919   -0.263362  9.89284    -0.0351537  -0.0458064  0.0234358   0.23       0             pose: 0.8026186     5.95501    -1.37427    0 -0.00709323 -0.00111771 -0.703052   0.711102       uwb: 0.50098627     943.866  427.622  
imu_odom_:  1691062816.662229937  0.52433    -0.007182619.76595    -0.0873517  -0.036219   0.0479369   0.23       0             pose: 0.0           5.95501    -1.37427    0 -0.00709323 -0.00111771 -0.703052   0.711102       uwb: 0.0            943.866  427.622  
imu_odom_:  1691062816.689171908  0.553061   -0.280122  10.1706    -0.0490022  0.00958738  0.0394148   0.25       0.02          pose: 0.41991071    5.95523    -1.38841    0 -0.00462762 7.65963e-06 -0.703037   0.711138       uwb: 0.0            943.866  427.622  
imu_odom_:  1691062816.714307987  0.328006   -0.270545  9.71328    -0.0660464  -0.0223706  0.0447411   0.25       0.02          pose: 0.0           5.95523    -1.38841    0 -0.00462762 7.65963e-06 -0.703037   0.711138       uwb: 0.49867640     944.855  427.408  
imu_odom_:  1691062816.741187836  0.691924   -0.189142  9.63666    -0.04048    0.0149137   0.0330232   0.21       0.02          pose: 0.42980052    5.94826    -1.39559    0 -0.00587269 -0.00165483 -0.702999   0.711164       uwb: 0.0            944.855  427.408  
imu_odom_:  1691062816.766193256  0.634463   -0.385466  9.78989    -0.0617853  -0.02024    0.0468716   0.21       0.02          pose: 0.44047197    5.95338    -1.40056    0 -0.00557946 -0.00291129 -0.703034   0.711128       uwb: 0.50098043     942.854  427.605  
imu_odom_:  1691062816.793136977  0.390255   -0.107739  10.2759    -0.0532632  -0.00958738 0.0490022   0.22       0             pose: 0.0           5.95338    -1.40056    0 -0.00557946 -0.00291129 -0.703034   0.711128       uwb: 0.0            942.854  427.605  
imu_odom_:  1691062816.819282162  0.481235   -0.1652    9.8282     -0.0458064  -0.00532632 0.0394148   0.18       -0.02         pose: 0.32019292    5.94848    -1.40973    0 -0.00758143 -0.00286933 -0.702932   0.711211       uwb: 0.50101252     947.324  426.846  
imu_odom_:  1691062816.846163761  0.383072   -0.339977  10.0485    -0.0745685  -0.0213053  0.0681769   0.18       -0.02         pose: 0.0           5.94848    -1.40973    0 -0.00758143 -0.00286933 -0.702932   0.711211       uwb: 0.49960385     951.307  426.234  
imu_odom_:  1691062816.872137749  0.617704   -0.3304    10.3645    -0.04048    0           0.0308927   0.18       0             pose: 0.52972830    5.95566    -1.41669    0 -0.00321605 -0.00328142 -0.702824   0.711349       uwb: 0.0            951.307  426.234  
imu_odom_:  1691062816.889273598  0.280122   0          9.84735    -0.0479369  -0.00426106 0.0415453   0.18       0             pose: 0.45957791    5.95381    -1.42882    0 -0.0059511  -0.00208203 -0.702689   0.711469       uwb: 0.0            951.307  426.234  
imu_odom_:  1691062816.915171756  0.373495   -0.25618   9.64384    -0.0532632  0.00213053  0.036219    0.18       0             pose: 0.0           5.95381    -1.42882    0 -0.0059511  -0.00208203 -0.702689   0.711469       uwb: 0.50104751     955.338  426.166  
imu_odom_:  1691062816.942109061  0.430956   -0.292093  9.79947    -0.0798948  -0.0436758  0.0479369   0.18       0             pose: 0.25021169    5.95589    -1.43083    0 -0.00369101 -0.00159869 -0.702697   0.711478       uwb: 0.0            955.338  426.166  
imu_odom_:  1691062816.967117689  0.402226   -0.35913   9.82102    -0.0266316  0.00213053  0.0330232   0.2        0             pose: 0.0           5.95589    -1.43083    0 -0.00369101 -0.00159869 -0.702697   0.711478       uwb: 0.49888347     955.833  426.033  
imu_odom_:  1691062816.983249973  0.497994   -0.0047884 9.94791    -0.0596548  -0.0266316  0.0490022   0.2        0             pose: 0.52951830    5.95612    -1.44497    0 -0.00470929 0.00266628  -0.702643   0.711522       uwb: 0.0            955.833  426.033  
imu_odom_:  1691062817.9127716    0.859518   -0.158017  9.54568    -0.0372843  0.036219    0.0308927   0.18       0             pose: 0.0           5.95612    -1.44497    0 -0.00470929 0.00266628  -0.702643   0.711522       uwb: 0.49906721     956.338  426.042  
imu_odom_:  1691062817.36116935   0.332794   -0.198719  9.60314    -0.0575243  0.0191748   0.0543285   0.18       0             pose: 0.41138871    5.94917    -1.45215    0 -0.00430975 0.00206005  -0.702655   0.711515       uwb: 0.0            956.338  426.042  
imu_odom_:  1691062817.62175209   0.507571   -0.227449  10.058     -0.0692422  -0.0340885  0.0511327   0.2        -0.02         pose: 0.0           5.94917    -1.45215    0 -0.00430975 0.00206005  -0.702655   0.711515       uwb: 0.49918972     955.349  426.306  
imu_odom_:  1691062817.79222981   0.45011    -0.148441  9.89284    -0.0607201  0.00106526  0.0596548   0.2        -0.02         pose: 0.44867316    5.95429    -1.45711    0 -0.00186527 0.00132945  -0.70258    0.711601       uwb: 0.0            955.349  426.306  
imu_odom_:  1691062817.104121950  0.337582   -0.146046  9.92157    -0.052198   0.0138484   0.0468716   0.23       -0.02         pose: 0.0           5.95429    -1.45711    0 -0.00186527 0.00132945  -0.70258    0.711601       uwb: 0.50017258     958.336  425.775  
imu_odom_:  1691062817.131163957  0.521936   -0.354342  9.93833    -0.0703074  -0.0191748  0.0458064   0.23       -0.02         pose: 0.43106046    5.9494     -1.4663     0 -0.00203253 -0.00207557 -0.702357   0.711819       uwb: 0.0            958.336  425.775  
imu_odom_:  1691062817.156118631  0.40462    -0.201113  9.92157    -0.0607201  0.0319579   0.0330232   0.23       -0.02         pose: 0.51940976    5.95163    -1.47838    0 -0.00239088 -0.000726849-0.702234   0.711942       uwb: 0.50112335     959.839  425.645  
imu_odom_:  1691062817.183111349  0.701501   -0.174777  10.3501    -0.0330232  -0.04048    0.0287621   0.2        -0.05         pose: 0.0           5.95163    -1.47838    0 -0.00239088 -0.000726849-0.702234   0.711942       uwb: 0.0            959.839  425.645  
imu_odom_:  1691062817.199242176  0.802058   -0.184354  9.93354    -0.0639159  0.00532632  0.0479369   0.2        -0.05         pose: 0.32036208    5.94964    -1.48044    0 -0.000104377-0.000892647-0.702323   0.711858       uwb: 0.49947262     961.324  425.237  
imu_odom_:  1691062817.226142733  0.672771   -0.268151  9.94073    -0.0585895  0.0170442   0.04048     0.25       0             pose: 0.0           5.94964    -1.48044    0 -0.000104377-0.000892647-0.702323   0.711858       uwb: 0.0            961.324  425.237  
imu_odom_:  1691062817.251132988  0.320823   -0.275333  9.93354    -0.0713727  -0.00958738 0.0415453   0.25       0             pose: 0.43969911    5.95684    -1.48739    0 -0.00321308 -0.004192   -0.702337   0.711825       uwb: 0.49979635     962.301  424.748  
imu_odom_:  1691062817.277316963  0.560243   -0.397437  9.79947    -0.0276969  0.02024     0.0383495   0.23       0             pose: 0.43962912    5.95494    -1.49946    0 -0.00379941 -0.00250514 -0.70231    0.711857       uwb: 0.0            962.301  424.748  
imu_odom_:  1691062817.301345067  0.80924    -0.311246  9.95509    -0.0532632  -0.015979   0.0436758   0.23       0             pose: 0.7129365     5.95708    -1.50152    0 -0.0043326  -0.00225315 -0.70231    0.711855       uwb: 0.0            962.301  424.748  
imu_odom_:  1691062817.319225206  0.19393    -0.244209  9.6223     -0.0415453  0.0585895   0.0276969   0.19       -0.02         pose: 0.0           5.95708    -1.50152    0 -0.0043326  -0.00225315 -0.70231    0.711855       uwb: 0.0            962.301  424.748  
imu_odom_:  1691062817.344166464  0.368707   -0.371101  9.43794    -0.052198   0.00319579  0.052198    0.19       -0.02         pose: 0.50939744    5.95013    -1.50872    0 -0.00691115 -0.00254242 -0.702302   0.711841       uwb: 0.100186173    959.802  425.106  
imu_odom_:  1691062817.371095019  0.629675   0.0502782  10.4746    -0.04048    -0.0585895  0.0394148   0.19       0             pose: 0.34964367    5.95733    -1.51567    0 -0.00544952 0.000793736 -0.70223    0.711929       uwb: 0.0            959.802  425.106  
imu_odom_:  1691062817.396103065  0.538695   -0.296881  9.77553    -0.0607201  -0.0255663  0.0447411   0.18       0.02          pose: 0.7010080     5.95733    -1.51567    0 -0.00529047 -3.17158e-05-0.702232   0.711928       uwb: 0.50012883     955.791  425.424  
imu_odom_:  1691062817.413096590  0.0981623  -0.11971   9.67257    -0.04048    -0.00106526 0.0181095   0.18       0.02          pose: 0.0           5.95733    -1.51567    0 -0.00529047 -3.17158e-05-0.702232   0.711928       uwb: 0.0            955.791  425.424  
imu_odom_:  1691062817.429110465  0.565032   -0.308852  9.83059    -0.0660464  -0.0298274  0.0426106   0.18       0.02          pose: 0.51966350    5.95757    -1.5298     0 -0.00686959 -0.00196277 -0.702232   0.711912       uwb: 0.0            955.791  425.424  
imu_odom_:  1691062817.456092684  0.639252   -0.265756  10.2831    -0.0191748  0.0127832   0.0330232   0.25       0             pose: 0.0           5.95757    -1.5298     0 -0.00686959 -0.00196277 -0.702232   0.711912       uwb: 0.0            955.791  425.424  
imu_odom_:  1691062817.481356215  0.509965   -0.0909797 10.1394    -0.0543285  -0.00213053 0.0532632   0.19       0             pose: 0.33076813    5.95063    -1.537      0 -0.00784515 -0.00277991 -0.702302   0.71183        uwb: 0.0            955.791  425.424  
imu_odom_:  1691062817.508154111  0.711078   0          10.1754    -0.0383495  0.111853    0.052198    0.23       0             pose: 0.45136508    5.95555    -1.54175    0 -0.00600206 -0.00556474 -0.702247   0.711887       uwb: 0.99722159     956.267  425.058  
imu_odom_:  1691062817.533144075  0.102951   -0.0574608 10.2376    -0.0394148  0.123571    0.0415453   0.19       0             pose: 0.26797896    5.95294    -1.549      0 -0.0041673  -0.00723297 -0.702138   0.711992       uwb: 0.0            956.267  425.058  
imu_odom_:  1691062817.559088898  -0.304064  -0.100556  10.4076    -0.0585895  0.0351537   0.072438    0.19       0             pose: 0.0           5.95294    -1.549      0 -0.0041673  -0.00723297 -0.702138   0.711992       uwb: 0.50128667     953.726  424.88   
imu_odom_:  1691062817.584128733  0.670376   -0.260968  10.1754    -0.0628506  0.0266316   0.0394148   0.19       0             pose: 0.50934787    5.95612    -1.5562     0 0.00149846  -0.00281573 -0.701846   0.712321       uwb: 0.0            953.726  424.88   
imu_odom_:  1691062817.611415142  0.869095   -0.502782  9.68933    -0.0713727  0.00106526  0.0649811   0.19       0             pose: 0.0           5.95612    -1.5562     0 0.00149846  -0.00281573 -0.701846   0.712321       uwb: 0.49925097     955.734  424.745  
imu_odom_:  1691062817.636116373  0.483629   -0.167594  9.89045    -0.0308927  0.0426106   0.0319579   0.19       0             pose: 0.32000918    5.95113    -1.56528    0 -0.00133851 -0.00344553 -0.701776   0.712389       uwb: 0.0            955.734  424.745  
imu_odom_:  1691062817.653239390  0.323217   -0.232238  9.54089    -0.0830906  -0.00852212 0.0660464   0.19       0             pose: 0.0           5.95113    -1.56528    0 -0.00133851 -0.00344553 -0.701776   0.712389       uwb: 0.0            955.734  424.745  
imu_odom_:  1691062817.678226728  0.486023   -0.270545  9.48343    -0.0692422  0.00213053  0.0383495   0.21       0.02          pose: 0.52154464    5.95834    -1.57222    0 -0.000425961-0.00367633 -0.701595   0.712566       uwb: 0.0            955.734  424.745  
imu_odom_:  1691062817.705179199  0.328006   -0.21069   10.2256    -0.0649811  -0.0468716  0.052198    0.23       -0.02         pose: 0.0           5.95834    -1.57222    0 -0.000425961-0.00367633 -0.701595   0.712566       uwb: 0.100082054    959.724  424.076  
imu_odom_:  1691062817.730109083  0.320823   -0.294487  10.4698    -0.0436758  -0.0340885  0.04048     0.23       -0.02         pose: 0.42049692    5.95141    -1.57942    0 -0.0022267  -0.00136553 -0.701479   0.712686       uwb: 0.0            959.724  424.076  
imu_odom_:  1691062817.747076943  0.363919   -0.189142  9.26077    -0.0777643  -0.00426106 0.0500674   0.21       0             pose: 0.0           5.95141    -1.57942    0 -0.0022267  -0.00136553 -0.701479   0.712686       uwb: 0.49875808     964.259  424.012  
imu_odom_:  1691062817.772118236  0.320823   -0.146046  9.29669    -0.0372843  -0.02024    0.0372843   0.21       0             pose: 0.51791068    5.95168    -1.59356    0 -0.0001393930.00153297  -0.701354   0.712812       uwb: 0.0            964.259  424.012  
imu_odom_:  1691062817.799102788  0.521936   -0.265756  10.2208    -0.052198   -0.0543285  0.04048     0.23       0             pose: 0.35033196    5.9568     -1.59848    0 0.00322473  0.000631466 -0.701331   0.712829       uwb: 0.0            964.259  424.012  
imu_odom_:  1691062817.824066212  0.658405   -0.0550666 10.3669    -0.0575243  -0.0575243  0.0415453   0.23       0             pose: 0.6959042     5.9589     -1.60049    0 0.00244997  0.000279572 -0.70133    0.712832       uwb: 0.0            964.259  424.012  
imu_odom_:  1691062817.851111135  0.550666   -0.112527  9.89284    -0.0490022  0.00852212  0.0351537   0.21       0             pose: 0.44988934    5.95197    -1.6077     0 -0.000872202-0.00361324 -0.701303   0.712853       uwb: 0.100123176    963.726  423.551  
imu_odom_:  1691062817.868055955  0.237026   -0.416591  9.69173    -0.0585895  -0.0181095  0.0532632   0.21       0             pose: 0.0           5.95197    -1.6077     0 -0.000872202-0.00361324 -0.701303   0.712853       uwb: 0.0            963.726  423.551  
imu_odom_:  1691062817.883050516  0.385466   -0.189142  10.3717    -0.0383495  -0.0213053  0.0543285   0.27       0.02          pose: 0.0           5.95197    -1.6077     0 -0.000872202-0.00361324 -0.701303   0.712853       uwb: 0.0            963.726  423.551  
imu_odom_:  1691062817.909042295  0.651223   0.184354   10.2113    -0.0436758  -0.0181095  0.0543285   0.27       0.02          pose: 0.49997717    5.95225    -1.62184    0 -0.000857662-0.00416624 -0.70123    0.712922       uwb: 0.49874350     962.719  423.615  
imu_odom_:  1691062817.936101217  0.289698   -0.304064  10.2113    -0.0436758  -0.0117179  0.0436758   0.19       0.02          pose: 0.34978366    5.95225    -1.62184    0 0.000355435 -0.0062279  -0.701042   0.713092       uwb: 0.0            962.719  423.615  
imu_odom_:  1691062817.962164741  0.447716   -0.146046  9.91678    -0.0543285  0.02024     0.0447411   0.19       0.02          pose: 0.7016205     5.95225    -1.62184    0 0.000388536 -0.00557386 -0.701035   0.713105       uwb: 0.50027174     962.21   423.554  
imu_odom_:  1691062817.989201207  0.555455   0.105345   10.1562    -0.0383495  -0.0106526  0.0415453   0.25       0.02          pose: 0.46106241    5.95446    -1.63398    0 0.0026703   -0.00521781 -0.700961   0.713175       uwb: 0.0            962.21   423.554  
imu_odom_:  1691062818.14148007   0.574608   -0.407014  9.72764    -0.0809601  -0.0191748  0.0458064   0.2        0             pose: 0.0           5.95446    -1.63398    0 0.0026703   -0.00521781 -0.700961   0.713175       uwb: 0.49876099     962.21   423.554  
imu_odom_:  1691062818.41191181   0.447716   -0.0694318 10.2113    -0.0436758  0.0106526   0.0394148   0.2        0             pose: 0.34055005    5.95977    -1.6429     0 0.00281838  -0.00768776 -0.700911   0.713202       uwb: 0.0            962.21   423.554  
imu_odom_:  1691062818.58196664   0.306458   -0.770933  9.14585    -0.0788296  0.015979    0.0543285   0.19       -0.02         pose: 0.0           5.95977    -1.6429     0 0.00281838  -0.00768776 -0.700911   0.713202       uwb: 0.49946097     957.72   424.384  
imu_odom_:  1691062818.85156719   0.272939   -0.0383072 10.3693    -0.0117179  -0.00319579 0.0490022   0.19       -0.02         pose: 0.52989747    5.95285    -1.65012    0 0.00345038  -0.00579392 -0.700844   0.713283       uwb: 0.0            957.72   424.384  
imu_odom_:  1691062818.110219012  0.237026   -0.129287  9.68694    -0.0735032  -0.00213053 0.052198    0.2        0             pose: 0.35947226    5.95306    -1.66021    0 0.00582174  -0.00421794 -0.700713   0.713407       uwb: 0.50003259     958.225  424.394  
imu_odom_:  1691062818.137079614  0.0957681  -0.167594  9.61751    -0.0681769  0.0330232   0.0553937   0.2        0             pose: 0.7993230     5.95315    -1.66426    0 0.00611724  -0.00343795 -0.700682   0.713439       uwb: 0.0            958.225  424.394  
imu_odom_:  1691062818.162079202  0.0981623  -0.126893  9.91918    -0.0490022  0.0543285   0.036219    0.2        0             pose: 0.43929665    5.9583     -1.66918    0 0.00826747  0.00105964  -0.700465   0.713638       uwb: 0.50167750     960.234  424.228  
imu_odom_:  1691062818.189112752  0.150835   -0.294487  9.67736    -0.0756338  0.00106526  0.0511327   0.21       0             pose: 0.0           5.9583     -1.66918    0 0.00826747  0.00105964  -0.700465   0.713638       uwb: 0.0            960.234  424.228  
imu_odom_:  1691062818.206041531  0.323217   -0.0215478 10.4531    -0.0607201  -0.0607201  0.0394148   0.21       0             pose: 0.31991003    5.95347    -1.6784     0 0.0101146   0.00413539  -0.700462   0.713606       uwb: 0.50117295     964.226  423.755  
imu_odom_:  1691062818.231153988  0.754174   -0.0215478 10.331     -0.1012     -0.0820254  0.0692422   0.19       0             pose: 0.0           5.95347    -1.6784     0 0.0101146   0.00413539  -0.700462   0.713606       uwb: 0.0            964.226  423.755  
imu_odom_:  1691062818.256100788  1.12767    -0.215478  10.4483    -0.0447411  -0.0223706  0.0117179   0.19       0             pose: 0.43971371    5.95347    -1.6784     0 0.00815339  0.00344586  -0.700321   0.713774       uwb: 0.49888350     963.217  423.795  
imu_odom_:  1691062818.283109256  0.0047884  -0.1652    9.50498    -0.0628506  0.00426106  0.052198    0.25       0             pose: 0.43058800    5.95571    -1.69053    0 0.00446304  -0.000193516-0.700385   0.713751       uwb: 0.0            963.217  423.795  
imu_odom_:  1691062818.308031849  0.502782   -0.248997  9.41879    -0.0426106  0           0.0340885   0.25       0             pose: 0.6953792     5.95379    -1.69254    0 0.00493358  0.000360524 -0.700354   0.713779       uwb: 0.49930347     963.219  423.818  
imu_odom_:  1691062818.325181407  0.605733   -0.45011   9.88326    -0.0628506  -0.0245011  0.0468716   0.23       0             pose: 0.0           5.95379    -1.69254    0 0.00493358  0.000360524 -0.700354   0.713779       uwb: 0.0            963.219  423.818  
imu_odom_:  1691062818.350073377  0.368707   -0.371101  9.94073    -0.0287621  0.0191748   0.0394148   0.23       0             pose: 0.44977269    5.95889    -1.69741    0 0.00412314  0.000969502 -0.700319   0.713817       uwb: 0.49999760     965.224  423.529  
imu_odom_:  1691062818.367044737  0.234632   -0.107739  9.92397    -0.0617853  -0.00532632 0.0490022   0.21       -0.02         pose: 0.0           5.95889    -1.69741    0 0.00412314  0.000969502 -0.700319   0.713817       uwb: 0.0            965.224  423.529  
imu_odom_:  1691062818.393033016  0.153229   -0.122104  9.67736    -0.0330232  -0.0138484  0.0319579   0.21       -0.02         pose: 0.49042859    5.95411    -1.70668    0 0.00149754  0.00252145  -0.70026    0.713882       uwb: 0.0            965.224  423.529  
imu_odom_:  1691062818.420189934  0.656011   -0.131681  10.3453    -0.0575243  -0.0308927  0.04048     0.25       -0.02         pose: 0.35958308    5.95658    -1.71858    0 0.00505248  0.00305749  -0.700284   0.71384        uwb: 0.50009676     966.748  423.627  
imu_odom_:  1691062818.436070234  0.916979   -0.138864  9.44034    -0.0511327  0.0468716   0.0223706   0.25       -0.02         pose: 0.8052435     5.95444    -1.72082    0 0.00449399  0.00233734  -0.700283   0.713847       uwb: 0.0            966.748  423.627  
imu_odom_:  1691062818.463041371  0.308852   -0.390255  9.74679    -0.0703074  -0.00745685 0.0490022   0.23       -0.02         pose: 0.0           5.95444    -1.72082    0 0.00449399  0.00233734  -0.700283   0.713847       uwb: 0.49907016     966.786  424.284  
imu_odom_:  1691062818.488076832  0.244209   -0.354342  9.73004    -0.0447411  -0.0351537  0.0213053   0.23       -0.02         pose: 0.43032260    5.95444    -1.72082    0 0.00201576  0.000423035 -0.70035    0.713796       uwb: 0.0            966.786  424.284  
imu_odom_:  1691062818.515076843  0.462081   -0.337582  9.83538    -0.0340885  -0.00319579 0.0255663   0.23       0             pose: 0.43959121    5.95476    -1.73495    0 0.000703353 0.00430018  -0.700449   0.713689       uwb: 0.50066839     970.321  424.349  
imu_odom_:  1691062818.540156635  0.711078   -0.167594  10.4746    -0.036219   -0.0298274  0.0468716   0.18       0.02          pose: 0.0           5.95476    -1.73495    0 0.000703353 0.00430018  -0.700449   0.713689       uwb: 0.0            970.321  424.349  
imu_odom_:  1691062818.567025111  0.579397   0.0430956  10.2975    -0.0458064  0.0340885   0.0447411   0.18       0.02          pose: 0.35103484    5.96199    -1.74187    0 -0.00203839 0.0025219   -0.700576   0.71357        uwb: 0.50014343     973.854  424.39   
imu_odom_:  1691062818.592150109  0.526724   -0.268151  9.36372    -0.0628506  0.0234358   0.052198    0.18       0.02          pose: 0.0           5.96199    -1.74187    0 -0.00203839 0.0025219   -0.700576   0.71357        uwb: 0.0            973.854  424.39   
imu_odom_:  1691062818.619078082  -0.023942  -0.167594  9.7444     -0.04048    0.015979    0.0532632   0.18       0.02          pose: 0.51928437    5.95508    -1.74909    0 -0.00213801 -0.00162036 -0.700455   0.713691       uwb: 0.50025425     974.857  424.298  
imu_odom_:  1691062818.635016712  0.61531    -0.349553  10.3262    -0.0830906  -0.0127832  0.0649811   0.2        0             pose: 0.43969329    5.95719    -1.76135    0 -0.00120389 -9.77871e-05-0.700246   0.713901       uwb: 0.0            974.857  424.298  
imu_odom_:  1691062818.661012866  0.490811   0.158017   9.74919    -0.0394148  -0.00852212 0.0532632   0.2        0             pose: 0.0           5.95719    -1.76135    0 -0.00120389 -9.77871e-05-0.700246   0.713901       uwb: 0.50021634     976.88   424.472  
imu_odom_:  1691062818.686035786  0.328006   -0.129287  10.0054    -0.0596548  0.00958738  0.0553937   0.23       0.02          pose: 0.22951919    5.9554     -1.76323    0 -0.00248094 -0.000968381-0.700066   0.714073       uwb: 0.0            976.88   424.472  
imu_odom_:  1691062818.703079767  0.42138    -0.126893  9.61272    -0.0394148  -0.00958738 0.0223706   0.23       0.02          pose: 0.0           5.9554     -1.76323    0 -0.00248094 -0.000968381-0.700066   0.714073       uwb: 0.49952221     978.392  424.484  
imu_odom_:  1691062818.728263677  0.378284   -0.543484  9.23204    -0.0905475  -0.0298274  0.0649811   0.18       0.02          pose: 0.51008283    5.95573    -1.77737    0 0.00165823  -0.00228425 -0.699882   0.714253       uwb: 0.0            978.392  424.484  
imu_odom_:  1691062818.755014619  0.557849   0.00718261 9.77792    -0.052198   -0.0223706  0.036219    0.21       0             pose: 0.35225393    5.95573    -1.77737    0 4.25536e-05 -0.00121524 -0.699718   0.714419       uwb: 0.50119628     977.403  424.968  
imu_odom_:  1691062818.780120951  0.653617   -0.0670376 9.90721    -0.0756338  -0.00745685 0.0458064   0.21       0             pose: 0.0           5.95573    -1.77737    0 4.25536e-05 -0.00121524 -0.699718   0.714419       uwb: 0.0            977.403  424.968  
imu_odom_:  1691062818.806989428  0.464475   -0.234632  9.53132    -0.0905475  -0.0255663  0.0490022   0.23       0.02          pose: 0.6821967     5.95573    -1.77737    0 0.000143289 -0.00193544 -0.699725   0.71441        uwb: 0.49750108     975.888  424.794  
imu_odom_:  1691062818.832043555  0.361524   -0.0957681 9.80665    -0.0639159  -0.00426106 0.0436758   0.23       0.02          pose: 0.0           5.95573    -1.77737    0 0.000143289 -0.00193544 -0.699725   0.71441        uwb: 0.0            975.888  424.794  
imu_odom_:  1691062818.849044955  0.378284   -0.392649  10.0437    -0.0479369  -0.0127832  0.052198    0.23       0.02          pose: 0.52060262    5.95608    -1.79151    0 -0.00113705 -0.00557603 -0.699656   0.714457       uwb: 0.50101254     979.401  424.517  
imu_odom_:  1691062818.875048108  0.960075   -0.0430956 9.663      -0.0447411  0           0.0330232   0.23       0.02          pose: 0.0           5.95608    -1.79151    0 -0.00113705 -0.00557603 -0.699656   0.714457       uwb: 0.0            979.401  424.517  
imu_odom_:  1691062818.901132631  0.31364    -0.162806  10.0509    -0.0681769  0.0245011   0.0543285   0.23       -0.02         pose: 0.51847358    5.95643    -1.80565    0 -0.000342207-0.00277486 -0.699532   0.714595       uwb: 0.49890975     983.43   424.622  
imu_odom_:  1691062818.924004639  0.639252   -0.172383  10.1179    -0.0447411  0.0351537   0.0319579   0.23       -0.02         pose: 0.0           5.95643    -1.80565    0 -0.000342207-0.00277486 -0.699532   0.714595       uwb: 0.0            983.43   424.622  
imu_odom_:  1691062818.948052867  0.241814   -0.126893  10.0724    -0.0713727  -0.00319579 0.0511327   0.19       0             pose: 0.42999012    5.95643    -1.80565    0 -0.0013081  -0.00376081 -0.699508   0.714614       uwb: 0.50138001     989.951  424.166  
imu_odom_:  1691062818.965011978  0.28491    -0.186748  9.57202    -0.0458064  -0.015979   0.0308927   0.19       0             pose: 0.0           5.95643    -1.80565    0 -0.0013081  -0.00376081 -0.699508   0.714614       uwb: 0.0            989.951  424.166  
imu_odom_:  1691062818.990999966  0.567426   -0.160412  9.86411    -0.076699   -0.0138484  0.0639159   0.18       0             pose: 0.49081940    5.95679    -1.81979    0 -0.000318646-0.00327349 -0.699443   0.714681       uwb: 0.0            989.951  424.166  
imu_odom_:  1691062819.8006907    0.514753   -0.0981623 10.3238    -0.0372843  -0.00852212 0.0383495   0.18       0             pose: 0.0           5.95679    -1.81979    0 -0.000318646-0.00327349 -0.699443   0.714681       uwb: 0.50019301     988.444  424.335  
imu_odom_:  1691062819.33105657   0.433351   -0.0622492 9.78271    -0.0511327  0.0213053   0.0415453   0.2        0.02          pose: 0.76932691    5.95715    -1.83393    0 0.000212007 -0.00472677 -0.699205   0.714906       uwb: 0.0            988.444  424.335  
imu_odom_:  1691062819.59987842   0.378284   -0.100556  9.83059    -0.0351537  -0.00852212 0.0351537   0.21       -0.02         pose: 0.8036103     5.95715    -1.83393    0 0.00103212  -0.0049886  -0.6992     0.714908       uwb: 0.50075298     988.439  424.077  
imu_odom_:  1691062819.85018345   0.526724   -0.318429  9.64624    -0.0798948  -0.0458064  0.0458064   0.2        0             pose: 0.43944832    5.95742    -1.84415    0 0.00481418  -0.00385917 -0.699242   0.714858       uwb: 0.0            988.439  424.077  
imu_odom_:  1691062819.112055688  0.790087   -0.105345  10.1562    -0.0383495  -0.0223706  0.036219    0.21       0             pose: 0.0           5.95742    -1.84415    0 0.00481418  -0.00385917 -0.699242   0.714858       uwb: 0.49739027     988.434  423.865  
imu_odom_:  1691062819.137046527  0.749385   -0.0407014 10.058     -0.0490022  -0.052198   0.0415453   0.21       0             pose: 0.32042334    5.95752    -1.84806    0 0.00134728  -0.00409169 -0.699197   0.714916       uwb: 0.0            988.434  423.865  
imu_odom_:  1691062819.154139797  -0.00957681-0.332794  9.74919    -0.0191748  0.0553937   0.0394148   0.22       0             pose: 0.0           5.95752    -1.84806    0 0.00134728  -0.00409169 -0.699197   0.714916       uwb: 0.50089006     985.414  423.91   
imu_odom_:  1691062819.179098555  0.227449   -0.122104  9.85453    -0.0607201  -0.00532632 0.0543285   0.22       0             pose: 0.52050931    5.95788    -1.8622     0 -0.000838162-0.00793804 -0.69918    0.714901       uwb: 0.0            985.414  423.91   
imu_odom_:  1691062819.206059194  0.469264   -0.19393   10.082     -0.0479369  -0.0255663  0.0575243   0.22       -0.02         pose: 0.35017448    5.95788    -1.8622     0 0.00158058  -0.00509891 -0.69907    0.715033       uwb: 0.49892434     982.908  424.026  
imu_odom_:  1691062819.231242813  0.600945   -0.162806  10.0987    -0.0468716  0.0276969   0.036219    0.22       -0.02         pose: 0.6893421     5.95788    -1.8622     0 0.000964363 -0.00480029 -0.699026   0.71508        uwb: 0.0            982.908  424.026  
imu_odom_:  1691062819.257979465  0.150835   0.0023942  9.51216    -0.0916127  0.0170442   0.0692422   0.23       0             pose: 0.45250837    5.95826    -1.87634    0 -0.00210631 -0.00563418 -0.698914   0.71518        uwb: 0.50146461     983.413  424.129  
imu_odom_:  1691062819.274021631  0.390255   -0.0981623 10.2376    -0.0681769  -0.0330232  0.0468716   0.23       0             pose: 0.0           5.95826    -1.87634    0 -0.00210631 -0.00563418 -0.698914   0.71518        uwb: 0.0            983.413  424.129  
imu_odom_:  1691062819.301107387  0.42138    -0.0909797 10.4363    -0.0596548  -0.0415453  0.036219    0.25       0             pose: 0.42778818    5.96185    -1.88709    0 0.00161415  -0.00404525 -0.698611   0.715489       uwb: 0.50163960     982.908  424.073  
imu_odom_:  1691062819.326971133  1.01754    -0.181959  9.92636    -0.0447411  -0.0255663  0.0351537   0.19       0             pose: 0.0           5.96185    -1.88709    0 0.00161415  -0.00404525 -0.698611   0.715489       uwb: 0.0            982.908  424.073  
imu_odom_:  1691062819.354033265  0.584185   -0.0885855 9.27753    -0.0585895  -0.00958738 0.04048     0.25       0.02          pose: 0.52949502    5.95864    -1.89048    0 0.00159255  -0.00716135 -0.698669   0.715408       uwb: 0.49886601     981.899  424.034  
imu_odom_:  1691062819.378961400  0.452504   -0.241814  9.94312    -0.0447411  0.02024     0.0340885   0.2        0             pose: 0.0           5.95864    -1.89048    0 0.00159255  -0.00716135 -0.698669   0.715408       uwb: 0.0            981.899  424.034  
imu_odom_:  1691062819.395954926  0.399832   -0.517148  9.7037     -0.0532632  -0.0276969  0.0415453   0.2        0             pose: 0.34020591    5.95903    -1.90461    0 -0.000244836-0.00863815 -0.698654   0.715407       uwb: 0.50119046     982.397  423.83   
imu_odom_:  1691062819.421052217  0.414197   -0.294487  9.84256    -0.0191748  -0.015979   0.0394148   0.18       0             pose: 0.0           5.95903    -1.90461    0 -0.000244836-0.00863815 -0.698654   0.715407       uwb: 0.0            982.397  423.83   
imu_odom_:  1691062819.448250550  0.122104   -0.0861913 9.59117    -0.0479369  0.0351537   0.0319579   0.18       0             pose: 0.34963202    5.95903    -1.90461    0 -0.00154262 -0.00551957 -0.698683   0.715409       uwb: 0.49830021     984.397  423.303  
imu_odom_:  1691062819.473004279  0.31364    -0.059855  9.47386    -0.0500674  0.0138484   0.0436758   0.19       0             pose: 0.8008688     5.95903    -1.90461    0 -0.00164747 -0.00487212 -0.698683   0.715413       uwb: 0.0            984.397  423.303  
imu_odom_:  1691062819.490000138  0.560243   -0.268151  10.3118    -0.0617853  -0.0351537  0.0394148   0.19       0             pose: 0.0           5.95903    -1.90461    0 -0.00164747 -0.00487212 -0.698683   0.715413       uwb: 0.0            984.397  423.303  
imu_odom_:  1691062819.515988126  0.785298   0          10.2376    -0.0628506  -0.0383495  0.0543285   0.18       -0.02         pose: 0.52124134    5.95942    -1.91875    0 0.00180929  -0.00188019 -0.698754   0.715357       uwb: 0.49873186     982.878  423.064  
imu_odom_:  1691062819.543077090  0.586579   0.0167594  10.1897    -0.0585895  -0.015979   0.0298274   0.18       -0.02         pose: 0.0           5.95942    -1.91875    0 0.00180929  -0.00188019 -0.698754   0.715357       uwb: 0.0            982.878  423.064  
imu_odom_:  1691062819.567973435  0.215478   -0.155623  9.9096     -0.0543285  -0.00532632 0.0351537   0.18       0.02          pose: 0.41942368    5.95981    -1.93289    0 0.00132525  -0.00314897 -0.698685   0.715421       uwb: 0.50016677     979.338  422.827  
imu_odom_:  1691062819.595050442  0.751779   -0.160412  10.0006    -0.0223706  0.00639159  0.02024     0.22       0             pose: 0.52968459    5.95981    -1.93289    0 0.00110345  -0.00709599 -0.698685   0.715394       uwb: 0.50068590     980.34   422.628  
imu_odom_:  1691062819.610960199  0.519542   -0.174777  10.2113    -0.0479369  -0.015979   0.0490022   0.22       0             pose: 0.0           5.95981    -1.93289    0 0.00110345  -0.00709599 -0.698685   0.715394       uwb: 0.0            980.34   422.628  
imu_odom_:  1691062819.638064329  0.682347   -0.0430956 9.98143    -0.0479369  0.0426106   0.0458064   0.23       0             pose: 0.23986691    5.96019    -1.94702    0 0.00157242  -0.00614824 -0.698766   0.715322       uwb: 0.0            980.34   422.628  
imu_odom_:  1691062819.664059900  0.215478   -0.181959  9.51935    -0.0500674  0.0308927   0.052198    0.23       0             pose: 0.43028470    5.96019    -1.94702    0 -0.00113687 -0.00725761 -0.698814   0.715266       uwb: 0.49879019     981.339  422.266  
imu_odom_:  1691062819.690953459  0.143652   -0.0670376 9.6606     -0.0490022  0.0127832   0.0511327   0.25       0             pose: 0.46046164    5.96057    -1.96116    0 0.000489374 -0.00643757 -0.698659   0.715426       uwb: 0.0            981.339  422.266  
imu_odom_:  1691062819.716079332  0.457293   -0.514753  9.44991    -0.0639159  -0.0127832  0.056459    0.25       0             pose: 0.0           5.96057    -1.96116    0 0.000489374 -0.00643757 -0.698659   0.715426       uwb: 0.50136253     983.865  422.284  
imu_odom_:  1691062819.743064469  0.244209   -0.0933739 10.1107    -0.0532632  0.00106526  0.0511327   0.2        0             pose: 0.52019432    5.96085    -1.97119    0 0.000802036 -0.00310975 -0.698414   0.715687       uwb: 0.0            983.865  422.284  
imu_odom_:  1691062819.759008058  0.397437   -0.047884  10.1466    -0.0756338  -0.0149137  0.0575243   0.2        0             pose: 0.0           5.96085    -1.97119    0 0.000802036 -0.00310975 -0.698414   0.715687       uwb: 0.49840229     990.897  421.825  
imu_odom_:  1691062819.785986778  0.35913    -0.181959  10.2735    -0.0639159  -0.0298274  0.0543285   0.25       0.02          pose: 0.42928726    5.96097    -1.9753     0 0.00407975  -0.00308222 -0.698198   0.715886       uwb: 0.0            990.897  421.825  
imu_odom_:  1691062819.811195772  0.339977   -0.129287  9.96467    -0.0575243  -0.0298274  0.052198    0.19       0             pose: 0.0           5.96097    -1.9753     0 0.00407975  -0.00308222 -0.698198   0.715886       uwb: 0.50272162     991.399  421.535  
imu_odom_:  1691062819.838064541  0.572214   -0.0071826110.6398    -0.0692422  -0.015979   0.0458064   0.19       0             pose: 0.26978720    5.96125    -1.98518    0 0.0027461   -0.000747497-0.698069   0.716025       uwb: 0.0            991.399  421.535  
imu_odom_:  1691062819.864053112  1.01514    -0.0167594 9.91199    -0.04048    -0.0138484  0.0245011   0.18       0             pose: 0.52077763    5.96138    -1.98943    0 0.00399459  -0.00349429 -0.69788    0.716195       uwb: 0.49757109     990.892  421.52   
imu_odom_:  1691062819.881049846  0.555455   -0.476446  9.56962    -0.0884169  -0.0106526  0.0490022   0.18       0             pose: 0.0           5.96138    -1.98943    0 0.00399459  -0.00349429 -0.69788    0.716195       uwb: 0.0            990.892  421.52   
imu_odom_:  1691062819.897944795  0.342371   -0.390255  10.058     -0.0585895  -0.0106526  0.0468716   0.18       0.02          pose: 0.0           5.96138    -1.98943    0 0.00399459  -0.00349429 -0.69788    0.716195       uwb: 0.50101255     988.862  421.179  
imu_odom_:  1691062819.913058058  0.0383072  0.0311246  9.72764    -0.0351537  0.00426106  0.0383495   0.18       0.02          pose: 0.50996618    5.9618     -2.00357    0 0.000486423 -0.00412839 -0.697932   0.716152       uwb: 0.0            988.862  421.179  
imu_odom_:  1691062819.938106352  0.112527   -0.0383072 10.0963    -0.0585895  0.00958738  0.0511327   0.18       0.02          pose: 0.0           5.9618     -2.00357    0 0.000486423 -0.00412839 -0.697932   0.716152       uwb: 0.0            988.862  421.179  
imu_odom_:  1691062819.965087114  0.390255   -0.0670376 10.4076    -0.052198   -0.0553937  0.0426106   0.17       0.02          pose: 0.31048977    5.9618     -2.00357    0 0.00238182  -0.00250761 -0.697892   0.716194       uwb: 0.50077632     986.841  421.151  
imu_odom_:  1691062819.991097268  0.54109    -0.102951  9.91678    -0.0383495  -0.0458064  0.04048     0.18       -0.02         pose: 0.44976978    5.96221    -2.01771    0 0.00484776  -0.00454362 -0.697778   0.716283       uwb: 0.0            986.841  421.151  
imu_odom_:  1691062820.17985869   0.143652   -0.306458  9.98382    -0.0617853  0.00426106  0.0511327   0.18       -0.02         pose: 0.0           5.96221    -2.01771    0 0.00484776  -0.00454362 -0.697778   0.716283       uwb: 0.50057508     989.875  421.02   
imu_odom_:  1691062820.34018703   0.31364    -0.169988  10.0293    -0.0511327  -0.00532632 0.04048     0.18       0             pose: 0.8019188     5.96221    -2.01771    0 0.00414938  -0.00520768 -0.697772   0.716289       uwb: 0.0            989.875  421.02   
imu_odom_:  1691062820.60989550   0.361524   -0.272939  9.98382    -0.0809601  0.00426106  0.0671117   0.18       0             pose: 0.0           5.96221    -2.01771    0 0.00414938  -0.00520768 -0.697772   0.716289       uwb: 0.49725903     995.432  420.55   
imu_odom_:  1691062820.85933726   0.237026   -0.311246  10.1778    -0.0436758  0.0351537   0.0308927   0.18       0             pose: 0.52997916    5.96264    -2.03184    0 0.00329447  -0.00314292 -0.697663   0.716411       uwb: 0.0            995.432  420.55   
imu_odom_:  1691062820.113082771  0.620098   -0.536301  9.94791    -0.0798948  -0.0308927  0.0596548   0.23       0.02          pose: 0.42874480    5.96264    -2.03184    0 0.00200574  0.0010122   -0.697431   0.716649       uwb: 0.0            995.432  420.55   
imu_odom_:  1691062820.139006597  0.272939   -0.0454898 9.663      -0.0500674  0.02024     0.0479369   0.19       -0.02         pose: 0.0           5.96264    -2.03184    0 0.00200574  0.0010122   -0.697431   0.716649       uwb: 0.0            995.432  420.55   
imu_odom_:  1691062820.165989985  0.296881   -0.260968  9.60314    -0.0788296  0.0181095   0.0319579   0.23       0             pose: 0.52133468    5.96308    -2.04598    0 3.59615e-05 0.00271512  -0.697269   0.716805       uwb: 0.100074187    993.912  420.634  
imu_odom_:  1691062820.181927741  0.0622492  -0.517148  9.58878    -0.0383495  0.0234358   0.0276969   0.23       0             pose: 0.0           5.96308    -2.04598    0 3.59615e-05 0.00271512  -0.697269   0.716805       uwb: 0.0            993.912  420.634  
imu_odom_:  1691062820.198923309  0.744597   -0.0407014 9.94791    -0.0671117  -0.0394148  0.0490022   0.23       0             pose: 0.0           5.96308    -2.04598    0 3.59615e-05 0.00271512  -0.697269   0.716805       uwb: 0.49952807     1001.49  420.182  
imu_odom_:  1691062820.224009810  1.01754    -0.0646434 9.71088    -0.0298274  0.0127832   0.0255663   0.25       0.02          pose: 0.68823096    5.96352    -2.06011    0 0.0018772   0.00619727  -0.697321   0.71673        uwb: 0.0            1001.49  420.182  
imu_odom_:  1691062820.251120356  0.35913    -0.148441  9.77074    -0.0639159  0.0181095   0.0532632   0.23       0             pose: 0.34074548    5.96352    -2.06011    0 0.000646053 0.00298436  -0.697431   0.716646       uwb: 0.50087841     1003.01  420.117  
imu_odom_:  1691062820.267066279  0.754174   -0.160412  9.75398    -0.0543285  0.0138484   0.0330232   0.23       0             pose: 0.0           5.96352    -2.06011    0 0.000646053 0.00298436  -0.697431   0.716646       uwb: 0.0            1003.01  420.117  
imu_odom_:  1691062820.284048139  0.356736   -0.146046  9.80665    -0.0639159  0.0255663   0.0532632   0.23       0             pose: 0.0           5.96352    -2.06011    0 0.000646053 0.00298436  -0.697431   0.716646       uwb: 0.0            1003.01  420.117  
imu_odom_:  1691062820.301046332  0.45011    -0.31364   10.0533    -0.0756338  -0.00852212 0.0532632   0.18       0             pose: 0.6956126     5.96352    -2.06011    0 0.00114696  0.00254583  -0.697396   0.716681       uwb: 0.0            1003.01  420.117  
imu_odom_:  1691062820.318162934  0.361524   -0.215478  10.1514    -0.0426106  0.0308927   0.0415453   0.18       0             pose: 0.0           5.96352    -2.06011    0 0.00114696  0.00254583  -0.697396   0.716681       uwb: 0.0            1003.01  420.117  
imu_odom_:  1691062820.334162520  0.126893   0.00718261 9.56962    -0.0937433  0.0117179   0.0639159   0.18       0             pose: 0.0           5.96352    -2.06011    0 0.00114696  0.00254583  -0.697396   0.716681       uwb: 0.0            1003.01  420.117  
imu_odom_:  1691062820.350974349  0.823605   -0.1652    10.3501    -0.0735032  -0.0415453  0.0394148   0.25       0             pose: 0.61087975    5.96396    -2.07425    0 0.00257168  2.43008e-05 -0.697207   0.716866       uwb: 0.0            1003.01  420.117  
imu_odom_:  1691062820.366928145  0.730232   -0.191536  9.67976    -0.0585895  -0.0394148  0.0330232   0.18       0             pose: 0.0           5.96396    -2.07425    0 0.00257168  2.43008e-05 -0.697207   0.716866       uwb: 0.0            1003.01  420.117  
imu_odom_:  1691062820.383975335  0.162806   -0.407014  9.84256    -0.0553937  0.0223706   0.0436758   0.18       0             pose: 0.66932917    5.96441    -2.08838    0 0.00105319  0.000329679 -0.69703    0.717041       uwb: 0.0            1003.01  420.117  
imu_odom_:  1691062820.400982277  0.866701   -0.19393   10.2304    -0.0436758  -0.0191748  0.0319579   0.18       0             pose: 0.0           5.96441    -2.08838    0 0.00105319  0.000329679 -0.69703    0.717041       uwb: 0.150009787    1007.57  419.83   
imu_odom_:  1691062820.415971882  0.849942   -0.241814  9.78271    -0.0543285  -0.0351537  0.0458064   0.18       0             pose: 0.0           5.96441    -2.08838    0 0.00105319  0.000329679 -0.69703    0.717041       uwb: 0.0            1007.57  419.83   
imu_odom_:  1691062820.432970074  0.751779   -0.114922  9.39485    -0.0639159  0.00745685  0.0415453   0.18       0             pose: 0.32995154    5.96486    -2.10252    0 0.000161074 0.000829446 -0.697046   0.717025       uwb: 0.0            1007.57  419.83   
imu_odom_:  1691062820.446965155  0.268151   -0.167594  10.0892    -0.0532632  0.0191748   0.0330232   0.2        0             pose: 0.40988092    5.96486    -2.10252    0 -0.00238986 -0.0025565  -0.697024   0.71704        uwb: 0.50014345     1010.62  419.526  
imu_odom_:  1691062820.463020737  0.538695   -0.328006  9.6199     -0.0596548  0.00426106  0.04048     0.2        0             pose: 0.6003308     5.96486    -2.10252    0 -0.00183393 -0.00218134 -0.69704    0.717027       uwb: 0.0            1010.62  419.526  
imu_odom_:  1691062820.477954928  0.184354   -0.184354  9.83538    -0.0490022  0.0745685   0.0319579   0.2        0             pose: 0.0           5.96486    -2.10252    0 -0.00183393 -0.00218134 -0.69704    0.717027       uwb: 0.0            1010.62  419.526  
imu_odom_:  1691062820.494901207  0.433351   -0.474052  9.44752    -0.0415453  0.0276969   0.0223706   0.18       0             pose: 0.38981546    5.96192    -2.11346    0 -0.00101743 -0.000198484-0.697095   0.716978       uwb: 0.49721529     1015.19  419.345  
imu_odom_:  1691062820.508898038  1.00078    -0.395043  9.44991    -0.0617853  -0.0500674  0.0468716   0.18       0             pose: 0.0           5.96192    -2.11346    0 -0.00101743 -0.000198484-0.697095   0.716978       uwb: 0.0            1015.19  419.345  
imu_odom_:  1691062820.524959745  0.368707   -0.0766145 9.66779    -0.0426106  0.00106526  0.0426106   0.18       0             pose: 0.0           5.96192    -2.11346    0 -0.00101743 -0.000198484-0.697095   0.716978       uwb: 0.0            1015.19  419.345  
imu_odom_:  1691062820.539955182  0.383072   -0.131681  9.80426    -0.0245011  0.0127832   0.0372843   0.18       0             pose: 0.37948524    5.96532    -2.11665    0 -0.00276643 -0.000194517-0.697154   0.716916       uwb: 0.0            1015.19  419.345  
imu_odom_:  1691062820.556954250  0.960075   -0.174777  10.0461    -0.0617853  -0.00639159 0.0798948   0.15       0             pose: 0.0           5.96532    -2.11665    0 -0.00276643 -0.000194517-0.697154   0.716916       uwb: 0.50286454     1017.23  419.214  
imu_odom_:  1691062820.570954580  1.28569    -0.387861  9.81144    -0.0681769  -0.0479369  0.102265    0.15       0             pose: 0.0           5.96532    -2.11665    0 -0.00276643 -0.000194517-0.697154   0.716916       uwb: 0.0            1017.23  419.214  
imu_odom_:  1691062820.587890943  2.09971    -0.138864  10.3166    -0.0479369  -0.0798948  0.0575243   0.15       0             pose: 0.31027397    5.96577    -2.13079    0 -0.000652485-0.00155988 -0.697059   0.717012       uwb: 0.0            1017.23  419.214  
imu_odom_:  1691062820.601922188  1.93691    0          9.90481    -0.0436758  -0.0319579  0.0127832   0.13       -0.02         pose: 0.0           5.96577    -2.13079    0 -0.000652485-0.00155988 -0.697059   0.717012       uwb: 0.49902643     1017.23  419.167  
imu_odom_:  1691062820.618956545  1.74777    0.117316   10.3932    -0.0543285  0.0223706   0.0255663   0.13       -0.02         pose: 0.0           5.96577    -2.13079    0 -0.000652485-0.00155988 -0.697059   0.717012       uwb: 0.0            1017.23  419.167  
imu_odom_:  1691062820.633033871  1.35991    -0.316035  10.3669    -0.0713727  -0.0117179  0.0330232   0.13       -0.02         pose: 0.31054519    5.96577    -2.13079    0 -0.00342901 -0.00395854 -0.696544   0.717495       uwb: 0.0            1017.23  419.167  
imu_odom_:  1691062820.649913654  0.94571    -0.632069  9.88805    -0.0490022  0.00958738  0           0.13       -0.02         pose: 0.40971177    5.96577    -2.13079    0 -0.0058807  -0.00766658 -0.696679   0.717317       uwb: 0.50102715     1021.3   419.044  
imu_odom_:  1691062820.663895318  0.533907   -0.220267  9.73004    -0.0500674  -0.00106526 -0.0170442  0.13       -0.02         pose: 0.0           5.96577    -2.13079    0 -0.0058807  -0.00766658 -0.696679   0.717317       uwb: 0.0            1021.3   419.044  
imu_odom_:  1691062820.680038687  0.579397   0.129287   9.97903    -0.0479369  -0.00213053 -0.0170442  0.09       0             pose: 0.6085845     5.96577    -2.13079    0 -0.00642049 -0.00801156 -0.696689   0.7173         uwb: 0.0            1021.3   419.044  
imu_odom_:  1691062820.696935969  0.775721   -0.35913   10.1035    -0.0649811  -0.00958738 0.00958738  0.09       0             pose: 0.0           5.96577    -2.13079    0 -0.00642049 -0.00801156 -0.696689   0.7173         uwb: 0.49933850     1025.86  419.276  
imu_odom_:  1691062820.713030924  0.905008   -0.435745  9.76355    -0.0543285  -0.0266316  0.02024     0.09       0             pose: 0.0           5.96577    -2.13079    0 -0.00642049 -0.00801156 -0.696689   0.7173         uwb: 0.0            1025.86  419.276  
imu_odom_:  1691062820.731027141  0.766145   -0.328006  9.87608    -0.036219   0.00958738  0.0213053   0.11       -0.02         pose: 0.46177699    5.96623    -2.14492    0 -0.00702799 -0.0077406  -0.69737    0.716635       uwb: 0.0            1025.86  419.276  
imu_odom_:  1691062820.748103204  0.684742   -0.0766145 9.77313    -0.0479369  -0.00319579 0.0490022   0.07       -0.02         pose: 0.0           5.96623    -2.14492    0 -0.00702799 -0.0077406  -0.69737    0.716635       uwb: 0.49917809     1030.41  419.59   
imu_odom_:  1691062820.762022455  0.737414   -0.1652    10.0126    -0.0458064  0.00852212  0.0383495   0.07       -0.02         pose: 0.0           5.96623    -2.14492    0 -0.00702799 -0.0077406  -0.69737    0.716635       uwb: 0.0            1030.41  419.59   
imu_odom_:  1691062820.778023208  0.845153   -0.251391  9.98143    -0.0553937  -0.0234358  0.0330232   0.07       -0.02         pose: 0.66872546    5.96623    -2.14492    0 -0.0108775  -0.00934663 -0.697887   0.716065       uwb: 0.0            1030.41  419.59   
imu_odom_:  1691062820.793063559  0.699107   -0.229843  9.69652    -0.0468716  -0.00319579 0.0106526   0.06       -0.02         pose: 0.0           5.96623    -2.14492    0 -0.0108775  -0.00934663 -0.697887   0.716065       uwb: 0.0            1030.41  419.59   
imu_odom_:  1691062820.808975942  0.624887   -0.131681  9.85453    -0.0468716  -0.02024    0.0213053   0.06       -0.02         pose: 0.30940776    5.96623    -2.14492    0 -0.0106674  -0.0118119  -0.697875   0.716042       uwb: 0.50006762     1032.95  419.705  
imu_odom_:  1691062820.825893931  0.790087   -0.1652    9.97185    -0.0649811  0.00213053  0.0255663   0.06       0             pose: 0.15940965    5.96623    -2.14492    0 -0.0114395  -0.0115827  -0.697955   0.715956       uwb: 0.0            1032.95  419.705  
imu_odom_:  1691062820.843965101  0.670376   -0.292093  9.9096     -0.0447411  0.00106526  0.0298274   0.06       0             pose: 0.0           5.96623    -2.14492    0 -0.0114395  -0.0115827  -0.697955   0.715956       uwb: 0.49997721     1038.04  419.429  
imu_odom_:  1691062820.861022790  0.536301   -0.246603  9.97903    -0.0532632  0.0127832   0.0735032   0.06       0             pose: 0.0           5.96623    -2.14492    0 -0.0114395  -0.0115827  -0.697955   0.715956       uwb: 0.0            1038.04  419.429  
imu_odom_:  1691062820.877019459  0.447716   -0.392649  9.88805    -0.0500674  0.00106526  0.108657    0.05       0.02          pose: 0.31001439    5.95944    -2.15226    0 -0.0100653  -0.0116199  -0.698197   0.715741       uwb: 0.0            1038.04  419.429  
imu_odom_:  1691062820.895022675  0.565032   -0.181959  9.92157    -0.0458064  -0.02024    0.0980043   0.04       0.05          pose: 0.0           5.95944    -2.15226    0 -0.0100653  -0.0116199  -0.698197   0.715741       uwb: 0.49995680     1034.5   419.09   
imu_odom_:  1691062820.911874752  0.732626   -0.0861913 9.8665     -0.052198   -0.0127832  0.112918    0.04       0.05          pose: 0.69059624    5.96678    -2.15906    0 -0.00882994 -0.00768495 -0.697548   0.716443       uwb: 0.0            1034.5   419.09   
imu_odom_:  1691062820.926051821  0.744597   -0.220267  9.85693    -0.0575243  0.00213053  0.116114    0.04       0.05          pose: 0.0           5.96678    -2.15906    0 -0.00882994 -0.00768495 -0.697548   0.716443       uwb: 0.0            1034.5   419.09   
imu_odom_:  1691062820.950951084  0.553061   -0.265756  9.90242    -0.0543285  0.00106526  0.123571    0.03       0.02          pose: 0.0           5.96678    -2.15906    0 -0.00882994 -0.00768495 -0.697548   0.716443       uwb: 0.50072674     1033.47  419.312  
imu_odom_:  1691062820.967936735  -0.122104  -0.344765  9.72764    -0.0596548  0.0681769   0.0958738   0.03       0.02          pose: 0.32962197    5.96678    -2.15906    0 -0.00826052 -0.00970097 -0.696731   0.717219       uwb: 0.0            1033.47  419.312  
imu_odom_:  1691062820.984987717  -0.97444   0.0814029  9.98861    -0.0479369  0.0543285   -0.0298274  0.04       0.05          pose: 0.39948946    5.96678    -2.15906    0 -0.00767818 -0.00688667 -0.695624   0.718332       uwb: 0.0            1033.47  419.312  
imu_odom_:  1691062821.1900748    -1.16358   0.167594   9.48104    -0.0596548  -0.0319579  -0.136354   0.04       0.05          pose: 0.0           5.96678    -2.15906    0 -0.00767818 -0.00688667 -0.695624   0.718332       uwb: 0.49939392     1036.52  419.402  
imu_odom_:  1691062821.17939706   -0.215478  0.136469   10.2568    -0.0447411  -0.0671117  -0.251402   0.08       -0.29         pose: 0.43954166    5.9667     -2.15905    0 -0.00383049 -0.00374619 -0.696942   0.717107       uwb: 0.0            1036.52  419.402  
imu_odom_:  1691062821.35938548   0.426168   0.023942   10.0963    -0.0735032  -0.0681769  -0.285491   0.08       -0.29         pose: 0.0           5.9667     -2.15905    0 -0.00383049 -0.00374619 -0.696942   0.717107       uwb: 0.0            1036.52  419.402  
imu_odom_:  1691062821.53088982   0.318429   -0.148441  9.74201    -0.0532632  -0.0436758  -0.289752   0.08       -0.29         pose: 0.0           5.9667     -2.15905    0 -0.00383049 -0.00374619 -0.696942   0.717107       uwb: 0.49992764     1041.08  419.683  
imu_odom_:  1691062821.67059564   -0.191536  -0.263362  9.98861    -0.0394148  0.0223706   -0.318514   0.1        -0.41         pose: 0.8064976     5.96678    -2.15906    0 -0.00321347 -0.00368825 -0.697786   0.716289       uwb: 0.0            1041.08  419.683  
imu_odom_:  1691062821.83080149   -0.435745  0.143652   9.85453    -0.0575243  0.00532632  -0.36432    0.1        -0.38         pose: 0.0           5.96678    -2.15906    0 -0.00321347 -0.00368825 -0.697786   0.716289       uwb: 0.0            1041.08  419.683  
imu_odom_:  1691062821.98147333   -0.129287  0.179565   10.2113    -0.0617853  -0.0191748  -0.394148   0.1        -0.38         pose: 0.0           5.96678    -2.15906    0 -0.00321347 -0.00368825 -0.697786   0.716289       uwb: 0.50049052     1044.63  419.875  
imu_odom_:  1691062821.113974846  0.442927   -0.100556  10.082     -0.0777643  -0.0479369  -0.412257   0.1        -0.38         pose: 0.64185000    5.9673     -2.17321    0 0.00132562  -0.00246776 -0.705532   0.708673       uwb: 0.0            1044.63  419.875  
imu_odom_:  1691062821.131190609  0.565032   -0.318429  9.92397    -0.0777643  -0.0117179  -0.447411   0.1        -0.47         pose: 0.0           5.9673     -2.17321    0 0.00132562  -0.00246776 -0.705532   0.708673       uwb: 0.0            1044.63  419.875  
imu_odom_:  1691062821.148878261  -0.301669  -0.172383  9.56244    -0.0596548  0.0117179   -0.465521   0.1        -0.47         pose: 0.31053062    5.9673     -2.17321    0 0.00319349  -0.00248094 -0.710239   0.703949       uwb: 0.50135672     1042.11  419.545  
imu_odom_:  1691062821.165994864  0.567426   0.304064   10.3837    -0.0607201  -0.0287621  -0.488956   0.12       -0.55         pose: 0.43674475    5.96721    -2.1732     0 0.00223939  -0.00171284 -0.71769    0.696357       uwb: 0.0            1042.11  419.545  
imu_odom_:  1691062821.182995682  0.146046   -0.131681  9.2895     -0.0575243  0.00639159  -0.515588   0.12       -0.55         pose: 0.0           5.96721    -2.1732     0 0.00223939  -0.00171284 -0.71769    0.696357       uwb: 0.0            1042.11  419.545  
imu_odom_:  1691062821.200914612  0.342371   0.0622492  10.2041    -0.0703074  -0.0170442  -0.528371   0.12       -0.55         pose: 0.0           5.96721    -2.1732     0 0.00223939  -0.00171284 -0.71769    0.696357       uwb: 0.49930060     1045.65  420.001  
imu_odom_:  1691062821.217916013  0.445322   -0.126893  9.69173    -0.0756338  -0.00213053 -0.567786   0.13       -0.58         pose: 0.8130598     5.9673     -2.17321    0 0.00248208  -0.00250711 -0.719183   0.694812       uwb: 0.0            1045.65  420.001  
imu_odom_:  1691062821.233918224  0.703895   0.047884   10.4244    -0.0660464  -0.0820254  -0.569916   0.13       -0.61         pose: 0.0           5.9673     -2.17321    0 0.00248208  -0.00250711 -0.719183   0.694812       uwb: 0.0            1045.65  420.001  
imu_odom_:  1691062821.251917066  1.60412    -0.217872  9.62708    -0.0894822  -0.0213053  -0.52411    0.13       -0.61         pose: 0.66912212    5.96786    -2.18733    0 0.00328862  -0.00438915 -0.732363   0.680893       uwb: 0.49797068     1047.18  419.888  
imu_odom_:  1691062821.268916717  1.03908    -0.471658  9.77074    -0.0607201  0.00319579  -0.462325   0.11       -0.5          pose: 0.0           5.96786    -2.18733    0 0.00328862  -0.00438915 -0.732363   0.680893       uwb: 0.0            1047.18  419.888  
imu_odom_:  1691062821.285966240  1.04866    -0.263362  9.67018    -0.0575243  0.00532632  -0.42291    0.11       -0.5          pose: 0.0           5.96786    -2.18733    0 0.00328862  -0.00438915 -0.732363   0.680893       uwb: 0.0            1047.18  419.888  
imu_odom_:  1691062821.302904645  0.969652   -0.325611  10.0724    -0.0447411  0.00639159  -0.381365   0.11       -0.5          pose: 0.34939288    5.96786    -2.18733    0 0.000241745 -0.00658227 -0.739025   0.673645       uwb: 0.50187586     1047.16  420.145  
imu_odom_:  1691062821.318844735  0.603339   -0.035913  10.1059    -0.0585895  -0.0127832  -0.34408    0.11       -0.53         pose: 0.34058799    5.96109    -2.19469    0 -0.00274919 -0.00767634 -0.744321   0.667772       uwb: 0.0            1047.16  420.145  
imu_odom_:  1691062821.335838262  0.758962   -0.244209  9.77553    -0.0532632  -0.0149137  -0.313188   0.11       -0.53         pose: 0.0           5.96109    -2.19469    0 -0.00274919 -0.00767634 -0.744321   0.667772       uwb: 0.0            1047.16  420.145  
imu_odom_:  1691062821.353860435  0.691924   -0.201113  9.86411    -0.0532632  -0.00958738 -0.285491   0.06       -0.32         pose: 0.0           5.96109    -2.19469    0 -0.00274919 -0.00767634 -0.744321   0.667772       uwb: 0.50068301     1043.13  419.69   
imu_odom_:  1691062821.370860962  0.684742   -0.380678  9.63666    -0.0617853  -0.00852212 -0.252468   0.06       -0.32         pose: 0.42919104    5.96101    -2.19468    0 -0.00478221 -0.00982566 -0.749716   0.66167        uwb: 0.0            1043.13  419.69   
imu_odom_:  1691062821.387927984  0.751779   -0.287304  10.1562    -0.0596548  -0.00958738 -0.216249   0.06       -0.32         pose: 0.0           5.96101    -2.19468    0 -0.00478221 -0.00982566 -0.749716   0.66167        uwb: 0.0            1043.13  419.69   
imu_odom_:  1691062821.403963735  0.830788   -0.23942   9.77313    -0.0490022  -0.0117179  -0.209857   0.05       -0.26         pose: 0.8064102     5.96109    -2.19469    0 -0.00558373 -0.00992022 -0.750573   0.660689       uwb: 0.49922185     1042.6   419.957  
imu_odom_:  1691062821.421958202  0.816423   -0.251391  9.56244    -0.0490022  -0.0149137  -0.201335   0.05       -0.26         pose: 0.0           5.96109    -2.19469    0 -0.00558373 -0.00992022 -0.750573   0.660689       uwb: 0.0            1042.6   419.957  
imu_odom_:  1691062821.438897190  0.622492   -0.174777  10.0197    -0.056459   0.00745685  -0.18216    0.05       -0.26         pose: 0.0           5.96109    -2.19469    0 -0.00558373 -0.00992022 -0.750573   0.660689       uwb: 0.0            1042.6   419.957  
imu_odom_:  1691062821.452854356  0.679953   -0.356736  10.0963    -0.0649811  -0.0181095  -0.165116   0.04       -0.23         pose: 0.51025202    5.96848    -2.20142    0 -0.0103743  -0.00941755 -0.755227   0.655314       uwb: 0.49860064     1041.04  420.363  
imu_odom_:  1691062821.467836087  0.438139   -0.129287  9.77313    -0.0511327  -0.0181095  -0.165116   0.03       -0.14         pose: 0.0           5.96848    -2.20142    0 -0.0103743  -0.00941755 -0.755227   0.655314       uwb: 0.0            1041.04  420.363  
imu_odom_:  1691062821.486064165  0.696713   -0.244209  9.87129    -0.0607201  -0.0340885  -0.133158   0.03       -0.14         pose: 0.65047407    5.9617     -2.20877    0 -0.0113092  -0.00883644 -0.759994   0.649772       uwb: 0.0            1041.04  420.363  
imu_odom_:  1691062821.502832538  0.701501   -0.268151  9.81862    -0.0596548  -0.00532632 -0.102265   0.03       -0.11         pose: 0.0           5.9617     -2.20877    0 -0.0113092  -0.00883644 -0.759994   0.649772       uwb: 0.49890103     1044.06  420.726  
imu_odom_:  1691062821.516857367  0.677559   -0.445322  9.98143    -0.0511327  0.00426106  -0.092678   0.03       -0.11         pose: 0.0           5.9617     -2.20877    0 -0.0113092  -0.00883644 -0.759994   0.649772       uwb: 0.0            1044.06  420.726  
imu_odom_:  1691062821.531950507  0.617704   -0.203507  9.77074    -0.0543285  -0.00639159 -0.0852212  0.03       -0.11         pose: 0.32858079    5.9617     -2.20877    0 -0.0131079  -0.00827528 -0.761821   0.647602       uwb: 0.0            1044.06  420.726  
imu_odom_:  1691062821.549897727  0.694318   -0.148441  9.89524    -0.0532632  -0.0117179  -0.0649811  0.04       -0.17         pose: 0.39117455    5.96161    -2.20876    0 -0.0129666  -0.00666071 -0.763484   0.645662       uwb: 0.49923352     1045.06  420.944  
imu_odom_:  1691062821.566889212  0.646434   -0.220267  9.84256    -0.0617853  -0.00532632 -0.0479369  0.04       -0.17         pose: 0.7956484     5.9617     -2.20877    0 -0.0125317  -0.00734875 -0.76376    0.645337       uwb: 0.0            1045.06  420.944  
imu_odom_:  1691062821.580876419  0.579397   -0.282516  9.87608    -0.0553937  0           -0.0500674  0.04       -0.17         pose: 0.0           5.9617     -2.20877    0 -0.0125317  -0.00734875 -0.76376    0.645337       uwb: 0.0            1045.06  420.944  
imu_odom_:  1691062821.595896647  0.586579   -0.253785  9.93354    -0.0575243  -0.0149137  -0.0436758  0.01       -0.08         pose: 0.40969428    5.9617     -2.20877    0 -0.00997447 -0.00654065 -0.765016   0.643901       uwb: 0.50060135     1048.61  421.161  
imu_odom_:  1691062821.613843283  0.711078   -0.208296  9.89763    -0.056459   -0.00852212 -0.0213053  0.02       -0.05         pose: 0.0           5.9617     -2.20877    0 -0.00997447 -0.00654065 -0.765016   0.643901       uwb: 0.0            1048.61  421.161  
imu_odom_:  1691062821.630892515  0.727837   -0.335188  9.90481    -0.056459   -0.00426106 -0.00426106 0.02       -0.05         pose: 0.0           5.9617     -2.20877    0 -0.00997447 -0.00654065 -0.765016   0.643901       uwb: 0.0            1048.61  421.161  
imu_odom_:  1691062821.644821100  0.641646   -0.282516  9.8689     -0.0543285  -0.00319579 0.00426106  0.02       -0.05         pose: 0.23058373    5.9617     -2.20877    0 -0.00953724 -0.00610315 -0.76558    0.643241       uwb: 0.49923935     1044.04  421.007  
imu_odom_:  1691062821.659887408  0.629675   -0.198719  9.91678    -0.0543285  -0.00319579 0.0138484   0.01       -0.02         pose: 0.0           5.9617     -2.20877    0 -0.00953724 -0.00610315 -0.76558    0.643241       uwb: 0.0            1044.04  421.007  
imu_odom_:  1691062821.677832003  0.593762   -0.198719  9.87369    -0.0575243  -0.00745685 0.0234358   0.01       -0.02         pose: 0.0           5.9617     -2.20877    0 -0.00953724 -0.00610315 -0.76558    0.643241       uwb: 0.0            1044.04  421.007  
imu_odom_:  1691062821.691877539  0.687136   -0.220267  9.96946    -0.056459   -0.00958738 0.0266316   0          0             pose: 0.73897211    5.9617     -2.20877    0 -0.00869126 -0.00661218 -0.766398   0.642273       uwb: 0.0            1044.04  421.007  
imu_odom_:  1691062821.706837979  0.610521   -0.282516  9.8665     -0.0575243  -0.00106526 0.0415453   0          0             pose: 0.0           5.9617     -2.20877    0 -0.00869126 -0.00661218 -0.766398   0.642273       uwb: 0.50240666     1045.07  420.968  
imu_odom_:  1691062821.721814460  0.481235   -0.31364   9.87608    -0.0532632  0.00958738  0.052198    0          0             pose: 0.0           5.9617     -2.20877    0 -0.00869126 -0.00661218 -0.766398   0.642273       uwb: 0.0            1045.07  420.968  
imu_odom_:  1691062821.735891202  0.332794   -0.21069   9.92157    -0.0500674  0.00532632  0.0490022   0          0             pose: 0.6057263     5.9617     -2.20877    0 -0.00914403 -0.00703918 -0.766418   0.642238       uwb: 0.0            1045.07  420.968  
imu_odom_:  1691062821.750864766  0.31364    -0.124498  9.90481    -0.0543285  -0.00426106 0.0490022   0          0             pose: 0.0           5.9617     -2.20877    0 -0.00914403 -0.00703918 -0.766418   0.642238       uwb: 0.49905562     1045.59  420.844  
imu_odom_:  1691062821.764834474  0.402226   -0.213084  9.87369    -0.0575243  -0.0106526  0.0426106   0          0             pose: 0.0           5.9617     -2.20877    0 -0.00914403 -0.00703918 -0.766418   0.642238       uwb: 0.0            1045.59  420.844  
imu_odom_:  1691062821.778850845  0.514753   -0.208296  9.88326    -0.056459   -0.0138484  0.0330232   0          0             pose: 0.43930252    5.9617     -2.20877    0 -0.00869845 -0.00440172 -0.766362   0.642335       uwb: 0.0            1045.59  420.844  
imu_odom_:  1691062821.792830177  0.550666   -0.229843  9.88087    -0.0553937  -0.00745685 0.0340885   0          0             pose: 0.0           5.9617     -2.20877    0 -0.00869845 -0.00440172 -0.766362   0.642335       uwb: 0.0            1045.59  420.844  
imu_odom_:  1691062821.807916317  0.509965   -0.282516  9.91439    -0.0543285  -0.00106526 0.0415453   0          0             pose: 0.0           5.9617     -2.20877    0 -0.00869845 -0.00440172 -0.766362   0.642335       uwb: 0.49924518     1047.11  420.966  
imu_odom_:  1691062821.821909357  0.440533   -0.229843  9.88805    -0.0532632  0.00106526  0.0426106   0          0             pose: 0.43084176    5.9617     -2.20877    0 -0.00486054 -0.00339696 -0.766318   0.642434       uwb: 0.0            1047.11  420.966  
imu_odom_:  1691062821.835907646  0.407014   -0.167594  9.88087    -0.052198   -0.00106526 0.0415453   0          0             pose: 0.0           5.9617     -2.20877    0 -0.00486054 -0.00339696 -0.766318   0.642434       uwb: 0.0            1047.11  420.966  
imu_odom_:  1691062821.850911833  0.40462    -0.174777  9.91678    -0.0532632  -0.00532632 0.04048     0          0             pose: 0.0           5.9617     -2.20877    0 -0.00486054 -0.00339696 -0.766318   0.642434       uwb: 0.50088133     1037.48  420.734  
imu_odom_:  1691062821.864901372  0.517148   -0.232238  9.85453    -0.0543285  -0.00639159 0.036219    0          0             pose: 0.43150965    5.9617     -2.20877    0 -0.00541038 -0.00239486 -0.766338   0.642411       uwb: 0.0            1037.48  420.734  
imu_odom_:  1691062821.878966157  0.438139   -0.237026  9.90242    -0.0543285  -0.00426106 0.0372843   0          0             pose: 0.0           5.9617     -2.20877    0 -0.00541038 -0.00239486 -0.766338   0.642411       uwb: 0.0            1037.48  420.734  
imu_odom_:  1691062821.893961303  0.457293   -0.232238  9.91439    -0.0543285  -0.00426106 0.04048     0          0             pose: 0.0           5.9617     -2.20877    0 -0.00541038 -0.00239486 -0.766338   0.642411       uwb: 0.49902062     1040.52  420.985  
imu_odom_:  1691062821.908966657  0.464475   -0.205901  9.92157    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.42773862    5.9617     -2.20877    0 -0.00231932 -0.00210313 -0.766336   0.642433       uwb: 0.0            1040.52  420.985  
imu_odom_:  1691062821.922913616  0.457293   -0.222661  9.88566    -0.0553937  -0.00532632 0.0383495   0          0             pose: 0.0           5.9617     -2.20877    0 -0.00231932 -0.00210313 -0.766336   0.642433       uwb: 0.0            1040.52  420.985  
imu_odom_:  1691062821.937958342  0.474052   -0.215478  9.89524    -0.0543285  -0.00639159 0.0383495   0          0             pose: 0.0           5.9617     -2.20877    0 -0.00231932 -0.00210313 -0.766336   0.642433       uwb: 0.0            1040.52  420.985  
imu_odom_:  1691062821.952859286  0.502782   -0.246603  9.84017    -0.052198   0           0.0394148   0          0             pose: 0.43144840    5.9617     -2.20877    0 -0.00349385 -0.00130802 -0.766347   0.642416       uwb: 0.49970598     1046.58  421.583  
imu_odom_:  1691062821.966848825  0.464475   -0.251391  9.90721    -0.0543285  -0.00213053 0.0394148   0          0             pose: 0.0           5.9617     -2.20877    0 -0.00349385 -0.00130802 -0.766347   0.642416       uwb: 0.0            1046.58  421.583  
imu_odom_:  1691062821.981880136  0.466869   -0.189142  9.89045    -0.0553937  -0.00532632 0.0415453   0          0             pose: 0.0           5.9617     -2.20877    0 -0.00349385 -0.00130802 -0.766347   0.642416       uwb: 0.0            1046.58  421.583  
imu_odom_:  1691062821.996828910  0.42138    -0.201113  9.91199    -0.0553937  -0.00745685 0.04048     0          0             pose: 0.43863172    5.9617     -2.20877    0 -0.00324542 -0.00209058 -0.76636    0.6424         uwb: 0.49970599     1043.03  421.472  
imu_odom_:  1691062822.10887278   0.466869   -0.225055  9.8689     -0.056459   -0.00532632 0.0383495   0          0             pose: 0.0           5.9617     -2.20877    0 -0.00324542 -0.00209058 -0.76636    0.6424         uwb: 0.0            1043.03  421.472  
imu_odom_:  1691062822.25799013   0.488417   -0.229843  9.91439    -0.0553937  -0.00639159 0.0394148   0          0             pose: 0.0           5.9617     -2.20877    0 -0.00324542 -0.00209058 -0.76636    0.6424         uwb: 0.0            1043.03  421.472  
imu_odom_:  1691062822.40901487   0.466869   -0.246603  9.91678    -0.056459   -0.00532632 0.0394148   0          0             pose: 0.44060327    5.9617     -2.20877    0 -0.00212072 -0.00171294 -0.766352   0.642415       uwb: 0.0            1043.03  421.472  
imu_odom_:  1691062822.54954314   0.490811   -0.215478  9.90481    -0.0543285  0           0.0415453   0          0             pose: 0.0           5.9617     -2.20877    0 -0.00212072 -0.00171294 -0.766352   0.642415       uwb: 0.50070928     1044.55  421.517  
imu_odom_:  1691062822.69821427   0.442927   -0.208296  9.89524    -0.0543285  -0.00106526 0.04048     0          0             pose: 0.0           5.9617     -2.20877    0 -0.00212072 -0.00171294 -0.766352   0.642415       uwb: 0.0            1044.55  421.517  
imu_odom_:  1691062822.84945774   0.440533   -0.21069   9.87369    -0.0543285  -0.00745685 0.04048     0          0             pose: 0.43903128    5.9617     -2.20877    0 -0.00385381 -0.00173425 -0.76635    0.642409       uwb: 0.0            1044.55  421.517  
imu_odom_:  1691062822.98950771   0.428562   -0.21069   9.88566    -0.0553937  -0.00532632 0.04048     0          0             pose: 0.0           5.9617     -2.20877    0 -0.00385381 -0.00173425 -0.76635    0.642409       uwb: 0.49916645     1040.48  421.477  
imu_odom_:  1691062822.113939793  0.457293   -0.205901  9.84496    -0.0553937  -0.00639159 0.0394148   0          0             pose: 0.0           5.9617     -2.20877    0 -0.00385381 -0.00173425 -0.76635    0.642409       uwb: 0.0            1040.48  421.477  
imu_odom_:  1691062822.128079532  0.466869   -0.222661  9.87608    -0.056459   -0.00426106 0.0394148   0          0             pose: 0.44046037    5.9617     -2.20877    0 -0.00151179 -0.00148912 -0.766344   0.642428       uwb: 0.0            1040.48  421.477  
imu_odom_:  1691062822.141938413  0.474052   -0.222661  9.87129    -0.056459   -0.00426106 0.0394148   0          0             pose: 0.0           5.9617     -2.20877    0 -0.00151179 -0.00148912 -0.766344   0.642428       uwb: 0.0            1040.48  421.477  
imu_odom_:  1691062822.156808442  0.428562   -0.189142  9.88566    -0.0543285  -0.00426106 0.0394148   0          0             pose: 0.0           5.9617     -2.20877    0 -0.00151179 -0.00148912 -0.766344   0.642428       uwb: 0.50197211     1041.99  421.679  
imu_odom_:  1691062822.170928057  0.45011    -0.205901  9.90721    -0.0553937  -0.00639159 0.0394148   0          0             pose: 0.44251067    5.9617     -2.20877    0 -0.00247485 -0.00185142 -0.766336   0.642432       uwb: 0.0            1041.99  421.679  
imu_odom_:  1691062822.184854309  0.42138    -0.213084  9.88326    -0.0543285  -0.00639159 0.0372843   0          0             pose: 0.0           5.9617     -2.20877    0 -0.00247485 -0.00185142 -0.766336   0.642432       uwb: 0.0            1041.99  421.679  
imu_odom_:  1691062822.206963365  0.490811   -0.258574  9.87369    -0.056459   -0.00213053 0.0383495   0          0             pose: 0.0           5.9617     -2.20877    0 -0.00247485 -0.00185142 -0.766336   0.642432       uwb: 0.49872898     1039.98  421.278  
imu_odom_:  1691062822.223956017  0.148441   -0.25618   9.80665    -0.0607201  0.0255663   0.0138484   0          0.02          pose: 0.42719033    5.9617     -2.20877    0 -0.0016029  -0.0018343  -0.766343   0.642428       uwb: 0.0            1039.98  421.278  
imu_odom_:  1691062822.240942544  -0.0814029 -0.158017  10.2783    -0.04048    0.0287621   -0.0830906  0.03       0.05          pose: 0.0           5.9617     -2.20877    0 -0.0016029  -0.0018343  -0.766343   0.642428       uwb: 0.0            1039.98  421.278  
imu_odom_:  1691062822.257890866  -1.16598   0.237026   9.70131    -0.0511327  0.0543285   -0.036219   0.03       0.05          pose: 0.69215951    5.9617     -2.20877    0 -0.0007962380.000865058 -0.766819   0.641863       uwb: 0.50043221     1041.51  421.338  
imu_odom_:  1691062822.275998785  -0.964863  -0.907402  9.93594    -0.076699   -0.0511327  0.102265    0.04       0.02          pose: 0.0           5.9617     -2.20877    0 -0.0007962380.000865058 -0.766819   0.641863       uwb: 0.0            1041.51  421.338  
imu_odom_:  1691062822.292879152  0.0837971  -0.612916  9.80426    -0.0490022  -0.0788296  0.0894822   0.04       0.02          pose: 0.0           5.9617     -2.20877    0 -0.0007962380.000865058 -0.766819   0.641863       uwb: 0.0            1041.51  421.338  
imu_odom_:  1691062822.309938300  0.454898   0.141258   9.66779    -0.036219   -0.0127832  0.0990696   0.04       0.02          pose: 0.33919392    5.9617     -2.20877    0 0.00219947  0.00300313  -0.767413   0.641142       uwb: 0.50115841     1037.96  421.165  
imu_odom_:  1691062822.326955743  0.263362   0.0622492  9.90721    -0.0553937  0.0234358   0.108657    0.06       0.08          pose: 0.34012719    5.9617     -2.20877    0 0.00195266  0.00435977  -0.766804   0.641864       uwb: 0.0            1037.96  421.165  
imu_odom_:  1691062822.343995059  -0.0790087 -0.167594  10.1754    -0.0458064  0.015979    0.0692422   0.06       0.08          pose: 0.0           5.9617     -2.20877    0 0.00195266  0.00435977  -0.766804   0.641864       uwb: 0.49918978     1044.04  421.313  
imu_odom_:  1691062822.358854880  0.0622492  -0.471658  10.0221    -0.0553937  -0.0106526  0.0713727   0.06       0.08          pose: 0.0           5.9617     -2.20877    0 0.00195266  0.00435977  -0.766804   0.641864       uwb: 0.0            1044.04  421.313  
imu_odom_:  1691062822.377018796  0.184354   -0.476446  9.94073    -0.0649811  -0.0138484  0.0777643   0.08       0.05          pose: 0.50931002    5.96222    -2.2229     0 0.00540676  0.00412609  -0.765991   0.642816       uwb: 0.0            1044.04  421.313  
imu_odom_:  1691062822.392847184  0.378284   -0.174777  9.9096     -0.0628506  -0.0276969  0.0681769   0.08       0.05          pose: 0.0           5.96222    -2.2229     0 0.00540676  0.00412609  -0.765991   0.642816       uwb: 0.0            1044.04  421.313  
imu_odom_:  1691062822.410861192  0.462081   -0.0550666 9.84735    -0.0639159  0.00319579  0.0798948   0.13       0.02          pose: 0.41951995    5.96222    -2.2229     0 0.00387522  0.00499355  -0.765551   0.643345       uwb: 0.50102717     1042.04  420.952  
imu_odom_:  1691062822.427023519  0.0981623  -0.208296  9.87129    -0.0383495  0.0127832   0.0511327   0.13       0.02          pose: 0.0           5.96222    -2.2229     0 0.00387522  0.00499355  -0.765551   0.643345       uwb: 0.0            1042.04  420.952  
imu_odom_:  1691062822.444927283  0.071826   -0.205901  9.9934     -0.0394148  -0.0223706  0.0447411   0.13       0.02          pose: 0.0           5.96222    -2.2229     0 0.00387522  0.00499355  -0.765551   0.643345       uwb: 0.49911687     1045.6   421.033  
imu_odom_:  1691062822.461986431  0.308852   -0.342371  9.75398    -0.0735032  0.00426106  0.0852212   0.11       0.02          pose: 0.8185136     5.96222    -2.2229     0 0.00382005  0.00422248  -0.765445   0.643476       uwb: 0.0            1045.6   421.033  
imu_odom_:  1691062822.474928659  0.435745   -0.337582  10.1251    -0.0490022  -0.00532632 0.0628506   0.11       0             pose: 0.0           5.96222    -2.2229     0 0.00382005  0.00422248  -0.765445   0.643476       uwb: 0.0            1045.6   421.033  
imu_odom_:  1691062822.490806628  0.737414   -0.146046  10.1299    -0.0607201  -0.0436758  0.0266316   0.11       0             pose: 0.66855051    5.95538    -2.2302     0 0.0044289   0.00584658  -0.764932   0.644069       uwb: 0.0            1045.6   421.033  
imu_odom_:  1691062822.508924463  1.13964    0.122104   9.6199     -0.0681769  -0.0553937  0.0617853   0.11       0             pose: 0.0           5.95538    -2.2302     0 0.0044289   0.00584658  -0.764932   0.644069       uwb: 0.50019598     1040.04  420.575  
imu_odom_:  1691062822.525920323  1.29047    -0.253785  9.98143    -0.0713727  -0.0106526  0.108657    0.14       0             pose: 0.0           5.95538    -2.2302     0 0.0044289   0.00584658  -0.764932   0.644069       uwb: 0.0            1040.04  420.575  
imu_odom_:  1691062822.539917737  1.21386    -0.691924  9.94312    -0.0596548  -0.0340885  0.105461    0.14       0             pose: 0.30947777    5.95538    -2.2302     0 0.00199185  0.00341479  -0.764905   0.644131       uwb: 0.0            1040.04  420.575  
imu_odom_:  1691062822.555928115  1.31202    -0.438139  9.88326    -0.036219   -0.0106526  0.0596548   0.07       -0.02         pose: 0.41082589    5.96268    -2.23703    0 -0.00169018 0.00100358  -0.764163   0.645021       uwb: 0.49925102     1039.54  420.376  
imu_odom_:  1691062822.570852099  1.24977    0.11971    9.93594    -0.0468716  0.00639159  0.0415453   0.07       -0.02         pose: 0.0           5.96268    -2.23703    0 -0.00169018 0.00100358  -0.764163   0.645021       uwb: 0.0            1039.54  420.376  
imu_odom_:  1691062822.587901039  0.797269   0.167594   9.91199    -0.0671117  0.0298274   0.0308927   0.07       -0.02         pose: 0.0           5.96268    -2.23703    0 -0.00169018 0.00100358  -0.764163   0.645021       uwb: 0.0            1039.54  420.376  
imu_odom_:  1691062822.601787335  0.706289   -0.112527  9.97424    -0.0639159  0.00106526  0.0245011   0.06       -0.02         pose: 0.7032247     5.96268    -2.23703    0 -0.00228308 0.000603325 -0.764117   0.645073       uwb: 0.50057220     1037.51  420.242  
imu_odom_:  1691062822.617791297  0.624887   -0.462081  9.88326    -0.056459   -0.015979   -0.00532632 0.06       -0.02         pose: 0.0           5.96268    -2.23703    0 -0.00228308 0.000603325 -0.764117   0.645073       uwb: 0.0            1037.51  420.242  
imu_odom_:  1691062822.634775491  0.907402   -0.222661  9.9934     -0.0490022  -0.0213053  -0.0117179  0.06       -0.02         pose: 0.0           5.96268    -2.23703    0 -0.00228308 0.000603325 -0.764117   0.645073       uwb: 0.0            1037.51  420.242  
imu_odom_:  1691062822.652827705  0.833182   -0.280122  9.79468    -0.0575243  0.00745685  0.0138484   0.05       0             pose: 0.46895451    5.95586    -2.24435    0 -0.00360714 -0.00321488 -0.764128   0.645046       uwb: 0.49999474     1040.57  420.259  
imu_odom_:  1691062822.669835523  0.782904   -0.332794  9.97424    -0.0607201  0.00958738  0.0213053   0.04       0             pose: 0.0           5.95586    -2.24435    0 -0.00360714 -0.00321488 -0.764128   0.645046       uwb: 0.0            1040.57  420.259  
imu_odom_:  1691062822.694758993  0.610521   -0.198719  9.95748    -0.0468716  0.00213053  -0.00532632 0.04       0             pose: 0.65971353    5.95586    -2.24435    0 -0.00894284 -0.0054748  -0.764832   0.644144       uwb: 0.50008806     1040.58  420.048  
imu_odom_:  1691062822.718909302  -0.622492  -0.158017  9.65821    -0.0436758  0.1012      0.015979    0.04       0             pose: 0.0           5.95586    -2.24435    0 -0.00894284 -0.0054748  -0.764832   0.644144       uwb: 0.0            1040.58  420.048  
imu_odom_:  1691062822.736885103  -1.1971    -0.380678  10.3717    -0.0468716  0.0415453   0.0585895   0.04       0             pose: 0.17044274    5.95586    -2.24435    0 -0.00928201 -0.00607613 -0.76499    0.643946       uwb: 0.0            1040.58  420.048  
imu_odom_:  1691062822.760914669  -0.550666  -0.169988  10.058     -0.0394148  -0.0809601  0.0692422   0.07       0.02          pose: 0.49978766    5.95586    -2.24435    0 -0.00406912 -0.00432326 -0.765429   0.643493       uwb: 0.49925394     1037.52  420.124  
imu_odom_:  1691062822.785790309  0.684742   -0.167594  10.0054    -0.0617853  -0.015979   0.0713727   0.07       0.02          pose: 0.0           5.95586    -2.24435    0 -0.00406912 -0.00432326 -0.765429   0.643493       uwb: 0.0            1037.52  420.124  
imu_odom_:  1691062822.810799524  0.181959   -0.277727  9.90481    -0.052198   0.0735032   0.04048     0.11       0.02          pose: 0.41977078    5.94901    -2.25163    0 -0.00244931 -0.00333001 -0.765065   0.64394        uwb: 0.50035055     1035.48  420.207  
imu_odom_:  1691062822.835915483  -0.237026  -0.0454898 9.46188    -0.0511327  0.0106526   0.0639159   0.11       0             pose: 0.41982618    5.95631    -2.25847    0 -0.00147779 -0.0019771  -0.764886   0.644161       uwb: 0.0            1035.48  420.207  
imu_odom_:  1691062822.851768662  -0.153229  -0.35913   9.72046    -0.052198   -0.0340885  0.0713727   0.11       0             pose: 0.0           5.95631    -2.25847    0 -0.00147779 -0.0019771  -0.764886   0.644161       uwb: 0.0            1035.48  420.207  
imu_odom_:  1691062822.877858437  0.620098   -0.126893  9.64624    -0.0447411  -0.0106526  0.0500674   0.11       0.02          pose: 0.7152115     5.95631    -2.25847    0 -0.000790132-0.00162866 -0.764832   0.644228       uwb: 0.0            1035.48  420.207  
imu_odom_:  1691062822.902838196  0.445322   -0.023942  10.0892    -0.052198   0.0138484   0.0436758   0.11       0.02          pose: 0.0           5.95631    -2.25847    0 -0.000790132-0.00162866 -0.764832   0.644228       uwb: 0.100112107    1038.5   420.329  
imu_odom_:  1691062822.919772810  -0.287304  0.047884   9.69652    -0.0703074  0.0234358   0.0884169   0.15       -0.02         pose: 0.41830378    5.95631    -2.25847    0 0.00120565  -0.000315201-0.764504   0.644618       uwb: 0.0            1038.5   420.329  
imu_odom_:  1691062822.944754902  0.596156   -0.37589   9.76595    -0.0575243  -0.00213053 0.02024     0.15       -0.02         pose: 0.0           5.95631    -2.25847    0 0.00120565  -0.000315201-0.764504   0.644618       uwb: 0.49846357     1032.91  420.315  
imu_odom_:  1691062822.969758284  0.169988   -0.0263362 9.94791    -0.0628506  -0.0138484  0.0617853   0.17       0.02          pose: 0.50007931    5.94948    -2.26578    0 0.0024451   -0.00352528 -0.764296   0.644852       uwb: 0.0            1032.91  420.315  
imu_odom_:  1691062822.993749061  -0.150835  -0.371101  9.74919    -0.0596548  -0.0191748  0.0543285   0.17       0.02          pose: 0.0           5.94948    -2.26578    0 0.0024451   -0.00352528 -0.764296   0.644852       uwb: 0.0            1032.91  420.315  
imu_odom_:  1691062823.17808375   0.706289   -0.0287304 10.149     -0.0383495  0.0138484   0.0330232   0.14       0             pose: 0.40984011    5.95679    -2.2726     0 0.00149519  -0.00236114 -0.764255   0.644908       uwb: 0.0            1032.91  420.315  
imu_odom_:  1691062823.34767196   0.6608     0.0143652  9.38766    -0.0639159  0.0415453   0.0639159   0.14       0             pose: 0.0           5.95679    -2.2726     0 0.00149519  -0.00236114 -0.764255   0.644908       uwb: 0.0            1032.91  420.315  
imu_odom_:  1691062823.59884030   0.248997   -0.189142  10.1299    -0.0777643  0.0138484   0.0447411   0.14       -0.02         pose: 0.50083760    5.94997    -2.27992    0 0.00388952  -0.000553554-0.764025   0.645175       uwb: 0.99871206     1029.02  419.566  
imu_odom_:  1691062823.76918680   0.0335188  -0.0909797 9.68933    -0.0479369  0.0308927   0.0340885   0.14       -0.02         pose: 0.0           5.94997    -2.27992    0 0.00388952  -0.000553554-0.764025   0.645175       uwb: 0.0            1029.02  419.566  
imu_odom_:  1691062823.100840920  0.282516   -0.294487  9.94312    -0.0639159  -0.0106526  0.0596548   0.15       0             pose: 0.42023451    5.94316    -2.28723    0 0.00329679  -0.00248781 -0.763907   0.645314       uwb: 0.49981684     1030.54  419.597  
imu_odom_:  1691062823.125828553  0.890643   -0.21069   10.2065    -0.0415453  -0.0426106  0.0276969   0.15       0             pose: 0.0           5.94316    -2.28723    0 0.00329679  -0.00248781 -0.763907   0.645314       uwb: 0.0            1030.54  419.597  
imu_odom_:  1691062823.151731091  -0.0143652 -0.0167594 10.1299    -0.0660464  0.0447411   0.0649811   0.15       0             pose: 0.41066258    5.95048    -2.29405    0 0.00545572  0.000867786 -0.763867   0.645351       uwb: 0.0            1030.54  419.597  
imu_odom_:  1691062823.175873525  0.507571   -0.153229  9.90002    -0.0617853  -0.00319579 0.0308927   0.18       -0.02         pose: 0.49866482    5.94367    -2.30137    0 0.00322565  0.00074357  -0.7638     0.645445       uwb: 0.0            1030.54  419.597  
imu_odom_:  1691062823.189874440  0.667982   0.0861913  9.78271    -0.0692422  -0.0213053  0.0468716   0.18       -0.02         pose: 0.0           5.94367    -2.30137    0 0.00322565  0.00074357  -0.7638     0.645445       uwb: 0.0            1030.54  419.597  
imu_odom_:  1691062823.214738414  0.373495   -0.294487  10.1131    -0.0671117  -0.00958738 0.0511327   0.18       -0.02         pose: 0.0           5.94367    -2.30137    0 0.00322565  0.00074357  -0.7638     0.645445       uwb: 0.100124358    1027.49  419.75   
imu_odom_:  1691062823.238895140  0.507571   -0.035913  10.1682    -0.04048    -0.0266316  0.0298274   0.15       0             pose: 0.63996306    5.94419    -2.3155     0 0.00252696  -0.000823833-0.763653   0.645622       uwb: 0.0            1027.49  419.75   
imu_odom_:  1691062823.254072859  0.385466   -0.129287  9.64624    -0.0681769  -0.0319579  0.0575243   0.15       0             pose: 0.0           5.94419    -2.3155     0 0.00252696  -0.000823833-0.763653   0.645622       uwb: 0.49873482     1028.51  419.776  
imu_odom_:  1691062823.277883688  0.553061   -0.122104  10.3406    -0.0660464  -0.0255663  0.0330232   0.16       -0.02         pose: 0.56262643    5.94072    -2.31924    0 0.00259305  -0.00266589 -0.763577   0.645706       uwb: 0.0            1028.51  419.776  
imu_odom_:  1691062823.302775953  0.529119   -0.1652    10.1035    -0.0575243  -0.0394148  0.0479369   0.16       -0.02         pose: 0.0           5.94072    -2.31924    0 0.00259305  -0.00266589 -0.763577   0.645706       uwb: 0.50055763     1033.07  419.83   
imu_odom_:  1691062823.325888282  0.88346    -0.222661  9.66539    -0.036219   -0.056459   0.0245011   0.17       0             pose: 0.7845365     5.93738    -2.32283    0 0.00196067  -0.00325545 -0.763592   0.645688       uwb: 0.0            1033.07  419.83   
imu_odom_:  1691062823.341759543  0.957681   -0.181959  10.2472    -0.0351537  -0.0415453  0.0372843   0.17       0             pose: 0.0           5.93738    -2.32283    0 0.00196067  -0.00325545 -0.763592   0.645688       uwb: 0.0            1033.07  419.83   
imu_odom_:  1691062823.367740826  0.835576   -0.368707  10.5656    -0.0532632  -0.0223706  0.056459    0.21       -0.02         pose: 0.47892892    5.94471    -2.32963    0 -0.00270577 -0.00614465 -0.76357    0.64569        uwb: 0.49964185     1031.53  420.05   
imu_odom_:  1691062823.393778689  0.919373   -0.179565  10.1035    -0.0490022  0.0596548   0.0426106   0.17       -0.02         pose: 0.39973740    5.9379     -2.33696    0 -0.0065601  -0.00861559 -0.763577   0.645626       uwb: 0.50012308     1035.05  420.628  
imu_odom_:  1691062823.410874585  0.0670376  -0.23942   9.91678    -0.0607201  -0.0500674  0.0426106   0.21       0.02          pose: 0.27014888    5.9379     -2.33696    0 -0.00889265 -0.00907936 -0.763442   0.645751       uwb: 0.0            1035.05  420.628  
imu_odom_:  1691062823.434887819  -0.189142  -0.0167594 9.76595    -0.0468716  -0.0276969  0.0436758   0.21       0.02          pose: 0.0           5.9379     -2.33696    0 -0.00889265 -0.00907936 -0.763442   0.645751       uwb: 0.0            1035.05  420.628  
imu_odom_:  1691062823.459821498  0.474052   -0.347159  9.47864    -0.0671117  -0.00852212 0.0617853   0.2        0             pose: 0.23978819    5.93843    -2.35109    0 -0.00932907 -0.00952025 -0.763411   0.645775       uwb: 0.50101843     1034.53  420.715  
imu_odom_:  1691062823.474930388  0.366313   -0.217872  9.8689     -0.0351537  -0.00213053 0.0340885   0.2        0             pose: 0.0           5.93843    -2.35109    0 -0.00932907 -0.00952025 -0.763411   0.645775       uwb: 0.0            1034.53  420.715  
imu_odom_:  1691062823.497861311  0.45011    -0.217872  9.85693    -0.0639159  0           0.0575243   0.17       0             pose: 0.42031616    5.93843    -2.35109    0 -0.00693096 -0.00723806 -0.763345   0.645914       uwb: 0.49855108     1035.01  421.12   
imu_odom_:  1691062823.515737369  0.0454898  -0.296881  9.94312    -0.0287621  -0.0308927  0.0298274   0.17       0             pose: 0.0           5.93843    -2.35109    0 -0.00693096 -0.00723806 -0.763345   0.645914       uwb: 0.0            1035.01  421.12   
imu_odom_:  1691062823.539729896  0.222661   -0.1652    10.1251    -0.0532632  -0.0255663  0.0607201   0.17       0             pose: 0.39089459    5.93163    -2.35843    0 -0.00530418 -0.00416321 -0.763222   0.646102       uwb: 0.0            1035.01  421.12   
imu_odom_:  1691062823.565704179  0.490811   -0.112527  10.2496    -0.0511327  -0.0330232  0.0426106   0.17       0             pose: 0.0           5.93163    -2.35843    0 -0.00530418 -0.00416321 -0.763222   0.646102       uwb: 0.50016099     1040.08  421.331  
imu_odom_:  1691062823.581764429  0.646434   0.124498   9.99579    -0.056459   -0.0213053  0.0468716   0.18       0             pose: 0.41862461    5.93896    -2.36522    0 -0.00231302 -0.00173257 -0.763143   0.646223       uwb: 0.0            1040.08  421.331  
imu_odom_:  1691062823.607739587  0.56982    -0.354342  9.59835    -0.0671117  0.00213053  0.0383495   0.18       0             pose: 0.0           5.93896    -2.36522    0 -0.00231302 -0.00173257 -0.763143   0.646223       uwb: 0.50042930     1040.57  421.53   
imu_odom_:  1691062823.621917824  0.105345   -0.100556  10.1131    -0.0649811  0.00426106  0.0511327   0.18       0.02          pose: 0.48952745    5.93217    -2.37256    0 -0.000762581-0.00469046 -0.76299    0.646393       uwb: 0.0            1040.57  421.53   
imu_odom_:  1691062823.646896126  0.407014   -0.581791  9.93594    -0.0958738  0.02024     0.0617853   0.18       0.02          pose: 0.0           5.93217    -2.37256    0 -0.000762581-0.00469046 -0.76299    0.646393       uwb: 0.49998600     1041.06  421.777  
imu_odom_:  1691062823.671989628  0.553061   -0.227449  9.97903    -0.0639159  -0.0245011  0.0553937   0.17       0             pose: 0.41049342    5.93271    -2.38669    0 -0.00250198 -0.00395026 -0.76295    0.646441       uwb: 0.0            1041.06  421.777  
imu_odom_:  1691062823.697934455  0.667982   -0.368707  9.79947    -0.0649811  -0.00213053 0.04048     0.17       0             pose: 0.40125397    5.92592    -2.39403    0 -0.00367264 -0.00134119 -0.762704   0.646735       uwb: 0.49938520     1042.56  422.074  
imu_odom_:  1691062823.714764659  0.0287304  -0.0167594 10.0533    -0.0266316  -0.00532632 0.0351537   0.18       -0.02         pose: 0.0           5.92592    -2.39403    0 -0.00367264 -0.00134119 -0.762704   0.646735       uwb: 0.0            1042.56  422.074  
imu_odom_:  1691062823.739703296  0.550666   -0.325611  9.71806    -0.0639159  -0.0191748  0.0617853   0.18       -0.02         pose: 0.0           5.92592    -2.39403    0 -0.00367264 -0.00134119 -0.762704   0.646735       uwb: 0.0            1042.56  422.074  
imu_odom_:  1691062823.761873598  0.835576   -0.124498  10.3477    -0.0447411  -0.0308927  0.0447411   0.18       0.02          pose: 0.51070119    5.93327    -2.40082    0 -0.00694201 -0.00257512 -0.762597   0.646831       uwb: 0.49982851     1042.06  421.919  
imu_odom_:  1691062823.786860648  0.605733   -0.220267  10.2065    -0.0479369  -0.0223706  0.0468716   0.18       0.02          pose: 0.40790358    5.92649    -2.40816    0 -0.0085619  -0.00200149 -0.762408   0.647037       uwb: 0.0            1042.06  421.919  
imu_odom_:  1691062823.811905737  0.701501   -0.0885855 10.647     -0.0660464  -0.052198   0.0575243   0.22       0.02          pose: 0.41110588    5.92688    -2.4178     0 -0.00811378 -0.00618223 -0.762334   0.647104       uwb: 0.50018140     1044.6   421.992  
imu_odom_:  1691062823.828901598  0.679953   -0.169988  9.79947    -0.0628506  0.0319579   0.0468716   0.22       0.02          pose: 0.0           5.92688    -2.4178     0 -0.00811378 -0.00618223 -0.762334   0.647104       uwb: 0.0            1044.6   421.992  
imu_odom_:  1691062823.854917879  0.519542   -0.220267  9.69412    -0.0415453  0.00426106  0.0330232   0.18       0             pose: 0.7905737     5.92706    -2.42229    0 -0.0081634  -0.00705307 -0.762288   0.647148       uwb: 0.50064804     1041.55  422.07   
imu_odom_:  1691062823.879853307  0.347159   -0.217872  9.7037     -0.072438   -0.0372843  0.0436758   0.18       0             pose: 0.24158766    5.92706    -2.42229    0 -0.00852863 -0.00945429 -0.762166   0.647256       uwb: 0.0            1041.55  422.07   
imu_odom_:  1691062823.896768381  0.354342   0.0550666  10.1323    -0.0255663  -0.0149137  0.0319579   0.18       0             pose: 0.0           5.92706    -2.42229    0 -0.00852863 -0.00945429 -0.762166   0.647256       uwb: 0.49988975     1044.59  422.132  
imu_odom_:  1691062823.921761556  0.605733   -0.287304  10.307     -0.0745685  -0.0213053  0.0383495   0.18       0             pose: 0.0           5.92706    -2.42229    0 -0.00852863 -0.00945429 -0.762166   0.647256       uwb: 0.0            1044.59  422.132  
imu_odom_:  1691062823.946900265  0.61531    -0.227449  10.2975    -0.04048    -0.0223706  0.0351537   0.18       0             pose: 0.43824969    5.92029    -2.42965    0 -0.00691508 -0.007509   -0.762207   0.647253       uwb: 0.50062763     1044.61  421.805  
imu_odom_:  1691062823.971924355  0.639252   -0.0981623 9.85453    -0.0511327  0.02024     0.0340885   0.18       0             pose: 0.84150145    5.92087    -2.44378    0 -0.00913523 -0.00688184 -0.762254   0.647177       uwb: 0.0            1044.61  421.805  
imu_odom_:  1691062823.988824263  0.397437   -0.0814029 10.1778    -0.0308927  -0.04048    0.04048     0.18       0             pose: 0.0           5.92087    -2.44378    0 -0.00913523 -0.00688184 -0.762254   0.647177       uwb: 0.0            1044.61  421.805  
imu_odom_:  1691062824.12705671   0.143652   -0.287304  9.6199     -0.0649811  -0.052198   0.0596548   0.2        0             pose: 0.7008915     5.92087    -2.44378    0 -0.00866507 -0.00741718 -0.762271   0.647157       uwb: 0.49932978     1046.12  422.064  
imu_odom_:  1691062824.38807989   0.397437   -0.246603  9.67018    -0.0585895  -0.0170442  0.0490022   0.2        0             pose: 0.0           5.92087    -2.44378    0 -0.00866507 -0.00741718 -0.762271   0.647157       uwb: 0.0            1046.12  422.064  
imu_odom_:  1691062824.51702678   0.217872   -0.0407014 10.2831    -0.0649811  -0.0394148  0.0692422   0.2        0             pose: 0.0           5.92087    -2.44378    0 -0.00866507 -0.00741718 -0.762271   0.647157       uwb: 0.50061014     1052.21  422.111  
imu_odom_:  1691062824.67939377   0.586579   -0.112527  9.79947    -0.0340885  -0.00852212 0.0852212   0.18       0             pose: 0.42932229    5.92144    -2.45791    0 -0.0056718  -0.0080538  -0.762278   0.647175       uwb: 0.0            1052.21  422.111  
imu_odom_:  1691062824.85751564   0.682347   -0.567426  9.8689     -0.0607201  -0.0276969  0.20027     0.18       0             pose: 0.0           5.92144    -2.45791    0 -0.0056718  -0.0080538  -0.762278   0.647175       uwb: 0.0            1052.21  422.111  
imu_odom_:  1691062824.102750342  0.634463   -0.634463  9.60793    -0.0756338  -0.0138484  0.247141    0.18       0.17          pose: 0.47869270    5.91467    -2.46527    0 -0.00361635 -0.00458184 -0.762063   0.647476       uwb: 0.49909648     1053.08  422.285  
imu_odom_:  1691062824.115743025  0.497994   -0.545878  9.52413    -0.0543285  0.0330232   0.270577    0.18       0.17          pose: 0.0           5.91467    -2.46527    0 -0.00361635 -0.00458184 -0.762063   0.647476       uwb: 0.0            1053.08  422.285  
imu_odom_:  1691062824.131740862  0.641646   -0.198719  10.2687    -0.0511327  0.0266316   0.329167    0.18       0.17          pose: 0.0           5.91467    -2.46527    0 -0.00361635 -0.00458184 -0.762063   0.647476       uwb: 0.0            1053.08  422.285  
imu_odom_:  1691062824.149751080  0.253785   -0.325611  9.90481    -0.0255663  -0.0745685  0.363255    0.26       0.44          pose: 0.49051616    5.92203    -2.47204    0 -0.00566327 -0.00493541 -0.760273   0.64956        uwb: 0.49932396     1056.6   422.737  
imu_odom_:  1691062824.166686570  1.01514    -0.402226  10.4004    -0.0340885  0.00426106  0.396278    0.26       0.44          pose: 0.0           5.92203    -2.47204    0 -0.00566327 -0.00493541 -0.760273   0.64956        uwb: 0.0            1056.6   422.737  
imu_odom_:  1691062824.179736999  0.73502    -0.047884  10.2783    -0.0671117  -0.0308927  0.456998    0.26       0.44          pose: 0.0           5.92203    -2.47204    0 -0.00566327 -0.00493541 -0.760273   0.64956        uwb: 0.0            1056.6   422.737  
imu_odom_:  1691062824.195683798  0.806846   -0.23942   9.95988    -0.076699   0.00958738  0.50387     0.17       0.41          pose: 0.45926010    5.91522    -2.47937    0 -0.00688839 -0.00406268 -0.756329   0.654143       uwb: 0.50010850     1055.61  422.452  
imu_odom_:  1691062824.212733906  0.627281   -0.497994  9.64384    -0.0798948  -0.00426106 0.509196    0.25       0.61          pose: 0.0           5.91522    -2.47937    0 -0.00688839 -0.00406268 -0.756329   0.654143       uwb: 0.0            1055.61  422.452  
imu_odom_:  1691062824.230735374  0.52433    0.0670376  9.10994    -0.0426106  -0.0298274  0.517718    0.25       0.61          pose: 0.64070678    5.91572    -2.4935     0 -0.00990308 -0.00573758 -0.747755   0.663876       uwb: 0.0            1055.61  422.452  
imu_odom_:  1691062824.243738848  0.672771   -0.37589   9.91918    -0.0862864  0.00213053  0.566721    0.25       0.61          pose: 0.0           5.91572    -2.4935     0 -0.00990308 -0.00573758 -0.747755   0.663876       uwb: 0.50047307     1058.14  422.7    
imu_odom_:  1691062824.259736977  0.76375    -0.361524  9.50977    -0.0862864  -0.0415453  0.594418    0.18       0.53          pose: 0.0           5.91572    -2.4935     0 -0.00990308 -0.00573758 -0.747755   0.663876       uwb: 0.0            1058.14  422.7    
imu_odom_:  1691062824.276669551  0.380678   -0.399832  10.2807    -0.0213053  -0.0245011  0.588026    0.18       0.53          pose: 0.32979700    5.90891    -2.50081    0 -0.00985196 -0.00585459 -0.742426   0.66983        uwb: 0.0            1058.14  422.7    
imu_odom_:  1691062824.294666352  0.593762   -0.632069  9.78271    -0.0330232  0.00639159  0.606135    0.18       0.58          pose: 0.39930868    5.91618    -2.50758    0 -0.0116809  -0.00448181 -0.735035   0.677913       uwb: 0.49918980     1057.63  422.697  
imu_odom_:  1691062824.307659619  0.517148   -0.280122  9.75158    -0.052198   -0.00639159 0.639159    0.18       0.58          pose: 0.0           5.91618    -2.50758    0 -0.0116809  -0.00448181 -0.735035   0.677913       uwb: 0.0            1057.63  422.697  
imu_odom_:  1691062824.322660891  0.500388   -0.47884   9.93594    -0.0500674  -0.0415453  0.641289    0.18       0.58          pose: 0.0           5.91618    -2.50758    0 -0.0116809  -0.00448181 -0.735035   0.677913       uwb: 0.0            1057.63  422.697  
imu_odom_:  1691062824.340870596  1.13246    -0.191536  9.8689     -0.0500674  -0.00532632 0.609331    0.23       0.67          pose: 0.8070810     5.91626    -2.50759    0 -0.0120819  -0.00384451 -0.733475   0.679598       uwb: 0.0            1057.63  422.697  
imu_odom_:  1691062824.357742506  1.02951    -0.205901  9.9096     -0.0511327  -0.0298274  0.614658    0.23       0.67          pose: 0.0           5.91626    -2.50759    0 -0.0120819  -0.00384451 -0.733475   0.679598       uwb: 0.50126052     1062.68  423.105  
imu_odom_:  1691062824.371814292  1.77889    -0.265756  10.4722    -0.0330232  -0.0660464  0.549676    0.23       0.67          pose: 0.0           5.91626    -2.50759    0 -0.0120819  -0.00384451 -0.733475   0.679598       uwb: 0.0            1062.68  423.105  
imu_odom_:  1691062824.387817671  1.42455    -0.177171  9.02614    -0.0458064  0.0149137   0.427171    0.12       0.35          pose: 0.45921052    5.90946    -2.51492    0 -0.0121485  -0.00208787 -0.72422    0.689459       uwb: 0.0            1062.68  423.105  
imu_odom_:  1691062824.404888777  1.40779    0.0909797  10.2208    -0.0585895  0.0553937   0.361125    0.17       0.5           pose: 0.0           5.90946    -2.51492    0 -0.0121485  -0.00208787 -0.72422    0.689459       uwb: 0.50023974     1061.68  422.88   
imu_odom_:  1691062824.422711464  1.06303    -0.0023942 9.71328    -0.0660464  0.02024     0.369647    0.17       0.5           pose: 0.65171071    5.91002    -2.52911    0 -0.0155471  -0.0077815  -0.713265   0.700679       uwb: 0.0            1061.68  422.88   
imu_odom_:  1691062824.435761311  0.56982    -0.483629  9.82341    -0.0553937  0.0490022   0.354733    0.17       0.5           pose: 0.0           5.91002    -2.52911    0 -0.0155471  -0.0077815  -0.713265   0.700679       uwb: 0.0            1061.68  422.88   
imu_odom_:  1691062824.451702860  0.627281   -0.263362  10.3286    -0.0426106  -0.02024    0.290817    0.11       0.32          pose: 0.0           5.91002    -2.52911    0 -0.0155471  -0.0077815  -0.713265   0.700679       uwb: 0.50010559     1065.22  423.174  
imu_odom_:  1691062824.468683555  0.758962   0.0885855  9.83059    -0.0436758  -0.0287621  0.250337    0.11       0.32          pose: 0.32940035    5.91002    -2.52911    0 -0.0155168  -0.00921797 -0.70952    0.704454       uwb: 0.0            1065.22  423.174  
imu_odom_:  1691062824.486713313  0.61531    -0.134075  10.0293    -0.0649811  0.0149137   0.28123     0.08       0.23          pose: 0.39911036    5.9138     -2.53266    0 -0.013032   -0.00947339 -0.706099   0.70793        uwb: 0.0            1065.22  423.174  
imu_odom_:  1691062824.500815139  0.931344   -0.560243  10.003     -0.0660464  -0.00639159 0.271642    0.08       0.23          pose: 0.0           5.9138     -2.53266    0 -0.013032   -0.00947339 -0.706099   0.70793        uwb: 0.50001517     1062.22  422.63   
imu_odom_:  1691062824.517806334  0.694318   -0.347159  9.8282     -0.0479369  0           0.245011    0.08       0.23          pose: 0.0           5.9138     -2.53266    0 -0.013032   -0.00947339 -0.706099   0.70793        uwb: 0.0            1062.22  422.63   
imu_odom_:  1691062824.533802421  0.770933   -0.0909797 9.991      -0.0479369  -0.00426106 0.251402    0.07       0.23          pose: 0.8064978     5.91739    -2.53587    0 -0.012212   -0.00947199 -0.705423   0.708618       uwb: 0.0            1062.22  422.63   
imu_odom_:  1691062824.551872135  0.766145   -0.134075  9.90481    -0.0585895  -0.00426106 0.259925    0.08       0.26          pose: 0.0           5.91739    -2.53587    0 -0.012212   -0.00947199 -0.705423   0.708618       uwb: 0.49971186     1062.22  422.56   
imu_odom_:  1691062824.566812744  0.773327   -0.306458  9.90481    -0.0532632  0           0.239684    0.08       0.26          pose: 0.65067243    5.9106     -2.5432     0 -0.0126282  -0.0100441  -0.700327   0.71364        uwb: 0.0            1062.22  422.56   
imu_odom_:  1691062824.583686987  0.773327   -0.196325  9.85932    -0.0500674  -0.00639159 0.207727    0.08       0.32          pose: 0.0           5.9106     -2.5432     0 -0.0126282  -0.0100441  -0.700327   0.71364        uwb: 0.0            1062.22  422.56   
imu_odom_:  1691062824.599809067  0.588974   -0.100556  9.85214    -0.0490022  0.00745685  0.224771    0.08       0.32          pose: 0.0           5.9106     -2.5432     0 -0.0126282  -0.0100441  -0.700327   0.71364        uwb: 0.50048473     1062.77  422.218  
imu_odom_:  1691062824.616795012  0.452504   -0.42138   9.95748    -0.0575243  -0.00106526 0.264186    0.08       0.32          pose: 0.33049987    5.9106     -2.5432     0 -0.0134731  -0.0114502  -0.697971   0.715908       uwb: 0.0            1062.77  422.218  
imu_odom_:  1691062824.632989421  0.555455   -0.438139  9.79468    -0.0436758  -0.0138484  0.259925    0.05       0.2           pose: 0.41929249    5.9106     -2.5432     0 -0.0113249  -0.0103073  -0.695036   0.718811       uwb: 0.0            1062.77  422.218  
imu_odom_:  1691062824.650824066  0.761356   -0.117316  9.94551    -0.0394148  -0.0117179  0.259925    0.05       0.2           pose: 0.8150139     5.9106     -2.5432     0 -0.0114814  -0.00955834 -0.694386   0.719447       uwb: 0.50084638     1062.77  422.218  
imu_odom_:  1691062824.666678995  0.706289   -0.169988  9.91199    -0.0511327  0.00319579  0.280165    0.05       0.2           pose: 0.0           5.9106     -2.5432     0 -0.0114814  -0.00955834 -0.694386   0.719447       uwb: 0.0            1062.77  422.218  
imu_odom_:  1691062824.683785391  0.624887   -0.296881  9.88805    -0.0543285  -0.00639159 0.272708    0.05       0.29          pose: 0.41733844    5.9106     -2.5432     0 -0.00990629 -0.0117557  -0.690976   0.722714       uwb: 0.0            1062.77  422.218  
imu_odom_:  1691062824.700816250  0.555455   -0.196325  9.85453    -0.0458064  0.00532632  0.262055    0.04       0.23          pose: 0.0           5.9106     -2.5432     0 -0.00990629 -0.0117557  -0.690976   0.722714       uwb: 0.49624123     1060.76  421.955  
imu_odom_:  1691062824.717660454  0.526724   -0.244209  9.94312    -0.052198   -0.00426106 0.270577    0.04       0.23          pose: 0.0           5.9106     -2.5432     0 -0.00990629 -0.0117557  -0.690976   0.722714       uwb: 0.0            1060.76  421.955  
imu_odom_:  1691062824.734696563  0.663194   -0.225055  9.88566    -0.0511327  -0.00639159 0.280165    0.03       0.2           pose: 0.25260618    5.9106     -2.5432     0 -0.00947263 -0.00959278 -0.688882   0.724748       uwb: 0.0            1060.76  421.955  
imu_odom_:  1691062824.750811060  0.648829   -0.296881  9.98143    -0.0511327  -0.00106526 0.276969    0.03       0.2           pose: 0.0           5.9106     -2.5432     0 -0.00947263 -0.00959278 -0.688882   0.724748       uwb: 0.50080846     1057.72  421.762  
imu_odom_:  1691062824.767888583  0.608127   -0.155623  9.85453    -0.0458064  -0.00106526 0.278034    0.03       0.2           pose: 0.33004490    5.91793    -2.55001    0 -0.00835311 -0.00815161 -0.686129   0.727386       uwb: 0.0            1057.72  421.762  
imu_odom_:  1691062824.783774135  0.691924   -0.215478  9.9096     -0.0490022  -0.0117179  0.272708    0.02       0.23          pose: 0.42944480    5.91784    -2.54999    0 -0.00848873 -0.00832602 -0.682391   0.730891       uwb: 0.0            1057.72  421.762  
imu_odom_:  1691062824.800652753  0.636858   -0.0526724 9.86411    -0.0468716  0.00639159  0.258859    0.02       0.23          pose: 0.7951817     5.91793    -2.55001    0 -0.00893786 -0.00902013 -0.681707   0.731515       uwb: 0.50122260     1055.7   421.611  
imu_odom_:  1691062824.816774250  0.624887   -0.186748  9.89524    -0.0575243  0.00319579  0.278034    0.02       0.23          pose: 0.0           5.91793    -2.55001    0 -0.00893786 -0.00902013 -0.681707   0.731515       uwb: 0.0            1055.7   421.611  
imu_odom_:  1691062824.832774712  0.627281   -0.332794  9.87608    -0.0532632  0.00958738  0.265251    0.02       0.29          pose: 0.40933850    5.91102    -2.5573     0 -0.00676951 -0.00933763 -0.678292   0.734702       uwb: 0.0            1055.7   421.611  
imu_odom_:  1691062824.848780133  0.502782   -0.181959  9.91199    -0.0468716  0.00532632  0.243946    0.01       0.2           pose: 0.0           5.91102    -2.5573     0 -0.00676951 -0.00933763 -0.678292   0.734702       uwb: 0.50013767     1057.71  421.808  
imu_odom_:  1691062824.864773595  0.402226   -0.122104  9.87129    -0.0532632  -0.00213053 0.236489    0.01       0.2           pose: 0.0           5.91102    -2.5573     0 -0.00676951 -0.00933763 -0.678292   0.734702       uwb: 0.0            1057.71  421.808  
imu_odom_:  1691062824.889696192  0.521936   -0.215478  9.9096     -0.0490022  -0.00639159 0.197074    0.01       0.17          pose: 0.23012294    5.9111     -2.55732    0 -0.00723566 -0.00781026 -0.676431   0.736429       uwb: 0.0            1057.71  421.808  
imu_odom_:  1691062824.905694904  0.0766145  -0.172383  9.75158    -0.0639159  0.0575243   0.176834    0.01       0.17          pose: 0.0           5.9111     -2.55732    0 -0.00723566 -0.00781026 -0.676431   0.736429       uwb: 0.50014641     1060.22  422.206  
imu_odom_:  1691062824.921735614  -0.845153  -0.129287  10.0006    -0.0660464  0.102265    0.125701    0.01       0.17          pose: 0.32971533    5.9111     -2.55732    0 -0.00464761 -0.00598019 -0.674152   0.738554       uwb: 0.0            1060.22  422.206  
imu_odom_:  1691062824.938617440  -1.58975   -0.0766145 9.88326    -0.0553937  -0.00426106 0.0809601   0.04       0.05          pose: 0.40950766    5.9111     -2.55732    0 -0.00177264 -0.00203026 -0.672113   0.740443       uwb: 0.0            1060.22  422.206  
imu_odom_:  1691062824.954620236  -0.675165  -0.229843  9.97664    -0.0553937  -0.0958738  0.0628506   0.04       0.05          pose: 0.0           5.9111     -2.55732    0 -0.00177264 -0.00203026 -0.672113   0.740443       uwb: 0.49755657     1058.17  422.35   
imu_odom_:  1691062824.971677635  0.31364    -0.423774  9.8258     -0.0458064  -0.0639159  0.0415453   0.09       -0.02         pose: 0.40911393    5.9111     -2.55732    0 0.000837158 0.0007083   -0.671464   0.741037       uwb: 0.0            1058.17  422.35   
imu_odom_:  1691062824.987677514  0.533907   -0.107739  10.1706    -0.0479369  -0.0266316  0.0596548   0.09       -0.02         pose: 0.0           5.9111     -2.55732    0 0.000837158 0.0007083   -0.671464   0.741037       uwb: 0.0            1058.17  422.35   
imu_odom_:  1691062825.4873447    0.37589    -0.174777  10.0676    -0.0575243  0.0149137   0.0351537   0.09       -0.02         pose: 0.0           5.9111     -2.55732    0 0.000837158 0.0007083   -0.671464   0.741037       uwb: 0.50012892     1057.71  421.832  
imu_odom_:  1691062825.20829579   -0.148441  0.0047884  9.72046    -0.052198   0.00319579  0.0330232   0.09       0             pose: 0.8060894     5.9111     -2.55732    0 0.000301555 0.00120335  -0.671458   0.741041       uwb: 0.0            1057.71  421.832  
imu_odom_:  1691062825.37699448   0          -0.21069   9.90721    -0.0649811  -0.0181095  0.0490022   0.13       0             pose: 0.0           5.9111     -2.55732    0 0.000301555 0.00120335  -0.671458   0.741041       uwb: 0.0            1057.71  421.832  
imu_odom_:  1691062825.53653830   0.241814   -0.387861  9.95748    -0.0607201  -0.00852212 0.0447411   0.13       0             pose: 0.66110474    5.91847    -2.56408    0 0.00331151  0.00130729  -0.671371   0.741113       uwb: 0.50073556     1052.14  421.445  
imu_odom_:  1691062825.70821764   0.416591   -0.177171  10.1586    -0.0703074  -0.00639159 0.0319579   0.14       0             pose: 0.0           5.91847    -2.56408    0 0.00331151  0.00130729  -0.671371   0.741113       uwb: 0.0            1052.14  421.445  
imu_odom_:  1691062825.86771480   0.277727   -0.304064  9.77553    -0.0649811  0.0181095   0.0426106   0.14       0             pose: 0.0           5.91847    -2.56408    0 0.00331151  0.00130729  -0.671371   0.741113       uwb: 0.0            1052.14  421.445  
imu_odom_:  1691062825.103704054  0.253785   -0.184354  9.84256    -0.0639159  -0.0127832  0.0351537   0.14       0             pose: 0.32989033    5.9117     -2.57145    0 0.00267801  0.00272054  -0.671337   0.741142       uwb: 0.50058098     1051.65  421.282  
imu_odom_:  1691062825.119770429  0.1652     -0.0023942 9.76834    -0.0426106  -0.0276969  0.0415453   0.13       0             pose: 0.41923417    5.9117     -2.57145    0 0.00354364  0.00403217  -0.671365   0.741107       uwb: 0.0            1051.65  421.282  
imu_odom_:  1691062825.135791307  0.117316   -0.150835  9.61033    -0.0447411  -0.02024    0.0458064   0.13       0             pose: 0.7069287     5.9117     -2.57145    0 0.00421767  0.00381722  -0.671357   0.741113       uwb: 0.0            1051.65  421.282  
imu_odom_:  1691062825.160828231  0.521936   -0.332794  9.81383    -0.0703074  0.00639159  0.0479369   0.12       0.02          pose: 0.0           5.9117     -2.57145    0 0.00421767  0.00381722  -0.671357   0.741113       uwb: 0.0            1051.65  421.282  
imu_odom_:  1691062825.177772762  0.349553   0.0167594  9.83299    -0.0479369  0.00639159  0.0319579   0.13       0             pose: 0.34141631    5.91907    -2.57821    0 0.00547159  0.00412632  -0.671279   0.741173       uwb: 0.0            1051.65  421.282  
imu_odom_:  1691062825.193784016  0.0526724  -0.260968  9.65342    -0.056459   0.0340885   -0.00958738 0.12       -0.11         pose: 0.0           5.91907    -2.57821    0 0.00547159  0.00412632  -0.671279   0.741173       uwb: 0.0            1051.65  421.282  
imu_odom_:  1691062825.210781336  -0.397437  -0.071826  9.72285    -0.0596548  -0.00639159 -0.0884169  0.12       -0.11         pose: 0.40980223    5.91231    -2.58558    0 0.00542044  0.00328352  -0.671425   0.741046       uwb: 0.100018495    1050.15  420.891  
imu_odom_:  1691062825.226766924  -0.361524  -0.0287304 10.0892    -0.0532632  -0.04048    -0.152333   0.13       -0.26         pose: 0.0           5.91231    -2.58558    0 0.00542044  0.00328352  -0.671425   0.741046       uwb: 0.0            1050.15  420.891  
imu_odom_:  1691062825.243714956  0.294487   0.059855   9.59117    -0.0628506  -0.0788296  -0.217314   0.13       -0.26         pose: 0.0           5.91231    -2.58558    0 0.00542044  0.00328352  -0.671425   0.741046       uwb: 0.0            1050.15  420.891  
imu_odom_:  1691062825.259762374  1.06781    -0.0502782 10.1442    -0.0745685  -0.0479369  -0.273773   0.13       -0.26         pose: 0.32886081    5.91231    -2.58558    0 0.00769698  0.0055283   -0.672928   0.739648       uwb: 0.49924232     1051.7   420.697  
imu_odom_:  1691062825.276824148  0.471658   -0.0646434 9.58878    -0.0628506  0.0117179   -0.34408    0.19       -0.53         pose: 0.40981098    5.91963    -2.59229    0 0.00729289  0.00254529  -0.676947   0.735991       uwb: 0.0            1051.7   420.697  
imu_odom_:  1691062825.292818778  0.258574   0.155623   10.2376    -0.0628506  -0.00319579 -0.38243    0.19       -0.53         pose: 0.8071977     5.91971    -2.5923     0 0.00702954  0.0018666   -0.678084   0.734948       uwb: 0.0            1051.7   420.697  
imu_odom_:  1691062825.309741144  0.277727   -0.100556  10.0676    -0.0809601  -0.00532632 -0.429302   0.19       -0.53         pose: 0.0           5.91971    -2.5923     0 0.00702954  0.0018666   -0.678084   0.734948       uwb: 0.50125761     1050.7   420.468  
imu_odom_:  1691062825.325742481  0.162806   -0.0670376 10.0197    -0.0649811  -0.0287621  -0.458064   0.14       -0.5          pose: 0.41906793    5.91295    -2.59973    0 0.00907125  0.00156866  -0.684704   0.728763       uwb: 0.0            1050.7   420.468  
imu_odom_:  1691062825.342803964  0.799663   -0.299275  9.90242    -0.0830906  -0.00213053 -0.478304   0.2        -0.64         pose: 0.0           5.91295    -2.59973    0 0.00907125  0.00156866  -0.684704   0.728763       uwb: 0.0            1050.7   420.468  
imu_odom_:  1691062825.358612521  0.418985   -0.3304    9.76116    -0.0735032  -0.0245011  -0.499609   0.2        -0.64         pose: 0.0           5.91295    -2.59973    0 0.00907125  0.00156866  -0.684704   0.728763       uwb: 0.49992769     1048.68  420.224  
imu_odom_:  1691062825.375664671  0.184354   0.208296   10.0533    -0.0628506  -0.0415453  -0.516653   0.2        -0.64         pose: 0.24129894    5.91303    -2.59974    0 0.00952031  0.00192697  -0.689124   0.724578       uwb: 0.0            1048.68  420.224  
imu_odom_:  1691062825.391718506  0.612916   0.0023942  10.1825    -0.0639159  -0.00532632 -0.534763   0.2        -0.7          pose: 0.0           5.91303    -2.59974    0 0.00952031  0.00192697  -0.689124   0.724578       uwb: 0.0            1048.68  420.224  
imu_odom_:  1691062825.408725158  0.260968   -0.124498  9.78271    -0.0458064  -0.0458064  -0.549676   0.2        -0.7          pose: 0.32752797    5.92048    -2.60642    0 0.00742383  0.00142635  -0.695487   0.718499       uwb: 0.49953397     1048.18  420.182  
imu_odom_:  1691062825.424665833  0.742203   -0.227449  9.29669    -0.0692422  -0.0127832  -0.583765   0.15       -0.58         pose: 0.42101323    5.91366    -2.6138     0 0.00786232  0.000808781 -0.704152   0.710005       uwb: 0.0            1048.18  420.182  
imu_odom_:  1691062825.441660820  0.888249   -0.0933739 10.4914    -0.0735032  -0.0479369  -0.56246    0.15       -0.58         pose: 0.0           5.91366    -2.6138     0 0.00786232  0.000808781 -0.704152   0.710005       uwb: 0.0            1048.18  420.182  
imu_odom_:  1691062825.457660407  1.06303    -0.25618   9.69652    -0.0660464  -0.0681769  -0.52198    0.15       -0.58         pose: 0.0           5.91366    -2.6138     0 0.00786232  0.000808781 -0.704152   0.710005       uwb: 0.49916357     1046.67  419.847  
imu_odom_:  1691062825.474594148  1.54426    -0.129287  10.2472    -0.0479369  -0.0234358  -0.50174    0.17       -0.67         pose: 0.7886488     5.91374    -2.61381    0 0.00713024  0.000423047 -0.705897   0.708279       uwb: 0.0            1046.67  419.847  
imu_odom_:  1691062825.490652357  1.51792    -0.268151  9.54808    -0.072438   0.00213053  -0.46339    0.11       -0.41         pose: 0.0           5.91374    -2.61381    0 0.00713024  0.000423047 -0.705897   0.708279       uwb: 0.0            1046.67  419.847  
imu_odom_:  1691062825.507585514  1.4054     -0.220267  10.1897    -0.076699   0.02024     -0.383495   0.11       -0.41         pose: 0.66051270    5.91442    -2.62795    0 0.0011989   -0.00429123 -0.719034   0.694961       uwb: 0.50117303     1048.2   419.83   
imu_odom_:  1691062825.524644080  1.02711    -0.572214  10.0317    -0.0468716  0.0617853   -0.350472   0.1        -0.38         pose: 0.0           5.91442    -2.62795    0 0.0011989   -0.00429123 -0.719034   0.694961       uwb: 0.0            1048.2   419.83   
imu_odom_:  1691062825.540585629  0.950498   -0.251391  9.92397    -0.0628506  0.0213053   -0.307861   0.1        -0.38         pose: 0.0           5.91442    -2.62795    0 0.0011989   -0.00429123 -0.719034   0.694961       uwb: 0.0            1048.2   419.83   
imu_odom_:  1691062825.556640630  0.715866   -0.198719  9.77074    -0.0532632  0.0436758   -0.299339   0.1        -0.38         pose: 0.32928370    5.91442    -2.62795    0 -0.00131041 -0.00541336 -0.723971   0.689808       uwb: 0.50002685     1050.23  419.956  
imu_odom_:  1691062825.573617826  0.629675   -0.047884  10.1155    -0.0553937  -0.00852212 -0.265251   0.1        -0.35         pose: 0.41049344    5.91434    -2.62794    0 -0.00418307 -0.00669041 -0.728933   0.684539       uwb: 0.0            1050.23  419.956  
imu_odom_:  1691062825.591639710  0.749385   -0.414197  10.003     -0.0575243  0.00213053  -0.223706   0.1        -0.35         pose: 0.8004606     5.91442    -2.62795    0 -0.00400878 -0.00748869 -0.729767   0.683643       uwb: 0.0            1050.23  419.956  
imu_odom_:  1691062825.606580903  0.897826   -0.356736  9.72046    -0.0458064  -0.0106526  -0.229032   0.1        -0.35         pose: 0.0           5.91442    -2.62795    0 -0.00400878 -0.00748869 -0.729767   0.683643       uwb: 0.49928023     1050.23  420.003  
imu_odom_:  1691062825.624577996  0.804452   -0.205901  9.68933    -0.0532632  0.00319579  -0.209857   0.06       -0.23         pose: 0.41935667    5.91828    -2.63858    0 -0.00694686 -0.00834729 -0.733653   0.679438       uwb: 0.0            1050.23  420.003  
imu_odom_:  1691062825.642618254  0.691924   -0.311246  9.81144    -0.0596548  -0.00426106 -0.167247   0.05       -0.2          pose: 0.0           5.91828    -2.63858    0 -0.00694686 -0.00834729 -0.733653   0.679438       uwb: 0.0            1050.23  420.003  
imu_odom_:  1691062825.656612170  0.505177   -0.31364   9.87848    -0.0596548  0.0138484   -0.167247   0.05       -0.2          pose: 0.0           5.91828    -2.63858    0 -0.00694686 -0.00834729 -0.733653   0.679438       uwb: 0.49950480     1050.73  420.117  
imu_odom_:  1691062825.674671384  0.497994   -0.265756  10.1179    -0.0490022  -0.0138484  -0.169377   0.05       -0.17         pose: 0.26005782    5.91511    -2.64207    0 -0.00901544 -0.00906396 -0.73571    0.677176       uwb: 0.0            1050.73  420.117  
imu_odom_:  1691062825.690735427  0.567426   -0.0622492 9.70849    -0.0639159  -0.0213053  -0.142745   0.05       -0.17         pose: 0.0           5.91511    -2.64207    0 -0.00901544 -0.00906396 -0.73571    0.677176       uwb: 0.0            1050.73  420.117  
imu_odom_:  1691062825.707667417  0.754174   -0.337582  9.93354    -0.0596548  -0.0138484  -0.117179   0.05       -0.17         pose: 0.32093378    5.91511    -2.64207    0 -0.0089657  -0.00657242 -0.737958   0.674755       uwb: 0.0            1050.73  420.117  
imu_odom_:  1691062825.723717168  0.768539   -0.294487  9.99819    -0.056459   -0.0319579  -0.0990696  0.04       -0.14         pose: 0.42987354    5.91511    -2.64207    0 -0.00902849 -0.00699597 -0.740539   0.671916       uwb: 0.0            1050.73  420.117  
imu_odom_:  1691062825.741744302  0.739808   -0.361524  9.60075    -0.0532632  0.00852212  -0.1012     0.04       -0.14         pose: 0.8141390     5.91511    -2.64207    0 -0.00988396 -0.00732847 -0.740908   0.671494       uwb: 0.0            1050.73  420.117  
imu_odom_:  1691062825.758792077  0.746991   -0.1652    9.98622    -0.0585895  -0.0149137  -0.0916127  0.04       -0.14         pose: 0.0           5.91511    -2.64207    0 -0.00988396 -0.00732847 -0.740908   0.671494       uwb: 0.99988455     1048.72  419.756  
imu_odom_:  1691062825.774667130  0.632069   -0.208296  9.8282     -0.0575243  -0.00319579 -0.0830906  0.04       -0.11         pose: 0.33957891    5.91511    -2.64207    0 -0.0122707  -0.00807311 -0.74245    0.669741       uwb: 0.0            1048.72  419.756  
imu_odom_:  1691062825.791604954  0.691924   -0.251391  9.93115    -0.0607201  -0.0191748  -0.072438   0.03       -0.11         pose: 0.0           5.91511    -2.64207    0 -0.0122707  -0.00807311 -0.74245    0.669741       uwb: 0.0            1048.72  419.756  
imu_odom_:  1691062825.808595857  0.617704   -0.234632  9.81144    -0.0575243  -0.00958738 -0.0649811  0.03       -0.11         pose: 0.0           5.91511    -2.64207    0 -0.0122707  -0.00807311 -0.74245    0.669741       uwb: 0.50058973     1050.76  419.86   
imu_odom_:  1691062825.824647067  0.658405   -0.258574  9.88326    -0.0543285  -0.0106526  -0.0468716  0.03       -0.11         pose: 0.32850792    5.91511    -2.64207    0 -0.0114474  -0.00855762 -0.743809   0.66824        uwb: 0.0            1050.76  419.86   
imu_odom_:  1691062825.841640887  0.730232   -0.241814  9.9096     -0.0575243  -0.00745685 -0.0319579  0.03       -0.11         pose: 0.0           5.91511    -2.64207    0 -0.0114474  -0.00855762 -0.743809   0.66824        uwb: 0.0            1050.76  419.86   
imu_odom_:  1691062825.857585353  0.68953    -0.253785  9.85453    -0.056459   0           -0.0213053  0.03       -0.11         pose: 0.33031905    5.91511    -2.64207    0 -0.0112348  -0.00708802 -0.744942   0.666997       uwb: 0.49854819     1057.86  420.36   
imu_odom_:  1691062825.873624313  0.636858   -0.265756  9.91678    -0.0532632  -0.00106526 -0.0181095  0.01       0             pose: 0.41935958    5.91511    -2.64207    0 -0.0121626  -0.00940911 -0.745923   0.665855       uwb: 0.0            1057.86  420.36   
imu_odom_:  1691062825.890564470  0.617704   -0.208296  9.84496    -0.0543285  -0.0106526  -0.00852212 0.01       0             pose: 0.6998999     5.91511    -2.64207    0 -0.0118611  -0.00877071 -0.746061   0.665715       uwb: 0.0            1057.86  420.36   
imu_odom_:  1691062825.906718340  0.648829   -0.229843  9.88805    -0.0575243  -0.00532632 0.00852212  0.01       0             pose: 0.0           5.91511    -2.64207    0 -0.0118611  -0.00877071 -0.746061   0.665715       uwb: 0.50005019     1057.86  420.36   
imu_odom_:  1691062825.922718511  0.624887   -0.275333  9.89524    -0.0553937  0.00426106  0.0223706   0.01       -0.02         pose: 0.42133988    5.91511    -2.64207    0 -0.0113297  -0.00720252 -0.746677   0.665051       uwb: 0.0            1057.86  420.36   
imu_odom_:  1691062825.938778179  0.579397   -0.323217  9.95509    -0.052198   -0.00319579 0.0447411   0          0.02          pose: 0.0           5.91511    -2.64207    0 -0.0113297  -0.00720252 -0.746677   0.665051       uwb: 0.0            1057.86  420.36   
imu_odom_:  1691062825.954756184  0.593762   -0.299275  9.79707    -0.0553937  0.00106526  0.0596548   0          0.02          pose: 0.0           5.91511    -2.64207    0 -0.0113297  -0.00720252 -0.746677   0.665051       uwb: 0.49939106     1060.39  420.665  
imu_odom_:  1691062825.970716982  0.533907   -0.253785  9.90242    -0.0511327  0.00639159  0.0585895   0          0.02          pose: 0.23923699    5.91511    -2.64207    0 -0.0106016  -0.00488977 -0.746758   0.664993       uwb: 0.0            1060.39  420.665  
imu_odom_:  1691062825.992729503  0.42138    -0.136469  9.89524    -0.0532632  -0.00426106 0.0383495   0          0.02          pose: 0.0           5.91511    -2.64207    0 -0.0106016  -0.00488977 -0.746758   0.664993       uwb: 0.0            1060.39  420.665  
imu_odom_:  1691062826.9731781    -0.248997  -0.19393   9.71806    -0.0543285  0.0671117   0.0447411   0          0.02          pose: 0.32096586    5.91511    -2.64207    0 -0.00915808 -0.00260921 -0.746591   0.665215       uwb: 0.50008226     1058.39  420.247  
imu_odom_:  1691062826.25657582   -0.979228  -0.316035  10.0844    -0.04048    0.0713727   0.0532632   0          0.02          pose: 0.37887574    5.91511    -2.64207    0 -0.00527375 -0.00223138 -0.746564   0.665289       uwb: 0.0            1058.39  420.247  
imu_odom_:  1691062826.42715857   -1.10852   -0.308852  9.99819    -0.052198   -0.0351537  0.0532632   0          0.02          pose: 0.0           5.91511    -2.64207    0 -0.00527375 -0.00223138 -0.746564   0.665289       uwb: 0.0            1058.39  420.247  
imu_odom_:  1691062826.60664829   -0.241814  0          9.75637    -0.0532632  -0.0660464  0.0703074   0.04       0.05          pose: 0.0           5.91511    -2.64207    0 -0.00527375 -0.00223138 -0.746564   0.665289       uwb: 0.49972938     1065.51  420.607  
imu_odom_:  1691062826.75823592   0.368707   -0.294487  10.0173    -0.0490022  -0.0394148  0.0756338   0.04       0.05          pose: 0.42089658    5.91172    -2.64574    0 -0.00158604 0.000949665 -0.746405   0.66549        uwb: 0.0            1065.51  420.607  
imu_odom_:  1691062826.92639798   0.47884    -0.306458  9.96467    -0.0628506  -0.00852212 0.0596548   0.04       0.05          pose: 0.0           5.91172    -2.64574    0 -0.00158604 0.000949665 -0.746405   0.66549        uwb: 0.0            1065.51  420.607  
imu_odom_:  1691062826.108588056  -0.00957681-0.272939  9.63427    -0.0426106  0.0276969   0.0617853   0.07       0.05          pose: 0.9018088     5.90832    -2.64942    0 -0.0009443980.00108013  -0.746312   0.665595       uwb: 0.50170677     1072.57  421.521  
imu_odom_:  1691062826.124767300  -0.0311246 -0.287304  10.0772    -0.0553937  0.00319579  0.0628506   0.07       0.05          pose: 0.0           5.90832    -2.64942    0 -0.0009443980.00108013  -0.746312   0.665595       uwb: 0.0            1072.57  421.521  
imu_odom_:  1691062826.141772786  0.011971   -0.373495  9.69891    -0.0575243  0           0.0660464   0.07       0.05          pose: 0.0           5.90832    -2.64942    0 -0.0009443980.00108013  -0.746312   0.665595       uwb: 0.0            1072.57  421.521  
imu_odom_:  1691062826.157711711  0.138864   -0.292093  10.0054    -0.0426106  -0.02024    0.0628506   0.12       0             pose: 0.47986515    5.91566    -2.6562     0 -0.00202651 0.00246736  -0.745871   0.666083       uwb: 0.50147344     1074.09  421.619  
imu_odom_:  1691062826.173595223  0.25618    -0.0622492 9.79707    -0.0372843  -0.0426106  0.0543285   0.09       0.02          pose: 0.0           5.91566    -2.6562     0 -0.00202651 0.00246736  -0.745871   0.666083       uwb: 0.0            1074.09  421.619  
imu_odom_:  1691062826.191767307  0.402226   -0.114922  9.86172    -0.0490022  -0.0170442  0.072438    0.09       0.02          pose: 0.65945402    5.91566    -2.6562     0 0.00260028  0.0060038   -0.745341   0.666652       uwb: 0.0            1074.09  421.619  
imu_odom_:  1691062826.209565204  0.280122   -0.562637  9.82341    -0.0553937  0.0106526   0.0639159   0.1        0.02          pose: 0.0           5.91566    -2.6562     0 0.00260028  0.0060038   -0.745341   0.666652       uwb: 0.49867361     1076.59  422.158  
imu_odom_:  1691062826.222561096  0.19393    -0.328006  9.83299    -0.0415453  0.015979    0.0394148   0.1        0.02          pose: 0.0           5.91566    -2.6562     0 0.00260028  0.0060038   -0.745341   0.666652       uwb: 0.0            1076.59  422.158  
imu_odom_:  1691062826.237612824  0.328006   -0.011971  9.88087    -0.0447411  0.00213053  0.0436758   0.1        0.02          pose: 0.34064637    5.9089     -2.66357    0 0.00272846  0.00407938  -0.74504    0.667002       uwb: 0.0            1076.59  422.158  
imu_odom_:  1691062826.255557130  0.328006   0.100556   10.3621    -0.0703074  -0.0106526  0.076699    0.15       0.02          pose: 0.37882325    5.91236    -2.66675    0 0.00360808  0.00488571  -0.744935   0.66711        uwb: 0.49993062     1076.1   422.021  
imu_odom_:  1691062826.272553867  0.888249   -0.526724  10.4555    -0.0436758  -0.0117179  0.0383495   0.15       0.02          pose: 0.7938110     5.91627    -2.67033    0 0.00399531  0.00425342  -0.744834   0.667224       uwb: 0.0            1076.1   422.021  
imu_odom_:  1691062826.286541658  1.21386    -0.114922  9.60793    -0.052198   -0.0436758  0.0340885   0.15       0.02          pose: 0.0           5.91627    -2.67033    0 0.00399531  0.00425342  -0.744834   0.667224       uwb: 0.0            1076.1   422.021  
imu_odom_:  1691062826.302553787  1.16119    -0.134075  9.64384    -0.052198   0.00852212  0.0777643   0.09       -0.02         pose: 0.40990724    5.91627    -2.67033    0 0.00173369  0.00168321  -0.744752   0.667337       uwb: 0.49998312     1076.06  422.277  
imu_odom_:  1691062826.318609080  1.20668    -0.246603  10.3525    -0.0607201  -0.0181095  0.123571    0.12       -0.02         pose: 0.0           5.91627    -2.67033    0 0.00173369  0.00168321  -0.744752   0.667337       uwb: 0.0            1076.06  422.277  
imu_odom_:  1691062826.332591913  1.11809    -0.316035  9.58399    -0.0639159  -0.0394148  0.129962    0.12       -0.02         pose: 0.0           5.91627    -2.67033    0 0.00173369  0.00168321  -0.744752   0.667337       uwb: 0.0            1076.06  422.277  
imu_odom_:  1691062826.347552063  1.33596    -0.344765  9.67018    -0.0468716  -0.00532632 0.0937433   0.12       -0.02         pose: 0.23061292    5.90952    -2.67771    0 0.000156787 7.93153e-05 -0.744352   0.667787       uwb: 0.50025435     1077.6   422.339  
imu_odom_:  1691062826.364753246  0.931344   -0.0957681 9.9096     -0.0553937  0.0415453   0.0703074   0.06       -0.02         pose: 0.0           5.90952    -2.67771    0 0.000156787 7.93153e-05 -0.744352   0.667787       uwb: 0.0            1077.6   422.339  
imu_odom_:  1691062826.381708278  0.514753   -0.186748  10.1825    -0.0553937  0.0213053   0.0426106   0.06       -0.02         pose: 0.0           5.90952    -2.67771    0 0.000156787 7.93153e-05 -0.744352   0.667787       uwb: 0.0            1077.6   422.339  
imu_odom_:  1691062826.398594771  0.553061   -0.184354  9.61751    -0.0660464  -0.0266316  0.00106526  0.07       -0.02         pose: 0.72105328    5.90952    -2.67771    0 -0.00289892 -0.00486425 -0.743208   0.669037       uwb: 0.49985187     1080.14  422.568  
imu_odom_:  1691062826.414826220  0.778116   -0.0933739 9.79228    -0.0553937  -0.00745685 -0.00852212 0.07       -0.02         pose: 0.0           5.90952    -2.67771    0 -0.00289892 -0.00486425 -0.743208   0.669037       uwb: 0.0            1080.14  422.568  
imu_odom_:  1691062826.431701048  0.85473    -0.363919  9.90242    -0.0639159  -0.0127832  0.0181095   0.07       -0.02         pose: 0.0           5.90952    -2.67771    0 -0.00289892 -0.00486425 -0.743208   0.669037       uwb: 0.0            1080.14  422.568  
imu_odom_:  1691062826.447686928  0.785298   -0.35913   9.89763    -0.0575243  0.00213053  0.0213053   0.04       0             pose: 0.6887297     5.90952    -2.67771    0 -0.00350731 -0.00533213 -0.743293   0.668936       uwb: 0.50065683     1078.69  421.848  
imu_odom_:  1691062826.464547465  0.746991   -0.213084  10.0054    -0.052198   0           0.0170442   0.05       0.02          pose: 0.0           5.90952    -2.67771    0 -0.00350731 -0.00533213 -0.743293   0.668936       uwb: 0.0            1078.69  421.848  
imu_odom_:  1691062826.489566599  0.457293   -0.0837971 9.94791    -0.0543285  -0.00319579 0.0117179   0.05       0.02          pose: 0.66986883    5.90952    -2.67771    0 -0.00904193 -0.00816809 -0.743906   0.668174       uwb: 0.0            1078.69  421.848  
imu_odom_:  1691062826.505608476  0.205901   -0.244209  9.96227    -0.0596548  0.0298274   0.0308927   0.03       0.02          pose: 0.0           5.90952    -2.67771    0 -0.00904193 -0.00816809 -0.743906   0.668174       uwb: 0.49927733     1080.22  421.963  
imu_odom_:  1691062826.530743686  -1.11809   -0.37589   10.2089    -0.0543285  0.0585895   0.0713727   0.03       0.02          pose: 0.40977599    5.91691    -2.68444    0 -0.00665788 -0.00774695 -0.744254   0.667818       uwb: 0.0            1080.22  421.963  
imu_odom_:  1691062826.557661749  -0.383072  -0.011971  9.87608    -0.0575243  -0.0905475  0.0660464   0.07       0.02          pose: 0.34183629    5.91239    -2.6894     0 -0.00369924 -0.00454676 -0.744039   0.66811        uwb: 0.49688580     1080.7   422.219  
imu_odom_:  1691062826.582678549  0.469264   -0.141258  10.0078    -0.0553937  -0.015979   0.0649811   0.07       0.02          pose: 0.7876573     5.91017    -2.69183    0 -0.0032778  -0.00436949 -0.743973   0.668188       uwb: 0.0            1080.7   422.219  
imu_odom_:  1691062826.599545794  0.462081   -0.117316  9.8689     -0.0617853  0.0149137   0.056459    0.12       0             pose: 0.0           5.91017    -2.69183    0 -0.0032778  -0.00436949 -0.743973   0.668188       uwb: 0.50244755     1080.18  422.312  
imu_odom_:  1691062826.615594379  0.232238   -0.186748  10.0078    -0.0628506  0.00106526  0.0617853   0.12       0             pose: 0.51068664    5.91017    -2.69183    0 0.00055138  -0.0053651  -0.743565   0.668641       uwb: 0.0            1080.18  422.312  
imu_odom_:  1691062826.631660172  -0.0215478 -0.148441  9.87848    -0.0617853  -0.0127832  0.0585895   0.15       0.02          pose: 0.0           5.91017    -2.69183    0 0.00055138  -0.0053651  -0.743565   0.668641       uwb: 0.0            1080.18  422.312  
imu_odom_:  1691062826.657543171  0.186748   -0.011971  9.73243    -0.072438   -0.0266316  0.052198    0.15       0.02          pose: 0.32995159    5.91017    -2.69183    0 0.00271137  -0.00376977 -0.743358   0.668878       uwb: 0.49924233     1078.64  422.22   
imu_odom_:  1691062826.682669923  0.361524   -0.155623  10.1155    -0.0607201  -0.0138484  0.0553937   0.14       0             pose: 0.34859089    5.90539    -2.697      0 0.00545319  -0.00257794 -0.743196   0.669046       uwb: 0.0            1078.64  422.22   
imu_odom_:  1691062826.705602015  0.373495   -0.397437  9.91199    -0.0617853  -0.00852212 0.0479369   0.14       0             pose: 0.7071037     5.90338    -2.69917    0 0.00489448  -0.00210816 -0.743163   0.669089       uwb: 0.50048184     1077.12  422.062  
imu_odom_:  1691062826.721647975  0.248997   -0.248997  10.4698    -0.0490022  0.0170442   0.0383495   0.13       0             pose: 0.0           5.90338    -2.69917    0 0.00489448  -0.00210816 -0.743163   0.669089       uwb: 0.0            1077.12  422.062  
imu_odom_:  1691062826.748536289  0.148441   -0.289698  9.8665     -0.0575243  -0.00745685 0.0436758   0.13       0             pose: 0.48946624    5.91072    -2.70596    0 0.00221154  0.00151369  -0.74302    0.669263       uwb: 0.49913733     1080.14  422.402  
imu_odom_:  1691062826.774588445  0.172383   -0.368707  9.64145    -0.0575243  0.0298274   0.0490022   0.14       0.02          pose: 0.34975457    5.90595    -2.71112    0 0.00375866  0.00469661  -0.742979   0.669287       uwb: 0.0            1080.14  422.402  
imu_odom_:  1691062826.790523287  -0.169988  -0.227449  9.46188    -0.0319579  -0.00852212 0.036219    0.14       0.02          pose: 0.8007523     5.90394    -2.7133     0 0.00383967  0.00559514  -0.742952   0.66931        uwb: 0.0            1080.14  422.402  
imu_odom_:  1691062826.815507422  0.52433    -0.246603  9.97903    -0.0681769  -0.0426106  0.0639159   0.14       0.02          pose: 0.0           5.90394    -2.7133     0 0.00383967  0.00559514  -0.742952   0.66931        uwb: 0.0            1080.14  422.402  
imu_odom_:  1691062826.841583785  0.52433    -0.153229  9.94073    -0.0543285  -0.0298274  0.0276969   0.14       0.02          pose: 0.42053493    5.91128    -2.72009    0 0.00469471  0.00775847  -0.742836   0.669412       uwb: 0.0            1080.14  422.402  
imu_odom_:  1691062826.865678099  -0.11971   -0.131681  10.0604    -0.0426106  0.0181095   0.0351537   0.15       0             pose: 0.42986480    5.90641    -2.72537    0 0.00190468  0.00379054  -0.742826   0.669471       uwb: 0.99964250     1082.18  422.523  
imu_odom_:  1691062826.890712690  0.0143652  -0.4956    9.89284    -0.0553937  0.0191748   0.0490022   0.15       0             pose: 0.6986750     5.9045     -2.72744    0 0.00261173  0.00413462  -0.742833   0.669459       uwb: 0.0            1082.18  422.523  
imu_odom_:  1691062826.906679905  0.371101   0.0023942  10.137     -0.0266316  -0.0298274  0.0383495   0.15       0             pose: 0.17107564    5.9045     -2.72744    0 0.004343    0.0049771   -0.742849   0.669426       uwb: 0.49987813     1078.64  422.101  
imu_odom_:  1691062826.932561446  0.272939   -0.124498  10.2759    -0.0628506  -0.00532632 0.0415453   0.15       0             pose: 0.0           5.9045     -2.72744    0 0.004343    0.0049771   -0.742849   0.669426       uwb: 0.0            1078.64  422.101  
imu_odom_:  1691062826.958785966  -0.208296  -0.287304  10.1754    -0.0351537  0.0138484   0.0308927   0.15       -0.02         pose: 0.6914129     5.9045     -2.72744    0 0.00443258  0.00572222  -0.742826   0.669445       uwb: 0.50114971     1079.19  421.867  
imu_odom_:  1691062826.983560115  0.131681   -0.351948  9.43315    -0.04048    -0.00745685 0.052198    0.16       0.02          pose: 0.42150613    5.90507    -2.74157    0 0.00543393  0.00513371  -0.742764   0.669512       uwb: 0.0            1079.19  421.867  
imu_odom_:  1691062826.999582160  0.442927   -0.172383  10.3789    -0.0447411  -0.0117179  0.052198    0.16       0.02          pose: 0.0           5.90507    -2.74157    0 0.00543393  0.00513371  -0.742764   0.669512       uwb: 0.50023393     1079.23  421.565  
imu_odom_:  1691062827.25569570   0.627281   -0.0861913 10.3525    -0.0490022  -0.0255663  0.0575243   0.16       0.02          pose: 0.50945005    5.90507    -2.74157    0 0.00799323  0.00633529  -0.742783   0.669454       uwb: 0.0            1079.23  421.565  
imu_odom_:  1691062827.51799924   0.739808   -0.205901  9.80665    -0.0532632  -0.0490022  0.0372843   0.16       0.02          pose: 0.0           5.90507    -2.74157    0 0.00799323  0.00633529  -0.742783   0.669454       uwb: 0.50003854     1078.19  421.637  
imu_odom_:  1691062827.75626504   0.308852   -0.0646434 9.65103    -0.0383495  -0.0468716  0.04048     0.15       0             pose: 0.42855238    5.90564    -2.7557     0 0.00623487  0.00568574  -0.742608   0.669673       uwb: 0.0            1078.19  421.637  
imu_odom_:  1691062827.91561055   0.632069   -0.395043  10.1299    -0.0607201  -0.036219   0.056459    0.15       0             pose: 0.0           5.90564    -2.7557     0 0.00623487  0.00568574  -0.742608   0.669673       uwb: 0.0            1078.19  421.637  
imu_odom_:  1691062827.106512164  0.766145   -0.0742203 9.85932    -0.0340885  -0.0170442  0.0394148   0.15       0             pose: 0.0           5.90564    -2.7557     0 0.00623487  0.00568574  -0.742608   0.669673       uwb: 0.49978481     1077.16  421.641  
imu_odom_:  1691062827.134585741  0.0287304  -0.306458  9.63666    -0.0490022  0.00426106  0.0617853   0.17       0             pose: 0.49982855    5.90564    -2.7557     0 0.00339122  0.00134583  -0.742541   0.669791       uwb: 0.0            1077.16  421.641  
imu_odom_:  1691062827.158653516  0.244209   -0.167594  9.66539    -0.0383495  0.04048     0.04048     0.17       0             pose: 0.39004010    5.89886    -2.76305    0 0.00247118  -0.0008054  -0.742444   0.669903       uwb: 0.49942025     1073.12  421.164  
imu_odom_:  1691062827.174656021  0.301669   -0.0622492 10.0317    -0.0500674  -0.00213053 0.0490022   0.17       0             pose: 0.0           5.89886    -2.76305    0 0.00247118  -0.0008054  -0.742444   0.669903       uwb: 0.0            1073.12  421.164  
imu_odom_:  1691062827.201536169  0.452504   -0.203507  9.8282     -0.0628506  0.00745685  0.04048     0.17       0             pose: 0.45014318    5.89944    -2.77718    0 0.00425736  0.00135971  -0.742233   0.670127       uwb: 0.50008229     1074.16  421.036  
imu_odom_:  1691062827.228705051  0.591368   -0.339977  10.2113    -0.0841559  -0.0255663  0.0585895   0.17       0             pose: 0.0           5.89944    -2.77718    0 0.00425736  0.00135971  -0.742233   0.670127       uwb: 0.0            1074.16  421.036  
imu_odom_:  1691062827.244618602  0.25618    -0.184354  10.0461    -0.0660464  -0.02024    0.0500674   0.17       -0.02         pose: 0.41214128    5.89944    -2.77718    0 0.00603282  0.000754216 -0.742161   0.670194       uwb: 0.50102431     1074.16  421.082  
imu_odom_:  1691062827.271767652  0.363919   -0.071826  10.386     -0.052198   -0.0213053  0.052198    0.17       -0.02         pose: 0.0           5.89944    -2.77718    0 0.00603282  0.000754216 -0.742161   0.670194       uwb: 0.0            1074.16  421.082  
imu_odom_:  1691062827.297599321  0.519542   -0.47884   10.3238    -0.0511327  -0.00639159 0.0479369   0.18       0             pose: 0.52916847    5.90004    -2.79131    0 0.00179576  0.00046914  -0.741965   0.670436       uwb: 0.50068017     1077.7   421.5    
imu_odom_:  1691062827.323562816  0.509965   -0.208296  9.991      -0.0745685  -0.0117179  0.0649811   0.23       0.02          pose: 0.42834823    5.89327    -2.79868    0 0.00317538  -0.00112545 -0.741794   0.67062        uwb: 0.0            1077.7   421.5    
imu_odom_:  1691062827.349506187  0.864307   -0.205901  9.67736    -0.0575243  0.02024     0.0426106   0.17       0.02          pose: 0.0           5.89327    -2.79868    0 0.00317538  -0.00112545 -0.741794   0.67062        uwb: 0.49750995     1078.24  421.289  
imu_odom_:  1691062827.376533327  0.141258   -0.138864  9.79468    -0.0681769  0.0191748   0.0596548   0.22       -0.02         pose: 0.52079231    5.90064    -2.80544    0 -0.0014371  -0.00219734 -0.741513   0.670933       uwb: 0.0            1078.24  421.289  
imu_odom_:  1691062827.393675889  0.318429   -0.289698  9.67736    -0.0490022  -0.0255663  0.0479369   0.22       -0.02         pose: 0.0           5.90064    -2.80544    0 -0.0014371  -0.00219734 -0.741513   0.670933       uwb: 0.49896235     1079.75  421.565  
imu_odom_:  1691062827.417523176  0.318429   -0.409408  9.74679    -0.0649811  -0.0394148  0.0607201   0.24       0             pose: 0.24971596    5.89389    -2.81281    0 -0.00199755 -0.00276698 -0.741445   0.671005       uwb: 0.0            1079.75  421.565  
imu_odom_:  1691062827.441644614  0.471658   -0.260968  9.80904    -0.0468716  0.0138484   0.0415453   0.24       0             pose: 0.44047500    5.90127    -2.81957    0 -0.0004376870.000676678 -0.74122    0.671262       uwb: 0.0            1079.75  421.565  
imu_odom_:  1691062827.466501300  0.457293   -0.402226  9.67497    -0.0681769  -0.0213053  0.0617853   0.18       0             pose: 0.41036222    5.89452    -2.82695    0 -0.00278875 0.000580211 -0.741085   0.671405       uwb: 0.50008521     1079.75  421.565  
imu_odom_:  1691062827.492506209  0.600945   -0.225055  10.1634    -0.0351537  0.00532632  0.04048     0.18       0             pose: 0.0           5.89452    -2.82695    0 -0.00278875 0.000580211 -0.741085   0.671405       uwb: 0.0            1079.75  421.565  
imu_odom_:  1691062827.508495590  0.792481   -0.184354  10.0772    -0.0532632  -0.00532632 0.0468716   0.18       0             pose: 0.50861595    5.89497    -2.83688    0 -0.00550412 -0.000469585-0.740891   0.671603       uwb: 0.50220258     1079.21  421.752  
imu_odom_:  1691062827.535553353  0.385466   -0.215478  9.56723    -0.0553937  0.0223706   0.04048     0.18       0             pose: 0.0           5.89497    -2.83688    0 -0.00550412 -0.000469585-0.740891   0.671603       uwb: 0.0            1079.21  421.752  
imu_odom_:  1691062827.561551845  0.203507   -0.428562  10.0461    -0.0735032  0.00532632  0.0553937   0.18       0             pose: 0.43047144    5.89517    -2.84108    0 -0.00348664 -0.000703838-0.740855   0.671656       uwb: 0.50055185     1079.21  421.752  
imu_odom_:  1691062827.588484782  0.533907   -0.371101  9.50019    -0.0596548  0.00532632  0.0436758   0.18       0             pose: 0.8020938     5.89517    -2.84108    0 -0.00332018 0.000156331 -0.740811   0.671705       uwb: 0.0            1079.21  421.752  
imu_odom_:  1691062827.604480288  0.608127   -0.31364   10.1586    -0.0543285  0.02024     0.056459    0.18       0             pose: 0.25987119    5.89582    -2.8552     0 -0.00372878 0.00206249  -0.7407     0.671822       uwb: 0.49984022     1077.22  421.269  
imu_odom_:  1691062827.631594922  0.656011   -0.186748  10.0987    -0.0330232  0.00106526  0.0330232   0.18       0             pose: 0.0           5.89582    -2.8552     0 -0.00372878 0.00206249  -0.7407     0.671822       uwb: 0.0            1077.22  421.269  
imu_odom_:  1691062827.647537931  0.318429   -0.186748  9.76595    -0.0436758  0.0213053   0.056459    0.25       0.02          pose: 0.26935853    5.89582    -2.8552     0 -0.00607162 0.00151142  -0.740627   0.671887       uwb: 0.49879320     1076.21  421.089  
imu_odom_:  1691062827.674551946  0.519542   -0.0502782 10.4459    -0.0394148  0.00639159  0.0458064   0.25       0.02          pose: 0.0           5.89582    -2.8552     0 -0.00607162 0.00151142  -0.740627   0.671887       uwb: 0.0            1076.21  421.089  
imu_odom_:  1691062827.699506918  0.921768   -0.37589   9.64145    -0.072438   -0.0127832  0.0511327   0.25       0.02          pose: 0.59044691    5.88908    -2.8626     0 -0.00450841 -0.00191817 -0.740557   0.671976       uwb: 0.50062184     1078.28  421.01   
imu_odom_:  1691062827.726486811  1.01514    -0.339977  9.991      -0.0447411  0.0245011   0.0436758   0.21       0.02          pose: 0.43964964    5.88975    -2.87672    0 -0.00575856 -0.0042848  -0.740413   0.672114       uwb: 0.0            1078.28  421.01   
imu_odom_:  1691062827.751619980  0.514753   -0.215478  9.84256    -0.0553937  0.00852212  0.052198    0.21       0.02          pose: 0.0           5.88975    -2.87672    0 -0.00575856 -0.0042848  -0.740413   0.672114       uwb: 0.49865320     1078.3   420.87   
imu_odom_:  1691062827.778454339  0.629675   -0.28491   9.38048    -0.0692422  -0.0255663  0.0511327   0.21       0             pose: 0.7030206     5.88975    -2.87672    0 -0.00627408 -0.00458424 -0.7404     0.672122       uwb: 0.0            1078.3   420.87   
imu_odom_:  1691062827.803511972  0.299275   -0.28491   9.66539    -0.056459   0.0276969   0.0426106   0.21       0             pose: 0.0           5.88975    -2.87672    0 -0.00627408 -0.00458424 -0.7404     0.672122       uwb: 0.50062768     1081.33  421.335  
imu_odom_:  1691062827.830471449  0.196325   -0.232238  9.87129    -0.0681769  -0.0117179  0.0575243   0.21       -0.02         pose: 0.52094980    5.89041    -2.89085    0 -0.00611888 -0.00440442 -0.74024    0.672301       uwb: 0.0            1081.33  421.335  
imu_odom_:  1691062827.846745188  0.486023   -0.227449  9.94791    -0.0596548  -0.0127832  0.0490022   0.21       -0.02         pose: 0.0           5.89041    -2.89085    0 -0.00611888 -0.00440442 -0.74024    0.672301       uwb: 0.0            1081.33  421.335  
imu_odom_:  1691062827.873486803  0.392649   -0.426168  10.0652    -0.0841559  0.0213053   0.0532632   0.18       0             pose: 0.53064713    5.89041    -2.89085    0 -0.00577872 -0.00212339 -0.740086   0.672484       uwb: 0.0            1081.33  421.335  
imu_odom_:  1691062827.898528686  0.205901   -0.40462   9.97185    -0.056459   0.0319579   0.0351537   0.19       0             pose: 0.61789986    5.88638    -2.91018    0 -0.00441234 0.000735512 -0.739801   0.672811       uwb: 0.100000709    1082.84  421.572  
imu_odom_:  1691062827.915604168  0.502782   -0.225055  10.6638    -0.0628506  -0.0372843  0.0490022   0.19       0             pose: 0.0           5.88638    -2.91018    0 -0.00441234 0.000735512 -0.739801   0.672811       uwb: 0.0            1082.84  421.572  
imu_odom_:  1691062827.940483020  0.430956   -0.191536  10.2448    -0.0351537  -0.0319579  0.0340885   0.18       0             pose: 0.8048353     5.88438    -2.91238    0 -0.00400434 0.00158355  -0.739811   0.672801       uwb: 0.0            1082.84  421.572  
imu_odom_:  1691062827.967522992  0.610521   -0.141258  9.52653    -0.0617853  -0.0223706  0.0511327   0.18       0             pose: 0.0           5.88438    -2.91238    0 -0.00400434 0.00158355  -0.739811   0.672801       uwb: 0.49943774     1086.4   421.904  
imu_odom_:  1691062827.993721556  1.00796    -0.237026  9.76116    -0.0511327  0.0308927   0.0298274   0.2        0             pose: 0.41961626    5.88438    -2.91238    0 -0.00304876 0.000846139 -0.7398     0.67282        uwb: 0.50049643     1090.91  422.762  
imu_odom_:  1691062828.20516835   0.430956   -0.282516  9.79947    -0.0628506  -0.0106526  0.0479369   0.2        0             pose: 0.0           5.88438    -2.91238    0 -0.00304876 0.000846139 -0.7398     0.67282        uwb: 0.0            1090.91  422.762  
imu_odom_:  1691062828.46622364   0.325611   -0.416591  9.57202    -0.0596548  -0.0532632  0.0340885   0.18       0             pose: 0.52024692    5.88507    -2.92651    0 -0.0035965  -0.00369084 -0.739749   0.672863       uwb: 0.49944067     1089.39  422.572  
imu_odom_:  1691062828.73494347   0.54109    -0.272939  9.81144    -0.0436758  -0.00213053 0.0351537   0.25       -0.02         pose: 0.53023300    5.88577    -2.94063    0 -0.00447157 -0.00133149 -0.739741   0.672876       uwb: 0.0            1089.39  422.572  
imu_odom_:  1691062828.89641510   0.411803   -0.318429  9.95509    -0.0447411  0.00639159  0.036219    0.25       -0.02         pose: 0.0           5.88577    -2.94063    0 -0.00447157 -0.00133149 -0.739741   0.672876       uwb: 0.0            1089.39  422.572  
imu_odom_:  1691062828.116475870  0.584185   -0.411803  9.67976    -0.0532632  -0.0223706  0.0543285   0.25       0.02          pose: 0.61096736    5.87905    -2.94804    0 -0.00566127 -0.000438022-0.739824   0.672777       uwb: 0.49997439     1093.52  422.585  
imu_odom_:  1691062828.142548443  0.560243   -0.452504  10.252     -0.0649811  -0.015979   0.0511327   0.25       0.02          pose: 0.7978942     5.87905    -2.94804    0 -0.00649195 -0.000332091-0.739779   0.672818       uwb: 0.0            1093.52  422.585  
imu_odom_:  1691062828.169457465  0.600945   -0.248997  10.4244    -0.0255663  -0.0617853  0.0372843   0.25       0             pose: 0.44927991    5.88161    -2.96011    0 -0.0108024  0.00138271  -0.739545   0.673019       uwb: 0.49974691     1090.49  422.149  
imu_odom_:  1691062828.195593034  0.572214   -0.270545  9.95748    -0.0596548  -0.0170442  0.0479369   0.25       0             pose: 0.0           5.88161    -2.96011    0 -0.0108024  0.00138271  -0.739545   0.673019       uwb: 0.50129265     1089.99  422.001  
imu_odom_:  1691062828.212495860  0.21069    -0.0814029 10.2017    -0.0351537  0.0106526   0.0426106   0.23       0.02          pose: 0.34978958    5.87975    -2.96217    0 -0.00958407 -0.00251779 -0.739567   0.67301        uwb: 0.0            1089.99  422.001  
imu_odom_:  1691062828.228520531  0.919373   -0.270545  10.1131    -0.0511327  -0.0458064  0.0628506   0.23       0.02          pose: 0.0           5.87975    -2.96217    0 -0.00958407 -0.00251779 -0.739567   0.67301        uwb: 0.0            1089.99  422.001  
imu_odom_:  1691062828.255523173  0.54109    -0.203507  9.92636    -0.0468716  0.0479369   0.0436758   0.25       0             pose: 0.50993130    5.88045    -2.97629    0 -0.00799539 -0.00467028 -0.73939    0.673214       uwb: 0.49727080     1093.55  422.376  
imu_odom_:  1691062828.271680836  0.316035   -0.146046  9.82341    -0.0436758  0.00958738  0.0458064   0.25       0             pose: 0.0           5.88045    -2.97629    0 -0.00799539 -0.00467028 -0.73939    0.673214       uwb: 0.0            1093.55  422.376  
imu_odom_:  1691062828.298582567  0.270545   -0.270545  10.2185    -0.0511327  -0.00213053 0.0458064   0.25       0.02          pose: 0.43160305    5.87701    -2.9801     0 -0.00312909 -0.0039698  -0.739353   0.673299       uwb: 0.50147347     1094.11  422.11   
imu_odom_:  1691062828.323622992  0.847547   -0.21069   10.2568    -0.076699   -0.0415453  0.0532632   0.25       0.02          pose: 0.7776828     5.87374    -2.98371    0 -0.00271865 -0.00330537 -0.739339   0.673319       uwb: 0.0            1094.11  422.11   
imu_odom_:  1691062828.350514224  0.409408   -0.234632  9.92875    -0.0490022  0.0117179   0.0383495   0.22       -0.02         pose: 0.27265126    5.88116    -2.99042    0 -0.00247889 -0.00226093 -0.739263   0.673408       uwb: 0.49886612     1092.6   421.889  
imu_odom_:  1691062828.375672476  0.627281   -0.198719  9.8282     -0.0649811  -0.04048    0.0511327   0.2        0             pose: 0.23830664    5.88116    -2.99042    0 -0.00359338 -0.00291841 -0.739184   0.673487       uwb: 0.0            1092.6   421.889  
imu_odom_:  1691062828.392486349  0.21069    0.00718261 9.57202    -0.0468716  -0.00532632 0.0436758   0.2        0             pose: 0.0           5.88116    -2.99042    0 -0.00359338 -0.00291841 -0.739184   0.673487       uwb: 0.0            1092.6   421.889  
imu_odom_:  1691062828.418563005  0.227449   -0.304064  10.1035    -0.0692422  0.0117179   0.0596548   0.18       -0.02         pose: 0.28191405    5.87446    -2.99784    0 -0.00285882 -0.00199657 -0.739163   0.673518       uwb: 0.49990440     1096.61  422.689  
imu_odom_:  1691062828.442456374  0.203507   -0.347159  9.97664    -0.0415453  0.0415453   0.0447411   0.18       -0.02         pose: 0.0           5.87446    -2.99784    0 -0.00285882 -0.00199657 -0.739163   0.673518       uwb: 0.0            1096.61  422.689  
imu_odom_:  1691062828.466483318  0.1652     -0.442927  10.0652    -0.0628506  -0.0181095  0.0479369   0.18       0             pose: 0.41820759    5.88188    -3.00454    0 -0.00213756 -0.00255896 -0.739024   0.673671       uwb: 0.49992189     1095.65  422.196  
imu_odom_:  1691062828.482414661  0.464475   -0.0790087 9.7851     -0.04048    -0.02024    0.0490022   0.18       0             pose: 0.0           5.88188    -3.00454    0 -0.00213756 -0.00255896 -0.739024   0.673671       uwb: 0.0            1095.65  422.196  
imu_odom_:  1691062828.509564877  0.648829   -0.1652    9.50498    -0.0639159  0.00639159  0.052198    0.25       0.02          pose: 0.48908421    5.87518    -3.01196    0 -5.22815e-050.0024534   -0.73884    0.673877       uwb: 0.50123432     1093.63  421.889  
imu_odom_:  1691062828.525444890  0.512359   -0.148441  10.07      -0.0415453  0.015979    0.0436758   0.25       0.02          pose: 0.0           5.87518    -3.01196    0 -5.22815e-050.0024534   -0.73884    0.673877       uwb: 0.0            1093.63  421.889  
imu_odom_:  1691062828.552430616  0.76375    -0.265756  9.81623    -0.0692422  -0.036219   0.0543285   0.25       0             pose: 0.40097987    5.87592    -3.02609    0 -0.0001013170.00182602  -0.738711   0.67402        uwb: 0.49866197     1098.15  422.711  
imu_odom_:  1691062828.577537829  0.821211   -0.208296  10.1083    -0.0383495  -0.0319579  0.0394148   0.25       0             pose: 0.0           5.87592    -3.02609    0 -0.0001013170.00182602  -0.738711   0.67402        uwb: 0.0            1098.15  422.711  
imu_odom_:  1691062828.594441239  0.395043   -0.19393   10.2208    -0.0575243  0.0181095   0.0436758   0.19       -0.02         pose: 0.42931068    5.87592    -3.02609    0 -0.00181896 -0.0017134  -0.738571   0.674171       uwb: 0.50249424     1099.7   422.785  
imu_odom_:  1691062828.619585783  0.426168   -0.11971   9.39964    -0.0639159  -0.00106526 0.0415453   0.19       -0.02         pose: 0.0           5.87592    -3.02609    0 -0.00181896 -0.0017134  -0.738571   0.674171       uwb: 0.0            1099.7   422.785  
imu_odom_:  1691062828.636558897  0.277727   0.00957681 10.2113    -0.0607201  -0.0308927  0.0426106   0.22       0.02          pose: 0.51979780    5.87666    -3.04021    0 -0.00508709 -0.00462823 -0.738449   0.674275       uwb: 0.0            1099.7   422.785  
imu_odom_:  1691062828.661762355  0.407014   -0.423774  9.53371    -0.0596548  -0.0149137  0.0436758   0.22       0.02          pose: 0.0           5.87666    -3.04021    0 -0.00508709 -0.00462823 -0.738449   0.674275       uwb: 0.50116140     1101.29  422.586  
imu_odom_:  1691062828.688500179  0.622492   -0.213084  9.80186    -0.0511327  0.0245011   0.0543285   0.23       0.02          pose: 0.42082077    5.86997    -3.04765    0 -0.00111049 -0.00415362 -0.738432   0.674314       uwb: 0.0            1101.29  422.586  
imu_odom_:  1691062828.713469734  0.646434   -0.31364   10.1131    -0.0287621  0.0149137   0.0266316   0.23       0.02          pose: 0.0           5.86997    -3.04765    0 -0.00111049 -0.00415362 -0.738432   0.674314       uwb: 0.49817783     1103.88  422.64   
imu_odom_:  1691062828.730493012  0.42138    -0.179565  9.85214    -0.0447411  -0.0117179  0.0543285   0.22       0             pose: 0.42019956    5.87741    -3.05433    0 -0.00210802 -0.00249092 -0.738355   0.674404       uwb: 0.0            1103.88  422.64   
imu_odom_:  1691062828.755615682  0.294487   -0.0742203 9.90721    -0.0447411  -0.00958738 0.0394148   0.22       0             pose: 0.0           5.87741    -3.05433    0 -0.00210802 -0.00249092 -0.738355   0.674404       uwb: 0.49915486     1101.36  422.216  
imu_odom_:  1691062828.782420877  0.895431   -0.299275  9.72525    -0.0735032  -0.0415453  0.0543285   0.23       0             pose: 0.51908908    5.87073    -3.06177    0 -0.00480768 -0.00378211 -0.738314   0.67443        uwb: 0.0            1101.36  422.216  
imu_odom_:  1691062828.798523418  0.342371   -0.0790087 9.84017    -0.0458064  0.072438    0.0372843   0.23       0             pose: 0.0           5.87073    -3.06177    0 -0.00480768 -0.00378211 -0.738314   0.67443        uwb: 0.50187594     1102.42  422.093  
imu_odom_:  1691062828.825547934  0.208296   -0.234632  9.59596    -0.0756338  0.0138484   0.0596548   0.25       0             pose: 0.78029603    5.86791    -3.07987    0 -0.00213634 -0.00409586 -0.738157   0.674613       uwb: 0.0            1102.42  422.093  
imu_odom_:  1691062828.850439035  0.213084   -0.316035  9.72046    -0.0628506  0.0681769   0.0426106   0.2        -0.02         pose: 0.6925213     5.8648     -3.08333    0 -0.0017171  -0.00345045 -0.738113   0.674666       uwb: 0.50005022     1103.5   421.904  
imu_odom_:  1691062828.875685656  0.189142   -0.4956    9.81144    -0.0543285  0.015979    0.0447411   0.21       0             pose: 0.44990404    5.87224    -3.09001    0 0.000921894 0.00144982  -0.737957   0.674846       uwb: 0.0            1103.5   421.904  
imu_odom_:  1691062828.898430802  0.565032   -0.466869  9.75637    -0.056459   0.0319579   0.0500674   0.21       0             pose: 0.0           5.87224    -3.09001    0 0.000921894 0.00144982  -0.737957   0.674846       uwb: 0.49812534     1103.02  421.652  
imu_odom_:  1691062828.914434474  0.347159   -0.162806  10.1538    -0.0745685  -0.0223706  0.0585895   0.18       0.02          pose: 0.31140854    5.86557    -3.09746    0 0.000223646 0.00418155  -0.73789    0.674908       uwb: 0.0            1103.02  421.652  
imu_odom_:  1691062828.939401404  0.632069   -0.0933739 9.61511    -0.0713727  0.0298274   0.0372843   0.18       0.02          pose: 0.0           5.86557    -3.09746    0 0.000223646 0.00418155  -0.73789    0.674908       uwb: 0.0            1103.02  421.652  
imu_odom_:  1691062828.962516652  0.624887   -0.490811  9.81862    -0.0841559  -0.00639159 0.0553937   0.23       0.02          pose: 0.40872316    5.87302    -3.10413    0 -0.0003965170.00270692  -0.737741   0.675079       uwb: 0.50049353     1103.05  421.467  
imu_odom_:  1691062828.978520616  0.148441   -0.385466  10.082     -0.0607201  0.036219    0.0351537   0.23       0.02          pose: 0.0           5.87302    -3.10413    0 -0.0003965170.00270692  -0.737741   0.675079       uwb: 0.0            1103.05  421.467  
imu_odom_:  1691062829.5439262    0.320823   -0.229843  9.94551    -0.0596548  0.0170442   0.0468716   0.25       0.02          pose: 0.56068411    5.86635    -3.11158    0 -0.00231067 0.00344972  -0.737651   0.67517        uwb: 0.49843740     1099.02  420.714  
imu_odom_:  1691062829.31523501   -0.237026  -0.201113  9.85693    -0.0266316  0.0234358   0.0394148   0.19       -0.02         pose: 0.7896696     5.86635    -3.11158    0 -0.00147018 0.00351075  -0.737631   0.675193       uwb: 0.0            1099.02  420.714  
imu_odom_:  1691062829.58548018   0.430956   -0.158017  9.84256    -0.0585895  -0.0181095  0.0458064   0.25       0             pose: 0.0           5.86635    -3.11158    0 -0.00147018 0.00351075  -0.737631   0.675193       uwb: 0.0            1099.02  420.714  
imu_odom_:  1691062829.83555487   0.110133   0.114922   10.8864    -0.0394148  -0.0276969  0.0415453   0.2        0.02          pose: 0.51995529    5.86713    -3.1257     0 0.00294217  0.00449577  -0.737558   0.675263       uwb: 0.0            1099.02  420.714  
imu_odom_:  1691062829.100547559  0.167594   -0.311246  9.1674     -0.0607201  -0.00745685 0.0490022   0.2        0.02          pose: 0.0           5.86713    -3.1257     0 0.00294217  0.00449577  -0.737558   0.675263       uwb: 0.99976214     1100.06  420.68   
imu_odom_:  1691062829.125423495  0.102951   -0.390255  9.13148    -0.0575243  -0.0415453  0.0447411   0.18       0             pose: 0.62134718    5.86792    -3.13982    0 0.00478691  0.00322318  -0.737441   0.675387       uwb: 0.0            1100.06  420.68   
imu_odom_:  1691062829.152387931  0.773327   -0.268151  9.87129    -0.0490022  -0.0213053  0.0372843   0.18       0             pose: 0.7995857     5.86792    -3.13982    0 0.00471895  0.00392675  -0.737428   0.675398       uwb: 0.50013481     1100.05  420.726  
imu_odom_:  1691062829.178548874  0.691924   -0.0790087 9.94312    -0.0394148  -0.015979   0.0426106   0.18       0.02          pose: 0.43844515    5.86318    -3.14512    0 0.00235149  0.00351733  -0.737435   0.675405       uwb: 0.0            1100.05  420.726  
imu_odom_:  1691062829.202453617  0.385466   -0.011971  9.84496    -0.0500674  0.0138484   0.0511327   0.18       0.02          pose: 0.0           5.86318    -3.14512    0 0.00235149  0.00351733  -0.737435   0.675405       uwb: 0.49975859     1104.21  420.838  
imu_odom_:  1691062829.217458683  0.459687   -0.275333  9.97903    -0.0575243  -0.00745685 0.0628506   0.18       0.02          pose: 0.50065686    5.86401    -3.1592     0 0.00299011  -0.000878434-0.737315   0.675542       uwb: 0.0            1104.21  420.838  
imu_odom_:  1691062829.242454195  0.430956   -0.241814  9.83059    -0.0500674  0.036219    0.0319579   0.18       0.02          pose: 0.0           5.86401    -3.1592     0 0.00299011  -0.000878434-0.737315   0.675542       uwb: 0.0            1104.21  420.838  
imu_odom_:  1691062829.267393710  0.656011   -0.397437  10.0533    -0.0415453  -0.0117179  0.0500674   0.25       0             pose: 0.40000578    5.86205    -3.1614     0 -0.00055754 0.000151591 -0.737263   0.675606       uwb: 0.50038562     1107.79  421.255  
imu_odom_:  1691062829.283449587  0.407014   -0.339977  9.71088    -0.0532632  -0.0127832  0.0458064   0.25       0             pose: 0.0           5.86205    -3.1614     0 -0.00055754 0.000151591 -0.737263   0.675606       uwb: 0.0            1107.79  421.255  
imu_odom_:  1691062829.309445457  0.553061   -0.304064  10.2017    -0.0585895  -0.00106526 0.0649811   0.18       0             pose: 0.40995392    5.86285    -3.17552    0 -0.00350253 0.00111232  -0.737133   0.675738       uwb: 0.50020773     1108.81  421.375  
imu_odom_:  1691062829.332444046  0.502782   -0.227449  10.3932    -0.0639159  -0.0106526  0.0458064   0.18       0             pose: 0.0           5.86285    -3.17552    0 -0.00350253 0.00111232  -0.737133   0.675738       uwb: 0.0            1108.81  421.375  
imu_odom_:  1691062829.349365247  0.0933739  -0.0526724 9.85932    -0.0447411  0.0287621   0.0447411   0.18       0.02          pose: 0.48994459    5.85833    -3.18059    0 -0.00461702 -0.00202914 -0.73687    0.676016       uwb: 0.49989857     1108.83  421.26   
imu_odom_:  1691062829.373368568  0.435745   -0.186748  9.84735    -0.0692422  -0.00745685 0.0447411   0.18       0.02          pose: 0.0           5.85833    -3.18059    0 -0.00461702 -0.00202914 -0.73687    0.676016       uwb: 0.0            1108.83  421.26   
imu_odom_:  1691062829.398562401  0.227449   -0.275333  9.6199     -0.0756338  -0.00745685 0.0639159   0.19       0             pose: 0.40924522    5.86366    -3.18963    0 -0.000579626-0.00203733 -0.736811   0.676096       uwb: 0.49907029     1110.86  421.644  
imu_odom_:  1691062829.425529463  0.512359   -0.138864  9.43794    -0.0596548  -0.0191748  0.0415453   0.19       0             pose: 0.8011606     5.86366    -3.18963    0 -0.000290597-0.00126685 -0.736746   0.676168       uwb: 0.0            1110.86  421.644  
imu_odom_:  1691062829.441527594  0.258574   -0.241814  10.4363    -0.056459   0.00852212  0.0468716   0.19       0             pose: 0.24221475    5.85702    -3.1971     0 0.000104237 -0.000320438-0.736601   0.676327       uwb: 0.0            1110.86  421.644  
imu_odom_:  1691062829.468438367  0.378284   -0.318429  10.0413    -0.056459   0.036219    0.0500674   0.19       0             pose: 0.0           5.85702    -3.1971     0 0.000104237 -0.000320438-0.736601   0.676327       uwb: 0.50030397     1108.37  420.958  
imu_odom_:  1691062829.494445027  0.533907   -0.174777  10.1993    -0.0660464  -0.0106526  0.0660464   0.18       0.05          pose: 0.28020499    5.86449    -3.20375    0 -8.21667e-05-0.00158592 -0.736567   0.676363       uwb: 0.50189054     1109.41  420.986  
imu_odom_:  1691062829.511412308  0.691924   -0.162806  10.1203    -0.0511327  -0.0468716  0.0479369   0.18       0.05          pose: 0.0           5.86449    -3.20375    0 -8.21667e-05-0.00158592 -0.736567   0.676363       uwb: 0.0            1109.41  420.986  
imu_odom_:  1691062829.537492756  0.667982   0.071826   10.5896    -0.0639159  -0.0308927  0.0490022   0.18       0             pose: 0.42820242    5.85785    -3.21122    0 -0.0008495940.00114717  -0.736381   0.676565       uwb: 0.0            1109.41  420.986  
imu_odom_:  1691062829.564519605  0.414197   -0.0287304 9.96706    -0.04048    -0.00106526 0.0511327   0.25       0             pose: 0.43134641    5.85785    -3.21122    0 -0.00273393 -0.00305509 -0.736145   0.676812       uwb: 0.49662918     1110.46  420.947  
imu_odom_:  1691062829.590643800  0.19393    -0.292093  9.64384    -0.0660464  0.0394148   0.052198    0.19       0             pose: 0.0           5.85785    -3.21122    0 -0.00273393 -0.00305509 -0.736145   0.676812       uwb: 0.0            1110.46  420.947  
imu_odom_:  1691062829.617383958  0.821211   -0.272939  9.89524    -0.0468716  -0.0170442  0.0372843   0.25       -0.02         pose: 0.52970805    5.85869    -3.22534    0 0.000452003 -0.00485646 -0.735959   0.677009       uwb: 0.50159014     1107.46  420.216  
imu_odom_:  1691062829.642527628  0.507571   -0.414197  9.39245    -0.0490022  -0.0266316  0.0479369   0.25       -0.02         pose: 0.0           5.85869    -3.22534    0 0.000452003 -0.00485646 -0.735959   0.677009       uwb: 0.0            1107.46  420.216  
imu_odom_:  1691062829.659514159  0.37589    -0.110133  10.2879    -0.0479369  0.0639159   0.0447411   0.21       0.02          pose: 0.69979792    5.85955    -3.23945    0 -0.00331494 -0.00285294 -0.735822   0.677161       uwb: 0.50023981     1108.48  420.358  
imu_odom_:  1691062829.676486981  0.270545   -0.296881  9.98382    -0.0511327  0.00852212  0.0394148   0.21       0.02          pose: 0.0           5.85955    -3.23945    0 -0.00331494 -0.00285294 -0.735822   0.677161       uwb: 0.0            1108.48  420.358  
imu_odom_:  1691062829.701428830  0.529119   -0.380678  9.9096     -0.04048    0.00426106  0.0287621   0.18       0             pose: 0.6897214     5.85955    -3.23945    0 -0.00243491 -0.00271436 -0.735814   0.677174       uwb: 0.50093976     1110.03  420.483  
imu_odom_:  1691062829.726576291  0.371101   -0.328006  10.0533    -0.0628506  -0.0319579  0.0447411   0.18       0             pose: 0.0           5.85955    -3.23945    0 -0.00243491 -0.00271436 -0.735814   0.677174       uwb: 0.0            1110.03  420.483  
imu_odom_:  1691062829.743392207  0.162806   0          9.67497    -0.0639159  -0.0266316  0.0468716   0.23       0             pose: 0.34120928    5.85292    -3.24694    0 -0.00114512 -0.000680028-0.735828   0.677167       uwb: 0.49828867     1112.08  420.755  
imu_odom_:  1691062829.759422128  0.538695   -0.287304  10.4004    -0.0713727  -0.0308927  0.0511327   0.23       0             pose: 0.0           5.85292    -3.24694    0 -0.00114512 -0.000680028-0.735828   0.677167       uwb: 0.0            1112.08  420.755  
imu_odom_:  1691062829.785362000  0.634463   -0.462081  9.54089    -0.0255663  -0.0340885  0.0266316   0.23       0             pose: 0.0           5.85292    -3.24694    0 -0.00114512 -0.000680028-0.735828   0.677167       uwb: 0.0            1112.08  420.755  
imu_odom_:  1691062829.801425460  0.320823   -0.11971   9.7875     -0.00532632 0.00426106  0.0383495   0.23       -0.02         pose: 0.49978774    5.85378    -3.26106    0 -0.00240832 0.00200315  -0.735822   0.677168       uwb: 0.50103017     1118.68  421.855  
imu_odom_:  1691062829.828436269  0.129287   -0.124498  9.71328    -0.0628506  0.0117179   0.056459    0.23       -0.02         pose: 0.0           5.85378    -3.26106    0 -0.00240832 0.00200315  -0.735822   0.677168       uwb: 0.0            1118.68  421.855  
imu_odom_:  1691062829.853353911  0.383072   -0.213084  9.72046    -0.0660464  -0.00106526 0.052198    0.21       0.02          pose: 0.75958895    5.85464    -3.27517    0 -0.00303246 0.000391754 -0.735809   0.677182       uwb: 0.49980233     1121.13  422.701  
imu_odom_:  1691062829.880608830  -0.047884  -0.308852  10.0245    -0.0436758  0.0223706   0.0340885   0.23       -0.02         pose: 0.43870472    5.84997    -3.28045    0 0.00117322  0.000665266 -0.735595   0.677421       uwb: 0.0            1121.13  422.701  
imu_odom_:  1691062829.905384730  0.1652     -0.306458  9.40682    -0.0745685  -0.0191748  0.0553937   0.23       -0.02         pose: 0.0           5.84997    -3.28045    0 0.00117322  0.000665266 -0.735595   0.677421       uwb: 0.49983150     1121.18  422.471  
imu_odom_:  1691062829.922542167  0.756568   0.107739   10.3094    -0.0511327  -0.0340885  0.0383495   0.22       0             pose: 0.7048872     5.84801    -3.28266    0 0.00166563  0.00128305  -0.735607   0.677405       uwb: 0.0            1121.18  422.471  
imu_odom_:  1691062829.947439977  0.414197   -0.0407014 10.0245    -0.0841559  -0.00426106 0.0479369   0.22       0             pose: 0.0           5.84801    -3.28266    0 0.00166563  0.00128305  -0.735607   0.677405       uwb: 0.49934152     1119.74  421.788  
imu_odom_:  1691062829.974353666  0.916979   -0.399832  9.56962    -0.0639159  0.00532632  0.0415453   0.23       0             pose: 0.52035777    5.85551    -3.28929    0 0.00334175  0.00468471  -0.735507   0.677493       uwb: 0.0            1119.74  421.788  
imu_odom_:  1691062829.999491503  0.371101   -0.268151  9.97185    -0.0671117  -0.0117179  0.0447411   0.23       0             pose: 0.0           5.85551    -3.28929    0 0.00334175  0.00468471  -0.735507   0.677493       uwb: 0.50012898     1120.27  421.777  
imu_odom_:  1691062830.16345917   0.416591   -0.059855  10.0317    -0.0628506  0.0223706   0.0372843   0.23       0.02          pose: 0.41988167    5.84889    -3.29678    0 0.00274836  0.00118614  -0.735435   0.677588       uwb: 0.0            1120.27  421.777  
imu_odom_:  1691062830.42530483   0.483629   -0.40462   9.52174    -0.0820254  -0.00106526 0.0543285   0.23       0.02          pose: 0.0           5.84889    -3.29678    0 0.00274836  0.00118614  -0.735435   0.677588       uwb: 0.0            1120.27  421.777  
imu_odom_:  1691062830.69463714   0.61531    -0.349553  9.68215    -0.0458064  0.0479369   0.0351537   0.23       -0.02         pose: 0.53100006    5.84976    -3.3109     0 -8.90898e-050.00213369  -0.735387   0.677644       uwb: 0.49877282     1122.9   421.825  
imu_odom_:  1691062830.95363048   -0.244209  -0.447716  9.63427    -0.0340885  0.0170442   0.0298274   0.19       0.02          pose: 0.41953462    5.84976    -3.3109     0 -0.00277019 0.002312    -0.735274   0.67776        uwb: 0.50170098     1125.51  421.931  
imu_odom_:  1691062830.122514432  0.146046   -0.169988  10.2735    -0.0436758  -0.00958738 0.036219    0.25       0             pose: 0.27881091    5.85064    -3.32501    0 -0.00357588 0.00241435  -0.735332   0.677694       uwb: 0.0            1125.51  421.931  
imu_odom_:  1691062830.147330580  0.177171   -0.174777  10.0341    -0.0319579  -0.0308927  0.0340885   0.2        0             pose: 0.25015928    5.85064    -3.32501    0 -0.00158623 0.00400476  -0.735392   0.677628       uwb: 0.49942903     1127.58  422.143  
imu_odom_:  1691062830.164328194  0.418985   -0.198719  9.65103    -0.0660464  -0.0351537  0.0479369   0.2        0             pose: 0.0           5.85064    -3.32501    0 -0.00158623 0.00400476  -0.735392   0.677628       uwb: 0.0            1127.58  422.143  
imu_odom_:  1691062830.190320855  0.292093   -0.0885855 10.1059    -0.0575243  -0.0266316  0.0447411   0.18       0             pose: 0.28135409    5.84403    -3.33251    0 0.00118439  0.0043613   -0.735421   0.677595       uwb: 0.0            1127.58  422.143  
imu_odom_:  1691062830.217314749  0.876278   -0.0885855 10.4866    -0.0681769  -0.0490022  0.0426106   0.18       0             pose: 0.0           5.84403    -3.33251    0 0.00118439  0.0043613   -0.735421   0.677595       uwb: 0.50030981     1128.11  422.117  
imu_odom_:  1691062830.233382876  0.675165   -0.251391  9.46667    -0.0468716  0.0138484   0.036219    0.19       0             pose: 0.41831844    5.85152    -3.33913    0 0.00240401  0.00233243  -0.735386   0.67764        uwb: 0.0            1128.11  422.117  
imu_odom_:  1691062830.259368830  0.390255   -0.107739  9.80904    -0.0543285  -0.00852212 0.0436758   0.19       0             pose: 0.0           5.85152    -3.33913    0 0.00240401  0.00233243  -0.735386   0.67764        uwb: 0.49953694     1129.68  422.225  
imu_odom_:  1691062830.274395769  0.234632   -0.469264  9.81623    -0.0490022  0.00106526  0.052198    0.17       0             pose: 0.52981014    5.8524     -3.35324    0 0.000972451 -0.0014344  -0.73533    0.677707       uwb: 0.0            1129.68  422.225  
imu_odom_:  1691062830.301393746  0.486023   -0.280122  10.2089    -0.0543285  -0.0298274  0.056459    0.17       0             pose: 0.0           5.8524     -3.35324    0 0.000972451 -0.0014344  -0.73533    0.677707       uwb: 0.50114393     1129.72  422.019  
imu_odom_:  1691062830.326316638  0.509965   -0.169988  10.4818    -0.0255663  0.00213053  0.0351537   0.2        0             pose: 0.40146986    5.84578    -3.36074    0 0.00252735  -0.00235544 -0.735276   0.677759       uwb: 0.0            1129.72  422.019  
imu_odom_:  1691062830.353316073  0.536301   -0.265756  10.0054    -0.0671117  -0.0213053  0.0511327   0.2        0             pose: 0.0           5.84578    -3.36074    0 0.00252735  -0.00235544 -0.735276   0.677759       uwb: 0.49832368     1133.32  422.525  
imu_odom_:  1691062830.378389456  -0.105345  -0.169988  9.78271    -0.0415453  0.0106526   0.0532632   0.18       0.02          pose: 0.42960818    5.84578    -3.36074    0 -0.000803136-0.00205587 -0.735096   0.67796        uwb: 0.0            1133.32  422.525  
imu_odom_:  1691062830.403321097  0.0837971  -0.179565  9.51456    -0.0500674  -0.0149137  0.056459    0.23       0.02          pose: 0.52913935    5.84667    -3.37485    0 -0.0035387  -0.00280735 -0.734967   0.678088       uwb: 0.0            1133.32  422.525  
imu_odom_:  1691062830.417378011  0.0335188  -0.110133  9.5385     -0.0426106  0.0191748   0.04048     0.23       0.02          pose: 0.0           5.84667    -3.37485    0 -0.0035387  -0.00280735 -0.734967   0.678088       uwb: 0.0            1133.32  422.525  
imu_odom_:  1691062830.442372065  0.181959   -0.339977  9.54568    -0.0681769  -0.0127832  0.0490022   0.23       0.02          pose: 0.0           5.84667    -3.37485    0 -0.0035387  -0.00280735 -0.734967   0.678088       uwb: 0.0            1133.32  422.525  
imu_odom_:  1691062830.469306171  0.59855    -0.363919  9.67257    -0.0639159  0.0149137   0.0575243   0.18       0             pose: 0.63000918    5.84757    -3.38896    0 0.00144246  0.000995046 -0.734725   0.678362       uwb: 0.100040963    1135.96  422.609  
imu_odom_:  1691062830.494351847  0.296881   -0.0167594 10.0197    -0.0681769  0.00745685  0.0490022   0.18       0.02          pose: 0.44958033    5.84097    -3.39647    0 -0.0007909530.00233282  -0.734508   0.678595       uwb: 0.50068021     1141.63  423.37   
imu_odom_:  1691062830.521435860  0.150835   -0.160412  10.1323    -0.0617853  -0.00319579 0.052198    0.18       0.02          pose: 0.0           5.84097    -3.39647    0 -0.0007909530.00233282  -0.734508   0.678595       uwb: 0.0            1141.63  423.37   
imu_odom_:  1691062830.546321129  0.177171   -0.227449  9.73482    -0.0447411  0.00319579  0.0468716   0.2        0             pose: 0.8013356     5.84097    -3.39647    0 -8.1319e-05 0.00203044  -0.734482   0.678625       uwb: 0.49926862     1145.64  424.442  
imu_odom_:  1691062830.563435111  0.454898   -0.181959  9.67736    -0.0543285  -0.0628506  0.056459    0.2        0             pose: 0.0           5.84097    -3.39647    0 -8.1319e-05 0.00203044  -0.734482   0.678625       uwb: 0.0            1145.64  424.442  
imu_odom_:  1691062830.588330005  0.543484   -0.0885855 10.2137    -0.0511327  -0.0319579  0.0426106   0.18       0             pose: 0.52010988    5.84188    -3.41059    0 0.00430146  0.00335672  -0.734281   0.678824       uwb: 0.0            1145.64  424.442  
imu_odom_:  1691062830.615314857  0.811634   0.0550666  10.1251    -0.0777643  -0.0479369  0.0543285   0.18       0             pose: 0.0           5.84188    -3.41059    0 0.00430146  0.00335672  -0.734281   0.678824       uwb: 0.50006483     1148.23  424.763  
imu_odom_:  1691062830.641461801  0.344765   -0.0143652 10.2232    -0.0532632  0.0276969   0.0458064   0.19       0             pose: 0.42123494    5.84188    -3.41059    0 0.00364516  0.00216872  -0.734136   0.678989       uwb: 0.0            1148.23  424.763  
imu_odom_:  1691062830.668311328  0.560243   -0.208296  9.73961    -0.0745685  -0.0266316  0.0447411   0.25       0.02          pose: 0.52039278    5.84281    -3.4247     0 0.00218517  -0.00252501 -0.733962   0.679182       uwb: 0.50047605     1151.33  425.185  
imu_odom_:  1691062830.685380104  0.356736   -0.0335188 9.6606     -0.0383495  0.0213053   0.0372843   0.25       0.02          pose: 0.0           5.84281    -3.4247     0 0.00218517  -0.00252501 -0.733962   0.679182       uwb: 0.0            1151.33  425.185  
imu_odom_:  1691062830.712397622  0.179565   -0.347159  9.3302     -0.0692422  -0.00213053 0.0479369   0.27       -0.02         pose: 0.61886817    5.84375    -3.43881    0 0.00302765  -0.00407811 -0.733883   0.679257       uwb: 0.49972651     1153.94  425.488  
imu_odom_:  1691062830.737571915  0.155623   -0.373495  9.13148    -0.0607201  0.0532632   0.0468716   0.27       -0.02         pose: 0.7014458     5.84375    -3.43881    0 0.0030394   -0.00333611 -0.733867   0.679278       uwb: 0.0            1153.94  425.488  
imu_odom_:  1691062830.754412913  0.577003   -0.0790087 10.6973    -0.052198   -0.0266316  0.0372843   0.21       -0.02         pose: 0.0           5.84375    -3.43881    0 0.0030394   -0.00333611 -0.733867   0.679278       uwb: 0.50158140     1152.89  425.401  
imu_odom_:  1691062830.780347828  0.529119   0.023942   10.3597    -0.0436758  -0.0287621  0.0340885   0.21       -0.02         pose: 0.45177353    5.83717    -3.44633    0 0.00370824  0.0018378   -0.733757   0.679399       uwb: 0.0            1152.89  425.401  
imu_odom_:  1691062830.807279017  0.744597   -0.198719  9.57681    -0.0671117  -0.00426106 0.0426106   0.23       0.02          pose: 0.42775913    5.83996    -3.45833    0 0.0028738   -0.0027683  -0.733812   0.679341       uwb: 0.0            1152.89  425.401  
imu_odom_:  1691062830.833355382  0.332794   -0.11971   9.94791    -0.0628506  0.0266316   0.0458064   0.23       0.02          pose: 0.0           5.83996    -3.45833    0 0.0028738   -0.0027683  -0.733812   0.679341       uwb: 0.0            1152.89  425.401  
imu_odom_:  1691062830.860438229  0.548272   -0.383072  9.76355    -0.04048    -0.0255663  0.0351537   0.25       0             pose: 0.53007554    5.83811    -3.46045    0 0.00301284  -0.00250658 -0.733728   0.679432       uwb: 0.99868308     1155.98  425.893  
imu_odom_:  1691062830.885463198  0.68953    -0.107739  9.79468    -0.0490022  -0.0106526  0.0553937   0.18       0             pose: 0.0           5.83811    -3.46045    0 0.00301284  -0.00250658 -0.733728   0.679432       uwb: 0.0            1155.98  425.893  
imu_odom_:  1691062830.912362597  0.294487   0.107739   10.1035    -0.0532632  0.0127832   0.0372843   0.18       0             pose: 0.35113411    5.83906    -3.47456    0 -0.000109618-0.00288087 -0.733725   0.67944        uwb: 0.49900613     1153.65  424.537  
imu_odom_:  1691062830.937456104  1.05824    -0.363919  9.40442    -0.0777643  0.00213053  0.0511327   0.18       0.02          pose: 0.43893804    5.83435    -3.47995    0 0.00179865  -0.00488271 -0.733654   0.679503       uwb: 0.0            1153.65  424.537  
imu_odom_:  1691062830.954367973  -0.136469  -0.35913   9.94551    -0.04048    0.0181095   0.0308927   0.18       0.02          pose: 0.0           5.83435    -3.47995    0 0.00179865  -0.00488271 -0.733654   0.679503       uwb: 0.50052855     1151.3   423.259  
imu_odom_:  1691062830.980435588  0.23942    -0.184354  9.43555    -0.0681769  -0.0394148  0.0500674   0.18       0             pose: 0.7926445     5.83248    -3.48208    0 0.00101919  -0.00509397 -0.73362    0.67954        uwb: 0.0            1151.3   423.259  
imu_odom_:  1691062830.997284169  0.646434   0.00957681 10.3453    -0.0532632  -0.0181095  0.0340885   0.18       0             pose: 0.0           5.83248    -3.48208    0 0.00101919  -0.00509397 -0.73362    0.67954        uwb: 0.50160182     1150.35  422.791  
imu_odom_:  1691062831.22426382   0.399832   -0.0143652 9.9527     -0.0852212  -0.0223706  0.0500674   0.18       0             pose: 0.42056998    5.84001    -3.48866    0 0.000721452 -0.00346094 -0.733577   0.679597       uwb: 0.0            1150.35  422.791  
imu_odom_:  1691062831.49388486   0.97444    -0.445322  9.61751    -0.0639159  0.00958738  0.0415453   0.18       0             pose: 0.0           5.84001    -3.48866    0 0.000721452 -0.00346094 -0.733577   0.679597       uwb: 0.0            1150.35  422.791  
imu_odom_:  1691062831.74332669   0.347159   -0.217872  10.1131    -0.0649811  -0.00106526 0.0532632   0.18       0             pose: 0.42989400    5.83343    -3.4962     0 0.00170754  -0.00430174 -0.733517   0.679656       uwb: 0.0            1150.35  422.791  
imu_odom_:  1691062831.91322992   0.399832   -0.0167594 10.0389    -0.0596548  0.0223706   0.036219    0.18       0             pose: 0.0           5.83343    -3.4962     0 0.00170754  -0.00430174 -0.733517   0.679656       uwb: 0.0            1150.35  422.791  
imu_odom_:  1691062831.116328421  0.373495   -0.395043  9.57681    -0.0841559  -0.0106526  0.0575243   0.18       0             pose: 0.52100817    5.83439    -3.51031    0 0.000463888 -0.00455906 -0.733394   0.679788       uwb: 0.0            1150.35  422.791  
imu_odom_:  1691062831.143480389  0.476446   -0.289698  9.27274    -0.0490022  0.00319579  0.0372843   0.23       0             pose: 0.58892164    5.83507    -3.52029    0 0.000641803 -0.00133569 -0.733193   0.680018       uwb: 0.149922040    1154.44  423.629  
imu_odom_:  1691062831.169324602  -0.0670376 -0.512359  9.49301    -0.0500674  0.0213053   0.0394148   0.19       0             pose: 0.7005708     5.83535    -3.52442    0 -2.94332e-06-0.00116155 -0.733199   0.680013       uwb: 0.0            1154.44  423.629  
imu_odom_:  1691062831.196270082  0.0885855  -0.213084  10.1275    -0.0479369  -0.0255663  0.0394148   0.25       0             pose: 0.28121994    5.83535    -3.52442    0 -0.00152363 0.000152217 -0.733212   0.679998       uwb: 0.49818954     1153.43  423.36   
imu_odom_:  1691062831.221272304  0.191536   -0.124498  10.3358    -0.0383495  -0.0276969  0.0394148   0.25       0             pose: 0.0           5.83535    -3.52442    0 -0.00152363 0.000152217 -0.733212   0.679998       uwb: 0.0            1153.43  423.36   
imu_odom_:  1691062831.248327736  0.155623   -0.222661  9.63187    -0.0841559  0.0149137   0.0479369   0.23       0             pose: 0.24944766    5.82878    -3.53195    0 -0.0002343190.00230932  -0.733209   0.679999       uwb: 0.50086687     1155.54  423.56   
imu_odom_:  1691062831.265532421  0.11971    -0.201113  10.1825    -0.0585895  -0.0234358  0.0436758   0.23       0             pose: 0.0           5.82878    -3.53195    0 -0.0002343190.00230932  -0.733209   0.679999       uwb: 0.0            1155.54  423.56   
imu_odom_:  1691062831.290530850  0.88346    -0.071826  10.2113    -0.0617853  -0.0458064  0.0415453   0.27       0             pose: 0.51938952    5.83632    -3.53852    0 0.00417164  0.00369083  -0.733174   0.680018       uwb: 0.0            1155.54  423.56   
imu_odom_:  1691062831.313353285  0.4956     -0.378284  9.68933    -0.0298274  -0.015979   0.0255663   0.27       0             pose: 0.0           5.83632    -3.53852    0 0.00417164  0.00369083  -0.733174   0.680018       uwb: 0.50018441     1157.12  423.72   
imu_odom_:  1691062831.338405086  0.184354   -0.339977  9.65342    -0.0575243  -0.0170442  0.0458064   0.18       0             pose: 0.43960885    5.82975    -3.54606    0 0.00624301  0.00574583  -0.733071   0.680099       uwb: 0.0            1157.12  423.72   
imu_odom_:  1691062831.355279624  0.25618    0.0430956  9.8665     -0.0490022  0.0106526   0.0500674   0.18       0             pose: 0.0           5.82975    -3.54606    0 0.00624301  0.00574583  -0.733071   0.680099       uwb: 0.50077355     1156.66  423.425  
imu_odom_:  1691062831.371375750  0.512359   -0.37589   9.90721    -0.0575243  -0.0308927  0.0596548   0.18       0             pose: 0.49016626    5.83072    -3.56017    0 0.0027652   0.00432285  -0.733173   0.680023       uwb: 0.0            1156.66  423.425  
imu_odom_:  1691062831.398255901  0.555455   -0.213084  10.0317    -0.0319579  0.0106526   0.0287621   0.18       0             pose: 0.0           5.83072    -3.56017    0 0.0027652   0.00432285  -0.733173   0.680023       uwb: 0.49900615     1154.23  422.406  
imu_odom_:  1691062831.424426178  0.258574   -0.0071826110.4531    -0.0394148  -0.00852212 0.0532632   0.18       0.02          pose: 0.41964838    5.83072    -3.56017    0 0.00341298  0.00465442  -0.733017   0.680186       uwb: 0.0            1154.23  422.406  
imu_odom_:  1691062831.451665349  0.11971    -0.100556  9.87608    -0.0436758  0.00745685  0.0490022   0.18       0.02          pose: 0.42992901    5.8317     -3.57428    0 0.0019321   0.00189018  -0.733036   0.680184       uwb: 0.49971486     1153.83  421.886  
imu_odom_:  1691062831.476536619  0.797269   -0.3304    9.60793    -0.0639159  -0.00532632 0.0585895   0.19       0             pose: 0.0           5.8317     -3.57428    0 0.0019321   0.00189018  -0.733036   0.680184       uwb: 0.0            1153.83  421.886  
imu_odom_:  1691062831.503371273  0.23942    -0.124498  9.82102    -0.0415453  0.0149137   0.0447411   0.23       0             pose: 0.53013971    5.83268    -3.58839    0 0.00567609  0.00175635  -0.732803   0.680415       uwb: 0.49991318     1155.25  422.654  
imu_odom_:  1691062831.529360436  0.428562   -0.416591  9.8665     -0.0649811  0.0149137   0.0436758   0.23       0             pose: 0.0           5.83268    -3.58839    0 0.00567609  0.00175635  -0.732803   0.680415       uwb: 0.0            1155.25  422.654  
imu_odom_:  1691062831.556295125  0.76375    -0.1652    10.1634    -0.0745685  -0.0415453  0.0511327   0.25       0             pose: 0.70071374    5.82612    -3.59594    0 0.00460605  0.00282144  -0.732614   0.680622       uwb: 0.49964486     1153.24  422.069  
imu_odom_:  1691062831.572348379  0.47884    -0.0502782 9.88566    -0.072438   -0.00639159 0.0468716   0.25       0             pose: 0.7016791     5.82612    -3.59594    0 0.00397952  0.00227368  -0.732589   0.680656       uwb: 0.0            1153.24  422.069  
imu_odom_:  1691062831.599294151  0.19393    -0.237026  10.0197    -0.0681769  -0.0266316  0.0511327   0.23       0.02          pose: 0.35971152    5.82712    -3.61004    0 0.00221071  -0.000794601-0.732472   0.680794       uwb: 0.49936196     1155.33  422.335  
imu_odom_:  1691062831.624357910  0.272939   -0.131681  9.62948    -0.0468716  -0.00213053 0.0511327   0.23       0.02          pose: 0.0           5.82712    -3.61004    0 0.00221071  -0.000794601-0.732472   0.680794       uwb: 0.0            1155.33  422.335  
imu_odom_:  1691062831.651305432  0.294487   -0.344765  9.84256    -0.0681769  -0.00852212 0.0553937   0.21       0.02          pose: 0.52009531    5.82712    -3.61004    0 0.00575097  0.00142125  -0.732258   0.681001       uwb: 0.49992485     1156.84  422.697  
imu_odom_:  1691062831.667291898  0.61531    -0.141258  9.99579    -0.0553937  0           0.0415453   0.21       0.02          pose: 0.0           5.82712    -3.61004    0 0.00575097  0.00142125  -0.732258   0.681001       uwb: 0.0            1156.84  422.697  
imu_odom_:  1691062831.694236212  0.684742   -0.220267  9.66779    -0.0820254  -0.00319579 0.0649811   0.2        0             pose: 0.33957313    5.82812    -3.62415    0 0.00345942  0.00298543  -0.732122   0.681158       uwb: 0.50080854     1157.45  422.471  
imu_odom_:  1691062831.711241700  0.399832   -0.332794  10.1107    -0.0479369  -0.00426106 0.0490022   0.2        0             pose: 0.0           5.82812    -3.62415    0 0.00345942  0.00298543  -0.732122   0.681158       uwb: 0.0            1157.45  422.471  
imu_odom_:  1691062831.727275705  0.617704   -0.203507  9.97424    -0.0490022  -0.00852212 0.0511327   0.18       0.02          pose: 0.44073462    5.82158    -3.63171    0 8.07509e-05 0.00124758  -0.731863   0.681451       uwb: 0.0            1157.45  422.471  
imu_odom_:  1691062831.755240791  0.337582   -0.265756  10.1251    -0.0511327  0.0181095   0.0500674   0.18       0.02          pose: 0.0           5.82158    -3.63171    0 8.07509e-05 0.00124758  -0.731863   0.681451       uwb: 0.50028649     1159.04  422.615  
imu_odom_:  1691062831.780251762  0.428562   -0.0790087 10.4196    -0.0649811  -0.0276969  0.0500674   0.18       0.02          pose: 0.32994287    5.82914    -3.63825    0 -0.00103171 0.00116693  -0.731743   0.681578       uwb: 0.0            1159.04  422.615  
imu_odom_:  1691062831.807264322  0.866701   -0.177171  10.2544    -0.0468716  -0.0287621  0.0458064   0.23       -0.02         pose: 0.44868790    5.82261    -3.64582    0 0.000793454 0.000558972 -0.731579   0.681756       uwb: 0.49974403     1161.1   422.992  
imu_odom_:  1691062831.832224254  0.706289   -0.0502782 10.6805    -0.0543285  -0.0213053  0.0394148   0.23       -0.02         pose: 0.0           5.82261    -3.64582    0 0.000793454 0.000558972 -0.731579   0.681756       uwb: 0.0            1161.1   422.992  
imu_odom_:  1691062831.849232367  0.268151   -0.21069   9.22965    -0.0660464  0.0117179   0.0394148   0.22       0             pose: 0.6996667     5.82261    -3.64582    0 0.000274536 -3.40039e-05-0.731564   0.681772       uwb: 0.50113810     1156.61  421.562  
imu_odom_:  1691062831.874229630  0.42138    -0.390255  9.42118    -0.0862864  -0.0308927  0.052198    0.22       0             pose: 0.0           5.82261    -3.64582    0 0.000274536 -3.40039e-05-0.731564   0.681772       uwb: 0.0            1156.61  421.562  
imu_odom_:  1691062831.901365557  0.711078   -0.354342  9.59117    -0.0639159  0.00532632  0.04048     0.21       -0.02         pose: 0.51983866    5.82364    -3.65992    0 -0.00158967 -0.00368141 -0.731519   0.681809       uwb: 0.49737292     1156.55  421.789  
imu_odom_:  1691062831.917500764  0.641646   -0.268151  9.84975    -0.0628506  0.0245011   0.052198    0.21       -0.02         pose: 0.0           5.82364    -3.65992    0 -0.00158967 -0.00368141 -0.731519   0.681809       uwb: 0.0            1156.55  421.789  
imu_odom_:  1691062831.944385582  0.397437   -0.31364   10.0269    -0.0276969  0.0117179   0.0266316   0.25       0             pose: 0.42063998    5.82364    -3.65992    0 -0.00351651 -0.000891437-0.731409   0.681929       uwb: 0.50037690     1154.02  421.087  
imu_odom_:  1691062831.969347264  0.770933   -0.416591  9.46428    -0.0543285  0.0138484   0.0532632   0.25       0             pose: 0.0           5.82364    -3.65992    0 -0.00351651 -0.000891437-0.731409   0.681929       uwb: 0.0            1154.02  421.087  
imu_odom_:  1691062831.996222165  0.718261   -0.0143652 10.4818    -0.0436758  -0.0585895  0.052198    0.23       0             pose: 0.43037815    5.82469    -3.67403    0 -0.00604406 -0.00174278 -0.731356   0.681967       uwb: 0.50090187     1156.54  421.811  
imu_odom_:  1691062832.13356854   0.483629   -0.526724  9.35415    -0.0617853  0.0436758   0.052198    0.23       0             pose: 0.0           5.82469    -3.67403    0 -0.00604406 -0.00174278 -0.731356   0.681967       uwb: 0.0            1156.54  421.811  
imu_odom_:  1691062832.39210400   0.260968   -0.387861  9.95509    -0.0426106  0.0149137   0.0543285   0.19       0             pose: 0.51896954    5.81816    -3.6816     0 -0.00701056 -0.00152217 -0.731292   0.682026       uwb: 0.0            1156.54  421.811  
imu_odom_:  1691062832.63376172   0.548272   -0.191536  9.56962    -0.0617853  0.0170442   0.0415453   0.18       -0.02         pose: 0.44232120    5.82573    -3.68813    0 -0.00722387 -0.00150558 -0.731092   0.682239       uwb: 0.50020192     1160.18  422.372  
imu_odom_:  1691062832.90363067   0.28491    -0.380678  9.68933    -0.0649811  -0.00639159 0.052198    0.18       -0.02         pose: 0.0           5.82573    -3.68813    0 -0.00722387 -0.00150558 -0.731092   0.682239       uwb: 0.0            1160.18  422.372  
imu_odom_:  1691062832.115212756  0.368707   -0.0670376 9.92875    -0.0468716  -0.0117179  0.04048     0.19       0             pose: 0.25874836    5.81921    -3.69571    0 -0.00596702 -0.000427918-0.730995   0.682356       uwb: 0.49951364     1163.26  423.038  
imu_odom_:  1691062832.142217442  0.356736   -0.203507  10.343     -0.0735032  -0.00532632 0.0543285   0.19       0             pose: 0.0           5.81921    -3.69571    0 -0.00596702 -0.000427918-0.730995   0.682356       uwb: 0.0            1163.26  423.038  
imu_odom_:  1691062832.168489505  0.584185   -0.141258  9.49301    -0.0713727  0.0330232   0.0426106   0.19       -0.02         pose: 0.51917080    5.82027    -3.70981    0 -0.00405402 0.000343889 -0.730872   0.682502       uwb: 0.49957779     1162.82  422.669  
imu_odom_:  1691062832.192342045  0.701501   -0.454898  9.59835    -0.0788296  -0.0287621  0.056459    0.19       -0.02         pose: 0.0           5.82027    -3.70981    0 -0.00405402 0.000343889 -0.730872   0.682502       uwb: 0.0            1162.82  422.669  
imu_odom_:  1691062832.207216161  0.222661   -0.402226  10.0485    -0.0628506  0.0298274   0.036219    0.25       0             pose: 0.52087694    5.82027    -3.70981    0 -0.0003832842.34866e-05 -0.73073    0.682667       uwb: 0.50065690     1167.92  423.888  
imu_odom_:  1691062832.232204092  0.196325   -0.323217  9.9934     -0.0575243  0.0127832   0.0458064   0.25       0             pose: 0.0           5.82027    -3.70981    0 -0.0003832842.34866e-05 -0.73073    0.682667       uwb: 0.0            1167.92  423.888  
imu_odom_:  1691062832.256205664  -0.100556  -0.311246  9.94312    -0.0330232  0.0245011   0.0394148   0.18       0             pose: 0.63954906    5.82134    -3.72391    0 -0.00276872 0.000960426 -0.730567   0.682835       uwb: 0.49905282     1170.94  424.775  
imu_odom_:  1691062832.271258561  0.1652     -0.234632  9.78989    -0.0490022  -0.015979   0.0426106   0.18       0             pose: 0.0           5.82134    -3.72391    0 -0.00276872 0.000960426 -0.730567   0.682835       uwb: 0.0            1170.94  424.775  
imu_odom_:  1691062832.288204553  0.694318   -0.272939  10.2089    -0.0639159  0.0127832   0.0436758   0.18       0             pose: 0.56960863    5.82242    -3.73801    0 0.00162889  0.00506544  -0.730497   0.682896       uwb: 0.0            1170.94  424.775  
imu_odom_:  1691062832.302206054  0.866701   -0.275333  9.55526    -0.0532632  0.036219    0.0308927   0.18       0             pose: 0.0           5.82242    -3.73801    0 0.00162889  0.00506544  -0.730497   0.682896       uwb: 0.50217931     1171     424.573  
imu_odom_:  1691062832.327266897  0.244209   -0.335188  9.22246    -0.0713727  0.0106526   0.0532632   0.18       0             pose: 0.6950295     5.82242    -3.73801    0 0.00113656  0.0046608   -0.73049    0.682906       uwb: 0.0            1171     424.573  
imu_odom_:  1691062832.352191249  0.428562   -0.373495  9.76116    -0.0628506  -0.0798948  0.0394148   0.23       0             pose: 0.0           5.82242    -3.73801    0 0.00113656  0.0046608   -0.73049    0.682906       uwb: 0.50046733     1169.07  423.686  
imu_odom_:  1691062832.375339456  0.153229   -0.225055  9.52174    -0.0681769  -0.0106526  0.0383495   0.18       0             pose: 0.73982393    5.81672    -3.75617    0 -0.0029016  0.00510589  -0.730408   0.682986       uwb: 0.0            1169.07  423.686  
imu_odom_:  1691062832.391353337  0.955286   -0.105345  10.4794    -0.0276969  0.00106526  0.0213053   0.18       0             pose: 0.0           5.81672    -3.75617    0 -0.0029016  0.00510589  -0.730408   0.682986       uwb: 0.0            1169.07  423.686  
imu_odom_:  1691062832.417349499  0.701501   -0.0837971 10.0341    -0.0436758  -0.00958738 0.0490022   0.25       0             pose: 0.39162088    5.81699    -3.7597     0 -0.00145162 0.00439774  -0.730517   0.682879       uwb: 0.49702586     1173.08  424.926  
imu_odom_:  1691062832.443403992  0.481235   -0.246603  10.0413    -0.0575243  0.0106526   0.056459    0.19       0             pose: 0.7902238     5.81699    -3.7597     0 -0.00163296 0.00358443  -0.730495   0.682906       uwb: 0.50061898     1173.15  424.678  
imu_odom_:  1691062832.470352973  0.399832   -0.31364   9.75877    -0.0436758  0.0234358   0.0319579   0.23       0.02          pose: 0.18093924    5.81248    -3.76496    0 -0.00204816 0.00172217  -0.730443   0.682968       uwb: 0.0            1173.15  424.678  
imu_odom_:  1691062832.486314940  0.19393    -0.129287  9.86411    -0.0191748  0.00426106  0.0276969   0.23       0.02          pose: 0.33049119    5.81808    -3.7738     0 -0.00318199 0.000372946 -0.730314   0.683104       uwb: 0.0            1173.15  424.678  
imu_odom_:  1691062832.513250505  0.684742   -0.220267  9.58399    -0.0372843  0.00852212  0.0511327   0.23       0             pose: 0.0           5.81808    -3.7738     0 -0.00318199 0.000372946 -0.730314   0.683104       uwb: 0.0            1173.15  424.678  
imu_odom_:  1691062832.529242804  0.442927   -0.215478  9.75637    -0.0436758  -0.0276969  0.0596548   0.23       0             pose: 0.0           5.81808    -3.7738     0 -0.00318199 0.000372946 -0.730314   0.683104       uwb: 0.0            1173.15  424.678  
imu_odom_:  1691062832.546199588  0.670376   -0.201113  9.77792    -0.0575243  -0.0415453  0.0532632   0.25       0.05          pose: 0.78844186    5.81916    -3.7879     0 -0.00179551 -0.00125078 -0.730216   0.683213       uwb: 0.100073341    1178.04  424.844  
imu_odom_:  1691062832.571365716  0.802058   -0.201113  9.96467    -0.036219   -0.0191748  0.0394148   0.25       0.05          pose: 0.6965170     5.81916    -3.7879     0 -0.0023614  -0.00185236 -0.730182   0.683246       uwb: 0.0            1178.04  424.844  
imu_odom_:  1691062832.588364789  0.335188   -0.110133  9.90481    -0.0607201  -0.00426106 0.056459    0.22       0.02          pose: 0.0           5.81916    -3.7879     0 -0.0023614  -0.00185236 -0.730182   0.683246       uwb: 0.0            1178.04  424.844  
imu_odom_:  1691062832.605372611  0.280122   -0.105345  10.0916    -0.0490022  -0.0138484  0.0458064   0.22       0.02          pose: 0.35157742    5.81266    -3.7955     0 -0.00488878 -0.00483765 -0.730123   0.683281       uwb: 0.0            1178.04  424.844  
imu_odom_:  1691062832.620183147  -0.0383072 -0.296881  9.85214    -0.0532632  0.0213053   0.0575243   0.22       0.02          pose: 0.0           5.81266    -3.7955     0 -0.00488878 -0.00483765 -0.730123   0.683281       uwb: 0.0            1178.04  424.844  
imu_odom_:  1691062832.637377041  0.397437   -0.246603  10.1754    -0.0820254  -0.00639159 0.0543285   0.18       0             pose: 0.41082308    5.82026    -3.802      0 -0.00125822 -0.00314995 -0.729966   0.683475       uwb: 0.0            1178.04  424.844  
imu_odom_:  1691062832.651289589  0.0909797  -0.246603  9.65582    -0.0628506  -0.00639159 0.0351537   0.18       0             pose: 0.0           5.82026    -3.802      0 -0.00125822 -0.00314995 -0.729966   0.683475       uwb: 0.100038344    1180.2   424.976  
imu_odom_:  1691062832.666203952  0.895431   -0.282516  10.4339    -0.0585895  -0.00532632 0.0394148   0.18       0             pose: 0.0           5.82026    -3.802      0 -0.00125822 -0.00314995 -0.729966   0.683475       uwb: 0.0            1180.2   424.976  
imu_odom_:  1691062832.683168902  0.299275   -0.260968  9.6606     -0.0788296  -0.0276969  0.0500674   0.18       0             pose: 0.45738197    5.81376    -3.8096     0 -0.0006517377.93696e-05 -0.729857   0.6836         uwb: 0.0            1180.2   424.976  
imu_odom_:  1691062832.700319632  0.0885855  -0.102951  9.91199    -0.0490022  -0.0223706  0.0436758   0.18       0             pose: 0.0           5.81376    -3.8096     0 -0.0006517377.93696e-05 -0.729857   0.6836         uwb: 0.49808746     1177.25  423.815  
imu_odom_:  1691062832.715241578  0.54109    -0.287304  10.1442    -0.0532632  -0.0287621  0.0543285   0.18       0.02          pose: 0.42133411    5.81156    -3.82087    0 0.00084355  0.00149141  -0.729769   0.683691       uwb: 0.0            1177.25  423.815  
imu_odom_:  1691062832.730361554  0.608127   -0.287304  9.54808    -0.072438   -0.015979   0.0596548   0.18       0.02          pose: 0.0           5.81156    -3.82087    0 0.00084355  0.00149141  -0.729769   0.683691       uwb: 0.0            1177.25  423.815  
imu_odom_:  1691062832.747236384  0.263362   -0.35913   9.81623    -0.0511327  0.00958738  0.0436758   0.18       0.02          pose: 0.0           5.81156    -3.82087    0 0.00084355  0.00149141  -0.729769   0.683691       uwb: 0.50039442     1177.42  423.276  
imu_odom_:  1691062832.764441069  0.943315   0.0263362  10.5872    -0.0692422  -0.0458064  0.0490022   0.18       0             pose: 0.7017083     5.81487    -3.8237     0 0.000139506 0.00115211  -0.729735   0.683729       uwb: 0.0            1177.42  423.276  
imu_odom_:  1691062832.779316352  0.332794   -0.287304  9.4571     -0.0639159  0.0383495   0.0415453   0.18       0             pose: 0.0           5.81487    -3.8237     0 0.000139506 0.00115211  -0.729735   0.683729       uwb: 0.0            1177.42  423.276  
imu_odom_:  1691062832.794233340  0.268151   -0.342371  10.0078    -0.0490022  0.0447411   0.04048     0.18       0             pose: 0.0           5.81487    -3.8237     0 0.000139506 0.00115211  -0.729735   0.683729       uwb: 0.49952821     1179.54  423.517  
imu_odom_:  1691062832.811344697  0.45011    -0.160412  9.76834    -0.0596548  -0.0394148  0.0553937   0.18       0             pose: 0.64055816    5.80838    -3.83131    0 -0.00215547 0.000738346 -0.729506   0.68397        uwb: 0.0            1179.54  423.517  
imu_odom_:  1691062832.828164114  0.474052   -0.11971   10.1801    -0.0500674  0.00213053  0.0436758   0.25       0.02          pose: 0.0           5.80838    -3.83131    0 -0.00215547 0.000738346 -0.729506   0.68397        uwb: 0.0            1179.54  423.517  
imu_odom_:  1691062832.843224593  0.471658   -0.292093  9.93354    -0.0340885  0.00319579  0.0330232   0.25       0.02          pose: 0.30803127    5.81599    -3.8378     0 -0.0009774440.00237015  -0.72945    0.684029       uwb: 0.49963321     1178.67  422.778  
imu_odom_:  1691062832.858228784  1.20907    -0.232238  9.91678    -0.0671117  -0.0660464  0.0553937   0.17       0             pose: 0.0           5.81599    -3.8378     0 -0.0009774440.00237015  -0.72945    0.684029       uwb: 0.0            1178.67  422.778  
imu_odom_:  1691062832.873164438  1.06063    -0.287304  10.1778    -0.0426106  -0.0127832  0.072438    0.17       0             pose: 0.41028935    5.8095     -3.84541    0 -0.0018595  -0.000108589-0.729413   0.684072       uwb: 0.0            1178.67  422.778  
imu_odom_:  1691062832.890213674  1.10133    -0.31364   9.82102    -0.0447411  0.0415453   0.111853    0.17       0             pose: 0.0           5.8095     -3.84541    0 -0.0018595  -0.000108589-0.729413   0.684072       uwb: 0.0            1178.67  422.778  
imu_odom_:  1691062832.907148001  1.63524    -0.459687  10.6853    -0.0458064  -0.00426106 0.0820254   0.14       -0.05         pose: 0.6948545     5.8095     -3.84541    0 -0.00254735 -0.000704755-0.729374   0.68411        uwb: 0.50063357     1179.38  422.261  
imu_odom_:  1691062832.924142407  1.5275     -0.201113  9.26077    -0.0308927  0.0127832   0.0191748   0.14       -0.05         pose: 0.0           5.8095     -3.84541    0 -0.00254735 -0.000704755-0.729374   0.68411        uwb: 0.0            1179.38  422.261  
imu_odom_:  1691062832.941204767  1.10133    -0.129287  9.76834    -0.0692422  0.0735032   0.0490022   0.14       -0.05         pose: 0.0           5.8095     -3.84541    0 -0.00254735 -0.000704755-0.729374   0.68411        uwb: 0.0            1179.38  422.261  
imu_odom_:  1691062832.959202155  0.651223   -0.454898  9.80904    -0.076699   0.00852212  0.0340885   0.11       0             pose: 0.46978582    5.81064    -3.8595     0 -0.00609136 -0.00363702 -0.728626   0.684875       uwb: 0.50067439     1183.05  422.919  
imu_odom_:  1691062832.976317596  0.418985   -0.268151  9.95988    -0.0671117  -0.00958738 -0.0308927  0.1        -0.02         pose: 0.0           5.81064    -3.8595     0 -0.00609136 -0.00363702 -0.728626   0.684875       uwb: 0.0            1183.05  422.919  
imu_odom_:  1691062832.992297063  0.742203   0.0167594  10.1466    -0.0617853  -0.0372843  -0.0127832  0.1        -0.02         pose: 0.69095225    5.81064    -3.8595     0 -0.00943821 -0.00461024 -0.728721   0.68473        uwb: 0.49758583     1186.87  423.111  
imu_odom_:  1691062833.10179541   0.885855   -0.0646434 9.77313    -0.0649811  -0.00852212 0.0319579   0.09       0             pose: 0.0           5.81064    -3.8595     0 -0.00943821 -0.00461024 -0.728721   0.68473        uwb: 0.0            1186.87  423.111  
imu_odom_:  1691062833.27294982   0.773327   -0.308852  9.93115    -0.052198   0.00532632  0.0458064   0.09       0             pose: 0.0           5.81064    -3.8595     0 -0.00943821 -0.00461024 -0.728721   0.68473        uwb: 0.0            1186.87  423.111  
imu_odom_:  1691062833.44362884   0.565032   -0.251391  9.60075    -0.0479369  0.00426106  0.0340885   0.09       0             pose: 0.34070766    5.80416    -3.86712    0 -0.00878489 -0.00638237 -0.729281   0.684128       uwb: 0.50132770     1190.52  423.908  
imu_odom_:  1691062833.61278546   0.629675   -0.213084  9.94791    -0.0490022  0.0127832   0.0447411   0.08       0             pose: 0.33987646    5.81178    -3.87361    0 -0.0101346  -0.00720427 -0.729268   0.684115       uwb: 0.0            1190.52  423.908  
imu_odom_:  1691062833.77164976   0.761356   -0.258574  10.0485    -0.0628506  -0.0138484  0.0596548   0.08       0             pose: 0.0           5.81178    -3.87361    0 -0.0101346  -0.00720427 -0.729268   0.684115       uwb: 0.0            1190.52  423.908  
imu_odom_:  1691062833.95158865   0.720655   -0.316035  9.87129    -0.0543285  0.00106526  0.0394148   0.09       -0.02         pose: 0.42859619    5.81178    -3.87361    0 -0.00981056 -0.0084637  -0.729151   0.68423        uwb: 0.49984904     1190.1   423.474  
imu_odom_:  1691062833.111262283  0.641646   -0.0981623 9.90002    -0.0479369  -0.0298274  0.0415453   0.09       -0.02         pose: 0.0           5.81178    -3.87361    0 -0.00981056 -0.0084637  -0.729151   0.68423        uwb: 0.0            1190.1   423.474  
imu_odom_:  1691062833.128265439  0.703895   -0.19393   9.78989    -0.0468716  0.00106526  0.0415453   0.09       -0.02         pose: 0.0           5.81178    -3.87361    0 -0.00981056 -0.0084637  -0.729151   0.68423        uwb: 0.0            1190.1   423.474  
imu_odom_:  1691062833.146166875  0.699107   -0.217872  9.97424    -0.0490022  -0.00213053 0.0415453   0.05       0.02          pose: 0.7998775     5.81178    -3.87361    0 -0.0105772  -0.00829554 -0.729141   0.684231       uwb: 0.50003861     1192.7   424.065  
imu_odom_:  1691062833.164147931  0.588974   -0.251391  9.83777    -0.052198   0.00213053  0.0447411   0.05       0.02          pose: 0.0           5.81178    -3.87361    0 -0.0105772  -0.00829554 -0.729141   0.684231       uwb: 0.0            1192.7   424.065  
imu_odom_:  1691062833.181155754  0.694318   -0.225055  10.0173    -0.0490022  -0.00426106 0.0330232   0.05       0.02          pose: 0.51050591    5.81178    -3.87361    0 -0.0109307  -0.0102881  -0.729106   0.684236       uwb: 0.0            1192.7   424.065  
imu_odom_:  1691062833.197206091  0.351948   -0.134075  9.57681    -0.0511327  0.00213053  0.0617853   0.06       0.11          pose: 0.0           5.81178    -3.87361    0 -0.0109307  -0.0102881  -0.729106   0.684236       uwb: 0.49998904     1193.35  423.811  
imu_odom_:  1691062833.214260286  0.335188   -0.383072  9.99579    -0.0607201  -0.00106526 0.115049    0.04       0.08          pose: 0.0           5.81178    -3.87361    0 -0.0109307  -0.0102881  -0.729106   0.684236       uwb: 0.0            1193.35  423.811  
imu_odom_:  1691062833.231282691  0.47884    -0.454898  9.64624    -0.0415453  -0.0191748  0.108657    0.04       0.08          pose: 0.69007731    5.8053     -3.88122    0 -0.00928887 -0.00813403 -0.728795   0.68462        uwb: 0.0            1193.35  423.811  
imu_odom_:  1691062833.248239183  0.720655   -0.0694318 10.0963    -0.0468716  -0.0127832  0.118244    0.03       0.08          pose: 0.0           5.8053     -3.88122    0 -0.00928887 -0.00813403 -0.728795   0.68462        uwb: 0.49965655     1192.39  423.318  
imu_odom_:  1691062833.265162136  0.727837   -0.131681  9.8258     -0.052198   -0.00639159 0.123571    0.03       0.08          pose: 0.0           5.8053     -3.88122    0 -0.00928887 -0.00813403 -0.728795   0.68462        uwb: 0.0            1192.39  423.318  
imu_odom_:  1691062833.283290475  0.663194   -0.232238  10.0293    -0.0553937  0.00958738  0.11931     0.03       0.08          pose: 0.34085058    5.8053     -3.88122    0 -0.00912166 -0.00656561 -0.727941   0.685547       uwb: 0.0            1192.39  423.318  
imu_odom_:  1691062833.301276197  0.402226   -0.263362  9.79947    -0.0543285  0.00319579  0.118244    0.03       0.11          pose: 0.33985605    5.8053     -3.88122    0 -0.00960233 -0.00868138 -0.726984   0.686532       uwb: 0.50078523     1193.03  423.086  
imu_odom_:  1691062833.317204626  0.447716   -0.25618   9.90242    -0.052198   -0.00532632 0.123571    0.03       0.11          pose: 0.0           5.8053     -3.88122    0 -0.00960233 -0.00868138 -0.726984   0.686532       uwb: 0.0            1193.03  423.086  
imu_odom_:  1691062833.334308109  0.584185   -0.220267  9.84975    -0.0553937  -0.015979   0.127832    0.03       0.08          pose: 0.43911890    5.8053     -3.88122    0 -0.00805351 -0.00548276 -0.725776   0.687862       uwb: 0.0            1193.03  423.086  
imu_odom_:  1691062833.352283624  0.701501   -0.227449  9.93594    -0.0500674  -0.00319579 0.123571    0.03       0.08          pose: 0.0           5.8053     -3.88122    0 -0.00805351 -0.00548276 -0.725776   0.687862       uwb: 0.0            1193.03  423.086  
imu_odom_:  1691062833.368156056  0.596156   -0.265756  9.91199    -0.0543285  0.00745685  0.127832    0.03       0.08          pose: 0.0           5.8053     -3.88122    0 -0.00805351 -0.00548276 -0.725776   0.687862       uwb: 0.0            1193.03  423.086  
imu_odom_:  1691062833.385293079  0.533907   -0.304064  9.8689     -0.056459   0.00319579  0.134223    0.01       0.08          pose: 0.6941837     5.8053     -3.88122    0 -0.00749928 -0.00588166 -0.725571   0.688081       uwb: 0.0            1193.03  423.086  
imu_odom_:  1691062833.403205889  0.562637   -0.23942   9.8665     -0.0543285  -0.0117179  0.125701    0.01       0.08          pose: 0.0           5.8053     -3.88122    0 -0.00749928 -0.00588166 -0.725571   0.688081       uwb: 0.0            1193.03  423.086  
imu_odom_:  1691062833.419158816  0.663194   -0.150835  9.83299    -0.0553937  -0.00958738 0.12144     0.01       0.11          pose: 0.51032800    5.81291    -3.8877     0 -0.00842315 -0.00525257 -0.724017   0.68971        uwb: 0.0            1193.03  423.086  
imu_odom_:  1691062833.436173638  0.651223   -0.196325  9.87848    -0.056459   0.00106526  0.127832    0          0.08          pose: 0.0           5.81291    -3.8877     0 -0.00842315 -0.00525257 -0.724017   0.68971        uwb: 0.0            1193.03  423.086  
imu_odom_:  1691062833.453146462  0.486023   -0.301669  9.93594    -0.0553937  0.00852212  0.11931     0          0.08          pose: 0.0           5.81291    -3.8877     0 -0.00842315 -0.00525257 -0.724017   0.68971        uwb: 0.150124452    1192.16  422.326  
imu_odom_:  1691062833.469209341  0.371101   -0.189142  9.83538    -0.0511327  0.00213053  0.107592    0          0.08          pose: 0.68985275    5.81291    -3.8877     0 -0.00748325 -0.00706932 -0.721971   0.691847       uwb: 0.0            1192.16  422.326  
imu_odom_:  1691062833.487173481  0.476446   -0.155623  9.86172    -0.056459   -0.0117179  0.0916127   0          0.05          pose: 0.0           5.81291    -3.8877     0 -0.00748325 -0.00706932 -0.721971   0.691847       uwb: 0.0            1192.16  422.326  
imu_odom_:  1691062833.503112701  0.579397   -0.114922  9.87608    -0.0543285  -0.00958738 0.0660464   0          0.05          pose: 0.0           5.81291    -3.8877     0 -0.00748325 -0.00706932 -0.721971   0.691847       uwb: 0.49778708     1194.8   422.838  
imu_odom_:  1691062833.520164271  0.553061   -0.222661  9.89045    -0.056459   0.00106526  0.0500674   0          0.05          pose: 0.33186777    5.81291    -3.8877     0 -0.00510209 -0.00517671 -0.721217   0.692671       uwb: 0.0            1194.8   422.838  
imu_odom_:  1691062833.536171444  0.445322   -0.244209  9.87848    -0.0585895  0.00106526  0.0426106   0          0.02          pose: 0.42812956    5.81291    -3.8877     0 -0.0050853  -0.00556703 -0.720831   0.69307        uwb: 0.0            1194.8   422.838  
imu_odom_:  1691062833.551129847  0.397437   -0.198719  9.87129    -0.0543285  -0.00213053 0.0372843   0          0.02          pose: 0.6952628     5.81291    -3.8877     0 -0.00477878 -0.0049187  -0.720826   0.693082       uwb: 0.50005903     1197.44  423.314  
imu_odom_:  1691062833.566295612  0.339977   -0.203507  9.90481    -0.0543285  -0.00532632 0.04048     0          0.02          pose: 0.0           5.81291    -3.8877     0 -0.00477878 -0.0049187  -0.720826   0.693082       uwb: 0.0            1197.44  423.314  
imu_odom_:  1691062833.589266788  0.462081   -0.205901  9.90481    -0.0553937  -0.00639159 0.0383495   0          0             pose: 0.39178713    5.81291    -3.8877     0 -0.00199531 -0.00222319 -0.720837   0.693098       uwb: 0.0            1197.44  423.314  
imu_odom_:  1691062833.606264986  -0.265756  -0.272939  9.65821    -0.0596548  0.0596548   0.0127832   0          0             pose: 0.0           5.81291    -3.8877     0 -0.00199531 -0.00222319 -0.720837   0.693098       uwb: 0.50015527     1196.55  422.615  
imu_odom_:  1691062833.623151191  -1.02472   -0.126893  10.0437    -0.0468716  0.0479369   -0.0958738  0.02       -0.14         pose: 0.39969374    5.81283    -3.88767    0 0.000740621 -0.00236492 -0.721012   0.692918       uwb: 0.0            1196.55  422.615  
imu_odom_:  1691062833.640122849  -1.14203   0.244209   9.90721    -0.0543285  -0.0340885  -0.198139   0.03       -0.2          pose: 0.0           5.81283    -3.88767    0 0.000740621 -0.00236492 -0.721012   0.692918       uwb: 0.0            1196.55  422.615  
imu_odom_:  1691062833.658114696  0.0215478  0.122104   10.0628    -0.0628506  -0.0884169  -0.257794   0.04       -0.26         pose: 0.0           5.81283    -3.88767    0 0.000740621 -0.00236492 -0.721012   0.692918       uwb: 0.0            1196.55  422.615  
imu_odom_:  1691062833.676368153  0.399832   -0.339977  9.81144    -0.0703074  -0.0553937  -0.299339   0.04       -0.26         pose: 0.41879094    5.81291    -3.8877     0 0.00421654  -0.000497507-0.724023   0.689763       uwb: 0.0            1196.55  422.615  
imu_odom_:  1691062833.693251441  0.409408   -0.351948  9.94312    -0.0649811  -0.0117179  -0.333428   0.07       -0.35         pose: 0.0           5.81291    -3.8877     0 0.00421654  -0.000497507-0.724023   0.689763       uwb: 0.99977683     1201.19  423.866  
imu_odom_:  1691062833.709123581  0.177171   -0.335188  9.67736    -0.0490022  0.0298274   -0.368581   0.07       -0.35         pose: 0.0           5.81291    -3.8877     0 0.00421654  -0.000497507-0.724023   0.689763       uwb: 0.0            1201.19  423.866  
imu_odom_:  1691062833.726397096  -0.186748  0.191536   10.1275    -0.0500674  0.0170442   -0.394148   0.07       -0.35         pose: 0.35114872    5.80642    -3.8953     0 0.00225521  0.000404076 -0.728063   0.685506       uwb: 0.0            1201.19  423.866  
imu_odom_:  1691062833.744160873  0.184354   0.0454898  9.60793    -0.072438   -0.0394148  -0.40267    0.08       -0.44         pose: 0.34144553    5.80642    -3.8953     0 0.00285998  0.0027433   -0.732772   0.680463       uwb: 0.50131603     1200.08  423.827  
imu_odom_:  1691062833.761314520  -0.102951  -0.356736  9.85453    -0.0607201  0.036219    -0.447411   0.08       -0.44         pose: 0.0           5.80642    -3.8953     0 0.00285998  0.0027433   -0.732772   0.680463       uwb: 0.0            1200.08  423.827  
imu_odom_:  1691062833.776315504  0.167594   -0.110133  9.86172    -0.0596548  -0.0255663  -0.477238   0.1        -0.53         pose: 0.0           5.80642    -3.8953     0 0.00285998  0.0027433   -0.732772   0.680463       uwb: 0.0            1200.08  423.827  
imu_odom_:  1691062833.793135212  -0.308852  -0.225055  9.34696    -0.0681769  0.015979    -0.471912   0.1        -0.53         pose: 0.43911015    5.80642    -3.8953     0 0.00606693  0.00403236  -0.73956    0.673051       uwb: 0.49850454     1200.22  423.428  
imu_odom_:  1691062833.810275444  -0.0885855 -0.150835  10.0963    -0.0703074  -0.0511327  -0.487891   0.1        -0.53         pose: 0.0           5.80642    -3.8953     0 0.00606693  0.00403236  -0.73956    0.673051       uwb: 0.0            1200.22  423.428  
imu_odom_:  1691062833.827107985  0.385466   -0.335188  9.64863    -0.0756338  -0.0458064  -0.527306   0.14       -0.76         pose: 0.6071556     5.80642    -3.8953     0 0.00661098  0.00402071  -0.740611   0.671889       uwb: 0.0            1200.22  423.428  
imu_odom_:  1691062833.844110266  0.308852   -0.201113  9.94312    -0.04048    0.0298274   -0.568851   0.14       -0.76         pose: 0.0           5.80642    -3.8953     0 0.00661098  0.00402071  -0.740611   0.671889       uwb: 0.50035359     1200.88  423.16   
imu_odom_:  1691062833.861117797  0.023942   0.0215478  9.51935    -0.056459   -0.0223706  -0.570982   0.14       -0.76         pose: 0.0           5.80642    -3.8953     0 0.00661098  0.00402071  -0.740611   0.671889       uwb: 0.0            1200.88  423.16   
imu_odom_:  1691062833.879176140  0.816423   -0.0023942 10.2065    -0.0745685  -0.0713727  -0.510262   0.11       -0.55         pose: 0.49929199    5.80752    -3.90942    0 0.00870685  0.0062513   -0.749347   0.662091       uwb: 0.0            1200.88  423.16   
imu_odom_:  1691062833.896144298  0.476446   -0.452504  9.34696    -0.0639159  0.0138484   -0.437824   0.09       -0.5          pose: 0.0           5.80752    -3.90942    0 0.00870685  0.0062513   -0.749347   0.662091       uwb: 0.50012028     1198.34  422.332  
imu_odom_:  1691062833.913130247  0.818817   -0.469264  10.0102    -0.0511327  -0.02024    -0.40267    0.09       -0.5          pose: 0.70026755    5.80752    -3.90942    0 0.0057813   0.0033996   -0.762493   0.646962       uwb: 0.0            1198.34  422.332  
imu_odom_:  1691062833.930475216  1.09415    -0.203507  9.34217    -0.052198   -0.0884169  -0.347276   0.1        -0.53         pose: 0.0           5.80752    -3.90942    0 0.0057813   0.0033996   -0.762493   0.646962       uwb: 0.0            1198.34  422.332  
imu_odom_:  1691062833.946119869  0.833182   -0.23942   9.50259    -0.04048    -0.0479369  -0.335558   0.1        -0.53         pose: 0.0           5.80752    -3.90942    0 0.0057813   0.0033996   -0.762493   0.646962       uwb: 0.49830330     1198.48  421.933  
imu_odom_:  1691062833.964122799  1.14203    -0.205901  9.79228    -0.0596548  -0.0149137  -0.335558   0.1        -0.53         pose: 0.32931876    5.80752    -3.90942    0 0.00244636  0.00250744  -0.767174   0.641429       uwb: 0.0            1198.48  421.933  
imu_odom_:  1691062833.982241222  1.33836    -0.112527  10.0628    -0.0671117  -0.00639159 -0.285491   0.06       -0.32         pose: 0.43848893    5.80101    -3.91701    0 -0.00154352 -0.000911189-0.772466   0.635054       uwb: 0.0            1198.48  421.933  
imu_odom_:  1691062833.996128397  1.05584    -0.351948  10.07      -0.0479369  0.0415453   -0.24288    0.06       -0.32         pose: 0.8026190     5.80101    -3.91701    0 -0.00213463 -0.00146267 -0.773293   0.634044       uwb: 0.50136853     1201.67  422.492  
imu_odom_:  1691062834.13242088   0.936133   -0.565032  9.72764    -0.0585895  -0.015979   -0.164051   0.06       -0.32         pose: 0.0           5.80101    -3.91701    0 -0.00213463 -0.00146267 -0.773293   0.634044       uwb: 0.0            1201.67  422.492  
imu_odom_:  1691062834.29239638   1.08936    -0.397437  9.95988    -0.0532632  0.00852212  -0.118244   0.04       -0.26         pose: 0.41093099    5.80093    -3.91698    0 -0.00564562 -0.00270798 -0.776654   0.629896       uwb: 0.0            1201.67  422.492  
imu_odom_:  1691062834.47171697   0.196325   -0.318429  9.71088    -0.0372843  0.0820254   -0.156594   0.06       -0.38         pose: 0.0           5.80093    -3.91698    0 -0.00564562 -0.00270798 -0.776654   0.629896       uwb: 0.50059275     1200.56  422.429  
imu_odom_:  1691062834.65120964   0.146046   0.150835   10.2185    -0.0436758  -0.0490022  -0.209857   0.06       -0.38         pose: 0.0           5.80093    -3.91698    0 -0.00564562 -0.00270798 -0.776654   0.629896       uwb: 0.0            1200.56  422.429  
imu_odom_:  1691062834.89241531   0.730232   -0.160412  9.8258     -0.0649811  -0.0276969  -0.153398   0.03       -0.17         pose: 0.23903872    5.80865    -3.92346    0 -0.00619619 -0.00255096 -0.777932   0.628312       uwb: 0.0            1200.56  422.429  
imu_odom_:  1691062834.114186299  0.533907   -0.770933  9.83059    -0.0745685  0.0181095   -0.140615   0.03       -0.17         pose: 0.35000545    5.80865    -3.92346    0 -0.00412995 -0.00282785 -0.780385   0.625279       uwb: 0.50093691     1202.69  422.823  
imu_odom_:  1691062834.129353815  -0.37589   -0.177171  9.83299    -0.0394148  0.072438    -0.252468   0.05       -0.26         pose: 0.42039794    5.80858    -3.92344    0 -0.00682441 -0.00196155 -0.782798   0.622235       uwb: 0.0            1202.69  422.823  
imu_odom_:  1691062834.153225605  -0.936133  0.517148   9.7851     -0.0490022  -0.0245011  -0.436758   0.05       -0.26         pose: 0.7060831     5.80865    -3.92346    0 -0.00598154 -0.00146149 -0.783444   0.621432       uwb: 0.49878453     1202.26  422.425  
imu_odom_:  1691062834.178225203  -0.0407014 -0.251391  10.4124    -0.0649811  -0.0351537  -0.454868   0.1        -0.5          pose: 0.31978475    5.80213    -3.93108    0 -0.00279757 -0.000722367-0.787704   0.616047       uwb: 0.0            1202.26  422.425  
imu_odom_:  1691062834.202239901  0.110133   -0.440533  9.63666    -0.076699   -0.0426106  -0.468716   0.1        -0.5          pose: 0.0           5.80213    -3.93108    0 -0.00279757 -0.000722367-0.787704   0.616047       uwb: 0.49845205     1204.29  423.09   
imu_odom_:  1691062834.225133207  0.217872   -0.047884  10.058     -0.0660464  0.00426106  -0.493217   0.1        -0.53         pose: 0.49014296    5.80213    -3.93108    0 -0.0009922890.00289529  -0.795207   0.60633        uwb: 0.0            1204.29  423.09   
imu_odom_:  1691062834.243243756  -0.155623  0.0646434  9.6606     -0.0607201  -0.0191748  -0.531567   0.1        -0.53         pose: 0.0           5.80213    -3.93108    0 -0.0009922890.00289529  -0.795207   0.60633        uwb: 0.49992780     1202.27  422.427  
imu_odom_:  1691062834.268267561  0.0287304  -0.0694318 9.84735    -0.0585895  -0.0511327  -0.575243   0.11       -0.58         pose: 0.41003855    5.79855    -3.93532    0 0.00284518  0.00257376  -0.801982   0.597335       uwb: 0.0            1202.27  422.427  
imu_odom_:  1691062834.294248559  0.35913    -0.136469  10.2879    -0.0458064  -0.0372843  -0.583765   0.11       -0.58         pose: 0.0           5.79855    -3.93532    0 0.00284518  0.00257376  -0.801982   0.597335       uwb: 0.49995112     1201.23  422.14   
imu_odom_:  1691062834.310247275  0.296881   -0.172383  9.59357    -0.0735032  -0.00745685 -0.591222   0.14       -0.67         pose: 0.32018723    5.79572    -3.93872    0 0.00460179  0.00192812  -0.807831   0.589392       uwb: 0.0            1201.23  422.14   
imu_odom_:  1691062834.336084490  -0.0047884 -0.0670376 9.96227    -0.0617853  -0.0223706  -0.598679   0.14       -0.67         pose: 0.0           5.79572    -3.93872    0 0.00460179  0.00192812  -0.807831   0.589392       uwb: 0.0            1201.23  422.14   
imu_odom_:  1691062834.358174886  0.107739   0.0287304  10.0844    -0.0490022  -0.0127832  -0.633832   0.13       -0.67         pose: 0.60822011    5.79845    -3.95095    0 0.00736274  0.00175831  -0.818989   0.57376        uwb: 0.0            1201.23  422.14   
imu_odom_:  1691062834.383161651  0.174777   -0.110133  9.44513    -0.0649811  -0.036219   -0.64342    0.13       -0.67         pose: 0.0           5.79845    -3.95095    0 0.00736274  0.00175831  -0.818989   0.57376        uwb: 0.0            1201.23  422.14   
imu_odom_:  1691062834.401221162  0.311246   0.0957681  9.79707    -0.0681769  0           -0.646616   0.16       -0.82         pose: 0.47077161    5.79685    -3.9528     0 0.0114148   0.00183049  -0.828014   0.560588       uwb: 0.99986726     1200.67  422.12   
imu_odom_:  1691062834.425220402  0.342371   -0.131681  9.84975    -0.0884169  -0.0394148  -0.661529   0.16       -0.82         pose: 0.8089770     5.79692    -3.95282    0 0.0114917   0.00111158  -0.829562   0.558296       uwb: 0.0            1200.67  422.12   
imu_odom_:  1691062834.451259439  -0.100556  -0.0215478 9.85693    -0.0596548  -0.015979   -0.717988   0.18       -0.91         pose: 0.33968981    5.79015    -3.96033    0 0.00871666  -0.000286726-0.836122   0.548474       uwb: 0.50001821     1206.78  424.054  
imu_odom_:  1691062834.465239066  0.797269   0.0646434  10.1179    -0.0671117  -0.00639159 -0.722249   0.18       -0.91         pose: 0.0           5.79015    -3.96033    0 0.00871666  -0.000286726-0.836122   0.548474       uwb: 0.0            1206.78  424.054  
imu_odom_:  1691062834.489078483  0.64404    0.0861913  10.477     -0.0692422  -0.0575243  -0.72651    0.14       -0.73         pose: 0.0           5.79015    -3.96033    0 0.00871666  -0.000286726-0.836122   0.548474       uwb: 0.0            1206.78  424.054  
imu_odom_:  1691062834.515215805  0.143652   -0.411803  10.1155    -0.0852212  0.0149137   -0.72651    0.14       -0.73         pose: 0.40018664    5.79009    -3.96031    0 0.010049    -0.000339446-0.844343   0.535708       uwb: 0.50178852     1201.73  422.338  
imu_odom_:  1691062834.541123599  0.361524   -0.124498  10.2089    -0.0500674  0.02024     -0.76486    0.16       -0.79         pose: 0.49976739    5.78335    -3.96787    0 0.00779817  0.0007055   -0.854459   0.51946        uwb: 0.0            1201.73  422.338  
imu_odom_:  1691062834.559081324  0.442927   -0.280122  9.79228    -0.0649811  0.00106526  -0.772317   0.16       -0.79         pose: 0.0           5.78335    -3.96787    0 0.00779817  0.0007055   -0.854459   0.51946        uwb: 0.49960698     1199.1   421.75   
imu_odom_:  1691062834.583205682  0.787692   0.0837971  9.98382    -0.0575243  -0.00852212 -0.778708   0.16       -0.79         pose: 0.43865519    5.78517    -3.98215    0 0.00447277  -0.000239063-0.863536   0.504267       uwb: 0.0            1199.1   421.75   
imu_odom_:  1691062834.609075854  0.241814   -0.009576819.49062    -0.0319579  -0.0255663  -0.780839   0.16       -0.79         pose: 0.6989085     5.78525    -3.98217    0 0.00409539  -0.000825772-0.864974   0.501799       uwb: 0.49962449     1197.04  421.168  
imu_odom_:  1691062834.634218068  0.268151   0.143652   9.33978    -0.056459   -0.0223706  -0.784035   0.16       -0.82         pose: 0.24175688    5.78525    -3.98217    0 -0.00382564 0.00256935  0.869894    -0.493216      uwb: 0.0            1197.04  421.168  
imu_odom_:  1691062834.659073883  0.332794   -0.260968  9.77313    -0.0468716  0.015979    -0.803209   0.16       -0.82         pose: 0.26990397    5.7788     -3.98981    0 -0.00610821 0.00396988  0.875295    -0.483534      uwb: 0.49889535     1201.15  422.36   
imu_odom_:  1691062834.673051469  0.277727   -0.011971  9.65821    -0.036219   -0.02024    -0.813862   0.18       -0.91         pose: 0.0           5.7788     -3.98981    0 -0.00610821 0.00396988  0.875295    -0.483534      uwb: 0.0            1201.15  422.36   
imu_odom_:  1691062834.697181952  0.608127   -0.435745  9.27035    -0.0532632  -0.0213053  -0.815993   0.18       -0.91         pose: 0.24114734    5.7788     -3.98981    0 -0.00694915 0.00453685  0.880079    -0.474754      uwb: 0.50121689     1202.67  422.89   
imu_odom_:  1691062834.721074449  0.251391   0.203507   9.59596    -0.0191748  -0.04048    -0.810666   0.16       -0.79         pose: 0.38996433    5.77234    -3.99744    0 -0.00668603 0.00363594  0.887824    -0.46012       uwb: 0.0            1202.67  422.89   
imu_odom_:  1691062834.747119027  -0.0335188 -0.102951  10.2352    -0.0575243  -0.00106526 -0.809601   0.22       -1.17         pose: 0.0           5.77234    -3.99744    0 -0.00668603 0.00363594  0.887824    -0.46012       uwb: 0.49925409     1199     422.038  
imu_odom_:  1691062834.763123576  0.253785   -0.0407014 9.79468    -0.0575243  0.0170442   -0.792557   0.22       -1.17         pose: 0.40726788    5.76758    -4.00278    0 -0.00650923 0.00530605  0.895671    -0.444638      uwb: 0.0            1199     422.038  
imu_odom_:  1691062834.789064035  0.414197   -0.136469  9.59835    -0.0426106  -0.0617853  -0.802144   0.22       -1.17         pose: 0.0           5.76758    -4.00278    0 -0.00650923 0.00530605  0.895671    -0.444638      uwb: 0.0            1199     422.038  
imu_odom_:  1691062834.811193511  0.509965   -0.114922  9.47146    -0.036219   0.0575243   -0.838363   0.21       -1.06         pose: 0.7109828     5.76593    -4.00512    0 -0.00712807 0.00488577  0.89701     -0.441927      uwb: 0.49942907     1200.98  422.823  
imu_odom_:  1691062834.836249981  0.117316   -0.0909797 9.4547     -0.0340885  -0.0138484  -0.817058   0.19       -0.94         pose: 0.42926991    5.76593    -4.00512    0 -0.00942747 0.00437757  0.904834    -0.425638      uwb: 0.0            1200.98  422.823  
imu_odom_:  1691062834.853174100  0.25618    0.344765   9.95748    -0.04048    -0.0884169  -0.809601   0.19       -0.94         pose: 0.0           5.76593    -4.00512    0 -0.00942747 0.00437757  0.904834    -0.425638      uwb: 0.49994238     1204.41  424.329  
imu_odom_:  1691062834.871182280  0.493206   -0.0670376 9.74919    -0.0479369  -0.0276969  -0.824515   0.19       -0.94         pose: 0.0           5.76593    -4.00512    0 -0.00942747 0.00437757  0.904834    -0.425638      uwb: 0.0            1204.41  424.329  
imu_odom_:  1691062834.896063177  0.447716   -0.134075  9.3709     -0.0756338  -0.02024    -0.840494   0.17       -0.88         pose: 0.47950942    5.75946    -4.01274    0 -0.00658419 0.0046876   0.91344     -0.406894      uwb: 0.50001821     1207.77  426.056  
imu_odom_:  1691062834.922193500  1.06781    0.0670376  9.98861    -0.0628506  -0.0298274  -0.833037   0.18       -0.94         pose: 0.77000967    5.74868    -4.02566    0 -0.00390456 0.00576592  0.926474    -0.376295      uwb: 0.0            1207.77  426.056  
imu_odom_:  1691062834.945247797  0.507571   -0.35913   9.69891    -0.0596548  -0.0149137  -0.869256   0.18       -0.94         pose: 0.0           5.74868    -4.02566    0 -0.00390456 0.00576592  0.926474    -0.376295      uwb: 0.50196643     1210.72  427.308  
imu_odom_:  1691062834.970079404  1.01754    0.253785   9.9096     -0.072438   -0.0543285  -0.870321   0.18       -0.91         pose: 0.7996442     5.74669    -4.02813    0 -0.0031556  0.00621183  0.927779    -0.373065      uwb: 0.0            1210.72  427.308  
imu_odom_:  1691062834.996194270  0.251391   -0.227449  9.94073    -0.0490022  0.0191748   -0.892692   0.18       -0.91         pose: 0.0           5.74669    -4.02813    0 -0.0031556  0.00621183  0.927779    -0.373065      uwb: 0.49947865     1209.99  427.742  
imu_odom_:  1691062835.22198017   0.577003   -0.21069   10.2496    -0.0319579  0.0170442   -0.884169   0.18       -0.91         pose: 0.49024212    5.74028    -4.03581    0 0.000647173 0.00600784  0.935744    -0.35263       uwb: 0.0            1209.99  427.742  
imu_odom_:  1691062835.46187342   0.248997   0.0933739  10.003     -0.0415453  -0.0479369  -0.887365   0.18       -0.91         pose: 0.0           5.74028    -4.03581    0 0.000647173 0.00600784  0.935744    -0.35263       uwb: 0.50052861     1210.19  428.741  
imu_odom_:  1691062835.63204206   -0.0263362 -0.0454898 9.663      -0.0394148  -0.015979   -0.892692   0.26       -1.32         pose: 0.52165276    5.7339     -4.04351    0 0.00068745  0.00521217  0.943968    -0.329994      uwb: 0.0            1210.19  428.741  
imu_odom_:  1691062835.89234202   0.0430956  0.148441   9.62469    -0.0607201  -0.0330232  -0.864995   0.26       -1.32         pose: 0.0           5.7339     -4.04351    0 0.00068745  0.00521217  0.943968    -0.329994      uwb: 0.0            1210.19  428.741  
imu_odom_:  1691062835.115044002  1.06063    -0.234632  10.2232    -0.0873517  -0.00106526 -0.860734   0.19       -0.97         pose: 0.47954151    5.71982    -4.04482    0 -0.0003992950.00623127  0.951063    -0.308933      uwb: 0.49787751     1206.52  427.974  
imu_odom_:  1691062835.141050083  0.986411   -0.280122  9.9096     -0.0511327  -0.00958738 -0.885235   0.19       -0.97         pose: 0.61840744    5.71498    -4.04974    0 -0.0009968270.00654217  0.959353    -0.282131      uwb: 0.0            1206.52  427.974  
imu_odom_:  1691062835.158278684  0.318429   0.102951   10.2711    -0.0436758  -0.0394148  -0.864995   0.19       -0.97         pose: 0.0           5.71498    -4.04974    0 -0.0009968270.00654217  0.959353    -0.282131      uwb: 0.49998614     1209.27  429.726  
imu_odom_:  1691062835.182085437  0.00718261 -0.0263362 9.82102    -0.0351537  0.0276969   -0.863929   0.18       -0.91         pose: 0.9145832     5.71345    -4.05253    0 -9.29532e-050.00652305  0.960536    -0.278078      uwb: 0.0            1209.27  429.726  
imu_odom_:  1691062835.200037329  0.131681   0.0454898  9.95509    -0.0319579  -0.0436758  -0.902279   0.18       -0.91         pose: 0.0           5.71345    -4.05253    0 -9.29532e-050.00652305  0.960536    -0.278078      uwb: 0.50049361     1209.12  430.122  
imu_odom_:  1691062835.216090876  0.246603   -0.0981623 9.77313    -0.0607201  -0.0308927  -0.890561   0.18       -0.91         pose: 0.0           5.71345    -4.05253    0 -9.29532e-050.00652305  0.960536    -0.278078      uwb: 0.0            1209.12  430.122  
imu_odom_:  1691062835.233028995  0.557849   0.047884   10.0413    -0.104396   -0.0575243  -0.861799   0.26       -1.32         pose: 0.41910011    5.70709    -4.06025    0 -0.0005273360.00763651  0.965672    -0.259653      uwb: 0.0            1209.12  430.122  
imu_odom_:  1691062835.249025378  0.505177   0.0407014  10.1682    -0.0937433  -0.0628506  -0.860734   0.26       -1.32         pose: 0.0           5.70709    -4.06025    0 -0.0005273360.00763651  0.965672    -0.259653      uwb: 0.50063068     1203.57  428.292  
imu_odom_:  1691062835.267058057  1.11091    0.416591   10.2328    -0.0628506  -0.0820254  -0.869256   0.24       -1.2          pose: 0.56952409    5.69302    -4.06163    0 -0.00438106 0.00726937  0.972163    -0.234153      uwb: 0.0            1203.57  428.292  
imu_odom_:  1691062835.282147703  0.833182   -0.1652    9.165      -0.106526   -0.0969391  -0.860734   0.18       -0.94         pose: 0.0           5.69302    -4.06163    0 -0.00438106 0.00726937  0.972163    -0.234153      uwb: 0.0            1203.57  428.292  
imu_odom_:  1691062835.300017350  0.794875   -0.191536  9.15303    -0.0596548  -0.0266316  -0.876713   0.24       -1.23         pose: 0.0           5.69302    -4.06163    0 -0.00438106 0.00726937  0.972163    -0.234153      uwb: 0.49924826     1209.96  430.905  
imu_odom_:  1691062835.317110334  0.859518   -0.196325  9.84256    -0.0703074  -0.0170442  -0.883104   0.24       -1.23         pose: 0.67039102    5.68667    -4.06936    0 0.00315547  0.00949815  0.978793    -0.204605      uwb: 0.0            1209.96  430.905  
imu_odom_:  1691062835.331019967  0.687136   -0.0407014 10.07      -0.0575243  -0.0543285  -0.889496   0.24       -1.23         pose: 0.0           5.68667    -4.06936    0 0.00315547  0.00949815  0.978793    -0.204605      uwb: 0.0            1209.96  430.905  
imu_odom_:  1691062835.349084727  0.474052   -0.387861  10.1227    -0.0628506  -0.00319579 -0.899083   0.18       -0.94         pose: 0.0           5.68667    -4.06936    0 0.00315547  0.00949815  0.978793    -0.204605      uwb: 0.50002406     1208.29  430.841  
imu_odom_:  1691062835.363030524  0.502782   0.248997   9.54329    -0.0777643  -0.0340885  -0.890561   0.18       -0.94         pose: 0.33993189    5.68667    -4.06936    0 0.00672962  0.00919641  0.98186     -0.189264      uwb: 0.0            1208.29  430.841  
imu_odom_:  1691062835.380026973  0.670376   0.122104   10.24      -0.0553937  -0.0607201  -0.903344   0.17       -0.88         pose: 0.38945979    5.67226    -4.07057    0 0.00689754  0.00893169  0.985141    -0.171376      uwb: 0.0            1208.29  430.841  
imu_odom_:  1691062835.403159432  0.555455   0.354342   10.4028    -0.0713727  -0.056459   -0.910801   0.17       -0.88         pose: 0.0           5.67226    -4.07057    0 0.00689754  0.00893169  0.985141    -0.171376      uwb: 0.49918993     1210.66  432.066  
imu_odom_:  1691062835.421022079  0.988805   0.0933739  10.1634    -0.0703074  0.0255663   -0.875647   0.18       -0.88         pose: 0.7130243     5.67259    -4.07068    0 0.00729234  0.00966524  0.985703    -0.168058      uwb: 0.0            1210.66  432.066  
imu_odom_:  1691062835.435082786  0.962469   0.0837971  9.67736    -0.0756338  -0.056459   -0.836233   0.19       -0.82         pose: 0.0           5.67259    -4.07068    0 0.00729234  0.00966524  0.985703    -0.168058      uwb: 0.0            1210.66  432.066  
imu_odom_:  1691062835.452029946  0.744597   -0.263362  9.89524    -0.0532632  -0.0213053  -0.828776   0.19       -0.76         pose: 0.0           5.67259    -4.07068    0 0.00729234  0.00966524  0.985703    -0.168058      uwb: 0.50147355     1206.4   431.38   
imu_odom_:  1691062835.470143120  0.471658   -0.148441  9.414      -0.0543285  0.0213053   -0.76699    0.19       -0.76         pose: 0.71865898    5.66625    -4.07841    0 0.011001    0.0132628   0.990635    -0.135444      uwb: 0.0            1206.4   431.38   
imu_odom_:  1691062835.484195661  0.294487   -0.196325  10.477     -0.0788296  0.0117179   -0.639159   0.2        -0.7          pose: 0.0           5.66625    -4.07841    0 0.011001    0.0132628   0.990635    -0.135444      uwb: 0.0            1206.4   431.38   
imu_odom_:  1691062835.501163236  0.68953    -0.387861  10.0054    -0.052198   -0.0671117  -0.541154   0.2        -0.7          pose: 0.0           5.66625    -4.07841    0 0.011001    0.0132628   0.990635    -0.135444      uwb: 0.49860955     1209.2   432.93   
imu_odom_:  1691062835.517150578  0.538695   -0.234632  9.5816     -0.0585895  -0.052198   -0.532632   0.2        -0.7          pose: 0.34117432    5.65215    -4.07973    0 0.00933218  0.0108011   0.99244     -0.121895      uwb: 0.0            1209.2   432.93   
imu_odom_:  1691062835.535152343  0.54109    0.071826   9.67497    -0.0703074  -0.00426106 -0.507066   0.23       -0.67         pose: 0.41006481    5.65206    -4.0797     0 0.00962076  0.00732842  0.993884    -0.109769      uwb: 0.0            1209.2   432.93   
imu_odom_:  1691062835.552147333  0.25618    0.0287304  10.0341    -0.0436758  0.015979    -0.470847   0.23       -0.67         pose: 0.8009566     5.65215    -4.07973    0 0.00925853  0.00800974  0.994121    -0.107583      uwb: 0.0            1209.2   432.93   
imu_odom_:  1691062835.569069120  0.155623   -0.526724  10.0963    -0.0585895  -0.0181095  -0.434628   0.23       -0.67         pose: 0.0           5.65215    -4.07973    0 0.00925853  0.00800974  0.994121    -0.107583      uwb: 0.0            1209.2   432.93   
imu_odom_:  1691062835.587007888  0.6608     -0.201113  9.94791    -0.0543285  -0.02024    -0.409062   0.18       -0.44         pose: 0.43908976    5.63798    -4.08095    0 0.00603535  0.00783871  0.99528     -0.0965356     uwb: 0.0            1209.2   432.93   
imu_odom_:  1691062835.604088332  0.816423   0.0023942  9.65103    -0.0245011  0.0149137   -0.383495   0.18       -0.38         pose: 0.0           5.63798    -4.08095    0 0.00603535  0.00783871  0.99528     -0.0965356     uwb: 0.100060224    1209.97  433.89   
imu_odom_:  1691062835.617195928  -0.0191536 -0.158017  10.0245    -0.0458064  0.052198    -0.345146   0.18       -0.38         pose: 0.0           5.63798    -4.08095    0 0.00603535  0.00783871  0.99528     -0.0965356     uwb: 0.0            1209.97  433.89   
imu_odom_:  1691062835.635137029  0.78051    -0.0383072 9.78031    -0.0798948  0.00958738  -0.332363   0.18       -0.38         pose: 0.25959125    5.63806    -4.08098    0 0.00813134  0.00721693  0.995804    -0.0908598     uwb: 0.0            1209.97  433.89   
imu_odom_:  1691062835.652060274  0.64404    -0.162806  9.69173    -0.0543285  0.0127832   -0.32171    0.18       -0.32         pose: 0.0           5.63806    -4.08098    0 0.00813134  0.00721693  0.995804    -0.0908598     uwb: 0.49939993     1210.73  434.874  
imu_odom_:  1691062835.669054098  0.201113   0.0215478  9.59357    -0.0372843  0.0436758   -0.302535   0.18       -0.32         pose: 0.30111336    5.62397    -4.08217    0 0.0078631   0.00766142  0.996323    -0.0849714     uwb: 0.0            1210.73  434.874  
imu_odom_:  1691062835.687129650  0.775721   -0.337582  10.2065    -0.0649811  -0.107592   -0.259925   0.17       -0.29         pose: 0.43914517    5.62034    -4.08638    0 0.00760485  0.00710174  0.996962    -0.0771899     uwb: 0.0            1210.73  434.874  
imu_odom_:  1691062835.700243371  0.847547   -0.227449  9.48104    -0.0628506  -0.0213053  -0.250337   0.17       -0.29         pose: 0.0           5.62034    -4.08638    0 0.00760485  0.00710174  0.996962    -0.0771899     uwb: 0.50090774     1208.44  435      
imu_odom_:  1691062835.717124327  0.907402   -0.383072  9.62708    -0.0532632  0.0830906   -0.216249   0.17       -0.29         pose: 0.0           5.62034    -4.08638    0 0.00760485  0.00710174  0.996962    -0.0771899     uwb: 0.0            1208.44  435      
imu_odom_:  1691062835.733119543  0.960075   -0.447716  10.5105    -0.0894822  -0.0628506  -0.165116   0.15       -0.32         pose: 0.8081020     5.61751    -4.08981    0 0.00857558  0.00652069  0.99705     -0.0759884     uwb: 0.0            1208.44  435      
imu_odom_:  1691062835.751137931  1.76692    -0.0981623 9.69891    -0.0585895  -0.0585895  -0.22051    0.13       -0.32         pose: 0.0           5.61751    -4.08981    0 0.00857558  0.00652069  0.99705     -0.0759884     uwb: 0.50030987     1207.17  435.408  
imu_odom_:  1691062835.768126214  1.90339    0.155623   9.7851     -0.0319579  0.0500674   -0.250337   0.13       -0.32         pose: 0.64055237    5.60986    -4.08336    0 0.0144221   0.00318083  0.997589    -0.0678151     uwb: 0.0            1207.17  435.408  
imu_odom_:  1691062835.785242531  0.993594   -0.0766145 10.0173    -0.0820254  0.102265    -0.191748   0.11       -0.26         pose: 0.0           5.60986    -4.08336    0 0.0144221   0.00318083  0.997589    -0.0678151     uwb: 0.0            1207.17  435.408  
imu_odom_:  1691062835.802139819  0.332794   -0.713472  10.0485    -0.0671117  0.0532632   -0.176834   0.11       -0.26         pose: 0.0           5.60986    -4.08336    0 0.0144221   0.00318083  0.997589    -0.0678151     uwb: 0.0            1207.17  435.408  
imu_odom_:  1691062835.818272986  0.663194   -0.347159  9.7444     -0.0660464  -0.015979   -0.229032   0.11       -0.26         pose: 0.33814409    5.60344    -4.09103    0 0.0170777   0.00424251  0.997841    -0.0632702     uwb: 0.0            1207.17  435.408  
imu_odom_:  1691062835.834992659  0.713472   0.0454898  9.66539    -0.0426106  0           -0.213053   0.13       -0.29         pose: 0.43268222    5.59952    -4.08776    0 0.0157927   0.00132954  0.998182    -0.058143      uwb: 0.0            1207.17  435.408  
imu_odom_:  1691062835.851143325  0.881066   0.071826   9.92397    -0.0671117  0.00958738  -0.156594   0.13       -0.29         pose: 0.7726666     5.59576    -4.08462    0 0.0157506   0.00216574  0.998239    -0.0571572     uwb: 0.99965438     1209.46  436.781  
imu_odom_:  1691062835.867990741  0.797269   -0.42138   10.3118    -0.0681769  -0.02024    -0.131028   0.13       -0.29         pose: 0.0           5.59576    -4.08462    0 0.0157506   0.00216574  0.998239    -0.0571572     uwb: 0.0            1209.46  436.781  
imu_odom_:  1691062835.884046329  0.687136   -0.244209  9.80665    -0.0447411  -0.0106526  -0.144876   0.07       -0.17         pose: 0.41991089    5.59576    -4.08462    0 0.0169782   0.00273128  0.998447    -0.0529985     uwb: 0.0            1209.46  436.781  
imu_odom_:  1691062835.909043595  0.785298   0.0287304  9.88566    -0.0596548  -0.00745685 -0.0958738  0.09       -0.23         pose: 0.0           5.59576    -4.08462    0 0.0169782   0.00273128  0.998447    -0.0529985     uwb: 0.49911411     1206.84  436.314  
imu_odom_:  1691062835.923038972  0.502782   -0.225055  9.7875     -0.0617853  0.0181095   -0.0852212  0.09       -0.23         pose: 0.24010032    5.59576    -4.08462    0 0.0163339   0.00226544  0.998563    -0.0509919     uwb: 0.0            1206.84  436.314  
imu_odom_:  1691062835.947007590  -0.275333  0.0526724  10.3238    -0.0223706  0.036219    -0.201335   0.07       -0.08         pose: 0.0           5.59576    -4.08462    0 0.0163339   0.00226544  0.998563    -0.0509919     uwb: 0.50170103     1207.07  437.222  
imu_odom_:  1691062835.973125372  -1.27611   -0.155623  9.99819    -0.0649811  0.0255663   -0.0500674  0.07       -0.08         pose: 0.39029682    5.58932    -4.09226    0 0.0143106   0.00366352  0.998739    -0.0479806     uwb: 0.0            1207.07  437.222  
imu_odom_:  1691062835.996141755  0.500388   -0.304064  9.991      -0.0383495  -0.0841559  -0.0660464  0.11       -0.08         pose: 0.42094917    5.58932    -4.09226    0 0.00939623  0.00393338  0.998941    -0.0448777     uwb: 0.0            1207.07  437.222  
imu_odom_:  1691062836.14133603   0.909797   0.059855   9.88087    -0.02024    -0.0117179  -0.0479369  0.11       -0.08         pose: 0.0           5.58932    -4.09226    0 0.00939623  0.00393338  0.998941    -0.0448777     uwb: 0.0            1207.07  437.222  
imu_odom_:  1691062836.40121019   -0.0670376 -0.428562  9.47625    -0.0671117  0.0276969   -0.0266316  0.12       -0.08         pose: 0.6913548     5.58932    -4.09226    0 0.00934958  0.00339392  0.998959    -0.0445171     uwb: 0.0            1207.07  437.222  
imu_odom_:  1691062836.65960860   0.124498   -0.289698  9.79468    -0.0415453  -0.0351537  -0.0703074  0.12       -0.08         pose: 0.0           5.58932    -4.09226    0 0.00934958  0.00339392  0.998959    -0.0445171     uwb: 0.99701205     1208.88  438.343  
imu_odom_:  1691062836.87021151   0.205901   -0.186748  9.68933    -0.0575243  0           0.00213053  0.13       -0.08         pose: 0.43111606    5.58169    -4.0858     0 0.00972644  0.00316735  0.99904     -0.0425885     uwb: 0.0            1208.88  438.343  
imu_odom_:  1691062836.99965424   0.416591   -0.438139  9.80904    -0.072438   0.0511327   -0.0191748  0.13       -0.08         pose: 0.0           5.58169    -4.0858     0 0.00972644  0.00316735  0.99904     -0.0425885     uwb: 0.49970616     1208.26  438.513  
imu_odom_:  1691062836.124111366  0.466869   -0.23942   9.92157    -0.0607201  -0.00319579 -0.0479369  0.13       -0.05         pose: 0.48834643    5.5752     -4.0934     0 0.00521625  0.00176659  0.999164    -0.0404992     uwb: 0.0            1208.26  438.513  
imu_odom_:  1691062836.149995245  0.169988   -0.174777  10.4531    -0.0639159  -0.052198   -0.00958738 0.13       -0.05         pose: 0.0           5.5752     -4.0934     0 0.00521625  0.00176659  0.999164    -0.0404992     uwb: 0.50006198     1208.09  438.976  
imu_odom_:  1691062836.176033408  -0.146046  -0.25618   9.76355    -0.052198   -0.00958738 -0.0255663  0.15       -0.08         pose: 0.78010076    5.56309    -4.0922     0 0.00154843  -0.0016296  0.999269    -0.0381604     uwb: 0.0            1208.09  438.976  
imu_odom_:  1691062836.193101603  0.785298   -0.146046  9.81383    -0.056459   -0.0777643  -0.00958738 0.15       -0.08         pose: 0.0           5.56309    -4.0922     0 0.00154843  -0.0016296  0.999269    -0.0381604     uwb: 0.0            1208.09  438.976  
imu_odom_:  1691062836.217099678  0.184354   0          10.0269    -0.0671117  0.00426106  0.0138484   0.17       -0.02         pose: 0.8057105     5.56108    -4.09455    0 0.000764554 -0.00165889 0.99928     -0.0378996     uwb: 0.0            1208.09  438.976  
imu_odom_:  1691062836.242984725  0.483629   -0.0550666 10.2544    -0.0639159  -0.0298274  -0.00958738 0.19       -0.02         pose: 0.24965768    5.56108    -4.09455    0 -5.67906e-05-0.00152289 0.999309    -0.0371454     uwb: 0.100147721    1208.31  439.862  
imu_odom_:  1691062836.267135916  0.318429   0.0335188  9.9503     -0.0575243  -0.00958738 0.0117179   0.19       -0.02         pose: 0.0           5.56108    -4.09455    0 -5.67906e-05-0.00152289 0.999309    -0.0371454     uwb: 0.0            1208.31  439.862  
imu_odom_:  1691062836.284960066  0.768539   -0.301669  10.319     -0.0479369  0.0149137   -0.00745685 0.19       -0.02         pose: 0.0           5.56108    -4.09455    0 -5.67906e-05-0.00152289 0.999309    -0.0371454     uwb: 0.0            1208.31  439.862  
imu_odom_:  1691062836.308995472  0.268151   -0.134075  9.85214    -0.0585895  -0.0394148  0.00745685  0.17       -0.08         pose: 0.42160830    5.55342    -4.08812    0 -9.1842e-05 0.000925801 0.999337    -0.0363902     uwb: 0.50093984     1214.44  442.809  
imu_odom_:  1691062836.334112606  0.40462    -0.339977  10.4339    -0.0628506  -0.015979   0.00319579  0.2        -0.02         pose: 0.49895080    5.54698    -4.09578    0 0.000506232 0.00419739  0.999363    -0.0354292     uwb: 0.0            1214.44  442.809  
imu_odom_:  1691062836.350002246  0.222661   -0.189142  10.0006    -0.0628506  0.00958738  0.00319579  0.2        -0.02         pose: 0.0           5.54698    -4.09578    0 0.000506232 0.00419739  0.999363    -0.0354292     uwb: 0.49872914     1212.18  442.898  
imu_odom_:  1691062836.376003661  0.500388   -0.497994  9.83538    -0.0639159  0.0138484   0.0255663   0.16       -0.02         pose: 0.41954634    5.53934    -4.08932    0 -0.0005481610.00299423  0.999395    -0.0346582     uwb: 0.0            1212.18  442.898  
imu_odom_:  1691062836.401107670  0.474052   -0.229843  10.2448    -0.0607201  -0.0585895  0.0234358   0.16       -0.02         pose: 0.0           5.53934    -4.08932    0 -0.0005481610.00299423  0.999395    -0.0346582     uwb: 0.50007948     1215.25  445.082  
imu_odom_:  1691062836.426000526  0.397437   -0.148441  9.83299    -0.0617853  -0.0117179  0.0266316   0.19       -0.02         pose: 0.41092810    5.53287    -4.09695    0 -0.00170051 0.000353694 0.99942     -0.0339983     uwb: 0.0            1215.25  445.082  
imu_odom_:  1691062836.442064280  0.354342   -0.237026  9.48343    -0.0617853  -0.0426106  0.015979    0.19       -0.02         pose: 0.0           5.53287    -4.09695    0 -0.00170051 0.000353694 0.99942     -0.0339983     uwb: 0.0            1215.25  445.082  
imu_odom_:  1691062836.468010865  0.155623   -0.155623  10.1155    -0.0575243  -0.0276969  0.0276969   0.17       -0.02         pose: 0.51131673    5.51878    -4.09809    0 0.00171459  -0.00032043 0.999433    -0.0336128     uwb: 0.49978783     1216.43  446.324  
imu_odom_:  1691062836.482005367  0.428562   -0.184354  9.94551    -0.0415453  -0.0394148  0.00852212  0.17       -0.02         pose: 0.0           5.51878    -4.09809    0 0.00171459  -0.00032043 0.999433    -0.0336128     uwb: 0.0            1216.43  446.324  
imu_odom_:  1691062836.499108852  0.627281   -0.0430956 9.69173    -0.0692422  -0.0191748  0.0138484   0.17       -0.02         pose: 0.0           5.51878    -4.09809    0 0.00171459  -0.00032043 0.999433    -0.0336128     uwb: 0.50091651     1215.68  446.813  
imu_odom_:  1691062836.523970501  0.471658   -0.0407014 10.2089    -0.0671117  -0.00958738 0.0458064   0.16       0.02          pose: 0.40788912    5.51116    -4.09161    0 -0.0007612850.000291041 0.999446    -0.0332643     uwb: 0.0            1215.68  446.813  
imu_odom_:  1691062836.548975641  0.339977   -0.21069   10.07      -0.0575243  0.0106526   0.00958738  0.19       -0.02         pose: 0.39097928    5.50468    -4.09922    0 -7.32898e-050.00144358  0.999459    -0.0328506     uwb: 0.49905579     1215.92  447.614  
imu_odom_:  1691062836.563923545  0.174777   -0.0287304 10.1275    -0.052198   0.00319579  0.0170442   0.19       -0.02         pose: 0.34830516    5.49951    -4.09481    0 0.00169424  0.00415511  0.999452    -0.0328001     uwb: 0.0            1215.92  447.614  
imu_odom_:  1691062836.588078528  0.459687   -0.138864  10.1993    -0.0490022  -0.0500674  0.0106526   0.19       -0.02         pose: 0.0           5.49951    -4.09481    0 0.00169424  0.00415511  0.999452    -0.0328001     uwb: 0.0            1215.92  447.614  
imu_odom_:  1691062836.614013738  -0.023942  -0.0814029 9.52892    -0.0479369  -0.00106526 0.0436758   0.17       -0.02         pose: 0.8011899     5.49707    -4.09273    0 0.00101911  0.0036317   0.999459    -0.0326786     uwb: 0.50007656     1215.15  448.169  
imu_odom_:  1691062836.637954067  0.225055   -0.0215478 9.4547     -0.0543285  0.0117179   0.0245011   0.19       -0.02         pose: 0.40020999    5.49058    -4.10033    0 -0.0007842250.0034131   0.999477    -0.032135      uwb: 0.0            1215.15  448.169  
imu_odom_:  1691062836.664093140  -0.117316  -0.25618   9.89284    -0.0458064  0.0266316   0.0330232   0.19       -0.02         pose: 0.0           5.49058    -4.10033    0 -0.0007842250.0034131   0.999477    -0.032135      uwb: 0.49993365     1215.44  448.838  
imu_odom_:  1691062836.688214000  0.294487   -0.160412  9.61511    -0.0703074  0.0127832   0.0298274   0.2        0             pose: 0.49965075    5.48292    -4.0939     0 -0.002157   0.00452172  0.999479    -0.0318886     uwb: 0.0            1215.44  448.838  
imu_odom_:  1691062836.706215473  0.42138    -0.100556  10.0868    -0.0490022  -0.0319579  0.0468716   0.2        0             pose: 0.0           5.48292    -4.0939     0 -0.002157   0.00452172  0.999479    -0.0318886     uwb: 0.49868247     1217.11  450.25   
imu_odom_:  1691062836.722978311  0.493206   -0.129287  9.90002    -0.0660464  0.00639159  0.0351537   0.18       -0.02         pose: 0.50129274    5.46883    -4.09513    0 -0.00627053 0.00383719  0.999473    -0.0316217     uwb: 0.0            1217.11  450.25   
imu_odom_:  1691062836.746097646  0.584185   0.112527   9.81144    -0.0745685  0.00532632  0.036219    0.18       -0.02         pose: 0.0           5.46883    -4.09513    0 -0.00627053 0.00383719  0.999473    -0.0316217     uwb: 0.50059570     1218.77  451.665  
imu_odom_:  1691062836.761929248  0.557849   -0.471658  9.61033    -0.0777643  0.0255663   0.052198    0.18       -0.02         pose: 0.0           5.46883    -4.09513    0 -0.00627053 0.00383719  0.999473    -0.0316217     uwb: 0.0            1218.77  451.665  
imu_odom_:  1691062836.787921622  0.395043   -0.153229  9.94791    -0.052198   -0.00213053 0.0191748   0.19       0             pose: 0.41993132    5.46883    -4.09513    0 -0.00333477 0.00318007  0.99949     -0.0315964     uwb: 0.0            1218.77  451.665  
imu_odom_:  1691062836.809935898  0.574608   -0.203507  10.2304    -0.0607201  -0.0170442  0.0436758   0.18       0             pose: 0.73830742    5.45474    -4.09634    0 0.000875735 0.00120649  0.999506    -0.0313939     uwb: 0.50052278     1223.41  453.921  
imu_odom_:  1691062836.826089772  0.761356   -0.577003  9.60793    -0.0575243  -0.00106526 0.0340885   0.18       0             pose: 0.0           5.45474    -4.09634    0 0.000875735 0.00120649  0.999506    -0.0313939     uwb: 0.0            1223.41  453.921  
imu_odom_:  1691062836.842942147  0.229843   -0.107739  10.07      -0.0415453  0.0500674   0.0245011   0.18       0             pose: 0.0           5.45474    -4.09634    0 0.000875735 0.00120649  0.999506    -0.0313939     uwb: 0.49862123     1222.15  454.271  
imu_odom_:  1691062836.866974345  0.390255   -0.0694318 10.0676    -0.0575243  0.0266316   0.0426106   0.25       -0.02         pose: 0.6162259     5.45474    -4.09634    0 0.00153106  0.00115947  0.999505    -0.0314072     uwb: 0.0            1222.15  454.271  
imu_odom_:  1691062836.884065289  0.296881   -0.0407014 10.1514    -0.0500674  -0.00639159 0.0319579   0.25       -0.02         pose: 0.0           5.45474    -4.09634    0 0.00153106  0.00115947  0.999505    -0.0314072     uwb: 0.0            1222.15  454.271  
imu_odom_:  1691062836.909050889  0.0933739  -0.1652    9.6199     -0.0607201  -0.0181095  0.0298274   0.18       -0.02         pose: 0.39886548    5.44065    -4.09756    0 0.00327778  0.000123651 0.999503    -0.0313417     uwb: 0.49987533     1223.73  455.853  
imu_odom_:  1691062836.926110626  0.634463   -0.220267  9.76116    -0.0511327  0.0138484   0.0351537   0.18       -0.02         pose: 0.0           5.44065    -4.09756    0 0.00327778  0.000123651 0.999503    -0.0313417     uwb: 0.0            1223.73  455.853  
imu_odom_:  1691062836.942055971  0.071826   -0.37589   10.0054    -0.0479369  -0.02024    0.0372843   0.2        -0.02         pose: 0.58963625    5.42656    -4.09877    0 -0.00123592 0.00374773  0.999506    -0.0311878     uwb: 0.0            1223.73  455.853  
imu_odom_:  1691062836.959002840  0.514753   -0.196325  9.76595    -0.0553937  -0.0276969  0.0319579   0.23       0             pose: 0.0           5.42656    -4.09877    0 -0.00123592 0.00374773  0.999506    -0.0311878     uwb: 0.50031863     1223.39  456.678  
imu_odom_:  1691062836.983928943  0.371101   -0.134075  9.6223     -0.0596548  -0.00639159 0.036219    0.18       0.02          pose: 0.66068786    5.4195     -4.09937    0 -0.0004760480.00202879  0.999518    -0.0309845     uwb: 0.0            1223.39  456.678  
imu_odom_:  1691062837.925101     0.519542   -0.0981623 9.74201    -0.0777643  -0.00532632 0.0255663   0.18       0.02          pose: 0.0           5.4195     -4.09937    0 -0.0004760480.00202879  0.999518    -0.0309845     uwb: 0.50125190     1225.99  458.419  
imu_odom_:  1691062837.24916177   0.56982    -0.241814  9.76595    -0.0628506  0.00426106  0.0319579   0.18       0             pose: 0.41922261    5.41247    -4.09997    0 -0.0001129920.00436263  0.999515    -0.0308294     uwb: 0.0            1225.99  458.419  
imu_odom_:  1691062837.41912626   0.289698   -0.251391  10.2663    -0.056459   -0.00213053 0.0394148   0.18       0             pose: 0.8025023     5.41247    -4.09997    0 0.000533964 0.00390553  0.999518    -0.030802      uwb: 0.0            1225.99  458.419  
imu_odom_:  1691062837.66928267   0.565032   -0.0095768110.1203    -0.0607201  0           0.0372843   0.18       -0.02         pose: 0.24016450    5.40602    -4.10761    0 0.00114526  0.0025394   0.999523    -0.0307456     uwb: 0.49991325     1224.24  458.631  
imu_odom_:  1691062837.92925307   0.711078   -0.378284  9.75877    -0.0671117  -0.0170442  0.0308927   0.18       -0.02         pose: 0.0           5.40602    -4.10761    0 0.00114526  0.0025394   0.999523    -0.0307456     uwb: 0.50037989     1221.49  458.592  
imu_odom_:  1691062837.115967065  0.802058   -0.215478  9.79468    -0.0458064  0.04048     0.0266316   0.19       0             pose: 0.18126591    5.39838    -4.10116    0 0.000979732 0.00269956  0.999523    -0.030734      uwb: 0.0            1221.49  458.592  
imu_odom_:  1691062837.132907518  0.739808   -0.418985  9.93115    -0.0511327  0.0351537   0.0394148   0.19       0             pose: 0.0           5.39838    -4.10116    0 0.000979732 0.00269956  0.999523    -0.030734      uwb: 0.0            1221.49  458.592  
imu_odom_:  1691062837.157967197  0.790087   -0.347159  9.98622    -0.0660464  0.00106526  0.0319579   0.21       0             pose: 0.48861767    5.39838    -4.10116    0 0.004703    0.00200683  0.99952     -0.030571      uwb: 0.50016990     1219.15  458.931  
imu_odom_:  1691062837.184059899  0.457293   -0.268151  9.66779    -0.0287621  -0.0266316  0.0330232   0.21       0             pose: 0.40967985    5.38428    -4.10235    0 0.00747936  0.00032541  0.999508    -0.030453      uwb: 0.0            1219.15  458.931  
imu_odom_:  1691062837.208941672  0.215478   -0.258574  10.1299    -0.0500674  -0.0394148  0.0372843   0.19       -0.02         pose: 0.43136982    5.37447    -4.10317    0 0.00677131  -0.00108315 0.999517    -0.0303212     uwb: 0.49967992     1220.25  460.29   
imu_odom_:  1691062837.226174357  0.464475   -0.270545  9.18895    -0.0692422  -0.0117179  0.0351537   0.19       -0.02         pose: 0.0           5.37447    -4.10317    0 0.00677131  -0.00108315 0.999517    -0.0303212     uwb: 0.0            1220.25  460.29   
imu_odom_:  1691062837.249956321  0.0502782  -0.304064  9.58399    -0.0671117  0.0426106   0.0500674   0.21       0             pose: 0.31889232    5.37019    -4.10353    0 0.00434603  -0.00183837 0.99953     -0.0302856     uwb: 0.49970910     1218.14  460.068  
imu_odom_:  1691062837.275946654  0.237026   -0.0837971 9.90242    -0.0649811  -0.0138484  0.0330232   0.22       0             pose: 0.0           5.37019    -4.10353    0 0.00434603  -0.00183837 0.99953     -0.0302856     uwb: 0.0            1218.14  460.068  
imu_odom_:  1691062837.288969089  0.445322   -0.373495  9.67976    -0.0447411  -0.0330232  0.04048     0.22       0             pose: 0.41965134    5.3561     -4.10471    0 0.00035031  -0.00264195 0.999535    -0.030373      uwb: 0.0            1218.14  460.068  
imu_odom_:  1691062837.312895711  0.418985   -0.275333  9.80186    -0.0607201  0.00639159  0.0468716   0.22       0             pose: 0.0           5.3561     -4.10471    0 0.00035031  -0.00264195 0.999535    -0.030373      uwb: 0.50041780     1216.45  460.174  
imu_odom_:  1691062837.338967997  0.100556   -0.011971  10.4076    -0.0500674  0.0287621   0.0639159   0.18       0.02          pose: 0.39063515    5.3561     -4.10471    0 0.000574575 -0.00296319 0.999535    -0.0303485     uwb: 0.0            1216.45  460.174  
imu_odom_:  1691062837.352950542  0.395043   -0.189142  9.75877    -0.072438   0           0.0607201   0.18       0.02          pose: 0.0           5.3561     -4.10471    0 0.000574575 -0.00296319 0.999535    -0.0303485     uwb: 0.49809335     1218.59  461.667  
imu_odom_:  1691062837.378892169  0.567426   -0.21069   10.0509    -0.0458064  0.0149137   0.04048     0.19       0.02          pose: 0.55972762    5.34201    -4.1059     0 -0.000576361-0.0008536120.999523    -0.0308716     uwb: 0.0            1218.59  461.667  
imu_odom_:  1691062837.403949807  0.227449   -0.397437  9.42358    -0.0585895  -0.00213053 0.052198    0.19       0.02          pose: 0.0           5.34201    -4.1059     0 -0.000576361-0.0008536120.999523    -0.0308716     uwb: 0.50009407     1216.42  461.604  
imu_odom_:  1691062837.430895583  0.672771   -0.328006  10.0844    -0.0490022  -0.0500674  0.0458064   0.2        0             pose: 0.8006941     5.34201    -4.1059     0 0.000138943 -0.00070044 0.999523    -0.0308745     uwb: 0.0            1216.42  461.604  
imu_odom_:  1691062837.455890224  0.727837   -0.100556  10.4411    -0.0575243  0.00213053  0.0490022   0.21       0             pose: 0.50969809    5.32791    -4.1071     0 0.000807931 -0.00222279 0.999515    -0.031066      uwb: 0.50000950     1216.61  462.49   
imu_odom_:  1691062837.478938981  0.620098   -0.0263362 10.659     -0.0607201  -0.0319579  0.0426106   0.21       0             pose: 0.0           5.32791    -4.1071     0 0.000807931 -0.00222279 0.999515    -0.031066      uwb: 0.0            1216.61  462.49   
imu_odom_:  1691062837.495882643  0.351948   -0.0430956 9.61511    -0.0458064  0.00745685  0.0511327   0.21       0             pose: 0.26984273    5.32791    -4.1071     0 0.00372636  -0.00212986 0.999505    -0.0311564     uwb: 0.50105943     1214.82  462.883  
imu_odom_:  1691062837.519948089  0.531513   -0.299275  9.50259    -0.0671117  0.0149137   0.0447411   0.25       0.02          pose: 0.48000235    5.31382    -4.1083     0 0.00572803  0.00140546  0.999493    -0.031295      uwb: 0.0            1214.82  462.883  
imu_odom_:  1691062837.537042533  0.533907   -0.363919  9.83777    -0.0585895  -0.00639159 0.0426106   0.25       0.02          pose: 0.0           5.31382    -4.1083     0 0.00572803  0.00140546  0.999493    -0.031295      uwb: 0.0            1214.82  462.883  
imu_odom_:  1691062837.562152085  0.438139   -0.35913   10.398     -0.0500674  0.0234358   0.0415453   0.22       0             pose: 0.41091645    5.31382    -4.1083     0 0.00566333  -0.00121511 0.999489    -0.0314339     uwb: 0.50058404     1217.87  464.772  
imu_odom_:  1691062837.586992152  0.727837   -0.11971   9.93115    -0.0703074  0.0181095   0.0458064   0.21       0.02          pose: 0.34148640    5.30182    -4.10704    0 0.00392864  -0.0040107  0.999488    -0.0314914     uwb: 0.0            1217.87  464.772  
imu_odom_:  1691062837.609961289  0.933739   -0.268151  10.3453    -0.0553937  -0.0287621  0.0553937   0.21       0.02          pose: 0.0           5.30182    -4.10704    0 0.00392864  -0.0040107  0.999488    -0.0314914     uwb: 0.49913454     1218.6   465.653  
imu_odom_:  1691062837.635889792  0.454898   -0.0861913 10.1442    -0.0394148  0.0191748   0.0298274   0.18       -0.02         pose: 0.7754373     5.29973    -4.10952    0 0.00446351  -0.00360534 0.999487    -0.0315106     uwb: 0.0            1218.6   465.653  
imu_odom_:  1691062837.652898491  -0.167594  -0.430956  9.63666    -0.0223706  -0.00213053 0.0394148   0.18       -0.02         pose: 0.0           5.29973    -4.10952    0 0.00446351  -0.00360534 0.999487    -0.0315106     uwb: 0.49901205     1222.02  467.908  
imu_odom_:  1691062837.676890442  0.354342   -0.172383  9.59117    -0.0394148  0           0.0490022   0.2        0             pose: 0.49003508    5.29208    -4.10308    0 0.00762631  -0.00177955 0.999467    -0.0316798     uwb: 0.0            1222.02  467.908  
imu_odom_:  1691062837.694072964  0.577003   -0.25618   10.1011    -0.0575243  0.02024     0.0585895   0.2        0             pose: 0.0           5.29208    -4.10308    0 0.00762631  -0.00177955 0.999467    -0.0316798     uwb: 0.50125192     1219.41  467.661  
imu_odom_:  1691062837.709943938  0.169988   -0.31364   9.67257    -0.0575243  0.0234358   0.0436758   0.2        0             pose: 0.0           5.29208    -4.10308    0 0.00762631  -0.00177955 0.999467    -0.0316798     uwb: 0.0            1219.41  467.661  
imu_odom_:  1691062837.737032622  0.483629   -0.213084  10.1394    -0.04048    -0.0340885  0.0511327   0.2        0             pose: 0.41979717    5.28565    -4.11073    0 0.0040904   -0.00015322 0.999491    -0.0316302     uwb: 0.0            1219.41  467.661  
imu_odom_:  1691062837.761950269  0.567426   -0.213084  9.44273    -0.0458064  -0.0149137  0.0458064   0.19       0             pose: 0.76142939    5.27156    -4.11196    0 0.00505955  0.000730999 0.999473    -0.0320572     uwb: 0.49882831     1219.61  468.482  
imu_odom_:  1691062837.778878181  0.620098   -0.0933739 10.4267    -0.0596548  0.0319579   0.0617853   0.19       0             pose: 0.0           5.27156    -4.11196    0 0.00505955  0.000730999 0.999473    -0.0320572     uwb: 0.0            1219.61  468.482  
imu_odom_:  1691062837.804988673  0.433351   -0.423774  9.65342    -0.0777643  0.0245011   0.0415453   0.19       0             pose: 0.8899972     5.27156    -4.11196    0 0.00599186  0.000687947 0.999467    -0.032086      uwb: 0.50283266     1219.68  469.628  
imu_odom_:  1691062837.821932917  0.275333   -0.270545  10.082     -0.0468716  -0.0276969  0.0500674   0.19       0             pose: 0.0           5.27156    -4.11196    0 0.00599186  0.000687947 0.999467    -0.032086      uwb: 0.0            1219.68  469.628  
imu_odom_:  1691062837.837926676  0.641646   -0.129287  10.058     -0.0905475  -0.0500674  0.0532632   0.19       0             pose: 0.0           5.27156    -4.11196    0 0.00599186  0.000687947 0.999467    -0.032086      uwb: 0.0            1219.68  469.628  
imu_odom_:  1691062837.861117758  0.462081   0.0574608  9.72525    -0.0479369  -0.0415453  0.04048     0.19       0             pose: 0.41086687    5.25747    -4.11319    0 0.00762754  0.00126035  0.999447    -0.0323268     uwb: 0.49697342     1220.73  471.007  
imu_odom_:  1691062837.885930702  0.407014   -0.201113  9.88326    -0.0511327  0.0191748   0.0468716   0.19       0             pose: 0.0           5.25747    -4.11319    0 0.00762754  0.00126035  0.999447    -0.0323268     uwb: 0.0            1220.73  471.007  
imu_odom_:  1691062837.901111343  0.469264   -0.117316  9.7851     -0.0575243  -0.0181095  0.04048     0.25       0             pose: 0.81932179    5.24339    -4.11443    0 0.00568292  0.00208871  0.999451    -0.0325742     uwb: 0.49980534     1222.88  472.366  
imu_odom_:  1691062837.923917448  0.203507   0.110133   10.2855    -0.04048    0.02024     0.0479369   0.25       0             pose: 0.0           5.24339    -4.11443    0 0.00568292  0.00208871  0.999451    -0.0325742     uwb: 0.0            1222.88  472.366  
imu_odom_:  1691062837.948852593  0.0407014  -0.129287  9.68933    -0.0479369  -0.0127832  0.0479369   0.18       0             pose: 0.38984478    5.23572    -4.10801    0 0.00309054  0.00369904  0.999455    -0.0326619     uwb: 0.50011740     1221.24  472.39   
imu_odom_:  1691062837.963934656  0.169988   -0.203507  10.1275    -0.0426106  -0.0308927  0.0458064   0.18       0             pose: 0.0           5.23572    -4.10801    0 0.00309054  0.00369904  0.999455    -0.0326619     uwb: 0.0            1221.24  472.39   
imu_odom_:  1691062837.989982735  0.325611   0.0526724  10.2592    -0.0426106  -0.0213053  0.0468716   0.18       0             pose: 0.55998718    5.2293     -4.11568    0 -0.00188211 0.00435592  0.999449    -0.0328526     uwb: 0.0            1221.24  472.39   
imu_odom_:  1691062838.12925916   0.533907   -0.0526724 10.2879    -0.0575243  -0.0617853  0.0436758   0.18       0             pose: 0.0           5.2293     -4.11568    0 -0.00188211 0.00435592  0.999449    -0.0328526     uwb: 0.49975284     1217.51  472.264  
imu_odom_:  1691062838.37860478   0.634463   -0.25618   9.76834    -0.0447411  -0.0585895  0.0394148   0.19       0             pose: 0.6992585     5.2293     -4.11568    0 -0.00200811 0.00507795  0.999444    -0.0328781     uwb: 0.0            1217.51  472.264  
imu_odom_:  1691062838.53863570   0.56982    -0.0861913 10.0868    -0.0756338  -0.0298274  0.0436758   0.19       0             pose: 0.0           5.2293     -4.11568    0 -0.00200811 0.00507795  0.999444    -0.0328781     uwb: 0.50149108     1218.18  473.252  
imu_odom_:  1691062838.79928857   0.387861   -0.071826  9.67018    -0.0660464  -0.00106526 0.0287621   0.18       -0.02         pose: 0.49971493    5.21522    -4.11693    0 0.00142822  0.00689633  0.99943     -0.0330093     uwb: 0.0            1218.18  473.252  
imu_odom_:  1691062838.107049040  0.462081   -0.311246  9.73961    -0.0713727  -0.0255663  0.0511327   0.22       0             pose: 0.41006193    5.20755    -4.11052    0 0.00421278  0.006175    0.999427    -0.0330052     uwb: 0.50003576     1219.77  474.625  
imu_odom_:  1691062838.133060663  0.502782   -0.0909797 10.1969    -0.0607201  0.00639159  0.0394148   0.19       0             pose: 0.25085053    5.20755    -4.11052    0 0.00255765  0.00572687  0.999438    -0.0329372     uwb: 0.0            1219.77  474.625  
imu_odom_:  1691062838.148872725  0.198719   -0.0837971 10.2352    -0.0671117  0.00426106  0.0575243   0.19       0             pose: 0.0           5.20755    -4.11052    0 0.00255765  0.00572687  0.999438    -0.0329372     uwb: 0.49864166     1219.82  475.77   
imu_odom_:  1691062838.174996926  0.143652   -0.378284  9.80426    -0.0511327  0.0191748   0.0319579   0.24       0             pose: 0.28107124    5.20113    -4.11819    0 0.00332258  0.00421648  0.999439    -0.0330563     uwb: 0.0            1219.82  475.77   
imu_odom_:  1691062838.201914412  0.301669   -0.169988  10.2448    -0.0458064  0.015979    0.0372843   0.23       -0.02         pose: 0.59899822    5.18902    -4.11708    0 0.000353539 0.00388523  0.999445    -0.0330831     uwb: 0.0            1219.82  475.77   
imu_odom_:  1691062838.226968842  0.557849   -0.181959  10.2472    -0.0426106  0.00213053  0.0383495   0.23       -0.02         pose: 0.0           5.18902    -4.11708    0 0.000353539 0.00388523  0.999445    -0.0330831     uwb: 0.0            1219.82  475.77   
imu_odom_:  1691062838.252842807  0.383072   0.071826   10.2568    -0.0330232  0.00106526  0.0340885   0.2        -0.02         pose: 0.7992359     5.18705    -4.11945    0 -0.00048589 0.00366303  0.999446    -0.0330714     uwb: 0.100187098    1218.96  476.553  
imu_odom_:  1691062838.277898112  0.445322   -0.155623  10.2496    -0.0575243  -0.0553937  0.0426106   0.2        -0.02         pose: 0.0           5.18705    -4.11945    0 -0.00048589 0.00366303  0.999446    -0.0330714     uwb: 0.0            1218.96  476.553  
imu_odom_:  1691062838.294854315  0.519542   -0.349553  9.31344    -0.052198   0.00106526  0.04048     0.19       0             pose: 0.52003706    5.17937    -4.11303    0 -0.0001965050.00386543  0.999447    -0.033013      uwb: 0.49921914     1221.77  478.809  
imu_odom_:  1691062838.319855957  -0.0502782 -0.222661  9.50019    -0.0671117  0.0245011   0.0468716   0.19       0             pose: 0.0           5.17937    -4.11303    0 -0.0001965050.00386543  0.999447    -0.033013      uwb: 0.0            1221.77  478.809  
imu_odom_:  1691062838.343839742  0.198719   -0.160412  10.1299    -0.0553937  -0.04048    0.0394148   0.22       0             pose: 0.49988701    5.16529    -4.11429    0 0.00206493  0.00329003  0.999447    -0.033012      uwb: 0.49775213     1221.46  479.522  
imu_odom_:  1691062838.359918372  0.969652   -0.280122  10.2855    -0.0500674  -0.0330232  0.0308927   0.22       0             pose: 0.0           5.16529    -4.11429    0 0.00206493  0.00329003  0.999447    -0.033012      uwb: 0.0            1221.46  479.522  
imu_odom_:  1691062838.385979867  0.823605   -0.246603  9.80665    -0.0468716  -0.00319579 0.0575243   0.18       0             pose: 0.41972719    5.15887    -4.12196    0 -0.0009841070.00193879  0.99945     -0.0331042     uwb: 0.0            1221.46  479.522  
imu_odom_:  1691062838.410850558  0.672771   -0.102951  10.2615    -0.0745685  -0.00319579 0.0500674   0.18       0             pose: 0.0           5.15887    -4.12196    0 -0.0009841070.00193879  0.99945     -0.0331042     uwb: 0.49981702     1218.81  479.47   
imu_odom_:  1691062838.436894263  0.447716   -0.23942   9.71088    -0.056459   0.0298274   0.0308927   0.21       0.02          pose: 0.41099811    5.1512     -4.11555    0 0.000259236 0.00178485  0.99945     -0.0331058     uwb: 0.0            1218.81  479.47   
imu_odom_:  1691062838.453000308  0.234632   -0.373495  9.76355    -0.0372843  0.00319579  0.0351537   0.21       0.02          pose: 0.0           5.1512     -4.11555    0 0.000259236 0.00178485  0.99945     -0.0331058     uwb: 0.50125484     1218.5   480.206  
imu_odom_:  1691062838.478985099  0.452504   -0.294487  9.83299    -0.0479369  -0.00532632 0.0479369   0.19       0             pose: 0.50858400    5.13711    -4.11682    0 0.00381001  0.00158859  0.999435    -0.0333687     uwb: 0.0            1218.5   480.206  
imu_odom_:  1691062838.505214293  0.629675   -0.112527  9.98622    -0.0479369  -0.0351537  0.0415453   0.18       0             pose: 0.60072477    5.12698    -4.11772    0 0.00233492  -0.00312471 0.999435    -0.0333742     uwb: 0.49990451     1221.39  482.22   
imu_odom_:  1691062838.530969265  0.011971   -0.258574  9.40682    -0.052198   0.056459    0.0372843   0.18       0             pose: 0.0           5.12698    -4.11772    0 0.00233492  -0.00312471 0.999435    -0.0333742     uwb: 0.0            1221.39  482.22   
imu_odom_:  1691062838.555820999  0.201113   -0.251391  9.84735    -0.0649811  -0.00852212 0.0553937   0.18       0.02          pose: 0.7005710     5.12303    -4.11808    0 0.00294559  -0.00260782 0.999435    -0.0333787     uwb: 0.49990743     1222.97  483.515  
imu_odom_:  1691062838.580959425  0.423774   -0.153229  10.3741    -0.0628506  0.0383495   0.0511327   0.18       0.02          pose: 0.0           5.12303    -4.11808    0 0.00294559  -0.00260782 0.999435    -0.0333787     uwb: 0.0            1222.97  483.515  
imu_odom_:  1691062838.596829233  0.646434   -0.0550666 10.2352    -0.0617853  -0.0436758  0.0372843   0.18       0             pose: 0.53007855    5.12303    -4.11808    0 0.000487187 -0.00146142 0.99944     -0.0334296     uwb: 0.49992492     1223.39  485.025  
imu_odom_:  1691062838.614069794  0.146046   0.0742203  9.96946    -0.0553937  0.00106526  0.0394148   0.18       0             pose: 0.0           5.12303    -4.11808    0 0.000487187 -0.00146142 0.99944     -0.0334296     uwb: 0.0            1223.39  485.025  
imu_odom_:  1691062838.640014630  0.265756   -0.191536  9.8282     -0.0660464  -0.0330232  0.04048     0.19       0             pose: 0.48895891    5.10894    -4.11935    0 5.1432e-05  0.000873636 0.999432    -0.0337028     uwb: 0.0            1223.39  485.025  
imu_odom_:  1691062838.665933509  0.035913   0.00957681 9.79468    -0.0458064  -0.0149137  0.0607201   0.19       0             pose: 0.0           5.10894    -4.11935    0 5.1432e-05  0.000873636 0.999432    -0.0337028     uwb: 0.50003284     1225.3   486.758  
imu_odom_:  1691062838.690956441  0.356736   -0.270545  9.67257    -0.056459   -0.0372843  0.0372843   0.2        0.02          pose: 0.33961985    5.10894    -4.11935    0 -0.0009954220.00225935  0.999429    -0.0336902     uwb: 0.0            1225.3   486.758  
imu_odom_:  1691062838.716985855  0.459687   -0.100556  10.24      -0.0223706  -0.0181095  0.0351537   0.2        0.02          pose: 0.0           5.10894    -4.11935    0 -0.0009954220.00225935  0.999429    -0.0336902     uwb: 0.49973827     1221.33  486.081  
imu_odom_:  1691062838.742874402  0.533907   -0.117316  9.5792     -0.0436758  -0.00745685 0.0415453   0.19       0             pose: 0.52120366    5.09486    -4.12063    0 -0.00423076 0.00238856  0.999412    -0.033953      uwb: 0.49991909     1225.47  488.784  
imu_odom_:  1691062838.758855038  0.459687   -0.457293  10.0221    -0.052198   -0.0181095  0.0490022   0.19       0             pose: 0.0           5.09486    -4.12063    0 -0.00423076 0.00238856  0.999412    -0.033953      uwb: 0.0            1225.47  488.784  
imu_odom_:  1691062838.783874762  -0.244209  -0.227449  9.80186    -0.0458064  -0.110787   0.0372843   0.23       0.02          pose: 0.50075030    5.08077    -4.12191    0 -0.0004939920.00314809  0.999421    -0.0338844     uwb: 0.0            1225.47  488.784  
imu_odom_:  1691062838.809940049  1.73101    -0.237026  9.72046    -0.0596548  -0.14168    0.04048     0.23       0.02          pose: 0.25766346    5.08077    -4.12191    0 0.0014631   0.00314514  0.999418    -0.0339423     uwb: 0.50019616     1225.5   489.926  
imu_odom_:  1691062838.835897717  0.869095   -0.289698  9.77074    -0.0468716  0.0106526   0.0756338   0.21       -0.02         pose: 0.34056480    5.06874    -4.12074    0 0.000473134 0.00214007  0.999421    -0.0339497     uwb: 0.0            1225.5   489.926  
imu_odom_:  1691062838.861858593  0.988805   -0.0023942 9.97185    -0.0585895  -0.00532632 0.0181095   0.21       -0.02         pose: 0.8015982     5.06669    -4.12319    0 0.0018271   0.00213044  0.999419    -0.0339538     uwb: 0.49852792     1221.41  489.571  
imu_odom_:  1691062838.878012760  0.232238   -0.146046  10.0102    -0.0468716  0.0394148   0.0181095   0.21       -0.02         pose: 0.0           5.06669    -4.12319    0 0.0018271   0.00213044  0.999419    -0.0339538     uwb: 0.0            1221.41  489.571  
imu_odom_:  1691062838.903962846  0.347159   -0.296881  10.1825    -0.0617853  -0.0181095  0.0532632   0.23       0             pose: 0.50968935    5.059      -4.1168     0 0.00782337  0.00182213  0.999377    -0.0343634     uwb: 0.50090779     1222.12  490.389  
imu_odom_:  1691062838.929812604  0.308852   -0.0023942 10.0149    -0.0383495  -0.0287621  0.0426106   0.23       0             pose: 0.0           5.059      -4.1168     0 0.00782337  0.00182213  0.999377    -0.0343634     uwb: 0.0            1222.12  490.389  
imu_odom_:  1691062838.955881390  0.531513   -0.172383  9.65821    -0.0511327  0.0298274   0.0532632   0.22       0             pose: 0.42990283    5.05261    -4.12449    0 0.00699246  0.00223955  0.999394    -0.0340347     uwb: 0.50172440     1219.89  490.651  
imu_odom_:  1691062838.971930272  0.634463   -0.268151  9.87369    -0.0500674  0.00852212  0.0308927   0.22       0             pose: 0.0           5.05261    -4.12449    0 0.00699246  0.00223955  0.999394    -0.0340347     uwb: 0.0            1219.89  490.651  
imu_odom_:  1691062838.987824287  0.395043   -0.205901  10.0987    -0.0308927  0.0490022   0.0351537   0.23       0.02          pose: 0.52103450    5.03853    -4.12577    0 0.00462796  0.00292228  0.999398    -0.0342495     uwb: 0.0            1219.89  490.651  
imu_odom_:  1691062839.14031899   0.488417   -0.172383  9.55526    -0.0607201  0.0181095   0.0436758   0.23       0.02          pose: 0.0           5.03853    -4.12577    0 0.00462796  0.00292228  0.999398    -0.0342495     uwb: 0.49817503     1222.17  492.692  
imu_odom_:  1691062839.39955737   0.31364    -0.189142  9.58878    -0.0617853  -0.00319579 0.0415453   0.23       0             pose: 0.40981402    5.03853    -4.12577    0 0.00631478  0.00151158  0.99939     -0.0343052     uwb: 0.0            1222.17  492.692  
imu_odom_:  1691062839.56944313   0.596156   -0.0814029 10.2041    -0.0543285  -0.0213053  0.04048     0.23       0             pose: 0.0           5.03853    -4.12577    0 0.00631478  0.00151158  0.99939     -0.0343052     uwb: 0.0            1222.17  492.692  
imu_odom_:  1691062839.81803630   0.68953    -0.141258  10.2663    -0.0660464  -0.0458064  0.0479369   0.23       0             pose: 0.41904473    5.02444    -4.12707    0 0.00256421  0.00321062  0.999402    -0.0343323     uwb: 0.0            1222.17  492.692  
imu_odom_:  1691062839.105811331  0.596156   0.0047884  10.3741    -0.0308927  -0.04048    0.0415453   0.23       0             pose: 0.0           5.02444    -4.12707    0 0.00256421  0.00321062  0.999402    -0.0343323     uwb: 0.100119145    1223.18  493.984  
imu_odom_:  1691062839.131868453  0.723049   -0.0071826110.149     -0.0607201  -0.00852212 0.0308927   0.19       0             pose: 0.43117152    5.01675    -4.12067    0 0.00322578  0.00341407  0.999398    -0.0343879     uwb: 0.0            1223.18  493.984  
imu_odom_:  1691062839.147950874  0.663194   -0.208296  9.63666    -0.0585895  0.0170442   0.0298274   0.19       0             pose: 0.0           5.01675    -4.12067    0 0.00322578  0.00341407  0.999398    -0.0343879     uwb: 0.49915790     1222.75  494.951  
imu_odom_:  1691062839.173799174  0.354342   -0.306458  9.7875     -0.0756338  0.00852212  0.0479369   0.19       0             pose: 0.48909599    5.01036    -4.12836    0 0.00748028  0.0062432   0.999359    -0.0344516     uwb: 0.0            1222.75  494.951  
imu_odom_:  1691062839.197795501  0.071826   -0.162806  9.82341    -0.0628506  -0.0298274  0.0500674   0.19       0             pose: 0.0           5.01036    -4.12836    0 0.00748028  0.0062432   0.999359    -0.0344516     uwb: 0.49989577     1221.43  495.574  
imu_odom_:  1691062839.215089434  0.64404    0.071826   10.2448    -0.0585895  -0.0106526  0.0543285   0.18       -0.02         pose: 0.43121234    4.99628    -4.12966    0 0.0092719   0.00517953  0.999354    -0.0343474     uwb: 0.0            1221.43  495.574  
imu_odom_:  1691062839.240814367  0.591368   -0.0574608 9.59596    -0.0468716  0.0191748   0.0255663   0.18       -0.02         pose: 0.0           4.99628    -4.12966    0 0.0092719   0.00517953  0.999354    -0.0343474     uwb: 0.0            1221.43  495.574  
imu_odom_:  1691062839.266957233  0.545878   -0.356736  10.2208    -0.04048    0.0426106   0.0415453   0.18       -0.02         pose: 0.49008761    4.99628    -4.12966    0 0.00608735  0.00420971  0.999374    -0.0345919     uwb: 0.49994827     1225.61  497.995  
imu_odom_:  1691062839.291958292  0.818817   -0.28491   9.94312    -0.0607201  0.0170442   0.04048     0.23       0             pose: 0.61961200    4.97662    -4.12633    0 0.00721746  0.00469875  0.999367    -0.0345314     uwb: 0.50020783     1224.41  498.31   
imu_odom_:  1691062839.313838119  0.332794   -0.287304  9.27514    -0.0703074  0           0.0479369   0.23       0             pose: 0.0           4.97662    -4.12633    0 0.00721746  0.00469875  0.999367    -0.0345314     uwb: 0.0            1224.41  498.31   
imu_odom_:  1691062839.329819338  0.129287   -0.189142  10.0006    -0.04048    -0.0276969  0.036219    0.23       0             pose: 0.0           4.97662    -4.12633    0 0.00721746  0.00469875  0.999367    -0.0345314     uwb: 0.0            1224.41  498.31   
imu_odom_:  1691062839.355800048  0.0933739  -0.0622492 10.0796    -0.052198   -0.0127832  0.0479369   0.19       -0.02         pose: 0.6886133     4.9745     -4.12457    0 0.00775173  0.00435181  0.999364    -0.0345398     uwb: 0.49998910     1222.29  498.366  
imu_odom_:  1691062839.371844554  0.287304   -0.0430956 10.0365    -0.0447411  -0.00852212 0.0500674   0.19       -0.02         pose: 0.0           4.9745     -4.12457    0 0.00775173  0.00435181  0.999364    -0.0345398     uwb: 0.0            1222.29  498.366  
imu_odom_:  1691062839.397794932  0.301669   -0.160412  9.89284    -0.0745685  0.00852212  0.04048     0.19       0             pose: 0.46988214    4.96811    -4.13226    0 0.00660948  0.00217602  0.999376    -0.0346436     uwb: 0.49973828     1223.3   499.637  
imu_odom_:  1691062839.422857529  0.169988   0.0047884  9.50977    -0.0969391  0.0181095   0.0639159   0.19       0.02          pose: 0.76963352    4.9559     -4.13132    0 -0.0006888730.00306476  0.999389    -0.0348082     uwb: 0.0            1223.3   499.637  
imu_odom_:  1691062839.448822781  0.533907   -0.701501  9.87369    -0.0841559  0.0138484   0.0532632   0.19       0.02          pose: 0.0           4.9559     -4.13132    0 -0.0006888730.00306476  0.999389    -0.0348082     uwb: 0.49907041     1222.58  500.064  
imu_odom_:  1691062839.474986646  -0.174777  0.00718261 10.1682    -0.0308927  0.0234358   0.0276969   0.19       0             pose: 0.7415477     4.95403    -4.13357    0 -0.00138185 0.00332325  0.999384    -0.034897      uwb: 0.0            1222.58  500.064  
imu_odom_:  1691062839.491819773  0.289698   -0.186748  9.38527    -0.0692422  0.0127832   0.0745685   0.19       0             pose: 0.0           4.95403    -4.13357    0 -0.00138185 0.00332325  0.999384    -0.034897      uwb: 0.0            1222.58  500.064  
imu_odom_:  1691062839.515774977  0.912191   -0.40462   10.082     0.0106526   0.0585895   -0.00106526 0.2        0             pose: 0.50771781    4.93995    -4.13488    0 -0.00313298 0.00143255  0.999373    -0.0352416     uwb: 0.50071822     1226.59  502.772  
imu_odom_:  1691062839.541828015  0.0837971  0.0861913  9.61272    -0.0511327  0.0372843   0.0809601   0.2        0             pose: 0.0           4.93995    -4.13488    0 -0.00313298 0.00143255  0.999373    -0.0352416     uwb: 0.0            1226.59  502.772  
imu_odom_:  1691062839.566924152  0.167594   -0.459687  10.2999    -0.0500674  -0.036219   0.0383495   0.17       0             pose: 0.42909788    4.93225    -4.1285     0 -0.00608367 0.000960135 0.999359    -0.0352682     uwb: 0.50040907     1224.77  503.336  
imu_odom_:  1691062839.592908653  0.457293   -0.0766145 10.4962    -0.0607201  -0.0308927  0.0500674   0.17       0             pose: 0.0           4.93225    -4.1285     0 -0.00608367 0.000960135 0.999359    -0.0352682     uwb: 0.49939414     1225.63  504.888  
imu_odom_:  1691062839.617900379  0.670376   -0.0814029 10.2999    -0.0628506  -0.0447411  0.0532632   0.17       0             pose: 0.50055199    4.92587    -4.1362     0 -0.00732234 0.00235741  0.999342    -0.035457      uwb: 0.0            1225.63  504.888  
imu_odom_:  1691062839.634105001  0.435745   -0.110133  9.69412    -0.052198   0.00106526  0.0490022   0.17       0             pose: 0.0           4.92587    -4.1362     0 -0.00732234 0.00235741  0.999342    -0.035457      uwb: 0.0            1225.63  504.888  
imu_odom_:  1691062839.650831384  0.505177   -0.323217  9.63427    -0.0660464  -0.0351537  0.0500674   0.18       0.02          pose: 0.51013849    4.91817    -4.12982    0 -0.00408796 0.00214952  0.999354    -0.0356297     uwb: 0.50182357     1225.29  505.636  
imu_odom_:  1691062839.676890256  0.263362   -0.112527  9.89763    -0.0500674  -0.0234358  0.0447411   0.18       0.02          pose: 0.0           4.91817    -4.12982    0 -0.00408796 0.00214952  0.999354    -0.0356297     uwb: 0.0            1225.29  505.636  
imu_odom_:  1691062839.702901588  0.553061   -0.122104  10.0365    -0.0543285  -0.0415453  0.0415453   0.17       0             pose: 0.58874967    4.90409    -4.13116    0 -0.0002558980.00248643  0.999351    -0.0359475     uwb: 0.50111486     1226.21  507.038  
imu_odom_:  1691062839.728764179  0.169988   -0.299275  9.67257    -0.0575243  0.015979    0.0639159   0.17       0             pose: 0.44065595    4.89208    -4.13421    0 0.00125217  0.00367613  0.999343    -0.0360224     uwb: 0.0            1226.21  507.038  
imu_odom_:  1691062839.754902088  0.102951   -0.308852  9.9527     -0.0543285  -0.0170442  0.0458064   0.19       -0.02         pose: 0.0           4.89208    -4.13421    0 0.00125217  0.00367613  0.999343    -0.0360224     uwb: 0.49744592     1227.48  508.79   
imu_odom_:  1691062839.780749513  0.203507   -0.354342  10.0724    -0.0276969  -0.0138484  0.04048     0.23       0.05          pose: 0.6998710     4.89001    -4.1325     0 0.000593282 0.00328735  0.999342    -0.0361062     uwb: 0.0            1227.48  508.79   
imu_odom_:  1691062839.795753123  0.581791   0.0167594  10.3813    -0.052198   -0.0575243  0.0383495   0.23       0.05          pose: 0.0           4.89001    -4.1325     0 0.000593282 0.00328735  0.999342    -0.0361062     uwb: 0.50113820     1227.19  509.429  
imu_odom_:  1691062839.821937695  0.189142   -0.0047884 9.95988    -0.0490022  -0.015979   0.0617853   0.23       0.05          pose: 0.51931670    4.88365    -4.14021    0 -0.00370383 0.00055459  0.99933     -0.0364064     uwb: 0.0            1227.19  509.429  
imu_odom_:  1691062839.847811078  0.217872   -0.342371  9.7851     -0.0532632  -0.00958738 0.0468716   0.21       0.05          pose: 0.0           4.88365    -4.14021    0 -0.00370383 0.00055459  0.99933     -0.0364064     uwb: 0.49896249     1228.2   510.601  
imu_odom_:  1691062839.873829993  0.656011   -0.143652  10.0245    -0.0372843  -0.0213053  0.0436758   0.23       0.02          pose: 0.40942031    4.87593    -4.13385    0 -0.00368354 0.000956476 0.999327    -0.0364823     uwb: 0.0            1228.2   510.601  
imu_odom_:  1691062839.899791453  0.543484   -0.0933739 9.67976    -0.0447411  -0.0106526  0.0479369   0.23       0.02          pose: 0.52005749    4.86185    -4.13521    0 -0.00509102 0.000418368 0.99931     -0.0367937     uwb: 0.50060156     1229.99  512.345  
imu_odom_:  1691062839.924805053  0.909797   -0.153229  9.92397    -0.0639159  -0.00319579 0.0490022   0.23       0             pose: 0.0           4.86185    -4.13521    0 -0.00509102 0.000418368 0.99931     -0.0367937     uwb: 0.0            1229.99  512.345  
imu_odom_:  1691062839.939742167  0.718261   -0.311246  9.77792    -0.0841559  0.0266316   0.0490022   0.23       0             pose: 0.0           4.86185    -4.13521    0 -0.00509102 0.000418368 0.99931     -0.0367937     uwb: 0.0            1229.99  512.345  
imu_odom_:  1691062839.955786383  0.217872   -0.0981623 10.1682    -0.052198   -0.00213053 0.0468716   0.19       0             pose: 0.51021432    4.86185    -4.13521    0 -0.0001189260.00239588  0.999313    -0.0369784     uwb: 0.49976161     1228.98  513.378  
imu_odom_:  1691062839.972724211  0.464475   -0.136469  10.2017    -0.092678   -0.0372843  0.0458064   0.19       0             pose: 0.0           4.86185    -4.13521    0 -0.0001189260.00239588  0.999313    -0.0369784     uwb: 0.0            1228.98  513.378  
imu_odom_:  1691062839.988745095  0.416591   -0.234632  9.81862    -0.0585895  0.0245011   0.0351537   0.19       0             pose: 0.40954280    4.84778    -4.13658    0 0.00222822  0.00180397  0.999305    -0.0371713     uwb: 0.0            1228.98  513.378  
imu_odom_:  1691062840.5198494    0.591368   -0.433351  9.78031    -0.0628506  -0.00213053 0.0511327   0.18       0             pose: 0.33032791    4.84778    -4.13658    0 0.00230651  0.0024463   0.999301    -0.0372395     uwb: 0.0            1228.98  513.378  
imu_odom_:  1691062840.21744638   0.328006   -0.114922  9.78031    -0.0511327  0.00213053  0.0436758   0.18       0             pose: 0.0           4.84778    -4.13658    0 0.00230651  0.0024463   0.999301    -0.0372395     uwb: 0.0            1228.98  513.378  
imu_odom_:  1691062840.37872265   0.553061   -0.143652  9.71806    -0.0543285  -0.0287621  0.0383495   0.18       0             pose: 0.41956387    4.8337     -4.13795    0 0.00128197  0.00118274  0.999301    -0.0373511     uwb: 0.0            1228.98  513.378  
imu_odom_:  1691062840.54754390   0.435745   -0.0430956 9.86411    -0.0308927  0.0106526   0.0394148   0.25       0             pose: 0.0           4.8337     -4.13795    0 0.00128197  0.00118274  0.999301    -0.0373511     uwb: 0.100039235    1228.65  514.079  
imu_odom_:  1691062840.70937430   0.25618    -0.205901  9.6223     -0.0671117  0.0191748   0.0447411   0.2        0             pose: 0.0           4.8337     -4.13795    0 0.00128197  0.00118274  0.999301    -0.0373511     uwb: 0.0            1228.65  514.079  
imu_odom_:  1691062840.87751308   0.387861   -0.201113  10.1538    -0.0532632  -0.0287621  0.0436758   0.2        0             pose: 0.8010734     4.8337     -4.13795    0 0.0021144   0.00151298  0.999299    -0.0373465     uwb: 0.0            1228.65  514.079  
imu_odom_:  1691062840.103821481  0.773327   -0.215478  9.79468    -0.0703074  -0.0575243  0.0543285   0.18       0.02          pose: 0.0           4.8337     -4.13795    0 0.0021144   0.00151298  0.999299    -0.0373465     uwb: 0.49872919     1228.18  515.078  
imu_odom_:  1691062840.120788767  0.311246   -0.0047884 10.2927    -0.0351537  0.00532632  0.052198    0.18       0.02          pose: 0.65071059    4.81963    -4.13933    0 0.000939159 0.00158086  0.999296    -0.0374587     uwb: 0.0            1228.18  515.078  
imu_odom_:  1691062840.145739662  0.0502782  -0.203507  10.2568    -0.0490022  -0.02024    0.0436758   0.18       0.02          pose: 0.0           4.81963    -4.13933    0 0.000939159 0.00158086  0.999296    -0.0374587     uwb: 0.49995119     1227.96  515.545  
imu_odom_:  1691062840.162819233  0.646434   -0.134075  9.59596    -0.052198   0           0.04048     0.18       0             pose: 0.33136327    4.81963    -4.13933    0 0.000274558 0.00287338  0.999287    -0.0376416     uwb: 0.0            1227.96  515.545  
imu_odom_:  1691062840.178929361  0.323217   -0.0957681 9.97424    -0.0756338  -0.00213053 0.0468716   0.18       0             pose: 0.0           4.81963    -4.13933    0 0.000274558 0.00287338  0.999287    -0.0376416     uwb: 0.0            1227.96  515.545  
imu_odom_:  1691062840.194742882  0.572214   -0.160412  9.90721    -0.0596548  -0.0372843  0.0340885   0.25       0             pose: 0.41858102    4.80555    -4.14072    0 -0.0002796120.00322694  0.999284    -0.0377089     uwb: 0.50008827     1228.49  516.624  
imu_odom_:  1691062840.219750067  0.354342   -0.251391  9.97903    -0.0447411  0.00106526  0.036219    0.25       0             pose: 0.0           4.80555    -4.14072    0 -0.0002796120.00322694  0.999284    -0.0377089     uwb: 0.0            1228.49  516.624  
imu_odom_:  1691062840.245789398  0.134075   -0.138864  10.2927    -0.0511327  0.00639159  0.0468716   0.21       0             pose: 0.33000710    4.80555    -4.14072    0 0.000358867 0.00285943  0.999285    -0.0376867     uwb: 0.50079990     1229.4   517.967  
imu_odom_:  1691062840.271738609  0.629675   0.023942   9.85932    -0.0756338  0.0287621   0.0500674   0.19       -0.02         pose: 0.42967828    4.79148    -4.14211    0 -0.00326283 0.00188526  0.99928     -0.0377479     uwb: 0.0            1229.4   517.967  
imu_odom_:  1691062840.297716986  0.246603   -0.531513  9.46188    -0.0479369  0.00319579  0.0415453   0.23       -0.02         pose: 0.0           4.79148    -4.14211    0 -0.00326283 0.00188526  0.99928     -0.0377479     uwb: 0.49934456     1230.99  520.003  
imu_odom_:  1691062840.314866553  0.751779   -0.189142  10.3884    -0.036219   -0.00745685 0.0319579   0.23       -0.02         pose: 0.7008334     4.79148    -4.14211    0 -0.0028138  0.00223047  0.999279    -0.0377876     uwb: 0.0            1230.99  520.003  
imu_odom_:  1691062840.339860613  0.35913    -0.181959  9.76595    -0.0532632  -0.015979   0.0490022   0.2        0             pose: 0.0           4.79148    -4.14211    0 -0.0028138  0.00223047  0.999279    -0.0377876     uwb: 0.0            1230.99  520.003  
imu_odom_:  1691062840.361997092  0.679953   -0.0957681 10.1921    -0.0415453  -0.00213053 0.0415453   0.2        0             pose: 0.52116286    4.77741    -4.1435     0 -0.00171964 0.000877187 0.99928     -0.0378872     uwb: 0.50051116     1231.49  521.105  
imu_odom_:  1691062840.388002884  0.442927   0.047884   10.477     -0.036219   0.00745685  0.0383495   0.18       -0.02         pose: 0.0           4.77741    -4.1435     0 -0.00171964 0.000877187 0.99928     -0.0378872     uwb: 0.0            1231.49  521.105  
imu_odom_:  1691062840.404852635  0.624887   -0.263362  9.91199    -0.0649811  0.0117179   0.0394148   0.18       -0.02         pose: 0.40973237    4.77741    -4.1435     0 -0.00235376 0.00209531  0.999274    -0.0379728     uwb: 0.49824213     1235.4   523.671  
imu_odom_:  1691062840.430987919  0.562637   -0.339977  9.34936    -0.0585895  -0.015979   0.0415453   0.23       -0.02         pose: 0.0           4.77741    -4.1435     0 -0.00235376 0.00209531  0.999274    -0.0379728     uwb: 0.0            1235.4   523.671  
imu_odom_:  1691062840.456751350  0.208296   -0.337582  9.6199     -0.0692422  -0.0500674  0.0490022   0.25       0.02          pose: 0.85100664    4.75772    -4.1403     0 0.00258615  0.00228581  0.999271    -0.0380207     uwb: 0.49997161     1235.91  524.735  
imu_odom_:  1691062840.482844636  0.61531    -0.0526724 9.73482    -0.0596548  -0.015979   0.0383495   0.25       0.02          pose: 0.6883217     4.7556     -4.13856    0 0.00218873  0.00183951  0.999272    -0.0380525     uwb: 0.0            1235.91  524.735  
imu_odom_:  1691062840.508745434  0.574608   -0.225055  10.1203    -0.0660464  -0.0191748  0.0490022   0.23       0             pose: 0.44973500    4.74926    -4.1463     0 0.00323609  0.00226192  0.999265    -0.0381224     uwb: 0.49993661     1238.31  527.172  
imu_odom_:  1691062840.534847762  0.275333   -0.0047884 10.1059    -0.0607201  0.0287621   0.056459    0.23       0             pose: 0.0           4.74926    -4.1463     0 0.00323609  0.00226192  0.999265    -0.0381224     uwb: 0.0            1238.31  527.172  
imu_odom_:  1691062840.550729820  0.454898   -0.263362  10.0054    -0.072438   0.0181095   0.0671117   0.23       0.02          pose: 0.32947047    4.74152    -4.13997    0 0.00510552  0.00144147  0.999252    -0.0383085     uwb: 0.50061616     1238.22  528.387  
imu_odom_:  1691062840.575848123  0.739808   -0.160412  10.2496    -0.0436758  0.0266316   0.0351537   0.23       0.02          pose: 0.0           4.74152    -4.13997    0 0.00510552  0.00144147  0.999252    -0.0383085     uwb: 0.0            1238.22  528.387  
imu_odom_:  1691062840.591721723  0.624887   -0.0933739 9.68933    -0.0458064  -0.0170442  0.0468716   0.21       -0.02         pose: 0.42937788    4.73519    -4.14771    0 0.0035689   0.000969895 0.999245    -0.0386671     uwb: 0.0            1238.22  528.387  
imu_odom_:  1691062840.607830393  0.323217   -0.52433   9.51456    -0.0607201  0.00745685  0.052198    0.21       -0.02         pose: 0.0           4.73519    -4.14771    0 0.0035689   0.000969895 0.999245    -0.0386671     uwb: 0.49919874     1240.27  530.457  
imu_odom_:  1691062840.634002134  0.201113   -0.25618   9.8282     -0.052198   -0.0340885  0.0500674   0.23       0             pose: 0.49100922    4.72112    -4.14912    0 0.00546064  0.00100556  0.999232    -0.0387931     uwb: 0.0            1240.27  530.457  
imu_odom_:  1691062840.658699878  0.371101   -0.023942  10.4028    -0.0500674  -0.0276969  0.0596548   0.23       0             pose: 0.7948613     4.72112    -4.14912    0 0.00480249  0.000847957 0.999234    -0.038835      uwb: 0.49978787     1239.1   530.707  
imu_odom_:  1691062840.684855577  0.730232   0.047884   10.6757    -0.0511327  -0.0138484  0.0372843   0.21       0.05          pose: 0.42920872    4.71338    -4.1428     0 0.00231306  0.00268278  0.999226    -0.0391713     uwb: 0.0            1239.1   530.707  
imu_odom_:  1691062840.710710586  0.435745   0.059855   10.4267    -0.04048    -0.0276969  0.052198    0.21       0.05          pose: 0.0           4.71338    -4.1428     0 0.00231306  0.00268278  0.999226    -0.0391713     uwb: 0.50028076     1240.05  531.879  
imu_odom_:  1691062840.727834196  0.433351   -0.418985  9.80904    -0.056459   -0.0117179  0.0394148   0.21       0             pose: 0.33151493    4.70706    -4.15055    0 0.00429693  0.00510821  0.99921     -0.039182      uwb: 0.0            1240.05  531.879  
imu_odom_:  1691062840.752706055  0.517148   -0.318429  9.56723    -0.0649811  0.0149137   0.0490022   0.21       0             pose: 0.0           4.70706    -4.15055    0 0.00429693  0.00510821  0.99921     -0.039182      uwb: 0.50048200     1237.89  532.09   
imu_odom_:  1691062840.778813632  0.371101   -0.160412  9.61272    -0.0617853  -0.0330232  0.0319579   0.18       -0.02         pose: 0.42874208    4.69931    -4.14423    0 0.00382043  0.00460179  0.999208    -0.0393293     uwb: 0.0            1237.89  532.09   
imu_odom_:  1691062840.803861356  0.636858   -0.19393   10.252     -0.0649811  -0.00639159 0.0639159   0.19       0             pose: 0.44088053    4.69299    -4.15198    0 0.00183572  0.0027014   0.999221    -0.0393158     uwb: 0.49989578     1239.71  533.551  
imu_odom_:  1691062840.829842649  0.665588   -0.0407014 9.57681    -0.0585895  -0.015979   0.0319579   0.19       0             pose: 0.0           4.69299    -4.15198    0 0.00183572  0.0027014   0.999221    -0.0393158     uwb: 0.0            1239.71  533.551  
imu_odom_:  1691062840.855900354  0.701501   -0.361524  9.50019    -0.0479369  0.0340885   0.0308927   0.19       -0.02         pose: 0.7010668     4.69299    -4.15198    0 0.00254037  0.00257933  0.999217    -0.0394029     uwb: 0.50023409     1240.04  534.91   
imu_odom_:  1691062840.872841683  0.217872   -0.339977  10.2711    -0.0479369  0.00532632  0.015979    0.19       -0.02         pose: 0.0           4.69299    -4.15198    0 0.00254037  0.00257933  0.999217    -0.0394029     uwb: 0.0            1240.04  534.91   
imu_odom_:  1691062840.889902588  0.414197   0.177171   10.1155    -0.0255663  -0.0276969  -0.0383495  0.19       -0.08         pose: 0.52151866    4.67892    -4.15342    0 0.00689897  0.00328546  0.999191    -0.0394958     uwb: 0.0            1240.04  534.91   
imu_odom_:  1691062840.904779623  0.0766145  0.11971    9.97424    -0.0553937  -0.0191748  -0.0671117  0.19       -0.08         pose: 0.0           4.67892    -4.15342    0 0.00689897  0.00328546  0.999191    -0.0394958     uwb: 0.49961872     1239.62  535.724  
imu_odom_:  1691062840.921891567  0.0814029  -0.177171  9.4547     -0.052198   -0.00213053 -0.0990696  0.19       -0.08         pose: 0.0           4.67892    -4.15342    0 0.00689897  0.00328546  0.999191    -0.0394958     uwb: 0.0            1239.62  535.724  
imu_odom_:  1691062840.938700195  1.04627    -0.272939  10.0485    -0.0553937  -0.0276969  -0.128897   0.19       -0.29         pose: 0.42876834    4.67117    -4.1471     0 0.00596789  0.00215724  0.999222    -0.038921      uwb: 0.0            1239.62  535.724  
imu_odom_:  1691062840.954837447  0.624887   -0.383072  9.70849    -0.0777643  -0.0213053  -0.186421   0.19       -0.29         pose: 0.0           4.67117    -4.1471     0 0.00596789  0.00215724  0.999222    -0.038921      uwb: 0.50062490     1240.99  537.044  
imu_odom_:  1691062840.972714096  0.828394   0.31364    10.647     -0.04048    0.0351537   -0.28336    0.19       -0.29         pose: 0.73984447    4.65705    -4.14858    0 0.00568296  0.00189121  0.999426    -0.0333482     uwb: 0.0            1240.99  537.044  
imu_odom_:  1691062840.988895095  1.12527    0.426168   9.71088    -0.0575243  -0.0191748  -0.319579   0.19       -0.41         pose: 0.0           4.65705    -4.14858    0 0.00568296  0.00189121  0.999426    -0.0333482     uwb: 0.0            1240.99  537.044  
imu_odom_:  1691062841.5756512    0.150835   -0.208296  9.60075    -0.0756338  -0.0117179  -0.376038   0.19       -0.41         pose: 0.0           4.65705    -4.14858    0 0.00568296  0.00189121  0.999426    -0.0333482     uwb: 0.50006494     1242.3   538.47   
imu_odom_:  1691062841.22783586   0.45011    -0.174777  9.38288    -0.0777643  -0.00106526 -0.427171   0.19       -0.41         pose: 0.8004317     4.65705    -4.14858    0 0.00591913  0.00264809  0.999465    -0.0320537     uwb: 0.0            1242.3   538.47   
imu_odom_:  1691062841.39727832   0.387861   -0.129287  10.0293    -0.0628506  0.0223706   -0.432497   0.25       -0.61         pose: 0.0           4.65705    -4.14858    0 0.00591913  0.00264809  0.999465    -0.0320537     uwb: 0.0            1242.3   538.47   
imu_odom_:  1691062841.56718742   0.636858   -0.423774  10.228     -0.0703074  -0.0351537  -0.437824   0.25       -0.61         pose: 0.66884244    4.64299    -4.15009    0 0.00358357  0.00330528  0.999818    -0.0184243     uwb: 0.50050826     1243.87  540.361  
imu_odom_:  1691062841.71720894   0.440533   -0.215478  9.83777    -0.0436758  -0.036219   -0.479369   0.25       -0.61         pose: 0.0           4.64299    -4.15009    0 0.00358357  0.00330528  0.999818    -0.0184243     uwb: 0.0            1243.87  540.361  
imu_odom_:  1691062841.88821173   0.596156   -0.0909797 10.1011    -0.0266316  -0.0394148  -0.510262   0.17       -0.53         pose: 0.0           4.64299    -4.15009    0 0.00358357  0.00330528  0.999818    -0.0184243     uwb: 0.0            1243.87  540.361  
imu_odom_:  1691062841.105948866  0.397437   -0.0574608 9.80904    -0.0617853  0.0191748   -0.518784   0.17       -0.53         pose: 0.33057583    4.63673    -4.15789    0 0.00336324  0.00154958  0.999939    -0.0104377     uwb: 0.49801757     1244.81  541.499  
imu_odom_:  1691062841.131882621  0.885855   0.0502782  9.75158    -0.0468716  -0.0862864  -0.539024   0.23       -0.73         pose: 0.43165275    4.62897    -4.15159    0 0.00323744  0.00354993  0.999988    0.00137236     uwb: 0.0            1244.81  541.499  
imu_odom_:  1691062841.148885197  1.1564     -0.241814  9.36851    -0.0969391  -0.0117179  -0.502805   0.16       -0.55         pose: 0.0           4.62897    -4.15159    0 0.00323744  0.00354993  0.999988    0.00137236     uwb: 0.49952539     1245.44  543.196  
imu_odom_:  1691062841.166969791  1.06063    -0.0095768110.1299    -0.0777643  0.0351537   -0.432497   0.22       -0.67         pose: 0.6882925     4.62897    -4.15159    0 0.00413686  0.00387575  0.999978    0.00336311     uwb: 0.0            1245.44  543.196  
imu_odom_:  1691062841.183910246  0.287304   -0.52433   9.6199     -0.072438   0.0276969   -0.438889   0.22       -0.67         pose: 0.0           4.62897    -4.15159    0 0.00413686  0.00387575  0.999978    0.00336311     uwb: 0.0            1245.44  543.196  
imu_odom_:  1691062841.198814113  -0.102951  -0.0933739 9.71328    -0.0511327  0.0351537   -0.475108   0.22       -0.67         pose: 0.0           4.62897    -4.15159    0 0.00413686  0.00387575  0.999978    0.00336311     uwb: 0.50033619     1245.92  544.225  
imu_odom_:  1691062841.215694196  -0.275333  0.428562   9.8282     -0.0585895  0.0181095   -0.400539   0.19       -0.41         pose: 0.44081346    4.61489    -4.1531     0 0.00895105  0.00423765  0.999833    0.0153687      uwb: 0.0            1245.92  544.225  
imu_odom_:  1691062841.232943798  -0.316035  -0.268151  9.96706    -0.0713727  -0.0340885  -0.267381   0.19       -0.41         pose: 0.0           4.61489    -4.1531     0 0.00895105  0.00423765  0.999833    0.0153687      uwb: 0.0            1245.92  544.225  
imu_odom_:  1691062841.249952207  0.316035   -0.742203  9.33499    -0.056459   -0.0916127  -0.276969   0.23       -0.44         pose: 0.76030661    4.60333    -4.15143    0 0.0035858   0.00382835  0.999474    0.0320008      uwb: 0.50147069     1243.83  544.302  
imu_odom_:  1691062841.266971990  0.986411   -0.19393   10.0868    -0.0788296  0.0276969   -0.265251   0.23       -0.44         pose: 0.0           4.60333    -4.15143    0 0.0035858   0.00382835  0.999474    0.0320008      uwb: 0.0            1243.83  544.302  
imu_odom_:  1691062841.283945693  0.28491    -0.184354  9.54329    -0.056459   -0.0170442  -0.219444   0.23       -0.44         pose: 0.0           4.60333    -4.15143    0 0.0035858   0.00382835  0.999474    0.0320008      uwb: 0.0            1243.83  544.302  
imu_odom_:  1691062841.300814985  0.0215478  -0.457293  9.87848    -0.0809601  0.00852212  -0.218379   0.18       -0.29         pose: 0.7013002     4.60082    -4.1546     0 0.00369465  0.00314338  0.99944     0.0331098      uwb: 0.0            1243.83  544.302  
imu_odom_:  1691062841.317759231  -0.0837971 -0.304064  10.0317    -0.0319579  -0.015979   -0.232228   0.18       -0.23         pose: 0.0           4.60082    -4.1546     0 0.00369465  0.00314338  0.99944     0.0331098      uwb: 0.0            1243.83  544.302  
imu_odom_:  1691062841.332683804  0.117316   0.100556   10.0892    -0.0319579  0.00106526  -0.2024     0.18       -0.23         pose: 0.68905083    4.59305    -4.14831    0 0.00133441  0.000769778 0.999085    0.0427461      uwb: 0.0            1243.83  544.302  
imu_odom_:  1691062841.348671149  0.756568   -0.339977  9.34936    -0.0628506  -0.00213053 -0.166181   0.18       -0.23         pose: 0.0           4.59305    -4.14831    0 0.00133441  0.000769778 0.999085    0.0427461      uwb: 0.99950869     1241.85  544.183  
imu_odom_:  1691062841.364731405  0.363919   -0.42138   10.1323    -0.0596548  0.0223706   -0.183225   0.17       -0.2          pose: 0.0           4.59305    -4.14831    0 0.00133441  0.000769778 0.999085    0.0427461      uwb: 0.0            1241.85  544.183  
imu_odom_:  1691062841.381687025  0.399832   0.023942   9.70131    -0.0511327  0.00213053  -0.165116   0.17       -0.2          pose: 0.30885086    4.58677    -4.1561     0 9.99164e-05 0.0016773   0.998918    0.0464842      uwb: 0.0            1241.85  544.183  
imu_odom_:  1691062841.399745664  -0.0861913 -0.117316  9.51935    -0.0607201  -0.0191748  -0.147006   0.18       -0.17         pose: 0.41940056    4.5789     -4.14982    0 0.000197819 0.001413    0.998702    0.0509195      uwb: 0.49989871     1242.61  545.626  
imu_odom_:  1691062841.413669880  0.694318   -0.196325  10.3501    -0.0511327  -0.0383495  -0.148072   0.18       -0.17         pose: 0.0           4.5789     -4.14982    0 0.000197819 0.001413    0.998702    0.0509195      uwb: 0.0            1242.61  545.626  
imu_odom_:  1691062841.429727220  1.02232    -0.177171  9.32302    -0.0692422  -0.0394148  -0.107592   0.18       -0.17         pose: 0.0           4.5789     -4.14982    0 0.000197819 0.001413    0.998702    0.0509195      uwb: 0.0            1242.61  545.626  
imu_odom_:  1691062841.444665793  1.10852    0.232238   10.2352    -0.056459   0.00532632  -0.0532632  0.14       -0.17         pose: 0.8006651     4.57897    -4.14985    0 -0.0005305660.00154275  0.998663    0.0516667      uwb: 0.49907042     1239.66  545.442  
imu_odom_:  1691062841.459727442  1.16598    -0.52433   9.88566    -0.0585895  -0.0894822  -0.052198   0.14       -0.17         pose: 0.0           4.57897    -4.14985    0 -0.0005305660.00154275  0.998663    0.0516667      uwb: 0.0            1239.66  545.442  
imu_odom_:  1691062841.475724411  1.49877    -0.035913  10.0556    -0.0458064  -0.0607201  -0.135289   0.14       -0.17         pose: 0.0           4.57897    -4.14985    0 -0.0005305660.00154275  0.998663    0.0516667      uwb: 0.0            1239.66  545.442  
imu_odom_:  1691062841.492751194  1.80762    0.299275   9.93594    -0.0692422  -0.0213053  -0.144876   0.11       -0.14         pose: 0.47037504    4.57117    -4.1436     0 0.00263751  0.00172852  0.998459    0.0554096      uwb: 0.50040035     1239.05  546.606  
imu_odom_:  1691062841.509786726  1.16837    -0.0885855 9.72046    -0.072438   -0.0191748  -0.0713727  0.14       -0.23         pose: 0.0           4.57117    -4.1436     0 0.00263751  0.00172852  0.998459    0.0554096      uwb: 0.0            1239.05  546.606  
imu_odom_:  1691062841.526785510  0.742203   -0.667982  9.92636    -0.0372843  0.00745685  -0.0958738  0.14       -0.23         pose: 0.62948436    4.56485    -4.15135    0 0.00978412  0.00188744  0.99816     0.0598097      uwb: 0.0            1239.05  546.606  
imu_odom_:  1691062841.542763813  0.634463   -0.0694318 9.92397    -0.0319579  -0.0394148  -0.143811   0.09       -0.14         pose: 0.0           4.56485    -4.15135    0 0.00978412  0.00188744  0.99816     0.0598097      uwb: 0.49979080     1237.93  546.813  
imu_odom_:  1691062841.560785412  0.723049   0.126893   9.78989    -0.0639159  -0.0266316  -0.0980043  0.09       -0.14         pose: 0.0           4.56485    -4.15135    0 0.00978412  0.00188744  0.99816     0.0598097      uwb: 0.0            1237.93  546.813  
imu_odom_:  1691062841.577893565  0.893037   -0.471658  10.0676    -0.072438   -0.00426106 -0.0575243  0.09       -0.14         pose: 0.34109271    4.55703    -4.14512    0 0.0113419   0.00114892  0.998002    0.0621444      uwb: 0.0            1237.93  546.813  
imu_odom_:  1691062841.593710294  0.634463   -0.407014  9.72764    -0.0383495  -0.0127832  -0.0841559  0.07       -0.08         pose: 0.35053339    4.55703    -4.14512    0 0.0129613   0.00297711  0.997822    0.0646104      uwb: 0.50236023     1236.12  546.424  
imu_odom_:  1691062841.609664682  0.675165   0.0885855  9.88566    -0.0479369  -0.00106526 -0.0692422  0.07       -0.08         pose: 0.0           4.55703    -4.14512    0 0.0129613   0.00297711  0.997822    0.0646104      uwb: 0.0            1236.12  546.424  
imu_odom_:  1691062841.636646625  0.749385   -0.316035  9.77313    -0.0607201  0.0106526   -0.0181095  0.06       -0.08         pose: 0.40822456    4.55703    -4.14512    0 0.0134203   0.00237396  0.997668    0.0668787      uwb: 0.0            1236.12  546.424  
imu_odom_:  1691062841.653710155  0.225055   -0.567426  9.55765    -0.0553937  0.0383495   -0.0745685  0.06       -0.08         pose: 0.0           4.55703    -4.14512    0 0.0134203   0.00237396  0.997668    0.0668787      uwb: 0.49754509     1237.06  547.501  
imu_odom_:  1691062841.670833474  -0.986411  0.296881   9.97185    -0.0191748  0.109722    -0.116114   0.08       -0.05         pose: 0.8001401     4.55703    -4.14512    0 0.0136972   0.00163459  0.997651    0.0670983      uwb: 0.0            1237.06  547.501  
imu_odom_:  1691062841.686646995  -1.47243   -0.299275  9.84017    -0.0639159  0.00426106  -0.0127832  0.09       0             pose: 0.0           4.55703    -4.14512    0 0.0136972   0.00163459  0.997651    0.0670983      uwb: 0.0            1237.06  547.501  
imu_odom_:  1691062841.702697044  -0.462081  -0.617704  9.90721    -0.0649811  -0.0884169  0.00532632  0.1        -0.02         pose: 0.0           4.55703    -4.14512    0 0.0136972   0.00163459  0.997651    0.0670983      uwb: 0.50056951     1237.42  548.747  
imu_odom_:  1691062841.718706553  0.909797   -0.229843  10.3118    -0.0181095  -0.076699   -0.0287621  0.1        -0.02         pose: 0.75994205    4.54298    -4.14665    0 0.0080288   -0.0003450750.997483    0.0704455      uwb: 0.0            1237.42  548.747  
imu_odom_:  1691062841.735642633  0.92895    0.19393    9.52653    -0.0660464  -0.015979   0.0319579   0.1        -0.02         pose: 0.0           4.54298    -4.14665    0 0.0080288   -0.0003450750.997483    0.0704455      uwb: 0.0            1237.42  548.747  
imu_odom_:  1691062841.751639018  0.225055   -0.296881  9.44034    -0.0628506  0.0340885   0.0213053   0.12       -0.02         pose: 0.0           4.54298    -4.14665    0 0.0080288   -0.0003450750.997483    0.0704455      uwb: 0.49776383     1235.8   548.96   
imu_odom_:  1691062841.767692859  -0.260968  -0.160412  10.4315    -0.04048    0.00745685  -0.0308927  0.12       -0.02         pose: 0.32047017    4.54298    -4.14665    0 0.0102648   -0.0001348270.997411    0.0711719      uwb: 0.0            1235.8   548.96   
imu_odom_:  1691062841.784684643  0.122104   -0.0837971 10.2137    -0.0585895  -0.0308927  0.00958738  0.12       -0.05         pose: 0.41985554    4.53523    -4.14032    0 0.0074537   0.000482935 0.997382    0.0719277      uwb: 0.0            1235.8   548.96   
imu_odom_:  1691062841.801617515  0.699107   -0.174777  10.0987    -0.0628506  -0.0245011  0.0266316   0.12       -0.05         pose: 0.0           4.53523    -4.14032    0 0.0074537   0.000482935 0.997382    0.0719277      uwb: 0.50151445     1236.32  549.871  
imu_odom_:  1691062841.817677188  0.622492   -0.186748  9.64863    -0.0660464  0.0181095   0.0117179   0.12       -0.05         pose: 0.0           4.53523    -4.14032    0 0.0074537   0.000482935 0.997382    0.0719277      uwb: 0.0            1236.32  549.871  
imu_odom_:  1691062841.833684948  0.37589    0.0023942  10.1083    -0.0458064  0.0276969   -0.0213053  0.18       -0.02         pose: 0.7994109     4.53523    -4.14032    0 0.00679995  0.000717259 0.997378    0.0720501      uwb: 0.0            1236.32  549.871  
imu_odom_:  1691062841.850615778  -0.11971   0.126893   9.96946    -0.0735032  -0.00319579 0.0298274   0.13       -0.05         pose: 0.0           4.53523    -4.14032    0 0.00679995  0.000717259 0.997378    0.0720501      uwb: 0.49997454     1233.17  549.209  
imu_odom_:  1691062841.867616312  -0.0407014 -0.543484  9.5792     -0.0649811  0.0170442   0.0213053   0.13       -0.05         pose: 0.65995298    4.52118    -4.14184    0 0.0072591   0.00225392  0.997299    0.0730567      uwb: 0.0            1233.17  549.209  
imu_odom_:  1691062841.883620864  0.126893   -0.143652  9.56244    -0.0532632  -0.0213053  0.00639159  0.14       0             pose: 0.0           4.52118    -4.14184    0 0.0072591   0.00225392  0.997299    0.0730567      uwb: 0.0            1233.17  549.209  
imu_odom_:  1691062841.900615273  0.323217   -0.0167594 9.66779    -0.0628506  -0.0181095  0.0138484   0.14       0             pose: 0.0           4.52118    -4.14184    0 0.0072591   0.00225392  0.997299    0.0730567      uwb: 0.49924249     1232.39  549.757  
imu_odom_:  1691062841.916671738  0.876278   0.172383   10.0604    -0.0649811  -0.0692422  0.0266316   0.14       0             pose: 0.33935739    4.52118    -4.14184    0 0.00407841  0.00179458  0.997293    0.0733945      uwb: 0.0            1232.39  549.757  
imu_odom_:  1691062841.933609568  1.01035    -0.234632  9.55047    -0.0841559  -0.0298274  0.0553937   0.18       -0.08         pose: 0.41053733    4.51703    -4.13849    0 0.00429546  0.00394811  0.997252    0.0738569      uwb: 0.0            1232.39  549.757  
imu_odom_:  1691062841.950776634  1.20428    -0.215478  10.3741    -0.0713727  0           0.0990696   0.18       -0.08         pose: 0.6964004     4.51341    -4.13556    0 0.00505111  0.00366182  0.997254    0.0737991      uwb: 0.50019911     1232.12  550.279  
imu_odom_:  1691062841.965832158  1.75734    -0.3304    10.5201    -0.0617853  -0.0948085  0.103331    0.18       -0.08         pose: 0.0           4.51341    -4.13556    0 0.00505111  0.00366182  0.997254    0.0737991      uwb: 0.0            1232.12  550.279  
imu_odom_:  1691062841.982771446  1.66636    -0.011971  9.64624    -0.0415453  -0.0138484  0.0458064   0.09       -0.02         pose: 0.42196416    4.50712    -4.14333    0 0.00992487  0.00235522  0.997301    0.0727157      uwb: 0.0            1232.12  550.279  
imu_odom_:  1691062841.996706745  1.14443    -0.0191536 9.91199    -0.0745685  0.0213053   0.0127832   0.1        -0.05         pose: 0.0           4.50712    -4.14333    0 0.00992487  0.00235522  0.997301    0.0727157      uwb: 0.49975289     1232.15  551.191  
imu_odom_:  1691062842.13640200   0.462081   -0.134075  9.92636    -0.0798948  0.0181095   -0.00532632 0.1        -0.05         pose: 0.0           4.50712    -4.14333    0 0.00992487  0.00235522  0.997301    0.0727157      uwb: 0.0            1232.15  551.191  
imu_odom_:  1691062842.35748099   0.699107   -0.442927  10.228     -0.0585895  -0.0223706  -0.0447411  0.09       0             pose: 0.22895644    4.50712    -4.14333    0 0.0122144   0.00261867  0.997273    0.072737       uwb: 0.0            1232.15  551.191  
imu_odom_:  1691062842.50767459   0.538695   -0.1652    9.77792    -0.0649811  -0.00852212 -0.0436758  0.09       0             pose: 0.0           4.50712    -4.14333    0 0.0122144   0.00261867  0.997273    0.072737       uwb: 0.50029244     1232.22  551.999  
imu_odom_:  1691062842.77783234   -1.10852   0.0454898  9.94551    -0.0415453  0.103331    -0.0852212  0.09       -0.02         pose: 0.62039657    4.49928    -4.13713    0 0.0102092   0.000919571 0.997148    0.0747703      uwb: 0.0            1232.22  551.999  
imu_odom_:  1691062842.103776194  -0.948104  -0.713472  10.1323    -0.0649811  -0.0607201  0.056459    0.09       -0.02         pose: 0.7926447     4.49928    -4.13713    0 0.00901129  0.00117414  0.997122    0.0752654      uwb: 0.50168070     1234.21  553.907  
imu_odom_:  1691062842.130892879  0.866701   -0.169988  9.65342    -0.015979   -0.0276969  0.0127832   0.14       0             pose: 0.45082288    4.49928    -4.13713    0 0.0043489   0.000892727 0.997079    0.076242       uwb: 0.0            1234.21  553.907  
imu_odom_:  1691062842.156642312  0.543484   -0.035913  9.8258     -0.0862864  0.0468716   0.076699    0.14       0             pose: 0.0           4.49928    -4.13713    0 0.0043489   0.000892727 0.997079    0.076242       uwb: 0.49865337     1234.02  554.26   
imu_odom_:  1691062842.173720426  -0.280122  -0.328006  9.75158    -0.0383495  0.0319579   0.00532632  0.17       -0.02         pose: 0.52866118    4.48927    -4.13823    0 0.00690597  0.00357022  0.997067    0.0761421      uwb: 0.0            1234.02  554.26   
imu_odom_:  1691062842.189746268  -0.153229  -0.248997  9.46667    -0.0575243  -0.0351537  0.0330232   0.17       -0.02         pose: 0.0           4.48927    -4.13823    0 0.00690597  0.00357022  0.997067    0.0761421      uwb: 0.0            1234.02  554.26   
imu_odom_:  1691062842.206635684  0.143652   -0.37589   9.5385     -0.0500674  -0.0628506  0.0628506   0.18       0             pose: 0.0           4.48927    -4.13823    0 0.00690597  0.00357022  0.997067    0.0761421      uwb: 0.50061326     1234.25  554.777  
imu_odom_:  1691062842.232667725  0.641646   -0.0790087 9.94551    -0.0436758  0.036219    0.0372843   0.18       0             pose: 0.40018963    4.48522    -4.13868    0 0.00317662  0.00294546  0.997067    0.0764167      uwb: 0.0            1234.25  554.777  
imu_odom_:  1691062842.256625264  0.0430956  -0.035913  9.81144    -0.04048    -0.0596548  0.0436758   0.19       0             pose: 0.36006450    4.4796     -4.13418    0 0.00455883  0.00349093  0.997066    0.0763267      uwb: 0.49947875     1233.51  555.238  
imu_odom_:  1691062842.280634425  0.37589    -0.277727  9.8258     -0.0490022  0.0394148   0.0234358   0.19       0             pose: 0.6985878     4.47741    -4.13243    0 0.0040897   0.0037399   0.997068    0.0763163      uwb: 0.0            1233.51  555.238  
imu_odom_:  1691062842.296817758  0.459687   -0.134075  9.57202    -0.0479369  -0.00426106 0.0383495   0.15       0.02          pose: 0.40980822    4.4732     -4.13769    0 0.00117335  0.00241315  0.997067    0.0764819      uwb: 0.50038286     1235.58  556.944  
imu_odom_:  1691062842.314767028  0.505177   -0.114922  10.24      -0.0532632  0.0191748   0.0298274   0.15       0.02          pose: 0.0           4.4732     -4.13769    0 0.00117335  0.00241315  0.997067    0.0764819      uwb: 0.0            1235.58  556.944  
imu_odom_:  1691062842.331816560  0.600945   -0.0766145 10.1394    -0.0628506  -0.015979   0.0383495   0.15       0.02          pose: 0.0           4.4732     -4.13769    0 0.00117335  0.00241315  0.997067    0.0764819      uwb: 0.0            1235.58  556.944  
imu_odom_:  1691062842.354591753  0.268151   -0.368707  9.81862    -0.0681769  -0.0266316  0.0458064   0.15       0             pose: 0.8190099     4.47116    -4.14023    0 0.00183096  0.00293588  0.997065    0.0764857      uwb: 0.49947582     1235.28  557.504  
imu_odom_:  1691062842.380608628  0.395043   -0.011971  10.0245    -0.0692422  -0.0138484  0.036219    0.15       0             pose: 0.32952589    4.46336    -4.13398    0 0.00465711  0.00428104  0.997044    0.0765734      uwb: 0.0            1235.28  557.504  
imu_odom_:  1691062842.397699574  0.416591   -0.201113  9.78989    -0.052198   -0.0266316  0.0383495   0.15       0             pose: 0.0           4.46336    -4.13398    0 0.00465711  0.00428104  0.997044    0.0765734      uwb: 0.49877879     1236.72  558.514  
imu_odom_:  1691062842.423784112  0.407014   -0.42138   9.69891    -0.0500674  -0.0234358  0.0266316   0.16       0.02          pose: 0.41035361    4.46336    -4.13398    0 0.0038763   0.00351646  0.997054    0.0765264      uwb: 0.0            1236.72  558.514  
imu_odom_:  1691062842.450650854  0.299275   -0.433351  9.79228    -0.0511327  0.0340885   0.0500674   0.16       0.02          pose: 0.0           4.46336    -4.13398    0 0.0038763   0.00351646  0.997054    0.0765264      uwb: 0.0            1236.72  558.514  
imu_odom_:  1691062842.467659554  -0.0885855 -0.117316  9.66539    -0.0181095  -0.0223706  0.0330232   0.17       0             pose: 0.42831629    4.45556    -4.12773    0 0.00240419  0.00272098  0.997053    0.0766275      uwb: 0.0            1236.72  558.514  
imu_odom_:  1691062842.491932075  0.0407014  -0.0454898 9.92875    -0.0500674  0.0479369   0.0490022   0.17       0             pose: 0.0           4.45556    -4.12773    0 0.00240419  0.00272098  0.997053    0.0766275      uwb: 0.99972161     1236.69  558.576  
imu_odom_:  1691062842.517677133  0.380678   0          10.3406    -0.0585895  -0.0479369  0.0426106   0.17       0             pose: 0.53015735    4.4415     -4.12927    0 -0.000553932-0.0007281620.99706     0.0766233      uwb: 0.0            1236.69  558.576  
imu_odom_:  1691062842.544655868  0.715866   -0.1652    9.83538    -0.0681769  -0.0287621  0.0607201   0.17       0             pose: 0.0           4.4415     -4.12927    0 -0.000553932-0.0007281620.99706     0.0766233      uwb: 0.50035661     1236.45  559.032  
imu_odom_:  1691062842.560626880  0.651223   -0.423774  10.1849    -0.0692422  0.0191748   0.0511327   0.17       0             pose: 0.41159895    4.4415     -4.12927    0 -0.00354132 0.00181903  0.99706     0.0765201      uwb: 0.0            1236.45  559.032  
imu_odom_:  1691062842.577628582  0.11971    0.0047884  9.71328    -0.0628506  0.0117179   0.0490022   0.17       0             pose: 0.0           4.4415     -4.12927    0 -0.00354132 0.00181903  0.99706     0.0765201      uwb: 0.0            1236.45  559.032  
imu_odom_:  1691062842.594844353  0.217872   -0.174777  10.0724    -0.052198   -0.00426106 0.0479369   0.17       0             pose: 0.0           4.4415     -4.12927    0 -0.00354132 0.00181903  0.99706     0.0765201      uwb: 0.50260814     1235.33  559.262  
imu_odom_:  1691062842.619658467  0.577003   -0.117316  9.79707    -0.0617853  0.0106526   0.0298274   0.17       0             pose: 0.52843661    4.42744    -4.13083    0 0.000891281 0.00224052  0.997094    0.0761461      uwb: 0.0            1235.33  559.262  
imu_odom_:  1691062842.636650835  0.0574608  -0.0790087 9.62708    -0.056459   -0.0490022  0.0298274   0.17       0             pose: 0.0           4.42744    -4.13083    0 0.000891281 0.00224052  0.997094    0.0761461      uwb: 0.0            1235.33  559.262  
imu_odom_:  1691062842.659612100  0.217872   -0.186748  10.2687    -0.0649811  -0.0234358  0.0596548   0.17       0             pose: 0.73961410    4.41964    -4.12458    0 -0.0002035720.00308095  0.997095    0.0761034      uwb: 0.49850755     1235.32  560.214  
imu_odom_:  1691062842.684710280  0.658405   -0.0407014 9.80904    -0.0692422  0.02024     0.0415453   0.18       0             pose: 0.0           4.41964    -4.12458    0 -0.0002035720.00308095  0.997095    0.0761034      uwb: 0.0            1235.32  560.214  
imu_odom_:  1691062842.701742021  0.150835   -0.481235  9.89524    -0.0703074  0.0245011   0.0426106   0.18       0             pose: 0.32987296    4.41011    -4.12564    0 -0.00299554 0.00286703  0.997104    0.0759341      uwb: 0.50008538     1233.78  560.325  
imu_odom_:  1691062842.717923021  0.198719   -0.316035  10.4722    -0.0500674  0           0.0276969   0.18       0             pose: 0.0           4.41011    -4.12564    0 -0.00299554 0.00286703  0.997104    0.0759341      uwb: 0.0            1233.78  560.325  
imu_odom_:  1691062842.744588233  0.708684   -0.174777  9.92875    -0.0436758  -0.0394148  0.04048     0.24       0             pose: 0.8053898     4.40558    -4.12614    0 -0.00232592 0.0030522   0.997106    0.0759229      uwb: 0.50079116     1233.17  560.557  
imu_odom_:  1691062842.770614441  0.574608   0.0837971  10.3765    -0.0543285  0.00852212  0.036219    0.18       0             pose: 0.58077601    4.39777    -4.1199     0 -0.0026242  0.00109523  0.997106    0.0759742      uwb: 0.0            1233.17  560.557  
imu_odom_:  1691062842.797636340  0.155623   -0.105345  9.44991    -0.0585895  -0.00426106 0.0511327   0.24       0             pose: 0.0           4.39777    -4.1199     0 -0.0026242  0.00109523  0.997106    0.0759742      uwb: 0.0            1233.17  560.557  
imu_odom_:  1691062842.822599195  0.385466   -0.0430956 10.1227    -0.0330232  0.0223706   0.0394148   0.19       0             pose: 0.51990295    4.38371    -4.12146    0 0.000338636 0.00341216  0.997104    0.0759666      uwb: 0.0            1233.17  560.557  
imu_odom_:  1691062842.849580263  0.483629   -0.0814029 10.2424    -0.0532632  -0.04048    0.0372843   0.19       0             pose: 0.0           4.38371    -4.12146    0 0.000338636 0.00341216  0.997104    0.0759666      uwb: 0.99888458     1234.03  561.708  
imu_odom_:  1691062842.865599981  0.435745   -0.543484  9.19373    -0.0553937  -0.0170442  0.0330232   0.2        -0.02         pose: 0.71846369    4.37816    -4.11702    0 0.00197468  0.00642106  0.997095    0.0758689      uwb: 0.0            1234.03  561.708  
imu_odom_:  1691062842.892645212  -0.047884  -0.265756  9.65821    -0.0426106  -0.0266316  0.0426106   0.2        -0.02         pose: 0.8074313     4.3759     -4.11522    0 0.00197505  0.00561139  0.997098    0.0758948      uwb: 0.50001538     1232.52  561.781  
imu_odom_:  1691062842.918632922  0.304064   0.0670376  9.81144    -0.052198   -0.0138484  0.0383495   0.18       0.02          pose: 0.34990636    4.36412    -4.1186     0 -0.0003507490.00437976  0.997106    0.0758923      uwb: 0.0            1232.52  561.781  
imu_odom_:  1691062842.945710235  0.454898   -0.272939  9.97903    -0.0628506  0.0170442   0.0479369   0.18       0.02          pose: 0.0           4.36412    -4.1186     0 -0.0003507490.00437976  0.997106    0.0758923      uwb: 0.49907044     1235.96  564.508  
imu_odom_:  1691062842.961703996  0.282516   -0.146046  10.1634    -0.0372843  0.00532632  0.0458064   0.2        0             pose: 0.33962571    4.36185    -4.11679    0 -0.0009021210.0060928   0.997098    0.0758762      uwb: 0.0            1235.96  564.508  
imu_odom_:  1691062842.988703146  0.430956   -0.265756  9.92397    -0.0458064  -0.0468716  0.052198    0.2        0             pose: 0.0           4.36185    -4.11679    0 -0.0009021210.0060928   0.997098    0.0758762      uwb: 0.0            1235.96  564.508  
imu_odom_:  1691062843.13571215   0.651223   -0.222661  10.1993    -0.0319579  0.0223706   0.0415453   0.23       0             pose: 0.42324160    4.35403    -4.11054    0 -0.00167522 0.00363945  0.997122    0.0757058      uwb: 0.49984330     1237.17  565.891  
imu_odom_:  1691062843.40649111   0.775721   -0.186748  9.8689     -0.0372843  0.00106526  0.0436758   0.2        0             pose: 0.44639272    4.34779    -4.11836    0 0.00171184  0.00161691  0.997139    0.0755548      uwb: 0.0            1237.17  565.891  
imu_odom_:  1691062843.65590384   0.675165   0.059855   10.2615    -0.0511327  0.0266316   0.0543285   0.2        0             pose: 0.8076063     4.34779    -4.11836    0 0.00250132  0.00161585  0.997139    0.0755366      uwb: 0.50093408     1238.92  568.085  
imu_odom_:  1691062843.92645241   0.507571   -0.0430956 9.98143    -0.0490022  -0.0127832  0.0500674   0.23       0             pose: 0.43943106    4.33998    -4.11212    0 0.00567359  0.00352925  0.997138    0.0753136      uwb: 0.49966541     1238.59  568.681  
imu_odom_:  1691062843.108602254  0.380678   -0.385466  9.73004    -0.0596548  0.0330232   0.056459    0.23       0             pose: 0.0           4.33998    -4.11212    0 0.00567359  0.00352925  0.997138    0.0753136      uwb: 0.0            1238.59  568.681  
imu_odom_:  1691062843.135669068  0.411803   -0.0502782 9.90242    -0.0585895  0.00745685  0.0490022   0.25       0             pose: 0.43011870    4.32592    -4.1137     0 0.00491316  0.00487543  0.997156    0.0750469      uwb: 0.0            1238.59  568.681  
imu_odom_:  1691062843.160676545  0.754174   -0.289698  10.4603    -0.0575243  0.0245011   0.0543285   0.25       0             pose: 0.0           4.32592    -4.1137     0 0.00491316  0.00487543  0.997156    0.0750469      uwb: 0.49965667     1238.52  569.691  
imu_odom_:  1691062843.187565745  0.622492   -0.169988  9.8689     -0.0756338  0.0245011   0.0500674   0.23       0             pose: 0.52074291    4.32035    -4.10927    0 0.00430908  0.0050569   0.997181    0.0747345      uwb: 0.0            1238.52  569.691  
imu_odom_:  1691062843.212696006  0.940921   -0.407014  10.1347    -0.0894822  0.036219    0.0479369   0.19       0             pose: 0.0           4.32035    -4.10927    0 0.00430908  0.0050569   0.997181    0.0747345      uwb: 0.49985790     1238.19  570.287  
imu_odom_:  1691062843.230735688  0.325611   -0.229843  9.79228    -0.0671117  -0.0543285  0.0500674   0.19       0             pose: 0.34915683    4.31188    -4.1153     0 0.00676385  0.00297615  0.997191    0.0745365      uwb: 0.0            1238.19  570.287  
imu_odom_:  1691062843.246681327  0.318429   0.318429   9.93833    -0.0468716  -0.0213053  0.104396    0.19       0             pose: 0.0           4.31188    -4.1153     0 0.00676385  0.00297615  0.997191    0.0745365      uwb: 0.50117032     1236.12  570.509  
imu_odom_:  1691062843.261556030  0.28491    -0.536301  9.67736    -0.0553937  -0.00319579 0.174703    0.18       0.08          pose: 0.42094340    4.30405    -4.10908    0 0.00626355  0.00188897  0.997226    0.0741424      uwb: 0.0            1236.12  570.509  
imu_odom_:  1691062843.278566189  0.64404    -0.490811  9.79468    -0.0415453  -0.0308927  0.248207    0.18       0.08          pose: 0.0           4.30405    -4.10908    0 0.00626355  0.00188897  0.997226    0.0741424      uwb: 0.0            1236.12  570.509  
imu_odom_:  1691062843.292613482  0.742203   -0.280122  9.96467    -0.0532632  -0.00852212 0.28123     0.18       0.08          pose: 0.0           4.30405    -4.10908    0 0.00626355  0.00188897  0.997226    0.0741424      uwb: 0.49936501     1237.42  572.571  
imu_odom_:  1691062843.307550598  0.512359   -0.414197  9.54568    -0.0372843  0.0181095   0.318514    0.19       0.23          pose: 0.47001925    4.29621    -4.10286    0 0.00660302  -0.0001901050.997502    0.0703317      uwb: 0.0            1237.42  572.571  
imu_odom_:  1691062843.324685291  0.368707   -0.203507  9.86411    -0.0436758  0.052198    0.383495    0.19       0.23          pose: 0.0           4.29621    -4.10286    0 0.00660302  -0.0001901050.997502    0.0703317      uwb: 0.0            1237.42  572.571  
imu_odom_:  1691062843.342686475  0.272939   -0.229843  9.28471    -0.0607201  -0.0266316  0.416518    0.18       0.41          pose: 0.39996798    4.28557    -4.10716    0 0.0047433   -0.00123106 0.997916    0.0643453      uwb: 0.50063368     1238.27  574.551  
imu_odom_:  1691062843.356674564  -0.0191536 -0.557849  9.99579    -0.0340885  -0.0692422  0.448476    0.18       0.41          pose: 0.0           4.28557    -4.10716    0 0.0047433   -0.00123106 0.997916    0.0643453      uwb: 0.0            1238.27  574.551  
imu_odom_:  1691062843.371552183  0.100556   -0.0981623 10.0533    -0.0490022  -0.072438   0.485761    0.18       0.41          pose: 0.0           4.28557    -4.10716    0 0.0047433   -0.00123106 0.997916    0.0643453      uwb: 0.0            1238.27  574.551  
imu_odom_:  1691062843.388568758  0.799663   -0.241814  9.31584    -0.0394148  0.0894822   0.510262    0.23       0.58          pose: 0.8022400     4.28217    -4.10444    0 0.00402923  -0.00120753 0.998015    0.0628359      uwb: 0.0            1238.27  574.551  
imu_odom_:  1691062843.406575192  0.1652     -0.811634  9.1674     -0.0170442  0.0649811   0.516653    0.23       0.58          pose: 0.0           4.28217    -4.10444    0 0.00402923  -0.00120753 0.998015    0.0628359      uwb: 0.49939710     1237.84  575.309  
imu_odom_:  1691062843.420688106  0.452504   0.023942   10.0389    -0.0500674  0.0884169   0.532632    0.23       0.58          pose: 0.0           4.28217    -4.10444    0 0.00402923  -0.00120753 0.998015    0.0628359      uwb: 0.0            1237.84  575.309  
imu_odom_:  1691062843.436689159  0.366313   -0.818817  9.64624    -0.052198   0.0426106   0.616788    0.17       0.55          pose: 0.45949654    4.28217    -4.10444    0 0.00193541  -0.00108584 0.998586    0.0531148      uwb: 0.0            1237.84  575.309  
imu_odom_:  1691062843.453586450  -0.0933739 -0.622492  9.73482    -0.04048    -0.0223706  0.599744    0.26       0.76          pose: 0.0           4.28217    -4.10444    0 0.00193541  -0.00108584 0.998586    0.0531148      uwb: 0.50131323     1238.01  575.886  
imu_odom_:  1691062843.469569128  0.634463   0.280122   10.0006    -0.0319579  -0.0245011  0.601874    0.26       0.76          pose: 0.0           4.28217    -4.10444    0 0.00193541  -0.00108584 0.998586    0.0531148      uwb: 0.0            1238.01  575.886  
imu_odom_:  1691062843.486548956  0.778116   -0.023942  9.60554    -0.0351537  -0.052198   0.611462    0.23       0.79          pose: 0.64995526    4.26811    -4.10594    0 -0.000568251-0.00269864 0.999332    0.0364538      uwb: 0.0            1238.01  575.886  
imu_odom_:  1691062843.504624219  1.02472    0.0167594  10.0509    -0.0223706  -0.0671117  0.611462    0.23       0.79          pose: 0.0           4.26811    -4.10594    0 -0.000568251-0.00269864 0.999332    0.0364538      uwb: 0.49860380     1234.83  575.488  
imu_odom_:  1691062843.518591600  1.22583    -0.126893  9.74201    -0.0394148  -0.0383495  0.612527    0.23       0.79          pose: 0.32896302    4.2603     -4.09969    0 0.000340468 -0.00116623 0.99963     0.0271857      uwb: 0.0            1234.83  575.488  
imu_odom_:  1691062843.535663297  1.26653    -0.481235  9.24401    -0.0532632  -0.0436758  0.597613    0.13       0.41          pose: 0.42042427    4.25013    -4.10434    0 0.00535528  0.000538485 0.999871    0.015161       uwb: 0.0            1234.83  575.488  
imu_odom_:  1691062843.549625721  1.43173    -0.172383  9.72764    -0.0426106  0.00852212  0.502805    0.13       0.41          pose: 0.7984486     4.24623    -4.10124    0 0.0062613   0.00024848  0.999897    0.0129315      uwb: 0.50052286     1234.98  576.966  
imu_odom_:  1691062843.565593817  1.51792    0.246603   10.0149    -0.0660464  -0.0117179  0.413323    0.13       0.41          pose: 0.0           4.24623    -4.10124    0 0.0062613   0.00024848  0.999897    0.0129315      uwb: 0.0            1234.98  576.966  
imu_odom_:  1691062843.582538355  1.08697    0.0574608  9.83538    -0.0660464  0.00319579  0.372843    0.12       0.35          pose: 0.39017731    4.24623    -4.10124    0 0.0101004   0.000613783 0.99994     0.00418303     uwb: 0.0            1234.98  576.966  
imu_odom_:  1691062843.600737860  0.816423   -0.146046  9.5792     -0.0649811  0.0287621   0.322775    0.12       0.35          pose: 0.0           4.24623    -4.10124    0 0.0101004   0.000613783 0.99994     0.00418303     uwb: 0.50072118     1235.41  577.932  
imu_odom_:  1691062843.617598987  0.835576   -0.287304  9.79947    -0.0649811  0.0117179   0.291882    0.1        0.26          pose: 0.0           4.24623    -4.10124    0 0.0101004   0.000613783 0.99994     0.00418303     uwb: 0.0            1235.41  577.932  
imu_odom_:  1691062843.632658304  0.857124   -0.208296  9.82341    -0.0607201  0.0149137   0.279099    0.09       0.29          pose: 0.42016761    4.24623    -4.10124    0 0.013563    0.00118269  0.999905    -0.00207804    uwb: 0.0            1235.41  577.932  
imu_odom_:  1691062843.649657089  0.936133   -0.189142  9.71328    -0.0649811  0.00426106  0.274838    0.09       0.26          pose: 0.0           4.24623    -4.10124    0 0.013563    0.00118269  0.999905    -0.00207804    uwb: 0.49760054     1237.54  580.155  
imu_odom_:  1691062843.667654773  0.758962   -0.0574608 9.88566    -0.0543285  -0.00426106 0.273773    0.09       0.26          pose: 0.32048186    4.23218    -4.10282    0 0.0163857   0.000529065 0.999848    -0.00597155    uwb: 0.0            1237.54  580.155  
imu_odom_:  1691062843.684770801  0.749385   -0.251391  9.90481    -0.0500674  0.0138484   0.255663    0.07       0.2           pose: 0.0           4.23218    -4.10282    0 0.0163857   0.000529065 0.999848    -0.00597155    uwb: 0.0            1237.54  580.155  
imu_odom_:  1691062843.702540707  0.68953    -0.124498  10.1586    -0.052198   -0.015979   0.245011    0.07       0.2           pose: 0.0           4.23218    -4.10282    0 0.0163857   0.000529065 0.999848    -0.00597155    uwb: 0.50189944     1236.22  580.785  
imu_odom_:  1691062843.727640054  0.677559   -0.143652  10.094     -0.0532632  0.0138484   0.217314    0.06       0.2           pose: 0.62881943    4.23212    -4.1028     0 0.0164427   0.00198675  0.99978     -0.012903      uwb: 0.0            1236.22  580.785  
imu_odom_:  1691062843.745635988  0.366313   -0.229843  9.57681    -0.0628506  0.0170442   0.193878    0.06       0.2           pose: 0.7058790     4.23218    -4.10282    0 0.0157848   0.00236218  0.999781    -0.0135231     uwb: 0.49879046     1236.78  582.346  
imu_odom_:  1691062843.762646147  -0.656011  0.00718261 9.76355    -0.0330232  0.118244    0.150202    0.06       0.2           pose: 0.0           4.23218    -4.10282    0 0.0157848   0.00236218  0.999781    -0.0135231     uwb: 0.0            1236.78  582.346  
imu_odom_:  1691062843.776649985  -1.403     -0.102951  10.0533    -0.0553937  0.036219    0.205596    0.08       0.17          pose: 0.42982705    4.23218    -4.10282    0 0.0110571   0.00292627  0.999792    -0.0168802     uwb: 0.0            1236.78  582.346  
imu_odom_:  1691062843.793523361  -0.806846  -0.713472  9.71806    -0.0671117  -0.0798948  0.221575    0.08       0.17          pose: 0.0           4.23218    -4.10282    0 0.0110571   0.00292627  0.999792    -0.0168802     uwb: 0.50065411     1236.36  583.102  
imu_odom_:  1691062843.810575226  0.761356   -0.11971   10.173     -0.0340885  -0.052198   0.166181    0.1        0.14          pose: 0.0           4.23218    -4.10282    0 0.0110571   0.00292627  0.999792    -0.0168802     uwb: 0.0            1236.36  583.102  
imu_odom_:  1691062843.827569053  0.746991   0.225055   9.66539    -0.0639159  -0.0106526  0.198139    0.1        0.14          pose: 0.48942851    4.22438    -4.09657    0 0.00782299  0.00264722  0.999753    -0.0206344     uwb: 0.0            1236.36  583.102  
imu_odom_:  1691062843.844571629  0.251391   -0.107739  9.63666    -0.0841559  0.00426106  0.196009    0.1        0.14          pose: 0.0           4.22438    -4.09657    0 0.00782299  0.00264722  0.999753    -0.0206344     uwb: 0.49984623     1238.22  584.896  
imu_odom_:  1691062843.860568307  -0.0215478 -0.227449  9.7875     -0.0490022  -0.00532632 0.134223    0.12       0.11          pose: 0.43046576    4.21816    -4.1044     0 0.00787725  0.0042837   0.999675    -0.0238607     uwb: 0.0            1238.22  584.896  
imu_odom_:  1691062843.877527428  -0.134075  -0.0383072 9.89763    -0.0585895  -0.0490022  0.16192     0.12       0.11          pose: 0.6998711     4.21816    -4.1044     0 0.00719353  0.00417719  0.999673    -0.0241901     uwb: 0.0            1238.22  584.896  
imu_odom_:  1691062843.895537653  0.742203   -0.543484  9.59117    -0.0681769  -0.0756338  0.190682    0.12       0.11          pose: 0.0           4.21816    -4.1044     0 0.00719353  0.00417719  0.999673    -0.0241901     uwb: 0.49942043     1239.93  586.941  
imu_odom_:  1691062843.909512617  0.383072   -0.268151  9.89045    -0.052198   -0.0117179  0.174703    0.13       0.08          pose: 0.33954114    4.21816    -4.1044     0 0.00572924  0.00350559  0.999633    -0.0262487     uwb: 0.0            1239.93  586.941  
imu_odom_:  1691062843.926523651  0.110133   -0.248997  9.96467    -0.0436758  -0.0170442  0.148072    0.13       0.11          pose: 0.0           4.21816    -4.1044     0 0.00572924  0.00350559  0.999633    -0.0262487     uwb: 0.0            1239.93  586.941  
imu_odom_:  1691062843.943517478  0.0407014  0.0526724  10.319     -0.0660464  -0.0234358  0.165116    0.13       0.11          pose: 0.0           4.21816    -4.1044     0 0.00572924  0.00350559  0.999633    -0.0262487     uwb: 0.49926001     1238.45  587.006  
imu_odom_:  1691062843.960518888  0.196325   -0.308852  9.76595    -0.0692422  -0.0511327  0.165116    0.18       0.11          pose: 0.32128973    4.21032    -4.09819    0 0.00479059  0.00169998  0.999584    -0.0283972     uwb: 0.0            1238.45  587.006  
imu_odom_:  1691062843.976510608  0.612916   -0.318429  9.73722    -0.0692422  -0.0117179  0.127832    0.18       0.11          pose: 0.0           4.21032    -4.09819    0 0.00479059  0.00169998  0.999584    -0.0283972     uwb: 0.0            1238.45  587.006  
imu_odom_:  1691062843.993512601  0.351948   -0.253785  9.44273    -0.0660464  0.00426106  0.140615    0.18       0.11          pose: 0.33003045    4.20406    -4.106      0 0.00216988  0.0018511   0.999534    -0.0303851     uwb: 0.50036537     1238.17  587.494  
imu_odom_:  1691062844.10629212   0.744597   -0.0981623 9.68933    -0.0596548  0.0191748   0.14168     0.14       0.08          pose: 0.42856129    4.19977    -4.10258    0 0.00131738  -0.0004807810.999468    -0.0325705     uwb: 0.0            1238.17  587.494  
imu_odom_:  1691062844.25635741   1.13485    -0.201113  9.88326    -0.0617853  0.00319579  0.174703    0.14       0.08          pose: 0.8128560     4.19622    -4.09979    0 0.00196826  -0.0001753380.999454    -0.0329843     uwb: 0.0            1238.17  587.494  
imu_odom_:  1691062844.41569422   0.979228   -0.481235  9.74919    -0.0649811  0.0298274   0.22264     0.14       0.08          pose: 0.0           4.19622    -4.09979    0 0.00196826  -0.0001753380.999454    -0.0329843     uwb: 0.49867381     1237.16  587.568  
imu_odom_:  1691062844.56521412   2.20745    -0.37589   10.5536    -0.0319579  -0.0671117  0.197074    0.11       0.02          pose: 0.39928261    4.19004    -4.10765    0 0.00529675  -0.0006132490.999341    -0.0359151     uwb: 0.0            1237.16  587.568  
imu_odom_:  1691062844.72649916   1.61369    0.122104   9.28471    -0.0298274  0.00106526  0.150202    0.1        0.02          pose: 0.0           4.19004    -4.10765    0 0.00529675  -0.0006132490.999341    -0.0359151     uwb: 0.0            1237.16  587.568  
imu_odom_:  1691062844.89780235   1.24977    -0.0287304 9.84496    -0.0596548  0.04048     0.134223    0.1        0.02          pose: 0.0           4.19004    -4.10765    0 0.00529675  -0.0006132490.999341    -0.0359151     uwb: 0.0            1237.16  587.568  
imu_odom_:  1691062844.107517769  0.493206   -0.244209  9.79707    -0.0660464  0.0138484   0.072438    0.09       0.02          pose: 0.22091568    4.19004    -4.10765    0 0.00790038  -0.0001674970.999266    -0.0374849     uwb: 0.50063078     1236.03  587.868  
imu_odom_:  1691062844.124503430  0.699107   -0.213084  10.4794    -0.0585895  0.0106526   0.0436758   0.09       0.02          pose: 0.0           4.19004    -4.10765    0 0.00790038  -0.0001674970.999266    -0.0374849     uwb: 0.0            1236.03  587.868  
imu_odom_:  1691062844.139554289  0.912191   -0.308852  9.78031    -0.0628506  -0.0234358  0.0596548   0.09       0.02          pose: 0.0           4.19004    -4.10765    0 0.00790038  -0.0001674970.999266    -0.0374849     uwb: 0.0            1236.03  587.868  
imu_odom_:  1691062844.155494387  0.80924    -0.220267  9.69173    -0.0553937  0.00852212  0.072438    0.06       0.08          pose: 0.75893299    4.18217    -4.10148    0 0.0113353   -0.00028275 0.999164    -0.0392666     uwb: 0.49969751     1236.15  588.502  
imu_odom_:  1691062844.172549460  0.773327   -0.189142  10.0963    -0.0617853  0.00426106  0.0937433   0.06       0.08          pose: 0.5957814     4.18217    -4.10148    0 0.0118909   -0.0002360140.999154    -0.0393634     uwb: 0.0            1236.15  588.502  
imu_odom_:  1691062844.190489107  0.622492   -0.349553  9.94312    -0.0532632  0.0213053   0.0958738   0.06       0.08          pose: 0.0           4.18217    -4.10148    0 0.0118909   -0.0002360140.999154    -0.0393634     uwb: 0.0            1236.15  588.502  
imu_odom_:  1691062844.207626134  0.648829   -0.148441  10.0844    -0.0575243  -0.00639159 0.0873517   0.05       0.05          pose: 0.44977004    4.18217    -4.10148    0 0.013406    -0.0012595  0.999089    -0.0405059     uwb: 0.49889255     1235.06  588.743  
imu_odom_:  1691062844.233791752  0.548272   -0.198719  9.7875     -0.0596548  0.0127832   0.0841559   0.05       0.02          pose: 0.0           4.18217    -4.10148    0 0.013406    -0.0012595  0.999089    -0.0405059     uwb: 0.0            1235.06  588.743  
imu_odom_:  1691062844.259811836  0.0287304  -0.277727  9.56005    -0.0607201  0.0351537   0.00745685  0.05       0.05          pose: 0.24019370    4.17603    -4.10938    0 0.0122809   0.000455826 0.999082    -0.0410451     uwb: 0.0            1235.06  588.743  
imu_odom_:  1691062844.282705731  -1.30963   0.229843   9.73482    -0.0490022  0.0692422   -0.0234358  0.05       0.05          pose: 0.0           4.17603    -4.10938    0 0.0122809   0.000455826 0.999082    -0.0410451     uwb: 0.0            1235.06  588.743  
imu_odom_:  1691062844.299501820  -0.816423  -0.646434  9.95988    -0.0756338  -0.0692422  0.0937433   0.09       0.02          pose: 0.26095913    4.17603    -4.10938    0 0.00939953  0.000527265 0.9991      -0.0413623     uwb: 0.100068117    1237.2   590.816  
imu_odom_:  1691062844.325488074  0.751779   -0.37589   9.88805    -0.0372843  -0.0330232  0.0553937   0.09       0.02          pose: 0.48902022    4.17603    -4.10938    0 0.00362584  0.000341651 0.999172    -0.0405174     uwb: 0.0            1237.2   590.816  
imu_odom_:  1691062844.342481026  0.584185   0.150835   9.4954     -0.0596548  0.0138484   0.0958738   0.09       0.02          pose: 0.0           4.17603    -4.10938    0 0.00362584  0.000341651 0.999172    -0.0405174     uwb: 0.50104201     1235.56  590.357  
imu_odom_:  1691062844.359689799  -0.186748  -0.282516  9.45949    -0.0617853  0.0330232   0.0149137   0.12       0             pose: 0.42981247    4.1682     -4.10316    0 0.00576302  -0.0003281180.999135    -0.0411896     uwb: 0.0            1235.56  590.357  
imu_odom_:  1691062844.374612915  -0.397437  0.248997   10.1586    -0.0511327  0.0181095   -0.0969391  0.12       0             pose: 0.0           4.1682     -4.10316    0 0.00576302  -0.0003281180.999135    -0.0411896     uwb: 0.0            1235.56  590.357  
imu_odom_:  1691062844.391604410  0.289698   0.270545   9.87369    -0.0745685  -0.00852212 -0.148072   0.12       -0.2          pose: 0.42125256    4.16486    -4.10731    0 0.00228307  0.000979219 0.999187    -0.0402328     uwb: 0.50019622     1235.08  590.355  
imu_odom_:  1691062844.408676107  0.0143652  -0.28491   10.1466    -0.076699   0.0255663   -0.165116   0.12       -0.2          pose: 0.0           4.16486    -4.10731    0 0.00228307  0.000979219 0.999187    -0.0402328     uwb: 0.0            1235.08  590.355  
imu_odom_:  1691062844.425729723  -0.232238  -0.52433   9.63906    -0.0490022  -0.0117179  -0.229032   0.12       -0.2          pose: 0.0           4.16486    -4.10731    0 0.00228307  0.000979219 0.999187    -0.0402328     uwb: 0.0            1235.08  590.355  
imu_odom_:  1691062844.443494671  0.378284   0.0694318  10.0102    -0.0490022  -0.0553937  -0.279099   0.13       -0.35         pose: 0.7010085     4.162      -4.11101    0 0.00204839  0.00156835  0.999213    -0.0395737     uwb: 0.50071245     1235.79  591.603  
imu_odom_:  1691062844.457514841  0.294487   0.059855   9.58878    -0.076699   -0.00532632 -0.288687   0.15       -0.44         pose: 0.0           4.162      -4.11101    0 0.00204839  0.00156835  0.999213    -0.0395737     uwb: 0.0            1235.79  591.603  
imu_odom_:  1691062844.473499853  0.608127   0.107739   10.5129    -0.0596548  -0.0447411  -0.347276   0.15       -0.44         pose: 0.67922521    4.15411    -4.10486    0 -0.00139118 0.00322547  0.99952     -0.0307752     uwb: 0.0            1235.79  591.603  
imu_odom_:  1691062844.488493257  0.366313   -0.126893  9.37569    -0.0458064  -0.0372843  -0.42291    0.15       -0.44         pose: 0.0           4.15411    -4.10486    0 -0.00139118 0.00322547  0.99952     -0.0307752     uwb: 0.0            1235.79  591.603  
imu_odom_:  1691062844.504477978  0.778116   -0.323217  9.66779    -0.00319579 0.0532632   -0.475108   0.14       -0.47         pose: 0.0           4.15411    -4.10486    0 -0.00139118 0.00322547  0.99952     -0.0307752     uwb: 0.49879339     1234.44  591.476  
imu_odom_:  1691062844.519533503  0.114922   -0.19393   10.398     -0.00958738 0.0181095   -0.496413   0.14       -0.47         pose: 0.30985708    4.15411    -4.10486    0 -0.0008883890.00492084  0.999681    -0.0247525     uwb: 0.0            1234.44  591.476  
imu_odom_:  1691062844.536473375  0.241814   0.191536   9.82102    -0.0617853  0.00852212  -0.475108   0.14       -0.53         pose: 0.39002274    4.14365    -4.10943    0 -0.00223791 0.00446614  0.999879    -0.0147617     uwb: 0.0            1234.44  591.476  
imu_odom_:  1691062844.550469338  0.198719   0.0837971  9.84735    -0.0479369  -0.00426106 -0.508131   0.14       -0.53         pose: 0.0           4.14365    -4.10943    0 -0.00223791 0.00446614  0.999879    -0.0147617     uwb: 0.49963917     1234.75  592.577  
imu_odom_:  1691062844.566519972  0.316035   0.00718261 9.8689     -0.0745685  -0.00213053 -0.531567   0.14       -0.53         pose: 0.0           4.14365    -4.10943    0 -0.00223791 0.00446614  0.999879    -0.0147617     uwb: 0.0            1234.75  592.577  
imu_odom_:  1691062844.583462469  0.617704   -0.0861913 10.0245    -0.0511327  0.00852212  -0.535828   0.15       -0.58         pose: 0.6945922     4.14006    -4.10661    0 -0.00254303 0.00508718  0.9999      -0.0129749     uwb: 0.0            1234.75  592.577  
imu_odom_:  1691062844.601464820  0.641646   -0.0095768110.1538    -0.0447411  0.0191748   -0.551807   0.15       -0.58         pose: 0.0           4.14006    -4.10661    0 -0.00254303 0.00508718  0.9999      -0.0129749     uwb: 0.50000665     1235.47  593.783  
imu_odom_:  1691062844.619456963  0.962469   0.162806   10.1251    -0.056459   -0.0617853  -0.504935   0.14       -0.55         pose: 0.47111878    4.14006    -4.10661    0 -0.00354956 0.00842782  0.999958    3.75727e-05    uwb: 0.0            1235.47  593.783  
imu_odom_:  1691062844.635534428  1.5706     -0.407014  9.36612    -0.076699   -0.0276969  -0.441019   0.13       -0.47         pose: 0.0           4.14006    -4.10661    0 -0.00354956 0.00842782  0.999958    3.75727e-05    uwb: 0.0            1235.47  593.783  
imu_odom_:  1691062844.653452784  1.52511    -0.3304    10.4962    -0.0585895  -0.02024    -0.417584   0.14       -0.58         pose: 0.0           4.14006    -4.10661    0 -0.00354956 0.00842782  0.999958    3.75727e-05    uwb: 0.50035080     1235.51  594.537  
imu_odom_:  1691062844.670506691  1.30484    -0.189142  9.93594    -0.0703074  0.0340885   -0.356864   0.14       -0.58         pose: 0.69880947    4.12603    -4.10834    0 0.0035416   0.00827543  0.999784    0.0187199      uwb: 0.0            1235.51  594.537  
imu_odom_:  1691062844.687449188  0.964863   -0.299275  9.97424    -0.072438   0.0319579   -0.286556   0.11       -0.38         pose: 0.0           4.12603    -4.10834    0 0.0035416   0.00827543  0.999784    0.0187199      uwb: 0.0            1235.51  594.537  
imu_odom_:  1691062844.704503970  0.545878   -0.466869  9.74201    -0.0596548  0.0426106   -0.284426   0.11       -0.38         pose: 0.0           4.12603    -4.10834    0 0.0035416   0.00827543  0.999784    0.0187199      uwb: 0.0            1235.51  594.537  
imu_odom_:  1691062844.722562318  0.694318   0.0287304  10.1514    -0.0479369  -0.00319579 -0.282295   0.11       -0.38         pose: 0.34982762    4.12603    -4.10834    0 0.00641949  0.00712437  0.999625    0.0256423      uwb: 0.0            1235.51  594.537  
imu_odom_:  1691062844.744456438  0.811634   -0.229843  9.56005    -0.0745685  -0.0138484  -0.219444   0.07       -0.26         pose: 0.44107306    4.11809    -4.10226    0 0.00798734  0.00614358  0.999413    0.032751       uwb: 0.100087658    1233.95  593.962  
imu_odom_:  1691062844.761587049  0.59855    -0.31364   10.0796    -0.0607201  0.0245011   -0.211988   0.07       -0.26         pose: 0.6022268     4.11809    -4.10226    0 0.00853422  0.00579561  0.999385    0.0335255      uwb: 0.0            1233.95  593.962  
imu_odom_:  1691062844.778526921  0.105345   -0.071826  9.96227    -0.0628506  0.0287621   -0.256729   0.1        -0.32         pose: 0.0           4.11809    -4.10226    0 0.00853422  0.00579561  0.999385    0.0335255      uwb: 0.0            1233.95  593.962  
imu_odom_:  1691062844.795524248  -0.167594  0.392649   10.2927    -0.0479369  0.0553937   -0.298274   0.1        -0.2          pose: 0.49942335    4.1119     -4.11014    0 0.00770492  0.00343948  0.999155    0.0402186      uwb: 0.49856882     1235.72  594.987  
imu_odom_:  1691062844.812592155  -1.25217   0.205901   9.67736    -0.0692422  0.0330232   -0.197074   0.14       -0.23         pose: 0.0           4.1119     -4.11014    0 0.00770492  0.00343948  0.999155    0.0402186      uwb: 0.0            1235.72  594.987  
imu_odom_:  1691062844.829649562  -0.385466  -0.871489  9.92397    -0.0777643  -0.0852212  -0.107592   0.14       -0.23         pose: 0.0           4.1119     -4.11014    0 0.00770492  0.00343948  0.999155    0.0402186      uwb: 0.0            1235.72  594.987  
imu_odom_:  1691062844.846468691  0.0957681  -0.268151  9.82102    -0.0585895  -0.0862864  -0.133158   0.15       -0.26         pose: 0.24103074    4.11197    -4.11016    0 0.00502888  0.00472703  0.99901     0.0439419      uwb: 0.50062786     1234.84  594.881  
imu_odom_:  1691062844.862582904  0.830788   0.155623   10.4531    -0.036219   -0.0330232  -0.125701   0.15       -0.26         pose: 0.0           4.11197    -4.11016    0 0.00502888  0.00472703  0.99901     0.0439419      uwb: 0.0            1234.84  594.881  
imu_odom_:  1691062844.880585255  0.553061   -0.059855  10.0533    -0.0713727  0.00852212  -0.0948085  0.15       -0.26         pose: 0.33971030    4.10408    -4.10401    0 0.00282128  0.00339253  0.998886    0.0469885      uwb: 0.0            1234.84  594.881  
imu_odom_:  1691062844.897604164  0.610521   -0.557849  10.1538    -0.0543285  0.0234358   -0.138484   0.17       -0.23         pose: 0.34050943    4.10408    -4.10401    0 0.00439601  0.00460913  0.998743    0.0497128      uwb: 0.49945544     1235.63  595.964  
imu_odom_:  1691062844.914585742  -0.0550666 -0.3304    9.47864    -0.0628506  -0.00426106 -0.110787   0.17       -0.23         pose: 0.0           4.10408    -4.10401    0 0.00439601  0.00460913  0.998743    0.0497128      uwb: 0.0            1235.63  595.964  
imu_odom_:  1691062844.931464951  0.114922   -0.299275  10.1538    -0.0585895  -0.056459   -0.0681769  0.13       -0.14         pose: 0.43933774    4.09577    -4.10504    0 0.00354071  0.00299099  0.998575    0.0531594      uwb: 0.0            1235.63  595.964  
imu_odom_:  1691062844.948584479  0.265756   -0.215478  9.56723    -0.0617853  -0.02024    -0.0873517  0.13       -0.14         pose: 0.0           4.09577    -4.10504    0 0.00354071  0.00299099  0.998575    0.0531594      uwb: 0.49985207     1233.52  595.531  
imu_odom_:  1691062844.963522470  0.56982    0.0861913  9.8689     -0.0415453  -0.0117179  -0.100135   0.13       -0.14         pose: 0.0           4.09577    -4.10504    0 0.00354071  0.00299099  0.998575    0.0531594      uwb: 0.0            1233.52  595.531  
imu_odom_:  1691062844.980569961  0.23942    -0.0790087 9.70131    -0.0649811  0.0234358   -0.0884169  0.13       -0.11         pose: 0.7006585     4.09005    -4.10575    0 0.00306131  0.0027365   0.998557    0.0535383      uwb: 0.0            1233.52  595.531  
imu_odom_:  1691062844.994586631  0.457293   0.0694318  10.0772    -0.0436758  -0.0138484  -0.0852212  0.13       -0.11         pose: 0.0           4.09005    -4.10575    0 0.00306131  0.0027365   0.998557    0.0535383      uwb: 0.49928045     1232.25  595.287  
imu_odom_:  1691062845.11631497   0.241814   -0.397437  9.43555    -0.0607201  0.0287621   -0.0639159  0.13       -0.11         pose: 0.0           4.09005    -4.10575    0 0.00306131  0.0027365   0.998557    0.0535383      uwb: 0.0            1232.25  595.287  
imu_odom_:  1691062845.26576780   0.612916   -0.129287  10.2328    -0.0447411  -0.0426106  -0.0532632  0.15       -0.11         pose: 0.49002058    4.09005    -4.10575    0 0.000971481 0.00356535  0.998387    0.0566561      uwb: 0.0            1232.25  595.287  
imu_odom_:  1691062845.43453656   1.14203    0.0335188  10.0102    -0.0415453  -0.0596548  -0.0213053  0.13       -0.11         pose: 0.0           4.09005    -4.10575    0 0.000971481 0.00356535  0.998387    0.0566561      uwb: 0.50103618     1232.6   596.304  
imu_odom_:  1691062845.57460994   1.30963    -0.225055  10.003     -0.0585895  -0.0213053  0.015979    0.13       -0.11         pose: 0.0           4.09005    -4.10575    0 0.000971481 0.00356535  0.998387    0.0566561      uwb: 0.0            1232.6   596.304  
imu_odom_:  1691062845.73590372   1.54905    -0.289698  10.3717    -0.0511327  -0.0884169  0.0234358   0.13       -0.11         pose: 0.62996854    4.07604    -4.10746    0 0.0018926   0.00405007  0.998191    0.0599508      uwb: 0.0            1232.6   596.304  
imu_odom_:  1691062845.90697068   1.25456    -0.363919  9.1267     -0.0319579  -0.0426106  -0.0330232  0.1        -0.11         pose: 0.0           4.07604    -4.10746    0 0.0018926   0.00405007  0.998191    0.0599508      uwb: 0.0            1232.6   596.304  
imu_odom_:  1691062845.108443352  1.52989    0.0694318  10.161     -0.0458064  0.0287621   -0.0703074  0.1        -0.11         pose: 0.30990958    4.07604    -4.10746    0 0.00563401  0.0038425   0.998147    0.0604611      uwb: 0.49963043     1233.1   597.077  
imu_odom_:  1691062845.125566088  0.864307   -0.287304  10.1179    -0.0798948  0.0266316   -0.0447411  0.09       -0.11         pose: 0.43861155    4.06816    -4.1013     0 0.0102985   0.00361968  0.99801     0.0621066      uwb: 0.0            1233.1   597.077  
imu_odom_:  1691062845.139626215  0.562637   -0.366313  9.95988    -0.0575243  0.0149137   -0.0894822  0.09       -0.11         pose: 0.0           4.06816    -4.1013     0 0.0102985   0.00361968  0.99801     0.0621066      uwb: 0.0            1233.1   597.077  
imu_odom_:  1691062845.157496740  0.804452   -0.0335188 9.84256    -0.0468716  -0.0500674  -0.122505   0.09       -0.11         pose: 0.0           4.06816    -4.1013     0 0.0102985   0.00361968  0.99801     0.0621066      uwb: 0.50196363     1234.66  598.422  
imu_odom_:  1691062845.173504501  0.912191   0.0526724  9.92875    -0.056459   -0.00958738 -0.0692422  0.07       -0.05         pose: 0.8011609     4.06816    -4.1013     0 0.0108254   0.00307562  0.997985    0.0624368      uwb: 0.0            1234.66  598.422  
imu_odom_:  1691062845.191549725  0.699107   -0.514753  9.96227    -0.0607201  0.00958738  -0.0479369  0.09       -0.08         pose: 0.0           4.06816    -4.1013     0 0.0108254   0.00307562  0.997985    0.0624368      uwb: 0.0            1234.66  598.422  
imu_odom_:  1691062845.207496240  0.56982    -0.301669  9.84496    -0.0447411  -0.0106526  -0.0735032  0.09       -0.08         pose: 0.65056192    4.06816    -4.1013     0 0.0140121   0.00228284  0.997694    0.0663718      uwb: 0.49797678     1235.74  599.79   
imu_odom_:  1691062845.224567646  0.634463   -0.0646434 9.94073    -0.0511327  -0.00213053 -0.0298274  0.07       -0.05         pose: 0.0           4.06816    -4.1013     0 0.0140121   0.00228284  0.997694    0.0663718      uwb: 0.0            1235.74  599.79   
imu_odom_:  1691062845.249518545  0.703895   -0.423774  9.97185    -0.0553937  -0.0149137  0.00319579  0.07       -0.05         pose: 0.25985087    4.06816    -4.1013     0 0.0129207   0.000171336 0.997623    0.0679669      uwb: 0.50009999     1236.52  600.854  
imu_odom_:  1691062845.275698746  -0.718261  -0.0407014 9.22007    -0.0500674  0.115049    0.00319579  0.06       -0.08         pose: 0.34044235    4.06278    -4.09714    0 0.01319     -0.0005637920.997549    0.0687139      uwb: 0.0            1236.52  600.854  
imu_odom_:  1691062845.292570664  -1.36948   -0.332794  10.2951    -0.0553937  0.0266316   0.0191748   0.06       -0.08         pose: 0.8020067     4.06025    -4.09518    0 0.0119267   -0.0003551770.997555    0.0688617      uwb: 0.50064829     1237.67  602.085  
imu_odom_:  1691062845.317637347  -0.136469  -0.150835  9.70849    -0.0585895  -0.092678   0.00958738  0.11       -0.02         pose: 0.0           4.06025    -4.09518    0 0.0119267   -0.0003551770.997555    0.0688617      uwb: 0.0            1237.67  602.085  
imu_odom_:  1691062845.342580663  0.737414   -0.126893  9.61033    -0.0617853  -0.0245011  -0.00319579 0.11       -0.02         pose: 0.35032052    4.05412    -4.10308    0 0.00711849  0.000138758 0.997566    0.0693687      uwb: 0.49964793     1239.06  602.917  
imu_odom_:  1691062845.368704867  -0.189142  -0.191536  10.3286    -0.0596548  0.0170442   0.00639159  0.11       -0.02         pose: 0.50009999    4.05412    -4.10308    0 0.0084055   0.000891141 0.997491    0.0702822      uwb: 0.0            1239.06  602.917  
imu_odom_:  1691062845.393595686  -0.222661  -0.177171  10.1634    -0.0415453  -0.0415453  0           0.11       -0.02         pose: 0.0           4.05412    -4.10308    0 0.0084055   0.000891141 0.997491    0.0702822      uwb: 0.49838801     1239.82  604.007  
imu_odom_:  1691062845.411571788  0.275333   -0.198719  9.83538    -0.0383495  -0.0628506  0           0.13       -0.02         pose: 0.51015023    4.04624    -4.09692    0 0.00350642  0.00136703  0.997454    0.0712151      uwb: 0.0            1239.82  604.007  
imu_odom_:  1691062845.435484415  0.500388   -0.306458  9.79707    -0.0458064  0.0234358   0.00745685  0.13       -0.02         pose: 0.0           4.04624    -4.09692    0 0.00350642  0.00136703  0.997454    0.0712151      uwb: 0.0            1239.82  604.007  
imu_odom_:  1691062845.461667241  0.124498   -0.0311246 10.0772    -0.0245011  -0.0543285  0.0127832   0.17       -0.02         pose: 0.41888729    4.04624    -4.09692    0 0.00275276  -0.0006385160.997404    0.0719489      uwb: 0.49981709     1238.84  604.072  
imu_odom_:  1691062845.477547259  0.459687   -0.131681  9.9934     -0.0553937  -0.0415453  0.0319579   0.17       -0.02         pose: 0.6973629     4.04624    -4.09692    0 0.00235666  -0.0001530570.997399    0.0720426      uwb: 0.0            1238.84  604.072  
imu_odom_:  1691062845.503566761  0.517148   -0.129287  10.2783    -0.0511327  -0.0276969  0.00532632  0.18       -0.05         pose: 0.35089215    4.0322     -4.0986     0 0.00245203  0.00247835  0.997372    0.0723613      uwb: 0.50172447     1238.69  604.313  
imu_odom_:  1691062845.528542741  0.141258   -0.179565  9.83299    -0.0607201  -0.0596548  0.0234358   0.18       -0.05         pose: 0.0           4.0322     -4.0986     0 0.00245203  0.00247835  0.997372    0.0723613      uwb: 0.0            1238.69  604.313  
imu_odom_:  1691062845.555446233  -0.37589   -0.158017  9.8689     -0.0500674  0.00958738  0.0319579   0.17       -0.05         pose: 0.7918573     4.0322     -4.0986     0 0.0032873   0.00276908  0.997359    0.0724954      uwb: 0.50011458     1239.01  605.354  
imu_odom_:  1691062845.579430022  0.514753   -0.19393   10.1323    -0.0756338  0.0191748   0.0426106   0.15       0             pose: 0.50987025    4.02429    -4.09248    0 0.00253984  0.00330211  0.99732     0.0730471      uwb: 0.0            1239.01  605.354  
imu_odom_:  1691062845.605430858  0.538695   -0.059855  10.2783    -0.0479369  -0.00532632 0.0213053   0.15       0             pose: 0.0           4.02429    -4.09248    0 0.00253984  0.00330211  0.99732     0.0730471      uwb: 0.49930378     1239.85  606.282  
imu_odom_:  1691062845.622471058  0.186748   -0.177171  10.0628    -0.0532632  -0.0447411  0.0308927   0.15       -0.02         pose: 0.68978001    4.01261    -4.09608    0 0.00415148  0.00404582  0.997292    0.0733169      uwb: 0.0            1239.85  606.282  
imu_odom_:  1691062845.639681581  0.739808   -0.196325  10.1538    -0.0596548  -0.00319579 0.0266316   0.15       -0.02         pose: 0.8013068     4.01026    -4.09426    0 0.00351503  0.00396886  0.997292    0.0733554      uwb: 0.0            1239.85  606.282  
imu_odom_:  1691062845.655407317  0.203507   -0.244209  9.36612    -0.0447411  0.04048     0.015979    0.15       -0.02         pose: 0.0           4.01026    -4.09426    0 0.00351503  0.00396886  0.997292    0.0733554      uwb: 0.49887215     1239.94  606.913  
imu_odom_:  1691062845.681478150  0.816423   -0.371101  9.36612    -0.0735032  -0.0276969  0.0490022   0.16       -0.02         pose: 0.32985256    4.01026    -4.09426    0 0.00363723  0.00322106  0.997277    0.0735822      uwb: 0.0            1239.94  606.913  
imu_odom_:  1691062845.707558023  0.462081   0.023942   10.2448    -0.0532632  -0.0340885  0.0266316   0.17       0             pose: 0.0           4.01026    -4.09426    0 0.00363723  0.00322106  0.997277    0.0735822      uwb: 0.49993375     1238.3   606.52   
imu_odom_:  1691062845.723565492  0.0646434  -0.222661  9.63187    -0.0607201  0.02024     0.0308927   0.17       0             pose: 0.35048968    4.0048     -4.09003    0 0.00501059  0.0013113   0.997278    0.0735574      uwb: 0.0            1238.3   606.52   
imu_odom_:  1691062845.749498666  0.603339   -0.1652    10.0365    -0.0415453  0.0117179   0.0106526   0.17       0             pose: 0.0           4.0048     -4.09003    0 0.00501059  0.0013113   0.997278    0.0735574      uwb: 0.50008249     1239.66  608.145  
imu_odom_:  1691062845.773457082  0.440533   -0.335188  9.73243    -0.0436758  -0.0255663  0.0394148   0.16       -0.02         pose: 0.49977042    3.99623    -4.09604    0 0.00400105  0.00351201  0.99725     0.0739233      uwb: 0.0            1239.66  608.145  
imu_odom_:  1691062845.798686797  0.347159   -0.179565  10.1347    -0.0628506  0.0298274   0.0191748   0.16       -0.02         pose: 0.42001890    3.98833    -4.0899     0 0.00492176  0.00108659  0.997233    0.0741677      uwb: 0.49986083     1237.5   607.847  
imu_odom_:  1691062845.822401102  0.395043   -0.244209  10.4435    -0.0468716  -0.04048    0.0415453   0.16       -0.02         pose: 0.6942130     3.98833    -4.0899     0 0.00411213  0.00114857  0.997231    0.0742396      uwb: 0.0            1237.5   607.847  
imu_odom_:  1691062845.839473092  0.845153   -0.347159  9.90481    -0.0660464  -0.0170442  0.0490022   0.21       0             pose: 0.0           3.98833    -4.0899     0 0.00411213  0.00114857  0.997231    0.0742396      uwb: 0.0            1237.5   607.847  
imu_odom_:  1691062845.864397450  0.778116   -0.107739  9.75398    -0.0447411  0.0383495   0.0127832   0.21       0             pose: 0.49010225    3.9743     -4.09165    0 0.00151172  -0.0006634840.997229    0.0743721      uwb: 0.50049955     1234.79  606.934  
imu_odom_:  1691062845.890593983  0.54109    -0.339977  9.69412    -0.0639159  0.0138484   0.0330232   0.22       -0.02         pose: 0.34988013    3.9743     -4.09165    0 0.00438575  -0.0001936290.997199    0.0746618      uwb: 0.0            1234.79  606.934  
imu_odom_:  1691062845.906546914  0.275333   -0.0622492 10.0149    -0.0532632  -0.0149137  0.0213053   0.22       -0.02         pose: 0.8077230     3.9743     -4.09165    0 0.00456788  -0.00098938 0.997196    0.074685       uwb: 0.49935337     1237.66  609.13   
imu_odom_:  1691062845.932429632  0.634463   -0.114922  9.85214    -0.0756338  -0.0383495  0.0436758   0.22       0             pose: 0.0           3.9743     -4.09165    0 0.00456788  -0.00098938 0.997196    0.074685       uwb: 0.0            1237.66  609.13   
imu_odom_:  1691062845.957597810  0.471658   -0.112527  9.65103    -0.0415453  0.00745685  0.0191748   0.22       0             pose: 0.42074510    3.96641    -4.08551    0 0.00472384  -0.00126031 0.997181    0.0748713      uwb: 0.50003874     1238.04  610.047  
imu_odom_:  1691062845.983565106  0.272939   -0.354342  9.60554    -0.072438   0.0213053   0.052198    0.2        0.02          pose: 0.43048620    3.95237    -4.08724    0 0.0053035   0.00204611  0.997159    0.0751105      uwb: 0.0            1238.04  610.047  
imu_odom_:  1691062845.999430542  0.318429   -0.122104  10.003     -0.0415453  -0.015979   0.0308927   0.2        0.02          pose: 0.7947154     3.95237    -4.08724    0 0.00454588  0.00153068  0.997167    0.0750599      uwb: 0.50150866     1238.33  611.105  
imu_odom_:  1691062846.24555556   0.411803   -0.110133  9.56244    -0.0617853  -0.0266316  0.0575243   0.24       0             pose: 0.0           3.95237    -4.08724    0 0.00454588  0.00153068  0.997167    0.0750599      uwb: 0.0            1238.33  611.105  
imu_odom_:  1691062846.49381046   0.73502    0.011971   10.4627    -0.0308927  0.00319579  0.0372843   0.24       0             pose: 0.33885578    3.94847    -4.0842     0 0.0016185   0.00136257  0.99718     0.0750165      uwb: 0.50034498     1239.11  612.112  
imu_odom_:  1691062846.74711964   0.52433    -0.339977  9.90002    -0.0692422  -0.00958738 0.0511327   0.18       0.02          pose: 0.49950504    3.94027    -4.0865     0 0.00369178  0.00494905  0.997178    0.074816       uwb: 0.0            1239.11  612.112  
imu_odom_:  1691062846.100394903  0.457293   0.0143652  9.95988    -0.0447411  -0.0191748  0.0532632   0.25       0             pose: 0.0           3.94027    -4.0865     0 0.00369178  0.00494905  0.997178    0.074816       uwb: 0.49988418     1237.95  612.475  
imu_odom_:  1691062846.114392617  0.603339   -0.158017  9.63427    -0.0681769  -0.0234358  0.0543285   0.25       0             pose: 0.32172722    3.93046    -4.08283    0 0.00418327  0.00298628  0.997199    0.0746164      uwb: 0.0            1237.95  612.475  
imu_odom_:  1691062846.139517922  0.11971    -0.150835  9.35415    -0.0447411  0.00639159  0.036219    0.25       0             pose: 0.0           3.93046    -4.08283    0 0.00418327  0.00298628  0.997199    0.0746164      uwb: 0.0            1237.95  612.475  
imu_odom_:  1691062846.164391534  0.186748   -0.134075  9.81383    -0.0830906  0.0117179   0.0607201   0.19       0.02          pose: 0.39844559    3.93046    -4.08283    0 0.0048974   0.00435605  0.997207    0.0743992      uwb: 0.49999792     1236.18  612.328  
imu_odom_:  1691062846.188446194  0.265756   -0.0047884 10.228     -0.0639159  0.0383495   0.0458064   0.18       0             pose: 0.0           3.93046    -4.08283    0 0.0048974   0.00435605  0.997207    0.0743992      uwb: 0.0            1236.18  612.328  
imu_odom_:  1691062846.206384383  0.409408   -0.277727  9.85453    -0.0777643  -0.0127832  0.052198    0.18       0             pose: 0.42993207    3.91833    -4.08213    0 0.000285182 0.00424197  0.997235    0.0741866      uwb: 0.49942921     1235.51  612.664  
imu_odom_:  1691062846.223379961  0.282516   -0.0143652 9.46188    -0.0681769  0.0245011   0.0351537   0.18       0             pose: 0.0           3.91833    -4.08213    0 0.000285182 0.00424197  0.997235    0.0741866      uwb: 0.0            1235.51  612.664  
imu_odom_:  1691062846.246535175  0.603339   -0.0095768110.1227    -0.0894822  -0.0138484  0.0585895   0.18       0             pose: 0.8126811     3.91642    -4.08458    0 -0.0004507110.00480952  0.997234    0.074163       uwb: 0.50192572     1234.43  612.917  
imu_odom_:  1691062846.263550876  0.572214   -0.184354  9.72525    -0.0884169  0.0234358   0.0553937   0.18       0             pose: 0.0           3.91642    -4.08458    0 -0.0004507110.00480952  0.997234    0.074163       uwb: 0.0            1234.43  612.917  
imu_odom_:  1691062846.288427696  0.59855    -0.347159  10.1778    -0.0639159  -0.0255663  0.0458064   0.19       0             pose: 0.41933061    3.90853    -4.07845    0 -0.00197923 0.00461699  0.997244    0.0740231      uwb: 0.0            1234.43  612.917  
imu_odom_:  1691062846.314520111  0.42138    -0.25618   10.0006    -0.0426106  -0.015979   0.0383495   0.19       0             pose: 0.0           3.90853    -4.07845    0 -0.00197923 0.00461699  0.997244    0.0740231      uwb: 0.49808762     1232.74  612.664  
imu_odom_:  1691062846.330394006  0.588974   -0.320823  9.59357    -0.036219   0.00852212  0.0340885   0.17       -0.02         pose: 0.56078641    3.8945     -4.08021    0 0.0014636   0.00397784  0.997276    0.0736419      uwb: 0.0            1232.74  612.664  
imu_odom_:  1691062846.356366552  0.509965   -0.148441  9.59117    -0.0596548  -0.00532632 0.0468716   0.17       -0.02         pose: 0.0           3.8945     -4.08021    0 0.0014636   0.00397784  0.997276    0.0736419      uwb: 0.49982876     1231.22  612.903  
imu_odom_:  1691062846.381385989  0.253785   -0.225055  9.84735    -0.0628506  -0.0181095  0.056459    0.23       0.02          pose: 0.51154140    3.8866     -4.07408    0 0.00233482  -0.00023688 0.997284    0.0736121      uwb: 0.0            1231.22  612.903  
imu_odom_:  1691062846.398413065  0.512359   -0.203507  10.0844    -0.0351537  -0.0170442  0.0490022   0.23       0.02          pose: 0.0           3.8866     -4.07408    0 0.00233482  -0.00023688 0.997284    0.0736121      uwb: 0.49884299     1232.19  614.337  
imu_odom_:  1691062846.422435352  0.383072   -0.294487  10.1251    -0.036219   -0.0245011  0.0490022   0.18       -0.02         pose: 0.76728878    3.87257    -4.07585    0 0.00400587  0.00069513  0.997305    0.0732567      uwb: 0.0            1232.19  614.337  
imu_odom_:  1691062846.448368527  0.471658   -0.339977  10.4148    -0.0426106  -0.00106526 0.0394148   0.18       -0.02         pose: 0.0           3.87257    -4.07585    0 0.00400587  0.00069513  0.997305    0.0732567      uwb: 0.50054623     1233.1   615.874  
imu_odom_:  1691062846.470403223  0.308852   -0.320823  10.2185    -0.04048    -0.00426106 0.0436758   0.18       0             pose: 0.8003152     3.87257    -4.07585    0 0.00348735  0.000239931 0.99731     0.0732173      uwb: 0.0            1233.1   615.874  
imu_odom_:  1691062846.495390870  0.335188   -0.0454898 10.0102    -0.0607201  -0.04048    0.0458064   0.18       0             pose: 0.48036700    3.86466    -4.06973    0 0.0020263   -0.00318696 0.997316    0.073119       uwb: 0.49931254     1232.77  616.417  
imu_odom_:  1691062846.512389656  0.0502782  -0.0550666 10.0844    -0.0575243  0.0181095   0.0639159   0.19       0             pose: 0.0           3.86466    -4.06973    0 0.0020263   -0.00318696 0.997316    0.073119       uwb: 0.0            1232.77  616.417  
imu_odom_:  1691062846.538515902  0.186748   -0.481235  9.55287    -0.0671117  0.0181095   0.0308927   0.19       0             pose: 0.24065451    3.86466    -4.06973    0 0.000417131 -0.00268442 0.997324    0.0730546      uwb: 0.0            1232.77  616.417  
imu_odom_:  1691062846.564464242  0.189142   -0.373495  9.63427    -0.0426106  -0.0191748  0.0447411   0.2        0             pose: 0.42034555    3.85063    -4.07152    0 -0.00199405 -0.0009160740.997342    0.0728292      uwb: 0.49979085     1232.42  616.999  
imu_odom_:  1691062846.589441973  0.371101   -0.275333  10.1658    -0.0213053  -0.0127832  0.0340885   0.17       0.02          pose: 0.43911319    3.84509    -4.06723    0 -0.00538292 -0.00357061 0.997323    0.0728397      uwb: 0.0            1232.42  616.999  
imu_odom_:  1691062846.614515365  0.617704   -0.11971   9.63427    -0.0575243  -0.00426106 0.0543285   0.17       0.02          pose: 0.0           3.84509    -4.06723    0 -0.00538292 -0.00357061 0.997323    0.0728397      uwb: 0.50016708     1232.44  617.725  
imu_odom_:  1691062846.631507734  0.464475   0.011971   10.0628    -0.0553937  0.0138484   0.0394148   0.18       0             pose: 0.8107854     3.84272    -4.0654     0 -0.00454019 -0.00328521 0.997326    0.0728649      uwb: 0.0            1232.44  617.725  
imu_odom_:  1691062846.656515797  0.263362   -0.131681  9.66539    -0.0713727  -0.00426106 0.0553937   0.18       0             pose: 0.0           3.84272    -4.0654     0 -0.00454019 -0.00328521 0.997326    0.0728649      uwb: 0.50051123     1231.01  617.821  
imu_odom_:  1691062846.681371618  0.696713   -0.213084  9.97424    -0.0617853  -0.00106526 0.0500674   0.17       0             pose: 0.48946938    3.82869    -4.06719    0 -0.000356968-0.0009738990.997351    0.0727369      uwb: 0.0            1231.01  617.821  
imu_odom_:  1691062846.698377987  0.474052   -0.148441  10.0437    -0.0756338  0.00639159  0.0639159   0.17       0             pose: 0.0           3.82869    -4.06719    0 -0.000356968-0.0009738990.997351    0.0727369      uwb: 0.49937379     1231.73  619.634  
imu_odom_:  1691062846.723371758  0.579397   -0.217872  9.9527     -0.0745685  0.0340885   0.0351537   0.19       0             pose: 0.43067285    3.82869    -4.06719    0 -0.00138797 0.00110054  0.997367    0.0724974      uwb: 0.0            1231.73  619.634  
imu_odom_:  1691062846.749497713  0.299275   -0.557849  9.78989    -0.0628506  0.0287621   0.0468716   0.19       0             pose: 0.0           3.82869    -4.06719    0 -0.00138797 0.00110054  0.997367    0.0724974      uwb: 0.50402852     1232.7   621.026  
imu_odom_:  1691062846.765400481  0.536301   -0.162806  9.85693    -0.0383495  -0.0458064  0.0276969   0.21       0             pose: 0.41903605    3.81467    -4.069      0 0.00219916  0.0012546   0.997386    0.0722165      uwb: 0.0            1232.7   621.026  
imu_odom_:  1691062846.789337606  0.418985   -0.203507  10.2544    -0.076699   -0.0138484  0.0639159   0.21       0             pose: 0.0           3.81467    -4.069      0 0.00219916  0.0012546   0.997386    0.0722165      uwb: 0.0            1232.7   621.026  
imu_odom_:  1691062846.815334943  0.196325   -0.179565  9.77074    -0.0468716  0.02024     0.0298274   0.26       0             pose: 0.50881157    3.80675    -4.06289    0 0.00254899  -0.00122271 0.997386    0.0721961      uwb: 0.49708142     1233.76  622.673  
imu_odom_:  1691062846.831540735  0.287304   -0.134075  9.90481    -0.0862864  0.00639159  0.0458064   0.26       0             pose: 0.0           3.80675    -4.06289    0 0.00254899  -0.00122271 0.997386    0.0721961      uwb: 0.0            1233.76  622.673  
imu_odom_:  1691062846.855491859  0.356736   -0.244209  9.86411    -0.0532632  0.0245011   0.0340885   0.25       -0.05         pose: 0.74169654    3.79273    -4.06471    0 -0.00285274 0.00159919  0.997397    0.0720328      uwb: 0.49869717     1236.98  625.522  
imu_odom_:  1691062846.881476364  0.550666   -0.418985  9.34457    -0.0745685  -0.0234358  0.0447411   0.25       -0.05         pose: 0.6965463     3.79273    -4.06471    0 -0.00286519 0.00092229  0.997396    0.0720537      uwb: 0.0            1236.98  625.522  
imu_odom_:  1691062846.906393140  0.11971    -0.337582  10.6111    -0.052198   -0.0298274  0.0479369   0.19       0             pose: 0.42970166    3.7848     -4.0586     0 -0.00089872 -0.00290514 0.997397    0.0720434      uwb: 0.0            1236.98  625.522  
imu_odom_:  1691062846.931485197  0.73502    -0.304064  10.568     -0.0596548  -0.0255663  0.0383495   0.19       0             pose: 0.0           3.7848     -4.0586     0 -0.00089872 -0.00290514 0.997397    0.0720434      uwb: 0.0            1236.98  625.522  
imu_odom_:  1691062846.956332561  1.00556    -0.0526724 10.1897    -0.072438   -0.0383495  0.0436758   0.23       -0.02         pose: 0.32938301    3.77078    -4.06042    0 -0.00216092 -0.00337699 0.997401    0.071939       uwb: 0.99986169     1234.45  625.205  
imu_odom_:  1691062846.981393412  0.646434   0.00957681 10.1299    -0.0447411  -0.0394148  0.0340885   0.18       -0.02         pose: 0.0           3.77078    -4.06042    0 -0.00216092 -0.00337699 0.997401    0.071939       uwb: 0.0            1234.45  625.205  
imu_odom_:  1691062846.998545314  0.253785   -0.378284  9.42118    -0.0671117  -0.0287621  0.0351537   0.18       -0.02         pose: 0.50001251    3.77078    -4.06042    0 0.00313932  -0.00245811 0.997401    0.0719357      uwb: 0.50070079     1234.99  626.517  
imu_odom_:  1691062847.22532020   0.385466   -0.304064  9.6606     -0.0553937  -0.00639159 0.0372843   0.18       0             pose: 0.0           3.77078    -4.06042    0 0.00313932  -0.00245811 0.997401    0.0719357      uwb: 0.0            1234.99  626.517  
imu_odom_:  1691062847.48363409   0.512359   -0.385466  10.07      -0.0639159  -0.0223706  0.0532632   0.18       0             pose: 0.42082094    3.76286    -4.05432    0 0.00250547  -0.00238807 0.997397    0.0720272      uwb: 0.50196073     1236.59  628.308  
imu_odom_:  1691062847.61478300   0.646434   -0.148441  10.1514    -0.0553937  -0.00958738 0.0511327   0.18       0             pose: 0.0           3.76286    -4.05432    0 0.00250547  -0.00238807 0.997397    0.0720272      uwb: 0.0            1236.59  628.308  
imu_odom_:  1691062847.85395594   0.373495   -0.31364   10.1945    -0.0479369  -0.04048    0.0490022   0.18       0             pose: 0.47880960    3.74883    -4.05614    0 0.00324816  -0.00512175 0.997398    0.0718334      uwb: 0.0            1236.59  628.308  
imu_odom_:  1691062847.111409556  0.521936   -0.229843  10.2735    -0.0415453  -0.036219   0.04048     0.23       -0.02         pose: 0.31016624    3.74356    -4.05208    0 0.00185745  -0.00466643 0.997416    0.0716711      uwb: 0.49748683     1238.11  630.201  
imu_odom_:  1691062847.135379055  1.19471    -0.117316  10.3214    -0.0543285  -0.0298274  0.0532632   0.23       -0.02         pose: 0.0           3.74356    -4.05208    0 0.00185745  -0.00466643 0.997416    0.0716711      uwb: 0.0            1238.11  630.201  
imu_odom_:  1691062847.153414655  0.316035   -0.282516  9.34457    -0.0681769  0.0213053   0.0436758   0.19       0.02          pose: 0.7990611     3.74091    -4.05004    0 0.00258543  -0.00408837 0.997417    0.0716706      uwb: 0.50033917     1238.37  631.21   
imu_odom_:  1691062847.177486232  -0.0550666 -0.363919  10.228     -0.0575243  -0.0127832  0.0671117   0.19       0.02          pose: 0.0           3.74091    -4.05004    0 0.00258543  -0.00408837 0.997417    0.0716706      uwb: 0.0            1238.37  631.21   
imu_odom_:  1691062847.201378735  0.158017   -0.184354  10.0796    -0.0607201  0.00213053  0.0394148   0.22       0.02          pose: 0.49952254    3.73481    -4.05796    0 0.00601286  -0.00257053 0.99742     0.0714943      uwb: 0.49993085     1238.76  632.722  
imu_odom_:  1691062847.225377983  0.754174   -0.0646434 10.252     -0.0671117  -0.02024    0.056459    0.22       0.02          pose: 0.0           3.73481    -4.05796    0 0.00601286  -0.00257053 0.99742     0.0714943      uwb: 0.0            1238.76  632.722  
imu_odom_:  1691062847.242322814  0.636858   -0.1652    9.47386    -0.0692422  0.00426106  0.0479369   0.25       0.02          pose: 0.41982059    3.72688    -4.05187    0 0.00181559  -0.00274456 0.997461    0.0711335      uwb: 0.50079413     1237.67  632.997  
imu_odom_:  1691062847.267523657  0.416591   -0.217872  9.40682    -0.0692422  -0.00426106 0.0490022   0.25       0.02          pose: 0.0           3.72688    -4.05187    0 0.00181559  -0.00274456 0.997461    0.0711335      uwb: 0.0            1237.67  632.997  
imu_odom_:  1691062847.292337773  0.476446   -0.107739  9.63427    -0.0681769  0.00958738  0.0394148   0.23       0             pose: 0.47001929    3.71895    -4.04578    0 0.00323114  -0.00119349 0.997477    0.0709073      uwb: 0.49940881     1238.04  634.527  
imu_odom_:  1691062847.309466635  0.59855    -0.390255  9.94551    -0.0798948  0.0351537   0.0490022   0.23       0             pose: 0.0           3.71895    -4.04578    0 0.00323114  -0.00119349 0.997477    0.0709073      uwb: 0.0            1238.04  634.527  
imu_odom_:  1691062847.334331207  0.593762   -0.270545  9.93833    -0.0905475  0           0.0490022   0.23       -0.02         pose: 0.43215736    3.70493    -4.04763    0 0.00192071  7.93412e-05 0.997492    0.0707526      uwb: 0.0            1238.04  634.527  
imu_odom_:  1691062847.359473428  0.672771   -0.385466  9.95988    -0.0649811  -0.0276969  0.0436758   0.23       -0.02         pose: 0.0           3.70493    -4.04763    0 0.00192071  7.93412e-05 0.997492    0.0707526      uwb: 0.50058706     1239.51  636.446  
imu_odom_:  1691062847.384323125  0.366313   -0.241814  10.24      -0.0394148  -0.015979   0.036219    0.19       0.02          pose: 0.41842068    3.70493    -4.04763    0 0.00368465  -0.0006320560.997495    0.0706335      uwb: 0.0            1239.51  636.446  
imu_odom_:  1691062847.409341396  0.584185   -0.134075  10.4267    -0.0490022  -0.0735032  0.04048     0.19       0.02          pose: 0.0           3.70493    -4.04763    0 0.00368465  -0.0006320560.997495    0.0706335      uwb: 0.49877592     1238.98  637.251  
imu_odom_:  1691062847.426338432  0.684742   -0.270545  9.47864    -0.0628506  0.0106526   0.0490022   0.18       0.02          pose: 0.50049082    3.69091    -4.04948    0 0.00647933  -0.00337213 0.997485    0.0705054      uwb: 0.0            1238.98  637.251  
imu_odom_:  1691062847.450319889  0.203507   -0.40462   9.67736    -0.0628506  -0.0117179  0.0532632   0.18       0.02          pose: 0.0           3.69091    -4.04948    0 0.00647933  -0.00337213 0.997485    0.0705054      uwb: 0.50054623     1236.17  636.704  
imu_odom_:  1691062847.467392463  0.433351   -0.287304  9.73243    -0.0436758  -0.0138484  0.0490022   0.18       -0.02         pose: 0.66926834    3.68297    -4.0434     0 0.0079274   -0.00177485 0.997487    0.0703883      uwb: 0.0            1236.17  636.704  
imu_odom_:  1691062847.492443981  0.758962   -0.0454898 10.3118    -0.0372843  -0.0426106  0.0479369   0.18       -0.02         pose: 0.0           3.68297    -4.0434     0 0.0079274   -0.00177485 0.997487    0.0703883      uwb: 0.50099829     1235.08  637.002  
imu_odom_:  1691062847.518395822  0.440533   -0.191536  9.98861    -0.0383495  0.00213053  0.0415453   0.18       0             pose: 0.42116509    3.66895    -4.04526    0 0.00584416  -0.00217337 0.997517    0.0701516      uwb: 0.0            1235.08  637.002  
imu_odom_:  1691062847.543315806  0.280122   -0.220267  9.72046    -0.052198   0.00213053  0.0383495   0.19       0             pose: 0.41923146    3.66348    -4.04108    0 0.00494888  7.7253e-05  0.99753     0.0700697      uwb: 0.49885175     1235.45  638.506  
imu_odom_:  1691062847.566311197  0.201113   0.107739   9.69891    -0.0617853  -0.00106526 0.0468716   0.19       0             pose: 0.0           3.66348    -4.04108    0 0.00494888  7.7253e-05  0.99753     0.0700697      uwb: 0.0            1235.45  638.506  
imu_odom_:  1691062847.590313069  0.502782   -0.304064  9.81623    -0.0788296  0.0106526   0.0511327   0.25       0             pose: 0.8120686     3.66101    -4.03919    0 0.004111    9.75371e-05 0.997533    0.0700749      uwb: 0.0            1235.45  638.506  
imu_odom_:  1691062847.607307481  0.153229   -0.407014  10.0078    -0.0500674  -0.0191748  0.0308927   0.25       0             pose: 0.0           3.66101    -4.03919    0 0.004111    9.75371e-05 0.997533    0.0700749      uwb: 0.49994836     1235.67  640.226  
imu_odom_:  1691062847.632290170  0.452504   -0.292093  9.60314    -0.0436758  -0.0223706  0.0426106   0.18       0.02          pose: 0.47915667    3.64699    -4.04106    0 0.00136968  0.00117082  0.997548    0.0699587      uwb: 0.0            1235.67  640.226  
imu_odom_:  1691062847.655351181  0.318429   -0.237026  9.91678    -0.0308927  0.0245011   0.0383495   0.18       0.02          pose: 0.0           3.64699    -4.04106    0 0.00136968  0.00117082  0.997548    0.0699587      uwb: 0.49952254     1236.09  641.65   
imu_odom_:  1691062847.680353703  0.277727   -0.244209  10.0317    -0.0447411  -0.0127832  0.0479369   0.25       -0.02         pose: 0.41941519    3.64699    -4.04106    0 0.00115449  -0.00193813 0.99755     0.0699215      uwb: 0.0            1236.09  641.65   
imu_odom_:  1691062847.694275004  0.519542   -0.136469  9.81623    -0.0585895  -0.00745685 0.0458064   0.25       -0.02         pose: 0.0           3.64699    -4.04106    0 0.00115449  -0.00193813 0.99755     0.0699215      uwb: 0.50050540     1237.55  643.497  
imu_odom_:  1691062847.718444575  0.440533   -0.304064  9.96467    -0.0479369  -0.0372843  0.0553937   0.17       -0.02         pose: 0.46928434    3.63904    -4.03499    0 -0.00114948 -0.00195838 0.997553    0.0698715      uwb: 0.0            1237.55  643.497  
imu_odom_:  1691062847.745298195  0.158017   -0.023942  9.87369    -0.0468716  0.0479369   0.04048     0.17       -0.02         pose: 0.0           3.63904    -4.03499    0 -0.00114948 -0.00195838 0.997553    0.0698715      uwb: 0.50105079     1237.95  644.244  
imu_odom_:  1691062847.770287009  -0.0550666 -0.189142  9.43794    -0.0948085  0.0127832   0.0596548   0.19       0             pose: 0.39169392    3.62503    -4.03687    0 -0.0008616  -0.00151097 0.997567    0.06969        uwb: 0.0            1237.95  644.244  
imu_odom_:  1691062847.788282945  0.526724   0.0766145  10.4531    -0.0436758  -0.0479369  0.0340885   0.19       0             pose: 0.0           3.62503    -4.03687    0 -0.0008616  -0.00151097 0.997567    0.06969        uwb: 0.0            1237.95  644.244  
imu_odom_:  1691062847.812343439  0.260968   -0.0742203 10.2568    -0.0681769  -0.0394148  0.0458064   0.18       -0.02         pose: 0.51882098    3.61708    -4.03081    0 -0.0030759  -0.0005900620.99758     0.0694603      uwb: 0.49837636     1235.92  643.934  
imu_odom_:  1691062847.835279333  0.141258   -0.208296  10.0078    -0.0383495  -0.0372843  0.0330232   0.18       -0.02         pose: 0.0           3.61708    -4.03081    0 -0.0030759  -0.0005900620.99758     0.0694603      uwb: 0.0            1235.92  643.934  
imu_odom_:  1691062847.853337098  0.548272   -0.196325  9.77553    -0.0735032  -0.02024    0.0639159   0.25       0             pose: 0.41942395    3.61101    -4.03876    0 -0.00348296 0.00148949  0.997588    0.0693151      uwb: 0.50112078     1235.64  644.654  
imu_odom_:  1691062847.877340429  0.253785   0.0191536  10.2352    -0.0639159  -0.0372843  0.0500674   0.25       0             pose: 0.0           3.61101    -4.03876    0 -0.00348296 0.00148949  0.997588    0.0693151      uwb: 0.0            1235.64  644.654  
imu_odom_:  1691062847.902323993  0.435745   -0.244209  9.69891    -0.0735032  0.0223706   0.0458064   0.21       -0.02         pose: 0.46990263    3.60306    -4.0327     0 -0.00494317 0.00238735  0.997584    0.0692463      uwb: 0.49945255     1235.85  645.692  
imu_odom_:  1691062847.917366978  -0.0574608 -0.220267  10.0533    -0.0553937  0.0330232   0.0319579   0.21       -0.02         pose: 0.0           3.60306    -4.0327     0 -0.00494317 0.00238735  0.997584    0.0692463      uwb: 0.0            1235.85  645.692  
imu_odom_:  1691062847.941302646  0.383072   -0.191536  10.3765    -0.0639159  -0.052198   0.0479369   0.18       0             pose: 0.41995766    3.58904    -4.03459    0 -0.00367732 0.00367868  0.997606    0.0689641      uwb: 0.49818679     1234.76  645.986  
imu_odom_:  1691062847.968278468  0.42138    -0.189142  10.5489    -0.0383495  -0.0276969  0.0298274   0.18       0             pose: 0.0           3.58904    -4.03459    0 -0.00367732 0.00367868  0.997606    0.0689641      uwb: 0.0            1234.76  645.986  
imu_odom_:  1691062847.993286822  0.454898   -0.0383072 10.161     -0.0660464  -0.0426106  0.052198    0.2        0             pose: 0.40028883    3.58904    -4.03459    0 -0.00356757 0.0019815   0.997613    0.0689366      uwb: 0.49981128     1234.56  646.955  
imu_odom_:  1691062848.19303117   0.588974   -0.0407014 10.2568    -0.0394148  -0.0340885  0.02024     0.2        0             pose: 0.52057672    3.58109    -4.02854    0 0.00175275  0.00217907  0.997617    0.068942       uwb: 0.0            1234.56  646.955  
imu_odom_:  1691062848.33307831   0.687136   -0.110133  10.1945    -0.0756338  -0.00319579 0.0479369   0.21       -0.02         pose: 0.0           3.58109    -4.02854    0 0.00175275  0.00217907  0.997617    0.068942       uwb: 0.0            1234.56  646.955  
imu_odom_:  1691062848.56277557   0.553061   0.124498   10.1394    -0.0553937  -0.00745685 0.0340885   0.21       -0.02         pose: 0.0           3.58109    -4.02854    0 0.00175275  0.00217907  0.997617    0.068942       uwb: 0.50175367     1233.32  647.487  
imu_odom_:  1691062848.82433260   0.306458   -0.184354  10.1251    -0.072438   0.00639159  0.0298274   0.18       0             pose: 0.62914030    3.56707    -4.03044    0 0.00660268  0.00552987  0.997576    0.0690461      uwb: 0.0            1233.32  647.487  
imu_odom_:  1691062848.106293100  0.387861   -0.280122  9.09318    -0.0436758  -0.0234358  0.0308927   0.2        -0.02         pose: 0.0           3.56707    -4.03044    0 0.00660268  0.00552987  0.997576    0.0690461      uwb: 0.50128995     1231.63  647.384  
imu_odom_:  1691062848.124497565  0.663194   -0.387861  9.94791    -0.0639159  -0.0276969  0.0511327   0.2        -0.02         pose: 0.42150633    3.55912    -4.02439    0 0.00438581  0.00581217  0.997574    0.0692366      uwb: 0.0            1231.63  647.384  
imu_odom_:  1691062848.149542668  0.40462    -0.124498  10.2017    -0.0372843  -0.015979   0.0340885   0.2        -0.02         pose: 0.0           3.55912    -4.02439    0 0.00438581  0.00581217  0.997574    0.0692366      uwb: 0.49809347     1231.43  648.352  
imu_odom_:  1691062848.174263457  0.047884   -0.203507  9.88805    -0.0607201  -0.0319579  0.0511327   0.18       0             pose: 0.7948614     3.55912    -4.02439    0 0.00406362  0.00516644  0.997576    0.069271       uwb: 0.0            1231.43  648.352  
imu_odom_:  1691062848.191253786  0.474052   -0.234632  9.56962    -0.0372843  0.0234358   0.0298274   0.18       0             pose: 0.0           3.55912    -4.02439    0 0.00406362  0.00516644  0.997576    0.069271       uwb: 0.0            1231.43  648.352  
imu_odom_:  1691062848.214323839  0.553061   -0.332794  9.96467    -0.0553937  0.0127832   0.0553937   0.18       -0.02         pose: 0.43030248    3.5451     -4.02628    0 0.00391014  0.0027535   0.997588    0.0692548      uwb: 0.50050833     1231.69  649.286  
imu_odom_:  1691062848.240420046  0.430956   -0.237026  10.3837    -0.0543285  0.0117179   0.0351537   0.25       0             pose: 0.80911717    3.53323    -4.02536    0 0.00231864  0.000213001 0.99761     0.0690638      uwb: 0.49943505     1232.32  650.998  
imu_odom_:  1691062848.256414100  0.272939   -0.179565  9.87369    -0.0628506  -0.02024    0.0553937   0.25       0             pose: 0.0           3.53323    -4.02536    0 0.00231864  0.000213001 0.99761     0.0690638      uwb: 0.0            1232.32  650.998  
imu_odom_:  1691062848.282269697  0.167594   -0.268151  9.76355    -0.0532632  0.0106526   0.0340885   0.23       0.02          pose: 0.8164725     3.53109    -4.02818    0 0.00176503  -0.0004333750.997609    0.0690805      uwb: 0.0            1232.32  650.998  
imu_odom_:  1691062848.305335375  0.629675   -0.201113  9.66779    -0.0788296  0.00106526  0.0585895   0.23       0.02          pose: 0.0           3.53109    -4.02818    0 0.00176503  -0.0004333750.997609    0.0690805      uwb: 0.50256738     1231.47  651.618  
imu_odom_:  1691062848.329328498  0.620098   -0.181959  10.3334    -0.0671117  0.00426106  0.0415453   0.18       0.02          pose: 0.41935396    3.52313    -4.02212    0 -0.00157158 -0.00116102 0.997614    0.0690096      uwb: 0.0            1231.47  651.618  
imu_odom_:  1691062848.347257938  0.258574   -0.220267  9.6199     -0.0660464  -0.0383495  0.0532632   0.18       0.02          pose: 0.0           3.52313    -4.02212    0 -0.00157158 -0.00116102 0.997614    0.0690096      uwb: 0.49623858     1229.25  651.672  
imu_odom_:  1691062848.371257478  0.229843   -0.277727  9.35415    -0.0713727  0           0.0372843   0.18       0             pose: 0.48915442    3.50912    -4.02402    0 -0.000514271-0.00124922 0.997627    0.0688326      uwb: 0.0            1229.25  651.672  
imu_odom_:  1691062848.394266576  0.586579   -0.186748  9.76834    -0.103331   -0.0351537  0.0596548   0.18       0             pose: 0.0           3.50912    -4.02402    0 -0.000514271-0.00124922 0.997627    0.0688326      uwb: 0.50158452     1231.47  654.222  
imu_odom_:  1691062848.420278205  0.545878   -0.385466  10.0413    -0.0671117  -0.0553937  0.036219    0.25       -0.02         pose: 0.41941229    3.50116    -4.01797    0 -0.00130222 -0.00112444 0.997636    0.068703       uwb: 0.0            1231.47  654.222  
imu_odom_:  1691062848.434260754  0.919373   -0.371101  10.896     -0.0500674  -0.0490022  0.0468716   0.25       -0.02         pose: 0.0           3.50116    -4.01797    0 -0.00130222 -0.00112444 0.997636    0.068703       uwb: 0.0            1231.47  654.222  
imu_odom_:  1691062848.458370828  0.593762   -0.0909797 9.95748    -0.036219   0.00852212  0.0500674   0.17       -0.02         pose: 0.47027595    3.50116    -4.01797    0 0.000418863 -0.00236507 0.997648    0.0685039      uwb: 0.50029250     1233.69  656.77   
imu_odom_:  1691062848.483229859  0.830788   -0.167594  10.7141    -0.0607201  -0.056459   0.04048     0.17       -0.02         pose: 0.0           3.50116    -4.01797    0 0.000418863 -0.00236507 0.997648    0.0685039      uwb: 0.0            1233.69  656.77   
imu_odom_:  1691062848.506251206  0.545878   -0.181959  9.75877    -0.0458064  -0.015979   0.052198    0.18       0.02          pose: 0.38998486    3.48714    -4.01989    0 0.00412085  -0.0034585  0.99764     0.0684543      uwb: 0.50045584     1233.51  657.673  
imu_odom_:  1691062848.522567533  0.4956     -0.395043  9.88805    -0.0511327  -0.00213053 0.0575243   0.18       0.02          pose: 0.0           3.48714    -4.01989    0 0.00412085  -0.0034585  0.99764     0.0684543      uwb: 0.0            1233.51  657.673  
imu_odom_:  1691062848.548324552  0.311246   -0.0837971 10.2065    -0.04048    0.00106526  0.0479369   0.25       0             pose: 0.48933816    3.47918    -4.01384    0 0.00795002  -0.0008184880.997631    0.0683285      uwb: 0.49935631     1232.51  657.868  
imu_odom_:  1691062848.573223830  0.536301   0.0335188  10.4651    -0.0745685  -0.015979   0.0500674   0.25       0             pose: 0.0           3.47918    -4.01384    0 0.00795002  -0.0008184880.997631    0.0683285      uwb: 0.0            1232.51  657.868  
imu_odom_:  1691062848.590273364  0.675165   -0.299275  9.7875     -0.0458064  -0.00532632 0.0351537   0.21       -0.02         pose: 0.40062715    3.47314    -4.02181    0 0.00651516  -0.0001977280.99766     0.0680521      uwb: 0.0            1232.51  657.868  
imu_odom_:  1691062848.615294260  0.311246   -0.234632  9.74201    -0.0436758  -0.0127832  0.0340885   0.21       -0.02         pose: 0.0           3.47314    -4.02181    0 0.00651516  -0.0001977280.99766     0.0680521      uwb: 0.49991628     1231.19  657.884  
imu_odom_:  1691062848.640352195  0.397437   -0.0526724 10.1323    -0.056459   -0.0330232  0.0426106   0.21       -0.02         pose: 0.50935989    3.46517    -4.01577    0 0.00618545  0.00258194  0.997671    0.0678773      uwb: 0.0            1231.19  657.884  
imu_odom_:  1691062848.664222534  0.634463   -0.304064  10.343     -0.0756338  -0.0426106  0.0543285   0.21       -0.02         pose: 0.0           3.46517    -4.01577    0 0.00618545  0.00258194  0.997671    0.0678773      uwb: 0.49813430     1231.75  658.977  
imu_odom_:  1691062848.690229497  0.73502    -0.220267  9.991      -0.0426106  -0.00319579 0.0223706   0.18       -0.02         pose: 0.42144508    3.4572     -4.00973    0 0.00417326  0.00221671  0.997677    0.0679527      uwb: 0.0            1231.75  658.977  
imu_odom_:  1691062848.703218104  0.440533   -0.198719  10.1849    -0.0383495  -0.0149137  0.0319579   0.18       -0.02         pose: 0.0           3.4572     -4.00973    0 0.00417326  0.00221671  0.997677    0.0679527      uwb: 0.49998336     1231.48  660.016  
imu_odom_:  1691062848.726216995  0.462081   -0.148441  10.1011    -0.0372843  -0.0117179  0.036219    0.18       0             pose: 0.48874903    3.44319    -4.01166    0 0.00626657  0.00137592  0.997677    0.0678161      uwb: 0.0            1231.48  660.016  
imu_odom_:  1691062848.752355491  0.438139   -0.181959  9.8258     -0.0426106  -0.0245011  0.0575243   0.18       0             pose: 0.0           3.44319    -4.01166    0 0.00626657  0.00137592  0.997677    0.0678161      uwb: 0.50127537     1230.6   660.669  
imu_odom_:  1691062848.765222772  0.301669   -0.251391  9.51456    -0.0490022  0.00532632  0.0490022   0.18       0             pose: 0.80096848    3.43067    -4.01162    0 0.00264107  0.0018303   0.997692    0.0678306      uwb: 0.0            1230.6   660.669  
imu_odom_:  1691062848.789426175  0.25618    -0.0957681 10.1562    -0.0617853  -0.036219   0.0543285   0.18       0             pose: 0.0           3.43067    -4.01162    0 0.00264107  0.0018303   0.997692    0.0678306      uwb: 0.0            1230.6   660.669  
imu_odom_:  1691062848.806229848  0.572214   -0.624887  9.64384    -0.0649811  0.00852212  0.0532632   0.24       0             pose: 0.5923400     3.42918    -4.01359    0 0.00206696  0.00162187  0.997695    0.0678032      uwb: 0.49988420     1229.96  661.622  
imu_odom_:  1691062848.831225079  0.416591   -0.169988  9.97185    -0.0511327  0.0138484   0.0628506   0.24       0             pose: 0.0           3.42918    -4.01359    0 0.00206696  0.00162187  0.997695    0.0678032      uwb: 0.0            1229.96  661.622  
imu_odom_:  1691062848.856372842  0.64404    -0.189142  9.79228    -0.0745685  0.0223706   0.0426106   0.22       0             pose: 0.38976321    3.4212     -4.00756    0 -0.0001144380.00174659  0.997715    0.0675443      uwb: 0.50255279     1230.99  663.269  
imu_odom_:  1691062848.878282130  0.890643   -0.280122  9.58399    -0.0745685  -0.0234358  0.0458064   0.22       0             pose: 0.0           3.4212     -4.00756    0 -0.0001144380.00174659  0.997715    0.0675443      uwb: 0.0            1230.99  663.269  
imu_odom_:  1691062848.894362805  0.521936   -0.533907  9.55526    -0.0607201  0.0287621   0.04048     0.18       0.02          pose: 0.81026918    3.4072     -4.0095     0 0.0054415   0.00140681  0.997732    0.0670693      uwb: 0.49797973     1229.77  663.798  
imu_odom_:  1691062848.919224168  0.222661   -0.366313  9.51216    -0.056459   0.0553937   0.0511327   0.18       0.02          pose: 0.7965821     3.4072     -4.0095     0 0.00529626  0.000597399 0.997735    0.0670614      uwb: 0.0            1229.77  663.798  
imu_odom_:  1691062848.942224225  0.294487   -0.198719  9.35415    -0.0713727  -0.0298274  0.0543285   0.18       0.02          pose: 0.32976217    3.39922    -4.00348    0 0.00215433  -0.00125151 0.997756    0.0669047      uwb: 0.50098372     1231.43  665.769  
imu_odom_:  1691062848.967232580  0.366313   -0.272939  10.0317    -0.0628506  -0.0117179  0.0394148   0.18       0.02          pose: 0.0           3.39922    -4.00348    0 0.00215433  -0.00125151 0.997756    0.0669047      uwb: 0.0            1231.43  665.769  
imu_odom_:  1691062848.983215552  0.658405   -0.553061  9.75398    -0.0639159  -0.0255663  0.0415453   0.22       -0.02         pose: 0.48008412    3.38933    -4.00487    0 -0.00153861 -0.002532   0.997766    0.0667344      uwb: 0.0            1231.43  665.769  
imu_odom_:  1691062849.8342025    0.402226   -0.332794  9.90481    -0.0426106  0.02024     0.0394148   0.22       -0.02         pose: 0.0           3.38933    -4.00487    0 -0.00153861 -0.002532   0.997766    0.0667344      uwb: 0.49712228     1231.25  666.648  
imu_odom_:  1691062849.33264927   0.68953    -0.237026  9.77313    -0.0543285  -0.0149137  0.04048     0.21       0             pose: 0.41109445    3.38521    -4.00545    0 -0.000761658-0.0061584  0.997752    0.0667253      uwb: 0.0            1231.25  666.648  
imu_odom_:  1691062849.49210860   0.337582   -0.42138   9.27514    -0.0308927  0.0479369   0.0255663   0.21       0             pose: 0.6880010     3.38521    -4.00545    0 -5.83783e-05-0.00598457 0.997753    0.0667261      uwb: 0.49986962     1232.97  668.508  
imu_odom_:  1691062849.73270188   0.519542   -0.483629  9.17698    0.0255663   0.0436758   0.0234358   0.18       0             pose: 0.33988825    3.37723    -3.99943    0 0.000197213 -0.00637356 0.997744    0.0668325      uwb: 0.0            1232.97  668.508  
imu_odom_:  1691062849.98346498   0.0694318  0.122104   9.45949    -0.0266316  0.0671117   0.0458064   0.18       0             pose: 0.0           3.37723    -3.99943    0 0.000197213 -0.00637356 0.997744    0.0668325      uwb: 0.50059292     1232.87  669.877  
imu_odom_:  1691062849.115363659  0.280122   0.100556   10.1083    -0.0745685  -0.0106526  0.0585895   0.18       -0.02         pose: 0.7004544     3.37723    -3.99943    0 0.000404498 -0.00668312 0.997738    0.0668918      uwb: 0.0            1232.87  669.877  
imu_odom_:  1691062849.140229981  0.380678   -0.409408  9.62708    -0.0596548  0.00639159  0.0191748   0.18       -0.02         pose: 0.0           3.37723    -3.99943    0 0.000404498 -0.00668312 0.997738    0.0668918      uwb: 0.0            1232.87  669.877  
imu_odom_:  1691062849.166204571  0.476446   -0.105345  10.173     -0.0330232  -0.0447411  0.0340885   0.19       0             pose: 0.49293421    3.36322    -4.00139    0 -0.00144689 -0.00428614 0.99775     0.0668875      uwb: 0.50061333     1232.29  670.703  
imu_odom_:  1691062849.191222259  0.105345   -0.155623  10.2208    -0.015979   -0.00426106 0.0394148   0.17       0             pose: 0.60695746    3.35111    -4.00084    0 -7.72635e-05-0.00338756 0.997739    0.0671205      uwb: 0.0            1232.29  670.703  
imu_odom_:  1691062849.214357059  0.897826   -0.198719  9.69652    -0.0553937  -0.0213053  0.0703074   0.17       0             pose: 0.0           3.35111    -4.00084    0 -7.72635e-05-0.00338756 0.997739    0.0671205      uwb: 0.0            1232.29  670.703  
imu_odom_:  1691062849.231470464  0.047884   -0.112527  10.2352    -0.0287621  0.015979    0.0479369   0.17       0             pose: 0.0           3.35111    -4.00084    0 -7.72635e-05-0.00338756 0.997739    0.0671205      uwb: 0.0            1232.29  670.703  
imu_odom_:  1691062849.257347060  0.61531    -0.201113  9.84735    -0.0426106  -0.0266316  0.0340885   0.25       -0.02         pose: 0.8180183     3.34922    -4.00335    0 -0.000797272-0.00285759 0.997741    0.0671187      uwb: 0.100064045    1231.54  671.76   
imu_odom_:  1691062849.284337757  0.847547   -0.0670376 10.6087    -0.0468716  -0.0266316  0.0532632   0.25       -0.02         pose: 0.47973415    3.34124    -3.99732    0 -0.000569769-0.00126547 0.99777     0.0667296      uwb: 0.0            1231.54  671.76   
imu_odom_:  1691062849.310309722  0.565032   0.0837971  9.75398    -0.0415453  -0.00213053 0.0447411   0.25       -0.02         pose: 0.0           3.34124    -3.99732    0 -0.000569769-0.00126547 0.99777     0.0667296      uwb: 0.49944674     1231.45  672.5    
imu_odom_:  1691062849.327354881  0.155623   -0.344765  10.0748    -0.0500674  -0.00639159 0.0692422   0.23       -0.02         pose: 0.43009834    3.33325    -3.9913     0 0.00226006  -0.0002057610.99777     0.0667088      uwb: 0.0            1231.45  672.5    
imu_odom_:  1691062849.353473254  0.56982    -0.191536  9.87129    -0.0532632  0.00532632  0.0383495   0.23       -0.02         pose: 0.0           3.33325    -3.9913     0 0.00226006  -0.0002057610.99777     0.0667088      uwb: 0.50187909     1231.59  673.519  
imu_odom_:  1691062849.380340000  0.612916   -0.205901  10.1993    -0.0671117  -0.0276969  0.0681769   0.23       0             pose: 0.52014801    3.32723    -3.99929    0 0.00451752  0.00274471  0.997778    0.0664181      uwb: 0.0            1231.59  673.519  
imu_odom_:  1691062849.406315757  0.454898   -0.172383  10.2999    -0.056459   0.0276969   0.04048     0.19       0             pose: 0.44148724    3.31924    -3.99327    0 0.00681915  0.00116151  0.997785    0.0661596      uwb: 0.0            1231.59  673.519  
imu_odom_:  1691062849.423438495  0.21069    -0.126893  9.88566    -0.076699   -0.04048    0.0532632   0.25       0             pose: 0.0           3.31924    -3.99327    0 0.00681915  0.00116151  0.997785    0.0661596      uwb: 0.0            1231.59  673.519  
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imu_odom_:  1691062849.562311163  0.821211   -0.047884  9.62469    -0.0490022  -0.0149137  0.0426106   0.18       0.02          pose: 0.39056817    3.28325    -3.99125    0 0.0038277   -0.00125658 0.99785     0.0654194      uwb: 0.50104205     1231.56  675.957  
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imu_odom_:  1691062849.674353834  0.574608   -0.23942   10.2256    -0.0532632  -0.00213053 0.04048     0.25       0             pose: 0.0           3.27525    -3.98526    0 0.00810443  0.00101264  0.997836    0.06524        uwb: 0.0            1234.4   680.329  
imu_odom_:  1691062849.699303859  0.59855    -0.105345  10.3286    -0.0596548  -0.0149137  0.04048     0.18       0.02          pose: 0.38833996    3.26125    -3.98726    0 0.00468961  0.00141429  0.997872    0.0650226      uwb: 0.50062500     1234.49  681.363  
imu_odom_:  1691062849.725191829  0.452504   -0.122104  10.2424    -0.0511327  -0.036219   0.0500674   0.23       -0.02         pose: 0.49192802    3.25324    -3.98128    0 0.00591118  0.000180722 0.997879    0.0648242      uwb: 0.0            1234.49  681.363  
imu_odom_:  1691062849.741164010  0.296881   -0.198719  9.72764    -0.0681769  -0.00106526 0.0553937   0.23       -0.02         pose: 0.0           3.25324    -3.98128    0 0.00591118  0.000180722 0.997879    0.0648242      uwb: 0.49791557     1232.6   681.609  
imu_odom_:  1691062849.758228710  -0.0287304 -0.447716  10.1155    -0.0543285  -0.00745685 0.0351537   0.23       -0.02         pose: 0.0           3.25324    -3.98128    0 0.00591118  0.000180722 0.997879    0.0648242      uwb: 0.0            1232.6   681.609  
imu_odom_:  1691062849.783160654  0.301669   -0.320823  9.57441    -0.0458064  -0.0383495  0.0447411   0.18       0             pose: 0.75860058    3.23924    -3.9833     0 0.00228419  0.00179628  0.997906    0.0646195      uwb: 0.0            1232.6   681.609  
imu_odom_:  1691062849.810300383  0.342371   -0.177171  10.3142    -0.02024    -0.0127832  0.036219    0.23       0.02          pose: 0.8023276     3.23924    -3.9833     0 0.00182103  0.00129475  0.997909    0.064599       uwb: 0.50128704     1232.16  682.217  
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imu_odom_:  1691062849.860193726  0.457293   -0.007182619.59835    -0.0372843  0.0319579   0.0447411   0.22       0             pose: 0.0           3.23359    -3.97908    0 -0.00145606 0.00188797  0.997908    0.0646023      uwb: 0.50059584     1234.83  685.511  
imu_odom_:  1691062849.886304225  0.282516   0.160412   10.0365    -0.0458064  0.0127832   0.0532632   0.22       0             pose: 0.31888949    3.22525    -3.98532    0 -0.0004504270.000502939 0.997925    0.0643826      uwb: 0.0            1234.83  685.511  
imu_odom_:  1691062849.912165363  0.565032   -0.234632  10.1155    -0.0820254  -0.0436758  0.0692422   0.24       0             pose: 0.0           3.22525    -3.98532    0 -0.0004504270.000502939 0.997925    0.0643826      uwb: 0.50038876     1236.31  687.533  
imu_odom_:  1691062849.926155787  0.430956   -0.349553  9.46188    -0.0735032  -0.0138484  0.0468716   0.24       0             pose: 0.52051257    3.21723    -3.97934    0 -0.0002556340.00445004  0.997938    0.0640381      uwb: 0.0            1236.31  687.533  
imu_odom_:  1691062849.943217862  0.725443   -0.0023942 10.3525    -0.0660464  0.0191748   0.0394148   0.24       0             pose: 0.0           3.21723    -3.97934    0 -0.0002556340.00445004  0.997938    0.0640381      uwb: 0.50037127     1235.37  688.209  
imu_odom_:  1691062849.969141413  0.622492   -0.464475  9.7037     -0.0862864  0.0213053   0.0447411   0.18       -0.02         pose: 0.38925283    3.20324    -3.98138    0 0.00206683  0.00190183  0.997964    0.0637159      uwb: 0.0            1235.37  688.209  
imu_odom_:  1691062849.994222098  0.40462    -0.169988  9.7851     -0.052198   0.0266316   0.0458064   0.21       0             pose: 0.0           3.20324    -3.98138    0 0.00206683  0.00190183  0.997964    0.0637159      uwb: 0.49583903     1235.72  689.445  
imu_odom_:  1691062850.17153034   0.897826   -0.155623  9.16022    -0.072438   -0.0138484  0.0532632   0.21       0             pose: 0.43133785    3.20324    -3.98138    0 0.00294044  6.88276e-05 0.99797     0.0636192      uwb: 0.0            1235.72  689.445  
imu_odom_:  1691062850.43309323   0.481235   -0.225055  9.90242    -0.056459   -0.0127832  0.0383495   0.18       -0.02         pose: 0.40853377    3.19522    -3.97541    0 0.00365191  0.00105444  0.99798     0.0634078      uwb: 0.50140662     1234.24  689.711  
imu_odom_:  1691062850.70365349   0.533907   -0.196325  9.92397    -0.0447411  -0.0436758  0.0351537   0.18       -0.02         pose: 0.8055358     3.19522    -3.97541    0 0.00381447  0.000251869 0.99798     0.0634098      uwb: 0.0            1234.24  689.711  
imu_odom_:  1691062850.86212705   0.984017   -0.126893  9.40203    -0.0351537  0.0223706   0.036219    0.2        0.02          pose: 0.0           3.19522    -3.97541    0 0.00381447  0.000251869 0.99798     0.0634098      uwb: 0.0            1234.24  689.711  
imu_odom_:  1691062850.112200711  0.452504   -0.126893  9.95509    -0.0447411  0.00426106  0.0372843   0.2        0.02          pose: 0.53104404    3.18122    -3.97747    0 0.00751141  0.000430923 0.997954    0.0634948      uwb: 0.49995130     1232.03  689.262  
imu_odom_:  1691062850.137147529  -0.0526724 -0.347159  9.52174    -0.0649811  0.0447411   0.0479369   0.19       0             pose: 0.33887915    3.17545    -3.97317    0 0.00594947  0.00220654  0.997958    0.06355        uwb: 0.0            1232.03  689.262  
imu_odom_:  1691062850.164273843  0.366313   -0.282516  9.63187    -0.0330232  -0.0596548  0.0223706   0.2        0             pose: 0.7003086     3.1732     -3.9715     0 0.00509709  0.00201275  0.997965    0.0635214      uwb: 0.50061918     1230.1   689.027  
imu_odom_:  1691062850.190143440  0.397437   -0.292093  9.73243    -0.0798948  -0.0394148  0.0436758   0.19       -0.02         pose: 0.45070046    3.16171    -3.97542    0 0.00173891  -0.0001270050.997969    0.0636788      uwb: 0.0            1230.1   689.027  
imu_odom_:  1691062850.207140769  0.536301   -0.222661  9.96946    -0.0660464  0.00426106  0.0330232   0.19       -0.02         pose: 0.0           3.16171    -3.97542    0 0.00173891  -0.0001270050.997969    0.0636788      uwb: 0.49928925     1229.91  689.852  
imu_odom_:  1691062850.231380046  0.667982   -0.23942   9.97903    -0.0798948  -0.0319579  0.0458064   0.25       0             pose: 0.33070422    3.15921    -3.97356    0 0.00150796  -0.00252036 0.997968    0.063648       uwb: 0.0            1229.91  689.852  
imu_odom_:  1691062850.258176504  0.921768   -0.217872  10.2017    -0.04048    0.00639159  0.0372843   0.21       0             pose: 0.34035781    3.15379    -3.96953    0 0.00513915  -0.00255496 0.997958    0.0636126      uwb: 0.50172745     1230.27  691.059  
imu_odom_:  1691062850.283146363  0.694318   -0.124498  10.4483    -0.052198   -0.0127832  0.0543285   0.21       0             pose: 0.7767207     3.15119    -3.96759    0 0.00587788  -0.00246584 0.997954    0.0636231      uwb: 0.0            1230.27  691.059  
imu_odom_:  1691062850.299136918  0.476446   -0.136469  9.5792     -0.0447411  0.0426106   0.0372843   0.21       0             pose: 0.0           3.15119    -3.96759    0 0.00587788  -0.00246584 0.997954    0.0636231      uwb: 0.50067750     1230.01  691.417  
imu_odom_:  1691062850.325186171  0.263362   -0.237026  9.58399    -0.0436758  -0.015979   0.0543285   0.23       0             pose: 0.51019695    3.13719    -3.96964    0 0.00898457  -0.0001011890.997942    0.0634925      uwb: 0.0            1230.01  691.417  
imu_odom_:  1691062850.351133346  0.244209   -0.179565  9.95988    -0.0383495  -0.00852212 0.0479369   0.22       0             pose: 0.35019223    3.13719    -3.96964    0 0.00564278  0.000456117 0.997977    0.0633158      uwb: 0.49765894     1231.63  693.724  
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imu_odom_:  1691062850.394152222  0.368707   0.0191536  9.88326    -0.0532632  -0.00319579 0.0628506   0.23       0.02          pose: 0.52282244    3.1232     -3.9717     0 0.00412188  -0.00123151 0.997995    0.0631468      uwb: 0.49962465     1232.85  695.447  
imu_odom_:  1691062850.420130895  0.507571   0.0814029  9.92157    -0.0596548  -0.0319579  0.0479369   0.23       0.02          pose: 0.0           3.1232     -3.9717     0 0.00412188  -0.00123151 0.997995    0.0631468      uwb: 0.0            1232.85  695.447  
imu_odom_:  1691062850.447241169  0.799663   -0.246603  10.3908    -0.0788296  -0.0532632  0.0671117   0.25       -0.02         pose: 0.42662480    3.11517    -3.96574    0 0.00435757  0.0028222   0.998009    0.0628593      uwb: 0.50030711     1232.63  696.286  
imu_odom_:  1691062850.473335919  0.852336   -0.0191536 10.4842    -0.0617853  0.0127832   0.0436758   0.19       -0.02         pose: 0.0           3.11517    -3.96574    0 0.00435757  0.0028222   0.998009    0.0628593      uwb: 0.0            1232.63  696.286  
imu_odom_:  1691062850.499157685  0.938527   -0.0622492 10.0509    -0.0862864  -0.00639159 0.0553937   0.26       0.02          pose: 0.35112551    3.11517    -3.96574    0 0.00820005  0.0018089   0.998012    0.0624626      uwb: 0.50163995     1231.16  696.556  
imu_odom_:  1691062850.522133536  0.299275   -0.153229  10.0269    -0.0479369  0.0255663   0.0298274   0.26       0.02          pose: 0.26110499    3.10119    -3.96783    0 0.0104844   0.00252837  0.997995    0.0623649      uwb: 0.0            1231.16  696.556  
imu_odom_:  1691062850.538313663  0.469264   -0.342371  9.59117    -0.108657   -0.00319579 0.0639159   0.19       0             pose: 0.24824617    3.10119    -3.96783    0 0.0114301   0.00266122  0.997991    0.0622611      uwb: 0.0            1231.16  696.556  
imu_odom_:  1691062850.562133548  0.196325   -0.0885855 9.85693    -0.0713727  -0.02024    0.0458064   0.19       0             pose: 0.0           3.10119    -3.96783    0 0.0114301   0.00266122  0.997991    0.0622611      uwb: 0.49941174     1231.5   698.299  
imu_odom_:  1691062850.588120388  0.237026   -0.407014  9.64863    -0.0671117  -0.00213053 0.0468716   0.18       0             pose: 0.38957657    3.09315    -3.96188    0 0.00806639  0.00118727  0.998035    0.0621235      uwb: 0.0            1231.5   698.299  
imu_odom_:  1691062850.604184730  0.768539   -0.160412  10.1131    -0.0394148  -0.00319579 0.0394148   0.18       0             pose: 0.0           3.09315    -3.96188    0 0.00806639  0.00118727  0.998035    0.0621235      uwb: 0.50015837     1229.86  698.258  
imu_odom_:  1691062850.630175362  0.90022    -0.110133  9.7851     -0.0479369  -0.0149137  0.0447411   0.23       0             pose: 0.50026628    3.07916    -3.96397    0 0.00510813  6.44867e-05 0.998064    0.0619802      uwb: 0.0            1229.86  698.258  
imu_odom_:  1691062850.647228104  0.584185   -0.354342  9.51216    -0.056459   0.0106526   0.0532632   0.23       0             pose: 0.0           3.07916    -3.96397    0 0.00510813  6.44867e-05 0.998064    0.0619802      uwb: 0.49952841     1229.68  699.039  
imu_odom_:  1691062850.672105801  0.213084   -0.280122  9.68694    -0.0532632  -0.0191748  0.0532632   0.23       0             pose: 0.42031058    3.07916    -3.96397    0 0.0086915   8.22605e-05 0.998047    0.0618603      uwb: 0.0            1229.68  699.039  
imu_odom_:  1691062850.697180070  0.0742203  -0.263362  9.5792     -0.0500674  0.00106526  0.0426106   0.23       0             pose: 0.0           3.07916    -3.96397    0 0.0086915   8.22605e-05 0.998047    0.0618603      uwb: 0.50092833     1231.9   701.576  
imu_odom_:  1691062850.720283372  0.438139   -0.387861  9.92397    -0.0649811  0.00532632  0.0585895   0.23       0             pose: 0.34911896    3.07112    -3.95803    0 0.00637789  -0.00115716 0.998079    0.0616094      uwb: 0.0            1231.9   701.576  
imu_odom_:  1691062850.746109513  0.428562   -0.282516  10.1538    -0.0394148  0.0245011   0.0351537   0.18       0.02          pose: 0.7031960     3.07112    -3.95803    0 0.00565705  -0.00114754 0.998084    0.061598       uwb: 0.49688314     1233.15  703.72   
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imu_odom_:  1691062850.815169183  0.181959   -0.433351  9.8689     -0.0703074  -0.0287621  0.0479369   0.18       0             pose: 0.0           3.05713    -3.96014    0 0.00205596  -0.00336657 0.998108    0.061356       uwb: 0.50013504     1234.38  705.869  
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imu_odom_:  1691062851.200099781  0.246603   -0.301669  10.5656    -0.0479369  -0.0330232  0.0500674   0.22       0.02          pose: 0.44974094    2.97705    -3.95089    0 0.00665561  -0.00268547 0.998188    0.0597413      uwb: 0.49977632     1230.86  711.843  
imu_odom_:  1691062851.214082913  0.703895   -0.0742203 9.81862    -0.0660464  -0.0500674  0.0575243   0.22       0.02          pose: 0.0           2.97705    -3.95089    0 0.00665561  -0.00268547 0.998188    0.0597413      uwb: 0.0            1230.86  711.843  
imu_odom_:  1691062851.239272384  0.950498   -0.0981623 9.5385     -0.0532632  0.00639159  0.0276969   0.17       0.02          pose: 0.38959407    2.96586    -3.94924    0 0.00593347  -0.00201298 0.99821     0.0594829      uwb: 0.0            1230.86  711.843  
imu_odom_:  1691062851.256081308  -0.100556  -0.160412  10.0963    -0.0681769  0.00319579  0.0479369   0.17       0.02          pose: 0.0           2.96586    -3.94924    0 0.00593347  -0.00201298 0.99821     0.0594829      uwb: 0.50001255     1231.95  713.568  
imu_odom_:  1691062851.281139536  0.316035   -0.308852  10.1035    -0.0543285  0.00426106  0.0308927   0.18       0             pose: 0.41998395    2.955      -3.94715    0 0.00650061  -0.00113673 0.998202    0.0595721      uwb: 0.0            1231.95  713.568  
imu_odom_:  1691062851.308124110  0.428562   -0.155623  10.2472    -0.0436758  0.0127832   0.0479369   0.18       0             pose: 0.0           2.955      -3.94715    0 0.00650061  -0.00113673 0.998202    0.0595721      uwb: 0.49809059     1233.4   715.849  
imu_odom_:  1691062851.333061012  0.560243   -0.0981623 10.4507    -0.0458064  0.0383495   0.0426106   0.18       0             pose: 0.32023692    2.955      -3.94715    0 0.00359897  -0.00117702 0.998212    0.0596469      uwb: 0.0            1233.4   715.849  
imu_odom_:  1691062851.360100998  0.136469   -0.366313  9.60554    -0.0468716  0.00852212  0.052198    0.21       -0.02         pose: 0.28038303    2.94693    -3.94125    0 0.00292348  0.00126232  0.99822     0.059557       uwb: 0.49936217     1232.27  716.225  
imu_odom_:  1691062851.386100671  0.177171   -0.220267  10.2089    -0.0543285  -0.00532632 0.0511327   0.21       -0.02         pose: 0.0           2.94693    -3.94125    0 0.00292348  0.00126232  0.99822     0.059557       uwb: 0.0            1232.27  716.225  
imu_odom_:  1691062851.402104934  0.474052   -0.181959  10.1275    -0.0319579  -0.0394148  0.0394148   0.23       0             pose: 0.23946752    2.94103    -3.94932    0 0.00321311  0.00214535  0.998222    0.0594883      uwb: 0.49999506     1231.33  716.861  
imu_odom_:  1691062851.428207560  1.06542    -0.141258  9.99579    -0.0532632  -0.0287621  0.0511327   0.23       0             pose: 0.0           2.94103    -3.94932    0 0.00321311  0.00214535  0.998222    0.0594883      uwb: 0.0            1231.33  716.861  
imu_odom_:  1691062851.455073431  0.387861   0.0383072  9.77074    -0.0500674  0.0149137   0.0468716   0.23       0             pose: 0.53011078    2.93296    -3.94342    0 -0.0004349460.001248    0.998244    0.0592159      uwb: 0.0            1231.33  716.861  
imu_odom_:  1691062851.471359136  0.138864   -0.3304    10.2208    -0.0553937  -0.0127832  0.0628506   0.23       0             pose: 0.0           2.93296    -3.94342    0 -0.0004349460.001248    0.998244    0.0592159      uwb: 0.0            1231.33  716.861  
imu_odom_:  1691062851.488343050  0.591368   -0.191536  9.70131    -0.0436758  -0.0213053  0.052198    0.25       0             pose: 0.42047975    2.91898    -3.94559    0 0.00329498  0.00211661  0.998248    0.059039       uwb: 0.0            1231.33  716.861  
imu_odom_:  1691062851.514196315  0.368707   -0.126893  9.9934     -0.056459   0.00958738  0.0532632   0.25       0             pose: 0.0           2.91898    -3.94559    0 0.00329498  0.00211661  0.998248    0.059039       uwb: 0.99969846     1231.09  717.664  
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imu_odom_:  1691062851.557216066  0.198719   -0.272939  9.51695    -0.0553937  -0.00426106 0.0500674   0.25       0             pose: 0.0           2.91898    -3.94559    0 0.00199027  0.00309089  0.998267    0.0587371      uwb: 0.0            1230.26  718.173  
imu_odom_:  1691062851.584254011  0.802058   -0.0957681 9.59596    -0.0660464  -0.0234358  0.0394148   0.23       0             pose: 0.41998978    2.9109     -3.9397     0 0.000556057 0.00309598  0.998282    0.0585082      uwb: 0.0            1230.26  718.173  
imu_odom_:  1691062851.609192955  0.457293   -0.0885855 10.0006    -0.0820254  -0.0245011  0.0532632   0.23       0             pose: 0.0           2.9109     -3.9397     0 0.000556057 0.00309598  0.998282    0.0585082      uwb: 0.49985214     1229.53  718.574  
imu_odom_:  1691062851.626186493  0.562637   -0.241814  9.88087    -0.0852212  0.00426106  0.0458064   0.23       0.02          pose: 0.43092663    2.89693    -3.9419     0 0.000344285 0.000778313 0.998292    0.0584236      uwb: 0.0            1229.53  718.574  
imu_odom_:  1691062851.651072648  0.490811   -0.428562  9.89763    -0.0628506  -0.0234358  0.0426106   0.23       0.02          pose: 0.0           2.89693    -3.9419     0 0.000344285 0.000778313 0.998292    0.0584236      uwb: 0.50163996     1229.88  720.141  
imu_odom_:  1691062851.678250002  0.653617   -0.122104  10.2615    -0.0340885  -0.0170442  0.0372843   0.23       0             pose: 0.51968431    2.88885    -3.93601    0 0.00348366  0.00258488  0.998293    0.0582353      uwb: 0.0            1229.88  720.141  
imu_odom_:  1691062851.703182238  0.790087   -0.155623  10.4627    -0.0500674  -0.0479369  0.0458064   0.18       0             pose: 0.41950856    2.88296    -3.9441     0 0.00497996  -0.0004423320.998295    0.0581628      uwb: 0.49953717     1230.01  721.47   
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imu_odom_:  1691062851.755086797  0.292093   -0.071826  10.0054    -0.0607201  0.0234358   0.0490022   0.18       0.02          pose: 0.51948307    2.87488    -3.93822    0 0.00911106  0.00122468  0.998269    0.0580913      uwb: 0.49990464     1228.29  721.578  
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imu_odom_:  1691062851.798056385  0.486023   -0.114922  10.0341    -0.052198   -0.0213053  0.0479369   0.2        0             pose: 0.52121547    2.86091    -3.94043    0 0.00360048  0.00258096  0.998311    0.0579186      uwb: 0.0            1228.29  721.578  
imu_odom_:  1691062851.825123203  0.411803   -0.253785  9.38527    -0.0532632  0.0383495   0.0351537   0.2        0             pose: 0.9985202     2.86091    -3.94043    0 0.0027467   0.00213815  0.998316    0.0579036      uwb: 0.0            1228.29  721.578  
imu_odom_:  1691062851.851202205  0.155623   -0.316035  9.61751    -0.052198   0.0308927   0.0468716   0.19       0             pose: 0.8031151     2.86091    -3.94043    0 0.00325401  0.00281986  0.998315    0.057871       uwb: 0.99986762     1227.24  721.872  
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imu_odom_:  1691062851.894195124  0.790087   -0.265756  9.63666    -0.0628506  -0.0319579  0.0372843   0.2        0             pose: 0.52914542    2.85282    -3.93455    0 0.00149443  0.00180501  0.998324    0.0578238      uwb: 0.49990756     1226.63  722.62   
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imu_odom_:  1691062851.943033281  0.416591   0.0670376  10.4986    -0.02024    -0.0117179  0.04048     0.24       0             pose: 0.52943998    2.83885    -3.93677    0 -0.000843567-0.00111753 0.998343    0.0575318      uwb: 0.49984923     1228.84  725.331  
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imu_odom_:  1691062851.976158242  0.337582   -0.129287  10.1538    -0.0447411  -0.0149137  0.0543285   0.2        0             pose: 0.73940134    2.82602    -3.92746    0 0.00372639  0.0017173   0.998331    0.0576054      uwb: 0.0            1228.84  725.331  
imu_odom_:  1691062852.2092877    0.751779   -0.071826  10.252     -0.0500674  -0.0149137  0.0394148   0.2        0             pose: 0.0           2.82602    -3.92746    0 0.00372639  0.0017173   0.998331    0.0576054      uwb: 0.50004172     1229.12  726.455  
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imu_odom_:  1691062852.45172125   0.356736   -0.158017  9.63666    -0.0500674  -0.00639159 0.0532632   0.23       0             pose: 0.0           2.82267    -3.92502    0 0.00311207  0.00201567  0.998335    0.0575557      uwb: 0.49872931     1230.26  728.488  
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imu_odom_:  1691062852.78182468   0.584185   -0.148441  9.72285    -0.0713727  0.0170442   0.0394148   0.2        0             pose: 0.0           2.8087     -3.92725    0 0.00362518  0.00118091  0.998356    0.0571828      uwb: 0.0            1230.26  728.488  
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imu_odom_:  1691062852.197119447  0.584185   -0.117316  9.78989    -0.0713727  0.0138484   0.0436758   0.18       -0.02         pose: 0.0           2.79473    -3.92949    0 0.00012413  0.000265732 0.998386    0.0567877      uwb: 0.49977925     1229.61  731.643  
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imu_odom_:  1691062852.249060755  0.114922   -0.292093  9.53132    -0.0745685  -0.0138484  0.0553937   0.23       0.02          pose: 0.0           2.78077    -3.93174    0 0.00121102  0.00125995  0.99839     0.0566894      uwb: 0.49934177     1230.95  733.388  
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imu_odom_:  1691062852.291023278  0.663194   -0.0526724 9.96467    -0.072438   -0.0383495  0.0553937   0.23       0             pose: 0.0           2.77267    -3.92588    0 -0.00308946 0.00109178  0.998395    0.0565479      uwb: 0.50233701     1230.94  734.343  
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imu_odom_:  1691062852.342014393  0.368707   -0.179565  9.55765    -0.0649811  0.0255663   0.0436758   0.23       0             pose: 0.0           2.77267    -3.92588    0 -0.00269016 0.000524383 0.998396    0.0565464      uwb: 0.49786019     1229.31  734.34   
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imu_odom_:  1691062852.384031162  0.895431   -0.502782  10.0197    -0.0756338  -0.0266316  0.0468716   0.2        0             pose: 0.0           2.7587     -3.92813    0 0.000522211 3.86851e-05 0.998405    0.0564517      uwb: 0.0            1229.31  734.34   
imu_odom_:  1691062852.410151579  0.476446   -0.102951  10.5034    -0.0490022  0.0255663   0.0458064   0.23       0             pose: 0.50059295    2.7506     -3.92228    0 -0.00138115 0.000902285 0.998402    0.0564921      uwb: 0.50199870     1228.56  734.746  
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imu_odom_:  1691062852.478005281  0.383072   -0.196325  9.96706    -0.0394148  -0.0340885  0.0468716   0.25       0             pose: 0.0           2.7506     -3.92228    0 -0.000138299-0.00127841 0.998405    0.0564415      uwb: 0.0            1228.41  735.391  
imu_odom_:  1691062852.494127371  0.675165   0.0622492  9.88326    -0.0319579  -0.0127832  0.0426106   0.21       0             pose: 0.43233239    2.73664    -3.92453    0 -0.00110548 -0.0007075560.998417    0.0562304      uwb: 0.50071252     1228.59  736.577  
imu_odom_:  1691062852.520243996  0.476446   -0.234632  9.54089    -0.0628506  0.0340885   0.0490022   0.21       0             pose: 0.0           2.73664    -3.92453    0 -0.00110548 -0.0007075560.998417    0.0562304      uwb: 0.0            1228.59  736.577  
imu_odom_:  1691062852.546037765  0.265756   -0.361524  9.93833    -0.0585895  -0.0117179  0.0660464   0.23       0.02          pose: 0.50733880    2.72853    -3.91868    0 0.00032455  0.00181376  0.998425    0.0560753      uwb: 0.50002423     1229.59  738.203  
imu_odom_:  1691062852.572107143  0.634463   -0.215478  10.058     -0.0671117  -0.00958738 0.0426106   0.23       0.02          pose: 0.0           2.72853    -3.91868    0 0.00032455  0.00181376  0.998425    0.0560753      uwb: 0.0            1229.59  738.203  
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imu_odom_:  1691062852.605049823  -0.141258  -0.301669  9.13148    -0.0798948  -0.0330232  0.0532632   0.23       0             pose: 0.0           2.71457    -3.92095    0 0.0015945   -0.0001252680.998438    0.0558391      uwb: 0.50053170     1230.04  739.534  
imu_odom_:  1691062852.622028487  0.241814   0.181959   10.0245    -0.0468716  -0.0298274  0.0479369   0.25       0             pose: 0.51938101    2.70645    -3.91511    0 0.00313351  -0.0006963610.998453    0.0555019      uwb: 0.0            1230.04  739.534  
imu_odom_:  1691062852.638070373  0.68953    -0.294487  9.09318    -0.0735032  0.0798948   0.0575243   0.25       0             pose: 0.0           2.70645    -3.91511    0 0.00313351  -0.0006963610.998453    0.0555019      uwb: 0.0            1230.04  739.534  
imu_odom_:  1691062852.655045246  0.320823   -0.428562  9.70849    -0.0671117  -0.0266316  0.0553937   0.25       0             pose: 0.0           2.70645    -3.91511    0 0.00313351  -0.0006963610.998453    0.0555019      uwb: 0.49913178     1229.7   740.37   
imu_odom_:  1691062852.671104923  -0.282516  -0.184354  9.85214    -0.0479369  0.0340885   0.0383495   0.18       0.02          pose: 0.76000638    2.69249    -3.91739    0 0.00165086  -0.0009691050.998486    0.0549708      uwb: 0.0            1229.7   740.37   
imu_odom_:  1691062852.688231454  0.677559   -0.198719  9.48822    -0.103331   -0.0191748  0.0692422   0.18       0.02          pose: 0.7953864     2.69249    -3.91739    0 0.000709982 -0.0008352540.998487    0.0549753      uwb: 0.0            1229.7   740.37   
imu_odom_:  1691062852.705242491  0.426168   -0.459687  10.1275    -0.0820254  0.00958738  0.0532632   0.18       0.02          pose: 0.0           2.69249    -3.91739    0 0.000709982 -0.0008352540.998487    0.0549753      uwb: 0.50128999     1229.77  741.211  
imu_odom_:  1691062852.720117488  0.723049   -0.265756  9.74679    -0.0553937  0.0585895   0.0351537   0.19       0.05          pose: 0.33007718    2.68437    -3.91156    0 0.00143391  -0.00190621 0.998501    0.0546728      uwb: 0.0            1229.77  741.211  
imu_odom_:  1691062852.735056648  0.25618    -0.0790087 9.99819    -0.0660464  0.00639159  0.0500674   0.19       0.02          pose: 0.0           2.68437    -3.91156    0 0.00143391  -0.00190621 0.998501    0.0546728      uwb: 0.0            1229.77  741.211  
imu_odom_:  1691062852.751048662  0.411803   -0.167594  10.1658    -0.04048    -0.0298274  0.0447411   0.19       0.02          pose: 0.0           2.68437    -3.91156    0 0.00143391  -0.00190621 0.998501    0.0546728      uwb: 0.49871473     1228.88  741.751  
imu_odom_:  1691062852.768110446  0.866701   -0.438139  9.45231    -0.0394148  0.0117179   0.0394148   0.19       0.02          pose: 0.31115205    2.67854    -3.91969    0 0.00178192  -0.00249794 0.998503    0.0546101      uwb: 0.0            1228.88  741.751  
imu_odom_:  1691062852.795118352  0.651223   -0.110133  9.78031    -0.0426106  0.0117179   0.0490022   0.18       0.02          pose: 0.0           2.67854    -3.91969    0 0.00178192  -0.00249794 0.998503    0.0546101      uwb: 0.50201619     1229.57  743.244  
imu_odom_:  1691062852.821042196  0.158017   -0.342371  9.62948    -0.0628506  -0.0191748  0.056459    0.19       0             pose: 0.67996319    2.67041    -3.91387    0 0.00470543  0.00049799  0.998508    0.0544068      uwb: 0.0            1229.57  743.244  
imu_odom_:  1691062852.837974197  0.292093   -0.148441  10.398     -0.0308927  -0.0394148  0.0543285   0.19       0             pose: 0.0           2.67041    -3.91387    0 0.00470543  0.00049799  0.998508    0.0544068      uwb: 0.0            1229.57  743.244  
imu_odom_:  1691062852.864140402  0.517148   -0.0143652 10.2065    -0.0575243  -0.0223706  0.0532632   0.18       0.02          pose: 0.7885326     2.67041    -3.91387    0 0.00402104  0.0001962   0.998514    0.0543398      uwb: 0.49803519     1229.52  744.205  
imu_odom_:  1691062852.891257968  0.407014   0.0335188  10.1299    -0.0394148  -0.0170442  0.0468716   0.18       0.02          pose: 0.0           2.67041    -3.91387    0 0.00402104  0.0001962   0.998514    0.0543398      uwb: 0.50014672     1229.41  745.219  
imu_odom_:  1691062852.908089058  0.526724   -0.349553  10.1011    -0.0426106  -0.00106526 0.0426106   0.18       -0.02         pose: 0.42981546    2.65646    -3.91618    0 0.00171233  0.00117317  0.998538    0.0540084      uwb: 0.0            1229.41  745.219  
imu_odom_:  1691062852.934018152  0.6608     0.0814029  9.90721    -0.0575243  -0.02024    0.0511327   0.18       -0.02         pose: 0.0           2.65646    -3.91618    0 0.00171233  0.00117317  0.998538    0.0540084      uwb: 0.0            1229.41  745.219  
imu_odom_:  1691062852.956990504  0.560243   -0.277727  10.3286    -0.0798948  -0.0287621  0.0585895   0.18       -0.02         pose: 0.53159237    2.64833    -3.91037    0 0.00259862  0.00490095  0.998537    0.0537802      uwb: 0.49911137     1228.87  745.814  
imu_odom_:  1691062852.983061340  0.533907   -0.143652  9.91678    -0.0458064  -0.0149137  0.0340885   0.18       -0.02         pose: 0.0           2.64833    -3.91037    0 0.00259862  0.00490095  0.998537    0.0537802      uwb: 0.0            1228.87  745.814  
imu_odom_:  1691062852.997113594  0.229843   -0.265756  9.94312    -0.0351537  -0.00639159 0.0351537   0.2        0             pose: 0.41992271    2.63438    -3.9127     0 0.00520347  0.00503764  0.998539    0.05354        uwb: 0.50261116     1228.39  746.8    
imu_odom_:  1691062853.22110285   0.490811   -0.158017  9.60314    -0.036219   -0.0266316  0.0383495   0.2        0             pose: 0.0           2.63438    -3.9127     0 0.00520347  0.00503764  0.998539    0.05354        uwb: 0.0            1228.39  746.8    
imu_odom_:  1691062853.48171789   0.507571   -0.169988  9.87848    -0.0394148  -0.0213053  0.0575243   0.23       0             pose: 0.48019498    2.63438    -3.9127     0 0.0079932   0.00318734  0.998533    0.0534564      uwb: 0.50058129     1227.57  746.822  
imu_odom_:  1691062853.62033304   0.260968   -0.28491   9.60314    -0.0426106  0.00106526  0.0479369   0.23       0             pose: 0.0           2.63438    -3.9127     0 0.0079932   0.00318734  0.998533    0.0534564      uwb: 0.0            1227.57  746.822  
imu_odom_:  1691062853.76987921   0.790087   -0.0694318 10.2448    -0.0426106  -0.00852212 0.0372843   0.17       0             pose: 0.72877074    2.61881    -3.90814    0 0.00494667  0.000451016 0.998572    0.0531863      uwb: 0.0            1227.57  746.822  
imu_odom_:  1691062853.94033082   0.409408   -0.131681  9.60314    -0.056459   0.0149137   0.0543285   0.17       0             pose: 0.6950298     2.61229    -3.90923    0 0.00561089  0.000748292 0.998568    0.0531949      uwb: 0.49601114     1227.49  747.796  
imu_odom_:  1691062853.110971791  0.646434   -0.198719  9.93115    -0.056459   -0.00852212 0.052198    0.17       0             pose: 0.0           2.61229    -3.90923    0 0.00561089  0.000748292 0.998568    0.0531949      uwb: 0.0            1227.49  747.796  
imu_odom_:  1691062853.125078583  0.938527   -0.241814  10.2256    -0.0532632  0.00426106  0.0543285   0.18       -0.02         pose: 0.32995469    2.61229    -3.90923    0 0.00551599  0.00173887  0.998576    0.0530338      uwb: 0.0            1227.49  747.796  
imu_odom_:  1691062853.141970045  0.122104   -0.134075  9.64863    -0.0809601  0.00213053  0.0660464   0.18       -0.02         pose: 0.0           2.61229    -3.90923    0 0.00551599  0.00173887  0.998576    0.0530338      uwb: 0.50160790     1228.61  749.641  
imu_odom_:  1691062853.163973246  0.861913   -0.0167594 10.2951    -0.0596548  -0.00639159 0.0447411   0.19       0.02          pose: 0.39990974    2.60414    -3.90344    0 0.00599935  0.00131908  0.998594    0.052649       uwb: 0.0            1228.61  749.641  
imu_odom_:  1691062853.190103579  0.505177   -0.105345  9.98382    -0.0756338  -0.0181095  0.0479369   0.19       0.02          pose: 0.0           2.60414    -3.90344    0 0.00599935  0.00131908  0.998594    0.052649       uwb: 0.49798269     1228.73  750.388  
imu_odom_:  1691062853.206123009  0.0694318  -0.25618   9.53371    -0.0479369  0.0351537   0.0330232   0.22       0             pose: 0.0           2.60414    -3.90344    0 0.00599935  0.00131908  0.998594    0.052649       uwb: 0.0            1228.73  750.388  
imu_odom_:  1691062853.223232332  0.356736   -0.112527  10.3358    -0.0585895  -0.0436758  0.0585895   0.18       0             pose: 0.48133534    2.59227    -3.90727    0 0.0065461   0.00386782  0.998592    0.0525078      uwb: 0.0            1228.73  750.388  
imu_odom_:  1691062853.240294992  0.136469   -0.325611  9.87129    -0.0681769  0.0319579   0.0500674   0.24       0             pose: 0.0           2.59227    -3.90727    0 0.0065461   0.00386782  0.998592    0.0525078      uwb: 0.0            1228.73  750.388  
imu_odom_:  1691062853.257045003  0.646434   -0.153229  9.99819    -0.0351537  0.0127832   0.0149137   0.24       0             pose: 0.40156922    2.5902     -3.9058     0 0.0025776   0.00358143  0.998618    0.0523744      uwb: 0.50101877     1228.31  751.281  
imu_odom_:  1691062853.272950106  0.914585   -0.035913  9.93115    -0.0500674  0.00213053  0.0308927   0.18       0             pose: 0.0           2.5902     -3.9058     0 0.0025776   0.00358143  0.998618    0.0523744      uwb: 0.0            1228.31  751.281  
imu_odom_:  1691062853.290176965  0.179565   -0.131681  9.86172    -0.0553937  0.0596548   0.0330232   0.18       0             pose: 0.0           2.5902     -3.9058     0 0.0025776   0.00358143  0.998618    0.0523744      uwb: 0.0            1228.31  751.281  
imu_odom_:  1691062853.305972991  0.47884    -0.208296  9.69891    -0.0553937  0.0127832   0.0426106   0.18       0             pose: 0.33785548    2.58204    -3.90001    0 0.00370717  0.00330443  0.998606    0.0525521      uwb: 0.49980259     1227.72  751.923  
imu_odom_:  1691062853.323098939  0.320823   -0.0670376 10.1418    -0.0649811  0.056459    0.0383495   0.23       0             pose: 0.41926942    2.57203    -3.90517    0 0.00282637  0.00225423  0.998608    0.0526195      uwb: 0.0            1227.72  751.923  
imu_odom_:  1691062853.340000899  0.251391   -0.19393   9.54329    -0.072438   0.0170442   0.036219    0.23       0             pose: 0.0           2.57203    -3.90517    0 0.00282637  0.00225423  0.998608    0.0526195      uwb: 0.0            1227.72  751.923  
imu_odom_:  1691062853.365002549  0.466869   -0.296881  9.83059    -0.0884169  0.02024     0.0553937   0.18       0             pose: 0.7150953     2.5681     -3.90237    0 0.00205187  0.00268305  0.998609    0.052626       uwb: 0.49929803     1226.8   752.488  
imu_odom_:  1691062853.389992241  -0.3304    -0.40462   9.71806    -0.0340885  0.0308927   0.00958738  0.18       -0.02         pose: 0.0           2.5681     -3.90237    0 0.00205187  0.00268305  0.998609    0.052626       uwb: 0.0            1226.8   752.488  
imu_odom_:  1691062853.407174768  0.612916   0.0981623  10.4531    -0.0681769  -0.0383495  0.0447411   0.25       0             pose: 0.76868297    2.55579    -3.90244    0 -0.00287695 7.18196e-07 0.998599    0.0528427      uwb: 0.50047338     1225.92  753.02   
imu_odom_:  1691062853.423090662  0.162806   -0.102951  9.42837    -0.0585895  0.0170442   0.0436758   0.25       0             pose: 0.0           2.55579    -3.90244    0 -0.00287695 7.18196e-07 0.998599    0.0528427      uwb: 0.0            1225.92  753.02   
imu_odom_:  1691062853.449980450  0.378284   -0.25618   9.58399    -0.0628506  -0.0585895  0.0394148   0.25       0             pose: 0.33098421    2.54981    -3.90164    0 -0.00300392 0.0018145   0.998601    0.0527623      uwb: 0.50046755     1225.36  753.628  
imu_odom_:  1691062853.465947966  1.00556    -0.452504  9.98861    -0.0798948  -0.0127832  0.0458064   0.25       0             pose: 0.6952048     2.546      -3.89894    0 -0.00255764 0.00113221  0.998603    0.0527647      uwb: 0.0            1225.36  753.628  
imu_odom_:  1691062853.492952956  0.363919   -0.177171  10.1251    -0.0543285  0.015979    0.0458064   0.25       0             pose: 0.35905256    2.546      -3.89894    0 0.000258751 -0.00163273 0.998608    0.0527234      uwb: 0.49998924     1224.16  753.648  
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imu_odom_:  1691062853.545095504  0.502782   -0.306458  9.76595    -0.0681769  0.00852212  0.0543285   0.21       0             pose: 0.8032901     2.546      -3.89894    0 -0.000229643-0.0009304320.99861     0.0526981      uwb: 0.50013215     1223.51  754.362  
imu_odom_:  1691062853.570017533  0.579397   -0.232238  9.41161    -0.0383495  0.036219    0.0255663   0.2        0             pose: 0.51061987    2.53206    -3.9013     0 0.0012886   -0.0002704910.998619    0.0525197      uwb: 0.0            1223.51  754.362  
imu_odom_:  1691062853.597061895  0.545878   -0.110133  9.79707    -0.0543285  -0.0372843  0.0490022   0.22       0             pose: 0.0           2.53206    -3.9013     0 0.0012886   -0.0002704910.998619    0.0525197      uwb: 0.49992216     1223.31  755.01   
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imu_odom_:  1691062853.725125463  0.260968   -0.28491   9.5385     -0.0660464  -0.00532632 0.14168     0.18       0.02          pose: 0.0           2.50996    -3.89787    0 0.00344295  0.00029072  0.998627    0.0522765      uwb: 0.0            1222.14  755.44   
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imu_odom_:  1691062853.758116557  0.28491    -0.447716  9.30147    -0.0681769  0.04048     0.259925    0.18       0.23          pose: 0.51054987    2.50181    -3.89209    0 0.000554823 -2.44526e-050.998637    0.0521832      uwb: 0.0            1222.53  756.721  
imu_odom_:  1691062853.776122411  0.574608   -0.198719  9.90002    -0.0852212  -0.0276969  0.333428    0.18       0.23          pose: 0.0           2.50181    -3.89209    0 0.000554823 -2.44526e-050.998637    0.0521832      uwb: 0.0            1222.53  756.721  
imu_odom_:  1691062853.792929586  0.440533   -0.433351  10.2161    -0.0532632  0.0383495   0.352603    0.18       0.32          pose: 0.51007156    2.48787    -3.89446    0 5.77607e-05 -0.00266463 0.998791    0.0490952      uwb: 0.49812560     1222.01  757.294  
imu_odom_:  1691062853.816047763  0.383072   -0.244209  10.0868    -0.0585895  0.00639159  0.4048      0.19       0.35          pose: 0.0           2.48787    -3.89446    0 5.77607e-05 -0.00266463 0.998791    0.0490952      uwb: 0.0            1222.01  757.294  
imu_odom_:  1691062853.832929892  -0.11971   -0.596156  10.082     -0.052198   -0.0394148  0.451672    0.19       0.41          pose: 0.0           2.48787    -3.89446    0 5.77607e-05 -0.00266463 0.998791    0.0490952      uwb: 0.0            1222.01  757.294  
imu_odom_:  1691062853.847947214  0.409408   -0.380678  9.60554    -0.0447411  -0.0234358  0.405866    0.19       0.41          pose: 0.75058612    2.47395    -3.89681    0 -0.00103129 -0.00312883 0.999312    0.0369503      uwb: 0.50032756     1223.22  759.368  
imu_odom_:  1691062853.864168173  0.21069    -0.0430956 10.2759    -0.0170442  -0.0223706  0.360059    0.19       0.41          pose: 0.0           2.47395    -3.89681    0 -0.00103129 -0.00312883 0.999312    0.0369503      uwb: 0.0            1223.22  759.368  
imu_odom_:  1691062853.879047545  0.442927   0.0861913  9.4547     -0.0500674  -0.0319579  0.347276    0.18       0.32          pose: 0.0           2.47395    -3.89681    0 -0.00103129 -0.00312883 0.999312    0.0369503      uwb: 0.0            1223.22  759.368  
imu_odom_:  1691062853.896974362  0.821211   -0.409408  10.2137    -0.0617853  -0.0330232  0.316384    0.18       0.32          pose: 0.30994171    2.46579    -3.89103    0 -0.00135021 -0.00417008 0.999502    0.0312358      uwb: 0.49949344     1222.25  759.566  
imu_odom_:  1691062853.913975192  0.526724   -0.462081  10.2185    -0.04048    0.0117179   0.269512    0.17       0.23          pose: 0.41912943    2.46574    -3.89101    0 0.000713974 -0.00244178 0.999684    0.0250067      uwb: 0.0            1222.25  759.566  
imu_odom_:  1691062853.930967565  0.890643   0.232238   10.0006    -0.052198   -0.0436758  0.26099     0.17       0.23          pose: 0.0           2.46574    -3.89101    0 0.000713974 -0.00244178 0.999684    0.0250067      uwb: 0.0            1222.25  759.566  
imu_odom_:  1691062853.946911749  0.507571   -0.533907  10.1394    -0.0639159  0.0276969   0.258859    0.17       0.23          pose: 0.0           2.46574    -3.89101    0 0.000713974 -0.00244178 0.999684    0.0250067      uwb: 0.50103043     1222.08  760.175  
imu_odom_:  1691062853.963967992  0.107739   -0.270545  9.5385     -0.0394148  0.0149137   0.221575    0.23       0.26          pose: 0.6968381     2.46579    -3.89103    0 0.000975595 -0.00301021 0.999702    0.0242062      uwb: 0.0            1222.08  760.175  
imu_odom_:  1691062853.980962697  0.426168   0.0023942  10.0963    -0.0394148  -0.0287621  0.225836    0.18       0.2           pose: 0.0           2.46579    -3.89103    0 0.000975595 -0.00301021 0.999702    0.0242062      uwb: 0.0            1222.08  760.175  
imu_odom_:  1691062853.996975419  0.677559   -0.316035  9.93354    -0.0585895  -0.0106526  0.237554    0.18       0.2           pose: 0.68033651    2.45184    -3.89335    0 0.00106194  -0.00306587 0.999848    0.0171236      uwb: 0.50024589     1221.9   761.201  
imu_odom_:  1691062854.13912378   0.409408   -0.368707  10.1155    -0.0468716  -0.00852212 0.201335    0.18       0.17          pose: 0.0           2.45184    -3.89335    0 0.00106194  -0.00306587 0.999848    0.0171236      uwb: 0.0            1221.9   761.201  
imu_odom_:  1691062854.32080973   0.651223   -0.0143652 10.0269    -0.0340885  0.0127832   0.177899    0.18       0.17          pose: 0.0           2.45184    -3.89335    0 0.00106194  -0.00306587 0.999848    0.0171236      uwb: 0.0            1221.9   761.201  
imu_odom_:  1691062854.47970327   -0.0383072 -0.512359  9.73243    -0.052198   0.00426106  0.190682    0.18       0.17          pose: 0.32088732    2.44368    -3.88757    0 0.00248919  -0.00313437 0.999892    0.0141291      uwb: 0.49931846     1222.52  763.036  
imu_odom_:  1691062854.63907803   0.361524   -0.213084  10.1131    -0.0308927  -0.0415453  0.160855    0.18       0.14          pose: 0.43905201    2.43324    -3.89238    0 0.0015146   -0.00301547 0.999935    0.0108744      uwb: 0.0            1222.52  763.036  
imu_odom_:  1691062854.79905068   0.035913   0.0407014  9.83538    -0.0532632  -0.0500674  0.174703    0.18       0.14          pose: 0.6945049     2.42972    -3.88989    0 0.00111861  -0.00247754 0.999942    0.0104519      uwb: 0.0            1222.52  763.036  
imu_odom_:  1691062854.97087304   0.88346    -0.318429  9.79468    -0.0617853  -0.0575243  0.18003     0.18       0.14          pose: 0.0           2.42972    -3.88989    0 0.00111861  -0.00247754 0.999942    0.0104519      uwb: 0.50116460     1222.9   764.294  
imu_odom_:  1691062854.122988401  1.00796    -0.720655  9.43555    -0.0447411  -0.0117179  0.245011    0.15       0.11          pose: 0.32039151    2.42972    -3.88989    0 0.000588554 -0.0009412010.999965    0.00832721     uwb: 0.0            1222.9   764.294  
imu_odom_:  1691062854.139926235  1.92973    -0.361524  9.95748    -0.0447411  -0.0436758  0.178964    0.19       0.11          pose: 0.0           2.42972    -3.88989    0 0.000588554 -0.0009412010.999965    0.00832721     uwb: 0.0            1222.9   764.294  
imu_odom_:  1691062854.156929399  0.603339   0.114922   10.0054    -0.0447411  0.0798948   0.11931     0.19       0.11          pose: 0.43171411    2.41579    -3.89229    0 0.00476059  -0.00274089 0.999975    0.00445844     uwb: 0.49943803     1221.95  764.471  
imu_odom_:  1691062854.172058131  -0.342371  0.023942   10.5584    -0.0532632  0.0617853   0.0937433   0.19       0.11          pose: 0.0           2.41579    -3.89229    0 0.00476059  -0.00274089 0.999975    0.00445844     uwb: 0.0            1221.95  764.471  
imu_odom_:  1691062854.189237743  -0.562637  -0.0574608 9.55047    -0.0351537  -0.0351537  -0.0106526  0.15       0.05          pose: 0.0           2.41579    -3.89229    0 0.00476059  -0.00274089 0.999975    0.00445844     uwb: 0.0            1221.95  764.471  
imu_odom_:  1691062854.203177712  -0.933739  0.332794   9.89524    -0.0649811  0.0149137   -0.00852212 0.15       0.05          pose: 0.34006619    2.41579    -3.89229    0 0.00465096  -0.0007932880.999985    0.00291721     uwb: 0.49881099     1220.88  764.787  
imu_odom_:  1691062854.219943473  0.00957681 -0.354342  10.1155    -0.092678   -0.0649811  0.118244    0.15       0.05          pose: 0.39045155    2.40758    -3.88658    0 0.000771419 0.000353747 0.999994    0.00347059     uwb: 0.0            1220.88  764.787  
imu_odom_:  1691062854.234105096  0.438139   -1.14682   9.49062    -0.0639159  -0.0490022  0.120375    0.15       0.05          pose: 0.0           2.40758    -3.88658    0 0.000771419 0.000353747 0.999994    0.00347059     uwb: 0.0            1220.88  764.787  
imu_odom_:  1691062854.250049280  0.347159   -0.205901  9.87848    -0.0308927  -0.00852212 0.0862864   0.15       0.05          pose: 0.0           2.40758    -3.88658    0 0.000771419 0.000353747 0.999994    0.00347059     uwb: 0.50034798     1221.12  766.176  
imu_odom_:  1691062854.265102184  0.110133   0.114922   10.1347    -0.0276969  -0.0170442  0.109722    0.17       0.05          pose: 0.6896343     2.40758    -3.88658    0 0.000329984 -6.8501e-06 0.999995    0.00319957     uwb: 0.0            1221.12  766.176  
imu_odom_:  1691062854.282101847  0.169988   -0.0502782 9.663      -0.0500674  0.0106526   0.115049    0.17       0.05          pose: 0.0           2.40758    -3.88658    0 0.000329984 -6.8501e-06 0.999995    0.00319957     uwb: 0.0            1221.12  766.176  
imu_odom_:  1691062854.296175100  0.59855    -0.131681  9.87369    -0.0681769  -0.0511327  0.0990696   0.17       0.05          pose: 0.0           2.40758    -3.88658    0 0.000329984 -6.8501e-06 0.999995    0.00319957     uwb: 0.50117919     1220.61  766.706  
imu_odom_:  1691062854.313058979  0.371101   -0.363919  9.89284    -0.0713727  -0.00213053 0.0841559   0.16       0.05          pose: 0.46940106    2.40178    -3.89472    0 -0.00150216 -0.0001364920.999998    0.00161995     uwb: 0.0            1220.61  766.706  
imu_odom_:  1691062854.328107508  0.656011   -0.126893  10.3477    -0.0639159  -0.0426106  0.0894822   0.17       0.05          pose: 0.0           2.40178    -3.89472    0 -0.00150216 -0.0001364920.999998    0.00161995     uwb: 0.0            1220.61  766.706  
imu_odom_:  1691062854.345175418  0.746991   -0.158017  9.87129    -0.0788296  0.00532632  0.0948085   0.17       0.05          pose: 0.0           2.40178    -3.89472    0 -0.00150216 -0.0001364920.999998    0.00161995     uwb: 0.49930387     1222.01  768.49   
imu_odom_:  1691062854.362038881  0.220267   -0.4956    9.54089    -0.052198   0.0319579   0.0852212   0.17       0.05          pose: 0.63046447    2.38787    -3.89713    0 -0.0009006660.000228755 1           -0.000277824   uwb: 0.0            1222.01  768.49   
imu_odom_:  1691062854.379039420  0.670376   -0.215478  10.1107    -0.0479369  -0.056459   0.0798948   0.17       0.02          pose: 0.0           2.38787    -3.89713    0 -0.0009006660.000228755 1           -0.000277824   uwb: 0.0            1222.01  768.49   
imu_odom_:  1691062854.395897634  0.497994   -0.237026  9.67976    -0.0798948  -0.0340885  0.0948085   0.17       0.02          pose: 0.32998970    2.37968    -3.89139    0 0.0010263   -0.0001575020.999999    -0.00113198    uwb: 0.50077671     1222.49  769.606  
imu_odom_:  1691062854.412893214  0.739808   -0.129287  9.75158    -0.0447411  -0.0330232  0.102265    0.16       0.05          pose: 0.42838056    2.37538    -3.88832    0 0.00437973  -0.00121393 0.999987    -0.00214429    uwb: 0.0            1222.49  769.606  
imu_odom_:  1691062854.428998681  1.19231    -0.354342  9.8282     -0.0649811  -0.0308927  0.135289    0.16       0.05          pose: 0.0           2.37538    -3.88832    0 0.00437973  -0.00121393 0.999987    -0.00214429    uwb: 0.0            1222.49  769.606  
imu_odom_:  1691062854.444887452  1.16837    -0.124498  10.0293    -0.0660464  -0.0255663  0.152333    0.16       0.05          pose: 0.0           2.37538    -3.88832    0 0.00437973  -0.00121393 0.999987    -0.00214429    uwb: 0.49993967     1222.9   770.79   
imu_odom_:  1691062854.460897549  1.74298    -0.186748  10.2903    -0.0426106  -0.0617853  0.0937433   0.12       0             pose: 0.8007527     2.37154    -3.88558    0 0.00523023  -0.0008528060.999983    -0.00239328    uwb: 0.0            1222.9   770.79   
imu_odom_:  1691062854.476875856  1.75016    0.124498   9.80665    -0.0383495  -0.0319579  0.0383495   0.14       0             pose: 0.0           2.37154    -3.88558    0 0.00523023  -0.0008528060.999983    -0.00239328    uwb: 0.0            1222.9   770.79   
imu_odom_:  1691062854.493036445  1.73819    0.186748   10.0556    -0.0585895  0.00852212  0.0447411   0.14       0             pose: 0.64015890    2.36575    -3.89373    0 0.0125432   -0.00020484 0.99991     -0.0047624     uwb: 0.49954886     1223.85  772.213  
imu_odom_:  1691062854.509902533  1.66636    -0.368707  9.69412    -0.0511327  0.0170442   0.0660464   0.13       0             pose: 0.0           2.36575    -3.89373    0 0.0125432   -0.00020484 0.99991     -0.0047624     uwb: 0.0            1223.85  772.213  
imu_odom_:  1691062854.528034088  0.744597   -0.639252  9.84975    -0.0500674  0.0383495   0.0575243   0.13       0             pose: 0.0           2.36575    -3.89373    0 0.0125432   -0.00020484 0.99991     -0.0047624     uwb: 0.0            1223.85  772.213  
imu_odom_:  1691062854.545029377  0.588974   -0.153229  10.3358    -0.0479369  -0.036219   0.0181095   0.13       0             pose: 0.33023469    2.35757    -3.88798    0 0.0156255   0.000577922 0.999866    -0.00489522    uwb: 0.49975010     1223.07  772.606  
imu_odom_:  1691062854.561874467  0.792481   -0.0263362 9.74679    -0.0607201  -0.0276969  0.015979    0.1        0             pose: 0.44084857    2.35757    -3.88798    0 0.0149533   -0.0003560830.999876    -0.00501673    uwb: 0.0            1223.07  772.606  
imu_odom_:  1691062854.577930353  0.967257   -0.191536  10.1873    -0.0617853  -0.0191748  0.0511327   0.1        0             pose: 0.6898093     2.35757    -3.88798    0 0.0153473   0.000242447 0.99987     -0.00492576    uwb: 0.0            1223.07  772.606  
imu_odom_:  1691062854.595944373  0.773327   -0.548272  9.7444     -0.0617853  0           0.0671117   0.1        0             pose: 0.0           2.35757    -3.88798    0 0.0153473   0.000242447 0.99987     -0.00492576    uwb: 0.50057255     1223.4   774.251  
imu_odom_:  1691062854.620953315  0.754174   -0.155623  9.76595    -0.0511327  -0.00426106 0.0820254   0.07       0             pose: 0.44016903    2.35182    -3.89616    0 0.0177654   -0.0007813720.999829    -0.00516641    uwb: 0.0            1223.4   774.251  
imu_odom_:  1691062854.636956704  0.306458   -0.0957681 9.87848    -0.0649811  0.0330232   0.0649811   0.08       0             pose: 0.0           2.35182    -3.89616    0 0.0177654   -0.0007813720.999829    -0.00516641    uwb: 0.0            1223.4   774.251  
imu_odom_:  1691062854.662937421  -0.301669  -0.0143652 10.2448    -0.0383495  0.0181095   -0.0905475  0.08       0             pose: 0.30981631    2.35182    -3.89616    0 0.01732     0.00182984  0.999832    -0.00572614    uwb: 0.0            1223.4   774.251  
imu_odom_:  1691062854.688872349  -1.08936   -0.277727  9.9503     -0.0671117  0.00532632  0.0511327   0.12       0.08          pose: 0.0           2.35182    -3.89616    0 0.01732     0.00182984  0.999832    -0.00572614    uwb: 0.0            1223.4   774.251  
imu_odom_:  1691062854.714013116  0.54109    -0.507571  9.43315    -0.0532632  -0.0905475  0.0649811   0.1        0             pose: 0.42956757    2.34363    -3.89043    0 0.0125587   0.00250981  0.999909    -0.00418928    uwb: 0.100071346    1223.97  775.645  
imu_odom_:  1691062854.739953586  0.505177   -0.134075  9.8258     -0.0575243  -0.00639159 0.0777643   0.12       0.02          pose: 0.26067046    2.34363    -3.89043    0 0.0107572   0.00157624  0.999931    -0.004391      uwb: 0.0            1223.97  775.645  
imu_odom_:  1691062854.765997008  -0.0694318 -0.428562  10.0221    -0.0585895  0.0479369   0.0500674   0.12       0             pose: 0.26016298    2.34363    -3.89043    0 0.0105937   0.000272553 0.999932    -0.00478362    uwb: 0.0            1223.97  775.645  
imu_odom_:  1691062854.782926967  0.220267   -0.126893  9.90481    -0.0553937  0.0170442   0.0245011   0.12       0             pose: 0.0           2.34363    -3.89043    0 0.0105937   0.000272553 0.999932    -0.00478362    uwb: 0.0            1223.97  775.645  
imu_odom_:  1691062854.808892518  0.612916   -0.208296  9.95509    -0.0628506  -0.0181095  0.0798948   0.13       0.02          pose: 0.25992383    2.33545    -3.88468    0 0.00819614  0.00101514  0.999953    -0.00515899    uwb: 0.99780572     1223.67  776.718  
imu_odom_:  1691062854.834902401  0.407014   -0.253785  9.56244    -0.0511327  -0.0181095  0.0351537   0.13       0.02          pose: 0.0           2.33545    -3.88468    0 0.00819614  0.00101514  0.999953    -0.00515899    uwb: 0.0            1223.67  776.718  
imu_odom_:  1691062854.860026252  0.189142   -0.292093  10.0054    -0.0468716  0.0436758   0.0628506   0.14       0             pose: 0.41929860    2.3297     -3.89286    0 0.00495784  0.000716939 0.999974    -0.00526767    uwb: 0.50024590     1223.62  777.163  
imu_odom_:  1691062854.885904892  0.744597   -0.28491   10.0556    -0.0426106  -0.0245011  0.0458064   0.14       0             pose: 0.0           2.3297     -3.89286    0 0.00495784  0.000716939 0.999974    -0.00526767    uwb: 0.0            1223.62  777.163  
imu_odom_:  1691062854.910942998  0.428562   -0.0646434 9.68215    -0.0511327  -0.00426106 0.0713727   0.15       0.02          pose: 0.96016544    2.31749    -3.89275    0 0.00449648  -0.00108509 0.999971    -0.00597615    uwb: 0.49968011     1223.2   777.578  
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imu_odom_:  1691062854.968954992  1.10612    -0.153229  10.0533    -0.0660464  -0.0383495  0.0830906   0.15       0             pose: 0.0           2.31576    -3.8953     0 0.00422439  -0.0003129860.999972    -0.00610072    uwb: 0.0            1222.88  777.894  
imu_odom_:  1691062854.994150297  0.332794   -0.28491   9.88805    -0.0713727  0.00319579  0.0468716   0.16       0             pose: 0.41944442    2.30762    -3.88949    0 0.00193575  -0.0004164830.999977    -0.00642961    uwb: 0.50007675     1223.93  779.18   
imu_odom_:  1691062855.19890112   0.186748   -0.0407014 9.76116    -0.0660464  0.00958738  0.0639159   0.16       0             pose: 0.0           2.30762    -3.88949    0 0.00193575  -0.0004164830.999977    -0.00642961    uwb: 0.0            1223.93  779.18   
imu_odom_:  1691062855.45947826   0.481235   -0.289698  10.082     -0.072438   -0.0191748  0.0447411   0.16       0.02          pose: 0.84014002    2.29367    -3.89184    0 -0.00111125 -0.0001057610.999973    -0.007301      uwb: 0.49857184     1223.23  779.482  
imu_odom_:  1691062855.71002265   0.292093   -0.0909797 9.57681    -0.076699   0.00852212  0.0553937   0.2        0             pose: 0.8191851     2.29367    -3.89184    0 -0.000384327-0.0006530780.999973    -0.00732162    uwb: 0.0            1223.23  779.482  
imu_odom_:  1691062855.86911451   0.253785   -0.409408  10.398     -0.0681769  0           0.0490022   0.2        0             pose: 0.0           2.29367    -3.89184    0 -0.000384327-0.0006530780.999973    -0.00732162    uwb: 0.0            1223.23  779.482  
imu_odom_:  1691062855.113847904  0.469264   -0.203507  10.0461    -0.0500674  -0.0234358  0.0426106   0.17       0.02          pose: 0.24950611    2.29367    -3.89184    0 0.00069572  -0.00138317 0.999971    -0.00742263    uwb: 0.49992802     1223.15  779.564  
imu_odom_:  1691062855.138072017  0.342371   -0.605733  9.87848    -0.0585895  -0.00745685 0.0394148   0.17       0.02          pose: 0.0           2.29367    -3.89184    0 0.00069572  -0.00138317 0.999971    -0.00742263    uwb: 0.0            1223.15  779.564  
imu_odom_:  1691062855.163992364  0.512359   -0.23942   9.62948    -0.0553937  0.00532632  0.0543285   0.19       0.02          pose: 0.41975358    2.27973    -3.89421    0 -0.000723641-0.00125374 0.99997     -0.00765088    uwb: 0.50193748     1222.94  780.156  
imu_odom_:  1691062855.179917883  0.440533   -0.435745  10.3142    -0.0681769  0.0266316   0.052198    0.19       0.02          pose: 0.0           2.27973    -3.89421    0 -0.000723641-0.00125374 0.99997     -0.00765088    uwb: 0.0            1222.94  780.156  
imu_odom_:  1691062855.197898947  -0.0981623 -0.270545  9.76355    -0.0532632  -0.00852212 0.0458064   0.19       0.02          pose: 0.0           2.27973    -3.89421    0 -0.000723641-0.00125374 0.99997     -0.00765088    uwb: 0.49996593     1222.81  780.665  
imu_odom_:  1691062855.214870030  0.131681   -0.28491   9.57681    -0.0532632  -0.0234358  0.0511327   0.2        0.02          pose: 0.50132793    2.27158    -3.88842    0 0.00135643  -0.00262574 0.999966    -0.00772896    uwb: 0.0            1222.81  780.665  
imu_odom_:  1691062855.229065192  0.792481   -0.138864  10.07      -0.0660464  -0.0500674  0.052198    0.2        0.02          pose: 0.0           2.27158    -3.88842    0 0.00135643  -0.00262574 0.999966    -0.00772896    uwb: 0.0            1222.81  780.665  
imu_odom_:  1691062855.254010555  0.684742   -0.11971   10.4746    -0.036219   -0.0330232  0.0308927   0.16       0.02          pose: 0.83924467    2.25763    -3.8908     0 0.000970757 -0.00325558 0.99996     -0.00822107    uwb: 0.49970927     1222.92  781.318  
imu_odom_:  1691062855.279861197  0.332794   -0.272939  9.663      -0.052198   0.00213053  0.0490022   0.16       0.02          pose: 0.0           2.25763    -3.8908     0 0.000970757 -0.00325558 0.99996     -0.00822107    uwb: 0.0            1222.92  781.318  
imu_odom_:  1691062855.305910160  0.229843   -0.0407014 9.80186    -0.0532632  -0.00213053 0.0468716   0.18       -0.02         pose: 0.6978880     2.25763    -3.8908     0 0.0016615   -0.0028148  0.999961    -0.00818886    uwb: 0.49747233     1223.23  782.541  
imu_odom_:  1691062855.322847703  0.335188   -0.0742203 10.1706    -0.0607201  -0.00852212 0.0671117   0.18       -0.02         pose: 0.0           2.25763    -3.8908     0 0.0016615   -0.0028148  0.999961    -0.00818886    uwb: 0.0            1223.23  782.541  
imu_odom_:  1691062855.347895142  0.584185   0.0191536  10.1754    -0.04048    -0.015979   0.0308927   0.18       0.02          pose: 0.50903332    2.24369    -3.89318    0 0.000337143 -0.00160532 0.999965    -0.00826015    uwb: 0.50328782     1223.3   783.226  
imu_odom_:  1691062855.373940023  0.282516   -0.378284  9.79707    -0.0383495  -0.0245011  0.04048     0.21       0             pose: 0.42954716    2.24369    -3.89318    0 -0.00092703 0.00193861  0.999961    -0.00853623    uwb: 0.0            1223.3   783.226  
imu_odom_:  1691062855.399096539  0.203507   -0.0167594 9.68455    -0.0319579  0.00319579  0.0330232   0.17       0             pose: 0.26040215    2.23553    -3.88741    0 0.000143817 0.00271014  0.99996     -0.00846375    uwb: 0.49942638     1223.45  784.221  
imu_odom_:  1691062855.416088329  0.605733   -0.134075  10.0245    -0.0596548  -0.0447411  0.0532632   0.17       0             pose: 0.25136975    2.22975    -3.89557    0 -0.0011114  0.00185307  0.999962    -0.00844526    uwb: 0.0            1223.45  784.221  
imu_odom_:  1691062855.441835144  0.667982   0.047884   10.3142    -0.0628506  -0.0383495  0.04048     0.18       0             pose: 0.0           2.22975    -3.89557    0 -0.0011114  0.00185307  0.999962    -0.00844526    uwb: 0.49832977     1223.35  785.069  
imu_odom_:  1691062855.458828683  0.316035   -0.167594  9.81862    -0.0671117  0.0319579   0.0447411   0.18       0             pose: 0.0           2.22975    -3.89557    0 -0.0011114  0.00185307  0.999962    -0.00844526    uwb: 0.0            1223.35  785.069  
imu_odom_:  1691062855.484879688  0.878672   -0.134075  10.0652    -0.052198   -0.0266316  0.0372843   0.18       0.02          pose: 0.41768287    2.22159    -3.8898     0 0.000183356 0.00372446  0.999957    -0.00851079    uwb: 0.0            1223.35  785.069  
imu_odom_:  1691062855.508983642  0.502782   -0.447716  9.91439    -0.0628506  -0.0138484  0.0575243   0.18       0.02          pose: 0.42979798    2.21582    -3.89796    0 0.000922854 0.00410131  0.999955    -0.00855713    uwb: 0.50070672     1222.94  785.835  
imu_odom_:  1691062855.534937528  0.351948   -0.114922  9.8689     -0.0490022  -0.0266316  0.0394148   0.18       0             pose: 0.0           2.21582    -3.89796    0 0.000922854 0.00410131  0.999955    -0.00855713    uwb: 0.0            1222.94  785.835  
imu_odom_:  1691062855.559827768  0.198719   -0.19393   10.0963    -0.0596548  -0.0266316  0.0458064   0.18       0             pose: 0.50036258    2.20765    -3.89219    0 0.00295464  0.00202371  0.999955    -0.00876351    uwb: 0.49877309     1222.9   786.989  
imu_odom_:  1691062855.576821599  0.857124   -0.186748  9.94312    -0.0447411  -0.0308927  0.0351537   0.18       0             pose: 0.0           2.20765    -3.89219    0 0.00295464  0.00202371  0.999955    -0.00876351    uwb: 0.0            1222.9   786.989  
imu_odom_:  1691062855.602984598  0.37589    -0.371101  9.94312    -0.0639159  0.0479369   0.0553937   0.18       0             pose: 0.60957946    2.19371    -3.89459    0 0.00124989  0.00255987  0.999957    -0.00879162    uwb: 0.50115586     1223.2   788.563  
imu_odom_:  1691062855.618841288  0.225055   -0.107739  10.2232    -0.056459   -0.0308927  0.0372843   0.18       0             pose: 0.7074541     2.19371    -3.89459    0 0.000898156 0.00183997  0.999959    -0.00884843    uwb: 0.0            1223.2   788.563  
imu_odom_:  1691062855.644810631  0.658405   -0.205901  10.0533    -0.0575243  -0.02024    0.0426106   0.23       0             pose: 0.0           2.19371    -3.89459    0 0.000898156 0.00183997  0.999959    -0.00884843    uwb: 0.49930680     1224.11  790.285  
imu_odom_:  1691062855.670823139  0.452504   -0.131681  10.1825    -0.0575243  0.02024     0.0255663   0.23       0             pose: 0.34945148    2.18554    -3.88883    0 -0.00119775 0.000709865 0.999959    -0.00898369    uwb: 0.0            1224.11  790.285  
imu_odom_:  1691062855.696984387  0.782904   -0.177171  10.003     -0.0617853  -0.015979   0.0394148   0.23       -0.02         pose: 0.51981851    2.17384    -3.89281    0 0.00187853  0.00316331  0.999954    -0.00883886    uwb: 0.49969178     1223.44  790.541  
imu_odom_:  1691062855.721885419  0.665588   0.0981623  10.1825    -0.0553937  -0.00745685 0.0372843   0.23       -0.02         pose: 0.0           2.17384    -3.89281    0 0.00187853  0.00316331  0.999954    -0.00883886    uwb: 0.0            1223.44  790.541  
imu_odom_:  1691062855.739953103  0.423774   -0.390255  9.89524    -0.0777643  -0.056459   0.0383495   0.21       0.02          pose: 0.51062280    2.16761    -3.89689    0 0.00604157  0.00500484  0.99993     -0.00880995    uwb: 0.0            1223.44  790.541  
imu_odom_:  1691062855.764982752  0.782904   -0.112527  9.991      -0.0490022  -0.0468716  0.0298274   0.21       0.02          pose: 0.0           2.16761    -3.89689    0 0.00604157  0.00500484  0.99993     -0.00880995    uwb: 0.50018758     1223.48  791.237  
imu_odom_:  1691062855.790939555  0.727837   -0.390255  9.8689     -0.0479369  0.02024     0.0287621   0.25       0             pose: 0.43097333    2.15767    -3.89363    0 0.00891724  0.00360165  0.999916    -0.00868443    uwb: 0.50098671     1224.77  793.317  
imu_odom_:  1691062855.806833284  0.4956     -0.268151  9.86411    -0.04048    0.0713727   0.0223706   0.25       0             pose: 0.0           2.15767    -3.89363    0 0.00891724  0.00360165  0.999916    -0.00868443    uwb: 0.0            1224.77  793.317  
imu_odom_:  1691062855.825001296  0.213084   -0.0646434 10.2424    -0.056459   -0.0298274  0.04048     0.22       0             pose: 0.41850532    2.15337    -3.89059    0 0.008138    0.000610841 0.999931    -0.00844412    uwb: 0.0            1224.77  793.317  
imu_odom_:  1691062855.849818332  0.110133   -0.131681  10.1658    -0.0479369  0.0213053   0.0287621   0.22       0             pose: 0.0           2.15337    -3.89059    0 0.008138    0.000610841 0.999931    -0.00844412    uwb: 0.49934471     1224.55  793.88   
imu_odom_:  1691062855.876790075  0.687136   -0.241814  9.91918    -0.0681769  0.0234358   0.036219    0.25       -0.02         pose: 0.42985048    2.14373    -3.89603    0 0.00389144  0.00166054  0.999957    -0.00830753    uwb: 0.0            1224.55  793.88   
imu_odom_:  1691062855.892788214  0.146046   -0.220267  9.95748    -0.056459   0.00639159  0.0308927   0.25       -0.02         pose: 0.0           2.14373    -3.89603    0 0.00389144  0.00166054  0.999957    -0.00830753    uwb: 0.49987260     1225.7   795.705  
imu_odom_:  1691062855.920089229  0.572214   -0.150835  10.2352    -0.0713727  -0.0298274  0.0490022   0.26       -0.02         pose: 0.42969882    2.13557    -3.89025    0 0.00444014  0.000660792 0.999956    -0.00819913    uwb: 0.0            1225.7   795.705  
imu_odom_:  1691062855.946086571  0.682347   -0.222661  9.71328    -0.0617853  0.00639159  0.0447411   0.2        0             pose: 0.0           2.13557    -3.89025    0 0.00444014  0.000660792 0.999956    -0.00819913    uwb: 0.0            1225.7   795.705  
imu_odom_:  1691062855.972840451  0.225055   -0.275333  9.72525    -0.0479369  -0.00319579 0.0298274   0.25       0             pose: 0.35303585    2.12979    -3.89841    0 0.00779752  0.00169004  0.999933    -0.00834486    uwb: 0.0            1225.7   795.705  
imu_odom_:  1691062855.997786397  0.469264   -0.493206  9.7037     -0.0639159  0.0330232   0.0585895   0.19       0             pose: 0.24775914    2.12163    -3.89264    0 0.00876122  0.000985277 0.999926    -0.00836591    uwb: 0.99937773     1226.38  797.235  
imu_odom_:  1691062856.23088155   0.433351   -0.241814  9.96706    -0.0330232  -0.00426106 0.0383495   0.19       0             pose: 0.0           2.12163    -3.89264    0 0.00876122  0.000985277 0.999926    -0.00836591    uwb: 0.0            1226.38  797.235  
imu_odom_:  1691062856.48939964   0.572214   -0.260968  9.9503     -0.0596548  0.0287621   0.0532632   0.17       0             pose: 0.28110634    2.12163    -3.89264    0 0.0064828   -0.0002253370.999944    -0.00835399    uwb: 0.50048507     1225.87  798.045  
imu_odom_:  1691062856.73784708   0.481235   0.102951   10.4244    -0.0426106  -0.0138484  0.0458064   0.17       0             pose: 0.0           2.12163    -3.89264    0 0.0064828   -0.0002253370.999944    -0.00835399    uwb: 0.0            1225.87  798.045  
imu_odom_:  1691062856.87961789   0.294487   -0.25618   9.7037     -0.0671117  0           0.0553937   0.18       0             pose: 0.49101521    2.10769    -3.89503    0 0.00387784  -0.00146331 0.999955    -0.00856059    uwb: 0.0            1225.87  798.045  
imu_odom_:  1691062856.112923483  0.751779   -0.177171  9.96467    -0.0458064  -0.00426106 0.0458064   0.18       0             pose: 0.0           2.10769    -3.89503    0 0.00387784  -0.00146331 0.999955    -0.00856059    uwb: 0.49931556     1226.1   799.258  
imu_odom_:  1691062856.137892470  0.308852   -0.289698  9.70131    -0.0852212  0.0468716   0.0628506   0.26       0.02          pose: 0.49712527    2.09952    -3.88925    0 0.00469632  0.000596821 0.99995     -0.00880086    uwb: 0.0            1226.1   799.258  
imu_odom_:  1691062856.161056437  0.440533   -0.301669  9.80904    -0.076699   0           0.0468716   0.26       0.02          pose: 0.0           2.09952    -3.88925    0 0.00469632  0.000596821 0.99995     -0.00880086    uwb: 0.50116171     1226.57  800.605  
imu_odom_:  1691062856.177085492  0.54109    -0.335188  10.0485    -0.0788296  -0.00213053 0.0458064   0.19       0             pose: 0.40080804    2.09375    -3.89742    0 0.00555228  0.000386201 0.999944    -0.00902501    uwb: 0.0            1226.57  800.605  
imu_odom_:  1691062856.203846956  0.490811   -0.146046  9.95509    -0.0330232  -0.04048    0.0394148   0.19       0             pose: 0.0           2.09375    -3.89742    0 0.00555228  0.000386201 0.999944    -0.00902501    uwb: 0.49991927     1226.41  801.098  
imu_odom_:  1691062856.228925603  0.179565   -0.320823  9.91199    -0.0543285  0.00532632  0.0394148   0.25       0             pose: 0.49101813    2.08558    -3.89166    0 0.00321793  -0.00354177 0.999945    -0.00935153    uwb: 0.0            1226.41  801.098  
imu_odom_:  1691062856.255911928  0.584185   -0.136469  9.9096     -0.0490022  -0.0426106  0.0468716   0.23       0.02          pose: 0.42851474    2.07165    -3.89408    0 0.00374561  -0.00132851 0.999948    -0.00936663    uwb: 0.50021968     1226.59  801.987  
imu_odom_:  1691062856.271852613  0.227449   -0.277727  9.46667    -0.0585895  -0.0319579  0.0575243   0.23       0.02          pose: 0.0           2.07165    -3.89408    0 0.00374561  -0.00132851 0.999948    -0.00936663    uwb: 0.0            1226.59  801.987  
imu_odom_:  1691062856.298780317  0.42138    -0.270545  9.70609    -0.04048    -0.0394148  0.0415453   0.23       0             pose: 0.24102495    2.07165    -3.89408    0 0.00269122  -0.00131157 0.999951    -0.00939308    uwb: 0.49972678     1227.78  804.079  
imu_odom_:  1691062856.323876463  0.304064   -0.229843  10.2185    -0.0340885  -0.0351537  0.04048     0.23       0             pose: 0.0           2.07165    -3.89408    0 0.00269122  -0.00131157 0.999951    -0.00939308    uwb: 0.0            1227.78  804.079  
imu_odom_:  1691062856.349809642  0.634463   -0.237026  9.51695    -0.0596548  -0.0127832  0.0468716   0.23       0.02          pose: 0.42934302    2.05771    -3.89649    0 0.00294404  -0.0008546670.999949    -0.00961509    uwb: 0.49961596     1227.59  804.585  
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imu_odom_:  1691062856.590967007  0.603339   -0.423774  10.0796    -0.0500674  -0.00958738 0.0308927   0.23       0             pose: 0.0           2.02167    -3.8956     0 0.00478286  -0.0031502  0.999932    -0.0101551     uwb: 0.49988427     1227.76  809.562  
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imu_odom_:  1691062856.641910004  0.272939   -0.071826  9.99579    -0.0500674  -0.0447411  0.0372843   0.18       0             pose: 0.0           2.00316    -3.89483    0 0.00688982  -0.00665886 0.999901    -0.0102597     uwb: 0.49952555     1226.74  809.406  
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imu_odom_:  1691062856.691785563  0.64404    -0.0742203 10.2424    -0.0713727  -0.04048    0.0426106   0.22       0             pose: 0.51124111    1.98563    -3.89474    0 0.00388438  -0.00442751 0.999929    -0.010401      uwb: 0.49970054     1226.55  810.241  
imu_odom_:  1691062856.714775124  0.624887   -0.0335188 10.4387    -0.0543285  -0.0479369  0.04048     0.22       0             pose: 0.0           1.98563    -3.89474    0 0.00388438  -0.00442751 0.999929    -0.010401      uwb: 0.0            1226.55  810.241  
imu_odom_:  1691062856.739910351  0.366313   -0.174777  10.0796    -0.056459   0.0266316   0.0213053   0.19       0             pose: 0.64833969    1.97626    -3.89639    0 0.00851064  0.000269799 0.999908    -0.0105508     uwb: 0.0            1226.55  810.241  
imu_odom_:  1691062856.757028716  0.526724   -0.490811  9.54089    -0.0713727  -0.00745685 0.0394148   0.19       0             pose: 0.8146353     1.9717     -3.89719    0 0.00758083  0.000397171 0.999916    -0.0104751     uwb: 0.50016426     1227.1   811.122  
imu_odom_:  1691062856.781806964  0.399832   -0.035913  9.96946    -0.0596548  -0.00745685 0.0436758   0.19       0             pose: 0.0           1.9717     -3.89719    0 0.00758083  0.000397171 0.999916    -0.0104751     uwb: 0.0            1227.1   811.122  
imu_odom_:  1691062856.806808323  0.502782   -0.363919  9.89284    -0.0862864  -0.0468716  0.04048     0.19       0             pose: 0.34107239    1.9717     -3.89719    0 0.00578996  -0.00118133 0.999929    -0.0103247     uwb: 0.50086131     1227.14  812.093  
imu_odom_:  1691062856.820809248  0.632069   -0.258574  10.1945    -0.0436758  -0.0234358  0.036219    0.18       0             pose: 0.0           1.9717     -3.89719    0 0.00578996  -0.00118133 0.999929    -0.0103247     uwb: 0.0            1227.14  812.093  
imu_odom_:  1691062856.837873658  0.433351   -0.383072  9.51456    -0.04048    0.00426106  0.0394148   0.18       0             pose: 0.55841250    1.95777    -3.89964    0 0.00594903  -0.0019507  0.999927    -0.0103738     uwb: 0.0            1227.14  812.093  
imu_odom_:  1691062856.851749757  0.337582   -0.222661  9.90721    -0.0649811  0.00426106  0.0415453   0.18       0             pose: 0.0           1.95777    -3.89964    0 0.00594903  -0.0019507  0.999927    -0.0103738     uwb: 0.50146793     1227.03  812.517  
imu_odom_:  1691062856.868938410  0.378284   0.0047884  10.0844    -0.0340885  -0.0181095  0.0340885   0.18       0.02          pose: 0.0           1.95777    -3.89964    0 0.00594903  -0.0019507  0.999927    -0.0103738     uwb: 0.0            1227.03  812.517  
imu_odom_:  1691062856.882813050  0.984017   -0.301669  9.78989    -0.0394148  -0.0170442  0.0276969   0.18       0.02          pose: 0.45889003    1.94958    -3.8939     0 0.00413085  -0.00211464 0.999936    -0.0103642     uwb: 0.0            1227.03  812.517  
imu_odom_:  1691062856.897742879  0.577003   -0.134075  10.4651    -0.0788296  0.00426106  0.0351537   0.18       0.02          pose: 0.0           1.94958    -3.8939     0 0.00413085  -0.00211464 0.999936    -0.0103642     uwb: 0.49910849     1226.86  813.65   
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imu_odom_:  1691062856.932016941  0.814029   -0.0287304 10.0556    -0.0681769  0.00532632  0.0575243   0.26       0             pose: 0.0           1.94384    -3.90208    0 0.00598932  -1.36709e-050.99993     -0.0102095     uwb: 0.0            1226.86  813.65   
imu_odom_:  1691062856.957797588  0.356736   -0.181959  10.0628    -0.0617853  -0.0223706  0.0351537   0.18       0.02          pose: 0.34274062    1.93565    -3.89634    0 0.00859328  0.00213257  0.999907    -0.0103311     uwb: 0.50213289     1226.68  814.464  
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imu_odom_:  1691062856.999777904  0.742203   -0.423774  9.57681    -0.0585895  -0.0511327  0.0340885   0.18       -0.02         pose: 0.43765795    1.92795    -3.89769    0 0.007969    0.000827432 0.999915    -0.0102751     uwb: 0.49889851     1226.62  815.172  
imu_odom_:  1691062857.16743738   -0.0143652 -0.0502782 10.0389    -0.0607201  -0.0213053  0.0500674   0.18       -0.02         pose: 0.0           1.92795    -3.89769    0 0.007969    0.000827432 0.999915    -0.0102751     uwb: 0.0            1226.62  815.172  
imu_odom_:  1691062857.32744211   0.622492   -0.299275  9.70131    -0.0532632  -0.04048    0.0308927   0.18       0             pose: 0.0           1.92795    -3.89769    0 0.007969    0.000827432 0.999915    -0.0102751     uwb: 0.0            1226.62  815.172  
imu_odom_:  1691062857.59736370   0.457293   -0.344765  10.0173    -0.0436758  -0.126766   0.0468716   0.18       0             pose: 0.48979904    1.92172    -3.89878    0 0.00924811  -0.00121709 0.999904    -0.0102802     uwb: 0.49855144     1227.01  816.821  
imu_odom_:  1691062857.84927886   2.15718    -0.270545  9.43315    -0.0511327  0.00958738  0.0543285   0.19       0             pose: 0.34973730    1.90948    -3.89882    0 0.0092827   -0.00316064 0.999898    -0.0103729     uwb: 0.0            1227.01  816.821  
imu_odom_:  1691062857.101796891  0.632069   -0.241814  10.3142    -0.0628506  0.00852212  0.0649811   0.19       0             pose: 0.8261555     1.90779    -3.90122    0 0.0100513   -0.00313313 0.99989     -0.0104309     uwb: 0.0            1227.01  816.821  
imu_odom_:  1691062857.117871152  -0.0215478 -0.213084  10.0868    -0.056459   0.0170442   0.0415453   0.19       0             pose: 0.0           1.90779    -3.90122    0 0.0100513   -0.00313313 0.99989     -0.0104309     uwb: 0.0            1227.01  816.821  
imu_odom_:  1691062857.134861484  0.792481   0.0550666  9.82341    -0.0447411  0.00532632  0.0276969   0.19       0             pose: 0.41805619    1.89961    -3.89548    0 0.0102887   -0.00146449 0.999888    -0.0107537     uwb: 0.0            1227.01  816.821  
imu_odom_:  1691062857.150741507  0.0622492  -0.260968  9.93115    -0.0798948  -0.0181095  0.0703074   0.19       0             pose: 0.0           1.89961    -3.89548    0 0.0102887   -0.00146449 0.999888    -0.0107537     uwb: 0.99888196     1226.84  817.616  
imu_odom_:  1691062857.168767486  0.588974   -0.402226  9.83299    -0.0596548  0.0191748   0.0436758   0.18       0             pose: 0.0           1.89961    -3.89548    0 0.0102887   -0.00146449 0.999888    -0.0107537     uwb: 0.0            1226.84  817.616  
imu_odom_:  1691062857.192862691  0.466869   -0.260968  9.2919     -0.0788296  0.0255663   0.072438    0.18       0             pose: 0.32079985    1.89961    -3.89548    0 0.00961584  -9.04782e-050.999896    -0.0107551     uwb: 0.50111505     1226.35  818.661  
imu_odom_:  1691062857.209734613  -0.071826  -0.316035  9.95988    -0.0735032  0.00852212  0.0596548   0.23       0             pose: 0.50979162    1.88568    -3.89794    0 0.00599249  -0.00257835 0.999914    -0.0113426     uwb: 0.0            1226.35  818.661  
imu_odom_:  1691062857.225738003  0.682347   -0.129287  10.4244    -0.0873517  -0.0394148  0.0447411   0.23       0             pose: 0.0           1.88568    -3.89794    0 0.00599249  -0.00257835 0.999914    -0.0113426     uwb: 0.0            1226.35  818.661  
imu_odom_:  1691062857.252737453  0.703895   -0.248997  10.5273    -0.076699   0.0351537   0.056459    0.25       0.02          pose: 0.6883219     1.88568    -3.89794    0 0.00526355  -0.00270657 0.999917    -0.0114134     uwb: 0.49876435     1226.67  820.018  
imu_odom_:  1691062857.277733272  0.409408   -0.11971   10.3573    -0.0383495  0.0500674   0.0383495   0.18       -0.02         pose: 0.0           1.88568    -3.89794    0 0.00526355  -0.00270657 0.999917    -0.0114134     uwb: 0.0            1226.67  820.018  
imu_odom_:  1691062857.303725073  0.761356   0.0047884  9.93354    -0.0511327  -0.0170442  0.0287621   0.21       0.02          pose: 0.77987362    1.87176    -3.90042    0 0.00538185  -0.0003749130.999916    -0.0117429     uwb: 0.50049676     1226.81  821.519  
imu_odom_:  1691062857.319722630  0.493206   -0.179565  10.0389    -0.0575243  -0.0276969  0.0511327   0.21       0.02          pose: 0.0           1.87176    -3.90042    0 0.00538185  -0.0003749130.999916    -0.0117429     uwb: 0.0            1226.81  821.519  
imu_odom_:  1691062857.337870227  0.339977   -0.538695  9.94073    -0.0703074  0.0234358   0.0596548   0.18       0.02          pose: 0.33089091    1.86355    -3.8947     0 0.00683847  0.00153106  0.999908    -0.0116315     uwb: 0.0            1226.81  821.519  
imu_odom_:  1691062857.362855838  0.282516   -0.0646434 9.78271    -0.0479369  0.015979    0.0500674   0.18       0.02          pose: 0.0           1.86355    -3.8947     0 0.00683847  0.00153106  0.999908    -0.0116315     uwb: 0.49943223     1226.12  822.059  
imu_odom_:  1691062857.389757586  0.162806   -0.555455  10.0197    -0.0532632  0.0340885   0.0447411   0.18       0.02          pose: 0.34920067    1.85783    -3.9029     0 0.0042701   0.000345751 0.99992     -0.0119102     uwb: 0.50035676     1227.31  824.311  
imu_odom_:  1691062857.405854595  0.490811   0.0287304  10.4483    -0.0330232  -0.0415453  0.0298274   0.18       0.02          pose: 0.0           1.85783    -3.9029     0 0.0042701   0.000345751 0.99992     -0.0119102     uwb: 0.0            1227.31  824.311  
imu_odom_:  1691062857.423695961  0.409408   -0.361524  9.41161    -0.0575243  0.0170442   0.0490022   0.18       0.02          pose: 0.51995560    1.84963    -3.89718    0 0.000881969 0.000137908 0.999927    -0.01203       uwb: 0.0            1227.31  824.311  
imu_odom_:  1691062857.440695042  0.80924    -0.136469  10.0628    -0.0436758  0.00106526  0.0372843   0.18       0.02          pose: 0.0           1.84963    -3.89718    0 0.000881969 0.000137908 0.999927    -0.01203       uwb: 0.49949056     1227.05  824.513  
imu_odom_:  1691062857.454697425  0.392649   -0.112527  9.73961    -0.0394148  -0.00106526 0.0447411   0.18       0.02          pose: 0.0           1.84963    -3.89718    0 0.000881969 0.000137908 0.999927    -0.01203       uwb: 0.0            1227.05  824.513  
imu_odom_:  1691062857.477759899  0.464475   -0.225055  9.98622    -0.0543285  -0.00852212 0.0468716   0.2        0.02          pose: 0.48974947    1.83571    -3.89967    0 0.00219877  0.000302869 0.999925    -0.0120695     uwb: 0.0            1227.05  824.513  
imu_odom_:  1691062857.503988811  0.514753   -0.1652    9.8665     -0.0436758  0.00852212  0.0426106   0.23       -0.02         pose: 0.31046962    1.83571    -3.89967    0 0.00333819  -0.0006853420.99992     -0.0121774     uwb: 0.50126379     1227.15  825.381  
imu_odom_:  1691062857.520709951  0.304064   -0.37589   9.8665     -0.0319579  -0.0149137  0.04048     0.18       -0.02         pose: 0.0           1.83571    -3.89967    0 0.00333819  -0.0006853420.99992     -0.0121774     uwb: 0.0            1227.15  825.381  
imu_odom_:  1691062857.545919840  0.203507   -0.0574608 9.75398    -0.0276969  -0.00426106 0.0319579   0.18       0             pose: 0.42950052    1.82418    -3.89873    0 0.00361627  0.000598397 0.999919    -0.0122214     uwb: 0.49931265     1227.35  826.804  
imu_odom_:  1691062857.559714860  0.0550666  -0.129287  9.87848    -0.0436758  -0.0255663  0.0553937   0.18       0             pose: 0.0           1.82418    -3.89873    0 0.00361627  0.000598397 0.999919    -0.0122214     uwb: 0.0            1227.35  826.804  
imu_odom_:  1691062857.577007633  0.723049   -0.155623  9.77074    -0.0596548  0.00106526  0.0383495   0.17       0.02          pose: 0.0           1.82418    -3.89873    0 0.00361627  0.000598397 0.999919    -0.0122214     uwb: 0.0            1227.35  826.804  
imu_odom_:  1691062857.600909766  0.859518   -0.0646434 9.77313    -0.0585895  -0.00958738 0.04048     0.17       0.02          pose: 0.46173070    1.81358    -3.89646    0 0.000853445 0.00237604  0.999922    -0.0122241     uwb: 0.49933890     1227.69  827.798  
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imu_odom_:  1691062857.633758830  0.268151   -0.0981623 9.85693    -0.0436758  -0.00958738 0.0447411   0.2        0             pose: 0.6974214     1.80787    -3.90467    0 0.00450507  0.00234716  0.999913    -0.0122122     uwb: 0.0            1227.69  827.798  
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imu_odom_:  1691062857.795763698  0.0694318  -0.517148  9.66779    -0.0937433  0.00106526  0.0894822   0.19       -0.02         pose: 0.41855783    1.77606    -3.9032     0 -0.0006054130.000166962 0.999928    -0.0120237     uwb: 0.49573412     1229.65  833.453  
imu_odom_:  1691062857.820698853  0.136469   -0.462081  10.1466    -0.0287621  0.015979    0.02024     0.19       -0.02         pose: 0.0           1.77606    -3.9032     0 -0.0006054130.000166962 0.999928    -0.0120237     uwb: 0.0            1229.65  833.453  
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imu_odom_:  1691062857.861740934  0.6608     -0.428562  9.36133    -0.0735032  0.0372843   0.0383495   0.19       0             pose: 0.0           1.76595    -3.89987    0 -0.00457106 -0.00355792 0.999906    -0.0124265     uwb: 0.0            1229.37  834.269  
imu_odom_:  1691062857.878904214  0.186748   -0.445322  10.0149    -0.0735032  -0.0394148  0.0319579   0.19       0             pose: 0.41042081    1.76044    -3.9028     0 -0.00412319 -0.00234046 0.999911    -0.0124768     uwb: 0.0            1229.37  834.269  
imu_odom_:  1691062857.896741788  0.61531    0.047884   10.2065    -0.0372843  -0.015979   0.0383495   0.19       0             pose: 0.0           1.76044    -3.9028     0 -0.00412319 -0.00234046 0.999911    -0.0124768     uwb: 0.50105672     1229.31  835.525  
imu_odom_:  1691062857.920731416  0.596156   -0.11971   9.97185    -0.0639159  -0.00106526 0.0415453   0.18       0.02          pose: 0.35000854    1.74969    -3.90075    0 -0.0035191  -0.00239997 0.999914    -0.0123997     uwb: 0.0            1229.31  835.525  
imu_odom_:  1691062857.938662317  0.454898   -0.0023942 10.0197    -0.04048    -0.052198   0.0308927   0.18       0.02          pose: 0.0           1.74969    -3.90075    0 -0.0035191  -0.00239997 0.999914    -0.0123997     uwb: 0.0            1229.31  835.525  
imu_odom_:  1691062857.954665124  0.723049   -0.172383  9.663      -0.0553937  0.0106526   0.0372843   0.18       0.02          pose: 0.0           1.74969    -3.90075    0 -0.0035191  -0.00239997 0.999914    -0.0123997     uwb: 0.49995137     1229.99  837.16   
imu_odom_:  1691062857.977721473  0.397437   0.023942   10.5512    -0.0490022  -0.0447411  0.0383495   0.19       0             pose: 0.48955698    1.74148    -3.89504    0 0.000174755 0.000580232 0.999924    -0.0123393     uwb: 0.0            1229.99  837.16   
imu_odom_:  1691062857.994721430  0.471658   -0.433351  9.2919     -0.0447411  -0.00319579 0.0553937   0.19       0             pose: 0.0           1.74148    -3.89504    0 0.000174755 0.000580232 0.999924    -0.0123393     uwb: 0.50061341     1230.05  838.317  
imu_odom_:  1691062858.11658682   0.593762   -0.311246  10.3406    -0.0553937  -0.0447411  0.0479369   0.25       0             pose: 0.49023944    1.73577    -3.90325    0 0.00146026  0.00146393  0.99992     -0.01245       uwb: 0.0            1230.05  838.317  
imu_odom_:  1691062858.27822188   0.538695   -0.244209  10.0868    -0.0639159  -0.00426106 0.0394148   0.25       0             pose: 0.6946799     1.73577    -3.90325    0 0.00215227  0.00104288  0.999919    -0.0124802     uwb: 0.0            1230.05  838.317  
imu_odom_:  1691062858.53690622   0.373495   -0.174777  10.4244    -0.0692422  -0.015979   0.0490022   0.23       0.02          pose: 0.0           1.73577    -3.90325    0 0.00215227  0.00104288  0.999919    -0.0124802     uwb: 0.49994845     1229.58  838.951  
imu_odom_:  1691062858.79832915   0.572214   0          10.0173    -0.0585895  -0.0170442  0.036219    0.19       0             pose: 0.34094116    1.72756    -3.89754    0 0.00389949  -0.0001319870.999913    -0.0125612     uwb: 0.0            1229.58  838.951  
imu_odom_:  1691062858.105094426  0.984017   -0.342371  10.2328    -0.0458064  -0.00213053 0.0223706   0.22       0             pose: 0.44070570    1.71594    -3.90164    0 0.00379771  0.00260115  0.99991     -0.0125939     uwb: 0.49945558     1229.33  839.423  
imu_odom_:  1691062858.121722530  0.251391   0.00718261 9.93594    -0.0468716  0.0245011   0.0415453   0.22       0             pose: 0.0           1.71594    -3.90164    0 0.00379771  0.00260115  0.99991     -0.0125939     uwb: 0.0            1229.33  839.423  
imu_odom_:  1691062858.147812909  0.35913    -0.418985  9.51456    -0.0681769  0.0287621   0.0458064   0.23       0             pose: 0.41889615    1.71069    -3.9043     0 0.00453118  0.002892    0.999909    -0.0123952     uwb: 0.50058717     1229.58  840.734  
imu_odom_:  1691062858.161803043  0.500388   -0.198719  10.0628    -0.04048    -0.00852212 0.0308927   0.23       0             pose: 0.8133521     1.70794    -3.90826    0 0.00404073  0.00210739  0.999912    -0.012423      uwb: 0.0            1229.58  840.734  
imu_odom_:  1691062858.186667037  0.407014   -0.411803  10.0126    -0.0607201  -0.00106526 0.0490022   0.18       0             pose: 0.31946992    1.69973    -3.90255    0 0.00434351  0.000822051 0.999913    -0.0124233     uwb: 0.0            1229.58  840.734  
imu_odom_:  1691062858.210709745  0.486023   0.0790087  10.3262    -0.0479369  -0.0223706  0.0468716   0.18       0             pose: 0.0           1.69973    -3.90255    0 0.00434351  0.000822051 0.999913    -0.0124233     uwb: 0.0            1229.58  840.734  
imu_odom_:  1691062858.235678441  0.562637   -0.308852  10.3621    -0.0713727  0.00213053  0.0468716   0.18       0             pose: 0.7877744     1.69973    -3.90255    0 0.00405564  6.19567e-05 0.999914    -0.0124633     uwb: 0.0            1229.58  840.734  
imu_odom_:  1691062858.252673731  0.371101   -0.0263362 9.36372    -0.0660464  0.0191748   0.036219    0.18       0             pose: 0.0           1.69973    -3.90255    0 0.00405564  6.19567e-05 0.999914    -0.0124633     uwb: 0.100069604    1229.57  841.336  
imu_odom_:  1691062858.276670650  0.201113   -0.416591  9.4978     -0.0756338  -0.00213053 0.0543285   0.19       0             pose: 0.48183703    1.68581    -3.90506    0 0.00412982  0.000292556 0.999911    -0.0126579     uwb: 0.0            1229.57  841.336  
imu_odom_:  1691062858.302713782  0.225055   -0.31364   9.52892    -0.072438   0.00426106  0.0372843   0.18       0             pose: 0.41881157    1.68581    -3.90506    0 0.00349332  -0.0004093550.999913    -0.0127466     uwb: 0.49856312     1229.48  842.579  
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imu_odom_:  1691062858.340736125  0.586579   -0.19393   10.0293    -0.0500674  -0.0298274  0.0340885   0.2        -0.02         pose: 0.0           1.67334    -3.90548    0 -0.000461447-0.0026331  0.999914    -0.0128498     uwb: 0.49942641     1229.44  844.073  
imu_odom_:  1691062858.358668194  0.373495   -0.186748  9.75398    -0.0681769  -0.0117179  0.0415453   0.23       0.02          pose: 0.38022343    1.66631    -3.90369    0 0.00334141  -0.0008894780.999912    -0.0128223     uwb: 0.0            1229.44  844.073  
imu_odom_:  1691062858.375724147  0.356736   -0.213084  10.1131    -0.0585895  -0.0234358  0.0287621   0.23       0.02          pose: 0.0           1.66631    -3.90369    0 0.00334141  -0.0008894780.999912    -0.0128223     uwb: 0.0            1229.44  844.073  
imu_odom_:  1691062858.400645304  0.742203   -0.514753  10.3645    -0.0713727  0.00319579  0.056459    0.2        0             pose: 0.34988022    1.66368    -3.90187    0 0.000247095 -0.0001442050.999919    -0.0127465     uwb: 0.49933016     1229.77  845.313  
imu_odom_:  1691062858.425693620  0.873884   -0.277727  10.4603    -0.0372843  -0.0117179  0.036219    0.2        0             pose: 0.0           1.66368    -3.90187    0 0.000247095 -0.0001442050.999919    -0.0127465     uwb: 0.0            1229.77  845.313  
imu_odom_:  1691062858.447865105  0.464475   -0.268151  10.422     -0.056459   -0.0447411  0.0500674   0.18       0             pose: 0.49969473    1.64976    -3.90438    0 0.00463635  -0.00184465 0.999904    -0.0129105     uwb: 0.50135129     1229.12  845.748  
imu_odom_:  1691062858.464660324  0.627281   -0.289698  9.48343    -0.0436758  0.0447411   0.0276969   0.18       0             pose: 0.0           1.64976    -3.90438    0 0.00463635  -0.00184465 0.999904    -0.0129105     uwb: 0.0            1229.12  845.748  
imu_odom_:  1691062858.480769291  0.574608   -0.198719  10.0317    -0.052198   -0.00426106 0.0500674   0.24       0             pose: 0.0           1.64976    -3.90438    0 0.00463635  -0.00184465 0.999904    -0.0129105     uwb: 0.0            1229.12  845.748  
imu_odom_:  1691062858.505798650  0.620098   -0.201113  10.0173    -0.0436758  -0.00852212 0.0319579   0.24       0             pose: 0.38966704    1.64503    -3.9011     0 0.00430896  -0.00285813 0.999903    -0.0129308     uwb: 0.49979389     1229.13  847.194  
imu_odom_:  1691062858.530841424  0.509965   -0.335188  9.97903    -0.052198   0.0181095   0.0713727   0.21       0.02          pose: 0.41138326    1.63584    -3.9069     0 0.00783379  -0.0005444560.999886    -0.0129027     uwb: 0.0            1229.13  847.194  
imu_odom_:  1691062858.554704477  0.246603   -0.28491   9.95748    -0.0351537  0.00532632  0.0255663   0.21       0.02          pose: 0.0           1.63584    -3.9069     0 0.00783379  -0.0005444560.999886    -0.0129027     uwb: 0.50053176     1228.8   848.277  
imu_odom_:  1691062858.572921195  0.213084   -0.150835  9.64624    -0.0479369  0.015979    0.0447411   0.19       0.02          pose: 0.48905827    1.62763    -3.9012     0 0.00406969  -0.00271757 0.999901    -0.0131614     uwb: 0.0            1228.8   848.277  
imu_odom_:  1691062858.596794747  0.0814029  -0.430956  9.05727    -0.0383495  0.00958738  0.0276969   0.19       0.02          pose: 0.0           1.62763    -3.9012     0 0.00406969  -0.00271757 0.999901    -0.0131614     uwb: 0.50056967     1229.04  848.981  
imu_odom_:  1691062858.622673680  0.153229   -0.349553  9.52892    -0.052198   0.00106526  0.0660464   0.23       0             pose: 0.42090270    1.61646    -3.90562    0 -8.37941e-05-0.0028442  0.99991     -0.0130748     uwb: 0.0            1229.04  848.981  
imu_odom_:  1691062858.646660100  0.150835   -0.227449  10.1227    -0.0447411  -0.0149137  0.036219    0.23       0             pose: 0.0           1.61646    -3.90562    0 -8.37941e-05-0.0028442  0.99991     -0.0130748     uwb: 0.50001554     1229.11  850.647  
imu_odom_:  1691062858.670637479  0.174777   -0.52433   9.71806    -0.0777643  0.0223706   0.0500674   0.18       0             pose: 0.49865353    1.61371    -3.90372    0 -0.00478631 -0.00286139 0.999895    -0.0133937     uwb: 0.0            1229.11  850.647  
imu_odom_:  1691062858.687791427  0.179565   -0.454898  9.80904    -0.0458064  0.0127832   0.0330232   0.18       0             pose: 0.0           1.61371    -3.90372    0 -0.00478631 -0.00286139 0.999895    -0.0133937     uwb: 0.0            1229.11  850.647  
imu_odom_:  1691062858.712663295  0.442927   -0.0191536 10.3382    -0.0436758  -0.0213053  0.0660464   0.23       0             pose: 0.30989799    1.5998     -3.90625    0 -0.0066632  -0.0058075  0.99987     -0.0134874     uwb: 0.49870020     1228.91  851.065  
imu_odom_:  1691062858.736787957  0.215478   -0.158017  10.1083    -0.015979   0           0.0340885   0.23       0             pose: 0.0           1.5998     -3.90625    0 -0.0066632  -0.0058075  0.99987     -0.0134874     uwb: 0.0            1228.91  851.065  
imu_odom_:  1691062858.753722000  0.632069   -0.361524  9.2488     -0.0639159  0.0245011   0.0543285   0.21       0             pose: 0.43160624    1.5998     -3.90625    0 -0.00629063 -0.00338446 0.99988     -0.0137713     uwb: 0.49994846     1228.5   852.467  
imu_odom_:  1691062858.778876185  0.208296   -0.196325  9.61272    -0.0436758  0.00958738  0.04048     0.21       0             pose: 0.0           1.5998     -3.90625    0 -0.00629063 -0.00338446 0.99988     -0.0137713     uwb: 0.0            1228.5   852.467  
imu_odom_:  1691062858.802740987  0.308852   -0.0047884 9.79468    -0.0458064  0.00319579  0.0639159   0.18       0             pose: 0.40846093    1.58588    -3.90879    0 -0.00639448 -0.00174454 0.999882    -0.0138628     uwb: 0.49987846     1229.35  854.729  
imu_odom_:  1691062858.825627597  0.351948   -0.0143652 9.79228    -0.0607201  -0.0372843  0.0426106   0.18       0             pose: 0.0           1.58588    -3.90879    0 -0.00639448 -0.00174454 0.999882    -0.0138628     uwb: 0.0            1229.35  854.729  
imu_odom_:  1691062858.840685168  0.258574   -0.229843  9.54089    -0.0735032  -0.0117179  0.0447411   0.18       -0.02         pose: 0.47988589    1.57766    -3.9031     0 -0.00700616 0.00232702  0.999872    -0.0142011     uwb: 0.50013803     1229.19  855.394  
imu_odom_:  1691062858.866636139  0.225055   -0.351948  9.76834    -0.0543285  -0.00532632 0.0308927   0.18       -0.02         pose: 0.0           1.57766    -3.9031     0 -0.00700616 0.00232702  0.999872    -0.0142011     uwb: 0.0            1229.19  855.394  
imu_odom_:  1691062858.890776842  0.136469   -0.0885855 10.3046    -0.0511327  -0.0266316  0.0511327   0.23       -0.02         pose: 0.39027659    1.57198    -3.91134    0 -0.00665041 0.00137823  0.999876    -0.0142259     uwb: 0.50005637     1229.56  856.833  
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imu_odom_:  1691062858.932835322  0.581791   -0.335188  9.48343    -0.0681769  0.0340885   0.04048     0.19       -0.02         pose: 0.50007387    1.56375    -3.90566    0 -0.00794752 0.00127287  0.999865    -0.0142958     uwb: 0.0            1229.56  856.833  
imu_odom_:  1691062858.958791543  0.371101   -0.497994  9.60075    -0.0511327  -0.00426106 0.0330232   0.23       -0.02         pose: 0.34155071    1.55443    -3.90737    0 -0.0054501  -9.63015e-050.999883    -0.0143141     uwb: 0.49982597     1229.83  858.334  
imu_odom_:  1691062858.971831774  -0.0383072 -0.301669  9.9503     -0.0468716  -0.0245011  0.0266316   0.23       -0.02         pose: 0.0           1.55443    -3.90737    0 -0.0054501  -9.63015e-050.999883    -0.0143141     uwb: 0.0            1229.83  858.334  
imu_odom_:  1691062858.987825832  0.603339   -0.296881  10.2783    -0.0607201  -0.0372843  0.0468716   0.23       -0.02         pose: 0.0           1.55443    -3.90737    0 -0.0054501  -9.63015e-050.999883    -0.0143141     uwb: 0.0            1229.83  858.334  
imu_odom_:  1691062859.4666256    0.577003   -0.258574  9.60075    -0.0372843  0.0468716   0.0234358   0.25       0             pose: 0.7962906     1.54984    -3.90821    0 -0.00524454 -0.0008487540.999884    -0.0142837     uwb: 0.50021678     1230     859.883  
imu_odom_:  1691062859.29618620   0.205901   -0.371101  9.32781    -0.0543285  0.0170442   0.0394148   0.25       0             pose: 0.0           1.54984    -3.90821    0 -0.00524454 -0.0008487540.999884    -0.0142837     uwb: 0.0            1230     859.883  
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imu_odom_:  1691062859.104645742  -0.143652  -0.181959  10.0054    -0.0553937  0.00745685  0.0330232   0.21       -0.02         pose: 0.65768710    1.5277     -3.90508    0 -0.00410998 -0.00232171 0.99989     -0.0140782     uwb: 0.50023720     1230.51  862.045  
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imu_odom_:  1691062859.194760184  0.208296   -0.122104  9.53371    -0.0511327  0.00213053  0.0447411   0.18       -0.02         pose: 0.41958445    1.51379    -3.90763    0 -0.00660203 -0.00221483 0.999878    -0.0139732     uwb: 0.49944683     1231.19  864.908  
imu_odom_:  1691062859.220740029  0.438139   -0.373495  9.32302    -0.0649811  0.0415453   0.0458064   0.24       0             pose: 0.0           1.51379    -3.90763    0 -0.00660203 -0.00221483 0.999878    -0.0139732     uwb: 0.0            1231.19  864.908  
imu_odom_:  1691062859.236670799  0.325611   -0.0646434 10.2017    -0.0372843  0.00639159  0.0319579   0.24       0             pose: 0.32155231    1.49988    -3.91018    0 -0.00739947 -0.0006324360.999873    -0.0140726     uwb: 0.0            1231.19  864.908  
imu_odom_:  1691062859.253643633  0.454898   -0.160412  9.90721    -0.0617853  0.0223706   0.0585895   0.24       0             pose: 0.0           1.49988    -3.91018    0 -0.00739947 -0.0006324360.999873    -0.0140726     uwb: 0.49935933     1231.58  866.569  
imu_odom_:  1691062859.278657243  0.916979   -0.122104  10.0461    -0.0426106  0.0234358   0.0372843   0.18       0             pose: 0.50729221    1.49554    -3.90718    0 -0.00474915 0.000287229 0.999887    -0.0142317     uwb: 0.0            1231.58  866.569  
imu_odom_:  1691062859.303664145  0.117316   -0.203507  9.663      -0.0692422  0.0276969   0.0596548   0.18       0             pose: 0.8037568     1.49164    -3.90449    0 -0.00406688 0.000460111 0.99989     -0.0142232     uwb: 0.50123173     1231.98  867.947  
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imu_odom_:  1691062859.352684591  0.457293   -0.418985  9.85932    -0.0639159  -0.00426106 0.0543285   0.19       0             pose: 0.0           1.48226    -3.90622    0 -0.00552145 0.000554545 0.99988     -0.0144543     uwb: 0.49901811     1232.26  868.862  
imu_odom_:  1691062859.375592783  0.213084   -0.136469  9.56723    -0.0745685  0.0245011   0.036219    0.21       0             pose: 0.32118191    1.47774    -3.90705    0 -0.00508675 -0.00257106 0.999877    -0.0145943     uwb: 0.0            1232.26  868.862  
imu_odom_:  1691062859.401608501  0.167594   -0.691924  9.55287    -0.0681769  0.00319579  0.0372843   0.25       0             pose: 0.0           1.47774    -3.90705    0 -0.00508675 -0.00257106 0.999877    -0.0145943     uwb: 0.49991930     1232.11  869.747  
imu_odom_:  1691062859.414595361  0.328006   -0.124498  9.99579    -0.0490022  -0.0436758  0.0255663   0.25       0             pose: 0.47892054    1.46383    -3.90961    0 -0.00588235 -0.00309377 0.99987     -0.0146707     uwb: 0.0            1232.11  869.747  
imu_odom_:  1691062859.438577406  0.344765   -0.562637  9.78031    -0.0553937  -0.00106526 0.0383495   0.25       0             pose: 0.0           1.46383    -3.90961    0 -0.00588235 -0.00309377 0.99987     -0.0146707     uwb: 0.0            1232.11  869.747  
imu_odom_:  1691062859.464747115  0.507571   -0.160412  10.3094    -0.0447411  -0.0223706  0.0532632   0.17       -0.02         pose: 0.38991204    1.46383    -3.90961    0 -0.00567729 -0.00442993 0.999868    -0.0145481     uwb: 0.50092550     1232.54  871.102  
imu_odom_:  1691062859.480606723  0.107739   -0.237026  9.663      -0.0585895  -0.00745685 0.0607201   0.17       -0.02         pose: 0.0           1.46383    -3.90961    0 -0.00567729 -0.00442993 0.999868    -0.0145481     uwb: 0.0            1232.54  871.102  
imu_odom_:  1691062859.497645469  0.919373   -0.402226  10.094     -0.0426106  -0.0447411  0.0383495   0.18       0.02          pose: 0.48980198    1.44992    -3.91217    0 -0.00378694 -0.00402715 0.999875    -0.0147809     uwb: 0.50078550     1232.84  871.994  
imu_odom_:  1691062859.513702523  0.739808   -0.275333  9.31105    -0.0596548  0.00213053  0.0607201   0.18       0.02          pose: 0.0           1.44992    -3.91217    0 -0.00378694 -0.00402715 0.999875    -0.0147809     uwb: 0.0            1232.84  871.994  
imu_odom_:  1691062859.538643221  0.97444    -0.246603  9.44991    -0.0426106  0.0170442   0.0298274   0.25       0             pose: 0.17039330    1.44992    -3.91217    0 -0.00368765 -0.00392522 0.999875    -0.0148717     uwb: 0.0            1232.84  871.994  
imu_odom_:  1691062859.552750598  0.411803   -0.117316  9.92636    -0.0458064  0.0319579   0.0458064   0.25       0             pose: 0.0           1.44992    -3.91217    0 -0.00368765 -0.00392522 0.999875    -0.0148717     uwb: 0.50045010     1233.25  873.09   
imu_odom_:  1691062859.577860452  0.505177   -0.335188  10.0509    -0.0500674  0.0117179   0.04048     0.19       -0.02         pose: 0.32990515    1.44168    -3.90651    0 -0.000361056-0.00385589 0.99988     -0.0149836     uwb: 0.0            1233.25  873.09   
imu_odom_:  1691062859.594595300  0.320823   -0.0047884 9.76355    -0.0415453  0.00426106  0.0458064   0.22       0             pose: 0.0           1.44168    -3.90651    0 -0.000361056-0.00385589 0.99988     -0.0149836     uwb: 0.49813733     1233.14  874.467  
imu_odom_:  1691062859.611770538  0.344765   -0.258574  10.0102    -0.0617853  -0.00639159 0.0681769   0.18       0             pose: 0.0           1.44168    -3.90651    0 -0.000361056-0.00385589 0.99988     -0.0149836     uwb: 0.0            1233.14  874.467  
imu_odom_:  1691062859.628719457  0.538695   -0.368707  9.84735    -0.0447411  -0.0213053  0.0340885   0.18       0             pose: 0.72919663    1.42778    -3.90908    0 0.00167186  -0.00208569 0.999884    -0.0149946     uwb: 0.0            1233.14  874.467  
imu_odom_:  1691062859.653765440  0.761356   -0.282516  9.53132    -0.0426106  -0.0149137  0.0458064   0.18       0.02          pose: 0.0           1.42778    -3.90908    0 0.00167186  -0.00208569 0.999884    -0.0149946     uwb: 0.50003013     1233.44  875.619  
imu_odom_:  1691062859.678586853  0.653617   -0.181959  10.161     -0.0213053  -0.0255663  0.0266316   0.18       0.02          pose: 0.42060814    1.42778    -3.90908    0 0.00228532  -0.00312149 0.999877    -0.0152169     uwb: 0.0            1233.44  875.619  
imu_odom_:  1691062859.703693791  0.466869   -0.138864  10.3573    -0.0607201  -0.015979   0.0575243   0.21       -0.02         pose: 0.41930739    1.41387    -3.91166    0 0.00649495  -0.00135335 0.999864    -0.0150953     uwb: 0.50312745     1233.58  876.589  
imu_odom_:  1691062859.720674207  0.646434   -0.260968  9.50977    -0.0628506  0.0319579   0.04048     0.21       -0.02         pose: 0.0           1.41387    -3.91166    0 0.00649495  -0.00135335 0.999864    -0.0150953     uwb: 0.0            1233.58  876.589  
imu_odom_:  1691062859.745706483  0.325611   -0.184354  9.9527     -0.0660464  0.0330232   0.0490022   0.18       0             pose: 0.7022628     1.41387    -3.91166    0 0.00614369  -0.0007896340.999866    -0.015155      uwb: 0.49732654     1233.9   877.718  
imu_odom_:  1691062859.761645419  0.440533   -0.296881  9.69891    -0.0628506  -0.00639159 0.0298274   0.18       0             pose: 0.0           1.41387    -3.91166    0 0.00614369  -0.0007896340.999866    -0.015155      uwb: 0.0            1233.9   877.718  
imu_odom_:  1691062859.786577367  0.567426   -0.52433   9.55047    -0.0458064  0.00106526  0.0575243   0.23       -0.02         pose: 0.42974260    1.40563    -3.90599    0 0.00559292  5.83831e-05 0.999866    -0.0153567     uwb: 0.0            1233.9   877.718  
imu_odom_:  1691062859.810770567  0.323217   -0.308852  9.53371    -0.0223706  0.0170442   0.0266316   0.23       -0.02         pose: 0.0           1.40563    -3.90599    0 0.00559292  5.83831e-05 0.999866    -0.0153567     uwb: 0.49850189     1234.06  878.935  
imu_odom_:  1691062859.835599854  0.4956     -0.131681  10.173     -0.0575243  -0.00745685 0.052198    0.18       -0.02         pose: 0.41061915    1.39172    -3.90858    0 0.00334263  -0.00206925 0.999873    -0.0154364     uwb: 0.0            1234.06  878.935  
imu_odom_:  1691062859.852640642  0.181959   -0.234632  9.73482    -0.04048    0.0351537   0.0372843   0.18       -0.02         pose: 0.0           1.39172    -3.90858    0 0.00334263  -0.00206925 0.999873    -0.0154364     uwb: 0.50064551     1233.79  880.109  
imu_odom_:  1691062859.876568150  0.3304     0.0167594  9.78271    -0.0394148  0.0191748   0.0617853   0.18       0             pose: 0.49021612    1.39172    -3.90858    0 0.00159081  -0.0028911  0.999875    -0.0154945     uwb: 0.0            1233.79  880.109  
imu_odom_:  1691062859.901601592  0.263362   -0.114922  9.56484    -0.0511327  -0.00639159 0.0426106   0.18       0             pose: 0.0           1.39172    -3.90858    0 0.00159081  -0.0028911  0.999875    -0.0154945     uwb: 0.50032469     1234.19  881.955  
imu_odom_:  1691062859.924714522  0.557849   -0.129287  9.88805    -0.076699   0.0287621   0.0458064   0.19       0             pose: 0.82934324    1.37201    -3.90718    0 -0.00291989 0.00257437  0.999866    -0.0158813     uwb: 0.0            1234.19  881.955  
imu_odom_:  1691062859.940721121  0.131681   -0.56982   9.72285    -0.0639159  0.015979    0.0340885   0.19       0             pose: 0.0           1.37201    -3.90718    0 -0.00291989 0.00257437  0.999866    -0.0158813     uwb: 0.49986389     1233.85  882.896  
imu_odom_:  1691062859.965750772  0.225055   -0.126893  10.1418    -0.0511327  -0.0351537  0.0500674   0.25       -0.02         pose: 0.39119529    1.36392    -3.91376    0 -0.00200107 0.00128294  0.999871    -0.015915      uwb: 0.0            1233.85  882.896  
imu_odom_:  1691062859.988578469  0.0837971  -0.138864  9.8258     -0.0532632  -0.0127832  0.036219    0.25       -0.02         pose: 0.0           1.36392    -3.91376    0 -0.00200107 0.00128294  0.999871    -0.015915      uwb: 0.0            1233.85  882.896  
imu_odom_:  1691062860.13578955   0.509965   -0.464475  9.97185    -0.076699   -0.00852212 0.0479369   0.18       0.02          pose: 0.31927744    1.35567    -3.90811    0 -0.00457653 0.00240037  0.999858    -0.0160314     uwb: 0.50057552     1233.45  882.84   
imu_odom_:  1691062860.29567180   0.610521   -0.25618   9.72046    -0.0628506  0.036219    0.0351537   0.18       0.02          pose: 0.0           1.35567    -3.90811    0 -0.00457653 0.00240037  0.999858    -0.0160314     uwb: 0.0            1233.45  882.84   
imu_odom_:  1691062860.53830085   0.493206   -0.287304  9.30866    -0.0447411  0.00852212  0.0426106   0.23       0             pose: 0.47946302    1.35567    -3.90811    0 -0.00395457 0.000205491 0.999863    -0.0160837     uwb: 0.50072426     1233.27  883.95   
imu_odom_:  1691062860.79706394   0.603339   -0.265756  9.44513    -0.0255663  0.0127832   0.0234358   0.18       0             pose: 0.0           1.35567    -3.90811    0 -0.00395457 0.000205491 0.999863    -0.0160837     uwb: 0.0            1233.27  883.95   
imu_odom_:  1691062860.103654609  0.435745   -0.253785  9.46428    -0.0639159  0.0287621   0.0394148   0.18       0             pose: 0.41051416    1.34742    -3.90247    0 -0.000506649-0.0008765980.999871    -0.0160328     uwb: 0.49945268     1233.23  884.985  
imu_odom_:  1691062860.129589832  0.639252   -0.191536  9.50498    -0.04048    -0.00852212 0.0298274   0.19       -0.02         pose: 0.42008026    1.33815    -3.9042     0 0.00187273  -0.00307814 0.999867    -0.0158835     uwb: 0.0            1233.23  884.985  
imu_odom_:  1691062860.142586900  0.301669   -0.220267  9.39964    -0.0511327  0.0372843   0.04048     0.19       -0.02         pose: 0.7952407     1.33352    -3.90507    0 0.00262219  -0.00270915 0.999867    -0.015842      uwb: 0.50028679     1233.29  885.71   
imu_odom_:  1691062860.167587094  0.0407014  -0.380678  9.90481    -0.0436758  -0.036219   0.0319579   0.18       -0.02         pose: 0.0           1.33352    -3.90507    0 0.00262219  -0.00270915 0.999867    -0.015842      uwb: 0.0            1233.29  885.71   
imu_odom_:  1691062860.193582105  0.634463   -0.306458  10.4315    -0.0532632  -0.00958738 0.0372843   0.18       -0.02         pose: 0.39067616    1.33352    -3.90507    0 0.00212258  -0.00186535 0.999872    -0.0157269     uwb: 0.49941476     1233.15  886.539  
imu_odom_:  1691062860.206624379  0.481235   -0.440533  9.63666    -0.0671117  0.00319579  0.036219    0.18       -0.02         pose: 0.0           1.33352    -3.90507    0 0.00212258  -0.00186535 0.999872    -0.0157269     uwb: 0.0            1233.15  886.539  
imu_odom_:  1691062860.222630395  0.624887   -0.059855  9.9503     -0.04048    0.0181095   0.0138484   0.18       0             pose: 0.48923911    1.31961    -3.90766    0 0.00344805  -0.00338963 0.999866    -0.0156236     uwb: 0.0            1233.15  886.539  
imu_odom_:  1691062860.237573640  0.47884    -0.40462   9.52174    -0.0703074  -0.04048    0.04048     0.18       0             pose: 0.0           1.31961    -3.90766    0 0.00344805  -0.00338963 0.999866    -0.0156236     uwb: 0.0            1233.15  886.539  
imu_odom_:  1691062860.263590233  0.454898   -0.35913   9.76116    -0.0500674  -0.0149137  0.0223706   0.18       -0.02         pose: 0.37975097    1.31137    -3.90201    0 0.00443976  -0.00426084 0.999862    -0.0154124     uwb: 0.49927185     1233.12  887.303  
imu_odom_:  1691062860.280701017  0.73502    -0.155623  10.2304    -0.0543285  0           0.0575243   0.18       -0.02         pose: 0.0           1.31137    -3.90201    0 0.00443976  -0.00426084 0.999862    -0.0154124     uwb: 0.0            1233.12  887.303  
imu_odom_:  1691062860.305569386  0.842759   -0.213084  9.94312    -0.0319579  -0.0319579  0.0330232   0.18       -0.05         pose: 0.8017445     1.31137    -3.90201    0 0.00411506  -0.00495264 0.999861    -0.0153484     uwb: 0.50011472     1232.6   887.804  
imu_odom_:  1691062860.328695441  0.409408   -0.107739  10.1562    -0.0500674  -0.0106526  0.0532632   0.23       0             pose: 0.0           1.31137    -3.90201    0 0.00411506  -0.00495264 0.999861    -0.0153484     uwb: 0.0            1232.6   887.804  
imu_odom_:  1691062860.354746449  1.05345    -0.110133  9.78031    -0.0447411  -0.0138484  0.0436758   0.25       0.02          pose: 0.83104356    1.29746    -3.90459    0 0.00611931  -0.00246816 0.99986     -0.015402      uwb: 0.0            1232.6   887.804  
imu_odom_:  1691062860.370669636  0.452504   -0.277727  9.6223     -0.0735032  0.0298274   0.0617853   0.25       0.02          pose: 0.0           1.29746    -3.90459    0 0.00611931  -0.00246816 0.99986     -0.015402      uwb: 0.0            1232.6   887.804  
imu_odom_:  1691062860.396736976  0.208296   -0.366313  10.082     -0.0585895  -0.015979   0.0426106   0.18       0             pose: 0.33999332    1.28356    -3.90717    0 0.00783778  -0.00185511 0.999847    -0.0155359     uwb: 0.100055316    1232.51  888.598  
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imu_odom_:  1691062860.438523641  0.512359   -0.131681  10.1155    -0.0575243  -0.0181095  0.0447411   0.18       -0.02         pose: 0.41909740    1.28356    -3.90717    0 0.00394542  -0.00269147 0.999864    -0.0157729     uwb: 0.0            1232.51  888.598  
imu_odom_:  1691062860.463724490  0.545878   -0.150835  10.1347    -0.0735032  0.0394148   0.0436758   0.18       0.02          pose: 0.0           1.28356    -3.90717    0 0.00394542  -0.00269147 0.999864    -0.0157729     uwb: 0.49988140     1232.21  889.49   
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imu_odom_:  1691062860.512712856  0.610521   -0.222661  9.84017    -0.0628506  0.00745685  0.0426106   0.25       0.02          pose: 0.40016352    1.26429    -3.90609    0 0.00656297  -0.0002843360.999851    -0.015981      uwb: 0.49811692     1231.78  889.693  
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imu_odom_:  1691062860.553596573  0.555455   -0.442927  10.1634    -0.0777643  0.015979    0.056459    0.18       0.02          pose: 0.0           1.26141    -3.90412    0 0.0073247   -0.0003073360.999845    -0.0159927     uwb: 0.50020221     1231.76  890.694  
imu_odom_:  1691062860.578581019  0.849942   -0.337582  10.0844    -0.04048    -0.0500674  0.0351537   0.18       0.02          pose: 0.49809068    1.25576    -3.91237    0 0.0080075   0.000953757 0.999839    -0.016004      uwb: 0.0            1231.76  890.694  
imu_odom_:  1691062860.604590321  0.984017   -0.186748  10.1921    -0.056459   -0.0351537  0.0500674   0.2        0             pose: 0.34006914    1.24751    -3.90672    0 0.0107876   -0.0007709750.999813    -0.0160397     uwb: 0.49979974     1231.26  891.178  
imu_odom_:  1691062860.628654904  0.770933   -0.258574  10.1227    -0.0447411  -0.04048    0.0351537   0.2        0             pose: 0.8018028     1.24751    -3.90672    0 0.0117056   -0.0006584020.999802    -0.0160797     uwb: 0.0            1231.26  891.178  
imu_odom_:  1691062860.645594781  0.241814   -0.438139  9.67497    -0.0660464  0.0170442   0.0511327   0.19       0.02          pose: 0.0           1.24751    -3.90672    0 0.0117056   -0.0006584020.999802    -0.0160797     uwb: 0.50118216     1231.22  891.934  
imu_odom_:  1691062860.670649222  0.294487   -0.435745  9.55765    -0.0458064  -0.0255663  0.0415453   0.19       0.02          pose: 0.49998056    1.23361    -3.90933    0 0.0156776   -0.00136966 0.999745    -0.0161782     uwb: 0.0            1231.22  891.934  
imu_odom_:  1691062860.696521157  0.471658   -0.471658  9.63666    -0.0596548  -0.0117179  0.0479369   0.23       0.02          pose: 0.34052119    1.23361    -3.90933    0 0.0127744   -0.0027661  0.999782    -0.0162839     uwb: 0.49958683     1230.9   892.818  
imu_odom_:  1691062860.719518595  0.172383   -0.201113  9.91918    -0.0490022  0.00532632  0.0394148   0.23       0.02          pose: 0.8078691     1.23361    -3.90933    0 0.0122848   -0.00340282 0.999785    -0.016327      uwb: 0.0            1230.9   892.818  
imu_odom_:  1691062860.745576019  0.272939   -0.23942   10.4579    -0.0340885  0.02024     0.0372843   0.19       0             pose: 0.40790682    1.22161    -3.90917    0 0.00885375  -0.00421683 0.999817    -0.0164255     uwb: 0.50035095     1230.59  893.941  
imu_odom_:  1691062860.769652851  0.61531    -0.198719  10.1658    -0.0532632  -0.0117179  0.0532632   0.25       0.02          pose: 0.0           1.22161    -3.90917    0 0.00885375  -0.00421683 0.999817    -0.0164255     uwb: 0.0            1230.59  893.941  
imu_odom_:  1691062860.786511358  0.311246   -0.433351  9.70609    -0.0532632  -0.0106526  0.0511327   0.25       0.02          pose: 0.33100759    1.21146    -3.9063     0 0.00650459  -0.00295488 0.999839    -0.0164471     uwb: 0.0            1230.59  893.941  
imu_odom_:  1691062860.802570163  0.488417   -0.237026  10.0556    -0.0660464  -0.0575243  0.04048     0.25       0.02          pose: 0.0           1.21146    -3.9063     0 0.00650459  -0.00295488 0.999839    -0.0164471     uwb: 0.49987557     1230.99  895.457  
imu_odom_:  1691062860.827500070  0.411803   -0.198719  10.1442    -0.0575243  -0.0788296  0.0490022   0.19       -0.02         pose: 0.49950809    1.21146    -3.9063     0 0.00568003  -0.00186755 0.999843    -0.0166658     uwb: 0.0            1230.99  895.457  
imu_odom_:  1691062860.851657689  0.296881   -0.0790087 10.0269    -0.0426106  0.02024     0.036219    0.19       -0.02         pose: 0.7028461     1.21146    -3.9063     0 0.00531496  -0.00155294 0.999845    -0.0166988     uwb: 0.50132506     1231.02  896.659  
imu_odom_:  1691062860.876551723  0.766145   -0.160412  9.87848    -0.0511327  0.00426106  0.0468716   0.23       0             pose: 0.42059065    1.19756    -3.90892    0 0.00216437  0.000860665 0.999857    -0.0167377     uwb: 0.0            1231.02  896.659  
imu_odom_:  1691062860.899522621  0.797269   -0.253785  9.73722    -0.0585895  0.0234358   0.052198    0.19       0             pose: 0.0           1.19756    -3.90892    0 0.00216437  0.000860665 0.999857    -0.0167377     uwb: 0.49875855     1231.14  897.572  
imu_odom_:  1691062860.925539214  0.296881   -0.0646434 9.88805    -0.0426106  0.00319579  0.0436758   0.19       0             pose: 0.32029531    1.1893     -3.90328    0 0.00513201  0.00110484  0.999844    -0.0168764     uwb: 0.0            1231.14  897.572  
imu_odom_:  1691062860.949538467  0.189142   0.134075   9.87369    -0.0511327  0.0106526   0.0607201   0.25       0             pose: 0.0           1.1893     -3.90328    0 0.00513201  0.00110484  0.999844    -0.0168764     uwb: 0.49990181     1230.73  897.753  
imu_odom_:  1691062860.965651518  0.88346    -0.392649  10.058     -0.0585895  0.00213053  0.056459    0.25       0             pose: 0.49988723    1.18366    -3.91155    0 0.00346929  0.00282584  0.999844    -0.0171066     uwb: 0.0            1230.73  897.753  
imu_odom_:  1691062860.981699240  0.287304   0.00718261 9.92157    -0.0585895  -0.00106526 0.0543285   0.25       0             pose: 0.0           1.18366    -3.91155    0 0.00346929  0.00282584  0.999844    -0.0171066     uwb: 0.0            1230.73  897.753  
imu_odom_:  1691062860.999662224  0.282516   -0.339977  9.63666    -0.0681769  -0.0170442  0.0500674   0.18       0.02          pose: 0.39985437    1.1754     -3.90591    0 0.00295356  0.0036592   0.999836    -0.0174662     uwb: 0.49787777     1230.82  898.434  
imu_odom_:  1691062861.23479489   0.31364    -0.306458  9.68455    -0.0553937  0.0245011   0.0287621   0.18       0.02          pose: 0.0           1.1754     -3.90591    0 0.00295356  0.0036592   0.999836    -0.0174662     uwb: 0.0            1230.82  898.434  
imu_odom_:  1691062861.49510081   0.593762   -0.457293  10.0628    -0.0607201  -0.0745685  0.0479369   0.18       0.02          pose: 0.33896671    1.16151    -3.90856    0 0.00072592  0.00201076  0.999843    -0.0175711     uwb: 0.49960434     1231.11  899.987  
imu_odom_:  1691062861.72500520   0.323217   -0.229843  10.1418    -0.0468716  -0.0191748  0.0436758   0.18       0.02          pose: 0.0           1.16151    -3.90856    0 0.00072592  0.00201076  0.999843    -0.0175711     uwb: 0.0            1231.11  899.987  
imu_odom_:  1691062861.89500186   0.011971   0.059855   10.0149    -0.0607201  -0.0298274  0.0575243   0.19       0             pose: 0.48961826    1.16151    -3.90856    0 0.00141441  -0.00124044 0.999843    -0.0176082     uwb: 0.50098968     1230.9   900.559  
imu_odom_:  1691062861.112482166  0.701501   -0.150835  10.0293    -0.0394148  -0.0255663  0.0298274   0.19       0             pose: 0.0           1.16151    -3.90856    0 0.00141441  -0.00124044 0.999843    -0.0176082     uwb: 0.0            1230.9   900.559  
imu_odom_:  1691062861.136481420  0.56982    -0.205901  9.99579    -0.0607201  -0.0149137  0.0447411   0.19       0             pose: 0.39997104    1.14761    -3.9112     0 -0.0004555240.000130101 0.999842    -0.0177632     uwb: 0.0            1230.9   900.559  
imu_odom_:  1691062861.152485103  0.42138    -0.100556  10.1466    -0.0436758  -0.0330232  0.0319579   0.19       0             pose: 0.0           1.14761    -3.9112     0 -0.0004555240.000130101 0.999842    -0.0177632     uwb: 0.49992223     1230.68  900.891  
imu_odom_:  1691062861.169533183  0.536301   -0.270545  10.094     -0.0458064  0.00319579  0.0372843   0.25       0             pose: 0.46987942    1.13934    -3.90558    0 0.00355457  0.00118778  0.999836    -0.0177194     uwb: 0.0            1230.68  900.891  
imu_odom_:  1691062861.195554734  0.505177   -0.0383072 9.89045    -0.0468716  -0.0500674  0.0490022   0.25       0             pose: 0.0           1.13934    -3.90558    0 0.00355457  0.00118778  0.999836    -0.0177194     uwb: 0.50128133     1230.68  901.845  
imu_odom_:  1691062861.218532049  1.59693    -0.229843  11.4946    -0.0735032  -0.0841559  0.0607201   0.19       0.02          pose: 0.52049811    1.12769    -3.90975    0 0.00504885  0.00344332  0.999823    -0.0177812     uwb: 0.0            1230.68  901.845  
imu_odom_:  1691062861.242479389  1.72861    -0.174777  8.9208     -0.0617853  0.0639159   0.0458064   0.19       0.02          pose: 0.0           1.12769    -3.90975    0 0.00504885  0.00344332  0.999823    -0.0177812     uwb: 0.49933019     1230.92  903.639  
imu_odom_:  1691062861.268635391  1.4437     -0.277727  9.62948    -0.0660464  -0.00745685 0.0532632   0.26       -0.02         pose: 0.6999880     1.12545    -3.90823    0 0.00602856  0.00333766  0.999817    -0.0178565     uwb: 0.0            1230.92  903.639  
imu_odom_:  1691062861.294505576  0.773327   -0.0454898 9.78271    -0.0596548  0.0106526   0.0298274   0.19       0.02          pose: 0.48116043    1.11984    -3.91651    0 0.0106764   0.00288199  0.999774    -0.0181704     uwb: 0.50100717     1231.15  905.433  
imu_odom_:  1691062861.317561927  0.811634   -0.481235  9.47386    -0.052198   -0.0255663  0.0319579   0.19       0.02          pose: 0.0           1.11984    -3.91651    0 0.0106764   0.00288199  0.999774    -0.0181704     uwb: 0.0            1231.15  905.433  
imu_odom_:  1691062861.334497431  0.54109    -0.201113  10.1323    -0.0255663  -0.0149137  0.0255663   0.19       0.02          pose: 0.25988303    1.11156    -3.91089    0 0.0129996   0.00312409  0.999744    -0.0182543     uwb: 0.0            1231.15  905.433  
imu_odom_:  1691062861.359558872  0.519542   -0.177171  9.94312    -0.0511327  -0.0106526  0.0639159   0.25       0             pose: 0.47901097    1.10328    -3.90528    0 0.0146391   0.00226459  0.999727    -0.0180525     uwb: 0.49864482     1231.05  906.181  
imu_odom_:  1691062861.386551616  0.294487   -0.191536  9.14346    -0.0468716  0.00532632  0.0500674   0.23       0             pose: 0.34998815    1.09767    -3.91355    0 0.0112853   0.00221869  0.999767    -0.0182871     uwb: 0.0            1231.05  906.181  
imu_odom_:  1691062861.402484429  0.533907   -0.411803  10.1897    -0.0575243  -0.0255663  0.056459    0.23       0             pose: 0.0           1.09767    -3.91355    0 0.0112853   0.00221869  0.999767    -0.0182871     uwb: 0.49989891     1230.98  907.147  
imu_odom_:  1691062861.428685053  0.746991   -0.0957681 10.1538    -0.0607201  -0.036219   0.052198    0.23       0.02          pose: 0.7098749     1.09767    -3.91355    0 0.0105414   0.0022048   0.999774    -0.0183238     uwb: 0.0            1230.98  907.147  
imu_odom_:  1691062861.453482260  0.42138    -0.258574  10.2807    -0.0660464  0.0106526   0.0490022   0.23       0.02          pose: 0.0           1.09767    -3.91355    0 0.0105414   0.0022048   0.999774    -0.0183238     uwb: 0.50168088     1231.24  908.681  
imu_odom_:  1691062861.470621043  0.304064   -0.117316  9.18655    -0.0660464  0.0266316   0.0415453   0.21       -0.02         pose: 0.43922998    1.08939    -3.90794    0 0.00919577  0.000999558 0.999784    -0.0186207     uwb: 0.0            1231.24  908.681  
imu_odom_:  1691062861.496642594  0.543484   -0.378284  9.78271    -0.072438   0.00426106  0.0553937   0.21       -0.02         pose: 0.0           1.08939    -3.90794    0 0.00919577  0.000999558 0.999784    -0.0186207     uwb: 0.49814609     1231.18  910.098  
imu_odom_:  1691062861.523466182  0.691924   -0.339977  9.33978    -0.0713727  0           0.0479369   0.23       0             pose: 0.50943584    1.0755     -3.91062    0 0.00762693  0.00107064  0.999793    -0.0188535     uwb: 0.0            1231.18  910.098  
imu_odom_:  1691062861.548485043  0.387861   -0.1652    9.7851     -0.0415453  -0.00213053 0.0340885   0.23       0             pose: 0.0           1.0755     -3.91062    0 0.00762693  0.00107064  0.999793    -0.0188535     uwb: 0.50132216     1231.41  911.865  
imu_odom_:  1691062861.573615897  0.220267   -0.299275  10.2735    -0.0607201  -0.0553937  0.0532632   0.21       0             pose: 0.43147794    1.0755     -3.91062    0 0.00741549  -0.00197999 0.999788    -0.0191155     uwb: 0.0            1231.41  911.865  
imu_odom_:  1691062861.596472468  0.342371   -0.189142  10.2232    -0.0500674  -0.0340885  0.0298274   0.18       0             pose: 0.50870088    1.06162    -3.91331    0 0.00630113  -0.00176571 0.999795    -0.0191753     uwb: 0.50032180     1231.7   913.371  
imu_odom_:  1691062861.612520773  0.529119   -0.172383  9.7444     -0.0585895  -0.00106526 0.0490022   0.18       0             pose: 0.0           1.06162    -3.91331    0 0.00630113  -0.00176571 0.999795    -0.0191753     uwb: 0.0            1231.7   913.371  
imu_odom_:  1691062861.629574394  0.720655   -0.490811  9.87608    -0.0575243  -0.00532632 0.0436758   0.18       0             pose: 0.0           1.06162    -3.91331    0 0.00630113  -0.00176571 0.999795    -0.0191753     uwb: 0.0            1231.7   913.371  
imu_odom_:  1691062861.653459613  0.383072   -0.342371  9.62469    -0.0415453  -0.0138484  0.0479369   0.18       0.02          pose: 0.74032309    1.04773    -3.916      0 0.00542603  -0.00132376 0.999798    -0.019305      uwb: 0.49832983     1231.75  914.27   
imu_odom_:  1691062861.680590891  0.866701   -0.179565  10.173     -0.0394148  -0.00319579 0.0319579   0.18       0.02          pose: 0.7905160     1.04773    -3.916      0 0.00486035  -0.00178217 0.9998      -0.019342      uwb: 0.0            1231.75  914.27   
imu_odom_:  1691062861.705612377  0.694318   -0.177171  9.71088    -0.0543285  -0.00639159 0.0479369   0.2        0             pose: 0.43111337    1.03945    -3.9104     0 0.00632846  -0.00182446 0.999792    -0.0193043     uwb: 0.50143007     1231.53  914.352  
imu_odom_:  1691062861.731636261  0.299275   -0.191536  10.0485    -0.0394148  -0.00426106 0.0447411   0.21       0.02          pose: 0.0           1.03945    -3.9104     0 0.00632846  -0.00182446 0.999792    -0.0193043     uwb: 0.0            1231.53  914.352  
imu_odom_:  1691062861.754547079  0.37589    -0.117316  9.95748    -0.0596548  -0.00319579 0.0692422   0.21       0.02          pose: 0.33043888    1.03385    -3.91869    0 0.00782898  -0.0005933910.999781    -0.0194189     uwb: 0.49947018     1231.56  915.032  
imu_odom_:  1691062861.771607408  0.794875   -0.471658  9.72764    -0.0426106  0.00213053  0.0351537   0.21       0.02          pose: 0.0           1.03385    -3.91869    0 0.00782898  -0.0005933910.999781    -0.0194189     uwb: 0.0            1231.56  915.032  
imu_odom_:  1691062861.788703902  0.426168   -0.160412  9.87848    -0.0383495  0.00106526  0.0426106   0.19       0             pose: 0.48856833    1.02556    -3.9131     0 0.0047139   0.000562162 0.999793    -0.0197838     uwb: 0.0            1231.56  915.032  
imu_odom_:  1691062861.804462308  0.296881   -0.196325  10.3142    -0.036219   -0.056459   0.0479369   0.19       0             pose: 0.0           1.02556    -3.9131     0 0.0047139   0.000562162 0.999793    -0.0197838     uwb: 0.49775237     1231.13  914.961  
imu_odom_:  1691062861.829643617  0.457293   -0.0550666 9.59596    -0.0319579  0.00958738  0.0287621   0.2        0             pose: 0.41970696    1.01168    -3.91581    0 0.00273019  0.00121166  0.999798    -0.0198532     uwb: 0.0            1231.13  914.961  
imu_odom_:  1691062861.855629587  0.433351   -0.225055  9.67497    -0.0575243  -0.0266316  0.0553937   0.2        0             pose: 0.0           1.01168    -3.91581    0 0.00273019  0.00121166  0.999798    -0.0198532     uwb: 0.50000681     1230.94  915.26   
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imu_odom_:  1691062861.949461981  0.426168   -0.732626  9.35415    -0.0532632  0.0234358   0.0660464   0.22       0             pose: 0.25042776    0.997807   -3.91852    0 0.00243948  0.00207699  0.999789    -0.0203052     uwb: 0.50029847     1230.54  917      
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imu_odom_:  1691062862.15451471   0.129287   -0.392649  9.63427    -0.0372843  0.0543285   0.0553937   0.21       0.02          pose: 0.0           0.980293   -3.91474    0 0.00229753  0.00174984  0.999792    -0.0201998     uwb: 0.0            1231.18  918.588  
imu_odom_:  1691062862.40574160   0.31364    -0.162806  9.69412    -0.0575243  -0.0276969  0.0511327   0.22       0             pose: 0.8083358     0.975628   -3.91565    0 0.00314672  0.00121387  0.999789    -0.0202482     uwb: 0.49864482     1231.34  920.117  
imu_odom_:  1691062862.63436273   0.514753   -0.268151  9.6199     -0.0852212  0.0170442   0.0511327   0.22       0             pose: 0.0           0.975628   -3.91565    0 0.00314672  0.00121387  0.999789    -0.0202482     uwb: 0.0            1231.34  920.117  
imu_odom_:  1691062862.87528272   0.351948   -0.407014  9.39006    -0.0596548  -0.00745685 0.0330232   0.2        -0.02         pose: 0.40938549    0.975628   -3.91565    0 0.00255174  -0.0002978720.999786    -0.0205264     uwb: 0.0            1231.34  920.117  
imu_odom_:  1691062862.104527938  0.258574   -0.189142  10.3094    -0.0500674  -0.0223706  0.052198    0.2        -0.02         pose: 0.0           0.975628   -3.91565    0 0.00255174  -0.0002978720.999786    -0.0205264     uwb: 0.50028973     1231.3   921.257  
imu_odom_:  1691062862.129596088  0.656011   -0.0263362 10.1778    -0.0607201  -0.0266316  0.0340885   0.18       0             pose: 0.48920121    0.961753   -3.91838    0 0.00239779  -0.00191574 0.99978     -0.0207394     uwb: 0.0            1231.3   921.257  
imu_odom_:  1691062862.156638705  -0.25618   -0.186748  9.94312    -0.0596548  -0.0266316  0.0596548   0.18       0             pose: 0.0           0.961753   -3.91838    0 0.00239779  -0.00191574 0.99978     -0.0207394     uwb: 0.49976184     1231.26  922.619  
imu_odom_:  1691062862.181499492  -0.146046  -0.316035  10.0892    -0.0458064  0.0245011   0.0266316   0.21       0             pose: 0.41006795    0.953448   -3.91281    0 0.000906176 -0.00198145 0.999782    -0.0207801     uwb: 0.0            1231.26  922.619  
imu_odom_:  1691062862.197422096  0.483629   -0.220267  10.1682    -0.0617853  -0.0330232  0.0511327   0.21       0             pose: 0.0           0.953448   -3.91281    0 0.000906176 -0.00198145 0.999782    -0.0207801     uwb: 0.0            1231.26  922.619  
imu_odom_:  1691062862.213523774  0.517148   -0.311246  9.46907    -0.0351537  -0.00319579 0.0372843   0.18       0.02          pose: 0.52022397    0.939573   -3.91555    0 -0.00097456 -0.0008479590.99978     -0.0209533     uwb: 0.0            1231.26  922.619  
imu_odom_:  1691062862.240504269  0.514753   -0.45011   9.27514    -0.0639159  0.0181095   0.0426106   0.18       0.02          pose: 0.0           0.939573   -3.91555    0 -0.00097456 -0.0008479590.99978     -0.0209533     uwb: 0.99908621     1231.33  923.718  
imu_odom_:  1691062862.256441165  0.565032   -0.217872  9.80426    -0.0394148  -0.0383495  0.04048     0.2        0             pose: 0.41075041    0.939573   -3.91555    0 -0.00038453 -0.00123729 0.99978     -0.0209249     uwb: 0.0            1231.33  923.718  
imu_odom_:  1691062862.282559253  0.603339   0.0143652  10.4603    -0.0692422  -0.0138484  0.0553937   0.2        0             pose: 0.0           0.939573   -3.91555    0 -0.00038453 -0.00123729 0.99978     -0.0209249     uwb: 0.0            1231.33  923.718  
imu_odom_:  1691062862.308469687  0.651223   -0.131681  10.0173    -0.0628506  -0.0351537  0.036219    0.19       0             pose: 0.43024135    0.925699   -3.91829    0 0.00212825  -0.00357429 0.999772    -0.0209544     uwb: 0.50013807     1231.17  923.77   
imu_odom_:  1691062862.324491160  0.35913    -0.304064  9.6223     -0.0585895  0.00745685  0.0394148   0.19       0             pose: 0.0           0.925699   -3.91829    0 0.00212825  -0.00357429 0.999772    -0.0209544     uwb: 0.0            1231.17  923.77   
imu_odom_:  1691062862.350562293  0.407014   -0.418985  9.84496    -0.0585895  -0.0585895  0.0319579   0.2        0             pose: 0.41941240    0.917392   -3.91272    0 0.00494002  -0.0005100740.999764    -0.0211354     uwb: 0.49907646     1231.5   925.225  
imu_odom_:  1691062862.367487589  -0.0215478 0.023942   10.0221    -0.0479369  0.0213053   0.0553937   0.2        0             pose: 0.0           0.917392   -3.91272    0 0.00494002  -0.0005100740.999764    -0.0211354     uwb: 0.0            1231.5   925.225  
imu_odom_:  1691062862.383479314  0.543484   -0.435745  9.48822    -0.0468716  -0.0319579  0.0340885   0.19       0             pose: 0.41995779    0.911827   -3.92103    0 0.00511656  -0.00115558 0.999764    -0.0210766     uwb: 0.0            1231.5   925.225  
imu_odom_:  1691062862.399409502  0.553061   -0.124498  10.2424    -0.0298274  -0.00639159 0.0319579   0.19       0             pose: 0.0           0.911827   -3.92103    0 0.00511656  -0.00115558 0.999764    -0.0210766     uwb: 0.0            1231.5   925.225  
imu_odom_:  1691062862.415401519  0.641646   -0.306458  9.90002    -0.0703074  0.0127832   0.0671117   0.19       0             pose: 0.0           0.911827   -3.92103    0 0.00511656  -0.00115558 0.999764    -0.0210766     uwb: 0.0            1231.5   925.225  
imu_odom_:  1691062862.432486055  0.148441   -0.596156  9.72046    -0.0436758  0.0234358   0.0426106   0.23       0             pose: 0.82893497    0.893558   -3.92083    0 0.00602123  -0.00230791 0.999753    -0.0212619     uwb: 0.0            1231.5   925.225  
imu_odom_:  1691062862.448485655  0.371101   -0.0311246 10.1634    -0.04048    -0.0106526  0.0383495   0.23       0             pose: 0.7094957     0.889644   -3.91821    0 0.00540668  -0.00275609 0.999755    -0.0212768     uwb: 0.100067861    1231.68  926.503  
imu_odom_:  1691062862.464420801  0.493206   -0.172383  9.84496    -0.0649811  0.0372843   0.052198    0.23       0             pose: 0.0           0.889644   -3.91821    0 0.00540668  -0.00275609 0.999755    -0.0212768     uwb: 0.0            1231.68  926.503  
imu_odom_:  1691062862.480546977  0.0790087  -0.318429  9.92157    -0.0351537  0.0117179   0.0372843   0.18       0             pose: 0.41924325    0.889644   -3.91821    0 0.00381076  -0.0003495160.999764    -0.0213778     uwb: 0.0            1231.68  926.503  
imu_odom_:  1691062862.497427359  0.577003   -0.21069   9.71567    -0.0713727  -0.00319579 0.056459    0.23       -0.02         pose: 0.0           0.889644   -3.91821    0 0.00381076  -0.0003495160.999764    -0.0213778     uwb: 0.50267251     1231.89  927.327  
imu_odom_:  1691062862.513433375  0.363919   -0.217872  9.68215    -0.076699   0.0149137   0.0628506   0.23       -0.02         pose: 0.0           0.889644   -3.91821    0 0.00381076  -0.0003495160.999764    -0.0213778     uwb: 0.0            1231.89  927.327  
imu_odom_:  1691062862.529471181  0.713472   -0.339977  9.7851     -0.0532632  -0.02024    0.04048     0.23       -0.02         pose: 0.23256715    0.889644   -3.91821    0 0.00282227  -0.0005536310.999766    -0.0214215     uwb: 0.0            1231.89  927.327  
imu_odom_:  1691062862.545538736  0.667982   -0.198719  9.75637    -0.0756338  -0.00745685 0.0639159   0.25       0.02          pose: 0.0           0.889644   -3.91821    0 0.00282227  -0.0005536310.999766    -0.0214215     uwb: 0.49865357     1232.2   928.787  
imu_odom_:  1691062862.562536069  0.189142   -0.402226  9.60075    -0.0692422  -0.00532632 0.0575243   0.25       0.02          pose: 0.0           0.889644   -3.91821    0 0.00282227  -0.0005536310.999766    -0.0214215     uwb: 0.0            1232.2   928.787  
imu_odom_:  1691062862.578474131  0.814029   -0.105345  10.1083    -0.076699   -0.0330232  0.04048     0.18       0             pose: 0.49870607    0.875773   -3.92096    0 0.00445909  -0.0010598  0.999752    -0.0217925     uwb: 0.0            1232.2   928.787  
imu_odom_:  1691062862.594545477  0.411803   -0.107739  9.73243    -0.0628506  0.0213053   0.0511327   0.18       0             pose: 0.0           0.875773   -3.92096    0 0.00445909  -0.0010598  0.999752    -0.0217925     uwb: 0.0            1232.2   928.787  
imu_odom_:  1691062862.611560017  0.158017   -0.354342  10.0149    -0.0639159  -0.0170442  0.0426106   0.18       0             pose: 0.0           0.875773   -3.92096    0 0.00445909  -0.0010598  0.999752    -0.0217925     uwb: 0.0            1232.2   928.787  
imu_odom_:  1691062862.628558225  0.746991   -0.126893  9.87608    -0.0468716  -0.0553937  0.0287621   0.25       0             pose: 0.33000433    0.867455   -3.91541    0 0.00462483  -0.00165746 0.999745    -0.0220464     uwb: 0.0            1232.2   928.787  
imu_odom_:  1691062862.645434232  0.950498   -0.148441  9.72285    -0.0639159  -0.0575243  0.0671117   0.16       0             pose: 0.0           0.867455   -3.91541    0 0.00462483  -0.00165746 0.999745    -0.0220464     uwb: 0.99866623     1232.21  929.89   
imu_odom_:  1691062862.661561867  1.23301    -0.258574  9.97424    -0.052198   -0.00106526 0.0948085   0.16       0             pose: 0.65988908    0.853586   -3.91818    0 0.00585968  -9.76887e-050.999737    -0.0221765     uwb: 0.0            1232.21  929.89   
imu_odom_:  1691062862.679471771  1.53947    -0.45011   9.60075    -0.0607201  -0.0213053  0.106526    0.14       -0.02         pose: 0.0           0.853586   -3.91818    0 0.00585968  -9.76887e-050.999737    -0.0221765     uwb: 0.0            1232.21  929.89   
imu_odom_:  1691062862.695473996  1.16119    -0.342371  9.06684    -0.0575243  0.02024     0.0532632   0.14       -0.02         pose: 0.0           0.853586   -3.91818    0 0.00585968  -9.76887e-050.999737    -0.0221765     uwb: 0.49985517     1231.73  930.257  
imu_odom_:  1691062862.711538634  1.00078    0.0023942  10.0245    -0.0458064  0.0585895   0.0266316   0.14       -0.02         pose: 0.33035723    0.853586   -3.91818    0 0.00941283  -0.0001999860.999691    -0.0230125     uwb: 0.0            1231.73  930.257  
imu_odom_:  1691062862.727464155  0.514753   -0.134075  9.67976    -0.0617853  0.00319579  0.0234358   0.11       0             pose: 0.41965447    0.839723   -3.92098    0 0.0126658   0.000238302 0.999647    -0.0233404     uwb: 0.0            1231.73  930.257  
imu_odom_:  1691062862.743394634  0.64404    -0.265756  9.87129    -0.0511327  -0.00958738 0.00426106  0.11       0             pose: 0.7931117     0.839723   -3.92098    0 0.0119542   0.00061764  0.999658    -0.023271      uwb: 0.50145632     1231.56  930.75   
imu_odom_:  1691062862.760439215  0.73502    -0.454898  9.81144    -0.0532632  -0.0276969  -0.00213053 0.11       0             pose: 0.0           0.839723   -3.92098    0 0.0119542   0.00061764  0.999658    -0.023271      uwb: 0.0            1231.56  930.75   
imu_odom_:  1691062862.776437356  1.00078    -0.217872  9.78031    -0.0628506  -0.0223706  0.00745685  0.13       -0.02         pose: 0.40969464    0.839723   -3.92098    0 0.012748    -0.00197441 0.999661    -0.0225999     uwb: 0.0            1231.56  930.75   
imu_odom_:  1691062862.791506303  1.0343     -0.1652    10.0556    -0.0511327  -0.00852212 0.0319579   0.09       -0.02         pose: 0.0           0.839723   -3.92098    0 0.012748    -0.00197441 0.999661    -0.0225999     uwb: 0.50049388     1231.14  931.316  
imu_odom_:  1691062862.807441157  0.600945   -0.385466  9.64624    -0.0479369  0.0127832   0.0383495   0.09       -0.02         pose: 0.0           0.839723   -3.92098    0 0.012748    -0.00197441 0.999661    -0.0225999     uwb: 0.0            1231.14  931.316  
imu_odom_:  1691062862.823385052  0.648829   -0.134075  10.2304    -0.0436758  -0.0276969  0.0372843   0.09       -0.02         pose: 0.22948149    0.839723   -3.92098    0 0.0151629   -0.00159897 0.999635    -0.0223057     uwb: 0.0            1231.14  931.316  
imu_odom_:  1691062862.839450857  0.871489   -0.268151  9.7037     -0.052198   -0.0255663  0.0575243   0.07       0             pose: 0.0           0.839723   -3.92098    0 0.0151629   -0.00159897 0.999635    -0.0223057     uwb: 0.49866233     1231.68  932.911  
imu_odom_:  1691062862.856398026  0.849942   -0.306458  9.89763    -0.0479369  0.00426106  0.056459    0.07       0             pose: 0.0           0.839723   -3.92098    0 0.0151629   -0.00159897 0.999635    -0.0223057     uwb: 0.0            1231.68  932.911  
imu_odom_:  1691062862.872584865  0.706289   -0.258574  9.84017    -0.0575243  -0.00745685 0.0298274   0.09       0             pose: 0.73010662    0.828282   -3.92011    0 0.0176961   -0.00181501 0.999588    -0.0225446     uwb: 0.0            1231.68  932.911  
imu_odom_:  1691062862.889520660  0.746991   -0.134075  10.0269    -0.0532632  -0.00319579 0.015979    0.09       0             pose: 0.0           0.828282   -3.92011    0 0.0176961   -0.00181501 0.999588    -0.0225446     uwb: 0.0            1231.68  932.911  
imu_odom_:  1691062862.905519385  0.715866   -0.153229  9.89763    -0.0607201  -0.0117179  0.0340885   0.09       0             pose: 0.0           0.828282   -3.92011    0 0.0176961   -0.00181501 0.999588    -0.0225446     uwb: 0.50075636     1231.58  934.033  
imu_odom_:  1691062862.931449360  0.521936   -0.320823  9.90721    -0.0500674  0.0138484   0.0436758   0.05       0.05          pose: 0.7006879     0.825859   -3.92375    0 0.017007    -0.00185326 0.9996      -0.0225124     uwb: 0.0            1231.58  934.033  
imu_odom_:  1691062862.947441960  0.342371   -0.265756  10.0533    -0.052198   0.0298274   0.0798948   0.06       0.05          pose: 0.0           0.825859   -3.92375    0 0.017007    -0.00185326 0.9996      -0.0225124     uwb: 0.49902397     1231.71  935.525  
imu_odom_:  1691062862.964385046  -0.742203  -0.4956    9.52653    -0.0607201  0.0585895   0.0181095   0.06       0.05          pose: 0.74990671    0.825859   -3.92375    0 0.0130396   -0.0001310060.999664    -0.0223901     uwb: 0.0            1231.71  935.525  
imu_odom_:  1691062862.980726460  -0.964863  0.208296   10.137     -0.036219   0.00745685  -0.12144    0.1        -0.2          pose: 0.0           0.825859   -3.92375    0 0.0130396   -0.0001310060.999664    -0.0223901     uwb: 0.0            1231.71  935.525  
imu_odom_:  1691062862.997537137  -0.533907  0.217872   9.63666    -0.0660464  -0.0532632  -0.20027    0.1        -0.2          pose: 0.0           0.825859   -3.92375    0 0.0130396   -0.0001310060.999664    -0.0223901     uwb: 0.50076803     1231.57  935.998  
imu_odom_:  1691062863.14570927   -0.0957681 -0.160412  9.62469    -0.0617853  -0.036219   -0.257794   0.1        -0.2          pose: 0.33005974    0.825859   -3.92375    0 0.00908217  -0.0004355680.99972     -0.0218322     uwb: 0.0            1231.57  935.998  
imu_odom_:  1691062863.30434910   0.430956   -0.584185  9.76595    -0.0713727  0.00213053  -0.290817   0.11       -0.38         pose: 0.43169377    0.817518   -3.91818    0 0.00553359  0.000488028 0.999848    -0.0165264     uwb: 0.0            1231.57  935.998  
imu_odom_:  1691062863.46509756   -0.0790087 -0.430956  9.73961    -0.056459   0.0436758   -0.314253   0.11       -0.38         pose: 0.7947740     0.817542   -3.9182     0 0.00535841  -0.0003491480.99987     -0.0152175     uwb: 0.49982309     1231.74  937.689  
imu_odom_:  1691062863.63412012   -0.150835  -0.0383072 10.003     -0.0394148  0.0181095   -0.348341   0.11       -0.38         pose: 0.0           0.817542   -3.9182     0 0.00535841  -0.0003491480.99987     -0.0152175     uwb: 0.0            1231.74  937.689  
imu_odom_:  1691062863.79462942   0.011971   0.0143652  9.84975    -0.0607201  -0.00106526 -0.376038   0.15       -0.61         pose: 0.40893345    0.817518   -3.91818    0 0.0014896   -0.0010362  0.999968    -0.00779716    uwb: 0.0            1231.74  937.689  
imu_odom_:  1691062863.96435486   0.186748   0.0191536  10.1299    -0.056459   0.0117179   -0.403735   0.12       -0.44         pose: 0.0           0.817518   -3.91818    0 0.0014896   -0.0010362  0.999968    -0.00779716    uwb: 0.50013808     1231.46  937.763  
imu_odom_:  1691062863.112370632  -0.0143652 -0.363919  9.52653    -0.0490022  -0.00852212 -0.430367   0.12       -0.44         pose: 0.0           0.817518   -3.91818    0 0.0014896   -0.0010362  0.999968    -0.00779716    uwb: 0.0            1231.46  937.763  
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imu_odom_:  1691062863.144510991  0.373495   -0.0263362 9.71806    -0.0735032  -0.02024    -0.472977   0.13       -0.55         pose: 0.0           0.81207    -3.92657    0 -0.0005283740.00032339  0.999996    -0.00267616    uwb: 0.49876149     1231.25  938.253  
imu_odom_:  1691062863.160435637  0.323217   -0.248997  9.88326    -0.0617853  0.00532632  -0.490022   0.13       -0.55         pose: 0.0           0.81207    -3.92657    0 -0.0005283740.00032339  0.999996    -0.00267616    uwb: 0.0            1231.25  938.253  
imu_odom_:  1691062863.176376908  0.292093   -0.138864  10.0006    -0.0490022  -0.00532632 -0.535828   0.16       -0.7          pose: 0.47995010    0.80369    -3.92112    0 -0.00160068 -0.0003427770.999958    0.00899688     uwb: 0.0            1231.25  938.253  
imu_odom_:  1691062863.193506067  0.263362   -0.0215478 9.67736    -0.0479369  -0.0127832  -0.549676   0.16       -0.7          pose: 0.0           0.80369    -3.92112    0 -0.00160068 -0.0003427770.999958    0.00899688     uwb: 0.50026057     1230.93  938.338  
imu_odom_:  1691062863.209482627  0.380678   -0.0909797 10.0844    -0.0351537  -0.0479369  -0.579504   0.16       -0.7          pose: 0.0           0.80369    -3.92112    0 -0.00160068 -0.0003427770.999958    0.00899688     uwb: 0.0            1230.93  938.338  
imu_odom_:  1691062863.226370592  1.37667    -0.160412  9.64863    -0.0617853  -0.0372843  -0.54435    0.12       -0.5          pose: 0.30876642    0.80369    -3.92112    0 -0.00311355 -8.67901e-050.999847    0.0172307      uwb: 0.0            1230.93  938.338  
imu_odom_:  1691062863.242510767  1.13485    -0.351948  10.0485    -0.0639159  -0.0106526  -0.458064   0.16       -0.67         pose: 0.0           0.80369    -3.92112    0 -0.00311355 -8.67901e-050.999847    0.0172307      uwb: 0.49857776     1231.1   939.157  
imu_odom_:  1691062863.259501976  1.4054     -0.476446  10.082     -0.0436758  -0.0532632  -0.448476   0.16       -0.67         pose: 0.66985185    0.789851   -3.92404    0 -0.00014849 0.00340104  0.999319    0.0367407      uwb: 0.0            1231.1   939.157  
imu_odom_:  1691062863.276369525  1.24259    -0.167594  9.43315    -0.0553937  0.0319579   -0.412257   0.16       -0.67         pose: 0.0           0.789851   -3.92404    0 -0.00014849 0.00340104  0.999319    0.0367407      uwb: 0.0            1231.1   939.157  
imu_odom_:  1691062863.292562489  0.866701   -0.287304  9.93115    -0.0532632  0.0553937   -0.343015   0.13       -0.58         pose: 0.0           0.789851   -3.92404    0 -0.00014849 0.00340104  0.999319    0.0367407      uwb: 0.50080887     1230.86  939.65   
imu_odom_:  1691062863.309507326  0.78051    -0.512359  9.70131    -0.0639159  0.0170442   -0.272708   0.13       -0.58         pose: 0.33136342    0.789851   -3.92404    0 0.00331219  0.00255535  0.99899     0.0447276      uwb: 0.0            1230.86  939.65   
imu_odom_:  1691062863.326500285  0.981623   -0.486023  9.93594    -0.0511327  0.00213053  -0.221575   0.07       -0.32         pose: 0.42994679    0.785211   -3.92101    0 0.00596043  0.000589164 0.998594    0.0526681      uwb: 0.0            1230.86  939.65   
imu_odom_:  1691062863.342382642  0.368707   -0.380678  9.72764    -0.0447411  0.0319579   -0.194943   0.07       -0.32         pose: 0.0           0.785211   -3.92101    0 0.00596043  0.000589164 0.998594    0.0526681      uwb: 0.49884023     1230.54  939.734  
imu_odom_:  1691062863.369372762  0.459687   0.189142   10.0748    -0.0681769  -0.0575243  -0.208792   0.06       -0.29         pose: 0.8102315     0.781498   -3.91854    0 0.00659893  0.000148229 0.998534    0.0537211      uwb: 0.0            1230.54  939.734  
imu_odom_:  1691062863.385416985  0.658405   -0.071826  9.78031    -0.0649811  -0.0127832  -0.184291   0.06       -0.26         pose: 0.0           0.781498   -3.91854    0 0.00659893  0.000148229 0.998534    0.0537211      uwb: 0.0            1230.54  939.734  
imu_odom_:  1691062863.401364089  0.289698   -0.679953  9.81862    -0.056459   0.0383495   -0.229032   0.07       -0.2          pose: 0.0           0.781498   -3.91854    0 0.00659893  0.000148229 0.998534    0.0537211      uwb: 0.50144759     1230.39  940.201  
imu_odom_:  1691062863.417443309  0.100556   0.0167594  10.3118    -0.0415453  0.0351537   -0.306796   0.07       -0.2          pose: 0.74773393    0.781498   -3.91854    0 0.00715228  0.00152784  0.997998    0.0628159      uwb: 0.0            1230.39  940.201  
imu_odom_:  1691062863.434374438  -1.02472   0.464475   9.91678    -0.0543285  0.036219    -0.183225   0.11       -0.17         pose: 0.0           0.781498   -3.91854    0 0.00715228  0.00152784  0.997998    0.0628159      uwb: 0.0            1230.39  940.201  
imu_odom_:  1691062863.450357706  -0.773327  -0.797269  9.81862    -0.0777643  -0.0830906  -0.0745685  0.11       -0.17         pose: 0.33022890    0.781498   -3.91854    0 0.00391664  0.00207812  0.997697    0.0676867      uwb: 0.49897148     1229.93  939.464  
imu_odom_:  1691062863.466344183  -0.148441  -0.483629  9.72285    -0.0447411  -0.110787   -0.12144    0.11       -0.17         pose: 0.0           0.781498   -3.91854    0 0.00391664  0.00207812  0.997697    0.0676867      uwb: 0.0            1229.93  939.464  
imu_odom_:  1691062863.483337141  0.73502    -0.0047884 9.94312    -0.0394148  -0.0468716  -0.1012     0.11       -0.14         pose: 0.40938259    0.767631   -3.92132    0 0.00145931  0.00104438  0.997483    0.0708874      uwb: 0.0            1229.93  939.464  
imu_odom_:  1691062863.499393613  0.294487   -0.0670376 9.8665     -0.0671117  -0.00319579 -0.0756338  0.11       -0.14         pose: 0.8063525     0.767631   -3.92132    0 0.00235064  0.00147013  0.99744     0.0714533      uwb: 0.50024015     1230.01  939.659  
imu_odom_:  1691062863.516392405  -0.0814029 -0.237026  9.85693    -0.0447411  0.00213053  -0.107592   0.11       -0.14         pose: 0.0           0.767631   -3.92132    0 0.00235064  0.00147013  0.99744     0.0714533      uwb: 0.0            1230.01  939.659  
imu_odom_:  1691062863.532392006  -0.222661  -0.0837971 9.7875     -0.0671117  -0.0447411  -0.0948085  0.16       -0.17         pose: 0.41984697    0.767631   -3.92132    0 0.000270557 0.00275245  0.997235    0.0742602      uwb: 0.0            1230.01  939.659  
imu_odom_:  1691062863.549396339  0.483629   -0.160412  9.84256    -0.0628506  -0.0458064  -0.0745685  0.12       -0.11         pose: 0.0           0.767631   -3.92132    0 0.000270557 0.00275245  0.997235    0.0742602      uwb: 0.49986101     1229.98  940.309  
imu_odom_:  1691062863.565332651  0.593762   -0.416591  10.0844    -0.056459   -0.0181095  -0.0820254  0.12       -0.11         pose: 0.0           0.767631   -3.92132    0 0.000270557 0.00275245  0.997235    0.0742602      uwb: 0.0            1229.98  940.309  
imu_odom_:  1691062863.581329335  0.469264   -0.0670376 10.2951    -0.0479369  -0.015979   -0.0852212  0.12       -0.11         pose: 0.23947341    0.75928    -3.91582    0 -3.40085e-050.00283445  0.99712     0.075788       uwb: 0.0            1229.98  940.309  
imu_odom_:  1691062863.597543298  0.641646   -0.162806  9.79947    -0.0553937  -0.00852212 -0.0873517  0.13       -0.11         pose: 0.0           0.75928    -3.91582    0 -3.40085e-050.00283445  0.99712     0.075788       uwb: 0.49937396     1230.02  940.084  
imu_odom_:  1691062863.614554339  0.457293   -0.143652  9.67497    -0.0585895  0.00213053  -0.0735032  0.13       -0.11         pose: 0.31999201    0.75928    -3.91582    0 0.00220768  0.0019935   0.996972    0.0777011      uwb: 0.0            1230.02  940.084  
imu_odom_:  1691062863.631549922  -0.0670376 -0.349553  9.82341    -0.052198   0.0127832   -0.056459   0.19       -0.17         pose: 0.33302291    0.75928    -3.91582    0 0.00350341  0.00316079  0.996804    0.0797421      uwb: 0.0            1230.02  940.084  
imu_odom_:  1691062863.649501241  0.378284   -0.0335188 10.3621    -0.0500674  -0.0191748  -0.0671117  0.19       -0.17         pose: 0.0           0.75928    -3.91582    0 0.00350341  0.00316079  0.996804    0.0797421      uwb: 0.49982601     1230.01  940.303  
imu_odom_:  1691062863.664352617  0.940921   -0.318429  9.60314    -0.0692422  -0.0276969  -0.0447411  0.19       -0.17         pose: 0.0           0.75928    -3.91582    0 0.00350341  0.00316079  0.996804    0.0797421      uwb: 0.0            1230.01  940.303  
imu_odom_:  1691062863.680399465  0.931344   -0.244209  10.0054    -0.0628506  0.0255663   -0.00852212 0.11       -0.11         pose: 0.16923838    0.750929   -3.91032    0 0.0019218   0.00345863  0.996736    0.0806341      uwb: 0.0            1230.01  940.303  
imu_odom_:  1691062863.694415849  1.25935    -0.282516  10.4866    -0.056459   -0.0213053  0.00213053  0.11       -0.11         pose: 0.0           0.750929   -3.91032    0 0.0019218   0.00345863  0.996736    0.0806341      uwb: 0.50060472     1230.29  940.444  
imu_odom_:  1691062863.710410783  1.69749    -0.174777  9.95748    -0.052198   -0.072438   -0.0372843  0.11       -0.11         pose: 0.0           0.750929   -3.91032    0 0.0019218   0.00345863  0.996736    0.0806341      uwb: 0.0            1230.29  940.444  
imu_odom_:  1691062863.726395218  1.60651    -0.0454898 9.48822    -0.0468716  0.0117179   -0.0713727  0.09       -0.11         pose: 0.63803288    0.745417   -3.91866    0 0.00408277  0.00353258  0.996524    0.0831266      uwb: 0.0            1230.29  940.444  
imu_odom_:  1691062863.743341512  1.2809     -0.136469  9.90481    -0.0607201  -0.0106526  -0.0575243  0.09       -0.11         pose: 0.0           0.745417   -3.91866    0 0.00408277  0.00353258  0.996524    0.0831266      uwb: 0.49866525     1230.46  941.042  
imu_odom_:  1691062863.759340238  1.22823    -0.296881  10.2424    -0.0756338  0.00426106  -0.0170442  0.09       -0.11         pose: 0.31041715    0.737046   -3.91319    0 0.0077056   0.0031567   0.996409    0.0842644      uwb: 0.0            1230.46  941.042  
imu_odom_:  1691062863.775380086  0.742203   -0.632069  9.45949    -0.0447411  0.0298274   -0.0532632  0.09       -0.11         pose: 0.41930159    0.737046   -3.91319    0 0.0116993   0.00234569  0.996223    0.086011       uwb: 0.0            1230.46  941.042  
imu_odom_:  1691062863.792377128  0.363919   -0.0646434 10.0078    -0.0426106  -0.0213053  -0.0969391  0.09       -0.11         pose: 0.7008337     0.737046   -3.91319    0 0.0117005   0.00170585  0.996197    0.0863261      uwb: 0.50049389     1230.94  941.777  
imu_odom_:  1691062863.808317232  0.672771   0.213084   10.0245    -0.0660464  -0.0255663  -0.0809601  0.09       -0.11         pose: 0.0           0.737046   -3.91319    0 0.0117005   0.00170585  0.996197    0.0863261      uwb: 0.0            1230.94  941.777  
imu_odom_:  1691062863.824487739  0.835576   -0.363919  10.0844    -0.0692422  -0.00852212 -0.0607201  0.06       -0.05         pose: 0.41968657    0.737046   -3.91319    0 0.0109317   0.00322985  0.995978    0.088871       uwb: 0.0            1230.94  941.777  
imu_odom_:  1691062863.850501708  0.701501   -0.435745  9.94791    -0.0511327  0.00213053  -0.0447411  0.06       -0.02         pose: 0.0           0.737046   -3.91319    0 0.0109317   0.00322985  0.995978    0.088871       uwb: 0.50032181     1230.88  941.794  
imu_odom_:  1691062863.875465156  -0.232238  -0.287304  9.73722    -0.0596548  0.0756338   0.0351537   0.04       -0.05         pose: 0.24058168    0.737046   -3.91319    0 0.0120511   0.00109759  0.99587     0.0899836      uwb: 0.0            1230.88  941.794  
imu_odom_:  1691062863.892477364  -1.10373   -0.287304  10.1442    -0.0596548  0.0692422   0.0223706   0.04       -0.05         pose: 0.0           0.737046   -3.91319    0 0.0120511   0.00109759  0.99587     0.0899836      uwb: 0.50065430     1230.95  942.203  
imu_odom_:  1691062863.917493309  -0.603339  -0.122104  10.0078    -0.0436758  -0.0649811  -0.00426106 0.08       -0.02         pose: 0.26025635    0.728699   -3.90768    0 0.0111562   -0.0006355280.995812    0.09074        uwb: 0.0            1230.95  942.203  
imu_odom_:  1691062863.943367870  0.648829   -0.430956  9.92157    -0.0671117  -0.0351537  0.0308927   0.08       -0.02         pose: 0.42161145    0.728699   -3.90768    0 0.00589189  -0.0003508760.995824    0.091103       uwb: 0.50117635     1230.8   941.598  
imu_odom_:  1691062863.959477422  0.474052   -0.368707  9.83538    -0.0426106  0.0426106   -0.00532632 0.08       -0.02         pose: 0.0           0.728699   -3.90768    0 0.00589189  -0.0003508760.995824    0.091103       uwb: 0.0            1230.8   941.598  
imu_odom_:  1691062863.985363066  -0.148441  0.0215478  10.1562    -0.0511327  -0.0138484  0.0245011   0.11       -0.05         pose: 0.49949353    0.723178   -3.91602    0 0.00585189  -0.0030105  0.995762    0.0917297      uwb: 0.0            1230.8   941.598  
imu_odom_:  1691062864.1465910    0.0837971  -0.201113  10.0102    -0.0383495  -0.0234358  0.0223706   0.11       -0.05         pose: 0.0           0.723178   -3.91602    0 0.00585189  -0.0030105  0.995762    0.0917297      uwb: 0.49808486     1230.92  942.64   
imu_odom_:  1691062864.27657787   0.11971    -0.0502782 9.48822    -0.0639159  -0.0138484  0.0106526   0.12       -0.02         pose: 0.41859579    0.714847   -3.91049    0 0.00245456  -0.00215762 0.995737    0.0921762      uwb: 0.0            1230.92  942.64   
imu_odom_:  1691062864.53487434   0.483629   -0.205901  10.5105    -0.0511327  -0.00745685 0.0191748   0.12       -0.02         pose: 0.35286675    0.714847   -3.91049    0 -0.000311695-0.0004224810.995701    0.0926286      uwb: 0.50139218     1230.77  942.249  
imu_odom_:  1691062864.70463769   0.177171   -0.28491   9.94073    -0.0553937  0.02024     0.0213053   0.12       -0.02         pose: 0.0           0.714847   -3.91049    0 -0.000311695-0.0004224810.995701    0.0926286      uwb: 0.0            1230.77  942.249  
imu_odom_:  1691062864.95466007   0.402226   -0.232238  10.0652    -0.0479369  -0.0639159  0.02024     0.14       -0.02         pose: 0.6831598     0.714847   -3.91049    0 0.000380485 -0.0003313960.995694    0.0926983      uwb: 0.50007976     1231.29  942.975  
imu_odom_:  1691062864.121454021  0.126893   -0.107739  9.88805    -0.0447411  0.076699    0.0319579   0.14       -0.02         pose: 0.0           0.714847   -3.91049    0 0.000380485 -0.0003313960.995694    0.0926983      uwb: 0.0            1231.29  942.975  
imu_odom_:  1691062864.146318017  0.572214   -0.378284  9.92157    -0.0639159  -0.0298274  0.0351537   0.15       -0.02         pose: 0.42973973    0.706472   -3.90503    0 0.000129851 -0.00082624 0.995655    0.0931126      uwb: 0.49865942     1231     943.262  
imu_odom_:  1691062864.163446884  0.354342   -0.0574608 10.0317    -0.0436758  -0.0372843  0.0255663   0.15       -0.02         pose: 0.0           0.706472   -3.90503    0 0.000129851 -0.00082624 0.995655    0.0931126      uwb: 0.0            1231     943.262  
imu_odom_:  1691062864.189382401  0.442927   -0.457293  9.88805    -0.0628506  -0.0138484  0.0458064   0.14       -0.05         pose: 0.50884965    0.692629   -3.90792    0 -0.00316758 -0.0008148820.995624    0.0933967      uwb: 0.0            1231     943.262  
imu_odom_:  1691062864.214326600  0.746991   -0.308852  10.0365    -0.0372843  -0.0213053  0.00106526  0.14       -0.05         pose: 0.0           0.692629   -3.90792    0 -0.00316758 -0.0008148820.995624    0.0933967      uwb: 0.50004184     1231.08  944.52   
imu_odom_:  1691062864.238459139  -0.0167594 0.0023942  9.6606     -0.0617853  -0.0127832  0.0585895   0.17       0             pose: 0.42977765    0.692629   -3.90792    0 -0.00108324 -0.0010199  0.995615    0.0935337      uwb: 0.0            1231.08  944.52   
imu_odom_:  1691062864.264342450  0.459687   -0.253785  10.149     -0.052198   -0.0276969  0.0138484   0.15       0             pose: 0.49028908    0.684265   -3.90244    0 0.00152112  -0.00282375 0.995576    0.0939067      uwb: 0.50095762     1230.95  944.553  
imu_odom_:  1691062864.279449604  0.823605   0.0263362  10.2208    -0.0511327  -0.00639159 0.0234358   0.15       0             pose: 0.0           0.684265   -3.90244    0 0.00152112  -0.00282375 0.995576    0.0939067      uwb: 0.0            1230.95  944.553  
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imu_odom_:  1691062864.492352583  0.639252   0.0215478  10.2137    -0.0639159  -0.00213053 0.0468716   0.17       -0.02         pose: 0.6933092     0.653706   -3.89433    0 0.00141024  -0.00556522 0.995514    0.0944398      uwb: 0.50173341     1230.87  948.395  
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imu_odom_:  1691062864.533310674  -0.0742203 -0.205901  9.87369    -0.0383495  0.0213053   0.0490022   0.17       0             pose: 0.52002567    0.639857   -3.8972     0 -0.00227648 -0.00369792 0.995534    0.0943014      uwb: 0.0            1230.87  948.395  
imu_odom_:  1691062864.559508383  0.248997   -0.237026  9.91199    -0.0426106  0.0308927   0.0319579   0.17       0             pose: 0.0           0.639857   -3.8972     0 -0.00227648 -0.00369792 0.995534    0.0943014      uwb: 0.49915231     1231     949.422  
imu_odom_:  1691062864.584499538  0.627281   0.0742203  10.4459    -0.0436758  0.00106526  0.0447411   0.18       0             pose: 0.49104154    0.639857   -3.8972     0 0.000915394 -0.00136792 0.995523    0.0945084      uwb: 0.0            1231     949.422  
imu_odom_:  1691062864.609418365  0.316035   -0.134075  10.0868    -0.0468716  0.00639159  0.0340885   0.18       0             pose: 0.0           0.639857   -3.8972     0 0.000915394 -0.00136792 0.995523    0.0945084      uwb: 0.49908232     1230.9   950.078  
imu_odom_:  1691062864.623424541  0.0981623  -0.112527  9.96227    -0.0671117  -0.00745685 0.0415453   0.19       0             pose: 0.42965806    0.631502   -3.8917     0 -0.00271629 -0.0001599850.995517    0.0945391      uwb: 0.0            1230.9   950.078  
imu_odom_:  1691062864.648367282  0.517148   -0.282516  9.95748    -0.0585895  -0.0308927  0.0394148   0.19       0             pose: 0.0           0.631502   -3.8917     0 -0.00271629 -0.0001599850.995517    0.0945391      uwb: 0.49998351     1231.07  951.096  
imu_odom_:  1691062864.674295507  0.0861913  -0.227449  10.0796    -0.0351537  0.0319579   0.0330232   0.24       0             pose: 0.48985453    0.617652   -3.89456    0 -0.00363074 0.00336009  0.995508    0.0945519      uwb: 0.0            1231.07  951.096  
imu_odom_:  1691062864.700432262  0.339977   -0.385466  9.93594    -0.0330232  -0.0340885  0.0266316   0.16       0.02          pose: 0.39927985    0.609297   -3.88907    0 -0.00289957 0.00197362  0.995512    0.0945731      uwb: 0.50207172     1230.71  951.802  
imu_odom_:  1691062864.717301853  0.555455   -0.0143652 9.97185    -0.0340885  0.00958738  0.04048     0.22       -0.02         pose: 0.26058009    0.609297   -3.88907    0 -0.00492466 0.00140814  0.995494    0.0946881      uwb: 0.0            1230.71  951.802  
imu_odom_:  1691062864.743419359  0.737414   -0.122104  10.3453    -0.0553937  -0.00426106 0.0372843   0.22       -0.02         pose: 0.26047510    0.600944   -3.88357    0 -0.00389973 0.00019932  0.995487    0.0948174      uwb: 0.0            1230.71  951.802  
imu_odom_:  1691062864.769434496  0.773327   -0.177171  9.74919    -0.056459   0.00426106  0.0458064   0.19       -0.02         pose: 0.0           0.600944   -3.88357    0 -0.00389973 0.00019932  0.995487    0.0948174      uwb: 0.0            1230.71  951.802  
imu_odom_:  1691062864.795310224  0.940921   -0.387861  9.71567    -0.0436758  -0.00106526 0.0276969   0.17       0             pose: 0.61963856    0.589373   -3.88793    0 0.00191863  0.00102337  0.995498    0.0947547      uwb: 0.99702136     1230.42  952.282  
imu_odom_:  1691062864.821316028  0.378284   -0.433351  9.99819    -0.056459   -0.0117179  0.0585895   0.17       0             pose: 0.0           0.589373   -3.88793    0 0.00191863  0.00102337  0.995498    0.0947547      uwb: 0.0            1230.42  952.282  
imu_odom_:  1691062864.838429730  0.320823   -0.260968  9.43555    -0.0500674  0.036219    0.0298274   0.2        0             pose: 0.7147454     0.587092   -3.88642    0 0.00255034  0.000743945 0.995493    0.0947955      uwb: 0.0            1230.42  952.282  
imu_odom_:  1691062864.855421814  0.263362   -0.0023942 10.1203    -0.0490022  0.0255663   0.0340885   0.2        0             pose: 0.0           0.587092   -3.88642    0 0.00255034  0.000743945 0.995493    0.0947955      uwb: 0.0            1230.42  952.282  
imu_odom_:  1691062864.871297172  0.550666   -0.320823  9.92875    -0.0575243  -0.0234358  0.0458064   0.2        0             pose: 0.0           0.587092   -3.88642    0 0.00255034  0.000743945 0.995493    0.0947955      uwb: 0.0            1230.42  952.282  
imu_odom_:  1691062864.898405994  0.299275   0.0574608  9.91439    -0.052198   0.0255663   0.0500674   0.23       0             pose: 0.52857392    0.57874    -3.88093    0 0.0019955   -0.00218857 0.995503    0.0946853      uwb: 0.100389846    1230.31  952.933  
imu_odom_:  1691062864.924342969  0.428562   -0.155623  9.91439    -0.0735032  0.0276969   0.0394148   0.18       0.02          pose: 0.50004767    0.564889   -3.88378    0 0.00091643  -0.0007499380.995507    0.094684       uwb: 0.0            1230.31  952.933  
imu_odom_:  1691062864.941465128  0.354342   -0.186748  10.1466    -0.0585895  -0.0149137  0.0330232   0.25       0             pose: 0.0           0.564889   -3.88378    0 0.00091643  -0.0007499380.995507    0.094684       uwb: 0.49796822     1229.94  954.055  
imu_odom_:  1691062864.957262324  0.557849   -0.174777  10.3597    -0.0426106  0.00639159  0.0394148   0.25       0             pose: 0.0           0.564889   -3.88378    0 0.00091643  -0.0007499380.995507    0.094684       uwb: 0.0            1229.94  954.055  
imu_odom_:  1691062864.984351898  0.603339   0.102951   10.307     -0.0372843  -0.0245011  0.0340885   0.25       -0.02         pose: 0.51972235    0.556535   -3.87829    0 0.000679592 0.00262403  0.995511    0.0946111      uwb: 0.0            1229.94  954.055  
imu_odom_:  1691062865.398162     0.275333   -0.423774  9.69652    -0.0575243  0.0287621   0.0479369   0.25       -0.02         pose: 0.0           0.556535   -3.87829    0 0.000679592 0.00262403  0.995511    0.0946111      uwb: 0.49828319     1230.09  955.067  
imu_odom_:  1691062865.27260833   0.591368   -0.201113  10.003     -0.0500674  -0.0372843  0.0426106   0.25       -0.02         pose: 0.68981818    0.548181   -3.87279    0 0.00204776  0.00322036  0.995503    0.0946493      uwb: 0.0            1230.09  955.067  
imu_odom_:  1691062865.53408087   0.31364    -0.294487  10.0724    -0.0575243  0.0298274   0.0383495   0.25       -0.02         pose: 0.7948908     0.548181   -3.87279    0 0.00290389  0.0028967   0.995504    0.0946346      uwb: 0.49993394     1230.11  956.936  
imu_odom_:  1691062865.80281841   0.102951   0          9.70131    -0.0585895  0.0181095   0.04048     0.25       -0.02         pose: 0.45061017    0.536659   -3.87718    0 0.00223186  0.000825068 0.995511    0.0946138      uwb: 0.0            1230.11  956.936  
imu_odom_:  1691062865.105442445  0.68953    -0.112527  9.99579    -0.072438   0.00852212  0.0436758   0.18       0             pose: 0.0           0.536659   -3.87718    0 0.00223186  0.000825068 0.995511    0.0946138      uwb: 0.50416869     1230     958.409  
imu_odom_:  1691062865.132420317  0.126893   -0.447716  9.7037     -0.0458064  0.0319579   0.0490022   0.18       0             pose: 0.35073480    0.53433    -3.87565    0 0.00048873  0.00236932  0.995514    0.094588       uwb: 0.0            1230     958.409  
imu_odom_:  1691062865.157332144  0.486023   -0.35913   10.0197    -0.0436758  0.0287621   0.036219    0.2        0.02          pose: 0.43938750    0.525976   -3.87015    0 -0.0005799570.0009489   0.995532    0.0944231      uwb: 0.0            1230     958.409  
imu_odom_:  1691062865.174317229  0.59855    -0.0454898 9.5792     -0.0372843  -0.0191748  0.04048     0.2        0.02          pose: 0.8036111     0.525976   -3.87015    0 -0.0003647920.000281025 0.995531    0.0944366      uwb: 0.0            1230     958.409  
imu_odom_:  1691062865.190375451  0.347159   -0.102951  10.2951    -0.0553937  0.0181095   0.0543285   0.18       0             pose: 0.0           0.525976   -3.87015    0 -0.0003647920.000281025 0.995531    0.0944366      uwb: 0.99706513     1229.86  959.675  
imu_odom_:  1691062865.217403487  0.148441   -0.351948  9.5792     -0.0479369  0.00106526  0.04048     0.18       0             pose: 0.41828957    0.512126   -3.87301    0 0.00101167  0.000768658 0.995533    0.0944011      uwb: 0.0            1229.86  959.675  
imu_odom_:  1691062865.242282066  0.617704   -0.318429  10.1155    -0.0458064  -0.0181095  0.0436758   0.2        -0.02         pose: 0.0           0.512126   -3.87301    0 0.00101167  0.000768658 0.995533    0.0944011      uwb: 0.49947314     1229.82  960.715  
imu_odom_:  1691062865.259330147  0.40462    0.0047884  10.0437    -0.0394148  0.0191748   0.0426106   0.2        -0.02         pose: 0.43001097    0.50377    -3.86752    0 -0.00124834 -9.6032e-06 0.995541    0.094318       uwb: 0.0            1229.82  960.715  
imu_odom_:  1691062865.284274639  0.617704   -0.0407014 10.1945    -0.076699   0.0308927   0.0575243   0.18       0             pose: 0.0           0.50377    -3.86752    0 -0.00124834 -9.6032e-06 0.995541    0.094318       uwb: 0.0            1229.82  960.715  
imu_odom_:  1691062865.311253095  0.603339   -0.220267  9.96467    -0.0617853  0.00852212  0.0479369   0.18       0             pose: 0.42012114    0.50377    -3.86752    0 0.000840185 0.00144543  0.995553    0.0941877      uwb: 0.50057557     1229.83  961.746  
imu_odom_:  1691062865.328392462  0.0502782  -0.150835  9.86172    -0.0500674  -0.0298274  0.0511327   0.19       0             pose: 0.0           0.50377    -3.86752    0 0.000840185 0.00144543  0.995553    0.0941877      uwb: 0.0            1229.83  961.746  
imu_odom_:  1691062865.354335562  0.325611   -0.071826  9.73243    -0.0553937  -0.00639159 0.0532632   0.19       0             pose: 0.52256594    0.489923   -3.87039    0 0.00359595  0.00119207  0.995577    0.0938678      uwb: 0.49934189     1229.43  962.635  
imu_odom_:  1691062865.380407279  0.553061   -0.296881  9.26556    -0.0671117  0.0330232   0.0308927   0.18       0             pose: 0.34780372    0.481561   -3.86491    0 0.00106789  0.00323033  0.995599    0.0936498      uwb: 0.0            1229.43  962.635  
imu_odom_:  1691062865.395404189  0.426168   -0.184354  9.84256    -0.0585895  0.0149137   0.0394148   0.18       0             pose: 0.7087083     0.481561   -3.86491    0 0.00137106  0.00264391  0.995598    0.0936782      uwb: 0.49971812     1229.24  964.307  
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imu_odom_:  1691062865.446383650  0.294487   -0.191536  9.80904    -0.0575243  0           0.0543285   0.17       0             pose: 0.39992732    0.473197   -3.85943    0 0.000502318 0.00102708  0.995595    0.0937486      uwb: 0.50133969     1229     964.957  
imu_odom_:  1691062865.471255813  0.251391   -0.265756  9.57681    -0.0468716  -0.00213053 0.0372843   0.19       0             pose: 0.44968273    0.463277   -3.86149    0 -0.00247545 0.00028321  0.995614    0.0935196      uwb: 0.0            1229     964.957  
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imu_odom_:  1691062865.566288934  0.521936   -0.335188  9.85693    -0.056459   -0.00213053 0.259925    0.25       0.11          pose: 0.44129781    0.450985   -3.85684    0 -0.00480454 0.00144088  0.995675    0.0927716      uwb: 0.0            1228.77  967.238  
imu_odom_:  1691062865.583227646  0.481235   -0.351948  10.1347    -0.0426106  -0.015979   0.315318    0.19       0.29          pose: 0.0           0.450985   -3.85684    0 -0.00480454 0.00144088  0.995675    0.0927716      uwb: 0.0            1228.77  967.238  
imu_odom_:  1691062865.598228056  0.620098   -0.059855  9.91678    -0.0532632  -0.00639159 0.360059    0.19       0.29          pose: 0.43889753    0.439566   -3.85604    0 -0.00278777 -0.0009137950.996048    0.0887648      uwb: 0.49994561     1228.68  968.675  
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imu_odom_:  1691062865.630266047  0.699107   -0.397437  9.18655    -0.0820254  -0.00745685 0.432497    0.25       0.53          pose: 0.7946282     0.437138   -3.85974    0 -0.00218417 -0.00143609 0.996146    0.0876758      uwb: 0.0            1228.68  968.675  
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imu_odom_:  1691062865.712291016  0.656011   -0.469264  10.0461    -0.0617853  -0.00106526 0.566721    0.17       0.47          pose: 0.0           0.42877    -3.85427    0 -0.000629675-0.00254644 0.996783    0.0801037      uwb: 0.0            1227.91  970.401  
imu_odom_:  1691062865.729226521  0.684742   -0.383072  10.1514    -0.0468716  0.0191748   0.58483     0.18       0.55          pose: 0.48878127    0.420414   -3.84877    0 0.00113595  -0.00382729 0.997564    0.0696368      uwb: 0.0            1227.91  970.401  
imu_odom_:  1691062865.745227872  0.505177   -0.126893  9.85932    -0.0809601  -0.00532632 0.627441    0.18       0.55          pose: 0.0           0.420414   -3.84877    0 0.00113595  -0.00382729 0.997564    0.0696368      uwb: 0.50009726     1227.38  972.082  
imu_odom_:  1691062865.761224556  0.19393    -0.579397  10.2544    -0.0532632  -0.00319579 0.649811    0.18       0.55          pose: 0.66947272    0.406544   -3.8516     0 0.00550696  -0.00437747 0.998617    0.0520956      uwb: 0.0            1227.38  972.082  
imu_odom_:  1691062865.776227299  0.797269   -0.52433   9.82341    -0.056459   -0.0308927  0.622114    0.18       0.55          pose: 0.0           0.406544   -3.8516     0 0.00550696  -0.00437747 0.998617    0.0520956      uwb: 0.0            1227.38  972.082  
imu_odom_:  1691062865.793221425  0.907402   -0.172383  9.89284    -0.0330232  0.0117179   0.598679    0.17       0.55          pose: 0.0           0.406544   -3.8516     0 0.00550696  -0.00437747 0.998617    0.0520956      uwb: 0.49995144     1226.89  973.147  
imu_odom_:  1691062865.810377125  1.21625    -0.40462   9.63906    -0.0532632  -0.00532632 0.588026    0.17       0.55          pose: 0.31932998    0.406544   -3.8516     0 0.00486297  -0.00509797 0.999069    0.0425561      uwb: 0.0            1226.89  973.147  
imu_odom_:  1691062865.827287839  1.39582    -0.251391  9.69173    -0.0308927  0.0308927   0.488956    0.14       0.41          pose: 0.42140439    0.398202   -3.84604    0 0.00871797  -0.00523911 0.999474    0.0307991      uwb: 0.0            1226.89  973.147  
imu_odom_:  1691062865.843231151  1.88663    0.136469   10.4172    -0.0287621  0.02024     0.418649    0.14       0.41          pose: 0.0           0.398202   -3.84604    0 0.00871797  -0.00523911 0.999474    0.0307991      uwb: 0.50076223     1227.03  974.335  
imu_odom_:  1691062865.861218927  1.50595    0.0263362  10.2208    -0.0468716  -0.0234358  0.409062    0.14       0.41          pose: 0.0           0.398202   -3.84604    0 0.00871797  -0.00523911 0.999474    0.0307991      uwb: 0.0            1227.03  974.335  
imu_odom_:  1691062865.877357062  0.766145   -0.349553  9.26317    -0.0426106  0.0692422   0.368581    0.11       0.32          pose: 0.7061709     0.39822    -3.84605    0 0.00929428  -0.00513435 0.999517    0.0292169      uwb: 0.0            1227.03  974.335  
imu_odom_:  1691062865.894290524  0.76375    -0.0694318 10.5536    -0.0372843  0.0213053   0.315318    0.1        0.26          pose: 0.0           0.39822    -3.84605    0 0.00929428  -0.00513435 0.999517    0.0292169      uwb: 0.49855735     1227.09  975.331  
imu_odom_:  1691062865.912211221  0.725443   -0.220267  10.1251    -0.0458064  -0.0298274  0.297209    0.1        0.26          pose: 0.66914316    0.384328   -3.849      0 0.0141435   -0.00375909 0.999747    0.0170761      uwb: 0.0            1227.09  975.331  
imu_odom_:  1691062865.928275860  0.940921   -0.337582  10.1849    -0.056459   -0.00426106 0.297209    0.12       0.35          pose: 0.0           0.384328   -3.849      0 0.0141435   -0.00375909 0.999747    0.0170761      uwb: 0.0            1227.09  975.331  
imu_odom_:  1691062865.945267361  0.711078   -0.428562  9.52892    -0.0585895  -0.0149137  0.286556    0.12       0.35          pose: 0.0           0.384328   -3.849      0 0.0141435   -0.00375909 0.999747    0.0170761      uwb: 0.50044433     1226.98  976.544  
imu_odom_:  1691062865.962205198  0.878672   -0.0790087 9.80904    -0.0543285  -0.00319579 0.267381    0.12       0.35          pose: 0.33925547    0.384328   -3.849      0 0.0162049   -0.00156902 0.999787    0.0126486      uwb: 0.0            1226.98  976.544  
imu_odom_:  1691062865.979206032  0.725443   -0.0502782 9.96946    -0.0596548  -0.0245011  0.28123     0.1        0.29          pose: 0.33940130    0.384328   -3.849      0 0.0174332   -0.00322196 0.999807    0.00844812     uwb: 0.0            1226.98  976.544  
imu_odom_:  1691062865.995322293  0.818817   -0.196325  9.97664    -0.056459   0.0106526   0.255663    0.1        0.29          pose: 0.0           0.384328   -3.849      0 0.0174332   -0.00322196 0.999807    0.00844812     uwb: 0.50008560     1227.1   977.933  
imu_odom_:  1691062866.12245840   0.653617   -0.263362  9.80665    -0.0490022  -0.00745685 0.230097    0.1        0.29          pose: 0.0           0.384328   -3.849      0 0.0174332   -0.00322196 0.999807    0.00844812     uwb: 0.0            1227.1   977.933  
imu_odom_:  1691062866.29266214   0.691924   -0.131681  9.81144    -0.0596548  0           0.223706    0.06       0.2           pose: 0.50049682    0.384328   -3.849      0 0.0185944   -0.0003558690.999823    0.00290985     uwb: 0.0            1227.1   977.933  
imu_odom_:  1691062866.45324145   0.641646   -0.153229  9.98861    -0.0532632  0.0117179   0.207727    0.06       0.2           pose: 0.0           0.384328   -3.849      0 0.0185944   -0.0003558690.999823    0.00290985     uwb: 0.49960438     1226.93  978.149  
imu_odom_:  1691062866.62263441   0.651223   -0.203507  9.8282     -0.0543285  -0.0149137  0.187487    0.05       0.2           pose: 0.43055636    0.373022   -3.84793    0 0.0152467   0.00143577  0.999882    -0.000925501   uwb: 0.0            1226.93  978.149  
imu_odom_:  1691062866.88348867   0.438139   -0.184354  10.0916    -0.0617853  0.0138484   0.246076    0.05       0.2           pose: 0.0           0.373022   -3.84793    0 0.0152467   0.00143577  0.999882    -0.000925501   uwb: 0.0            1226.93  978.149  
imu_odom_:  1691062866.105341243  0.277727   -0.514753  9.95509    -0.0585895  -0.00106526 0.273773    0.05       0.2           pose: 0.8010155     0.370498   -3.85191    0 0.0145329   0.00117029  0.999893    -0.00152074    uwb: 0.50097222     1226.73  978.768  
imu_odom_:  1691062866.122330994  -0.351948  -0.344765  9.57441    -0.0468716  0.0639159   0.246076    0.07       0.23          pose: 0.0           0.370498   -3.85191    0 0.0145329   0.00117029  0.999893    -0.00152074    uwb: 0.0            1226.73  978.768  
imu_odom_:  1691062866.138201395  -0.787692  -0.047884  10.2185    -0.0500674  0.0213053   0.216249    0.08       0.11          pose: 0.0           0.370498   -3.85191    0 0.0145329   0.00117029  0.999893    -0.00152074    uwb: 0.0            1226.73  978.768  
imu_odom_:  1691062866.155263767  -0.687136  0.059855   9.67018    -0.056459   -0.04048    0.18003     0.08       0.11          pose: 0.75881373    0.370498   -3.85191    0 0.00660072  -0.0004030290.999935    -0.00923879    uwb: 0.49927774     1226.43  979.194  
imu_odom_:  1691062866.171258119  0.225055   -0.0574608 9.91439    -0.0500674  -0.0394148  0.138484    0.09       0.11          pose: 0.0           0.370498   -3.85191    0 0.00660072  -0.0004030290.999935    -0.00923879    uwb: 0.0            1226.43  979.194  
imu_odom_:  1691062866.188252828  0.31364    -0.0814029 9.78271    -0.0671117  -0.00532632 0.155529    0.09       0.11          pose: 0.34048915    0.370498   -3.85191    0 0.00368478  0.000509977 0.999926    -0.0116229     uwb: 0.0            1226.43  979.194  
imu_odom_:  1691062866.205253079  0.124498   -0.452504  10.0748    -0.0692422  0.0149137   0.156594    0.09       0.11          pose: 0.0           0.370498   -3.85191    0 0.00368478  0.000509977 0.999926    -0.0116229     uwb: 0.49907067     1226.16  979.617  
imu_odom_:  1691062866.220259614  -0.11971   -0.311246  9.9503     -0.0468716  0.00426106  0.137419    0.11       0.08          pose: 0.41988491    0.362129   -3.84644    0 0.000360817 0.000597313 0.999902    -0.0139912     uwb: 0.0            1226.16  979.617  
imu_odom_:  1691062866.237193660  0.059855   -0.0095768110.173     -0.0532632  -0.0394148  0.150202    0.11       0.08          pose: 0.7023212     0.362129   -3.84644    0 -0.0003560220.000476333 0.999897    -0.0143344     uwb: 0.0            1226.16  979.617  
imu_odom_:  1691062866.251188462  0.143652   -0.349553  9.60075    -0.0703074  0.00532632  0.140615    0.11       0.08          pose: 0.0           0.362129   -3.84644    0 -0.0003560220.000476333 0.999897    -0.0143344     uwb: 0.50003311     1225.98  980.23   
imu_odom_:  1691062866.267335930  0.275333   -0.351948  9.8689     -0.0617853  0.0127832   0.116114    0.13       0.08          pose: 0.38912171    0.359216   -3.85088    0 -0.00350655 0.000279417 0.99986     -0.0163653     uwb: 0.0            1225.98  980.23   
imu_odom_:  1691062866.284338222  0.337582   -0.411803  9.84017    -0.0692422  -0.0213053  0.12144     0.17       0.08          pose: 0.0           0.359216   -3.85088    0 -0.00350655 0.000279417 0.99986     -0.0163653     uwb: 0.0            1225.98  980.23   
imu_odom_:  1691062866.302262127  0.40462    -0.323217  9.94551    -0.0617853  0.02024     0.120375    0.17       0.08          pose: 0.0           0.359216   -3.85088    0 -0.00350655 0.000279417 0.99986     -0.0163653     uwb: 0.50017893     1225.74  981.044  
imu_odom_:  1691062866.316216974  0.169988   -0.191536  9.58878    -0.072438   0.0223706   0.120375    0.17       0.08          pose: 0.23208303    0.356648   -3.8548     0 -0.00409339 -0.00202428 0.999841    -0.0172639     uwb: 0.0            1225.74  981.044  
imu_odom_:  1691062866.333469793  0.059855   -0.19393   9.50259    -0.0735032  0.0276969   0.110787    0.13       0.08          pose: 0.0           0.356648   -3.8548     0 -0.00409339 -0.00202428 0.999841    -0.0172639     uwb: 0.0            1225.74  981.044  
imu_odom_:  1691062866.349206910  0.301669   -0.260968  10.3477    -0.076699   0.052198    0.1012      0.13       0.08          pose: 0.0           0.356648   -3.8548     0 -0.00409339 -0.00202428 0.999841    -0.0172639     uwb: 0.50013228     1225.95  981.82   
imu_odom_:  1691062866.366197536  -0.148441  -0.162806  9.7444     -0.0553937  -0.0617853  0.104396    0.14       0.08          pose: 0.74810145    0.348271   -3.84934    0 -0.00515877 -0.00237389 0.999783    -0.0200599     uwb: 0.0            1225.95  981.82   
imu_odom_:  1691062866.383210911  0.435745   -0.265756  9.88087    -0.0511327  -0.0916127  0.131028    0.14       0.08          pose: 0.0           0.348271   -3.84934    0 -0.00515877 -0.00237389 0.999783    -0.0200599     uwb: 0.0            1225.95  981.82   
imu_odom_:  1691062866.400182580  0.969652   -0.442927  9.89763    -0.0458064  -0.0266316  0.190682    0.14       0.08          pose: 0.0           0.348271   -3.84934    0 -0.00515877 -0.00237389 0.999783    -0.0200599     uwb: 0.50109763     1226.07  982.208  
imu_odom_:  1691062866.416317507  1.70946    -0.577003  9.84256    -0.0660464  -0.0692422  0.164051    0.11       0.02          pose: 0.7122664     0.348271   -3.84934    0 -0.00565428 -0.00223511 0.999776    -0.0202935     uwb: 0.0            1226.07  982.208  
imu_odom_:  1691062866.433382795  1.34554    -0.0502782 9.57681    -0.0383495  -0.00639159 0.0894822   0.12       0.02          pose: 0.0           0.348271   -3.84934    0 -0.00565428 -0.00223511 0.999776    -0.0202935     uwb: 0.0            1226.07  982.208  
imu_odom_:  1691062866.450250346  1.42455    0.265756   10.1251    -0.0575243  0.04048     0.0916127   0.12       0.02          pose: 0.66989271    0.33445    -3.85234    0 0.000714308 -0.00262472 0.999712    -0.0238424     uwb: 0.50113554     1226     983.403  
imu_odom_:  1691062866.465329793  1.43892    -0.0047884 9.5792     -0.0713727  0.0138484   0.103331    0.12       0.02          pose: 0.0           0.33445    -3.85234    0 0.000714308 -0.00262472 0.999712    -0.0238424     uwb: 0.0            1226     983.403  
imu_odom_:  1691062866.481325894  0.0790087  -0.507571  9.26317    -0.0585895  0.0585895   0.092678    0.09       0.02          pose: 0.0           0.33445    -3.85234    0 0.000714308 -0.00262472 0.999712    -0.0238424     uwb: 0.0            1226     983.403  
imu_odom_:  1691062866.498260524  0.28491    -0.258574  10.4579    -0.036219   0.0149137   0.0117179   0.09       0.02          pose: 0.33929923    0.33445    -3.85234    0 0.00340389  -0.00136238 0.999687    -0.0247448     uwb: 0.49753951     1225.81  983.813  
imu_odom_:  1691062866.516328504  0.383072   0.179565   9.73961    -0.0415453  -0.0788296  0.00426106  0.06       0.02          pose: 0.41011756    0.32978    -3.84933    0 0.000446307 -0.00204567 0.99968     -0.0251975     uwb: 0.0            1225.81  983.813  
imu_odom_:  1691062866.541385573  0.802058   -0.438139  10.1227    -0.0649811  0.00532632  0.0585895   0.06       0.02          pose: 0.7986239     0.326045   -3.84692    0 0.000671969 -0.00118639 0.999685    -0.025057      uwb: 0.50146219     1226.17  984.184  
imu_odom_:  1691062866.568251744  0.47884    -0.373495  9.93833    -0.0426106  0.0319579   0           0.07       0.05          pose: 0.35138810    0.326045   -3.84692    0 0.00303894  -0.00143244 0.999679    -0.0251183     uwb: 0.0            1226.17  984.184  
imu_odom_:  1691062866.594238883  -1.33118   0.325611   10.4196    -0.0628506  0.0372843   0.0660464   0.08       0.02          pose: 0.0           0.326045   -3.84692    0 0.00303894  -0.00143244 0.999679    -0.0251183     uwb: 0.50232256     1226.15  984.582  
imu_odom_:  1691062866.611295714  -0.90022   -0.629675  9.81862    -0.0671117  -0.0969391  0.0884169   0.12       0.02          pose: 0.34834910    0.326045   -3.84692    0 0.00203631  -0.00371827 0.999686    -0.0247009     uwb: 0.0            1226.15  984.582  
imu_odom_:  1691062866.637315809  0.325611   -0.100556  10.058     -0.0287621  -0.0415453  0.0607201   0.12       0.02          pose: 0.0           0.326045   -3.84692    0 0.00203631  -0.00371827 0.999686    -0.0247009     uwb: 0.0            1226.15  984.582  
imu_odom_:  1691062866.664372719  0.270545   -0.253785  9.80665    -0.0617853  0.0372843   0.0862864   0.1        0             pose: 0.42969308    0.320625   -3.85533    0 -0.00100621 -0.00295558 0.999671    -0.0254525     uwb: 0.49759200     1226.19  985.57   
imu_odom_:  1691062866.690187202  -0.0311246 -0.21069   9.68694    -0.0553937  0.00532632  0.0703074   0.12       0.02          pose: 0.45182928    0.314599   -3.85145    0 -0.00445345 -0.00166417 0.999643    -0.0262817     uwb: 0.49943523     1226.44  987.338  
imu_odom_:  1691062866.717233612  0.107739   -0.311246  9.663      -0.0532632  0.0149137   0.0628506   0.12       0.02          pose: 0.7979239     0.312211   -3.84992    0 -0.00528858 -0.00160904 0.999636    -0.0264056     uwb: 0.0            1226.44  987.338  
imu_odom_:  1691062866.742181021  0.1652     -0.143652  10.094     -0.052198   -0.036219   0.0735032   0.13       0             pose: 0.44881654    0.312211   -3.84992    0 -0.00984861 -0.00264855 0.999584    -0.0269911     uwb: 0.49958981     1226.42  986.15   
imu_odom_:  1691062866.759302889  0.311246   -0.141258  10.0892    -0.0436758  -0.0713727  0.0607201   0.13       0             pose: 0.0           0.312211   -3.84992    0 -0.00984861 -0.00264855 0.999584    -0.0269911     uwb: 0.0            1226.42  986.15   
imu_odom_:  1691062866.785445186  0.462081   -0.363919  10.0485    -0.0553937  -0.0245011  0.0671117   0.13       0             pose: 0.42069277    0.298402   -3.85297    0 -0.00832462 0.000826218 0.999583    -0.0276298     uwb: 0.0            1226.42  986.15   
imu_odom_:  1691062866.812440850  0.222661   -0.110133  9.74919    -0.04048    0.0308927   0.0479369   0.13       0             pose: 0.0           0.298402   -3.85297    0 -0.00832462 0.000826218 0.999583    -0.0276298     uwb: 0.49955480     1226.47  986.941  
imu_odom_:  1691062866.837456796  0.778116   -0.45011   10.2113    -0.0617853  0.00639159  0.0830906   0.14       0             pose: 0.33035725    0.298402   -3.85297    0 -0.00641613 -5.42734e-050.999587    -0.0280108     uwb: 0.0            1226.47  986.941  
imu_odom_:  1691062866.854289932  0.56982    -0.225055  10.1682    -0.04048    0.0255663   0.0500674   0.14       0             pose: 0.0           0.298402   -3.85297    0 -0.00641613 -5.42734e-050.999587    -0.0280108     uwb: 0.49876444     1226.21  988.342  
imu_odom_:  1691062866.871290474  0.423774   -0.0742203 9.84735    -0.0500674  -0.0149137  0.0639159   0.15       0.02          pose: 0.27927776    0.298402   -3.85297    0 -0.00715955 0.00143563  0.999574    -0.0282735     uwb: 0.0            1226.21  988.342  
imu_odom_:  1691062866.897264489  0.42138    -0.351948  10.1347    -0.0479369  0.0500674   0.0692422   0.15       0.02          pose: 0.0           0.298402   -3.85297    0 -0.00715955 0.00143563  0.999574    -0.0282735     uwb: 0.49981729     1226.16  989.73   
imu_odom_:  1691062866.923303250  0.902614   -0.0263362 10.4172    -0.0415453  0.0468716   0.0479369   0.15       0             pose: 0.41988490    0.284581   -3.85604    0 -0.00374097 0.00129274  0.999576    -0.0288333     uwb: 0.0            1226.16  989.73   
imu_odom_:  1691062866.940153010  0.608127   -0.399832  9.79468    -0.0692422  0.0479369   0.0916127   0.15       0             pose: 0.0           0.284581   -3.85604    0 -0.00374097 0.00129274  0.999576    -0.0288333     uwb: 0.50116179     1225.75  990.539  
imu_odom_:  1691062866.957327084  0.19393    -0.0909797 10.0173    -0.0639159  -0.0106526  0.0660464   0.19       0.02          pose: 0.41954659    0.284581   -3.85604    0 -0.00225058 5.70944e-05 0.999566    -0.0293572     uwb: 0.0            1225.75  990.539  
imu_odom_:  1691062866.983283892  0.268151   0.0646434  9.58878    -0.0607201  0.0213053   0.056459    0.19       0.02          pose: 0.0           0.284581   -3.85604    0 -0.00225058 5.70944e-05 0.999566    -0.0293572     uwb: 0.0            1225.75  990.539  
imu_odom_:  1691062867.10148313   -0.301669  -0.385466  9.70849    -0.0639159  0.0213053   0.0703074   0.21       0.02          pose: 0.43025888    0.276182   -3.85061    0 -0.000693832-4.21154e-050.999551    -0.0299706     uwb: 0.49896276     1225.58  992.315  
imu_odom_:  1691062867.35261670   0.0143652  -0.0790087 9.97424    -0.0649811  0.0127832   0.0617853   0.21       0.02          pose: 0.0           0.276182   -3.85061    0 -0.000693832-4.21154e-050.999551    -0.0299706     uwb: 0.0            1225.58  992.315  
imu_odom_:  1691062867.62216212   0.385466   -0.258574  10.0245    -0.0607201  -0.00106526 0.0617853   0.19       0             pose: 0.42933435    0.262359   -3.8536     0 -0.00361138 0.00246038  0.999527    -0.0304303     uwb: 0.49975021     1225.29  992.916  
imu_odom_:  1691062867.87430188   0.332794   -0.0095768110.173     -0.0415453  -0.00319579 0.0585895   0.17       0             pose: 0.52057982    0.262359   -3.8536     0 -0.00774737 0.00192942  0.999485    -0.0310862     uwb: 0.0            1225.29  992.916  
imu_odom_:  1691062867.114299276  0.390255   -0.071826  9.80665    -0.0308927  -0.015979   0.0308927   0.17       0             pose: 0.0           0.262359   -3.8536     0 -0.00774737 0.00192942  0.999485    -0.0310862     uwb: 0.50145346     1225.61  993.498  
imu_odom_:  1691062867.130324835  0.612916   -0.0215478 9.65821    -0.0585895  -0.0117179  0.0479369   0.17       0             pose: 0.72072432    0.248543   -3.85662    0 -0.00328687 0.00553259  0.999484    -0.0314557     uwb: 0.0            1225.61  993.498  
imu_odom_:  1691062867.157296583  0.423774   -0.426168  9.91439    -0.0628506  -0.015979   0.052198    0.17       0             pose: 0.7896120     0.248543   -3.85662    0 -0.00251119 0.00578406  0.999484    -0.0314936     uwb: 0.50048517     1225.83  993.689  
imu_odom_:  1691062867.182212786  0.143652   -0.191536  9.5385     -0.0511327  -0.0127832  0.0575243   0.17       0             pose: 0.35101187    0.236314   -3.85718    0 -0.0010591  0.00329105  0.999491    -0.0317006     uwb: 0.0            1225.83  993.689  
imu_odom_:  1691062867.207195193  0.122104   -0.354342  9.9527     -0.0394148  -0.015979   0.052198    0.17       0             pose: 0.0           0.236314   -3.85718    0 -0.0010591  0.00329105  0.999491    -0.0317006     uwb: 0.49932441     1225.9   994.477  
imu_odom_:  1691062867.221203703  0.263362   -0.110133  9.90002    -0.0276969  -0.0330232  0.036219    0.19       0.02          pose: 0.49898610    0.228417   -3.85562    0 -0.00504585 0.00132255  0.999472    -0.0320602     uwb: 0.0            1225.9   994.477  
imu_odom_:  1691062867.246155195  0.203507   -0.351948  9.58638    -0.0543285  0.00745685  0.0596548   0.19       0.02          pose: 0.0           0.228417   -3.85562    0 -0.00504585 0.00132255  0.999472    -0.0320602     uwb: 0.49988438     1225.86  995.662  
imu_odom_:  1691062867.271412920  0.442927   -0.0311246 9.80186    -0.0543285  -0.0223706  0.0479369   0.23       0             pose: 0.38960002    0.22244    -3.86033    0 -0.00675806 0.000465933 0.999456    -0.0322754     uwb: 0.0            1225.86  995.662  
imu_odom_:  1691062867.285344726  0.785298   -0.227449  9.56723    -0.1012     0.0149137   0.0820254   0.23       0             pose: 0.0           0.22244    -3.86033    0 -0.00675806 0.000465933 0.999456    -0.0322754     uwb: 0.0            1225.86  995.662  
imu_odom_:  1691062867.310144561  0.651223   -0.483629  10.1825    -0.0681769  -0.0117179  0.0426106   0.16       0.02          pose: 0.39189531    0.212494   -3.85732    0 -0.00353722 0.00187713  0.999457    -0.0326943     uwb: 0.50135138     1226.09  995.657  
imu_odom_:  1691062867.334291392  0.186748   -0.275333  9.45949    -0.0340885  0.00213053  0.0245011   0.16       0.02          pose: 0.0           0.212494   -3.85732    0 -0.00353722 0.00187713  0.999457    -0.0326943     uwb: 0.0            1226.09  995.657  
imu_odom_:  1691062867.358127033  -0.155623  -0.301669  9.42118    -0.0553937  -0.0330232  0.056459    0.17       -0.02         pose: 0.48946666    0.212494   -3.85732    0 -0.00395214 -0.0005395740.999462    -0.032546      uwb: 0.0            1226.09  995.657  
imu_odom_:  1691062867.375324731  0.531513   0.0694318  10.149     -0.0585895  -0.0117179  0.0458064   0.17       -0.02         pose: 0.6843556     0.212494   -3.85732    0 -0.00452528 -0.0006687360.999458    -0.0326035     uwb: 0.0            1226.09  995.657  
imu_odom_:  1691062867.400149064  1.00556    -0.124498  10.0868    -0.0511327  -0.0181095  0.0308927   0.26       0.02          pose: 0.34189783    0.198687   -3.86039    0 -0.00483045 0.000345702 0.99945     -0.0328072     uwb: 0.100009540    1226.19  995.656  
imu_odom_:  1691062867.423209500  0.873884   -0.167594  9.96227    -0.0575243  -0.0276969  0.0479369   0.26       0.02          pose: 0.0           0.198687   -3.86039    0 -0.00483045 0.000345702 0.99945     -0.0328072     uwb: 0.0            1226.19  995.656  
imu_odom_:  1691062867.439209102  0.605733   -0.0670376 9.87608    -0.0596548  -0.0500674  0.0479369   0.18       0.02          pose: 0.6950883     0.198687   -3.86039    0 -0.00409417 0.000463829 0.999454    -0.0327778     uwb: 0.49841738     1225.86  997.24   
imu_odom_:  1691062867.466197183  0.153229   -0.0454898 9.99819    -0.0458064  0.0127832   0.0436758   0.18       0.02          pose: 0.0           0.198687   -3.86039    0 -0.00409417 0.000463829 0.999454    -0.0327778     uwb: 0.0            1225.86  997.24   
imu_odom_:  1691062867.491112511  0.129287   -0.344765  10.0485    -0.056459   0.0127832   0.0426106   0.22       -0.02         pose: 0.47955349    0.190251   -3.85502    0 0.0011007   0.0013609   0.999459    -0.03283       uwb: 0.49988729     1225.79  997.833  
imu_odom_:  1691062867.508132886  0.430956   -0.215478  9.85932    -0.0458064  -0.00852212 0.0330232   0.22       -0.02         pose: 0.0           0.190251   -3.85502    0 0.0011007   0.0013609   0.999459    -0.03283       uwb: 0.0            1225.79  997.833  
imu_odom_:  1691062867.533277158  0.754174   -0.102951  10.1801    -0.0639159  -0.0426106  0.0436758   0.2        0             pose: 0.77901923    0.176445   -3.85808    0 -0.00122071 0.00100828  0.999458    -0.032893      uwb: 0.0            1225.79  997.833  
imu_odom_:  1691062867.559189344  0.742203   -0.181959  9.72285    -0.0553937  -0.0426106  0.0468716   0.2        0             pose: 0.0           0.176445   -3.85808    0 -0.00122071 0.00100828  0.999458    -0.032893      uwb: 0.50025186     1226.27  998.422  
imu_odom_:  1691062867.584166793  0.725443   -0.205901  10.1682    -0.052198   -0.0170442  0.0479369   0.18       0             pose: 0.8165603     0.176445   -3.85808    0 -0.0002757220.00119645  0.999458    -0.0329107     uwb: 0.0            1226.27  998.422  
imu_odom_:  1691062867.611134458  0.64404    -0.0263362 9.92875    -0.0703074  0.0426106   0.0436758   0.19       -0.02         pose: 0.49975897    0.16264    -3.86116    0 0.00552877  0.00168166  0.999436    -0.0330754     uwb: 0.49988730     1226.32  999.015  
imu_odom_:  1691062867.636121532  0.610521   -0.181959  9.88326    -0.0681769  -0.0255663  0.0383495   0.19       -0.02         pose: 0.0           0.16264    -3.86116    0 0.00552877  0.00168166  0.999436    -0.0330754     uwb: 0.0            1226.32  999.015  
imu_odom_:  1691062867.661167519  0.497994   -0.332794  9.63427    -0.072438   0.0106526   0.0458064   0.23       0             pose: 0.69847146    0.148837   -3.86423    0 0.0104043   0.00216611  0.999392    -0.0331929     uwb: 0.49929232     1226.42  1000     
imu_odom_:  1691062867.675227651  0.713472   -0.433351  9.3326     -0.0628506  0.0351537   0.0340885   0.23       0             pose: 0.7019421     0.148837   -3.86423    0 0.00997743  0.00151194  0.999397    -0.0332198     uwb: 0.0            1226.42  1000     
imu_odom_:  1691062867.699385856  0.557849   -0.356736  9.34217    -0.0639159  0.00639159  0.0330232   0.18       0             pose: 0.0           0.148837   -3.86423    0 0.00997743  0.00151194  0.999397    -0.0332198     uwb: 0.50060184     1226.58  1000.6   
imu_odom_:  1691062867.726157825  0.711078   -0.392649  10.1969    -0.0490022  -0.0426106  0.0319579   0.18       0             pose: 0.39141408    0.140396   -3.85887    0 0.00931931  -0.00208627 0.999402    -0.0332424     uwb: 0.0            1226.58  1000.6   
imu_odom_:  1691062867.742102013  0.720655   -0.390255  9.35175    -0.0543285  -0.0106526  0.0372843   0.19       0             pose: 0.0           0.140396   -3.85887    0 0.00931931  -0.00208627 0.999402    -0.0332424     uwb: 0.49905026     1226.72  1000.2   
imu_odom_:  1691062867.769243502  0.349553   -0.213084  9.66779    -0.04048    0.00532632  0.0298274   0.19       0             pose: 0.51908075    0.135034   -3.86731    0 0.0124302   -0.00568658 0.999359    -0.0330986     uwb: 0.0            1226.72  1000.2   
imu_odom_:  1691062867.795098816  0.497994   -0.371101  9.40921    -0.0660464  0.0276969   0.0383495   0.2        -0.02         pose: 0.35053066    0.126594   -3.86195    0 0.010449    -0.00493626 0.99939     -0.0329643     uwb: 0.0            1226.72  1000.2   
imu_odom_:  1691062867.820329708  0.366313   -0.225055  9.54089    -0.0458064  -0.0287621  0.0383495   0.2        -0.02         pose: 0.7873954     0.126594   -3.86195    0 0.00966524  -0.00541265 0.999395    -0.0329663     uwb: 0.0            1226.72  1000.2   
imu_odom_:  1691062867.834158854  0.287304   -0.289698  9.39245    -0.0468716  0.0181095   0.052198    0.2        -0.02         pose: 0.0           0.126594   -3.86195    0 0.00966524  -0.00541265 0.999395    -0.0329663     uwb: 0.0            1226.72  1000.2   
imu_odom_:  1691062867.859157010  0.28491    -0.282516  9.84017    -0.0479369  -0.0490022  0.0287621   0.2        -0.02         pose: 0.49067408    0.11279    -3.86502    0 0.00536433  -0.00500877 0.999428    -0.0330024     uwb: 0.100006624    1226.94  1002.77  
imu_odom_:  1691062867.876162219  0.507571   -0.0909797 9.33978    -0.0639159  -0.00745685 0.0287621   0.25       0             pose: 0.0           0.11279    -3.86502    0 0.00536433  -0.00500877 0.999428    -0.0330024     uwb: 0.0            1226.94  1002.77  
imu_odom_:  1691062867.901108170  0.117316   -0.409408  9.62948    -0.0543285  0.00639159  0.036219    0.25       0             pose: 0.39916613    0.11279    -3.86502    0 0.00273415  -0.00387437 0.999448    -0.0328955     uwb: 0.49947023     1227.25  1002.97  
imu_odom_:  1691062867.926171364  -0.158017  -0.0622492 10.0269    -0.052198   0.0127832   0.052198    0.21       0             pose: 0.35006693    0.100562   -3.86561    0 0.000582462 -0.0039376  0.999454    -0.0328051     uwb: 0.0            1227.25  1002.97  
imu_odom_:  1691062867.949250466  0.220267   -0.246603  10.0317    -0.052198   0.0287621   0.0276969   0.21       0             pose: 0.7058502     0.0989841  -3.86809    0 -0.000140791-0.00368517 0.999453    -0.0328519     uwb: 0.50007979     1227.66  1002.58  
imu_odom_:  1691062867.965296149  0.287304   -0.208296  9.40921    -0.0532632  -0.00532632 0.0468716   0.18       -0.02         pose: 0.0           0.0989841  -3.86809    0 -0.000140791-0.00368517 0.999453    -0.0328519     uwb: 0.0            1227.66  1002.58  
imu_odom_:  1691062867.983119726  0.579397   -0.248997  10.2831    -0.0596548  -0.0340885  0.052198    0.18       -0.02         pose: 0.48996538    0.0905467  -3.86272    0 -0.005038   -0.00196296 0.999445    -0.0328732     uwb: 0.0            1227.66  1002.58  
imu_odom_:  1691062868.8093384    0.418985   -0.0311246 9.46428    -0.0511327  -0.00852212 0.0458064   0.18       0.02          pose: 0.0           0.0905467  -3.86272    0 -0.005038   -0.00196296 0.999445    -0.0328732     uwb: 0.50077682     1227.74  1003.38  
imu_odom_:  1691062868.32146888   0.73502    -0.205901  10.0676    -0.056459   -0.036219   0.0532632   0.18       0.02          pose: 0.34041041    0.0851798  -3.87116    0 -0.00309935 -0.0005145740.999449    -0.0330454     uwb: 0.0            1227.74  1003.38  
imu_odom_:  1691062868.47149923   0.600945   -0.0191536 9.67736    -0.0500674  -0.00426106 0.0458064   0.18       0             pose: 0.40942637    0.0767408  -3.8658     0 0.000286292 0.00110128  0.999446    -0.0332694     uwb: 0.49965690     1228.51  1004.19  
imu_odom_:  1691062868.72146621   0.399832   -0.196325  9.60554    -0.0745685  0.0106526   0.0649811   0.18       0             pose: 0.7070751     0.0767408  -3.8658     0 0.000792677 0.00161371  0.999444    -0.0332918     uwb: 0.0            1228.51  1004.19  
imu_odom_:  1691062868.99314651   0.371101   -0.248997  9.72046    -0.0596548  0.00213053  0.0511327   0.25       0.02          pose: 0.32928982    0.0668146  -3.86801    0 -0.0007826520.000396221 0.999434    -0.0336321     uwb: 0.49948191     1228.74  1003.19  
imu_odom_:  1691062868.124200522  0.447716   -0.378284  9.71806    -0.0703074  -0.0181095  0.0532632   0.25       0.02          pose: 0.0           0.0668146  -3.86801    0 -0.0007826520.000396221 0.999434    -0.0336321     uwb: 0.0            1228.74  1003.19  
imu_odom_:  1691062868.141143610  0.521936   -0.167594  9.90721    -0.0713727  -0.0213053  0.0447411   0.2        0             pose: 0.52053901    0.0569309  -3.86507    0 -0.000186772-0.00442519 0.999414    -0.0339504     uwb: 0.50043852     1229.19  1005.4   
imu_odom_:  1691062868.157196876  0.526724   -0.339977  9.72046    -0.0809601  0           0.0490022   0.2        0             pose: 0.0           0.0569309  -3.86507    0 -0.000186772-0.00442519 0.999414    -0.0339504     uwb: 0.0            1229.19  1005.4   
imu_odom_:  1691062868.184076755  0.383072   -0.179565  10.0748    -0.036219   -0.0330232  0.0319579   0.25       0             pose: 0.32996354    0.0517957  -3.86779    0 0.00246391  -0.00425316 0.999408    -0.0340614     uwb: 0.0            1229.19  1005.4   
imu_odom_:  1691062868.209073453  0.37589    -0.373495  9.7851     -0.0543285  0.0181095   0.0372843   0.25       0             pose: 0.0           0.0517957  -3.86779    0 0.00246391  -0.00425316 0.999408    -0.0340614     uwb: 0.50047644     1228.98  1005.39  
imu_odom_:  1691062868.226076621  0.581791   0.0215478  9.92636    -0.0500674  -0.0287621  0.0340885   0.21       0             pose: 0.51876577    0.0432118  -3.86822    0 0.000274987 -0.00399017 0.999416    -0.0339374     uwb: 0.0            1228.98  1005.39  
imu_odom_:  1691062868.251063403  0.0167594  -0.304064  9.80904    -0.0617853  0.00213053  0.0607201   0.21       0             pose: 0.7150664     0.0406938  -3.86663    0 0.000689988 -0.00333202 0.999419    -0.0339167     uwb: 0.50040644     1229.2   1007     
imu_odom_:  1691062868.268210938  0.280122   -0.466869  9.8665     -0.0553937  -0.0553937  0.0415453   0.23       0             pose: 0.34839286    0.0369152  -3.8726     0 -0.00129303 -0.00284541 0.999412    -0.0341582     uwb: 0.0            1229.2   1007     
imu_odom_:  1691062868.293075519  0.708684   -0.220267  9.90481    -0.0607201  -0.0617853  0.0458064   0.23       0             pose: 0.0           0.0369152  -3.8726     0 -0.00129303 -0.00284541 0.999412    -0.0341582     uwb: 0.49981147     1229.59  1007.41  
imu_odom_:  1691062868.318265289  0.591368   -0.0670376 10.2065    -0.036219   -0.0607201  0.0287621   0.22       0.02          pose: 0.7008922     0.0353447  -3.87508    0 -0.0013985  -0.00348077 0.999409    -0.0341655     uwb: 0.0            1229.59  1007.41  
imu_odom_:  1691062868.344152102  0.37589    -0.232238  10.1107    -0.0458064  -0.0340885  0.0532632   0.22       0.02          pose: 0.0           0.0353447  -3.87508    0 -0.0013985  -0.00348077 0.999409    -0.0341655     uwb: 0.49831531     1229.62  1007.21  
imu_odom_:  1691062868.361185602  0.4956     -0.287304  9.84735    -0.0468716  -0.0191748  0.0426106   0.19       0             pose: 0.42019115    0.0268938  -3.86973    0 0.00215073  -0.00313026 0.999408    -0.0342077     uwb: 0.0            1229.62  1007.21  
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imu_odom_:  1691062868.413078803  0.529119   -0.141258  9.9527     -0.0479369  -0.0255663  0.0426106   0.23       0             pose: 0.51033128    0.0130968  -3.87284    0 0.00207325  -0.00141442 0.999409    -0.0342971     uwb: 0.50019062     1229.5   1008.41  
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imu_odom_:  1691062868.509178200  0.593762   -0.167594  9.97185    -0.0628506  -0.04048    0.04048     0.18       0             pose: 0.0           -0.000697238-3.87596    0 0.00581589  -0.0007009060.999382    -0.034669      uwb: 0.49999230     1230.08  1010.04  
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imu_odom_:  1691062868.552125927  0.529119   -0.0837971 9.64624    -0.0713727  0.0181095   0.0532632   0.18       -0.02         pose: 0.47978682    -0.00915367-3.87062    0 0.00868036  0.00112442  0.999355    -0.0348336     uwb: 0.50114723     1230.36  1011.06  
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imu_odom_:  1691062868.594060464  0.636858   -0.0957681 10.2927    -0.0479369  0.0245011   0.0426106   0.21       0             pose: 0.41945619    -0.0229466 -3.87374    0 0.00664686  0.00247604  0.999361    -0.0350361     uwb: 0.49881403     1230.23  1012.27  
imu_odom_:  1691062868.619171781  0.790087   -0.11971   9.92875    -0.0639159  0.0127832   0.0415453   0.23       -0.02         pose: 0.34990653    -0.0288996 -3.86999    0 0.00775926  0.00328492  0.999347    -0.0351355     uwb: 0.0            1230.23  1012.27  
imu_odom_:  1691062868.642169805  0.792481   -0.366313  9.39245    -0.0617853  0.00852212  0.0479369   0.23       -0.02         pose: 0.0           -0.0288996 -3.86999    0 0.00775926  0.00328492  0.999347    -0.0351355     uwb: 0.49998938     1229.99  1013.26  
imu_odom_:  1691062868.667142004  0.366313   -0.328006  9.84496    -0.0511327  0.0436758   0.0543285   0.19       0             pose: 0.7079792     -0.031407  -3.86841    0 0.00839569  0.00338487  0.999341    -0.0351435     uwb: 0.0            1229.99  1013.26  
imu_odom_:  1691062868.694091296  0.560243   -0.0837971 9.84496    -0.0820254  0.0245011   0.0468716   0.19       0             pose: 0.0           -0.031407  -3.86841    0 0.00839569  0.00338487  0.999341    -0.0351435     uwb: 0.50046186     1229.84  1013.25  
imu_odom_:  1691062868.711101756  0.174777   -0.258574  9.91439    -0.0500674  -0.0234358  0.0308927   0.19       -0.02         pose: 0.49034745    -0.036737  -3.87687    0 0.0106307   0.00154648  0.999317    -0.0353443     uwb: 0.0            1229.84  1013.25  
imu_odom_:  1691062868.737109020  0.739808   -0.215478  10.1347    -0.0649811  -0.072438   0.0426106   0.19       -0.02         pose: 0.0           -0.036737  -3.87687    0 0.0106307   0.00154648  0.999317    -0.0353443     uwb: 0.0            1229.84  1013.25  
imu_odom_:  1691062868.754167309  0.507571   -0.411803  9.33499    -0.0649811  0.0511327   0.0436758   0.18       0.02          pose: 0.51953573    -0.0505259 -3.88001    0 0.00729972  0.00279417  0.999339    -0.0355146     uwb: 0.50115306     1230.2   1013.68  
imu_odom_:  1691062868.779057556  0.596156   -0.28491   9.48822    -0.0553937  -0.0106526  0.0426106   0.18       0.02          pose: 0.0           -0.0505259 -3.88001    0 0.00729972  0.00279417  0.999339    -0.0355146     uwb: 0.0            1230.2   1013.68  
imu_odom_:  1691062868.803042522  0.47884    -0.476446  9.75877    -0.052198   0.00852212  0.0319579   0.23       0             pose: 0.42006575    -0.0589912 -3.87469    0 0.00956152  0.00126596  0.999322    -0.0355414     uwb: 0.50065434     1230.29  1014.49  
imu_odom_:  1691062868.830174678  0.519542   -0.177171  9.97664    -0.0607201  -0.0415453  0.0383495   0.23       0             pose: 0.0           -0.0589912 -3.87469    0 0.00956152  0.00126596  0.999322    -0.0355414     uwb: 0.0            1230.29  1014.49  
imu_odom_:  1691062868.855043925  0.380678   -0.143652  10.2161    -0.04048    -0.0628506  0.0394148   0.19       0             pose: 0.41996074    -0.0727794 -3.87783    0 0.00962353  -0.00268586 0.999316    -0.0356094     uwb: 0.49755994     1230.65  1015.12  
imu_odom_:  1691062868.872113298  0.153229   -0.407014  9.35654    -0.0617853  0.0191748   0.0436758   0.19       0             pose: 0.0           -0.0727794 -3.87783    0 0.00962353  -0.00268586 0.999316    -0.0356094     uwb: 0.0            1230.65  1015.12  
imu_odom_:  1691062868.897041167  0.497994   -0.141258  9.52174    -0.0436758  -0.0245011  0.04048     0.24       0             pose: 0.51956490    -0.0727794 -3.87783    0 0.00766757  -0.0013197  0.999338    -0.035529      uwb: 0.50062226     1231.08  1016.16  
imu_odom_:  1691062868.922025908  -0.110133  -0.373495  10.058     -0.0713727  0.0287621   0.056459    0.24       0             pose: 0.24045629    -0.0812451 -3.87251    0 0.00597035  -0.0007054790.99935     -0.0355427     uwb: 0.0            1231.08  1016.16  
imu_odom_:  1691062868.947107184  0.0622492  -0.153229  9.9934     -0.0532632  -0.02024    0.0351537   0.23       0             pose: 0.42033698    -0.0865678 -3.88097    0 0.00439434  0.00114875  0.999355    -0.0356266     uwb: 0.50048810     1231.36  1017.19  
imu_odom_:  1691062868.965038381  0.519542   0.0502782  10.3884    -0.0575243  -0.00532632 0.052198    0.23       0             pose: 0.0           -0.0865678 -3.88097    0 0.00439434  0.00114875  0.999355    -0.0356266     uwb: 0.0            1231.36  1017.19  
imu_odom_:  1691062868.989041138  0.100556   -0.0263362 9.92875    -0.0490022  0.0383495   0.0223706   0.19       0.02          pose: 0.50951757    -0.0950343 -3.87565    0 0.000425165 0.00145131  0.999359    -0.0357712     uwb: 0.49856613     1231.85  1017.03  
imu_odom_:  1691062869.16073550   0.442927   -0.390255  9.55765    -0.0490022  -0.0255663  0.0351537   0.24       -0.05         pose: 0.33922341    -0.105954  -3.8806     0 -0.00193491 0.0033158   0.999358    -0.0356225     uwb: 0.0            1231.85  1017.03  
imu_odom_:  1691062869.41059749   0.392649   -0.356736  9.64384    -0.052198   0.00213053  0.0426106   0.24       -0.05         pose: 0.0           -0.105954  -3.8806     0 -0.00193491 0.0033158   0.999358    -0.0356225     uwb: 0.50039186     1232.02  1017.86  
imu_odom_:  1691062869.66062573   -0.0143652 -0.337582  10.0556    -0.0340885  -0.0276969  0.0490022   0.2        0             pose: 0.8167353     -0.108821  -3.8788     0 -0.00157982 0.00257348  0.999361    -0.0356036     uwb: 0.0            1232.02  1017.86  
imu_odom_:  1691062869.80183369   0.270545   -0.0766145 9.65821    -0.0458064  -0.0127832  0.0383495   0.2        0             pose: 0.0           -0.108821  -3.8788     0 -0.00157982 0.00257348  0.999361    -0.0356036     uwb: 0.0            1232.02  1017.86  
imu_odom_:  1691062869.96128724   0.488417   -0.201113  9.68455    -0.0671117  0.0213053   0.0543285   0.17       0.02          pose: 0.50870680    -0.117287  -3.87348    0 -0.0012972  -0.00170519 0.999363    -0.0356299     uwb: 0.49986107     1232.31  1018.08  
imu_odom_:  1691062869.120023279  0.45011    -0.112527  9.75398    -0.0500674  0.0170442   0.0426106   0.17       0.02          pose: 0.0           -0.117287  -3.87348    0 -0.0012972  -0.00170519 0.999363    -0.0356299     uwb: 0.0            1232.31  1018.08  
imu_odom_:  1691062869.145165219  0.325611   -0.213084  10.2568    -0.076699   0.00958738  0.0617853   0.18       0.02          pose: 0.39120702    -0.122609  -3.88195    0 -0.00279253 -0.0005416520.999356    -0.035765      uwb: 0.50001563     1232.23  1017.67  
imu_odom_:  1691062869.169177018  0.258574   -0.268151  9.61751    -0.0617853  0.0127832   0.0479369   0.18       0.02          pose: 0.0           -0.122609  -3.88195    0 -0.00279253 -0.0005416520.999356    -0.035765      uwb: 0.0            1232.23  1017.67  
imu_odom_:  1691062869.193196399  0.368707   -0.395043  9.60554    -0.0703074  -0.00319579 0.0553937   0.19       0             pose: 0.41007675    -0.131077  -3.87663    0 -0.00163763 0.0010707   0.999351    -0.0359598     uwb: 0.50163430     1232.49  1019.12  
imu_odom_:  1691062869.218101228  0.395043   -0.306458  9.39006    -0.0745685  0.00213053  0.0436758   0.19       0             pose: 0.0           -0.131077  -3.87663    0 -0.00163763 0.0010707   0.999351    -0.0359598     uwb: 0.0            1232.49  1019.12  
imu_odom_:  1691062869.245033313  0.304064   -0.225055  9.73243    -0.0415453  -0.0191748  0.0383495   0.22       0             pose: 0.47942227    -0.144864  -3.87978    0 -0.00506778 -0.00212398 0.999326    -0.0362921     uwb: 0.50203677     1233.06  1019.16  
imu_odom_:  1691062869.261175823  0.464475   -0.167594  9.97424    -0.052198   0.0181095   0.0490022   0.22       0             pose: 0.0           -0.144864  -3.87978    0 -0.00506778 -0.00212398 0.999326    -0.0362921     uwb: 0.0            1233.06  1019.16  
imu_odom_:  1691062869.287306747  0.591368   -0.217872  10.1586    -0.0607201  0.00319579  0.0287621   0.25       0             pose: 0.49898611    -0.144864  -3.87978    0 -0.00243962 -0.00403808 0.999324    -0.0364568     uwb: 0.0            1233.06  1019.16  
imu_odom_:  1691062869.314346451  0.543484   -0.414197  10.398     -0.0756338  0.00639159  0.0585895   0.18       0.02          pose: 0.42988268    -0.158646  -3.88295    0 -0.00161289 -0.00132934 0.999332    -0.0364868     uwb: 0.49616003     1232.98  1020.59  
imu_odom_:  1691062869.331187754  0.146046   -0.1652    9.64863    -0.0500674  -0.0255663  0.0426106   0.23       -0.02         pose: 0.0           -0.158646  -3.88295    0 -0.00161289 -0.00132934 0.999332    -0.0364868     uwb: 0.0            1232.98  1020.59  
imu_odom_:  1691062869.356149455  0.344765   -0.246603  9.35893    -0.0553937  0.036219    0.0585895   0.23       -0.02         pose: 0.0           -0.158646  -3.88295    0 -0.00161289 -0.00132934 0.999332    -0.0364868     uwb: 0.50244507     1233.24  1021.64  
imu_odom_:  1691062869.382213007  0.117316   -0.292093  9.91199    -0.036219   -0.0213053  0.0298274   0.21       0.02          pose: 0.53337742    -0.172429  -3.88612    0 0.00107687  -0.00318029 0.999322    -0.0366555     uwb: 0.0            1233.24  1021.64  
imu_odom_:  1691062869.408287643  0.21069    -0.488417  9.73482    -0.0553937  0.00213053  0.0500674   0.19       0.02          pose: 0.59838611    -0.180907  -3.88082    0 -0.004909   -0.00241041 0.999308    -0.0367905     uwb: 0.49860697     1233.61  1022.29  
imu_odom_:  1691062869.425375681  0.435745   -0.253785  9.77553    -0.0436758  0.00319579  0.0511327   0.23       -0.02         pose: 0.9100341     -0.180907  -3.88082    0 -0.00525736 -0.00326349 0.999302    -0.0368346     uwb: 0.0            1233.61  1022.29  
imu_odom_:  1691062869.450012193  0.474052   -0.167594  10.0628    -0.0681769  0.00319579  0.0681769   0.23       -0.02         pose: 0.0           -0.180907  -3.88082    0 -0.00525736 -0.00326349 0.999302    -0.0368346     uwb: 0.49911445     1234.19  1022.14  
imu_odom_:  1691062869.467027319  0.826      -0.447716  9.80665    -0.0468716  0           0.0340885   0.18       -0.02         pose: 0.23875890    -0.186208  -3.8893     0 -0.00528786 -0.00457134 0.999292    -0.0369546     uwb: 0.0            1234.19  1022.14  
imu_odom_:  1691062869.492166342  0.665588   -0.220267  9.67497    -0.0436758  -0.00426106 0.0415453   0.18       -0.02         pose: 0.0           -0.186208  -3.8893     0 -0.00528786 -0.00457134 0.999292    -0.0369546     uwb: 0.49987564     1234.27  1022.56  
imu_odom_:  1691062869.517142334  0.596156   -0.258574  10.173     -0.0255663  -0.0330232  0.0223706   0.23       0.02          pose: 0.76977104    -0.204513  -3.88627    0 0.00143524  -0.00248472 0.999299    -0.0373271     uwb: 0.0            1234.27  1022.56  
imu_odom_:  1691062869.541159965  0.464475   -0.138864  10.4507    -0.0681769  -0.0319579  0.0585895   0.23       0.02          pose: 0.0           -0.204513  -3.88627    0 0.00143524  -0.00248472 0.999299    -0.0373271     uwb: 0.49956650     1234.87  1023.03  
imu_odom_:  1691062869.565035855  0.390255   -0.196325  10.4531    -0.0617853  -0.0447411  0.0415453   0.18       0.02          pose: 0.6882929     -0.208466  -3.88719    0 0.00221763  -0.00232351 0.9993      -0.0372665     uwb: 0.0            1234.87  1023.03  
imu_odom_:  1691062869.589157897  0.766145   -0.0861913 10.0987    -0.0607201  -0.0681769  0.0458064   0.25       0.02          pose: 0.49007039    -0.208466  -3.88719    0 0.0034749   0.000354388 0.999297    -0.0373327     uwb: 0.50024021     1234.81  1023.85  
imu_odom_:  1691062869.604154808  0.579397   -0.155623  9.8258     -0.0468716  -0.00639159 0.0330232   0.25       0.02          pose: 0.0           -0.208466  -3.88719    0 0.0034749   0.000354388 0.999297    -0.0373327     uwb: 0.0            1234.81  1023.85  
imu_odom_:  1691062869.628125775  0.447716   -0.160412  10.0126    -0.0681769  -0.0117179  0.0639159   0.25       0.02          pose: 0.0           -0.208466  -3.88719    0 0.0034749   0.000354388 0.999297    -0.0373327     uwb: 0.0            1234.81  1023.85  
imu_odom_:  1691062869.652991523  0.497994   -0.0790087 10.0604    -0.0500674  -0.0213053  0.0415453   0.18       0             pose: 0.62983177    -0.222243  -3.89038    0 0.00583295  0.00222403  0.999279    -0.0374518     uwb: 0.49984064     1235.15  1024.92  
imu_odom_:  1691062869.674998231  0.153229   -0.196325  9.79468    -0.0575243  -0.0138484  0.0628506   0.18       0             pose: 0.0           -0.222243  -3.89038    0 0.00583295  0.00222403  0.999279    -0.0374518     uwb: 0.0            1235.15  1024.92  
imu_odom_:  1691062869.691127909  0.433351   -0.0885855 10.1394    -0.0500674  -0.036219   0.0394148   0.18       0             pose: 0.48039345    -0.230729  -3.88509    0 0.0040198   0.00477245  0.999268    -0.0377359     uwb: 0.50000397     1235.98  1026.47  
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imu_odom_:  1691062870.144134017  0.507571   -0.0670376 10.3118    -0.036219   -0.00745685 0.0383495   0.18       0             pose: 0.0           -0.308074  -3.89593    0 -0.0005260930.00246973  0.999241    -0.0388748     uwb: 0.50122599     1237.13  1032.69  
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imu_odom_:  1691062870.220979589  0.505177   -0.0694318 9.90242    -0.0671117  -0.0181095  0.0553937   0.17       0.02          pose: 0.50011481    -0.330342  -3.8939     0 -0.00108522 0.000178142 0.999227    -0.0393082     uwb: 0.0            1237.31  1033.98  
imu_odom_:  1691062870.238098543  0.368707   -0.155623  9.76595    -0.0607201  -0.0213053  0.052198    0.17       0.02          pose: 0.0           -0.330342  -3.8939     0 -0.00108522 0.000178142 0.999227    -0.0393082     uwb: 0.0            1237.31  1033.98  
imu_odom_:  1691062870.262985582  0.732626   -0.411803  9.88087    -0.072438   -0.00213053 0.0490022   0.22       0             pose: 0.50859889    -0.344105  -3.89716    0 0.00283302  -0.00153342 0.999203    -0.0397772     uwb: 0.50089643     1237.57  1035.29  
imu_odom_:  1691062870.287104416  0.385466   -0.344765  9.44752    -0.0692422  -0.015979   0.0490022   0.24       0             pose: 0.24975701    -0.344105  -3.89716    0 0.00281777  0.000433902 0.999197    -0.0399567     uwb: 0.0            1237.57  1035.29  
imu_odom_:  1691062870.301102719  0.533907   -0.181959  10.1921    -0.0713727  0.0170442   0.052198    0.24       0             pose: 0.35008153    -0.350114  -3.89345    0 0.00406143  -0.0007150180.999186    -0.0401399     uwb: 0.49781077     1237.7   1036.16  
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imu_odom_:  1691062870.350971291  0.852336   0.00718261 10.1035    -0.0415453  -0.0276969  0.0330232   0.18       0             pose: 0.7024671     -0.352618  -3.89191    0 0.00368255  -0.00132376 0.999185    -0.0401754     uwb: 0.50058728     1237.99  1037.27  
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imu_odom_:  1691062870.392988366  0.624887   -0.459687  10.0533    -0.0543285  0.0234358   0.0458064   0.2        0             pose: 0.0           -0.357862  -3.90042    0 0.00385252  -0.00107935 0.999178    -0.0403359     uwb: 0.50009731     1238.22  1037.94  
imu_odom_:  1691062870.408963470  0.158017   -0.0335188 10.1586    -0.0394148  0.0266316   0.0458064   0.2        0             pose: 0.0           -0.357862  -3.90042    0 0.00385252  -0.00107935 0.999178    -0.0403359     uwb: 0.0            1238.22  1037.94  
imu_odom_:  1691062870.433228129  0.426168   -0.399832  9.63187    -0.0681769  0.0266316   0.0490022   0.27       0             pose: 0.49925444    -0.366378  -3.89518    0 0.00783074  0.00207202  0.999155    -0.0402922     uwb: 0.0            1238.22  1037.94  
imu_odom_:  1691062870.458949577  0.464475   -0.229843  10.0437    -0.0500674  0.0127832   0.0511327   0.25       0.02          pose: 0.49937693    -0.380136  -3.89846    0 0.00782858  0.00110011  0.999147    -0.0405344     uwb: 0.49925152     1238.5   1038.84  
imu_odom_:  1691062870.484058270  0.368707   -0.385466  10.0149    -0.0436758  0.0266316   0.0372843   0.19       0             pose: 0.0           -0.380136  -3.89846    0 0.00737222  0.000444434 0.999149    -0.0405716     uwb: 0.0            1238.5   1038.84  
imu_odom_:  1691062870.508952892  0.397437   -0.337582  9.94791    -0.072438   -0.00745685 0.0671117   0.22       0.05          pose: 0.51138415    -0.393891  -3.90174    0 0.00293785  -0.0013379  0.999162    -0.0408061     uwb: 0.49994274     1238.39  1040.11  
imu_odom_:  1691062870.534096583  0.426168   -0.366313  9.94312    -0.0394148  -0.00532632 0.0287621   0.22       0.05          pose: 0.0           -0.393891  -3.90174    0 0.00293785  -0.0013379  0.999162    -0.0408061     uwb: 0.0            1238.39  1040.11  
imu_odom_:  1691062870.558004262  0.632069   -0.296881  9.60554    -0.0447411  -0.0351537  0.0468716   0.21       0             pose: 0.66992484    -0.400033  -3.89797    0 0.00145326  -0.00732871 0.999131    -0.0410029     uwb: 0.50061061     1238.7   1040.8   
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imu_odom_:  1691062870.599100891  0.277727   -0.440533  9.43315    -0.0607201  0.0351537   0.0692422   0.18       0             pose: 0.7014754     -0.402414  -3.89651    0 0.00222794  -0.00707051 0.999131    -0.0410241     uwb: 0.49933319     1238.55  1042.06  
imu_odom_:  1691062870.626012562  0.213084   -0.270545  9.61751    -0.0511327  0.0127832   0.0436758   0.18       0             pose: 0.0           -0.402414  -3.89651    0 0.00222794  -0.00707051 0.999131    -0.0410241     uwb: 0.0            1238.55  1042.06  
imu_odom_:  1691062870.642208444  0.742203   -0.203507  9.74679    -0.0649811  -0.0170442  0.0500674   0.2        0             pose: 0.41980911    -0.407643  -3.90504    0 0.00154897  -0.00748851 0.999124    -0.0411391     uwb: 0.50245383     1238.97  1042.57  
imu_odom_:  1691062870.668066968  0.423774   -0.296881  9.75158    -0.0383495  -0.0117179  0.0351537   0.2        0             pose: 0.0           -0.407643  -3.90504    0 0.00154897  -0.00748851 0.999124    -0.0411391     uwb: 0.0            1238.97  1042.57  
imu_odom_:  1691062870.690952416  0.447716   -0.0167594 10.3645    -0.0468716  -0.00852212 0.0713727   0.19       0             pose: 0.51011547    -0.416168  -3.89981    0 -0.00194925 -0.00683252 0.999113    -0.0414974     uwb: 0.49720998     1239.1   1042.81  
imu_odom_:  1691062870.707959959  0.684742   -0.402226  9.47386    -0.0585895  0.00213053  0.0415453   0.19       0             pose: 0.0           -0.416168  -3.89981    0 -0.00194925 -0.00683252 0.999113    -0.0414974     uwb: 0.0            1239.1   1042.81  
imu_odom_:  1691062870.734069593  0.246603   -0.277727  9.90721    -0.0479369  0.00958738  0.0543285   0.19       0             pose: 0.40966262    -0.429918  -3.90312    0 0.000853825 -0.00379746 0.999128    -0.0415802     uwb: 0.0            1239.1   1042.81  
imu_odom_:  1691062870.758978214  0.773327   -0.373495  10.1969    -0.0617853  -0.0639159  0.0383495   0.19       0             pose: 0.0           -0.429918  -3.90312    0 0.000853825 -0.00379746 0.999128    -0.0415802     uwb: 0.49996315     1238.88  1043.84  
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imu_odom_:  1691062870.796954776  0.957681   -0.42138   10.1825    -0.0553937  0.00532632  0.0543285   0.2        0             pose: 0.0           -0.429918  -3.90312    0 0.00159297  -0.00295494 0.999116    -0.0419073     uwb: 0.50029854     1239.49  1043.52  
imu_odom_:  1691062870.822083593  0.0885855  -0.0167594 9.63427    -0.0671117  -0.052198   0.0543285   0.23       -0.02         pose: 0.48923045    -0.443665  -3.90643    0 0.00353404  -0.00344426 0.999103    -0.0420602     uwb: 0.0            1239.49  1043.52  
imu_odom_:  1691062870.846941758  -0.229843  0.0550666  9.25119    -0.0660464  -0.187487   0.0308927   0.23       -0.02         pose: 0.0           -0.443665  -3.90643    0 0.00353404  -0.00344426 0.999103    -0.0420602     uwb: 0.50105976     1239.82  1044.23  
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imu_odom_:  1691062871.485947086  0.603339   -0.361524  9.20331    -0.052198   -0.0117179  0.0287621   0.2        0.02          pose: 0.39942572    -0.57516   -3.91667    0 0.00912085  0.00138487  0.998959    -0.0446777     uwb: 0.0            1240.11  1054.99  
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imu_odom_:  1691062871.605096427  0.751779   -0.0694318 9.96946    -0.0340885  -0.036219   0.0308927   0.22       0             pose: 0.49933902    -0.592932  -3.92106    0 0.00796348  -0.00389802 0.998956    -0.0448199     uwb: 0.49864782     1240.73  1058.23  
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imu_odom_:  1691062871.645011001  0.0502782  -0.402226  9.14585    -0.0266316  -0.0106526  0.0308927   0.19       0             pose: 0.43030267    -0.601496  -3.9159     0 0.00687729  -0.00201205 0.998951    -0.0452244     uwb: 0.0            1240.73  1058.23  
imu_odom_:  1691062871.668011359  0.0646434  -0.241814  9.56244    -0.0490022  -0.00426106 0.0628506   0.19       0             pose: 0.0           -0.601496  -3.9159     0 0.00687729  -0.00201205 0.998951    -0.0452244     uwb: 0.0            1240.73  1058.23  
imu_odom_:  1691062871.690889808  0.1652     -0.246603  9.67736    -0.0490022  0           0.04048     0.19       0             pose: 0.47982475    -0.615221  -3.91931    0 0.00870762  -0.00263345 0.99894     -0.0451256     uwb: 0.99891429     1241.55  1058.43  
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imu_odom_:  1691062871.729927392  0.172383   -0.486023  9.64145    -0.052198   0.0149137   0.0276969   0.19       0             pose: 0.39982529    -0.615221  -3.91931    0 0.00475939  -0.00262634 0.998956    -0.0453684     uwb: 0.0            1241.55  1058.43  
imu_odom_:  1691062871.745931370  0.28491    0.011971   9.87129    -0.0500674  0.0213053   0.0447411   0.19       0             pose: 0.0           -0.615221  -3.91931    0 0.00475939  -0.00262634 0.998956    -0.0453684     uwb: 0.50049396     1241.59  1059.78  
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imu_odom_:  1691062871.787889241  0.493206   -0.0454898 10.4579    -0.04048    0.0117179   0.0426106   0.19       0             pose: 0.48038180    -0.628944  -3.92272    0 0.00047666  -0.00462134 0.998956    -0.0454413     uwb: 0.0            1241.59  1059.78  
imu_odom_:  1691062871.812887982  0.517148   -0.222661  10.4651    -0.0575243  -0.0138484  0.0426106   0.19       0             pose: 0.0           -0.628944  -3.92272    0 0.00047666  -0.00462134 0.998956    -0.0454413     uwb: 0.49928362     1242.09  1060.58  
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imu_odom_:  1691062871.853907033  0.387861   -0.184354  10.4315    -0.0553937  0.0213053   0.0543285   0.19       0             pose: 0.0           -0.637514  -3.91757    0 0.000236828 -0.00406497 0.99895     -0.0456316     uwb: 0.49991066     1242.09  1062.15  
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imu_odom_:  1691062871.942868603  0.852336   -0.28491   10.0868    -0.0703074  -0.0500674  0.0458064   0.19       -0.02         pose: 0.0           -0.660338  -3.92327    0 0.00133175  -4.34988e-050.998936    -0.0460945     uwb: 0.50059603     1242.35  1065.16  
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imu_odom_:  1691062871.991953806  0.462081   -0.248997  9.8689     -0.0660464  0.0245011   0.0383495   0.23       -0.02         pose: 0.49063912    -0.664956  -3.92442    0 -0.00147899 -0.00242897 0.998929    -0.0461878     uwb: 0.49829201     1242.75  1066.18  
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imu_odom_:  1691062872.21993418   0.268151   -0.208296  9.9934     -0.0585895  0.0223706   0.0383495   0.23       -0.02         pose: 0.0           -0.664956  -3.92442    0 -0.00147899 -0.00242897 0.998929    -0.0461878     uwb: 0.0            1242.75  1066.18  
imu_odom_:  1691062872.47023366   0.203507   -0.167594  10.0604    -0.0447411  -0.0372843  0.0372843   0.19       0             pose: 0.38923258    -0.678674  -3.92786    0 0.0027318   -0.00174949 0.998926    -0.0462213     uwb: 0.50189097     1243.05  1067.86  
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imu_odom_:  1691062872.96932188   0.311246   -0.0263362 9.93354    -0.0383495  -0.0330232  0.0426106   0.22       0             pose: 0.55124098    -0.687252  -3.92272    0 5.08008e-05 -0.0009768630.998936    -0.0461163     uwb: 0.49834451     1243.75  1068.51  
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imu_odom_:  1691062872.146847426  0.672771   -0.371101  9.33978    -0.0607201  -0.0308927  0.0383495   0.17       0             pose: 0.0           -0.700971  -3.92615    0 -0.00341512 -0.0003984410.998928    -0.0461609     uwb: 0.49970943     1243.64  1070.55  
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imu_odom_:  1691062872.184853154  0.258574   -0.0526724 9.97664    -0.0490022  0.02024     0.0298274   0.18       -0.02         pose: 0.75048431    -0.709548  -3.92101    0 0.00143334  0.000693356 0.998927    -0.0462833     uwb: 0.0            1243.64  1070.55  
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imu_odom_:  1691062872.933862292  1.23062    0.0526724  9.78271    -0.0543285  0.0841559   0.00319579  0.14       -0.02         pose: 0.32869779    -0.85013   -3.94195    0 0.00829673  0.000231292 0.998751    -0.0492643     uwb: 0.0            1246.98  1083.84  
imu_odom_:  1691062872.949805023  1.10373    -0.0957681 10.2232    -0.0777643  0.00426106  0.0500674   0.11       -0.02         pose: 0.42042159    -0.85013   -3.94195    0 0.0114961   0.00121725  0.998742    -0.0487861     uwb: 0.100320447    1247.33  1084.92  
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imu_odom_:  1691062872.983851900  0.696713   -0.246603  10.0533    -0.04048    -0.0213053  0.015979    0.11       -0.02         pose: 0.0           -0.85013   -3.94195    0 0.0121455   0.00132476  0.998733    -0.0488202     uwb: 0.0            1247.33  1084.92  
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imu_odom_:  1691062873.48853879   0.758962   -0.356736  9.75877    -0.052198   -0.0138484  0.0490022   0.08       0             pose: 0.24020258    -0.858734  -3.93685    0 0.0156973   0.0012579   0.998699    -0.0485094     uwb: 0.99903681     1247.49  1084.97  
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imu_odom_:  1691062873.98932733   0.737414   -0.342371  9.85453    -0.0596548  -0.00426106 0.0351537   0.08       0             pose: 0.40952556    -0.868137  -3.9429     0 0.0183945   0.00137451  0.99863     -0.0489667     uwb: 0.49995151     1247.67  1086.97  
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imu_odom_:  1691062873.132932364  0.708684   -0.205901  10.003     -0.0511327  -0.00958738 0.00958738  0.08       0             pose: 0.0           -0.868137  -3.9429     0 0.0183945   0.00137451  0.99863     -0.0489667     uwb: 0.0            1247.67  1086.97  
imu_odom_:  1691062873.148940717  0.656011   -0.174777  9.67018    -0.056459   -0.00532632 0.0351537   0.05       0.02          pose: 0.7989740     -0.87244   -3.94036    0 0.0182905   0.000564582 0.998633    -0.0489633     uwb: 0.49937404     1247.21  1088.75  
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imu_odom_:  1691062873.182925182  0.766145   -0.237026  9.99819    -0.0532632  -0.00426106 0.04048     0.05       0.02          pose: 0.67148519    -0.87244   -3.94036    0 0.0145895   0.000469532 0.99872     -0.0484285     uwb: 0.0            1247.21  1088.75  
imu_odom_:  1691062873.198930035  0.605733   -0.234632  9.83299    -0.0543285  0.015979    0.0756338   0.05       0.02          pose: 0.0           -0.87244   -3.94036    0 0.0145895   0.000469532 0.99872     -0.0484285     uwb: 0.50061064     1246.69  1090.27  
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imu_odom_:  1691062873.338988028  0.124498   -0.162806  9.91918    -0.0671117  -0.0426106  -0.299339   0.07       -0.26         pose: 0.74029991    -0.877512  -3.94898    0 0.00813464  -0.00135635 0.998774    -0.0488195     uwb: 0.49910572     1246.4   1092.61  
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imu_odom_:  1691062873.688894004  0.507571   -0.129287  9.84256    -0.0553937  -0.0170442  -0.138484   0.15       -0.17         pose: 0.29891747    -0.922113  -3.94591    0 0.000682221 -0.00109878 0.999937    0.0111659      uwb: 0.50046481     1248.28  1095.05  
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imu_odom_:  1691062873.736910896  0.732626   -0.201113  9.3733     -0.0639159  -0.0394148  -0.0862864  0.15       -0.14         pose: 0.0           -0.926695  -3.94321    0 0.000190262 0.00115698  0.999894    0.014526       uwb: 0.0            1248.28  1095.05  
imu_odom_:  1691062873.752758549  1.04627    -0.205901  10.1586    -0.0458064  0.0170442   -0.0500674  0.12       -0.17         pose: 0.7021463     -0.930714  -3.94081    0 -0.0001323110.000483436 0.999885    0.0151247      uwb: 0.49996026     1248.09  1095.48  
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imu_odom_:  1691062873.786781220  1.4437     -0.383072  9.94791    -0.0660464  -0.00639159 -0.0245011  0.12       -0.17         pose: 0.0           -0.930714  -3.94081    0 -0.0001323110.000483436 0.999885    0.0151247      uwb: 0.0            1248.09  1095.48  
imu_odom_:  1691062873.803927006  1.37188    -0.105345  9.70131    -0.0511327  0.0447411   -0.0798948  0.15       -0.17         pose: 0.48885133    -0.935792  -3.94942    0 0.00373729  -0.0007379250.999825    0.0183084      uwb: 0.50002150     1247.42  1097.21  
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imu_odom_:  1691062873.836754789  0.794875   0.0670376  10.1658    -0.0553937  -0.00213053 -0.0980043  0.09       -0.11         pose: 0.67108563    -0.944425  -3.94438    0 0.00938765  -0.0005365030.999732    0.0211416      uwb: 0.0            1247.42  1097.21  
imu_odom_:  1691062873.852889135  0.881066   -0.483629  9.94073    -0.0596548  -0.0106526  -0.0884169  0.09       -0.11         pose: 0.0           -0.944425  -3.94438    0 0.00938765  -0.0005365030.999732    0.0211416      uwb: 0.50000400     1246.77  1098.95  
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imu_odom_:  1691062873.885883158  0.885855   -0.158017  10.0317    -0.0575243  -0.0191748  -0.0756338  0.07       -0.08         pose: 0.32887571    -0.944425  -3.94438    0 0.0112858   0.000833414 0.999662    0.0233974      uwb: 0.0            1246.77  1098.95  
imu_odom_:  1691062873.902891577  0.905008   -0.217872  9.90481    -0.0649811  -0.00852212 -0.0490022  0.09       -0.08         pose: 0.41086424    -0.953057  -3.93933    0 0.0148375   -0.0004634440.999553    0.0259463      uwb: 0.49990193     1247.39  1098.69  
imu_odom_:  1691062873.918898471  0.701501   -0.318429  10.0604    -0.0575243  -0.00213053 -0.0372843  0.09       -0.08         pose: 0.0           -0.953057  -3.93933    0 0.0148375   -0.0004634440.999553    0.0259463      uwb: 0.0            1247.39  1098.69  
imu_odom_:  1691062873.945759395  0.636858   -0.0454898 10.1347    -0.0532632  -0.015979   -0.0500674  0.08       -0.08         pose: 0.7012422     -0.953057  -3.93933    0 0.0155528   -0.0005168220.999534    0.0262569      uwb: 0.50026358     1247.85  1099.38  
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imu_odom_:  1691062873.987770056  -0.976834  -0.0574608 10.1586    -0.0543285  0.0585895   -0.0394148  0.09       -0.05         pose: 0.77889973    -0.953057  -3.93933    0 0.0116488   0.000229557 0.999487    0.0298382      uwb: 0.0            1247.85  1099.38  
imu_odom_:  1691062874.13884358   -0.545878  -0.52433   9.73722    -0.0617853  -0.0479369  0.00213053  0.09       -0.05         pose: 0.0           -0.953057  -3.93933    0 0.0116488   0.000229557 0.999487    0.0298382      uwb: 0.50111519     1248.09  1099.23  
imu_odom_:  1691062874.40799821   0.938527   -0.0885855 9.60793    -0.0617853  -0.0447411  0.0330232   0.08       0             pose: 0.25139900    -0.958136  -3.94794    0 0.00881656  0.000234337 0.999491    0.0306634      uwb: 0.50031607     1248.67  1098.46  
imu_odom_:  1691062874.56757427   0.488417   -0.335188  9.51216    -0.0639159  0.0436758   0.0117179   0.08       0             pose: 0.0           -0.958136  -3.94794    0 0.00881656  0.000234337 0.999491    0.0306634      uwb: 0.0            1248.67  1098.46  
imu_odom_:  1691062874.83747261   -0.0023942 -0.143652  9.90721    -0.0671117  0.0127832   -0.00106526 0.11       -0.02         pose: 0.52911356    -0.966745  -3.94286    0 0.00986411  -0.0002535930.999465    0.0311978      uwb: 0.0            1248.67  1098.46  
imu_odom_:  1691062874.108750087  0.21069    -0.342371  10.2544    -0.0777643  -0.0436758  0.0106526   0.12       -0.02         pose: 0.34910452    -0.966745  -3.94286    0 0.00624716  -0.0005542470.999473    0.0318549      uwb: 0.50269594     1248.43  1098.61  
imu_odom_:  1691062874.135767628  0.718261   -0.311246  9.98382    -0.0639159  -0.02024    0.0181095   0.12       -0.02         pose: 0.0           -0.966745  -3.94286    0 0.00624716  -0.0005542470.999473    0.0318549      uwb: 0.0            1248.43  1098.61  
imu_odom_:  1691062874.161900595  -0.0430956 -0.071826  10.0317    -0.0468716  0.0234358   0.00639159  0.13       0             pose: 0.8068486     -0.966745  -3.94286    0 0.00563858  -0.0009100380.999473    0.0319701      uwb: 0.49696211     1249.08  1097.61  
imu_odom_:  1691062874.188027730  0.371101   -0.134075  10.2137    -0.0468716  -0.0681769  0.0138484   0.13       0             pose: 0.0           -0.966745  -3.94286    0 0.00563858  -0.0009100380.999473    0.0319701      uwb: 0.0            1249.08  1097.61  
imu_odom_:  1691062874.210754522  0.502782   -0.191536  10.1299    -0.0383495  0.0319579   0.0191748   0.14       -0.02         pose: 0.51969619    -0.975341  -3.93775    0 0.00627756  -0.00231032 0.999445    0.0326351      uwb: 0.49974153     1249.51  1097.03  
imu_odom_:  1691062874.227002319  0.308852   -0.371101  9.72764    -0.0543285  -0.00532632 0.0223706   0.14       -0.02         pose: 0.0           -0.975341  -3.93775    0 0.00627756  -0.00231032 0.999445    0.0326351      uwb: 0.0            1249.51  1097.03  
imu_odom_:  1691062874.243893496  0.189142   -0.0861913 10.0533    -0.0490022  0.00958738  0.0117179   0.14       0             pose: 0.51045382    -0.989054  -3.9412     0 0.00380587  0.000616137 0.999436    0.0333449      uwb: 0.50129894     1249.66  1098.34  
imu_odom_:  1691062874.259717526  0.40462    -0.23942   10.1849    -0.0575243  -0.036219   0.02024     0.14       0             pose: 0.0           -0.989054  -3.9412     0 0.00380587  0.000616137 0.999436    0.0333449      uwb: 0.0            1249.66  1098.34  
imu_odom_:  1691062874.285888700  0.220267   -0.136469  9.62708    -0.0383495  -0.0436758  0.0234358   0.15       -0.02         pose: 0.64886778    -0.993281  -3.93867    0 0.00132785  -0.0001537780.99942     0.0340341      uwb: 0.0            1249.66  1098.34  
imu_odom_:  1691062874.302721254  0.349553   -0.402226  9.50737    -0.0671117  -0.0191748  0.0223706   0.15       -0.02         pose: 0.9238292     -0.99763   -3.93606    0 0.000661735 0.000280209 0.999418    0.0341089      uwb: 0.49904448     1249.92  1098.7   
imu_odom_:  1691062874.327782701  -0.0622492 -0.138864  9.991      -0.0468716  0.0415453   0.0266316   0.15       0             pose: 0.0           -0.99763   -3.93606    0 0.000661735 0.000280209 0.999418    0.0341089      uwb: 0.0            1249.92  1098.7   
imu_odom_:  1691062874.354711289  0.814029   -0.0383072 10.1825    -0.0575243  -0.0308927  0.0255663   0.15       0             pose: 0.33765436    -0.99763   -3.93606    0 -0.000830863-0.0006660910.999408    0.0343921      uwb: 0.49964820     1249.81  1098.91  
imu_odom_:  1691062874.370708559  0.332794   -0.124498  9.98861    -0.0543285  0.0266316   0.0213053   0.16       -0.02         pose: 0.0           -0.99763   -3.93606    0 -0.000830863-0.0006660910.999408    0.0343921      uwb: 0.0            1249.81  1098.91  
imu_odom_:  1691062874.387709396  0.148441   -0.280122  9.54568    -0.0585895  -0.00532632 0.036219    0.16       -0.02         pose: 0.51990035    -1.00889   -3.94096    0 -0.0009247560.000827892 0.999396    0.0347378      uwb: 0.0            1249.81  1098.91  
imu_odom_:  1691062874.403759455  0.64404    -0.263362  10.1131    -0.0681769  -0.0532632  0.0266316   0.16       -0.02         pose: 0.0           -1.00889   -3.94096    0 -0.0009247560.000827892 0.999396    0.0347378      uwb: 0.49864493     1249.69  1099.87  
imu_odom_:  1691062874.419769266  0.146046   -0.059855  10.2663    -0.0532632  -0.0127832  0.0245011   0.16       0             pose: 0.41073591    -1.01137   -3.9395     0 -0.00260511 0.00119338  0.999384    0.0349683      uwb: 0.0            1249.69  1099.87  
imu_odom_:  1691062874.445708578  0.758962   -0.521936  9.84975    -0.0617853  -0.0340885  0.0351537   0.16       0             pose: 0.0           -1.01137   -3.9395     0 -0.00260511 0.00119338  0.999384    0.0349683      uwb: 0.50064564     1249.2   1100.94  
imu_odom_:  1691062874.461713723  0.466869   -0.126893  9.97664    -0.036219   -0.0330232  0.0149137   0.21       -0.05         pose: 0.49923698    -1.02362   -3.9406     0 -0.0005788644.50115e-06 0.99938     0.0351995      uwb: 0.0            1249.2   1100.94  
imu_odom_:  1691062874.478707851  0.272939   -0.136469  10.0102    -0.0234358  -0.00639159 0.0149137   0.21       -0.05         pose: 0.7066669     -1.02506   -3.94304    0 2.91657e-06 0.000589823 0.999377    0.0352864      uwb: 0.0            1249.2   1100.94  
imu_odom_:  1691062874.505748432  0.59855    -0.567426  9.91199    -0.0575243  -0.0191748  0.0319579   0.22       -0.02         pose: 0.25932604    -1.03367   -3.93796    0 -0.0008130950.00222822  0.999363    0.035608       uwb: 0.49950238     1249.62  1101.61  
imu_odom_:  1691062874.521726162  0.232238   -0.117316  9.81623    -0.0383495  0.00745685  0.0138484   0.17       0             pose: 0.0           -1.03367   -3.93796    0 -0.0008130950.00222822  0.999363    0.035608       uwb: 0.0            1249.62  1101.61  
imu_odom_:  1691062874.548705497  0.102951   -0.225055  9.63666    -0.0575243  -0.056459   0.0500674   0.23       -0.02         pose: 0.0           -1.03367   -3.93796    0 -0.0008130950.00222822  0.999363    0.035608       uwb: 0.49972986     1249.96  1102.26  
imu_odom_:  1691062874.573773943  0.126893   0.0287304  9.6199     -0.0340885  -0.0213053  0.0266316   0.19       -0.02         pose: 0.43018311    -1.03367   -3.93796    0 -0.0008736060.000730297 0.999354    0.0359163      uwb: 0.0            1249.96  1102.26  
imu_odom_:  1691062874.600890645  0.169988   -0.208296  9.68694    -0.0873517  -0.0255663  0.0490022   0.19       -0.02         pose: 0.35053653    -1.04228   -3.93287    0 -0.00332981 0.0012386   0.999352    0.0358284      uwb: 0.50076814     1250.22  1102.63  
imu_odom_:  1691062874.616714675  0.517148   -0.0143652 10.2017    -0.0468716  -0.0426106  0.0255663   0.17       -0.02         pose: 0.44110830    -1.05211   -3.93539    0 -0.00666353 0.00160433  0.999335    0.0358163      uwb: 0.0            1250.22  1102.63  
imu_odom_:  1691062874.632756860  0.624887   -0.0526724 9.97424    -0.0703074  -0.0575243  0.052198    0.17       -0.02         pose: 0.7882704     -1.05598   -3.93638    0 -0.00584716 0.00205753  0.999337    0.0358682      uwb: 0.0            1250.22  1102.63  
imu_odom_:  1691062874.659761859  0.658405   -0.301669  9.44273    -0.0681769  0.0255663   0.0287621   0.17       -0.02         pose: 0.23983511    -1.05598   -3.93638    0 -0.00307113 0.00286861  0.99935     0.0358136      uwb: 0.50047065     1249.8   1103.47  
imu_odom_:  1691062874.676717199  0.198719   -0.141258  9.59835    -0.0490022  0.0298274   0.0383495   0.17       -0.02         pose: 0.0           -1.05598   -3.93638    0 -0.00307113 0.00286861  0.99935     0.0358136      uwb: 0.0            1249.8   1103.47  
imu_odom_:  1691062874.701761730  0.457293   -0.21069   9.40203    -0.0639159  0           0.0372843   0.17       0             pose: 0.0           -1.05598   -3.93638    0 -0.00307113 0.00286861  0.99935     0.0358136      uwb: 0.50037441     1249.42  1105.11  
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imu_odom_:  1691062874.733793018  0.407014   -0.251391  10.0413    -0.0788296  -0.0117179  0.0575243   0.17       0             pose: 0.0           -1.06458   -3.93129    0 -0.00296505 0.00205996  0.999346    0.0359667      uwb: 0.0            1249.42  1105.11  
imu_odom_:  1691062874.750743983  0.205901   -0.19393   9.88326    -0.0458064  0.0234358   0.0351537   0.21       0             pose: 0.57075819    -1.07828   -3.93481    0 -0.00056862 0.00104072  0.999352    0.035985       uwb: 0.49841452     1249.87  1105.81  
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imu_odom_:  1691062874.802832887  0.3304     -0.447716  9.42837    -0.0458064  -0.00532632 0.0223706   0.22       0             pose: 0.42099323    -1.07828   -3.93481    0 -0.0026387  0.00374372  0.999338    0.0360989      uwb: 0.49999527     1250.4   1105.77  
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imu_odom_:  1691062874.891702300  0.574608   -0.502782  9.97185    -0.0681769  -0.0415453  0.036219    0.18       0             pose: 0.48053932    -1.10059   -3.93321    0 -0.00122095 0.000942398 0.99933     0.0365668      uwb: 0.49992527     1251.09  1106.32  
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imu_odom_:  1691062875.169830994  0.600945   -0.244209  9.65342    -0.0617853  -0.00319579 0.036219    0.18       -0.02         pose: 0.0           -1.13659   -3.9351     0 0.00669379  -0.00262476 0.999312    0.0363777      uwb: 0.0            1250.83  1110.89  
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imu_odom_:  1691062875.202687359  0.840365   -0.0670376 10.0317    -0.076699   -0.0138484  0.0575243   0.22       0             pose: 0.0           -1.1452    -3.93       0 0.00717617  -0.00132647 0.999313    0.0363456      uwb: 0.49879951     1250.85  1111.95  
imu_odom_:  1691062875.227819969  0.739808   -0.1652    10.0485    -0.0383495  -0.015979   0.036219    0.18       0             pose: 0.68634476    -1.16183   -3.92696    0 0.0107226   -0.00157545 0.999295    0.0359513      uwb: 0.0            1250.85  1111.95  
imu_odom_:  1691062875.244723979  0.258574   -0.354342  9.2895     -0.0852212  -0.0223706  0.0596548   0.18       0             pose: 0.7034005     -1.1675    -3.92841    0 0.0113838   -0.00117859 0.999287    0.0359668      uwb: 0.50182391     1251.15  1112.08  
imu_odom_:  1691062875.260804369  0.691924   -0.414197  10.4315    -0.0553937  -0.00319579 0.0500674   0.18       0             pose: 0.0           -1.1675    -3.92841    0 0.0113838   -0.00117859 0.999287    0.0359668      uwb: 0.0            1251.15  1112.08  
imu_odom_:  1691062875.286694101  0.646434   -0.129287  10.2041    -0.0777643  0.0127832   0.0639159   0.24       0             pose: 0.42011537    -1.1675    -3.92841    0 0.0117722   -0.00164394 0.999289    0.035789       uwb: 0.0            1251.15  1112.08  
imu_odom_:  1691062875.312669287  0.481235   -0.335188  9.84256    -0.0649811  0.0426106   0.0415453   0.18       0             pose: 0.0           -1.1675    -3.92841    0 0.0117722   -0.00164394 0.999289    0.035789       uwb: 0.49941781     1250.91  1113.03  
imu_odom_:  1691062875.328661308  0.387861   -0.349553  9.8258     -0.0458064  0.00852212  0.04048     0.18       0             pose: 0.43014812    -1.17611   -3.92333    0 0.0109976   -0.0007488930.999311    0.0354386      uwb: 0.0            1250.91  1113.03  
imu_odom_:  1691062875.344714284  0.514753   -0.373495  9.93833    -0.0585895  -0.0308927  0.0479369   0.18       0.02          pose: 0.0           -1.17611   -3.92333    0 0.0109976   -0.0007488930.999311    0.0354386      uwb: 0.49848744     1251.02  1114.4   
imu_odom_:  1691062875.361690330  0.474052   -0.225055  10.1131    -0.0394148  0.0245011   0.0372843   0.18       0.02          pose: 0.40919601    -1.1898    -3.92685    0 0.00745333  -0.00320005 0.999342    0.0353579      uwb: 0.0            1251.02  1114.4   
imu_odom_:  1691062875.386693739  0.416591   -0.0814029 9.88566    -0.052198   -0.00532632 0.0447411   0.18       0             pose: 0.0           -1.1898    -3.92685    0 0.00745333  -0.00320005 0.999342    0.0353579      uwb: 0.0            1251.02  1114.4   
imu_odom_:  1691062875.412811833  0.806846   -0.184354  9.89045    -0.0415453  -0.00213053 0.0340885   0.18       0             pose: 0.33175138    -1.1898    -3.92685    0 0.00543949  -0.00212087 0.999359    0.0353202      uwb: 0.50003319     1251.37  1114.03  
imu_odom_:  1691062875.437799202  0.270545   -0.344765  9.34936    -0.056459   -0.0234358  0.0415453   0.18       0.02          pose: 0.0           -1.1898    -3.92685    0 0.00543949  -0.00212087 0.999359    0.0353202      uwb: 0.0            1251.37  1114.03  
imu_odom_:  1691062875.453715685  0.823605   -0.335188  9.98143    -0.036219   -0.0266316  0.0372843   0.18       0.02          pose: 0.43969381    -1.19842   -3.92177    0 0.00722859  -0.0001028670.999349    0.0353537      uwb: 0.50104521     1251.27  1115.04  
imu_odom_:  1691062875.479858861  0.845153   -0.304064  10.4291    -0.0639159  -0.0319579  0.0468716   0.18       0             pose: 0.7006881     -1.19842   -3.92177    0 0.00665767  -0.0004002230.999353    0.0353448      uwb: 0.0            1251.27  1115.04  
imu_odom_:  1691062875.505802840  0.770933   -0.220267  9.81144    -0.0617853  0.0170442   0.0447411   0.18       0             pose: 0.0           -1.19842   -3.92177    0 0.00665767  -0.0004002230.999353    0.0353448      uwb: 0.49951405     1250.83  1116.16  
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imu_odom_:  1691062875.556814975  0.347159   -0.514753  10.1299    -0.0703074  -0.0191748  0.0617853   0.2        0             pose: 0.0           -1.21211   -3.9253     0 0.00777808  -0.00178818 0.999345    0.035308       uwb: 0.49933031     1251.23  1116.35  
imu_odom_:  1691062875.582667959  0.414197   -0.287304  10.1131    -0.0319579  0.00958738  0.0234358   0.2        0             pose: 0.50907140    -1.22072   -3.92022    0 0.0126088   -0.00170909 0.999299    0.0352099      uwb: 0.0            1251.23  1116.35  
imu_odom_:  1691062875.608699141  0.213084   -0.234632  10.2472    -0.04048    -0.0106526  0.0511327   0.23       -0.02         pose: 0.0           -1.22072   -3.92022    0 0.0126088   -0.00170909 0.999299    0.0352099      uwb: 0.49978237     1250.89  1117.26  
imu_odom_:  1691062875.624780115  0.308852   -0.0215478 9.85693    -0.0245011  -0.0319579  0.0372843   0.23       -0.02         pose: 0.51068715    -1.23442   -3.92376    0 0.011457    -0.00273437 0.999317    0.0350208      uwb: 0.0            1250.89  1117.26  
imu_odom_:  1691062875.650789132  0.328006   -0.0885855 9.87129    -0.0532632  0.00319579  0.056459    0.23       0             pose: 0.0           -1.23442   -3.92376    0 0.011457    -0.00273437 0.999317    0.0350208      uwb: 0.50112687     1251.7   1117.37  
imu_odom_:  1691062875.675702713  0.426168   -0.215478  9.73961    -0.0426106  0.0426106   0.0447411   0.23       0             pose: 0.51974287    -1.23442   -3.92376    0 0.0065723   -0.00156082 0.999364    0.0350184      uwb: 0.0            1251.7   1117.37  
imu_odom_:  1691062875.691636404  0.397437   -0.237026  9.85693    -0.0756338  -0.0532632  0.0596548   0.21       0             pose: 0.0           -1.23442   -3.92376    0 0.0065723   -0.00156082 0.999364    0.0350184      uwb: 0.49906200     1251.98  1118.04  
imu_odom_:  1691062875.718854309  0.727837   0.023942   10.501     -0.0660464  -0.0468716  0.0415453   0.21       0             pose: 0.75843178    -1.25263   -3.92463    0 0.000254377 -0.00110684 0.999401    0.0345929      uwb: 0.0            1251.98  1118.04  
imu_odom_:  1691062875.744654796  0.821211   -0.368707  9.81144    -0.0969391  0.0127832   0.0511327   0.25       0.02          pose: 0.8074610     -1.25673   -3.92223    0 0.00106661  -0.0006656130.999401    0.0345856      uwb: 0.50115020     1250.99  1120.25  
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imu_odom_:  1691062875.795640391  0.555455   -0.294487  9.67257    -0.0692422  0.00639159  0.04048     0.2        0.02          pose: 0.52090363    -1.26535   -3.91716    0 0.00541781  -0.0007966640.999393    0.0344162      uwb: 0.49995153     1250.95  1121.31  
imu_odom_:  1691062875.812633061  0.28491    -0.162806  9.7037     -0.0543285  0.0330232   0.0308927   0.2        0.02          pose: 0.0           -1.26535   -3.91716    0 0.00541781  -0.0007966640.999393    0.0344162      uwb: 0.0            1250.95  1121.31  
imu_odom_:  1691062875.838692242  0.653617   -0.246603  9.08839    -0.0436758  -0.00213053 0.0468716   0.25       -0.02         pose: 0.60831684    -1.27903   -3.92071    0 0.00502596  -0.0015652  0.999392    0.034465       uwb: 0.49879659     1250.48  1122.17  
imu_odom_:  1691062875.863705276  0.78051    0.0335188  9.37809    -0.0383495  0.00958738  0.0372843   0.19       -0.02         pose: 0.7012423     -1.27903   -3.92071    0 0.00571991  -0.00157915 0.999389    0.03444        uwb: 0.0            1250.48  1122.17  
imu_odom_:  1691062875.889787788  0.234632   -0.500388  9.414      -0.0575243  0.0149137   0.0351537   0.21       0.02          pose: 0.44059792    -1.28488   -3.91728    0 0.00913668  0.000439612 0.999366    0.0344154      uwb: 0.49991069     1250.69  1122.81  
imu_odom_:  1691062875.915698811  -0.162806  -0.438139  9.96467    -0.0639159  0.0266316   0.0553937   0.17       0             pose: 0.0           -1.28488   -3.91728    0 0.00913668  0.000439612 0.999366    0.0344154      uwb: 0.0            1250.69  1122.81  
imu_odom_:  1691062875.932639276  0.837971   -0.263362  9.89284    -0.0639159  0.02024     0.0436758   0.17       0             pose: 0.51993535    -1.29766   -3.91825    0 0.00395861  -0.0019764  0.999404    0.0342489      uwb: 0.0            1250.69  1122.81  
imu_odom_:  1691062875.958612420  0.35913    -0.229843  9.53611    -0.0692422  -0.00426106 0.0553937   0.19       0.02          pose: 0.0           -1.29766   -3.91825    0 0.00395861  -0.0019764  0.999404    0.0342489      uwb: 0.50042983     1250.04  1124.93  
imu_odom_:  1691062875.984752388  0.445322   -0.311246  10.2113    -0.052198   0.00213053  0.0372843   0.19       0.02          pose: 0.42913609    -1.30134   -3.9192     0 0.00287845  -0.00187243 0.999416    0.0340107      uwb: 0.0            1250.04  1124.93  
imu_odom_:  1691062876.697161     0.584185   -0.196325  10.1347    -0.0500674  -0.00532632 0.036219    0.19       0             pose: 0.0           -1.30134   -3.9192     0 0.00287845  -0.00187243 0.999416    0.0340107      uwb: 0.50087606     1250.24  1125.85  
imu_odom_:  1691062876.26663015   0.371101   -0.198719  9.52653    -0.0351537  0.00319579  0.0298274   0.19       0             pose: 0.42084741    -1.30997   -3.91415    0 0.00332218  -0.00336249 0.999408    0.0340661      uwb: 0.0            1250.24  1125.85  
imu_odom_:  1691062876.51678090   0.565032   -0.162806  9.97664    -0.0649811  -0.0138484  0.0490022   0.19       0             pose: 0.0           -1.30997   -3.91415    0 0.00332218  -0.00336249 0.999408    0.0340661      uwb: 0.49987278     1250.11  1126.88  
imu_odom_:  1691062876.68622347   0.47884    -0.167594  9.73961    -0.0415453  -0.0127832  0.0458064   0.19       0             pose: 0.33985634    -1.32365   -3.91771    0 0.00200496  -0.00107198 0.999414    0.034155       uwb: 0.0            1250.11  1126.88  
imu_odom_:  1691062876.94760857   0.6608     -0.181959  10.3765    -0.0575243  -0.0127832  0.0596548   0.18       -0.02         pose: 0.0           -1.32365   -3.91771    0 0.00200496  -0.00107198 0.999414    0.034155       uwb: 0.49886368     1250.18  1127.47  
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imu_odom_:  1691062876.145619876  0.861913   -0.466869  9.8258     -0.076699   -0.0394148  0.0660464   0.19       0             pose: 0.62059821    -1.33228   -3.91265    0 0.00939414  0.0013193   0.99938     0.0338967      uwb: 0.50037443     1250.04  1128.78  
imu_odom_:  1691062876.171824299  0.0861913  -0.107739  9.56962    -0.0575243  0.00426106  0.0607201   0.19       0             pose: 0.0           -1.33228   -3.91265    0 0.00939414  0.0013193   0.99938     0.0338967      uwb: 0.0            1250.04  1128.78  
imu_odom_:  1691062876.197784611  0.335188   -0.306458  9.77553    -0.0713727  -0.0351537  0.0447411   0.2        0.02          pose: 0.8000240     -1.33228   -3.91265    0 0.0100711   0.000637211 0.999378    0.0337855      uwb: 0.49919908     1249.53  1131     
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imu_odom_:  1691062876.306770557  0.373495   -0.464475  10.2185    -0.015979   0.0213053   0.0308927   0.23       0             pose: 0.0           -1.3546    -3.91118    0 0.00506311  -0.0010197  0.999443    0.032965       uwb: 0.49973863     1250.41  1132.3   
imu_odom_:  1691062876.332670497  0.828394   -0.162806  10.0748    -0.0617853  0.00745685  0.0617853   0.18       0.02          pose: 0.33909513    -1.36828   -3.91478    0 0.00402319  -0.00120758 0.999451    0.0328636      uwb: 0.0            1250.41  1132.3   
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imu_odom_:  1691062876.483584570  0.905008   -0.45011   9.64863    -0.052198   0.0191748   0.0383495   0.21       -0.02         pose: 0.0           -1.39059   -3.91335    0 0.00108956  -0.00201534 0.999477    0.0322671      uwb: 0.0            1251.03  1134.6   
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imu_odom_:  1691062876.578590002  0.272939   -0.186748  9.9503     -0.0692422  -0.0319579  0.0436758   0.17       0             pose: 0.0           -1.39923   -3.90833    0 0.0065647   -0.0009879180.999462    0.0321289      uwb: 0.0            1250.92  1135.95  
imu_odom_:  1691062876.603649700  0.251391   -0.0837971 10.0556    -0.0458064  -0.0319579  0.0458064   0.18       -0.02         pose: 0.52141111    -1.4129    -3.91194    0 0.00446133  -0.00108424 0.999475    0.0320688      uwb: 0.99873063     1250.63  1137.22  
imu_odom_:  1691062876.630703989  0.385466   -0.107739  10.0868    -0.0532632  0.0234358   0.0468716   0.21       0             pose: 0.59874783    -1.42155   -3.90692    0 -0.00019645 0.00127948  0.99949     0.0319217      uwb: 0.0            1250.63  1137.22  
imu_odom_:  1691062876.656572431  0.890643   -0.131681  9.64624    -0.0319579  0.0213053   0.0213053   0.19       0.02          pose: 0.7971366     -1.42155   -3.90692    0 -0.0004063  0.0020835   0.999489    0.0318924      uwb: 0.50017902     1250.14  1139.23  
imu_odom_:  1691062876.682658444  0.253785   -0.402226  9.68455    -0.0383495  0.00745685  0.0447411   0.23       -0.02         pose: 0.26036432    -1.43522   -3.91054    0 -0.0002996250.00408007  0.999483    0.0318828      uwb: 0.0            1250.14  1139.23  
imu_odom_:  1691062876.707597691  0.572214   -0.0574608 10.2568    -0.0468716  -0.0841559  0.0543285   0.23       -0.02         pose: 0.0           -1.43522   -3.91054    0 -0.0002996250.00408007  0.999483    0.0318828      uwb: 0.50103939     1249.64  1141.24  
imu_odom_:  1691062876.724703813  0.45011    -0.311246  9.38527    -0.0383495  0.0266316   0.0553937   0.21       0             pose: 0.26011351    -1.43522   -3.91054    0 0.00091587  0.00375072  0.999479    0.0320297      uwb: 0.0            1249.64  1141.24  
imu_odom_:  1691062876.750664709  0.296881   -0.0814029 9.94312    -0.0447411  0.0117179   0.0436758   0.21       0             pose: 0.0           -1.43522   -3.91054    0 0.00091587  0.00375072  0.999479    0.0320297      uwb: 0.49856328     1248.52  1143.48  
imu_odom_:  1691062876.776559399  0.0622492  -0.457293  9.84256    -0.0511327  -0.00213053 0.0468716   0.25       0             pose: 0.52047491    -1.44386   -3.90552    0 0.00272208  0.00293408  0.999489    0.0317286      uwb: 0.0            1248.52  1143.48  
imu_odom_:  1691062876.802562584  0.387861   -0.280122  10.2185    -0.0703074  -0.0181095  0.0468716   0.25       0             pose: 0.41925793    -1.45753   -3.90915    0 -0.0004081290.00319812  0.999496    0.0315852      uwb: 0.49900367     1249.19  1143.87  
imu_odom_:  1691062876.818565396  0.866701   -0.129287  9.54329    -0.0703074  -0.0340885  0.0340885   0.23       0             pose: 0.0           -1.45753   -3.90915    0 -0.0004081290.00319812  0.999496    0.0315852      uwb: 0.0            1249.19  1143.87  
imu_odom_:  1691062876.843565014  0.806846   -0.265756  9.55765    -0.0692422  -0.0181095  0.056459    0.23       0             pose: 0.0           -1.45753   -3.90915    0 -0.0004081290.00319812  0.999496    0.0315852      uwb: 0.49979696     1249.08  1144.96  
imu_odom_:  1691062876.860626223  0.428562   -0.380678  9.74201    -0.0788296  -0.00532632 0.0383495   0.2        0             pose: 0.51944831    -1.46618   -3.90413    0 -0.000399724-0.00068716 0.999505    0.0314499      uwb: 0.0            1249.08  1144.96  
imu_odom_:  1691062876.876614161  0.292093   -0.0837971 9.84975    -0.0490022  0.0276969   0.0351537   0.2        0             pose: 0.0           -1.46618   -3.90413    0 -0.000399724-0.00068716 0.999505    0.0314499      uwb: 0.0            1249.08  1144.96  
imu_odom_:  1691062876.902614720  0.761356   -0.251391  9.18176    -0.0447411  -0.00106526 0.052198    0.25       0.02          pose: 0.40987264    -1.47985   -3.90777    0 0.00306707  -0.0018711  0.999505    0.0312673      uwb: 0.50027235     1249.39  1146.02  
imu_odom_:  1691062876.928711232  0.526724   -0.059855  9.94791    -0.0511327  0.0330232   0.0372843   0.25       0.02          pose: 0.0           -1.47985   -3.90777    0 0.00306707  -0.0018711  0.999505    0.0312673      uwb: 0.0            1249.39  1146.02  
imu_odom_:  1691062876.953590399  0.232238   -0.442927  9.52892    -0.052198   0.0245011   0.0340885   0.23       -0.02         pose: 0.34002258    -1.47985   -3.90777    0 0.00228844  -0.00167069 0.999507    0.0312578      uwb: 0.50080898     1249.32  1147.15  
imu_odom_:  1691062876.968591978  0.339977   -0.241814  9.8665     -0.0458064  -0.0287621  0.0415453   0.23       -0.02         pose: 0.0           -1.47985   -3.90777    0 0.00228844  -0.00167069 0.999507    0.0312578      uwb: 0.0            1249.32  1147.15  
imu_odom_:  1691062876.995642768  0.715866   -0.294487  10.1754    -0.0756338  -0.0276969  0.0383495   0.19       0             pose: 0.51078339    -1.4885    -3.90276    0 0.00363902  0.00046468  0.999506    0.0312059      uwb: 0.49940323     1250.29  1147.14  
imu_odom_:  1691062877.11599500   0.42138    -0.253785  9.52653    -0.0394148  0.0223706   0.0276969   0.19       0             pose: 0.0           -1.4885    -3.90276    0 0.00363902  0.00046468  0.999506    0.0312059      uwb: 0.0            1250.29  1147.14  
imu_odom_:  1691062877.37628641   0.459687   -0.260968  9.83299    -0.0703074  -0.0255663  0.0447411   0.23       -0.02         pose: 0.41127548    -1.50217   -3.9064     0 0.00165088  -0.00109885 0.99951     0.03124        uwb: 0.0            1250.29  1147.14  
imu_odom_:  1691062877.62789834   0.988805   -0.385466  9.55765    -0.0585895  -0.0681769  0.0330232   0.23       -0.02         pose: 0.42898153    -1.50217   -3.9064     0 0.00265001  -0.00234991 0.999503    0.0313232      uwb: 0.49950823     1250.05  1148.47  
imu_odom_:  1691062877.88577490   0.294487   -0.258574  9.83777    -0.036219   0.00426106  0.0287621   0.21       0             pose: 0.0           -1.50217   -3.9064     0 0.00265001  -0.00234991 0.999503    0.0313232      uwb: 0.50025194     1250.4   1149.27  
imu_odom_:  1691062877.114712792  0.483629   -0.0023942 9.92875    -0.0617853  -0.0308927  0.0500674   0.2        0.02          pose: 0.49968323    -1.51082   -3.90139    0 0.0068493   -0.0040153  0.999475    0.0313973      uwb: 0.0            1250.4   1149.27  
imu_odom_:  1691062877.139571835  0.37589    -0.059855  9.81144    -0.0447411  0.0532632   0.0415453   0.23       -0.02         pose: 0.0           -1.51082   -3.90139    0 0.0068493   -0.0040153  0.999475    0.0313973      uwb: 0.50157603     1250.11  1150.58  
imu_odom_:  1691062877.162757685  0.751779   -0.0885855 9.64863    -0.0649811  -0.0127832  0.0607201   0.19       0.02          pose: 0.52020660    -1.52449   -3.90503    0 0.00456647  -0.0003977420.999498    0.0313642      uwb: 0.0            1250.11  1150.58  
imu_odom_:  1691062877.178559259  0.414197   -0.241814  9.87129    -0.0340885  0.0426106   0.0308927   0.19       0.02          pose: 0.0           -1.52449   -3.90503    0 0.00456647  -0.0003977420.999498    0.0313642      uwb: 0.0            1250.11  1150.58  
imu_odom_:  1691062877.204631857  0.342371   0.00718261 10.1035    -0.0553937  -0.0138484  0.0617853   0.19       0.02          pose: 0.24075673    -1.53314   -3.90002    0 0.00364261  0.0013368   0.999503    0.0312879      uwb: 0.49916117     1249.41  1152.54  
imu_odom_:  1691062877.229638766  0.390255   -0.107739  10.2352    -0.0436758  0.0138484   0.036219    0.23       0             pose: 0.39960075    -1.53314   -3.90002    0 0.00330707  0.00167602  0.99951     0.0310962      uwb: 0.0            1249.41  1152.54  
imu_odom_:  1691062877.246762097  0.308852   -0.265756  9.81862    -0.0692422  -0.00213053 0.0532632   0.23       0             pose: 0.0           -1.53314   -3.90002    0 0.00330707  0.00167602  0.99951     0.0310962      uwb: 0.50028403     1250.26  1152.46  
imu_odom_:  1691062877.272752449  0.0215478  -0.102951  9.53132    -0.04048    0.00958738  0.036219    0.21       0             pose: 0.51054426    -1.5468    -3.90366    0 -0.0002883480.00423722  0.999514    0.0308974      uwb: 0.0            1250.26  1152.46  
imu_odom_:  1691062877.297585244  0.196325   -0.476446  9.46667    -0.0756338  0.0245011   0.0500674   0.23       0             pose: 0.35992766    -1.55546   -3.89866    0 -0.00360627 0.00397053  0.999509    0.0308829      uwb: 0.50012653     1249.94  1153.76  
imu_odom_:  1691062877.322665941  0.158017   -0.395043  9.56723    -0.0649811  0.0191748   0.0458064   0.23       0             pose: 0.0           -1.55546   -3.89866    0 -0.00360627 0.00397053  0.999509    0.0308829      uwb: 0.0            1249.94  1153.76  
imu_odom_:  1691062877.347540734  0.328006   -0.134075  9.59357    -0.0617853  -0.0223706  0.0500674   0.18       -0.02         pose: 0.6960800     -1.55546   -3.89866    0 -0.00399247 0.00326768  0.999511    0.0308493      uwb: 0.49985238     1249.49  1155.29  
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imu_odom_:  1691062877.390564588  0.529119   -0.244209  9.56962    -0.0820254  0.0138484   0.0415453   0.19       0             pose: 0.50892268    -1.56912   -3.90231    0 -0.0063447  2.74977e-05 0.99951     0.0306493      uwb: 0.49960448     1249.64  1156.29  
imu_odom_:  1691062877.417590879  0.986411   -0.227449  10.2424    -0.0703074  -0.0426106  0.0596548   0.19       0             pose: 0.0           -1.56912   -3.90231    0 -0.0063447  2.74977e-05 0.99951     0.0306493      uwb: 0.0            1249.64  1156.29  
imu_odom_:  1691062877.433656688  0.782904   -0.299275  9.22486    -0.0777643  -0.00106526 0.0639159   0.18       0.02          pose: 0.42117699    -1.57778   -3.89731    0 -0.00327034 0.00208391  0.999524    0.0306003      uwb: 0.0            1249.64  1156.29  
imu_odom_:  1691062877.459528047  0.162806   -0.155623  9.80186    -0.0490022  0.0298274   0.0340885   0.18       0.02          pose: 0.0           -1.57778   -3.89731    0 -0.00327034 0.00208391  0.999524    0.0306003      uwb: 0.49867994     1249.73  1157.57  
imu_odom_:  1691062877.485647309  0.177171   -0.531513  9.663      -0.0532632  0.0127832   0.0436758   0.18       0.02          pose: 0.52853320    -1.57778   -3.89731    0 0.00216879  0.000401422 0.999541    0.0302085      uwb: 0.0            1249.73  1157.57  
imu_odom_:  1691062877.512533900  0.301669   -0.217872  9.76834    -0.0479369  -0.0703074  0.0468716   0.2        0.02          pose: 0.60070773    -1.5978    -3.89732    0 -0.00179513 -0.00135926 0.999543    0.0301295      uwb: 0.50003321     1249.46  1158.61  
imu_odom_:  1691062877.538572083  0.296881   -0.282516  10.2975    -0.0340885  0.0170442   0.0383495   0.2        -0.02         pose: 0.6925219     -1.6001    -3.89599    0 -0.00221186 -0.0010888  0.999544    0.0301027      uwb: 0.50026360     1249.48  1159.55  
imu_odom_:  1691062877.555573503  0.3304     -0.205901  9.61751    -0.0788296  -0.0276969  0.0585895   0.2        -0.02         pose: 0.0           -1.6001    -3.89599    0 -0.00221186 -0.0010888  0.999544    0.0301027      uwb: 0.0            1249.48  1159.55  
imu_odom_:  1691062877.571522944  0.905008   -0.280122  10.0461    -0.0511327  -0.00106526 0.0436758   0.23       0.02          pose: 0.28029566    -1.6001    -3.89599    0 -0.00394287 -0.0008937090.999541    0.0300326      uwb: 0.0            1249.48  1159.55  
imu_odom_:  1691062877.598585400  0.773327   -0.323217  10.2592    -0.0426106  -0.0308927  0.0415453   0.23       0.02          pose: 0.0           -1.6001    -3.89599    0 -0.00394287 -0.0008937090.999541    0.0300326      uwb: 0.49966573     1249.3   1160.97  
imu_odom_:  1691062877.623601351  0.703895   -0.114922  9.48104    -0.0543285  0           0.0426106   0.18       0.02          pose: 0.77983306    -1.61986   -3.89616    0 0.000362288 -0.00146173 0.999554    0.0298275      uwb: 0.0            1249.3   1160.97  
imu_odom_:  1691062877.640579439  0.112527   -0.136469  9.9503     -0.0553937  -0.00852212 0.0426106   0.18       0.02          pose: 0.0           -1.61986   -3.89616    0 0.000362288 -0.00146173 0.999554    0.0298275      uwb: 0.49971822     1249.45  1161.68  
imu_odom_:  1691062877.666581749  0.184354   -0.201113  9.92636    -0.0479369  -0.0458064  0.0426106   0.18       0.02          pose: 0.8025321     -1.62243   -3.89468    0 0.00109235  -0.00115992 0.999554    0.0298166      uwb: 0.0            1249.45  1161.68  
imu_odom_:  1691062877.693535420  0.536301   -0.172383  10.2831    -0.0468716  -0.0117179  0.0426106   0.25       0             pose: 0.59971028    -1.63225   -3.89733    0 -0.00100793 0.000253783 0.999557    0.0297287      uwb: 0.49999529     1249.52  1162.66  
imu_odom_:  1691062877.709674724  0.409408   -0.296881  9.68455    -0.0500674  0.0127832   0.0330232   0.19       0             pose: 0.0           -1.63225   -3.89733    0 -0.00100793 0.000253783 0.999557    0.0297287      uwb: 0.0            1249.52  1162.66  
imu_odom_:  1691062877.736551108  0.418985   -0.342371  10.2328    -0.0319579  -0.00958738 0.0490022   0.19       0             pose: 0.34983076    -1.63608   -3.89836    0 0.00143866  0.000180546 0.999557    0.0297119      uwb: 0.0            1249.52  1162.66  
imu_odom_:  1691062877.761570559  0.129287   -0.0670376 10.2903    -0.0372843  0.0266316   0.036219    0.25       0             pose: 0.0           -1.63608   -3.89836    0 0.00143866  0.000180546 0.999557    0.0297119      uwb: 0.50084399     1250.4   1162.3   
imu_odom_:  1691062877.778666766  0.502782   -0.138864  9.98622    -0.0500674  -0.00213053 0.0553937   0.25       0             pose: 0.0           -1.63608   -3.89836    0 0.00143866  0.000180546 0.999557    0.0297119      uwb: 0.0            1250.4   1162.3   
imu_odom_:  1691062877.803507727  0.318429   -0.201113  10.003     -0.036219   0.0479369   0.04048     0.18       0             pose: 0.77101941    -1.6524    -3.89544    0 -6.20606e-05-0.0001379750.999564    0.0295107      uwb: 0.49968322     1250.28  1163.78  
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imu_odom_:  1691062878.114529547  0.670376   0.107739   10.3358    -0.0490022  -0.0117179  0.0372843   0.25       -0.02         pose: 0.32897490    -1.71173   -3.88955    0 0.00947869  0.000322364 0.999538    0.0288716      uwb: 0.49818416     1248.05  1172.4   
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imu_odom_:  1691062878.216513574  0.198719   -0.126893  10.0892    -0.0394148  -0.00958738 0.0596548   0.25       0             pose: 0.0           -1.7204    -3.88458    0 0.00887268  0.00249625  0.99954     0.0288946      uwb: 0.0            1248.48  1173.67  
imu_odom_:  1691062878.243513326  0.64404    -0.237026  9.88087    -0.0490022  -0.0191748  0.0372843   0.23       0.02          pose: 0.32881741    -1.72537   -3.89325    0 0.00852918  0.00128868  0.999546    0.0288775      uwb: 0.0            1248.48  1173.67  
imu_odom_:  1691062878.268556109  0.744597   -0.102951  9.94791    -0.0426106  -0.0234358  0.0458064   0.23       0.02          pose: 0.0           -1.72537   -3.89325    0 0.00852918  0.00128868  0.999546    0.0288775      uwb: 0.0            1248.48  1173.67  
imu_odom_:  1691062878.295552069  0.349553   -0.0430956 9.79707    -0.0479369  0.0106526   0.0426106   0.21       0.02          pose: 0.52031744    -1.73405   -3.88828    0 0.00550229  0.000483015 0.999578    0.0285079      uwb: 0.0            1248.48  1173.67  
imu_odom_:  1691062878.321561962  0.304064   -0.363919  9.77074    -0.0617853  -0.0138484  0.056459    0.18       0             pose: 0.51939874    -1.7477    -3.892      0 0.0093908   0.0016943   0.99955     0.0284491      uwb: 0.0            1248.48  1173.67  
imu_odom_:  1691062878.338545301  0.59855    -0.31364   9.87848    -0.0447411  0.00532632  0.0340885   0.23       -0.02         pose: 0.0           -1.7477    -3.892      0 0.0093908   0.0016943   0.99955     0.0284491      uwb: 0.149809892    1248.32  1174.52  
imu_odom_:  1691062878.354664190  0.545878   -0.181959  9.90721    -0.0468716  0.015979    0.0458064   0.23       -0.02         pose: 0.0           -1.7477    -3.892      0 0.0093908   0.0016943   0.99955     0.0284491      uwb: 0.0            1248.32  1174.52  
imu_odom_:  1691062878.381491869  0.442927   -0.265756  10.1562    -0.0436758  0.00426106  0.04048     0.23       0.02          pose: 0.53100057    -1.75638   -3.88704    0 0.00598065  0.000539398 0.999584    0.0282216      uwb: 0.0            1248.32  1174.52  
imu_odom_:  1691062878.407505262  0.505177   -0.265756  10.0221    -0.0798948  -0.0245011  0.0532632   0.23       0.02          pose: 0.33918555    -1.75638   -3.88704    0 0.00638382  0.000849045 0.999582    0.0281956      uwb: 0.50005362     1248.51  1175.31  
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imu_odom_:  1691062878.459492092  0.73502    -0.203507  10.0341    -0.0713727  -0.0351537  0.0553937   0.18       0             pose: 0.7129665     -1.77002   -3.89077    0 0.00604136  -0.00320088 0.999584    0.028012       uwb: 0.49941492     1248.07  1176.62  
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imu_odom_:  1691062878.511494962  0.0143652  -0.162806  9.61033    -0.0671117  0.00532632  0.0585895   0.18       0.02          pose: 0.28041816    -1.77871   -3.88581    0 0.00888781  -0.0032649  0.999563    0.0280112      uwb: 0.49974156     1247.68  1177.98  
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imu_odom_:  1691062878.581692392  0.648829   -0.272939  9.991      -0.04048    -0.015979   0.0500674   0.18       -0.02         pose: 0.0           -1.7874    -3.88086    0 0.0065569   -0.00226014 0.999593    0.0276573      uwb: 0.0            1247.79  1178.39  
imu_odom_:  1691062878.607492589  0.447716   -0.0215478 10.0844    -0.0458064  -0.00745685 0.0468716   0.18       0             pose: 0.52120405    -1.80104   -3.8846     0 0.00686676  -0.00328543 0.999594    0.027449       uwb: 0.49928367     1247.76  1179.68  
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imu_odom_:  1691062878.659618828  0.553061   -0.361524  10.1825    -0.0490022  -0.0319579  0.0458064   0.18       -0.02         pose: 0.25130570    -1.80973   -3.87966    0 0.00596523  -0.00195605 0.999612    0.0271249      uwb: 0.50128439     1248.1   1180.58  
imu_odom_:  1691062878.686545084  0.828394   -0.105345  10.3477    -0.0639159  -0.0426106  0.0479369   0.23       -0.02         pose: 0.27992235    -1.81467   -3.88836    0 0.0054327   -0.00427649 0.999615    0.0268661      uwb: 0.0            1248.1   1180.58  
imu_odom_:  1691062878.702606810  0.593762   -0.0933739 9.51695    -0.0553937  -0.00639159 0.0458064   0.23       -0.02         pose: 0.0           -1.81467   -3.88836    0 0.0054327   -0.00427649 0.999615    0.0268661      uwb: 0.49876745     1248.02  1181.52  
imu_odom_:  1691062878.729666350  0.464475   -0.3304    9.90721    -0.0660464  -0.0117179  0.0458064   0.25       0             pose: 0.23877643    -1.82337   -3.88342    0 0.00723701  -0.0053105  0.999601    0.0267843      uwb: 0.0            1248.02  1181.52  
imu_odom_:  1691062878.754519561  0.368707   -0.277727  9.68455    -0.0628506  0.0330232   0.0468716   0.25       0             pose: 0.0           -1.82337   -3.88342    0 0.00723701  -0.0053105  0.999601    0.0267843      uwb: 0.50048235     1248.14  1182.28  
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imu_odom_:  1691062878.797473711  0.775721   -0.153229  9.93115    -0.0191748  0.0170442   0.0255663   0.23       0             pose: 0.0           -1.82337   -3.88342    0 0.00873852  -0.0030437  0.999602    0.0266515      uwb: 0.50007113     1248.46  1182.51  
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imu_odom_:  1691062878.849582159  0.35913    -0.114922  10.2185    -0.0447411  -0.0607201  0.056459    0.25       0             pose: 0.0           -1.837     -3.88719    0 0.0048668   -0.00349679 0.999631    0.0264915      uwb: 0.50085566     1248.66  1184     
imu_odom_:  1691062878.874474743  0.237026   -0.282516  9.94791    -0.0671117  -0.0585895  0.0500674   0.23       0             pose: 0.43017731    -1.8457    -3.88226    0 0.00791866  -0.00210188 0.999612    0.0266119      uwb: 0.0            1248.66  1184     
imu_odom_:  1691062878.897601680  0.378284   -0.0670376 10.0963    -0.052198   -0.02024    0.0500674   0.23       0             pose: 0.51961748    -1.8544    -3.87733    0 0.00556375  -0.00219923 0.999636    0.0263177      uwb: 0.50041236     1249.09  1184.32  
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imu_odom_:  1691062878.939521933  0.277727   -0.124498  10.2017    -0.0639159  -0.0447411  0.0607201   0.18       -0.02         pose: 0.49019295    -1.86803   -3.88111    0 0.00407149  -0.0004252990.999651    0.0260911      uwb: 0.49861871     1249.62  1184.71  
imu_odom_:  1691062878.964671168  0.957681   -0.169988  9.56244    -0.0692422  -0.00106526 0.0351537   0.19       0             pose: 0.0           -1.86803   -3.88111    0 0.00407149  -0.0004252990.999651    0.0260911      uwb: 0.0            1249.62  1184.71  
imu_odom_:  1691062878.990469032  -0.112527  -0.186748  9.58399    -0.0639159  0.04048     0.0607201   0.24       0             pose: 0.16120639    -1.86803   -3.88111    0 0.00439752  -0.0002048810.999652    0.0260036      uwb: 0.50035110     1249.33  1186.18  
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imu_odom_:  1691062879.24512996   0.289698   -0.162806  9.4547     -0.0415453  0.00745685  0.0415453   0.24       0             pose: 0.0           -1.87425   -3.8776     0 0.00560068  0.000398081 0.999649    0.0258726      uwb: 0.0            1249.33  1186.18  
imu_odom_:  1691062879.42463154   0.414197   -0.361524  9.95509    -0.076699   -0.0255663  0.0543285   0.18       -0.02         pose: 0.6832183     -1.87673   -3.87619    0 0.00476411  0.000409527 0.999656    0.0258011      uwb: 0.50018780     1248.65  1187.71  
imu_odom_:  1691062879.67448774   0.943315   -0.186748  9.7037     -0.0479369  0.02024     0.0266316   0.18       -0.02         pose: 0.0           -1.87673   -3.87619    0 0.00476411  0.000409527 0.999656    0.0258011      uwb: 0.0            1248.65  1187.71  
imu_odom_:  1691062879.94518522   0.73502    -0.201113  9.80904    -0.0607201  0.00426106  0.0372843   0.21       -0.02         pose: 0.61094464    -1.89036   -3.87999    0 -0.000330424-0.00074509 0.999674    0.0255164      uwb: 0.49874704     1249.22  1188.48  
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imu_odom_:  1691062879.146460147  0.270545   -0.208296  10.003     -0.0490022  0.0255663   0.0330232   0.22       0             pose: 0.0           -1.90009   -3.8827     0 0.00464593  -0.00126036 0.999659    0.0256468      uwb: 0.49917869     1248.66  1190.11  
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imu_odom_:  1691062879.448570623  0.536301   -0.519542  9.20331    -0.0617853  -0.0351537  0.0490022   0.18       0             pose: 0.49049044    -1.95736   -3.87664    0 0.00863153  0.0025236   0.999645    0.0250792      uwb: 0.50065152     1250.02  1194.29  
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imu_odom_:  1691062879.547428459  0.667982   -0.3304    10.0509    -0.0543285  -0.00639159 0.0479369   0.23       0.02          pose: 0.0           -1.97097   -3.88046    0 0.00702986  0.00109152  0.999667    0.0247997      uwb: 0.50110649     1249.77  1196.9   
imu_odom_:  1691062879.561417140  0.186748   -0.136469  9.71328    -0.056459   0.0383495   0.0553937   0.23       0.02          pose: 0.48997131    -1.97969   -3.87556    0 0.00296996  0.00219304  0.999691    0.0246017      uwb: 0.0            1249.77  1196.9   
imu_odom_:  1691062879.586564917  0.122104   -0.146046  9.73004    -0.0639159  0.0340885   0.0553937   0.17       0             pose: 0.0           -1.97969   -3.87556    0 0.00296996  0.00219304  0.999691    0.0246017      uwb: 0.0            1249.77  1196.9   
imu_odom_:  1691062879.611555204  0.390255   -0.220267  9.65821    -0.052198   -0.0117179  0.0415453   0.17       0             pose: 0.49110583    -1.98841   -3.87066    0 0.00281878  0.0017621   0.999697    0.0243821      uwb: 0.49876746     1248.71  1199.25  
imu_odom_:  1691062879.637666300  0.196325   -0.356736  9.8258     -0.0383495  -0.0138484  0.0415453   0.18       0.02          pose: 0.0           -1.98841   -3.87066    0 0.00281878  0.0017621   0.999697    0.0243821      uwb: 0.0            1248.71  1199.25  
imu_odom_:  1691062879.663419542  0.37589    -0.153229  9.66539    -0.0479369  -0.0479369  0.0468716   0.21       0             pose: 0.39970284    -1.9933    -3.87938    0 -0.0009541960.00143497  0.999708    0.0241214      uwb: 0.50042695     1247.86  1201.07  
imu_odom_:  1691062879.677732245  0.323217   -0.105345  10.1011    -0.0415453  -0.0276969  0.0511327   0.21       0             pose: 0.0           -1.9933    -3.87938    0 -0.0009541960.00143497  0.999708    0.0241214      uwb: 0.0            1247.86  1201.07  
imu_odom_:  1691062879.695445000  1.00556    -0.114922  9.79707    -0.0500674  -0.0117179  0.0383495   0.21       0             pose: 0.50921143    -2.00203   -3.8745     0 -0.00229952 -0.0008465330.999708    0.0240532      uwb: 0.49972990     1247.83  1201.77  
imu_odom_:  1691062879.720493325  0.505177   -0.363919  9.67257    -0.0500674  0.00319579  0.0479369   0.18       -0.02         pose: 0.0           -2.00203   -3.8745     0 -0.00229952 -0.0008465330.999708    0.0240532      uwb: 0.0            1247.83  1201.77  
imu_odom_:  1691062879.747442621  0.502782   -0.347159  9.80426    -0.0500674  -0.0436758  0.04048     0.26       -0.02         pose: 0.76006800    -2.02166   -3.87497    0 0.000952507 0.00037272  0.999716    0.0237956      uwb: 0.50098983     1246.91  1203.9   
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imu_odom_:  1691062879.798438427  0.134075   -0.167594  9.24162    -0.0628506  -0.118244   0.0532632   0.22       0             pose: 0.43999132    -2.02436   -3.87345    0 0.00436044  0.000381526 0.999708    0.0237499      uwb: 0.49913202     1245.92  1206.34  
imu_odom_:  1691062879.820452721  -1.37667   -0.0335188 10.1754    -0.0351537  -0.0585895  0.04048     0.22       0             pose: 0.0           -2.02436   -3.87345    0 0.00436044  0.000381526 0.999708    0.0237499      uwb: 0.0            1245.92  1206.34  
imu_odom_:  1691062879.837561761  0.775721   -0.287304  8.24563    -0.0553937  0.152333    0.0735032   0.22       0             pose: 0.31875842    -2.03309   -3.86857    0 0.00283427  0.000717431 0.999718    0.0235746      uwb: 0.49965408     1245.13  1208.62  
imu_odom_:  1691062879.863410664  0.840365   -0.497994  9.28711    -0.0255663  0.0436758   0.0426106   0.19       -0.02         pose: 0.0           -2.03309   -3.86857    0 0.00283427  0.000717431 0.999718    0.0235746      uwb: 0.0            1245.13  1208.62  
imu_odom_:  1691062879.887557208  0.684742   0.198719   9.91918    -0.0308927  0.0255663   0.00213053  0.19       0             pose: 0.40052530    -2.0467    -3.87243    0 0.00237508  0.000292051 0.999727    0.0232626      uwb: 0.0            1245.13  1208.62  
imu_odom_:  1691062879.914401803  0.505177   -0.361524  9.84256    -0.0511327  0.00852212  0.0607201   0.19       0             pose: 0.43049520    -2.0467    -3.87243    0 0.00421352  0.00186136  0.999709    0.0236889      uwb: 0.50000697     1244.25  1210.45  
imu_odom_:  1691062879.930501735  -0.0502782 -0.277727  10.058     -0.0415453  -0.02024    0.0458064   0.21       0             pose: 0.6880597     -2.0467    -3.87243    0 0.00423136  0.00119115  0.999712    0.023613       uwb: 0.0            1244.25  1210.45  
imu_odom_:  1691062879.956595041  0.459687   0.0742203  10.149     -0.0383495  0.00213053  0.0596548   0.21       0             pose: 0.0           -2.0467    -3.87243    0 0.00423136  0.00119115  0.999712    0.023613       uwb: 0.50032778     1243.81  1211.56  
imu_odom_:  1691062879.981590869  0.138864   -0.277727  9.66539    -0.072438   0.015979    0.04048     0.19       0             pose: 0.44105001    -2.06031   -3.87628    0 0.00280151  0.000116093 0.999725    0.0232621      uwb: 0.0            1243.81  1211.56  
imu_odom_:  1691062880.7445896    0.292093   -0.138864  10.1083    -0.0585895  -0.0245011  0.0585895   0.19       0             pose: 0.43048063    -2.06904   -3.87141    0 0.000135466 0.00114281  0.999733    0.0230775      uwb: 0.50103941     1244.21  1212.29  
imu_odom_:  1691062880.32442891   0.397437   -0.153229  9.92397    -0.0660464  -0.0394148  0.0415453   0.19       -0.02         pose: 0.7842457     -2.06904   -3.87141    0 -0.0004880910.00147642  0.999734    0.0230039      uwb: 0.0            1244.21  1212.29  
imu_odom_:  1691062880.48443080   0.294487   -0.0957681 9.61751    -0.0468716  0.0245011   0.0490022   0.19       -0.02         pose: 0.0           -2.06904   -3.87141    0 -0.0004880910.00147642  0.999734    0.0230039      uwb: 0.49897454     1244.47  1212.89  
imu_odom_:  1691062880.73447949   0.73502    -0.251391  9.53611    -0.0777643  0.00852212  0.0468716   0.19       0             pose: 0.49014922    -2.08264   -3.87528    0 0.000105478 0.00355461  0.999734    0.0227771      uwb: 0.0            1244.47  1212.89  
imu_odom_:  1691062880.99389305   0.488417   -0.229843  9.97185    -0.0511327  -0.0308927  0.0511327   0.19       0             pose: 0.18011987    -2.08264   -3.87528    0 -0.00022922 0.00369412  0.999735    0.0227005      uwb: 0.49928369     1244.96  1213.69  
imu_odom_:  1691062880.115517236  0.842759   -0.189142  9.24401    -0.04048    -0.0223706  0.056459    0.21       0             pose: 0.0           -2.08264   -3.87528    0 -0.00022922 0.00369412  0.999735    0.0227005      uwb: 0.0            1244.96  1213.69  
imu_odom_:  1691062880.141407262  0.438139   0.129287   10.2975    -0.0532632  0.04048     0.04048     0.21       0             pose: 0.49077335    -2.09138   -3.87041    0 0.0038996   0.00101005  0.99974     0.0224232      uwb: 0.49985824     1245.01  1213.74  
imu_odom_:  1691062880.166411548  0.335188   -0.380678  9.50498    -0.052198   0.015979    0.0340885   0.18       -0.02         pose: 0.0           -2.09138   -3.87041    0 0.0038996   0.00101005  0.99974     0.0224232      uwb: 0.0            1245.01  1213.74  
imu_odom_:  1691062880.191544160  -0.0694318 -0.402226  10.1897    -0.0607201  0.0266316   0.052198    0.21       0             pose: 0.35869692    -2.09766   -3.86692    0 0.00394429  0.00366522  0.999736    0.0223385      uwb: 0.50090526     1244.57  1215.24  
imu_odom_:  1691062880.205533425  0.531513   -0.0837971 9.98861    -0.0660464  -0.0181095  0.0468716   0.21       0             pose: 0.0           -2.09766   -3.86692    0 0.00394429  0.00366522  0.999736    0.0223385      uwb: 0.0            1244.57  1215.24  
imu_odom_:  1691062880.230541502  0.581791   -0.112527  10.2951    -0.052198   -0.0330232  0.0479369   0.21       0             pose: 0.7014173     -2.10012   -3.86556    0 0.0035015   0.00308217  0.999739    0.0223565      uwb: 0.0            1244.57  1215.24  
imu_odom_:  1691062880.256417821  0.608127   0.248997   10.3789    -0.0372843  -0.0117179  0.036219    0.18       0             pose: 0.49005006    -2.11372   -3.86944    0 0.000129914 0.000942624 0.999753    0.0222235      uwb: 0.50057569     1243.8   1217.22  
imu_odom_:  1691062880.282649660  0.512359   -0.0191536 9.92875    -0.0660464  -0.0170442  0.0468716   0.19       0.02          pose: 0.0           -2.11372   -3.86944    0 0.000129914 0.000942624 0.999753    0.0222235      uwb: 0.0            1243.8   1217.22  
imu_odom_:  1691062880.299422428  0.52433    -0.28491   9.40442    -0.0308927  -0.015979   0.0287621   0.19       0.02          pose: 0.39991284    -2.11372   -3.86944    0 0.00373138  0.00313352  0.999744    0.0220998      uwb: 0.50176271     1243.95  1218.11  
imu_odom_:  1691062880.324428173  0.325611   -0.107739  10.1011    -0.0532632  -0.0191748  0.052198    0.2        0             pose: 0.0           -2.11372   -3.86944    0 0.00373138  0.00313352  0.999744    0.0220998      uwb: 0.0            1243.95  1218.11  
imu_odom_:  1691062880.350381778  0.493206   0.0430956  9.85693    -0.0383495  0.0447411   0.0415453   0.2        0             pose: 0.52032329    -2.12731   -3.87333    0 0.00542784  0.00688143  0.999718    0.0220814      uwb: 0.49835624     1243.11  1220.06  
imu_odom_:  1691062880.375374982  0.409408   -0.131681  9.68933    -0.0671117  0.0266316   0.0617853   0.19       0             pose: 0.0           -2.12731   -3.87333    0 0.00542784  0.00688143  0.999718    0.0220814      uwb: 0.0            1243.11  1220.06  
imu_odom_:  1691062880.392375820  0.282516   -0.349553  10.331     -0.0340885  -0.00852212 0.0330232   0.19       0             pose: 0.41987625    -2.13606   -3.86848    0 0.0032612   0.00662566  0.999731    0.02198        uwb: 0.50034821     1243.65  1220.93  
imu_odom_:  1691062880.418350716  0.430956   -0.25618   10.2687    -0.0713727  -0.0287621  0.0639159   0.18       0.02          pose: 0.0           -2.13606   -3.86848    0 0.0032612   0.00662566  0.999731    0.02198        uwb: 0.0            1243.65  1220.93  
imu_odom_:  1691062880.443424123  0.0933739  -0.0167594 9.98861    -0.0330232  0.0308927   0.0436758   0.18       0.02          pose: 0.50938351    -2.1448    -3.86363    0 0.00113834  0.00587805  0.999746    0.0217109      uwb: 0.0            1243.65  1220.93  
imu_odom_:  1691062880.465436668  0.483629   -0.620098  9.35175    -0.0191748  0.015979    0.0298274   0.18       0.02          pose: 0.0           -2.1448    -3.86363    0 0.00113834  0.00587805  0.999746    0.0217109      uwb: 0.0            1243.65  1220.93  
imu_odom_:  1691062880.491371025  0.746991   0.483629   9.55526    -0.100135   0.0266316   0.0873517   0.18       0.02          pose: 0.43130017    -2.14965   -3.87238    0 0.000444304 0.00270783  0.999767    0.0214156      uwb: 0.0            1243.65  1220.93  
imu_odom_:  1691062880.507424876  0.258574   -0.035913  9.43555    -0.157659   0.104396    0.134223    0.23       0.02          pose: 0.0           -2.14965   -3.87238    0 0.000444304 0.00270783  0.999767    0.0214156      uwb: 0.0            1243.65  1220.93  
imu_odom_:  1691062880.533499225  0.0933739  -0.713472  9.23922    -0.0394148  -0.0319579  -0.0245011  0.23       0.02          pose: 0.47899946    -2.1584    -3.86754    0 -0.0009705460.00245384  0.99977     0.0212989      uwb: 0.0            1243.65  1220.93  
imu_odom_:  1691062880.550408777  0.627281   0.339977   10.0245    -0.0681769  0.0319579   0.00213053  0.19       0             pose: 0.0           -2.1584    -3.86754    0 -0.0009705460.00245384  0.99977     0.0212989      uwb: 0.149931806    1242.25  1223.55  
imu_odom_:  1691062880.576550205  0.646434   -0.402226  9.97664    -0.0436758  -0.0127832  0.0671117   0.19       0             pose: 0.77002784    -2.17199   -3.87147    0 -0.00270053 0.00306085  0.999766    0.021263       uwb: 0.0            1242.25  1223.55  
imu_odom_:  1691062880.601490328  0.316035   0.0263362  9.66779    -0.0617853  0.00958738  0.0340885   0.2        -0.02         pose: 0.7094376     -2.17199   -3.87147    0 -0.00213252 0.00263773  0.99977     0.0211652      uwb: 0.49976783     1241.19  1225.31  
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imu_odom_:  1691062880.651414614  0.37589    -0.244209  9.84017    -0.0671117  -0.0287621  0.0330232   0.19       0             pose: 0.0           -2.17821   -3.86804    0 -0.0015618  0.00379577  0.999772    0.0209704      uwb: 0.49964825     1242.02  1225.29  
imu_odom_:  1691062880.674510053  0.270545   -0.304064  9.87608    -0.0532632  -0.00213053 0.0458064   0.18       0             pose: 0.31896549    -2.18557   -3.8754     0 -0.00385729 0.00366256  0.999774    0.0205926      uwb: 0.0            1242.02  1225.29  
imu_odom_:  1691062880.699491591  0.258574   -0.45011   9.75637    -0.0426106  -0.0170442  0.0415453   0.18       0             pose: 0.0           -2.18557   -3.8754     0 -0.00385729 0.00366256  0.999774    0.0205926      uwb: 0.49925452     1243.66  1224.84  
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imu_odom_:  1691062880.740401279  0.794875   -0.059855  9.84496    -0.056459   -0.0383495  0.0543285   0.23       0             pose: 0.34018884    -2.19916   -3.86791    0 -0.0028415  -0.0026645  0.999783    0.020483       uwb: 0.50194353     1244.8   1224.71  
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imu_odom_:  1691062880.807473978  0.782904   -0.275333  10.1155    -0.0468716  -0.0383495  0.0415453   0.23       0.02          pose: 0.40944104    -2.21667   -3.86969    0 0.00206328  -0.00243792 0.999789    0.0203083      uwb: 0.49860998     1244.84  1225.54  
imu_odom_:  1691062880.832386102  0.402226   -0.059855  10.0317    -0.056459   -0.0394148  0.0468716   0.23       0.02          pose: 0.43113976    -2.21667   -3.86969    0 0.00705749  -0.00286058 0.999766    0.020225       uwb: 0.0            1244.84  1225.54  
imu_odom_:  1691062880.850321969  0.0622492  -0.237026  9.84256    -0.0511327  -0.00106526 0.0490022   0.2        0.02          pose: 0.6969842     -2.21667   -3.86969    0 0.00679957  -0.002283   0.99977     0.0202024      uwb: 0.49944409     1245.72  1225.55  
imu_odom_:  1691062880.874410767  0.4956     -0.390255  9.47146    -0.0703074  0.00745685  0.0436758   0.2        0.02          pose: 0.0           -2.21667   -3.86969    0 0.00679957  -0.002283   0.99977     0.0202024      uwb: 0.0            1245.72  1225.55  
imu_odom_:  1691062880.899444218  0.354342   -0.466869  10.0365    -0.072438   -0.0330232  0.0575243   0.23       0.02          pose: 0.35878149    -2.22544   -3.86487    0 0.00431344  -0.0007582210.999789    0.0200582      uwb: 0.50180354     1246.99  1225.14  
imu_odom_:  1691062880.921335437  0.260968   -0.35913   9.71567    -0.0490022  0.00319579  0.0372843   0.23       0.02          pose: 0.49122249    -2.23683   -3.87002    0 0.00314019  -0.00556915 0.999784    0.0197609      uwb: 0.0            1246.99  1225.14  
imu_odom_:  1691062880.943325233  0.596156   -0.102951  10.0149    -0.0394148  -0.0372843  0.0436758   0.19       0             pose: 0.0           -2.23683   -3.87002    0 0.00314019  -0.00556915 0.999784    0.0197609      uwb: 0.49806751     1247.24  1225.36  
imu_odom_:  1691062880.959480870  0.304064   -0.325611  9.73961    -0.0426106  0.0170442   0.0436758   0.19       0             pose: 0.0           -2.23683   -3.87002    0 0.00314019  -0.00556915 0.999784    0.0197609      uwb: 0.0            1247.24  1225.36  
imu_odom_:  1691062880.984530654  0.852336   -0.220267  10.0437    -0.0628506  -0.0681769  0.0575243   0.23       -0.02         pose: 0.51031971    -2.24778   -3.86401    0 0.001859    -0.00407205 0.999796    0.0197179      uwb: 0.0            1247.24  1225.36  
imu_odom_:  1691062880.998323638  0.861913   -0.430956  9.67257    -0.0681769  -0.00426106 0.0607201   0.23       -0.02         pose: 0.0           -2.24778   -3.86401    0 0.001859    -0.00407205 0.999796    0.0197179      uwb: 0.49969783     1248.78  1224.78  
imu_odom_:  1691062881.21347041   1.18752    -0.181959  10.1658    -0.0447411  -0.00213053 0.0436758   0.18       0             pose: 0.39889207    -2.25259   -3.87277    0 0.00469827  -0.00417076 0.999792    0.019418       uwb: 0.0            1248.78  1224.78  
imu_odom_:  1691062881.47422264   0.696713   -0.146046  9.86172    -0.0703074  -0.00532632 0.0490022   0.18       0             pose: 0.30981645    -2.26136   -3.86797    0 0.00769069  -0.00403059 0.999776    0.0193         uwb: 0.50006531     1248.81  1226.4   
imu_odom_:  1691062881.61539855   0.502782   0.134075   10.2759    -0.0692422  0.00426106  0.0500674   0.2        0             pose: 0.8073735     -2.26136   -3.86797    0 0.00827168  -0.00352717 0.999774    0.019269       uwb: 0.0            1248.81  1226.4   
imu_odom_:  1691062881.78534569   0.490811   -0.232238  10.0509    -0.0660464  -0.00426106 0.116114    0.2        0             pose: 0.0           -2.26136   -3.86797    0 0.00827168  -0.00352717 0.999774    0.019269       uwb: 0.0            1248.81  1226.4   
imu_odom_:  1691062881.92350885   0.126893   -0.280122  10.2759    -0.0575243  -0.0117179  0.176834    0.2        0             pose: 0.39119836    -2.27013   -3.86317    0 0.00849752  -0.00114161 0.999785    0.0188716      uwb: 0.50140399     1248.25  1227.88  
imu_odom_:  1691062881.107458917  0.773327   -0.526724  9.60554    -0.0703074  -0.0447411  0.233293    0.18       0.23          pose: 0.0           -2.27013   -3.86317    0 0.00849752  -0.00114161 0.999785    0.0188716      uwb: 0.0            1248.25  1227.88  
imu_odom_:  1691062881.124434674  0.773327   -0.4956    9.96946    -0.0639159  -0.0436758  0.294013    0.18       0.23          pose: 0.0           -2.27013   -3.86317    0 0.00849752  -0.00114161 0.999785    0.0188716      uwb: 0.0            1248.25  1227.88  
imu_odom_:  1691062881.142438787  0.234632   -0.347159  9.38288    -0.0436758  -0.00106526 0.333428    0.18       0.23          pose: 0.46780304    -2.27493   -3.87194    0 0.00813274  -0.00321003 0.999848    0.0150669      uwb: 0.50054362     1248.75  1228.34  
imu_odom_:  1691062881.155370530  0.548272   -0.146046  9.79947    -0.0617853  -0.00532632 0.368581    0.19       0.29          pose: 0.0           -2.27493   -3.87194    0 0.00813274  -0.00321003 0.999848    0.0150669      uwb: 0.0            1248.75  1228.34  
imu_odom_:  1691062881.171352345  0.59855    -0.390255  9.66539    -0.0660464  -0.00426106 0.400539    0.17       0.32          pose: 0.0           -2.27493   -3.87194    0 0.00813274  -0.00321003 0.999848    0.0150669      uwb: 0.0            1248.75  1228.34  
imu_odom_:  1691062881.189399330  0.641646   -0.258574  9.40442    -0.0713727  0.0319579   0.425041    0.17       0.32          pose: 0.47992982    -2.28369   -3.86713    0 0.00751507  -0.00368988 0.999935    0.00769393     uwb: 0.49886081     1248.2   1229.84  
imu_odom_:  1691062881.206347088  0.610521   -0.229843  9.92875    -0.0532632  0.0234358   0.46339     0.17       0.32          pose: 0.0           -2.28369   -3.86713    0 0.00751507  -0.00368988 0.999935    0.00769393     uwb: 0.0            1248.2   1229.84  
imu_odom_:  1691062881.220475178  0.158017   -0.301669  9.57441    -0.0585895  0.0841559   0.499609    0.19       0.41          pose: 0.43033190    -2.29248   -3.86235    0 0.00961246  -0.00242194 0.999951    -0.000796691   uwb: 0.0            1248.2   1229.84  
imu_odom_:  1691062881.236460492  0.586579   -0.347159  9.42118    -0.052198   0.0106526   0.530502    0.19       0.41          pose: 0.6164598     -2.29248   -3.86235    0 0.00872237  -0.00250532 0.999956    -0.00221591    uwb: 0.0            1248.2   1229.84  
imu_odom_:  1691062881.251578441  0.213084   -0.335188  9.87129    -0.0415453  0.0106526   0.549676    0.18       0.5           pose: 0.0           -2.29248   -3.86235    0 0.00872237  -0.00250532 0.999956    -0.00221591    uwb: 0.49968617     1247.82  1231.5   
imu_odom_:  1691062881.268515700  0.47884    -0.823605  10.1562    -0.052198   0.0117179   0.563525    0.18       0.5           pose: 0.39066755    -2.30603   -3.86634    0 0.00654653  -0.00415198 0.9999      -0.011845      uwb: 0.0            1247.82  1231.5   
imu_odom_:  1691062881.284462808  0.715866   0.0526724  10.1514    -0.0500674  -0.0340885  0.610397    0.18       0.5           pose: 0.0           -2.30603   -3.86634    0 0.00654653  -0.00415198 0.9999      -0.011845      uwb: 0.0            1247.82  1231.5   
imu_odom_:  1691062881.302330429  1.09894    -0.213084  9.96467    -0.0490022  -0.00426106 0.627441    0.18       0.55          pose: 0.0           -2.30603   -3.86634    0 0.00654653  -0.00415198 0.9999      -0.011845      uwb: 0.50005657     1249.01  1231.8   
imu_odom_:  1691062881.319378514  0.842759   -0.40462   9.73722    -0.0500674  0.00532632  0.627441    0.18       0.55          pose: 0.22943199    -2.30604   -3.86636    0 0.00657155  -0.00529162 0.999802    -0.0180022     uwb: 0.0            1249.01  1231.8   
imu_odom_:  1691062881.335406701  1.17316    -0.521936  9.96467    -0.0447411  0.00639159  0.611462    0.18       0.55          pose: 0.0           -2.30604   -3.86636    0 0.00657155  -0.00529162 0.999802    -0.0180022     uwb: 0.0            1249.01  1231.8   
imu_odom_:  1691062881.353295613  1.18034    -0.0622492 10.4052    -0.0607201  -0.0149137  0.612527    0.2        0.64          pose: 0.34907248    -2.31482   -3.86157    0 0.00948491  -0.00428184 0.999549    -0.0281568     uwb: 0.50128441     1250.04  1231.95  
imu_odom_:  1691062881.369398462  1.86029    -0.304064  10.0652    -0.0511327  -0.0671117  0.621049    0.15       0.44          pose: 0.33932848    -2.31966   -3.87031    0 0.0125017   -0.00476723 0.999191    -0.0379258     uwb: 0.0            1250.04  1231.95  
imu_odom_:  1691062881.386393467  1.94409    -0.280122  9.28232    -0.056459   -0.0351537  0.518784    0.15       0.44          pose: 0.0           -2.31966   -3.87031    0 0.0125017   -0.00476723 0.999191    -0.0379258     uwb: 0.0            1250.04  1231.95  
imu_odom_:  1691062881.403355516  1.64482    0.122104   9.85932    -0.0372843  -0.0127832  0.456998    0.12       0.29          pose: 0.0           -2.31966   -3.87031    0 0.0125017   -0.00476723 0.999191    -0.0379258     uwb: 0.49917870     1249.2   1233.61  
imu_odom_:  1691062881.420312899  0.957681   -0.316035  9.65103    -0.0681769  0.0394148   0.410127    0.12       0.29          pose: 0.43031731    -2.32846   -3.86555    0 0.0174528   -0.00423255 0.998613    -0.0494863     uwb: 0.0            1249.2   1233.61  
imu_odom_:  1691062881.438368925  0.931344   -0.265756  10.0485    -0.0607201  0.0181095   0.320645    0.12       0.29          pose: 0.0           -2.32846   -3.86555    0 0.0174528   -0.00423255 0.998613    -0.0494863     uwb: 0.50097526     1248.81  1234.88  
imu_odom_:  1691062881.463420168  0.823605   -0.282516  10.2472    -0.0479369  0.00532632  0.273773    0.09       0.29          pose: 0.8013948     -2.32846   -3.86555    0 0.0181797   -0.00380481 0.998518    -0.0511476     uwb: 0.0            1248.81  1234.88  
imu_odom_:  1691062881.480363551  0.792481   -0.268151  10.3166    -0.056459   0.0106526   0.279099    0.09       0.29          pose: 0.0           -2.32846   -3.86555    0 0.0181797   -0.00380481 0.998518    -0.0511476     uwb: 0.0            1248.81  1234.88  
imu_odom_:  1691062881.497291769  0.21069    -0.344765  9.65582    -0.0585895  0.0468716   0.204531    0.1        0.2           pose: 0.51970792    -2.32846   -3.86555    0 0.0211821   -0.00245333 0.997997    -0.0595654     uwb: 0.49779920     1248.93  1235.4   
imu_odom_:  1691062881.512355762  -0.237026  0.296881   10.0509    -0.0319579  0.0639159   0.108657    0.11       0.26          pose: 0.0           -2.32846   -3.86555    0 0.0211821   -0.00245333 0.997997    -0.0595654     uwb: 0.0            1248.93  1235.4   
imu_odom_:  1691062881.529286313  -0.720655  -0.158017  10.3094    -0.0692422  0.0223706   0.194943    0.11       0.23          pose: 0.0           -2.32846   -3.86555    0 0.0211821   -0.00245333 0.997997    -0.0595654     uwb: 0.0            1248.93  1235.4   
imu_odom_:  1691062881.546290359  -0.0454898 -0.711078  10.2568    -0.0703074  -0.0415453  0.262055    0.11       0.23          pose: 0.73991794    -2.34199   -3.86962    0 0.0133057   -0.00145427 0.997722    -0.0661142     uwb: 0.50046488     1249.74  1234.93  
imu_odom_:  1691062881.563286823  0.675165   -0.610521  10.307     -0.0266316  -0.00745685 0.216249    0.12       0.14          pose: 0.0           -2.34199   -3.86962    0 0.0133057   -0.00145427 0.997722    -0.0661142     uwb: 0.0            1249.74  1234.93  
imu_odom_:  1691062881.580282411  0.849942   0.0430956  9.92157    -0.0543285  -0.0138484  0.251402    0.12       0.14          pose: 0.32925198    -2.34199   -3.86962    0 0.011406    -0.00326204 0.997523    -0.069333      uwb: 0.0            1249.74  1234.93  
imu_odom_:  1691062881.597319706  0.141258   -0.112527  9.9096     -0.0490022  0.0330232   0.24288     0.12       0.14          pose: 0.0           -2.34199   -3.86962    0 0.011406    -0.00326204 0.997523    -0.069333      uwb: 0.50101609     1250.3   1235.46  
imu_odom_:  1691062881.615372816  0.3304     -0.229843  9.76116    -0.0500674  0.00532632  0.199204    0.13       0.17          pose: 0.44024507    -2.35341   -3.86966    0 0.0105285   -0.00217513 0.997221    -0.0737271     uwb: 0.0            1250.3   1235.46  
imu_odom_:  1691062881.632427026  0.339977   -0.320823  9.81144    -0.056459   0.0255663   0.203466    0.13       0.17          pose: 0.0           -2.35341   -3.86966    0 0.0105285   -0.00217513 0.997221    -0.0737271     uwb: 0.0            1250.3   1235.46  
imu_odom_:  1691062881.646366710  0.641646   -0.270545  10.1442    -0.0532632  0.0255663   0.20027     0.13       0.17          pose: 0.0           -2.35341   -3.86966    0 0.0105285   -0.00217513 0.997221    -0.0737271     uwb: 0.49851666     1249.39  1237.49  
imu_odom_:  1691062881.664427695  0.311246   -0.181959  9.80904    -0.0500674  0.02024     0.20027     0.14       0.14          pose: 0.8118650     -2.35554   -3.87361    0 0.00967623  -0.00210012 0.997181    -0.0743751     uwb: 0.0            1249.39  1237.49  
imu_odom_:  1691062881.681426492  0.486023   -0.122104  10.1921    -0.056459   0.0468716   0.204531    0.15       0.17          pose: 0.0           -2.35554   -3.87361    0 0.00967623  -0.00210012 0.997181    -0.0743751     uwb: 0.0            1249.39  1237.49  
imu_odom_:  1691062881.698436663  0.0574608  -0.308852  9.48583    -0.0617853  0.0543285   0.199204    0.15       0.17          pose: 0.67005620    -2.36434   -3.86886    0 0.00550783  -0.00113741 0.996796    -0.0797825     uwb: 0.50046487     1248.08  1239.56  
imu_odom_:  1691062881.715440709  0.347159   -0.0287304 10.0197    -0.0500674  0.0117179   0.176834    0.15       0.11          pose: 0.0           -2.36434   -3.86886    0 0.00550783  -0.00113741 0.996796    -0.0797825     uwb: 0.0            1248.08  1239.56  
imu_odom_:  1691062881.732305347  0.37589    -0.21069   9.81144    -0.0841559  -0.0500674  0.204531    0.15       0.11          pose: 0.0           -2.36434   -3.86886    0 0.00550783  -0.00113741 0.996796    -0.0797825     uwb: 0.0            1248.08  1239.56  
imu_odom_:  1691062881.749328351  0.97444    -0.11971   9.78031    -0.0575243  -0.0298274  0.206661    0.15       0.11          pose: 0.32998694    -2.36909   -3.87766    0 0.00242349  -0.0002523740.996601    -0.0823498     uwb: 0.49997199     1247.57  1241.17  
imu_odom_:  1691062881.767431916  1.36948    -0.181959  9.91439    -0.0671117  -0.0213053  0.266316    0.14       0.11          pose: 0.33878017    -2.36909   -3.87766    0 0.00131042  0.000296922 0.99638     -0.0850007     uwb: 0.0            1247.57  1241.17  
imu_odom_:  1691062881.784437713  1.74537    -0.4956    10.2065    -0.0543285  -0.0308927  0.245011    0.14       0.11          pose: 0.0           -2.36909   -3.87766    0 0.00131042  0.000296922 0.99638     -0.0850007     uwb: 0.0            1247.57  1241.17  
imu_odom_:  1691062881.801301476  1.56341    -0.0215478 9.61033    -0.0319579  0.0255663   0.157659    0.14       0.08          pose: 0.45117026    -2.37791   -3.87294    0 0.00628497  0.000442857 0.995956    -0.0896186     uwb: 0.49928370     1246.21  1243.64  
imu_odom_:  1691062881.818494220  1.39343    -0.0981623 9.89284    -0.0426106  0.0490022   0.137419    0.14       0.08          pose: 0.0           -2.37791   -3.87294    0 0.00628497  0.000442857 0.995956    -0.0896186     uwb: 0.0            1246.21  1243.64  
imu_odom_:  1691062881.834424996  0.6608     -0.399832  9.93115    -0.056459   0.0585895   0.0980043   0.14       0.08          pose: 0.0           -2.37791   -3.87294    0 0.00628497  0.000442857 0.995956    -0.0896186     uwb: 0.0            1246.21  1243.64  
imu_odom_:  1691062881.852562392  0.811634   -0.385466  10.1442    -0.0628506  -0.0138484  0.0532632   0.09       0.08          pose: 0.8008115     -2.37791   -3.87294    0 0.00692932  0.000740551 0.995909    -0.0900886     uwb: 0.50199895     1244.5   1245.78  
imu_odom_:  1691062881.869551565  0.895431   -0.071826  9.74919    -0.0575243  -0.0223706  0.0490022   0.09       0.08          pose: 0.0           -2.37791   -3.87294    0 0.00692932  0.000740551 0.995909    -0.0900886     uwb: 0.0            1244.5   1245.78  
imu_odom_:  1691062881.884603601  0.826      -0.172383  9.95988    -0.0543285  0.0170442   0.076699    0.09       0.08          pose: 0.0           -2.37791   -3.87294    0 0.00692932  0.000740551 0.995909    -0.0900886     uwb: 0.0            1244.5   1245.78  
imu_odom_:  1691062881.901521902  0.706289   -0.203507  9.94312    -0.0543285  -0.00426106 0.072438    0.06       0.08          pose: 0.50002448    -2.38261   -3.88176    0 0.00984147  -0.0003813930.995712    -0.0919793     uwb: 0.49934494     1243.21  1247.92  
imu_odom_:  1691062881.918408414  0.45011    -0.258574  9.79947    -0.0500674  -0.00958738 0.0841559   0.06       0.08          pose: 0.0           -2.38261   -3.88176    0 0.00984147  -0.0003813930.995712    -0.0919793     uwb: 0.0            1243.21  1247.92  
imu_odom_:  1691062881.935369004  0.718261   -0.167594  9.82102    -0.0585895  0.00319579  0.113983    0.06       0.08          pose: 0.65966764    -2.39145   -3.87707    0 0.0142446   0.00151769  0.995581    -0.0928054     uwb: 0.0            1243.21  1247.92  
imu_odom_:  1691062881.960283755  0.711078   -0.385466  9.84735    -0.0553937  0           0.11931     0.05       0.05          pose: 0.0           -2.39145   -3.87707    0 0.0142446   0.00151769  0.995581    -0.0928054     uwb: 0.49961618     1243.24  1248.81  
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imu_odom_:  1691062881.998408482  -0.933739  -0.265756  9.86172    -0.0596548  0.0681769   0.106526    0.07       0.08          pose: 0.42149491    -2.39145   -3.87707    0 0.0115249   7.09816e-05 0.995355    -0.0955756     uwb: 0.50115317     1242.38  1250.11  
imu_odom_:  1691062882.23334898   -0.881066  -0.253785  9.80186    -0.0500674  -0.0628506  0.103331    0.07       0.08          pose: 0.5860991     -2.39145   -3.87707    0 0.0107328   -3.16396e-050.995345    -0.0957721     uwb: 0.0            1242.38  1250.11  
imu_odom_:  1691062882.47405031   0.203507   0.0167594  9.71328    -0.0543285  -0.04048    0.100135    0.11       0.08          pose: 0.32017876    -2.39144   -3.87705    0 0.00801595  -0.0002972690.995271    -0.0968065     uwb: 0.49793919     1241.59  1251.49  
imu_odom_:  1691062882.70309441   0.304064   -0.378284  9.72764    -0.072438   0.0426106   0.0820254   0.11       0.08          pose: 0.0           -2.39144   -3.87705    0 0.00801595  -0.0002972690.995271    -0.0968065     uwb: 0.0            1241.59  1251.49  
imu_odom_:  1691062882.96324877   -0.21069   -0.203507  9.67018    -0.0479369  -0.0117179  0.0873517   0.11       0.02          pose: 0.46974543    -2.40501   -3.88108    0 0.00416921  -0.0008563390.995176    -0.0980166     uwb: 0.50059321     1241.99  1251.89  
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imu_odom_:  1691062882.137361726  0.292093   -0.167594  9.34936    -0.0543285  0.0255663   0.0756338   0.12       0.02          pose: 0.43007525    -2.40501   -3.88108    0 0.000443776 5.45698e-06 0.995095    -0.0989262     uwb: 0.0            1241.99  1251.89  
imu_odom_:  1691062882.162391387  0.296881   -0.201113  9.87608    -0.0383495  0.00319579  0.0756338   0.12       0.02          pose: 0.0           -2.40501   -3.88108    0 0.000443776 5.45698e-06 0.995095    -0.0989262     uwb: 0.49997492     1242.3   1252.22  
imu_odom_:  1691062882.187376425  0.469264   -0.0790087 10.5465    -0.0553937  -0.0426106  0.0873517   0.13       0.05          pose: 0.49074421    -2.41381   -3.87634    0 -0.00481429 0.000472272 0.994996    -0.0998021     uwb: 0.49915829     1242.65  1252.59  
imu_odom_:  1691062882.211315316  -0.0430956 -0.287304  9.78989    -0.056459   0.0127832   0.0660464   0.14       0.02          pose: 0.0           -2.41381   -3.87634    0 -0.00481429 0.000472272 0.994996    -0.0998021     uwb: 0.0            1242.65  1252.59  
imu_odom_:  1691062882.229369884  0.196325   -0.177171  10.2448    -0.0447411  0.00213053  0.0639159   0.14       0.02          pose: 0.33010943    -2.41854   -3.88515    0 -0.00325581 0.0018407   0.994929    -0.100508      uwb: 0.0            1242.65  1252.59  
imu_odom_:  1691062882.246276229  0.138864   -0.102951  9.77792    -0.0543285  0.00639159  0.0798948   0.14       0.02          pose: 0.0           -2.41854   -3.88515    0 -0.00325581 0.0018407   0.994929    -0.100508      uwb: 0.50107151     1242.92  1253.31  
imu_odom_:  1691062882.269382460  0.203507   -0.25618   10.1035    -0.0330232  -0.0809601  0.0628506   0.14       0             pose: 0.50873899    -2.42736   -3.88044    0 -0.00837891 0.00184292  0.994822    -0.101268      uwb: 0.0            1242.92  1253.31  
imu_odom_:  1691062882.285319944  0.356736   0.0383072  9.99579    -0.0266316  -0.0426106  0.0543285   0.14       0             pose: 0.7135207     -2.42736   -3.88044    0 -0.00830356 0.00126258  0.994816    -0.101343      uwb: 0.0            1242.92  1253.31  
imu_odom_:  1691062882.303444509  0.349553   0.023942   10.1179    -0.0585895  -0.04048    0.0980043   0.2        0.02          pose: 0.0           -2.42736   -3.88044    0 -0.00830356 0.00126258  0.994816    -0.101343      uwb: 0.49961036     1242.94  1253.78  
imu_odom_:  1691062882.319315205  0.768539   -0.488417  9.40682    -0.0479369  -0.00426106 0.0671117   0.15       0             pose: 0.50033073    -2.43206   -3.88926    0 -0.00638819 0.0034445   0.99474     -0.102178      uwb: 0.0            1242.94  1253.78  
imu_odom_:  1691062882.337313194  0.562637   -0.246603  9.89524    -0.0436758  -0.0213053  0.0575243   0.21       0.02          pose: 0.0           -2.43206   -3.88926    0 -0.00638819 0.0034445   0.99474     -0.102178      uwb: 0.0            1242.94  1253.78  
imu_odom_:  1691062882.354252202  0.562637   0.0143652  10.3382    -0.0458064  0.02024     0.0735032   0.21       0.02          pose: 0.0           -2.43206   -3.88926    0 -0.00638819 0.0034445   0.99474     -0.102178      uwb: 0.49957535     1242.69  1254.84  
imu_odom_:  1691062882.368262174  0.440533   -0.28491   10.5489    -0.052198   0           0.0745685   0.21       0.02          pose: 0.23904768    -2.44088   -3.88456    0 -0.00418233 0.00255174  0.994724    -0.102469      uwb: 0.0            1242.69  1254.84  
imu_odom_:  1691062882.385494583  0.277727   -0.162806  9.97664    -0.0575243  0.015979    0.0553937   0.15       0             pose: 0.0           -2.44088   -3.88456    0 -0.00418233 0.00255174  0.994724    -0.102469      uwb: 0.0            1242.69  1254.84  
imu_odom_:  1691062882.401249203  0.380678   -0.19393   9.47625    -0.0735032  -0.00106526 0.0830906   0.15       0             pose: 0.33040108    -2.44088   -3.88456    0 -0.00182936 0.00310284  0.994679    -0.102959      uwb: 0.49980575     1243.17  1255.35  
imu_odom_:  1691062882.418386242  0.691924   -0.282516  9.98143    -0.0830906  -0.0351537  0.0809601   0.16       0.02          pose: 0.15998731    -2.44564   -3.89335    0 -0.00231663 0.00235358  0.99466     -0.103158      uwb: 0.0            1243.17  1255.35  
imu_odom_:  1691062882.434322267  0.304064   -0.299275  10.0868    -0.0596548  0.0117179   0.0479369   0.16       0.02          pose: 0.0           -2.44564   -3.89335    0 -0.00231663 0.00235358  0.99466     -0.103158      uwb: 0.0            1243.17  1255.35  
imu_odom_:  1691062882.451229195  0.316035   -0.167594  9.89524    -0.0468716  0.00639159  0.056459    0.16       0.02          pose: 0.0           -2.44564   -3.89335    0 -0.00231663 0.00235358  0.99466     -0.103158      uwb: 0.49943537     1243.05  1256.11  
imu_odom_:  1691062882.467383958  -0.110133  -0.225055  10.0006    -0.0500674  -0.00426106 0.0703074   0.16       0             pose: 0.32870368    -2.45444   -3.8886     0 -0.00106925 0.00101554  0.994604    -0.103735      uwb: 0.0            1243.05  1256.11  
imu_odom_:  1691062882.484291177  0.691924   -0.433351  10.1634    -0.056459   -0.0319579  0.0490022   0.22       0             pose: 0.0           -2.45444   -3.8886     0 -0.00106925 0.00101554  0.994604    -0.103735      uwb: 0.0            1243.05  1256.11  
imu_odom_:  1691062882.499293049  0.972046   -0.0646434 9.67257    -0.0383495  0.0117179   0.04048     0.22       0             pose: 0.0           -2.45444   -3.8886     0 -0.00106925 0.00101554  0.994604    -0.103735      uwb: 0.50057279     1243.12  1256.63  
imu_odom_:  1691062882.517239416  0.11971    -0.0454898 10.0149    -0.052198   0.0234358   0.0841559   0.21       0.02          pose: 0.66051635    -2.45917   -3.89741    0 -0.0034122  -6.51507e-050.994528    -0.104413      uwb: 0.0            1243.12  1256.63  
imu_odom_:  1691062882.533290935  -0.0263362 -0.162806  9.6606     -0.0628506  -0.015979   0.0681769   0.21       0.02          pose: 0.0           -2.45917   -3.89741    0 -0.0034122  -6.51507e-050.994528    -0.104413      uwb: 0.0            1243.12  1256.63  
imu_odom_:  1691062882.550219445  0.488417   -0.059855  10.1131    -0.0383495  -0.0330232  0.052198    0.21       0.02          pose: 0.31937090    -2.46798   -3.89267    0 -0.00202544 0.000527782 0.994508    -0.104638      uwb: 0.50049113     1243.41  1257.39  
imu_odom_:  1691062882.566430496  0.562637   -0.0861913 10.0485    -0.0692422  -0.056459   0.100135    0.15       0             pose: 0.42972236    -2.47515   -3.89483    0 -0.00308614 0.00217848  0.994444    -0.105197      uwb: 0.0            1243.41  1257.39  
imu_odom_:  1691062882.583375630  1.42455    -0.368707  10.2185    -0.0617853  -0.0298274  0.134223    0.15       0             pose: 0.8000531     -2.48152   -3.89676    0 -0.00215312 0.0024986   0.99442     -0.105441      uwb: 0.0            1243.41  1257.39  
imu_odom_:  1691062882.599249534  2.28407    -0.608127  10.5967    -0.0479369  -0.0873517  0.1012      0.15       0             pose: 0.0           -2.48152   -3.89676    0 -0.00215312 0.0024986   0.99442     -0.105441      uwb: 0.50056405     1243.11  1258.88  
imu_odom_:  1691062882.617307019  1.94649    0.158017   9.35654    -0.056459   -0.00958738 0.0447411   0.17       -0.02         pose: 0.41029558    -2.48152   -3.89676    0 0.00294181  0.00255767  0.994254    -0.10698       uwb: 0.0            1243.11  1258.88  
imu_odom_:  1691062882.633369913  1.82438    0.131681   10.2615    -0.0671117  0.0447411   0.0575243   0.12       -0.02         pose: 0.0           -2.48152   -3.89676    0 0.00294181  0.00255767  0.994254    -0.10698       uwb: 0.0            1243.11  1258.88  
imu_odom_:  1691062882.651372276  0.770933   -0.181959  9.62948    -0.0660464  0.0649811   0.0191748   0.12       -0.02         pose: 0.0           -2.48152   -3.89676    0 0.00294181  0.00255767  0.994254    -0.10698       uwb: 0.49994283     1243.75  1259.11  
imu_odom_:  1691062882.668233123  0.68953    -0.241814  10.489     -0.0479369  0.00319579  -0.0149137  0.09       0             pose: 0.26012228    -2.48152   -3.89676    0 0.00526726  0.00332037  0.994229    -0.1071        uwb: 0.0            1243.75  1259.11  
imu_odom_:  1691062882.681226113  0.54109    -0.220267  9.40921    -0.0607201  -0.00958738 -0.0287621  0.09       0             pose: 0.0           -2.48152   -3.89676    0 0.00526726  0.00332037  0.994229    -0.1071        uwb: 0.0            1243.75  1259.11  
imu_odom_:  1691062882.698227243  0.656011   0.00957681 10.0126    -0.0511327  0.02024     -0.0149137  0.09       0             pose: 0.32999569    -2.49035   -3.89207    0 0.00762924  0.00311739  0.994245    -0.106815      uwb: 0.50045322     1245.01  1258.63  
imu_odom_:  1691062882.712231382  0.670376   -0.268151  10.2256    -0.0671117  -0.0255663  0.02024     0.08       0             pose: 0.39965912    -2.49299   -3.89703    0 0.00826919  0.00316839  0.994364    -0.105645      uwb: 0.0            1245.01  1258.63  
imu_odom_:  1691062882.727222463  0.744597   -0.416591  9.56484    -0.0543285  -0.0106526  0.0266316   0.08       0             pose: 0.7006590     -2.49506   -3.9009     0 0.00888055  0.00268047  0.994367    -0.105582      uwb: 0.0            1245.01  1258.63  
imu_odom_:  1691062882.745260407  0.653617   -0.304064  9.90002    -0.04048    0.00106526  0.036219    0.08       0             pose: 0.0           -2.49506   -3.9009     0 0.00888055  0.00268047  0.994367    -0.105582      uwb: 0.49823668     1244.07  1259.91  
imu_odom_:  1691062882.769231672  0.574608   -0.0287304 9.80186    -0.0575243  0.00852212  0.04048     0.06       0             pose: 0.40026574    -2.49506   -3.9009     0 0.0114258   -0.0003196090.994362    -0.105422      uwb: 0.0            1244.07  1259.91  
imu_odom_:  1691062882.787276616  0.371101   -0.301669  9.93354    -0.0628506  0.0223706   0.0213053   0.07       -0.02         pose: 0.0           -2.49506   -3.9009     0 0.0114258   -0.0003196090.994362    -0.105422      uwb: 0.0            1244.07  1259.91  
imu_odom_:  1691062882.803223724  -0.490811  -0.181959  9.60793    -0.0490022  0.0532632   -0.0649811  0.07       -0.02         pose: 0.32027502    -2.49506   -3.9009     0 0.00970283  0.00148032  0.994388    -0.105338      uwb: 0.50124650     1244.72  1260.14  
imu_odom_:  1691062882.820253436  -1.12049   0.0047884  9.46188    -0.0340885  0.00852212  -0.167247   0.11       -0.2          pose: 0.0           -2.49506   -3.9009     0 0.00970283  0.00148032  0.994388    -0.105338      uwb: 0.0            1244.72  1260.14  
imu_odom_:  1691062882.838330462  -0.756568  0.260968   10.3214    -0.0788296  -0.04048    -0.22051    0.11       -0.2          pose: 0.0           -2.49506   -3.9009     0 0.00970283  0.00148032  0.994388    -0.105338      uwb: 0.49940328     1246.37  1259.61  
imu_odom_:  1691062882.851204167  0.196325   -0.232238  9.95509    -0.076699   -0.0617853  -0.274838   0.11       -0.2          pose: 0.34013926    -2.49506   -3.9009     0 0.00577796  0.000940902 0.994603    -0.103593      uwb: 0.0            1246.37  1259.61  
imu_odom_:  1691062882.867297392  0.366313   -0.203507  9.7037     -0.0649811  0.0351537   -0.311057   0.1        -0.32         pose: 0.0           -2.49506   -3.9009     0 0.00577796  0.000940902 0.994603    -0.103593      uwb: 0.0            1246.37  1259.61  
imu_odom_:  1691062882.884360935  0.11971    -0.351948  9.97185    -0.0639159  -0.00319579 -0.308927   0.1        -0.32         pose: 0.0           -2.49506   -3.9009     0 0.00577796  0.000940902 0.994603    -0.103593      uwb: 0.0            1246.37  1259.61  
imu_odom_:  1691062882.900390872  0.1652     -0.246603  9.48583    -0.0490022  -0.0138484  -0.347276   0.1        -0.32         pose: 0.48124518    -2.5039    -3.89624    0 0.001556    0.000796126 0.995295    -0.0968792     uwb: 0.49984367     1246.68  1259.94  
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imu_odom_:  1691062882.933351069  0.169988   0.0407014  10.1586    -0.0660464  -0.0308927  -0.383495   0.12       -0.44         pose: 0.0           -2.50859   -3.90507    0 -0.00232304 -0.0006177190.995988    -0.0894569     uwb: 0.0            1246.68  1259.94  
imu_odom_:  1691062882.951361598  0.390255   -0.153229  9.84496    -0.0447411  0.0287621   -0.419714   0.12       -0.44         pose: 0.25979564    -2.50859   -3.90507    0 -0.00421945 0.000744749 0.996458    -0.0839862     uwb: 0.49939745     1246.68  1260.85  
imu_odom_:  1691062882.968354854  0.138864   -0.244209  10.0892    -0.052198   0.0170442   -0.450607   0.13       -0.53         pose: 0.0           -2.50859   -3.90507    0 -0.00421945 0.000744749 0.996458    -0.0839862     uwb: 0.0            1246.68  1260.85  
imu_odom_:  1691062882.982360743  0.253785   0.0837971  9.27753    -0.0639159  0.00745685  -0.462325   0.13       -0.53         pose: 0.0           -2.50859   -3.90507    0 -0.00421945 0.000744749 0.996458    -0.0839862     uwb: 0.0            1246.68  1260.85  
imu_odom_:  1691062882.998349266  0.138864   0.148441   10.1969    -0.0468716  0.0234358   -0.474043   0.13       -0.53         pose: 0.32994027    -2.51744   -3.90041    0 -0.00406143 0.00178499  0.997064    -0.0764419     uwb: 0.50109776     1245.27  1263.01  
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imu_odom_:  1691062883.33346927   0.31364    0.0981623  9.83777    -0.0639159  -0.0106526  -0.556068   0.19       -0.73         pose: 0.7890288     -2.52205   -3.90929    0 -0.00576812 0.0038671   0.997898    -0.0644304     uwb: 0.0            1245.27  1263.01  
imu_odom_:  1691062883.49347116   1.07739    0.272939   10.5967    -0.052198   -0.0660464  -0.556068   0.19       -0.73         pose: 0.0           -2.52205   -3.90929    0 -0.00576812 0.0038671   0.997898    -0.0644304     uwb: 0.49939454     1245.88  1263.21  
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imu_odom_:  1691062883.82343769   1.29047    -0.423774  9.19373    -0.0617853  0.0394148   -0.458064   0.11       -0.44         pose: 0.0           -2.53091   -3.90464    0 -0.00298727 0.00605566  0.998635    -0.0517874     uwb: 0.0            1245.88  1263.21  
imu_odom_:  1691062883.99215699   0.806846   -0.519542  9.92397    -0.0490022  0.0149137   -0.407996   0.11       -0.44         pose: 0.0           -2.53091   -3.90464    0 -0.00298727 0.00605566  0.998635    -0.0517874     uwb: 0.49990492     1246.3   1263.66  
imu_odom_:  1691062883.116347197  0.667982   -0.35913   9.51695    -0.0415453  0.00852212  -0.36432    0.1        -0.38         pose: 0.25955357    -2.53091   -3.90464    0 5.88695e-05 0.00545457  0.998975    -0.0449366     uwb: 0.0            1246.3   1263.66  
imu_odom_:  1691062883.133339869  0.866701   -0.186748  9.80665    -0.0468716  -0.0287621  -0.284426   0.1        -0.38         pose: 0.0           -2.53091   -3.90464    0 5.88695e-05 0.00545457  0.998975    -0.0449366     uwb: 0.0            1246.3   1263.66  
imu_odom_:  1691062883.148222457  0.711078   -0.474052  9.56484    -0.0596548  0.00213053  -0.232228   0.1        -0.38         pose: 0.32066290    -2.53091   -3.90464    0 0.00215818  0.00361761  0.999277    -0.037785      uwb: 0.49942954     1245.79  1264.96  
imu_odom_:  1691062883.174341138  0.464475   -0.0574608 9.87129    -0.0351537  0.00639159  -0.248207   0.11       -0.41         pose: 0.40853694    -2.53979   -3.90005    0 0.0054963   0.0018909   0.999496    -0.0312175     uwb: 0.0            1245.79  1264.96  
imu_odom_:  1691062883.189280889  0.280122   -0.0311246 9.76355    -0.0596548  0           -0.238619   0.11       -0.41         pose: 0.0           -2.53979   -3.90005    0 0.0054963   0.0018909   0.999496    -0.0312175     uwb: 0.50196688     1246.36  1265.11  
imu_odom_:  1691062883.206220189  0.0047884  -0.1652    9.64384    -0.0543285  0.0479369   -0.273773   0.08       -0.23         pose: 0.8132941     -2.53979   -3.90005    0 0.00513553  0.00272958  0.999532    -0.0300436     uwb: 0.0            1246.36  1265.11  
imu_odom_:  1691062883.219209096  -0.0263362 -0.272939  10.2903    -0.0426106  0.056459    -0.333428   0.09       -0.17         pose: 0.0           -2.53979   -3.90005    0 0.00513553  0.00272958  0.999532    -0.0300436     uwb: 0.0            1246.36  1265.11  
imu_odom_:  1691062883.236346136  -0.869095  0.251391   9.8689     -0.0426106  0.0330232   -0.259925   0.1        -0.14         pose: 0.0           -2.53979   -3.90005    0 0.00513553  0.00272958  0.999532    -0.0300436     uwb: 0.0            1246.36  1265.11  
imu_odom_:  1691062883.251219391  -0.648829  -0.725443  9.991      -0.0745685  -0.0745685  -0.109722   0.1        -0.14         pose: 0.71032428    -2.54443   -3.90891    0 -0.00178187 0.00482369  0.999805    -0.0190495     uwb: 0.49874708     1245.99  1266.1   
imu_odom_:  1691062883.268408635  0.138864   -0.378284  9.80426    -0.0213053  -0.0948085  -0.136354   0.1        -0.14         pose: 0.0           -2.54443   -3.90891    0 -0.00178187 0.00482369  0.999805    -0.0190495     uwb: 0.0            1245.99  1266.1   
imu_odom_:  1691062883.285464304  0.866701   0.248997   10.2711    -0.036219   -0.0276969  -0.106526   0.1        -0.17         pose: 0.0           -2.54443   -3.90891    0 -0.00178187 0.00482369  0.999805    -0.0190495     uwb: 0.0            1245.99  1266.1   
imu_odom_:  1691062883.302347025  0.490811   -0.155623  9.71806    -0.0692422  -0.00213053 -0.100135   0.1        -0.17         pose: 0.31988129    -2.55328   -3.90425    0 -0.00369181 0.00367475  0.999861    -0.0158603     uwb: 0.50001284     1245.76  1266.79  
imu_odom_:  1691062883.318292092  0.0526724  -0.318429  9.65582    -0.0532632  0.0127832   -0.135289   0.13       -0.14         pose: 0.42971070    -2.55328   -3.90425    0 -0.0006457  0.00390572  0.999912    -0.0126475     uwb: 0.0            1245.76  1266.79  
imu_odom_:  1691062883.335374301  -0.280122  -0.131681  9.44273    -0.0692422  -0.0106526  -0.113983   0.13       -0.14         pose: 0.0           -2.55328   -3.90425    0 -0.0006457  0.00390572  0.999912    -0.0126475     uwb: 0.0            1245.76  1266.79  
imu_odom_:  1691062883.351228665  0.047884   -0.466869  9.84735    -0.0543285  -0.0245011  -0.0948085  0.13       -0.14         pose: 0.0           -2.55328   -3.90425    0 -0.0006457  0.00390572  0.999912    -0.0126475     uwb: 0.49948786     1246.14  1266.73  
imu_odom_:  1691062883.369222571  -0.203507  -0.244209  9.35654    -0.0436758  0.00106526  -0.102265   0.18       -0.2          pose: 0.8011323     -2.55328   -3.90425    0 -0.00142094 0.00353076  0.999921    -0.0119443     uwb: 0.0            1246.14  1266.73  
imu_odom_:  1691062883.386247034  0.433351   0.107739   10.0221    -0.0383495  -0.0372843  -0.0788296  0.13       -0.11         pose: 0.0           -2.55328   -3.90425    0 -0.00142094 0.00353076  0.999921    -0.0119443     uwb: 0.0            1246.14  1266.73  
imu_odom_:  1691062883.401196701  0.117316   -0.308852  9.58878    -0.0830906  0.00852212  -0.0671117  0.13       -0.11         pose: 0.66862714    -2.56681   -3.90839    0 -0.00605892 0.00252257  0.999953    -0.00710752    uwb: 0.49964536     1246.44  1267.06  
imu_odom_:  1691062883.418254411  0.131681   -0.275333  9.96946    -0.052198   -0.0106526  -0.0937433  0.13       -0.11         pose: 0.0           -2.56681   -3.90839    0 -0.00605892 0.00252257  0.999953    -0.00710752    uwb: 0.0            1246.44  1267.06  
imu_odom_:  1691062883.431189655  0.177171   -0.217872  9.54329    -0.056459   0.0245011   -0.0777643  0.13       -0.11         pose: 0.0           -2.56681   -3.90839    0 -0.00605892 0.00252257  0.999953    -0.00710752    uwb: 0.0            1246.44  1267.06  
imu_odom_:  1691062883.448194285  0.318429   -0.136469  10.0485    -0.0639159  -0.0127832  -0.052198   0.13       -0.11         pose: 0.32077082    -2.56681   -3.90839    0 -0.00731515 0.00170703  0.999958    -0.00522823    uwb: 0.50104819     1247.68  1266.53  
imu_odom_:  1691062883.465200082  0.553061   -0.244209  10.0892    -0.0628506  -0.0639159  -0.0532632  0.14       -0.14         pose: 0.0           -2.56681   -3.90376    0 -0.00789408 0.00154824  0.999963    -0.00309215    uwb: 0.0            1247.68  1266.53  
imu_odom_:  1691062883.482188963  1.24259    -0.198719  10.228     -0.052198   -0.0245011  -0.0213053  0.14       -0.14         pose: 0.0           -2.57567   -3.90376    0 -0.00789408 0.00154824  0.999963    -0.00309215    uwb: 0.0            1247.68  1266.53  
imu_odom_:  1691062883.499247840  1.60412    -0.323217  10.3645    -0.0607201  -0.0351537  0.0426106   0.14       -0.14         pose: 0.0           -2.57567   -3.90376    0 -0.00789408 0.00154824  0.999963    -0.00309215    uwb: 0.49938287     1246.47  1268.5   
imu_odom_:  1691062883.516335882  1.83875    -0.263362  9.82341    -0.0703074  -0.0479369  0.036219    0.11       -0.14         pose: 0.7018256     -2.57567   -3.90376    0 -0.00699639 0.00138568  0.999971    -0.00276625    uwb: 0.0            1246.47  1268.5   
imu_odom_:  1691062883.533275475  1.5682     -0.0215478 9.72285    -0.0426106  0.0276969   -0.0490022  0.11       -0.14         pose: 0.0           -2.57567   -3.90376    0 -0.00699639 0.00138568  0.999971    -0.00276625    uwb: 0.0            1246.47  1268.5   
imu_odom_:  1691062883.550219734  0.694318   0.198719   10.0149    -0.056459   0.0468716   -0.052198   0.09       -0.05         pose: 0.51000767    -2.58919   -3.90793    0 -0.00103837 0.000868909 0.999997    -0.00180275    uwb: 0.50080029     1245.96  1269.83  
imu_odom_:  1691062883.565325433  0.512359   -0.311246  10.0652    -0.0735032  0.0106526   -0.0628506  0.09       -0.08         pose: 0.0           -2.58919   -3.90793    0 -0.00103837 0.000868909 0.999997    -0.00180275    uwb: 0.0            1245.96  1269.83  
imu_odom_:  1691062883.582325397  0.677559   -0.311246  9.91678    -0.0585895  -0.02024    -0.0820254  0.07       -0.08         pose: 0.0           -2.58919   -3.90793    0 -0.00103837 0.000868909 0.999997    -0.00180275    uwb: 0.0            1245.96  1269.83  
imu_odom_:  1691062883.598190261  0.864307   -0.203507  9.88326    -0.0660464  0           -0.0543285  0.07       -0.08         pose: 0.66181129    -2.58919   -3.90793    0 0.00329876  0.000676034 0.999994    0.000938186    uwb: 0.49877041     1247.01  1269.09  
imu_odom_:  1691062883.616265829  0.88346    -0.19393   10.0485    -0.0617853  0.0106526   -0.0213053  0.08       -0.05         pose: 0.0           -2.58919   -3.90793    0 0.00329876  0.000676034 0.999994    0.000938186    uwb: 0.0            1247.01  1269.09  
imu_odom_:  1691062883.633322373  0.574608   -0.31364   9.84735    -0.052198   0           -0.015979   0.08       -0.05         pose: 0.0           -2.58919   -3.90793    0 0.00329876  0.000676034 0.999994    0.000938186    uwb: 0.0            1247.01  1269.09  
imu_odom_:  1691062883.649373892  0.679953   -0.146046  9.9527     -0.0511327  -0.00426106 -0.0276969  0.08       -0.05         pose: 0.33876560    -2.58919   -3.90793    0 0.00655779  0.000159807 0.999975    0.0025313      uwb: 0.50053488     1246.91  1269.92  
imu_odom_:  1691062883.667253471  0.718261   -0.0909797 9.91918    -0.0575243  -0.0149137  -0.0170442  0.06       -0.02         pose: 0.33973679    -2.59803   -3.90325    0 0.00840274  -0.00100667 0.999958    0.00353381     uwb: 0.0            1246.91  1269.92  
imu_odom_:  1691062883.692397459  0.627281   -0.215478  10.0772    -0.0511327  -0.0149137  -0.0351537  0.06       -0.02         pose: 0.0           -2.59803   -3.90325    0 0.00840274  -0.00100667 0.999958    0.00353381     uwb: 0.49955787     1244.64  1272.65  
imu_odom_:  1691062883.718182492  -0.0023942 -0.275333  9.65342    -0.0575243  0.0916127   -0.0308927  0.04       -0.02         pose: 0.35100322    -2.59803   -3.90325    0 0.0110699   0.000196916 0.999928    0.00465947     uwb: 0.0            1244.64  1272.65  
imu_odom_:  1691062883.743166364  -1.54187   -0.328006  9.87848    -0.0415453  0.0170442   0.0181095   0.08       0             pose: 0.0           -2.59803   -3.90325    0 0.0110699   0.000196916 0.999928    0.00465947     uwb: 0.50146524     1244.58  1273.55  
imu_odom_:  1691062883.769241589  -0.0790087 -0.100556  9.84496    -0.0436758  -0.0830906  0.00532632  0.08       0             pose: 0.42837494    -2.59803   -3.90325    0 0.0084379   -0.00123699 0.999944    0.00618725     uwb: 0.0            1244.58  1273.55  
imu_odom_:  1691062883.794381493  0.653617   -0.3304    9.4978     -0.0585895  -0.015979   0.00745685  0.1        -0.05         pose: 0.8113692     -2.59803   -3.90325    0 0.007541    -0.00120926 0.999951    0.00627278     uwb: 0.49844085     1244.9   1273.9   
imu_odom_:  1691062883.820188983  0.0861913  -0.246603  9.88566    -0.04048    0.0234358   -0.00426106 0.1        -0.05         pose: 0.0           -2.59803   -3.90325    0 0.007541    -0.00120926 0.999951    0.00627278     uwb: 0.0            1244.9   1273.9   
imu_odom_:  1691062883.836307874  -0.112527  -0.148441  9.52892    -0.0543285  -0.0255663  0.0127832   0.12       -0.02         pose: 0.50901023    -2.60269   -3.91209    0 0.00488475  -0.0008469110.999963    0.00702195     uwb: 0.0            1244.9   1273.9   
imu_odom_:  1691062883.861174503  0.457293   -0.241814  10.2927    -0.0415453  0           -0.0117179  0.12       -0.02         pose: 0.0           -2.60269   -3.91209    0 0.00488475  -0.0008469110.999963    0.00702195     uwb: 0.49973285     1244.65  1274.59  
imu_odom_:  1691062883.884192364  -0.191536  -0.229843  9.52653    -0.0383495  0.0191748   0.0255663   0.12       -0.02         pose: 0.50146233    -2.61153   -3.90742    0 0.00286662  -0.00144689 0.999963    0.00795049     uwb: 0.0            1244.65  1274.59  
imu_odom_:  1691062883.900322629  0          -0.296881  10.1418    -0.0330232  -0.00213053 -0.00213053 0.12       -0.02         pose: 0.0           -2.61153   -3.90742    0 0.00286662  -0.00144689 0.999963    0.00795049     uwb: 0.50149441     1246.11  1274.29  
imu_odom_:  1691062883.926220823  -0.0430956 -0.349553  9.44513    -0.0617853  -0.0245011  0.0223706   0.17       -0.05         pose: 0.40921356    -2.61153   -3.90742    0 0.00370766  -0.00133201 0.999954    0.00875822     uwb: 0.0            1246.11  1274.29  
imu_odom_:  1691062883.949278932  0.713472   -0.134075  10.0006    -0.0447411  -0.00426106 0.00213053  0.17       -0.05         pose: 0.0           -2.61153   -3.90742    0 0.00370766  -0.00133201 0.999954    0.00875822     uwb: 0.49856334     1246.85  1274.14  
imu_odom_:  1691062883.973172618  -0.0502782 -0.251391  10.003     -0.0511327  0.00319579  0.015979    0.14       -0.02         pose: 0.39928873    -2.62035   -3.90271    0 -0.000375272-0.00138533 0.999956    0.00926796     uwb: 0.0            1246.85  1274.14  
imu_odom_:  1691062883.990158583  -0.0047884 -0.213084  9.58638    -0.0585895  -0.052198   0.0191748   0.14       -0.02         pose: 0.0           -2.62035   -3.90271    0 -0.000375272-0.00138533 0.999956    0.00926796     uwb: 0.49933329     1247.89  1273.86  
imu_odom_:  1691062884.16314594   0.466869   -0.153229  9.30387    -0.0575243  -0.0479369  0.00852212  0.14       0             pose: 0.49038548    -2.62504   -3.91154    0 -0.00057578 -0.00102939 0.99995     0.00994842     uwb: 0.0            1247.89  1273.86  
imu_odom_:  1691062884.33301726   0.304064   -0.0814029 9.78271    -0.0511327  0.0138484   0.0149137   0.14       0             pose: 0.0           -2.62504   -3.91154    0 -0.00057578 -0.00102939 0.99995     0.00994842     uwb: 0.0            1247.89  1273.86  
imu_odom_:  1691062884.59362660   0.0335188  -0.248997  9.90002    -0.0490022  0.0234358   0.0149137   0.15       -0.02         pose: 0.42134619    -2.6339    -3.90691    0 -0.00252747 -0.0004856850.999942    0.0104475      uwb: 0.50019367     1249.07  1273.24  
imu_odom_:  1691062884.86303793   0.627281   -0.107739  10.1394    -0.0266316  -0.0575243  0.00426106  0.15       -0.02         pose: 0.0           -2.6339    -3.90691    0 -0.00252747 -0.0004856850.999942    0.0104475      uwb: 0.0            1249.07  1273.24  
imu_odom_:  1691062884.112225611  0.59855    -0.409408  10.1227    -0.0500674  -0.0575243  0.0276969   0.15       -0.02         pose: 0.41980045    -2.64276   -3.90226    0 -0.00269771 0.0016967   0.999934    0.0110181      uwb: 0.49900956     1250.43  1272.82  
imu_odom_:  1691062884.138368498  0.129287   0.0837971  9.98622    -0.0340885  -0.0181095  0.00958738  0.21       -0.02         pose: 0.53929221    -2.64742   -3.9111     0 -0.0005314740.0017616   0.999929    0.0117692      uwb: 0.50088779     1249.33  1274.97  
imu_odom_:  1691062884.161156832  0.591368   -0.361524  9.59357    -0.0596548  -0.052198   0.0436758   0.21       -0.02         pose: 0.0           -2.64742   -3.9111     0 -0.0005314740.0017616   0.999929    0.0117692      uwb: 0.0            1249.33  1274.97  
imu_odom_:  1691062884.186188827  -0.0909797 -0.0407014 10.2376    -0.0266316  0.0191748   0.0245011   0.16       -0.02         pose: 0.65880730    -2.65626   -3.90643    0 0.0015422   0.000988777 0.999924    0.0122163      uwb: 0.0            1249.33  1274.97  
imu_odom_:  1691062884.203167209  0.507571   0.0335188  9.59596    -0.0660464  -0.0585895  0.0575243   0.16       -0.02         pose: 0.8155107     -2.65626   -3.90643    0 0.000667693 0.00134582  0.999923    0.0122786      uwb: 0.50060198     1250.24  1275     
imu_odom_:  1691062884.227294798  0.328006   -0.203507  9.7444     -0.0532632  -0.0170442  0.0213053   0.16       0             pose: 0.0           -2.65626   -3.90643    0 0.000667693 0.00134582  0.999923    0.0122786      uwb: 0.0            1250.24  1275     
imu_odom_:  1691062884.253140786  0.227449   -0.28491   10.0317    -0.0703074  0.04048     0.0543285   0.16       0             pose: 0.41945047    -2.6651    -3.90175    0 -0.0004002590.00298143  0.999919    0.0123289      uwb: 0.49868292     1249.82  1275.99  
imu_odom_:  1691062884.277152882  0.742203   -0.342371  9.44273    -0.0617853  0.0287621   0.0223706   0.17       0             pose: 0.41883800    -2.67618   -3.9072     0 -0.00426319 0.000343157 0.999915    0.0122948      uwb: 0.0            1249.82  1275.99  
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imu_odom_:  1691062884.320169742  0.471658   -0.234632  9.47864    -0.0649811  -0.0127832  0.0308927   0.17       0             pose: 0.34996203    -2.6835    -3.90332    0 -0.00369532 0.000702038 0.999916    0.0124244      uwb: 0.0            1249.86  1276.52  
imu_odom_:  1691062884.346153972  0.349553   -0.1652    9.80426    -0.0500674  -0.0276969  0.0436758   0.17       0             pose: 0.0           -2.6835    -3.90332    0 -0.00369532 0.000702038 0.999916    0.0124244      uwb: 0.49956662     1249.06  1278.07  
imu_odom_:  1691062884.369222873  0.124498   -0.172383  9.991      -0.0500674  0.0213053   0.0330232   0.19       0             pose: 0.50862234    -2.68745   -3.90123    0 -0.00220494 0.00227814  0.999917    0.0124768      uwb: 0.0            1249.06  1278.07  
imu_odom_:  1691062884.385160941  0.744597   -0.0646434 9.82341    -0.0468716  0.0117179   0.0234358   0.19       0             pose: 0.0           -2.68745   -3.90123    0 -0.00220494 0.00227814  0.999917    0.0124768      uwb: 0.0            1249.06  1278.07  
imu_odom_:  1691062884.410143938  0.23942    -0.354342  9.39724    -0.0798948  0.00319579  0.0553937   0.24       0             pose: 0.39006969    -2.70097   -3.90538    0 -0.00337865 0.00277499  0.99991     0.0126804      uwb: 0.50069822     1248.2   1279.56  
imu_odom_:  1691062884.433136719  0.112527   -0.0550666 9.46907    -0.0383495  0.0117179   0.0372843   0.24       0             pose: 0.7013590     -2.70097   -3.90538    0 -0.00374069 0.00207275  0.999911    0.0126276      uwb: 0.0            1248.2   1279.56  
imu_odom_:  1691062884.458275457  0.153229   -0.268151  9.72525    -0.0553937  0.0106526   0.0543285   0.18       0             pose: 0.25111031    -2.70097   -3.90538    0 -0.00528666 0.000776506 0.999908    0.0124989      uwb: 0.50033657     1247.85  1280.65  
imu_odom_:  1691062884.474157820  0.0814029  -0.289698  9.79707    -0.0308927  -0.0426106  0.015979    0.18       0             pose: 0.0           -2.70097   -3.90538    0 -0.00528666 0.000776506 0.999908    0.0124989      uwb: 0.0            1247.85  1280.65  
imu_odom_:  1691062884.491144951  0.447716   -0.23942   9.89284    -0.0671117  -0.00426106 0.0553937   0.18       -0.02         pose: 0.23915560    -2.70981   -3.9007     0 -0.0073772  0.00142789  0.999894    0.012458       uwb: 0.49944121     1248.7   1280.62  
imu_odom_:  1691062884.516137281  0.68953    0.0622492  10.3597    -0.0372843  -0.036219   0.0266316   0.18       -0.02         pose: 0.0           -2.70981   -3.9007     0 -0.0073772  0.00142789  0.999894    0.012458       uwb: 0.0            1248.7   1280.62  
imu_odom_:  1691062884.541145069  0.505177   -0.071826  10.1035    -0.0703074  -0.0181095  0.0426106   0.18       -0.02         pose: 0.40972687    -2.71449   -3.90953    0 -0.00919834 -0.0002359960.99988     0.0124744      uwb: 0.50003909     1248.2   1281.54  
imu_odom_:  1691062884.565129458  0.509965   -0.0670376 9.52174    -0.0266316  -0.0415453  0.02024     0.18       -0.02         pose: 0.0           -2.71449   -3.90953    0 -0.00919834 -0.0002359960.99988     0.0124744      uwb: 0.0            1248.2   1281.54  
imu_odom_:  1691062884.591280512  0.332794   -0.213084  9.60554    -0.0681769  0.00319579  0.0511327   0.21       0             pose: 0.41029268    -2.72333   -3.90485    0 -0.00510105 0.00143163  0.999907    0.0125442      uwb: 0.49752799     1248.62  1282.01  
imu_odom_:  1691062884.617146041  0.071826   -0.0550666 9.64384    -0.0383495  0.0287621   0.0458064   0.2        0             pose: 0.49966286    -2.73216   -3.90016    0 -0.00142589 0.00305545  0.999914    0.0126909      uwb: 0.0            1248.62  1282.01  
imu_odom_:  1691062884.643267055  0.0622492  -0.40462   9.85932    -0.0511327  -0.02024    0.056459    0.2        0             pose: 0.0           -2.73216   -3.90016    0 -0.00142589 0.00305545  0.999914    0.0126909      uwb: 0.50107445     1248.48  1282.35  
imu_odom_:  1691062884.659304284  0.792481   -0.19393   10.082     -0.0340885  -0.0490022  0.0255663   0.18       0             pose: 0.70097692    -2.74568   -3.90431    0 -0.00699029 0.00105293  0.999899    0.0123069      uwb: 0.0            1248.48  1282.35  
imu_odom_:  1691062884.676173589  0.52433    -0.162806  9.80904    -0.0490022  0.0223706   0.00745685  0.18       0             pose: 0.8002282     -2.74568   -3.90431    0 -0.00600987 0.00112782  0.999905    0.012363       uwb: 0.0            1248.48  1282.35  
imu_odom_:  1691062884.692174070  0.00718261 -0.158017  9.51216    -0.0511327  0.0181095   -0.0532632  0.18       0             pose: 0.0           -2.74568   -3.90431    0 -0.00600987 0.00112782  0.999905    0.012363       uwb: 0.49986118     1250.66  1281.34  
imu_odom_:  1691062884.709165285  0.469264   0.153229   9.991      -0.052198   -0.0660464  -0.0841559  0.18       -0.14         pose: 0.32843246    -2.75452   -3.89963    0 -0.0044534  0.0015633   0.999904    0.0130566      uwb: 0.0            1250.66  1281.34  
imu_odom_:  1691062884.725155266  0.299275   -0.380678  9.87129    -0.0735032  -0.0298274  -0.109722   0.18       -0.14         pose: 0.0           -2.75452   -3.89963    0 -0.0044534  0.0015633   0.999904    0.0130566      uwb: 0.0            1250.66  1281.34  
imu_odom_:  1691062884.742239517  0.174777   -0.186748  9.83059    -0.0447411  -0.0340885  -0.167247   0.24       -0.35         pose: 0.0           -2.75452   -3.89963    0 -0.0044534  0.0015633   0.999904    0.0130566      uwb: 0.50137485     1252.58  1280.53  
imu_odom_:  1691062884.758181377  0.385466   -0.047884  10.0772    -0.0585895  -0.0287621  -0.210922   0.24       -0.35         pose: 0.49044965    -2.768     -3.9039     0 -0.00470497 0.00149562  0.999852    0.0165037      uwb: 0.0            1252.58  1280.53  
imu_odom_:  1691062884.775109303  0.823605   0.294487   9.98861    -0.0735032  -0.0245011  -0.276969   0.24       -0.35         pose: 0.0           -2.768     -3.9039     0 -0.00470497 0.00149562  0.999852    0.0165037      uwb: 0.0            1252.58  1280.53  
imu_odom_:  1691062884.791108618  0.596156   -0.0861913 9.14824    -0.056459   -0.00639159 -0.337689   0.18       -0.41         pose: 0.32961656    -2.768     -3.9039     0 -0.00369777 0.00327058  0.999774    0.0206843      uwb: 0.49986993     1254.78  1279.52  
imu_odom_:  1691062884.807158971  0.122104   0.0383072  9.80665    -0.0585895  -0.00958738 -0.388822   0.18       -0.41         pose: 0.0           -2.768     -3.9039     0 -0.00369777 0.00327058  0.999774    0.0206843      uwb: 0.0            1254.78  1279.52  
imu_odom_:  1691062884.824102355  0.723049   -0.0071826110.0293    -0.0852212  -0.00745685 -0.423975   0.18       -0.41         pose: 0.0           -2.768     -3.9039     0 -0.00369777 0.00327058  0.999774    0.0206843      uwb: 0.0            1254.78  1279.52  
imu_odom_:  1691062884.841126526  0.318429   -0.308852  9.45949    -0.0713727  -0.0447411  -0.454868   0.24       -0.61         pose: 0.16054145    -2.768     -3.9039     0 -0.00223735 0.00391633  0.999715    0.0234314      uwb: 0.49999826     1255.37  1280.16  
imu_odom_:  1691062884.857168421  0.519542   0.059855   9.84735    -0.0788296  -0.0415453  -0.465521   0.18       -0.5          pose: 0.0           -2.768     -3.9039     0 -0.00223735 0.00391633  0.999715    0.0234314      uwb: 0.0            1255.37  1280.16  
imu_odom_:  1691062884.874223799  0.641646   -0.205901  9.69891    -0.056459   -0.00745685 -0.458064   0.18       -0.5          pose: 0.65955101    -2.78583   -3.89485    0 -0.0007225010.00390248  0.999253    0.0384465      uwb: 0.0            1255.37  1280.16  
imu_odom_:  1691062884.890091288  0.562637   -0.407014  9.79947    -0.0681769  -0.0127832  -0.491087   0.18       -0.55         pose: 0.0           -2.78583   -3.89485    0 -0.0007225010.00390248  0.999253    0.0384465      uwb: 0.49914956     1255.52  1280.82  
imu_odom_:  1691062884.906086519  0.699107   -0.143652  9.71567    -0.0607201  -0.00852212 -0.526241   0.18       -0.55         pose: 0.0           -2.78583   -3.89485    0 -0.0007225010.00390248  0.999253    0.0384465      uwb: 0.0            1255.52  1280.82  
imu_odom_:  1691062884.923239016  0.56982    0.0766145  9.14106    -0.0639159  -0.0245011  -0.511327   0.18       -0.55         pose: 0.34044259    -2.79036   -3.90377    0 0.00192446  0.00313902  0.998885    0.0470629      uwb: 0.0            1255.52  1280.82  
imu_odom_:  1691062884.940130486  0.799663   -0.189142  9.8258     -0.0596548  -0.0735032  -0.48363    0.22       -0.7          pose: 0.41066307    -2.79922   -3.89916    0 0.00477227  0.00388972  0.998274    0.0583965      uwb: 0.49944413     1256.23  1281.6   
imu_odom_:  1691062884.956289333  1.2378     -0.411803  9.21528    -0.0873517  -0.0181095  -0.46339    0.22       -0.7          pose: 0.7066961     -2.79924   -3.89918    0 0.00569617  0.00370376  0.998161    0.0602393      uwb: 0.0            1256.23  1281.6   
imu_odom_:  1691062884.973290755  1.25696    -0.409408  10.3453    -0.0543285  -0.0287621  -0.448476   0.22       -0.7          pose: 0.0           -2.79924   -3.89918    0 0.00569617  0.00370376  0.998161    0.0602393      uwb: 0.0            1256.23  1281.6   
imu_odom_:  1691062884.989108955  1.28808    -0.110133  9.87369    -0.0553937  -0.0276969  -0.407996   0.12       -0.41         pose: 0.33997887    -2.79924   -3.89918    0 0.00935914  0.00222654  0.997585    0.0687939      uwb: 0.49984951     1256.88  1281.81  
imu_odom_:  1691062885.6230829    1.30723    -0.11971   9.64384    -0.0735032  0.0660464   -0.331297   0.17       -0.53         pose: 0.0           -2.79924   -3.89918    0 0.00935914  0.00222654  0.997585    0.0687939      uwb: 0.0            1256.88  1281.81  
imu_odom_:  1691062885.23234002   0.512359   -0.411803  10.1418    -0.0458064  0.0191748   -0.28336    0.17       -0.53         pose: 0.0           -2.79924   -3.89918    0 0.00935914  0.00222654  0.997585    0.0687939      uwb: 0.0            1256.88  1281.81  
imu_odom_:  1691062885.40114098   0.648829   -0.222661  9.89045    -0.0372843  0.00319579  -0.290817   0.15       -0.44         pose: 0.32872994    -2.80815   -3.89463    0 0.0125606   0.00185852  0.997028    0.075992       uwb: 0.50136027     1256.05  1283.39  
imu_odom_:  1691062885.56368898   1.00796    -0.134075  9.75398    -0.0543285  -0.0447411  -0.258859   0.15       -0.44         pose: 0.0           -2.80815   -3.89463    0 0.0125606   0.00185852  0.997028    0.075992       uwb: 0.0            1256.05  1283.39  
imu_odom_:  1691062885.73364196   0.866701   -0.354342  9.84256    -0.0660464  0.02024     -0.214118   0.15       -0.44         pose: 0.33087941    -2.80815   -3.89463    0 0.0121244   -5.12629e-050.996597    0.0815318      uwb: 0.0            1256.05  1283.39  
imu_odom_:  1691062885.90131132   0.964863   -0.414197  9.79707    -0.052198   -0.00745685 -0.227967   0.08       -0.26         pose: 0.43099397    -2.8216    -3.89892    0 0.0153022   -0.00189766 0.996028    0.08769        uwb: 0.49886667     1254.65  1285.31  
imu_odom_:  1691062885.106154362  0.737414   -0.167594  9.81623    -0.0649811  -0.0117179  -0.210922   0.08       -0.26         pose: 0.7953576     -2.82162   -3.89894    0 0.0159216   -0.00238924 0.995925    0.0887417      uwb: 0.0            1254.65  1285.31  
imu_odom_:  1691062885.123228989  0.593762   -0.131681  9.81623    -0.0575243  0.0245011   -0.184291   0.08       -0.26         pose: 0.0           -2.82162   -3.89894    0 0.0159216   -0.00238924 0.995925    0.0887417      uwb: 0.0            1254.65  1285.31  
imu_odom_:  1691062885.140367195  0.641646   -0.0933739 10.058     -0.0553937  -0.00532632 -0.178964   0.06       -0.2          pose: 0.41911217    -2.8216    -3.89892    0 0.0153391   -0.0003949990.995468    0.0938533      uwb: 0.50103071     1256.92  1283.84  
imu_odom_:  1691062885.157358702  0.567426   -0.222661  9.84496    -0.056459   -0.0170442  -0.177899   0.09       -0.26         pose: 0.0           -2.8216    -3.89892    0 0.0153391   -0.0003949990.995468    0.0938533      uwb: 0.0            1256.92  1283.84  
imu_odom_:  1691062885.173227649  0.725443   -0.244209  9.87608    -0.0500674  -0.00319579 -0.165116   0.09       -0.26         pose: 0.0           -2.8216    -3.89892    0 0.0153391   -0.0003949990.995468    0.0938533      uwb: 0.0            1256.92  1283.84  
imu_odom_:  1691062885.190339315  0.696713   -0.251391  9.86411    -0.0575243  0           -0.152333   0.07       -0.2          pose: 0.24087925    -2.82162   -3.89894    0 0.0139414   0.000901977 0.995236    0.0964917      uwb: 0.49888125     1255.82  1285.62  
imu_odom_:  1691062885.208084444  0.605733   -0.222661  9.90242    -0.0596548  -0.00213053 -0.142745   0.07       -0.2          pose: 0.0           -2.82162   -3.89894    0 0.0139414   0.000901977 0.995236    0.0964917      uwb: 0.0            1255.82  1285.62  
imu_odom_:  1691062885.221089392  0.651223   -0.129287  9.92397    -0.052198   -0.00639159 -0.133158   0.07       -0.2          pose: 0.33983013    -2.82162   -3.89894    0 0.0142827   -0.00136234 0.994891    0.0999333      uwb: 0.0            1255.82  1285.62  
imu_odom_:  1691062885.237081707  0.715866   -0.263362  9.84017    -0.056459   -0.00213053 -0.126766   0.04       -0.08         pose: 0.39789465    -2.82576   -3.8968     0 0.0128134   -0.00059315 0.994544    0.10353        uwb: 0.0            1255.82  1285.62  
imu_odom_:  1691062885.254115795  0.445322   -0.251391  9.73482    -0.0500674  0.0191748   -0.111853   0.04       -0.08         pose: 0.0           -2.82576   -3.8968     0 0.0128134   -0.00059315 0.994544    0.10353        uwb: 0.49961037     1256.07  1286.41  
imu_odom_:  1691062885.270117734  0.514753   -0.234632  10.082     -0.0511327  0.00958738  -0.0852212  0.04       -0.08         pose: 0.0           -2.82576   -3.8968     0 0.0128134   -0.00059315 0.994544    0.10353        uwb: 0.0            1256.07  1286.41  
imu_odom_:  1691062885.287331478  0.390255   -0.306458  9.77792    -0.0532632  -0.00958738 -0.056459   0.05       -0.11         pose: 0.7999658     -2.8305    -3.89434    0 0.0133119   -0.00120748 0.994468    0.104184       uwb: 0.50307517     1255.73  1287.53  
imu_odom_:  1691062885.303203633  0.608127   -0.248997  9.91918    -0.0479369  -0.00958738 -0.0394148  0.03       -0.05         pose: 0.0           -2.8305    -3.89434    0 0.0133119   -0.00120748 0.994468    0.104184       uwb: 0.0            1255.73  1287.53  
imu_odom_:  1691062885.320084605  0.73502    -0.167594  9.87608    -0.0511327  -0.00745685 -0.0330232  0.03       -0.05         pose: 0.66204171    -2.8305    -3.89434    0 0.00933753  -0.00240993 0.994079    0.108235       uwb: 0.0            1255.73  1287.53  
imu_odom_:  1691062885.337083986  0.667982   -0.136469  9.90002    -0.052198   0.00319579  -0.0266316  0.03       -0.05         pose: 0.0           -2.8305    -3.89434    0 0.00933753  -0.00240993 0.994079    0.108235       uwb: 0.49574019     1257.81  1286.33  
imu_odom_:  1691062885.354189819  0.612916   -0.198719  9.89045    -0.0532632  0           -0.00958738 0.03       -0.05         pose: 0.0           -2.8305    -3.89434    0 0.00933753  -0.00240993 0.994079    0.108235       uwb: 0.0            1257.81  1286.33  
imu_odom_:  1691062885.370185342  0.536301   -0.260968  9.81623    -0.056459   0.00532632  0.00319579  0.03       -0.05         pose: 0.33033402    -2.8305    -3.89434    0 0.0119816   -0.00122298 0.99392     0.109442       uwb: 0.0            1257.81  1286.33  
imu_odom_:  1691062885.386208280  0.557849   -0.263362  9.94073    -0.0500674  -0.00213053 0           0.03       -0.05         pose: 0.41858719    -2.8305    -3.89434    0 0.00920881  -0.00124525 0.993839    0.11044        uwb: 0.0            1257.81  1286.33  
imu_odom_:  1691062885.402083644  0.61531    -0.112527  9.82102    -0.0543285  -0.00745685 0.00426106  0.03       -0.05         pose: 0.6886723     -2.8305    -3.89434    0 0.00877577  -0.00176506 0.993828    0.11057        uwb: 0.50028408     1257.95  1287     
imu_odom_:  1691062885.419066693  0.617704   -0.155623  9.84735    -0.0543285  0.00106526  0.0149137   0.03       -0.05         pose: 0.0           -2.8305    -3.89434    0 0.00877577  -0.00176506 0.993828    0.11057        uwb: 0.0            1257.95  1287     
imu_odom_:  1691062885.435122296  0.627281   -0.280122  9.93354    -0.0543285  -0.00426106 0.0234358   0.01       -0.02         pose: 0.41994628    -2.8305    -3.89434    0 0.00998829  0.000295231 0.993742    0.111253       uwb: 0.0            1257.95  1287     
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imu_odom_:  1691062885.721053829  0.275333   -0.174777  9.91678    -0.0500674  0.0117179   0.056459    0.1        0             pose: 0.42896992    -2.8443    -3.88722    0 -0.00387596 0.00324456  0.994042    0.108885       uwb: 0.0            1257.86  1290.43  
imu_odom_:  1691062885.738203409  0.126893   -0.25618   9.85214    -0.0500674  0.0106526   0.0415453   0.1        0             pose: 0.0           -2.8443    -3.88722    0 -0.00387596 0.00324456  0.994042    0.108885       uwb: 0.50025492     1256.86  1291.87  
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imu_odom_:  1691062885.771047822  0.277727   -0.320823  9.84017    -0.0585895  -0.0351537  0.0660464   0.15       0             pose: 0.7956201     -2.84826   -3.88515    0 -0.00471436 0.00310479  0.994045    0.108821       uwb: 0.0            1256.86  1291.87  
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imu_odom_:  1691062885.803084658  1.02711    0.0933739  9.60075    -0.0436758  -0.0596548  0.0458064   0.11       0             pose: 0.66115510    -2.85288   -3.89402    0 -0.00664166 0.00172988  0.994082    0.108417       uwb: 0.50010035     1256.45  1292.95  
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imu_odom_:  1691062885.836084812  1.24498    -0.45011   10.4603    -0.0639159  -0.0319579  0.12144     0.08       0             pose: 0.0           -2.85288   -3.89402    0 -0.00664166 0.00172988  0.994082    0.108417       uwb: 0.0            1256.45  1292.95  
imu_odom_:  1691062885.852039212  1.49877    -0.320823  9.5792     -0.0585895  -0.0372843  0.0948085   0.08       0             pose: 0.31916967    -2.86175   -3.88941    0 -0.00301329 0.00192393  0.994127    0.108161       uwb: 0.49886666     1255.22  1294.11  
imu_odom_:  1691062885.868035610  1.25217    0.0430956  9.71088    -0.0415453  0.0223706   0.0596548   0.08       0             pose: 0.40939148    -2.86175   -3.88941    0 0.0011287   0.000588738 0.994276    0.106831       uwb: 0.0            1255.22  1294.11  
imu_odom_:  1691062885.885095946  0.826      0.0215478  10.0245    -0.0628506  0.0213053   0.052198    0.08       0             pose: 0.7003674     -2.86175   -3.88941    0 0.00173128  0.000771994 0.994283    0.10676        uwb: 0.0            1255.22  1294.11  
imu_odom_:  1691062885.901247210  0.40462    -0.282516  9.89763    -0.0553937  0.00639159  0.00213053  0.08       0             pose: 0.0           -2.86175   -3.88941    0 0.00173128  0.000771994 0.994283    0.10676        uwb: 0.50347473     1256.69  1293.21  
imu_odom_:  1691062885.918314546  0.617704   -0.0957681 10.0054    -0.0532632  -0.0436758  -0.0298274  0.05       0             pose: 0.42204324    -2.86175   -3.88941    0 0.00274637  0.000396398 0.99427     0.10686        uwb: 0.0            1256.69  1293.21  
imu_odom_:  1691062885.935321218  0.790087   -0.124498  9.76116    -0.0639159  -0.0181095  0.00319579  0.06       0.02          pose: 0.0           -2.86175   -3.88941    0 0.00274637  0.000396398 0.99427     0.10686        uwb: 0.0            1256.69  1293.21  
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imu_odom_:  1691062885.967134942  0.56982    -0.306458  9.88326    -0.0511327  0.00639159  0.0170442   0.05       0.02          pose: 0.24081217    -2.86175   -3.88941    0 0.00534813  0.00117872  0.994182    0.107576       uwb: 0.0            1256.21  1294.22  
imu_odom_:  1691062885.984285689  0.428562   0.0047884  9.90721    -0.0447411  0.0234358   0.0287621   0.05       0.02          pose: 0.0           -2.86175   -3.88941    0 0.00534813  0.00117872  0.994182    0.107576       uwb: 0.0            1256.21  1294.22  
imu_odom_:  1691062886.11123287   0.426168   -0.383072  9.84256    -0.0575243  -0.00745685 0.0703074   0.04       0.02          pose: 0.32846163    -2.86175   -3.88941    0 0.00765701  -0.0004433340.994132    0.107906       uwb: 0.49936831     1254.68  1295.58  
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imu_odom_:  1691062886.100328989  0.4956     -0.0670376 9.55526    -0.052198   -0.00958738 0.0394148   0.08       0.02          pose: 0.39082508    -2.87062   -3.8848     0 -0.00104664 -0.0006893460.994225    0.107313       uwb: 0.50042700     1255.81  1295.32  
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imu_odom_:  1691062886.186103142  0.244209   -0.0957681 10.0317    -0.0436758  0.0255663   0.0415453   0.11       0             pose: 0.42903409    -2.87951   -3.88021    0 -0.00539669 0.00366993  0.994241    0.106965       uwb: 0.0            1254.78  1296.73  
imu_odom_:  1691062886.213034943  0.378284   -0.155623  9.78271    -0.0490022  -0.04048    0.0596548   0.11       0             pose: 0.0           -2.87951   -3.88021    0 -0.00539669 0.00366993  0.994241    0.106965       uwb: 0.50002452     1255.24  1296.74  
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imu_odom_:  1691062886.280011403  0.778116   -0.342371  9.83299    -0.0617853  0.0170442   0.0479369   0.13       -0.02         pose: 0.42027002    -2.89298   -3.88451    0 -0.00704165 0.00636104  0.99426     0.106566       uwb: 0.0            1254.64  1297.63  
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imu_odom_:  1691062887.148002088  0.6608     -0.186748  9.8258     -0.0394148  0.0170442   0.036219    0.25       -0.02         pose: 0.7071920     -3.03124   -3.84727    0 0.000775551 -0.0007435340.994757    0.102266       uwb: 0.49877919     1258.47  1304.78  
imu_odom_:  1691062887.174024818  0.773327   -0.430956  9.79707    -0.0436758  0.0245011   0.0543285   0.25       -0.02         pose: 0.0           -3.03124   -3.84727    0 0.000775551 -0.0007435340.994757    0.102266       uwb: 0.0            1258.47  1304.78  
imu_odom_:  1691062887.201021657  0.126893   -0.0814029 10.1801    -0.0458064  -0.00426106 0.0394148   0.23       0             pose: 0.52788290    -3.04472   -3.85156    0 1.19633e-06 -0.00116483 0.994773    0.102107       uwb: 0.49995745     1256.95  1306.22  
imu_odom_:  1691062887.225950992  0.392649   -0.354342  9.79228    -0.0681769  -0.00213053 0.0468716   0.23       0             pose: 0.0           -3.04472   -3.85156    0 1.19633e-06 -0.00116483 0.994773    0.102107       uwb: 0.0            1256.95  1306.22  
imu_odom_:  1691062887.243032910  0.153229   -0.160412  9.67018    -0.0511327  -0.0479369  0.0458064   0.23       0             pose: 0.42009795    -3.04472   -3.85156    0 0.00200199  -0.00189125 0.994787    0.101933       uwb: 0.0            1256.95  1306.22  
imu_odom_:  1691062887.269095304  0.73502    -0.232238  9.89045    -0.0671117  -0.0607201  0.0319579   0.23       0             pose: 0.0           -3.04472   -3.85156    0 0.00200199  -0.00189125 0.994787    0.101933       uwb: 0.0            1256.95  1306.22  
imu_odom_:  1691062887.296022147  0.790087   -0.385466  9.52413    -0.0585895  -0.0127832  0.0458064   0.25       0             pose: 0.52117788    -3.0536    -3.84697    0 -0.000767628-0.00289773 0.994799    0.101817       uwb: 0.100013364    1257.75  1306.09  
imu_odom_:  1691062887.322034960  0.155623   0.0909797  10.003     -0.0436758  -0.0234358  0.0426106   0.16       -0.02         pose: 0.42864329    -3.06249   -3.84239    0 0.0025708   -0.00296256 0.99479     0.101865       uwb: 0.0            1257.75  1306.09  
imu_odom_:  1691062887.349156626  0.416591   -0.158017  9.8258     -0.0660464  -0.0298274  0.0458064   0.25       -0.02         pose: 0.0           -3.06249   -3.84239    0 0.0025708   -0.00296256 0.99479     0.101865       uwb: 0.50180943     1257.16  1307.02  
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imu_odom_:  1691062887.392109324  1.01275    -0.282516  9.88805    -0.0511327  0.0330232   0.0447411   0.18       -0.02         pose: 0.0           -3.07142   -3.83789    0 0.00294478  -0.00107936 0.994805    0.101749       uwb: 0.49820463     1257.15  1308.1   
imu_odom_:  1691062887.416977996  0.557849   -0.105345  9.75877    -0.0543285  0.0447411   0.04048     0.2        -0.02         pose: 0.63066315    -3.08485   -3.84233    0 0.00615048  0.000161653 0.994803    0.101631       uwb: 0.0            1257.15  1308.1   
imu_odom_:  1691062887.443974835  0.37589    -0.533907  9.47864    -0.0660464  0.0319579   0.0596548   0.2        -0.02         pose: 0.0           -3.08485   -3.84233    0 0.00615048  0.000161653 0.994803    0.101631       uwb: 0.50047367     1254.68  1310.6   
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imu_odom_:  1691062887.497059150  0.514753   -0.387861  10.4627    -0.0436758  -0.0287621  0.0351537   0.18       0             pose: 0.0           -3.08485   -3.84233    0 0.00632087  0.000886747 0.994802    0.101632       uwb: 0.49932166     1254.54  1311.54  
imu_odom_:  1691062887.522108936  0.521936   -0.0981623 10.1658    -0.0553937  0.0106526   0.0458064   0.18       0             pose: 0.52117496    -3.09378   -3.83783    0 0.00417006  -5.80511e-060.994838    0.101386       uwb: 0.0            1254.54  1311.54  
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imu_odom_:  1691062887.580998245  0.720655   -0.0766145 10.6207    -0.0490022  0.00213053  0.0543285   0.23       0.02          pose: 0.0           -3.10272   -3.83334    0 0.00365258  -0.00164652 0.994828    0.101494       uwb: 0.0            1254.86  1312.49  
imu_odom_:  1691062887.603942612  0.579397   -0.25618   10.1299    -0.0436758  -0.0447411  0.0575243   0.2        0             pose: 0.75678412    -3.12283   -3.83443    0 0.00681115  -4.28807e-050.994834    0.101291       uwb: 0.50152652     1254.28  1314.02  
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imu_odom_:  1691062887.656992221  0.802058   -0.167594  10.0868    -0.0468716  -0.0213053  0.0585895   0.25       0             pose: 0.5984942     -3.12508   -3.8333     0 0.00724166  -0.0005352350.994836    0.101234       uwb: 0.49855754     1252.3   1316.06  
imu_odom_:  1691062887.673003785  0.452504   -0.344765  9.39485    -0.0639159  0.00426106  0.0553937   0.25       0             pose: 0.0           -3.12508   -3.8333     0 0.00724166  -0.0005352350.994836    0.101234       uwb: 0.0            1252.3   1316.06  
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imu_odom_:  1691062887.779064212  0.428562   -0.124498  9.87608    -0.0468716  0.0255663   0.0415453   0.18       0.02          pose: 0.7891456     -3.14296   -3.82434    0 0.0090863   -0.0028127  0.994894    0.10048        uwb: 0.0            1252.61  1317.02  
imu_odom_:  1691062887.805942933  0.280122   -0.533907  9.66779    -0.0820254  -0.00958738 0.0649811   0.18       0.02          pose: 0.0           -3.14296   -3.82434    0 0.0090863   -0.0028127  0.994894    0.10048        uwb: 0.50056408     1251.74  1318.76  
imu_odom_:  1691062887.830978137  0.761356   -0.37589   10.0652    -0.0585895  0.0298274   0.0298274   0.18       0.02          pose: 0.52965905    -3.15637   -3.82881    0 0.00524306  -0.0007372950.994946    0.100274       uwb: 0.0            1251.74  1318.76  
imu_odom_:  1691062887.858084053  0.720655   -0.387861  10.2639    -0.0596548  0.00106526  0.0447411   0.21       0             pose: 0.53039984    -3.16531   -3.82433    0 0.00299344  -0.00207918 0.994985    0.0999575      uwb: 0.50111822     1252.31  1318.91  
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imu_odom_:  1691062887.891140496  0.28491    -0.40462   9.59835    -0.0639159  -0.00852212 0.0490022   0.21       0             pose: 0.0           -3.16531   -3.82433    0 0.00299344  -0.00207918 0.994985    0.0999575      uwb: 0.49810839     1249.52  1322.26  
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imu_odom_:  1691062887.943093502  0.636858   -0.433351  9.87369    -0.0532632  -0.036219   0.0500674   0.21       0             pose: 0.7878623     -3.18319   -3.81536    0 0.00257991  -0.00418448 0.994994    0.0998173      uwb: 0.50291478     1247.83  1324.15  
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imu_odom_:  1691062887.995985328  0.241814   -0.035913  10.0078    -0.0436758  0.0138484   0.0383495   0.25       0             pose: 0.0           -3.18644   -3.82173    0 0.00362459  -0.00533482 0.995002    0.099646       uwb: 0.49870919     1247.44  1325.4   
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imu_odom_:  1691062888.326950493  0.457293   -0.105345  10.0509    -0.0490022  -0.0351537  0.0468716   0.23       0             pose: 0.51970505    -3.25467   -3.80147    0 0.000418595 0.00261207  0.995122    0.0986173      uwb: 0.0            1246.9   1330.04  
imu_odom_:  1691062888.354143904  0.804452   -0.301669  9.63187    -0.0543285  0.00852212  0.0319579   0.23       -0.02         pose: 0.36039145    -3.25467   -3.80147    0 0.0028262   0.00394599  0.995125    0.0985062      uwb: 0.99933162     1245.08  1332.42  
imu_odom_:  1691062888.378924498  0.158017   -0.19393   9.92157    -0.0511327  0.0213053   0.0383495   0.23       -0.02         pose: 0.7076587     -3.25467   -3.80147    0 0.00338917  0.0035913   0.995122    0.0985294      uwb: 0.0            1245.08  1332.42  
imu_odom_:  1691062888.395916881  0.45011    -0.316035  10.252     -0.0639159  -0.00958738 0.0330232   0.22       0             pose: 0.0           -3.25467   -3.80147    0 0.00338917  0.0035913   0.995122    0.0985294      uwb: 0.50005078     1243.81  1334.35  
imu_odom_:  1691062888.422059770  0.938527   -0.260968  10.094     -0.0447411  -0.04048    0.052198    0.22       0             pose: 0.44897418    -3.26807   -3.80599    0 0.00219797  0.0026236   0.99512     0.0986162      uwb: 0.0            1243.81  1334.35  
imu_odom_:  1691062888.448906410  0.529119   0.00718261 10.1969    -0.0415453  0.0117179   0.036219    0.25       0             pose: 0.43135272    -3.27703   -3.80155    0 0.00518021  0.000333894 0.995123    0.0985003      uwb: 0.50125530     1244.67  1334.3   
imu_odom_:  1691062888.473916241  0.792481   -0.222661  10.1682    -0.0468716  0.056459    0.0479369   0.19       0             pose: 0.0           -3.27703   -3.80155    0 0.00518021  0.000333894 0.995123    0.0985003      uwb: 0.0            1244.67  1334.3   
imu_odom_:  1691062888.490981535  0.232238   0.0047884  10.0676    -0.0372843  -0.02024    0.0245011   0.23       -0.02         pose: 0.51856471    -3.28599   -3.79711    0 0.00712378  0.00241684  0.995115    0.0984362      uwb: 0.0            1244.67  1334.3   
imu_odom_:  1691062888.516916187  0.483629   -0.143652  10.0748    -0.0692422  -0.0394148  0.0692422   0.23       -0.02         pose: 0.0           -3.28599   -3.79711    0 0.00712378  0.00241684  0.995115    0.0984362      uwb: 0.0            1244.67  1334.3   
imu_odom_:  1691062888.544050977  1.06781    -0.0646434 10.2448    -0.0479369  -0.0170442  0.0181095   0.18       0.02          pose: 0.25186862    -3.29495   -3.79268    0 0.00518319  0.0032309   0.995123    0.0984573      uwb: 0.0            1244.67  1334.3   
imu_odom_:  1691062888.569906591  0.521936   -0.289698  9.59835    -0.0745685  0.0383495   0.0447411   0.19       0             pose: 0.44947874    -3.29813   -3.79909    0 0.00664299  0.00289486  0.995112    0.0984826      uwb: 0.0            1244.67  1334.3   
imu_odom_:  1691062888.596890890  0.433351   -0.328006  9.67497    -0.0681769  -0.036219   0.0479369   0.19       0             pose: 0.7997033     -3.29939   -3.80164    0 0.0063807   0.0020394   0.995119    0.0984573      uwb: 0.150156686    1245.03  1333.57  
imu_odom_:  1691062888.612952327  0.550666   -0.526724  10.1179    -0.0575243  0.0138484   0.0649811   0.2        0.02          pose: 0.44842880    -3.30835   -3.7972     0 0.00455217  -0.00221701 0.995146    0.098278       uwb: 0.0            1245.03  1333.57  
imu_odom_:  1691062888.639940417  0.684742   0.0167594  10.082     -0.04048    0.00639159  0.0383495   0.2        0.02          pose: 0.0           -3.30835   -3.7972     0 0.00455217  -0.00221701 0.995146    0.098278       uwb: 0.49814049     1245.47  1334.18  
imu_odom_:  1691062888.665033076  0.483629   -0.196325  10.0341    -0.0596548  0.0223706   0.0490022   0.17       0             pose: 0.43049527    -3.31732   -3.79277    0 0.00606293  -0.00145799 0.995157    0.0980997      uwb: 0.0            1245.47  1334.18  
imu_odom_:  1691062888.682089038  -0.138864  -0.203507  10.07      -0.0372843  0.0319579   0.0490022   0.17       0             pose: 0.0           -3.31732   -3.79277    0 0.00606293  -0.00145799 0.995157    0.0980997      uwb: 0.0            1245.47  1334.18  
imu_odom_:  1691062888.698026523  0.399832   -0.21069   10.1131    -0.0532632  -0.0213053  0.0490022   0.18       -0.02         pose: 0.0           -3.31732   -3.79277    0 0.00606293  -0.00145799 0.995157    0.0980997      uwb: 0.49864795     1242.24  1337.11  
imu_odom_:  1691062888.725081693  0.727837   -0.131681  9.80426    -0.0458064  0.00958738  0.0351537   0.18       -0.02         pose: 0.42148621    -3.32628   -3.78834    0 0.0019782   0.000659774 0.995193    0.0979131      uwb: 0.0            1242.24  1337.11  
imu_odom_:  1691062888.741025594  -0.0023942 -0.196325  10.1801    -0.0500674  0.0117179   0.0585895   0.2        0.02          pose: 0.0           -3.32628   -3.78834    0 0.0019782   0.000659774 0.995193    0.0979131      uwb: 0.49994871     1244.6   1336.04  
imu_odom_:  1691062888.767910732  0.6608     -0.177171  10.1801    -0.0500674  -0.02024    0.036219    0.2        0.02          pose: 0.42992655    -3.33262   -3.78522    0 0.00306407  0.000851262 0.995191    0.0978973      uwb: 0.0            1244.6   1336.04  
imu_odom_:  1691062888.793953586  0.703895   -0.411803  10.3142    -0.0681769  -0.00213053 0.0543285   0.18       0.02          pose: 0.42829039    -3.34605   -3.78974    0 0.0042617   0.000991877 0.995197    0.0977898      uwb: 0.50009745     1245.79  1336.45  
imu_odom_:  1691062888.810881222  0.11971    -0.160412  9.42837    -0.0415453  -0.00213053 0.0191748   0.18       0.02          pose: 0.0           -3.34605   -3.78974    0 0.0042617   0.000991877 0.995197    0.0977898      uwb: 0.0            1245.79  1336.45  
imu_odom_:  1691062888.836013837  0.114922   -0.323217  9.414      -0.0788296  0.0117179   0.056459    0.18       0             pose: 0.42970490    -3.34864   -3.78846    0 0.00418544  -0.0006579890.995201    0.0977609      uwb: 0.0            1245.79  1336.45  
imu_odom_:  1691062888.862870393  0.196325   -0.0622492 9.40921    -0.0511327  -0.015979   0.0383495   0.18       0             pose: 0.0           -3.34864   -3.78846    0 0.00418544  -0.0006579890.995201    0.0977609      uwb: 0.50029577     1243.82  1338.69  
imu_odom_:  1691062888.887872349  0.407014   -0.40462   9.7875     -0.0660464  -0.0372843  0.056459    0.19       0             pose: 0.51989171    -3.35761   -3.78404    0 -0.00034797 0.000463881 0.995229    0.0975645      uwb: 0.50091116     1243.98  1340.17  
imu_odom_:  1691062888.914879980  0.356736   -0.011971  10.0437    -0.0426106  -0.015979   0.0372843   0.21       0             pose: 0.0           -3.35761   -3.78404    0 -0.00034797 0.000463881 0.995229    0.0975645      uwb: 0.0            1243.98  1340.17  
imu_odom_:  1691062888.939868811  0.59855    -0.361524  9.93115    -0.0553937  0.0117179   0.0511327   0.21       0             pose: 0.32035087    -3.36658   -3.77962    0 -7.55852e-05-0.00146729 0.995248    0.0973632      uwb: 0.49997787     1243.75  1341.09  
imu_odom_:  1691062888.957119012  0.433351   -0.179565  9.96467    -0.0436758  -0.052198   0.0553937   0.21       0.02          pose: 0.0           -3.36658   -3.77962    0 -7.55852e-05-0.00146729 0.995248    0.0973632      uwb: 0.0            1243.75  1341.09  
imu_odom_:  1691062888.972867800  0.457293   -0.158017  9.73243    -0.0575243  0           0.103331    0.21       0.02          pose: 0.44963331    -3.37287   -3.77653    0 0.00144603  -0.00108589 0.995259    0.0972405      uwb: 0.0            1243.75  1341.09  
imu_odom_:  1691062888.989868057  0.442927   -0.304064  9.72046    -0.0639159  0.0490022   0.184291    0.21       0.02          pose: 0.0           -3.37287   -3.77653    0 0.00144603  -0.00108589 0.995259    0.0972405      uwb: 0.50049118     1245.4   1340.89  
imu_odom_:  1691062889.7861089    0.497994   -0.318429  10.1418    -0.0351537  -0.0490022  0.246076    0.18       0.2           pose: 0.7210454     -3.37554   -3.77518    0 0.00168963  -0.0003421290.995265    0.0971847      uwb: 0.0            1245.4   1340.89  
imu_odom_:  1691062889.21863480   0.553061   -0.347159  9.78031    -0.052198   -0.0213053  0.3036      0.18       0.2           pose: 0.0           -3.37554   -3.77518    0 0.00168963  -0.0003421290.995265    0.0971847      uwb: 0.0            1245.4   1340.89  
imu_odom_:  1691062889.37858421   0.550666   -0.217872  9.84735    -0.0490022  -0.00958738 0.367516    0.18       0.2           pose: 0.0           -3.37554   -3.77518    0 0.00168963  -0.0003421290.995265    0.0971847      uwb: 0.49909418     1246.67  1340.75  
imu_odom_:  1691062889.53848112   0.337582   -0.514753  9.81144    -0.0585895  0           0.400539    0.18       0.32          pose: 0.50911234    -3.38898   -3.77962    0 0.00248422  -0.0003444810.995518    0.0945436      uwb: 0.0            1246.67  1340.75  
imu_odom_:  1691062889.69843344   0.670376   -0.138864  9.7875     -0.0468716  0.00852212  0.425041    0.18       0.35          pose: 0.0           -3.38898   -3.77962    0 0.00248422  -0.0003444810.995518    0.0945436      uwb: 0.0            1246.67  1340.75  
imu_odom_:  1691062889.85997234   0.378284   -0.517148  9.91199    -0.0692422  -0.052198   0.472977    0.18       0.35          pose: 0.0           -3.38898   -3.77962    0 0.00248422  -0.0003444810.995518    0.0945436      uwb: 0.0            1246.67  1340.75  
imu_odom_:  1691062889.101993050  0.54109    -0.0814029 9.77313    -0.052198   -0.0106526  0.48363     0.18       0.35          pose: 0.62863620    -3.39794   -3.77519    0 0.00498743  -0.00264591 0.996378    0.0848512      uwb: 0.50031036     1246.82  1341.6   
imu_odom_:  1691062889.118855648  0.402226   -0.0981623 10.2903    -0.0575243  -0.0426106  0.54222     0.21       0.47          pose: 0.0           -3.39794   -3.77519    0 0.00498743  -0.00264591 0.996378    0.0848512      uwb: 0.0            1246.82  1341.6   
imu_odom_:  1691062889.137001797  0.761356   -0.629675  10.003     -0.0756338  0.0191748   0.563525    0.21       0.47          pose: 0.31034146    -3.39794   -3.77519    0 0.00536759  -0.00310944 0.996908    0.07833        uwb: 0.49969207     1248.23  1341.65  
imu_odom_:  1691062889.153007820  0.229843   -0.703895  10.0916    -0.036219   0.0234358   0.570982    0.18       0.53          pose: 0.45113532    -3.40967   -3.77632    0 0.00563986  -0.00257999 0.997725    0.0671299      uwb: 0.0            1248.23  1341.65  
imu_odom_:  1691062889.170002828  0.246603   -0.318429  9.73004    -0.0458064  0           0.590156    0.18       0.53          pose: 0.0           -3.40967   -3.77632    0 0.00563986  -0.00257999 0.997725    0.0671299      uwb: 0.0            1248.23  1341.65  
imu_odom_:  1691062889.187989736  0.553061   -0.162806  9.84017    -0.0319579  -0.0585895  0.618919    0.18       0.53          pose: 0.0           -3.40967   -3.77632    0 0.00563986  -0.00257999 0.997725    0.0671299      uwb: 0.50137196     1247.64  1343.36  
imu_odom_:  1691062889.205161774  0.383072   -0.191536  9.83299    -0.056459   -0.0319579  0.638093    0.18       0.61          pose: 0.6010024     -3.41135   -3.77971    0 0.0051963   -0.00300722 0.997832    0.0655329      uwb: 0.0            1247.64  1343.36  
imu_odom_:  1691062889.221983250  0.984017   -0.486023  10.2879    -0.0383495  -0.0852212  0.633832    0.18       0.58          pose: 0.0           -3.41135   -3.77971    0 0.0051963   -0.00300722 0.997832    0.0655329      uwb: 0.0            1247.64  1343.36  
imu_odom_:  1691062889.239853206  0.864307   -0.227449  10.07      -0.0553937  -0.0436758  0.637028    0.18       0.58          pose: 0.68941307    -3.4203    -3.77524    0 0.00403     -0.00165508 0.998939    0.0458551      uwb: 0.50053494     1249.47  1343.37  
imu_odom_:  1691062889.256990539  1.96564    -0.560243  10.0245    -0.0511327  -0.111853   0.64342     0.14       0.44          pose: 0.0           -3.4203    -3.77524    0 0.00403     -0.00165508 0.998939    0.0458551      uwb: 0.0            1249.47  1343.37  
imu_odom_:  1691062889.274008003  1.71425    -0.416591  9.50498    -0.0266316  -0.0372843  0.50174     0.14       0.44          pose: 0.0           -3.4203    -3.77524    0 0.00403     -0.00165508 0.998939    0.0458551      uwb: 0.0            1249.47  1343.37  
imu_odom_:  1691062889.291998703  1.25217    0.203507   10.173     -0.0372843  0.0383495   0.400539    0.14       0.44          pose: 0.35095658    -3.42924   -3.77076    0 0.00852946  -0.00227066 0.999335    0.0353737      uwb: 0.49809966     1247.32  1346.08  
imu_odom_:  1691062889.308990210  0.931344   0.0263362  9.79947    -0.0628506  0.0234358   0.381365    0.16       0.44          pose: 0.35009914    -3.42924   -3.77076    0 0.0124576   -0.00210958 0.999556    0.0269943      uwb: 0.0            1247.32  1346.08  
imu_odom_:  1691062889.323988584  0.861913   -0.234632  9.85214    -0.0639159  0.0245011   0.340885    0.16       0.44          pose: 0.0           -3.42924   -3.77076    0 0.0124576   -0.00210958 0.999556    0.0269943      uwb: 0.0            1247.32  1346.08  
imu_odom_:  1691062889.341842500  0.737414   -0.191536  9.97185    -0.052198   -0.015979   0.3036      0.1        0.29          pose: 0.41929884    -3.4426    -3.77531    0 0.015337    -0.0006774870.999681    0.0200643      uwb: 0.49991663     1247.13  1347.11  
imu_odom_:  1691062889.359886279  0.97444    -0.0311246 9.65821    -0.052198   -0.0149137  0.3036      0.1        0.29          pose: 0.0           -3.4426    -3.77531    0 0.015337    -0.0006774870.999681    0.0200643      uwb: 0.0            1247.13  1347.11  
imu_odom_:  1691062889.375938383  0.912191   -0.205901  9.90002    -0.0458064  -0.015979   0.311057    0.1        0.29          pose: 0.0           -3.4426    -3.77531    0 0.015337    -0.0006774870.999681    0.0200643      uwb: 0.0            1247.13  1347.11  
imu_odom_:  1691062889.392828105  0.756568   -0.155623  9.76355    -0.0458064  0.0234358   0.275903    0.1        0.26          pose: 0.8065862     -3.44262   -3.77533    0 0.0159779   -0.0001351350.999692    0.0190082      uwb: 0.50156446     1245.69  1348.93  
imu_odom_:  1691062889.418970703  0.562637   -0.0742203 9.45231    -0.0479369  -0.00532632 0.252468    0.07       0.2           pose: 0.0           -3.44262   -3.77533    0 0.0159779   -0.0001351350.999692    0.0190082      uwb: 0.0            1245.69  1348.93  
imu_odom_:  1691062889.435962503  0.466869   -0.196325  10.1658    -0.0585895  0.0330232   0.230097    0.07       0.2           pose: 0.68938099    -3.4516    -3.77093    0 0.0178594   0.0028022   0.999783    0.0103395      uwb: 0.0            1245.69  1348.93  
imu_odom_:  1691062889.453901580  0.11971    -0.253785  9.9934     -0.0436758  0.0298274   0.124636    0.09       0.29          pose: 0.0           -3.4516    -3.77093    0 0.0178594   0.0028022   0.999783    0.0103395      uwb: 0.49980581     1248.24  1348.02  
imu_odom_:  1691062889.467904845  -1.13246   0.390255   9.414      -0.0298274  0.0756338   0.111853    0.09       0.29          pose: 0.0           -3.4516    -3.77093    0 0.0178594   0.0028022   0.999783    0.0103395      uwb: 0.0            1248.24  1348.02  
imu_odom_:  1691062889.484996097  -1.18992   -0.390255  10.0556    -0.0798948  -0.0234358  0.219444    0.09       0.29          pose: 0.25885655    -3.4516    -3.77093    0 0.0153479   0.00345391  0.999847    0.00769083     uwb: 0.0            1248.24  1348.02  
imu_odom_:  1691062889.502993213  -0.0957681 -0.696713  9.90002    -0.0426106  -0.102265   0.18216     0.1        0.17          pose: 0.48144938    -3.4516    -3.77093    0 0.00969508  0.00343111  0.999935    0.00492359     uwb: 0.49907668     1247.71  1349.2   
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imu_odom_:  1691062889.536855485  0.603339   0.0335188  9.61511    -0.0777643  0.0426106   0.237554    0.12       0.11          pose: 0.43948683    -3.45655   -3.7684     0 0.00896399  0.00389616  0.999951    0.00172517     uwb: 0.50081200     1248     1349.61  
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imu_odom_:  1691062889.588315021  0.399832   -0.0454898 10.2759    -0.0490022  -0.0223706  0.188552    0.13       0.08          pose: 0.8022115     -3.46055   -3.76647    0 0.0089169   0.00459042  0.999949    0.000937758    uwb: 0.50117365     1247.16  1352.33  
imu_odom_:  1691062889.605149913  0.924162   -0.265756  9.57681    -0.0639159  -0.02024    0.198139    0.2        0.2           pose: 0.0           -3.46055   -3.76647    0 0.0089169   0.00459042  0.999949    0.000937758    uwb: 0.0            1247.16  1352.33  
imu_odom_:  1691062889.620963739  0.253785   -0.19393   9.8282     -0.056459   0.0468716   0.165116    0.2        0.2           pose: 0.67878535    -3.47397   -3.771      0 0.0048966   0.00485744  0.999967    -0.00423509    uwb: 0.0            1247.16  1352.33  
imu_odom_:  1691062889.638904566  0.0287304  0.122104   9.87369    -0.0575243  -0.0149137  0.174703    0.19       0.11          pose: 0.0           -3.47397   -3.771      0 0.0048966   0.00485744  0.999967    -0.00423509    uwb: 0.49738511     1245.3   1354.26  
imu_odom_:  1691062889.656016525  0.438139   -0.174777  9.94073    -0.0830906  -0.0852212  0.175769    0.19       0.11          pose: 0.0           -3.47397   -3.771      0 0.0048966   0.00485744  0.999967    -0.00423509    uwb: 0.0            1245.3   1354.26  
imu_odom_:  1691062889.671840559  0.61531    -0.268151  10.3022    -0.0575243  -0.056459   0.143811    0.19       0.11          pose: 0.34153631    -3.47397   -3.771      0 0.00336601  0.00446628  0.999963    -0.00658539    uwb: 0.0            1245.3   1354.26  
imu_odom_:  1691062889.689148799  0.826      -0.143652  9.59117    -0.0607201  -0.00532632 0.151268    0.18       0.08          pose: 0.42814457    -3.48294   -3.76657    0 0.00450085  0.00209868  0.999945    -0.00924008    uwb: 0.0            1245.3   1354.26  
imu_odom_:  1691062889.706836474  1.15161    -0.0957681 10.1131    -0.052198   -0.00426106 0.160855    0.18       0.08          pose: 0.7109835     -3.48294   -3.76657    0 0.00521376  0.00215168  0.999938    -0.00963811    uwb: 0.0            1245.3   1354.26  
imu_odom_:  1691062889.720863363  1.1995     -0.198719  9.75398    -0.0628506  -0.0436758  0.199204    0.18       0.08          pose: 0.0           -3.48294   -3.76657    0 0.00521376  0.00215168  0.999938    -0.00963811    uwb: 0.0            1245.3   1354.26  
imu_odom_:  1691062889.737907076  1.06063    -0.241814  10.0987    -0.0692422  0.0415453   0.24288     0.12       0.08          pose: 0.41912969    -3.48731   -3.77556    0 0.00967555  0.00237156  0.999873    -0.012406      uwb: 0.100174358    1245.39  1355.05  
imu_odom_:  1691062889.751894301  1.9417     -0.368707  10.5153    -0.0383495  -0.0447411  0.204531    0.11       0.05          pose: 0.0           -3.48731   -3.77556    0 0.00967555  0.00237156  0.999873    -0.012406      uwb: 0.0            1245.39  1355.05  
imu_odom_:  1691062889.767947280  1.67115    0.0143652  9.68455    -0.0383495  0.00106526  0.137419    0.11       0.05          pose: 0.0           -3.48731   -3.77556    0 0.00967555  0.00237156  0.999873    -0.012406      uwb: 0.0            1245.39  1355.05  
imu_odom_:  1691062889.782944779  1.47722    0.0287304  10.1562    -0.0617853  0.00852212  0.125701    0.11       0.05          pose: 0.23047612    -3.48731   -3.77556    0 0.0116956   0.00195914  0.999822    -0.0146414     uwb: 0.0            1245.39  1355.05  
imu_odom_:  1691062889.799825751  0.708684   -0.0670376 9.52174    -0.0735032  0.0351537   0.0980043   0.1        0.05          pose: 0.0           -3.48731   -3.77556    0 0.0116956   0.00195914  0.999822    -0.0146414     uwb: 0.50225858     1244.64  1356.62  
imu_odom_:  1691062889.813821434  0.514753   -0.126893  10.07      -0.0671117  0.0191748   0.0820254   0.1        0.05          pose: 0.0           -3.48731   -3.77556    0 0.0116956   0.00195914  0.999822    -0.0146414     uwb: 0.0            1244.64  1356.62  
imu_odom_:  1691062889.829808500  0.608127   -0.251391  10.1179    -0.052198   -0.0276969  0.0639159   0.07       0.05          pose: 0.31037646    -3.49631   -3.77118    0 0.0148096   0.00252489  0.999753    -0.0163882     uwb: 0.0            1244.64  1356.62  
imu_odom_:  1691062889.844877453  0.715866   -0.347159  9.5792     -0.052198   -0.0181095  0.0756338   0.07       0.05          pose: 0.45932775    -3.49631   -3.77118    0 0.0135365   0.00357586  0.999747    -0.0175795     uwb: 0.49491485     1243.43  1358.19  
imu_odom_:  1691062889.862059116  0.952892   -0.0790087 9.96467    -0.0585895  -0.00213053 0.113983    0.07       0.05          pose: 0.0           -3.49631   -3.77118    0 0.0135365   0.00357586  0.999747    -0.0175795     uwb: 0.0            1243.43  1358.19  
imu_odom_:  1691062889.876808713  0.785298   -0.368707  9.90002    -0.0532632  -0.00319579 0.128897    0.07       0.05          pose: 0.41177720    -3.49631   -3.77118    0 0.0153598   0.00206904  0.999707    -0.0186194     uwb: 0.0            1243.43  1358.19  
imu_odom_:  1691062889.894031207  0.749385   -0.196325  10.0604    -0.0458064  0.0213053   0.0873517   0.07       0.05          pose: 0.0           -3.49631   -3.77118    0 0.0153598   0.00206904  0.999707    -0.0186194     uwb: 0.50124072     1243.78  1358.71  
imu_odom_:  1691062889.910961469  0.641646   0.0335188  9.80186    -0.052198   -0.00639159 0.0862864   0.07       0.05          pose: 0.0           -3.49631   -3.77118    0 0.0153598   0.00206904  0.999707    -0.0186194     uwb: 0.0            1243.78  1358.71  
imu_odom_:  1691062889.937935560  0.706289   -0.258574  9.78271    -0.0596548  -0.00213053 0.0788296   0.07       0.05          pose: 0.5892781     -3.49631   -3.77118    0 0.0155989   0.00153362  0.999699    -0.0188913     uwb: 0.50059326     1240.97  1360.64  
imu_odom_:  1691062889.962800733  0.299275   -0.129287  9.6199     -0.0553937  0.02024     0.0223706   0.05       0.05          pose: 0.69983663    -3.50849   -3.77339    0 0.0161314   0.000242348 0.999657    -0.0206431     uwb: 0.0            1240.97  1360.64  
imu_odom_:  1691062889.987844978  -1.1995    0.28491    9.46428    -0.0511327  0.0884169   -0.0340885  0.08       0.08          pose: 0.0           -3.50849   -3.77339    0 0.0161314   0.000242348 0.999657    -0.0206431     uwb: 0.49795967     1242.22  1361.13  
imu_odom_:  1691062890.10816470   -0.933739  -0.634463  10.0485    -0.0798948  -0.0596548  0.0862864   0.08       0.08          pose: 0.31002356    -3.50966   -3.77579    0 0.0125018   0.000860741 0.999718    -0.020194      uwb: 0.0            1242.22  1361.13  
imu_odom_:  1691062890.27935137   0.234632   -0.287304  10.0748    -0.0394148  -0.103331   0.0713727   0.08       0.08          pose: 0.0           -3.50966   -3.77579    0 0.0125018   0.000860741 0.999718    -0.020194      uwb: 0.0            1242.22  1361.13  
imu_odom_:  1691062890.52930678   0.663194   -0.0311246 9.73961    -0.0490022  0.0245011   0.0937433   0.1        0             pose: 0.48882812    -3.50966   -3.77579    0 0.00790282  0.000274556 0.999766    -0.0201418     uwb: 0.50125531     1240.48  1362.63  
imu_odom_:  1691062890.78797667   0.0861913  -0.543484  10.2304    -0.0458064  0.0234358   0.0681769   0.12       0.02          pose: 0.35109950    -3.51865   -3.77142    0 0.00835991  0.00232085  0.999743    -0.0209662     uwb: 0.0            1240.48  1362.63  
imu_odom_:  1691062890.102822598  -0.246603  0          9.91918    -0.036219   -0.0234358  0.0500674   0.12       0.02          pose: 0.0           -3.51865   -3.77142    0 0.00835991  0.00232085  0.999743    -0.0209662     uwb: 0.49884921     1239.86  1363.77  
imu_odom_:  1691062890.128935448  0.42138    -0.438139  10.1754    -0.0873517  0.0213053   0.0809601   0.13       0.02          pose: 0.6892847     -3.51865   -3.77142    0 0.00772534  0.00192097  0.999746    -0.0210677     uwb: 0.0            1239.86  1363.77  
imu_odom_:  1691062890.145867168  0.071826   0.0047884  10.0341    -0.0479369  -0.0308927  0.04048     0.13       0.02          pose: 0.0           -3.51865   -3.77142    0 0.00772534  0.00192097  0.999746    -0.0210677     uwb: 0.50043286     1240.65  1364.27  
imu_odom_:  1691062890.171802403  0.407014   -0.179565  10.2615    -0.0671117  0.00532632  0.0745685   0.14       0.02          pose: 0.50151780    -3.51865   -3.77142    0 0.00362904  0.000797503 0.999759    -0.0216193     uwb: 0.0            1240.65  1364.27  
imu_odom_:  1691062890.196812234  0.0909797  -0.268151  9.81144    -0.0607201  -0.0340885  0.0607201   0.14       0.02          pose: 0.0           -3.51865   -3.77142    0 0.00362904  0.000797503 0.999759    -0.0216193     uwb: 0.49992248     1238.34  1366.32  
imu_odom_:  1691062890.221797859  0.28491    -0.0981623 9.88805    -0.0415453  0.0266316   0.0660464   0.14       0.02          pose: 0.43896478    -3.53205   -3.77595    0 0.00125237  0.000170945 0.999754    -0.0221637     uwb: 0.0            1238.34  1366.32  
imu_odom_:  1691062890.238795200  -0.0502782 -0.071826  10.0317    -0.0585895  0.0181095   0.0905475   0.14       0.02          pose: 0.0           -3.53205   -3.77595    0 0.00125237  0.000170945 0.999754    -0.0221637     uwb: 0.50075367     1239.25  1366.31  
imu_odom_:  1691062890.264860511  0.332794   -0.246603  9.64145    -0.0511327  -0.015979   0.0596548   0.16       0.02          pose: 0.48957767    -3.53205   -3.77595    0 -0.00242241 0.00125093  0.999736    -0.0228153     uwb: 0.0            1239.25  1366.31  
imu_odom_:  1691062890.281862518  0.737414   -0.11971   10.0724    -0.0490022  -0.0490022  0.0660464   0.16       0.02          pose: 0.0           -3.53205   -3.77595    0 -0.00242241 0.00125093  0.999736    -0.0228153     uwb: 0.0            1239.25  1366.31  
imu_odom_:  1691062890.307945620  0.1652     -0.217872  10.252     -0.0479369  -0.0266316  0.0777643   0.16       0.02          pose: 0.43974057    -3.54102   -3.77154    0 -0.00542274 0.00242061  0.999704    -0.023575      uwb: 0.49999539     1235.61  1369.13  
imu_odom_:  1691062890.333850816  -0.0622492 0.0263362  9.19852    -0.0298274  0.0191748   0.0553937   0.2        0.02          pose: 0.42163497    -3.5544    -3.77613    0 -0.00316888 0.00111484  0.999704    -0.0241101     uwb: 0.0            1235.61  1369.13  
imu_odom_:  1691062890.355793660  0.328006   -0.371101  10.3717    -0.0777643  -0.0340885  0.0969391   0.14       0.02          pose: 0.0           -3.5544    -3.77613    0 -0.00316888 0.00111484  0.999704    -0.0241101     uwb: 0.49988748     1236.41  1368.96  
imu_odom_:  1691062890.380771993  0.555455   -0.0454898 9.94073    -0.04048    0.0266316   0.0500674   0.16       0             pose: 0.50910943    -3.5544    -3.77613    0 -0.00709101 0.00181494  0.999665    -0.0248453     uwb: 0.0            1236.41  1368.96  
imu_odom_:  1691062890.406788599  0.890643   -0.167594  10.1682    -0.0756338  -0.00319579 0.0809601   0.16       0             pose: 0.0           -3.5544    -3.77613    0 -0.00709101 0.00181494  0.999665    -0.0248453     uwb: 0.49877921     1236.84  1369.63  
imu_odom_:  1691062890.422907491  0.21069    -0.328006  9.85932    -0.0479369  0.0234358   0.0468716   0.17       0             pose: 0.22925412    -3.56339   -3.77176    0 -0.00578847 0.000582091 0.999662    -0.0253318     uwb: 0.0            1236.84  1369.63  
imu_odom_:  1691062890.448780605  0.483629   -0.071826  9.83538    -0.076699   -0.0127832  0.0937433   0.17       0             pose: 0.51011271    -3.57675   -3.7764     0 -0.00254802 0.0010519   0.999658    -0.0259999     uwb: 0.50176570     1240.25  1368.55  
imu_odom_:  1691062890.473778479  0.548272   -0.146046  10.489     -0.0575243  -0.00852212 0.056459    0.17       -0.02         pose: 0.34965875    -3.57675   -3.7764     0 -0.00134389 0.0019708   0.99964     -0.0267391     uwb: 0.0            1240.25  1368.55  
imu_odom_:  1691062890.499809667  0.52433    -0.0550666 10.0916    -0.0830906  0.0287621   0.0681769   0.17       -0.02         pose: 0.0           -3.57675   -3.7764     0 -0.00134389 0.0019708   0.99964     -0.0267391     uwb: 0.49873546     1239.06  1370.24  
imu_odom_:  1691062890.516050469  -0.112527  -0.28491   10.0126    -0.0756338  -0.00426106 0.0703074   0.17       0             pose: 0.51029062    -3.58334   -3.77322    0 0.00239902  0.00404887  0.999615    -0.0273293     uwb: 0.0            1239.06  1370.24  
imu_odom_:  1691062890.541844546  0.0694318  -0.0885855 10.0676    -0.0660464  -0.0117179  0.0596548   0.17       0             pose: 0.0           -3.58334   -3.77322    0 0.00239902  0.00404887  0.999615    -0.0273293     uwb: 0.49960166     1239.42  1370.8   
imu_odom_:  1691062890.566945081  0.466869   -0.342371  9.88805    -0.0937433  0.0149137   0.0681769   0.19       0             pose: 0.42034879    -3.59658   -3.77796    0 -0.00161379 0.00364262  0.999605    -0.0278225     uwb: 0.0            1239.42  1370.8   
imu_odom_:  1691062890.592925814  0.725443   -0.114922  10.0126    -0.0798948  -0.00745685 0.0553937   0.19       0             pose: 0.0           -3.59658   -3.77796    0 -0.00161379 0.00364262  0.999605    -0.0278225     uwb: 0.50232567     1238.96  1372.21  
imu_odom_:  1691062890.617906480  0.797269   -0.383072  11.1953    -0.056459   0.00426106  0.0351537   0.19       0.02          pose: 0.33097276    -3.59911   -3.77675    0 7.51805e-05 0.00102132  0.9996      -0.0282476     uwb: 0.0            1238.96  1372.21  
imu_odom_:  1691062890.634891863  1.13485    -0.354342  9.34217    -0.0415453  -0.0223706  0.0266316   0.19       0.02          pose: 0.0           -3.59911   -3.77675    0 7.51805e-05 0.00102132  0.9996      -0.0282476     uwb: 0.0            1238.96  1372.21  
imu_odom_:  1691062890.661039711  0.785298   -0.272939  9.10994    -0.052198   -0.0213053  0.052198    0.2        0             pose: 0.50853781    -3.60813   -3.77244    0 0.0048096   2.27767e-05 0.999588    -0.0282911     uwb: 0.49793051     1239.79  1372.79  
imu_odom_:  1691062890.686770792  0.407014   -0.0023942 9.87369    -0.0532632  -0.0255663  0.0500674   0.23       0.02          pose: 0.35244108    -3.61244   -3.78146    0 0.00858739  -0.0004543680.99956     -0.0284        uwb: 0.0            1239.79  1372.79  
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imu_odom_:  1691062890.729913065  0.0023942  -0.208296  10.058     -0.0468716  0.0330232   0.0447411   0.22       0.02          pose: 0.0           -3.61244   -3.78146    0 0.00823611  0.00010903  0.999562    -0.0284321     uwb: 0.0            1241.63  1372.78  
imu_odom_:  1691062890.754822277  0.610521   -0.387861  10.0197    -0.056459   0.0266316   0.0340885   0.22       0.02          pose: 0.51923843    -3.62142   -3.77706    0 0.00952947  0.00144709  0.999546    -0.0285413     uwb: 0.49961332     1244.28  1371.87  
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imu_odom_:  1691062890.805762969  0.426168   -0.244209  9.85214    -0.056459   -0.0223706  0.0351537   0.22       0.02          pose: 0.8013949     -3.6348    -3.78165    0 0.00771303  -0.00120546 0.999563    -0.0285271     uwb: 0.49891629     1244.17  1372.42  
imu_odom_:  1691062890.831815156  0.550666   -0.543484  9.58878    -0.0788296  -0.0468716  0.0607201   0.21       0             pose: 0.42926743    -3.64101   -3.77861    0 0.00357939  -0.00155686 0.999586    -0.0284916     uwb: 0.0            1244.17  1372.42  
imu_odom_:  1691062890.848864702  0.392649   -0.332794  9.67736    -0.056459   0.00745685  0.0245011   0.21       0             pose: 0.0           -3.64101   -3.77861    0 0.00357939  -0.00155686 0.999586    -0.0284916     uwb: 0.0            1244.17  1372.42  
imu_odom_:  1691062890.873767207  0.596156   -0.131681  9.89524    -0.0436758  -0.0234358  0.0490022   0.25       0.02          pose: 0.43101733    -3.64378   -3.77725    0 0.00318638  -0.00492139 0.999572    -0.028655      uwb: 0.0            1244.17  1372.42  
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imu_odom_:  1691062890.939794643  0.258574   -0.385466  9.76595    -0.0468716  -0.056459   0.036219    0.18       0             pose: 0.0           -3.65716   -3.78184    0 0.00687106  -0.00122115 0.999569    -0.0285287     uwb: 0.50052036     1245.68  1373.28  
imu_odom_:  1691062890.956744445  0.486023   0.3304     10.3597    -0.0340885  -0.036219   0.0415453   0.22       -0.02         pose: 0.32981200    -3.66614   -3.77744    0 0.00412766  7.93566e-05 0.999578    -0.0287596     uwb: 0.0            1245.68  1373.28  
imu_odom_:  1691062890.980731169  0.395043   -0.023942  10.161     -0.0681769  -0.02024    0.0553937   0.22       -0.02         pose: 0.0           -3.66614   -3.77744    0 0.00412766  7.93566e-05 0.999578    -0.0287596     uwb: 0.0            1245.68  1373.28  
imu_odom_:  1691062890.997886001  0.912191   -0.287304  9.68933    -0.056459   0.036219    0.0394148   0.18       0             pose: 0.50961107    -3.6757    -3.78072    0 0.00288049  0.00332619  0.999572    -0.0289357     uwb: 0.49994581     1247.09  1373.31  
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imu_odom_:  1691062891.40738666   0.679953   -0.0861913 9.65582    -0.0617853  0.0213053   0.0223706   0.21       0             pose: 0.0           -3.67952   -3.78203    0 0.00342893  0.00313308  0.99957     -0.0289383     uwb: 0.49943542     1246.4   1374.38  
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imu_odom_:  1691062891.92879206   0.047884   -0.0383072 10.0533    -0.052198   0.0276969   0.0426106   0.21       -0.02         pose: 0.34972875    -3.6885    -3.77764    0 0.00509433  0.000116306 0.999568    -0.028951      uwb: 0.50388600     1248.46  1374.66  
imu_odom_:  1691062891.117892829  0.304064   -0.31364   9.67736    -0.076699   -0.00426106 0.0436758   0.17       0             pose: 0.0           -3.6885    -3.77764    0 0.00509433  0.000116306 0.999568    -0.028951      uwb: 0.0            1248.46  1374.66  
imu_odom_:  1691062891.144943041  0.31364    -0.158017  10.0987    -0.0671117  -0.015979   0.0351537   0.17       0             pose: 0.34943419    -3.69289   -3.78663    0 0.00152654  0.000436625 0.999578    -0.0290041     uwb: 0.49511027     1247.34  1376.52  
imu_odom_:  1691062891.170801865  0.141258   -0.294487  9.71567    -0.0458064  -0.00426106 0.0298274   0.2        -0.02         pose: 0.0           -3.69289   -3.78663    0 0.00152654  0.000436625 0.999578    -0.0290041     uwb: 0.0            1247.34  1376.52  
imu_odom_:  1691062891.197870452  0.500388   -0.0742203 10.1658    -0.0617853  -0.0127832  0.0447411   0.2        -0.02         pose: 0.52222201    -3.70188   -3.78224    0 -0.00249295 0.00029312  0.999578    -0.0289409     uwb: 0.50200778     1248.46  1376.8   
imu_odom_:  1691062891.222734750  0.260968   -0.150835  9.98382    -0.0298274  0.0340885   0.0319579   0.18       -0.02         pose: 0.44837925    -3.71399   -3.78441    0 -0.0019426  0.00134044  0.999579    -0.0289288     uwb: 0.0            1248.46  1376.8   
imu_odom_:  1691062891.239752507  0.251391   -0.323217  9.95988    -0.0820254  -0.02024    0.0553937   0.18       -0.02         pose: 0.0           -3.71399   -3.78441    0 -0.0019426  0.00134044  0.999579    -0.0289288     uwb: 0.49842632     1250.72  1375.92  
imu_odom_:  1691062891.264727924  0.294487   -0.189142  9.69412    -0.0575243  -0.00319579 0.0340885   0.23       0             pose: 0.7893789     -3.71521   -3.78697    0 -0.00285086 0.00167373  0.999577    -0.0288981     uwb: 0.0            1250.72  1375.92  
imu_odom_:  1691062891.291761221  0.531513   -0.260968  9.67257    -0.0692422  -0.0266316  0.0468716   0.23       0             pose: 0.23977683    -3.72423   -3.78267    0 -0.00496904 0.00163376  0.999569    -0.028884      uwb: 0.49934793     1249.45  1377.58  
imu_odom_:  1691062891.307742746  0.634463   -0.129287  9.92636    -0.0394148  -0.00958738 0.0138484   0.23       0             pose: 0.0           -3.72423   -3.78267    0 -0.00496904 0.00163376  0.999569    -0.028884      uwb: 0.0            1249.45  1377.58  
imu_odom_:  1691062891.334738420  0.878672   -0.383072  10.1155    -0.0862864  -0.0149137  0.0681769   0.23       -0.02         pose: 0.41997257    -3.72423   -3.78267    0 -0.00605857 0.00218072  0.999561    -0.0289245     uwb: 0.0            1249.45  1377.58  
imu_odom_:  1691062891.360756193  0.177171   -0.248997  9.69652    -0.0639159  0.0319579   0.0436758   0.23       -0.02         pose: 0.0           -3.72423   -3.78267    0 -0.00605857 0.00218072  0.999561    -0.0289245     uwb: 0.50122032     1251.82  1376.88  
imu_odom_:  1691062891.387767908  0.823605   -0.371101  9.96467    -0.0585895  -0.0660464  0.0468716   0.25       0             pose: 0.44055720    -3.73756   -3.78739    0 -0.00152704 0.00145488  0.99958     -0.028912      uwb: 0.49878214     1252.08  1377.98  
imu_odom_:  1691062891.403731643  0.562637   -0.234632  9.72046    -0.0415453  0.0340885   0.0468716   0.25       0             pose: 0.0           -3.73756   -3.78739    0 -0.00152704 0.00145488  0.99958     -0.028912      uwb: 0.0            1252.08  1377.98  
imu_odom_:  1691062891.430835810  0.347159   -0.280122  9.92636    -0.0468716  -0.0266316  0.0532632   0.25       0             pose: 0.51983632    -3.74659   -3.78309    0 -0.00175277 -0.0003691160.99957     -0.0292623     uwb: 0.0            1252.08  1377.98  
imu_odom_:  1691062891.455767480  0.567426   -0.253785  10.1993    -0.0575243  -0.0245011  0.0543285   0.25       0             pose: 0.0           -3.74659   -3.78309    0 -0.00175277 -0.0003691160.99957     -0.0292623     uwb: 0.50080618     1249.06  1380.6   
imu_odom_:  1691062891.472709116  0.627281   -0.28491   9.663      -0.0671117  -0.0138484  0.0426106   0.23       0             pose: 0.43017155    -3.75992   -3.78783    0 0.00152586  -0.00111982 0.999565    -0.0294396     uwb: 0.0            1249.06  1380.6   
imu_odom_:  1691062891.497922519  0.699107   -0.220267  10.2185    -0.0553937  -0.036219   0.0639159   0.23       0             pose: 0.0           -3.75992   -3.78783    0 0.00152586  -0.00111982 0.999565    -0.0294396     uwb: 0.49940043     1247.75  1382.23  
imu_odom_:  1691062891.522869646  0.4956     -0.035913  10.3238    -0.0436758  -0.0553937  0.0543285   0.22       -0.02         pose: 0.51933177    -3.75992   -3.78783    0 0.00345328  -0.00206275 0.999549    -0.029769      uwb: 0.0            1247.75  1382.23  
imu_odom_:  1691062891.547741236  0.641646   0.253785   10.2879    -0.0713727  -0.0191748  0.0575243   0.22       -0.02         pose: 0.0           -3.75992   -3.78783    0 0.00345328  -0.00206275 0.999549    -0.029769      uwb: 0.50146822     1246.21  1384.23  
imu_odom_:  1691062891.572715195  0.675165   -0.203507  10.0269    -0.0575243  -0.00213053 0.04048     0.18       0             pose: 0.42423940    -3.76895   -3.78355    0 0.00732588  -0.0009337580.999519    -0.0301306     uwb: 0.0            1246.21  1384.23  
imu_odom_:  1691062891.599732451  0.531513   -0.385466  9.82341    -0.0777643  -0.00106526 0.0553937   0.25       0.02          pose: 0.49620979    -3.78227   -3.78831    0 0.00853129  0.00289346  0.999495    -0.0304618     uwb: 0.50069536     1245.03  1386.1   
imu_odom_:  1691062891.624719825  0.248997   -0.299275  9.33739    -0.0660464  0.0287621   0.0351537   0.25       0.02          pose: 0.0           -3.78227   -3.78831    0 0.00853129  0.00289346  0.999495    -0.0304618     uwb: 0.0            1245.03  1386.1   
imu_odom_:  1691062891.641748956  0.466869   -0.0885855 10.1921    -0.0958738  -0.00532632 0.0543285   0.21       0.02          pose: 0.24963751    -3.78227   -3.78831    0 0.00997956  0.00149544  0.999483    -0.0305408     uwb: 0.50025788     1244.11  1387.63  
imu_odom_:  1691062891.666776870  0.23942    0.0047884  10.0413    -0.0628506  -0.0255663  0.0468716   0.21       0.02          pose: 0.52116916    -3.79563   -3.79295    0 0.00623772  -0.0008670820.999508    -0.0307136     uwb: 0.0            1244.11  1387.63  
imu_odom_:  1691062891.690867422  0.342371   -0.201113  10.398     -0.0649811  0.00426106  0.0490022   0.21       0             pose: 0.34922419    -3.80463   -3.78859    0 0.00410919  0.00126326  0.999514    -0.0308625     uwb: 0.49997498     1244.43  1388.15  
imu_odom_:  1691062891.705889129  0.292093   -0.0502782 9.76595    -0.0500674  -0.0127832  0.0468716   0.21       0             pose: 0.0           -3.80463   -3.78859    0 0.00410919  0.00126326  0.999514    -0.0308625     uwb: 0.0            1244.43  1388.15  
imu_odom_:  1691062891.729781067  0.622492   -0.184354  10.2615    -0.0479369  -0.0149137  0.0340885   0.17       0             pose: 0.39112259    -3.80951   -3.78623    0 0.000595356 0.00199786  0.999516    -0.0310258     uwb: 0.0            1244.43  1388.15  
imu_odom_:  1691062891.754710695  0.476446   -0.0790087 9.7851     -0.0447411  -0.0106526  0.0468716   0.17       0             pose: 0.0           -3.80951   -3.78623    0 0.000595356 0.00199786  0.999516    -0.0310258     uwb: 0.49832716     1244.01  1388.97  
imu_odom_:  1691062891.777840845  0.0766145  -0.141258  9.49062    -0.0649811  0.00639159  0.052198    0.2        0             pose: 0.48821566    -3.81687   -3.79094    0 0.00341161  0.00466803  0.999501    -0.0310482     uwb: 0.0            1244.01  1388.97  
imu_odom_:  1691062891.793708044  0.371101   -0.208296  10.1442    -0.0426106  -0.0298274  0.0500674   0.2        0             pose: 0.0           -3.81687   -3.79094    0 0.00341161  0.00466803  0.999501    -0.0310482     uwb: 0.50231693     1245.08  1389.18  
imu_odom_:  1691062891.811704577  0.897826   -0.112527  9.83777    -0.0543285  0.0255663   0.04048     0.2        0             pose: 0.0           -3.81687   -3.79094    0 0.00341161  0.00466803  0.999501    -0.0310482     uwb: 0.0            1245.08  1389.18  
imu_odom_:  1691062891.835893123  0.881066   -0.0766145 9.42837    -0.0490022  -0.0181095  0.0372843   0.25       0.02          pose: 0.47122416    -3.82699   -3.78889    0 0.00102848  0.0032647   0.999505    -0.0312709     uwb: 0.0            1245.08  1389.18  
imu_odom_:  1691062891.861700325  0.526724   -0.265756  9.73961    -0.0596548  0.02024     0.0447411   0.22       0             pose: 0.34060012    -3.83342   -3.78578    0 0.00439709  0.00394664  0.999494    -0.0312574     uwb: 0.49813758     1243.86  1391     
imu_odom_:  1691062891.883774119  0.1652     0.0837971  9.91199    -0.0553937  0.00319579  0.0426106   0.22       0             pose: 0.6825185     -3.83599   -3.78454    0 0.00452736  0.00328061  0.999495    -0.031279      uwb: 0.0            1243.86  1391     
imu_odom_:  1691062891.908708122  0.320823   0.0407014  9.99819    -0.0681769  0.0191748   0.0585895   0.18       0             pose: 0.41055811    -3.84659   -3.79053    0 0.00305332  0.00276985  0.9995      -0.0313636     uwb: 0.50047954     1242.55  1392.72  
imu_odom_:  1691062891.933928817  0.399832   -0.347159  9.54808    -0.0639159  0.0106526   0.0319579   0.18       0             pose: 0.0           -3.84659   -3.79053    0 0.00305332  0.00276985  0.9995      -0.0313636     uwb: 0.0            1242.55  1392.72  
imu_odom_:  1691062891.947685639  0.371101   -0.351948  9.72046    -0.0468716  0.0468716   0.0287621   0.2        -0.02         pose: 0.0           -3.84659   -3.79053    0 0.00305332  0.00276985  0.9995      -0.0313636     uwb: 0.0            1242.55  1392.72  
imu_odom_:  1691062891.972725219  0.3304     -0.351948  9.33739    -0.0266316  0.00639159  0.04048     0.2        -0.02         pose: 0.55969608    -3.84935   -3.7892     0 0.000522428 0.00141599  0.999504    -0.0314664     uwb: 0.0            1242.55  1392.72  
imu_odom_:  1691062891.997675845  0.656011   -0.0622492 10.2999    -0.0372843  -0.076699   0.0500674   0.23       -0.02         pose: 0.32981492    -3.8627    -3.79386    0 -0.00107379 -0.00124506 0.999504    -0.0314351     uwb: 0.100071700    1244.51  1392.81  
imu_odom_:  1691062892.11728400   0.54109    -0.335188  9.76595    -0.056459   -0.036219   0.0532632   0.23       -0.02         pose: 0.7020881     -3.8627    -3.79386    0 -0.000242649-0.0007753280.999504    -0.0314719     uwb: 0.0            1244.51  1392.81  
imu_odom_:  1691062892.35664670   0.605733   -0.244209  9.52174    -0.0372843  0.0106526   0.0415453   0.17       0.02          pose: 0.0           -3.8627    -3.79386    0 -0.000242649-0.0007753280.999504    -0.0314719     uwb: 0.0            1244.51  1392.81  
imu_odom_:  1691062892.61672235   0.4956     0.0574608  10.0126    -0.0681769  -0.0276969  0.0532632   0.17       0.02          pose: 0.38936978    -3.87171   -3.78952    0 0.00365464  -0.00064057 0.999491    -0.0316706     uwb: 0.50199611     1243.97  1394.25  
imu_odom_:  1691062892.83676326   0.318429   -0.316035  10.1993    -0.0447411  0.0149137   0.0596548   0.2        0             pose: 0.0           -3.87171   -3.78952    0 0.00365464  -0.00064057 0.999491    -0.0316706     uwb: 0.0            1243.97  1394.25  
imu_odom_:  1691062892.100667251  0.237026   -0.172383  9.23204    -0.0894822  0.00319579  0.0585895   0.2        0             pose: 0.49005598    -3.87171   -3.78952    0 0.00480917  0.00149473  0.999478    -0.0319121     uwb: 0.49794219     1244.72  1394.7   
imu_odom_:  1691062892.116815309  0.407014   -0.162806  10.7955    -0.0607201  -0.0330232  0.0308927   0.25       -0.02         pose: 0.0           -3.87171   -3.78952    0 0.00480917  0.00149473  0.999478    -0.0319121     uwb: 0.0            1244.72  1394.7   
imu_odom_:  1691062892.141882596  0.768539   -0.328006  9.86411    -0.076699   -0.0468716  0.0532632   0.25       -0.02         pose: 0.39236793    -3.88505   -3.79419    0 0.00132869  0.000991695 0.99948     -0.0322069     uwb: 0.49855174     1241.61  1397.38  
imu_odom_:  1691062892.167845539  0.612916   -0.100556  9.991      -0.0340885  0.0319579   0.04048     0.23       0.02          pose: 0.0           -3.88505   -3.79419    0 0.00132869  0.000991695 0.99948     -0.0322069     uwb: 0.0            1241.61  1397.38  
imu_odom_:  1691062892.193731195  0.893037   0.0191536  9.4954     -0.0735032  -0.0266316  0.0607201   0.23       0.02          pose: 0.42810668    -3.89407   -3.78986    0 0.00420043  0.00117269  0.999467    -0.0323395     uwb: 0.50085285     1241.89  1398.62  
imu_odom_:  1691062892.217887660  0.715866   -0.114922  10.0844    -0.0575243  0.0351537   0.036219    0.21       0             pose: 0.43995058    -3.90485   -3.79578    0 0.00785416  0.00349246  0.999431    -0.032615      uwb: 0.0            1241.89  1398.62  
imu_odom_:  1691062892.243672697  0.131681   -0.423774  9.67736    -0.0596548  0.0127832   0.0372843   0.21       0             pose: 0.7091169     -3.90741   -3.79455    0 0.00840057  0.00366092  0.999426    -0.0326043     uwb: 0.49875881     1241.16  1399.77  
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imu_odom_:  1691062892.284679220  0.399832   -0.287304  9.74679    -0.0628506  0.00958738  0.0351537   0.19       0.02          pose: 0.0           -3.91399   -3.79139    0 0.00733972  0.00258732  0.99944     -0.032555      uwb: 0.0            1241.16  1399.77  
imu_odom_:  1691062892.309816212  0.505177   -0.153229  9.43315    -0.0553937  -0.00213053 0.0500674   0.19       0             pose: 0.41006523    -3.91873   -3.79514    0 0.00407626  0.000210151 0.999455    -0.0327512     uwb: 0.50114159     1238.63  1402.7   
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imu_odom_:  1691062892.352869824  0.806846   -0.191536  10.0317    -0.0660464  -0.0649811  0.0468716   0.2        0             pose: 0.42151540    -3.92979   -3.79502    0 0.00419518  0.000982876 0.999448    -0.0329482     uwb: 0.49759804     1239.85  1403.15  
imu_odom_:  1691062892.377815201  0.715866   -0.023942  10.3334    -0.0447411  -0.052198   0.0330232   0.2        0             pose: 0.8121568     -3.92979   -3.79502    0 0.00525485  0.000990448 0.999442    -0.0329779     uwb: 0.0            1239.85  1403.15  
imu_odom_:  1691062892.403690358  0.775721   0.126893   10.1059    -0.0692422  -0.0372843  0.0511327   0.19       0.02          pose: 0.24923212    -3.92979   -3.79502    0 0.00820961  0.00158751  0.99942     -0.0330166     uwb: 0.50003040     1240.51  1404.27  
imu_odom_:  1691062892.429687424  0.706289   -0.0790087 9.94073    -0.0447411  0.0394148   0.0308927   0.21       -0.02         pose: 0.24962876    -3.94308   -3.79986    0 0.0102538   0.00364039  0.999397    -0.0329829     uwb: 0.0            1240.51  1404.27  
imu_odom_:  1691062892.454723504  0.342371   -0.373495  9.43076    -0.0639159  0.0255663   0.0585895   0.21       -0.02         pose: 0.0           -3.94308   -3.79986    0 0.0102538   0.00364039  0.999397    -0.0329829     uwb: 0.49981750     1239.87  1405.6   
imu_odom_:  1691062892.472735203  0.52433    -0.150835  9.991      -0.0372843  0.0170442   0.0319579   0.22       0             pose: 0.25880698    -3.94308   -3.79986    0 0.0119466   0.00556011  0.999367    -0.033045      uwb: 0.0            1239.87  1405.6   
imu_odom_:  1691062892.496646391  0.481235   -0.409408  9.38766    -0.0585895  -0.0245011  0.056459    0.22       0             pose: 0.0           -3.94308   -3.79986    0 0.0119466   0.00556011  0.999367    -0.033045      uwb: 0.49993415     1241.58  1406.06  
imu_odom_:  1691062892.522737952  0.138864   0.0407014  9.8665     -0.0394148  0.0213053   0.0511327   0.24       0             pose: 0.52010465    -3.95214   -3.79563    0 0.010104    0.00464772  0.999387    -0.0331823     uwb: 0.0            1241.58  1406.06  
imu_odom_:  1691062892.547655914  0.179565   -0.426168  9.07402    -0.0703074  0.0351537   0.0436758   0.24       0             pose: 0.0           -3.95214   -3.79563    0 0.010104    0.00464772  0.999387    -0.0331823     uwb: 0.50129033     1240.71  1407.84  
imu_odom_:  1691062892.572664871  0.122104   -0.445322  9.65582    -0.0585895  0.00958738  0.0649811   0.21       0.02          pose: 0.41013815    -3.96543   -3.80047    0 0.0078478   0.00250069  0.999408    -0.0334004     uwb: 0.0            1240.71  1407.84  
imu_odom_:  1691062892.586662013  0.387861   -0.629675  9.76116    -0.0585895  -0.00958738 0.0575243   0.21       0.02          pose: 0.0           -3.96543   -3.80047    0 0.0078478   0.00250069  0.999408    -0.0334004     uwb: 0.0            1240.71  1407.84  
imu_odom_:  1691062892.610802729  0.248997   -0.179565  9.78989    -0.036219   -0.0117179  0.0458064   0.18       0             pose: 0.50989982    -3.97449   -3.79623    0 0.00291273  0.00114805  0.999429    -0.0336474     uwb: 0.49966000     1240.75  1408.71  
imu_odom_:  1691062892.627777905  0.497994   -0.246603  9.48343    -0.0841559  -0.00106526 0.0628506   0.18       0             pose: 0.0           -3.97449   -3.79623    0 0.00291273  0.00114805  0.999429    -0.0336474     uwb: 0.0            1240.75  1408.71  
imu_odom_:  1691062892.652647745  0.186748   -0.275333  9.38288    -0.0713727  0.0479369   0.0490022   0.18       0             pose: 0.38988600    -3.97449   -3.79623    0 0.000680222 -0.00114057 0.99942     -0.0340271     uwb: 0.49886381     1244.61  1407.9   
imu_odom_:  1691062892.676709716  0.102951   -0.220267  9.80426    -0.072438   0           0.0575243   0.18       0             pose: 0.0           -3.97449   -3.79623    0 0.000680222 -0.00114057 0.99942     -0.0340271     uwb: 0.0            1244.61  1407.9   
imu_odom_:  1691062892.700638694  0.181959   -0.172383  10.1347    -0.0745685  0.0394148   0.0511327   0.18       -0.02         pose: 0.41961676    -3.98777   -3.8011     0 -0.000214486-0.00124088 0.99941     -0.0343166     uwb: 0.50062536     1247.95  1407.01  
imu_odom_:  1691062892.725686732  0.428562   -0.56982   9.9503     -0.0916127  0.0308927   0.0575243   0.18       -0.02         pose: 0.0           -3.98777   -3.8011     0 -0.000214486-0.00124088 0.99941     -0.0343166     uwb: 0.0            1247.95  1407.01  
imu_odom_:  1691062892.750899261  0.687136   -0.52433   10.3286    -0.0617853  0.00532632  0.0490022   0.23       0             pose: 0.47999990    -3.99681   -3.79682    0 -0.00551636 -0.0015224  0.999383    -0.0346611     uwb: 0.50126116     1247.67  1408.16  
imu_odom_:  1691062892.764661333  0.703895   -0.287304  9.70609    -0.0500674  -0.0127832  0.0479369   0.23       0             pose: 0.0           -3.99681   -3.79682    0 -0.00551636 -0.0015224  0.999383    -0.0346611     uwb: 0.0            1247.67  1408.16  
imu_odom_:  1691062892.781711171  0.208296   -0.311246  10.2711    -0.0223706  0.0287621   0.0394148   0.18       0             pose: 0.48975267    -4.01004   -3.80162    0 -0.0060133  -0.00389422 0.999361    -0.0350043     uwb: 0.0            1247.67  1408.16  
imu_odom_:  1691062892.806850787  0.349553   -0.229843  9.39245    -0.0617853  0.00213053  0.0490022   0.18       0             pose: 0.0           -4.01004   -3.80162    0 -0.0060133  -0.00389422 0.999361    -0.0350043     uwb: 0.50014415     1248.2   1409.03  
imu_odom_:  1691062892.830642690  0.442927   -0.3304    9.55765    -0.0617853  0.0255663   0.0543285   0.19       0             pose: 0.74191878    -4.02216   -3.80386    0 -0.00381289 -0.00244142 0.999368    -0.0352582     uwb: 0.0            1248.2   1409.03  
imu_odom_:  1691062892.855695395  0.40462    -0.378284  9.70609    -0.0500674  0.00213053  0.0575243   0.19       0             pose: 0.7006591     -4.02336   -3.80638    0 -0.00331187 -0.00282338 0.999367    -0.0353069     uwb: 0.50028997     1247.68  1410.6   
imu_odom_:  1691062892.878661638  0.225055   -0.464475  9.47625    -0.0458064  0.04048     0.0458064   0.19       0             pose: 0.41838017    -4.02986   -3.8033     0 -0.00103693 -0.00589841 0.999347    -0.0356383     uwb: 0.0            1247.68  1410.6   
imu_odom_:  1691062892.896643880  0.433351   -0.277727  9.65582    -0.0500674  -0.0330232  0.0458064   0.19       0             pose: 0.0           -4.02986   -3.8033     0 -0.00103693 -0.00589841 0.999347    -0.0356383     uwb: 0.49767095     1248.07  1411.24  
imu_odom_:  1691062892.922644737  0.275333   -0.0622492 9.29429    -0.0308927  -0.00958738 0.0394148   0.18       -0.02         pose: 0.30996232    -4.0324    -3.80211    0 -0.00247585 -0.00686549 0.999335    -0.0357372     uwb: 0.0            1248.07  1411.24  
imu_odom_:  1691062892.946644003  0.28491    -0.0167594 9.80904    -0.0639159  -0.0127832  0.0511327   0.22       0             pose: 0.0           -4.0324    -3.80211    0 -0.00247585 -0.00686549 0.999335    -0.0357372     uwb: 0.50060495     1246.5   1413.5   
imu_odom_:  1691062892.970991791  0.268151   -0.169988  9.89524    -0.0841559  -0.0138484  0.0617853   0.22       0             pose: 0.43004324    -4.04571   -3.80688    0 -0.00264996 -0.00280632 0.999351    -0.035817      uwb: 0.0            1246.5   1413.5   
imu_odom_:  1691062892.995778511  0.0047884  -0.275333  9.79707    -0.0490022  -0.00319579 0.0372843   0.19       0             pose: 0.0           -4.04571   -3.80688    0 -0.00264996 -0.00280632 0.999351    -0.035817      uwb: 0.50030747     1245.09  1415.26  
imu_odom_:  1691062893.12639069   0.864307   -0.0311246 10.3669    -0.0330232  -0.036219   0.036219    0.19       0             pose: 0.49098051    -4.05475   -3.80262    0 -0.00555941 -0.0001928980.999329    -0.0361892     uwb: 0.0            1245.09  1415.26  
imu_odom_:  1691062893.37782477   0.797269   -0.205901  10.0796    -0.0276969  -0.0223706  0.0415453   0.19       0             pose: 0.0           -4.05475   -3.80262    0 -0.00555941 -0.0001928980.999329    -0.0361892     uwb: 0.49996333     1246.3   1415.64  
imu_odom_:  1691062893.61686665   0.881066   -0.112527  10.2879    -0.0426106  -0.0170442  0.0596548   0.19       0             pose: 0.41899555    -4.0638    -3.79836    0 -0.00449376 0.000355122 0.999336    -0.0361489     uwb: 0.0            1246.3   1415.64  
imu_odom_:  1691062893.75740679   0.186748   -0.059855  9.43794    -0.0553937  0.0479369   0.0436758   0.19       0             pose: 0.0           -4.0638    -3.79836    0 -0.00449376 0.000355122 0.999336    -0.0361489     uwb: 0.0            1246.3   1415.64  
imu_odom_:  1691062893.91752828   0.222661   -0.174777  9.72285    -0.04048    0.0415453   -0.0127832  0.19       0             pose: 0.0           -4.0638    -3.79836    0 -0.00449376 0.000355122 0.999336    -0.0361489     uwb: 0.50024914     1246.02  1416.84  
imu_odom_:  1691062893.109754319  0.414197   0.0837971  10.0245    -0.0596548  -0.00852212 -0.0617853  0.19       0             pose: 0.48080778    -4.06806   -3.8074     0 -0.0009517090.00163     0.999335    -0.0364214     uwb: 0.0            1246.02  1416.84  
imu_odom_:  1691062893.127641484  -0.0766145 0.196325   9.73722    -0.0479369  0.0223706   -0.100135   0.19       -0.17         pose: 0.40979984    -4.07711   -3.80315    0 -0.00318045 0.00371214  0.999372    -0.0351088     uwb: 0.0            1246.02  1416.84  
imu_odom_:  1691062893.143624468  0.0670376  -0.474052  10.0628    -0.0671117  -0.0553937  -0.104396   0.19       -0.17         pose: 0.0           -4.07711   -3.80315    0 -0.00318045 0.00371214  0.999372    -0.0351088     uwb: 0.50102202     1249.8   1415.74  
imu_odom_:  1691062893.161728328  0.600945   -0.136469  10.3597    -0.0692422  -0.0820254  -0.175769   0.19       -0.17         pose: 0.0           -4.07711   -3.80315    0 -0.00318045 0.00371214  0.999372    -0.0351088     uwb: 0.0            1249.8   1415.74  
imu_odom_:  1691062893.177728228  0.806846   -0.0167594 9.18416    -0.0607201  -0.0383495  -0.259925   0.18       -0.32         pose: 0.8081320     -4.07711   -3.80315    0 -0.00393993 0.00422011  0.999387    -0.0345439     uwb: 0.0            1249.8   1415.74  
imu_odom_:  1691062893.195611018  0.775721   0.129287   9.90002    -0.0809601  -0.00745685 -0.297209   0.25       -0.53         pose: 0.0           -4.07711   -3.80315    0 -0.00393993 0.00422011  0.999387    -0.0345439     uwb: 0.49880839     1250.1   1416.24  
imu_odom_:  1691062893.212595818  0.861913   -0.162806  10.0604    -0.0607201  -0.00958738 -0.360059   0.25       -0.53         pose: 0.67902163    -4.09038   -3.80803    0 -0.0003528280.00420571  0.999626    -0.0270186     uwb: 0.0            1250.1   1416.24  
imu_odom_:  1691062893.225592602  0.251391   -0.25618   9.45949    -0.0660464  0.0383495   -0.399474   0.25       -0.53         pose: 0.0           -4.09038   -3.80803    0 -0.0003528280.00420571  0.999626    -0.0270186     uwb: 0.0            1250.1   1416.24  
imu_odom_:  1691062893.241593376  0.663194   0.172383   9.85932    -0.0703074  -0.0330232  -0.421845   0.18       -0.44         pose: 0.0           -4.09038   -3.80803    0 -0.0003528280.00420571  0.999626    -0.0270186     uwb: 0.50299649     1249.03  1418.59  
imu_odom_:  1691062893.259653489  0.579397   -0.126893  9.77553    -0.0553937  -0.0223706  -0.450607   0.18       -0.44         pose: 0.32864541    -4.09948   -3.80387    0 0.00155417  0.00413956  0.999777    -0.0206558     uwb: 0.0            1249.03  1418.59  
imu_odom_:  1691062893.276673580  0.641646   -0.225055  10.0221    -0.0383495  -0.0191748  -0.48363    0.18       -0.5          pose: 0.41051146    -4.10868   -3.81064    0 0.00394053  0.00484437  0.99992     -0.0110131     uwb: 0.0            1249.03  1418.59  
imu_odom_:  1691062893.289757275  0.533907   -0.0957681 9.52174    -0.0532632  0.0628506   -0.500674   0.18       -0.5          pose: 0.0           -4.10868   -3.81064    0 0.00394053  0.00484437  0.99992     -0.0110131     uwb: 0.49609314     1249.64  1419.62  
imu_odom_:  1691062893.305681929  0.208296   -0.167594  9.63906    -0.0596548  0.0191748   -0.507066   0.18       -0.5          pose: 0.0           -4.10868   -3.81064    0 0.00394053  0.00484437  0.99992     -0.0110131     uwb: 0.0            1249.64  1419.62  
imu_odom_:  1691062893.320739800  0.222661   0.0526724  10.1275    -0.0862864  0           -0.526241   0.25       -0.79         pose: 0.8039323     -4.11276   -3.80881    0 0.00466489  0.00448521  0.999939    -0.00891508    uwb: 0.0            1249.64  1419.62  
imu_odom_:  1691062893.333758749  0.409408   -0.304064  9.38766    -0.0692422  -0.00426106 -0.531567   0.25       -0.79         pose: 0.0           -4.11276   -3.80881    0 0.00466489  0.00448521  0.999939    -0.00891508    uwb: 0.0            1249.64  1419.62  
imu_odom_:  1691062893.349629739  1.13485    0.196325   10.2424    -0.0639159  -0.0511327  -0.533697   0.25       -0.79         pose: 0.0           -4.11276   -3.80881    0 0.00466489  0.00448521  0.999939    -0.00891508    uwb: 0.50202821     1248.29  1421.53  
imu_odom_:  1691062893.367664771  1.61369    0.138864   10.1155    -0.0692422  -0.0245011  -0.488956   0.21       -0.67         pose: 0.43929728    -4.11276   -3.80881    0 0.00342037  0.00517726  0.999976    0.00300711     uwb: 0.0            1248.29  1421.53  
imu_odom_:  1691062893.385601516  1.53229    -0.253785  10.2089    -0.0447411  -0.0447411  -0.465521   0.14       -0.41         pose: 0.0           -4.11276   -3.80881    0 0.00342037  0.00517726  0.999976    0.00300711     uwb: 0.0            1248.29  1421.53  
imu_odom_:  1691062893.399590783  0.849942   -0.184354  9.46907    -0.052198   0.0255663   -0.437824   0.14       -0.41         pose: 0.64054138    -4.12189   -3.80474    0 0.00698107  0.00499089  0.99975     0.0206329      uwb: 0.49818718     1248.65  1422.14  
imu_odom_:  1691062893.416720242  1.20428    -0.229843  10.082     -0.0745685  -0.0181095  -0.369647   0.13       -0.44         pose: 0.0           -4.12189   -3.80474    0 0.00698107  0.00499089  0.99975     0.0206329      uwb: 0.0            1248.65  1422.14  
imu_odom_:  1691062893.433663045  1.24498    -0.248997  10.173     -0.0703074  -0.00639159 -0.316384   0.13       -0.44         pose: 0.0           -4.12189   -3.80474    0 0.00698107  0.00499089  0.99975     0.0206329      uwb: 0.0            1248.65  1422.14  
imu_odom_:  1691062893.450623347  0.648829   -0.52433   9.69412    -0.0319579  0.056459    -0.311057   0.13       -0.44         pose: 0.30947236    -4.13512   -3.80975    0 0.0100146   0.00442098  0.999551    0.0278951      uwb: 0.49943544     1250.12  1422.09  
imu_odom_:  1691062893.468741790  0.723049   -0.114922  9.73961    -0.0511327  0.0372843   -0.282295   0.1        -0.29         pose: 0.43999433    -4.13509   -3.80973    0 0.0121579   0.00221763  0.999279    0.0359038      uwb: 0.0            1250.12  1422.09  
imu_odom_:  1691062893.485728923  0.442927   -0.134075  9.94073    -0.0468716  0.0181095   -0.24075    0.1        -0.29         pose: 0.8004908     -4.13512   -3.80975    0 0.0127028   0.00261949  0.999224    0.037193       uwb: 0.0            1250.12  1422.09  
imu_odom_:  1691062893.499789353  0.828394   -0.447716  10.1514    -0.0596548  0.00213053  -0.216249   0.1        -0.29         pose: 0.0           -4.13512   -3.80975    0 0.0127028   0.00261949  0.999224    0.037193       uwb: 0.50114159     1251.9   1421.74  
imu_odom_:  1691062893.516603830  0.90022    -0.363919  9.5385     -0.0511327  -0.00426106 -0.211988   0.07       -0.26         pose: 0.41161098    -4.14419   -3.80559    0 0.0121555   0.00214822  0.998999    0.0429874      uwb: 0.0            1251.9   1421.74  
imu_odom_:  1691062893.532739639  0.988805   -0.0981623 10.137     -0.0553937  -0.0223706  -0.196009   0.07       -0.23         pose: 0.0           -4.14419   -3.80559    0 0.0121555   0.00214822  0.998999    0.0429874      uwb: 0.0            1251.9   1421.74  
imu_odom_:  1691062893.550844666  0.943315   -0.126893  9.79707    -0.0585895  0           -0.164051   0.07       -0.23         pose: 0.0           -4.14419   -3.80559    0 0.0121555   0.00214822  0.998999    0.0429874      uwb: 0.50061663     1252.99  1421.88  
imu_odom_:  1691062893.574653193  0.620098   -0.246603  9.89045    -0.0479369  -0.00426106 -0.169377   0.07       -0.23         pose: 0.23985851    -4.14422   -3.80561    0 0.014228    0.00130616  0.998843    0.0459279      uwb: 0.0            1252.99  1421.88  
imu_odom_:  1691062893.592661101  0.390255   -0.186748  9.82102    -0.0511327  0.0255663   -0.162985   0.07       -0.23         pose: 0.0           -4.14422   -3.80561    0 0.014228    0.00130616  0.998843    0.0459279      uwb: 0.49879964     1253.46  1422.67  
imu_odom_:  1691062893.609662234  0.0143652  -0.0837971 9.96227    -0.0500674  0.0308927   -0.204531   0.07       -0.14         pose: 0.34885672    -4.14422   -3.80561    0 0.0162843   0.00135104  0.998634    0.0496339      uwb: 0.0            1253.46  1422.67  
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imu_odom_:  1691062893.640726130  -1.14443   -0.059855  10.3477    -0.0532632  0.0287621   -0.157659   0.07       -0.14         pose: 0.0           -4.14422   -3.80561    0 0.0119533   0.00095317  0.998463    0.0541007      uwb: 0.0            1253.46  1422.67  
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imu_odom_:  1691062893.674630110  0.378284   -0.344765  9.98622    -0.0298274  -0.0319579  -0.105461   0.1        -0.11         pose: 0.0           -4.15331   -3.80143    0 0.00680059  0.00187114  0.998238    0.0589241      uwb: 0.0            1253.46  1422.67  
imu_odom_:  1691062893.691625410  0.646434   0.141258   9.58399    -0.0532632  0.00106526  -0.0649811  0.1        -0.11         pose: 0.0           -4.15331   -3.80143    0 0.00680059  0.00187114  0.998238    0.0589241      uwb: 0.0            1253.46  1422.67  
imu_odom_:  1691062893.708573171  -0.148441  -0.141258  9.94551    -0.0681769  0.0340885   -0.056459   0.12       -0.11         pose: 0.6999008     -4.15331   -3.80143    0 0.00637218  0.00130699  0.998218    0.0593153      uwb: 0.0            1253.46  1422.67  
imu_odom_:  1691062893.725575471  -0.189142  -0.45011   9.83299    -0.0426106  0           -0.105461   0.12       -0.11         pose: 0.0           -4.15331   -3.80143    0 0.00637218  0.00130699  0.998218    0.0593153      uwb: 0.0            1253.46  1422.67  
imu_odom_:  1691062893.742581562  -0.229843  -0.383072  9.68455    -0.0543285  0           -0.0894822  0.12       -0.11         pose: 0.68916812    -4.16661   -3.80636    0 0.00269712  0.00103517  0.997985    0.0633865      uwb: 0.149900337    1252.51  1423.59  
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imu_odom_:  1691062893.777563479  0.4956     -0.311246  9.75158    -0.072438   -0.00852212 -0.04048    0.13       -0.11         pose: 0.0           -4.16661   -3.80636    0 0.00269712  0.00103517  0.997985    0.0633865      uwb: 0.0            1252.51  1423.59  
imu_odom_:  1691062893.794599318  0.47884    -0.225055  10.4435    -0.0649811  0.00532632  -0.072438   0.13       -0.11         pose: 0.32931037    -4.16661   -3.80636    0 -0.0004596350.000435814 0.997855    0.0654644      uwb: 0.50043580     1250.06  1426.21  
imu_odom_:  1691062893.810589302  0.23942    -0.205901  9.61511    -0.0660464  0.0170442   -0.0596548  0.14       -0.11         pose: 0.36052272    -4.17569   -3.80216    0 0.000771152 -0.0010165  0.997744    0.067115       uwb: 0.0            1250.06  1426.21  
imu_odom_:  1691062893.828645915  0.471658   -0.260968  10.1586    -0.056459   -0.02024    -0.0511327  0.14       -0.11         pose: 0.0           -4.17569   -3.80216    0 0.000771152 -0.0010165  0.997744    0.067115       uwb: 0.0            1250.06  1426.21  
imu_odom_:  1691062893.844640857  -0.00957681-0.229843  9.55526    -0.0543285  -0.0117179  -0.0415453  0.14       -0.11         pose: 0.43020656    -4.17569   -3.80216    0 0.00161603  -0.00161187 0.997598    0.0692263      uwb: 0.50208654     1250.98  1426.93  
imu_odom_:  1691062893.861849644  1.1157     -0.0550666 10.6374    -0.0415453  -0.0873517  -0.0585895  0.2        -0.11         pose: 0.0           -4.17569   -3.80216    0 0.00161603  -0.00161187 0.997598    0.0692263      uwb: 0.0            1250.98  1426.93  
imu_odom_:  1691062893.878584210  1.09415    0.0622492  9.57202    -0.0585895  -0.056459   -0.015979   0.13       -0.08         pose: 0.0           -4.17569   -3.80216    0 0.00161603  -0.00161187 0.997598    0.0692263      uwb: 0.0            1250.98  1426.93  
imu_odom_:  1691062893.895642798  1.57778    -0.37589   10.4459    -0.0617853  0.0191748   0.0383495   0.13       -0.08         pose: 0.7140750     -4.17569   -3.80216    0 0.00093236  -0.00153924 0.997579    0.0695143      uwb: 0.49788678     1249.58  1428.81  
imu_odom_:  1691062893.913684828  1.32878    -0.634463  9.97424    -0.0553937  -0.0340885  0.0436758   0.11       -0.08         pose: 0.0           -4.17569   -3.80216    0 0.00093236  -0.00153924 0.997579    0.0695143      uwb: 0.0            1249.58  1428.81  
imu_odom_:  1691062893.930891283  1.34794    -0.246603  9.68933    -0.04048    0.00958738  -0.02024    0.11       -0.08         pose: 0.49799761    -4.18477   -3.79798    0 0.00510338  -0.0006883910.99745     0.071185       uwb: 0.0            1249.58  1428.81  
imu_odom_:  1691062893.947577434  1.17076    0.191536   9.92157    -0.0553937  0.0287621   -0.036219   0.11       -0.08         pose: 0.0           -4.18477   -3.79798    0 0.00510338  -0.0006883910.99745     0.071185       uwb: 0.50149158     1248.43  1430.29  
imu_odom_:  1691062893.965700252  0.696713   -0.246603  9.79228    -0.0681769  0.0213053   -0.0276969  0.09       -0.02         pose: 0.0           -4.18477   -3.79798    0 0.00510338  -0.0006883910.99745     0.071185       uwb: 0.0            1248.43  1430.29  
imu_odom_:  1691062893.982697010  0.713472   -0.344765  9.9503     -0.056459   -0.0234358  -0.072438   0.09       -0.02         pose: 0.69997666    -4.19388   -3.79385    0 0.0111641   -0.00129243 0.9973      0.0725697      uwb: 0.0            1248.43  1430.29  
imu_odom_:  1691062893.995621173  0.775721   -0.181959  9.93354    -0.0500674  -0.0276969  -0.0671117  0.09       -0.02         pose: 0.0           -4.19388   -3.79385    0 0.0111641   -0.00129243 0.9973      0.0725697      uwb: 0.0            1248.43  1430.29  
imu_odom_:  1691062894.12564559   0.943315   -0.112527  9.84256    -0.0543285  -0.00958738 -0.0340885  0.07       -0.05         pose: 0.0           -4.19388   -3.79385    0 0.0111641   -0.00129243 0.9973      0.0725697      uwb: 0.0            1248.43  1430.29  
imu_odom_:  1691062894.28564751   0.727837   -0.349553  9.87608    -0.0553937  0.0191748   -0.0138484  0.07       -0.05         pose: 0.33041864    -4.19802   -3.80295    0 0.0135337   -0.00291414 0.99715     0.0741576      uwb: 0.0            1248.43  1430.29  
imu_odom_:  1691062894.45585133   0.792481   -0.229843  10.0173    -0.0447411  0           -0.0394148  0.06       -0.05         pose: 0.39938795    -4.19802   -3.80295    0 0.0157113   -0.0034665  0.997011    0.0755696      uwb: 0.100062953    1249.56  1430.51  
imu_odom_:  1691062894.71625072   0.778116   -0.0957681 9.83299    -0.056459   -0.00106526 -0.0245011  0.06       -0.05         pose: 0.0           -4.19802   -3.80295    0 0.0157113   -0.0034665  0.997011    0.0755696      uwb: 0.0            1249.56  1430.51  
imu_odom_:  1691062894.96604865   -0.122104  -0.349553  9.76834    -0.0490022  0.0809601   -0.0276969  0.06       -0.02         pose: 0.8031448     -4.19802   -3.80295    0 0.0164644   -0.00317484 0.996975    0.0758908      uwb: 0.49782263     1251.74  1429.94  
imu_odom_:  1691062894.112624306  -1.31921   -0.0861913 10.1801    -0.0532632  0.0862864   -0.00852212 0.06       0             pose: 0.0           -4.19802   -3.80295    0 0.0164644   -0.00317484 0.996975    0.0758908      uwb: 0.0            1251.74  1429.94  
imu_odom_:  1691062894.136753356  -0.864307  -0.383072  9.96467    -0.056459   -0.0830906  0.0276969   0.08       -0.02         pose: 0.76028107    -4.20712   -3.7988     0 0.0122112   -0.0001391780.996851    0.0783491      uwb: 0.49950253     1253.76  1429.08  
imu_odom_:  1691062894.162698218  1.07978    -0.258574  10.2831    -0.0468716  -0.0543285  0.0351537   0.12       -0.02         pose: 0.0           -4.20712   -3.7988     0 0.0122112   -0.0001391780.996851    0.0783491      uwb: 0.0            1253.76  1429.08  
imu_odom_:  1691062894.188569000  -0.0023942 -0.0814029 10.3286    -0.056459   0.0575243   0.0181095   0.12       -0.02         pose: 0.32011466    -4.20712   -3.7988     0 0.0117207   -0.0004657850.996845    0.0785076      uwb: 0.50202530     1255.24  1429.02  
imu_odom_:  1691062894.213567459  -0.361524  -0.426168  9.60793    -0.0532632  -0.00532632 0.0106526   0.15       0             pose: 0.43933228    -4.20712   -3.7988     0 0.0106496   -5.90024e-050.996831    0.0788287      uwb: 0.0            1255.24  1429.02  
imu_odom_:  1691062894.228556210  0.124498   -0.112527  10.2161    -0.052198   0.00213053  0.0106526   0.15       0             pose: 0.8012491     -4.20712   -3.7988     0 0.00986261  -0.0001703470.99683     0.0789435      uwb: 0.0            1255.24  1429.02  
imu_odom_:  1691062894.251586033  0.320823   -0.282516  9.79228    -0.0585895  -0.00319579 0.0351537   0.12       -0.02         pose: 0.0           -4.20712   -3.7988     0 0.00986261  -0.0001703470.99683     0.0789435      uwb: 0.49804428     1255.06  1429.57  
imu_odom_:  1691062894.268633538  0.344765   -0.177171  10.2568    -0.0447411  0.00426106  0.0106526   0.12       -0.02         pose: 0.39041390    -4.21621   -3.79463    0 0.00602821  -0.0001470550.996823    0.0794211      uwb: 0.0            1255.06  1429.57  
imu_odom_:  1691062894.293551793  -0.189142  -0.320823  9.66539    -0.0649811  -0.00745685 0.0426106   0.14       -0.02         pose: 0.0           -4.21621   -3.79463    0 0.00602821  -0.0001470550.996823    0.0794211      uwb: 0.50002458     1252.09  1431.4   
imu_odom_:  1691062894.319599607  0.529119   -0.189142  9.71088    -0.0735032  -0.0127832  0.02024     0.14       -0.02         pose: 0.42036923    -4.21621   -3.79463    0 0.0019304   -4.74525e-050.996818    0.0796883      uwb: 0.0            1252.09  1431.4   
imu_odom_:  1691062894.341564617  0.430956   -0.131681  10.228     -0.052198   0.00532632  0.0213053   0.14       -0.02         pose: 0.0           -4.21621   -3.79463    0 0.0019304   -4.74525e-050.996818    0.0796883      uwb: 0.50175990     1253.5   1431.22  
imu_odom_:  1691062894.366613240  -0.158017  -0.280122  9.39245    -0.0703074  -0.00852212 0.0213053   0.14       -0.02         pose: 0.47913663    -4.22529   -3.79044    0 0.00281083  0.000502617 0.996793    0.0799722      uwb: 0.0            1253.5   1431.22  
imu_odom_:  1691062894.384624647  -0.0263362 -0.150835  9.7851     -0.0458064  -0.0426106  0.0181095   0.17       -0.02         pose: 0.0           -4.22529   -3.79044    0 0.00281083  0.000502617 0.996793    0.0799722      uwb: 0.0            1253.5   1431.22  
imu_odom_:  1691062894.407527020  0.682347   -0.260968  9.80904    -0.0511327  0.00426106  0.0213053   0.17       -0.02         pose: 0.49041181    -4.23856   -3.79533    0 -0.0008545750.00177789  0.996757    0.0804428      uwb: 0.49852842     1255.36  1430.07  
imu_odom_:  1691062894.433531961  0.371101   -0.490811  9.64145    -0.0490022  0.0255663   0.0149137   0.19       0             pose: 0.32912372    -4.23856   -3.79533    0 0.000423305 0.00126874  0.996733    0.0807574      uwb: 0.0            1255.36  1430.07  
imu_odom_:  1691062894.446571325  0.277727   -0.366313  9.81144    -0.0468716  0.0553937   0.02024     0.19       0             pose: 0.8097069     -4.23856   -3.79533    0 0.000138609 0.000511426 0.996726    0.0808567      uwb: 0.50167240     1256.96  1429.34  
imu_odom_:  1691062894.471586991  0.651223   -0.311246  10.1586    -0.0468716  -0.0308927  0.0340885   0.15       -0.02         pose: 0.0           -4.23856   -3.79533    0 0.000138609 0.000511426 0.996726    0.0808567      uwb: 0.0            1256.96  1429.34  
imu_odom_:  1691062894.496546660  0.387861   -0.150835  9.41879    -0.0543285  -0.0372843  0.0319579   0.15       -0.02         pose: 0.39137925    -4.24763   -3.79112    0 -0.000929352-0.00215897 0.996693    0.0812257      uwb: 0.49824260     1256.04  1430.35  
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imu_odom_:  1691062894.532603015  1.11809    -0.229843  9.73961    -0.0553937  0.0181095   0.0330232   0.17       -0.02         pose: 0.47800795    -4.2567    -3.78691    0 0.00145786  -0.0001262470.996683    0.0813675      uwb: 0.0            1256.04  1430.35  
imu_odom_:  1691062894.556521203  0.610521   -0.129287  10.137     -0.0383495  -0.0170442  0.0234358   0.16       0             pose: 0.0           -4.2567    -3.78691    0 0.00145786  -0.0001262470.996683    0.0813675      uwb: 0.49832718     1256.55  1430.35  
imu_odom_:  1691062894.574548068  0.42138    -0.227449  9.6199     -0.0639159  -0.00532632 0.0553937   0.16       0             pose: 0.38044239    -4.2567    -3.78691    0 0.0053039   0.000260402 0.996661    0.0814747      uwb: 0.0            1256.55  1430.35  
imu_odom_:  1691062894.598865525  0.395043   0.0861913  10.343     -0.0479369  -0.00958738 0.0245011   0.16       0.02          pose: 0.0           -4.2567    -3.78691    0 0.0053039   0.000260402 0.996661    0.0814747      uwb: 0.50128451     1258.4   1430.04  
imu_odom_:  1691062894.624749140  0.272939   -0.349553  10.6207    -0.0575243  0.00532632  0.0394148   0.16       0.02          pose: 0.41936887    -4.26999   -3.79175    0 0.00487255  0.0013486   0.996658    0.0815269      uwb: 0.0            1258.4   1430.04  
imu_odom_:  1691062894.647687677  0.225055   -0.237026  10.0269    -0.0276969  0.0245011   0.0223706   0.18       -0.02         pose: 0.0           -4.26999   -3.79175    0 0.00487255  0.0013486   0.996658    0.0815269      uwb: 0.49983793     1256.72  1431.5   
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imu_odom_:  1691062894.689570609  0.320823   -0.296881  10.2807    -0.0372843  -0.0170442  0.0245011   0.19       0             pose: 0.0           -4.27905   -3.78753    0 0.00150177  0.00133859  0.996653    0.0817199      uwb: 0.50130201     1256.56  1432.09  
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imu_odom_:  1691062894.777602140  0.0957681  -0.258574  9.93354    -0.0628506  0.00426106  0.0447411   0.17       0.05          pose: 0.0           -4.28812   -3.78331    0 0.00170693  -0.0008758270.996632    0.0819808      uwb: 0.0            1257.08  1432.11  
imu_odom_:  1691062894.802585141  0.186748   -0.213084  10.0533    -0.0458064  0.00958738  0.0607201   0.17       0.05          pose: 0.39039348    -4.29718   -3.77908    0 0.00100987  0.000633159 0.99663     0.0820144      uwb: 0.49677560     1254.5   1434.64  
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imu_odom_:  1691062894.949505404  0.174777   -0.150835  9.85693    -0.0585895  -0.00106526 0.0490022   0.22       0             pose: 0.33876858    -4.32857   -3.77545    0 -0.00726474 0.00169874  0.996637    0.0815997      uwb: 0.50066038     1251.68  1437.67  
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imu_odom_:  1691062894.983496880  0.294487   -0.158017  9.67257    -0.0426106  0.0170442   0.04048     0.22       0             pose: 0.0           -4.32857   -3.77545    0 -0.00726474 0.00169874  0.996637    0.0815997      uwb: 0.0            1251.68  1437.67  
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imu_odom_:  1691062895.49565735   0.328006   -0.227449  10.0102    -0.0532632  0           0.0543285   0.23       0.02          pose: 0.44940587    -4.33767   -3.77125    0 -0.0114845  0.00253096  0.996607    0.0814644      uwb: 0.49704976     1250.39  1439.86  
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imu_odom_:  1691062895.98497839   0.641646   -0.289698  9.95988    -0.0660464  -0.0127832  0.0543285   0.21       0             pose: 0.0           -4.35095   -3.7761     0 -0.00949677 0.00279841  0.996646    0.0812301      uwb: 0.50047956     1248.91  1441.73  
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imu_odom_:  1691062895.139489490  0.471658   -0.129287  10.1131    -0.0788296  -0.0287621  0.0628506   0.18       0             pose: 0.0           -4.35095   -3.7761     0 -0.0086424  0.0031296   0.996653    0.0812318      uwb: 0.50056706     1247.9   1443.56  
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imu_odom_:  1691062895.188558087  0.447716   -0.141258  10.3094    -0.0649811  0.0511327   0.0532632   0.18       0             pose: 0.0           -4.36002   -3.77189    0 -0.00379637 0.00238718  0.996696    0.0811023      uwb: 0.49930713     1245.64  1445.89  
imu_odom_:  1691062895.205508765  -0.0670376 -0.174777  9.5385     -0.0500674  0.00213053  0.036219    0.18       0             pose: 0.41171599    -4.36909   -3.76768    0 -0.0008641930.00284402  0.996715    0.0809327      uwb: 0.0            1245.64  1445.89  
imu_odom_:  1691062895.231770650  0.320823   -0.117316  9.45231    -0.0745685  -0.0436758  0.0553937   0.18       0             pose: 0.0           -4.36909   -3.76768    0 -0.0008641930.00284402  0.996715    0.0809327      uwb: 0.0            1245.64  1445.89  
imu_odom_:  1691062895.256507499  0.723049   0.0191536  10.2448    -0.0500674  -0.0468716  0.0426106   0.17       0             pose: 0.47884208    -4.37816   -3.76347    0 -0.0007066580.00383882  0.996732    0.0806912      uwb: 0.50109203     1245     1447.5   
imu_odom_:  1691062895.281625826  0.0861913  -0.263362  9.12909    -0.0575243  -0.0639159  0.0436758   0.17       0             pose: 0.0           -4.37816   -3.76347    0 -0.0007066580.00383882  0.996732    0.0806912      uwb: 0.0            1245     1447.5   
imu_odom_:  1691062895.298576504  0.708684   0.0407014  10.8793    -0.0426106  -0.116114   0.0298274   0.18       0.02          pose: 0.44011100    -4.39144   -3.76834    0 -0.00240482 0.00535503  0.996738    0.0804949      uwb: 0.50117368     1247.39  1448.14  
imu_odom_:  1691062895.323499426  1.56341    -0.241814  8.93755    -0.0735032  0.0553937   0.0671117   0.18       0.02          pose: 0.0           -4.39144   -3.76834    0 -0.00240482 0.00535503  0.996738    0.0804949      uwb: 0.0            1247.39  1448.14  
imu_odom_:  1691062895.347625269  1.21865    -0.354342  9.10275    -0.0351537  -0.036219   0.0575243   0.2        0             pose: 0.48878732    -4.39144   -3.76834    0 -0.00094976 0.00498896  0.996745    0.0804607      uwb: 0.50038916     1246.56  1449.41  
imu_odom_:  1691062895.373569839  0.481235   -0.155623  9.26317    -0.0639159  0.0426106   0.0276969   0.2        0             pose: 0.0           -4.39144   -3.76834    0 -0.00094976 0.00498896  0.996745    0.0804607      uwb: 0.0            1246.56  1449.41  
imu_odom_:  1691062895.388557132  0.107739   -0.047884  10.1131    -0.0500674  -0.00958738 0.0532632   0.18       0             pose: 0.42977202    -4.40052   -3.76414    0 0.00314487  0.00449703  0.996774    0.0800723      uwb: 0.0            1246.56  1449.41  
imu_odom_:  1691062895.412500985  0.251391   -0.0071826110.5058    -0.0660464  -0.0617853  0.0543285   0.18       0             pose: 0.0           -4.40052   -3.76414    0 0.00314487  0.00449703  0.996774    0.0800723      uwb: 0.0            1246.56  1449.41  
imu_odom_:  1691062895.437559232  0.366313   0.1652     10.2185    -0.0447411  -0.0319579  0.052198    0.18       0             pose: 0.48021575    -4.40959   -3.75995    0 0.00293752  0.00181155  0.996787    0.0800254      uwb: 0.99976627     1243.51  1452.24  
imu_odom_:  1691062895.462485070  0.395043   -0.232238  9.92157    -0.0660464  0.00639159  0.052198    0.18       0             pose: 0.0           -4.40959   -3.75995    0 0.00293752  0.00181155  0.996787    0.0800254      uwb: 0.0            1243.51  1452.24  
imu_odom_:  1691062895.479611613  0.560243   -0.0311246 9.90721    -0.072438   -0.0266316  0.0415453   0.18       0             pose: 0.65980777    -4.42286   -3.76483    0 0.000991198 0.00547385  0.996812    0.079596       uwb: 0.0            1243.51  1452.24  
imu_odom_:  1691062895.503490137  0.56982    -0.011971  10.1921    -0.0852212  -0.0149137  0.0553937   0.18       0             pose: 0.0           -4.42286   -3.76483    0 0.000991198 0.00547385  0.996812    0.079596       uwb: 0.49815803     1245.07  1452.3   
imu_odom_:  1691062895.529782354  0.011971   -0.0933739 9.96227    -0.0426106  -0.0308927  0.0458064   0.18       0             pose: 0.42006008    -4.43195   -3.76065    0 0.00282592  0.00479826  0.996827    0.0794043      uwb: 0.0            1245.07  1452.3   
imu_odom_:  1691062895.554495579  0.244209   -0.122104  9.7037     -0.0511327  0.0127832   0.0340885   0.2        -0.02         pose: 0.42264994    -4.4383    -3.75773    0 0.00194028  0.00586889  0.996839    0.0792103      uwb: 0.50180074     1248.78  1451.59  
imu_odom_:  1691062895.571487380  0.703895   -0.172383  9.81862    -0.0351537  -0.00958738 0.0479369   0.2        -0.02         pose: 0.0           -4.4383    -3.75773    0 0.00194028  0.00586889  0.996839    0.0792103      uwb: 0.0            1248.78  1451.59  
imu_odom_:  1691062895.596494005  0.418985   -0.117316  10.3932    -0.0394148  0.0127832   0.0490022   0.18       -0.02         pose: 0.7852375     -4.44103   -3.75647    0 0.00109016  0.00585862  0.996838    0.079236       uwb: 0.49931880     1247.87  1453.67  
imu_odom_:  1691062895.622556110  0.466869   0.0814029  10.4651    -0.0479369  0.0181095   0.0458064   0.18       -0.02         pose: 0.0           -4.44103   -3.75647    0 0.00109016  0.00585862  0.996838    0.079236       uwb: 0.0            1247.87  1453.67  
imu_odom_:  1691062895.647476698  1.11091    -0.225055  9.49062    -0.0703074  -0.0223706  0.0553937   0.21       0             pose: 0.42878625    -4.45012   -3.75229    0 0.00107901  0.00471166  0.99685     0.0791673      uwb: 0.49930129     1246.76  1455.4   
imu_odom_:  1691062895.664531495  0.141258   -0.241814  9.95509    -0.0287621  -0.0170442  0.0330232   0.21       0             pose: 0.0           -4.45012   -3.75229    0 0.00107901  0.00471166  0.99685     0.0791673      uwb: 0.0            1246.76  1455.4   
imu_odom_:  1691062895.688460475  0.184354   -0.126893  9.7875     -0.0703074  -0.0266316  0.056459    0.18       0             pose: 0.50059913    -4.46338   -3.7572     0 0.00254232  0.00565582  0.99686     0.0789389      uwb: 0.49912048     1245.75  1457.36  
imu_odom_:  1691062895.705475316  0.629675   0.189142   10.24      -0.0447411  -0.0298274  0.0511327   0.18       0             pose: 0.0           -4.46338   -3.7572     0 0.00254232  0.00565582  0.99686     0.0789389      uwb: 0.0            1245.75  1457.36  
imu_odom_:  1691062895.730538521  0.153229   -0.0526724 10.1442    -0.072438   0.0149137   0.0490022   0.19       0             pose: 0.42100212    -4.47247   -3.75303    0 0.00208809  0.00477298  0.996877    0.0787945      uwb: 0.0            1245.75  1457.36  
imu_odom_:  1691062895.756531797  0.749385   -0.102951  10.0916    -0.0511327  -0.0255663  0.0340885   0.19       0             pose: 0.0           -4.47247   -3.75303    0 0.00208809  0.00477298  0.996877    0.0787945      uwb: 0.50220029     1244.05  1458.98  
imu_odom_:  1691062895.779452252  0.64404    -0.445322  9.25598    -0.0692422  0           0.0415453   0.19       -0.02         pose: 0.41841810    -4.47247   -3.75303    0 0.00102139  0.00620472  0.996892    0.0785317      uwb: 0.0            1244.05  1458.98  
imu_odom_:  1691062895.803502849  0.19393    -0.474052  9.77553    -0.0447411  -0.0287621  0.0490022   0.19       -0.02         pose: 0.0           -4.47247   -3.75303    0 0.00102139  0.00620472  0.996892    0.0785317      uwb: 0.49816679     1244.73  1460.27  
imu_odom_:  1691062895.829613368  0.526724   -0.162806  10.252     -0.0351537  -0.0223706  0.0351537   0.26       -0.02         pose: 0.48967102    -4.48156   -3.74886    0 0.00244768  0.0054732   0.996895    0.0785127      uwb: 0.0            1244.73  1460.27  
imu_odom_:  1691062895.855635225  0.648829   -0.035913  10.4507    -0.0479369  -0.0458064  0.052198    0.18       -0.02         pose: 0.47026174    -4.49481   -3.75379    0 0.00258125  0.00229627  0.996917    0.0783931      uwb: 0.50290025     1245.5   1460.74  
imu_odom_:  1691062895.872524365  0.31364    -0.122104  9.56244    -0.0553937  0.0191748   0.0447411   0.18       -0.02         pose: 0.0           -4.49481   -3.75379    0 0.00258125  0.00229627  0.996917    0.0783931      uwb: 0.0            1245.5   1460.74  
imu_odom_:  1691062895.896458011  0.280122   -0.263362  10.1299    -0.0649811  -0.00213053 0.0649811   0.2        -0.02         pose: 0.19104803    -4.50119   -3.75087    0 0.00468013  0.00239385  0.996906    0.0784303      uwb: 0.49810262     1249.65  1459.79  
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imu_odom_:  1691062895.935521566  0.751779   -0.383072  10.1897    -0.0138484  0.0319579   0.0287621   0.2        -0.02         pose: 0.0           -4.50391   -3.74963    0 0.00478604  0.00370748  0.996925    0.0781322      uwb: 0.0            1249.65  1459.79  
imu_odom_:  1691062895.960601395  0.617704   0.0287304  10.2137    -0.0543285  -0.00639159 0.0596548   0.18       -0.02         pose: 0.47936996    -4.513     -3.74547    0 0.00285791  0.000797789 0.996925    0.0782992      uwb: 0.49942087     1250.92  1460.22  
imu_odom_:  1691062895.986497260  1.03908    -0.270545  9.71088    -0.072438   -0.0585895  0.036219    0.23       -0.02         pose: 0.32132209    -4.52206   -3.74129    0 0.00486696  0.00252272  0.996931    0.078089       uwb: 0.50110661     1248.2   1462.87  
imu_odom_:  1691062896.9488295    0.656011   -0.277727  9.88326    -0.0596548  0.00745685  0.0447411   0.23       -0.02         pose: 0.0           -4.52206   -3.74129    0 0.00486696  0.00252272  0.996931    0.078089       uwb: 0.0            1248.2   1462.87  
imu_odom_:  1691062896.26541925   0.366313   -0.134075  9.76595    -0.0692422  0.0383495   0.0426106   0.19       0             pose: 0.7032840     -4.52209   -3.74131    0 0.00572984  0.00225381  0.996927    0.0780987      uwb: 0.0            1248.2   1462.87  
imu_odom_:  1691062896.50479071   0.560243   -0.23942   9.57681    -0.104396   0.0170442   0.0681769   0.19       0             pose: 0.0           -4.52209   -3.74131    0 0.00572984  0.00225381  0.996927    0.0780987      uwb: 0.49755141     1247.3   1464.12  
imu_odom_:  1691062896.68606556   0.275333   -0.225055  10.8314    -0.04048    -0.00426106 0.0447411   0.19       0             pose: 0.0           -4.52209   -3.74131    0 0.00572984  0.00225381  0.996927    0.0780987      uwb: 0.0            1247.3   1464.12  
imu_odom_:  1691062896.92445999   0.107739   -0.105345  10.07      -0.0383495  -0.00532632 0.0319579   0.2        -0.02         pose: 0.48978478    -4.5353    -3.74638    0 0.0085322   -6.47626e-050.996914    0.0780404      uwb: 0.50169574     1248.76  1464.89  
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imu_odom_:  1691062896.141447517  0.694318   -0.126893  9.63906    -0.0415453  0.00958738  0.0543285   0.24       0             pose: 0.0           -4.54439   -3.74222    0 0.00394557  -0.0009616120.996967    0.0777182      uwb: 0.49741142     1250.81  1464.82  
imu_odom_:  1691062896.165498407  0.531513   -0.155623  9.77553    -0.0649811  0.0330232   0.052198    0.19       0             pose: 0.8024741     -4.54439   -3.74222    0 0.0032122   -0.00072175 0.996977    0.077621       uwb: 0.0            1250.81  1464.82  
imu_odom_:  1691062896.183498149  0.138864   0.0790087  10.307     -0.0479369  -0.0149137  0.0458064   0.19       0             pose: 0.0           -4.54439   -3.74222    0 0.0032122   -0.00072175 0.996977    0.077621       uwb: 0.0            1250.81  1464.82  
imu_odom_:  1691062896.207621951  0.416591   -0.0263362 10.331     -0.0500674  -0.0191748  0.0458064   0.18       0.02          pose: 0.49014642    -4.55349   -3.73807    0 0.0043342   0.000975423 0.997007    0.0771896      uwb: 0.50108328     1249.49  1466.26  
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imu_odom_:  1691062896.297519751  0.335188   -0.112527  9.81623    -0.0649811  -0.00319579 0.0468716   0.18       0             pose: 0.41926388    -4.57584   -3.7389     0 0.00261385  0.00278936  0.99704     0.0767952      uwb: 0.99886218     1251.87  1465.8   
imu_odom_:  1691062896.313503611  0.500388   -0.287304  9.62708    -0.0490022  -0.0117179  0.0596548   0.18       0             pose: 0.0           -4.57584   -3.7389     0 0.00261385  0.00278936  0.99704     0.0767952      uwb: 0.0            1251.87  1465.8   
imu_odom_:  1691062896.330457205  0.268151   -0.426168  9.80186    -0.0639159  0.0170442   0.14168     0.23       0.14          pose: 0.47950413    -4.58494   -3.73476    0 -0.00124696 0.00195512  0.997061    0.0765781      uwb: 0.0            1251.87  1465.8   
imu_odom_:  1691062896.346585140  0.533907   -0.529119  10.1706    -0.0532632  -0.0213053  0.204531    0.23       0.14          pose: 0.0           -4.58494   -3.73476    0 -0.00124696 0.00195512  0.997061    0.0765781      uwb: 0.50205156     1253.45  1465.8   
imu_odom_:  1691062896.363514528  0.169988   -0.196325  9.49301    -0.0447411  0.02024     0.262055    0.23       0.14          pose: 0.0           -4.58494   -3.73476    0 -0.00124696 0.00195512  0.997061    0.0765781      uwb: 0.0            1253.45  1465.8   
imu_odom_:  1691062896.379445891  -0.0215478 -0.548272  10.0868    -0.0308927  -0.0308927  0.318514    0.18       0.26          pose: 0.40044665    -4.59405   -3.73064    0 -0.00134263 0.00143688  0.997109    0.0759526      uwb: 0.0            1253.45  1465.8   
imu_odom_:  1691062896.397575125  0.610521   -0.126893  10.0676    -0.0383495  -0.02024    0.356864    0.18       0.26          pose: 0.0           -4.59405   -3.73064    0 -0.00134263 0.00143688  0.997109    0.0759526      uwb: 0.49965712     1252.45  1466.88  
imu_odom_:  1691062896.414479140  0.3304     -0.368707  9.64384    -0.0692422  0.0511327   0.409062    0.18       0.26          pose: 0.0           -4.59405   -3.73064    0 -0.00134263 0.00143688  0.997109    0.0759526      uwb: 0.0            1252.45  1466.88  
imu_odom_:  1691062896.428418827  0.40462    -0.502782  10.1945    -0.0585895  0.0234358   0.429302    0.19       0.35          pose: 0.50043874    -4.59405   -3.73064    0 -0.00347036 -0.00073509 0.997457    0.0711783      uwb: 0.0            1252.45  1466.88  
imu_odom_:  1691062896.444478516  0.490811   -0.189142  9.80426    -0.0500674  0.00852212  0.474043    0.18       0.41          pose: 0.0           -4.59405   -3.73064    0 -0.00347036 -0.00073509 0.997457    0.0711783      uwb: 0.0            1252.45  1466.88  
imu_odom_:  1691062896.461491315  0.296881   -0.335188  10.0341    -0.0553937  -0.0340885  0.513457    0.18       0.41          pose: 0.64881550    -4.61642   -3.73156    0 -0.00239054 -0.00303522 0.998211    0.0596576      uwb: 0.0            1252.45  1466.88  
imu_odom_:  1691062896.478426245  0.768539   -0.366313  10.0269    -0.0426106  0.0117179   0.528371    0.18       0.47          pose: 0.0           -4.61642   -3.73156    0 -0.00239054 -0.00303522 0.998211    0.0596576      uwb: 0.0            1252.45  1466.88  
imu_odom_:  1691062896.495442544  0.737414   -0.40462   10.2927    -0.0862864  0.0745685   0.559264    0.18       0.47          pose: 0.0           -4.61642   -3.73156    0 -0.00239054 -0.00303522 0.998211    0.0596576      uwb: 0.99948339     1252.56  1468.07  
imu_odom_:  1691062896.510426337  1.02472    -0.265756  9.84017    -0.0958738  0.0138484   0.609331    0.18       0.47          pose: 0.33066072    -4.61642   -3.73156    0 -0.00212635 -0.00379279 0.998641    0.0519369      uwb: 0.0            1252.56  1468.07  
imu_odom_:  1691062896.526423613  0.471658   -0.893037  9.93354    -0.0298274  0.0543285   0.599744    0.18       0.53          pose: 0.40931572    -4.62548   -3.7274     0 0.000899548 -0.00499717 0.999142    0.0410972      uwb: 0.0            1252.56  1468.07  
imu_odom_:  1691062896.542664999  0.282516   -0.366313  10.0676    -0.0383495  0.00426106  0.608266    0.18       0.53          pose: 0.7065213     -4.62552   -3.72742    0 0.000714445 -0.00560708 0.999219    0.0391203      uwb: 0.0            1252.56  1468.07  
imu_odom_:  1691062896.560553331  0.648829   -0.37589   9.68933    -0.0436758  0.00532632  0.622114    0.18       0.53          pose: 0.0           -4.62552   -3.72742    0 0.000714445 -0.00560708 0.999219    0.0391203      uwb: 0.0            1252.56  1468.07  
imu_odom_:  1691062896.576613020  0.778116   -0.143652  9.39964    -0.056459   -0.0735032  0.648746    0.18       0.61          pose: 0.33178649    -4.63465   -3.72334    0 -0.000482726-0.00656347 0.999538    0.0296706      uwb: 0.0            1252.56  1468.07  
imu_odom_:  1691062896.593603946  0.677559   -0.555455  9.69652    -0.0234358  -0.0372843  0.650877    0.23       0.79          pose: 0.0           -4.63465   -3.72334    0 -0.000482726-0.00656347 0.999538    0.0296706      uwb: 0.100023877    1255.89  1467.38  
imu_odom_:  1691062896.609545225  1.075      -0.0957681 9.69652    -0.0553937  -0.00532632 0.656203    0.23       0.79          pose: 0.0           -4.63465   -3.72334    0 -0.000482726-0.00656347 0.999538    0.0296706      uwb: 0.0            1255.89  1467.38  
imu_odom_:  1691062896.626545192  1.91776    -0.553061  9.95748    -0.0458064  -0.0873517  0.618919    0.2        0.58          pose: 0.33894066    -4.63874   -3.73246    0 0.00305828  -0.00643095 0.999785    0.0194875      uwb: 0.0            1255.89  1467.38  
imu_odom_:  1691062896.643549825  1.60651    -0.213084  9.25359    -0.056459   0.00319579  0.492152    0.2        0.58          pose: 0.0           -4.63874   -3.73246    0 0.00305828  -0.00643095 0.999785    0.0194875      uwb: 0.50099870     1255.62  1468.82  
imu_odom_:  1691062896.658544410  1.84354    0.205901   10.5082    -0.056459   0.0149137   0.418649    0.2        0.58          pose: 0.32990534    -4.64787   -3.72837    0 0.00638444  -0.00648446 0.999913    0.00950635     uwb: 0.0            1255.62  1468.82  
imu_odom_:  1691062896.675540877  1.02472    0.0526724  9.83059    -0.0543285  0.00852212  0.357929    0.11       0.32          pose: 0.40989611    -4.64783   -3.72835    0 0.0104461   -0.00589038 0.999928    0.000243688    uwb: 0.0            1255.62  1468.82  
imu_odom_:  1691062896.691546319  0.572214   -0.3304    10.149     -0.0607201  0.00745685  0.331297    0.11       0.32          pose: 0.7998783     -4.64787   -3.72837    0 0.0109795   -0.00535974 0.999925    -0.00102002    uwb: 0.50074497     1255.17  1469.94  
imu_odom_:  1691062896.708538995  0.751779   -0.414197  9.96706    -0.0426106  -0.02024    0.289752    0.11       0.32          pose: 0.0           -4.64787   -3.72837    0 0.0109795   -0.00535974 0.999925    -0.00102002    uwb: 0.0            1255.17  1469.94  
imu_odom_:  1691062896.725598458  0.943315   -0.071826  9.96467    -0.0500674  -0.015979   0.288687    0.09       0.26          pose: 0.41995802    -4.657     -3.72429    0 0.0115257   -0.00610742 0.999891    -0.00691589    uwb: 0.0            1255.17  1469.94  
imu_odom_:  1691062896.741551986  0.914585   -0.263362  9.84735    -0.0596548  0           0.313188    0.09       0.26          pose: 0.0           -4.657     -3.72429    0 0.0115257   -0.00610742 0.999891    -0.00691589    uwb: 0.49809971     1255.78  1470.09  
imu_odom_:  1691062896.766475492  0.778116   -0.407014  9.60793    -0.0415453  -0.00319579 0.270577    0.09       0.26          pose: 0.23976810    -4.657     -3.72429    0 0.0135683   -0.00486671 0.999846    -0.00996143    uwb: 0.0            1255.78  1470.09  
imu_odom_:  1691062896.782538972  0.732626   -0.0407014 9.8665     -0.0511327  0.0234358   0.252468    0.08       0.26          pose: 0.0           -4.657     -3.72429    0 0.0135683   -0.00486671 0.999846    -0.00996143    uwb: 0.0            1255.78  1470.09  
imu_odom_:  1691062896.799540105  0.227449   -0.153229  9.77792    -0.0532632  0.0426106   0.2024      0.08       0.26          pose: 0.0           -4.657     -3.72429    0 0.0135683   -0.00486671 0.999846    -0.00996143    uwb: 0.50062831     1252.75  1472.34  
imu_odom_:  1691062896.815533298  -0.172383  0.265756   10.24      -0.0383495  0.0681769   0.0948085   0.08       0.26          pose: 0.39903798    -4.66101   -3.73345    0 0.0161376   -0.00571916 0.999745    -0.0147089     uwb: 0.0            1252.75  1472.34  
imu_odom_:  1691062896.832534140  -1.28329   0.0861913  10.1035    -0.0543285  0.0479369   0.156594    0.1        0.2           pose: 0.35129785    -4.67017   -3.72944    0 0.0130318   -0.00372474 0.999757    -0.0173688     uwb: 0.0            1252.75  1472.34  
imu_odom_:  1691062896.848415631  -0.28491   -0.804452  10.4028    -0.0532632  -0.0841559  0.217314    0.1        0.2           pose: 0.0           -4.67017   -3.72944    0 0.0130318   -0.00372474 0.999757    -0.0173688     uwb: 0.49975628     1255.54  1471.61  
imu_odom_:  1691062896.865461387  0.61531    -0.608127  10.0293    -0.0223706  -0.0862864  0.184291    0.15       0.2           pose: 0.40866243    -4.67017   -3.72944    0 0.00922441  -0.00377094 0.99975     -0.0200068     uwb: 0.0            1255.54  1471.61  
imu_odom_:  1691062896.882452605  0.627281   0.292093   9.81862    -0.0330232  -0.0255663  0.2024      0.15       0.2           pose: 0.0           -4.67017   -3.72944    0 0.00922441  -0.00377094 0.99975     -0.0200068     uwb: 0.0            1255.54  1471.61  
imu_odom_:  1691062896.898466504  0.335188   0.167594   10.082     -0.0436758  0.00106526  0.230097    0.15       0.2           pose: 0.0           -4.67017   -3.72944    0 0.00922441  -0.00377094 0.99975     -0.0200068     uwb: 0.49993127     1254.48  1473.57  
imu_odom_:  1691062896.915461805  -0.0263362 -0.21069   10.0078    -0.0383495  -0.0106526  0.196009    0.13       0.11          pose: 0.7989451     -4.67017   -3.72944    0 0.00964089  -0.00443168 0.999732    -0.020594      uwb: 0.0            1254.48  1473.57  
imu_odom_:  1691062896.931461997  -0.167594  -0.0861913 9.83538    -0.0500674  -0.0298274  0.181095    0.13       0.11          pose: 0.0           -4.67017   -3.72944    0 0.00964089  -0.00443168 0.999732    -0.020594      uwb: 0.0            1254.48  1473.57  
imu_odom_:  1691062896.948386719  0.0861913  0.0143652  9.66779    -0.0543285  -0.036219   0.203466    0.13       0.11          pose: 0.67006801    -4.67928   -3.72532    0 0.00709619  -0.00147788 0.999635    -0.026039      uwb: 0.49842927     1255.57  1473.63  
imu_odom_:  1691062896.964389244  0.0837971  -0.277727  9.65342    -0.0447411  -0.0170442  0.194943    0.13       0.11          pose: 0.0           -4.67928   -3.72532    0 0.00709619  -0.00147788 0.999635    -0.026039      uwb: 0.0            1255.57  1473.63  
imu_odom_:  1691062896.982435067  0.071826   -0.138864  10.0197    -0.0479369  -0.0223706  0.178964    0.13       0.11          pose: 0.0           -4.67928   -3.72532    0 0.00709619  -0.00147788 0.999635    -0.026039      uwb: 0.0            1255.57  1473.63  
imu_odom_:  1691062896.999437659  0.0263362  -0.102951  9.80904    -0.0692422  -0.0298274  0.196009    0.13       0.11          pose: 0.32982077    -4.68336   -3.73445    0 0.00445069  -0.0005543510.99958     -0.0286157     uwb: 0.50053498     1256.58  1474.5   
imu_odom_:  1691062897.13435093   0.251391   -0.220267  10.5632    -0.0660464  -0.0117179  0.177899    0.14       0.14          pose: 0.43043699    -4.69247   -3.73033    0 0.000665255 7.26564e-05 0.999493    -0.0318239     uwb: 0.0            1256.58  1474.5   
imu_odom_:  1691062897.30424269   0.703895   -0.0933739 10.0461    -0.076699   -0.00958738 0.160855    0.14       0.14          pose: 0.0           -4.69247   -3.73033    0 0.000665255 7.26564e-05 0.999493    -0.0318239     uwb: 0.0            1256.58  1474.5   
imu_odom_:  1691062897.43369723   0.217872   -0.100556  10.137     -0.0628506  -0.0575243  0.154463    0.14       0.14          pose: 0.0           -4.69247   -3.73033    0 0.000665255 7.26564e-05 0.999493    -0.0318239     uwb: 0.49786056     1255.63  1475.73  
imu_odom_:  1691062897.59468784   0.938527   -0.0790087 10.137     -0.0585895  -0.1012     0.187487    0.13       0.08          pose: 0.6999300     -4.69247   -3.73033    0 -5.75696e-06-1.48319e-050.999478    -0.0323077     uwb: 0.0            1255.63  1475.73  
imu_odom_:  1691062897.76385632   1.37667    -0.452504  10.0078    -0.0639159  -0.0394148  0.251402    0.13       0.08          pose: 0.0           -4.69247   -3.73033    0 -5.75696e-06-1.48319e-050.999478    -0.0323077     uwb: 0.0            1255.63  1475.73  
imu_odom_:  1691062897.92440946   2.2314     -0.641646  10.6638    -0.04048    -0.0873517  0.219444    0.13       0.08          pose: 0.0           -4.69247   -3.73033    0 -5.75696e-06-1.48319e-050.999478    -0.0323077     uwb: 0.50344857     1250.15  1479.45  
imu_odom_:  1691062897.108369101  1.55144    -0.122104  9.10036    -0.0340885  -0.0223706  0.160855    0.14       0.08          pose: 0.44941755    -4.70161   -3.72627    0 0.00128241  0.00111413  0.99938     -0.0351557     uwb: 0.0            1250.15  1479.45  
imu_odom_:  1691062897.125427981  1.41497    0.148441   9.95748    -0.0607201  0.0298274   0.149137    0.09       0.05          pose: 0.0           -4.70161   -3.72627    0 0.00128241  0.00111413  0.99938     -0.0351557     uwb: 0.0            1250.15  1479.45  
imu_odom_:  1691062897.142427949  0.61531    -0.186748  9.8689     -0.0703074  0.0585895   0.100135    0.09       0.05          pose: 0.64997920    -4.70563   -3.73543    0 0.00895279  0.00131541  0.999143    -0.0403931     uwb: 0.49932173     1251.43  1479.87  
imu_odom_:  1691062897.158370394  0.474052   -0.205901  10.1203    -0.0681769  -0.015979   0.0788296   0.08       0.05          pose: 0.0           -4.70563   -3.73543    0 0.00895279  0.00131541  0.999143    -0.0403931     uwb: 0.0            1251.43  1479.87  
imu_odom_:  1691062897.175365404  0.531513   -0.237026  9.68694    -0.0607201  -0.0287621  0.0713727   0.08       0.05          pose: 0.0           -4.70563   -3.73543    0 0.00895279  0.00131541  0.999143    -0.0403931     uwb: 0.0            1251.43  1479.87  
imu_odom_:  1691062897.191520754  0.713472   -0.153229  9.7851     -0.0596548  -0.00319579 0.0916127   0.08       0.05          pose: 0.33998185    -4.70563   -3.73543    0 0.0100332   0.00162168  0.999085    -0.0415544     uwb: 0.49951713     1251.46  1480.94  
imu_odom_:  1691062897.207516279  0.706289   -0.251391  10.1155    -0.0575243  -0.00745685 0.127832    0.09       0.05          pose: 0.41145935    -4.7148    -3.73145    0 0.00970615  0.00089962  0.999053    -0.0424032     uwb: 0.0            1251.46  1480.94  
imu_odom_:  1691062897.224515372  0.787692   -0.277727  9.81623    -0.0585895  -0.0117179  0.140615    0.09       0.05          pose: 0.7011549     -4.7148    -3.73145    0 0.0103737   0.000640618 0.999033    -0.0427149     uwb: 0.0            1251.46  1480.94  
imu_odom_:  1691062897.241585627  0.964863   -0.129287  10.0293    -0.0426106  0.00532632  0.104396    0.09       0.05          pose: 0.0           -4.7148    -3.73145    0 0.0103737   0.000640618 0.999033    -0.0427149     uwb: 0.50119120     1248.73  1482.89  
imu_odom_:  1691062897.266520798  0.651223   -0.102951  9.82102    -0.0681769  0.0181095   0.103331    0.05       0.05          pose: 0.33000451    -4.7148    -3.73145    0 0.0135393   6.01104e-05 0.998931    -0.0442011     uwb: 0.0            1248.73  1482.89  
imu_odom_:  1691062897.293587637  0.174777   -0.328006  9.85453    -0.0681769  0.0266316   0.04048     0.06       0.08          pose: 0.34988044    -4.7148    -3.73145    0 0.0133796   0.00266103  0.998881    -0.0452795     uwb: 0.49954922     1249.4   1483.15  
imu_odom_:  1691062897.309594246  -0.071826  -0.186748  10.1299    -0.04048    0.0372843   -0.056459   0.06       0.08          pose: 0.0           -4.7148    -3.73145    0 0.0133796   0.00266103  0.998881    -0.0452795     uwb: 0.0            1249.4   1483.15  
imu_odom_:  1691062897.336595755  -1.06542   -0.126893  10.4244    -0.0745685  -0.0181095  0.0756338   0.07       0.05          pose: 0.35040541    -4.7148    -3.73145    0 0.00945921  0.00157296  0.998945    -0.0449153     uwb: 0.0            1249.4   1483.15  
imu_odom_:  1691062897.361444015  0.497994   -0.622492  10.1778    -0.0543285  -0.11931    0.072438    0.1        0.02          pose: 0.0           -4.7148    -3.73145    0 0.00945921  0.00157296  0.998945    -0.0449153     uwb: 0.49825429     1247.15  1485.02  
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imu_odom_:  1691062897.754506978  0.371101   -0.222661  9.96467    -0.0532632  0.0117179   0.0639159   0.15       0             pose: 0.53149361    -4.77263   -3.73886    0 -0.000164316-0.00255309 0.998692    -0.0510631     uwb: 0.49992253     1241.69  1493.34  
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imu_odom_:  1691062897.797360522  0.703895   -0.0670376 9.98143    -0.0575243  -0.0351537  0.0660464   0.16       0.02          pose: 0.32847335    -4.7818    -3.73487    0 0.0010602   -0.00132128 0.998674    -0.0514598     uwb: 0.49953463     1243.12  1494.07  
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imu_odom_:  1691062897.882337610  0.342371   -0.361524  10.173     -0.0735032  0.0117179   0.0532632   0.18       0.05          pose: 0.42873376    -4.79495   -3.74008    0 0.00250722  0.000641617 0.9986      -0.0528324     uwb: 0.0            1244.62  1493.86  
imu_odom_:  1691062897.898335177  0.179565   -0.0837971 9.33739    -0.0681769  -0.0298274  0.0553937   0.18       0.05          pose: 0.0           -4.79495   -3.74008    0 0.00250722  0.000641617 0.9986      -0.0528324     uwb: 0.49642857     1245.28  1494.11  
imu_odom_:  1691062897.914409740  1.07021    0.0694318  10.2711    -0.0660464  -0.0234358  0.0607201   0.18       0.05          pose: 0.0           -4.79495   -3.74008    0 0.00250722  0.000641617 0.9986      -0.0528324     uwb: 0.0            1245.28  1494.11  
imu_odom_:  1691062897.941506327  0.773327   -0.332794  10.0772    -0.0681769  0.0181095   0.0511327   0.21       0             pose: 0.40971820    -4.80414   -3.73613    0 0.00180067  -0.0001500680.998583    -0.0531816     uwb: 0.49830678     1243.86  1495.57  
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imu_odom_:  1691062897.983336181  0.220267   -0.251391  9.67497    -0.0543285  0.0181095   0.0490022   0.23       0             pose: 0.0           -4.80809   -3.74532    0 0.00234468  2.12043e-05 0.99856     -0.053587      uwb: 0.0            1243.86  1495.57  
imu_odom_:  1691062897.999398495  0.497994   -0.289698  9.8689     -0.0394148  0.0276969   0.0532632   0.23       0             pose: 0.0           -4.80809   -3.74532    0 0.00234468  2.12043e-05 0.99856     -0.053587      uwb: 0.50106871     1246.92  1494.16  
imu_odom_:  1691062898.15329566   0.129287   -0.426168  9.69173    -0.0383495  0.0106526   0.04048     0.23       0             pose: 0.51978095    -4.81727   -3.74136    0 0.00107007  -0.0019393  0.998544    -0.0539024     uwb: 0.0            1246.92  1494.16  
imu_odom_:  1691062898.32330992   0.318429   -0.141258  10.0485    -0.056459   -0.00958738 0.0585895   0.22       0             pose: 0.0           -4.81727   -3.74136    0 0.00107007  -0.0019393  0.998544    -0.0539024     uwb: 0.0            1246.92  1494.16  
imu_odom_:  1691062898.49405330   0.509965   -0.201113  9.67018    -0.052198   -0.0117179  0.0617853   0.22       0             pose: 0.0           -4.81727   -3.74136    0 0.00107007  -0.0019393  0.998544    -0.0539024     uwb: 0.49925465     1246.2   1494.88  
imu_odom_:  1691062898.74385124   0.117316   -0.217872  9.53132    -0.0617853  -0.00106526 0.0596548   0.17       0             pose: 0.75023669    -4.83045   -3.74648    0 0.000617909 -0.0009917020.998518    -0.0544157     uwb: 0.0            1246.2   1494.88  
imu_odom_:  1691062898.90466979   0.184354   -0.253785  9.99579    -0.0468716  -0.052198   0.0607201   0.17       0             pose: 0.0           -4.83045   -3.74648    0 0.000617909 -0.0009917020.998518    -0.0544157     uwb: 0.50027251     1247.76  1494.78  
imu_odom_:  1691062898.106462797  0.864307   -0.155623  10.2663    -0.0447411  -0.0447411  0.0458064   0.18       0             pose: 0.7990035     -4.83045   -3.74648    0 -0.000192555-0.00101836 0.998513    -0.0544965     uwb: 0.0            1247.76  1494.78  
imu_odom_:  1691062898.122474364  0.42138    -0.146046  9.60793    -0.0532632  0.0117179   0.0575243   0.22       0.02          pose: 0.0           -4.83045   -3.74648    0 -0.000192555-0.00101836 0.998513    -0.0544965     uwb: 0.0            1247.76  1494.78  
imu_odom_:  1691062898.148349231  0.299275   -0.280122  9.89284    -0.0511327  0.0276969   0.0490022   0.17       0.02          pose: 0.65078999    -4.84694   -3.74534    0 -0.0007138180.000653819 0.998484    -0.0550331     uwb: 0.50076540     1253.2   1492.69  
imu_odom_:  1691062898.175488399  0.76375    -0.222661  9.94073    -0.0692422  -0.00852212 0.0511327   0.22       0             pose: 0.0           -4.84694   -3.74534    0 -0.0007138180.000653819 0.998484    -0.0550331     uwb: 0.0            1253.2   1492.69  
imu_odom_:  1691062898.200382740  0.78051    -0.246603  10.0245    -0.0671117  -0.0106526  0.0585895   0.22       0             pose: 0.33005409    -4.85278   -3.74762    0 -0.00225361 -0.00111056 0.998473    -0.055193      uwb: 0.49843221     1254.85  1492.71  
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imu_odom_:  1691062898.233328362  0.6608     -0.25618   9.83299    -0.0575243  0.0181095   0.0426106   0.22       0             pose: 0.51870478    -4.86194   -3.74362    0 0.00307301  -0.0008434340.998451    -0.0555499     uwb: 0.0            1254.85  1492.71  
imu_odom_:  1691062898.260353495  0.37589    -0.342371  9.51216    -0.0479369  -0.0245011  0.0426106   0.23       0             pose: 0.0           -4.86194   -3.74362    0 0.00307301  -0.0008434340.998451    -0.0555499     uwb: 0.50179200     1251.78  1495.18  
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imu_odom_:  1691062898.312475666  0.323217   -0.196325  10.1825    -0.0500674  -0.0245011  0.0532632   0.22       -0.02         pose: 0.8017449     -4.86194   -3.74362    0 0.00499624  -0.00110641 0.99844     -0.0556024     uwb: 0.0            1249.12  1497.47  
imu_odom_:  1691062898.335399330  0.486023   -0.136469  9.82341    -0.0628506  0.015979    0.0479369   0.22       -0.02         pose: 0.0           -4.86194   -3.74362    0 0.00499624  -0.00110641 0.99844     -0.0556024     uwb: 0.50016169     1252.97  1496.45  
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imu_odom_:  1691062898.712294115  1.18992    0.201113   10.5177    -0.0340885  -0.00745685 -0.511327   0.23       -0.58         pose: 0.0           -4.9421    -3.75265    0 -0.0001323560.00484403  0.999259    -0.0381768     uwb: 0.0            1245.43  1506.59  
imu_odom_:  1691062898.729347746  0.667982   -0.112527  9.78031    -0.0639159  -0.0127832  -0.500674   0.18       -0.55         pose: 0.32826920    -4.95519   -3.75802    0 0.00242515  0.0044215   0.999533    -0.0301422     uwb: 0.0            1245.43  1506.59  
imu_odom_:  1691062898.746291426  0.548272   0.124498   9.94073    -0.056459   -0.0330232  -0.523045   0.18       -0.55         pose: 0.0           -4.95519   -3.75802    0 0.00242515  0.0044215   0.999533    -0.0301422     uwb: 0.49982045     1247.09  1506.64  
imu_odom_:  1691062898.762348782  0.653617   0.162806   9.72764    -0.0298274  -0.0681769  -0.519849   0.18       -0.58         pose: 0.16999093    -4.95519   -3.75802    0 0.00410681  0.00461967  0.999655    -0.0255397     uwb: 0.0            1247.09  1506.64  
imu_odom_:  1691062898.778283645  1.57299    -0.1652    10.3094    -0.0639159  -0.0649811  -0.490022   0.18       -0.58         pose: 0.0           -4.95519   -3.75802    0 0.00410681  0.00461967  0.999655    -0.0255397     uwb: 0.0            1247.09  1506.64  
imu_odom_:  1691062898.794282379  1.58257    -0.1652    9.77553    -0.0575243  -0.0191748  -0.459129   0.18       -0.58         pose: 0.0           -4.95519   -3.75802    0 0.00410681  0.00461967  0.999655    -0.0255397     uwb: 0.0            1247.09  1506.64  
imu_odom_:  1691062898.811288179  1.62806    -0.42138   9.55287    -0.0553937  -0.0181095  -0.433563   0.17       -0.55         pose: 0.51049775    -4.96443   -3.75421    0 0.00751581  0.00774778  0.999876    -0.0114313     uwb: 0.0            1247.09  1506.64  
imu_odom_:  1691062898.827287789  0.993594   -0.0287304 9.50737    -0.0596548  0.00958738  -0.377104   0.12       -0.38         pose: 0.0           -4.96443   -3.75421    0 0.00751581  0.00774778  0.999876    -0.0114313     uwb: 0.0            1247.09  1506.64  
imu_odom_:  1691062898.843283023  0.799663   -0.191536  9.83777    -0.0553937  0.036219    -0.315318   0.12       -0.38         pose: 0.65000253    -4.97752   -3.75966    0 0.0142089   0.00780755  0.999858    0.00467109     uwb: 0.100107874    1245.53  1507.93  
imu_odom_:  1691062898.859348254  0.246603   -0.399832  9.77792    -0.0511327  -0.00426106 -0.286556   0.11       -0.35         pose: 0.0           -4.97752   -3.75966    0 0.0142089   0.00780755  0.999858    0.00467109     uwb: 0.0            1245.53  1507.93  
imu_odom_:  1691062898.876344138  0.517148   -0.270545  9.74201    -0.0394148  -0.036219   -0.278034   0.11       -0.35         pose: 0.0           -4.97752   -3.75966    0 0.0142089   0.00780755  0.999858    0.00467109     uwb: 0.0            1245.53  1507.93  
imu_odom_:  1691062898.892346664  0.821211   -0.0430956 9.7851     -0.0532632  -0.0436758  -0.236489   0.11       -0.35         pose: 0.31944680    -4.97752   -3.75966    0 0.0149114   0.00628216  0.999815    0.0104315      uwb: 0.0            1245.53  1507.93  
imu_odom_:  1691062898.908287943  0.818817   -0.349553  9.77074    -0.0585895  -0.0223706  -0.207727   0.11       -0.35         pose: 0.41049400    -4.98241   -3.75762    0 0.0150947   0.0054953   0.999732    0.0166401      uwb: 0.0            1245.53  1507.93  
imu_odom_:  1691062898.925335741  1.0343     -0.371101  9.91439    -0.0585895  -0.0149137  -0.226901   0.11       -0.35         pose: 0.0           -4.98241   -3.75762    0 0.0150947   0.0054953   0.999732    0.0166401      uwb: 0.0            1245.53  1507.93  
imu_odom_:  1691062898.941277021  0.730232   -0.141258  9.80665    -0.0575243  -0.0308927  -0.199204   0.11       -0.35         pose: 0.0           -4.98241   -3.75762    0 0.0150947   0.0054953   0.999732    0.0166401      uwb: 0.99936385     1242.02  1510.88  
imu_odom_:  1691062898.958337360  0.799663   -0.146046  9.89045    -0.0628506  0.00532632  -0.168312   0.07       -0.26         pose: 0.7003675     -4.98676   -3.75584    0 0.0154624   0.00486652  0.999716    0.0174952      uwb: 0.0            1242.02  1510.88  
imu_odom_:  1691062898.975335869  0.732626   -0.131681  10.0748    -0.0575243  -0.00532632 -0.171508   0.09       -0.29         pose: 0.0           -4.98676   -3.75584    0 0.0154624   0.00486652  0.999716    0.0174952      uwb: 0.0            1242.02  1510.88  
imu_odom_:  1691062898.992392417  0.507571   -0.181959  9.79228    -0.052198   -0.0213053  -0.169377   0.09       -0.29         pose: 0.65997404    -4.98676   -3.75584    0 0.0172898   0.00371551  0.999524    0.0252637      uwb: 0.49954338     1246.48  1509.89  
imu_odom_:  1691062899.6333271    0.679953   -0.189142  9.88566    -0.0585895  -0.02024    -0.151268   0.06       -0.2          pose: 0.0           -4.98676   -3.75584    0 0.0172898   0.00371551  0.999524    0.0252637      uwb: 0.0            1246.48  1509.89  
imu_odom_:  1691062899.21329022   0.775721   -0.35913   9.9503     -0.0671117  -0.00852212 -0.122505   0.06       -0.2          pose: 0.0           -4.98676   -3.75584    0 0.0172898   0.00371551  0.999524    0.0252637      uwb: 0.0            1246.48  1509.89  
imu_odom_:  1691062899.37417877   0.720655   -0.387861  10.0676    -0.0532632  0.0106526   -0.122505   0.06       -0.2          pose: 0.32996660    -4.98676   -3.75584    0 0.0146805   0.00291471  0.999477    0.0286656      uwb: 0.49980880     1247.69  1510.11  
imu_odom_:  1691062899.56361106   0.737414   -0.0981623 9.85693    -0.0553937  -0.0138484  -0.111853   0.05       -0.11         pose: 0.39073474    -4.99138   -3.75392    0 0.0151329   -0.0008940060.999376    0.0318898      uwb: 0.0            1247.69  1510.11  
imu_odom_:  1691062899.71423062   0.792481   -0.158017  9.73482    -0.0575243  -0.00639159 -0.092678   0.05       -0.11         pose: 0.9025099     -4.99601   -3.75203    0 0.015474    -3.25922e-050.999349    0.0325857      uwb: 0.0            1247.69  1510.11  
imu_odom_:  1691062899.89411139   0.770933   -0.213084  9.91439    -0.0585895  -0.0127832  -0.0841559  0.05       -0.11         pose: 0.0           -4.99601   -3.75203    0 0.015474    -3.25922e-050.999349    0.0325857      uwb: 0.49993129     1243.2   1513.36  
imu_odom_:  1691062899.107468629  0.632069   -0.339977  9.73243    -0.052198   0.00639159  -0.0798948  0.04       -0.08         pose: 0.42968163    -4.99601   -3.75203    0 0.0184639   -9.85313e-050.999201    0.0354364      uwb: 0.0            1243.2   1513.36  
imu_odom_:  1691062899.121470438  0.658405   -0.126893  10.082     -0.052198   -0.00532632 -0.076699   0.04       -0.11         pose: 0.0           -4.99601   -3.75203    0 0.0184639   -9.85313e-050.999201    0.0354364      uwb: 0.0            1243.2   1513.36  
imu_odom_:  1691062899.138410326  0.596156   -0.167594  9.73243    -0.0585895  -0.0181095  -0.0596548  0.04       -0.11         pose: 0.0           -4.99601   -3.75203    0 0.0184639   -9.85313e-050.999201    0.0354364      uwb: 0.50167535     1242.64  1514.51  
imu_odom_:  1691062899.155518496  0.797269   -0.304064  9.98143    -0.0553937  -0.00319579 -0.0415453  0.04       -0.11         pose: 0.23908274    -4.99601   -3.75203    0 0.0167377   -0.0008516  0.999181    0.0368381      uwb: 0.0            1242.64  1514.51  
imu_odom_:  1691062899.172397429  0.737414   -0.277727  9.79707    -0.0607201  -0.00532632 -0.0298274  0.03       -0.02         pose: 0.0           -4.99601   -3.75203    0 0.0167377   -0.0008516  0.999181    0.0368381      uwb: 0.0            1242.64  1514.51  
imu_odom_:  1691062899.188290586  0.588974   -0.184354  9.94551    -0.0532632  0.00852212  -0.00426106 0.03       -0.02         pose: 0.32240704    -4.99601   -3.75203    0 0.0152365   -0.0001530410.999144    0.0384538      uwb: 0.50024335     1240.69  1516.18  
imu_odom_:  1691062899.205267222  0.543484   -0.280122  9.98143    -0.056459   -0.00319579 0.0298274   0.03       0             pose: 0.42730469    -4.99601   -3.75203    0 0.0150228   -0.00173281 0.999095    0.0397645      uwb: 0.0            1240.69  1516.18  
imu_odom_:  1691062899.221264207  0.593762   -0.251391  9.8665     -0.052198   -0.00958738 0.036219    0.03       0             pose: 0.0           -4.99601   -3.75203    0 0.0150228   -0.00173281 0.999095    0.0397645      uwb: 0.0            1240.69  1516.18  
imu_odom_:  1691062899.237267899  0.823605   -0.227449  9.97424    -0.052198   -0.00958738 0.0479369   0.03       0             pose: 0.0           -4.99601   -3.75203    0 0.0150228   -0.00173281 0.999095    0.0397645      uwb: 0.50018503     1239.31  1517.88  
imu_odom_:  1691062899.254252410  0.636858   -0.179565  9.84735    -0.0532632  0.00745685  0.0617853   0.01       0.05          pose: 0.7115086     -4.99601   -3.75203    0 0.0143252   -0.00189703 0.999103    0.039796       uwb: 0.0            1239.31  1517.88  
imu_odom_:  1691062899.271319165  0.600945   -0.265756  9.92636    -0.0532632  0.00213053  0.0649811   0.01       0             pose: 0.0           -4.99601   -3.75203    0 0.0143252   -0.00189703 0.999103    0.039796       uwb: 0.0            1239.31  1517.88  
imu_odom_:  1691062899.288259345  0.59855    -0.208296  9.87608    -0.0532632  -0.00852212 0.0703074   0.01       0             pose: 0.65853913    -4.99601   -3.75203    0 0.0121657   -0.0009105  0.999144    0.0395361      uwb: 0.50138079     1239.55  1518.41  
imu_odom_:  1691062899.304290453  0.787692   -0.229843  9.93115    -0.0543285  -0.0117179  0.0809601   0          0.08          pose: 0.0           -4.99601   -3.75203    0 0.0121657   -0.0009105  0.999144    0.0395361      uwb: 0.0            1239.55  1518.41  
imu_odom_:  1691062899.329403239  0.605733   -0.189142  9.92397    -0.0532632  0.0106526   0.0671117   0          0.08          pose: 0.0           -4.99601   -3.75203    0 0.0121657   -0.0009105  0.999144    0.0395361      uwb: 0.0            1239.55  1518.41  
imu_odom_:  1691062899.346281881  0.112527   -0.191536  9.92875    -0.056459   0.056459    0.0500674   0          0.02          pose: 0.33042450    -4.99601   -3.75203    0 0.0109163   -0.0004014930.999178    0.0390264      uwb: 0.49781391     1244.39  1516.98  
imu_odom_:  1691062899.362266616  -1.27132   -0.189142  9.81383    -0.0532632  0.120375    0.0138484   0          0.02          pose: 0.42000177    -4.99601   -3.75203    0 0.00899578  0.00120789  0.999219    0.0384576      uwb: 0.0            1244.39  1516.98  
imu_odom_:  1691062899.379344455  -1.94888   -0.110133  10.1227    -0.0447411  0.0138484   -0.0287621  0          0.02          pose: 0.0           -4.99601   -3.75203    0 0.00899578  0.00120789  0.999219    0.0384576      uwb: 0.0            1244.39  1516.98  
imu_odom_:  1691062899.396411210  -1.01035   -0.0167594 9.76116    -0.0596548  -0.0948085  -0.0468716  0.06       -0.02         pose: 0.43042243    -4.99601   -3.75203    0 0.00324477  0.00156771  0.999225    0.0391992      uwb: 0.50004211     1244.08  1517.49  
imu_odom_:  1691062899.413346723  0.380678   -0.265756  10.1059    -0.0596548  -0.0894822  -0.0394148  0.06       -0.02         pose: 0.0           -4.99601   -3.75203    0 0.00324477  0.00156771  0.999225    0.0391992      uwb: 0.0            1244.08  1517.49  
imu_odom_:  1691062899.429265254  0.749385   -0.325611  9.46188    -0.0617853  -0.00319579 -0.0596548  0.06       -0.02         pose: 0.0           -4.99601   -3.75203    0 0.00324477  0.00156771  0.999225    0.0391992      uwb: 0.0            1244.08  1517.49  
imu_odom_:  1691062899.445294029  0.162806   -0.138864  10.2807    -0.04048    0.0426106   -0.0745685  0.12       -0.14         pose: 0.8069654     -4.99601   -3.75203    0 0.00281052  0.00165855  0.999212    0.0395501      uwb: 0.49990504     1242.94  1518.6   
imu_odom_:  1691062899.462248499  -0.282516  -0.387861  9.50498    -0.0532632  0.0181095   -0.0660464  0.1        -0.08         pose: 0.0           -4.99601   -3.75203    0 0.00281052  0.00165855  0.999212    0.0395501      uwb: 0.0            1242.94  1518.6   
imu_odom_:  1691062899.477247459  -0.131681  -0.126893  9.89524    -0.0596548  0.00106526  -0.0639159  0.1        -0.08         pose: 0.65897661    -5.00912   -3.75733    0 0.000632327 0.000155037 0.999086    0.0427354      uwb: 0.0            1242.94  1518.6   
imu_odom_:  1691062899.493239485  0.222661   -0.217872  10.24      -0.0511327  -0.0351537  -0.0490022  0.1        -0.08         pose: 0.0           -5.00912   -3.75733    0 0.000632327 0.000155037 0.999086    0.0427354      uwb: 0.49748727     1240.35  1520.16  
imu_odom_:  1691062899.510289325  0.612916   -0.177171  10.0317    -0.0628506  0.00532632  -0.0511327  0.1        -0.05         pose: 0.0           -5.00912   -3.75733    0 0.000632327 0.000155037 0.999086    0.0427354      uwb: 0.0            1240.35  1520.16  
imu_odom_:  1691062899.527386412  0.306458   -0.0742203 9.77792    -0.0490022  0.0223706   -0.0649811  0.1        -0.05         pose: 0.30955113    -5.00912   -3.75733    0 -0.00244616 0.000273968 0.999016    0.0442929      uwb: 0.0            1240.35  1520.16  
imu_odom_:  1691062899.544273803  -0.0023942 0.0335188  9.5385     -0.0596548  0.00852212  -0.0340885  0.16       -0.08         pose: 0.43119529    -5.01833   -3.75342    0 -0.00249181 0.00199092  0.99892     0.0463522      uwb: 0.50126413     1235.07  1523.06  
imu_odom_:  1691062899.561250148  0.0407014  -0.304064  9.18895    -0.0756338  0.00106526  -0.0330232  0.16       -0.08         pose: 0.0           -5.01833   -3.75342    0 -0.00249181 0.00199092  0.99892     0.0463522      uwb: 0.0            1235.07  1523.06  
imu_odom_:  1691062899.577252090  0.0047884  -0.383072  9.80904    -0.0628506  0.0191748   -0.0468716  0.16       -0.08         pose: 0.0           -5.01833   -3.75342    0 -0.00249181 0.00199092  0.99892     0.0463522      uwb: 0.0            1235.07  1523.06  
imu_odom_:  1691062899.594380967  0.0191536  -0.311246  9.65821    -0.0553937  0.0479369   -0.0511327  0.13       -0.08         pose: 0.7003676     -5.01833   -3.75342    0 -0.00312266 0.00236411  0.998905    0.0466099      uwb: 0.49976213     1232.43  1524.52  
imu_odom_:  1691062899.611380352  0.402226   -0.0574608 9.75398    -0.0713727  0.0191748   -0.0415453  0.12       -0.05         pose: 0.0           -5.01833   -3.75342    0 -0.00312266 0.00236411  0.998905    0.0466099      uwb: 0.0            1232.43  1524.52  
imu_odom_:  1691062899.628440400  0.488417   -0.215478  9.55526    -0.0692422  0.0117179   0.00852212  0.12       -0.05         pose: 0.68005412    -5.02754   -3.74954    0 -0.00868642 0.000957751 0.998741    0.0493931      uwb: 0.0            1232.43  1524.52  
imu_odom_:  1691062899.646294318  0.828394   -0.481235  9.88087    -0.0639159  0.0308927   0.0308927   0.1        -0.08         pose: 0.0           -5.02754   -3.74954    0 -0.00868642 0.000957751 0.998741    0.0493931      uwb: 0.49989337     1227.94  1526.77  
imu_odom_:  1691062899.660230797  0.866701   -0.378284  9.68455    -0.0553937  -0.0319579  0.0255663   0.1        -0.08         pose: 0.0           -5.02754   -3.74954    0 -0.00868642 0.000957751 0.998741    0.0493931      uwb: 0.0            1227.94  1526.77  
imu_odom_:  1691062899.675374415  1.43652    -0.0933739 10.1011    -0.0479369  -0.0127832  0.00745685  0.1        -0.08         pose: 0.33983895    -5.02754   -3.74954    0 -0.00599681 0.000681698 0.998728    0.0500507      uwb: 0.0            1227.94  1526.77  
imu_odom_:  1691062899.692315761  1.43892    0.181959   10.1897    -0.0607201  0.0500674   -0.0276969  0.11       -0.11         pose: 0.38995020    -5.03246   -3.74751    0 -0.0022204  -0.0001508780.998725    0.0504393      uwb: 0.0            1227.94  1526.77  
imu_odom_:  1691062899.710246967  0.56982    -0.107739  9.63666    -0.0671117  0.0287621   -0.0138484  0.11       -0.11         pose: 0.7005717     -5.03678   -3.74571    0 -0.00174216 5.06864e-05 0.998714    0.0506743      uwb: 0.0            1227.94  1526.77  
imu_odom_:  1691062899.724382935  0.608127   -0.440533  9.76595    -0.0660464  0.0191748   -0.0351537  0.11       -0.11         pose: 0.0           -5.03678   -3.74571    0 -0.00174216 5.06864e-05 0.998714    0.0506743      uwb: 0.0            1227.94  1526.77  
imu_odom_:  1691062899.740245469  0.469264   -0.332794  9.93833    -0.0585895  -0.0127832  -0.0788296  0.06       -0.08         pose: 0.42002803    -5.04062   -3.75495    0 0.000924104 -0.00018684 0.998646    0.0520107      uwb: 0.100086002    1231.93  1525.85  
imu_odom_:  1691062899.755429917  0.699107   -0.0407014 10.1107    -0.056459   -0.00958738 -0.0703074  0.06       -0.02         pose: 0.0           -5.04062   -3.75495    0 0.000924104 -0.00018684 0.998646    0.0520107      uwb: 0.0            1231.93  1525.85  
imu_odom_:  1691062899.771431860  0.85473    -0.0526724 9.8689     -0.0649811  -0.0149137  -0.0213053  0.06       -0.02         pose: 0.0           -5.04062   -3.75495    0 0.000924104 -0.00018684 0.998646    0.0520107      uwb: 0.0            1231.93  1525.85  
imu_odom_:  1691062899.788443494  0.708684   -0.474052  9.87369    -0.0585895  0.0138484   -0.0149137  0.06       -0.02         pose: 0.23060448    -5.04062   -3.75495    0 0.00213061  -0.00130063 0.998573    0.0533437      uwb: 0.49912925     1233.89  1525.31  
imu_odom_:  1691062899.804550139  0.746991   -0.265756  9.91918    -0.052198   -0.0127832  -0.0181095  0.07       -0.08         pose: 0.0           -5.04062   -3.75495    0 0.00213061  -0.00130063 0.998573    0.0533437      uwb: 0.0            1233.89  1525.31  
imu_odom_:  1691062899.831379867  0.620098   -0.126893  9.80665    -0.0543285  0.0191748   -0.00319579 0.07       -0.08         pose: 0.30946072    -5.04062   -3.75495    0 0.00474684  -0.0009174860.998504    0.0544597      uwb: 0.0            1233.89  1525.31  
imu_odom_:  1691062899.847244443  0.265756   -0.225055  9.94073    -0.0575243  0.0298274   -0.015979   0.06       -0.02         pose: 0.33908357    -5.04062   -3.75495    0 0.00731312  -0.00131973 0.998439    0.055365       uwb: 0.50095790     1234.97  1525.27  
imu_odom_:  1691062899.874343072  -1.30723   -0.380678  10.0892    -0.0500674  0.0255663   0.0181095   0.06       -0.02         pose: 0.0           -5.04062   -3.75495    0 0.00731312  -0.00131973 0.998439    0.055365       uwb: 0.0            1234.97  1525.27  
imu_odom_:  1691062899.899303618  -0.0814029 -0.366313  9.76595    -0.052198   -0.0820254  0.0213053   0.08       -0.02         pose: 0.43016577    -5.04982   -3.75102    0 0.00547375  0.000180967 0.998398    0.0563125      uwb: 0.49922841     1235.49  1525.19  
imu_odom_:  1691062899.926304545  0.457293   0.0574608  9.7851     -0.0426106  -0.00319579 0.00852212  0.11       0             pose: 0.43989229    -5.04982   -3.75102    0 0.00182497  -0.0003998750.998387    0.0567431      uwb: 0.0            1235.49  1525.19  
imu_odom_:  1691062899.952251450  -0.0550666 -0.304064  10.0078    -0.0532632  0.0532632   0.0106526   0.11       0             pose: 0.0           -5.04982   -3.75102    0 0.00182497  -0.0003998750.998387    0.0567431      uwb: 0.50062250     1235.2   1525.78  
imu_odom_:  1691062899.979344246  -0.00957681-0.392649  9.87369    -0.0319579  0           0.00426106  0.15       -0.05         pose: 0.7084171     -5.04982   -3.75102    0 0.00191111  0.000349937 0.998381    0.0568541      uwb: 0.0            1235.2   1525.78  
imu_odom_:  1691062899.995244695  0.493206   -0.1652    9.38288    -0.052198   0.00532632  0.0149137   0.15       -0.05         pose: 0.0           -5.04982   -3.75102    0 0.00191111  0.000349937 0.998381    0.0568541      uwb: 0.49921675     1232.7   1527.59  
imu_odom_:  1691062900.22239497   0.586579   -0.253785  9.8689     -0.0436758  0.0245011   0.0372843   0.17       0             pose: 0.52927416    -5.05904   -3.74716    0 -0.00177255 0.00174544  0.998333    0.0576703      uwb: 0.0            1232.7   1527.59  
imu_odom_:  1691062900.47217542   0.201113   -0.143652  9.9934     -0.0532632  -0.0458064  0.0138484   0.17       0             pose: 0.0           -5.05904   -3.74716    0 -0.00177255 0.00174544  0.998333    0.0576703      uwb: 0.50017628     1231.91  1528.29  
imu_odom_:  1691062900.74287882   -0.00957681-0.0933739 9.54089    -0.0585895  -0.0330232  0.0287621   0.15       -0.02         pose: 0.43922732    -5.05904   -3.74716    0 -0.00146469 0.00116618  0.998301    0.05823        uwb: 0.0            1231.91  1528.29  
imu_odom_:  1691062900.90216329   -0.0023942 -0.275333  9.69652    -0.0436758  -0.0287621  0.0266316   0.15       -0.02         pose: 0.0           -5.05904   -3.74716    0 -0.00146469 0.00116618  0.998301    0.05823        uwb: 0.49982046     1230.15  1529.3   
imu_odom_:  1691062900.117213757  0.363919   -0.138864  10.1155    -0.0543285  0.0138484   0.02024     0.15       0             pose: 0.51030236    -5.06825   -3.74328    0 -0.00234696 0.00168675  0.998277    0.0586121      uwb: 0.0            1230.15  1529.3   
imu_odom_:  1691062900.143243199  0.634463   -0.263362  9.55047    -0.0660464  0.0234358   0.0255663   0.15       -0.02         pose: 0.62945584    -5.07862   -3.74975    0 -0.00319003 0.00326568  0.998243    0.0590794      uwb: 0.49983797     1234.86  1527.48  
imu_odom_:  1691062900.170359036  0.155623   -0.459687  9.43315    -0.0809601  0.00745685  0.036219    0.15       -0.02         pose: 0.0           -5.07862   -3.74975    0 -0.00319003 0.00326568  0.998243    0.0590794      uwb: 0.0            1234.86  1527.48  
imu_odom_:  1691062900.196294858  0.629675   -0.275333  10.058     -0.056459   0.0308927   0.0191748   0.15       -0.02         pose: 0.8006950     -5.08136   -3.74859    0 -0.00256668 0.00291263  0.998243    0.0591337      uwb: 0.50013837     1234.64  1528.24  
imu_odom_:  1691062900.223274787  0.730232   -0.1652    10.5417    -0.0351537  -0.0117179  0.015979    0.15       -0.02         pose: 0.0           -5.08136   -3.74859    0 -0.00256668 0.00291263  0.998243    0.0591337      uwb: 0.0            1234.64  1528.24  
imu_odom_:  1691062900.248328369  0.622492   -0.0646434 10.0054    -0.0575243  -0.056459   0.0308927   0.15       0             pose: 0.53017245    -5.08136   -3.74859    0 -0.00251785 -0.0004269010.998232    0.0593878      uwb: 0.50036877     1239.42  1526.56  
imu_odom_:  1691062900.265394833  0.543484   -0.158017  9.98382    -0.0585895  -0.0170442  0.0500674   0.15       0             pose: 0.0           -5.08136   -3.74859    0 -0.00251785 -0.0004269010.998232    0.0593878      uwb: 0.0            1239.42  1526.56  
imu_odom_:  1691062900.291205246  0.395043   -0.126893  9.72525    -0.0607201  -0.015979   0.0255663   0.15       -0.05         pose: 0.53083741    -5.09056   -3.74468    0 0.0025781   0.000234027 0.998199    0.0599292      uwb: 0.49927217     1237.6   1527.43  
imu_odom_:  1691062900.308201715  0.521936   -0.0215478 10.2113    -0.04048    -0.00106526 0.0319579   0.15       -0.05         pose: 0.0           -5.09056   -3.74468    0 0.0025781   0.000234027 0.998199    0.0599292      uwb: 0.0            1237.6   1527.43  
imu_odom_:  1691062900.334284529  0.215478   -0.387861  9.71567    -0.0394148  -0.00958738 0.0319579   0.16       -0.05         pose: 0.76880022    -5.10478   -3.73862    0 0.00447446  0.00450561  0.998168    0.0601764      uwb: 0.0            1237.6   1527.43  
imu_odom_:  1691062900.361207585  0.378284   -0.134075  9.56723    -0.0639159  0.00319579  0.0479369   0.2        -0.02         pose: 0.8071988     -5.10897   -3.73687    0 0.00389216  0.00403725  0.99817     0.0602075      uwb: 0.50022877     1237.88  1528.06  
imu_odom_:  1691062900.386205754  0.708684   -0.0646434 10.7021    -0.0607201  -0.052198   0.0468716   0.18       0             pose: 0.44933882    -5.1128    -3.74611    0 -4.109e-05  0.00381121  0.998181    0.0601746      uwb: 0.49978839     1237.19  1528.98  
imu_odom_:  1691062900.413217181  0.723049   -0.047884  10.2759    -0.0607201  -0.0266316  0.04048     0.19       -0.02         pose: 0.0           -5.1128    -3.74611    0 -4.109e-05  0.00381121  0.998181    0.0601746      uwb: 0.0            1237.19  1528.98  
imu_odom_:  1691062900.429220582  0.816423   -0.311246  9.75637    -0.0575243  0.0308927   0.0308927   0.19       -0.02         pose: 0.32008553    -5.12204   -3.74228    0 0.00378254  0.00424469  0.998178    0.0600709      uwb: 0.0            1237.19  1528.98  
imu_odom_:  1691062900.456295588  0.383072   -0.0790087 9.81144    -0.0532632  0.0436758   0.0319579   0.23       -0.02         pose: 0.0           -5.12204   -3.74228    0 0.00378254  0.00424469  0.998178    0.0600709      uwb: 0.49874720     1240.68  1528.1   
imu_odom_:  1691062900.482280408  -0.102951  -0.28491   9.72764    -0.0607201  -0.0170442  0.0511327   0.23       -0.02         pose: 0.44012269    -5.13128   -3.73846    0 0.00604121  0.00404784  0.998163    0.0601469      uwb: 0.0            1240.68  1528.1   
imu_odom_:  1691062900.509253045  0.179565   -0.023942  9.75398    -0.0703074  -0.036219   0.0351537   0.21       -0.02         pose: 0.45052001    -5.13128   -3.73846    0 0.001468    0.00420733  0.998183    0.0600916      uwb: 0.50119414     1238.61  1529.68  
imu_odom_:  1691062900.535206950  0.332794   -0.114922  10.0916    -0.0617853  -0.00319579 0.0426106   0.21       -0.02         pose: 0.7094962     -5.13128   -3.73846    0 0.000945356 0.00447099  0.998181    0.0601109      uwb: 0.0            1238.61  1529.68  
imu_odom_:  1691062900.562222751  0.385466   -0.246603  9.79228    -0.052198   0.00745685  0.0500674   0.23       -0.02         pose: 0.45831580    -5.14315   -3.74097    0 -0.00313498 0.00511823  0.998172    0.0601388      uwb: 0.49869178     1243.56  1528.28  
imu_odom_:  1691062900.578344270  0.469264   -0.320823  10.0245    -0.0543285  -0.0607201  0.0532632   0.23       -0.02         pose: 0.0           -5.14315   -3.74097    0 -0.00313498 0.00511823  0.998172    0.0601388      uwb: 0.0            1243.56  1528.28  
imu_odom_:  1691062900.605339073  0.682347   -0.0047884 10.1562    -0.0426106  -0.0394148  0.0340885   0.22       0             pose: 0.43137320    -5.15359   -3.74004    0 -0.00111751 0.00123587  0.998203    0.0598937      uwb: 0.50001004     1244.3   1528.69  
imu_odom_:  1691062900.631344308  0.639252   -0.1652    10.2041    -0.0500674  -0.0287621  0.0394148   0.18       0             pose: 0.0           -5.15359   -3.74004    0 -0.00111751 0.00123587  0.998203    0.0598937      uwb: 0.0            1244.3   1528.69  
imu_odom_:  1691062900.658257157  0.797269   0.0167594  9.81144    -0.0490022  -0.0138484  0.0458064   0.23       0             pose: 0.53000038    -5.16283   -3.73622    0 0.00466252  0.00247056  0.998187    0.059959       uwb: 0.0            1244.3   1528.69  
imu_odom_:  1691062900.674249184  0.605733   -0.217872  9.99819    -0.0628506  -0.00639159 0.052198    0.23       0             pose: 0.0           -5.16283   -3.73622    0 0.00466252  0.00247056  0.998187    0.059959       uwb: 0.0            1244.3   1528.69  
imu_odom_:  1691062900.701364729  0.572214   -0.19393   9.93354    -0.0735032  0           0.0394148   0.18       0             pose: 0.34935840    -5.17207   -3.7324     0 0.00765522  0.00305927  0.998175    0.0598171      uwb: 0.100020382    1246.43  1528.43  
imu_odom_:  1691062900.727462418  0.557849   -0.189142  10.1801    -0.0681769  -0.0372843  0.0458064   0.18       0.02          pose: 0.35084581    -5.17207   -3.7324     0 0.00881945  -0.0004716390.998175    0.0597416      uwb: 0.0            1246.43  1528.43  
imu_odom_:  1691062900.754430097  0.409408   -0.0383072 9.83059    -0.0692422  -0.0745685  0.0500674   0.18       0.02          pose: 0.0           -5.17207   -3.7324     0 0.00881945  -0.0004716390.998175    0.0597416      uwb: 0.0            1246.43  1528.43  
imu_odom_:  1691062900.780177805  1.21625    -0.335188  9.9527     -0.056459   -0.0617853  0.0298274   0.18       -0.02         pose: 0.7987702     -5.17207   -3.7324     0 0.00843447  8.13274e-05 0.998179    0.0597226      uwb: 0.0            1246.43  1528.43  
imu_odom_:  1691062900.807200314  0.385466   -0.289698  10.1562    -0.0351537  -0.0117179  0.036219    0.18       -0.02         pose: 0.0           -5.17207   -3.7324     0 0.00843447  8.13274e-05 0.998179    0.0597226      uwb: 0.100106419    1253.34  1526.37  
imu_odom_:  1691062900.824198241  0.25618    -0.296881  9.46667    -0.0703074  0.00639159  0.04048     0.18       0             pose: 0.52867629    -5.18513   -3.73782    0 0.00768875  0.00285619  0.998189    0.0595935      uwb: 0.0            1253.34  1526.37  
imu_odom_:  1691062900.851319911  0.682347   -0.301669  10.1418    -0.0692422  -0.0298274  0.0511327   0.18       0             pose: 0.0           -5.18513   -3.73782    0 0.00768875  0.00285619  0.998189    0.0595935      uwb: 0.50147121     1253.99  1526.55  
imu_odom_:  1691062900.876313122  0.215478   -0.347159  9.91199    -0.0543285  -0.00319579 0.0330232   0.24       0.02          pose: 0.53012287    -5.19437   -3.734      0 0.00683076  0.000914773 0.998192    0.0597056      uwb: 0.0            1253.99  1526.55  
imu_odom_:  1691062900.903181349  0.873884   -0.131681  9.71088    -0.0585895  -0.0170442  0.0447411   0.22       -0.02         pose: 0.61080775    -5.20361   -3.73018    0 0.00601046  -0.0018882  0.998202    0.0596086      uwb: 0.49866845     1254.82  1527.09  
imu_odom_:  1691062900.919358281  1.02472    -0.172383  9.88805    -0.0447411  0.00106526  0.0458064   0.22       -0.02         pose: 0.0           -5.20361   -3.73018    0 0.00601046  -0.0018882  0.998202    0.0596086      uwb: 0.0            1254.82  1527.09  
imu_odom_:  1691062900.946193843  0.35913    -0.138864  10.0987    -0.0575243  0.0330232   0.0490022   0.23       0.05          pose: 0.6898973     -5.20361   -3.73018    0 0.00672276  -0.00173273 0.998199    0.0595929      uwb: 0.49878219     1255.16  1527.79  
imu_odom_:  1691062900.971169263  0.426168   -0.0574608 9.91678    -0.0543285  0.02024     0.0447411   0.23       0.05          pose: 0.0           -5.20361   -3.73018    0 0.00672276  -0.00173273 0.998199    0.0595929      uwb: 0.0            1255.16  1527.79  
imu_odom_:  1691062900.988171856  0.296881   -0.378284  9.93833    -0.0511327  0.00745685  0.0447411   0.21       0             pose: 0.44039976    -5.21286   -3.72637    0 0.00948286  -0.00078973 0.998185    0.0594641      uwb: 0.49975339     1255.67  1528.85  
imu_odom_:  1691062901.13302726   0.0550666  -0.287304  9.83059    -0.0660464  0           0.0500674   0.21       0             pose: 0.0           -5.21286   -3.72637    0 0.00948286  -0.00078973 0.998185    0.0594641      uwb: 0.0            1255.67  1528.85  
imu_odom_:  1691062901.40176202   0.392649   -0.28491   9.8282     -0.0777643  0.0383495   0.0585895   0.23       0             pose: 0.51034319    -5.22591   -3.73179    0 0.00503884  0.0015368   0.998226    0.059313       uwb: 0.50187077     1258.84  1528.32  
imu_odom_:  1691062901.65142582   0.739808   -0.409408  10.2185    -0.0745685  0.0351537   0.0447411   0.23       0             pose: 0.0           -5.22591   -3.73179    0 0.00503884  0.0015368   0.998226    0.059313       uwb: 0.0            1258.84  1528.32  
imu_odom_:  1691062901.92149342   0.0574608  -0.0981623 10.0892    -0.0575243  0.0276969   0.0500674   0.21       -0.02         pose: 0.42011553    -5.23516   -3.72798    0 0.00116977  -0.0002819420.998252    0.0590883      uwb: 0.49837390     1262.25  1527.14  
imu_odom_:  1691062901.117197092  0.474052   -0.258574  9.84975    -0.0607201  0.0255663   0.0436758   0.18       0             pose: 0.51897020    -5.24441   -3.72418    0 0.000679592 -0.00318099 0.998264    0.0588008      uwb: 0.0            1262.25  1527.14  
imu_odom_:  1691062901.144185770  0.399832   -0.208296  9.4978     -0.0468716  -0.0223706  0.036219    0.2        0             pose: 0.0           -5.24441   -3.72418    0 0.000679592 -0.00318099 0.998264    0.0588008      uwb: 0.50085874     1260.72  1528.68  
imu_odom_:  1691062901.160306123  0.320823   0.0311246  10.5848    -0.0287621  -0.0149137  0.0458064   0.2        0             pose: 0.52139672    -5.25366   -3.72038    0 0.000588497 -0.00167838 0.998276    0.05866        uwb: 0.0            1260.72  1528.68  
imu_odom_:  1691062901.187156851  0.766145   -0.0335188 10.1251    -0.0447411  -0.0458064  0.0458064   0.18       0.02          pose: 0.0           -5.25366   -3.72038    0 0.000588497 -0.00167838 0.998276    0.05866        uwb: 0.50000713     1263.96  1528.25  
imu_odom_:  1691062901.213298287  0.40462    0.0383072  10.1442    -0.0458064  0.0106526   0.0468716   0.19       0             pose: 0.43902609    -5.25746   -3.72963    0 0.00072242  0.00231026  0.998278    0.058617       uwb: 0.0            1263.96  1528.25  
imu_odom_:  1691062901.230302922  0.488417   -0.342371  9.85214    -0.0585895  -0.0415453  0.0468716   0.19       0             pose: 0.0           -5.25746   -3.72963    0 0.00072242  0.00231026  0.998278    0.058617       uwb: 0.0            1263.96  1528.25  
imu_odom_:  1691062901.255211554  0.656011   -0.368707  10.0006    -0.0468716  -0.00319579 0.0447411   0.18       0             pose: 0.27078215    -5.26671   -3.72583    0 0.00269263  0.0037952   0.998275    0.0585276      uwb: 0.50007422     1261.08  1530.57  
imu_odom_:  1691062901.282138986  0.344765   0.0263362  9.91918    -0.0596548  0.00213053  0.052198    0.18       0             pose: 0.0           -5.26671   -3.72583    0 0.00269263  0.0037952   0.998275    0.0585276      uwb: 0.0            1261.08  1530.57  
imu_odom_:  1691062901.307200735  0.6608     -0.059855  10.2448    -0.0756338  0.015979    0.052198    0.18       -0.02         pose: 0.42865504    -5.27596   -3.72203    0 0.00321701  0.00332633  0.998284    0.0583788      uwb: 0.49840889     1260.1   1532.1   
imu_odom_:  1691062901.324203328  -0.0430956 -0.368707  9.90242    -0.0543285  0.0117179   0.0330232   0.18       -0.02         pose: 0.0           -5.27596   -3.72203    0 0.00321701  0.00332633  0.998284    0.0583788      uwb: 0.0            1260.1   1532.1   
imu_odom_:  1691062901.349234162  0.047884   -0.189142  10.1682    -0.0394148  -0.0170442  0.036219    0.18       0             pose: 0.51965848    -5.28521   -3.71824    0 0.00342546  0.0043972   0.998294    0.0581164      uwb: 0.50049418     1261.43  1532.46  
imu_odom_:  1691062901.376212341  0.665588   -0.205901  10.1083    -0.0553937  -0.0308927  0.036219    0.18       0             pose: 0.0           -5.28521   -3.71824    0 0.00342546  0.0043972   0.998294    0.0581164      uwb: 0.0            1261.43  1532.46  
imu_odom_:  1691062901.402226326  0.471658   -0.433351  9.83777    -0.0319579  0.0213053   0.0383495   0.18       0.02          pose: 0.41998721    -5.289     -3.7275     0 0.00244647  0.00403149  0.998301    0.0580785      uwb: 0.49968340     1260.48  1534.05  
imu_odom_:  1691062901.429165132  0.40462    0.11971    10.2999    -0.0330232  0.0447411   0.0383495   0.23       0             pose: 0.52084550    -5.29826   -3.72371    0 0.00361579  0.00239489  0.998298    0.0581509      uwb: 0.0            1260.48  1534.05  
imu_odom_:  1691062901.454296585  0.562637   -0.0526724 10.2472    -0.0575243  0.0106526   0.0458064   0.23       0             pose: 0.0           -5.29826   -3.72371    0 0.00361579  0.00239489  0.998298    0.0581509      uwb: 0.0            1260.48  1534.05  
imu_odom_:  1691062901.481282930  0.134075   -0.0766145 10.0628    -0.0607201  0.0127832   0.0458064   0.23       -0.02         pose: 0.70066503    -5.31408   -3.71722    0 0.00422034  0.00511827  0.998289    0.0580932      uwb: 0.0            1260.48  1534.05  
imu_odom_:  1691062901.506169106  0.445322   -0.0502782 9.67018    -0.0916127  -0.0149137  0.0628506   0.23       -0.02         pose: 0.6943012     -5.31676   -3.71612    0 0.00347265  0.0052061   0.998293    0.0580755      uwb: 0.100008426    1258.49  1535.91  
imu_odom_:  1691062901.523284859  0.833182   -0.296881  9.82102    -0.092678   0.0500674   0.0500674   0.21       -0.02         pose: 0.0           -5.31676   -3.71612    0 0.00347265  0.0052061   0.998293    0.0580755      uwb: 0.0            1258.49  1535.91  
imu_odom_:  1691062901.539195224  0.19393    -0.304064  9.84496    -0.0553937  0.00639159  0.0266316   0.21       -0.02         pose: 0.51921810    -5.32602   -3.71234    0 0.00285658  0.00675582  0.998308    0.0576899      uwb: 0.50126706     1261.19  1535.51  
imu_odom_:  1691062901.566252440  0.287304   -0.136469  10.149     -0.0458064  -0.0287621  0.0394148   0.25       0             pose: 0.0           -5.32602   -3.71234    0 0.00285658  0.00675582  0.998308    0.0576899      uwb: 0.0            1261.19  1535.51  
imu_odom_:  1691062901.591133366  0.567426   -0.304064  10.0437    -0.0553937  -0.00426106 0.0447411   0.25       0             pose: 0.33988854    -5.3298    -3.72159    0 0.0013331   0.00506161  0.998318    0.0577406      uwb: 0.49858679     1258.38  1538.07  
imu_odom_:  1691062901.618108045  0.433351   0.0263362  9.64145    -0.0436758  -0.00319579 0.0383495   0.21       -0.02         pose: 0.43983105    -5.33906   -3.71781    0 0.00127846  0.00300972  0.99833     0.0576816      uwb: 0.0            1258.38  1538.07  
imu_odom_:  1691062901.644144487  0.282516   -0.272939  9.53371    -0.0628506  0.0340885   0.0340885   0.19       -0.02         pose: 0.7018258     -5.33906   -3.71781    0 0.00135297  0.00374889  0.998327    0.0576864      uwb: 0.49998964     1257.9   1539.47  
imu_odom_:  1691062901.668242042  0.529119   -0.371101  9.67736    -0.0585895  0.0298274   0.0511327   0.25       0             pose: 0.45992863    -5.34831   -3.71403    0 -0.0007325880.00389318  0.998322    0.0577765      uwb: 0.0            1257.9   1539.47  
imu_odom_:  1691062901.692112694  0.56982    -0.191536  9.55765    -0.0458064  0.0383495   0.0415453   0.25       0             pose: 0.0           -5.34831   -3.71403    0 -0.0007325880.00389318  0.998322    0.0577765      uwb: 0.50043002     1257.3   1540.64  
imu_odom_:  1691062901.708221381  0.141258   -0.462081  10.3669    -0.0394148  0.0117179   0.0415453   0.18       0.02          pose: 0.31048442    -5.35757   -3.71025    0 0.000563395 0.00172292  0.998337    0.057625       uwb: 0.0            1257.3   1540.64  
imu_odom_:  1691062901.735273055  0.64404    -0.263362  10.2807    -0.056459   -0.0383495  0.0500674   0.18       0.02          pose: 0.0           -5.35757   -3.71025    0 0.000563395 0.00172292  0.998337    0.057625       uwb: 0.0            1257.3   1540.64  
imu_odom_:  1691062901.760121316  0.363919   -0.289698  10.0126    -0.0532632  -0.00106526 0.0415453   0.25       0             pose: 0.41220308    -5.35757   -3.71025    0 0.00145364  0.000445128 0.998342    0.0575452      uwb: 0.49950841     1258.54  1540.81  
imu_odom_:  1691062901.785269977  0.56982    0.122104   10.0963    -0.0394148  -0.0415453  0.0394148   0.21       0             pose: 0.43708079    -5.37061   -3.71573    0 0.0013953   -0.00145036 0.998348    0.0574156      uwb: 0.0            1258.54  1540.81  
imu_odom_:  1691062901.799120420  0.1652     -0.201113  9.82102    -0.0458064  0.00426106  0.0351537   0.21       0             pose: 0.0           -5.37061   -3.71573    0 0.0013953   -0.00145036 0.998348    0.0574156      uwb: 0.49987297     1261.8   1540.33  
imu_odom_:  1691062901.824185961  0.172383   -0.253785  9.57441    -0.0607201  0           0.0415453   0.17       0             pose: 0.7068422     -5.37061   -3.71573    0 0.00181711  -0.0007554580.998348    0.0574172      uwb: 0.0            1261.8   1540.33  
imu_odom_:  1691062901.849156131  0.356736   -0.0263362 10.2663    -0.0788296  0.0191748   0.0543285   0.17       0             pose: 0.0           -5.37061   -3.71573    0 0.00181711  -0.0007554580.998348    0.0574172      uwb: 0.49995464     1260.73  1541.74  
imu_odom_:  1691062901.872184207  0.538695   -0.234632  10.1083    -0.0713727  0.00532632  0.0415453   0.2        0             pose: 0.38979855    -5.37987   -3.71195    0 0.000745329 0.000982376 0.998348    0.057447       uwb: 0.0            1260.73  1541.74  
imu_odom_:  1691062901.888107988  0.141258   -0.457293  9.71806    -0.052198   0.0383495   0.0330232   0.2        0             pose: 0.0           -5.37987   -3.71195    0 0.000745329 0.000982376 0.998348    0.057447       uwb: 0.49982922     1258.24  1543.84  
imu_odom_:  1691062901.915166370  0.505177   -0.215478  10.2592    -0.0468716  -0.0394148  0.0458064   0.25       -0.02         pose: 0.48996272    -5.38913   -3.70817    0 -0.00106761 0.00251359  0.998357    0.0572367      uwb: 0.0            1258.24  1543.84  
imu_odom_:  1691062901.931156064  0.11971    0.136469   9.59835    -0.0649811  -0.0170442  0.0585895   0.25       -0.02         pose: 0.0           -5.38913   -3.70817    0 -0.00106761 0.00251359  0.998357    0.0572367      uwb: 0.0            1258.24  1543.84  
imu_odom_:  1691062901.958111494  0.186748   -0.287304  9.3326     -0.0628506  -0.0170442  0.0308927   0.25       0             pose: 0.40946157    -5.39839   -3.7044     0 -0.0002170620.00048844  0.99836     0.0572447      uwb: 0.50140413     1258.69  1544.79  
imu_odom_:  1691062901.984222307  -0.0191536 -0.395043  10.07      -0.04048    -0.0138484  0.0532632   0.25       0             pose: 0.0           -5.39839   -3.7044     0 -0.0002170620.00048844  0.99836     0.0572447      uwb: 0.0            1258.69  1544.79  
imu_odom_:  1691062902.11165196   0.445322   -0.203507  9.663      -0.0511327  -0.0234358  0.0458064   0.25       0.02          pose: 0.43090949    -5.40216   -3.71366    0 0.000373545 0.00111279  0.998369    0.0570719      uwb: 0.49891928     1257.2   1546.58  
imu_odom_:  1691062902.36102995   0.792481   -0.351948  10.1155    -0.0575243  -0.0234358  0.0585895   0.25       0.02          pose: 0.0           -5.40216   -3.71366    0 0.000373545 0.00111279  0.998369    0.0570719      uwb: 0.49964257     1253.18  1549.13  
imu_odom_:  1691062902.53160418   0.440533   -0.196325  9.58878    -0.0671117  0.00532632  0.0436758   0.23       -0.02         pose: 0.51934933    -5.41142   -3.70989    0 -0.0028274  -0.00028501 0.998373    0.0569584      uwb: 0.0            1253.18  1549.13  
imu_odom_:  1691062902.79212318   0.471658   -0.459687  9.64384    -0.0671117  0.0330232   0.0468716   0.23       -0.02         pose: 0.0           -5.41142   -3.70989    0 -0.0028274  -0.00028501 0.998373    0.0569584      uwb: 0.0            1253.18  1549.13  
imu_odom_:  1691062902.105191597  0.718261   -0.136469  9.91439    -0.0617853  0.0127832   0.0372843   0.18       0             pose: 0.51995015    -5.42069   -3.70612    0 0.00191267  -0.0002794690.998392    0.0566471      uwb: 0.50095209     1252.55  1550.3   
imu_odom_:  1691062902.130112479  0.603339   -0.42138   9.98143    -0.072438   -0.00639159 0.0511327   0.2        0             pose: 0.62058678    -5.42995   -3.70236    0 0.00384212  -0.00127288 0.998391    0.0565651      uwb: 0.0            1252.55  1550.3   
imu_odom_:  1691062902.157158613  0.497994   -0.0263362 9.61511    -0.0628506  -0.00213053 0.0394148   0.2        0             pose: 0.0           -5.42995   -3.70236    0 0.00384212  -0.00127288 0.998391    0.0565651      uwb: 0.0            1252.55  1550.3   
imu_odom_:  1691062902.182227070  0.696713   -0.208296  9.67497    -0.0639159  -0.0394148  0.0415453   0.19       0             pose: 0.5909989     -5.42995   -3.70236    0 0.00414371  -0.00183477 0.998391    0.0565295      uwb: 0.0            1252.55  1550.3   
imu_odom_:  1691062902.209099089  0.787692   -0.308852  9.60314    -0.0639159  -0.00852212 0.0266316   0.19       0             pose: 0.0           -5.42995   -3.70236    0 0.00414371  -0.00183477 0.998391    0.0565295      uwb: 0.100089797    1253.44  1550.98  
imu_odom_:  1691062902.234254749  0.56982    -0.608127  9.53132    -0.0607201  0.0276969   0.0447411   0.18       -0.02         pose: 0.54262882    -5.45224   -3.7041     0 0.00612916  -0.00104021 0.998387    0.056425       uwb: 0.0            1253.44  1550.98  
imu_odom_:  1691062902.251348045  0.196325   -0.385466  10.2185    -0.0276969  0.00745685  0.0351537   0.18       -0.02         pose: 0.0           -5.45224   -3.7041     0 0.00612916  -0.00104021 0.998387    0.056425       uwb: 0.49963674     1250.98  1553.24  
imu_odom_:  1691062902.277303409  0.61531    -0.198719  9.36612    -0.0458064  0.0287621   0.0490022   0.18       0.02          pose: 0.51817108    -5.46151   -3.70035    0 0.0103732   -0.00303018 0.998341    0.056548       uwb: 0.0            1250.98  1553.24  
imu_odom_:  1691062902.304124681  0.397437   0.0263362  10.1227    -0.0490022  -0.015979   0.0436758   0.23       -0.05         pose: 0.42115382    -5.46151   -3.70035    0 0.00838286  -0.00406347 0.99836     0.0564829      uwb: 0.50005964     1246.02  1556.46  
imu_odom_:  1691062902.329169806  0.426168   -0.399832  9.99579    -0.0639159  0.00319579  0.0458064   0.17       -0.02         pose: 0.25018001    -5.47078   -3.69659    0 0.00879548  -0.00185794 0.998367    0.0564057      uwb: 0.0            1246.02  1556.46  
imu_odom_:  1691062902.346120194  0.61531    -0.433351  10.0365    -0.0426106  0.0127832   0.04048     0.17       -0.02         pose: 0.0           -5.47078   -3.69659    0 0.00879548  -0.00185794 0.998367    0.0564057      uwb: 0.49992256     1245.48  1557.88  
imu_odom_:  1691062902.363144661  0.184354   -0.0047884 9.56723    -0.0671117  0           0.0447411   0.23       0             pose: 0.27870919    -5.47453   -3.70585    0 0.00736623  -0.0007701010.998384    0.0563482      uwb: 0.0            1245.48  1557.88  
imu_odom_:  1691062902.390094842  0.0167594  -0.433351  9.79947    -0.0639159  -0.00426106 0.0458064   0.23       0             pose: 0.0           -5.47453   -3.70585    0 0.00736623  -0.0007701010.998384    0.0563482      uwb: 0.49982340     1245.31  1558.83  
imu_odom_:  1691062902.406125367  0.667982   -0.0909797 10.0892    -0.0617853  -0.0649811  0.0319579   0.26       0             pose: 0.42057343    -5.4838    -3.7021     0 0.00611781  -0.00314975 0.998393    0.0562499      uwb: 0.0            1245.31  1558.83  
imu_odom_:  1691062902.433134753  1.14203    -0.299275  9.74679    -0.0447411  0.0149137   0.0351537   0.26       0             pose: 0.0           -5.4838    -3.7021     0 0.00611781  -0.00314975 0.998393    0.0562499      uwb: 0.0            1245.31  1558.83  
imu_odom_:  1691062902.458130881  0.665588   -0.150835  10.0796    -0.0436758  0.0340885   0.0330232   0.23       0             pose: 0.16020026    -5.4838    -3.7021     0 0.00473796  -0.00284564 0.998404    0.0562045      uwb: 0.49986131     1242.84  1561.16  
imu_odom_:  1691062902.475128224  0.646434   -0.280122  10.1035    -0.0532632  -0.0191748  0.04048     0.23       0             pose: 0.0           -5.4838    -3.7021     0 0.00473796  -0.00284564 0.998404    0.0562045      uwb: 0.0            1242.84  1561.16  
imu_odom_:  1691062902.500130477  0.371101   -0.378284  9.52653    -0.0660464  -0.0340885  0.0372843   0.18       0             pose: 0.42881545    -5.49307   -3.69834    0 0.00518015  -0.00258044 0.998402    0.0562189      uwb: 0.49994589     1240.75  1563.08  
imu_odom_:  1691062902.527187402  0.220267   -0.435745  9.76116    -0.0383495  -0.00745685 0.0447411   0.23       0             pose: 0.69939928    -5.50234   -3.69459    0 0.00929202  -0.00247305 0.998365    0.0563517      uwb: 0.0            1240.75  1563.08  
imu_odom_:  1691062902.552086994  0.390255   -0.117316  9.991      -0.0500674  0.036219    0.0415453   0.18       -0.02         pose: 0.0           -5.50234   -3.69459    0 0.00929202  -0.00247305 0.998365    0.0563517      uwb: 0.49887845     1240.99  1563.64  
imu_odom_:  1691062902.579206915  0.339977   -0.189142  9.55526    -0.0745685  -0.00426106 0.052198    0.23       0             pose: 0.52062677    -5.51536   -3.7001     0 0.00500257  -0.0035023  0.998397    0.0562683      uwb: 0.0            1240.99  1563.64  
imu_odom_:  1691062902.604068300  0.0622492  -0.177171  9.89524    -0.052198   0.0447411   0.0340885   0.23       0             pose: 0.0           -5.51536   -3.7001     0 0.00500257  -0.0035023  0.998397    0.0562683      uwb: 0.49994590     1237.36  1566.05  
imu_odom_:  1691062902.621199803  0.73502    0.107739   10.5465    -0.0639159  -0.0692422  0.0436758   0.23       0             pose: 0.23950272    -5.52463   -3.69634    0 0.00310751  -0.0017678  0.998412    0.0562135      uwb: 0.0            1237.36  1566.05  
imu_odom_:  1691062902.647063880  0.555455   0.150835   10.2472    -0.04048    -0.0276969  0.0351537   0.23       0             pose: 0.52069093    -5.5339    -3.69259    0 -0.000955505-5.74712e-050.998422    0.0561393      uwb: 0.50028420     1240.09  1565.61  
imu_odom_:  1691062902.664068224  0.433351   -0.258574  9.59835    -0.0798948  -0.0607201  0.052198    0.25       0             pose: 0.0           -5.5339    -3.69259    0 -0.000955505-5.74712e-050.998422    0.0561393      uwb: 0.0            1240.09  1565.61  
imu_odom_:  1691062902.689061727  0.476446   -0.392649  9.38527    -0.0628506  0.00852212  0.036219    0.25       0             pose: 0.42902835    -5.54317   -3.68884    0 0.00177478  0.00221464  0.998419    0.0561302      uwb: 0.49959008     1243.38  1565.1   
imu_odom_:  1691062902.716101444  0.553061   -0.351948  9.93594    -0.0596548  -0.02024    0.0436758   0.23       0             pose: 0.34992130    -5.54581   -3.69536    0 0.00217568  -0.00149064 0.998421    0.0561034      uwb: 0.0            1243.38  1565.1   
imu_odom_:  1691062902.741267312  0.35913    -0.21069   10.0748    -0.0490022  -0.0276969  0.0500674   0.23       0             pose: 0.7106336     -5.54692   -3.69811    0 0.00269296  -0.00204945 0.99842     0.0560882      uwb: 0.49995756     1242.68  1566.19  
imu_odom_:  1691062902.768173746  0.778116   -0.0574608 9.73722    -0.0575243  -0.0170442  0.0351537   0.23       0             pose: 0.45099249    -5.55619   -3.69435    0 0.00230258  -0.0022247  0.998431    0.0559107      uwb: 0.0            1242.68  1566.19  
imu_odom_:  1691062902.794052405  0.275333   -0.409408  9.40921    -0.056459   0.0458064   0.0447411   0.2        0.02          pose: 0.0           -5.55619   -3.69435    0 0.00230258  -0.0022247  0.998431    0.0559107      uwb: 0.50110957     1243.33  1567.72  
imu_odom_:  1691062902.811198199  0.471658   -0.25618   10.0987    -0.0553937  -0.0468716  0.0479369   0.25       0.02          pose: 0.52785093    -5.56546   -3.6906     0 0.00212274  -0.00252116 0.998431    0.0559023      uwb: 0.0            1243.33  1567.72  
imu_odom_:  1691062902.837043902  0.344765   -0.0646434 10.0652    -0.0511327  -0.0266316  0.0511327   0.25       0.02          pose: 0.0           -5.56546   -3.6906     0 0.00212274  -0.00252116 0.998431    0.0559023      uwb: 0.49876763     1241.7   1569.39  
imu_odom_:  1691062902.864058829  0.529119   0.160412   10.1179    -0.0415453  -0.0191748  0.0415453   0.18       0             pose: 0.25037251    -5.57473   -3.68686    0 0.00381277  -0.00152332 0.998434    0.0557908      uwb: 0.0            1241.7   1569.39  
imu_odom_:  1691062902.889104246  0.521936   -0.0814029 10.252     -0.0596548  0.00106526  0.0426106   0.18       0.02          pose: 0.44969173    -5.58124   -3.68423    0 0.00384061  0.00279791  0.998438    0.0556714      uwb: 0.50012963     1236.48  1572.29  
imu_odom_:  1691062902.916113340  0.138864   -0.0574608 9.88566    -0.0553937  0.0106526   0.0426106   0.18       0.02          pose: 0.0           -5.58124   -3.68423    0 0.00384061  0.00279791  0.998438    0.0556714      uwb: 0.0            1236.48  1572.29  
imu_odom_:  1691062902.933138974  0.605733   -0.217872  9.84735    -0.0692422  -0.00426106 0.0500674   0.18       0.02          pose: 0.8028533     -5.58401   -3.68311    0 0.00427585  0.00344321  0.998435    0.0556603      uwb: 0.0            1236.48  1572.29  
imu_odom_:  1691062902.959180374  0.380678   -0.117316  9.66539    -0.0585895  0.00106526  0.0266316   0.18       0.02          pose: 0.0           -5.58401   -3.68311    0 0.00427585  0.00344321  0.998435    0.0556603      uwb: 0.50042128     1235.41  1573.97  
imu_odom_:  1691062902.983161853  0.397437   -0.0814029 10.0868    -0.0681769  -0.036219   0.0436758   0.2        0             pose: 0.52124215    -5.58775   -3.69238    0 0.00299713  0.0048482   0.998439    0.055564       uwb: 0.0            1235.41  1573.97  
imu_odom_:  1691062903.10171531   0.68953    -0.186748  10.0054    -0.0735032  -0.0490022  0.0490022   0.2        0             pose: 0.0           -5.58775   -3.69238    0 0.00299713  0.0048482   0.998439    0.055564       uwb: 0.0            1235.41  1573.97  
imu_odom_:  1691062903.35039041   0.21069    -0.426168  9.87608    -0.0511327  0.00958738  0.0298274   0.19       0             pose: 0.42030220    -5.59702   -3.68864    0 0.000868509 0.00529262  0.998434    0.0556816      uwb: 0.0            1235.41  1573.97  
imu_odom_:  1691062903.62093925   0.859518   -0.19393   9.77074    -0.0575243  -0.0479369  0.0490022   0.23       0.02          pose: 0.51890020    -5.6063    -3.6849     0 0.00286354  0.00476599  0.99844     0.0555527      uwb: 0.99798731     1232.16  1576.05  
imu_odom_:  1691062903.79146974   0.814029   -0.131681  10.161     -0.0468716  -0.0308927  0.0426106   0.23       0.02          pose: 0.0           -5.6063    -3.6849     0 0.00286354  0.00476599  0.99844     0.0555527      uwb: 0.0            1232.16  1576.05  
imu_odom_:  1691062903.104067565  0.581791   -0.213084  10.2615    -0.056459   0.04048     0.0490022   0.25       0             pose: 0.23934232    -5.61557   -3.68115    0 0.00247062  0.00340969  0.998444    0.0556012      uwb: 0.50007131     1231.47  1577.24  
imu_odom_:  1691062903.127105849  0.474052   -0.126893  10.0245    -0.0575243  0.0234358   0.0426106   0.25       0             pose: 0.37080925    -5.61766   -3.68635    0 0.00681929  0.00307937  0.998432    0.0554694      uwb: 0.0            1231.47  1577.24  
imu_odom_:  1691062903.152176056  0.459687   -0.0861913 9.90721    -0.0585895  0.0234358   0.0490022   0.19       0             pose: 0.7099337     -5.61931   -3.69043    0 0.00701068  0.00246586  0.998435    0.0554303      uwb: 0.49989340     1236.94  1576.29  
imu_odom_:  1691062903.169171067  0.246603   -0.244209  9.7851     -0.0628506  -0.00639159 0.0447411   0.19       0             pose: 0.0           -5.61931   -3.69043    0 0.00701068  0.00246586  0.998435    0.0554303      uwb: 0.0            1236.94  1576.29  
imu_odom_:  1691062903.194116156  0.596156   -0.107739  10.3765    -0.0660464  0.0234358   0.0543285   0.2        0             pose: 0.48943192    -5.62858   -3.68669    0 0.00494771  0.00315598  0.998454    0.055277       uwb: 0.49981757     1236.33  1577.66  
imu_odom_:  1691062903.220094853  0.641646   -0.493206  10.0006    -0.0756338  0.0138484   0.0426106   0.2        0             pose: 0.0           -5.62858   -3.68669    0 0.00494771  0.00315598  0.998454    0.055277       uwb: 0.0            1236.33  1577.66  
imu_odom_:  1691062903.242066865  0.995988   -0.186748  10.058     -0.0671117  -0.0117179  0.0394148   0.17       0             pose: 0.42097300    -5.63786   -3.68295    0 0.00304959  0.00388806  0.998468    0.0551048      uwb: 0.50033088     1234.66  1579.35  
imu_odom_:  1691062903.260304595  0.177171   -0.263362  9.77074    -0.0639159  0.0415453   0.0372843   0.17       0             pose: 0.0           -5.63786   -3.68295    0 0.00304959  0.00388806  0.998468    0.0551048      uwb: 0.0            1234.66  1579.35  
imu_odom_:  1691062903.286032764  0.588974   -0.459687  9.55287    -0.0660464  0.0117179   0.0298274   0.19       0.02          pose: 0.48790368    -5.64714   -3.67922    0 0.00573966  0.00123892  0.998473    0.05492        uwb: 0.50135748     1234.51  1580.42  
imu_odom_:  1691062903.303170975  0.457293   -0.134075  10.0724    -0.0500674  -0.00213053 0.0276969   0.19       0.02          pose: 0.0           -5.64714   -3.67922    0 0.00573966  0.00123892  0.998473    0.05492        uwb: 0.0            1234.51  1580.42  
imu_odom_:  1691062903.328171770  0.215478   -0.244209  10.0533    -0.0266316  0.00213053  0.036219    0.18       -0.02         pose: 0.77093804    -5.66532   -3.68268    0 0.00490149  -0.0002946690.998465    0.0551616      uwb: 0.0            1234.51  1580.42  
imu_odom_:  1691062903.352175122  0.823605   -0.181959  9.80426    -0.052198   0.00319579  0.0436758   0.18       -0.02         pose: 0.7912456     -5.66941   -3.68099    0 0.00409088  -0.0002165460.998468    0.0551742      uwb: 0.49966300     1235.33  1581     
imu_odom_:  1691062903.376040525  0.399832   -0.174777  9.83059    -0.0394148  0.00852212  0.0458064   0.18       0.02          pose: 0.41091691    -5.66941   -3.68099    0 0.00465306  6.09351e-05 0.998467    0.0551517      uwb: 0.0            1235.33  1581     
imu_odom_:  1691062903.401039278  0.572214   0.251391   10.1323    -0.0340885  0.00426106  0.0479369   0.18       0.02          pose: 0.0           -5.66941   -3.68099    0 0.00465306  6.09351e-05 0.998467    0.0551517      uwb: 0.0            1235.33  1581     
imu_odom_:  1691062903.425052255  0.184354   -0.011971  10.07      -0.0447411  -0.00319579 0.0394148   0.23       -0.02         pose: 0.48864156    -5.67864   -3.67716    0 0.00303392  0.00382914  0.998475    0.0549805      uwb: 0.0            1235.33  1581     
imu_odom_:  1691062903.440035758  0.186748   -0.311246  9.18895    -0.072438   -0.00745685 0.0447411   0.23       -0.02         pose: 0.0           -5.67864   -3.67716    0 0.00303392  0.00382914  0.998475    0.0549805      uwb: 0.99869020     1233.15  1582.92  
imu_odom_:  1691062903.465180919  0.0454898  -0.435745  9.76595    -0.0596548  -0.0415453  0.0458064   0.18       0             pose: 0.38996480    -5.68792   -3.67343    0 -0.0002934080.00403565  0.99848     0.0549606      uwb: 0.0            1233.15  1582.92  
imu_odom_:  1691062903.482142682  1.01275    -0.138864  9.96946    -0.0713727  -0.0500674  0.0340885   0.18       0             pose: 0.7180124     -5.68792   -3.67343    0 -0.0007303240.00357566  0.998483    0.0549414      uwb: 0.0            1233.15  1582.92  
imu_odom_:  1691062903.507092438  0.667982   -0.354342  9.80426    -0.0468716  0.0479369   0.04048     0.2        -0.02         pose: 0.34926800    -5.69681   -3.68063    0 0.000255394 0.00225324  0.998487    0.0549362      uwb: 0.50103375     1237.06  1582.35  
imu_odom_:  1691062903.531133122  0.138864   -0.0766145 9.97664    -0.036219   0.036219    0.0383495   0.2        -0.02         pose: 0.0           -5.69681   -3.68063    0 0.000255394 0.00225324  0.998487    0.0549362      uwb: 0.0            1237.06  1582.35  
imu_odom_:  1691062903.554103743  0.497994   -0.306458  9.62948    -0.0500674  -0.0127832  0.0468716   0.18       0             pose: 0.7893207     -5.70093   -3.67898    0 0.000673338 0.00180993  0.998488    0.0549307      uwb: 0.50038629     1235.88  1583.82  
imu_odom_:  1691062903.580046566  0.347159   0.0191536  10.2256    -0.0426106  0.0223706   0.0330232   0.18       -0.02         pose: 0.48035871    -5.71021   -3.67525    0 -0.0006084220.00160959  0.99849     0.0549107      uwb: 0.0            1235.88  1583.82  
imu_odom_:  1691062903.604068293  0.45011    -0.0095768110.2855    -0.0490022  0.0117179   0.0394148   0.18       -0.02         pose: 0.0           -5.71021   -3.67525    0 -0.0006084220.00160959  0.99849     0.0549107      uwb: 0.50120874     1240.37  1583.18  
imu_odom_:  1691062903.619051796  0.0383072  -0.366313  9.54089    -0.0543285  -0.00106526 0.0479369   0.18       -0.02         pose: 0.0           -5.71021   -3.67525    0 -0.0006084220.00160959  0.99849     0.0549107      uwb: 0.0            1240.37  1583.18  
imu_odom_:  1691062903.635085529  0.684742   -0.160412  10.58      -0.0532632  -0.00745685 0.0511327   0.19       0             pose: 0.73008375    -5.71949   -3.67152    0 -0.0002000280.00499755  0.998479    0.0549082      uwb: 0.0            1240.37  1583.18  
imu_odom_:  1691062903.660156611  0.835576   -0.244209  9.76834    -0.0745685  -0.0223706  0.0458064   0.19       0             pose: 0.0           -5.71949   -3.67152    0 -0.0002000280.00499755  0.998479    0.0549082      uwb: 0.49861306     1239.88  1584.88  
imu_odom_:  1691062903.685280774  0.368707   -0.241814  9.87369    -0.0532632  0.056459    0.0415453   0.25       0             pose: 0.31142062    -5.72877   -3.66779    0 0.00145197  0.00400943  0.998491    0.0547543      uwb: 0.50005380     1246.47  1583.56  
imu_odom_:  1691062903.710080913  0.581791   -0.0861913 9.78031    -0.0490022  0.0234358   0.0330232   0.2        0             pose: 0.0           -5.72877   -3.66779    0 0.00145197  0.00400943  0.998491    0.0547543      uwb: 0.0            1246.47  1583.56  
imu_odom_:  1691062903.733024995  0.114922   -0.148441  9.663      -0.0639159  -0.00426106 0.0500674   0.2        0             pose: 0.43058577    -5.73925   -3.67435    0 0.000669904 0.00166972  0.998503    0.0546653      uwb: 0.0            1246.47  1583.56  
imu_odom_:  1691062903.751137607  0.787692   -0.577003  9.70609    -0.0777643  -0.02024    0.0436758   0.2        0             pose: 0.0           -5.73925   -3.67435    0 0.000669904 0.00166972  0.998503    0.0546653      uwb: 0.50044462     1244.28  1585.5   
imu_odom_:  1691062903.776023492  0.648829   -0.270545  10.3908    -0.052198   -0.00426106 0.0383495   0.18       -0.02         pose: 0.6828394     -5.74177   -3.67334    0 0.00118756  0.00200191  0.998501    0.0546866      uwb: 0.0            1244.28  1585.5   
imu_odom_:  1691062903.802020270  0.73502    -0.215478  9.71088    -0.0607201  -0.00213053 0.0479369   0.22       0             pose: 0.48945234    -5.74177   -3.67334    0 0.000822639 0.00224762  0.998505    0.0546121      uwb: 0.50059628     1237.9   1588.88  
imu_odom_:  1691062903.828050005  0.42138    -0.232238  9.65582    -0.0628506  0           0.0447411   0.22       0             pose: 0.0           -5.74177   -3.67334    0 0.000822639 0.00224762  0.998505    0.0546121      uwb: 0.0            1237.9   1588.88  
imu_odom_:  1691062903.852984303  0.61531    -0.0287304 9.91918    -0.04048    0.0308927   0.0351537   0.23       -0.02         pose: 0.42012138    -5.75105   -3.66962    0 0.00449458  0.000258532 0.9985      0.05457        uwb: 0.49878221     1236.73  1590.44  
imu_odom_:  1691062903.867139521  0.174777   -0.442927  9.70131    -0.0468716  -0.0138484  0.0479369   0.23       -0.02         pose: 0.0           -5.75105   -3.66962    0 0.00449458  0.000258532 0.9985      0.05457        uwb: 0.0            1236.73  1590.44  
imu_odom_:  1691062903.892014323  0.287304   -0.471658  9.38766    -0.0553937  0.00213053  0.0490022   0.18       0             pose: 0.51993265    -5.76033   -3.66589    0 0.00405432  6.35023e-05 0.998509    0.0544381      uwb: 0.50016172     1239.08  1590.32  
imu_odom_:  1691062903.916098754  0.486023   -0.349553  9.9527     -0.0660464  -0.015979   0.0500674   0.18       0             pose: 0.0           -5.76033   -3.66589    0 0.00405432  6.35023e-05 0.998509    0.0544381      uwb: 0.0            1239.08  1590.32  
imu_odom_:  1691062903.931137962  0.430956   -0.45011   9.65582    -0.0543285  -0.0127832  0.0426106   0.18       0.02          pose: 0.39005521    -5.77334   -3.67145    0 0.00336386  0.000272251 0.998514    0.0543874      uwb: 0.0            1239.08  1590.32  
imu_odom_:  1691062903.947084201  0.0957681  -0.189142  9.69652    -0.0479369  0.0170442   0.0372843   0.18       0.02          pose: 0.0           -5.77334   -3.67145    0 0.00336386  0.000272251 0.998514    0.0543874      uwb: 0.49966883     1236.43  1592.68  
imu_odom_:  1691062903.964136958  0.545878   -0.213084  10.2687    -0.0628506  -0.0575243  0.0511327   0.18       0.02          pose: 0.0           -5.77334   -3.67145    0 0.00336386  0.000272251 0.998514    0.0543874      uwb: 0.0            1236.43  1592.68  
imu_odom_:  1691062903.990138986  0.490811   -0.0957681 10.343     -0.0681769  0.015979    0.0532632   0.18       0             pose: 0.49090768    -5.78262   -3.66773    0 0.00284976  -0.00430387 0.998519    0.0541541      uwb: 0.49994882     1240.88  1591.8   
imu_odom_:  1691062904.15018163   0.823605   -0.196325  10.1682    -0.0692422  -0.0149137  0.036219    0.18       0             pose: 0.66982892    -5.7919    -3.66402    0 0.00309947  -0.00114228 0.998541    0.0538921      uwb: 0.0            1240.88  1591.8   
imu_odom_:  1691062904.39057097   1.01514    -0.0430956 10.1442    -0.0426106  -0.0170442  0.0372843   0.18       0             pose: 0.0           -5.7919    -3.66402    0 0.00309947  -0.00114228 0.998541    0.0538921      uwb: 0.50068669     1238.07  1593.77  
imu_odom_:  1691062904.56039567   0.577003   -0.344765  9.54089    -0.0681769  -0.0127832  0.0458064   0.27       0.02          pose: 0.7916248     -5.7919    -3.66402    0 0.0039303   -0.00115832 0.998538    0.0539064      uwb: 0.0            1238.07  1593.77  
imu_odom_:  1691062904.81090235   0.667982   -0.354342  9.84735    -0.0713727  -0.0276969  0.0468716   0.27       0.02          pose: 0.0           -5.7919    -3.66402    0 0.0039303   -0.00115832 0.998538    0.0539064      uwb: 0.0            1238.07  1593.77  
imu_odom_:  1691062904.107974212  0.821211   -0.174777  10.1083    -0.0479369  -0.00852212 0.04048     0.21       0.02          pose: 0.48017497    -5.80119   -3.66031    0 0.00825618  -0.00105954 0.998509    0.0539423      uwb: 0.0            1238.07  1593.77  
imu_odom_:  1691062904.133044711  0.675165   -0.385466  9.72525    -0.056459   0.00639159  0.0447411   0.21       0.02          pose: 0.0           -5.80119   -3.66031    0 0.00825618  -0.00105954 0.998509    0.0539423      uwb: 0.0            1238.07  1593.77  
imu_odom_:  1691062904.157980468  0.679953   -0.0766145 9.62948    -0.052198   -0.00319579 0.0415453   0.22       0             pose: 0.42009222    -5.81419   -3.66588    0 0.0109221   -0.00393584 0.998484    0.0538016      uwb: 0.99936684     1237.42  1595.17  
imu_odom_:  1691062904.172041191  0.691924   -0.172383  10.0245    -0.0596548  0.0287621   0.0532632   0.22       0             pose: 0.0           -5.81419   -3.66588    0 0.0109221   -0.00393584 0.998484    0.0538016      uwb: 0.0            1237.42  1595.17  
imu_odom_:  1691062904.195997006  0.339977   -0.0814029 9.91439    -0.056459   0.0255663   0.0426106   0.18       0             pose: 0.52049845    -5.82347   -3.66217    0 0.0130735   -0.00478748 0.998459    0.0537144      uwb: 0.50020839     1240.94  1594.92  
imu_odom_:  1691062904.223011058  0.268151   -0.442927  9.79468    -0.0607201  0.015979    0.0468716   0.18       0             pose: 0.0           -5.82347   -3.66217    0 0.0130735   -0.00478748 0.998459    0.0537144      uwb: 0.0            1240.94  1594.92  
imu_odom_:  1691062904.238995212  0.368707   -0.23942   10.0269    -0.0596548  -0.00532632 0.04048     0.18       0             pose: 0.38909569    -5.83276   -3.65846    0 0.0128025   -0.00134033 0.998477    0.0536387      uwb: 0.49988466     1242.81  1595.04  
imu_odom_:  1691062904.264973616  0.454898   -0.347159  9.56005    -0.0713727  0.0234358   0.056459    0.18       0             pose: 0.0           -5.83276   -3.65846    0 0.0128025   -0.00134033 0.998477    0.0536387      uwb: 0.0            1242.81  1595.04  
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imu_odom_:  1691062904.307123413  0.545878   -0.217872  10.1131    -0.0617853  -0.0138484  0.0372843   0.2        0             pose: 0.0           -5.83276   -3.65846    0 0.00762672  -0.00191813 0.998537    0.053506       uwb: 0.0            1242.81  1595.04  
imu_odom_:  1691062904.332039922  0.37589    -0.395043  9.59357    -0.0596548  -0.0447411  0.0394148   0.18       -0.02         pose: 0.75958412    -5.85506   -3.66013    0 0.00422467  -0.00163284 0.99857     0.0532737      uwb: 0.0            1242.81  1595.04  
imu_odom_:  1691062904.355970362  0.277727   -0.560243  9.72046    -0.0340885  -0.0287621  0.0287621   0.18       -0.02         pose: 0.8064114     -5.85506   -3.66013    0 0.00388648  -0.00229126 0.99857     0.0532707      uwb: 0.100036136    1243.66  1595.63  
imu_odom_:  1691062904.380157746  0.335188   -0.0191536 10.6183    -0.0191748  -0.0106526  0.0458064   0.18       -0.02         pose: 0.40782835    -5.8616    -3.65752    0 0.00203192  -0.00533265 0.998558    0.0533802      uwb: 0.0            1243.66  1595.63  
imu_odom_:  1691062904.405077171  0.373495   0.0167594  10.5441    -0.0287621  -0.0213053  0.0415453   0.2        0             pose: 0.0           -5.8616    -3.65752    0 0.00203192  -0.00533265 0.998558    0.0533802      uwb: 0.50047671     1248.21  1594.85  
imu_odom_:  1691062904.421980312  0.126893   -0.184354  9.44273    -0.04048    0.0383495   0.052198    0.2        0             pose: 0.32090216    -5.86435   -3.65643    0 0.0013378   -0.00171478 0.998576    0.0532977      uwb: 0.0            1248.21  1594.85  
imu_odom_:  1691062904.446045495  0.572214   0.011971   10.0676    -0.0596548  -0.0447411  0.0479369   0.2        0             pose: 0.0           -5.86435   -3.65643    0 0.0013378   -0.00171478 0.998576    0.0532977      uwb: 0.49934802     1248.65  1595.91  
imu_odom_:  1691062904.464112610  0.548272   -0.42138   10.0054    -0.0330232  0.0138484   0.0447411   0.2        0             pose: 0.41925227    -5.87364   -3.65273    0 -8.98267e-050.00111845  0.998586    0.0531418      uwb: 0.0            1248.65  1595.91  
imu_odom_:  1691062904.487992012  0.545878   -0.416591  10.161     -0.0415453  0.0138484   0.0426106   0.2        0             pose: 0.0           -5.87364   -3.65273    0 -8.98267e-050.00111845  0.998586    0.0531418      uwb: 0.49842933     1249.56  1596.62  
imu_odom_:  1691062904.515007523  0.476446   -0.0933739 9.79468    -0.0639159  0.0223706   0.0511327   0.18       -0.02         pose: 0.42017096    -5.88663   -3.65832    0 0.00212273  9.9581e-05  0.998592    0.0530086      uwb: 0.0            1249.56  1596.62  
imu_odom_:  1691062904.538991919  0.292093   -0.292093  9.66539    -0.0575243  0.0351537   0.0372843   0.2        0             pose: 0.43004622    -5.89316   -3.65573    0 0.00278377  0.00129396  0.998599    0.0528332      uwb: 0.49981466     1249.47  1597.88  
imu_odom_:  1691062904.564992198  0.35913    -0.220267  10.1299    -0.0426106  0.0191748   0.0298274   0.2        0             pose: 0.0           -5.89316   -3.65573    0 0.00278377  0.00129396  0.998599    0.0528332      uwb: 0.0            1249.47  1597.88  
imu_odom_:  1691062904.586162757  0.663194   -0.260968  9.59117    -0.0543285  -0.02024    0.0436758   0.18       0             pose: 0.8036408     -5.89592   -3.65463    0 0.00192765  0.000894545 0.998601    0.0528421      uwb: 0.49992549     1244.47  1600.63  
imu_odom_:  1691062904.599093630  0.557849   -0.007182619.43555    -0.0479369  -0.0106526  0.0415453   0.18       0             pose: 0.0           -5.89592   -3.65463    0 0.00192765  0.000894545 0.998601    0.0528421      uwb: 0.0            1244.47  1600.63  
imu_odom_:  1691062904.623029028  0.600945   -0.339977  9.88566    -0.052198   -0.00213053 0.0383495   0.18       0             pose: 0.47948376    -5.90522   -3.65093    0 -0.00201358 -0.0001150870.998594    0.0529743      uwb: 0.0            1244.47  1600.63  
imu_odom_:  1691062904.649001017  0.227449   -0.162806  10.0197    -0.052198   -0.00532632 0.0394148   0.18       0             pose: 0.0           -5.90522   -3.65093    0 -0.00201358 -0.0001150870.998594    0.0529743      uwb: 0.49997215     1246.39  1600.83  
imu_odom_:  1691062904.664962713  0.35913    -0.423774  9.74679    -0.0319579  -0.0426106  0.0468716   0.18       -0.02         pose: 0.35983156    -5.90522   -3.65093    0 0.00107818  0.00014895  0.998597    0.0529356      uwb: 0.0            1246.39  1600.83  
imu_odom_:  1691062904.688966358  0.548272   -0.179565  9.7875     -0.0511327  0.00532632  0.0447411   0.18       -0.02         pose: 0.0           -5.90522   -3.65093    0 0.00107818  0.00014895  0.998597    0.0529356      uwb: 0.49995174     1247.32  1601.59  
imu_odom_:  1691062904.714966928  0.445322   -0.0814029 9.88566    -0.0660464  0           0.052198    0.25       -0.02         pose: 0.49296964    -5.9182    -3.65653    0 -0.000160079-0.00055625 0.998599    0.0529199      uwb: 0.0            1247.32  1601.59  
imu_odom_:  1691062904.731175360  0.380678   -0.208296  9.36133    -0.0490022  0.0319579   0.0415453   0.25       -0.02         pose: 0.0           -5.9182    -3.65653    0 -0.000160079-0.00055625 0.998599    0.0529199      uwb: 0.0            1247.32  1601.59  
imu_odom_:  1691062904.756036163  0.0430956  -0.347159  9.8258     -0.056459   -0.0127832  0.0436758   0.24       0             pose: 0.40764461    -5.9275    -3.65284    0 0.00199966  0.00030582  0.998604    0.0527803      uwb: 0.49995757     1247.63  1602.35  
imu_odom_:  1691062904.770028348  -0.0023942 -0.225055  9.60075    -0.0660464  -0.0117179  0.0372843   0.24       0             pose: 0.0           -5.9275    -3.65284    0 0.00199966  0.00030582  0.998604    0.0527803      uwb: 0.0            1247.63  1602.35  
imu_odom_:  1691062904.787019860  0.608127   0.0957681  10.1107    -0.0585895  -0.015979   0.0436758   0.24       0             pose: 0.0           -5.9275    -3.65284    0 0.00199966  0.00030582  0.998604    0.0527803      uwb: 0.50072169     1242.18  1605.48  
imu_odom_:  1691062904.801050251  0.112527   -0.172383  9.65582    -0.0649811  -0.036219   0.0511327   0.18       0.02          pose: 0.42006014    -5.93679   -3.64915    0 -0.0003571680.00107858  0.998613    0.0526408      uwb: 0.0            1242.18  1605.48  
imu_odom_:  1691062904.817037613  0.799663   -0.337582  10.0604    -0.0820254  -0.0330232  0.0436758   0.18       0.02          pose: 0.0           -5.93679   -3.64915    0 -0.0003571680.00107858  0.998613    0.0526408      uwb: 0.0            1242.18  1605.48  
imu_odom_:  1691062904.831007925  0.538695   -0.339977  9.67257    -0.0479369  0           0.0287621   0.18       0.02          pose: 0.0           -5.93679   -3.64915    0 -0.0003571680.00107858  0.998613    0.0526408      uwb: 0.0            1242.18  1605.48  
imu_odom_:  1691062904.845925515  0.667982   -0.0909797 10.1825    -0.0596548  0.00745685  0.0415453   0.19       0             pose: 0.53901821    -5.94609   -3.64546    0 -0.00243595 0.00161131  0.998614    0.052552       uwb: 0.49912345     1243.14  1606.36  
imu_odom_:  1691062904.863973381  0.430956   -0.502782  9.49062    -0.0532632  0.0191748   0.0394148   0.23       0             pose: 0.0           -5.94609   -3.64546    0 -0.00243595 0.00161131  0.998614    0.052552       uwb: 0.0            1243.14  1606.36  
imu_odom_:  1691062904.879979699  0.454898   -0.222661  9.9503     -0.0447411  -0.0191748  0.0479369   0.23       0             pose: 0.61039073    -5.95907   -3.65107    0 0.000773621 -0.0003347230.998619    0.0525342      uwb: 0.0            1243.14  1606.36  
imu_odom_:  1691062904.897976235  0.339977   -0.201113  9.7037     -0.0639159  0           0.0426106   0.25       -0.02         pose: 0.0           -5.95907   -3.65107    0 0.000773621 -0.0003347230.998619    0.0525342      uwb: 0.50037463     1247.4   1606.28  
imu_odom_:  1691062904.914971538  0.481235   -0.124498  10.1394    -0.0319579  -0.0223706  0.0351537   0.25       -0.02         pose: 0.0           -5.95907   -3.65107    0 0.000773621 -0.0003347230.998619    0.0525342      uwb: 0.0            1247.4   1606.28  
imu_odom_:  1691062904.937068377  0.940921   -0.148441  10.7021    -0.0426106  0.00639159  0.0426106   0.25       -0.02         pose: 0.33939566    -5.96836   -3.64739    0 0.00147597  -0.0004736430.998622    0.0524574      uwb: 0.50215661     1248.3   1606.95  
imu_odom_:  1691062904.950120867  1.06781    -0.40462   9.87369    -0.0596548  -0.04048    0.0276969   0.18       0.02          pose: 0.33162612    -5.96836   -3.64739    0 0.00229401  0.00132358  0.998619    0.0524704      uwb: 0.0            1248.3   1606.95  
imu_odom_:  1691062904.968057907  0.112527   0.184354   10.6279    -0.0553937  0.0639159   -0.0127832  0.18       0.02          pose: 0.0           -5.96836   -3.64739    0 0.00229401  0.00132358  0.998619    0.0524704      uwb: 0.0            1248.3   1606.95  
imu_odom_:  1691062904.984057809  0.227449   -0.0742203 9.32781    -0.0532632  0.0127832   -0.0660464  0.2        -0.17         pose: 0.46971933    -5.97766   -3.6437     0 0.00339065  0.00222927  0.998587    0.0529941      uwb: 0.0            1248.3   1606.95  
imu_odom_:  1691062905.987782     0.52433    -0.0047884 10.1562    -0.0671117  -0.0372843  -0.134223   0.2        -0.17         pose: 0.0           -5.97766   -3.6437     0 0.00339065  0.00222927  0.998587    0.0529941      uwb: 0.49752230     1240.57  1610.71  
imu_odom_:  1691062905.16951228   0.703895   -0.304064  10.0868    -0.0436758  -0.0149137  -0.143811   0.2        -0.17         pose: 0.0           -5.97766   -3.6437     0 0.00339065  0.00222927  0.998587    0.0529941      uwb: 0.0            1240.57  1610.71  
imu_odom_:  1691062905.34909267   0.311246   -0.47884   9.16979    -0.076699   0.0234358   -0.171508   0.27       -0.41         pose: 0.8006951     -5.97766   -3.6437     0 0.00259675  0.00258403  0.998565    0.053419       uwb: 0.49983508     1241.28  1610.96  
imu_odom_:  1691062905.51074534   0.878672   -0.0646434 10.4172    -0.0607201  -0.00958738 -0.221575   0.27       -0.41         pose: 0.0           -5.97766   -3.6437     0 0.00259675  0.00258403  0.998565    0.053419       uwb: 0.0            1241.28  1610.96  
imu_odom_:  1691062905.68068379   0.995988   0.150835   9.62948    -0.0692422  -0.00319579 -0.302535   0.27       -0.41         pose: 0.0           -5.97766   -3.6437     0 0.00259675  0.00258403  0.998565    0.053419       uwb: 0.0            1241.28  1610.96  
imu_odom_:  1691062905.86142786   0.955286   0.0670376  9.62469    -0.0617853  -0.00639159 -0.368581   0.18       -0.41         pose: 0.48849574    -5.99064   -3.64929    0 0.00382198  0.00256232  0.998329    0.0576034      uwb: 0.50063129     1236.43  1614.34  
imu_odom_:  1691062905.99040702   0.577003   -0.047884  9.663      -0.056459   0.0532632   -0.427171   0.18       -0.41         pose: 0.0           -5.99064   -3.64929    0 0.00382198  0.00256232  0.998329    0.0576034      uwb: 0.0            1236.43  1614.34  
imu_odom_:  1691062905.114922778  0.852336   -0.0622492 10.1969    -0.0873517  0           -0.431432   0.18       -0.41         pose: 0.67163425    -5.99993   -3.64561    0 0.00794447  0.00388965  0.997596    0.0687272      uwb: 0.0            1236.43  1614.34  
imu_odom_:  1691062905.132969478  0.277727   -0.174777  9.79468    -0.0649811  -0.04048    -0.452737   0.25       -0.64         pose: 0.0           -5.99993   -3.64561    0 0.00794447  0.00388965  0.997596    0.0687272      uwb: 0.0            1236.43  1614.34  
imu_odom_:  1691062905.149970614  0.217872   -0.0335188 10.1873    -0.0426106  -0.0426106  -0.474043   0.25       -0.64         pose: 0.0           -5.99993   -3.64561    0 0.00794447  0.00388965  0.997596    0.0687272      uwb: 0.50050296     1238.38  1614.59  
imu_odom_:  1691062905.163976799  0.555455   0.124498   10.137     -0.0383495  -0.0106526  -0.506001   0.25       -0.64         pose: 0.30849247    -6.00926   -3.64199    0 0.00883163  0.00436614  0.997056    0.0760456      uwb: 0.0            1238.38  1614.59  
imu_odom_:  1691062905.181040347  0.430956   -0.23942   10.5369    -0.0735032  0.0287621   -0.513457   0.17       -0.53         pose: 0.41049695    -6.01413   -3.64006    0 0.00701204  0.00637476  0.99619     0.0866927      uwb: 0.0            1238.38  1614.59  
imu_odom_:  1691062905.193976178  0.746991   -0.0766145 9.89524    -0.0607201  -0.0330232  -0.539024   0.17       -0.53         pose: 0.0           -6.01413   -3.64006    0 0.00701204  0.00637476  0.99619     0.0866927      uwb: 0.49949385     1237.53  1615.6   
imu_odom_:  1691062905.209919792  0.35913    -0.0335188 9.35654    -0.0394148  -0.0298274  -0.579504   0.17       -0.53         pose: 0.0           -6.01413   -3.64006    0 0.00701204  0.00637476  0.99619     0.0866927      uwb: 0.0            1237.53  1615.6   
imu_odom_:  1691062905.228025989  1.09654    0.0215478  10.1514    -0.056459   -0.04048    -0.533697   0.24       -0.79         pose: 0.7013300     -6.01857   -3.63835    0 0.00645675  0.00577489  0.996028    0.0886235      uwb: 0.0            1237.53  1615.6   
imu_odom_:  1691062905.244901423  1.63285    -0.160412  10.0461    -0.0681769  -0.0447411  -0.476173   0.24       -0.79         pose: 0.0           -6.01857   -3.63835    0 0.00645675  0.00577489  0.996028    0.0886235      uwb: 0.49924304     1231.96  1618.78  
imu_odom_:  1691062905.257893542  1.42694    -0.612916  9.59117    -0.0681769  0.00319579  -0.461259   0.24       -0.79         pose: 0.0           -6.01857   -3.63835    0 0.00645675  0.00577489  0.996028    0.0886235      uwb: 0.0            1231.96  1618.78  
imu_odom_:  1691062905.274031104  1.81002    -0.0574608 10.3238    -0.0426106  -0.0276969  -0.452737   0.13       -0.44         pose: 0.46939269    -6.02789   -3.63472    0 0.00686383  0.0059475   0.994711    0.102314       uwb: 0.0            1231.96  1618.78  
imu_odom_:  1691062905.291945395  1.43892    -0.0047884 9.87369    -0.0543285  0.00319579  -0.383495   0.18       -0.55         pose: 0.0           -6.02789   -3.63472    0 0.00686383  0.0059475   0.994711    0.102314       uwb: 0.50189413     1227.94  1621.24  
imu_odom_:  1691062905.308975404  0.893037   -0.466869  9.79228    -0.0745685  0.0458064   -0.312122   0.18       -0.55         pose: 0.64143393    -6.04084   -3.6404     0 0.0135038   0.00477735  0.99287     0.11834        uwb: 0.0            1227.94  1621.24  
imu_odom_:  1691062905.321965190  0.991199   -0.363919  10.1035    -0.0628506  0.0223706   -0.307861   0.18       -0.55         pose: 0.0           -6.04084   -3.6404     0 0.0135038   0.00477735  0.99287     0.11834        uwb: 0.0            1227.94  1621.24  
imu_odom_:  1691062905.337907637  0.859518   -0.0430956 10.1347    -0.0532632  0.00319579  -0.313188   0.11       -0.38         pose: 0.0           -6.04084   -3.6404     0 0.0135038   0.00477735  0.99287     0.11834        uwb: 0.49872098     1231.03  1621.25  
imu_odom_:  1691062905.355904465  0.677559   0.0023942  9.73243    -0.0777643  0.0149137   -0.273773   0.11       -0.38         pose: 0.32899544    -6.04084   -3.6404     0 0.015001    0.00274741  0.992118    0.124379       uwb: 0.0            1231.03  1621.25  
imu_odom_:  1691062905.372962181  0.632069   -0.433351  9.77553    -0.0703074  0.00319579  -0.243946   0.09       -0.29         pose: 0.40932160    -6.04084   -3.6404     0 0.0162622   0.00455548  0.991213    0.131194       uwb: 0.0            1231.03  1621.25  
imu_odom_:  1691062905.386021962  0.840365   -0.31364   9.90721    -0.0692422  0.00639159  -0.234358   0.09       -0.29         pose: 0.0           -6.04084   -3.6404     0 0.0162622   0.00455548  0.991213    0.131194       uwb: 0.49936553     1225.86  1623.93  
imu_odom_:  1691062905.401889164  0.950498   -0.241814  9.84017    -0.0500674  0.0223706   -0.218379   0.09       -0.29         pose: 0.0           -6.04084   -3.6404     0 0.0162622   0.00455548  0.991213    0.131194       uwb: 0.0            1225.86  1623.93  
imu_odom_:  1691062905.427973730  0.68953    -0.0957681 9.83777    -0.0575243  -0.00213053 -0.184291   0.1        -0.35         pose: 0.8009284     -6.04084   -3.6404     0 0.0159575   0.00376124  0.991073    0.13231        uwb: 0.0            1225.86  1623.93  
imu_odom_:  1691062905.453987716  -0.0766145 -0.397437  9.51216    -0.0490022  0.0692422   -0.24075    0.07       -0.23         pose: 0.64059981    -6.05013   -3.63671    0 0.0159072   0.00321036  0.989981    0.140265       uwb: 0.50003632     1236.23  1620.58  
imu_odom_:  1691062905.470917398  -0.42138   -0.0502782 9.95509    -0.0383495  0.0319579   -0.401605   0.07       -0.23         pose: 0.0           -6.05013   -3.63671    0 0.0159072   0.00321036  0.989981    0.140265       uwb: 0.0            1236.23  1620.58  
imu_odom_:  1691062905.494907335  -0.296881  0.4956     9.84735    -0.0458064  -0.0543285  -0.498544   0.1        -0.41         pose: 0.0           -6.05013   -3.63671    0 0.0159072   0.00321036  0.989981    0.140265       uwb: 0.50006257     1237.11  1621.27  
imu_odom_:  1691062905.521150850  -0.318429  -0.572214  9.7875     -0.076699   -0.0287621  -0.493217   0.1        -0.41         pose: 0.51075736    -6.05013   -3.63671    0 0.0100726   0.00410764  0.988664    0.14975        uwb: 0.0            1237.11  1621.27  
imu_odom_:  1691062905.546973806  0.462081   -0.0454898 9.87608    -0.0596548  -0.0383495  -0.527306   0.12       -0.55         pose: 0.23930150    -6.05944   -3.63307    0 0.00861442  0.0048955   0.98769     0.156112       uwb: 0.49922846     1236.24  1622.25  
imu_odom_:  1691062905.563898821  0.397437   -0.277727  9.87129    -0.052198   0.0436758   -0.523045   0.12       -0.55         pose: 0.0           -6.05944   -3.63307    0 0.00861442  0.0048955   0.98769     0.156112       uwb: 0.0            1236.24  1622.25  
imu_odom_:  1691062905.579955304  -0.201113  0.0047884  9.80665    -0.0436758  0           -0.552872   0.15       -0.67         pose: 0.26086315    -6.05944   -3.63307    0 0.00674747  0.00472774  0.986572    0.163121       uwb: 0.0            1236.24  1622.25  
imu_odom_:  1691062905.597907801  0.418985   -0.23942   9.95748    -0.0553937  -0.0298274  -0.568851   0.15       -0.67         pose: 0.0           -6.05944   -3.63307    0 0.00674747  0.00472774  0.986572    0.163121       uwb: 0.49994299     1242.14  1621.34  
imu_odom_:  1691062905.621932444  0.557849   -0.155623  10.2903    -0.0820254  0.00745685  -0.58483    0.13       -0.64         pose: 0.68841870    -6.06869   -3.62939    0 0.00262336  0.00384812  0.983121    0.182897       uwb: 0.0            1242.14  1621.34  
imu_odom_:  1691062905.647959555  0.423774   -0.31364   9.54089    -0.0830906  0.0117179   -0.588026   0.13       -0.64         pose: 0.0           -6.06869   -3.62939    0 0.00262336  0.00384812  0.983121    0.182897       uwb: 0.0            1242.14  1621.34  
imu_odom_:  1691062905.671042754  0.31364    -0.0167594 10.0078    -0.0649811  0.0181095   -0.593352   0.15       -0.73         pose: 0.8132068     -6.06875   -3.62941    0 0.0032907   0.00342696  0.982654    0.185389       uwb: 0.0            1242.14  1621.34  
imu_odom_:  1691062905.694977278  0.158017   -0.4956    9.51935    -0.0809601  -0.00532632 -0.619984   0.14       -0.7          pose: 0.0           -6.06875   -3.62941    0 0.0032907   0.00342696  0.982654    0.185389       uwb: 0.99999390     1242.88  1621.61  
imu_odom_:  1691062905.712900901  0.648829   0.0215478  9.63666    -0.0543285  -0.0127832  -0.658333   0.2        -0.97         pose: 0.72887051    -6.07806   -3.62577    0 0.00104711  0.0014904   0.978134    0.207967       uwb: 0.0            1242.88  1621.61  
imu_odom_:  1691062905.736923795  0.529119   -0.146046  9.51695    -0.052198   -0.0213053  -0.687096   0.2        -0.97         pose: 0.0           -6.07806   -3.62577    0 0.00104711  0.0014904   0.978134    0.207967       uwb: 0.49919637     1240.98  1623.18  
imu_odom_:  1691062905.762942448  0.363919   -0.102951  10.5608    -0.0553937  0.0106526   -0.725445   0.15       -0.73         pose: 0.42189462    -6.08738   -3.62215    0 0.00225195  0.00131377  0.975007    0.222159       uwb: 0.0            1240.98  1623.18  
imu_odom_:  1691062905.775885570  0.811634   -0.172383  9.91678    -0.0532632  -0.0266316  -0.736098   0.15       -0.73         pose: 0.0           -6.08738   -3.62215    0 0.00225195  0.00131377  0.975007    0.222159       uwb: 0.0            1240.98  1623.18  
imu_odom_:  1691062905.799901756  -0.0407014 -0.205901  9.42837    -0.0458064  -0.00958738 -0.740359   0.15       -0.73         pose: 0.54769188    -6.09648   -3.61844    0 0.00315986  0.00295534  0.970189    0.24231        uwb: 0.50143332     1240.09  1624.12  
imu_odom_:  1691062905.825949574  0.727837   0.169988   10.2783    -0.0735032  -0.0298274  -0.76699    0.15       -0.73         pose: 0.0           -6.09648   -3.61844    0 0.00315986  0.00295534  0.970189    0.24231        uwb: 0.0            1240.09  1624.12  
imu_odom_:  1691062905.849917054  0.744597   0.0837971  10.3022    -0.0809601  -0.02024    -0.754207   0.17       -0.85         pose: 0.8009284     -6.09671   -3.61852    0 0.00238577  0.00309664  0.969429    0.245342       uwb: 0.50239577     1236.44  1626.07  
imu_odom_:  1691062905.867075098  0.529119   0.00718261 9.8258     -0.0553937  -0.0447411  -0.76699    0.17       -0.85         pose: 0.0           -6.09671   -3.61852    0 0.00238577  0.00309664  0.969429    0.245342       uwb: 0.0            1236.44  1626.07  
imu_odom_:  1691062905.891945817  0.268151   0.0191536  9.94073    -0.0415453  -0.0308927  -0.797883   0.16       -0.82         pose: 0.49095143    -6.10603   -3.61491    0 0.00402802  0.00448063  0.96444     0.264232       uwb: 0.49770021     1232.83  1628.12  
imu_odom_:  1691062905.908871999  0.670376   -0.0646434 9.86172    -0.0660464  -0.00745685 -0.782969   0.16       -0.82         pose: 0.0           -6.10603   -3.61491    0 0.00402802  0.00448063  0.96444     0.264232       uwb: 0.0            1232.83  1628.12  
imu_odom_:  1691062905.934118947  0.272939   -0.0933739 9.7875     -0.0468716  -0.0117179  -0.778708   0.15       -0.76         pose: 0.66898316    -6.11168   -3.60203    0 0.00604992  0.00729468  0.956832    0.290485       uwb: 0.0            1232.83  1628.12  
imu_odom_:  1691062905.960898222  -0.009576810.129287   9.7037     -0.0415453  -0.0543285  -0.801079   0.21       -1.06         pose: 0.0           -6.11168   -3.60203    0 0.00604992  0.00729468  0.956832    0.290485       uwb: 0.50042130     1228.47  1629.84  
imu_odom_:  1691062905.985868102  0.409408   0.0191536  9.84496    -0.0703074  -0.0458064  -0.784035   0.21       -1.06         pose: 0.34230634    -6.11148   -3.60195    0 0.00438448  0.00729311  0.95267     0.303889       uwb: 0.49813477     1229.33  1630.48  
imu_odom_:  1691062906.11968125   0.332794   0.11971    10.4435    -0.0639159  -0.056459   -0.793622   0.21       -1.06         pose: 0.7839544     -6.11168   -3.60203    0 0.00396377  0.00780375  0.951659    0.307033       uwb: 0.0            1229.33  1630.48  
imu_odom_:  1691062906.34955372   0.205901   -0.107739  10.3022    -0.052198   -0.00532632 -0.810666   0.21       -1.06         pose: 0.0           -6.11168   -3.60203    0 0.00396377  0.00780375  0.951659    0.307033       uwb: 0.49982925     1234.66  1629.67  
imu_odom_:  1691062906.51870763   0.529119   0.011971   10.0413    -0.0756338  -0.0575243  -0.803209   0.17       -0.85         pose: 0.51997932    -6.12102   -3.59844    0 0.00423791  0.0116121   0.944755    0.327543       uwb: 0.0            1234.66  1629.67  
imu_odom_:  1691062906.75016083   0.280122   -0.438139  10.1107    -0.0628506  0.0245011   -0.831972   0.17       -0.85         pose: 0.0           -6.12102   -3.59844    0 0.00423791  0.0116121   0.944755    0.327543       uwb: 0.0            1234.66  1629.67  
imu_odom_:  1691062906.98877403   0.778116   0.0287304  10.082     -0.0671117  -0.00852212 -0.843689   0.17       -0.85         pose: 0.48959527    -6.13034   -3.59483    0 0.00250165  0.011752    0.937788    0.347          uwb: 0.50141583     1236.06  1630.07  
imu_odom_:  1691062906.115877956  0.447716   -0.45011   10.0628    -0.072438   -0.00852212 -0.833037   0.17       -0.85         pose: 0.0           -6.13034   -3.59483    0 0.00250165  0.011752    0.937788    0.347          uwb: 0.0            1236.06  1630.07  
imu_odom_:  1691062906.140874668  0.203507   -0.395043  9.67497    -0.0447411  0.00958738  -0.840494   0.19       -0.97         pose: 0.39988966    -6.13615   -3.58195    0 0.00245325  0.00915037  0.931659    0.36321        uwb: 0.50091128     1237.86  1629.83  
imu_odom_:  1691062906.166949318  0.596156   0.0550666  10.0006    -0.0436758  -0.015979   -0.833037   0.19       -0.97         pose: 0.0           -6.13615   -3.58195    0 0.00245325  0.00915037  0.931659    0.36321        uwb: 0.0            1237.86  1629.83  
imu_odom_:  1691062906.192158060  0.227449   -0.122104  10.3501    -0.0607201  0           -0.834102   0.19       -0.97         pose: 0.42086218    -6.14549   -3.57837    0 0.00254996  0.00650505  0.924812    0.38036        uwb: 0.49899514     1239.71  1629.72  
imu_odom_:  1691062906.207926976  -0.158017  -0.141258  10.0652    -0.0543285  -0.0149137  -0.850081   0.19       -0.97         pose: 0.0           -6.14549   -3.57837    0 0.00254996  0.00650505  0.924812    0.38036        uwb: 0.0            1239.71  1629.72  
imu_odom_:  1691062906.231869375  -0.035913  0.131681   10.8266    -0.0276969  -0.0213053  -0.8863     0.2        -1            pose: 0.50027257    -6.14549   -3.57837    0 0.00296218  0.00651019  0.916265    0.400509       uwb: 0.0            1239.71  1629.72  
imu_odom_:  1691062906.257857405  0.220267   0.301669   10.2328    -0.0585895  0.00106526  -0.877778   0.2        -1            pose: 0.0           -6.14549   -3.57837    0 0.00296218  0.00651019  0.916265    0.400509       uwb: 0.50048255     1242.71  1629.3   
imu_odom_:  1691062906.280853109  0.826      0.186748   9.85693    -0.076699   -0.0596548  -0.875647   0.2        -0.94         pose: 0.40923702    -6.15133   -3.56553    0 -0.0006992530.00788983  0.908803    0.41715        uwb: 0.0            1242.71  1629.3   
imu_odom_:  1691062906.296870802  0.605733   0.0957681  10.1035    -0.0745685  -0.0628506  -0.898018   0.2        -0.94         pose: 0.0           -6.15133   -3.56553    0 -0.0006992530.00788983  0.908803    0.41715        uwb: 0.49994009     1243.39  1629.42  
imu_odom_:  1691062906.313886229  0.969652   0.011971   10.1897    -0.0745685  -0.0340885  -0.896953   0.25       -1.23         pose: 0.48928029    -6.16067   -3.56195    0 -0.0002714410.0116068   0.899159    0.437469       uwb: 0.0            1243.39  1629.42  
imu_odom_:  1691062906.339003393  0.153229   -0.0981623 10.1083    -0.0415453  -0.00319579 -0.8863     0.25       -1.23         pose: 0.0           -6.16067   -3.56195    0 -0.0002714410.0116068   0.899159    0.437469       uwb: 0.49945594     1245.8   1629.09  
imu_odom_:  1691062906.364237508  0.25618    -0.148441  10.1945    -0.0415453  0.052198    -0.887365   0.21       -1.06         pose: 0.74133271    -6.16624   -3.54897    0 0.0024728   0.0100588   0.883594    0.468139       uwb: 0.0            1245.8   1629.09  
imu_odom_:  1691062906.388005209  0.876278   0.105345   9.60793    -0.0692422  -0.0692422  -0.863929   0.21       -1.06         pose: 0.7874250     -6.16644   -3.54904    0 0.0015621   0.00986315  0.881881    0.471366       uwb: 0.50018799     1243.05  1630.16  
imu_odom_:  1691062906.412853472  0.744597   0.241814   10.0987    -0.0692422  -0.0383495  -0.864995   0.19       -0.94         pose: 0.41127566    -6.17533   -3.54532    0 0.00237557  0.00841058  0.872886    0.487845       uwb: 0.0            1243.05  1630.16  
imu_odom_:  1691062906.437982885  0.979228   -0.21069   9.85453    -0.0937433  -0.0127832  -0.883104   0.25       -1.23         pose: 0.0           -6.17533   -3.54532    0 0.00237557  0.00841058  0.872886    0.487845       uwb: 0.49981468     1247.22  1629.46  
imu_odom_:  1691062906.460840347  0.241814   -0.282516  9.81862    -0.0628506  -0.00639159 -0.919323   0.25       -1.23         pose: 0.31862730    -6.17227   -3.53612    0 0.00543157  0.00777629  0.86574     0.500405       uwb: 0.0            1247.22  1629.46  
imu_odom_:  1691062906.484867325  0.790087   -0.153229  9.9503     -0.0607201  0.0372843   -0.908671   0.18       -0.91         pose: 0.0           -6.17227   -3.53612    0 0.00543157  0.00777629  0.86574     0.500405       uwb: 0.0            1247.22  1629.46  
imu_odom_:  1691062906.501905792  0.512359   -0.122104  10.1562    -0.0692422  0.0106526   -0.899083   0.18       -0.91         pose: 0.49033898    -6.18162   -3.53259    0 0.00462249  0.0049638   0.853957    0.5203         uwb: 0.49985550     1234.83  1634.79  
imu_odom_:  1691062906.526831342  0.220267   -0.153229  10.0676    -0.0500674  -0.0319579  -0.895887   0.18       -0.94         pose: 0.0           -6.18162   -3.53259    0 0.00462249  0.0049638   0.853957    0.5203         uwb: 0.0            1234.83  1634.79  
imu_odom_:  1691062906.543845894  0.474052   -0.0430956 9.74919    -0.0458064  -0.0628506  -0.901214   0.18       -0.94         pose: 0.41003614    -6.1875    -3.51973    0 0.00540812  0.00284355  0.843767    0.536674       uwb: 0.50038048     1237.18  1634.32  
imu_odom_:  1691062906.568896561  0.354342   -0.131681  10.1155    -0.0617853  0.0127832   -0.896953   0.19       -0.94         pose: 0.0           -6.1875    -3.51973    0 0.00540812  0.00284355  0.843767    0.536674       uwb: 0.0            1237.18  1634.32  
imu_odom_:  1691062906.593839902  0.677559   -0.215478  9.93354    -0.0617853  0.0340885   -0.941694   0.19       -0.94         pose: 0.41989974    -6.1875    -3.51973    0 0.00510116  0.00420301  0.833028    0.553191       uwb: 0.49828059     1237.86  1634.46  
imu_odom_:  1691062906.619064101  0.366313   0.217872   9.87369    -0.0607201  -0.0852212  -0.919323   0.19       -0.94         pose: 0.41944477    -6.19044   -3.50785    0 0.00412897  0.00267293  0.821698    0.569902       uwb: 0.0            1237.86  1634.46  
imu_odom_:  1691062906.635836876  0.785298   0.378284   10.0556    -0.056459   -0.0681769  -0.92465    0.19       -0.94         pose: 0.0           -6.19044   -3.50785    0 0.00412897  0.00267293  0.821698    0.569902       uwb: 0.50078879     1234.55  1635.74  
imu_odom_:  1691062906.660929541  0.423774   -0.0407014 10.0149    -0.0596548  -0.0298274  -0.92678    0.19       -0.94         pose: 0.41996974    -6.19124   -3.50156    0 0.0078659   0.00465976  0.810001    0.586358       uwb: 0.0            1234.55  1635.74  
imu_odom_:  1691062906.686888114  0.545878   -0.196325  9.7851     -0.0585895  0.0181095   -0.92678    0.19       -0.94         pose: 0.0           -6.19124   -3.50156    0 0.0078659   0.00465976  0.810001    0.586358       uwb: 0.49981176     1234.15  1636.37  
imu_odom_:  1691062906.702848936  0.241814   -0.0430956 9.65582    -0.0245011  0.00958738  -0.92678    0.19       -0.97         pose: 0.51051238    -6.1964    -3.48709    0 0.00597577  0.00390808  0.795302    0.606172       uwb: 0.0            1234.15  1636.37  
imu_odom_:  1691062906.719958857  0.299275   -0.0694318 9.8665     -0.0394148  0.00213053  -0.916127   0.19       -0.97         pose: 0.0           -6.1964    -3.48709    0 0.00597577  0.00390808  0.795302    0.606172       uwb: 0.0            1234.15  1636.37  
imu_odom_:  1691062906.735944761  0.90022    -0.430956  10.1299    -0.0585895  -0.0106526  -0.871386   0.19       -0.97         pose: 0.0           -6.1964    -3.48709    0 0.00597577  0.00390808  0.795302    0.606172       uwb: 0.49897764     1235.31  1636.09  
imu_odom_:  1691062906.752808821  0.567426   -0.0335188 10.489     -0.0575243  -0.00426106 -0.826645   0.19       -0.79         pose: 0.41068945    -6.1958    -3.48463    0 0.00384273  0.00590241  0.783301    0.621602       uwb: 0.0            1235.31  1636.09  
imu_odom_:  1691062906.768971756  -0.0885855 -0.0790087 9.93833    -0.0532632  0.00532632  -0.728641   0.19       -0.79         pose: 0.0           -6.1958    -3.48463    0 0.00384273  0.00590241  0.783301    0.621602       uwb: 0.0            1235.31  1636.09  
imu_odom_:  1691062906.785026197  -0.241814  -0.500388  9.41879    -0.0692422  -0.0117179  -0.635963   0.25       -0.85         pose: 0.0           -6.1958    -3.48463    0 0.00384273  0.00590241  0.783301    0.621602       uwb: 0.50076545     1238.77  1635.18  
imu_odom_:  1691062906.801907757  0.153229   -0.531513  9.96467    -0.0447411  -0.02024    -0.585895   0.25       -0.85         pose: 0.49082894    -6.20158   -3.47172    0 0.00339928  0.00562431  0.770795    0.63705        uwb: 0.0            1238.77  1635.18  
imu_odom_:  1691062906.818825773  0.545878   -0.378284  10.2999    -0.056459   0.0170442   -0.540089   0.25       -0.85         pose: 0.0           -6.20158   -3.47172    0 0.00339928  0.00562431  0.770795    0.63705        uwb: 0.0            1238.77  1635.18  
imu_odom_:  1691062906.834885172  0.912191   -0.397437  10.7524    -0.0681769  0.00319579  -0.50174    0.19       -0.53         pose: 0.41785820    -6.19959   -3.46656    0 0.000891404 0.00340674  0.76253     0.646943       uwb: 0.0            1238.77  1635.18  
imu_odom_:  1691062906.852876167  0.426168   -0.225055  9.70609    -0.0479369  0.00639159  -0.487891   0.25       -0.67         pose: 0.0           -6.19959   -3.46656    0 0.000891404 0.00340674  0.76253     0.646943       uwb: 0.0            1238.77  1635.18  
imu_odom_:  1691062906.867871628  0.500388   -0.0454898 9.7875     -0.0511327  0.0287621   -0.452737   0.25       -0.67         pose: 0.0           -6.19959   -3.46656    0 0.000891404 0.00340674  0.76253     0.646943       uwb: 0.0            1238.77  1635.18  
imu_odom_:  1691062906.884817934  -0.0502782 -0.047884  10.1011    -0.0820254  -0.0255663  -0.393083   0.25       -0.61         pose: 0.23999270    -6.19802   -3.46238    0 0.00120719  0.00120118  0.758354    0.65184        uwb: 0.0            1238.77  1635.18  
imu_odom_:  1691062906.900881416  0.373495   -0.418985  9.85453    -0.0458064  -0.00426106 -0.389887   0.25       -0.61         pose: 0.0           -6.19802   -3.46238    0 0.00120719  0.00120118  0.758354    0.65184        uwb: 0.99969935     1241.04  1634.47  
imu_odom_:  1691062906.918887285  0.593762   -0.184354  9.63666    -0.0532632  -0.0394148  -0.357929   0.25       -0.61         pose: 0.33056161    -6.20737   -3.45883    0 0.00170079  0.00151713  0.753065    0.657942       uwb: 0.0            1241.04  1634.47  
imu_odom_:  1691062906.933878372  0.339977   -0.294487  9.50259    -0.0628506  0.0223706   -0.331297   0.25       -0.53         pose: 0.32956707    -6.20377   -3.4495     0 0.000821383 0.000479282 0.748464    0.663174       uwb: 0.0            1241.04  1634.47  
imu_odom_:  1691062906.951938488  0.658405   -0.54109   9.99579    -0.0553937  -0.0149137  -0.314253   0.25       -0.53         pose: 0.0           -6.20377   -3.4495     0 0.000821383 0.000479282 0.748464    0.663174       uwb: 0.50036006     1244.51  1633.59  
imu_odom_:  1691062906.968876336  0.811634   0.0670376  10.5656    -0.0458064  -0.00745685 -0.309992   0.25       -0.53         pose: 0.0           -6.20377   -3.4495     0 0.000821383 0.000479282 0.748464    0.663174       uwb: 0.0            1244.51  1633.59  
imu_odom_:  1691062906.982935309  1.16598    0.0550666  9.93115    -0.0639159  -0.0415453  -0.252468   0.18       -0.29         pose: 0.51103444    -6.20944   -3.43655    0 0.000860624 -0.00216977 0.742215    0.670158       uwb: 0.0            1244.51  1633.59  
imu_odom_:  1691062906.999852742  1.58017    -0.287304  10.0221    -0.0713727  -0.0447411  -0.203466   0.18       -0.29         pose: 0.0           -6.20944   -3.43655    0 0.000860624 -0.00216977 0.742215    0.670158       uwb: 0.50018215     1252.36  1630.93  
imu_odom_:  1691062907.13925132   1.27611    -0.428562  9.87369    -0.0490022  -0.056459   -0.189617   0.14       -0.26         pose: 0.0           -6.20944   -3.43655    0 0.000860624 -0.00216977 0.742215    0.670158       uwb: 0.0            1252.36  1630.93  
imu_odom_:  1691062907.29865246   1.65679    -0.184354  10.0149    -0.0511327  -0.0500674  -0.191748   0.14       -0.26         pose: 0.39911387    -6.20944   -3.43655    0 0.00461137  -0.00444191 0.738387    0.674347       uwb: 0.0            1252.36  1630.93  
imu_odom_:  1691062907.46807761   1.63763    -0.19393   9.8689     -0.0575243  0.0191748   -0.205596   0.14       -0.26         pose: 0.0           -6.20944   -3.43655    0 0.00461137  -0.00444191 0.738387    0.674347       uwb: 0.50042714     1248.5   1632.47  
imu_odom_:  1691062907.62918491   1.18752    0.0383072  10.1897    -0.0490022  0.0340885   -0.214118   0.11       -0.26         pose: 0.6945346     -6.20944   -3.43655    0 0.00513042  -0.00513397 0.737847    0.674929       uwb: 0.0            1248.5   1632.47  
imu_odom_:  1691062907.79859256   0.972046   -0.181959  9.54089    -0.0543285  0.0181095   -0.216249   0.11       -0.26         pose: 0.0           -6.20944   -3.43655    0 0.00513042  -0.00513397 0.737847    0.674929       uwb: 0.0            1248.5   1632.47  
imu_odom_:  1691062907.95874616   0.97444    -0.37589   10.058     -0.052198   -0.036219   -0.204531   0.11       -0.26         pose: 0.0           -6.20944   -3.43655    0 0.00513042  -0.00513397 0.737847    0.674929       uwb: 0.49936555     1246.72  1632.79  
imu_odom_:  1691062907.112813922  0.565032   -0.323217  9.81383    -0.056459   0.0138484   -0.187487   0.13       -0.26         pose: 0.48070579    -6.20579   -3.42724    0 0.00899501  -0.00817792 0.733909    0.679139       uwb: 0.0            1246.72  1632.79  
imu_odom_:  1691062907.128883238  0.787692   -0.316035  10.0485    -0.0585895  -0.0138484  -0.15979    0.08       -0.17         pose: 0.0           -6.20579   -3.42724    0 0.00899501  -0.00817792 0.733909    0.679139       uwb: 0.0            1246.72  1632.79  
imu_odom_:  1691062907.145891957  0.610521   -0.356736  9.81144    -0.0607201  -0.00745685 -0.142745   0.08       -0.17         pose: 0.64981304    -6.20222   -3.4179     0 0.00987784  -0.0112779  0.728604    0.684771       uwb: 0.49917305     1247.7   1632.05  
imu_odom_:  1691062907.161801157  0.746991   -0.220267  10.0006    -0.0617853  -0.00639159 -0.126766   0.07       -0.17         pose: 0.0           -6.20222   -3.4179     0 0.00987784  -0.0112779  0.728604    0.684771       uwb: 0.0            1247.7   1632.05  
imu_odom_:  1691062907.178953076  0.885855   -0.428562  9.80186    -0.0553937  -0.0127832  -0.120375   0.07       -0.17         pose: 0.0           -6.20222   -3.4179     0 0.00987784  -0.0112779  0.728604    0.684771       uwb: 0.0            1247.7   1632.05  
imu_odom_:  1691062907.203815630  0.802058   -0.141258  9.84975    -0.0628506  -0.015979   -0.111853   0.06       -0.11         pose: 0.33950651    -6.21156   -3.41433    0 0.00912447  -0.0123287  0.726481    0.687016       uwb: 0.50149166     1250.98  1630.68  
imu_odom_:  1691062907.228814676  0.311246   -0.392649  9.71806    -0.0607201  0.0127832   -0.135289   0.06       -0.11         pose: 0.34063810    -6.21156   -3.41433    0 0.0109293   -0.0138066  0.724581    0.688964       uwb: 0.0            1250.98  1630.68  
imu_odom_:  1691062907.243808095  -0.821211  0.0047884  9.86172    -0.036219   0.109722    -0.178964   0.06       -0.11         pose: 0.0           -6.21156   -3.41433    0 0.0109293   -0.0138066  0.724581    0.688964       uwb: 0.49926930     1248.79  1631.57  
imu_odom_:  1691062907.267807366  -1.20189   -0.351948  9.85453    -0.072438   -0.0266316  -0.0436758  0.07       -0.08         pose: 0.48014291    -6.21156   -3.41433    0 0.00936156  -0.0113136  0.721731    0.692017       uwb: 0.0            1248.79  1631.57  
imu_odom_:  1691062907.294803338  0.390255   -0.447716  9.89763    -0.036219   -0.0852212  -0.0628506  0.14       -0.08         pose: 0.31928643    -6.20794   -3.40501    0 0.00686129  -0.00906867 0.720472    0.693391       uwb: 0.50066922     1247.63  1631.87  
imu_odom_:  1691062907.319804134  0.52433    0.110133   9.83777    -0.052198   0.0319579   -0.0543285  0.14       -0.08         pose: 0.0           -6.20794   -3.40501    0 0.00686129  -0.00906867 0.720472    0.693391       uwb: 0.0            1247.63  1631.87  
imu_odom_:  1691062907.344878134  -0.167594  -0.316035  9.97424    -0.04048    -0.0149137  -0.0276969  0.15       -0.11         pose: 0.51996768    -6.20794   -3.40501    0 0.00620342  -0.00701141 0.718715    0.695242       uwb: 0.49861308     1247.55  1631.66  
imu_odom_:  1691062907.371977058  -0.117316  -0.1652    10.2592    -0.0500674  -0.0138484  -0.0436758  0.15       -0.11         pose: 0.0           -6.20794   -3.40501    0 0.00620342  -0.00701141 0.718715    0.695242       uwb: 0.0            1247.55  1631.66  
imu_odom_:  1691062907.388933863  0.466869   -0.0335188 9.68215    -0.0649811  -0.0575243  -0.0266316  0.15       -0.08         pose: 0.33291522    -6.20432   -3.39569    0 0.00395898  -0.00482146 0.717912    0.696106       uwb: 0.50263202     1246.93  1631.7   
imu_odom_:  1691062907.413799917  -0.0861913 -0.52433   9.96467    -0.0532632  0.0330232   -0.015979   0.15       -0.08         pose: 0.0           -6.20432   -3.39569    0 0.00395898  -0.00482146 0.717912    0.696106       uwb: 0.0            1246.93  1631.7   
imu_odom_:  1691062907.439853569  0.466869   -0.112527  10.2208    -0.052198   0.00745685  -0.036219   0.17       -0.08         pose: 0.27043511    -6.20432   -3.39569    0 0.00347441  -0.00293671 0.717181    0.696872       uwb: 0.49865100     1242.55  1633.51  
imu_odom_:  1691062907.453956874  0.770933   -0.232238  9.33739    -0.0703074  -0.0266316  -0.00852212 0.17       -0.08         pose: 0.0           -6.20432   -3.39569    0 0.00347441  -0.00293671 0.717181    0.696872       uwb: 0.0            1242.55  1633.51  
imu_odom_:  1691062907.479928571  0.586579   -0.155623  10.2472    -0.0681769  0.0181095   -0.00958738 0.14       -0.02         pose: 0.41732156    -6.20998   -3.38272    0 0.00207929  -0.0009810240.716287    0.697802       uwb: 0.0            1242.55  1633.51  
imu_odom_:  1691062907.505079275  0.6608     -0.318429  9.87848    -0.0798948  0.0181095   -0.0138484  0.14       -0.02         pose: 0.0           -6.20998   -3.38272    0 0.00207929  -0.0009810240.716287    0.697802       uwb: 0.50069254     1239.65  1634.19  
imu_odom_:  1691062907.528804979  0.68953    -0.3304    9.45949    -0.0745685  -0.0415453  -0.0149137  0.15       -0.02         pose: 0.40073836    -6.20998   -3.38272    0 0.00490944  -0.0016822  0.71543     0.698665       uwb: 0.0            1239.65  1634.19  
imu_odom_:  1691062907.544790299  0.545878   -0.21069   10.1897    -0.0553937  0.0138484   -0.0138484  0.15       -0.02         pose: 0.0           -6.20998   -3.38272    0 0.00490944  -0.0016822  0.71543     0.698665       uwb: 0.49901557     1241.25  1633.41  
imu_odom_:  1691062907.569850883  0.423774   -0.146046  10.1969    -0.0617853  -0.0319579  -0.00426106 0.15       -0.02         pose: 0.49867433    -6.20635   -3.3734     0 0.00573838  -0.006012   0.714522    0.699563       uwb: 0.0            1241.25  1633.41  
imu_odom_:  1691062907.594888719  0.177171   -0.328006  9.98861    -0.0585895  -0.0181095  0.00106526  0.15       -0.02         pose: 0.0           -6.20635   -3.3734     0 0.00573838  -0.006012   0.714522    0.699563       uwb: 0.0            1241.25  1633.41  
imu_odom_:  1691062907.609785311  0.402226   -0.0861913 10.4267    -0.0479369  -0.036219   -0.00852212 0.15       -0.02         pose: 0.83076127    -6.21201   -3.36044    0 0.00284042  -0.00334758 0.713192    0.700955       uwb: 0.0            1241.25  1633.41  
imu_odom_:  1691062907.626789947  0.385466   -0.435745  9.45949    -0.0500674  -0.0127832  -0.00213053 0.15       -0.02         pose: 0.0           -6.21201   -3.36044    0 0.00284042  -0.00334758 0.713192    0.700955       uwb: 0.0            1241.25  1633.41  
imu_odom_:  1691062907.652944801  0.308852   -0.363919  9.83299    -0.0532632  0.0447411   -0.00639159 0.16       -0.02         pose: 0.31901228    -6.21022   -3.3558     0 0.00187328  -0.00274953 0.712695    0.701466       uwb: 0.99996476     1234.98  1635.24  
imu_odom_:  1691062907.669021116  0.73502    -0.335188  9.4954     -0.0394148  0.0372843   0.00106526  0.16       -0.02         pose: 0.0           -6.21022   -3.3558     0 0.00187328  -0.00274953 0.712695    0.701466       uwb: 0.0            1234.98  1635.24  
imu_odom_:  1691062907.685904134  -0.0191536 -0.265756  8.99023    -0.0426106  0           0.00852212  0.16       -0.02         pose: 0.0           -6.21022   -3.3558     0 0.00187328  -0.00274953 0.712695    0.701466       uwb: 0.50074796     1236     1634.58  
imu_odom_:  1691062907.712907980  0.217872   -0.277727  9.8665     -0.0649811  0.015979    0.0127832   0.16       -0.05         pose: 0.50275451    -6.20842   -3.3511     0 -0.00102578 -0.00254944 0.711973    0.702202       uwb: 0.0            1236     1634.58  
imu_odom_:  1691062907.737852487  0.371101   -0.31364   9.77553    -0.052198   0.0415453   0.00532632  0.17       0             pose: 0.35842582    -6.21146   -3.3392     0 -0.00398397 -4.12819e-050.711625    0.702548       uwb: 0.49981759     1231.52  1636.08  
imu_odom_:  1691062907.764917580  0.37589    -0.296881  9.60314    -0.0639159  0.00213053  0.0245011   0.17       0             pose: 0.8054781     -6.21413   -3.33816    0 -0.00435624 -0.0006689590.711524    0.702648       uwb: 0.0            1231.52  1636.08  
imu_odom_:  1691062907.789859754  0.40462    0.00957681 10.0533    -0.0532632  -0.0117179  0.0149137   0.17       -0.02         pose: 0.43954819    -6.21166   -3.33182    0 -0.00257763 -0.0022362  0.71117     0.703011       uwb: 0.49940346     1223.69  1638.68  
imu_odom_:  1691062907.815773706  0.280122   -0.184354  10.1418    -0.0543285  -0.0127832  0.0181095   0.17       -0.02         pose: 0.0           -6.21166   -3.33182    0 -0.00257763 -0.0022362  0.71117     0.703011       uwb: 0.0            1223.69  1638.68  
imu_odom_:  1691062907.838813157  0.229843   -0.296881  9.99579    -0.0266316  -0.0106526  0.00745685  0.21       -0.02         pose: 0.32959625    -6.2105    -3.32885    0 -0.0009906120.000165276 0.710898    0.703294       uwb: 0.50045339     1219.06  1639.76  
imu_odom_:  1691062907.862774514  0.21069    -0.141258  9.57441    -0.036219   -0.0276969  0.0245011   0.17       0             pose: 0.0           -6.2105    -3.32885    0 -0.0009906120.000165276 0.710898    0.703294       uwb: 0.0            1219.06  1639.76  
imu_odom_:  1691062907.878809415  0.428562   -0.241814  10.2783    -0.036219   -0.0245011  0.0234358   0.17       0             pose: 0.48896531    -6.20686   -3.31953    0 -0.00359784 0.00315614  0.710453    0.703729       uwb: 0.0            1219.06  1639.76  
imu_odom_:  1691062907.904888731  0.59855    -0.335188  10.3094    -0.056459   0.00639159  0.0351537   0.17       -0.02         pose: 0.0           -6.20686   -3.31953    0 -0.00359784 0.00315614  0.710453    0.703729       uwb: 0.50085004     1215.59  1640.54  
imu_odom_:  1691062907.931096374  0.641646   -0.325611  10.3573    -0.0372843  0.0266316   0.0191748   0.17       -0.02         pose: 0.41137191    -6.21252   -3.30657    0 -0.00228938 0.00247487  0.710268    0.703924       uwb: 0.0            1215.59  1640.54  
imu_odom_:  1691062907.945831100  -0.117316  -0.0766145 9.71328    -0.0372843  0.04048     0.0330232   0.17       -0.02         pose: 0.0           -6.21252   -3.30657    0 -0.00228938 0.00247487  0.710268    0.703924       uwb: 0.49813770     1217.28  1639.99  
imu_odom_:  1691062907.972804031  0.148441   -0.318429  9.35893    -0.0617853  0.0266316   0.0383495   0.18       -0.02         pose: 0.50013258    -6.20887   -3.29726    0 -0.00114855 -0.0002218030.710037    0.704163       uwb: 0.0            1217.28  1639.99  
imu_odom_:  1691062907.998834934  0.299275   -0.280122  10.0652    -0.0692422  -0.0138484  0.0617853   0.19       -0.02         pose: 0.34879846    -6.20887   -3.29726    0 -0.00444298 0.00192234  0.71        0.704185       uwb: 0.50056713     1218.84  1639.09  
imu_odom_:  1691062908.23769817   0.402226   -0.213084  9.88326    -0.0809601  0.00852212  0.0340885   0.19       -0.02         pose: 0.0           -6.20887   -3.29726    0 -0.00444298 0.00192234  0.71        0.704185       uwb: 0.0            1218.84  1639.09  
imu_odom_:  1691062908.48895148   0.579397   -0.311246  10.0149    -0.076699   -0.0298274  0.0575243   0.18       0             pose: 0.8972895     -6.20887   -3.29726    0 -0.00529809 0.00153703  0.710065    0.704114       uwb: 0.50055256     1214.22  1640.18  
imu_odom_:  1691062908.74953466   0.476446   -0.0622492 9.89524    -0.0532632  0.0149137   0.0266316   0.18       0             pose: 0.0           -6.20887   -3.29726    0 -0.00529809 0.00153703  0.710065    0.704114       uwb: 0.0            1214.22  1640.18  
imu_odom_:  1691062908.90774296   0.260968   -0.232238  9.88805    -0.056459   -0.0447411  0.0490022   0.18       0             pose: 0.49999843    -6.21451   -3.2843     0 -0.00428335 -0.00033839 0.710201    0.703986       uwb: 0.49838852     1216.52  1639.61  
imu_odom_:  1691062908.116759702  0.459687   -0.244209  9.73961    -0.0649811  -0.0149137  0.0308927   0.18       0             pose: 0.0           -6.21451   -3.2843     0 -0.00428335 -0.00033839 0.710201    0.703986       uwb: 0.0            1216.52  1639.61  
imu_odom_:  1691062908.141875700  0.691924   -0.0454898 10.0868    -0.0756338  -0.0308927  0.0458064   0.22       -0.02         pose: 0.50203122    -6.21085   -3.27499    0 -0.00136653 -0.0003496580.710215    0.703983       uwb: 0.49969512     1213.07  1640.42  
imu_odom_:  1691062908.166750212  0.366313   -0.0957681 10.1394    -0.0607201  -0.0266316  0.0351537   0.2        0             pose: 0.16853270    -6.21085   -3.27499    0 -0.00131167 -0.00050101 0.71022     0.703978       uwb: 0.0            1213.07  1640.42  
imu_odom_:  1691062908.182806112  0.919373   -0.232238  9.9096     -0.0585895  -0.0351537  0.0436758   0.2        0             pose: 0.43042539    -6.2072    -3.26568    0 0.00241295  -0.00274281 0.710211    0.703979       uwb: 0.0            1213.07  1640.42  
imu_odom_:  1691062908.198878636  0.344765   -0.474052  9.41879    -0.0713727  0.0276969   0.04048     0.2        0             pose: 0.0           -6.2072    -3.26568    0 0.00241295  -0.00274281 0.710211    0.703979       uwb: 0.50096962     1209.16  1641.73  
imu_odom_:  1691062908.224869291  0.294487   -0.509965  9.42597    -0.052198   0.0415453   0.0276969   0.18       0             pose: 0.6891391     -6.2072    -3.26568    0 0.00249298  -0.00212104 0.7102      0.703992       uwb: 0.0            1209.16  1641.73  
imu_odom_:  1691062908.249870962  0.588974   -0.395043  9.79707    -0.0426106  -0.036219   0.0426106   0.18       0             pose: 0.0           -6.2072    -3.26568    0 0.00249298  -0.00212104 0.7102      0.703992       uwb: 0.50016758     1203.99  1643     
imu_odom_:  1691062908.273880441  0.624887   -0.263362  9.94312    -0.0490022  -0.0191748  0.0458064   0.18       0             pose: 0.58174492    -6.21285   -3.25272    0 0.00119301  -0.00246423 0.710171    0.704023       uwb: 0.0            1203.99  1643     
imu_odom_:  1691062908.298889987  0.474052   -0.323217  9.97424    -0.0415453  -0.0245011  0.0351537   0.18       0             pose: 0.49899516    -6.20919   -3.24341    0 0.000460277 -0.00570263 0.71013     0.704047       uwb: 0.49973594     1200.58  1643.92  
imu_odom_:  1691062908.326008452  0.600945   -0.191536  9.77074    -0.0745685  -0.0117179  0.0553937   0.18       0             pose: 0.0           -6.20919   -3.24341    0 0.000460277 -0.00570263 0.71013     0.704047       uwb: 0.0            1200.58  1643.92  
imu_odom_:  1691062908.341790492  0.694318   -0.282516  9.7875     -0.0596548  0.0276969   0.036219    0.18       0             pose: 0.24955882    -6.20919   -3.24341    0 0.00129936  -0.00667083 0.710149    0.704018       uwb: 0.49906223     1201.04  1643.43  
imu_odom_:  1691062908.367870101  0.476446   -0.476446  10.2544    -0.0585895  0.0319579   0.052198    0.18       0             pose: 0.51104028    -6.21484   -3.23045    0 0.00278279  -0.007199   0.710255    0.703902       uwb: 0.0            1201.04  1643.43  
imu_odom_:  1691062908.393889338  0.277727   -0.28491   9.56005    -0.056459   -0.0106526  0.036219    0.18       0.02          pose: 0.34969092    -6.21118   -3.22114    0 0.000485243 -0.00844209 0.710368    0.70378        uwb: 0.50001301     1206.71  1641.93  
imu_odom_:  1691062908.409821578  0.107739   -0.059855  10.1754    -0.0394148  -0.00745685 0.0458064   0.18       0.02          pose: 0.0           -6.21118   -3.22114    0 0.000485243 -0.00844209 0.710368    0.70378        uwb: 0.0            1206.71  1641.93  
imu_odom_:  1691062908.434828499  0.550666   -0.40462   9.98622    -0.0575243  0.0170442   0.0383495   0.18       0             pose: 0.6922014     -6.21118   -3.22114    0 8.41926e-05 -0.00790576 0.710365    0.703789       uwb: 0.49972136     1204.33  1642.22  
imu_odom_:  1691062908.460788240  0.617704   -0.282516  10.1897    -0.0596548  -0.00106526 0.0468716   0.18       0             pose: 0.0           -6.21118   -3.22114    0 8.41926e-05 -0.00790576 0.710365    0.703789       uwb: 0.0            1204.33  1642.22  
imu_odom_:  1691062908.485721373  0.0957681  -0.299275  10.0963    -0.04048    0.0553937   0.0287621   0.18       -0.02         pose: 0.43071996    -6.20753   -3.21183    0 -0.00129341 -0.00553448 0.710393    0.703782       uwb: 0.50014717     1212.11  1639.52  
imu_odom_:  1691062908.511856395  0.378284   -0.426168  9.9527     -0.0639159  0           0.0553937   0.18       -0.02         pose: 0.0           -6.20753   -3.21183    0 -0.00129341 -0.00553448 0.710393    0.703782       uwb: 0.0            1212.11  1639.52  
imu_odom_:  1691062908.537920547  0.189142   -0.294487  9.86172    -0.0383495  0.0266316   0.036219    0.19       0             pose: 0.49932180    -6.21319   -3.19887    0 0.000248541 -0.00742498 0.710404    0.703754       uwb: 0.50127002     1207.56  1640.79  
imu_odom_:  1691062908.554853729  0.514753   -0.0909797 10.0293    -0.0660464  -0.0447411  0.056459    0.19       0             pose: 0.0           -6.21319   -3.19887    0 0.000248541 -0.00742498 0.710404    0.703754       uwb: 0.0            1207.56  1640.79  
imu_odom_:  1691062908.579791820  0.778116   -0.160412  10.1059    -0.0553937  -0.00319579 0.036219    0.23       -0.02         pose: 0.50969286    -6.20954   -3.18956    0 -0.00435864 -0.00537182 0.710493    0.70367        uwb: 0.0            1207.56  1640.79  
imu_odom_:  1691062908.605869679  0.54109    -0.40462   9.76116    -0.0745685  0.0191748   0.0468716   0.23       0.02          pose: 0.61026243    -6.20701   -3.18311    0 -0.00136052 -0.00422961 0.710551    0.703632       uwb: 0.49926930     1205.24  1641.27  
imu_odom_:  1691062908.630723192  0.153229   -0.213084  9.5792     -0.0735032  -0.0106526  0.0458064   0.23       0.02          pose: 0.0           -6.20701   -3.18311    0 -0.00136052 -0.00422961 0.710551    0.703632       uwb: 0.0            1205.24  1641.27  
imu_odom_:  1691062908.656717931  0.452504   -0.447716  9.81623    -0.0756338  0.0191748   0.0394148   0.21       -0.02         pose: 0.8004327     -6.20589   -3.18025    0 -0.00153131 -0.00501698 0.710567    0.70361        uwb: 0.49931597     1208     1640.23  
imu_odom_:  1691062908.672708501  0.476446   -0.184354  10.2951    -0.0458064  0.0319579   0.0330232   0.21       -0.02         pose: 0.0           -6.20589   -3.18025    0 -0.00153131 -0.00501698 0.710567    0.70361        uwb: 0.0            1208     1640.23  
imu_odom_:  1691062908.698718405  0.543484   -0.392649  9.91678    -0.0798948  0.0308927   0.0447411   0.23       0             pose: 0.50941871    -6.21158   -3.16728    0 -0.00361478 -0.00541491 0.710668    0.703498       uwb: 0.49904182     1210.21  1639.41  
imu_odom_:  1691062908.721842144  1.01514    -0.227449  9.9934     -0.0426106  -0.0340885  0.0298274   0.23       0             pose: 0.0           -6.21158   -3.16728    0 -0.00361478 -0.00541491 0.710668    0.703498       uwb: 0.0            1210.21  1639.41  
imu_odom_:  1691062908.748904029  0.766145   -0.19393   9.54089    -0.0532632  0.00852212  0.036219    0.18       0             pose: 0.42097594    -6.21158   -3.16728    0 -0.00353023 -0.00650897 0.71063     0.703527       uwb: 0.50087337     1212.4   1638.51  
imu_odom_:  1691062908.764831894  0.584185   -0.275333  9.58638    -0.0308927  0.0191748   0.0340885   0.18       0             pose: 0.0           -6.21158   -3.16728    0 -0.00353023 -0.00650897 0.71063     0.703527       uwb: 0.0            1212.4   1638.51  
imu_odom_:  1691062908.790706181  0.426168   -0.318429  10.3645    -0.0330232  -0.0298274  0.036219    0.24       0             pose: 0.49017566    -6.20803   -3.15793    0 -0.000109593-0.00951314 0.710535    0.703598       uwb: 0.49879683     1213.98  1637.74  
imu_odom_:  1691062908.814713327  0.586579   -0.131681  9.68694    -0.0490022  -0.0287621  0.0447411   0.24       0             pose: 0.0           -6.20803   -3.15793    0 -0.000109593-0.00951314 0.710535    0.703598       uwb: 0.0            1213.98  1637.74  
imu_odom_:  1691062908.838697724  0.272939   -0.225055  9.99579    -0.0436758  -0.0149137  0.0245011   0.18       -0.05         pose: 0.42872507    -6.21383   -3.14503    0 0.00272963  -0.00863356 0.710455    0.703684       uwb: 0.50286535     1212.34  1638.41  
imu_odom_:  1691062908.854752749  0.591368   0.0335188  10.4459    -0.0575243  -0.0308927  0.0330232   0.18       -0.05         pose: 0.0           -6.21383   -3.14503    0 0.00272963  -0.00863356 0.710455    0.703684       uwb: 0.0            1212.34  1638.41  
imu_odom_:  1691062908.871710721  0.414197   -0.363919  9.55287    -0.0585895  -0.0340885  0.0394148   0.18       0             pose: 0.50013842    -6.21027   -3.13568    0 0.00361022  -0.00604756 0.710444    0.703718       uwb: 0.0            1212.34  1638.41  
imu_odom_:  1691062908.896760223  0.387861   -0.225055  9.8282     -0.0500674  -0.0713727  0.0447411   0.18       0             pose: 0.0           -6.21027   -3.13568    0 0.00361022  -0.00604756 0.710444    0.703718       uwb: 0.49859851     1211.63  1638.15  
imu_odom_:  1691062908.922690215  0.620098   -0.275333  9.59117    -0.0628506  -0.0319579  0.0308927   0.2        0.02          pose: 0.74020696    -6.21297   -3.12395    0 0.00188192  -0.00325298 0.710383    0.703805       uwb: 0.0            1211.63  1638.15  
imu_odom_:  1691062908.947685179  0.565032   -0.253785  9.93594    -0.04048    -0.0308927  0.0372843   0.2        0.02          pose: 0.8346140     -6.21606   -3.12278    0 0.00235287  -0.00408411 0.710355    0.703828       uwb: 0.49965719     1205.88  1639.49  
imu_odom_:  1691062908.971743655  0.512359   -0.19393   10.1801    -0.0266316  -0.0287621  0.0500674   0.21       0.02          pose: 0.42578816    -6.2125    -3.11343    0 0.00527517  -0.0078927  0.710256    0.703879       uwb: 0.0            1205.88  1639.49  
imu_odom_:  1691062908.995843545  0.620098   -0.155623  10.3022    -0.0500674  0.00213053  0.0500674   0.21       0.02          pose: 0.0           -6.2125    -3.11343    0 0.00527517  -0.0078927  0.710256    0.703879       uwb: 0.50057298     1202.95  1639.93  
imu_odom_:  1691062909.13921161   0.395043   -0.462081  9.71328    -0.0490022  -0.00745685 0.0340885   0.18       0             pose: 0.31073526    -6.20894   -3.10409    0 0.00608109  -0.00543967 0.710373    0.703778       uwb: 0.0            1202.95  1639.93  
imu_odom_:  1691062909.37826521   0.517148   -0.258574  9.99819    -0.0468716  -0.0287621  0.056459    0.18       0             pose: 0.0           -6.20894   -3.10409    0 0.00608109  -0.00543967 0.710373    0.703778       uwb: 0.50005676     1197.85  1641.3   
imu_odom_:  1691062909.62743323   0.577003   -0.0742203 10.0078    -0.0553937  -0.0234358  0.0468716   0.2        0             pose: 0.41135734    -6.20894   -3.10409    0 0.00554423  -0.00572164 0.710442    0.70371        uwb: 0.0            1197.85  1641.3   
imu_odom_:  1691062909.88835764   0.703895   -0.392649  10.0269    -0.0713727  -0.00532632 0.0596548   0.25       0             pose: 0.42848884    -6.21473   -3.09118    0 0.00622996  -0.0046192  0.710609    0.703544       uwb: 0.49922265     1193.22  1642.22  
imu_odom_:  1691062909.105035739  0.186748   -0.351948  9.79228    -0.072438   0.0553937   0.036219    0.25       0             pose: 0.0           -6.21473   -3.09118    0 0.00622996  -0.0046192  0.710609    0.703544       uwb: 0.0            1193.22  1642.22  
imu_odom_:  1691062909.130676707  0.124498   -0.402226  9.78989    -0.0745685  -0.0117179  0.0660464   0.23       -0.02         pose: 0.6948554     -6.21473   -3.09118    0 0.00609551  -0.0053496  0.710659    0.703489       uwb: 0.0            1193.22  1642.22  
imu_odom_:  1691062909.155677503  0.347159   -0.402226  10.0556    -0.0607201  0.0319579   0.0340885   0.23       -0.02         pose: 0.0           -6.21473   -3.09118    0 0.00609551  -0.0053496  0.710659    0.703489       uwb: 0.50128752     1194.78  1641.31  
imu_odom_:  1691062909.179696607  0.521936   -0.287304  10.4651    -0.0703074  0.0266316   0.056459    0.21       0.02          pose: 0.42022640    -6.21117   -3.08184    0 0.00322622  -0.00612917 0.710857    0.703303       uwb: 0.0            1194.78  1641.31  
imu_odom_:  1691062909.194699360  0.56982    -0.270545  9.73961    -0.072438   -0.00958738 0.036219    0.21       0.02          pose: 0.0           -6.21117   -3.08184    0 0.00322622  -0.00612917 0.710857    0.703303       uwb: 0.49892516     1194.21  1641.46  
imu_odom_:  1691062909.221764162  0.459687   -0.1652    9.84735    -0.0862864  0.00106526  0.0585895   0.18       0.02          pose: 0.49999260    -6.20763   -3.07249    0 -0.00099434 -0.0052835  0.711038    0.703133       uwb: 0.0            1194.21  1641.46  
imu_odom_:  1691062909.246839912  0.514753   -0.263362  9.87608    -0.0639159  0.0628506   0.0372843   0.18       0.02          pose: 0.0           -6.20763   -3.07249    0 -0.00099434 -0.0052835  0.711038    0.703133       uwb: 0.49989344     1194.2   1641.41  
imu_odom_:  1691062909.271757589  0.557849   -0.371101  9.31584    -0.0916127  0.00639159  0.0500674   0.2        0             pose: 0.39996259    -6.21344   -3.05959    0 0.00171092  -0.00624098 0.711154    0.703007       uwb: 0.0            1194.2   1641.41  
imu_odom_:  1691062909.294821539  0.88346    -0.203507  9.66539    -0.0511327  0.00213053  0.0330232   0.2        0             pose: 0.0           -6.21344   -3.05959    0 0.00171092  -0.00624098 0.711154    0.703007       uwb: 0.49916723     1196.38  1640.55  
imu_odom_:  1691062909.310892314  0.842759   -0.366313  10.0844    -0.00426106 -0.04048    0.0191748   0.19       0             pose: 0.93111503    -6.2099    -3.05024    0 0.0027041   -0.0099629  0.711269    0.702844       uwb: 0.0            1196.38  1640.55  
imu_odom_:  1691062909.337829956  0.59855    0.0526724  10.3789    0.00106526  -0.0426106  -0.00639159 0.19       0             pose: 0.0           -6.2099    -3.05024    0 0.0027041   -0.0099629  0.711269    0.702844       uwb: 0.50079464     1194.16  1641.3   
imu_odom_:  1691062909.363696952  0.701501   -0.105345  9.22486    -0.0756338  -0.0245011  0.0458064   0.25       0             pose: 0.23920818    -6.20637   -3.04088    0 0.00489735  -0.0105446  0.711013    0.703083       uwb: 0.0            1194.16  1641.3   
imu_odom_:  1691062909.390939077  0.311246   -0.241814  10.0604    -0.0809601  0           0.0958738   0.23       -0.02         pose: 0.44954595    -6.2132    -3.03069    0 0.0093305   -0.0088577  0.710722    0.703356       uwb: 0.0            1194.16  1641.3   
imu_odom_:  1691062909.406834569  0.0694318  -0.837971  9.31584    -0.076699   0.0127832   0.0798948   0.23       -0.02         pose: 0.7265286     -6.21218   -3.02799    0 0.00868993  -0.00845352 0.710872    0.703217       uwb: 0.0            1194.16  1641.3   
imu_odom_:  1691062909.433797002  0.114922   -0.244209  9.34217    -0.0287621  0.0138484   0.0255663   0.23       -0.02         pose: 0.35872331    -6.21212   -3.02798    0 0.00512638  -0.00751538 0.711522    0.702605       uwb: 0.0            1194.16  1641.3   
imu_odom_:  1691062909.460054517  0.208296   -0.0143652 10.2065    -0.0490022  0.00958738  0.036219    0.23       -0.02         pose: 0.0           -6.21212   -3.02798    0 0.00512638  -0.00751538 0.711522    0.702605       uwb: 0.99885068     1188.99  1642.23  
imu_odom_:  1691062909.486719759  0.124498   -0.107739  9.98622    -0.076699   -0.0330232  0.052198    0.25       -0.02         pose: 0.53219948    -6.21517   -3.01612    0 0.00279412  -0.00240479 0.711383    0.702795       uwb: 0.50113004     1190.06  1641.72  
imu_odom_:  1691062909.511665142  0.146046   0.0526724  9.69891    -0.0543285  -0.0298274  0.0436758   0.25       -0.02         pose: 0.0           -6.21517   -3.01612    0 0.00279412  -0.00240479 0.711383    0.702795       uwb: 0.0            1190.06  1641.72  
imu_odom_:  1691062909.527805037  1.075      -0.0766145 10.4148    -0.052198   -0.0436758  0.0458064   0.22       0             pose: 0.34692317    -6.21437   -3.00577    0 0.00158935  0.000184996 0.711513    0.702671       uwb: 0.0            1190.06  1641.72  
imu_odom_:  1691062909.544710513  0.428562   -0.579397  9.22486    -0.0511327  0.0415453   0.0319579   0.22       0             pose: 0.0           -6.21437   -3.00577    0 0.00158935  0.000184996 0.711513    0.702671       uwb: 0.49843811     1184.42  1643.14  
imu_odom_:  1691062909.569656771  0.452504   -0.287304  9.88326    -0.0266316  0.0713727   0.04048     0.25       0             pose: 0.49963679    -6.21075   -2.99644    0 0.00170737  -0.0003342290.71153     0.702653       uwb: 0.0            1184.42  1643.14  
imu_odom_:  1691062909.583661498  0.371101   -0.397437  9.7444     -0.0649811  0.00852212  0.0617853   0.25       0             pose: 0.0           -6.21075   -2.99644    0 0.00170737  -0.0003342290.71153     0.702653       uwb: 0.0            1184.42  1643.14  
imu_odom_:  1691062909.607665436  0.529119   -0.122104  9.78031    -0.052198   0.036219    0.0330232   0.18       0             pose: 0.38950985    -6.20883   -2.99149    0 -0.00137928 -0.00216883 0.711651    0.702528       uwb: 0.50144210     1189.37  1641.34  
imu_odom_:  1691062909.624941015  0.308852   -0.169988  10.0963    -0.0681769  -0.02024    0.0511327   0.18       0             pose: 0.7050632     -6.20713   -2.98712    0 -0.000771338-0.00198623 0.711634    0.702547       uwb: 0.0            1189.37  1641.34  
imu_odom_:  1691062909.649683702  0.332794   -0.222661  9.97185    -0.0372843  -0.0319579  0.0298274   0.18       0             pose: 0.34228885    -6.21645   -2.9835     0 9.05869e-05 -0.00010853 0.711664    0.70252        uwb: 0.49980886     1193.21  1639.9   
imu_odom_:  1691062909.676783793  0.514753   -0.203507  9.44273    -0.0873517  -0.0191748  0.0511327   0.18       0             pose: 0.0           -6.21645   -2.9835     0 9.05869e-05 -0.00010853 0.711664    0.70252        uwb: 0.0            1193.21  1639.9   
imu_odom_:  1691062909.702873318  -0.150835  -0.229843  9.63666    -0.0639159  0.0191748   0.0490022   0.19       0             pose: 0.7821462     -6.21645   -2.9835     0 -0.0003949160.000353634 0.711637    0.702547       uwb: 0.49999260     1190.9   1640.32  
imu_odom_:  1691062909.729718216  0.6608     -0.469264  9.77792    -0.0820254  -0.0191748  0.0372843   0.19       0             pose: 0.0           -6.21645   -2.9835     0 -0.0003949160.000353634 0.711637    0.702547       uwb: 0.0            1190.9   1640.32  
imu_odom_:  1691062909.754670307  0.296881   -0.318429  10.2256    -0.0585895  -0.0372843  0.0447411   0.2        0             pose: 0.52077848    -6.21283   -2.97418    0 -0.000202961-0.0002414690.711717    0.702466       uwb: 0.0            1190.9   1640.32  
imu_odom_:  1691062909.770896822  1.06542    -0.289698  9.6223     -0.0585895  0.015979    0.036219    0.2        0             pose: 0.0           -6.21283   -2.97418    0 -0.000202961-0.0002414690.711717    0.702466       uwb: 0.0            1190.9   1640.32  
imu_odom_:  1691062909.796916934  0.646434   -0.126893  9.88566    -0.0458064  -0.0234358  0.0340885   0.19       0             pose: 0.52905257    -6.20931   -2.96482    0 -0.00223359 -0.00180963 0.711766    0.702411       uwb: 0.100021560    1188.62  1640.85  
imu_odom_:  1691062909.823766498  0.320823   -0.296881  10.058     -0.0468716  -0.00319579 0.0351537   0.23       0             pose: 0.42099053    -6.21515   -2.95194    0 -0.00167393 -0.00273676 0.711756    0.702419       uwb: 0.0            1188.62  1640.85  
imu_odom_:  1691062909.849704366  0.100556   -0.272939  10.1873    -0.0394148  0.0298274   0.0372843   0.19       0             pose: 0.23891361    -6.21515   -2.95194    0 -0.000415152-0.00280376 0.711712    0.702466       uwb: 0.49958429     1190.31  1640.4   
imu_odom_:  1691062909.876791916  0.272939   -0.203507  10.1945    -0.0298274  -0.00532632 0.0383495   0.22       0             pose: 0.28090825    -6.21162   -2.94258    0 -0.00277555 -0.00111289 0.711679    0.702498       uwb: 0.0            1190.31  1640.4   
imu_odom_:  1691062909.892777237  0.35913    -0.179565  10.0509    -0.0607201  -0.00106526 0.0500674   0.22       0             pose: 0.0           -6.21162   -2.94258    0 -0.00277555 -0.00111289 0.711679    0.702498       uwb: 0.50127003     1193.09  1639.49  
imu_odom_:  1691062909.919675798  0.672771   -0.517148  9.73961    -0.0468716  0.00958738  0.02024     0.23       0             pose: 0.25139039    -6.21162   -2.94258    0 -0.00411213 0.00124235  0.711663    0.702508       uwb: 0.0            1193.09  1639.49  
imu_odom_:  1691062909.944679511  0.371101   -0.574608  9.64863    -0.072438   -0.0127832  0.0415453   0.23       0             pose: 0.0           -6.21162   -2.94258    0 -0.00411213 0.00124235  0.711663    0.702508       uwb: 0.49808521     1185.74  1641.13  
imu_odom_:  1691062909.971922511  0.663194   -0.220267  10.0365    -0.0585895  -0.0703074  0.0468716   0.23       0             pose: 0.43711876    -6.21746   -2.9297     0 -0.00238202 0.00240292  0.711669    0.702506       uwb: 0.0            1185.74  1641.13  
imu_odom_:  1691062909.987802837  0.703895   -0.545878  9.94073    -0.0798948  0.0170442   0.0532632   0.23       0             pose: 0.0           -6.21746   -2.9297     0 -0.00238202 0.00240292  0.711669    0.702506       uwb: 0.50059631     1181.3   1642.59  
imu_odom_:  1691062910.13666917   0.59855    -0.31364   10.0868    -0.0415453  0.0415453   0.0234358   0.25       -0.02         pose: 0.51255395    -6.21393   -2.92034    0 -0.00332133 -0.00194756 0.711567    0.702607       uwb: 0.0            1181.3   1642.59  
imu_odom_:  1691062910.39661365   0.517148   -0.514753  9.91199    -0.0543285  -0.00852212 0.0468716   0.25       -0.02         pose: 0.0           -6.21393   -2.92034    0 -0.00332133 -0.00194756 0.711567    0.702607       uwb: 0.50035134     1178.46  1643.24  
imu_odom_:  1691062910.66644796   0.718261   -0.246603  10.4124    -0.0468716  -0.015979   0.0543285   0.23       0             pose: 0.41733615    -6.21041   -2.91098    0 -0.00107472 -0.00538805 0.711649    0.702514       uwb: 0.0            1178.46  1643.24  
imu_odom_:  1691062910.92734905   0.567426   -0.107739  10.3597    -0.0372843  0.0127832   0.0415453   0.18       -0.02         pose: 0.53145578    -6.21624   -2.8981     0 -0.000765755-0.00873542 0.711619    0.702511       uwb: 0.50015593     1171.12  1645.13  
imu_odom_:  1691062910.119652132  0.507571   -0.11971   10.2185    -0.0692422  -0.0191748  0.0607201   0.18       -0.02         pose: 0.0           -6.21624   -2.8981     0 -0.000765755-0.00873542 0.711619    0.702511       uwb: 0.0            1171.12  1645.13  
imu_odom_:  1691062910.135690533  0.411803   -0.146046  9.7444     -0.0575243  -0.0181095  0.0532632   0.2        0.02          pose: 0.27841757    -6.21624   -2.8981     0 0.00187257  -0.00867785 0.711711    0.702416       uwb: 0.50061674     1168.86  1645.63  
imu_odom_:  1691062910.162790917  0.665588   -0.399832  9.92875    -0.072438   -0.0308927  0.0617853   0.2        0.02          pose: 0.0           -6.21624   -2.8981     0 0.00187257  -0.00867785 0.711711    0.702416       uwb: 0.0            1168.86  1645.63  
imu_odom_:  1691062910.188778656  0.701501   -0.0933739 9.7444     -0.0447411  0.00319579  0.0340885   0.18       0.02          pose: 0.53058958    -6.21272   -2.88874    0 0.00436063  -0.00440016 0.711952    0.7022         uwb: 0.49883184     1165.96  1646.09  
imu_odom_:  1691062910.215703466  0.502782   -0.435745  9.31823    -0.0873517  -0.0106526  0.0511327   0.18       0.02          pose: 0.0           -6.21272   -2.88874    0 0.00436063  -0.00440016 0.711952    0.7022         uwb: 0.0            1165.96  1646.09  
imu_odom_:  1691062910.232664064  0.287304   -0.150835  10.0892    -0.0372843  -0.00958738 0.0383495   0.2        0.02          pose: 0.43207322    -6.2092    -2.87938    0 0.00484537  -0.00670152 0.712178    0.70195        uwb: 0.0            1165.96  1646.09  
imu_odom_:  1691062910.259767947  0.684742   -0.361524  10.501     -0.0756338  -0.02024    0.0681769   0.2        0.02          pose: 0.52933548    -6.21505   -2.86651    0 0.0037799   -0.0073428  0.712255    0.701872       uwb: 0.50008010     1167.13  1645.94  
imu_odom_:  1691062910.285775519  0.995988   -0.0933739 10.647     -0.0660464  0.0255663   0.0319579   0.25       -0.02         pose: 0.0           -6.21505   -2.86651    0 0.0037799   -0.0073428  0.712255    0.701872       uwb: 0.49981178     1167.63  1645.54  
imu_odom_:  1691062910.312675830  0.543484   -0.454898  9.92157    -0.0777643  0.0234358   0.0468716   0.23       0             pose: 0.61921610    -6.21155   -2.85714    0 0.00598677  -0.0101014  0.712416    0.701659       uwb: 0.0            1167.63  1645.54  
imu_odom_:  1691062910.338834477  0.454898   -0.438139  10.2137    -0.0681769  0.00426106  0.0532632   0.23       0             pose: 0.0           -6.21155   -2.85714    0 0.00598677  -0.0101014  0.712416    0.701659       uwb: 0.0            1167.63  1645.54  
imu_odom_:  1691062910.365826949  0.555455   -0.387861  10.0533    -0.052198   0.0191748   0.0351537   0.23       0.02          pose: 0.53058958    -6.21571   -2.84783    0 0.000209896 -0.0106761  0.712655    0.701433       uwb: 0.0            1167.63  1645.54  
imu_odom_:  1691062910.382607307  0.21069    -0.107739  10.2065    -0.0596548  0.00319579  0.0447411   0.23       0.02          pose: 0.0           -6.21571   -2.84783    0 0.000209896 -0.0106761  0.712655    0.701433       uwb: 0.0            1167.63  1645.54  
imu_odom_:  1691062910.406619412  0.608127   -0.277727  9.68933    -0.0426106  0.0138484   0.0426106   0.18       -0.05         pose: 0.43772830    -6.21539   -2.83907    0 -0.00199963 -0.0106903  0.712657    0.701428       uwb: 0.0            1167.63  1645.54  
imu_odom_:  1691062910.431688163  0.253785   -0.160412  9.63187    -0.0671117  -0.00106526 0.0575243   0.18       -0.05         pose: 0.0           -6.21539   -2.83907    0 -0.00199963 -0.0106903  0.712657    0.701428       uwb: 0.0            1167.63  1645.54  
imu_odom_:  1691062910.448621637  0.0981623  -0.378284  10.0604    -0.0426106  -0.0170442  0.0447411   0.23       0.02          pose: 0.49080856    -6.2138    -2.83493    0 -0.000336975-0.00778467 0.712845    0.701278       uwb: 0.149922828    1165.92  1645.91  
imu_odom_:  1691062910.474671498  0.416591   -0.0550666 10.2735    -0.056459   -0.0383495  0.0479369   0.23       0.02          pose: 0.0           -6.2138    -2.83493    0 -0.000336975-0.00778467 0.712845    0.701278       uwb: 0.0            1165.92  1645.91  
imu_odom_:  1691062910.501601558  0.852336   -0.0454898 10.0269    -0.0490022  -0.0234358  0.0426106   0.25       0             pose: 0.42983335    -6.21694   -2.82301    0 0.00017563  -0.00486262 0.712971    0.701177       uwb: 0.49946181     1165.24  1645.62  
imu_odom_:  1691062910.526674101  0.756568   0.0287304  10.3669    -0.0575243  0.015979    0.0543285   0.18       0.02          pose: 0.0           -6.21694   -2.82301    0 0.00017563  -0.00486262 0.712971    0.701177       uwb: 0.0            1165.24  1645.62  
imu_odom_:  1691062910.543708486  0.0909797  -0.378284  9.73961    -0.056459   -0.0245011  0.0372843   0.21       0             pose: 0.35025673    -6.21597   -2.81267    0 0.0037915   -0.00543431 0.713023    0.70111        uwb: 0.50241913     1169.2   1644.65  
imu_odom_:  1691062910.568660869  0.351948   -0.265756  9.63906    -0.0692422  -0.0490022  0.0543285   0.21       0             pose: 0.0           -6.21597   -2.81267    0 0.0037915   -0.00543431 0.713023    0.70111        uwb: 0.0            1169.2   1644.65  
imu_odom_:  1691062910.595606386  0.42138    0          10.0341    -0.0447411  0.0319579   0.0319579   0.23       0             pose: 0.58963698    -6.21342   -2.80604    0 0.00203449  -0.0038101  0.713233    0.700913       uwb: 0.50007135     1169.69  1644.23  
imu_odom_:  1691062910.621600250  0.308852   -0.538695  9.30147    -0.0500674  0.0490022   0.0394148   0.19       0             pose: 0.6955262     -6.21239   -2.80333    0 0.00231527  -0.00309125 0.713214    0.700935       uwb: 0.0            1169.69  1644.23  
imu_odom_:  1691062910.647611613  0.117316   -0.311246  9.81383    -0.0213053  0.0266316   0.0447411   0.25       0             pose: 0.45984119    -6.21653   -2.79405    0 0.000276186 -0.00148864 0.713163    0.700996       uwb: 0.0            1169.69  1644.23  
imu_odom_:  1691062910.663715344  0.442927   -0.488417  9.64145    -0.0585895  -0.0191748  0.052198    0.25       0             pose: 0.0           -6.21653   -2.79405    0 0.000276186 -0.00148864 0.713163    0.700996       uwb: 0.0            1169.69  1644.23  
imu_odom_:  1691062910.690616531  0.275333   -0.0454898 10.2161    -0.0330232  -0.0138484  0.0436758   0.17       0             pose: 0.33044788    -6.21815   -2.79042    0 -0.00226223 -0.0002486610.713242    0.700914       uwb: 0.99907235     1169.13  1644.4   
imu_odom_:  1691062910.715595162  0.64404    -0.217872  10.0437    -0.072438   -0.02024    0.0468716   0.18       0.02          pose: 0.35971493    -6.21457   -2.78108    0 -0.00147069 0.00156138  0.713324    0.700831       uwb: 0.0            1169.13  1644.4   
imu_odom_:  1691062910.742683004  0.347159   -0.155623  10.0197    -0.0841559  -0.00639159 0.0596548   0.18       0.02          pose: 0.8130902     -6.21457   -2.78108    0 -0.0009018980.000885642 0.713346    0.700811       uwb: 0.50098130     1166.79  1644.67  
imu_odom_:  1691062910.758688741  0.308852   -0.399832  9.96946    -0.072438   0.0138484   0.0447411   0.19       0             pose: 0.0           -6.21457   -2.78108    0 -0.0009018980.000885642 0.713346    0.700811       uwb: 0.0            1166.79  1644.67  
imu_odom_:  1691062910.785660507  0.646434   -0.205901  9.86172    -0.0756338  -0.00639159 0.052198    0.19       0             pose: 0.43935571    -6.21203   -2.77445    0 -9.64484e-050.00189543  0.713578    0.700573       uwb: 0.49827771     1159.34  1646.11  
imu_odom_:  1691062910.810600640  0.679953   -0.459687  9.93354    -0.0649811  0.0330232   0.0330232   0.18       -0.02         pose: 0.42977503    -6.21779   -2.76149    0 0.000150618 -0.0008462730.713726    0.700425       uwb: 0.0            1159.34  1646.11  
imu_odom_:  1691062910.837598946  0.177171   -0.102951  10.1634    -0.072438   0.00958738  0.052198    0.18       -0.02         pose: 0.0           -6.21779   -2.76149    0 0.000150618 -0.0008462730.713726    0.700425       uwb: 0.49933639     1153.06  1647.39  
imu_odom_:  1691062910.862597702  0.289698   -0.282516  10.1083    -0.0468716  0.0458064   0.0298274   0.19       0             pose: 0.32008264    -6.21677   -2.75883    0 -0.000363755-0.00242436 0.713698    0.700449       uwb: 0.0            1153.06  1647.39  
imu_odom_:  1691062910.888639688  0.253785   -0.469264  9.34217    -0.0490022  -0.0117179  0.0319579   0.21       -0.02         pose: 0.0           -6.21677   -2.75883    0 -0.000363755-0.00242436 0.713698    0.700449       uwb: 0.50186208     1153.62  1647.23  
imu_odom_:  1691062910.905133938  0.526724   -0.241814  9.96227    -0.0372843  -0.0298274  0.0340885   0.21       -0.02         pose: 0.44928931    -6.21316   -2.74948    0 -0.00380479 0.000896585 0.713699    0.700442       uwb: 0.0            1153.62  1647.23  
imu_odom_:  1691062910.931624481  0.337582   -0.263362  9.64384    -0.0639159  -0.00745685 0.0479369   0.23       0             pose: 0.0           -6.21316   -2.74948    0 -0.00380479 0.000896585 0.713699    0.700442       uwb: 0.0            1153.62  1647.23  
imu_odom_:  1691062910.957731797  0.246603   -0.160412  9.97185    -0.0511327  0.00852212  0.0468716   0.23       0             pose: 0.49201598    -6.21912   -2.73664    0 -0.00432428 -0.0003498080.71361     0.700529       uwb: 0.49636740     1151.93  1647.68  
imu_odom_:  1691062910.984788725  0.653617   -0.387861  9.91918    -0.0735032  -0.00106526 0.036219    0.25       -0.02         pose: 0.45932497    -6.21661   -2.72988    0 -0.00409118 0.00430517  0.713743    0.700383       uwb: 0.50316576     1148.99  1647.86  
imu_odom_:  1691062911.10642306   0.380678   -0.454898  10.1442    -0.0628506  -0.0117179  0.0458064   0.25       -0.02         pose: 0.0           -6.21661   -2.72988    0 -0.00409118 0.00430517  0.713743    0.700383       uwb: 0.0            1148.99  1647.86  
imu_odom_:  1691062911.27597362   0.754174   -0.289698  9.75637    -0.0809601  -0.0223706  0.0436758   0.25       -0.02         pose: 0.7020592     -6.21564   -2.72726    0 -0.00390654 0.00360659  0.713736    0.700394       uwb: 0.0            1148.99  1647.86  
imu_odom_:  1691062911.52662614   0.964863   -0.277727  9.55526    -0.0660464  -0.0298274  0.0479369   0.25       -0.02         pose: 0.0           -6.21564   -2.72726    0 -0.00390654 0.00360659  0.713736    0.700394       uwb: 0.49919932     1145.48  1648.17  
imu_odom_:  1691062911.79581883   0.203507   -0.493206  9.67257    -0.0372843  0.0138484   0.0287621   0.21       0.02          pose: 0.52869969    -6.21217   -2.71788    0 -0.00426181 -0.00132231 0.713771    0.700364       uwb: 0.0            1145.48  1648.17  
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imu_odom_:  1691062911.132718712  0.579397   -0.373495  9.58878    -0.0319579  0.00213053  0.0490022   0.23       0.02          pose: 0.8024450     -6.21809   -2.70503    0 -0.00435947 -0.00294438 0.713775    0.700356       uwb: 0.0            1147.15  1647.77  
imu_odom_:  1691062911.157720676  0.543484   -0.047884  9.82102    -0.04048    -0.00106526 0.0468716   0.19       0             pose: 0.25132040    -6.21809   -2.70503    0 -0.00414263 -0.00186822 0.713845    0.700289       uwb: 0.49980304     1148.32  1647.67  
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imu_odom_:  1691062911.252638368  0.648829   -0.146046  10.2472    -0.0735032  -0.0319579  0.0436758   0.18       0             pose: 0.42042766    -6.21116   -2.68627    0 -0.00227744 -0.00133718 0.714039    0.700101       uwb: 0.50036884     1159.04  1645     
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imu_odom_:  1691062911.337737090  0.514753   -0.174777  9.63187    -0.0681769  -0.0255663  0.0596548   0.2        -0.02         pose: 0.42141051    -6.21708   -2.67343    0 -0.000902305-0.00395558 0.714452    0.699672       uwb: 0.49932474     1167.37  1642.53  
imu_odom_:  1691062911.364634486  0.332794   -0.21069   10.1179    -0.0649811  0.00106526  0.0447411   0.2        -0.02         pose: 0.0           -6.21708   -2.67343    0 -0.000902305-0.00395558 0.714452    0.699672       uwb: 0.0            1167.37  1642.53  
imu_odom_:  1691062911.389595910  0.179565   -0.691924  9.74679    -0.0671117  0.0511327   0.0415453   0.23       0.05          pose: 0.51872236    -6.21363   -2.66404    0 0.00132472  -0.00434828 0.714652    0.699466       uwb: 0.49830396     1165.59  1642.58  
imu_odom_:  1691062911.416577884  0.275333   -0.418985  10.2663    -0.0649811  -0.0191748  0.0500674   0.21       0.02          pose: 0.59981848    -6.21948   -2.65124    0 -0.00251435 -0.00228057 0.714779    0.699343       uwb: 0.0            1165.59  1642.58  
imu_odom_:  1691062911.441543975  0.335188   -0.354342  10.0437    -0.0308927  0.0234358   0.0340885   0.21       0.02          pose: 0.0           -6.21948   -2.65124    0 -0.00251435 -0.00228057 0.714779    0.699343       uwb: 0.49935390     1165.54  1642.42  
imu_odom_:  1691062911.468764226  0.61531    -0.222661  10.2161    -0.0596548  -0.00106526 0.0511327   0.23       0             pose: 0.8104946     -6.21948   -2.65124    0 -0.00330851 -0.00239666 0.714808    0.699309       uwb: 0.0            1165.54  1642.42  
imu_odom_:  1691062911.484649220  0.246603   -0.0885855 9.74201    -0.0383495  -0.00213053 0.0415453   0.23       0             pose: 0.0           -6.21948   -2.65124    0 -0.00330851 -0.00239666 0.714808    0.699309       uwb: 0.0            1165.54  1642.42  
imu_odom_:  1691062911.511539324  0.459687   -0.232238  10.2041    -0.0585895  -0.0298274  0.0500674   0.23       0             pose: 0.50903958    -6.21595   -2.64189    0 -0.00704636 -0.00242056 0.714848    0.699241       uwb: 0.50029301     1167.21  1641.92  
imu_odom_:  1691062911.536581827  0.222661   -0.579397  9.70131    -0.0298274  -0.00106526 0.0234358   0.23       0             pose: 0.0           -6.21595   -2.64189    0 -0.00704636 -0.00242056 0.714848    0.699241       uwb: 0.50071591     1168.94  1641.63  
imu_odom_:  1691062911.563618340  0.395043   -0.248997  9.77792    -0.04048    -0.0298274  0.0479369   0.23       0             pose: 0.42980711    -6.22177   -2.629      0 -0.00393585 -0.00167956 0.714976    0.699136       uwb: 0.0            1168.94  1641.63  
imu_odom_:  1691062911.579559038  0.418985   -0.277727  10.0102    -0.0426106  0.0500674   0.0383495   0.23       0             pose: 0.0           -6.22177   -2.629      0 -0.00393585 -0.00167956 0.714976    0.699136       uwb: 0.0            1168.94  1641.63  
imu_odom_:  1691062911.606701128  0.675165   -0.562637  9.83777    -0.0830906  0.0308927   0.0596548   0.2        0             pose: 0.52143179    -6.21824   -2.61964    0 -0.0033397  -0.0022505  0.71493     0.699185       uwb: 0.50065757     1163.76  1642.42  
imu_odom_:  1691062911.631615013  0.201113   -0.502782  9.71806    -0.0490022  0.0223706   0.036219    0.18       0             pose: 0.62972424    -6.21471   -2.61029    0 -0.00257767 -0.00507648 0.71516     0.698938       uwb: 0.0            1163.76  1642.42  
imu_odom_:  1691062911.658702273  0.761356   -0.344765  10.0006    -0.0585895  -0.00426106 0.0372843   0.18       0             pose: 0.0           -6.21471   -2.61029    0 -0.00257767 -0.00507648 0.71516     0.698938       uwb: 0.50190583     1161.02  1643.35  
imu_odom_:  1691062911.674813295  0.184354   -0.241814  9.47146    -0.0532632  0.0490022   0.0340885   0.2        0             pose: 0.8055657     -6.21471   -2.61029    0 -0.00343702 -0.00489514 0.715152    0.698943       uwb: 0.0            1161.02  1643.35  
imu_odom_:  1691062911.701807518  0.292093   -0.25618   9.90002    -0.0500674  -0.0436758  0.0287621   0.2        0             pose: 0.0           -6.21471   -2.61029    0 -0.00343702 -0.00489514 0.715152    0.698943       uwb: 0.49994887     1155.89  1644.3   
imu_odom_:  1691062911.726815606  0.0670376  -0.117316  10.24      -0.04048    -0.00745685 0.0468716   0.18       0             pose: 0.51927649    -6.22054   -2.5974     0 -0.00376977 -0.00552618 0.715087    0.699004       uwb: 0.0            1155.89  1644.3   
imu_odom_:  1691062911.753624632  0.447716   -0.100556  10.228     -0.0436758  -0.02024    0.0330232   0.18       0             pose: 0.0           -6.22054   -2.5974     0 -0.00376977 -0.00552618 0.715087    0.699004       uwb: 0.50006261     1154.19  1644.68  
imu_odom_:  1691062911.778786711  0.399832   -0.198719  10.1323    -0.0628506  -0.0330232  0.056459    0.19       0             pose: 0.42913048    -6.21701   -2.58805    0 -0.00444049 -0.0014968  0.715013    0.699095       uwb: 0.0            1154.19  1644.68  
imu_odom_:  1691062911.805613528  0.845153   -0.244209  9.99579    -0.0553937  0.0234358   0.0351537   0.23       -0.02         pose: 0.52018061    -6.21348   -2.57869    0 -0.0009939830.000647963 0.715059    0.699063       uwb: 0.49829813     1153.66  1644.93  
imu_odom_:  1691062911.830690737  0.457293   -0.399832  9.75158    -0.0830906  0.0149137   0.0511327   0.23       -0.02         pose: 0.0           -6.21348   -2.57869    0 -0.0009939830.000647963 0.715059    0.699063       uwb: 0.0            1153.66  1644.93  
imu_odom_:  1691062911.857734249  0.4956     -0.347159  9.72525    -0.0756338  -0.0276969  0.0479369   0.23       -0.02         pose: 0.69075194    -6.21927   -2.5658     0 0.000158349 -0.00335855 0.715224    0.698888       uwb: 0.50079173     1156.52  1644.44  
imu_odom_:  1691062911.873620992  0.287304   -0.519542  10.2544    -0.0596548  0.0245011   0.056459    0.23       -0.02         pose: 0.6884975     -6.21931   -2.5658     0 -3.74585e-05-0.00412233 0.715242    0.698865       uwb: 0.0            1156.52  1644.44  
imu_odom_:  1691062911.900547261  0.538695   -0.0766145 10.0963    -0.056459   0.00106526  0.0383495   0.23       0             pose: 0.0           -6.21931   -2.5658     0 -3.74585e-05-0.00412233 0.715242    0.698865       uwb: 0.49997803     1157.05  1644.19  
imu_odom_:  1691062911.926546959  0.198719   -0.517148  9.45231    -0.0660464  0.0234358   0.0415453   0.23       0             pose: 0.43166783    -6.21588   -2.55641    0 -0.00177657 -0.00592257 0.71539     0.698698       uwb: 0.0            1157.05  1644.19  
imu_odom_:  1691062911.953688465  0.1652     -0.593762  10.3477    -0.0511327  0.00213053  0.0266316   0.25       -0.02         pose: 0.45804464    -6.22283   -2.54627    0 -0.00302582 -0.00466697 0.715403    0.69869        uwb: 0.49936557     1152.39  1644.58  
imu_odom_:  1691062911.969666203  0.737414   -0.0814029 10.0173    -0.0543285  -0.0436758  0.0266316   0.25       -0.02         pose: 0.7138418     -6.22185   -2.54359    0 -0.00374561 -0.00465857 0.715371    0.698719       uwb: 0.0            1152.39  1644.58  
imu_odom_:  1691062911.996672384  0.588974   -0.260968  10.2903    -0.056459   -0.0170442  0.0543285   0.25       0             pose: 0.35980826    -6.22001   -2.53854    0 -0.00393994 -0.00501572 0.715209    0.698882       uwb: 0.49895142     1147.27  1645.53  
imu_odom_:  1691062912.22677914   0.342371   -0.172383  10.2544    -0.0415453  0.0287621   0.0308927   0.19       0             pose: 0.0           -6.22001   -2.53854    0 -0.00393994 -0.00501572 0.715209    0.698882       uwb: 0.0            1147.27  1645.53  
imu_odom_:  1691062912.47651297   0.799663   -0.454898  9.85693    -0.0713727  -0.0394148  0.0543285   0.23       0             pose: 0.53011711    -6.21595   -2.52739    0 -0.00129122 -0.00298554 0.715269    0.698841       uwb: 0.50003345     1150.66  1644.79  
imu_odom_:  1691062912.70539384   0.830788   -0.339977  9.69412    -0.0458064  -0.0149137  0.0191748   0.2        0             pose: 0.0           -6.21595   -2.52739    0 -0.00129122 -0.00298554 0.715269    0.698841       uwb: 0.0            1150.66  1644.79  
imu_odom_:  1691062912.86663530   0.265756   -0.196325  9.79947    -0.0500674  -0.0266316  0.0468716   0.2        0             pose: 0.30918663    -6.22439   -2.52138    0 0.000146102 -0.00625107 0.715341    0.698748       uwb: 0.0            1150.66  1644.79  
imu_odom_:  1691062912.113716959  0.545878   -0.134075  10.4459    -0.0553937  -0.00958738 0.0351537   0.25       0             pose: 0.0           -6.22439   -2.52138    0 0.000146102 -0.00625107 0.715341    0.698748       uwb: 0.0            1150.66  1644.79  
imu_odom_:  1691062912.139551291  1.23301    -0.320823  10.2544    -0.0841559  -0.0117179  0.0553937   0.25       0             pose: 0.41076821    -6.22097   -2.51198    0 0.00154617  -0.00578988 0.715246    0.698847       uwb: 0.99990941     1153.47  1644.16  
imu_odom_:  1691062912.166668882  0.368707   -0.299275  10.2352    -0.0276969  0.00319579  0.0276969   0.25       0.02          pose: 0.44877893    -6.2186    -2.5055     0 0.00465219  -0.00717514 0.715336    0.698729       uwb: 0.0            1153.47  1644.16  
imu_odom_:  1691062912.182702618  0.708684   -0.258574  9.61033    -0.0415453  -0.0319579  0.0447411   0.25       0.02          pose: 0.0           -6.2186    -2.5055     0 0.00465219  -0.00717514 0.715336    0.698729       uwb: 0.0            1153.47  1644.16  
imu_odom_:  1691062912.199510391  0.497994   -0.0861913 9.94551    -0.0245011  0           0.0415453   0.25       0.02          pose: 0.0           -6.2186    -2.5055     0 0.00465219  -0.00717514 0.715336    0.698729       uwb: 0.50005678     1153.33  1643.54  
imu_odom_:  1691062912.224578851  0.28491    -0.213084  9.96946    -0.0468716  0.00958738  0.0532632   0.23       -0.02         pose: 0.8002577     -6.21754   -2.50259    0 0.00402561  -0.00665772 0.71531     0.698764       uwb: 0.0            1153.33  1643.54  
imu_odom_:  1691062912.251636654  0.567426   -0.191536  9.80426    -0.0372843  -0.00426106 0.0394148   0.23       0             pose: 0.42984211    -6.21754   -2.50259    0 0.00432466  -0.00584655 0.715269    0.698811       uwb: 0.0            1153.33  1643.54  
imu_odom_:  1691062912.277510360  0.363919   -0.474052  9.70849    -0.0649811  0           0.0585895   0.23       0             pose: 0.0           -6.21754   -2.50259    0 0.00432466  -0.00584655 0.715269    0.698811       uwb: 0.0            1153.33  1643.54  
imu_odom_:  1691062912.294561952  0.433351   -0.0909797 10.2232    -0.0553937  0.00958738  0.04048     0.25       -0.02         pose: 0.41103362    -6.22351   -2.48976    0 0.00367724  -0.00324835 0.715402    0.698696       uwb: 0.0            1153.33  1643.54  
imu_odom_:  1691062912.310565356  0.100556   -0.246603  9.71806    -0.0756338  -0.015979   0.0649811   0.25       -0.02         pose: 0.0           -6.22351   -2.48976    0 0.00367724  -0.00324835 0.715402    0.698696       uwb: 0.0            1153.33  1643.54  
imu_odom_:  1691062912.337561329  0.332794   -0.407014  9.79228    -0.0468716  0.0298274   0.0340885   0.23       0             pose: 0.52932675    -6.22008   -2.48037    0 0.00309032  -0.00405268 0.71558     0.698512       uwb: 0.149904458    1151.57  1643.64  
imu_odom_:  1691062912.362630373  -0.0407014 -0.344765  9.68215    -0.0692422  0.00319579  0.056459    0.23       0             pose: 0.0           -6.22008   -2.48037    0 0.00309032  -0.00405268 0.71558     0.698512       uwb: 0.0            1151.57  1643.64  
imu_odom_:  1691062912.379693632  0.68953    0.0574608  10.1897    -0.04048    -0.0170442  0.0351537   0.21       0             pose: 0.33008041    -6.21666   -2.47097    0 0.00128791  -0.00225187 0.715717    0.698386       uwb: 0.0            1151.57  1643.64  
imu_odom_:  1691062912.395524087  0.160412   -0.265756  9.31584    -0.0585895  -0.0138484  0.0500674   0.21       0             pose: 0.0           -6.21666   -2.47097    0 0.00128791  -0.00225187 0.715717    0.698386       uwb: 0.50067508     1152.14  1643.53  
imu_odom_:  1691062912.422577807  0.418985   -0.272939  9.59117    -0.0649811  -0.0106526  0.0436758   0.23       0             pose: 0.52049559    -6.22265   -2.45816    0 -0.0023594  -0.0009900150.715823    0.698278       uwb: 0.0            1152.14  1643.53  
imu_odom_:  1691062912.447502775  0.351948   -0.160412  10.082     -0.076699   -0.0106526  0.0394148   0.23       0             pose: 0.0           -6.22265   -2.45816    0 -0.0023594  -0.0009900150.715823    0.698278       uwb: 0.50259996     1151.6   1643.76  
imu_odom_:  1691062912.464548535  0.711078   -0.316035  10.1538    -0.0809601  0.0543285   0.0468716   0.21       0             pose: 0.77871059    -6.21923   -2.44876    0 -0.00113681 -0.0005861860.715903    0.698199       uwb: 0.0            1151.6   1643.76  
imu_odom_:  1691062912.489634786  1.09176    -0.186748  10.0413    -0.056459   -0.0245011  0.0458064   0.21       0             pose: 0.7057049     -6.21923   -2.44876    0 -0.000973306-0.00110548 0.71592     0.698181       uwb: 0.49891935     1149.34  1644.26  
imu_odom_:  1691062912.516507100  0.59855    -0.332794  9.87848    -0.056459   0.0308927   0.0372843   0.21       0             pose: 0.35074962    -6.22357   -2.43947    0 0.00138805  -0.00360296 0.715991    0.698099       uwb: 0.0            1149.34  1644.26  
imu_odom_:  1691062912.542511756  0.521936   -0.301669  10.1921    -0.0575243  0.00426106  0.0500674   0.21       0             pose: 0.0           -6.22357   -2.43947    0 0.00138805  -0.00360296 0.715991    0.698099       uwb: 0.49932474     1146.57  1645.11  
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imu_odom_:  1691062912.585632459  0.663194   -0.0694318 9.82102    -0.0703074  0           0.0532632   0.25       0             pose: 0.0           -6.22277   -2.42918    0 0.000763215 -0.00836529 0.716051    0.697998       uwb: 0.0            1146.57  1645.11  
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imu_odom_:  1691062912.654527706  0.701501   -0.220267  10.3932    -0.0479369  -0.0213053  0.04048     0.2        0             pose: 0.33069870    -6.21831   -2.41718    0 0.00301104  -0.00448676 0.716092    0.697985       uwb: 0.99903446     1144.3   1645.53  
imu_odom_:  1691062912.670526152  0.529119   -0.198719  10.003     -0.0649811  0.02024     0.0532632   0.2        0             pose: 0.0           -6.21831   -2.41718    0 0.00301104  -0.00448676 0.716092    0.697985       uwb: 0.0            1144.3   1645.53  
imu_odom_:  1691062912.697518625  0.203507   -0.426168  9.50259    -0.0585895  -0.00213053 0.0394148   0.18       -0.02         pose: 0.51763743    -6.22418   -2.40431    0 0.00492339  -0.00416701 0.716177    0.697888       uwb: 0.50108339     1145.44  1645.32  
imu_odom_:  1691062912.722522048  0.378284   -0.203507  9.92636    -0.0649811  0           0.0532632   0.18       0             pose: 0.35036464    -6.22418   -2.40431    0 0.00233681  -0.00301566 0.716225    0.697859       uwb: 0.0            1145.44  1645.32  
imu_odom_:  1691062912.749528229  0.462081   -0.0502782 10.2256    -0.04048    0.015979    0.0330232   0.18       0             pose: 0.0           -6.22418   -2.40431    0 0.00233681  -0.00301566 0.716225    0.697859       uwb: 0.49999845     1139.19  1646.48  
imu_odom_:  1691062912.775574007  0.581791   -0.574608  9.50259    -0.0532632  0.0149137   0.0394148   0.18       0.02          pose: 0.8120987     -6.22418   -2.40431    0 0.00184878  -0.00235432 0.716266    0.697821       uwb: 0.0            1139.19  1646.48  
imu_odom_:  1691062912.792631433  0.304064   -0.368707  9.75877    -0.0330232  0.0106526   0.0308927   0.18       0.02          pose: 0.0           -6.22418   -2.40431    0 0.00184878  -0.00235432 0.716266    0.697821       uwb: 0.0            1139.19  1646.48  
imu_odom_:  1691062912.818635797  0.773327   -0.667982  10.2352    -0.0617853  -0.0681769  0.0575243   0.18       -0.02         pose: 0.51994729    -6.22069   -2.39494    0 0.00262475  0.000209662 0.716283    0.697804       uwb: 0.0            1139.19  1646.48  
imu_odom_:  1691062912.845507819  1.03669    0.0023942  9.56723    -0.0394148  0.036219    0.0490022   0.18       -0.02         pose: 0.0           -6.22069   -2.39494    0 0.00262475  0.000209662 0.716283    0.697804       uwb: 0.100006399    1138.67  1646.83  
imu_odom_:  1691062912.861797331  1.26653    -0.390255  9.78031    -0.0905475  0.00213053  0.0639159   0.18       0             pose: 0.42943672    -6.22656   -2.38208    0 0.000205277 -0.00218636 0.716287    0.697803       uwb: 0.0            1138.67  1646.83  
imu_odom_:  1691062912.888574567  0.378284   -0.351948  9.90721    -0.0532632  0.0436758   0.0255663   0.18       0             pose: 0.0           -6.22656   -2.38208    0 0.000205277 -0.00218636 0.716287    0.697803       uwb: 0.49870061     1139.15  1646.3   
imu_odom_:  1691062912.913559324  0.244209   -0.378284  9.84256    -0.0809601  0.00319579  0.0543285   0.19       -0.02         pose: 0.53140621    -6.22307   -2.37271    0 0.0030635   -0.00552098 0.716537    0.697521       uwb: 0.0            1139.15  1646.3   
imu_odom_:  1691062912.940613044  0.52433    -0.196325  9.75398    -0.0660464  -0.0266316  0.0415453   0.23       0.02          pose: 0.42901674    -6.21967   -2.3633     0 -0.000481451-0.00494878 0.716532    0.697537       uwb: 0.50100172     1139.17  1646.41  
imu_odom_:  1691062912.965730793  0.414197   -0.416591  9.52653    -0.072438   0.0106526   0.0383495   0.2        -0.02         pose: 0.23942693    -6.22908   -2.35991    0 -0.00152178 -0.00444069 0.716628    0.69744        uwb: 0.0            1139.17  1646.41  
imu_odom_:  1691062912.991521087  0.244209   -0.222661  10.4579    -0.0639159  0.00852212  0.0426106   0.23       -0.02         pose: 0.28080618    -6.22569   -2.3505     0 -0.000255038-0.00483194 0.716634    0.697432       uwb: 0.50098423     1138.59  1646.46  
imu_odom_:  1691062913.16611421   0.481235   -0.234632  10.1323    -0.0479369  0.0138484   0.0287621   0.23       -0.02         pose: 0.0           -6.22569   -2.3505     0 -0.000255038-0.00483194 0.716634    0.697432       uwb: 0.0            1138.59  1646.46  
imu_odom_:  1691062913.33892834   0.418985   -0.507571  9.53611    -0.0575243  -0.00639159 0.0319579   0.19       0             pose: 0.23870072    -6.22569   -2.3505     0 -0.00227236 -0.00493232 0.716638    0.697424       uwb: 0.0            1138.59  1646.46  
imu_odom_:  1691062913.58517112   0.138864   -0.344765  10.2855    -0.0415453  -0.00532632 0.0351537   0.19       0             pose: 0.0           -6.22569   -2.3505     0 -0.00227236 -0.00493232 0.716638    0.697424       uwb: 0.49752235     1139.64  1645.85  
imu_odom_:  1691062913.85609621   0.656011   -0.117316  9.95748    -0.0532632  -0.0340885  0.0436758   0.2        0             pose: 0.51250439    -6.22229   -2.34109    0 -0.00117535 -0.00353586 0.716549    0.697527       uwb: 0.50018512     1138.42  1645.64  
imu_odom_:  1691062913.101475075  0.787692   -0.198719  10.1083    -0.04048    -0.0234358  0.0276969   0.2        0             pose: 0.0           -6.22229   -2.34109    0 -0.00117535 -0.00353586 0.716549    0.697527       uwb: 0.0            1138.42  1645.64  
imu_odom_:  1691062913.128522087  0.758962   -0.474052  9.74201    -0.0756338  -0.0479369  0.0490022   0.25       0             pose: 0.41951480    -6.22831   -2.32829    0 -0.00299143 -0.00284656 0.716501    0.697574       uwb: 0.0            1138.42  1645.64  
imu_odom_:  1691062913.154517119  0.392649   -0.371101  10.1203    -0.0340885  0.0245011   0.0181095   0.25       0             pose: 0.0           -6.22831   -2.32829    0 -0.00299143 -0.00284656 0.716501    0.697574       uwb: 0.49949390     1131.58  1646.73  
imu_odom_:  1691062913.181594755  0.706289   -0.232238  9.99579    -0.0671117  -0.0340885  0.0372843   0.25       -0.02         pose: 0.43876077    -6.22491   -2.31889    0 0.000944166 -0.00521709 0.71648     0.697587       uwb: 0.0            1131.58  1646.73  
imu_odom_:  1691062913.207652491  0.885855   -0.366313  9.98861    -0.056459   -0.0255663  0.04048     0.19       0             pose: 0.51867570    -6.22491   -2.31889    0 -0.00044945 -0.00665635 0.716346    0.697713       uwb: 0.49935099     1132.72  1646.54  
imu_odom_:  1691062913.224586257  -0.117316  -0.205901  9.65103    -0.0596548  -0.0170442  0.0458064   0.25       0             pose: 0.0           -6.22491   -2.31889    0 -0.00044945 -0.00665635 0.716346    0.697713       uwb: 0.0            1132.72  1646.54  
imu_odom_:  1691062913.250559999  0.624887   -0.270545  10.1682    -0.0308927  -0.02024    0.0255663   0.25       0             pose: 0.53099500    -6.23092   -2.30608    0 0.00283815  -0.00957716 0.716322    0.697698       uwb: 0.50007138     1133.88  1646.47  
imu_odom_:  1691062913.277574346  0.699107   -0.258574  9.91199    -0.036219   -0.0181095  0.0490022   0.18       0             pose: 0.0           -6.23092   -2.30608    0 0.00283815  -0.00957716 0.716322    0.697698       uwb: 0.0            1133.88  1646.47  
imu_odom_:  1691062913.303458843  0.42138    -0.229843  10.4914    -0.0436758  0.0138484   0.0490022   0.19       0             pose: 0.63015589    -6.22509   -2.28995    0 0.00770302  -0.0108134  0.716262    0.697706       uwb: 0.50030177     1130.43  1646.87  
imu_odom_:  1691062913.330507022  0.526724   -0.105345  9.99579    -0.0330232  -0.00426106 0.0383495   0.19       0             pose: 0.0           -6.22509   -2.28995    0 0.00770302  -0.0108134  0.716262    0.697706       uwb: 0.0            1130.43  1646.87  
imu_odom_:  1691062913.347623361  0.402226   -0.3304    9.94791    -0.0500674  0.0149137   0.0532632   0.18       0.02          pose: 0.7997911     -6.22412   -2.28727    0 0.00719008  -0.0101005  0.716297    0.697686       uwb: 0.49944141     1126.42  1647.33  
imu_odom_:  1691062913.373683722  0.351948   -0.0790087 10.4674    -0.0511327  0.0255663   0.0436758   0.18       0.02          pose: 0.0           -6.22412   -2.28727    0 0.00719008  -0.0101005  0.716297    0.697686       uwb: 0.0            1126.42  1647.33  
imu_odom_:  1691062913.400464458  0.59855    -0.373495  9.62469    -0.0873517  0.0191748   0.0649811   0.2        0.02          pose: 0.52883970    -6.22072   -2.27787    0 0.00616398  -0.00550928 0.716403    0.697637       uwb: 0.50161419     1123.56  1647.71  
imu_odom_:  1691062913.417529467  -0.148441  -0.383072  9.85932    -0.0415453  0.0213053   0.0276969   0.2        0.02          pose: 0.0           -6.22072   -2.27787    0 0.00616398  -0.00550928 0.716403    0.697637       uwb: 0.0            1123.56  1647.71  
imu_odom_:  1691062913.442471352  0.497994   -0.328006  9.52653    -0.072438   -0.0447411  0.056459    0.18       0             pose: 0.43066165    -6.23013   -2.27447    0 0.00408439  -0.00322864 0.716567    0.697499       uwb: 0.49827190     1123.02  1647.93  
imu_odom_:  1691062913.469457993  0.136469   -0.181959  9.49062    -0.0575243  0.0170442   0.0415453   0.18       0             pose: 0.0           -6.23013   -2.27447    0 0.00408439  -0.00322864 0.716567    0.697499       uwb: 0.0            1123.02  1647.93  
imu_odom_:  1691062913.494443625  0.328006   -0.174777  10.2759    -0.0916127  -0.0127832  0.076699    0.19       0             pose: 0.42947464    -6.22673   -2.26506    0 0.0014031   -0.00471065 0.716717    0.697347       uwb: 0.50004512     1119.59  1648.39  
imu_odom_:  1691062913.520562024  0.251391   -0.220267  9.79228    -0.0234358  0.0490022   -0.00745685 0.23       0             pose: 0.52210842    -6.22334   -2.25566    0 -0.000978647-0.00346524 0.716947    0.697118       uwb: 0.0            1119.59  1648.39  
imu_odom_:  1691062913.545426330  0.196325   -0.390255  9.97903    -0.0543285  0.0319579   0.0671117   0.23       0             pose: 0.0           -6.22334   -2.25566    0 -0.000978647-0.00346524 0.716947    0.697118       uwb: 0.50002762     1117.84  1648.44  
imu_odom_:  1691062913.571541813  0.141258   -0.277727  10.1706    -0.0639159  0.00319579  0.0532632   0.21       -0.02         pose: 0.68745632    -6.22937   -2.24286    0 -0.00565129 0.00132258  0.716982    0.697068       uwb: 0.0            1117.84  1648.44  
imu_odom_:  1691062913.588467413  0.622492   -0.0837971 10.2232    -0.0671117  -0.0426106  0.0213053   0.21       -0.02         pose: 0.8013951     -6.22937   -2.24286    0 -0.00628166 0.00186757  0.717018    0.697023       uwb: 0.50092590     1113.86  1649.06  
imu_odom_:  1691062913.614494818  0.318429   -0.378284  10.0461    -0.0735032  -0.0127832  0.0596548   0.25       -0.02         pose: 0.0           -6.22937   -2.24286    0 -0.00628166 0.00186757  0.717018    0.697023       uwb: 0.0            1113.86  1649.06  
imu_odom_:  1691062913.639446911  0.555455   0.0790087  10.2065    -0.0351537  0.00213053  0.0447411   0.25       -0.02         pose: 0.35027132    -6.22599   -2.23345    0 -0.00592127 0.00231185  0.717004    0.69704        uwb: 0.49905643     1113.85  1649.01  
imu_odom_:  1691062913.665489481  0.335188   -0.311246  10.0221    -0.0607201  0.0330232   0.0532632   0.2        0             pose: 0.50979498    -6.22927   -2.22165    0 -0.00470994 0.000595875 0.717228    0.696822       uwb: 0.0            1113.85  1649.01  
imu_odom_:  1691062913.682567031  0.287304   -0.124498  10.0197    -0.0351537  0.0127832   0.0298274   0.2        0             pose: 0.0           -6.22927   -2.22165    0 -0.00470994 0.000595875 0.717228    0.696822       uwb: 0.0            1113.85  1649.01  
imu_odom_:  1691062913.708574895  0.280122   -0.141258  9.55287    -0.0788296  0.00319579  0.0575243   0.25       0             pose: 0.43120120    -6.22865   -2.21125    0 -0.0056241  0.000383989 0.717287    0.696755       uwb: 0.50023470     1106.48  1650.24  
imu_odom_:  1691062913.734494973  0.263362   -0.232238  9.61272    -0.0543285  0.036219    0.0383495   0.25       0             pose: 0.0           -6.22865   -2.21125    0 -0.0056241  0.000383989 0.717287    0.696755       uwb: 0.0            1106.48  1650.24  
imu_odom_:  1691062913.759428692  0.59855    -0.565032  9.71567    -0.0852212  0.0394148   0.0575243   0.21       0             pose: 0.51927942    -6.22619   -2.20437    0 -0.0064596  0.00509522  0.71744     0.696572       uwb: 0.50052343     1103.61  1650.46  
imu_odom_:  1691062913.774457694  0.174777   -0.339977  9.89524    -0.04048    -0.0149137  0.0287621   0.21       0             pose: 0.0           -6.22619   -2.20437    0 -0.0064596  0.00509522  0.71744     0.696572       uwb: 0.0            1103.61  1650.46  
imu_odom_:  1691062913.801483707  0.356736   -0.220267  10.3118    -0.0777643  -0.0223706  0.056459    0.18       0.02          pose: 0.39962721    -6.23024   -2.20006    0 -0.00835876 0.00294939  0.717524    0.696477       uwb: 0.0            1103.61  1650.46  
imu_odom_:  1691062913.827416618  0.270545   -0.205901  9.68933    -0.0436758  0.0330232   0.0372843   0.19       0             pose: 0.8111070     -6.23469   -2.19847    0 -0.0075799  0.00264473  0.717578    0.696432       uwb: 0.0            1103.61  1650.46  
imu_odom_:  1691062913.852420040  0.0646434  -0.122104  9.991      -0.0436758  0.00852212  0.0319579   0.23       0             pose: 0.18914943    -6.23233   -2.19186    0 -0.00576356 0.00193425  0.717702    0.696324       uwb: 0.99900530     1104.17  1650.33  
imu_odom_:  1691062913.877415005  0.301669   -0.0909797 10.2424    -0.036219   -0.0181095  0.0468716   0.2        0             pose: 0.33009791    -6.23133   -2.18905    0 -0.00540736 0.00555795  0.717665    0.696346       uwb: 0.0            1104.17  1650.33  
imu_odom_:  1691062913.894633713  0.325611   -0.263362  9.97664    -0.0415453  0.00426106  0.0511327   0.2        0             pose: 0.0           -6.23133   -2.18905    0 -0.00540736 0.00555795  0.717665    0.696346       uwb: 0.49994013     1099.02  1650.89  
imu_odom_:  1691062913.920450256  0.701501   -0.131681  9.89763    -0.0660464  -0.0426106  0.0543285   0.19       0             pose: 0.24066644    -6.22797   -2.17963    0 -0.00535658 0.00745162  0.71763     0.696364       uwb: 0.0            1099.02  1650.89  
imu_odom_:  1691062913.946476785  0.205901   -0.237026  9.77553    -0.0490022  0.0415453   0.0372843   0.19       0             pose: 0.44078481    -6.2246    -2.17021    0 -0.00283855 0.00543825  0.71781     0.696212       uwb: 0.50053509     1098.42  1650.77  
imu_odom_:  1691062913.971468251  0.0957681  -0.134075  9.7037     -0.076699   0.0127832   0.0649811   0.18       0             pose: 0.43838162    -6.23147   -2.15969    0 -0.00410285 0.00531493  0.717875    0.696139       uwb: 0.0            1098.42  1650.77  
imu_odom_:  1691062913.989448164  0.639252   -0.373495  10.0868    -0.0511327  -0.0319579  0.0447411   0.18       0             pose: 0.0           -6.23147   -2.15969    0 -0.00410285 0.00531493  0.717875    0.696139       uwb: 0.50010346     1095.56  1651.1   
imu_odom_:  1691062914.14410465   0.486023   -0.107739  10.2304    -0.0852212  0.00319579  0.0479369   0.19       0             pose: 0.5953738     -6.23066   -2.15744    0 -0.0044517  0.00583624  0.717926    0.696081       uwb: 0.0            1095.56  1651.1   
imu_odom_:  1691062914.40558321   0.629675   -0.318429  9.94791    -0.0703074  -0.00319579 0.036219    0.19       0             pose: 0.0           -6.23066   -2.15744    0 -0.0044517  0.00583624  0.717926    0.696081       uwb: 0.50058176     1097.25  1650.71  
imu_odom_:  1691062914.65489123   0.351948   -0.213084  9.93115    -0.0830906  0.015979    0.0447411   0.19       -0.02         pose: 0.44007027    -6.23066   -2.15744    0 -0.00414372 0.00535849  0.718151    0.695855       uwb: 0.0            1097.25  1650.71  
imu_odom_:  1691062914.91552110   -0.023942  -0.402226  9.88805    -0.0372843  0.0319579   0.0383495   0.19       -0.02         pose: 0.0           -6.23066   -2.15744    0 -0.00414372 0.00535849  0.718151    0.695855       uwb: 0.50060509     1096.17  1651.3   
imu_odom_:  1691062914.108403631  0.641646   -0.251391  10.094     -0.0639159  -0.0426106  0.0330232   0.19       -0.02         pose: 0.51015079    -6.22731   -2.14801    0 -0.00203754 0.00129956  0.718204    0.695829       uwb: 0.0            1096.17  1651.3   
imu_odom_:  1691062914.134527573  0.136469   -0.246603  9.84256    -0.0340885  0.04048     0.0436758   0.19       -0.02         pose: 0.0           -6.22731   -2.14801    0 -0.00203754 0.00129956  0.718204    0.695829       uwb: 0.0            1096.17  1651.3   
imu_odom_:  1691062914.160737259  0.435745   -0.347159  9.48343    -0.0692422  0.0117179   0.0415453   0.25       0             pose: 0.51193569    -6.23338   -2.13524    0 -0.00460972 0.000458953 0.718202    0.695819       uwb: 0.49861605     1095.63  1651.57  
imu_odom_:  1691062914.186440933  0.177171   -0.411803  9.74679    -0.0447411  -0.015979   0.0447411   0.21       0.02          pose: 0.62091061    -6.23004   -2.12582    0 -0.00534319 -0.0002595050.718226    0.695789       uwb: 0.49939475     1097.35  1651.38  
imu_odom_:  1691062914.203507109  0.634463   0.0191536  10.3334    -0.052198   -0.0319579  0.0426106   0.21       0.02          pose: 0.0           -6.23004   -2.12582    0 -0.00534319 -0.0002595050.718226    0.695789       uwb: 0.0            1097.35  1651.38  
imu_odom_:  1691062914.228434703  0.730232   0.114922   10.3142    -0.0532632  -0.02024    0.0298274   0.23       -0.02         pose: 0.6828395     -6.23004   -2.12582    0 -0.00596832 -0.0001900650.718236    0.695774       uwb: 0.0            1097.35  1651.38  
imu_odom_:  1691062914.254550769  0.538695   -0.105345  9.9503     -0.0500674  -0.0447411  0.04048     0.23       -0.02         pose: 0.0           -6.23004   -2.12582    0 -0.00596832 -0.0001900650.718236    0.695774       uwb: 0.50017053     1094.54  1652.03  
imu_odom_:  1691062914.279581024  0.363919   -0.318429  9.86411    -0.0681769  0.0106526   0.0458064   0.19       0.02          pose: 0.43136745    -6.23611   -2.11305    0 -0.00503339 -0.0001390970.71827     0.695747       uwb: 0.0            1094.54  1652.03  
imu_odom_:  1691062914.304535450  0.337582   -0.387861  9.81383    -0.0266316  -0.0426106  0.0245011   0.19       0.02          pose: 0.0           -6.23611   -2.11305    0 -0.00503339 -0.0001390970.71827     0.695747       uwb: 0.50036303     1096.82  1651.72  
imu_odom_:  1691062914.321513256  0.500388   -0.160412  9.81383    -0.0319579  -0.00532632 0.052198    0.19       0.02          pose: 0.50862255    -6.23276   -2.10363    0 -0.000836182-0.0008719990.718242    0.695792       uwb: 0.0            1096.82  1651.72  
imu_odom_:  1691062914.338458105  0.502782   -0.605733  9.91678    -0.0532632  -0.015979   0.140615    0.19       0.02          pose: 0.0           -6.23276   -2.10363    0 -0.000836182-0.0008719990.718242    0.695792       uwb: 0.0            1096.82  1651.72  
imu_odom_:  1691062914.355531280  0.304064   -0.533907  9.31105    -0.0276969  0.0181095   0.197074    0.19       0.02          pose: 0.0           -6.23276   -2.10363    0 -0.000836182-0.0008719990.718242    0.695792       uwb: 0.0            1096.82  1651.72  
imu_odom_:  1691062914.372528043  0.155623   -0.438139  9.98143    -0.0394148  -0.0298274  0.258859    0.25       0.17          pose: 0.49912351    -6.22941   -2.0942     0 -0.0036545  -0.00241182 0.718175    0.695849       uwb: 0.0            1096.82  1651.72  
imu_odom_:  1691062914.389374023  0.591368   -0.349553  9.84256    -0.0543285  0.0287621   0.319579    0.25       0.17          pose: 0.0           -6.22941   -2.0942     0 -0.0036545  -0.00241182 0.718175    0.695849       uwb: 0.99920656     1097.41  1651.78  
imu_odom_:  1691062914.405487087  0.641646   -0.684742  10.1778    -0.0298274  0.0106526   0.34195     0.2        0.38          pose: 0.77897018    -6.2335    -2.07621    0 -0.0051479  -0.00451317 0.72266     0.691169       uwb: 0.0            1097.41  1651.78  
imu_odom_:  1691062914.423486834  0.184354   -0.129287  9.84735    -0.04048    0.0127832   0.401605    0.2        0.38          pose: 0.0           -6.2335    -2.07621    0 -0.0051479  -0.00451317 0.72266     0.691169       uwb: 0.0            1097.41  1651.78  
imu_odom_:  1691062914.439383202  0.378284   -0.248997  9.64145    -0.0852212  0.0138484   0.453803    0.2        0.38          pose: 0.0           -6.2335    -2.07621    0 -0.0051479  -0.00451317 0.72266     0.691169       uwb: 0.50084716     1097.95  1651.53  
imu_odom_:  1691062914.454497658  0.454898   -0.665588  10.0221    -0.0628506  0.0266316   0.458064    0.19       0.41          pose: 0.8067032     -6.23206   -2.07196    0 -0.00522042 -0.00519209 0.723497    0.690288       uwb: 0.0            1097.95  1651.53  
imu_odom_:  1691062914.471441924  0.0430956  -0.584185  10.0509    -0.0394148  0.0127832   0.497478    0.18       0.44          pose: 0.0           -6.23206   -2.07196    0 -0.00522042 -0.00519209 0.723497    0.690288       uwb: 0.0            1097.95  1651.53  
imu_odom_:  1691062914.485381615  0.502782   -0.328006  10.2089    -0.052198   -0.00958738 0.529436    0.18       0.44          pose: 0.0           -6.23206   -2.07196    0 -0.00522042 -0.00519209 0.723497    0.690288       uwb: 0.50064885     1095.67  1651.77  
imu_odom_:  1691062914.502470247  0.11971    -0.514753  9.67976    -0.0330232  0.0298274   0.561394    0.18       0.44          pose: 0.64009241    -6.22865   -2.06256    0 -0.00620345 -0.00371953 0.732087    0.681173       uwb: 0.0            1095.67  1651.77  
imu_odom_:  1691062914.516424228  0.519542   -0.277727  9.98861    -0.0553937  0.0266316   0.577373    0.17       0.44          pose: 0.0           -6.22865   -2.06256    0 -0.00620345 -0.00371953 0.732087    0.681173       uwb: 0.0            1095.67  1651.77  
imu_odom_:  1691062914.532573457  0.466869   -0.42138   9.92397    -0.0649811  -0.00852212 0.627441    0.17       0.44          pose: 0.31000033    -6.23804   -2.05912    0 -0.00670923 -0.00387066 0.737201    0.675629       uwb: 0.0            1095.67  1651.77  
imu_odom_:  1691062914.548382331  0.272939   -0.782904  9.55765    -0.0511327  0.015979    0.638093    0.18       0.55          pose: 0.40123128    -6.23464   -2.04971    0 -0.00615983 -0.00529347 0.74465     0.667405       uwb: 0.50180961     1089.41  1652.76  
imu_odom_:  1691062914.565372386  0.423774   -0.366313  10.0173    -0.0596548  0.0170442   0.638093    0.18       0.55          pose: 0.0           -6.23464   -2.04971    0 -0.00615983 -0.00529347 0.74465     0.667405       uwb: 0.0            1089.41  1652.76  
imu_odom_:  1691062914.582432145  0.715866   -0.25618   9.48343    -0.0852212  -0.0287621  0.66579     0.18       0.55          pose: 0.0           -6.23464   -2.04971    0 -0.00615983 -0.00529347 0.74465     0.667405       uwb: 0.0            1089.41  1652.76  
imu_odom_:  1691062914.599427450  0.723049   -0.344765  10.1011    -0.0511327  -0.0532632  0.658333    0.22       0.7           pose: 0.6826646     -6.23464   -2.04971    0 -0.00678351 -0.00559903 0.746008    0.665879       uwb: 0.0            1089.41  1652.76  
imu_odom_:  1691062914.615478101  1.06781    -0.59855   9.25359    -0.0458064  -0.0127832  0.659399    0.22       0.7           pose: 0.0           -6.23464   -2.04971    0 -0.00678351 -0.00559903 0.746008    0.665879       uwb: 0.0            1089.41  1652.76  
imu_odom_:  1691062914.633425642  1.30484    -0.416591  9.95988    -0.0639159  -0.0415453  0.642354    0.2        0.58          pose: 0.50088216    -6.23121   -2.04032    0 -0.00384895 -0.00748325 0.75609     0.654414       uwb: 0.0            1089.41  1652.76  
imu_odom_:  1691062914.650439321  1.29526    -0.234632  9.71328    -0.0245011  0.0340885   0.540089    0.13       0.38          pose: 0.0           -6.23121   -2.04032    0 -0.00384895 -0.00748325 0.75609     0.654414       uwb: 0.99600132     1084.86  1653.48  
imu_odom_:  1691062914.664504421  1.22104    0.0550666  10.0628    -0.052198   0.0255663   0.477238    0.13       0.38          pose: 0.0           -6.23121   -2.04032    0 -0.00384895 -0.00748325 0.75609     0.654414       uwb: 0.0            1084.86  1653.48  
imu_odom_:  1691062914.680509283  0.986411   -0.0335188 9.75398    -0.0681769  0.0287621   0.407996    0.13       0.38          pose: 0.67030732    -6.23729   -2.02747    0 0.00132253  -0.0114633  0.768357    0.639917       uwb: 0.0            1084.86  1653.48  
imu_odom_:  1691062914.697555043  0.828394   -0.225055  9.52174    -0.0543285  0.0287621   0.345146    0.13       0.38          pose: 0.0           -6.23729   -2.02747    0 0.00132253  -0.0114633  0.768357    0.639917       uwb: 0.49917310     1087.19  1653.48  
imu_odom_:  1691062914.713399498  0.828394   -0.296881  10.0892    -0.0617853  0.0106526   0.324906    0.16       0.5           pose: 0.0           -6.23729   -2.02747    0 0.00132253  -0.0114633  0.768357    0.639917       uwb: 0.0            1087.19  1653.48  
imu_odom_:  1691062914.730424259  0.790087   -0.416591  9.75877    -0.0596548  -0.00852212 0.309992    0.16       0.5           pose: 0.30938495    -6.23729   -2.02747    0 0.00388892  -0.0115154  0.771998    0.635508       uwb: 0.0            1087.19  1653.48  
imu_odom_:  1691062914.748375592  0.80924    -0.162806  9.99819    -0.0553937  0.00532632  0.286556    0.08       0.29          pose: 0.42966713    -6.23729   -2.02747    0 0.00650472  -0.0140674  0.775813    0.630772       uwb: 0.50189127     1086.6   1653.42  
imu_odom_:  1691062914.774575945  0.634463   -0.263362  9.7851     -0.0500674  0.0106526   0.286556    0.08       0.29          pose: 0.0           -6.23729   -2.02747    0 0.00650472  -0.0140674  0.775813    0.630772       uwb: 0.0            1086.6   1653.42  
imu_odom_:  1691062914.791587291  0.672771   -0.222661  9.91439    -0.0660464  0.0181095   0.280165    0.08       0.29          pose: 0.8091239     -6.23729   -2.02747    0 0.00723968  -0.0138287  0.776434    0.630005       uwb: 0.49939475     1083.73  1653.75  
imu_odom_:  1691062914.808483726  -0.201113  -0.486023  9.75637    -0.0585895  0.0703074   0.169377    0.09       0.08          pose: 0.0           -6.23729   -2.02747    0 0.00723968  -0.0138287  0.776434    0.630005       uwb: 0.0            1083.73  1653.75  
imu_odom_:  1691062914.825542319  -0.667982  0.225055   10.1873    -0.0511327  -0.0138484  -0.0191748  0.14       0.02          pose: 0.0           -6.23729   -2.02747    0 0.00723968  -0.0138287  0.776434    0.630005       uwb: 0.0            1083.73  1653.75  
imu_odom_:  1691062914.841529391  -0.344765  0.407014   9.52174    -0.0511327  -0.0308927  -0.135289   0.14       0.02          pose: 0.77099064    -6.24344   -2.01472    0 0.00650516  -0.00815563 0.781087    0.624335       uwb: 0.50065176     1088.87  1653.09  
imu_odom_:  1691062914.859607591  -0.162806  -0.215478  9.65103    -0.0745685  0.0106526   -0.148072   0.15       -0.14         pose: 0.0           -6.24344   -2.01472    0 0.00650516  -0.00815563 0.781087    0.624335       uwb: 0.0            1088.87  1653.09  
imu_odom_:  1691062914.876365784  -0.0742203 -0.785298  10.0102    -0.0628506  -0.0223706  -0.164051   0.15       -0.14         pose: 0.33767498    -6.24344   -2.01472    0 0.00512489  -0.00538133 0.779587    0.62625        uwb: 0.0            1088.87  1653.09  
imu_odom_:  1691062914.890360597  -0.356736  -0.519542  9.73482    -0.0532632  0.0149137   -0.204531   0.15       -0.14         pose: 0.0           -6.24344   -2.01472    0 0.00512489  -0.00538133 0.779587    0.62625        uwb: 0.49887561     1090.04  1653.14  
imu_odom_:  1691062914.907357068  -0.011971  0.0933739  9.84496    -0.0511327  -0.0383495  -0.216249   0.12       -0.26         pose: 0.40978537    -6.24008   -2.00528    0 0.00125623  -0.0043642  0.776862    0.629655       uwb: 0.0            1090.04  1653.14  
imu_odom_:  1691062914.921490122  0.107739   0.0933739  9.71328    -0.0511327  -0.0138484  -0.239684   0.12       -0.26         pose: 0.7009218     -6.24014   -2.00528    0 0.00118519  -0.00374861 0.776299    0.630352       uwb: 0.0            1090.04  1653.14  
imu_odom_:  1691062914.937365492  0.54109    -0.023942  10.4794    -0.0660464  0.0117179   -0.271642   0.12       -0.26         pose: 0.0           -6.24014   -2.00528    0 0.00118519  -0.00374861 0.776299    0.630352       uwb: 0.0            1090.04  1653.14  
imu_odom_:  1691062914.952408202  0.363919   -0.222661  9.69173    -0.0490022  0.015979    -0.304666   0.14       -0.38         pose: 0.39995677    -6.24014   -2.00528    0 0.00230564  -0.0008272170.772682    0.634789       uwb: 0.0            1090.04  1653.14  
imu_odom_:  1691062914.969404965  0.0574608  -0.263362  10.0676    -0.0426106  0           -0.34408    0.13       -0.35         pose: 0.0           -6.24014   -2.00528    0 0.00230564  -0.0008272170.772682    0.634789       uwb: 0.0            1090.04  1653.14  
imu_odom_:  1691062914.983479689  0.107739   -0.177171  9.68933    -0.0628506  -0.0117179  -0.36432    0.13       -0.35         pose: 0.0           -6.24014   -2.00528    0 0.00230564  -0.0008272170.772682    0.634789       uwb: 0.0            1090.04  1653.14  
imu_odom_:  1691062914.999479593  0.363919   0.220267   10.5896    -0.0585895  -0.0340885  -0.379234   0.13       -0.41         pose: 0.22012847    -6.24625   -1.99252    0 0.000254229 0.000309391 0.770185    0.63782        uwb: 0.99912198     1091.18  1652.96  
imu_odom_:  1691062915.16550727   0.304064   -0.237026  9.60793    -0.0500674  -0.0117179  -0.395213   0.13       -0.41         pose: 0.0           -6.24625   -1.99252    0 0.000254229 0.000309391 0.770185    0.63782        uwb: 0.0            1091.18  1652.96  
imu_odom_:  1691062915.34532391   0.158017   -0.277727  9.62708    -0.0511327  0.00532632  -0.409062   0.13       -0.41         pose: 0.0           -6.24625   -1.99252    0 0.000254229 0.000309391 0.770185    0.63782        uwb: 0.50138380     1090.03  1653     
imu_odom_:  1691062915.52474100   0.952892   0.0311246  10.1658    -0.0596548  -0.0490022  -0.425041   0.15       -0.5          pose: 0.75154052    -6.24436   -1.98726    0 -0.00374513 0.00330213  0.759959    0.649951       uwb: 0.0            1090.03  1653     
imu_odom_:  1691062915.68532917   1.47243    -0.215478  9.80426    -0.0745685  -0.0937433  -0.370712   0.15       -0.5          pose: 0.0           -6.24436   -1.98726    0 -0.00374513 0.00330213  0.759959    0.649951       uwb: 0.0            1090.03  1653     
imu_odom_:  1691062915.85408646   1.59214    -0.428562  9.5792     -0.0692422  -0.00639159 -0.357929   0.15       -0.5          pose: 0.0           -6.24436   -1.98726    0 -0.00374513 0.00330213  0.759959    0.649951       uwb: 0.50028137     1083.19  1653.98  
imu_odom_:  1691062915.103477513  1.11091    -0.335188  9.23922    -0.0479369  0.0479369   -0.350472   0.11       -0.35         pose: 0.7953580     -6.24296   -1.98308    0 -0.00287815 0.00289482  0.758761    0.651356       uwb: 0.0            1083.19  1653.98  
imu_odom_:  1691062915.120426154  0.916979   -0.237026  9.74201    -0.056459   0.0298274   -0.297209   0.1        -0.32         pose: 0.0           -6.24296   -1.98308    0 -0.00287815 0.00289482  0.758761    0.651356       uwb: 0.0            1083.19  1653.98  
imu_odom_:  1691062915.137473081  0.646434   -0.4956    9.67497    -0.052198   0.0223706   -0.233293   0.1        -0.32         pose: 0.67995219    -6.2524    -1.9798     0 0.00208149  -0.00214401 0.749791    0.661668       uwb: 0.50052928     1084.89  1653.64  
imu_odom_:  1691062915.154415306  0.555455   -0.526724  10.0078    -0.0543285  0.0330232   -0.223706   0.09       -0.26         pose: 0.0           -6.2524    -1.9798     0 0.00208149  -0.00214401 0.749791    0.661668       uwb: 0.0            1084.89  1653.64  
imu_odom_:  1691062915.171588809  0.438139   -0.148441  10.0652    -0.0351537  0.0106526   -0.227967   0.09       -0.26         pose: 0.0           -6.2524    -1.9798     0 0.00208149  -0.00214401 0.749791    0.661668       uwb: 0.0            1084.89  1653.64  
imu_odom_:  1691062915.189403941  0.646434   0.162806   10.2161    -0.0585895  -0.0372843  -0.18003    0.09       -0.26         pose: 0.34999426    -6.24908   -1.97036    0 0.00174684  -0.00482324 0.746436    0.665438       uwb: 0.50057302     1081.49  1654.22  
imu_odom_:  1691062915.206478283  0.665588   -0.282516  9.84975    -0.0585895  -0.0170442  -0.125701   0.06       -0.2          pose: 0.43923325    -6.24908   -1.97036    0 0.00360255  -0.00308388 0.742807    0.669488       uwb: 0.0            1081.49  1654.22  
imu_odom_:  1691062915.223404467  0.766145   -0.574608  9.80665    -0.052198   0.0117179   -0.123571   0.06       -0.2          pose: 0.7071923     -6.24908   -1.97036    0 0.00393535  -0.0037589  0.742414    0.669919       uwb: 0.0            1081.49  1654.22  
imu_odom_:  1691062915.240331818  0.837971   -0.373495  9.77313    -0.0436758  0.0106526   -0.127832   0.07       -0.2          pose: 0.0           -6.24908   -1.97036    0 0.00393535  -0.0037589  0.742414    0.669919       uwb: 0.49691865     1082.05  1654.05  
imu_odom_:  1691062915.258468931  0.648829   -0.110133  10.0389    -0.0553937  0.00213053  -0.0937433  0.05       -0.14         pose: 0.43855954    -6.24908   -1.97036    0 0.00480604  -0.00764417 0.739971    0.672578       uwb: 0.0            1082.05  1654.05  
imu_odom_:  1691062915.272475410  0.617704   -0.213084  9.76834    -0.0607201  -0.00106526 -0.0756338  0.05       -0.17         pose: 0.0           -6.24908   -1.97036    0 0.00480604  -0.00764417 0.739971    0.672578       uwb: 0.0            1082.05  1654.05  
imu_odom_:  1691062915.297400379  0.696713   -0.320823  10.0221    -0.056459   -0.00532632 -0.0894822  0.05       -0.17         pose: 0.24040395    -6.24908   -1.97036    0 0.00700822  -0.00707863 0.738908    0.673732       uwb: 0.50085883     1074.05  1655.01  
imu_odom_:  1691062915.315468663  0.131681   -0.292093  9.80665    -0.0681769  0.0276969   -0.110787   0.06       -0.17         pose: 0.33028166    -6.24574   -1.96094    0 0.00761634  -0.00979742 0.737499    0.675234       uwb: 0.0            1074.05  1655.01  
imu_odom_:  1691062915.341484111  -0.656011  -0.0646434 9.8689     -0.0511327  0.0138484   -0.307861   0.06       -0.17         pose: 0.7944831     -6.24574   -1.96094    0 0.00687086  -0.00925233 0.737105    0.67568        uwb: 0.50246583     1074.07  1655.12  
imu_odom_:  1691062915.365399973  -0.483629  0.416591   9.81144    -0.0500674  -0.0117179  -0.449542   0.08       -0.35         pose: 0.36138901    -6.24569   -1.96094    0 0.00419779  -0.0062971  0.733557    0.679586       uwb: 0.0            1074.07  1655.12  
imu_odom_:  1691062915.381385586  -0.268151  -0.114922  10.1299    -0.0713727  -0.0852212  -0.420779   0.08       -0.35         pose: 0.0           -6.24569   -1.96094    0 0.00419779  -0.0062971  0.733557    0.679586       uwb: 0.0            1074.07  1655.12  
imu_odom_:  1691062915.407388785  0.19393    -0.306458  10.1562    -0.0585895  -0.0426106  -0.474043   0.13       -0.58         pose: 0.39901475    -6.24568   -1.96094    0 0.0031436   -0.00325064 0.727057    0.686562       uwb: 0.49928976     1076.36  1654.84  
imu_odom_:  1691062915.433633178  0.117316   0.234632   9.95509    -0.0703074  -0.0447411  -0.460194   0.13       -0.58         pose: 0.0           -6.24568   -1.96094    0 0.0031436   -0.00325064 0.727057    0.686562       uwb: 0.0            1076.36  1654.84  
imu_odom_:  1691062915.459478011  0.208296   -0.339977  9.79228    -0.0703074  -0.0340885  -0.508131   0.14       -0.7          pose: 0.52247592    -6.25163   -1.94817    0 0.00181708  -0.0003182030.717912    0.696131       uwb: 0.49767111     1074.08  1655.17  
imu_odom_:  1691062915.484491058  0.385466   0.0933739  9.8665     -0.0756338  -0.0532632  -0.547546   0.12       -0.58         pose: 0.0           -6.25163   -1.94817    0 0.00181708  -0.0003182030.717912    0.696131       uwb: 0.0            1074.08  1655.17  
imu_odom_:  1691062915.501496863  -0.0742203 -0.0622492 10.0772    -0.0692422  0.0213053   -0.558199   0.12       -0.58         pose: 0.33959112    -6.25183   -1.94818    0 5.47829e-05 0.000190637 0.711296    0.702893       uwb: 0.50230250     1070.66  1655.74  
imu_odom_:  1691062915.527462438  0.430956   -0.0574608 9.65821    -0.0703074  -0.00852212 -0.586961   0.13       -0.64         pose: 0.0           -6.25183   -1.94818    0 5.47829e-05 0.000190637 0.711296    0.702893       uwb: 0.0            1070.66  1655.74  
imu_odom_:  1691062915.552315662  0.237026   -0.366313  9.80665    -0.0617853  0.00213053  -0.612527   0.13       -0.64         pose: 0.41741201    -6.24848   -1.93875    0 0.000953716 0.00275361  0.702452    0.711725       uwb: 0.49936559     1072.95  1655.46  
imu_odom_:  1691062915.569447168  0.325611   -0.0814029 10.0197    -0.0266316  0.0170442   -0.638093   0.14       -0.7          pose: 0.0           -6.24848   -1.93875    0 0.000953716 0.00275361  0.702452    0.711725       uwb: 0.0            1072.95  1655.46  
imu_odom_:  1691062915.595435200  0.445322   -0.100556  9.9527     -0.0607201  -0.04048    -0.637028   0.14       -0.7          pose: 0.50136922    -6.24519   -1.92931    0 0.000315294 0.00356603  0.690824    0.723014       uwb: 0.50005097     1077.01  1655.4   
imu_odom_:  1691062915.621455315  0.260968   -0.318429  9.52653    -0.0660464  0.00106526  -0.657268   0.14       -0.76         pose: 0.35964787    -6.24474   -1.92929    0 0.00335499  0.00320172  0.681977    0.731359       uwb: 0.0            1077.01  1655.4   
imu_odom_:  1691062915.647453847  0.665588   0.0215478  10.2448    -0.0426106  -0.0266316  -0.70627    0.14       -0.76         pose: 0.0           -6.24474   -1.92929    0 0.00335499  0.00320172  0.681977    0.731359       uwb: 0.50057593     1082.09  1654.26  
imu_odom_:  1691062915.663321634  0.169988   -0.0287304 9.47386    -0.0543285  -0.0308927  -0.72438    0.17       -0.82         pose: 0.7914499     -6.24519   -1.92931    0 0.00251476  0.00310731  0.679958    0.73324        uwb: 0.0            1082.09  1654.26  
imu_odom_:  1691062915.688564793  0.323217   -0.296881  9.09318    -0.0756338  -0.0458064  -0.721184   0.17       -0.82         pose: 0.0           -6.24519   -1.92931    0 0.00251476  0.00310731  0.679958    0.73324        uwb: 0.50013846     1078.07  1654.33  
imu_odom_:  1691062915.714383669  0.385466   -0.035913  9.41879    -0.0436758  -0.0436758  -0.752077   0.15       -0.76         pose: 0.51165571    -6.25141   -1.91662    0 0.00324362  0.00272514  0.666126    0.745827       uwb: 0.0            1078.07  1654.33  
imu_odom_:  1691062915.731509633  0.272939   -0.181959  9.61272    -0.0639159  -0.0245011  -0.754207   0.15       -0.76         pose: 0.0           -6.25141   -1.91662    0 0.00324362  0.00272514  0.666126    0.745827       uwb: 0.0            1078.07  1654.33  
imu_odom_:  1691062915.748503188  0.433351   -0.131681  10.2208    -0.0553937  -0.0181095  -0.755272   0.17       -0.85         pose: 0.40899209    -6.25141   -1.91662    0 0.00142607  0.00251452  0.654347    0.756189       uwb: 0.49974182     1072.28  1654.38  
imu_odom_:  1691062915.765382417  0.852336   -0.237026  10.1394    -0.0532632  -0.0106526  -0.756338   0.17       -0.85         pose: 0.0           -6.25141   -1.91662    0 0.00142607  0.00251452  0.654347    0.756189       uwb: 0.0            1072.28  1654.38  
imu_odom_:  1691062915.782356723  0.225055   -0.102951  9.9503     -0.0511327  0.0117179   -0.763795   0.17       -0.85         pose: 0.0           -6.25141   -1.91662    0 0.00142607  0.00251452  0.654347    0.756189       uwb: 0.0            1072.28  1654.38  
imu_odom_:  1691062915.799298072  0.332794   -0.0814029 9.61272    -0.0266316  -0.0138484  -0.758468   0.16       -0.82         pose: 0.44165686    -6.2481    -1.90719    0 0.00224052  0.00344007  0.640999    0.767531       uwb: 0.49896020     1074.02  1654.4   
imu_odom_:  1691062915.817299861  0.361524   0.00718261 9.68933    -0.0596548  -0.0276969  -0.748881   0.16       -0.82         pose: 0.0           -6.2481    -1.90719    0 0.00224052  0.00344007  0.640999    0.767531       uwb: 0.0            1074.02  1654.4   
imu_odom_:  1691062915.834356704  0.107739   -0.100556  9.65582    -0.0468716  -0.0191748  -0.768056   0.17       -0.82         pose: 0.77719696    -6.24287   -1.89247    0 0.0045438   0.00574293  0.616938    0.786977       uwb: 0.0            1074.02  1654.4   
imu_odom_:  1691062915.851282013  0.0766145  -0.545878  9.85693    -0.0660464  0.036219    -0.789361   0.17       -0.82         pose: 0.0           -6.24287   -1.89247    0 0.0045438   0.00574293  0.616938    0.786977       uwb: 0.50036886     1078     1653.72  
imu_odom_:  1691062915.869356713  0.0837971  -0.0981623 9.84256    -0.0617853  -0.0223706  -0.788296   0.17       -0.82         pose: 0.0           -6.24287   -1.89247    0 0.0045438   0.00574293  0.616938    0.786977       uwb: 0.0            1078     1653.72  
imu_odom_:  1691062915.886325770  0.390255   0.213084   10.2161    -0.0692422  -0.0415453  -0.778708   0.17       -0.82         pose: 0.8001702     -6.24159   -1.88828    0 0.00404424  0.00631895  0.614387    0.788969       uwb: 0.49982349     1076.26  1653.67  
imu_odom_:  1691062915.902443500  0.447716   -0.117316  9.46188    -0.0511327  -0.04048    -0.786165   0.17       -0.85         pose: 0.0           -6.24159   -1.88828    0 0.00404424  0.00631895  0.614387    0.788969       uwb: 0.0            1076.26  1653.67  
imu_odom_:  1691062915.920437414  0.641646   -0.136469  9.68215    -0.072438   0.00106526  -0.802144   0.17       -0.85         pose: 0.67030441    -6.23836   -1.87881    0 0.00243045  0.00785376  0.592388    0.805611       uwb: 0.0            1076.26  1653.67  
imu_odom_:  1691062915.945295304  0.620098   -0.114922  9.84017    -0.0596548  -0.0223706  -0.821319   0.17       -0.88         pose: 0.0           -6.23836   -1.87881    0 0.00243045  0.00785376  0.592388    0.805611       uwb: 0.49951433     1072.76  1653.4   
imu_odom_:  1691062915.962410477  0.395043   -0.184354  9.66539    -0.0692422  0.0213053   -0.797883   0.17       -0.88         pose: 0.34971428    -6.23836   -1.87882    0 0.00397226  0.00456343  0.580504    0.814235       uwb: 0.0            1072.76  1653.4   
imu_odom_:  1691062915.978359051  0.675165   -0.423774  9.9503     -0.0596548  0.0436758   -0.770186   0.18       -0.76         pose: 0.35107045    -6.23513   -1.86933    0 0.00313053  0.0023878   0.568313    0.822803       uwb: 0.0            1072.76  1653.4   
imu_odom_:  1691062915.996291135  0.723049   -0.172383  9.98382    -0.0596548  0.02024     -0.768056   0.18       -0.76         pose: 0.7960871     -6.23519   -1.86933    0 0.00284212  0.00176493  0.565661    0.824631       uwb: 0.50043594     1069.28  1653.29  
imu_odom_:  1691062916.13345937   0.184354   -0.37589   9.8665     -0.0575243  0.0745685   -0.680704   0.18       -0.76         pose: 0.0           -6.23519   -1.86933    0 0.00284212  0.00176493  0.565661    0.824631       uwb: 0.0            1069.28  1653.29  
imu_odom_:  1691062916.27319167   0.0766145  -0.277727  10.2328    -0.0692422  -0.0138484  -0.570982   0.18       -0.58         pose: 0.42974589    -6.23191   -1.85986    0 0.001315    0.000855286 0.55189     0.833915       uwb: 0.0            1069.28  1653.29  
imu_odom_:  1691062916.44424716   0.380678   -0.538695  9.663      -0.0426106  -0.0713727  -0.508131   0.18       -0.58         pose: 0.0           -6.23191   -1.85986    0 0.001315    0.000855286 0.55189     0.833915       uwb: 0.50027846     1073.29  1652.94  
imu_odom_:  1691062916.57333425   0.761356   -0.361524  9.72046    -0.0468716  -0.0351537  -0.491087   0.18       -0.58         pose: 0.0           -6.23191   -1.85986    0 0.001315    0.000855286 0.55189     0.833915       uwb: 0.0            1073.29  1652.94  
imu_odom_:  1691062916.73428991   0.828394   -0.0143652 10.2352    -0.0181095  -0.0308927  -0.449542   0.17       -0.47         pose: 0.43987488    -6.22862   -1.85042    0 -0.00038845 -0.00110853 0.541524    0.840685       uwb: 0.0            1073.29  1652.94  
imu_odom_:  1691062916.91425529   0.593762   -0.124498  9.65342    -0.0458064  -0.0255663  -0.426106   0.24       -0.64         pose: 0.0           -6.22862   -1.85042    0 -0.00038845 -0.00110853 0.541524    0.840685       uwb: 0.49969224     1073.25  1652.64  
imu_odom_:  1691062916.108350255  0.184354   -0.21069   9.94791    -0.0426106  0.0426106   -0.398409   0.24       -0.64         pose: 0.0           -6.22862   -1.85042    0 -0.00038845 -0.00110853 0.541524    0.840685       uwb: 0.0            1073.25  1652.64  
imu_odom_:  1691062916.125302688  0.363919   -0.533907  10.1059    -0.0713727  0.00745685  -0.360059   0.18       -0.44         pose: 0.24096684    -6.22868   -1.85042    0 0.00219033  -0.00231829 0.536635    0.843808       uwb: 0.0            1073.25  1652.64  
imu_odom_:  1691062916.142277869  0.169988   0.0263362  9.99579    -0.052198   -0.00852212 -0.343015   0.18       -0.44         pose: 0.0           -6.22868   -1.85042    0 0.00219033  -0.00231829 0.536635    0.843808       uwb: 0.49989932     1073.23  1652.48  
imu_odom_:  1691062916.159409375  0.392649   0.0646434  9.40203    -0.0628506  -0.0447411  -0.299339   0.18       -0.44         pose: 0.33938114    -6.22536   -1.84099    0 0.00135102  -0.00127427 0.530347    0.847779       uwb: 0.0            1073.23  1652.48  
imu_odom_:  1691062916.176410221  0.071826   -0.131681  9.54329    -0.0596548  -0.015979   -0.288687   0.26       -0.47         pose: 0.44041152    -6.22204   -1.83153    0 0.00224108  0.000722079 0.523432    0.852064       uwb: 0.0            1073.23  1652.48  
imu_odom_:  1691062916.192404001  0.383072   -0.136469  10.1801    -0.0511327  -0.0181095  -0.292948   0.26       -0.47         pose: 0.7006301     -6.2221    -1.83154    0 0.00195347  0.00131785  0.52245     0.852667       uwb: 0.50066344     1070.9   1652.29  
imu_odom_:  1691062916.210339293  0.354342   -0.253785  9.86411    -0.0383495  0.00213053  -0.262055   0.23       -0.35         pose: 0.0           -6.2221    -1.83154    0 0.00195347  0.00131785  0.52245     0.852667       uwb: 0.0            1070.9   1652.29  
imu_odom_:  1691062916.226280576  0.921768   -0.320823  10.1179    -0.0490022  -0.0106526  -0.239684   0.17       -0.29         pose: 0.43923617    -6.22018   -1.82598    0 0.00139195  0.00250912  0.51646     0.856306       uwb: 0.0            1070.9   1652.29  
imu_odom_:  1691062916.240350343  0.998382   -0.0263362 10.2663    -0.0553937  -0.0170442  -0.211988   0.17       -0.29         pose: 0.0           -6.22018   -1.82598    0 0.00139195  0.00250912  0.51646     0.856306       uwb: 0.50009763     1069.15  1652.1   
imu_odom_:  1691062916.256340331  1.10373    -0.447716  9.52413    -0.0639159  -0.0223706  -0.181095   0.17       -0.29         pose: 0.0           -6.22018   -1.82598    0 0.00139195  0.00250912  0.51646     0.856306       uwb: 0.0            1069.15  1652.1   
imu_odom_:  1691062916.274339786  1.30723    -0.181959  9.7851     -0.0351537  -0.0916127  -0.177899   0.19       -0.35         pose: 0.22948168    -6.21882   -1.82209    0 0.00239077  0.000419372 0.513801    0.857906       uwb: 0.0            1069.15  1652.1   
imu_odom_:  1691062916.291293677  1.47243    -0.220267  9.54808    -0.0735032  -0.0628506  -0.20027    0.19       -0.35         pose: 0.0           -6.21882   -1.82209    0 0.00239077  0.000419372 0.513801    0.857906       uwb: 0.49863064     1073.09  1651.31  
imu_odom_:  1691062916.304279965  1.75974    0.110133   10.3453    -0.052198   -0.0340885  -0.226901   0.19       -0.35         pose: 0.0           -6.21882   -1.82209    0 0.00239077  0.000419372 0.513801    0.857906       uwb: 0.0            1073.09  1651.31  
imu_odom_:  1691062916.320286286  1.44849    -0.0694318 9.8282     -0.0575243  -0.0468716  -0.190682   0.11       -0.2          pose: 0.70992504    -6.21554   -1.81262    0 0.00659827  -0.00705342 0.506586    0.862136       uwb: 0.0            1073.09  1651.31  
imu_odom_:  1691062916.338422233  1.28329    -0.248997  9.55047    -0.0681769  -0.0330232  -0.123571   0.11       -0.2          pose: 0.8089781     -6.21559   -1.81262    0 0.00717574  -0.00784439 0.505778    0.862598       uwb: 0.50040679     1067.36  1651.53  
imu_odom_:  1691062916.355370874  0.885855   -0.402226  9.48343    -0.0490022  -0.00213053 -0.132093   0.11       -0.2          pose: 0.0           -6.21559   -1.81262    0 0.00717574  -0.00784439 0.505778    0.862598       uwb: 0.0            1067.36  1651.53  
imu_odom_:  1691062916.368373495  0.572214   -0.11971   10.3597    -0.0415453  0.00213053  -0.172573   0.1        -0.2          pose: 0.43001128    -6.20613   -1.81586    0 0.00815368  -0.0121456  0.502452    0.864481       uwb: 0.0            1067.36  1651.53  
imu_odom_:  1691062916.384376024  0.713472   0.0861913  9.7444     -0.0628506  -0.0607201  -0.153398   0.09       -0.14         pose: 0.0           -6.20613   -1.81586    0 0.00815368  -0.0121456  0.502452    0.864481       uwb: 0.49961058     1065.58  1651     
imu_odom_:  1691062916.401371038  0.835576   -0.208296  9.89045    -0.076699   0.00319579  -0.122505   0.09       -0.14         pose: 0.0           -6.20613   -1.81586    0 0.00815368  -0.0121456  0.502452    0.864481       uwb: 0.0            1065.58  1651     
imu_odom_:  1691062916.418377134  0.967257   -0.543484  10.161     -0.0596548  -0.00958738 -0.111853   0.07       -0.11         pose: 0.20930244    -6.20289   -1.8064     0 0.00907194  -0.0106932  0.500584    0.865574       uwb: 0.0            1065.58  1651     
imu_odom_:  1691062916.433320683  0.864307   -0.260968  9.81862    -0.0553937  -0.0223706  -0.105461   0.07       -0.11         pose: 0.0           -6.20289   -1.8064     0 0.00907194  -0.0106932  0.500584    0.865574       uwb: 0.0            1065.58  1651     
imu_odom_:  1691062916.456411759  0.895431   -0.114922  10.0317    -0.0596548  -0.00532632 -0.0607201  0.07       -0.11         pose: 0.33186823    -6.20289   -1.8064     0 0.0096759   -0.01308    0.498177    0.866923       uwb: 0.49996639     1062.14  1651.03  
imu_odom_:  1691062916.481418974  0.234632   -0.371101  9.991      -0.0575243  0.0415453   -0.107592   0.06       -0.14         pose: 0.30820378    -6.20289   -1.8064     0 0.0100707   -0.01581    0.496343    0.867924       uwb: 0.0            1062.14  1651.03  
imu_odom_:  1691062916.506279489  -0.830788  0.253785   9.72525    -0.0500674  0.0671117   -0.183225   0.07       -0.08         pose: 0.41110655    -6.20289   -1.8064     0 0.00935588  -0.0143735  0.494054    0.869262       uwb: 0.50006556     1063.21  1650.29  
imu_odom_:  1691062916.531605186  -0.811634  -0.988805  9.56962    -0.0777643  -0.0394148  -0.0255663  0.07       -0.08         pose: 0.0           -6.20289   -1.8064     0 0.00935588  -0.0143735  0.494054    0.869262       uwb: 0.0            1063.21  1650.29  
imu_odom_:  1691062916.557259863  0.651223   -0.277727  9.70131    -0.036219   -0.0692422  -0.0671117  0.14       -0.11         pose: 0.7019134     -6.20289   -1.8064     0 0.00909471  -0.0134571  0.493378    0.869663       uwb: 0.50113591     1061.49  1650.27  
imu_odom_:  1691062916.573374678  0.620098   0.112527   9.38048    -0.0596548  -0.0223706  -0.0106526  0.14       -0.11         pose: 0.0           -6.20289   -1.8064     0 0.00909471  -0.0134571  0.493378    0.869663       uwb: 0.0            1061.49  1650.27  
imu_odom_:  1691062916.591419047  0.114922   -0.229843  9.89045    -0.0681769  0.00532632  0.0990696   0.14       0.02          pose: 0.50967834    -6.19957   -1.79697    0 0.00588022  -0.0110245  0.490602    0.871294       uwb: 0.0            1061.49  1650.27  
imu_odom_:  1691062916.607420118  0.141258   -0.902614  9.85453    -0.0532632  -0.0426106  0.157659    0.14       0.02          pose: 0.0           -6.19957   -1.79697    0 0.00588022  -0.0110245  0.490602    0.871294       uwb: 0.0            1061.49  1650.27  
imu_odom_:  1691062916.621318395  0.378284   -0.555455  9.55526    -0.0436758  -0.0213053  0.201335    0.14       0.02          pose: 0.0           -6.19957   -1.79697    0 0.00588022  -0.0110245  0.490602    0.871294       uwb: 0.0            1061.49  1650.27  
imu_odom_:  1691062916.637256178  0.134075   -0.299275  9.90002    -0.0511327  -0.00213053 0.276969    0.13       0.2           pose: 0.41935149    -6.19957   -1.79697    0 0.00592029  -0.0111884  0.489626    0.871841       uwb: 0.100011944    1059.73  1649.82  
imu_odom_:  1691062916.655246009  0.237026   -0.462081  9.73961    -0.0628506  0.0117179   0.340885    0.13       0.2           pose: 0.0           -6.19957   -1.79697    0 0.00592029  -0.0111884  0.489626    0.871841       uwb: 0.0            1059.73  1649.82  
imu_odom_:  1691062916.672257646  0.0646434  -0.471658  10.1394    -0.0372843  0.015979    0.36219     0.13       0.2           pose: 0.0           -6.19957   -1.79697    0 0.00592029  -0.0111884  0.489626    0.871841       uwb: 0.0            1059.73  1649.82  
imu_odom_:  1691062916.685303431  0.143652   -0.260968  9.63187    -0.0276969  0.0298274   0.386691    0.14       0.32          pose: 0.48061543    -6.19626   -1.78754    0 0.00218844  -0.00959316 0.492569    0.870218       uwb: 0.49975058     1057.42  1649.58  
imu_odom_:  1691062916.701289045  0.265756   -0.361524  9.60554    -0.0735032  0.0266316   0.437824    0.13       0.35          pose: 0.0           -6.19626   -1.78754    0 0.00218844  -0.00959316 0.492569    0.870218       uwb: 0.0            1057.42  1649.58  
imu_odom_:  1691062916.719289958  0.529119   -0.368707  9.92875    -0.0415453  0.00426106  0.453803    0.13       0.35          pose: 0.63919415    -6.19292   -1.77811    0 -0.00246544 -0.00453389 0.501507    0.865138       uwb: 0.0            1057.42  1649.58  
imu_odom_:  1691062916.736231308  0.339977   -0.0766145 9.98382    -0.0458064  0.0213053   0.477238    0.13       0.35          pose: 0.0           -6.19292   -1.77811    0 -0.00246544 -0.00453389 0.501507    0.865138       uwb: 0.49870938     1060.76  1648.71  
imu_odom_:  1691062916.749227803  -0.011971  -0.435745  9.74201    -0.0543285  -0.0255663  0.527306    0.15       0.44          pose: 0.0           -6.19292   -1.77811    0 -0.00246544 -0.00453389 0.501507    0.865138       uwb: 0.0            1060.76  1648.71  
imu_odom_:  1691062916.765284580  0.234632   -0.565032  10.3334    -0.0543285  -0.0213053  0.551807    0.15       0.44          pose: 0.32969544    -6.1896    -1.76868    0 -0.00290453 -0.00490464 0.507414    0.861683       uwb: 0.0            1060.76  1648.71  
imu_odom_:  1691062916.783287826  0.191536   -0.577003  9.45949    -0.0490022  0.0351537   0.561394    0.21       0.7           pose: 0.38992987    -6.1896    -1.76868    0 -0.00483609 -0.00311555 0.51555     0.85684        uwb: 0.0            1060.76  1648.71  
imu_odom_:  1691062916.800222468  0.64404    -0.131681  9.98861    -0.0585895  0.0149137   0.598679    0.21       0.7           pose: 0.8002577     -6.1896    -1.76868    0 -0.00569319 -0.00283055 0.517338    0.855757       uwb: 0.49969516     1064.16  1648.5   
imu_odom_:  1691062916.813220130  0.275333   -0.134075  10.0796    -0.0468716  0.00745685  0.617853    0.21       0.7           pose: 0.0           -6.1896    -1.76868    0 -0.00569319 -0.00283055 0.517338    0.855757       uwb: 0.0            1064.16  1648.5   
imu_odom_:  1691062916.830456338  0.225055   -0.833182  9.74201    -0.0394148  -0.0308927  0.641289    0.15       0.55          pose: 0.39932973    -6.17682   -1.7625     0 -0.00469014 -0.0016012  0.526808    0.84997        uwb: 0.0            1064.16  1648.5   
imu_odom_:  1691062916.847386314  1.01993    -0.727837  10.1203    -0.0713727  -0.0340885  0.611462    0.15       0.55          pose: 0.0           -6.17682   -1.7625     0 -0.00469014 -0.0016012  0.526808    0.84997        uwb: 0.50002473     1061.85  1648.18  
imu_odom_:  1691062916.865383436  0.742203   -0.304064  9.68933    -0.0394148  -0.015979   0.600809    0.15       0.55          pose: 0.0           -6.17682   -1.7625     0 -0.00469014 -0.0016012  0.526808    0.84997        uwb: 0.0            1061.85  1648.18  
imu_odom_:  1691062916.882381074  1.55144    -0.52433   10.4914    -0.0681769  -0.0596548  0.591222    0.11       0.38          pose: 0.24026397    -6.17688   -1.7625     0 -0.00610874 -0.00293384 0.532845    0.846185       uwb: 0.0            1061.85  1648.18  
imu_odom_:  1691062916.896233562  1.62327    -0.184354  9.40442    -0.0223706  -0.0308927  0.488956    0.11       0.41          pose: 0.0           -6.17688   -1.7625     0 -0.00610874 -0.00293384 0.532845    0.846185       uwb: 0.50203711     1058.97  1647.91  
imu_odom_:  1691062916.913401232  1.59693    -0.0191536 10.003     -0.0436758  0.0266316   0.409062    0.11       0.41          pose: 0.36022534    -6.17358   -1.75306    0 -0.00435652 -0.00636392 0.541364    0.840753       uwb: 0.0            1058.97  1647.91  
imu_odom_:  1691062916.930400620  1.20428    -0.0143652 9.95748    -0.076699   0.0127832   0.36432     0.09       0.29          pose: 0.40132171    -6.17358   -1.75306    0 -0.00149616 -0.00930437 0.548707    0.835961       uwb: 0.0            1058.97  1647.91  
imu_odom_:  1691062916.947511127  0.799663   -0.344765  9.64863    -0.0607201  0.036219    0.305731    0.09       0.29          pose: 0.6980345     -6.17358   -1.75306    0 -0.00100045 -0.00964954 0.549647    0.835341       uwb: 0.49812316     1060.04  1647.2   
imu_odom_:  1691062916.963238631  0.572214   -0.387861  9.92157    -0.056459   -0.0149137  0.265251    0.09       0.29          pose: 0.0           -6.17358   -1.75306    0 -0.00100045 -0.00964954 0.549647    0.835341       uwb: 0.0            1060.04  1647.2   
imu_odom_:  1691062916.981362620  0.782904   -0.155623  9.94312    -0.0436758  -0.0117179  0.22264     0.1        0.35          pose: 0.42857054    -6.17192   -1.74841    0 -0.00122549 -0.0118197  0.554366    0.832188       uwb: 0.0            1060.04  1647.2   
imu_odom_:  1691062916.998360842  0.785298   -0.150835  9.86172    -0.056459   -0.00426106 0.24075     0.1        0.35          pose: 0.0           -6.17192   -1.74841    0 -0.00122549 -0.0118197  0.554366    0.832188       uwb: 0.50005681     1060.01  1646.87  
imu_odom_:  1691062917.11488871   0.756568   -0.380678  9.87608    -0.0532632  0.00532632  0.237554    0.1        0.35          pose: 0.0           -6.17192   -1.74841    0 -0.00122549 -0.0118197  0.554366    0.832188       uwb: 0.0            1060.01  1646.87  
imu_odom_:  1691062917.27296287   0.790087   -0.409408  9.9527     -0.0490022  0.00639159  0.209857    0.05       0.2           pose: 0.26156898    -6.17035   -1.74359    0 0.00144438  -0.0122825  0.556389    0.83083        uwb: 0.0            1060.01  1646.87  
imu_odom_:  1691062917.45241204   0.890643   -0.126893  9.84735    -0.0447411  -0.00639159 0.20027     0.08       0.29          pose: 0.0           -6.17035   -1.74359    0 0.00144438  -0.0122825  0.556389    0.83083        uwb: 0.49892812     1060.55  1646.56  
imu_odom_:  1691062917.62294548   0.526724   -0.201113  9.79947    -0.0660464  0.0319579   0.22051     0.08       0.29          pose: 0.29986551    -6.17035   -1.74359    0 0.0024227   -0.0144383  0.55875     0.829207       uwb: 0.0            1060.55  1646.56  
imu_odom_:  1691062917.85294338   0.40462    -0.222661  9.91918    -0.0543285  0.0149137   0.209857    0.05       0.17          pose: 0.42912468    -6.17029   -1.7436     0 0.00398238  -0.0135959  0.561757    0.827181       uwb: 0.49982058     1056.52  1645.98  
imu_odom_:  1691062917.103269587  -0.232238  -0.328006  9.70609    -0.0553937  0.0596548   0.230097    0.05       0.17          pose: 0.0           -6.17029   -1.7436     0 0.00398238  -0.0135959  0.561757    0.827181       uwb: 0.0            1056.52  1645.98  
imu_odom_:  1691062917.116358827  -0.859518  -0.395043  10.1011    -0.0585895  0.0756338   0.225836    0.05       0.17          pose: 0.7074548     -6.17035   -1.74359    0 0.00372234  -0.0128661  0.562261    0.826852       uwb: 0.0            1056.52  1645.98  
imu_odom_:  1691062917.134440528  -0.866701  -0.289698  10.1251    -0.0553937  -0.0298274  0.210922    0.07       0.17          pose: 0.0           -6.17035   -1.74359    0 0.00372234  -0.0128661  0.562261    0.826852       uwb: 0.0            1056.52  1645.98  
imu_odom_:  1691062917.149432782  -0.227449  -0.215478  9.77074    -0.052198   -0.0649811  0.2024      0.07       0.17          pose: 0.0           -6.17035   -1.74359    0 0.00372234  -0.0128661  0.562261    0.826852       uwb: 0.0            1056.52  1645.98  
imu_odom_:  1691062917.167431654  0.533907   -0.270545  9.79707    -0.0490022  -0.0468716  0.181095    0.13       0.2           pose: 0.73076634    -6.16705   -1.73416    0 -0.000572309-0.00606124 0.567671    0.823233       uwb: 0.0            1056.52  1645.98  
imu_odom_:  1691062917.185317658  0.667982   -0.129287  9.76834    -0.0575243  -0.0170442  0.178964    0.13       0.2           pose: 0.0           -6.16705   -1.73416    0 -0.000572309-0.00606124 0.567671    0.823233       uwb: 0.100101774    1054.81  1645.92  
imu_odom_:  1691062917.198433147  0.409408   -0.399832  9.94551    -0.0585895  0.0266316   0.173638    0.13       0.2           pose: 0.0           -6.16705   -1.73416    0 -0.000572309-0.00606124 0.567671    0.823233       uwb: 0.0            1054.81  1645.92  
imu_odom_:  1691062917.214371805  -0.275333  -0.526724  9.76834    -0.0735032  0.0351537   0.158724    0.11       0.11          pose: 0.32991710    -6.16705   -1.73416    0 0.00175593  -0.00712285 0.569633    0.821866       uwb: 0.0            1054.81  1645.92  
imu_odom_:  1691062917.232472463  -0.0311246 -0.335188  10.0485    -0.0628506  -0.00319579 0.152333    0.11       0.11          pose: 0.38934365    -6.16541   -1.72946    0 -0.000250985-0.00583817 0.571712    0.820434       uwb: 0.0            1054.81  1645.92  
imu_odom_:  1691062917.249346442  0.3304     -0.354342  10.2496    -0.0543285  -0.0127832  0.165116    0.11       0.11          pose: 0.0           -6.16541   -1.72946    0 -0.000250985-0.00583817 0.571712    0.820434       uwb: 0.50064011     1054.78  1645.52  
imu_odom_:  1691062917.262344979  0.624887   -0.0909797 10.2376    -0.0543285  -0.0330232  0.158724    0.12       0.11          pose: 0.0           -6.16541   -1.72946    0 -0.000250985-0.00583817 0.571712    0.820434       uwb: 0.0            1054.78  1645.52  
imu_odom_:  1691062917.279371491  0.529119   -0.344765  9.94791    -0.0479369  -0.0426106  0.156594    0.12       0.11          pose: 0.8061782     -6.16376   -1.72471    0 -0.000802547-0.00523689 0.572089    0.820174       uwb: 0.0            1054.78  1645.52  
imu_odom_:  1691062917.294490322  -0.00718261-0.213084  9.94073    -0.0553937  0.00639159  0.140615    0.12       0.11          pose: 0.0           -6.16376   -1.72471    0 -0.000802547-0.00523689 0.572089    0.820174       uwb: 0.50120883     1054.76  1645.31  
imu_odom_:  1691062917.312494444  0.225055   -0.153229  10.4483    -0.0383495  -0.0308927  0.138484    0.13       0.05          pose: 0.63954122    -6.16376   -1.72471    0 -0.00167447 -0.00528366 0.575167    0.818017       uwb: 0.0            1054.76  1645.31  
imu_odom_:  1691062917.328217281  0.679953   -0.229843  10.0054    -0.0617853  -0.0543285  0.135289    0.13       0.05          pose: 0.0           -6.16376   -1.72471    0 -0.00167447 -0.00528366 0.575167    0.818017       uwb: 0.0            1054.76  1645.31  
imu_odom_:  1691062917.346427016  0.718261   -0.198719  9.90242    -0.0383495  -0.00852212 0.11931     0.13       0.05          pose: 0.0           -6.16376   -1.72471    0 -0.00167447 -0.00528366 0.575167    0.818017       uwb: 0.0            1054.76  1645.31  
imu_odom_:  1691062917.363356409  1.23541    -0.275333  9.94791    -0.0607201  -0.052198   0.142745    0.14       0.08          pose: 0.34113979    -6.16047   -1.71527    0 -0.00118027 -0.00355518 0.576553    0.817051       uwb: 0.0            1054.76  1645.31  
imu_odom_:  1691062917.380361339  1.2402     -0.150835  9.84735    -0.0490022  -0.0213053  0.173638    0.14       0.08          pose: 0.33926156    -6.15722   -1.70581    0 0.00156747  -0.00618126 0.577769    0.816175       uwb: 0.0            1054.76  1645.31  
imu_odom_:  1691062917.398354669  1.12288    -0.160412  10.003     -0.0585895  -0.0596548  0.22264     0.14       0.08          pose: 0.0           -6.15722   -1.70581    0 0.00156747  -0.00618126 0.577769    0.816175       uwb: 0.99759960     1054.73  1644.91  
imu_odom_:  1691062917.415345892  1.83635    -0.320823  10.058     -0.0479369  -0.0351537  0.183225    0.1        0.02          pose: 0.43926825    -6.15716   -1.70581    0 0.00500586  -0.0101176  0.580381    0.814267       uwb: 0.0            1054.73  1644.91  
imu_odom_:  1691062917.431272009  1.48441    0.0023942  9.77074    -0.0372843  0.0351537   0.103331    0.09       0.05          pose: 0.0           -6.15716   -1.70581    0 0.00500586  -0.0101176  0.580381    0.814267       uwb: 0.0            1054.73  1644.91  
imu_odom_:  1691062917.448270231  0.979228   0.0191536  9.80904    -0.0490022  0.0181095   0.0756338   0.09       0.05          pose: 0.0           -6.15716   -1.70581    0 0.00500586  -0.0101176  0.580381    0.814267       uwb: 0.0            1054.73  1644.91  
imu_odom_:  1691062917.465267578  0.634463   -0.339977  9.91918    -0.0703074  -0.00106526 0.0617853   0.08       0.02          pose: 0.8042242     -6.15722   -1.70581    0 0.0055245   -0.0108852  0.580845    0.813923       uwb: 0.0            1054.73  1644.91  
imu_odom_:  1691062917.482260550  0.821211   -0.445322  9.85932    -0.052198   -0.0298274  0.0308927   0.08       0.02          pose: 0.0           -6.15722   -1.70581    0 0.0055245   -0.0108852  0.580845    0.813923       uwb: 0.0            1054.73  1644.91  
imu_odom_:  1691062917.499324393  0.871489   -0.208296  9.90481    -0.0575243  -0.0276969  0.0447411   0.08       0.02          pose: 0.49818734    -6.15398   -1.69635    0 0.00802945  -0.0126923  0.582067    0.813002       uwb: 0.100041694    1053     1644.59  
imu_odom_:  1691062917.515330714  0.893037   -0.251391  9.95509    -0.0649811  -0.00745685 0.0788296   0.06       0.02          pose: 0.0           -6.15398   -1.69635    0 0.00802945  -0.0126923  0.582067    0.813002       uwb: 0.0            1053     1644.59  
imu_odom_:  1691062917.533334836  0.823605   -0.407014  9.79707    -0.0532632  -0.00745685 0.0841559   0.06       0.02          pose: 0.0           -6.15398   -1.69635    0 0.00802945  -0.0126923  0.582067    0.813002       uwb: 0.0            1053     1644.59  
imu_odom_:  1691062917.550217272  0.682347   -0.234632  9.96706    -0.0511327  -0.00958738 0.072438    0.05       0.05          pose: 0.67182976    -6.15398   -1.69635    0 0.00870767  -0.0176004  0.582497    0.812595       uwb: 0.49999848     1055.21  1644.02  
imu_odom_:  1691062917.575200572  0.691924   -0.100556  10.1035    -0.0553937  -0.0149137  0.0458064   0.05       0.02          pose: 0.0           -6.15398   -1.69635    0 0.00870767  -0.0176004  0.582497    0.812595       uwb: 0.0            1055.21  1644.02  
imu_odom_:  1691062917.592183629  0.251391   -0.174777  9.65582    -0.0607201  0.0426106   0.036219    0.05       0.05          pose: 0.33873659    -6.15398   -1.69635    0 0.00839512  -0.0161899  0.582934    0.812315       uwb: 0.49928978     1050.71  1644.25  
imu_odom_:  1691062917.617454204  -1.08218   -0.292093  10.3262    -0.0553937  0.0298274   0.0713727   0.05       0.05          pose: 0.34911349    -6.15398   -1.69635    0 0.00829309  -0.0129507  0.582959    0.812356       uwb: 0.0            1050.71  1644.25  
imu_odom_:  1691062917.642399589  -0.454898  -0.253785  9.98622    -0.0394148  -0.0777643  0.0703074   0.06       0             pose: 0.7079214     -6.15398   -1.69635    0 0.00778906  -0.0122925  0.583058    0.8123         uwb: 0.50383076     1050.11  1643.85  
imu_odom_:  1691062917.667345266  0.385466   -0.0622492 9.52892    -0.0575243  -0.0213053  0.0809601   0.1        0.02          pose: 0.43136746    -6.15078   -1.68688    0 0.00569111  -0.00923257 0.583639    0.811941       uwb: 0.0            1050.11  1643.85  
imu_odom_:  1691062917.692342857  -0.0047884 -0.306458  9.48822    -0.0490022  0.00426106  0.0745685   0.1        0.02          pose: 0.0           -6.15078   -1.68688    0 0.00569111  -0.00923257 0.583639    0.811941       uwb: 0.49609620     1044.47  1643.89  
imu_odom_:  1691062917.709325622  -0.361524  -0.277727  9.85932    -0.0500674  -0.00426106 0.0681769   0.1        0.02          pose: 0.49943268    -6.15078   -1.68688    0 0.00404575  -0.00506139 0.584425    0.811422       uwb: 0.0            1044.47  1643.89  
imu_odom_:  1691062917.727194126  0.0430956  -0.215478  10.0868    -0.0543285  -0.0543285  0.162985    0.11       0.02          pose: 0.0           -6.15078   -1.68688    0 0.00404575  -0.00506139 0.584425    0.811422       uwb: 0.0            1044.47  1643.89  
imu_odom_:  1691062917.744326799  0.47884    -0.703895  9.84017    -0.0490022  -0.0181095  0.238619    0.11       0.02          pose: 0.0           -6.15078   -1.68688    0 0.00404575  -0.00506139 0.584425    0.811422       uwb: 0.49948518     1046.15  1643.72  
imu_odom_:  1691062917.761318604  0.320823   -0.639252  9.76355    -0.0234358  -0.00532632 0.291882    0.13       0.26          pose: 0.41920567    -6.14749   -1.67743    0 0.00166486  -0.00311279 0.586097    0.810233       uwb: 0.0            1046.15  1643.72  
imu_odom_:  1691062917.779316601  0.1652     -0.265756  9.89763    -0.0266316  0.00852212  0.36219     0.13       0.26          pose: 0.0           -6.14749   -1.67743    0 0.00166486  -0.00311279 0.586097    0.810233       uwb: 0.0            1046.15  1643.72  
imu_odom_:  1691062917.796319198  0.316035   -0.351948  9.91918    -0.0415453  -0.0298274  0.437824    0.14       0.35          pose: 0.35055424    -6.14749   -1.67743    0 -0.000907752-0.00328608 0.589697    0.807618       uwb: 0.50036888     1041.64  1643.84  
imu_odom_:  1691062917.809240448  0.146046   -0.40462   9.76834    -0.0383495  -0.0127832  0.46339     0.15       0.44          pose: 0.0           -6.14749   -1.67743    0 -0.000907752-0.00328608 0.589697    0.807618       uwb: 0.0            1041.64  1643.84  
imu_odom_:  1691062917.826302541  0.847547   -0.232238  10.0365    -0.0255663  -0.0117179  0.477238    0.13       0.47          pose: 0.0           -6.14749   -1.67743    0 -0.000907752-0.00328608 0.589697    0.807618       uwb: 0.0            1041.64  1643.84  
imu_odom_:  1691062917.842226909  0.68953    -0.141258  9.71088    -0.036219   0.0170442   0.493217    0.13       0.47          pose: 0.48042295    -6.14422   -1.66798    0 -0.00319912 -0.0019038  0.59736     0.801965       uwb: 0.49997223     1038.83  1643.97  
imu_odom_:  1691062917.859219589  0.162806   -0.471658  9.68455    -0.0596548  0.0340885   0.529436    0.14       0.47          pose: 0.0           -6.14422   -1.66798    0 -0.00319912 -0.0019038  0.59736     0.801965       uwb: 0.0            1038.83  1643.97  
imu_odom_:  1691062917.875176913  0.143652   -0.311246  10.1227    -0.0447411  0.00639159  0.568851    0.14       0.47          pose: 0.41858446    -6.14089   -1.65853    0 -0.00288889 -0.00225311 0.605131    0.796117       uwb: 0.0            1038.83  1643.97  
imu_odom_:  1691062917.892172218  0.354342   -0.45011   9.88805    -0.0585895  0.0127832   0.575243    0.14       0.47          pose: 0.0           -6.14089   -1.65853    0 -0.00288889 -0.00225311 0.605131    0.796117       uwb: 0.0            1038.83  1643.97  
imu_odom_:  1691062917.908166290  0.361524   -0.191536  9.89045    -0.0447411  -0.0191748  0.58483     0.15       0.58          pose: 0.0           -6.14089   -1.65853    0 -0.00288889 -0.00225311 0.605131    0.796117       uwb: 0.0            1038.83  1643.97  
imu_odom_:  1691062917.925254340  0.304064   -0.481235  9.38766    -0.0436758  0.0149137   0.618919    0.15       0.58          pose: 0.8080739     -6.14095   -1.65853    0 -0.00343    -0.00158951 0.606834    0.79482        uwb: 0.0            1038.83  1643.97  
imu_odom_:  1691062917.941191832  0.141258   -0.555455  10.0006    -0.0436758  -0.0138484  0.627441    0.15       0.58          pose: 0.0           -6.14095   -1.65853    0 -0.00343    -0.00158951 0.606834    0.79482        uwb: 0.100002322    1038.84  1644.21  
imu_odom_:  1691062917.959313780  0.385466   -0.0502782 9.87369    -0.0500674  0.0266316   0.66579     0.2        0.85          pose: 0.65963006    -6.13768   -1.64908    0 -0.00650895 -0.00107074 0.621271    0.783568       uwb: 0.0            1038.84  1644.21  
imu_odom_:  1691062917.976203217  0.866701   -0.543484  10.2615    -0.0468716  -0.072438   0.657268    0.14       0.58          pose: 0.0           -6.13768   -1.64908    0 -0.00650895 -0.00107074 0.621271    0.783568       uwb: 0.0            1038.84  1644.21  
imu_odom_:  1691062917.992454232  1.10133    0.102951   9.50259    -0.0436758  -0.0191748  0.616788    0.14       0.58          pose: 0.0           -6.13768   -1.64908    0 -0.00650895 -0.00107074 0.621271    0.783568       uwb: 0.49931310     1036     1644     
imu_odom_:  1691062918.10180703   1.17555    -0.316035  9.59357    -0.0511327  -0.0191748  0.633832    0.12       0.44          pose: 0.33943363    -6.13768   -1.64908    0 -0.00538135 -0.0008210790.629423    0.777044       uwb: 0.0            1036     1644     
imu_odom_:  1691062918.27175717   1.72143    -0.275333  9.97903    -0.0511327  -0.0436758  0.548611    0.12       0.44          pose: 0.33122078    -6.13442   -1.63963    0 -0.00274326 -0.00314487 0.637009    0.770845       uwb: 0.0            1036     1644     
imu_odom_:  1691062918.44175397   1.84114    -0.011971  9.88087    -0.04048    0.0181095   0.450607    0.12       0.44          pose: 0.0           -6.13442   -1.63963    0 -0.00274326 -0.00314487 0.637009    0.770845       uwb: 0.50069553     1033.72  1643.58  
imu_odom_:  1691062918.61222325   1.22344    0.0335188  9.76116    -0.052198   0.0181095   0.386691    0.1        0.32          pose: 0.0           -6.13442   -1.63963    0 -0.00274326 -0.00314487 0.637009    0.770845       uwb: 0.0            1033.72  1643.58  
imu_odom_:  1691062918.78287334   0.565032   -0.0766145 9.39485    -0.0585895  0.0394148   0.338754    0.1        0.32          pose: 0.43846622    -6.13959   -1.6378     0 0.000539685 -0.00630016 0.645235    0.763958       uwb: 0.0            1033.72  1643.58  
imu_odom_:  1691062918.95226060   0.711078   -0.363919  10.1514    -0.0617853  -0.00639159 0.292948    0.1        0.32          pose: 0.0           -6.13959   -1.6378     0 0.000539685 -0.00630016 0.645235    0.763958       uwb: 0.50061387     1030.34  1643.44  
imu_odom_:  1691062918.112218449  0.754174   -0.146046  9.87608    -0.0447411  0           0.265251    0.07       0.29          pose: 0.8053033     -6.14388   -1.63639    0 0.00120666  -0.00657649 0.646297    0.763057       uwb: 0.0            1030.34  1643.44  
imu_odom_:  1691062918.128223312  0.849942   -0.138864  10.1083    -0.056459   -0.00852212 0.274838    0.07       0.23          pose: 0.0           -6.14388   -1.63639    0 0.00120666  -0.00657649 0.646297    0.763057       uwb: 0.0            1030.34  1643.44  
imu_odom_:  1691062918.145222409  0.761356   -0.287304  9.59835    -0.052198   -0.00213053 0.266316    0.07       0.23          pose: 0.0           -6.14388   -1.63639    0 0.00120666  -0.00657649 0.646297    0.763057       uwb: 0.50056137     1028.65  1643.54  
imu_odom_:  1691062918.161144443  0.768539   -0.222661  9.97903    -0.0500674  0           0.24075     0.07       0.23          pose: 0.51001082    -6.14065   -1.62692    0 0.00408308  -0.00777746 0.651721    0.758408       uwb: 0.0            1028.65  1643.54  
imu_odom_:  1691062918.179230519  0.725443   -0.0191536 9.90481    -0.0511327  0.00106526  0.234358    0.07       0.23          pose: 0.0           -6.14065   -1.62692    0 0.00408308  -0.00777746 0.651721    0.758408       uwb: 0.0            1028.65  1643.54  
imu_odom_:  1691062918.195141762  0.677559   -0.251391  9.92397    -0.0553937  0.00639159  0.245011    0.07       0.23          pose: 0.65981088    -6.14065   -1.62692    0 0.00891409  -0.0109199  0.657114    0.753659       uwb: 0.49816401     1028.65  1643.54  
imu_odom_:  1691062918.212163316  0.596156   -0.308852  9.87129    -0.0575243  -0.00532632 0.251402    0.07       0.29          pose: 0.0           -6.14065   -1.62692    0 0.00891409  -0.0109199  0.657114    0.753659       uwb: 0.0            1028.65  1643.54  
imu_odom_:  1691062918.229199453  0.567426   -0.304064  9.85453    -0.0490022  0           0.245011    0.07       0.29          pose: 0.0           -6.14065   -1.62692    0 0.00891409  -0.0109199  0.657114    0.753659       uwb: 0.0            1028.65  1643.54  
imu_odom_:  1691062918.243141477  0.670376   -0.158017  9.93833    -0.0511327  -0.0255663  0.251402    0.07       0.29          pose: 0.34023568    -6.14065   -1.62692    0 0.00757562  -0.011185   0.659742    0.751371       uwb: 0.50055554     1028.66  1643.59  
imu_odom_:  1691062918.259142257  0.708684   -0.184354  9.76116    -0.0500674  -0.00745685 0.258859    0.04       0.2           pose: 0.39907309    -6.13733   -1.61747    0 0.00649806  -0.0100765  0.66289     0.748621       uwb: 0.0            1028.66  1643.59  
imu_odom_:  1691062918.276141646  0.766145   -0.351948  10.0341    -0.0575243  -0.00639159 0.266316    0.05       0.29          pose: 0.8007827     -6.13739   -1.61747    0 0.0073065   -0.0101911  0.663537    0.748039       uwb: 0.0            1028.66  1643.59  
imu_odom_:  1691062918.293173116  0.605733   -0.213084  9.80426    -0.0490022  0.00852212  0.262055    0.05       0.29          pose: 0.0           -6.13739   -1.61747    0 0.0073065   -0.0101911  0.663537    0.748039       uwb: 0.49947060     1028.11  1643.99  
imu_odom_:  1691062918.307158304  0.600945   -0.253785  10.0221    -0.0575243  0.00426106  0.270577    0.05       0.29          pose: 0.42023812    -6.13739   -1.61747    0 0.00747156  -0.0102546  0.667043    0.744911       uwb: 0.0            1028.11  1643.99  
imu_odom_:  1691062918.322158726  0.663194   -0.234632  9.83299    -0.0553937  -0.0149137  0.269512    0.03       0.23          pose: 0.0           -6.13739   -1.61747    0 0.00747156  -0.0102546  0.667043    0.744911       uwb: 0.0            1028.11  1643.99  
imu_odom_:  1691062918.340206595  0.667982   -0.215478  9.85453    -0.0500674  0.00319579  0.262055    0.03       0.23          pose: 0.0           -6.13739   -1.61747    0 0.00747156  -0.0102546  0.667043    0.744911       uwb: 0.50195838     1032.04  1643.64  
imu_odom_:  1691062918.357193734  0.639252   -0.160412  9.8258     -0.0553937  0           0.270577    0.02       0.2           pose: 0.21999432    -6.13739   -1.61747    0 0.00693933  -0.00991832 0.668937    0.743221       uwb: 0.0            1032.04  1643.64  
imu_odom_:  1691062918.373187806  0.632069   -0.277727  9.91918    -0.0543285  -0.00213053 0.279099    0.02       0.2           pose: 0.0           -6.13739   -1.61747    0 0.00693933  -0.00991832 0.668937    0.743221       uwb: 0.0            1032.04  1643.64  
imu_odom_:  1691062918.390171738  0.574608   -0.201113  9.84256    -0.0458064  0.00532632  0.271642    0.02       0.2           pose: 0.33007459    -6.13739   -1.61747    0 0.00953511  -0.00926342 0.671671    0.74073        uwb: 0.49754571     1027.55  1644.11  
imu_odom_:  1691062918.405361440  0.591368   -0.184354  9.89045    -0.0532632  0.00639159  0.273773    0.02       0.23          pose: 0.41991731    -6.13739   -1.61747    0 0.00746657  -0.00762917 0.675338    0.737431       uwb: 0.0            1027.55  1644.11  
imu_odom_:  1691062918.422165423  0.548272   -0.227449  9.88805    -0.052198   -0.00852212 0.257794    0.02       0.26          pose: 0.7069298     -6.13739   -1.61747    0 0.00751965  -0.00690021 0.675948    0.736879       uwb: 0.0            1027.55  1644.11  
imu_odom_:  1691062918.437182760  0.531513   -0.227449  9.86172    -0.0468716  -0.00213053 0.232228    0.02       0.26          pose: 0.0           -6.13739   -1.61747    0 0.00751965  -0.00690021 0.675948    0.736879       uwb: 0.49935978     1025.3   1644.1   
imu_odom_:  1691062918.454153275  0.562637   -0.146046  9.87608    -0.0532632  -0.00426106 0.211988    0.02       0.23          pose: 0.39941724    -6.13739   -1.61747    0 0.00455014  -0.00543964 0.679084    0.734026       uwb: 0.0            1025.3   1644.1   
imu_odom_:  1691062918.469209110  0.531513   -0.184354  9.87369    -0.0543285  -0.00213053 0.201335    0.02       0.23          pose: 0.0           -6.13739   -1.61747    0 0.00455014  -0.00543964 0.679084    0.734026       uwb: 0.0            1025.3   1644.1   
imu_odom_:  1691062918.486143461  0.562637   -0.237026  9.87129    -0.0532632  0.00319579  0.183225    0.02       0.23          pose: 0.0           -6.13739   -1.61747    0 0.00455014  -0.00543964 0.679084    0.734026       uwb: 0.50033680     1021.93  1644.35  
imu_odom_:  1691062918.510290893  0.596156   -0.153229  9.88326    -0.052198   0.00106526  0.16192     0.01       0.17          pose: 0.24979509    -6.13739   -1.61747    0 0.00569737  -0.0039432  0.680622    0.732602       uwb: 0.0            1021.93  1644.35  
imu_odom_:  1691062918.527280365  0.35913    -0.1652    9.9096     -0.0575243  0.0426106   0.153398    0.01       0.17          pose: 0.0           -6.13739   -1.61747    0 0.00569737  -0.0039432  0.680622    0.732602       uwb: 0.0            1021.93  1644.35  
imu_odom_:  1691062918.543155152  -0.770933  -0.272939  9.75637    -0.0596548  0.1012      0.122505    0.03       0.08          pose: 0.31995435    -6.13739   -1.61747    0 0.0058204   -0.00493598 0.682288    0.731044       uwb: 0.49920520     1016.87  1644.26  
imu_odom_:  1691062918.560144042  -1.66397   -0.215478  10.07      -0.0585895  0.0213053   0.0916127   0.06       0.02          pose: 0.41132238    -6.13739   -1.61747    0 0.00513005  -0.00255495 0.683957    0.729499       uwb: 0.0            1016.87  1644.26  
imu_odom_:  1691062918.576141905  -0.972046  -0.275333  9.91199    -0.0628506  -0.0649811  0.0671117   0.06       -0.02         pose: 0.0           -6.13739   -1.61747    0 0.00513005  -0.00255495 0.683957    0.729499       uwb: 0.0            1016.87  1644.26  
imu_odom_:  1691062918.593172792  0.301669   -0.023942  10.2017    -0.0490022  -0.0884169  0.0340885   0.06       -0.02         pose: 0.40851963    -6.13581   -1.61282    0 0.00201405  0.000317148 0.684683    0.728838       uwb: 0.50176005     1017.43  1644.25  
imu_odom_:  1691062918.609142074  0.646434   -0.263362  9.52653    -0.0596548  -0.0426106  0.0372843   0.06       -0.02         pose: 0.0           -6.13581   -1.61282    0 0.00201405  0.000317148 0.684683    0.728838       uwb: 0.0            1017.43  1644.25  
imu_odom_:  1691062918.626278829  0.311246   -0.292093  9.7444     -0.0532632  0.052198    0.0426106   0.08       0             pose: 0.0           -6.13581   -1.61282    0 0.00201405  0.000317148 0.684683    0.728838       uwb: 0.0            1017.43  1644.25  
imu_odom_:  1691062918.642213696  -0.201113  -0.387861  9.92636    -0.0596548  0.0308927   0.0298274   0.08       0             pose: 0.8197399     -6.13418   -1.608      0 0.00238757  0.000894907 0.684664    0.728854       uwb: 0.49835942     1019.13  1644.36  
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imu_odom_:  1691062918.675353273  -0.201113  -0.225055  9.6223     -0.0479369  -0.0255663  0.036219    0.14       -0.02         pose: 0.0           -6.13418   -1.608      0 0.00238757  0.000894907 0.684664    0.728854       uwb: 0.0            1019.13  1644.36  
imu_odom_:  1691062918.693284775  0.452504   -0.31364   9.46907    -0.0543285  -0.00213053 0.0394148   0.14       -0.02         pose: 0.65967673    -6.13418   -1.608      0 -0.0006332770.0017418   0.684574    0.728941       uwb: 0.50025514     1023.07  1644.33  
imu_odom_:  1691062918.710295538  0.299275   -0.306458  9.88326    -0.0436758  0.0340885   0.0458064   0.11       -0.02         pose: 0.0           -6.13418   -1.608      0 -0.0006332770.0017418   0.684574    0.728941       uwb: 0.0            1023.07  1644.33  
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imu_odom_:  1691062918.744204487  0.356736   -0.148441  10.0149    -0.052198   0.0372843   0.0266316   0.11       0             pose: 0.43105832    -6.13098   -1.59853    0 -0.00551591 0.00268436  0.684567    0.728924       uwb: 0.49944143     1027.02  1644.39  
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imu_odom_:  1691062918.777189489  -0.328006  -0.150835  10.4507    -0.056459   0.0287621   0.0628506   0.12       0.02          pose: 0.0           -6.13098   -1.59853    0 -0.00484352 0.00297305  0.684534    0.728959       uwb: 0.0            1027.02  1644.39  
imu_odom_:  1691062918.794184212  0.701501   -0.699107  9.8282     -0.056459   -0.0692422  0.0479369   0.12       0.02          pose: 0.42984214    -6.13429   -1.59182    0 -0.00493243 0.00385886  0.684535    0.728953       uwb: 0.49990225     1027.02  1644.39  
imu_odom_:  1691062918.810179159  0.864307   -0.110133  9.50019    -0.0436758  -0.0532632  0.0383495   0.11       0             pose: 0.0           -6.13429   -1.59182    0 -0.00493243 0.00385886  0.684535    0.728953       uwb: 0.0            1027.02  1644.39  
imu_odom_:  1691062918.827239502  1.075      -0.179565  10.0772    -0.0617853  0.0276969   0.116114    0.11       0             pose: 0.0           -6.13429   -1.59182    0 -0.00493243 0.00385886  0.684535    0.728953       uwb: 0.0            1027.02  1644.39  
imu_odom_:  1691062918.845127547  1.71185    -0.474052  10.3837    -0.0639159  -0.0117179  0.137419    0.11       0             pose: 0.25009258    -6.13725   -1.58585    0 -0.00385476 0.00122203  0.684584    0.728923       uwb: 0.0            1027.02  1644.39  
imu_odom_:  1691062918.861127744  1.52511    -0.318429  9.6223     -0.052198   0.00639159  0.0777643   0.08       0             pose: 0.0           -6.13725   -1.58585    0 -0.00385476 0.00122203  0.684584    0.728923       uwb: 0.0            1027.02  1644.39  
imu_odom_:  1691062918.878165339  1.23301    0.177171   10.2185    -0.0543285  0.0607201   0.0276969   0.07       -0.02         pose: 0.33056165    -6.13725   -1.58585    0 -0.00151177 -0.0009866910.685343    0.728218       uwb: 0.0            1027.02  1644.39  
imu_odom_:  1691062918.895139645  0.445322   -0.1652    9.55047    -0.0649811  0.0245011   0.0255663   0.07       -0.02         pose: 0.42910427    -6.13406   -1.57637    0 0.00126842  -0.00312778 0.685833    0.727752       uwb: 0.100139106    1031.52  1644.09  
imu_odom_:  1691062918.911148008  0.45011    -0.296881  10.07      -0.0532632  -0.00745685 -0.0181095  0.09       0             pose: 0.7983620     -6.13406   -1.57637    0 0.00160119  -0.00240358 0.685791    0.727793       uwb: 0.0            1031.52  1644.09  
imu_odom_:  1691062918.928253849  0.672771   -0.167594  10.0221    -0.0553937  -0.0213053  -0.036219   0.09       0             pose: 0.0           -6.13406   -1.57637    0 0.00160119  -0.00240358 0.685791    0.727793       uwb: 0.0            1031.52  1644.09  
imu_odom_:  1691062918.944252879  0.823605   -0.184354  9.92875    -0.0553937  -0.00958738 -0.00958738 0.09       0             pose: 0.42104890    -6.13406   -1.57637    0 0.00240579  -0.00358333 0.684932    0.728594       uwb: 0.50040096     1030.96  1644.26  
imu_odom_:  1691062918.960314614  0.85473    -0.347159  9.75398    -0.0639159  0.0117179   0.0149137   0.05       -0.02         pose: 0.0           -6.13406   -1.57637    0 0.00240579  -0.00358333 0.684932    0.728594       uwb: 0.0            1030.96  1644.26  
imu_odom_:  1691062918.977316336  0.670376   -0.299275  9.8689     -0.0543285  0.00639159  0.0223706   0.05       -0.02         pose: 0.0           -6.13406   -1.57637    0 0.00240579  -0.00358333 0.684932    0.728594       uwb: 0.0            1030.96  1644.26  
imu_odom_:  1691062919.2181809    0.596156   -0.107739  9.8689     -0.0543285  0.00213053  0.0181095   0.04       0             pose: 0.24017940    -6.13406   -1.57637    0 0.00392376  -0.00534298 0.684564    0.728923       uwb: 0.49956976     1029.26  1644.13  
imu_odom_:  1691062919.18287875   0.248997   -0.217872  9.85693    -0.0681769  0.0500674   0.0191748   0.05       0.02          pose: 0.0           -6.13406   -1.57637    0 0.00392376  -0.00534298 0.684564    0.728923       uwb: 0.0            1029.26  1644.13  
imu_odom_:  1691062919.43125351   -1.31202   -0.222661  10.2328    -0.0553937  0.0756338   0.0234358   0.06       0             pose: 0.66016086    -6.13406   -1.57637    0 0.00509273  -0.00478656 0.684055    0.729397       uwb: 0.49946186     1031.51  1643.88  
imu_odom_:  1691062919.68247185   -0.591368  -0.354342  9.78031    -0.0607201  -0.0660464  0.0532632   0.09       0             pose: 0.7839254     -6.13406   -1.57637    0 0.00433675  -0.00399035 0.684014    0.729445       uwb: 0.0            1031.51  1643.88  
imu_odom_:  1691062919.93175072   0.469264   -0.234632  9.51216    -0.0543285  0.00319579  0.0543285   0.09       0             pose: 0.42120056    -6.13085   -1.5669     0 0.00122261  -0.00129646 0.684049    0.729433       uwb: 0.49924895     1033.22  1644.24  
imu_odom_:  1691062919.110254373  0.253785   -0.23942   10.1347    -0.0660464  0.0511327   0.0479369   0.1        -0.02         pose: 0.0           -6.13085   -1.5669     0 0.00122261  -0.00129646 0.684049    0.729433       uwb: 0.0            1033.22  1644.24  
imu_odom_:  1691062919.135253423  -0.42138   -0.191536  9.70609    -0.0649811  0.00106526  0.0415453   0.1        -0.02         pose: 0.42007188    -6.13085   -1.5669     0 0.000112391 -0.00213048 0.684238    0.729256       uwb: 0.0            1033.22  1644.24  
imu_odom_:  1691062919.160271138  0.215478   -0.059855  9.91678    -0.0607201  -0.0245011  0.0298274   0.14       -0.02         pose: 0.0           -6.13085   -1.5669     0 0.000112391 -0.00213048 0.684238    0.729256       uwb: 0.0            1033.22  1644.24  
imu_odom_:  1691062919.185131071  0.0933739  -0.272939  9.96227    -0.0681769  0.0127832   0.0585895   0.14       -0.02         pose: 0.50016765    -6.12764   -1.55743    0 -0.00133618 0.0020229   0.684172    0.729317       uwb: 0.100002616    1033.78  1644.14  
imu_odom_:  1691062919.202368446  -0.0766145 -0.402226  9.69891    -0.0585895  -0.0117179  0.0394148   0.13       -0.02         pose: 0.0           -6.12764   -1.55743    0 -0.00133618 0.0020229   0.684172    0.729317       uwb: 0.0            1033.78  1644.14  
imu_odom_:  1691062919.228256444  0.646434   0.0622492  10.3094    -0.0660464  -0.0394148  0.0532632   0.13       -0.02         pose: 0.32894300    -6.12764   -1.55743    0 -0.00442872 0.00367639  0.684332    0.729148       uwb: 0.0            1033.78  1644.14  
imu_odom_:  1691062919.253251119  0.229843   -0.486023  9.79947    -0.0745685  0.0255663   0.0383495   0.17       0             pose: 0.0           -6.12764   -1.55743    0 -0.00442872 0.00367639  0.684332    0.729148       uwb: 0.49994016     1030.39  1644.24  
imu_odom_:  1691062919.278244628  0.0622492  -0.047884  9.96227    -0.0468716  -0.00958738 0.036219    0.17       0             pose: 0.43103208    -6.1339    -1.54475    0 -0.00336586 0.00288745  0.684465    0.729032       uwb: 0.0            1030.39  1644.24  
imu_odom_:  1691062919.303241344  0.143652   -0.363919  9.90002    -0.0553937  0.0234358   0.0596548   0.14       0             pose: 0.41975982    -6.13168   -1.5382     0 -0.00515513 0.00478607  0.684421    0.729053       uwb: 0.50059638     1028.13  1644.15  
imu_odom_:  1691062919.319301621  -0.268151  -0.339977  9.62469    -0.0426106  -0.00958738 0.02024     0.14       0             pose: 0.0           -6.13168   -1.5382     0 -0.00515513 0.00478607  0.684421    0.729053       uwb: 0.0            1028.13  1644.15  
imu_odom_:  1691062919.346249474  0.0981623  -0.268151  9.87369    -0.0671117  0.0436758   0.0649811   0.15       0             pose: 0.8014243     -6.1307    -1.53528    0 -0.00603189 0.00483848  0.684474    0.728997       uwb: 0.49935394     1025.88  1644.08  
imu_odom_:  1691062919.371187569  0.220267   -0.342371  10.307     -0.0553937  0.0181095   0.0287621   0.14       0             pose: 0.0           -6.1307    -1.53528    0 -0.00603189 0.00483848  0.684474    0.728997       uwb: 0.0            1025.88  1644.08  
imu_odom_:  1691062919.396235908  0.818817   -0.263362  10.2592    -0.0617853  -0.00745685 0.0415453   0.14       0             pose: 0.42020896    -6.1307    -1.53528    0 -0.00988581 0.00671676  0.684535    0.728882       uwb: 0.49991392     1027.57  1644.11  
imu_odom_:  1691062919.411245370  0.536301   -0.402226  9.88326    -0.0575243  0.0585895   0.056459    0.14       0             pose: 0.0           -6.1307    -1.53528    0 -0.00988581 0.00671676  0.684535    0.728882       uwb: 0.0            1027.57  1644.11  
imu_odom_:  1691062919.437193448  0.88346    -0.0861913 10.422     -0.0319579  0.0138484   0.015979    0.15       -0.02         pose: 0.49982058    -6.12749   -1.5258     0 -0.0108868  0.00543393  0.684588    0.728829       uwb: 0.50127009     1027     1644.01  
imu_odom_:  1691062919.452112791  0.246603   -0.21069   9.42837    -0.0458064  0.0298274   0.0468716   0.15       -0.02         pose: 0.0           -6.12749   -1.5258     0 -0.0108868  0.00543393  0.684588    0.728829       uwb: 0.0            1027     1644.01  
imu_odom_:  1691062919.479238551  -0.0383072 -0.31364   9.96706    -0.04048    0.0181095   0.0383495   0.15       0             pose: 0.41124365    -6.12429   -1.51633    0 -0.00856851 0.0028393   0.684631    0.728834       uwb: 0.0            1027     1644.01  
imu_odom_:  1691062919.504118024  0          -0.0790087 10.24      -0.0426106  0.0138484   0.0553937   0.16       -0.02         pose: 0.0           -6.12429   -1.51633    0 -0.00856851 0.0028393   0.684631    0.728834       uwb: 0.49995183     1027.56  1643.94  
imu_odom_:  1691062919.530104308  0.301669   -0.25618   10.489     -0.0415453  -0.00852212 0.0394148   0.16       -0.02         pose: 0.40774384    -6.13377   -1.51313    0 -0.00726555 0.00449016  0.68452     0.728944       uwb: 0.0            1027.56  1643.94  
imu_odom_:  1691062919.555102775  0.399832   -0.23942   10.1251    -0.0351537  0.0330232   0.04048     0.17       0             pose: 0.0           -6.13377   -1.51313    0 -0.00726555 0.00449016  0.68452     0.728944       uwb: 0.50124383     1029.25  1643.89  
imu_odom_:  1691062919.581108308  0.464475   -0.0981623 10.4244    -0.0319579  -0.00213053 0.0330232   0.17       0             pose: 0.52097978    -6.13056   -1.50366    0 -0.0083826  0.00796176  0.684646    0.728784       uwb: 0.0            1029.25  1643.89  
imu_odom_:  1691062919.596219556  0.378284   -0.0909797 10.4196    -0.0330232  -0.00852212 0.0372843   0.18       0.02          pose: 0.0           -6.13056   -1.50366    0 -0.0083826  0.00796176  0.684646    0.728784       uwb: 0.49928687     1029.81  1643.65  
imu_odom_:  1691062919.614167681  0.509965   -0.337582  9.8689     -0.0671117  0.0127832   0.072438    0.18       0.02          pose: 0.50898130    -6.12736   -1.49418    0 -0.00497099 0.00498464  0.684654    0.728834       uwb: 0.0            1029.81  1643.65  
imu_odom_:  1691062919.639225061  0.234632   -0.0909797 10.0437    -0.04048    0.036219    0.0234358   0.17       0             pose: 0.0           -6.12736   -1.49418    0 -0.00497099 0.00498464  0.684654    0.728834       uwb: 0.49934228     1029.81  1643.77  
imu_odom_:  1691062919.664120867  0.605733   -0.337582  9.43315    -0.0543285  0.0138484   0.056459    0.17       0             pose: 0.76068379    -6.12416   -1.48471    0 -0.0016671  0.00606678  0.684679    0.728817       uwb: 0.0            1029.81  1643.77  
imu_odom_:  1691062919.687113366  0.138864   -0.205901  9.44513    -0.04048    -0.0191748  0.0330232   0.17       0             pose: 0.0           -6.12416   -1.48471    0 -0.0016671  0.00606678  0.684679    0.728817       uwb: 0.50058471     1028.13  1643.94  
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imu_odom_:  1691062919.739089143  0.110133   0.110133   9.89045    -0.0735032  -0.015979   0.0468716   0.24       0             pose: 0.49006491    -6.13044   -1.47204    0 -0.00334835 0.00583332  0.684862    0.728642       uwb: 0.49942395     1025.32  1643.96  
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imu_odom_:  1691062919.781278029  0.138864   -0.306458  9.75637    -0.0649811  -0.00532632 0.04048     0.18       0             pose: 0.25998533    -6.12725   -1.46256    0 -0.00434846 0.0076938   0.685076    0.728418       uwb: 0.0            1025.32  1643.96  
imu_odom_:  1691062919.805204390  -0.0957681 -0.416591  9.7444     -0.052198   0.0106526   0.0628506   0.18       0             pose: 0.49973601    -6.12725   -1.46256    0 -0.00404766 0.00663595  0.685345    0.728177       uwb: 0.49998099     1024.19  1643.75  
imu_odom_:  1691062919.828070606  0.399832   -0.318429  9.37569    -0.0628506  0.0117179   0.04048     0.18       0             pose: 0.33980695    -6.12407   -1.45308    0 -0.00749922 0.00734196  0.68552     0.727978       uwb: 0.0            1024.19  1643.75  
imu_odom_:  1691062919.854087805  0.395043   -0.342371  9.4571     -0.0809601  0.00958738  0.0575243   0.24       0             pose: 0.0           -6.12407   -1.45308    0 -0.00749922 0.00734196  0.68552     0.727978       uwb: 0.49984684     1020.8   1643.7   
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imu_odom_:  1691062919.963200683  0.117316   -0.459687  9.1267     -0.0575243  0.0383495   0.0372843   0.21       0             pose: 0.32094013    -6.1272    -1.43094    0 -0.00573135 -0.0026078  0.685693    0.727864       uwb: 0.0            1016.87  1643.89  
imu_odom_:  1691062919.990202492  -0.0526724 -0.126893  9.85693    -0.0532632  -0.00639159 0.0532632   0.25       0.02          pose: 0.0           -6.1272    -1.43094    0 -0.00573135 -0.0026078  0.685693    0.727864       uwb: 0.49813777     1022.49  1644     
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imu_odom_:  1691062920.83241095   0.390255   -0.205901  9.98143    -0.0703074  -0.0276969  0.0628506   0.25       0.02          pose: 0.0           -6.12086   -1.41197    0 -0.00844756 0.00283995  0.685832    0.727705       uwb: 0.0            1024.74  1643.89  
imu_odom_:  1691062920.106060355  0.414197   -0.0861913 10.1251    -0.0245011  0.0127832   0.0351537   0.25       0.02          pose: 0.42857931    -6.11769   -1.40249    0 -0.00720979 0.00347979  0.68595     0.727605       uwb: 0.49988184     1019.69  1644.42  
imu_odom_:  1691062920.132074638  0.203507   -0.19393   9.44752    -0.0511327  -0.0372843  0.0575243   0.18       -0.02         pose: 0.39986056    -6.12172   -1.39442    0 -0.00317812 0.00329316  0.686079    0.727513       uwb: 0.0            1019.69  1644.42  
imu_odom_:  1691062920.159052823  0.306458   -0.246603  9.72285    -0.0479369  -0.015979   0.0468716   0.25       -0.02         pose: 0.9073224     -6.12401   -1.38984    0 -0.00354955 0.00396205  0.686136    0.727454       uwb: 0.50024640     1019.69  1644.28  
imu_odom_:  1691062920.175169971  0.720655   -0.270545  10.4483    -0.072438   -0.04048    0.0596548   0.25       -0.02         pose: 0.0           -6.12401   -1.38984    0 -0.00354955 0.00396205  0.686136    0.727454       uwb: 0.0            1019.69  1644.28  
imu_odom_:  1691062920.201172297  0.555455   0.0383072  10.1801    -0.0585895  -0.0266316  0.0490022   0.25       0             pose: 0.43919244    -6.12176   -1.38307    0 -0.00447784 0.00249691  0.68631     0.727291       uwb: 0.50050597     1021.96  1644.7   
imu_odom_:  1691062920.226110100  0.840365   -0.11971   10.4315    -0.0703074  -0.0276969  0.0468716   0.25       0             pose: 0.42119474    -6.12085   -1.38035    0 -0.0005857750.0010339   0.686527    0.727104       uwb: 0.0            1021.96  1644.7   
imu_odom_:  1691062920.253099368  0.464475   -0.0670376 9.87129    -0.0660464  -0.00745685 0.0490022   0.21       0             pose: 0.0           -6.12085   -1.38035    0 -0.0005857750.0010339   0.686527    0.727104       uwb: 0.49942395     1019.71  1644.77  
imu_odom_:  1691062920.269096065  0.423774   -0.433351  9.88326    -0.0671117  0.0213053   0.0532632   0.21       0             pose: 0.51927071    -6.1177    -1.37086    0 0.00375338  0.000491108 0.686679    0.726951       uwb: 0.0            1019.71  1644.77  
imu_odom_:  1691062920.296092333  0.153229   -0.0909797 10.1466    -0.0596548  -0.0106526  0.0500674   0.25       0.02          pose: 0.0           -6.1177    -1.37086    0 0.00375338  0.000491108 0.686679    0.726951       uwb: 0.50126134     1016.89  1644.94  
imu_odom_:  1691062920.321167212  0.572214   -0.253785  10.1418    -0.0671117  -0.0138484  0.036219    0.25       0.02          pose: 0.24017940    -6.11455   -1.36137    0 0.00196173  0.000270074 0.686794    0.72685        uwb: 0.0            1016.89  1644.94  
imu_odom_:  1691062920.337089830  0.270545   0.0215478  9.6223     -0.0596548  -0.02024    0.0340885   0.21       0             pose: 0.0           -6.11455   -1.36137    0 0.00196173  0.000270074 0.686794    0.72685        uwb: 0.50010641     1018.58  1644.8   
imu_odom_:  1691062920.364045558  0.282516   -0.466869  9.85693    -0.0639159  -0.00852212 0.0479369   0.21       0             pose: 0.59972522    -6.1209    -1.34873    0 0.00227339  0.000816107 0.686801    0.726842       uwb: 0.0            1018.58  1644.8   
imu_odom_:  1691062920.389046358  0.608127   -0.0383072 10.0509    -0.0500674  -0.0191748  0.04048     0.23       0             pose: 0.8972896     -6.1209    -1.34873    0 0.00140451  0.000496552 0.686829    0.726817       uwb: 0.49982351     1018.02  1644.89  
imu_odom_:  1691062920.412160476  0.150835   -0.409408  9.75637    -0.0511327  0.0383495   0.0308927   0.23       0             pose: 0.42983632    -6.11865   -1.34193    0 0.00233262  -0.0004602630.68689     0.726757       uwb: 0.0            1018.02  1644.89  
imu_odom_:  1691062920.437082239  0.186748   -0.19393   9.83299    -0.0340885  -0.0213053  0.052198    0.18       -0.02         pose: 0.0           -6.11865   -1.34193    0 0.00233262  -0.0004602630.68689     0.726757       uwb: 0.49924604     1015.77  1645.25  
imu_odom_:  1691062920.453073394  0.507571   -0.0143652 9.77313    -0.036219   -0.0287621  0.0255663   0.18       -0.02         pose: 0.31072948    -6.11776   -1.33924    0 -0.0006330470.000939978 0.686856    0.726793       uwb: 0.0            1015.77  1645.25  
imu_odom_:  1691062920.479233502  0.371101   -0.260968  9.39485    -0.072438   0.0191748   0.052198    0.19       0             pose: 0.0           -6.11776   -1.33924    0 -0.0006330470.000939978 0.686856    0.726793       uwb: 0.0            1015.77  1645.25  
imu_odom_:  1691062920.505222995  -0.215478  -0.332794  9.35175    -0.0490022  0.00319579  0.04048     0.19       0             pose: 0.41198443    -6.11462   -1.32974    0 -0.00035438 0.00186714  0.686891    0.726758       uwb: 0.49976227     1013.52  1645.42  
imu_odom_:  1691062920.520094215  0.519542   -0.0670376 9.991      -0.0458064  -0.0490022  0.0447411   0.18       0.02          pose: 0.0           -6.11462   -1.32974    0 -0.00035438 0.00186714  0.686891    0.726758       uwb: 0.0            1013.52  1645.42  
imu_odom_:  1691062920.546151371  0.859518   -0.205901  10.5489    -0.036219   -0.00639159 0.0266316   0.18       0.02          pose: 0.50834260    -6.11157   -1.32022    0 -0.00325687 0.00227761  0.686991    0.726655       uwb: 0.50082387     1012.95  1645.36  
imu_odom_:  1691062920.572047535  0.823605   0.0191536  10.1538    -0.0468716  0.00532632  0.0426106   0.21       0             pose: 0.33999362    -6.11899   -1.31056    0 -0.0002771050.000387841 0.686889    0.726762       uwb: 0.0            1012.95  1645.36  
imu_odom_:  1691062920.596149471  0.699107   -0.153229  10.0269    -0.0532632  -0.036219   0.0436758   0.21       0             pose: 0.0           -6.11899   -1.31056    0 -0.0002771050.000387841 0.686889    0.726762       uwb: 0.49851108     1012.96  1645.79  
imu_odom_:  1691062920.621029236  0.830788   -0.110133  9.99819    -0.056459   0.00213053  0.0585895   0.21       0             pose: 0.7915082     -6.11805   -1.30765    0 0.000473304 0.00019103  0.686898    0.726754       uwb: 0.0            1012.96  1645.79  
imu_odom_:  1691062920.647019604  0.42138    -0.0383072 9.98382    -0.0394148  -0.00319579 0.0330232   0.18       0             pose: 0.0           -6.11805   -1.30765    0 0.000473304 0.00019103  0.686898    0.726754       uwb: 0.50085304     1018.6   1646.07  
imu_odom_:  1691062920.663072589  0.409408   -0.241814  9.71806    -0.052198   0.0191748   0.0447411   0.18       0             pose: 0.49165440    -6.11501   -1.29812    0 0.00488894  -0.00244007 0.686994    0.726642       uwb: 0.0            1018.6   1646.07  
imu_odom_:  1691062920.680073436  0.349553   -0.227449  9.79947    -0.0490022  0.0149137   0.0372843   0.18       0             pose: 0.0           -6.11501   -1.29812    0 0.00488894  -0.00244007 0.686994    0.726642       uwb: 0.0            1018.6   1646.07  
imu_odom_:  1691062920.705059071  0.45011    -0.270545  9.62469    -0.0617853  0.00319579  0.0649811   0.18       0             pose: 0.50848259    -6.11501   -1.29813    0 0.00593171  -0.0006644890.687057    0.726579       uwb: 0.49931603     1014.09  1645.86  
imu_odom_:  1691062920.730999858  0.225055   -0.162806  9.6606     -0.0458064  0.0213053   0.0372843   0.19       0.02          pose: 0.0           -6.11501   -1.29813    0 0.00593171  -0.0006644890.687057    0.726579       uwb: 0.0            1014.09  1645.86  
imu_odom_:  1691062920.746020695  -0.0550666 -0.189142  9.72285    -0.0585895  0.0223706   0.052198    0.19       0.02          pose: 0.76919706    -6.11589   -1.27677    0 -1.21313e-060.000808729 0.687285    0.726387       uwb: 0.49987893     1015.78  1645.68  
imu_odom_:  1691062920.761138651  0.533907   0.0335188  10.4411    -0.0490022  -0.036219   0.0937433   0.19       0.02          pose: 0.6189974     -6.11833   -1.27597    0 -0.0004756350.00132558  0.687313    0.72636        uwb: 0.0            1015.78  1645.68  
imu_odom_:  1691062920.778135415  0.380678   -0.502782  9.17937    -0.0628506  -0.0149137  0.165116    0.18       0.14          pose: 0.0           -6.11833   -1.27597    0 -0.0004756350.00132558  0.687313    0.72636        uwb: 0.0            1015.78  1645.68  
imu_odom_:  1691062920.795070350  0.548272   -0.373495  10.0916    -0.072438   -0.0117179  0.254598    0.18       0.14          pose: 0.31958980    -6.1152    -1.26647    0 -2.24427e-050.00148975  0.688017    0.725693       uwb: 0.50062554     1011.82  1645.69  
imu_odom_:  1691062920.811069380  0.37589    -0.715866  9.39245    -0.0756338  0.0191748   0.294013    0.18       0.14          pose: 0.0           -6.1152    -1.26647    0 -2.24427e-050.00148975  0.688017    0.725693       uwb: 0.0            1011.82  1645.69  
imu_odom_:  1691062920.827162905  0.514753   -0.217872  10.422     -0.052198   0.0106526   0.329167    0.25       0.38          pose: 0.0           -6.1152    -1.26647    0 -2.24427e-050.00148975  0.688017    0.725693       uwb: 0.0            1011.82  1645.69  
imu_odom_:  1691062920.844285079  -0.0837971 -0.533907  9.86172    -0.0628506  -0.00958738 0.385626    0.19       0.35          pose: 0.49018740    -6.11208   -1.25697    0 -0.00157955 -0.00220363 0.691956    0.721935       uwb: 0.50065472     1014.65  1645.96  
imu_odom_:  1691062920.860037957  0.675165   -0.203507  9.83299    -0.0617853  0.0170442   0.413323    0.19       0.35          pose: 0.0           -6.11208   -1.25697    0 -0.00157955 -0.00220363 0.691956    0.721935       uwb: 0.0            1014.65  1645.96  
imu_odom_:  1691062920.877015472  0.201113   -0.433351  9.65582    -0.0511327  -0.0117179  0.460194    0.19       0.41          pose: 0.41870405    -6.11039   -1.25205    0 -0.00123382 -0.00271555 0.697139    0.71693        uwb: 0.0            1014.65  1645.96  
imu_odom_:  1691062920.893009836  0.265756   -0.428562  9.61751    -0.0681769  -0.0330232  0.507066    0.19       0.41          pose: 0.8253104     -6.10897   -1.24746    0 -0.00202061 -0.00259183 0.698383    0.715716       uwb: 0.49875023     1012.39  1645.68  
imu_odom_:  1691062920.910067263  0.316035   -0.196325  9.72285    -0.0447411  0.00745685  0.518784    0.19       0.41          pose: 0.0           -6.10897   -1.24746    0 -0.00202061 -0.00259183 0.698383    0.715716       uwb: 0.0            1012.39  1645.68  
imu_odom_:  1691062920.926066294  0.507571   -0.579397  10.2687    -0.0308927  -0.0255663  0.530502    0.24       0.64          pose: 0.41776202    -6.10892   -1.24747    0 -0.00392612 -0.0009296080.705272    0.708926       uwb: 0.0            1012.39  1645.68  
imu_odom_:  1691062920.943157261  0.318429   -0.430956  9.99579    -0.0426106  -0.0245011  0.573112    0.24       0.64          pose: 0.0           -6.10892   -1.24747    0 -0.00392612 -0.0009296080.705272    0.708926       uwb: 0.50036890     1011.82  1645.43  
imu_odom_:  1691062920.959118960  0.790087   -0.560243  9.87848    -0.0820254  -0.0223706  0.611462    0.24       0.64          pose: 0.0           -6.10892   -1.24747    0 -0.00392612 -0.0009296080.705272    0.708926       uwb: 0.0            1011.82  1645.43  
imu_odom_:  1691062920.976061185  0.703895   -0.253785  9.86172    -0.0340885  -0.0170442  0.604005    0.18       0.55          pose: 0.24009774    -6.11538   -1.23486    0 -0.00485018 -0.00269246 0.709549    0.704634       uwb: 0.0            1011.82  1645.43  
imu_odom_:  1691062920.992055549  0.493206   -0.620098  10.3813    -0.0298274  -0.0106526  0.615723    0.24       0.79          pose: 0.0           -6.11538   -1.23486    0 -0.00485018 -0.00269246 0.709549    0.704634       uwb: 0.49977101     1006.21  1645.14  
imu_odom_:  1691062921.8110868    0.368707   -0.071826  9.78031    -0.072438   -0.02024    0.655138    0.24       0.79          pose: 0.32995795    -6.11538   -1.23486    0 -0.00440092 -0.00508182 0.71601     0.698058       uwb: 0.0            1006.21  1645.14  
imu_odom_:  1691062921.25105591   1.19471    -0.292093  10.1179    -0.0490022  -0.0234358  0.649811    0.24       0.79          pose: 0.41038036    -6.1122    -1.22536    0 -0.00337826 -0.00548292 0.724392    0.689358       uwb: 0.0            1006.21  1645.14  
imu_odom_:  1691062921.41133495   1.46765    -0.201113  9.9527     -0.0383495  -0.0223706  0.660464    0.21       0.7           pose: 0.0           -6.1122    -1.22536    0 -0.00337826 -0.00548292 0.724392    0.689358       uwb: 0.49939187     1004.52  1645.6   
imu_odom_:  1691062921.58134342   1.75974    -0.395043  9.89763    -0.0426106  -0.0553937  0.624245    0.21       0.7           pose: 0.0           -6.1122    -1.22536    0 -0.00337826 -0.00548292 0.724392    0.689358       uwb: 0.0            1004.52  1645.6   
imu_odom_:  1691062921.74191120   1.67834    -0.385466  9.76355    -0.0585895  0.015979    0.523045    0.12       0.35          pose: 0.8008994     -6.11225   -1.22536    0 -0.00270416 -0.00602355 0.72607     0.687589       uwb: 0.0            1004.52  1645.6   
imu_odom_:  1691062921.90133862   1.55384    0.143652   10.1394    -0.0447411  0.0308927   0.455933    0.12       0.35          pose: 0.0           -6.11225   -1.22536    0 -0.00270416 -0.00602355 0.72607     0.687589       uwb: 0.50082971     1002.83  1645.3   
imu_odom_:  1691062921.107131793  0.933739   -0.0957681 10.0245    -0.076699   0.0585895   0.358994    0.12       0.35          pose: 0.65020105    -6.10912   -1.21586    0 0.00259831  -0.0101442  0.738289    0.674403       uwb: 0.0            1002.83  1645.3   
imu_odom_:  1691062921.123002789  0.553061   0.0311246  9.99579    -0.0713727  0.0330232   0.30147     0.14       0.41          pose: 0.0           -6.10912   -1.21586    0 0.00259831  -0.0101442  0.738289    0.674403       uwb: 0.0            1002.83  1645.3   
imu_odom_:  1691062921.140039509  0.723049   -0.301669  9.84735    -0.0500674  -0.015979   0.284426    0.09       0.29          pose: 0.0           -6.10912   -1.21586    0 0.00259831  -0.0101442  0.738289    0.674403       uwb: 0.49929563     998.324  1645.35  
imu_odom_:  1691062921.156135076  0.866701   -0.272939  10.1155    -0.0447411  0.00426106  0.274838    0.09       0.29          pose: 0.32902758    -6.11866   -1.21288    0 0.00472936  -0.00969758 0.741954    0.670364       uwb: 0.0            998.324  1645.35  
imu_odom_:  1691062921.182249687  0.579397   -0.1652    9.96467    -0.0490022  -0.00106526 0.270577    0.08       0.26          pose: 0.42092351    -6.11563   -1.20334    0 0.00740304  -0.0112014  0.745363    0.666524       uwb: 0.0            998.324  1645.35  
imu_odom_:  1691062921.199181996  0.373495   -0.387861  9.94791    -0.056459   0.0372843   0.221575    0.08       0.26          pose: 0.0           -6.11563   -1.20334    0 0.00740304  -0.0112014  0.745363    0.666524       uwb: 0.50102511     995.505  1645.41  
imu_odom_:  1691062921.215988313  -0.198719  -0.0311246 10.0509    -0.052198   0.0490022   0.0958738   0.09       0.08          pose: 0.8020368     -6.11569   -1.20333    0 0.00750549  -0.0103845  0.745981    0.665843       uwb: 0.0            995.505  1645.41  
imu_odom_:  1691062921.230170949  -0.76375   0.237026   9.62948    -0.0447411  0.0543285   -0.0298274  0.09       0.08          pose: 0.0           -6.11569   -1.20333    0 0.00750549  -0.0103845  0.745981    0.665843       uwb: 0.0            995.505  1645.41  
imu_odom_:  1691062921.246056236  -0.732626  0.292093   10.1801    -0.0671117  0.00106526  -0.0852212  0.09       0.08          pose: 0.0           -6.11569   -1.20333    0 0.00750549  -0.0103845  0.745981    0.665843       uwb: 0.50151509     996.067  1645.58  
imu_odom_:  1691062921.261988188  0          -0.189142  10.2089    -0.0809601  -0.0447411  -0.0958738  0.11       -0.14         pose: 0.72845651    -6.11569   -1.20333    0 0.00330494  -0.00407683 0.748144    0.663516       uwb: 0.0            996.067  1645.58  
imu_odom_:  1691062921.278980286  0.351948   -0.519542  9.96946    -0.0745685  -0.0298274  -0.157659   0.11       -0.14         pose: 0.0           -6.11569   -1.20333    0 0.00330494  -0.00407683 0.748144    0.663516       uwb: 0.0            996.067  1645.58  
imu_odom_:  1691062921.296031880  0.500388   -0.229843  10.0796    -0.0639159  -0.0340885  -0.189617   0.11       -0.14         pose: 0.0           -6.11569   -1.20333    0 0.00330494  -0.00407683 0.748144    0.663516       uwb: 0.0            996.067  1645.58  
imu_odom_:  1691062921.312120739  0.275333   0.0526724  9.54568    -0.072438   -0.00532632 -0.207727   0.18       -0.35         pose: 0.33028168    -6.11261   -1.19382    0 0.00117684  -0.00299619 0.746531    0.665342       uwb: 0.0            996.067  1645.58  
imu_odom_:  1691062921.329009301  0.150835   -0.100556  9.81383    -0.0617853  -0.00319579 -0.24288    0.18       -0.35         pose: 0.42091476    -6.11261   -1.19382    0 0.00236383  -0.00244618 0.743306    0.668943       uwb: 0.0            996.067  1645.58  
imu_odom_:  1691062921.345008332  -0.21069   -0.023942  10.0102    -0.036219   -0.00852212 -0.292948   0.18       -0.35         pose: 0.0           -6.11261   -1.19382    0 0.00236383  -0.00244618 0.743306    0.668943       uwb: 0.99756173     996.067  1645.67  
imu_odom_:  1691062921.361039152  0.351948   -0.129287  10.0102    -0.0415453  -0.0308927  -0.338754   0.14       -0.38         pose: 0.0           -6.11261   -1.19382    0 0.00236383  -0.00244618 0.743306    0.668943       uwb: 0.0            996.067  1645.67  
imu_odom_:  1691062921.377160967  0.603339   -0.181959  9.92397    -0.052198   -0.0351537  -0.346211   0.18       -0.5          pose: 0.7926457     -6.11261   -1.19382    0 0.0019792   -0.0017558  0.742558    0.669777       uwb: 0.0            996.067  1645.67  
imu_odom_:  1691062921.394129150  0.217872   -0.241814  9.47386    -0.0735032  -0.00639159 -0.36219    0.18       -0.5          pose: 0.0           -6.11261   -1.19382    0 0.0019792   -0.0017558  0.742558    0.669777       uwb: 0.50059930     993.806  1646.14  
imu_odom_:  1691062921.411168495  0.0263362  0.0335188  9.79468    -0.0543285  0.0106526   -0.38243    0.2        -0.58         pose: 0.65107599    -6.11908   -1.18124    0 0.00166866  0.00100422  0.734688    0.678402       uwb: 0.0            993.806  1646.14  
imu_odom_:  1691062921.427992894  0.54109    -0.275333  9.60554    -0.0798948  0           -0.4048     0.2        -0.58         pose: 0.0           -6.11908   -1.18124    0 0.00166866  0.00100422  0.734688    0.678402       uwb: 0.0            993.806  1646.14  
imu_odom_:  1691062921.444169248  0.177171   0.00957681 10.2041    -0.0426106  0.0170442   -0.447411   0.2        -0.58         pose: 0.0           -6.11908   -1.18124    0 0.00166866  0.00100422  0.734688    0.678402       uwb: 0.49970394     991.55   1646.05  
imu_odom_:  1691062921.462116791  0.61531    -0.035913  10.0724    -0.0692422  -0.0649811  -0.413323   0.15       -0.5          pose: 0.33820872    -6.11612   -1.17169    0 0.000351675 0.00223667  0.729828    0.683627       uwb: 0.0            991.55   1646.05  
imu_odom_:  1691062921.479110347  0.840365   -0.143652  9.80186    -0.076699   -0.0255663  -0.34408    0.15       -0.5          pose: 0.33141037    -6.11612   -1.17169    0 0.0012199   0.0026853   0.724514    0.689253       uwb: 0.0            991.55   1646.05  
imu_odom_:  1691062921.495098586  1.5682     -0.782904  9.61511    -0.0820254  -0.0127832  -0.320645   0.15       -0.5          pose: 0.0           -6.11612   -1.17169    0 0.0012199   0.0026853   0.724514    0.689253       uwb: 0.49933063     987.604  1645.87  
imu_odom_:  1691062921.510989998  1.45089    -0.201113  9.95748    -0.052198   0.0298274   -0.354733   0.11       -0.35         pose: 0.0           -6.11612   -1.17169    0 0.0012199   0.0026853   0.724514    0.689253       uwb: 0.0            987.604  1645.87  
imu_odom_:  1691062921.528211916  1.02232    0.0933739  9.88326    -0.0543285  -0.0106526  -0.308927   0.1        -0.35         pose: 0.50043014    -6.11314   -1.16215    0 0.00438685  -0.0013777  0.717733    0.696303       uwb: 0.0            987.604  1645.87  
imu_odom_:  1691062921.545024358  0.876278   -0.172383  9.55765    -0.0585895  -0.0298274  -0.223706   0.1        -0.35         pose: 0.0           -6.11314   -1.16215    0 0.00438685  -0.0013777  0.717733    0.696303       uwb: 0.50010058     987.611  1645.52  
imu_odom_:  1691062921.560968558  0.560243   -0.725443  9.50498    -0.0692422  0.0372843   -0.189617   0.09       -0.26         pose: 0.16944851    -6.12268   -1.15916    0 0.0057073   -0.00213586 0.715528    0.698557       uwb: 0.0            987.611  1645.52  
imu_odom_:  1691062921.578075858  0.440533   -0.296881  9.77553    -0.056459   0.0127832   -0.20027    0.09       -0.26         pose: 0.0           -6.12268   -1.15916    0 0.0057073   -0.00213586 0.715528    0.698557       uwb: 0.0            987.611  1645.52  
imu_odom_:  1691062921.595159825  0.248997   0.0814029  10.2639    -0.0607201  -0.00213053 -0.192813   0.09       -0.26         pose: 0.0           -6.12268   -1.15916    0 0.0057073   -0.00213586 0.715528    0.698557       uwb: 0.50054681     989.857  1645.81  
imu_odom_:  1691062921.612110217  0.59855    -0.0502782 9.92875    -0.0671117  -0.0383495  -0.157659   0.11       -0.29         pose: 0.33922950    -6.12268   -1.15916    0 0.00719027  -0.00427681 0.712221    0.701906       uwb: 0.0            989.857  1645.81  
imu_odom_:  1691062921.628164661  0.830788   -0.414197  9.58638    -0.0692422  -0.015979   -0.137419   0.11       -0.29         pose: 0.0           -6.12268   -1.15916    0 0.00719027  -0.00427681 0.712221    0.701906       uwb: 0.0            989.857  1645.81  
imu_odom_:  1691062921.645079181  0.768539   -0.292093  10.1778    -0.0553937  -0.00958738 -0.133158   0.11       -0.29         pose: 0.67030446    -6.11974   -1.14961    0 0.00652731  -0.00364402 0.70707     0.707104       uwb: 0.49980893     986.481  1645.35  
imu_odom_:  1691062921.661068587  0.861913   -0.186748  9.93594    -0.0575243  -0.00958738 -0.11931    0.06       -0.17         pose: 0.0           -6.11974   -1.14961    0 0.00652731  -0.00364402 0.70707     0.707104       uwb: 0.0            986.481  1645.35  
imu_odom_:  1691062921.678073809  0.682347   -0.232238  9.83538    -0.0596548  0.00426106  -0.103331   0.07       -0.2          pose: 0.0           -6.11974   -1.14961    0 0.00652731  -0.00364402 0.70707     0.707104       uwb: 0.0            986.481  1645.35  
imu_odom_:  1691062921.694015676  0.476446   -0.311246  9.70131    -0.0607201  0.00958738  -0.104396   0.07       -0.2          pose: 0.32910925    -6.11974   -1.14961    0 0.00775114  -0.00670324 0.705075    0.709058       uwb: 0.50116219     982.542  1645.05  
imu_odom_:  1691062921.710009749  0.596156   -0.229843  9.84017    -0.0617853  -0.00745685 -0.110787   0.06       -0.2          pose: 0.41046786    -6.11968   -1.14961    0 0.00716562  -0.00838434 0.702948    0.711155       uwb: 0.0            982.542  1645.05  
imu_odom_:  1691062921.726956058  0.699107   -0.268151  9.93354    -0.0596548  0.00426106  -0.092678   0.06       -0.2          pose: 0.0           -6.11968   -1.14961    0 0.00716562  -0.00838434 0.702948    0.711155       uwb: 0.0            982.542  1645.05  
imu_odom_:  1691062921.743014293  0.658405   -0.253785  9.88566    -0.0639159  0.00852212  -0.0692422  0.06       -0.2          pose: 0.0           -6.11968   -1.14961    0 0.00716562  -0.00838434 0.702948    0.711155       uwb: 0.49808528     987.6    1645.66  
imu_odom_:  1691062921.759005157  0.584185   -0.263362  9.80426    -0.0543285  0.00106526  -0.0671117  0.04       -0.08         pose: 0.6998136     -6.11974   -1.14961    0 0.00667604  -0.00789937 0.702579    0.71153        uwb: 0.0            987.6    1645.66  
imu_odom_:  1691062921.775068934  0.56982    -0.234632  9.87129    -0.0553937  0.00319579  -0.0649811  0.04       -0.08         pose: 0.0           -6.11974   -1.14961    0 0.00667604  -0.00789937 0.702579    0.71153        uwb: 0.0            987.6    1645.66  
imu_odom_:  1691062921.791940872  0.397437   -0.153229  10.07      -0.052198   -0.0106526  -0.0596548  0.04       -0.08         pose: 0.0           -6.11974   -1.14961    0 0.00667604  -0.00789937 0.702579    0.71153        uwb: 0.50093179     989.852  1645.93  
imu_odom_:  1691062921.808047522  0.627281   -0.225055  9.83299    -0.0553937  -0.0106526  -0.052198   0.04       -0.08         pose: 0.64946609    -6.11682   -1.14004    0 0.00578031  -0.00854836 0.699816    0.714249       uwb: 0.0            989.852  1645.93  
imu_odom_:  1691062921.823934850  0.68953    -0.280122  9.86172    -0.056459   -0.00213053 -0.0383495  0.03       -0.05         pose: 0.0           -6.11682   -1.14004    0 0.00578031  -0.00854836 0.699816    0.714249       uwb: 0.0            989.852  1645.93  
imu_odom_:  1691062921.839937089  0.591368   -0.272939  9.8282     -0.0575243  -0.00426106 -0.0266316  0.03       -0.05         pose: 0.32984712    -6.11682   -1.14004    0 0.00552323  -0.00657134 0.698653    0.715409       uwb: 0.49961936     990.412  1646.2   
imu_odom_:  1691062921.857011724  0.596156   -0.246603  9.84496    -0.052198   0.00639159  -0.0255663  0.02       -0.02         pose: 0.40991956    -6.11682   -1.14004    0 0.00504595  -0.00897851 0.697535    0.716476       uwb: 0.0            990.412  1646.2   
imu_odom_:  1691062921.874142647  0.452504   -0.225055  9.83299    -0.0543285  0           -0.00852212 0.02       -0.02         pose: 0.8002869     -6.11682   -1.14004    0 0.00558262  -0.00836028 0.697345    0.716666       uwb: 0.0            990.412  1646.2   
imu_odom_:  1691062921.889954439  0.452504   -0.328006  9.94312    -0.0553937  -0.0106526  0.0106526   0.02       -0.02         pose: 0.0           -6.11682   -1.14004    0 0.00558262  -0.00836028 0.697345    0.716666       uwb: 0.49958436     984.213  1646.05  
imu_odom_:  1691062921.907114235  0.682347   -0.287304  9.9503     -0.052198   -0.015979   0.02024     0.02       -0.02         pose: 0.42014481    -6.11682   -1.14004    0 0.00349978  -0.00626251 0.696692    0.717335       uwb: 0.0            984.213  1646.05  
imu_odom_:  1691062921.923089059  0.632069   -0.220267  9.85693    -0.052198   -0.00319579 0.0330232   0.02       -0.02         pose: 0.0           -6.11682   -1.14004    0 0.00349978  -0.00626251 0.696692    0.717335       uwb: 0.0            984.213  1646.05  
imu_odom_:  1691062921.940095448  0.694318   -0.25618   9.87369    -0.0543285  -0.00106526 0.0458064   0.02       -0.02         pose: 0.0           -6.11682   -1.14004    0 0.00349978  -0.00626251 0.696692    0.717335       uwb: 0.49988476     984.771  1646.28  
imu_odom_:  1691062921.957016675  0.509965   -0.251391  9.87608    -0.0553937  0.00213053  0.0447411   0.01       0             pose: 0.25153916    -6.11682   -1.14004    0 0.00523298  -0.00797456 0.696536    0.717458       uwb: 0.0            984.771  1646.28  
imu_odom_:  1691062921.971981515  0.519542   -0.237026  9.91678    -0.0543285  -0.00426106 0.0490022   0.01       0             pose: 0.0           -6.11682   -1.14004    0 0.00523298  -0.00797456 0.696536    0.717458       uwb: 0.0            984.771  1646.28  
imu_odom_:  1691062921.987932132  0.603339   -0.215478  9.90721    -0.0553937  -0.0106526  0.052198    0.01       0             pose: 0.32944465    -6.11682   -1.14004    0 0.00638711  -0.00894639 0.696558    0.717417       uwb: 0.49859276     986.453  1646.76  
imu_odom_:  1691062922.3984243    0.608127   -0.220267  9.84975    -0.0553937  -0.00319579 0.0479369   0          0.02          pose: 0.39879312    -6.11682   -1.14004    0 0.00645223  -0.00732376 0.6967      0.717296       uwb: 0.0            986.453  1646.76  
imu_odom_:  1691062922.17988389   0.486023   -0.205901  9.89284    -0.0543285  0.0106526   0.04048     0          0.02          pose: 0.6996386     -6.11682   -1.14004    0 0.00703861  -0.00769829 0.696715    0.717272       uwb: 0.0            986.453  1646.76  
imu_odom_:  1691062922.32979187   0.275333   -0.203507  9.88805    -0.056459   0.00852212  0.0394148   0          0.02          pose: 0.0           -6.11682   -1.14004    0 0.00703861  -0.00769829 0.696715    0.717272       uwb: 0.0            986.453  1646.76  
imu_odom_:  1691062922.48190180   0.258574   -0.253785  9.89763    -0.0553937  -0.00745685 0.0383495   0          0             pose: 0.0           -6.11682   -1.14004    0 0.00703861  -0.00769829 0.696715    0.717272       uwb: 0.50057597     984.194  1646.64  
imu_odom_:  1691062922.70231610   0.526724   -0.241814  9.89284    -0.0553937  -0.0138484  0.036219    0          0             pose: 0.38050669    -6.11682   -1.14004    0 0.00575407  -0.00584944 0.696758    0.71726        uwb: 0.0            984.194  1646.64  
imu_odom_:  1691062922.85980697   -0.129287  -0.241814  9.70609    -0.0543285  0.0692422   0.0511327   0          0             pose: 0.0           -6.11682   -1.14004    0 0.00575407  -0.00584944 0.696758    0.71726        uwb: 0.49955229     984.191  1646.76  
imu_odom_:  1691062922.102957921  -1.05105   -0.328006  10.1418    -0.0436758  0.0735032   0.0639159   0.02       0.02          pose: 0.43999157    -6.11682   -1.14004    0 0.00204637  -0.00530146 0.696776    0.717266       uwb: 0.0            984.191  1646.76  
imu_odom_:  1691062922.119074778  -1.26174   -0.277727  9.84975    -0.052198   -0.0276969  0.0617853   0.03       0.02          pose: 0.0           -6.11682   -1.14004    0 0.00204637  -0.00530146 0.696776    0.717266       uwb: 0.0            984.191  1646.76  
imu_odom_:  1691062922.135963633  -0.174777  -0.0670376 10.0054    -0.0490022  -0.0703074  0.052198    0.03       0.02          pose: 0.0           -6.11682   -1.14004    0 0.00204637  -0.00530146 0.696776    0.717266       uwb: 0.49978560     989.837  1646.92  
imu_odom_:  1691062922.153134804  0.512359   -0.225055  9.79468    -0.0596548  -0.0426106  0.0660464   0.03       0.02          pose: 0.34168519    -6.11682   -1.14004    0 -0.000922499-0.00217219 0.697041    0.717028       uwb: 0.0            989.837  1646.92  
imu_odom_:  1691062922.170004701  0.545878   -0.292093  9.90002    -0.0575243  0.0276969   0.052198    0.05       0.02          pose: 0.0           -6.11682   -1.14004    0 -0.000922499-0.00217219 0.697041    0.717028       uwb: 0.0            989.837  1646.92  
imu_odom_:  1691062922.186141390  0.035913   -0.189142  9.85693    -0.04048    0.0234358   0.0511327   0.05       0.02          pose: 0.32957298    -6.11682   -1.14004    0 -0.000973384-0.00112192 0.697263    0.716814       uwb: 0.50201965     993.793  1646.97  
imu_odom_:  1691062922.202074216  -0.356736  -0.220267  9.69652    -0.0575243  -0.0213053  0.0649811   0.1        0             pose: 0.42037229    -6.11386   -1.13049    0 -0.000737887-0.00162937 0.697491    0.716591       uwb: 0.0            993.793  1646.97  
imu_odom_:  1691062922.219075939  -0.0790087 -0.349553  9.74201    -0.0468716  -0.02024    0.0383495   0.1        0             pose: 0.6821396     -6.11386   -1.13049    0 -0.00116163 -0.00117136 0.697554    0.71653        uwb: 0.0            993.793  1646.97  
imu_odom_:  1691062922.236202196  0.117316   -0.167594  9.76116    -0.0458064  -0.0308927  0.0500674   0.1        0             pose: 0.0           -6.11386   -1.13049    0 -0.00116163 -0.00117136 0.697554    0.71653        uwb: 0.49936855     990.413  1646.48  
imu_odom_:  1691062922.252191602  0.332794   -0.411803  10.082     -0.0628506  -0.0138484  0.056459    0.09       -0.02         pose: 0.43239410    -6.11386   -1.13049    0 -0.00350846 0.00177229  0.697696    0.716384       uwb: 0.0            990.413  1646.48  
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imu_odom_:  1691062922.285200522  0.205901   0.0023942  10.0485    -0.0511327  -0.0447411  0.0532632   0.13       0.02          pose: 0.0           -6.11386   -1.13049    0 -0.00350846 0.00177229  0.697696    0.716384       uwb: 0.50008308     992.671  1646.74  
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imu_odom_:  1691062922.335004384  0.25618    -0.237026  10.1586    -0.0553937  -0.0490022  0.0479369   0.14       0.02          pose: 0.32803307    -6.12047   -1.11798    0 -0.00475862 0.00385773  0.697857    0.716211       uwb: 0.49933939     989.847  1646.89  
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imu_odom_:  1691062922.434980754  1.30963    0.0047884  9.9096     -0.0479369  0.0287621   0.0596548   0.06       -0.02         pose: 0.0           -6.11875   -1.11259    0 -0.00214896 -0.0001315710.698389    0.715715       uwb: 0.49992268     987.589  1646.71  
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imu_odom_:  1691062922.484916442  0.418985   0.138864   9.67736    -0.0543285  -0.0308927  -0.0372843  0.07       -0.02         pose: 0.32935715    -6.11744   -1.10846    0 0.00149121  -0.00376805 0.698889    0.715218       uwb: 0.49876483     986.464  1646.5   
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imu_odom_:  1691062922.517922154  0.25618    -0.632069  9.68694    -0.0575243  0.00319579  0.0415453   0.04       0.05          pose: 0.7012719     -6.11744   -1.10846    0 0.00337663  -0.00202471 0.697902    0.716182       uwb: 0.0            986.464  1646.5   
imu_odom_:  1691062922.533911560  0.466869   -0.486023  10.0365    -0.0490022  -0.00745685 0.072438    0.04       0.05          pose: 0.0           -6.11744   -1.10846    0 0.00337663  -0.00202471 0.697902    0.716182       uwb: 0.0            986.464  1646.5   
imu_odom_:  1691062922.549922257  0.646434   -0.0957681 9.89524    -0.0426106  -0.0255663  0.0777643   0.04       0.02          pose: 0.41982399    -6.11744   -1.10846    0 0.0011024   -0.00403339 0.697929    0.716155       uwb: 0.0            986.464  1646.5   
imu_odom_:  1691062922.566893940  0.653617   0.0694318  9.78271    -0.0511327  0.00745685  0.0798948   0.03       0             pose: 0.0           -6.11744   -1.10846    0 0.0011024   -0.00403339 0.697929    0.716155       uwb: 0.0            986.464  1646.5   
imu_odom_:  1691062922.594214231  0.794875   -0.335188  9.93833    -0.056459   -0.0106526  0.0287621   0.03       0             pose: 0.24065772    -6.11744   -1.10846    0 0.00364238  -0.00388635 0.698253    0.715831       uwb: 0.100003202    987.029  1646.54  
imu_odom_:  1691062922.619907991  -0.871489  -0.282516  9.80665    -0.0596548  0.102265    0.0777643   0.04       0             pose: 0.0           -6.11744   -1.10846    0 0.00364238  -0.00388635 0.698253    0.715831       uwb: 0.0            987.029  1646.54  
imu_odom_:  1691062922.646907176  -1.4868    -0.25618   9.91439    -0.052198   -0.0340885  0.0585895   0.07       0.02          pose: 0.61930659    -6.11441   -1.09892    0 0.00253047  -0.00352893 0.698634    0.715466       uwb: 0.50030766     981.395  1646     
imu_odom_:  1691062922.662888999  -0.363919  -0.0383072 10.1418    -0.0511327  -0.100135   0.0607201   0.07       0.02          pose: 0.0           -6.11441   -1.09892    0 0.00253047  -0.00352893 0.698634    0.715466       uwb: 0.0            981.395  1646     
imu_odom_:  1691062922.689991428  0.770933   -0.217872  9.98622    -0.0553937  0           0.0447411   0.11       0.02          pose: 0.7022051     -6.11441   -1.09892    0 0.0021136   -0.00310105 0.698684    0.715421       uwb: 0.50028724     978.578  1645.96  
imu_odom_:  1691062922.715963130  -0.167594  -0.160412  10.0533    -0.0543285  0.0394148   0.0479369   0.11       0.02          pose: 0.0           -6.11441   -1.09892    0 0.0021136   -0.00310105 0.698684    0.715421       uwb: 0.0            978.578  1645.96  
imu_odom_:  1691062922.742919442  -0.112527  -0.414197  9.93115    -0.0468716  -0.00319579 0.0287621   0.14       0.02          pose: 0.42994424    -6.11441   -1.09892    0 0.00114537  -0.00153067 0.698959    0.715159       uwb: 0.50361206     981.405  1646     
imu_odom_:  1691062922.768953558  0.323217   -0.21069   9.81862    -0.0426106  -0.052198   0.0596548   0.14       0.02          pose: 0.0           -6.11441   -1.09892    0 0.00114537  -0.00153067 0.698959    0.715159       uwb: 0.0            981.405  1646     
imu_odom_:  1691062922.796053653  0.129287   0.0670376  10.1418    -0.0372843  0.00213053  0.0330232   0.16       0.02          pose: 0.52994511    -6.11441   -1.09892    0 -0.000113683-0.0001813860.699047    0.715075       uwb: 0.49575500     976.895  1645.64  
imu_odom_:  1691062922.811946815  0.0311246  -0.373495  9.79228    -0.0532632  -0.00426106 0.0628506   0.16       0.02          pose: 0.0           -6.11441   -1.09892    0 -0.000113683-0.0001813860.699047    0.715075       uwb: 0.0            976.895  1645.64  
imu_odom_:  1691062922.838897003  0.684742   -0.141258  9.72525    -0.0436758  -0.0191748  0.0298274   0.12       0             pose: 0.53061590    -6.12093   -1.08638    0 -0.00207025 0.00360346  0.699139    0.714974       uwb: 0.50176883     976.325  1645.79  
imu_odom_:  1691062922.863885262  -0.047884  -0.344765  9.89284    -0.0553937  0.0479369   0.056459    0.13       0             pose: 0.62916436    -6.11792   -1.07684    0 -0.0009230670.00419284  0.69913     0.714981       uwb: 0.0            976.325  1645.79  
imu_odom_:  1691062922.890902237  0.445322   -0.0023942 10.1227    -0.0543285  -0.0511327  0.0553937   0.13       0             pose: 0.0           -6.11792   -1.07684    0 -0.0009230670.00419284  0.69913     0.714981       uwb: 0.0            976.325  1645.79  
imu_odom_:  1691062922.915896330  0.588974   -0.160412  10.0389    -0.0607201  -0.0149137  0.0351537   0.14       0             pose: 0.8100572     -6.11792   -1.07684    0 -0.00182756 0.00463388  0.699175    0.714933       uwb: 0.0            976.325  1645.79  
imu_odom_:  1691062922.932949966  0.423774   -0.0502782 9.9934     -0.0713727  0.0287621   0.0671117   0.14       0             pose: 0.0           -6.11792   -1.07684    0 -0.00182756 0.00463388  0.699175    0.714933       uwb: 0.0            976.325  1645.79  
imu_odom_:  1691062922.957888062  0.203507   -0.191536  9.96467    -0.0532632  0.02024     0.036219    0.14       0.02          pose: 0.51913656    -6.11492   -1.0673     0 -4.92924e-060.00454799  0.699427    0.71469        uwb: 0.99971995     977.456  1645.76  
imu_odom_:  1691062922.984942077  0.258574   -0.270545  10.2879    -0.0575243  0.0181095   0.0436758   0.14       0.02          pose: 0.0           -6.11492   -1.0673     0 -4.92924e-060.00454799  0.699427    0.71469        uwb: 0.49814362     979.155  1645.51  
imu_odom_:  1691062923.1866512    0.023942   -0.160412  9.89045    -0.0511327  -0.00213053 0.0543285   0.15       0             pose: 0.42028189    -6.11492   -1.0673     0 0.00170834  0.00427265  0.699563    0.714556       uwb: 0.0            979.155  1645.51  
imu_odom_:  1691062923.26923018   0.715866   -0.208296  10.0844    -0.0585895  -0.0276969  0.0383495   0.15       0             pose: 0.0           -6.11492   -1.0673     0 0.00170834  0.00427265  0.699563    0.714556       uwb: 0.0            979.155  1645.51  
imu_odom_:  1691062923.49906477   0.533907   -0.270545  9.67976    -0.056459   -0.00639159 0.0617853   0.14       0             pose: 0.51974028    -6.11192   -1.05776    0 -0.00327433 0.00525952  0.699605    0.714503       uwb: 0.49988769     976.353  1644.94  
imu_odom_:  1691062923.76017006   0.0837971  -0.385466  9.22965    -0.0628506  -0.00639159 0.0447411   0.15       0             pose: 0.34009570    -6.11683   -1.04836    0 -0.00198205 0.00386817  0.699649    0.714474       uwb: 0.0            976.353  1644.94  
imu_odom_:  1691062923.102876199  -0.100556  -0.332794  9.71806    -0.0639159  0.0383495   0.0447411   0.19       0             pose: 0.25024424    -6.11847   -1.04523    0 -0.00185459 0.00188916  0.699849    0.714286       uwb: 0.50002185     971.281  1644.83  
imu_odom_:  1691062923.129121177  0.0742203  -0.35913   9.78989    -0.0543285  0.072438    0.04048     0.16       -0.02         pose: 0.25001385    -6.11847   -1.04523    0 -0.00435882 0.00269993  0.699887    0.714236       uwb: 0.0            971.281  1644.83  
imu_odom_:  1691062923.145886080  0.277727   -0.0909797 9.91918    -0.0447411  0.0149137   0.0500674   0.16       -0.02         pose: 0.0           -6.11847   -1.04523    0 -0.00435882 0.00269993  0.699887    0.714236       uwb: 0.50166383     971.27   1645.09  
imu_odom_:  1691062923.172157599  0.380678   -0.129287  9.57441    -0.0628506  0.00639159  0.0511327   0.16       0             pose: 0.28070122    -6.11548   -1.03568    0 -0.00740081 0.00445334  0.699907    0.714181       uwb: 0.0            971.27   1645.09  
imu_odom_:  1691062923.199016792  0.430956   -0.392649  9.36851    -0.0468716  -0.0308927  0.0351537   0.16       0             pose: 0.0           -6.11548   -1.03568    0 -0.00740081 0.00445334  0.699907    0.714181       uwb: 0.49995186     966.784  1644.45  
imu_odom_:  1691062923.224873293  0.201113   -0.526724  9.26317    -0.0628506  -0.00958738 0.0458064   0.17       -0.02         pose: 0.42913929    -6.11249   -1.02614    0 -0.00737467 0.00602934  0.700011    0.714068       uwb: 0.0            966.784  1644.45  
imu_odom_:  1691062923.251892311  -0.0670376 -0.368707  9.11473    -0.0617853  0.0149137   0.0543285   0.17       -0.02         pose: 0.53112630    -6.11249   -1.02614    0 -0.00612279 0.00243898  0.70007     0.714044       uwb: 0.49933064     963.406  1644.41  
imu_odom_:  1691062923.269003985  0.691924   -0.260968  9.9096     -0.0543285  -0.02024    0.0415453   0.17       -0.02         pose: 0.0           -6.11249   -1.02614    0 -0.00612279 0.00243898  0.70007     0.714044       uwb: 0.0            963.406  1644.41  
imu_odom_:  1691062923.292867352  -0.00957681-0.237026  10.252     -0.0458064  -0.0127832  0.0351537   0.17       -0.02         pose: 0.0           -6.11249   -1.02614    0 -0.00612279 0.00243898  0.70007     0.714044       uwb: 0.50164342     961.731  1644.12  
imu_odom_:  1691062923.317955064  0.129287   -0.351948  10.0892    -0.0628506  -0.0266316  0.0436758   0.17       0.02          pose: 0.52880476    -6.11905   -1.01361    0 -0.00957657 0.00266621  0.700236    0.713842       uwb: 0.0            961.731  1644.12  
imu_odom_:  1691062923.344951333  0.567426   -0.009576819.81383    -0.0585895  -0.00639159 0.04048     0.22       0             pose: 0.58059301    -6.11607   -1.00407    0 -0.0121258  0.00431936  0.700224    0.713807       uwb: 0.49817862     960.024  1644.42  
imu_odom_:  1691062923.360874535  0.531513   -0.311246  10.1586    -0.0681769  0           0.0617853   0.22       0             pose: 0.0           -6.11607   -1.00407    0 -0.0121258  0.00431936  0.700224    0.713807       uwb: 0.0            960.024  1644.42  
imu_odom_:  1691062923.387894135  0.452504   -0.280122  10.137     -0.0319579  0.0138484   0.0255663   0.24       0.02          pose: 0.6929890     -6.11607   -1.00407    0 -0.0114403  0.00422669  0.700234    0.71381        uwb: 0.49948229     958.347  1644.15  
imu_odom_:  1691062923.412882104  0.416591   -0.198719  9.9527     -0.0532632  0           0.0628506   0.24       0.02          pose: 0.0           -6.11607   -1.00407    0 -0.0114403  0.00422669  0.700234    0.71381        uwb: 0.0            958.347  1644.15  
imu_odom_:  1691062923.439897038  0.141258   -0.28491   9.43555    -0.0660464  0.0181095   0.04048     0.22       -0.02         pose: 0.44134484    -6.1131    -0.994521   0 -0.00786263 0.00230733  0.700351    0.713751       uwb: 0.49900983     961.166  1644.25  
imu_odom_:  1691062923.464893755  0.318429   -0.486023  9.65103    -0.0575243  0.0617853   0.0532632   0.22       -0.02         pose: 0.0           -6.1131    -0.994521   0 -0.00786263 0.00230733  0.700351    0.713751       uwb: 0.0            961.166  1644.25  
imu_odom_:  1691062923.491881566  -0.162806  -0.25618   10.0269    -0.0468716  0.00213053  0.052198    0.21       0             pose: 0.51044833    -6.11012   -0.984974   0 -0.0046063  0.0014495   0.700477    0.713659       uwb: 0.49960187     961.705  1644.69  
imu_odom_:  1691062923.507957884  0.0263362  -0.25618   9.50977    -0.0671117  -0.0319579  0.052198    0.21       0             pose: 0.0           -6.11012   -0.984974   0 -0.0046063  0.0014495   0.700477    0.713659       uwb: 0.0            961.705  1644.69  
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imu_odom_:  1691062923.549886620  0.328006   -0.0454898 10.0389    -0.0692422  -0.00745685 0.0500674   0.22       -0.02         pose: 0.0           -6.11669   -0.972453   0 -0.00890242 0.00187107  0.700608    0.713489       uwb: 0.49984978     958.89   1644.49  
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imu_odom_:  1691062923.818112238  0.407014   -0.21069   9.92875    -0.0585895  0.0426106   0.0351537   0.18       0.02          pose: 0.0           -6.11145   -0.921736   0 -0.0029461  -0.00130672 0.701098    0.713057       uwb: 0.0            965.007  1646.26  
imu_odom_:  1691062923.843931117  0.0790087  -0.3304    9.66779    -0.0340885  0.0276969   0.0319579   0.25       0.02          pose: 0.53119629    -6.10849   -0.912182   0 -0.00465533 -0.00283215 0.701229    0.712916       uwb: 0.50001018     968.942  1646.81  
imu_odom_:  1691062923.870930885  0.277727   -0.318429  9.72525    -0.0575243  -0.0330232  0.0468716   0.23       0             pose: 0.60910469    -6.11591   -0.902317   0 -0.0042754  -0.0003484340.701167    0.712984       uwb: 0.0            968.942  1646.81  
imu_odom_:  1691062923.895985349  0.430956   -0.385466  9.69652    -0.0394148  0.0170442   0.0553937   0.23       0             pose: 0.0           -6.11591   -0.902317   0 -0.0042754  -0.0003484340.701167    0.712984       uwb: 0.50075097     967.251  1646.66  
imu_odom_:  1691062923.923108777  0.237026   -0.0526724 10.1849    -0.0436758  -0.0415453  0.0436758   0.23       0             pose: 0.6896642     -6.11509   -0.899676   0 -0.00487415 -0.0002305710.701184    0.712964       uwb: 0.0            967.251  1646.66  
imu_odom_:  1691062923.949023900  0.457293   -0.328006  9.67736    -0.0340885  -0.0170442  0.0372843   0.23       0             pose: 0.0           -6.11509   -0.899676   0 -0.00487415 -0.0002305710.701184    0.712964       uwb: 0.50066640     961.593  1646.61  
imu_odom_:  1691062923.965898755  0.299275   -0.462081  9.75637    -0.0500674  -0.0213053  0.0468716   0.23       0.05          pose: 0.52156893    -6.11214   -0.890122   0 -0.00582465 -0.00145244 0.701376    0.712766       uwb: 0.0            961.593  1646.61  
imu_odom_:  1691062923.990894306  0.459687   -0.23942   9.83777    -0.0490022  -0.0777643  0.0660464   0.23       0.05          pose: 0.0           -6.11214   -0.890122   0 -0.00582465 -0.00145244 0.701376    0.712766       uwb: 0.49977394     958.757  1646.72  
imu_odom_:  1691062924.7900695    0.921768   -0.0622492 9.83299    -0.0575243  -0.00745685 0.0596548   0.18       0             pose: 0.52900017    -6.10919   -0.880566   0 -0.004014   -0.00239179 0.701408    0.712745       uwb: 0.0            958.757  1646.72  
imu_odom_:  1691062924.32823918   0.967257   -0.0574608 9.74919    -0.0511327  0.0234358   0.0383495   0.18       0             pose: 0.0           -6.10919   -0.880566   0 -0.004014   -0.00239179 0.701408    0.712745       uwb: 0.0            958.757  1646.72  
imu_odom_:  1691062924.59830977   0.486023   -0.304064  9.68455    -0.0575243  -0.00532632 0.0447411   0.21       0             pose: 0.76939249    -6.11581   -0.868065   0 0.00200084  -0.00475702 0.701766    0.712389       uwb: 0.50142761     957.592  1647.18  
imu_odom_:  1691062924.85839137   0.311246   -0.411803  9.9096     -0.0745685  -0.015979   0.0607201   0.18       0.02          pose: 0.7099630     -6.11581   -0.868065   0 0.0014163   -0.00517373 0.70178     0.712373       uwb: 0.49798905     957.023  1647.19  
imu_odom_:  1691062924.112873612  0.684742   -0.1652    9.5792     -0.0617853  -0.0149137  0.0372843   0.25       0.02          pose: 0.0           -6.11581   -0.868065   0 0.0014163   -0.00517373 0.70178     0.712373       uwb: 0.0            957.023  1647.19  
imu_odom_:  1691062924.128958388  0.335188   -0.335188  10.1514    -0.0660464  0.00852212  0.0500674   0.25       0.02          pose: 0.52923058    -6.11287   -0.858506   0 -0.00211677 -0.00615071 0.702018    0.71213        uwb: 0.0            957.023  1647.19  
imu_odom_:  1691062924.155954656  0.308852   -0.289698  9.77792    -0.0479369  0.0394148   0.0415453   0.18       0.02          pose: 0.0           -6.11287   -0.858506   0 -0.00211677 -0.00615071 0.702018    0.71213        uwb: 0.49989936     957.02   1647.24  
imu_odom_:  1691062924.181022829  0.507571   -0.342371  9.991      -0.0660464  0.0127832   0.0639159   0.2        0.02          pose: 0.63108050    -6.10994   -0.848945   0 -0.00347385 -0.00298802 0.702091    0.712072       uwb: 0.0            957.02   1647.24  
imu_odom_:  1691062924.205899095  0.447716   -0.433351  9.78031    -0.056459   0.0308927   0.0351537   0.2        0.02          pose: 0.0           -6.10994   -0.848945   0 -0.00347385 -0.00298802 0.702091    0.712072       uwb: 0.50123512     956.998  1647.57  
imu_odom_:  1691062924.219844912  0.0407014  -0.35913   9.76834    -0.0468716  0.0319579   0.04048     0.18       0             pose: 0.7962914     -6.10994   -0.848945   0 -0.00320435 -0.00368605 0.702157    0.712006       uwb: 0.0            956.998  1647.57  
imu_odom_:  1691062924.235847735  0.656011   -0.272939  10.2592    -0.0585895  0           0.0500674   0.18       0             pose: 0.0           -6.10994   -0.848945   0 -0.00320435 -0.00368605 0.702157    0.712006       uwb: 0.49952605     957.022  1647.21  
imu_odom_:  1691062924.260878284  0.672771   -0.0790087 9.85693    -0.0607201  0.00426106  0.0468716   0.18       0             pose: 0.0           -6.10994   -0.848945   0 -0.00320435 -0.00368605 0.702157    0.712006       uwb: 0.0            957.022  1647.21  
imu_odom_:  1691062924.277879715  0.203507   -0.366313  9.31105    -0.0692422  0.0490022   0.0532632   0.18       0             pose: 0.47933222    -6.11657   -0.836456   0 -0.00503496 -0.00623758 0.702251    0.711884       uwb: 0.0            957.022  1647.21  
imu_odom_:  1691062924.304084738  0.215478   -0.521936  9.62708    -0.0330232  -0.00106526 0.0319579   0.18       0             pose: 0.0           -6.11657   -0.836456   0 -0.00503496 -0.00623758 0.702251    0.711884       uwb: 0.50099597     956.437  1647.46  
imu_odom_:  1691062924.329943864  0.37589    -0.35913   9.32302    -0.0447411  -0.0170442  0.0426106   0.18       0             pose: 0.73014518    -6.11073   -0.81733    0 -0.00431888 -0.00469129 0.702442    0.711712       uwb: 0.0            956.437  1647.46  
imu_odom_:  1691062924.354853087  0.383072   -0.167594  9.49301    -0.0447411  -0.0276969  0.0447411   0.19       0             pose: 0.45078554    -6.10859   -0.810325   0 -0.00848589 -0.00447533 0.702415    0.711703       uwb: 0.49890191     958.098  1648.06  
imu_odom_:  1691062924.371813105  1.63524    -0.241814  11.224     -0.0735032  0.076699    0.0479369   0.19       0             pose: 0.0           -6.10859   -0.810325   0 -0.00848589 -0.00447533 0.702415    0.711703       uwb: 0.0            958.098  1648.06  
imu_odom_:  1691062924.396836071  1.02472    -0.409408  9.48822    -0.0745685  0.145941    0.0543285   0.18       0             pose: 0.6951473     -6.10781   -0.807766   0 -0.00784209 -0.00409534 0.702434    0.711694       uwb: 0.50053516     959.782  1648.36  
imu_odom_:  1691062924.422816232  0.253785   -0.337582  9.16022    -0.0543285  0.00532632  0.0351537   0.18       0             pose: 0.0           -6.10781   -0.807766   0 -0.00784209 -0.00409534 0.702434    0.711694       uwb: 0.0            959.782  1648.36  
imu_odom_:  1691062924.447867780  0.775721   -0.342371  9.89763    -0.0639159  -0.0394148  0.056459    0.18       0             pose: 0.41968692    -6.10781   -0.807766   0 -0.0054532  -0.00405077 0.702552    0.7116         uwb: 0.49915566     960.345  1648.46  
imu_odom_:  1691062924.464846463  0.392649   -0.423774  9.2488     -0.052198   0.00426106  0.0458064   0.18       0             pose: 0.0           -6.10781   -0.807766   0 -0.0054532  -0.00405077 0.702552    0.7116         uwb: 0.0            960.345  1648.46  
imu_odom_:  1691062924.489825682  0.124498   -0.181959  9.9096     -0.0276969  0.02024     0.0372843   0.19       0             pose: 0.52114022    -6.11445   -0.795284   0 -0.00657701 -0.00330384 0.702647    0.711501       uwb: 0.50041558     960.352  1648.34  
imu_odom_:  1691062924.516819617  -0.167594  -0.428562  9.4978     -0.0553937  -0.00639159 0.0479369   0.19       0             pose: 0.0           -6.11445   -0.795284   0 -0.00657701 -0.00330384 0.702647    0.711501       uwb: 0.0            960.352  1648.34  
imu_odom_:  1691062924.542080570  0.102951   -0.282516  9.72764    -0.056459   -0.0276969  0.052198    0.19       0.02          pose: 0.41963734    -6.11154   -0.785718   0 -0.00662179 -0.00483354 0.702771    0.711369       uwb: 0.50104846     961.45   1649     
imu_odom_:  1691062924.567952237  -0.035913  -0.328006  10.1801    -0.0436758  -0.00213053 0.0394148   0.23       0             pose: 0.51020918    -6.10863   -0.776151   0 -0.0092311  -0.0006877980.702888    0.711241       uwb: 0.0            961.45   1649     
imu_odom_:  1691062924.593932398  0.0263362  -0.275333  9.68694    -0.0649811  -0.0298274  0.052198    0.23       0             pose: 0.0           -6.10863   -0.776151   0 -0.0092311  -0.0006877980.702888    0.711241       uwb: 0.49856652     959.746  1648.94  
imu_odom_:  1691062924.610797921  0.670376   -0.0502782 10.1801    -0.0692422  -0.0127832  0.0426106   0.23       0             pose: 0.69969695    -6.11529   -0.763676   0 -0.0125193  0.00485616  0.703093    0.710971       uwb: 0.0            959.746  1648.94  
imu_odom_:  1691062924.636849827  0.785298   -0.40462   9.90002    -0.0798948  -0.0340885  0.0479369   0.23       0             pose: 0.8002870     -6.11529   -0.763676   0 -0.0117691  0.00455625  0.703111    0.710969       uwb: 0.49915566     957.447  1649.27  
imu_odom_:  1691062924.660980929  0.926556   -0.318429  9.92397    -0.056459   0.00532632  0.0436758   0.25       0             pose: 0.34914559    -6.11239   -0.754107   0 -0.00938042 0.00160298  0.703215    0.710914       uwb: 0.0            957.447  1649.27  
imu_odom_:  1691062924.676791263  0.215478   -0.1652    10.1897    -0.076699   -0.0181095  0.0532632   0.25       0             pose: 0.0           -6.11239   -0.754107   0 -0.00938042 0.00160298  0.703215    0.710914       uwb: 0.0            957.447  1649.27  
imu_odom_:  1691062924.703855777  0.323217   -0.071826  9.9503     -0.0735032  0.0170442   0.0436758   0.18       -0.02         pose: 0.6961680     -6.11239   -0.754107   0 -0.00891262 0.00113198  0.703225    0.71091        uwb: 0.50018809     954.587  1649.42  
imu_odom_:  1691062924.729850229  0.481235   -0.517148  9.2081     -0.072438   -0.0468716  0.0468716   0.18       -0.02         pose: 0.0           -6.11239   -0.754107   0 -0.00891262 0.00113198  0.703225    0.71091        uwb: 0.0            954.587  1649.42  
imu_odom_:  1691062924.755796267  0.519542   -0.414197  9.47864    -0.0394148  -0.0106526  0.0287621   0.23       0             pose: 0.41096369    -6.10949   -0.744536   0 -0.00672388 0.00174467  0.703356    0.710804       uwb: 0.49973020     948.917  1649.05  
imu_odom_:  1691062924.780936185  0.023942   -0.287304  10.082     -0.0298274  -0.0490022  0.0330232   0.23       0             pose: 0.0           -6.10949   -0.744536   0 -0.00672388 0.00174467  0.703356    0.710804       uwb: 0.0            948.917  1649.05  
imu_odom_:  1691062924.798862146  0.409408   -0.25618   9.98382    -0.0660464  -0.0607201  0.04048     0.22       0             pose: 0.51888284    -6.1066    -0.734964   0 -0.00549235 -0.0009048950.703425    0.710747       uwb: 0.50103972     947.26   1648.42  
imu_odom_:  1691062924.822799592  0.665588   -0.308852  10.0844    -0.0703074  -0.00852212 0.0447411   0.22       0             pose: 0.0           -6.1066    -0.734964   0 -0.00549235 -0.0009048950.703425    0.710747       uwb: 0.0            947.26   1648.42  
imu_odom_:  1691062924.848801335  0.306458   -0.433351  10.07      -0.072438   -0.0149137  0.0490022   0.23       0             pose: 0.52062983    -6.11327   -0.722499   0 -0.00499374 -0.00123866 0.703302    0.710873       uwb: 0.49862485     943.868  1648.11  
imu_odom_:  1691062924.865842723  0.521936   -0.169988  10.343     -0.0596548  -0.0234358  0.0436758   0.23       0             pose: 0.0           -6.11327   -0.722499   0 -0.00499374 -0.00123866 0.703302    0.710873       uwb: 0.0            943.868  1648.11  
imu_odom_:  1691062924.882805948  -0.0143652 -0.385466  9.13388    -0.0713727  0.0426106   0.0426106   0.25       0             pose: 0.76983580    -6.11038   -0.712927   0 -0.00322911 -0.00396535 0.703457    0.710719       uwb: 0.0            943.868  1648.11  
imu_odom_:  1691062924.909035469  0.059855   -0.124498  10.0628    -0.056459   -0.0191748  0.0447411   0.25       0             pose: 0.7015635     -6.11038   -0.712927   0 -0.00396084 -0.00348743 0.703466    0.710709       uwb: 0.50123220     939.901  1647.83  
imu_odom_:  1691062924.934910053  0.373495   -0.287304  9.97185    -0.0447411  -0.0255663  0.0330232   0.25       0             pose: 0.36177111    -6.10748   -0.703355   0 -0.0054221  -0.0003922650.703538    0.710637       uwb: 0.50009185     938.238  1647.34  
imu_odom_:  1691062924.959770862  0.395043   -0.215478  9.99579    -0.0553937  -0.036219   0.0543285   0.17       0.02          pose: 0.0           -6.10748   -0.703355   0 -0.0054221  -0.0003922650.703538    0.710637       uwb: 0.0            938.238  1647.34  
imu_odom_:  1691062924.976832957  0.409408   -0.378284  10.0293    -0.0735032  -0.0181095  0.0596548   0.21       0             pose: 0.50735393    -6.11417   -0.690891   0 -0.000755413-0.0006091890.703614    0.710581       uwb: 0.0            938.238  1647.34  
imu_odom_:  1691062925.2767912    0.45011    -0.371101  9.92875    -0.0575243  0.00532632  0.0298274   0.21       0             pose: 0.0           -6.11417   -0.690891   0 -0.000755413-0.0006091890.703614    0.710581       uwb: 0.49915565     945.552  1648.33  
imu_odom_:  1691062925.28898565   0.533907   -0.351948  9.96946    -0.0490022  -0.00106526 0.0415453   0.25       0.02          pose: 0.42997050    -6.11209   -0.684009   0 -0.00298066 -0.00442061 0.703634    0.710542       uwb: 0.0            945.552  1648.33  
imu_odom_:  1691062925.54782190   0.368707   -0.229843  10.5991    0.0223706   -0.0383495  0.00958738  0.18       0.02          pose: 0.26130653    -6.11128   -0.681316   0 -0.00174641 -0.00665309 0.703637    0.710526       uwb: 0.50038642     943.828  1648.46  
imu_odom_:  1691062925.71898823   0.0454898  -0.241814  9.46188    -0.00745685 -0.0436758  0.0468716   0.23       -0.02         pose: 0.0           -6.11128   -0.681316   0 -0.00174641 -0.00665309 0.703637    0.710526       uwb: 0.0            943.828  1648.46  
imu_odom_:  1691062925.98042308   0.488417   -0.0167594 9.77553    -0.052198   0.00319579  0.0777643   0.23       -0.02         pose: 0.33028752    -6.10839   -0.671743   0 -0.00093418 -0.00310185 0.703402    0.710785       uwb: 0.50046225     943.282  1648.18  
imu_odom_:  1691062925.123798482  0.426168   -0.277727  9.59596    -0.0745685  0.00958738  0.0415453   0.18       -0.02         pose: 0.0           -6.10839   -0.671743   0 -0.00093418 -0.00310185 0.703402    0.710785       uwb: 0.0            943.282  1648.18  
imu_odom_:  1691062925.148859363  0.483629   -0.112527  10.1778    -0.0660464  0.0170442   0.0308927   0.19       0             pose: 0.61871165    -6.11241   -0.660082   0 -0.00123239 -0.00273197 0.703803    0.710388       uwb: 0.49996353     939.321  1647.8   
imu_odom_:  1691062925.174786736  0.411803   -0.462081  9.9096     -0.072438   -0.0149137  0.052198    0.19       0             pose: 0.0           -6.11241   -0.660082   0 -0.00123239 -0.00273197 0.703803    0.710388       uwb: 0.0            939.321  1647.8   
imu_odom_:  1691062925.191770669  -0.122104  -0.445322  9.93594    -0.0372843  0.00958738  0.036219    0.18       0.02          pose: 0.7055591     -6.11507   -0.659282   0 -0.000667946-0.00241395 0.703781    0.710412       uwb: 0.49983812     938.193  1647.67  
imu_odom_:  1691062925.217873323  0.457293   -0.351948  9.33499    -0.072438   -0.0287621  0.052198    0.18       0.02          pose: 0.0           -6.11507   -0.659282   0 -0.000667946-0.00241395 0.703781    0.710412       uwb: 0.0            938.193  1647.67  
imu_odom_:  1691062925.243765697  0.0143652  -0.275333  9.86411    -0.0458064  -0.0106526  0.0468716   0.19       0.02          pose: 0.50990296    -6.11219   -0.649707   0 -0.00191521 -0.00306328 0.703833    0.710356       uwb: 0.49858986     935.861  1648.13  
imu_odom_:  1691062925.269001568  0.646434   -0.251391  10.2304    -0.0511327  -0.0276969  0.0479369   0.19       0.02          pose: 0.0           -6.11219   -0.649707   0 -0.00191521 -0.00306328 0.703833    0.710356       uwb: 0.0            935.861  1648.13  
imu_odom_:  1691062925.293778383  0.378284   -0.0023942 10.4052    -0.04048    -0.0394148  0.0415453   0.18       -0.02         pose: 0.43979326    -6.1093    -0.640131   0 -0.00338462 -0.00481391 0.703953    0.710222       uwb: 0.50019394     933.03   1647.84  
imu_odom_:  1691062925.310947805  0.251391   -0.418985  9.29429    -0.0639159  0.0245011   0.0490022   0.18       -0.02         pose: 0.0           -6.1093    -0.640131   0 -0.00338462 -0.00481391 0.703953    0.710222       uwb: 0.0            933.03   1647.84  
imu_odom_:  1691062925.334021968  0.543484   -0.390255  9.7037     -0.0617853  -0.00106526 0.0596548   0.19       0.02          pose: 0.50068974    -6.10643   -0.630554   0 -0.00142619 -0.00424255 0.704084    0.710103       uwb: 0.50108346     937.571  1648.13  
imu_odom_:  1691062925.358745702  0.555455   -0.246603  10.0149    -0.052198   -0.00852212 0.0479369   0.19       0.02          pose: 0.0           -6.10643   -0.630554   0 -0.00142619 -0.00424255 0.704084    0.710103       uwb: 0.0            937.571  1648.13  
imu_odom_:  1691062925.375835795  0.823605   -0.483629  9.94551    -0.0511327  0.0276969   0.0394148   0.22       0             pose: 0.40904463    -6.10643   -0.630554   0 -0.00204744 -0.00322595 0.7042      0.709992       uwb: 0.0            937.571  1648.13  
imu_odom_:  1691062925.400867219  0.806846   -0.339977  10.1251    -0.0287621  -0.0106526  0.0426106   0.22       0             pose: 0.0           -6.10643   -0.630554   0 -0.00204744 -0.00322595 0.7042      0.709992       uwb: 0.49945023     930.78   1647.49  
imu_odom_:  1691062925.427990939  0.651223   -0.229843  10.2376    -0.0490022  0.0255663   0.0426106   0.18       0.02          pose: 0.49089031    -6.11313   -0.618103   0 0.00059365  -0.00620139 0.704374    0.709802       uwb: 0.0            930.78   1647.49  
imu_odom_:  1691062925.443808856  -0.0191536 -0.23942   9.84735    -0.0330232  0.036219    0.0383495   0.18       0.02          pose: 0.0           -6.11313   -0.618103   0 0.00059365  -0.00620139 0.704374    0.709802       uwb: 0.49902733     925.122  1646.9   
imu_odom_:  1691062925.469931342  0.19393    -0.122104  10.2232    -0.0490022  -0.00958738 0.0436758   0.18       -0.02         pose: 0.68887675    -6.1074    -0.598942   0 0.00454959  -0.00803456 0.704388    0.709755       uwb: 0.0            925.122  1646.9   
imu_odom_:  1691062925.494891604  0.368707   -0.361524  9.8282     -0.056459   0.00745685  0.0372843   0.19       -0.02         pose: 0.35157504    -6.1074    -0.598942   0 0.00292465  -0.00477324 0.704442    0.709739       uwb: 0.50075682     925.109  1647.02  
imu_odom_:  1691062925.520881390  0.754174   -0.213084  9.92397    -0.056459   -0.0117179  0.056459    0.19       -0.02         pose: 0.0           -6.1074    -0.598942   0 0.00292465  -0.00477324 0.704442    0.709739       uwb: 0.0            925.109  1647.02  
imu_odom_:  1691062925.545859151  0.354342   -0.277727  10.1658    -0.0319579  0.0223706   0.0223706   0.21       0             pose: 0.6815564     -6.1074    -0.598942   0 0.00221404  -0.00469744 0.70444     0.709744       uwb: 0.50180967     925.136  1646.79  
imu_odom_:  1691062925.571791482  0.588974   -0.399832  9.56484    -0.0607201  -0.00745685 0.0543285   0.21       0             pose: 0.0           -6.1074    -0.598942   0 0.00221404  -0.00469744 0.70444     0.709744       uwb: 0.0            925.136  1646.79  
imu_odom_:  1691062925.588764623  0.536301   -0.0335188 10.0844    -0.0394148  -0.0138484  0.0383495   0.19       -0.02         pose: 0.51250155    -6.11411   -0.586496   0 0.00200094  -0.00542122 0.704537    0.709644       uwb: 0.0            925.136  1646.79  
imu_odom_:  1691062925.612875601  0.258574   -0.213084  9.82102    -0.056459   -0.0436758  0.0479369   0.19       -0.02         pose: 0.0           -6.11411   -0.586496   0 0.00200094  -0.00542122 0.704537    0.709644       uwb: 0.0            925.136  1646.79  
imu_odom_:  1691062925.639014420  1.15401    -0.19393   10.2711    -0.0468716  -0.0138484  0.0426106   0.19       0.02          pose: 0.50743560    -6.11125   -0.576915   0 0.00104378  -0.00617187 0.704561    0.709615       uwb: 0.99875463     922.22   1647.2   
imu_odom_:  1691062925.664728888  0.694318   -0.186748  9.59596    -0.0575243  0.00532632  0.04048     0.19       0.02          pose: 0.0           -6.11125   -0.576915   0 0.00104378  -0.00617187 0.704561    0.709615       uwb: 0.0            922.22   1647.2   
imu_odom_:  1691062925.689790061  0.562637   -0.241814  9.45231    -0.0798948  -0.0575243  0.0490022   0.2        0             pose: 0.41023164    -6.10839   -0.567333   0 0.0015062   -0.00431218 0.704641    0.709549       uwb: 0.49863069     921.648  1647.18  
imu_odom_:  1691062925.706731996  0.464475   -0.368707  10.0317    -0.0426106  0.0106526   0.0372843   0.2        0             pose: 0.0           -6.10839   -0.567333   0 0.0015062   -0.00431218 0.704641    0.709549       uwb: 0.0            921.648  1647.18  
imu_odom_:  1691062925.732740447  0.253785   -0.234632  10.137     -0.0511327  0.00639159  0.052198    0.18       -0.02         pose: 0.50996420    -6.10553   -0.557751   0 0.00502298  -0.00728505 0.704663    0.709487       uwb: 0.0            921.648  1647.18  
imu_odom_:  1691062925.757761081  0.59855    -0.289698  9.69173    -0.0660464  0.00532632  0.0372843   0.23       0             pose: 0.26013118    -6.11511   -0.554892   0 0.00343453  -0.00914585 0.704729    0.709409       uwb: 0.50001311     921.625  1647.36  
imu_odom_:  1691062925.782919081  0.610521   -0.160412  10.149     -0.0745685  -0.00852212 0.0596548   0.23       0             pose: 0.35967124    -6.11225   -0.545308   0 0.00101386  -0.00648743 0.704867    0.709309       uwb: 0.0            921.625  1647.36  
imu_odom_:  1691062925.798732623  0.213084   -0.339977  9.87608    -0.0596548  0.0308927   0.0340885   0.23       0             pose: 0.0           -6.11225   -0.545308   0 0.00101386  -0.00648743 0.704867    0.709309       uwb: 0.50120596     927.249  1648.28  
imu_odom_:  1691062925.824847818  0.648829   -0.0454898 10.5249    -0.0426106  -0.0426106  0.036219    0.19       0             pose: 0.7163502     -6.11225   -0.545308   0 0.00146061  -0.00700506 0.704856    0.709314       uwb: 0.0            927.249  1648.28  
imu_odom_:  1691062925.849777457  0.536301   -0.186748  10.0963    -0.036219   -0.0500674  0.0330232   0.2        -0.02         pose: 0.48837920    -6.1094    -0.535724   0 0.00417385  -0.0071362  0.704983    0.709176       uwb: 0.49995478     924.948  1648.4   
imu_odom_:  1691062925.871707187  0.548272   -0.201113  9.84735    -0.04048    -0.0245011  0.0308927   0.2        -0.02         pose: 0.0           -6.1094    -0.535724   0 0.00417385  -0.0071362  0.704983    0.709176       uwb: 0.0            924.948  1648.4   
imu_odom_:  1691062925.887728383  0.802058   -0.126893  9.73482    -0.0735032  -0.0106526  0.036219    0.19       0             pose: 0.43049839    -6.10655   -0.526139   0 0.00614088  -0.00525429 0.704906    0.709255       uwb: 0.49949105     925.485  1648.72  
imu_odom_:  1691062925.913872743  0.402226   -0.320823  9.75398    -0.0671117  -0.0213053  0.0490022   0.19       0             pose: 0.0           -6.10655   -0.526139   0 0.00614088  -0.00525429 0.704906    0.709255       uwb: 0.0            925.485  1648.72  
imu_odom_:  1691062925.939735078  0.328006   -0.222661  10.3022    -0.0543285  -0.0255663  0.0436758   0.19       0             pose: 0.46955612    -6.11328   -0.513701   0 0.006274    -0.00610103 0.704788    0.709364       uwb: 0.0            925.485  1648.72  
imu_odom_:  1691062925.956784048  0.873884   -0.323217  9.58638    -0.0585895  -0.00745685 0.0319579   0.19       0             pose: 0.0           -6.11328   -0.513701   0 0.006274    -0.00610103 0.704788    0.709364       uwb: 0.0            925.485  1648.72  
imu_odom_:  1691062925.981855429  0.732626   -0.234632  9.60314    -0.0415453  0           0.0298274   0.19       0             pose: 0.42143100    -6.11042   -0.504118   0 0.00414954  -0.00572346 0.70489     0.709281       uwb: 0.0            925.485  1648.72  
imu_odom_:  1691062926.7734096    0.37589    -0.059855  9.87369    -0.0532632  -0.0127832  0.0468716   0.19       0             pose: 0.0           -6.11042   -0.504118   0 0.00414954  -0.00572346 0.70489     0.709281       uwb: 0.99925627     927.183  1648.96  
imu_odom_:  1691062926.33895372   0.0670376  -0.323217  9.59117    -0.0532632  0.0319579   0.0500674   0.19       0             pose: 0.42983051    -6.11042   -0.504118   0 0.00447988  -0.00637596 0.704844    0.709319       uwb: 0.50137220     930.521  1649.96  
imu_odom_:  1691062926.58782722   0.387861   -0.167594  9.65342    -0.036219   -0.0319579  0.0426106   0.19       0             pose: 0.0           -6.11042   -0.504118   0 0.00447988  -0.00637596 0.704844    0.709319       uwb: 0.0            930.521  1649.96  
imu_odom_:  1691062926.74791961   0.507571   -0.215478  10.2256    -0.0255663  -0.0149137  0.0319579   0.19       0             pose: 0.51850079    -6.10757   -0.494534   0 0.00494552  -0.0044502  0.704874    0.709301       uwb: 0.0            930.521  1649.96  
imu_odom_:  1691062926.100737708  0.452504   -0.493206  9.80904    -0.0607201  -0.0255663  0.052198    0.19       0             pose: 0.0           -6.10757   -0.494534   0 0.00494552  -0.0044502  0.704874    0.709301       uwb: 0.49906525     922.599  1649.02  
imu_odom_:  1691062926.125845254  0.208296   -0.155623  9.61511    -0.0479369  -0.0436758  0.0617853   0.19       0             pose: 0.49096322    -6.1143    -0.482098   0 0.00301795  -0.00152858 0.704965    0.709234       uwb: 0.0            922.599  1649.02  
imu_odom_:  1691062926.142706985  0.790087   -0.268151  10.0389    -0.0596548  -0.0351537  0.0575243   0.19       0             pose: 0.0           -6.1143    -0.482098   0 0.00301795  -0.00152858 0.704965    0.709234       uwb: 0.50130221     923.131  1649.39  
imu_odom_:  1691062926.160783146  0          -0.100556  9.63427    -0.0436758  0.0266316   0.0415453   0.21       -0.02         pose: 0.69136453    -6.10859   -0.462928   0 0.00150166  -0.0030368  0.705313    0.708888       uwb: 0.0            923.131  1649.39  
imu_odom_:  1691062926.183832811  0.337582   -0.158017  9.58399    -0.0777643  0.00213053  0.0596548   0.21       -0.02         pose: 0.0           -6.10859   -0.462928   0 0.00150166  -0.0030368  0.705313    0.708888       uwb: 0.49884944     922.499  1649.86  
imu_odom_:  1691062926.207760633  0.445322   -0.150835  9.9527     -0.0628506  0.0106526   0.0596548   0.19       0.02          pose: 0.49876486    -6.10657   -0.456111   0 0.000398351 0.000147398 0.705547    0.708663       uwb: 0.0            922.499  1649.86  
imu_odom_:  1691062926.224687694  0.629675   -0.246603  9.94073    -0.0692422  -0.0372843  0.056459    0.19       0.02          pose: 0.0           -6.10657   -0.456111   0 0.000398351 0.000147398 0.705547    0.708663       uwb: 0.0            922.499  1649.86  
imu_odom_:  1691062926.249751784  0.509965   -0.21069   9.83059    -0.0543285  0.0383495   0.0330232   0.18       0             pose: 0.6951472     -6.10575   -0.45334    0 0.00102821  0.00029012  0.705597    0.708613       uwb: 0.50036017     923.02   1650.32  
imu_odom_:  1691062926.267690578  0.122104   -0.232238  9.92157    -0.0713727  -0.00106526 0.0500674   0.23       0.02          pose: 0.0           -6.10575   -0.45334    0 0.00102821  0.00029012  0.705597    0.708613       uwb: 0.0            923.02   1650.32  
imu_odom_:  1691062926.292684380  -0.0383072 -0.0814029 9.87608    -0.0479369  -0.0149137  0.0426106   0.18       0.02          pose: 0.76906295    -6.11251   -0.440919   0 0.00215841  -0.00212358 0.705832    0.708373       uwb: 0.49740285     924.121  1650.76  
imu_odom_:  1691062926.317728345  0.464475   -0.339977  9.87369    -0.0671117  -0.0223706  0.0553937   0.25       0.02          pose: 0.0           -6.11251   -0.440919   0 0.00215841  -0.00212358 0.705832    0.708373       uwb: 0.0            924.121  1650.76  
imu_odom_:  1691062926.341686791  0.244209   -0.354342  9.79228    -0.036219   0.00852212  0.0340885   0.25       0.02          pose: 0.31016369    -6.10968   -0.431327   0 0.000809531 -0.0005904560.705895    0.708316       uwb: 0.50043310     920.145  1650.28  
imu_odom_:  1691062926.368682477  0.723049   -0.244209  9.991      -0.0703074  -0.0213053  0.0500674   0.19       -0.02         pose: 0.42979844    -6.10773   -0.42471    0 -0.00224708 -0.00154449 0.705958    0.708249       uwb: 0.0            920.145  1650.28  
imu_odom_:  1691062926.393723234  0.859518   -0.272939  9.84496    -0.0543285  -0.0223706  0.0553937   0.19       -0.02         pose: 0.8041076     -6.10686   -0.421735   0 -0.00163375 -0.00216415 0.705986    0.70822        uwb: 0.50308418     919.542  1650.49  
imu_odom_:  1691062926.411831185  0.275333   -0.208296  9.90721    -0.0713727  -0.00852212 0.0458064   0.2        0             pose: 0.0           -6.10686   -0.421735   0 -0.00163375 -0.00216415 0.705986    0.70822        uwb: 0.0            919.542  1650.49  
imu_odom_:  1691062926.435680554  0.603339   -0.328006  9.8282     -0.0468716  0.00532632  0.0319579   0.2        0             pose: 0.43995367    -6.10686   -0.421735   0 0.00172364  -0.00557561 0.70618     0.708008       uwb: 0.49660082     912.725  1649.71  
imu_odom_:  1691062926.462698113  0.818817   -0.304064  9.94312    -0.036219   -0.0330232  0.0415453   0.23       0.02          pose: 0.41957320    -6.1108    -0.410154   0 0.00147508  -0.00625351 0.706153    0.70803        uwb: 0.0            912.725  1649.71  
imu_odom_:  1691062926.478833637  0.505177   -0.124498  9.92636    -0.0511327  0.0607201   0.0436758   0.23       0.02          pose: 0.0           -6.1108    -0.410154   0 0.00147508  -0.00625351 0.706153    0.70803        uwb: 0.0            912.725  1649.71  
imu_odom_:  1691062926.495814653  0.565032   -0.179565  10.0844    -0.0575243  -0.0106526  0.04048     0.23       0             pose: 0.0           -6.1108    -0.410154   0 0.00147508  -0.00625351 0.706153    0.70803        uwb: 0.50001603     914.413  1650.05  
imu_odom_:  1691062926.520739043  0.208296   -0.347159  9.85214    -0.0447411  0           0.0319579   0.23       0             pose: 0.50156177    -6.11082   -0.399728   0 0.00454998  -0.00613905 0.706176    0.707996       uwb: 0.0            914.413  1650.05  
imu_odom_:  1691062926.547748728  0.665588   -0.181959  9.87129    -0.0692422  -0.0490022  0.0447411   0.23       0             pose: 0.34902312    -6.10882   -0.392926   0 0.00318849  -0.00445153 0.706122    0.708069       uwb: 0.50042434     916.632  1650.76  
imu_odom_:  1691062926.563758259  0.392649   -0.335188  9.32302    -0.0575243  -0.00532632 0.036219    0.23       0             pose: 0.6960221     -6.108     -0.390133   0 0.00388292  -0.00491719 0.70613     0.708054       uwb: 0.0            916.632  1650.76  
imu_odom_:  1691062926.581757716  0.768539   -0.282516  10.2256    -0.0575243  -0.0223706  0.0543285   0.23       0             pose: 0.0           -6.108     -0.390133   0 0.00388292  -0.00491719 0.70613     0.708054       uwb: 0.0            916.632  1650.76  
imu_odom_:  1691062926.605670955  0.363919   -0.351948  9.93833    -0.0340885  0.0266316   0.0245011   0.23       0             pose: 0.44028033    -6.10518   -0.380539   0 0.00478658  -0.0067052  0.706181    0.707983       uwb: 0.49935399     911.527  1650.04  
imu_odom_:  1691062926.622683178  0.189142   0.0814029  10.2328    -0.0351537  -0.0330232  0.0468716   0.23       0.02          pose: 0.0           -6.10518   -0.380539   0 0.00478658  -0.0067052  0.706181    0.707983       uwb: 0.0            911.527  1650.04  
imu_odom_:  1691062926.647735019  0.37589    -0.0909797 9.42597    -0.0458064  -0.0276969  0.0436758   0.23       0.02          pose: 0.40962502    -6.11477   -0.37772    0 0.0031763   -0.00570653 0.706143    0.70804        uwb: 0.50045934     908.668  1649.79  
imu_odom_:  1691062926.674679374  0.306458   -0.263362  10.1107    -0.0607201  -0.0319579  0.0479369   0.22       0             pose: 0.0           -6.11477   -0.37772    0 0.0031763   -0.00570653 0.706143    0.70804        uwb: 0.0            908.668  1649.79  
imu_odom_:  1691062926.699673176  0.897826   -0.158017  10.0389    -0.0415453  -0.0308927  0.0383495   0.22       0             pose: 0.42030232    -6.11195   -0.368126   0 0.00313228  -0.00214694 0.706229    0.707974       uwb: 0.50021435     908.691  1649.63  
imu_odom_:  1691062926.726760440  0.488417   -0.205901  9.65582    -0.0596548  -0.0127832  0.0468716   0.23       0             pose: 0.44953145    -6.10913   -0.358531   0 0.00380903  -0.00319634 0.706273    0.707922       uwb: 0.0            908.691  1649.63  
imu_odom_:  1691062926.752672939  0.217872   -0.0143652 9.80665    -0.0660464  -0.0383495  0.0490022   0.2        0             pose: 0.7003386     -6.10913   -0.358531   0 0.00334264  -0.00271525 0.706293    0.707906       uwb: 0.50103681     908.146  1649.38  
imu_odom_:  1691062926.769658913  0.414197   -0.517148  9.77553    -0.0553937  -0.00106526 0.0426106   0.24       0             pose: 0.0           -6.10913   -0.358531   0 0.00334264  -0.00271525 0.706293    0.707906       uwb: 0.0            908.146  1649.38  
imu_odom_:  1691062926.786679011  0.806846   -0.222661  9.92875    -0.0532632  -0.0447411  0.0436758   0.24       0             pose: 0.45996377    -6.10632   -0.348936   0 0.0019775   0.000833785 0.706431    0.707778       uwb: 0.49813197     902.471  1648.63  
imu_odom_:  1691062926.803733814  0.328006   -0.306458  9.59117    -0.0703074  0.00106526  0.0575243   0.27       -0.02         pose: 0.0           -6.10632   -0.348936   0 0.0019775   0.000833785 0.706431    0.707778       uwb: 0.0            902.471  1648.63  
imu_odom_:  1691062926.827723175  0.320823   -0.141258  9.58399    -0.0713727  -0.0340885  0.0436758   0.27       -0.02         pose: 0.41011208    -6.10351   -0.339339   0 0.00140915  -0.00173555 0.706521    0.707689       uwb: 0.0            902.471  1648.63  
imu_odom_:  1691062926.853641506  0.395043   -0.277727  10.2711    -0.0777643  -0.0106526  0.0479369   0.23       0.02          pose: 0.0           -6.10351   -0.339339   0 0.00140915  -0.00173555 0.706521    0.707689       uwb: 0.50044768     897.91   1648.28  
imu_odom_:  1691062926.876671339  0.531513   -0.368707  10.2328    -0.0394148  -0.00852212 0.0255663   0.23       0.02          pose: 0.41971318    -6.1131    -0.336529   0 -0.000410951-0.0002174470.706645    0.707568       uwb: 0.0            897.91   1648.28  
imu_odom_:  1691062926.892658121  0.529119   -0.304064  10.6231    -0.0628506  -0.0458064  0.052198    0.18       0             pose: 0.41015874    -6.1103    -0.326931   0 -0.00145442 -0.00375557 0.706575    0.707627       uwb: 0.50069849     900.696  1649     
imu_odom_:  1691062926.919664890  0.682347   -0.268151  10.3693    -0.036219   -0.00426106 0.0308927   0.18       0             pose: 0.8141695     -6.1103    -0.326931   0 -0.000860773-0.004544   0.706608    0.70759        uwb: 0.0            900.696  1649     
imu_odom_:  1691062926.944658400  0.600945   -0.148441  9.42118    -0.0681769  -0.00745685 0.0511327   0.18       0             pose: 0.34851856    -6.10749   -0.317333   0 0.00203917  -0.00676343 0.70654     0.707638       uwb: 0.49872694     897.281  1648.58  
imu_odom_:  1691062926.961860778  -0.105345  -0.306458  10.2065    -0.0383495  0.015979    0.036219    0.18       0             pose: 0.0           -6.10749   -0.317333   0 0.00203917  -0.00676343 0.70654     0.707638       uwb: 0.0            897.281  1648.58  
imu_odom_:  1691062926.987872438  0.107739   -0.169988  10.0676    -0.0639159  -0.0138484  0.0511327   0.18       0             pose: 0.42195888    -6.10468   -0.307736   0 0.00305002  -0.00504509 0.706617    0.707571       uwb: 0.50022602     895.534  1648.61  
imu_odom_:  1691062927.13726024   0.857124   -0.191536  10.2185    -0.052198   -0.00639159 0.0394148   0.18       0             pose: 0.0           -6.10468   -0.307736   0 0.00305002  -0.00504509 0.706617    0.707571       uwb: 0.0            895.534  1648.61  
imu_odom_:  1691062927.30779078   0.454898   -0.237026  9.90002    -0.0639159  0.0276969   0.0372843   0.17       0.02          pose: 0.51865246    -6.11224   -0.297937   0 0.00364365  -0.00467756 0.70672     0.707468       uwb: 0.0            895.534  1648.61  
imu_odom_:  1691062927.56795696   0.371101   -0.368707  9.69412    -0.0298274  -0.0223706  0.0266316   0.17       0.02          pose: 0.0           -6.11224   -0.297937   0 0.00364365  -0.00467756 0.70672     0.707468       uwb: 0.50110972     890.44   1647.8   
imu_odom_:  1691062927.82794815   0.663194   -0.361524  9.88087    -0.0575243  -0.00852212 0.04048     0.25       -0.02         pose: 0.24076272    -6.11148   -0.295331   0 0.00145984  -0.00355438 0.706685    0.707518       uwb: 0.0            890.44   1647.8   
imu_odom_:  1691062927.106789425  0.213084   -0.0885855 10.3358    -0.0330232  -0.00852212 0.0617853   0.23       0.02          pose: 0.0           -6.11148   -0.295331   0 0.00145984  -0.00355438 0.706685    0.707518       uwb: 0.49875903     890.959  1648.17  
imu_odom_:  1691062927.129673433  0.337582   -0.299275  9.52413    -0.0415453  -0.0308927  0.0436758   0.23       0.02          pose: 0.51878953    -6.10867   -0.285732   0 0.00075878  -0.0054828  0.706658    0.707534       uwb: 0.0            890.959  1648.17  
imu_odom_:  1691062927.154655569  0.407014   -0.268151  9.65342    -0.0276969  0.0170442   0.0276969   0.17       0             pose: 0.39992184    -6.10673   -0.279096   0 -0.00112169 -0.00280881 0.70684     0.707367       uwb: 0.50047101     884.826  1646.66  
imu_odom_:  1691062927.171726997  0.253785   -0.3304    9.93354    -0.0681769  -0.015979   0.0490022   0.17       0             pose: 0.0           -6.10673   -0.279096   0 -0.00112169 -0.00280881 0.70684     0.707367       uwb: 0.0            884.826  1646.66  
imu_odom_:  1691062927.187825773  0.373495   -0.205901  9.73482    -0.0415453  -0.00852212 0.0436758   0.17       0             pose: 0.0           -6.10673   -0.279096   0 -0.00112169 -0.00280881 0.70684     0.707367       uwb: 0.50029311     887.061  1647.17  
imu_odom_:  1691062927.213826350  0.770933   -0.294487  9.84496    -0.0532632  -0.0447411  0.0596548   0.18       0             pose: 0.7134045     -6.10587   -0.276133   0 -0.0016241  -0.00219519 0.706812    0.707396       uwb: 0.0            887.061  1647.17  
imu_odom_:  1691062927.239690144  0.984017   -0.1652    10.0796    -0.0394148  -0.00532632 0.0383495   0.17       0.02          pose: 0.42926472    -6.11266   -0.263732   0 -0.00375486 2.04002e-05 0.706809    0.707394       uwb: 0.50049434     888.645  1648.11  
imu_odom_:  1691062927.263655297  0.550666   -0.380678  9.28471    -0.0735032  -0.0266316  0.0479369   0.17       0.02          pose: 0.0           -6.11266   -0.263732   0 -0.00375486 2.04002e-05 0.706809    0.707394       uwb: 0.0            888.645  1648.11  
imu_odom_:  1691062927.286652757  0.469264   -0.426168  9.6223     -0.0692422  0.0234358   0.0596548   0.18       0             pose: 0.41937196    -6.11266   -0.263732   0 -0.000260632-0.00240758 0.707002    0.707208       uwb: 0.50059059     887.991  1648.52  
imu_odom_:  1691062927.302772240  0.682347   -0.25618   10.0509    -0.076699   0.02024     0.0532632   0.18       0             pose: 0.0           -6.11266   -0.263732   0 -0.000260632-0.00240758 0.707002    0.707208       uwb: 0.0            887.991  1648.52  
imu_odom_:  1691062927.327716170  0.1652     -0.23942   10.058     -0.0415453  0.036219    0.0383495   0.23       0             pose: 0.81101094    -6.10707   -0.244529   0 -0.000207173-0.00785254 0.707284    0.706885       uwb: 0.0            887.991  1648.52  
imu_odom_:  1691062927.350863246  0.565032   -0.217872  9.67736    -0.0703074  -0.0245011  0.052198    0.23       0             pose: 0.8028826     -6.10707   -0.244529   0 -0.000692473-0.0070068  0.707287    0.706891       uwb: 0.49809990     892.463  1649.66  
imu_odom_:  1691062927.375777136  0.11971    -0.282516  9.41879    -0.052198   0.0245011   0.0458064   0.18       0.05          pose: 0.40062180    -6.10517   -0.237974   0 0.000627186 -0.00577974 0.707384    0.706805       uwb: 0.0            892.463  1649.66  
imu_odom_:  1691062927.402778072  0.385466   -0.301669  9.50259    -0.0500674  -0.00532632 0.052198    0.18       0.05          pose: 0.0           -6.10517   -0.237974   0 0.000627186 -0.00577974 0.707384    0.706805       uwb: 0.50116222     889.614  1649.25  
imu_odom_:  1691062927.426643190  0.402226   -0.213084  9.93833    -0.0458064  -0.00639159 0.0351537   0.18       -0.02         pose: 0.51914826    -6.11191   -0.225294   0 -0.00378057 -0.00261968 0.707577    0.706621       uwb: 0.0            889.614  1649.25  
imu_odom_:  1691062927.444653147  0.687136   -0.253785  9.85214    -0.0681769  -0.00639159 0.0436758   0.18       -0.02         pose: 0.0           -6.11191   -0.225294   0 -0.00378057 -0.00261968 0.707577    0.706621       uwb: 0.50058767     890.695  1649.77  
imu_odom_:  1691062927.468804664  0.739808   -0.25618   9.84975    -0.0596548  0.0127832   0.056459    0.18       0             pose: 0.41875075    -6.10957   -0.217221   0 -0.000524653-0.00253737 0.707569    0.70664        uwb: 0.0            890.695  1649.77  
imu_odom_:  1691062927.494780160  0.392649   -0.129287  10.2065    -0.0479369  0.00532632  0.0436758   0.18       0             pose: 0.8055366     -6.10832   -0.21293    0 -1.42423e-05-0.00306938 0.707614    0.706592       uwb: 0.49994896     888.364  1649.73  
imu_odom_:  1691062927.508652481  0.696713   -0.275333  9.73722    -0.0372843  -0.00106526 0.0287621   0.2        0             pose: 0.24070439    -6.10832   -0.21293    0 0.00116752  -0.00330494 0.707717    0.706487       uwb: 0.0            888.364  1649.73  
imu_odom_:  1691062927.524844877  0.486023   -0.129287  10.1945    -0.0660464  -0.02024    0.0585895   0.2        0             pose: 0.0           -6.10832   -0.21293    0 0.00116752  -0.00330494 0.707717    0.706487       uwb: 0.0            888.364  1649.73  
imu_odom_:  1691062927.550831163  0.742203   -0.122104  10.0341    -0.036219   0.0191748   0.0330232   0.25       0             pose: 0.23921990    -6.10832   -0.21293    0 0.00187187  -0.00189865 0.70772     0.706488       uwb: 0.49933066     884.34   1649.34  
imu_odom_:  1691062927.575698389  1.01035    -0.0981623 10.2161    -0.072438   -0.015979   0.04048     0.25       0             pose: 0.0           -6.10832   -0.21293    0 0.00187187  -0.00189865 0.70772     0.706488       uwb: 0.0            884.34   1649.34  
imu_odom_:  1691062927.601827293  0.634463   -0.397437  9.8689     -0.0692422  0.02024     0.0415453   0.21       0.05          pose: 0.30988955    -6.10555   -0.203323   0 0.00424386  -0.00196594 0.707775    0.706423       uwb: 0.49994312     889.414  1650.41  
imu_odom_:  1691062927.625769698  0.715866   -0.25618   9.78031    -0.0596548  -0.0138484  0.036219    0.21       0.05          pose: 0.51036085    -6.11238   -0.19094    0 0.00736248  -0.00498722 0.70773     0.706427       uwb: 0.0            889.414  1650.41  
imu_odom_:  1691062927.651686280  0.768539   -0.222661  10.331     -0.0713727  -0.0149137  0.052198    0.22       -0.05         pose: 0.0           -6.11238   -0.19094    0 0.00736248  -0.00498722 0.70773     0.706427       uwb: 0.0            889.414  1650.41  
imu_odom_:  1691062927.674616660  0.509965   -0.323217  9.69173    -0.0436758  -0.0149137  0.036219    0.22       -0.05         pose: 0.50951216    -6.1096    -0.181334   0 0.00801541  -0.00933926 0.707737    0.706369       uwb: 0.0            889.414  1650.41  
imu_odom_:  1691062927.698611562  0.433351   -0.0957681 10.252     -0.0468716  -0.0255663  0.0511327   0.2        -0.02         pose: 0.0           -6.1096    -0.181334   0 0.00801541  -0.00933926 0.707737    0.706369       uwb: 0.100063871    891.652  1651     
imu_odom_:  1691062927.715751819  0.383072   -0.265756  9.81144    -0.0490022  0.00213053  0.0490022   0.2        -0.02         pose: 0.24012109    -6.1096    -0.181334   0 0.00883055  -0.0104986  0.707797    0.706282       uwb: 0.0            891.652  1651     
imu_odom_:  1691062927.740943943  0.785298   -0.19393   10.4603    -0.0649811  -0.0543285  0.0543285   0.22       0             pose: 0.48073799    -6.1096    -0.181334   0 0.00661092  -0.00733168 0.707934    0.706209       uwb: 0.0            891.652  1651     
imu_odom_:  1691062927.766646163  0.3304     -0.172383  9.77792    -0.0490022  0.0575243   0.04048     0.21       -0.02         pose: 0.35180837    -6.11341   -0.169829   0 0.00820535  -0.00870559 0.70808     0.706031       uwb: 0.0            891.652  1651     
imu_odom_:  1691062927.782754563  0.0287304  -0.131681  10.319     -0.0511327  -0.0383495  0.0575243   0.21       -0.02         pose: 0.0           -6.11341   -0.169829   0 0.00820535  -0.00870559 0.70808     0.706031       uwb: 0.0            891.652  1651     
imu_odom_:  1691062927.807771114  0.519542   -0.280122  9.98382    -0.0394148  -0.0468716  0.0394148   0.25       -0.02         pose: 0.7888835     -6.11644   -0.168956   0 0.00758845  -0.00787614 0.70809     0.706037       uwb: 0.99783304     889.385  1650.57  
imu_odom_:  1691062927.830750783  0.342371   -0.325611  9.80904    -0.0617853  -0.0266316  0.052198    0.25       -0.02         pose: 0.0           -6.11644   -0.168956   0 0.00758845  -0.00787614 0.70809     0.706037       uwb: 0.0            889.385  1650.57  
imu_odom_:  1691062927.846751856  0.237026   -0.0694318 10.3166    -0.0479369  -0.02024    0.0436758   0.25       -0.02         pose: 0.0           -6.11644   -0.168956   0 0.00758845  -0.00787614 0.70809     0.706037       uwb: 0.49988771     890.413  1651.41  
imu_odom_:  1691062927.873792456  0.560243   0.011971   10.173     -0.0703074  -0.00745685 0.052198    0.18       0             pose: 0.40812302    -6.11367   -0.159346   0 0.00496308  -0.00523114 0.708222    0.705953       uwb: 0.0            890.413  1651.41  
imu_odom_:  1691062927.897751777  -0.102951  0.0430956  10.0341    -0.0511327  0.00106526  0.0415453   0.19       -0.02         pose: 0.84147376    -6.10894   -0.142863   0 0.00386893  -0.00282407 0.708484    0.705711       uwb: 0.50171344     892.102  1651.79  
imu_odom_:  1691062927.915750068  0.402226   -0.282516  9.78031    -0.0628506  0.00106526  0.0479369   0.19       -0.02         pose: 0.0           -6.10894   -0.142863   0 0.00386893  -0.00282407 0.708484    0.705711       uwb: 0.0            892.102  1651.79  
imu_odom_:  1691062927.931812096  0.517148   -0.47884   9.72525    -0.0852212  -0.0319579  0.0543285   0.19       -0.02         pose: 0.0           -6.10894   -0.142863   0 0.00386893  -0.00282407 0.708484    0.705711       uwb: 0.0            892.102  1651.79  
imu_odom_:  1691062927.957589561  0.316035   -0.227449  9.84496    -0.0458064  0.0181095   0.04048     0.2        0             pose: 0.7975747     -6.10815   -0.140123   0 0.00355331  -0.00206233 0.70849     0.705709       uwb: 0.49932774     893.718  1652.63  
imu_odom_:  1691062927.973734126  0.280122   -0.320823  9.91918    -0.0553937  0.00426106  0.0415453   0.2        0             pose: 0.0           -6.10815   -0.140123   0 0.00355331  -0.00206233 0.70849     0.705709       uwb: 0.0            893.718  1652.63  
imu_odom_:  1691062927.990599357  0.933739   -0.208296  10.2544    -0.04048    -0.0319579  0.0234358   0.19       0             pose: 0.41968985    -6.11776   -0.137367   0 0.000766404 -0.00202285 0.7086      0.705607       uwb: 0.50098140     891.953  1652.67  
imu_odom_:  1691062928.6594306    0.624887   -0.31364   9.8665     -0.0607201  -0.0213053  0.0447411   0.19       0             pose: 0.0           -6.11776   -0.137367   0 0.000766404 -0.00202285 0.7086      0.705607       uwb: 0.0            891.953  1652.67  
imu_odom_:  1691062928.24654427   0.639252   -0.0430956 10.0916    -0.0479369  -0.0127832  0.0436758   0.25       0             pose: 0.40006183    -6.11501   -0.127754   0 -0.00186392 -0.0004052180.708658    0.705549       uwb: 0.0            891.953  1652.67  
imu_odom_:  1691062928.41587029   0.828394   -0.0454898 10.2663    -0.0490022  -0.0138484  0.0319579   0.25       0             pose: 0.0           -6.11501   -0.127754   0 -0.00186392 -0.0004052180.708658    0.705549       uwb: 0.49779659     889.061  1652.45  
imu_odom_:  1691062928.54640398   0.232238   -0.246603  9.5792     -0.0639159  -0.00213053 0.052198    0.25       0             pose: 0.0           -6.11501   -0.127754   0 -0.00186392 -0.0004052180.708658    0.705549       uwb: 0.0            889.061  1652.45  
imu_odom_:  1691062928.71644164   0.830788   -0.306458  10.0413    -0.0660464  -0.0298274  0.0415453   0.18       0             pose: 0.50912718    -6.11226   -0.11814    0 0.000376765 -0.0028642  0.708603    0.705601       uwb: 0.0            889.061  1652.45  
imu_odom_:  1691062928.88583474   0.363919   -0.368707  9.28471    -0.0585895  0.0436758   0.0340885   0.18       0             pose: 0.0           -6.11226   -0.11814    0 0.000376765 -0.0028642  0.708603    0.705601       uwb: 0.50057892     890.711  1653.1   
imu_odom_:  1691062928.104654835  0.557849   -0.0933739 10.2687    -0.0585895  -0.0372843  0.0394148   0.18       0             pose: 0.0           -6.11226   -0.11814    0 0.000376765 -0.0028642  0.708603    0.705601       uwb: 0.0            890.711  1653.1   
imu_odom_:  1691062928.121639935  0.694318   -0.337582  9.75637    -0.0468716  0.00426106  0.0330232   0.26       0             pose: 0.47999429    -6.10951   -0.108526   0 0.00253931  -0.00335183 0.708629    0.705569       uwb: 0.0            890.711  1653.1   
imu_odom_:  1691062928.137631092  0.385466   -0.275333  10.1825    -0.0458064  0.0117179   0.0372843   0.19       0.02          pose: 0.0           -6.10951   -0.108526   0 0.00253931  -0.00335183 0.708629    0.705569       uwb: 0.0            890.711  1653.1   
imu_odom_:  1691062928.154632233  0.696713   -0.339977  9.81383    -0.0543285  -0.00426106 0.0394148   0.19       0.02          pose: 0.67043575    -6.11637   -0.0961593  0 0.00254146  -0.00472255 0.708556    0.705635       uwb: 0.0            890.711  1653.1   
imu_odom_:  1691062928.171635706  0.306458   0.035913   10.0604    -0.0426106  0.0223706   0.0479369   0.18       0.02          pose: 0.0           -6.11637   -0.0961593  0 0.00254146  -0.00472255 0.708556    0.705635       uwb: 0.0            890.711  1653.1   
imu_odom_:  1691062928.188699551  0.490811   -0.3304    9.73004    -0.0649811  -0.00532632 0.0575243   0.18       0.02          pose: 0.0           -6.11637   -0.0961593  0 0.00254146  -0.00472255 0.708556    0.705635       uwb: 0.99954503     893.562  1653.6   
imu_odom_:  1691062928.204566758  0.442927   -0.167594  9.83299    -0.0372843  -0.0245011  0.0458064   0.18       0.02          pose: 0.31880821    -6.11361   -0.0865461  0 0.00255171  -0.00502849 0.708568    0.70562        uwb: 0.0            893.562  1653.6   
imu_odom_:  1691062928.222635336  0.73502    -0.177171  9.88087    -0.0298274  -0.00106526 0.0319579   0.25       -0.02         pose: 0.42986844    -6.11361   -0.0865461  0 0.00209786  -0.00365319 0.708746    0.705451       uwb: 0.0            893.562  1653.6   
imu_odom_:  1691062928.239621019  0.811634   -0.263362  10.1299    -0.0383495  -0.0383495  0.0490022   0.25       -0.02         pose: 0.0           -6.11361   -0.0865461  0 0.00209786  -0.00365319 0.708746    0.705451       uwb: 0.49993439     892.377  1653.67  
imu_odom_:  1691062928.252558312  0.972046   -0.294487  9.414      -0.0458064  -0.00213053 0.0681769   0.25       -0.02         pose: 0.0           -6.11361   -0.0865461  0 0.00209786  -0.00365319 0.708746    0.705451       uwb: 0.0            892.377  1653.67  
imu_odom_:  1691062928.268562301  1.1971     -0.191536  10.3813    -0.0426106  0.0138484   0.106526    0.14       0             pose: 0.8071699     -6.11361   -0.0865461  0 0.00284863  -0.00399518 0.708721    0.705472       uwb: 0.0            892.377  1653.67  
imu_odom_:  1691062928.286598799  1.83396    -0.447716  10.3765    -0.0628506  -0.056459   0.120375    0.19       -0.02         pose: 0.0           -6.11361   -0.0865461  0 0.00284863  -0.00399518 0.708721    0.705472       uwb: 0.50056726     896.826  1655.12  
imu_odom_:  1691062928.303578649  1.72622    -0.246603  9.66539    -0.052198   -0.015979   0.0553937   0.19       -0.02         pose: 0.63926714    -6.11086   -0.0769317  0 0.00766062  -0.00858356 0.709449    0.704663       uwb: 0.0            896.826  1655.12  
imu_odom_:  1691062928.316581271  1.39582    0.454898   9.90002    -0.0585895  0.0298274   0.0351537   0.19       -0.02         pose: 0.0           -6.11086   -0.0769317  0 0.00766062  -0.00858356 0.709449    0.704663       uwb: 0.0            896.826  1655.12  
imu_odom_:  1691062928.332637466  0.991199   -0.0454898 9.90721    -0.0490022  0.0117179   0.0319579   0.12       -0.02         pose: 0.0           -6.11086   -0.0769317  0 0.00766062  -0.00858356 0.709449    0.704663       uwb: 0.0            896.826  1655.12  
imu_odom_:  1691062928.350591134  0.746991   -0.275333  10.149     -0.0511327  -0.0117179  0.00639159  0.12       -0.02         pose: 0.33027004    -6.10813   -0.0673112  0 0.0101902   -0.0108285  0.709784    0.704263       uwb: 0.49991105     893.937  1654.85  
imu_odom_:  1691062928.367572734  0.936133   -0.529119  9.76595    -0.052198   -0.0138484  0.0181095   0.09       -0.02         pose: 0.15005381    -6.11776   -0.0645923  0 0.011547    -0.0108957  0.709731    0.704294       uwb: 0.0            893.937  1654.85  
imu_odom_:  1691062928.380566023  0.785298   -0.306458  9.79947    -0.0735032  0.0106526   0.0181095   0.09       -0.02         pose: 0.0           -6.11776   -0.0645923  0 0.011547    -0.0108957  0.709731    0.704294       uwb: 0.0            893.937  1654.85  
imu_odom_:  1691062928.404571133  0.718261   -0.287304  9.82102    -0.0585895  0.00213053  0.0479369   0.09       -0.02         pose: 0.33108083    -6.11776   -0.0645923  0 0.011246    -0.0132261  0.709452    0.70454        uwb: 0.50074225     890.555  1653.98  
imu_odom_:  1691062928.422721082  0.617704   -0.167594  10.1706    -0.0692422  0.0287621   0.0553937   0.08       0.02          pose: 0.0           -6.11776   -0.0645923  0 0.011246    -0.0132261  0.709452    0.70454        uwb: 0.0            890.555  1653.98  
imu_odom_:  1691062928.439591855  -0.0383072 -0.292093  9.80186    -0.0575243  0.0511327   -0.0191748  0.09       0             pose: 0.0           -6.11776   -0.0645923  0 0.011246    -0.0132261  0.709452    0.70454        uwb: 0.49940941     888.873  1653.51  
imu_odom_:  1691062928.453755535  -0.600945  0.110133   10.0341    -0.0468716  0.0735032   -0.0788296  0.09       0             pose: 0.72045078    -6.11503   -0.0549713  0 0.00790779  -0.0115092  0.709359    0.704709       uwb: 0.0            888.873  1653.51  
imu_odom_:  1691062928.470744426  -1.02711   0.124498   10.1035    -0.0830906  0.0223706   0.0330232   0.1        0             pose: 0.0           -6.11503   -0.0549713  0 0.00790779  -0.0115092  0.709359    0.704709       uwb: 0.0            888.873  1653.51  
imu_odom_:  1691062928.484587874  -0.54109   -0.948104  9.96706    -0.076699   -0.0532632  0.0703074   0.1        0             pose: 0.0           -6.11503   -0.0549713  0 0.00790779  -0.0115092  0.709359    0.704709       uwb: 0.50010354     887.166  1653.19  
imu_odom_:  1691062928.508712269  0.452504   0.0335188  9.88566    -0.0351537  -0.0511327  0.0330232   0.1        0             pose: 0.31973856    -6.11503   -0.0549713  0 0.005397    -0.00829974 0.708579    0.705562       uwb: 0.0            887.166  1653.19  
imu_odom_:  1691062928.525707576  0.445322   0.0263362  9.88805    -0.0735032  0.0117179   0.0830906   0.11       0.02          pose: 0.30068509    -6.11228   -0.0453577  0 0.00401739  -0.00699139 0.708705    0.705459       uwb: 0.0            887.166  1653.19  
imu_odom_:  1691062928.542769088  -0.0502782 -0.371101  9.8282     -0.0532632  0.0447411   -0.0106526  0.11       0.02          pose: 0.0           -6.11228   -0.0453577  0 0.00401739  -0.00699139 0.708705    0.705459       uwb: 0.49884652     887.653  1653.78  
imu_odom_:  1691062928.557705640  -0.129287  -0.112527  9.98382    -0.0426106  -0.00852212 -0.100135   0.14       -0.14         pose: 0.0           -6.11228   -0.0453577  0 0.00401739  -0.00699139 0.708705    0.705459       uwb: 0.0            887.653  1653.78  
imu_odom_:  1691062928.574585746  0.136469   0.0766145  10.0341    -0.052198   -0.0447411  -0.154463   0.14       -0.14         pose: 0.41939821    -6.11228   -0.0453577  0 0.00473961  -0.00353697 0.70878     0.705404       uwb: 0.0            887.653  1653.78  
imu_odom_:  1691062928.588590768  0.325611   -0.177171  9.80665    -0.076699   -0.0170442  -0.178964   0.14       -0.14         pose: 0.0           -6.11228   -0.0453577  0 0.00473961  -0.00353697 0.70878     0.705404       uwb: 0.50146263     885.344  1653.52  
imu_odom_:  1691062928.605570910  0.536301   -0.292093  10.0916    -0.0575243  -0.00852212 -0.234358   0.14       -0.32         pose: 0.15866915    -6.11228   -0.0453577  0 0.00342494  -0.00237908 0.70829     0.705909       uwb: 0.0            885.344  1653.52  
imu_odom_:  1691062928.621700017  0.277727   -0.189142  9.55526    -0.0426106  -0.0436758  -0.292948   0.14       -0.32         pose: 0.0           -6.11228   -0.0453577  0 0.00342494  -0.00237908 0.70829     0.705909       uwb: 0.0            885.344  1653.52  
imu_odom_:  1691062928.639565316  0.632069   0.00957681 9.80426    -0.0777643  -0.0383495  -0.32384    0.14       -0.32         pose: 0.0           -6.11228   -0.0453577  0 0.00342494  -0.00237908 0.70829     0.705909       uwb: 0.50000438     887.618  1653.98  
imu_odom_:  1691062928.655681591  0.799663   -0.100556  9.98861    -0.076699   -0.0319579  -0.373908   0.15       -0.41         pose: 0.47114854    -6.10951   -0.0357466  0 0.00203858  -0.0002553640.70486     0.709344       uwb: 0.0            887.618  1653.98  
imu_odom_:  1691062928.673764169  0.107739   0.129287   9.43076    -0.0553937  -0.00426106 -0.420779   0.21       -0.58         pose: 0.0           -6.10951   -0.0357466  0 0.00203858  -0.0002553640.70486     0.709344       uwb: 0.0            887.618  1653.98  
imu_odom_:  1691062928.691756335  0.349553   -0.0143652 10.0221    -0.0500674  0.0479369   -0.462325   0.21       -0.58         pose: 0.66996329    -6.11637   -0.0233758  0 0.00446683  -0.0007969950.696059    0.71797        uwb: 0.50052059     890.474  1654.47  
imu_odom_:  1691062928.707698204  0.368707   0.205901   10.0628    -0.0245011  0.0181095   -0.491087   0.14       -0.47         pose: 0.0           -6.11637   -0.0233758  0 0.00446683  -0.0007969950.696059    0.71797        uwb: 0.0            890.474  1654.47  
imu_odom_:  1691062928.725625040  -0.129287  -0.335188  9.73722    -0.0490022  0.00106526  -0.529436   0.14       -0.47         pose: 0.0           -6.11637   -0.0233758  0 0.00446683  -0.0007969950.696059    0.71797        uwb: 0.0            890.474  1654.47  
imu_odom_:  1691062928.741696401  0.445322   -0.205901  9.7875     -0.0703074  0.0255663   -0.543285   0.14       -0.47         pose: 0.35874089    -6.11367   -0.0137471  0 0.00477715  0.00318515  0.689624    0.724144       uwb: 0.49816115     888.161  1654.27  
imu_odom_:  1691062928.758688209  0.816423   -0.158017  10.2544    -0.0703074  0.00532632  -0.547546   0.23       -0.85         pose: 0.42111311    -6.1122    -0.00860495 0 0.00287822  0.00334897  0.680932    0.732334       uwb: 0.0            888.161  1654.27  
imu_odom_:  1691062928.774741196  0.445322   -0.208296  9.51216    -0.056459   -0.0426106  -0.551807   0.23       -0.85         pose: 0.7036926     -6.11099   -0.00411301 0 0.00324854  0.00279324  0.67942     0.733737       uwb: 0.0            888.161  1654.27  
imu_odom_:  1691062928.792694865  0.797269   0.0526724  9.93354    -0.0777643  -0.0532632  -0.529436   0.21       -0.79         pose: 0.0           -6.11099   -0.00411301 0 0.00324854  0.00279324  0.67942     0.733737       uwb: 0.50051477     884.703  1653.86  
imu_odom_:  1691062928.809757543  1.22583    -0.189142  9.88566    -0.0777643  -0.0138484  -0.478304   0.14       -0.53         pose: 0.43961538    -6.11093   -0.00413107 0 0.0050229   -0.0005499640.669993    0.74235        uwb: 0.0            884.703  1653.86  
imu_odom_:  1691062928.824678929  1.65679    -0.533907  10.0485    -0.0628506  0.0138484   -0.470847   0.12       -0.44         pose: 0.0           -6.11093   -0.00413107 0 0.0050229   -0.0005499640.669993    0.74235        uwb: 0.0            884.703  1653.86  
imu_odom_:  1691062928.842599933  1.10612    -0.19393   9.50498    -0.0479369  0.0383495   -0.455933   0.12       -0.44         pose: 0.0           -6.11093   -0.00413107 0 0.0050229   -0.0005499640.669993    0.74235        uwb: 0.50033977     886.416  1654.16  
imu_odom_:  1691062928.858598090  0.88346    -0.162806  10.24      -0.0394148  -0.0138484  -0.366451   0.12       -0.44         pose: 0.24124394    -6.11099   -0.004113   0 0.0062342   -0.0026507  0.665362    0.74649        uwb: 0.0            886.416  1654.16  
imu_odom_:  1691062928.875597480  0.557849   -0.390255  9.81383    -0.04048    0.00213053  -0.294013   0.1        -0.41         pose: 0.0           -6.11099   -0.004113   0 0.0062342   -0.0026507  0.665362    0.74649        uwb: 0.0            886.416  1654.16  
imu_odom_:  1691062928.891620427  0.383072   -0.464475  9.63906    -0.0372843  0.0138484   -0.285491   0.1        -0.41         pose: 0.32728063    -6.10824   0.00550301  0 0.0079376   -0.00486948 0.659473    0.75167        uwb: 0.49919068     884.157  1653.62  
imu_odom_:  1691062928.908548947  0.399832   -0.110133  10.0221    -0.0394148  -0.0245011  -0.264186   0.11       -0.41         pose: 0.42073105    -6.10824   0.00550301  0 0.0056914   -0.006198   0.654016    0.756434       uwb: 0.0            884.157  1653.62  
imu_odom_:  1691062928.924539229  0.806846   -0.320823  9.87129    -0.0649811  -0.00639159 -0.234358   0.11       -0.41         pose: 0.0           -6.10824   0.00550301  0 0.0056914   -0.006198   0.654016    0.756434       uwb: 0.0            884.157  1653.62  
imu_odom_:  1691062928.949542656  0.90022    -0.220267  9.99819    -0.0458064  -0.0298274  -0.232228   0.1        -0.38         pose: 0.6926099     -6.10824   0.00550301  0 0.00565946  -0.00552789 0.65322     0.757127       uwb: 0.50007437     885.814  1654.24  
imu_odom_:  1691062928.963608342  0.651223   -0.354342  9.67018    -0.0713727  0.0213053   -0.216249   0.07       -0.23         pose: 0.0           -6.10824   0.00550301  0 0.00565946  -0.00552789 0.65322     0.757127       uwb: 0.0            885.814  1654.24  
imu_odom_:  1691062928.979596291  0.00957681 -0.42138   9.83059    -0.0628506  0.0937433   -0.28123    0.08       -0.35         pose: 0.0           -6.10824   0.00550301  0 0.00565946  -0.00552789 0.65322     0.757127       uwb: 0.0            885.814  1654.24  
imu_odom_:  1691062928.996531810  -0.52433   -0.0526724 10.0604    -0.036219   0.0308927   -0.42291    0.08       -0.35         pose: 0.73048936    -6.10548   0.0151125   0 0.00583017  -0.0085942  0.645476    0.76371        uwb: 0.50171928     880.163  1652.95  
imu_odom_:  1691062929.13693358   -0.253785  0.445322   10.0293    -0.0575243  -0.0223706  -0.515588   0.1        -0.41         pose: 0.0           -6.10548   0.0151125   0 0.00583017  -0.0085942  0.645476    0.76371        uwb: 0.0            880.163  1652.95  
imu_odom_:  1691062929.30639377   0.0574608  0.253785   9.97424    -0.0756338  0.00213053  -0.530502   0.1        -0.41         pose: 0.0           -6.10548   0.0151125   0 0.00583017  -0.0085942  0.645476    0.76371        uwb: 0.0            880.163  1652.95  
imu_odom_:  1691062929.46581245   -0.416591  -0.47884   9.89045    -0.0820254  0.00213053  -0.507066   0.1        -0.41         pose: 0.32963133    -6.10548   0.0151128   0 0.00405148  -0.00531143 0.639806    0.768507       uwb: 0.49863071     881.312  1653.11  
imu_odom_:  1691062929.63517640   0.117316   -0.584185  9.991      -0.0628506  -0.0394148  -0.536893   0.17       -0.79         pose: 0.42022650    -6.10277   0.0247385   0 0.00260297  -0.00202572 0.630753    0.775976       uwb: 0.0            881.312  1653.11  
imu_odom_:  1691062929.79578501   0.0574608  -0.335188  9.62948    -0.0745685  -0.0191748  -0.520914   0.17       -0.79         pose: 0.0           -6.10277   0.0247385   0 0.00260297  -0.00202572 0.630753    0.775976       uwb: 0.0            881.312  1653.11  
imu_odom_:  1691062929.96582267   0.158017   0.160412   10.1251    -0.0596548  -0.00745685 -0.531567   0.17       -0.79         pose: 0.0           -6.10277   0.0247385   0 0.00260297  -0.00202572 0.630753    0.775976       uwb: 0.49929859     885.258  1654.08  
imu_odom_:  1691062929.112578966  0.438139   -0.292093  9.80665    -0.0649811  0.00319579  -0.553937   0.12       -0.58         pose: 0.7017677     -6.10277   0.0247385   0 0.00196375  -0.00209398 0.629184    0.777251       uwb: 0.0            885.258  1654.08  
imu_odom_:  1691062929.130518635  -0.0861913 -0.011971  9.93594    -0.0543285  -0.0127832  -0.586961   0.18       -0.82         pose: 0.0           -6.10277   0.0247385   0 0.00196375  -0.00209398 0.629184    0.777251       uwb: 0.0            885.258  1654.08  
imu_odom_:  1691062929.145575347  0.25618    0.0311246  10.0652    -0.072438   -0.0127832  -0.594418   0.18       -0.82         pose: 0.66930125    -6.09998   0.0343429   0 -0.000806295-0.0005189520.613951    0.789343       uwb: 0.50003355     883.543  1653.8   
imu_odom_:  1691062929.163580929  0.493206   -0.117316  9.90242    -0.0969391  -0.0660464  -0.599744   0.18       -0.82         pose: 0.0           -6.09998   0.0343429   0 -0.000806295-0.0005189520.613951    0.789343       uwb: 0.0            883.543  1653.8   
imu_odom_:  1691062929.179569170  0.337582   -0.292093  9.80665    -0.0692422  -0.0319579  -0.613592   0.18       -0.82         pose: 0.0           -6.09998   0.0343429   0 -0.000806295-0.0005189520.613951    0.789343       uwb: 0.0            883.543  1653.8   
imu_odom_:  1691062929.196504398  0.344765   -0.0407014 10.1394    -0.0511327  0.036219    -0.656203   0.18       -0.82         pose: 0.33063461    -6.10959   0.0371028   0 0.000363428 0.0011028   0.60566     0.795722       uwb: 0.50101932     880.068  1653.48  
imu_odom_:  1691062929.213505539  0.591368   -0.251391  9.83538    -0.0617853  -0.00106526 -0.656203   0.14       -0.67         pose: 0.42911890    -6.10686   0.0467183   0 0.000605166 0.00181601  0.594215    0.804304       uwb: 0.0            880.068  1653.48  
imu_odom_:  1691062929.227563350  0.430956   -0.0694318 10.2592    -0.0511327  0.0191748   -0.653007   0.14       -0.67         pose: 0.0           -6.10686   0.0467183   0 0.000605166 0.00181601  0.594215    0.804304       uwb: 0.0            880.068  1653.48  
imu_odom_:  1691062929.243505218  0.699107   0.0191536  10.2903    -0.056459   -0.0798948  -0.592287   0.14       -0.67         pose: 0.0           -6.10686   0.0467183   0 0.000605166 0.00181601  0.594215    0.804304       uwb: 0.49945316     878.35   1653.21  
imu_odom_:  1691062929.260631768  0.995988   -0.371101  9.65821    -0.0649811  -0.0308927  -0.533697   0.17       -0.79         pose: 0.8005495     -6.10691   0.0467373   0 0.000828611 0.00105343  0.591974    0.805956       uwb: 0.0            878.35   1653.21  
imu_odom_:  1691062929.277506916  1.08457    -0.474052  9.63187    -0.0511327  -0.0245011  -0.504935   0.1        -0.47         pose: 0.0           -6.10691   0.0467373   0 0.000828611 0.00105343  0.591974    0.805956       uwb: 0.0            878.35   1653.21  
imu_odom_:  1691062929.291622765  1.11091    -0.181959  9.9527     -0.0543285  -0.0319579  -0.507066   0.1        -0.47         pose: 0.0           -6.10691   0.0467373   0 0.000828611 0.00105343  0.591974    0.805956       uwb: 0.50184470     877.175  1653.18  
imu_odom_:  1691062929.307534594  0.658405   -0.244209  9.34217    -0.0500674  0.0181095   -0.4815     0.1        -0.47         pose: 0.64019168    -6.09457   0.0536583   0 0.00472407  -0.00275909 0.575663    0.817669       uwb: 0.0            877.175  1653.18  
imu_odom_:  1691062929.324845467  0.964863   -0.136469  9.96706    -0.0617853  -0.0191748  -0.399474   0.09       -0.44         pose: 0.0           -6.09457   0.0536583   0 0.00472407  -0.00275909 0.575663    0.817669       uwb: 0.0            877.175  1653.18  
imu_odom_:  1691062929.341794985  0.706289   -0.52433   9.65821    -0.0500674  -0.0138484  -0.337689   0.09       -0.44         pose: 0.31027453    -6.09457   0.0536583   0 0.0059114   -0.0056955  0.568797    0.822437       uwb: 0.49784909     877.775  1653.12  
imu_odom_:  1691062929.356531757  0.830788   -0.344765  10.0317    -0.0500674  -0.0575243  -0.278034   0.07       -0.38         pose: 0.16195313    -6.09457   0.0536583   0 0.00654348  -0.00705616 0.565597    0.824626       uwb: 0.0            877.775  1653.12  
imu_odom_:  1691062929.373707304  0.976834   -0.306458  9.69412    -0.0617853  -0.00958738 -0.194943   0.07       -0.38         pose: 0.0           -6.09457   0.0536583   0 0.00654348  -0.00705616 0.565597    0.824626       uwb: 0.0            877.775  1653.12  
imu_odom_:  1691062929.389644215  0.162806   -0.454898  9.67736    -0.0500674  0.0639159   -0.2024     0.07       -0.38         pose: 0.0           -6.09457   0.0536583   0 0.00654348  -0.00705616 0.565597    0.824626       uwb: 0.50220050     874.953  1652.47  
imu_odom_:  1691062929.407495223  0.0933739  0          10.2568    -0.04048    -0.0553937  -0.289752   0.06       -0.29         pose: 0.33057044    -6.09457   0.0536583   0 0.00638333  -0.00996919 0.560389    0.828145       uwb: 0.0            874.953  1652.47  
imu_odom_:  1691062929.422516353  0.509965   0.181959   9.54089    -0.0639159  -0.0649811  -0.274838   0.05       -0.26         pose: 0.0           -6.09457   0.0536583   0 0.00638333  -0.00996919 0.560389    0.828145       uwb: 0.0            874.953  1652.47  
imu_odom_:  1691062929.449525748  0.849942   -0.761356  9.96467    -0.0585895  -0.00319579 -0.206661   0.05       -0.26         pose: 0.66800632    -6.0918    0.0632659   0 0.0063274   -0.00934445 0.552602    0.833369       uwb: 0.49802408     871.011  1651.54  
imu_odom_:  1691062929.474511676  -0.272939  -0.227449  9.54089    -0.0266316  0.0617853   -0.276969   0.07       -0.32         pose: 0.0           -6.0918    0.0632659   0 0.0063274   -0.00934445 0.552602    0.833369       uwb: 0.0            871.011  1651.54  
imu_odom_:  1691062929.492619919  -0.703895  0.25618    10.4579    -0.0383495  -0.0170442  -0.389887   0.07       -0.32         pose: 0.14980883    -6.0918    0.0632659   0 0.00642717  -0.00967477 0.550866    0.834513       uwb: 0.0            871.011  1651.54  
imu_odom_:  1691062929.516541617  -0.433351  0.174777   10.1754    -0.0394148  0.0287621   -0.493217   0.09       -0.44         pose: 0.51975490    -6.0918    0.0632659   0 0.00383193  -0.00740725 0.544199    0.838915       uwb: 0.0            871.011  1651.54  
imu_odom_:  1691062929.542574568  0.270545   -0.507571  9.50737    -0.0756338  -0.0298274  -0.482565   0.12       -0.58         pose: 0.0           -6.0918    0.0632659   0 0.00383193  -0.00740725 0.544199    0.838915       uwb: 0.100004960    867.588  1650.9   
imu_odom_:  1691062929.565637358  0.0407014  -0.0694318 9.6606     -0.0490022  -0.00319579 -0.519849   0.12       -0.58         pose: 0.42059982    -6.08904   0.0728768   0 0.0024651   -0.00369012 0.53525     0.844682       uwb: 0.0            867.588  1650.9   
imu_odom_:  1691062929.581551812  0.169988   0.035913   10.1131    -0.0692422  0.00106526  -0.54435    0.12       -0.58         pose: 0.0           -6.08904   0.0728768   0 0.0024651   -0.00369012 0.53525     0.844682       uwb: 0.0            867.588  1650.9   
imu_odom_:  1691062929.607645717  0.464475   -0.0622492 9.75877    -0.052198   -0.0511327  -0.598679   0.11       -0.58         pose: 0.49037702    -6.08904   0.0728768   0 0.000460385 -0.00076436 0.523825    0.851826       uwb: 0.50069851     862.562  1649.52  
imu_odom_:  1691062929.631509669  0.356736   -0.0861913 9.96706    -0.0596548  -0.0330232  -0.621049   0.13       -0.64         pose: 0.0           -6.08904   0.0728768   0 0.000460385 -0.00076436 0.523825    0.851826       uwb: 0.0            862.562  1649.52  
imu_odom_:  1691062929.657610283  0.0526724  -0.007182619.62469    -0.0681769  -0.0138484  -0.627441   0.13       -0.64         pose: 0.33982157    -6.08691   0.0797582   0 0.00350845  -3.57143e-050.514736    0.857341       uwb: 0.49852863     861.495  1648.95  
imu_odom_:  1691062929.673639063  0.102951   -0.150835  10.2161    -0.0681769  0.00319579  -0.659399   0.13       -0.67         pose: 0.6997554     -6.0863    0.0824945   0 0.0036585   0.000570104 0.51275     0.85853        uwb: 0.0            861.495  1648.95  
imu_odom_:  1691062929.698557037  0.25618    -0.174777  10.07      -0.0628506  -0.036219   -0.682835   0.13       -0.67         pose: 0.0           -6.0863    0.0824945   0 0.0036585   0.000570104 0.51275     0.85853        uwb: 0.50068101     855.919  1647.33  
imu_odom_:  1691062929.723639210  0.328006   -0.217872  9.68933    -0.0703074  0.0127832   -0.699879   0.14       -0.7          pose: 0.49847322    -6.0863    0.082495    0 0.0029022   0.00497248  0.498335    0.866965       uwb: 0.0            855.919  1647.33  
imu_odom_:  1691062929.748652553  0.0646434  0          9.98622    -0.0639159  -0.00852212 -0.714792   0.14       -0.7          pose: 0.0           -6.0863    0.082495    0 0.0029022   0.00497248  0.498335    0.866965       uwb: 0.50049436     857.083  1647.42  
imu_odom_:  1691062929.765648444  0.6608     0.071826   10.1873    -0.0798948  -0.0234358  -0.733967   0.21       -1            pose: 0.41086162    -6.08347   0.0920847   0 -0.0004941670.00572146  0.485436    0.874254       uwb: 0.0            857.083  1647.42  
imu_odom_:  1691062929.790550960  0.438139   -0.385466  9.80186    -0.0777643  0.0149137   -0.741424   0.21       -1            pose: 0.0           -6.08347   0.0920847   0 -0.0004941670.00572146  0.485436    0.874254       uwb: 0.50005688     852.612  1646.18  
imu_odom_:  1691062929.815615342  0.687136   -0.220267  9.78031    -0.0649811  0.0170442   -0.758468   0.19       -0.97         pose: 0.50093767    -6.08065   0.101679    0 -0.0008539660.00620654  0.468895    0.883232       uwb: 0.0            852.612  1646.18  
imu_odom_:  1691062929.840556065  0.186748   -0.172383  9.35654    -0.0511327  0.0117179   -0.768056   0.19       -0.97         pose: 0.0           -6.08065   0.101679    0 -0.0008539660.00620654  0.468895    0.883232       uwb: 0.49957274     852.073  1645.93  
imu_odom_:  1691062929.857602411  -0.0023942 -0.126893  9.89763    -0.052198   0.00213053  -0.771251   0.17       -0.82         pose: 0.41999901    -6.07105   0.0988697   0 -0.00154329 0.00293239  0.454333    0.890826       uwb: 0.0            852.073  1645.93  
imu_odom_:  1691062929.882479846  0.19393    -0.0454898 9.80904    -0.0490022  -0.00852212 -0.762729   0.17       -0.82         pose: 0.0           -6.07105   0.0988697   0 -0.00154329 0.00293239  0.454333    0.890826       uwb: 0.0            852.073  1645.93  
imu_odom_:  1691062929.900698333  0.471658   -0.354342  9.98861    -0.052198   0.0479369   -0.790426   0.16       -0.79         pose: 0.50846806    -6.06831   0.108487    0 -0.00172248 0.00486795  0.436012    0.899926       uwb: 0.49896319     851.535  1645.69  
imu_odom_:  1691062929.924560534  0.73502    -0.0311246 9.67257    -0.0692422  -0.015979   -0.777643   0.16       -0.79         pose: 0.0           -6.06831   0.108487    0 -0.00172248 0.00486795  0.436012    0.899926       uwb: 0.0            851.535  1645.69  
imu_odom_:  1691062929.950692938  0.179565   -0.241814  9.39485    -0.0479369  0.0170442   -0.761664   0.21       -1.03         pose: 0.76043305    -6.05894   0.116209    0 0.000182363 0.00458024  0.40795     0.912993       uwb: 0.49930151     848.23   1644.56  
imu_odom_:  1691062929.975631327  0.713472   0.126893   10.0987    -0.0713727  -0.00532632 -0.784035   0.21       -1.03         pose: 0.0           -6.05894   0.116209    0 0.000182363 0.00458024  0.40795     0.912993       uwb: 0.0            848.23   1644.56  
imu_odom_:  1691062930.1678569    0.612916   -0.385466  9.5792     -0.0798948  -0.0149137  -0.811731   0.18       -0.88         pose: 0.8098531     -6.05591   0.115315    0 -0.0004417420.00521583  0.404982    0.91431        uwb: 0.50094349     847.208  1643.86  
imu_odom_:  1691062930.24637532   0.948104   0.0885855  9.81383    -0.0479369  -0.0319579  -0.810666   0.18       -0.88         pose: 0.51008380    -6.05318   0.124935    0 -0.0001911650.00438269  0.38578     0.92258        uwb: 0.0            847.208  1643.86  
imu_odom_:  1691062930.42499331   0.675165   -0.519542  9.91439    -0.0436758  -0.00958738 -0.818123   0.17       -0.85         pose: 0.0           -6.05318   0.124935    0 -0.0001911650.00438269  0.38578     0.92258        uwb: 0.49971857     847.371  1643.17  
imu_odom_:  1691062930.68620069   0.227449   -0.141258  9.78271    -0.0298274  -0.00639159 -0.831972   0.17       -0.85         pose: 0.24980971    -6.05043   0.134549    0 -0.0001958380.0019072   0.375955    0.926636       uwb: 0.0            847.371  1643.17  
imu_odom_:  1691062930.93467464   0.241814   -0.215478  9.3326     -0.0479369  0.0436758   -0.823449   0.17       -0.85         pose: 0.43007260    -6.04079   0.131882    0 0.000495893 4.93702e-05 0.358802    0.933414       uwb: 0.49999272     845.772  1642.41  
imu_odom_:  1691062930.107507776  0.806846   0.11971    10.2807    -0.0596548  0.0372843   -0.833037   0.17       -0.85         pose: 0.0           -6.04079   0.131882    0 0.000495893 4.93702e-05 0.358802    0.933414       uwb: 0.0            845.772  1642.41  
imu_odom_:  1691062930.131584924  0.23942    -0.368707  9.15543    -0.072438   -0.0191748  -0.833037   0.18       -0.88         pose: 0.48863879    -6.03806   0.141501    0 -0.00025057 0.00424362  0.338939    0.940799       uwb: 0.0            845.772  1642.41  
imu_odom_:  1691062930.157501798  0.529119   -0.275333  9.72764    -0.0681769  0.0234358   -0.837298   0.22       -1.06         pose: 0.0           -6.03806   0.141501    0 -0.00025057 0.00424362  0.338939    0.940799       uwb: 0.49883487     843.693  1641.2   
imu_odom_:  1691062930.183466795  0.0574608  0.129287   9.99819    -0.0479369  -0.0351537  -0.857538   0.22       -1.06         pose: 0.31065369    -6.03605   0.147874    0 -0.00232932 0.00407294  0.32615     0.945306       uwb: 0.50007147     844.897  1641.11  
imu_odom_:  1691062930.209465915  0.0526724  -0.023942  9.81623    -0.0671117  0.02024     -0.844755   0.21       -1.03         pose: 0.7923833     -6.03532   0.151119    0 -0.00232409 0.00336549  0.322863    0.946437       uwb: 0.0            844.897  1641.11  
imu_odom_:  1691062930.233631141  0.213084   -0.25618   9.85693    -0.0447411  -0.0298274  -0.862864   0.21       -1.03         pose: 0.0           -6.03532   0.151119    0 -0.00232409 0.00336549  0.322863    0.946437       uwb: 0.50110099     843.301  1640.36  
imu_odom_:  1691062930.250665822  0.385466   0.112527   10.1634    -0.036219   -0.0383495  -0.873517   0.18       -0.91         pose: 0.52036154    -6.02569   0.148419    0 -0.0005660470.00441182  0.300916    0.95364        uwb: 0.0            843.301  1640.36  
imu_odom_:  1691062930.275567172  0.416591   -0.0861913 9.83777    -0.0681769  0.0149137   -0.858603   0.18       -0.91         pose: 0.0           -6.02569   0.148419    0 -0.0005660470.00441182  0.300916    0.95364        uwb: 0.0            843.301  1640.36  
imu_odom_:  1691062930.300466189  0.766145   -0.122104  9.75877    -0.0553937  0.0181095   -0.877778   0.19       -0.97         pose: 0.49962524    -6.01339   0.155403    0 -0.00141978 0.00697094  0.279449    0.960134       uwb: 0.49948525     845.613  1640.6   
imu_odom_:  1691062930.323463941  0.42138    -0.172383  9.51456    -0.0607201  -0.0234358  -0.867125   0.19       -0.97         pose: 0.0           -6.01339   0.155403    0 -0.00141978 0.00697094  0.279449    0.960134       uwb: 0.0            845.613  1640.6   
imu_odom_:  1691062930.339453932  0.268151   -0.162806  9.3709     -0.0798948  -0.02024    -0.862864   0.18       -0.88         pose: 0.42041025    -6.01076   0.165052    0 0.00147719  0.00470784  0.261158    0.965284       uwb: 0.49990523     844.089  1639.56  
imu_odom_:  1691062930.356454489  0.237026   -0.232238  9.48104    -0.0703074  -0.0234358  -0.870321   0.18       -0.88         pose: 0.0           -6.01076   0.165052    0 0.00147719  0.00470784  0.261158    0.965284       uwb: 0.0            844.089  1639.56  
imu_odom_:  1691062930.381509247  0.617704   -0.0790087 9.81144    -0.0426106  -0.00639159 -0.872452   0.18       -0.88         pose: 0.47927684    -6.00113   0.162359    0 0.00198677  0.00153163  0.240064    0.970754       uwb: 0.0            844.089  1639.56  
imu_odom_:  1691062930.407507200  0.545878   -0.011971  10.0173    -0.0415453  -0.0383495  -0.860734   0.18       -0.88         pose: 0.0           -6.00113   0.162359    0 0.00198677  0.00153163  0.240064    0.970754       uwb: 0.0            844.089  1639.56  
imu_odom_:  1691062930.420507781  0.490811   0.0646434  9.48104    -0.0415453  0.02024     -0.864995   0.18       -0.94         pose: 0.76031056    -5.98869   0.16931     0 0.00459803  -0.0004309490.206477    0.978441       uwb: 0.0            844.089  1639.56  
imu_odom_:  1691062930.437505422  0.572214   -0.0335188 9.87848    -0.0447411  0.0149137   -0.836233   0.18       -0.94         pose: 0.6003903     -5.98886   0.169372    0 0.00522291  -0.0003964570.203819    0.978995       uwb: 0.100047833    840.303  1638.12  
imu_odom_:  1691062930.452491846  0.538695   -0.344765  10.0126    -0.0511327  -0.0181095  -0.804275   0.18       -0.94         pose: 0.0           -5.98886   0.169372    0 0.00522291  -0.0003964570.203819    0.978995       uwb: 0.0            840.303  1638.12  
imu_odom_:  1691062930.468576332  0.332794   -0.40462   9.99819    -0.0511327  0.0330232   -0.76486    0.18       -0.64         pose: 0.38980743    -5.981     0.177592    0 0.00579106  -0.00223528 0.187229    0.982297       uwb: 0.0            840.303  1638.12  
imu_odom_:  1691062930.484510618  0.270545   -0.287304  10.58      -0.0745685  -0.0191748  -0.637028   0.18       -0.64         pose: 0.0           -5.981     0.177592    0 0.00579106  -0.00223528 0.187229    0.982297       uwb: 0.50009189     842.636  1638.26  
imu_odom_:  1691062930.501631627  0.617704   -0.184354  10.4938    -0.0372843  -0.056459   -0.560329   0.18       -0.64         pose: 0.0           -5.981     0.177592    0 0.00579106  -0.00223528 0.187229    0.982297       uwb: 0.0            842.636  1638.26  
imu_odom_:  1691062930.518607102  0.897826   -0.148441  9.7037     -0.0458064  -0.0713727  -0.532632   0.18       -0.55         pose: 0.40086388    -5.97655   0.176346    0 0.00300348  -0.00162245 0.173187    0.984883       uwb: 0.0            842.636  1638.26  
imu_odom_:  1691062930.534631508  0.213084   0.172383   10.2615    -0.0585895  -0.0319579  -0.491087   0.26       -0.76         pose: 0.0           -5.97655   0.176346    0 0.00300348  -0.00162245 0.173187    0.984883       uwb: 0.50051185     846.075  1638.69  
imu_odom_:  1691062930.550629957  0.665588   -0.332794  10.2137    -0.0575243  -0.00852212 -0.468716   0.26       -0.76         pose: 0.33016505    -5.96428   0.183377    0 0.00414988  -0.00447302 0.163894    0.986459       uwb: 0.0            846.075  1638.69  
imu_odom_:  1691062930.568689786  0.948104   0.186748   10.24      -0.0436758  -0.0447411  -0.450607   0.23       -0.58         pose: 0.0           -5.96428   0.183377    0 0.00414988  -0.00447302 0.163894    0.986459       uwb: 0.0            846.075  1638.69  
imu_odom_:  1691062930.585448274  0.620098   -0.220267  9.93594    -0.072438   -0.0319579  -0.395213   0.23       -0.58         pose: 0.0           -5.96428   0.183377    0 0.00414988  -0.00447302 0.163894    0.986459       uwb: 0.49930152     853.4    1639.93  
imu_odom_:  1691062930.601501845  0.574608   -0.0933739 9.89524    -0.0820254  -0.0468716  -0.354733   0.23       -0.58         pose: 0.33097584    -5.96428   0.183377    0 0.00437292  -0.00580405 0.155565    0.987799       uwb: 0.0            853.4    1639.93  
imu_odom_:  1691062930.619507428  0.531513   -0.21069   10.1969    -0.0426106  -0.00639159 -0.352603   0.18       -0.38         pose: 0.42809522    -5.95458   0.180704    0 0.00548239  -0.00831576 0.146403    0.989175       uwb: 0.0            853.4    1639.93  
imu_odom_:  1691062930.636468904  0.608127   0.105345   10.2161    -0.0639159  0.015979    -0.316384   0.18       -0.38         pose: 0.8006370     -5.95464   0.180725    0 0.00482233  -0.00796809 0.144855    0.989409       uwb: 0.50019104     860.229  1640.88  
imu_odom_:  1691062930.661651113  0.3304     -0.0407014 10.2951    -0.0692422  -0.00426106 -0.299339   0.18       -0.35         pose: 0.0           -5.95464   0.180725    0 0.00482233  -0.00796809 0.144855    0.989409       uwb: 0.0            860.229  1640.88  
imu_odom_:  1691062930.677460573  0.035913   -0.153229  9.79707    -0.0607201  -0.0372843  -0.288687   0.18       -0.32         pose: 0.26960689    -5.95197   0.190362    0 0.00562057  -0.00739417 0.13992     0.990119       uwb: 0.0            860.229  1640.88  
imu_odom_:  1691062930.693562557  0.514753   -0.272939  9.48104    -0.0585895  -0.0266316  -0.292948   0.26       -0.47         pose: 0.0           -5.95197   0.190362    0 0.00562057  -0.00739417 0.13992     0.990119       uwb: 0.49913527     865.373  1641.47  
imu_odom_:  1691062930.709486927  0.0670376  -0.0023942 9.80665    -0.0585895  -0.0170442  -0.351537   0.26       -0.47         pose: 0.47998846    -5.94234   0.187673    0 0.00495753  -0.00392718 0.131946    0.991237       uwb: 0.0            865.373  1641.47  
imu_odom_:  1691062930.726490401  0.617704   0.0167594  10.0413    -0.0553937  -0.015979   -0.405866   0.23       -0.58         pose: 0.0           -5.94234   0.187673    0 0.00495753  -0.00392718 0.131946    0.991237       uwb: 0.0            865.373  1641.47  
imu_odom_:  1691062930.742415354  0.318429   -0.126893  9.24162    -0.0777643  0.00532632  -0.434628   0.23       -0.58         pose: 0.0           -5.94234   0.187673    0 0.00495753  -0.00392718 0.131946    0.991237       uwb: 0.50090850     866.582  1641.27  
imu_odom_:  1691062930.759569028  0.486023   -0.280122  10.1706    -0.0575243  0.00852212  -0.459129   0.23       -0.58         pose: 0.33027005    -5.93006   0.194691    0 0.00505971  -0.00336211 0.125586    0.992064       uwb: 0.0            866.582  1641.27  
imu_odom_:  1691062930.776569294  0.624887   -0.146046  9.96467    -0.0777643  0.00852212  -0.472977   0.18       -0.55         pose: 0.42074273    -5.93001   0.19467     0 0.00366636  -0.00261861 0.115602    0.993285       uwb: 0.0            866.582  1641.27  
imu_odom_:  1691062930.792578242  0.447716   0.0143652  9.64145    -0.0713727  -0.0436758  -0.492152   0.18       -0.55         pose: 0.0           -5.93001   0.19467     0 0.00366636  -0.00261861 0.115602    0.993285       uwb: 0.49821658     861.682  1639.56  
imu_odom_:  1691062930.809568592  0.785298   0.241814   9.69891    -0.0735032  -0.052198   -0.54222    0.18       -0.55         pose: 0.0           -5.93001   0.19467     0 0.00366636  -0.00261861 0.115602    0.993285       uwb: 0.0            861.682  1639.56  
imu_odom_:  1691062930.825461172  0.531513   0.153229   9.87369    -0.076699   -0.0276969  -0.594418   0.24       -0.82         pose: 0.7900792     -5.93006   0.19469     0 0.00368297  -0.00335546 0.113593    0.993515       uwb: 0.0            861.682  1639.56  
imu_odom_:  1691062930.841470411  0.148441   -0.222661  9.49301    -0.0575243  -0.0213053  -0.619984   0.18       -0.64         pose: 0.0           -5.93006   0.19469     0 0.00368297  -0.00335546 0.113593    0.993515       uwb: 0.50018521     864.61   1639.54  
imu_odom_:  1691062930.858623502  0.6608     -0.162806  9.73482    -0.0490022  -0.00319579 -0.658333   0.18       -0.64         pose: 0.65159812    -5.90817   0.199173    0 0.00761235  -0.00476117 0.094736    0.995462       uwb: 0.0            864.61   1639.54  
imu_odom_:  1691062930.876449720  0.586579   -0.0454898 9.7444     -0.0447411  -0.00106526 -0.661529   0.18       -0.67         pose: 0.0           -5.90817   0.199173    0 0.00761235  -0.00476117 0.094736    0.995462       uwb: 0.0            864.61   1639.54  
imu_odom_:  1691062930.892575328  0.316035   -0.186748  9.56723    -0.0511327  -0.0149137  -0.66366    0.18       -0.67         pose: 0.0           -5.90817   0.199173    0 0.00761235  -0.00476117 0.094736    0.995462       uwb: 0.49980606     862.011  1638.04  
imu_odom_:  1691062930.909561303  0.0407014  0.191536   10.0149    -0.0490022  -0.0543285  -0.689226   0.18       -0.67         pose: 0.33795793    -5.90817   0.199173    0 0.00729043  -0.00612639 0.0831571   0.996491       uwb: 0.0            862.011  1638.04  
imu_odom_:  1691062930.925620707  0.567426   -0.275333  10.0389    -0.0692422  -0.0223706  -0.692422   0.18       -0.73         pose: 0.34148398    -5.89851   0.19656     0 0.00767981  -0.0049324  0.0710827   0.997429       uwb: 0.0            862.011  1638.04  
imu_odom_:  1691062930.942560893  0.950498   0.0502782  10.1514    -0.0617853  -0.0372843  -0.695618   0.18       -0.73         pose: 0.0           -5.89851   0.19656     0 0.00767981  -0.0049324  0.0710827   0.997429       uwb: 0.50008022     860.443  1637.2   
imu_odom_:  1691062930.958557008  1.30245    -0.344765  9.59596    -0.0830906  -0.0628506  -0.66579    0.18       -0.73         pose: 0.0           -5.89851   0.19656     0 0.00767981  -0.0049324  0.0710827   0.997429       uwb: 0.0            860.443  1637.2   
imu_odom_:  1691062930.975559316  1.35033    -0.0837971 9.6606     -0.076699   -0.0500674  -0.632767   0.16       -0.64         pose: 0.49996356    -5.89851   0.19656     0 0.00686634  -0.00782067 0.0529235   0.998544       uwb: 0.0            860.443  1637.2   
imu_odom_:  1691062930.993579189  1.39821    -0.395043  9.77553    -0.0543285  0.0106526   -0.649811   0.16       -0.64         pose: 0.0           -5.89851   0.19656     0 0.00686634  -0.00782067 0.0529235   0.998544       uwb: 0.50051186     857.831  1635.87  
imu_odom_:  1691062931.8558614    1.34315    0.0670376  10.3286    -0.0639159  -0.04048    -0.590156   0.13       -0.53         pose: 0.43009010    -5.88619   0.203572    0 0.00608052  -0.0124017  0.0382236   0.999174       uwb: 0.0            857.831  1635.87  
imu_odom_:  1691062931.24417362   0.919373   -0.225055  9.46428    -0.0553937  -0.0319579  -0.507066   0.13       -0.53         pose: 0.0           -5.88619   0.203572    0 0.00608052  -0.0124017  0.0382236   0.999174       uwb: 0.0            857.831  1635.87  
imu_odom_:  1691062931.38435801   1.19231    -0.517148  10.3406    -0.0820254  0.00532632  -0.459129   0.13       -0.53         pose: 0.0           -5.88619   0.203572    0 0.00608052  -0.0124017  0.0382236   0.999174       uwb: 0.49937734     857.388  1635.25  
imu_odom_:  1691062931.53420184   1.12527    -0.371101  9.73961    -0.0639159  -0.0234358  -0.417584   0.1        -0.38         pose: 0.7041592     -5.88624   0.203593    0 0.00627672  -0.0131946  0.0360085   0.999245       uwb: 0.0            857.388  1635.25  
imu_odom_:  1691062931.70558692   0.80924    -0.466869  9.49301    -0.056459   0.0458064   -0.361125   0.1        -0.38         pose: 0.0           -5.88624   0.203593    0 0.00627672  -0.0131946  0.0360085   0.999245       uwb: 0.0            857.388  1635.25  
imu_odom_:  1691062931.86443689   0.969652   -0.227449  9.97903    -0.0639159  0.02024     -0.300405   0.1        -0.38         pose: 0.0           -5.88624   0.203593    0 0.00627672  -0.0131946  0.0360085   0.999245       uwb: 0.49991982     855.863  1634.25  
imu_odom_:  1691062931.103690982  0.40462    -0.433351  9.7444     -0.056459   0.0383495   -0.278034   0.12       -0.5          pose: 0.44830947    -5.87661   0.200912    0 0.0045237   -0.0173837  0.0241248   0.999548       uwb: 0.0            855.863  1634.25  
imu_odom_:  1691062931.121575531  0.567426   -0.244209  10.1969    -0.0372843  0.0117179   -0.312122   0.08       -0.35         pose: 0.0           -5.87661   0.200912    0 0.0045237   -0.0173837  0.0241248   0.999548       uwb: 0.0            855.863  1634.25  
imu_odom_:  1691062931.136727029  0.730232   -0.112527  9.7037     -0.0532632  -0.0394148  -0.295078   0.08       -0.35         pose: 0.67248900    -5.87661   0.200912    0 0.00101876  -0.0166862  0.0119239   0.999789       uwb: 0.50270798     857.642  1634.12  
imu_odom_:  1691062931.153556388  0.998382   -0.160412  9.38527    -0.056459   -0.0223706  -0.254598   0.06       -0.32         pose: 0.0           -5.87661   0.200912    0 0.00101876  -0.0166862  0.0119239   0.999789       uwb: 0.0            857.642  1634.12  
imu_odom_:  1691062931.167559369  0.866701   -0.45011   10.173     -0.056459   0.00319579  -0.223706   0.06       -0.32         pose: 0.0           -5.87661   0.200912    0 0.00101876  -0.0166862  0.0119239   0.999789       uwb: 0.0            857.642  1634.12  
imu_odom_:  1691062931.184451725  0.78051    -0.411803  9.79228    -0.0532632  0.00852212  -0.231162   0.06       -0.32         pose: 0.31721580    -5.87661   0.200912    0 0.00247292  -0.0172486  0.0066799   0.999826       uwb: 0.49779369     857.719  1633.78  
imu_odom_:  1691062931.200534752  0.605733   -0.196325  9.80426    -0.0426106  0.00745685  -0.24288    0.06       -0.23         pose: 0.40029517    -5.86696   0.198269    0 -0.000390446-0.0186604  0.0012657   0.999825       uwb: 0.0            857.719  1633.78  
imu_odom_:  1691062931.217517519  0.433351   -0.0143652 9.76116    -0.0596548  -0.0223706  -0.223706   0.06       -0.23         pose: 0.7990621     -5.86696   0.198269    0 -0.000188907-0.0178249  0.000136155 0.999841       uwb: 0.0            857.719  1633.78  
imu_odom_:  1691062931.233575756  0.622492   -0.270545  9.88326    -0.0607201  -0.00958738 -0.20027    0.06       -0.23         pose: 0.0           -5.86696   0.198269    0 -0.000188907-0.0178249  0.000136155 0.999841       uwb: 0.50171346     854.524  1632.48  
imu_odom_:  1691062931.250394033  0.670376   -0.416591  9.87848    -0.0575243  0.00426106  -0.199204   0.07       -0.29         pose: 0.41133410    -5.86696   0.198269    0 -9.32597e-05-0.0145452  -0.00517109 0.999881       uwb: 0.0            854.524  1632.48  
imu_odom_:  1691062931.266397732  0.713472   -0.306458  9.91199    -0.0607201  -0.0138484  -0.183225   0.04       -0.2          pose: 0.0           -5.86696   0.198269    0 -9.32597e-05-0.0145452  -0.00517109 0.999881       uwb: 0.0            854.524  1632.48  
imu_odom_:  1691062931.283388665  0.627281   -0.134075  9.90481    -0.0628506  -0.00958738 -0.170442   0.04       -0.2          pose: 0.0           -5.86696   0.198269    0 -9.32597e-05-0.0145452  -0.00517109 0.999881       uwb: 0.49809117     856.39   1631.94  
imu_odom_:  1691062931.299440194  0.596156   -0.251391  9.90002    -0.0575243  -0.0213053  -0.15979    0.04       -0.2          pose: 0.24832813    -5.86696   0.198268    0 -0.00248739 -0.0147153  -0.00803788 0.999856       uwb: 0.0            856.39   1631.94  
imu_odom_:  1691062931.315395771  0.543484   -0.272939  9.90481    -0.056459   0.00213053  -0.160855   0.04       -0.2          pose: 0.0           -5.86696   0.198268    0 -0.00248739 -0.0147153  -0.00803788 0.999856       uwb: 0.0            856.39   1631.94  
imu_odom_:  1691062931.330488355  0.641646   -0.308852  9.92397    -0.052198   0.00213053  -0.151268   0.04       -0.2          pose: 0.33029922    -5.86696   0.198268    0 -0.00177447 -0.0136588  -0.0115241  0.999839       uwb: 0.0            856.39   1631.94  
imu_odom_:  1691062931.347399085  0.6608     -0.251391  10.0533    -0.0660464  -0.0106526  -0.128897   0.04       -0.17         pose: 0.39049864    -5.86696   0.198268    0 -0.00355692 -0.0116719  -0.0153358  0.999808       uwb: 0.50008023     852.163  1630.12  
imu_odom_:  1691062931.363392284  0.574608   -0.19393   9.78989    -0.0543285  -0.00426106 -0.124636   0.04       -0.17         pose: 0.0           -5.86696   0.198268    0 -0.00355692 -0.0116719  -0.0153358  0.999808       uwb: 0.0            852.163  1630.12  
imu_odom_:  1691062931.379501852  0.600945   -0.205901  9.94551    -0.0553937  -0.0191748  -0.111853   0.04       -0.17         pose: 0.0           -5.86696   0.198268    0 -0.00355692 -0.0116719  -0.0153358  0.999808       uwb: 0.0            852.163  1630.12  
imu_odom_:  1691062931.395424180  0.744597   -0.203507  9.81623    -0.0628506  -0.0127832  -0.0937433  0.03       -0.11         pose: 0.7019427     -5.86696   0.198268    0 -0.00304962 -0.0121465  -0.0159352  0.999795       uwb: 0.49990231     848.979  1628.86  
imu_odom_:  1691062931.412404031  0.653617   -0.308852  9.94312    -0.0532632  -0.00213053 -0.0713727  0.03       -0.14         pose: 0.0           -5.86696   0.198268    0 -0.00304962 -0.0121465  -0.0159352  0.999795       uwb: 0.0            848.979  1628.86  
imu_odom_:  1691062931.428532556  0.665588   -0.371101  9.81862    -0.0543285  -0.00639159 -0.0617853  0.03       -0.14         pose: 0.0           -5.86696   0.198268    0 -0.00304962 -0.0121465  -0.0159352  0.999795       uwb: 0.0            848.979  1628.86  
imu_odom_:  1691062931.444408220  0.591368   -0.203507  9.8665     -0.052198   0.00106526  -0.052198   0.03       -0.14         pose: 0.66061302    -5.85461   0.205197    0 -0.000891686-0.0122962  -0.0208386  0.999707       uwb: 0.50000731     850.712  1628.91  
imu_odom_:  1691062931.461597184  0.579397   -0.222661  9.90002    -0.0553937  -0.00426106 -0.0383495  0.02       -0.14         pose: 0.0           -5.85461   0.205197    0 -0.000891686-0.0122962  -0.0208386  0.999707       uwb: 0.0            850.712  1628.91  
imu_odom_:  1691062931.478600366  0.641646   -0.234632  9.8665     -0.0585895  -0.0117179  -0.0234358  0.02       -0.14         pose: 0.31868280    -5.85461   0.205197    0 -0.00277946 -0.0121683  -0.0224375  0.99967        uwb: 0.0            850.712  1628.91  
imu_odom_:  1691062931.494532611  0.624887   -0.342371  9.90721    -0.0585895  -0.00745685 -0.0117179  0.01       -0.05         pose: 0.43163002    -5.85455   0.205176    0 -0.00131826 -0.0118489  -0.0240692  0.999639       uwb: 0.50014439     853.036  1628.9   
imu_odom_:  1691062931.511522086  0.624887   -0.282516  9.8665     -0.0553937  -0.00532632 -0.00958738 0.01       -0.05         pose: 0.0           -5.85455   0.205176    0 -0.00131826 -0.0118489  -0.0240692  0.999639       uwb: 0.0            853.036  1628.9   
imu_odom_:  1691062931.527518493  0.624887   -0.237026  9.85693    -0.0553937  -0.00426106 0.00319579  0.01       -0.05         pose: 0.0           -5.85455   0.205176    0 -0.00131826 -0.0118489  -0.0240692  0.999639       uwb: 0.0            853.036  1628.9   
imu_odom_:  1691062931.543446071  0.627281   -0.25618   9.85453    -0.056459   -0.00639159 0.0181095   0          -0.02         pose: 0.7829339     -5.85461   0.205197    0 -0.00210655 -0.011764   -0.0242607  0.999634       uwb: 0.50037479     852.609  1628.25  
imu_odom_:  1691062931.558494033  0.634463   -0.296881  9.88566    -0.0553937  -0.00532632 0.0319579   0          0.02          pose: 0.0           -5.85461   0.205197    0 -0.00210655 -0.011764   -0.0242607  0.999634       uwb: 0.0            852.609  1628.25  
imu_odom_:  1691062931.572446851  0.579397   -0.272939  9.91918    -0.0553937  0.00213053  0.0436758   0          0.02          pose: 0.0           -5.85461   0.205197    0 -0.00210655 -0.011764   -0.0242607  0.999634       uwb: 0.0            852.609  1628.25  
imu_odom_:  1691062931.586387419  0.474052   -0.28491   9.88805    -0.052198   0.00958738  0.0479369   0          0.02          pose: 0.64026169    -5.85461   0.205197    0 -0.00222677 -0.0119729  -0.0253721  0.999604       uwb: 0.49926360     846.751  1626.29  
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imu_odom_:  1691062931.785531143  0.438139   -0.232238  9.87608    -0.056459   -0.00532632 0.0372843   0          0             pose: 0.43983121    -5.85461   0.205197    0 -0.00146517 -0.00203628 -0.0253085  0.999677       uwb: 0.49865406     849.753  1625.83  
imu_odom_:  1691062931.800573855  0.438139   -0.246603  9.90242    -0.0553937  -0.00745685 0.0383495   0          0             pose: 0.0           -5.85461   0.205197    0 -0.00146517 -0.00203628 -0.0253085  0.999677       uwb: 0.0            849.753  1625.83  
imu_odom_:  1691062931.814584419  0.481235   -0.260968  9.8665     -0.056459   -0.00852212 0.0383495   0          0             pose: 0.0           -5.85461   0.205197    0 -0.00146517 -0.00203628 -0.0253085  0.999677       uwb: 0.0            849.753  1625.83  
imu_odom_:  1691062931.829572302  0.462081   -0.244209  9.89763    -0.0553937  -0.00213053 0.0394148   0          0             pose: 0.37156766    -5.85461   0.205197    0 -0.00181385 -0.00167842 -0.025324   0.999676       uwb: 0.0            849.753  1625.83  
imu_odom_:  1691062931.844516145  0.433351   -0.248997  9.87608    -0.0543285  -0.00319579 0.0415453   0          0             pose: 0.0           -5.85461   0.205197    0 -0.00181385 -0.00167842 -0.025324   0.999676       uwb: 0.50049436     847.615  1625.1   
imu_odom_:  1691062931.859393201  0.387861   -0.23942   9.86411    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.0           -5.85461   0.205197    0 -0.00181385 -0.00167842 -0.025324   0.999676       uwb: 0.0            847.615  1625.1   
imu_odom_:  1691062931.874569197  0.435745   -0.23942   9.87608    -0.056459   -0.00639159 0.0394148   0          0             pose: 0.43942290    -5.85461   0.205197    0 -0.00165234 -0.00167216 -0.0253215  0.999677       uwb: 0.0            847.615  1625.1   
imu_odom_:  1691062931.889454711  0.464475   -0.23942   9.8689     -0.0553937  -0.00639159 0.04048     0          0             pose: 0.0           -5.85461   0.205197    0 -0.00165234 -0.00167216 -0.0253215  0.999677       uwb: 0.49860447     850.972  1625.57  
imu_odom_:  1691062931.904390096  0.505177   -0.246603  9.85453    -0.056459   -0.00319579 0.0383495   0          0             pose: 0.44938566    -5.85461   0.205197    0 -0.0013553  -0.00324818 -0.0253192  0.999673       uwb: 0.0            850.972  1625.57  
imu_odom_:  1691062931.918563693  0.454898   -0.244209  9.87129    -0.0543285  -0.00106526 0.04048     0          0             pose: 0.0           -5.85461   0.205197    0 -0.0013553  -0.00324818 -0.0253192  0.999673       uwb: 0.0            850.972  1625.57  
imu_odom_:  1691062931.933503453  0.426168   -0.232238  9.93354    -0.0553937  -0.00319579 0.04048     0          0             pose: 0.0           -5.85461   0.205197    0 -0.0013553  -0.00324818 -0.0253192  0.999673       uwb: 0.0            850.972  1625.57  
imu_odom_:  1691062931.947439938  0.411803   -0.237026  9.88566    -0.0553937  -0.00426106 0.0383495   0          0             pose: 0.44048742    -5.85461   0.205197    0 -0.00114807 -0.00182832 -0.0253135  0.999677       uwb: 0.0            850.972  1625.57  
imu_odom_:  1691062931.962561979  0.454898   -0.217872  9.90481    -0.056459   -0.00532632 0.0383495   0          0             pose: 0.0           -5.85461   0.205197    0 -0.00114807 -0.00182832 -0.0253135  0.999677       uwb: 0.0            850.972  1625.57  
imu_odom_:  1691062931.977364664  0.488417   -0.270545  9.88805    -0.056459   -0.00639159 0.0394148   0          0             pose: 0.0           -5.85461   0.205197    0 -0.00114807 -0.00182832 -0.0253135  0.999677       uwb: 0.0            850.972  1625.57  
imu_odom_:  1691062931.991572675  0.483629   -0.268151  9.89045    -0.0543285  -0.00106526 0.0394148   0          0             pose: 0.43861211    -5.85461   0.205197    0 -0.00162426 -0.00291343 -0.0253315  0.999674       uwb: 0.100096832    847.838  1624.21  
imu_odom_:  1691062932.13341707   0.47884    -0.234632  9.89763    -0.056459   -0.00319579 0.0394148   0          0             pose: 0.0           -5.85461   0.205197    0 -0.00162426 -0.00291343 -0.0253315  0.999674       uwb: 0.0            847.838  1624.21  
imu_odom_:  1691062932.30501797   -0.201113  -0.275333  9.67497    -0.052198   0.0745685   0.0458064   0          0             pose: 0.0           -5.85461   0.205197    0 -0.00162426 -0.00291343 -0.0253315  0.999674       uwb: 0.0            847.838  1624.21  
imu_odom_:  1691062932.47505272   -1.05345   -0.25618   10.1562    -0.0415453  0.0713727   0.0415453   0.02       0             pose: 0.43210541    -5.85461   0.205197    0 -0.000510837-0.00281682 -0.0253186  0.999675       uwb: 0.49984107     851.634  1625.2   
imu_odom_:  1691062932.64501746   -1.17076   -0.23942   9.87608    -0.0617853  -0.0245011  0.0458064   0.05       0.08          pose: 0.0           -5.85461   0.205197    0 -0.000510837-0.00281682 -0.0253186  0.999675       uwb: 0.0            851.634  1625.2   
imu_odom_:  1691062932.80499904   -0.323217  -0.225055  9.93833    -0.0617853  -0.0575243  0.056459    0.05       0.08          pose: 0.33937536    -5.85461   0.205197    0 -0.0004110520.00153865  -0.0252476  0.99968        uwb: 0.0            851.634  1625.2   
imu_odom_:  1691062932.97501045   0.411803   -0.268151  9.91439    -0.0596548  -0.0468716  0.0585895   0.07       0.05          pose: 0.0           -5.85461   0.205197    0 -0.0004110520.00153865  -0.0252476  0.99968        uwb: 0.50044771     850.601  1624.68  
imu_odom_:  1691062932.116548693  0.605733   -0.263362  9.88805    -0.0543285  -0.00319579 0.0596548   0.07       0.05          pose: 0.0           -5.85461   0.205197    0 -0.0004110520.00153865  -0.0252476  0.99968        uwb: 0.0            850.601  1624.68  
imu_odom_:  1691062932.132489687  -0.181959  -0.198719  9.6223     -0.0649811  0.0319579   0.0660464   0.07       0.05          pose: 0.33069878    -5.85461   0.205197    0 -0.0008255060.00284921  -0.025014   0.999683       uwb: 0.49947651     853.933  1625.23  
imu_odom_:  1691062932.149370085  -0.181959  -0.265756  10.1538    -0.0447411  0           0.0447411   0.07       0             pose: 0.35928629    -5.85461   0.205197    0 -0.00151503 0.00071482  -0.0246407  0.999695       uwb: 0.0            853.933  1625.23  
imu_odom_:  1691062932.165363868  -0.0407014 -0.179565  9.8689     -0.0617853  -0.0308927  0.0436758   0.07       0             pose: 0.0           -5.85461   0.205197    0 -0.00151503 0.00071482  -0.0246407  0.999695       uwb: 0.0            853.933  1625.23  
imu_odom_:  1691062932.182549915  0.416591   -0.23942   10.1538    -0.0639159  -0.0298274  0.0511327   0.07       0             pose: 0.0           -5.85461   0.205197    0 -0.00151503 0.00071482  -0.0246407  0.999695       uwb: 0.0            853.933  1625.23  
imu_odom_:  1691062932.198397581  0.282516   -0.440533  9.80665    -0.0500674  0.00745685  0.04048     0.12       0             pose: 0.49044704    -5.845     0.202432    0 -0.00119162 0.00404203  -0.0243974  0.999693       uwb: 0.50075685     852.364  1624.55  
imu_odom_:  1691062932.215486801  -0.00718261-0.134075  9.95988    -0.0287621  -0.00426106 0.036219    0.12       0             pose: 0.0           -5.845     0.202432    0 -0.00119162 0.00404203  -0.0243974  0.999693       uwb: 0.0            852.364  1624.55  
imu_odom_:  1691062932.231488166  0.385466   -0.0574608 9.99819    -0.0543285  -0.0532632  0.0543285   0.1        0.02          pose: 0.42930849    -5.845     0.202432    0 -0.00181365 0.00509949  -0.0243601  0.999689       uwb: 0.0            852.364  1624.55  
imu_odom_:  1691062932.248485516  0.198719   -0.134075  9.67257    -0.0532632  -0.0127832  0.0543285   0.1        0.02          pose: 0.0           -5.845     0.202432    0 -0.00181365 0.00509949  -0.0243601  0.999689       uwb: 0.49957859     849.169  1623.45  
imu_odom_:  1691062932.264484549  0.229843   -0.399832  9.7037     -0.0543285  -0.00958738 0.056459    0.1        0.02          pose: 0.0           -5.845     0.202432    0 -0.00181365 0.00509949  -0.0243601  0.999689       uwb: 0.0            849.169  1623.45  
imu_odom_:  1691062932.280484748  0.035913   -0.181959  9.83059    -0.0532632  0.00106526  0.0383495   0.15       0.02          pose: 0.8013661     -5.845     0.202432    0 -0.00108247 0.00457427  -0.0242977  0.999694       uwb: 0.0            849.169  1623.45  
imu_odom_:  1691062932.297372729  0.725443   -0.356736  10.422     -0.0468716  -0.0351537  0.0415453   0.11       0             pose: 0.0           -5.845     0.202432    0 -0.00108247 0.00457427  -0.0242977  0.999694       uwb: 0.49950276     847.013  1622.82  
imu_odom_:  1691062932.313354262  1.01754    -0.126893  9.87369    -0.0553937  -0.0383495  0.0553937   0.11       0             pose: 0.65004947    -5.83538   0.199677    0 -0.00063695 0.00659195  -0.0239797  0.999691       uwb: 0.0            847.013  1622.82  
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imu_odom_:  1691062932.344484086  1.2378     -0.40462   9.93833    -0.0500674  -0.0106526  0.0969391   0.08       -0.02         pose: 0.0           -5.83538   0.199677    0 -0.00063695 0.00659195  -0.0239797  0.999691       uwb: 0.50068978     843.75   1622.04  
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imu_odom_:  1691062932.378478785  1.34315    -0.272939  10.0604    -0.0511327  0.0181095   0.104396    0.09       -0.02         pose: 0.40987878    -5.82577   0.196931    0 -0.00128857 -0.000896522-0.0225053  0.999745       uwb: 0.0            843.75   1622.04  
imu_odom_:  1691062932.394567646  0.682347   -0.141258  9.81383    -0.0500674  0.036219    0.0756338   0.09       -0.02         pose: 0.0           -5.82577   0.196931    0 -0.00128857 -0.000896522-0.0225053  0.999745       uwb: 0.49924319     847.058  1622.67  
imu_odom_:  1691062932.411488583  0.438139   0.023942   9.84975    -0.0490022  0.0276969   0.0127832   0.09       -0.02         pose: 0.0           -5.82577   0.196931    0 -0.00128857 -0.000896522-0.0225053  0.999745       uwb: 0.0            847.058  1622.67  
imu_odom_:  1691062932.427407995  0.742203   -0.0287304 9.95509    -0.056459   -0.0351537  0.00639159  0.05       0.02          pose: 0.8002579     -5.82577   0.196931    0 -0.00131655 -0.00160674 -0.0222471  0.99975        uwb: 0.0            847.058  1622.67  
imu_odom_:  1691062932.444419344  0.890643   -0.380678  9.94551    -0.0660464  0.00532632  0.0117179   0.06       0.02          pose: 0.0           -5.82577   0.196931    0 -0.00131655 -0.00160674 -0.0222471  0.99975        uwb: 0.50087352     848.792  1622.63  
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imu_odom_:  1691062932.477489514  0.675165   -0.318429  9.74679    -0.0447411  0.00852212  0.00958738  0.05       0.02          pose: 0.0           -5.82577   0.196931    0 0.00142634  -0.00533804 -0.0222651  0.999737       uwb: 0.0            848.792  1622.63  
imu_odom_:  1691062932.494407826  0.675165   0.0502782  10.1107    -0.0553937  0.00213053  0.0138484   0.05       0.02          pose: 0.0           -5.82577   0.196931    0 0.00142634  -0.00533804 -0.0222651  0.999737       uwb: 0.49988482     850.49   1622.75  
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imu_odom_:  1691062932.544401267  -0.696713  -0.354342  9.47146    -0.0532632  0.0735032   0.0639159   0.03       0.02          pose: 0.32991132    -5.82577   0.196931    0 0.000587557 -0.00853362 -0.0230318  0.999698       uwb: 0.49944151     849.974  1622.51  
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imu_odom_:  1691062932.586369963  -0.452504  -0.0454898 9.76595    -0.0585895  -0.0777643  0.0735032   0.08       0.05          pose: 0.49991399    -5.81615   0.194197    0 0.000120001 -0.00230159 -0.0226802  0.99974        uwb: 0.49956984     848.42   1621.79  
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imu_odom_:  1691062932.691387511  0.442927   -0.54109   9.92636    -0.0681769  0           0.0756338   0.14       -0.02         pose: 0.0           -5.81615   0.194197    0 0.000642182 -0.000310384-0.0220937  0.999756       uwb: 0.100097416    847.893  1621.59  
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imu_odom_:  1691062932.739329195  0.102951   -0.177171  9.76834    -0.0756338  -0.00852212 0.0607201   0.15       0             pose: 0.51015964    -5.80381   0.201111    0 -0.00111307 0.00315749  -0.0216485  0.99976        uwb: 0.49901571     847.446  1621.07  
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imu_odom_:  1691062932.782458949  0.287304   -0.452504  10.0054    -0.0596548  0.0127832   0.0351537   0.13       0.02          pose: 0.23850537    -5.80381   0.201111    0 -0.0004043990.00551682  -0.0217422  0.999748       uwb: 0.49982941     845.829  1620.62  
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imu_odom_:  1691062932.824514265  0.629675   -0.536301  10.331     -0.0585895  -0.0862864  0.0596548   0.18       0             pose: 0.0           -5.79418   0.198403    0 -0.00265211 0.00681391  -0.0215259  0.999742       uwb: 0.0            845.829  1620.62  
imu_odom_:  1691062932.850337812  0.308852   -0.181959  9.18176    -0.0575243  -0.0245011  0.0223706   0.17       0.02          pose: 0.50994966    -5.78455   0.195698    0 -0.00363813 0.00775853  -0.0213377  0.999736       uwb: 0.50052936     840.077  1618.39  
imu_odom_:  1691062932.877638274  0.289698   -0.342371  9.56484    -0.0596548  -0.0127832  0.056459    0.2        -0.02         pose: 0.35865049    -5.78455   0.195698    0 -0.0017274  0.00569071  -0.02145    0.999752       uwb: 0.0            840.077  1618.39  
imu_odom_:  1691062932.903312788  0.1652     -0.356736  9.85453    -0.0490022  -0.00745685 0.0340885   0.2        -0.02         pose: 0.0           -5.78455   0.195698    0 -0.0017274  0.00569071  -0.02145    0.999752       uwb: 0.49998982     837.966  1617.64  
imu_odom_:  1691062932.930325683  0.653617   -0.150835  10.058     -0.0511327  0.0287621   0.052198    0.19       0             pose: 0.7042468     -5.78455   0.195698    0 -0.00244403 0.00572612  -0.0213943  0.999752       uwb: 0.0            837.966  1617.64  
imu_odom_:  1691062932.956341428  0.414197   -0.263362  10.3956    -0.0447411  -0.00213053 0.0255663   0.19       0             pose: 0.45932508    -5.77493   0.192996    0 -0.0053525  0.00818201  -0.0212989  0.999725       uwb: 0.50036313     837.509  1617.18  
imu_odom_:  1691062932.973444647  0.316035   -0.0430956 10.2424    -0.0468716  0.00958738  0.0490022   0.21       0             pose: 0.0           -5.77493   0.192996    0 -0.0050753  0.00764521  -0.0212569  0.999732       uwb: 0.0            837.509  1617.18  
imu_odom_:  1691062932.999464474  0.227449   -0.172383  9.92875    -0.0415453  -0.0394148  0.0447411   0.21       0             pose: 0.0           -5.77493   0.192996    0 -0.0050753  0.00764521  -0.0212569  0.999732       uwb: 0.49892821     836.462  1616.79  
imu_odom_:  1691062933.26310546   0.00957681 -0.112527  10.1059    -0.0340885  -0.00106526 0.0436758   0.22       0             pose: 0.53058096    -5.7626    0.199925    0 -0.00269121 0.00371258  -0.0212915  0.999763       uwb: 0.0            836.462  1616.79  
imu_odom_:  1691062933.51445508   0.68953    -0.414197  10.4315    -0.0511327  0.00532632  0.0372843   0.16       0             pose: 0.43087757    -5.7626    0.199925    0 0.000458133 0.0060735   -0.0211486  0.999758       uwb: 0.50066644     841.337  1617.96  
imu_odom_:  1691062933.68446941   0.622492   -0.0383072 10.0772    -0.0426106  0.0149137   0.0170442   0.17       -0.02         pose: 0.28016462    -5.75297   0.197229    0 0.0010137   0.00726942  -0.0211169  0.99975        uwb: 0.0            841.337  1617.96  
imu_odom_:  1691062933.84297232   0.246603   -0.148441  10.1873    -0.0458064  0.0330232   0.0351537   0.17       -0.02         pose: 0.0           -5.75297   0.197229    0 0.0010137   0.00726942  -0.0211169  0.99975        uwb: 0.49814660     839.871  1616.95  
imu_odom_:  1691062933.111400831  0.3304     -0.339977  9.89045    -0.0340885  -0.0245011  0.0276969   0.22       0             pose: 0.23907408    -5.75297   0.197229    0 0.000615107 0.00528932  -0.0212176  0.999761       uwb: 0.0            839.871  1616.95  
imu_odom_:  1691062933.127479776  0.0766145  -0.0383072 9.74679    -0.0383495  -0.0255663  0.0394148   0.22       0             pose: 0.0           -5.75297   0.197229    0 0.000615107 0.00528932  -0.0212176  0.999761       uwb: 0.0            839.871  1616.95  
imu_odom_:  1691062933.154430841  0.416591   -0.349553  9.76595    -0.0692422  -0.00852212 0.0479369   0.21       -0.02         pose: 0.33015923    -5.74334   0.19453     0 0.0015185   0.00580696  -0.0214074  0.999753       uwb: 0.50145682     837.895  1615.71  
imu_odom_:  1691062933.179310902  0.395043   -0.0047884 10.0102    -0.0585895  0.00958738  0.0372843   0.21       -0.02         pose: 0.0           -5.74334   0.19453     0 0.0015185   0.00580696  -0.0214074  0.999753       uwb: 0.0            837.895  1615.71  
imu_odom_:  1691062933.196312043  0.416591   -0.440533  9.53132    -0.0532632  0.0234358   0.0543285   0.18       -0.02         pose: 0.44044660    -5.73371   0.191827    0 0.000286583 0.00562629  -0.0215046  0.999753       uwb: 0.50092310     835.323  1614.56  
imu_odom_:  1691062933.221493961  0.107739   -0.248997  9.81623    -0.015979   0.0340885   0.0298274   0.18       -0.02         pose: 0.0           -5.73371   0.191827    0 0.000286583 0.00562629  -0.0215046  0.999753       uwb: 0.0            835.323  1614.56  
imu_odom_:  1691062933.248486441  0.560243   -0.289698  10.0628    -0.0745685  0.00319579  0.0649811   0.21       0             pose: 0.50884723    -5.73101   0.201454    0 0.000353529 0.00359632  -0.0214024  0.999764       uwb: 0.49999565     831.699  1613.07  
imu_odom_:  1691062933.274409733  0.617704   -0.0814029 10.1299    -0.0490022  -0.00852212 0.036219    0.18       0             pose: 0.42129687    -5.72138   0.198752    0 -0.0005016590.00576501  -0.021368   0.999755       uwb: 0.0            831.699  1613.07  
imu_odom_:  1691062933.291299755  -0.122104  -0.268151  9.69652    -0.056459   -0.00319579 0.0713727   0.22       0             pose: 0.0           -5.72138   0.198752    0 -0.0005016590.00576501  -0.021368   0.999755       uwb: 0.49768579     834.588  1613.03  
imu_odom_:  1691062933.307325620  0.184354   -0.260968  9.80665    -0.04048    -0.0351537  0.0383495   0.22       0             pose: 0.0           -5.72138   0.198752    0 -0.0005016590.00576501  -0.021368   0.999755       uwb: 0.0            834.588  1613.03  
imu_odom_:  1691062933.332286176  0.0287304  0.0023942  9.56962    -0.072438   -0.00639159 0.0596548   0.24       0             pose: 0.52829735    -5.71175   0.196052    0 1.53188e-05 0.00222896  -0.0210493  0.999776       uwb: 0.0            834.588  1613.03  
imu_odom_:  1691062933.355442878  0.31364    -0.198719  9.79947    -0.0745685  -0.00319579 0.0394148   0.24       0             pose: 0.0           -5.71175   0.196052    0 1.53188e-05 0.00222896  -0.0210493  0.999776       uwb: 0.50003065     836.426  1612.6   
imu_odom_:  1691062933.380475471  0.610521   -0.1652    9.63427    -0.0852212  -0.00639159 0.0500674   0.19       0.02          pose: 0.74142336    -5.69555   0.191521    0 0.000671086 0.00414825  -0.0206414  0.999778       uwb: 0.0            836.426  1612.6   
imu_odom_:  1691062933.407282462  0.380678   -0.380678  9.80186    -0.0543285  0.0287621   0.0298274   0.19       0.02          pose: 0.7892918     -5.69249   0.190669    0 0.000641627 0.00335791  -0.0205987  0.999782       uwb: 0.50002774     839.247  1612.74  
imu_odom_:  1691062933.432300472  0.0550666  -0.344765  10.1059    -0.0660464  0.0117179   0.0500674   0.18       0             pose: 0.43946666    -5.68386   0.195538    0 -0.00208128 0.00199352  -0.0206407  0.999783       uwb: 0.0            839.247  1612.74  
imu_odom_:  1691062933.449312405  0.426168   -0.23942   10.1347    -0.0596548  0.02024     0.0276969   0.18       0             pose: 0.0           -5.68386   0.195538    0 -0.00208128 0.00199352  -0.0206407  0.999783       uwb: 0.0            839.247  1612.74  
imu_odom_:  1691062933.474282585  0.457293   -0.378284  9.7875     -0.0617853  0.00319579  0.0447411   0.21       -0.02         pose: 0.32145640    -5.68017   0.197615    0 -0.00266851 0.00401843  -0.0205494  0.999777       uwb: 0.0            839.247  1612.74  
imu_odom_:  1691062933.491410302  0.131681   -0.399832  9.69412    -0.0585895  -0.0106526  0.0394148   0.21       -0.02         pose: 0.0           -5.68017   0.197615    0 -0.00266851 0.00401843  -0.0205494  0.999777       uwb: 0.99989798     842.498  1613.39  
imu_odom_:  1691062933.516344026  0.0502782  -0.19393   9.85214    -0.0340885  0.0458064   0.0426106   0.18       0             pose: 0.51982200    -5.67054   0.194929    0 -0.0049712  0.00309505  -0.0205505  0.999772       uwb: 0.0            842.498  1613.39  
imu_odom_:  1691062933.532252648  0.509965   -0.1652    10.1754    -0.0575243  -0.04048    0.0372843   0.18       0             pose: 0.7932291     -5.67054   0.194929    0 -0.00457076 0.00402222  -0.0205351  0.999771       uwb: 0.0            842.498  1613.39  
imu_odom_:  1691062933.558287058  0.0407014  -0.203507  9.98382    -0.0426106  0.0330232   0.0372843   0.18       0             pose: 0.0           -5.67054   0.194929    0 -0.00457076 0.00402222  -0.0205351  0.999771       uwb: 0.49994899     848.015  1614.1   
imu_odom_:  1691062933.585297620  0.354342   -0.260968  10.0796    -0.056459   -0.0213053  0.0287621   0.23       0             pose: 0.32910055    -5.66548   0.193517    0 -0.00298742 0.00431773  -0.0205201  0.999776       uwb: 0.50125850     847.137  1613.06  
imu_odom_:  1691062933.610491496  0.430956   0.0502782  9.58878    -0.0777643  0.0287621   0.0490022   0.18       0             pose: 0.53044972    -5.65403   0.190325    0 -0.00222293 0.00438005  -0.0206935  0.999774       uwb: 0.0            847.137  1613.06  
imu_odom_:  1691062933.637428562  -0.0311246 -0.459687  9.75877    -0.0458064  0.0415453   0.0266316   0.23       -0.02         pose: 0.0           -5.65403   0.190325    0 -0.00222293 0.00438005  -0.0206935  0.999774       uwb: 0.49850240     845.778  1611.68  
imu_odom_:  1691062933.663279233  -0.0837971 -0.007182619.72764    -0.0713727  -0.0266316  0.0500674   0.23       -0.02         pose: 0.32213303    -5.65127   0.189556    0 -0.0004792150.00465791  -0.0206133  0.999777       uwb: 0.0            845.778  1611.68  
imu_odom_:  1691062933.690397122  0.691924   -0.131681  9.89763    -0.0308927  -0.0234358  0.0276969   0.23       -0.02         pose: 0.45768310    -5.63895   0.196502    0 -0.0001832140.00862887  -0.0205956  0.999751       uwb: 0.0            845.778  1611.68  
imu_odom_:  1691062933.706279495  0.85473    -0.138864  10.1059    -0.0596548  0.0223706   0.0500674   0.23       -0.02         pose: 0.7062883     -5.63895   0.196502    0 2.35531e-05 0.00786347  -0.0206375  0.999756       uwb: 0.0            845.778  1611.68  
imu_odom_:  1691062933.733379302  0.440533   -0.260968  10.003     -0.0351537  0.00532632  0.0383495   0.23       0             pose: 0.0           -5.63895   0.196502    0 2.35531e-05 0.00786347  -0.0206375  0.999756       uwb: 0.100231576    843.827  1610.43  
imu_odom_:  1691062933.759330009  0.639252   -0.308852  9.73482    -0.0607201  0.0266316   0.0426106   0.23       0             pose: 0.43958040    -5.62932   0.193815    0 0.000452422 0.00363884  -0.0206775  0.999779       uwb: 0.0            843.827  1610.43  
imu_odom_:  1691062933.786408526  0.402226   -0.0694318 10.1347    -0.0340885  0.0234358   0.0553937   0.25       0.02          pose: 0.45029853    -5.6224    0.191881    0 -0.00112899 -2.88643e-05-0.0206555  0.999786       uwb: 0.49924903     845.744  1609.59  
imu_odom_:  1691062933.812315485  0.438139   -0.0957681 10.422     -0.0681769  0.0372843   0.0383495   0.18       0.02          pose: 0.0           -5.6224    0.191881    0 -0.00112899 -2.88643e-05-0.0206555  0.999786       uwb: 0.0            845.744  1609.59  
imu_odom_:  1691062933.829315751  0.0215478  -0.0622492 9.84735    -0.0532632  0.0245011   0.0468716   0.18       0.02          pose: 0.35115218    -5.61969   0.191127    0 0.00253536  9.36758e-05 -0.0204456  0.999788       uwb: 0.0            845.744  1609.59  
imu_odom_:  1691062933.855327705  0.234632   -0.351948  9.61272    -0.0788296  0.0490022   0.0458064   0.2        0             pose: 0.0           -5.61969   0.191127    0 0.00253536  9.36758e-05 -0.0204456  0.999788       uwb: 0.49918487     842.2    1607.93  
imu_odom_:  1691062933.882447052  0.158017   -0.244209  9.56962    -0.0777643  -0.00106526 0.0596548   0.2        0             pose: 0.42865812    -5.61006   0.188443    0 0.00361428  0.00216102  -0.0203744  0.999784       uwb: 0.49940652     843.014  1606.97  
imu_odom_:  1691062933.907409650  0.438139   -0.287304  10.0126    -0.0809601  -0.00745685 0.0436758   0.18       0.02          pose: 0.45136013    -5.5985    0.192672    0 0.000725088 0.00624967  -0.020057   0.999779       uwb: 0.0            843.014  1606.97  
imu_odom_:  1691062933.934460168  0.452504   -0.246603  10.0796    -0.0756338  0.00426106  0.0543285   0.18       0.02          pose: 0.7889127     -5.59774   0.195395    0 0.000239238 0.00554941  -0.0200423  0.999784       uwb: 0.50041563     847.424  1607.4   
imu_odom_:  1691062933.960373252  0.251391   -0.241814  10.0197    -0.0330232  -0.00852212 0.0340885   0.18       0.02          pose: 0.44123989    -5.58811   0.192719    0 -0.00143204 0.00147184  -0.0198135  0.999802       uwb: 0.0            847.424  1607.4   
imu_odom_:  1691062933.977302939  0.514753   -0.361524  9.73482    -0.072438   -0.0191748  0.0426106   0.18       0.02          pose: 0.0           -5.58811   0.192719    0 -0.00143204 0.00147184  -0.0198135  0.999802       uwb: 0.0            847.424  1607.4   
imu_odom_:  1691062933.994456322  0.667982   -0.237026  9.66539    -0.0713727  -0.0319579  0.0415453   0.25       0.02          pose: 0.0           -5.58811   0.192719    0 -0.00143204 0.00147184  -0.0198135  0.999802       uwb: 0.49917612     850.936  1606.86  
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imu_odom_:  1691062934.42367092   0.56982    -0.311246  10.1418    -0.0287621  -0.00958738 0.04048     0.18       0             pose: 0.52072904    -5.57843   0.190032    0 -0.00405591 0.00227817  -0.0197256  0.999795       uwb: 0.50005690     850.209  1605.26  
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imu_odom_:  1691062934.215240175  0.402226   -0.21069   9.92875    -0.0628506  -0.0276969  0.0490022   0.19       0             pose: 0.34935563    -5.54005   0.189419    0 0.00104608  -0.0033001  -0.0191966  0.99981        uwb: 0.0            846.29   1600.79  
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imu_odom_:  1691062934.285299997  0.584185   -0.203507  9.77313    -0.0436758  -0.0170442  0.0436758   0.2        0             pose: 0.44979690    -5.53039   0.186653    0 -0.00217685 -0.00035801 -0.0188453  0.99982        uwb: 0.49940361     851.423  1600.36  
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imu_odom_:  1691062934.338404175  0.414197   -0.160412  10.1131    -0.0809601  -0.0266316  0.072438    0.23       0             pose: 0.0           -5.52765   0.185868    0 -0.00201594 -0.00434536 -0.0187432  0.999813       uwb: 0.49984983     856.944  1600.49  
imu_odom_:  1691062934.364361881  0.292093   -0.213084  9.84017    -0.0426106  0.0287621   0.0213053   0.18       0             pose: 0.33090877    -5.51803   0.18312     0 -0.00240817 -0.00172525 -0.0187294  0.99982        uwb: 0.0            856.944  1600.49  
imu_odom_:  1691062934.391279116  0.730232   -0.25618   10.1059    -0.0820254  -0.0639159  0.056459    0.25       0             pose: 0.45971007    -5.50835   0.190758    0 -0.0002165060.00146995  -0.0186387  0.999825       uwb: 0.49915862     855.083  1599.01  
imu_odom_:  1691062934.407239068  1.20189    -0.184354  9.87369    -0.0372843  0.0213053   0.0223706   0.25       0             pose: 0.0           -5.50835   0.190758    0 -0.0002165060.00146995  -0.0186387  0.999825       uwb: 0.0            855.083  1599.01  
imu_odom_:  1691062934.434282295  0.411803   -0.299275  10.0676    -0.0820254  0.0287621   0.0575243   0.25       0             pose: 0.42877187    -5.50058   0.188541    0 -0.000697131-0.00339538 -0.0185506  0.999822       uwb: 0.49956111     853.186  1597.7   
imu_odom_:  1691062934.450250121  0.373495   -0.464475  9.65103    -0.0745685  0.00958738  0.0319579   0.25       0             pose: 0.7049467     -5.49606   0.18725     0 -0.00132594 -0.00281971 -0.0184857  0.999824       uwb: 0.0            853.186  1597.7   
imu_odom_:  1691062934.466229322  0.361524   -0.124498  10.2472    -0.052198   0.02024     0.02024     0.25       0             pose: 0.0           -5.49606   0.18725     0 -0.00132594 -0.00281971 -0.0184857  0.999824       uwb: 0.0            853.186  1597.7   
imu_odom_:  1691062934.483248254  0.519542   -0.411803  9.7444     -0.0852212  -0.00106526 0.0479369   0.23       0             pose: 0.42950390    -5.49606   0.18725     0 -0.00410453 -0.000343264-0.0184269  0.999822       uwb: 0.50014731     858.111  1597.9   
imu_odom_:  1691062934.510259691  0.299275   -0.217872  9.8689     -0.0532632  -0.00213053 0.0458064   0.23       0             pose: 0.0           -5.49606   0.18725     0 -0.00410453 -0.000343264-0.0184269  0.999822       uwb: 0.0            858.111  1597.9   
imu_odom_:  1691062934.535221997  0.555455   -0.409408  9.75877    -0.0809601  -0.0298274  0.0266316   0.25       -0.02         pose: 0.33182456    -5.48644   0.184509    0 -0.00435581 -0.000458156-0.0184216  0.999821       uwb: 0.50282467     853.757  1595.37  
imu_odom_:  1691062934.562224685  0.368707   -0.328006  10.0149    -0.052198   -0.0191748  0.0415453   0.2        0             pose: 0.44800616    -5.4768    0.181864    0 -0.00503852 -0.00110871 -0.0185216  0.999815       uwb: 0.0            853.757  1595.37  
imu_odom_:  1691062934.587269237  1.08218    -0.227449  9.72764    -0.0340885  0.0255663   0.0223706   0.2        0             pose: 0.0           -5.4768    0.181864    0 -0.00503852 -0.00110871 -0.0185216  0.999815       uwb: 0.49687500     851.345  1594     
imu_odom_:  1691062934.614263175  0.61531    -0.318429  9.92157    -0.0745685  0.0298274   0.0458064   0.23       -0.02         pose: 0.7064633     -5.4768    0.181864    0 -0.00518167 -0.000471868-0.0185108  0.999815       uwb: 0.0            851.345  1594     
imu_odom_:  1691062934.639395221  0.73502    -0.21069   9.77074    -0.0511327  -0.00639159 0.0287621   0.23       -0.02         pose: 0.0           -5.4768    0.181864    0 -0.00518167 -0.000471868-0.0185108  0.999815       uwb: 0.50002191     849.495  1592.59  
imu_odom_:  1691062934.666242751  0.155623   -0.579397  9.93354    -0.0628506  0.0223706   0.0340885   0.21       -0.02         pose: 0.51943995    -5.46451   0.188861    0 -0.0051203  -0.0013728  -0.018694   0.999811       uwb: 0.0            849.495  1592.59  
imu_odom_:  1691062934.691244722  0.416591   0.023942   9.87369    -0.0553937  -0.0330232  0.04048     0.18       0             pose: 0.72012126    -5.45486   0.186212    0 -0.00618191 -0.0029096  -0.0188518  0.999799       uwb: 0.50017357     849.726  1591.68  
imu_odom_:  1691062934.708260446  0.785298   -0.363919  9.97185    -0.0820254  -0.00745685 0.0479369   0.23       0             pose: 0.8200609     -5.45486   0.186212    0 -0.00536825 -0.00293931 -0.0188493  0.999804       uwb: 0.0            849.726  1591.68  
imu_odom_:  1691062934.724361264  -0.0814029 -0.383072  9.43794    -0.0383495  0.0117179   0.0223706   0.23       0             pose: 0.0           -5.45486   0.186212    0 -0.00536825 -0.00293931 -0.0188493  0.999804       uwb: 0.0            849.726  1591.68  
imu_odom_:  1691062934.751261875  0.687136   -0.354342  9.64624    -0.0649811  -0.036219   0.04048     0.25       -0.02         pose: 0.23807665    -5.44522   0.183559    0 -0.00397198 -0.00368856 -0.018817   0.999808       uwb: 0.49962526     853.061  1591.5   
imu_odom_:  1691062934.776286010  0.296881   -0.203507  9.80904    -0.0298274  0.00106526  0.0234358   0.25       -0.02         pose: 0.0           -5.44522   0.183559    0 -0.00397198 -0.00368856 -0.018817   0.999808       uwb: 0.0            853.061  1591.5   
imu_odom_:  1691062934.793228530  0.270545   -0.289698  9.90002    -0.0692422  0.0149137   0.0575243   0.23       -0.02         pose: 0.34169981    -5.44522   0.183559    0 -0.00468584 -0.00385769 -0.0189075  0.999803       uwb: 0.50142766     848.61   1589.58  
imu_odom_:  1691062934.818477528  0.596156   -0.155623  10.0078    -0.0458064  0.0127832   0.04048     0.23       -0.02         pose: 0.0           -5.44522   0.183559    0 -0.00468584 -0.00385769 -0.0189075  0.999803       uwb: 0.0            848.61   1589.58  
imu_odom_:  1691062934.845417220  0.222661   -0.531513  9.64863    -0.0479369  0.0351537   0.036219    0.23       0             pose: 0.50819102    -5.43293   0.190547    0 -0.0038368  -0.00293334 -0.0190358  0.999807       uwb: 0.0            848.61   1589.58  
imu_odom_:  1691062934.861279177  0.158017   -0.114922  9.75637    -0.0234358  0.00958738  0.0298274   0.23       0             pose: 0.0           -5.43293   0.190547    0 -0.0038368  -0.00293334 -0.0190358  0.999807       uwb: 0.0            848.61   1589.58  
imu_odom_:  1691062934.878347981  0.311246   -0.462081  9.7875     -0.0830906  -0.00958738 0.0713727   0.25       0             pose: 0.42249848    -5.42328   0.187891    0 -0.00263183 -0.00294275 -0.018952   0.999813       uwb: 0.0            848.61   1589.58  
imu_odom_:  1691062934.894259519  0.426168   -0.356736  9.66539    -0.0692422  -0.0106526  0.0468716   0.25       0             pose: 0.0           -5.42328   0.187891    0 -0.00263183 -0.00294275 -0.018952   0.999813       uwb: 0.0            848.61   1589.58  
imu_odom_:  1691062934.911365363  0.565032   -0.0790087 9.71806    -0.0447411  0.00532632  0.0415453   0.25       0             pose: 0.43016886    -5.41364   0.185236    0 -0.00360802 0.000523386 -0.0189355  0.999814       uwb: 0.0            848.61   1589.58  
imu_odom_:  1691062934.936334377  0.773327   -0.430956  10.0485    -0.0884169  -0.00213053 0.0543285   0.25       0             pose: 0.0           -5.41364   0.185236    0 -0.00360802 0.000523386 -0.0189355  0.999814       uwb: 0.149986157    849.884  1588.88  
imu_odom_:  1691062934.963195906  0.351948   -0.131681  9.47146    -0.072438   0.0138484   0.0585895   0.23       -0.02         pose: 0.67827535    -5.404     0.182581    0 -0.00582901 -0.00319544 -0.0185404  0.999806       uwb: 0.0            849.884  1588.88  
imu_odom_:  1691062934.979265518  0.454898   -0.462081  10.0556    -0.0937433  -0.00532632 0.0628506   0.23       -0.02         pose: 0.0           -5.404     0.182581    0 -0.00582901 -0.00319544 -0.0185404  0.999806       uwb: 0.0            849.884  1588.88  
imu_odom_:  1691062934.996173915  0.462081   -0.306458  10.1945    -0.0447411  0.0692422   0.04048     0.23       -0.02         pose: 0.0           -5.404     0.182581    0 -0.00582901 -0.00319544 -0.0185404  0.999806       uwb: 0.49872115     847.546  1587.34  
imu_odom_:  1691062935.21228674   -0.0023942 -0.0861913 10.1203    -0.072438   0.0649811   0.0628506   0.25       0             pose: 0.7877461     -5.404     0.182581    0 -0.00520961 -0.00273371 -0.0184662  0.999812       uwb: 0.0            847.546  1587.34  
imu_odom_:  1691062935.48172741   -0.198719  -0.177171  9.80904    -0.0426106  0.0234358   0.0330232   0.23       0.02          pose: 0.41983280    -5.39436   0.179936    0 -0.00511186 -0.00201179 -0.0181006  0.999821       uwb: 0.50005107     843.704  1585.31  
imu_odom_:  1691062935.74325853   0.143652   -0.0766145 9.63187    -0.0415453  -0.0191748  0.0532632   0.23       0.02          pose: 0.0           -5.39436   0.179936    0 -0.00511186 -0.00201179 -0.0181006  0.999821       uwb: 0.0            843.704  1585.31  
imu_odom_:  1691062935.101206340  0.440533   -0.277727  9.87369    -0.0585895  -0.0106526  0.0511327   0.23       0             pose: 0.42048317    -5.38207   0.186944    0 -0.00327276 0.00152941  -0.01783    0.999835       uwb: 0.50070438     840.309  1583.68  
imu_odom_:  1691062935.117374239  0.610521   -0.208296  10.0197    -0.052198   0.0117179   0.0426106   0.23       0             pose: 0.0           -5.38207   0.186944    0 -0.00327276 0.00152941  -0.01783    0.999835       uwb: 0.0            840.309  1583.68  
imu_odom_:  1691062935.143181746  0.555455   -0.268151  9.75637    -0.0553937  -0.0223706  0.0543285   0.25       0.02          pose: 0.53118470    -5.37243   0.184292    0 -0.0009290730.0046803   -0.0176594  0.999833       uwb: 0.0            840.309  1583.68  
imu_odom_:  1691062935.166323866  0.739808   0.047884   9.9934     -0.0490022  -0.00426106 0.0458064   0.25       0.02          pose: 0.0           -5.37243   0.184292    0 -0.0009290730.0046803   -0.0176594  0.999833       uwb: 0.0            840.309  1583.68  
imu_odom_:  1691062935.191198969  0.514753   -0.117316  9.68933    -0.056459   0.0245011   0.0490022   0.18       -0.02         pose: 0.84961961    -5.35627   0.179719    0 -0.000159131-0.003196   -0.0172742  0.999846       uwb: 0.99988050     844.675  1583.72  
imu_odom_:  1691062935.218209240  0.574608   -0.392649  9.73722    -0.0319579  -0.015979   0.0266316   0.23       0.02          pose: 0.8083366     -5.35319   0.178847    0 0.000553327 -0.00345829 -0.0172385  0.999845       uwb: 0.0            844.675  1583.72  
imu_odom_:  1691062935.243168046  0.0814029  -0.627281  9.4571     -0.0703074  -0.00106526 0.0628506   0.23       0.02          pose: 0.0           -5.35319   0.178847    0 0.000553327 -0.00345829 -0.0172385  0.999845       uwb: 0.49793953     847.026  1583.08  
imu_odom_:  1691062935.260168605  0.68953    -0.268151  9.991      -0.0553937  0.00532632  0.0287621   0.21       0             pose: 0.23883785    -5.35319   0.178847    0 0.00146087  -0.004318   -0.0172067  0.999842       uwb: 0.0            847.026  1583.08  
imu_odom_:  1691062935.285176700  0.711078   -0.102951  10.1849    -0.0617853  -0.0181095  0.0468716   0.21       0             pose: 0.0           -5.35319   0.178847    0 0.00146087  -0.004318   -0.0172067  0.999842       uwb: 0.49994900     848.228  1582.64  
imu_odom_:  1691062935.312191929  0.608127   -0.3304    9.3733     -0.0511327  0.00319579  0.0383495   0.23       0.02          pose: 0.51894707    -5.34085   0.185754    0 -0.00210848 -0.00401586 -0.0170668  0.999844       uwb: 0.0            848.228  1582.64  
imu_odom_:  1691062935.328222752  0.672771   -0.265756  10.2113    -0.0585895  -0.0298274  0.0532632   0.23       0.02          pose: 0.0           -5.34085   0.185754    0 -0.00210848 -0.00401586 -0.0170668  0.999844       uwb: 0.0            848.228  1582.64  
imu_odom_:  1691062935.355420262  0.814029   -0.457293  9.80665    -0.052198   0.00639159  0.0330232   0.25       0.02          pose: 0.42188893    -5.33122   0.183039    0 -0.00139669 -0.00754478 -0.0170432  0.999825       uwb: 0.49982943     843.826  1580.82  
imu_odom_:  1691062935.380225952  0.600945   -0.351948  9.87848    -0.0319579  0.0138484   0.0532632   0.25       0.02          pose: 0.0           -5.33122   0.183039    0 -0.00139669 -0.00754478 -0.0170432  0.999825       uwb: 0.0            843.826  1580.82  
imu_odom_:  1691062935.407237682  0.342371   0.201113   10.1754    -0.0287621  0.00532632  0.0458064   0.23       0             pose: 0.43813091    -5.3216    0.180326    0 -0.00347915 -0.010926   -0.0169613  0.99979        uwb: 0.50068979     842.555  1579.48  
imu_odom_:  1691062935.433247594  -0.0167594 -0.512359  9.68215    -0.0820254  0.00532632  0.0596548   0.19       -0.02         pose: 0.50991467    -5.3216    0.180326    0 -0.00558651 -0.0100064  -0.0167943  0.999793       uwb: 0.50165223     841.785  1578.32  
imu_odom_:  1691062935.460164829  0.25618    -0.114922  10.0868    -0.0575243  -0.0191748  0.052198    0.23       0.02          pose: 0.0           -5.3216    0.180326    0 -0.00558651 -0.0100064  -0.0167943  0.999793       uwb: 0.0            841.785  1578.32  
imu_odom_:  1691062935.476211692  0.682347   -0.390255  10.0437    -0.0681769  -0.00639159 0.0585895   0.23       0.02          pose: 0.53028058    -5.31197   0.177618    0 -0.00437095 -0.00595839 -0.0164251  0.999838       uwb: 0.0            841.785  1578.32  
imu_odom_:  1691062935.503436034  0.184354   -0.0861913 9.85214    -0.0575243  0.0255663   0.0628506   0.23       0.02          pose: 0.0           -5.31197   0.177618    0 -0.00437095 -0.00595839 -0.0164251  0.999838       uwb: 0.49821077     840.541  1576.93  
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imu_odom_:  1691062935.556310685  0.701501   -0.579397  9.78989    -0.072438   0.015979    0.0490022   0.25       0             pose: 0.7854713     -5.29001   0.18185     0 -0.00253241 -0.00248301 -0.0157685  0.999869       uwb: 0.49982359     839.848  1575.52  
imu_odom_:  1691062935.582227852  0.153229   -0.296881  9.96706    -0.0436758  0.0394148   0.04048     0.18       -0.02         pose: 0.24944515    -5.29001   0.18185     0 -0.00267412 -0.00128537 -0.0155919  0.999874       uwb: 0.49982359     840.721  1574.32  
imu_odom_:  1691062935.599209453  0.366313   -0.225055  9.79468    -0.0873517  0.00106526  0.052198    0.18       -0.02         pose: 0.0           -5.29001   0.18185     0 -0.00267412 -0.00128537 -0.0155919  0.999874       uwb: 0.0            840.721  1574.32  
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imu_odom_:  1691062935.652202513  0.545878   -0.155623  10.5656    -0.052198   -0.0127832  0.0308927   0.18       0.02          pose: 0.0           -5.28037   0.179184    0 -0.00431422 -0.00140081 -0.0154927  0.99987        uwb: 0.50016482     835.567  1571.57  
imu_odom_:  1691062935.678288838  0.76375    -0.0694318 10.0485    -0.0372843  -0.0298274  0.0426106   0.18       0             pose: 0.42966140    -5.27071   0.176597    0 -0.00357815 0.0012953   -0.0153794  0.999874       uwb: 0.0            835.567  1571.57  
imu_odom_:  1691062935.705224155  0.790087   -0.323217  10.1634    -0.0266316  -0.0809601  0.0266316   0.18       0             pose: 0.53088429    -5.26105   0.17401     0 -0.00288317 -0.00163138 -0.0155197  0.999874       uwb: 0.0            835.567  1571.57  
imu_odom_:  1691062935.731423348  0.416591   -0.0407014 9.84975    -0.0553937  -0.0394148  0.0628506   0.18       0             pose: 0.0           -5.26105   0.17401     0 -0.00288317 -0.00163138 -0.0155197  0.999874       uwb: 0.0            835.567  1571.57  
imu_odom_:  1691062935.756352115  1.01275    -0.217872  9.69652    -0.052198   0.00213053  0.0308927   0.23       -0.02         pose: 0.52867651    -5.24881   0.181079    0 -0.00138982 -0.00681192 -0.0155822  0.999854       uwb: 0.99962094     834.948  1569.98  
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imu_odom_:  1691062935.787191456  0.823605   -0.270545  10.2065    -0.0820254  -0.0149137  0.0447411   0.23       -0.02         pose: 0.0           -5.24881   0.181079    0 -0.00138982 -0.00681192 -0.0155822  0.999854       uwb: 0.50123809     833.401  1567.89  
imu_odom_:  1691062935.810313160  0.519542   -0.387861  9.78989    -0.0543285  -0.0671117  0.0298274   0.18       0.02          pose: 0.74009053    -5.23915   0.178493    0 -0.00104365 -0.00910208 -0.0154014  0.999839       uwb: 0.0            833.401  1567.89  
imu_odom_:  1691062935.836153916  0.543484   -0.320823  9.72764    -0.0553937  -0.00213053 0.0394148   0.18       0.02          pose: 0.6012360     -5.23915   0.178493    0 -0.0016017  -0.00906609 -0.0154252  0.999839       uwb: 0.49938320     832.794  1566.29  
imu_odom_:  1691062935.862144579  0.232238   -0.0670376 9.97424    -0.056459   0.00106526  0.0617853   0.25       -0.02         pose: 0.42950100    -5.23224   0.176644    0 -0.00529228 -0.00743355 -0.0154715  0.999839       uwb: 0.0            832.794  1566.29  
imu_odom_:  1691062935.888170824  0.225055   -0.189142  9.65103    -0.052198   0.0436758   0.0383495   0.19       0             pose: 0.0           -5.23224   0.176644    0 -0.00529228 -0.00743355 -0.0154715  0.999839       uwb: 0.0            832.794  1566.29  
imu_odom_:  1691062935.905169632  0.402226   -0.349553  10.0126    -0.0468716  -0.02024    0.0490022   0.19       0             pose: 0.33055004    -5.22949   0.175906    0 -0.00342612 -0.00450528 -0.015189   0.999869       uwb: 0.0            832.794  1566.29  
imu_odom_:  1691062935.931203751  0.172383   -0.318429  10.3382    -0.0287621  -0.0117179  0.0436758   0.18       0             pose: 0.0           -5.22949   0.175906    0 -0.00342612 -0.00450528 -0.015189   0.999869       uwb: 0.0            832.794  1566.29  
imu_odom_:  1691062935.958326599  0.553061   -0.244209  9.81144    -0.0820254  -0.0213053  0.0756338   0.18       0             pose: 0.43953375    -5.21725   0.182985    0 -0.00409306 -0.0007638  -0.0150926  0.999877       uwb: 0.100052213    832.033  1565.23  
imu_odom_:  1691062935.983134331  0.134075   -0.110133  9.71328    -0.0490022  0.0372843   0.0468716   0.2        0             pose: 0.45164304    -5.20758   0.180405    0 -0.00362325 -0.00188133 -0.014567   0.999886       uwb: 0.49996067     834.297  1564.82  
imu_odom_:  1691062936.10206432   0.0407014  -0.153229  10.0533    -0.072438   -0.0234358  0.0628506   0.2        0             pose: 0.6953223     -5.20758   0.180405    0 -0.00324712 -0.0011367  -0.0145407  0.999888       uwb: 0.0            834.297  1564.82  
imu_odom_:  1691062936.27135536   0.816423   -0.203507  10.1586    -0.0447411  -0.0255663  0.0308927   0.18       0.02          pose: 0.44926610    -5.19792   0.177835    0 -0.00168159 0.00309809  -0.0141507  0.999894       uwb: 0.0            834.297  1564.82  
imu_odom_:  1691062936.52183880   0.811634   -0.447716  9.42837    -0.0916127  -0.00532632 0.0692422   0.18       0.02          pose: 0.0           -5.19792   0.177835    0 -0.00168159 0.00309809  -0.0141507  0.999894       uwb: 0.49858408     835.619  1563.96  
imu_odom_:  1691062936.75208173   0.035913   -0.265756  9.69412    -0.0607201  0.015979    0.0394148   0.2        -0.02         pose: 0.41977448    -5.19068   0.175914    0 -0.00302004 -0.00102325 -0.0138592  0.999899       uwb: 0.0            835.619  1563.96  
imu_odom_:  1691062936.100133440  0.287304   -0.277727  9.991      -0.0692422  -0.0117179  0.052198    0.2        -0.02         pose: 0.0           -5.19068   0.175914    0 -0.00302004 -0.00102325 -0.0138592  0.999899       uwb: 0.50143642     835.476  1562.62  
imu_odom_:  1691062936.127293328  0.146046   -0.222661  9.79707    -0.04048    -0.0287621  0.0372843   0.23       0             pose: 0.47949560    -5.18144   0.173472    0 -0.0032425  0.00391729  -0.0136897  0.999893       uwb: 0.0            835.476  1562.62  
imu_odom_:  1691062936.144275804  0.548272   -0.426168  9.9527     -0.0553937  -0.0351537  0.0426106   0.23       0             pose: 0.0           -5.18144   0.173472    0 -0.0032425  0.00391729  -0.0136897  0.999893       uwb: 0.49926071     835.349  1561.24  
imu_odom_:  1691062936.169345729  0.658405   -0.179565  10.3262    -0.0436758  -0.056459   0.0458064   0.18       0             pose: 0.35125136    -5.17603   0.182388    0 -0.00264765 0.00537484  -0.0137007  0.999888       uwb: 0.0            835.349  1561.24  
imu_odom_:  1691062936.192286319  0.248997   -0.328006  9.88326    -0.0479369  -0.0308927  0.0447411   0.18       0             pose: 0.0           -5.17603   0.182388    0 -0.00264765 0.00537484  -0.0137007  0.999888       uwb: 0.50078021     835.627  1560.29  
imu_odom_:  1691062936.218193571  0.557849   -0.0047884 10.2448    -0.0266316  -0.0617853  0.0436758   0.2        0             pose: 0.40101556    -5.16636   0.179834    0 -0.00258692 0.00185633  -0.0136002  0.999902       uwb: 0.0            835.627  1560.29  
imu_odom_:  1691062936.235269375  0.337582   -0.380678  9.63666    -0.0617853  0.00639159  0.0500674   0.2        0             pose: 0.0           -5.16636   0.179834    0 -0.00258692 0.00185633  -0.0136002  0.999902       uwb: 0.49926363     838.838  1560.2   
imu_odom_:  1691062936.261321869  0.263362   -0.263362  9.72285    -0.0447411  0.00639159  0.0500674   0.25       0             pose: 0.49975651    -5.15672   0.177186    0 -0.00161133 0.00104192  -0.0134612  0.999908       uwb: 0.0            838.838  1560.2   
imu_odom_:  1691062936.288249312  0.306458   -0.244209  9.97664    -0.0415453  -0.0106526  0.0330232   0.25       0.02          pose: 0.35986086    -5.14972   0.175266    0 -0.00237615 0.00417589  -0.0132665  0.9999         uwb: 0.49921405     833.731  1557.75  
imu_odom_:  1691062936.313222993  0.316035   -0.253785  10.0365    -0.0671117  -0.0308927  0.0692422   0.25       0.02          pose: 0.0           -5.14972   0.175266    0 -0.00237615 0.00417589  -0.0132665  0.9999         uwb: 0.0            833.731  1557.75  
imu_odom_:  1691062936.330178054  0.811634   -0.323217  10.1299    -0.056459   0.0117179   0.0426106   0.23       0.02          pose: 0.6818772     -5.14708   0.174542    0 -0.00179503 0.00457733  -0.0132858  0.9999         uwb: 0.0            833.731  1557.75  
imu_odom_:  1691062936.355252354  0.876278   -0.201113  10.2041    -0.036219   -0.0170442  0.0319579   0.23       0.02          pose: 0.0           -5.14708   0.174542    0 -0.00179503 0.00457733  -0.0132858  0.9999         uwb: 0.49993734     834.06   1556.65  
imu_odom_:  1691062936.381216477  0.356736   -0.263362  9.31344    -0.0575243  -0.0181095  0.0351537   0.21       0             pose: 0.52119570    -5.13743   0.171901    0 -0.00234807 0.00331183  -0.0129745  0.999908       uwb: 0.0            834.06   1556.65  
imu_odom_:  1691062936.407135103  0.533907   -0.497994  9.71806    -0.0735032  -0.0372843  0.0607201   0.21       0             pose: 0.0           -5.13743   0.171901    0 -0.00234807 0.00331183  -0.0129745  0.999908       uwb: 0.50021440     835.852  1555.95  
imu_odom_:  1691062936.434154124  0.727837   -0.392649  9.79707    -0.0458064  0.00319579  0.0255663   0.23       -0.02         pose: 0.41866620    -5.13479   0.181547    0 -0.00213928 0.000376132 -0.0130775  0.999912       uwb: 0.50071605     839.671  1555.48  
imu_odom_:  1691062936.450144991  0.452504   -0.0454898 9.56244    -0.0500674  0.0223706   0.0426106   0.23       -0.02         pose: 0.0           -5.13479   0.181547    0 -0.00213928 0.000376132 -0.0130775  0.999912       uwb: 0.0            839.671  1555.48  
imu_odom_:  1691062936.477216801  0.35913    -0.363919  9.92875    -0.036219   0.0245011   0.0266316   0.2        0             pose: 0.52025367    -5.12515   0.178909    0 -0.00508539 -0.000474749-0.0129011  0.999904       uwb: 0.0            839.671  1555.48  
imu_odom_:  1691062936.502291684  0.766145   -0.490811  9.40921    -0.0820254  0.0138484   0.0745685   0.18       0.02          pose: 0.63064603    -5.10858   0.174382    0 -0.00531608 0.000304842 -0.0131964  0.999899       uwb: 0.49880574     839.99   1554.37  
imu_odom_:  1691062936.529166338  0.0694318  -0.213084  10.0796    -0.04048    -0.00852212 0.036219    0.18       0.02          pose: 0.0           -5.10858   0.174382    0 -0.00531608 0.000304842 -0.0131964  0.999899       uwb: 0.0            839.99   1554.37  
imu_odom_:  1691062936.554112896  0.687136   -0.31364   10.0317    -0.0681769  -0.0713727  0.0490022   0.19       0             pose: 0.7888544     -5.10586   0.173637    0 -0.00577281 -0.000328345-0.0130626  0.999898       uwb: 0.50138100     840.863  1553.16  
imu_odom_:  1691062936.571240030  1.08218    -0.126893  9.89763    -0.0415453  0.0319579   0.0287621   0.19       0             pose: 0.0           -5.10586   0.173637    0 -0.00577281 -0.000328345-0.0130626  0.999898       uwb: 0.0            840.863  1553.16  
imu_odom_:  1691062936.596100259  0.368707   -0.351948  9.7851     -0.0756338  0.00852212  0.0639159   0.18       0             pose: 0.52023908    -5.0962    0.171028    0 -0.0056396  -0.00032074 -0.0127657  0.999903       uwb: 0.49884657     839.689  1551.79  
imu_odom_:  1691062936.623132988  0.725443   -0.337582  9.50498    -0.0628506  -0.0170442  0.0372843   0.18       0             pose: 0.0           -5.0962    0.171028    0 -0.0056396  -0.00032074 -0.0127657  0.999903       uwb: 0.0            839.689  1551.79  
imu_odom_:  1691062936.648256868  0.371101   -0.395043  10.0341    -0.056459   0.00532632  0.0330232   0.19       0             pose: 0.42107523    -5.0962    0.171028    0 -0.00542735 -0.00311284 -0.012695   0.9999         uwb: 0.50007733     839.873  1551.16  
imu_odom_:  1691062936.675257807  0.0430956  -0.323217  10.3286    -0.0607201  -0.02024    0.056459    0.22       0             pose: 0.51908707    -5.084     0.178168    0 -0.00668949 -0.00351192 -0.0125478  0.999893       uwb: 0.0            839.873  1551.16  
imu_odom_:  1691062936.691111890  -0.11971   -0.272939  9.96946    -0.0671117  -0.015979   0.0596548   0.22       0             pose: 0.0           -5.084     0.178168    0 -0.00668949 -0.00351192 -0.0125478  0.999893       uwb: 0.49985276     841.584  1550.65  
imu_odom_:  1691062936.718098829  -0.047884  -0.411803  10.1754    -0.0543285  0.00319579  0.0276969   0.25       0             pose: 0.59966407    -5.0695    0.174376    0 -0.00698397 0.00206876  -0.0121718  0.999899       uwb: 0.0            841.584  1550.65  
imu_odom_:  1691062936.743113633  0.213084   -0.445322  9.78031    -0.0383495  -0.015979   0.0266316   0.25       0             pose: 0.8046326     -5.06465   0.17311     0 -0.00707872 0.00289691  -0.0122144  0.999896       uwb: 0.49969527     843.329  1550     
imu_odom_:  1691062936.760297056  0.646434   -0.205901  9.89045    -0.0511327  -0.02024    0.0490022   0.21       -0.02         pose: 0.0           -5.06465   0.17311     0 -0.00707872 0.00289691  -0.0122144  0.999896       uwb: 0.0            843.329  1550     
imu_odom_:  1691062936.786095231  0.509965   -0.169988  10.1873    -0.0458064  0.0298274   0.0223706   0.21       -0.02         pose: 0.51055048    -5.05497   0.170583    0 -0.00842497 0.00587744  -0.0124404  0.99987        uwb: 0.50156183     843.945  1549.67  
imu_odom_:  1691062936.812356837  0.646434   -0.627281  9.32302    -0.0703074  0.0117179   0.0553937   0.23       0             pose: 0.35881967    -5.05497   0.170583    0 -0.0060255  0.00348625  -0.0126297  0.999896       uwb: 0.0            843.945  1549.67  
imu_odom_:  1691062936.838173969  0.280122   -0.169988  10.1227    -0.0287621  0.02024     0.015979    0.23       0             pose: 0.7001053     -5.05497   0.170583    0 -0.00657422 0.00304973  -0.0125792  0.999895       uwb: 0.50159975     846.074  1549.46  
imu_odom_:  1691062936.863232812  0.248997   -0.418985  10.0149    -0.0820254  -0.00532632 0.0681769   0.2        0             pose: 0.45077685    -5.04276   0.177725    0 -0.00534596 0.00314079  -0.0127358  0.9999         uwb: 0.0            846.074  1549.46  
imu_odom_:  1691062936.877153840  0.586579   -0.342371  9.96227    -0.0585895  -0.0340885  0.0340885   0.2        0             pose: 0.0           -5.04276   0.177725    0 -0.00534596 0.00314079  -0.0127358  0.9999         uwb: 0.0            846.074  1549.46  
imu_odom_:  1691062936.894130191  0.658405   -0.105345  9.85932    -0.04048    0.0245011   0.0223706   0.17       0.02          pose: 0.0           -5.04276   0.177725    0 -0.00534596 0.00314079  -0.0127358  0.9999         uwb: 0.49736790     847.28   1548.85  
imu_odom_:  1691062936.908142506  -0.00957681-0.186748  9.44752    -0.0639159  -0.00958738 0.0479369   0.17       0.02          pose: 0.46076002    -5.03309   0.175192    0 -0.00691948 0.00283003  -0.0124838  0.999894       uwb: 0.0            847.28   1548.85  
imu_odom_:  1691062936.933090230  0.196325   -0.268151  9.77553    -0.04048    -0.00958738 0.0298274   0.18       0             pose: 0.0           -5.03309   0.175192    0 -0.00691948 0.00283003  -0.0124838  0.999894       uwb: 0.49971277     844.273  1546.71  
imu_odom_:  1691062936.960255076  0.696713   -0.325611  9.8282     -0.0490022  -0.0500674  0.052198    0.18       0             pose: 0.30886881    -5.02342   0.172661    0 -0.00544431 0.00407934  -0.0125353  0.999898       uwb: 0.0            844.273  1546.71  
imu_odom_:  1691062936.976226986  0.744597   -0.112527  9.81383    -0.0468716  -0.00319579 0.0415453   0.18       0             pose: 0.0           -5.02342   0.172661    0 -0.00544431 0.00407934  -0.0125353  0.999898       uwb: 0.0            844.273  1546.71  
imu_odom_:  1691062937.3089099    0.497994   -0.296881  9.90002    -0.0511327  0.0117179   0.0330232   0.19       0             pose: 0.53112053    -5.01374   0.17013     0 -0.00430794 0.00162832  -0.0124457  0.999912       uwb: 0.50048856     843.148  1545.24  
imu_odom_:  1691062937.28343930   0.663194   -0.186748  9.83059    -0.0553937  0.00532632  0.0617853   0.2        0             pose: 0.34840194    -5.01374   0.17013     0 -0.00402489 -0.00155719 -0.0125401  0.999912       uwb: 0.0            843.148  1545.24  
imu_odom_:  1691062937.55343703   0.373495   -0.167594  10.3693    -0.0532632  0.0234358   0.0372843   0.2        0             pose: 0.0           -5.01374   0.17013     0 -0.00402489 -0.00155719 -0.0125401  0.999912       uwb: 0.49931321     842.49   1543.95  
imu_odom_:  1691062937.80303385   0.766145   -0.251391  10.2185    -0.0628506  -0.0276969  0.0639159   0.18       0             pose: 0.8085991     -5.01374   0.17013     0 -0.00369481 -0.00225647 -0.012454   0.999913       uwb: 0.0            842.49   1543.95  
imu_odom_:  1691062937.107189122  1.20907    -0.0646434 10.1347    -0.0458064  -0.0106526  0.0255663   0.23       0             pose: 0.51963537    -5.00154   0.177276    0 -0.00110098 -0.0023532  -0.0122107  0.999922       uwb: 0.49999276     843.694  1543.34  
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imu_odom_:  1691062937.149072367  0.0933739  -0.205901  9.98143    -0.0713727  0.00106526  0.0426106   0.18       0.02          pose: 0.0           -5.00154   0.177276    0 -0.00110098 -0.0023532  -0.0122107  0.999922       uwb: 0.0            845.854  1542.96  
imu_odom_:  1691062937.165083358  0.629675   -0.0670376 10.5034    -0.0649811  -0.0170442  0.0351537   0.21       -0.02         pose: 0.52086322    -4.99186   0.174752    0 -0.00115684 -0.00621042 -0.0120618  0.999907       uwb: 0.0            845.854  1542.96  
imu_odom_:  1691062937.192118711  0.184354   -0.28491   9.81862    -0.0351537  0.0106526   0.0308927   0.21       -0.02         pose: 0.0           -4.99186   0.174752    0 -0.00115684 -0.00621042 -0.0120618  0.999907       uwb: 0.50044482     843.295  1541.17  
imu_odom_:  1691062937.217186012  0.505177   -0.342371  9.71088    -0.0681769  -0.0234358  0.0500674   0.25       0.02          pose: 0.57859821    -4.98218   0.172231    0 -0.0012416  -0.00317497 -0.0118236  0.999924       uwb: 0.0            843.295  1541.17  
imu_odom_:  1691062937.234110450  0.464475   -0.155623  9.57681    -0.0628506  -0.0394148  0.0447411   0.25       0.02          pose: 0.0           -4.98218   0.172231    0 -0.0012416  -0.00317497 -0.0118236  0.999924       uwb: 0.49807662     842.567  1540.15  
imu_odom_:  1691062937.259210416  0.373495   -0.328006  9.77792    -0.0607201  -0.0170442  0.0426106   0.2        0             pose: 0.61025680    -4.96681   0.168232    0 -0.00186703 -0.0032985  -0.0117311  0.999924       uwb: 0.0            842.567  1540.15  
imu_odom_:  1691062937.286207271  1.29526    -0.0933739 10.1945    -0.0458064  0.00319579  0.036219    0.2        0             pose: 0.0           -4.96681   0.168232    0 -0.00186703 -0.0032985  -0.0117311  0.999924       uwb: 0.50137226     844.984  1540.63  
imu_odom_:  1691062937.311090249  0.730232   -0.373495  9.36133    -0.0745685  0.0117179   0.0553937   0.19       0             pose: 0.6969264     -4.96283   0.167198    0 -0.00232573 -0.00280208 -0.0117181  0.999925       uwb: 0.0            844.984  1540.63  
imu_odom_:  1691062937.328196385  0.0742203  -0.246603  10.149     -0.0308927  0.0106526   0.0447411   0.19       0             pose: 0.0           -4.96283   0.167198    0 -0.00232573 -0.00280208 -0.0117181  0.999925       uwb: 0.0            844.984  1540.63  
imu_odom_:  1691062937.354243046  0.505177   -0.411803  9.85693    -0.0596548  0.00745685  0.0426106   0.18       0.02          pose: 0.53021934    -4.95063   0.174362    0 -0.00322588 -0.00471558 -0.0116786  0.999915       uwb: 0.49886990     843.306  1539.37  
imu_odom_:  1691062937.371125778  0.21069    -0.294487  10.0245    -0.052198   0.00852212  0.0319579   0.18       0.02          pose: 0.0           -4.95063   0.174362    0 -0.00322588 -0.00471558 -0.0116786  0.999915       uwb: 0.0            843.306  1539.37  
imu_odom_:  1691062937.396074669  0.155623   -0.555455  9.31344    -0.0777643  0.00745685  0.0660464   0.18       0             pose: 0.77024130    -4.94095   0.171852    0 -0.00599391 -0.00270259 -0.0115033  0.999912       uwb: 0.0            843.306  1539.37  
imu_odom_:  1691062937.423240682  -0.368707  -0.356736  9.47625    -0.0287621  0.0127832   0.0298274   0.23       0.02          pose: 0.8127697     -4.94095   0.171852    0 -0.00657486 -0.00200495 -0.011391   0.999911       uwb: 0.0            843.306  1539.37  
imu_odom_:  1691062937.448049872  0.150835   -0.0646434 9.9934     -0.0426106  -0.0319579  0.0426106   0.18       0.02          pose: 0.43987207    -4.93127   0.169344    0 -0.007371   0.00238228  -0.0112716  0.999906       uwb: 0.100002927    839.846  1537.25  
imu_odom_:  1691062937.475079393  0.0550666  0.0766145  10.2448    -0.0458064  -0.0276969  0.0447411   0.23       -0.02         pose: 0.0           -4.93127   0.169344    0 -0.007371   0.00238228  -0.0112716  0.999906       uwb: 0.0            839.846  1537.25  
imu_odom_:  1691062937.500269770  0.390255   -0.071826  9.64384    -0.0490022  -0.0223706  0.0479369   0.23       -0.02         pose: 0.31876740    -4.92159   0.166838    0 -0.00454953 0.0037542   -0.0111942  0.99992        uwb: 0.50004817     839.605  1536.34  
imu_odom_:  1691062937.527138883  0.105345   -0.107739  10.0844    -0.0490022  0.0330232   0.0372843   0.23       0             pose: 0.45152348    -4.91295   0.171927    0 -0.00038616 0.00349877  -0.0110166  0.999933       uwb: 0.0            839.605  1536.34  
imu_odom_:  1691062937.552226891  0.536301   -0.268151  9.80665    -0.036219   0.0181095   0.0351537   0.23       0             pose: 0.6985596     -4.90941   0.174015    0 -4.04573e-050.00424855  -0.0110233  0.99993        uwb: 0.50166974     840.79   1535.79  
imu_odom_:  1691062937.569288112  0.416591   -0.217872  10.2759    -0.0436758  0.0213053   0.0671117   0.22       0             pose: 0.0           -4.90941   0.174015    0 -4.04573e-050.00424855  -0.0110233  0.99993        uwb: 0.0            840.79   1535.79  
imu_odom_:  1691062937.586123597  0.0933739  -0.519542  9.44513    -0.0713727  -0.0255663  0.0585895   0.22       0             pose: 0.44971525    -4.90257   0.172248    0 0.000496095 0.00424614  -0.0111016  0.999929       uwb: 0.50054981     839.206  1534.28  
imu_odom_:  1691062937.610101003  0.191536   -0.0742203 9.71328    -0.0479369  -0.015979   0.0543285   0.19       0             pose: 0.0           -4.90257   0.172248    0 0.000496095 0.00424614  -0.0111016  0.999929       uwb: 0.0            839.206  1534.28  
imu_odom_:  1691062937.635194844  0.213084   -0.287304  9.55526    -0.0596548  0.0458064   0.0319579   0.19       0             pose: 0.40814056    -4.89973   0.171513    0 -0.0004996520.0040929   -0.0106575  0.999935       uwb: 0.49752540     838.531  1533.15  
imu_odom_:  1691062937.662113829  -0.191536  -0.222661  9.66779    -0.0671117  0.0106526   0.0660464   0.22       0             pose: 0.42153897    -4.89004   0.169019    0 -0.0008872920.00757924  -0.0106308  0.999914       uwb: 0.0            838.531  1533.15  
imu_odom_:  1691062937.687052512  0.335188   -0.354342  9.6199     -0.0607201  0.0181095   0.0308927   0.22       0             pose: 0.7011844     -4.89004   0.169019    0 -0.0009034180.00833306  -0.0105369  0.999909       uwb: 0.50047398     842.125  1533     
imu_odom_:  1691062937.714032452  0.457293   -0.0742203 10.4004    -0.0628506  -0.0298274  0.0468716   0.23       0             pose: 0.44845824    -4.88036   0.166527    0 -0.00271606 0.00892776  -0.0103979  0.999902       uwb: 0.0            842.125  1533     
imu_odom_:  1691062937.730097690  0.622492   -0.280122  9.75877    -0.0628506  -0.00106526 0.0319579   0.23       0             pose: 0.0           -4.88036   0.166527    0 -0.00271606 0.00892776  -0.0103979  0.999902       uwb: 0.0            842.125  1533     
imu_odom_:  1691062937.757012884  0.519542   -0.248997  9.85932    -0.0681769  -0.0447411  0.052198    0.19       0             pose: 0.35000601    -4.86818   0.173723    0 -0.00124756 0.00571175  -0.0103203  0.99993        uwb: 0.49951737     841.403  1532.03  
imu_odom_:  1691062937.782054519  0.694318   -0.347159  9.80665    -0.036219   -0.0106526  0.0287621   0.19       0             pose: 0.0           -4.86818   0.173723    0 -0.00124756 0.00571175  -0.0103203  0.99993        uwb: 0.49980902     840.682  1531.05  
imu_odom_:  1691062937.799024163  0.047884   -0.624887  9.4954     -0.0681769  0.00852212  0.0415453   0.19       0             pose: 0.43067635    -4.86818   0.173723    0 -0.00184138 0.000891275 -0.010231   0.999946       uwb: 0.0            840.682  1531.05  
imu_odom_:  1691062937.824139002  -0.105345  -0.263362  9.66779    -0.0287621  0.0500674   0.0308927   0.19       0             pose: 0.0           -4.86818   0.173723    0 -0.00184138 0.000891275 -0.010231   0.999946       uwb: 0.0            840.682  1531.05  
imu_odom_:  1691062937.849066603  0.531513   -0.323217  9.63427    -0.072438   0.0234358   0.0479369   0.19       0             pose: 0.41998739    -4.8585    0.171236    0 -0.00334325 0.00157203  -0.0103396  0.99994        uwb: 0.49998109     839.191  1529.3   
imu_odom_:  1691062937.872169350  0.706289   -0.208296  9.64863    -0.0543285  -0.00852212 0.0394148   0.18       0             pose: 0.0           -4.8585    0.171236    0 -0.00334325 0.00157203  -0.0103396  0.99994        uwb: 0.0            839.191  1529.3   
imu_odom_:  1691062937.888085555  0.306458   -0.332794  9.84017    -0.0479369  -0.00106526 0.0511327   0.18       0             pose: 0.48122509    -4.84881   0.168748    0 -0.00373497 0.001051    -0.0103176  0.999939       uwb: 0.50122061     837.587  1527.95  
imu_odom_:  1691062937.915032539  0.311246   -0.117316  10.1131    -0.0351537  -0.00745685 0.0266316   0.25       0             pose: 0.0           -4.84881   0.168748    0 -0.00373497 0.001051    -0.0103176  0.999939       uwb: 0.0            837.587  1527.95  
imu_odom_:  1691062937.940043259  0.632069   -0.418985  9.87608    -0.0788296  0.0287621   0.0585895   0.25       0             pose: 0.40895427    -4.83913   0.16626     0 -0.00314267 0.00112422  -0.0102778  0.999942       uwb: 0.49989651     837.801  1527.25  
imu_odom_:  1691062937.967089987  0.435745   -0.167594  9.79468    -0.0479369  0.0245011   0.0213053   0.21       0             pose: 0.43905836    -4.83051   0.171353    0 -0.00293064 0.00018421  -0.0101632  0.999944       uwb: 0.0            837.801  1527.25  
imu_odom_:  1691062937.992102750  0.184354   -0.363919  9.63427    -0.0340885  -0.0266316  0.0255663   0.21       0             pose: 0.6999012     -4.82695   0.173459    0 -0.00224313 5.02027e-05 -0.0102281  0.999945       uwb: 0.50010942     839.447  1526.8   
imu_odom_:  1691062938.19084440   0.818817   -0.287304  9.80665    -0.056459   -0.0308927  0.0500674   0.22       0             pose: 0.45060479    -4.82037   0.171767    0 -0.00133891 0.00150704  -0.0105878  0.999942       uwb: 0.0            839.447  1526.8   
imu_odom_:  1691062938.44125492   0.0885855  -0.114922  10.4603    -0.02024    0.00426106  0.0383495   0.19       0             pose: 0.0           -4.82037   0.171767    0 -0.00133891 0.00150704  -0.0105878  0.999942       uwb: 0.50179807     834.24   1524.17  
imu_odom_:  1691062938.61063638   0.134075   -0.287304  9.70609    -0.0575243  0.02024     0.0500674   0.19       0             pose: 0.35007601    -4.81727   0.170968    0 -0.00122741 -0.000755691-0.0104539  0.999944       uwb: 0.0            834.24   1524.17  
imu_odom_:  1691062938.86031486   0.799663   0.0143652  9.76834    -0.0340885  0.0170442   0.0276969   0.18       0             pose: 0.0           -4.81727   0.170968    0 -0.00122741 -0.000755691-0.0104539  0.999944       uwb: 0.49801538     833.995  1523.36  
imu_odom_:  1691062938.112008443  0.337582   -0.433351  9.73004    -0.0830906  0.00213053  0.0681769   0.18       0             pose: 0.41966657    -4.80758   0.168477    0 -0.0002700710.00212271  -0.0104209  0.999943       uwb: 0.0            833.995  1523.36  
imu_odom_:  1691062938.134070584  0.0454898  -0.146046  9.85214    -0.0500674  0.0106526   0.0436758   0.2        0             pose: 0.42931435    -4.80023   0.166586    0 -0.0021875  0.00146181  -0.0101518  0.999945       uwb: 0.49864534     833.823  1522.32  
imu_odom_:  1691062938.151068810  0.512359   -0.205901  10.2951    -0.0671117  -0.0127832  0.0596548   0.2        0             pose: 0.0           -4.80023   0.166586    0 -0.0021875  0.00146181  -0.0101518  0.999945       uwb: 0.0            833.823  1522.32  
imu_odom_:  1691062938.174197806  0.42138    -0.323217  9.63906    -0.0479369  -0.0553937  0.0308927   0.23       0.02          pose: 0.6009736     -4.7979    0.165988    0 -0.00197253 0.00207454  -0.0101381  0.999945       uwb: 0.0            833.823  1522.32  
imu_odom_:  1691062938.192021109  0.301669   -0.0694318 9.50977    -0.0841559  0.00852212  0.0628506   0.23       0.02          pose: 0.0           -4.7979    0.165988    0 -0.00197253 0.00207454  -0.0101381  0.999945       uwb: 0.50032816     834.507  1521.75  
imu_odom_:  1691062938.217073828  0.124498   -0.433351  9.9527     -0.072438   0.0191748   0.0468716   0.19       0             pose: 0.39023619    -4.78573   0.173192    0 -0.0016569  0.00149755  -0.0099587  0.999948       uwb: 0.0            834.507  1521.75  
imu_odom_:  1691062938.244081766  0.533907   -0.335188  10.0317    -0.0873517  -0.0234358  0.0511327   0.19       0             pose: 0.0           -4.78573   0.173192    0 -0.0016569  0.00149755  -0.0099587  0.999948       uwb: 0.50099604     836.681  1521.2   
imu_odom_:  1691062938.269068280  0.497994   -0.433351  10.6949    -0.0394148  -0.00958738 0.0245011   0.19       0             pose: 0.41982406    -4.78573   0.173192    0 -0.0021568  0.00168341  -0.00980112 0.999948       uwb: 0.0            836.681  1521.2   
imu_odom_:  1691062938.286199790  0.447716   -0.328006  9.55526    -0.0681769  -0.0372843  0.0447411   0.19       0             pose: 0.0           -4.78573   0.173192    0 -0.0021568  0.00168341  -0.00980112 0.999948       uwb: 0.50029900     836.088  1519.91  
imu_odom_:  1691062938.311198261  0.0694318  -0.234632  9.74679    -0.0415453  0           0.0426106   0.2        0             pose: 0.53052559    -4.77604   0.170714    0 -0.00506328 -1.3105e-05 -0.00964971 0.999941       uwb: 0.0            836.088  1519.91  
imu_odom_:  1691062938.338023336  0.380678   -0.294487  9.9503     -0.0532632  -0.0458064  0.0490022   0.2        0             pose: 0.0           -4.77604   0.170714    0 -0.00506328 -1.3105e-05 -0.00964971 0.999941       uwb: 0.0            836.088  1519.91  
imu_odom_:  1691062938.354043951  1.02951    0.0287304  10.1514    -0.0308927  -0.02024    0.0330232   0.18       -0.02         pose: 0.41929617    -4.76635   0.168239    0 -0.00580193 -0.00234682 -0.00973236 0.999933       uwb: 0.0            836.088  1519.91  
imu_odom_:  1691062938.381128011  0.299275   -0.3304    9.69173    -0.0553937  0.00319579  0.0553937   0.18       -0.02         pose: 0.0           -4.76635   0.168239    0 -0.00580193 -0.00234682 -0.00973236 0.999933       uwb: 0.0            836.088  1519.91  
imu_odom_:  1691062938.406068736  0.440533   -0.332794  10.0772    -0.0426106  0.00213053  0.0500674   0.19       0.02          pose: 0.52067074    -4.75666   0.165763    0 -0.00330533 0.000246385 -0.00958601 0.999949       uwb: 0.99852144     834.155  1518.13  
imu_odom_:  1691062938.430012018  0.447716   -0.347159  9.84735    -0.052198   -0.0213053  0.0458064   0.19       0.02          pose: 0.0           -4.75666   0.165763    0 -0.00330533 0.000246385 -0.00958601 0.999949       uwb: 0.0            834.155  1518.13  
imu_odom_:  1691062938.455168272  0.538695   -0.155623  9.91918    -0.0703074  -0.056459   0.0660464   0.18       0.02          pose: 0.43017471    -4.7445    0.17298     0 -0.00440952 0.00127562  -0.00935498 0.999946       uwb: 0.50005109     832.337  1516.04  
imu_odom_:  1691062938.480024419  0.612916   -0.160412  9.991      -0.0500674  -0.0468716  0.0415453   0.19       0             pose: 0.47979602    -4.73481   0.170493    0 -0.00601443 -0.0026992  -0.0091162  0.999937       uwb: 0.0            832.337  1516.04  
imu_odom_:  1691062938.496988521  0.517148   -0.134075  10.1083    -0.0383495  0.0340885   0.0266316   0.19       0             pose: 0.0           -4.73481   0.170493    0 -0.00601443 -0.0026992  -0.0091162  0.999937       uwb: 0.49986152     835.329  1516.02  
imu_odom_:  1691062938.522012950  0.181959   -0.220267  9.87848    -0.0585895  -0.0319579  0.04048     0.19       0             pose: 0.25936125    -4.73481   0.170493    0 -0.00393908 -0.0046757  -0.008879   0.999942       uwb: 0.0            835.329  1516.02  
imu_odom_:  1691062938.546996839  0.533907   -0.42138   9.5792     -0.0671117  -0.0681769  0.0617853   0.2        0             pose: 0.41058169    -4.72515   0.167936    0 -0.000795597-0.00514684 -0.00898707 0.999946       uwb: 0.50111854     835.186  1514.91  
imu_odom_:  1691062938.570015591  0.493206   -0.383072  9.165      -0.0639159  -0.0319579  0.036219    0.18       0             pose: 0.42932018    -4.71548   0.165378    0 -0.0033013  -0.00514511 -0.00869242 0.999944       uwb: 0.0            835.186  1514.91  
imu_odom_:  1691062938.586137409  0.754174   -0.225055  10.2759    -0.0490022  -0.0447411  0.0447411   0.18       0             pose: 0.0           -4.71548   0.165378    0 -0.0033013  -0.00514511 -0.00869242 0.999944       uwb: 0.50114186     833.678  1513.44  
imu_odom_:  1691062938.612011997  0.440533   -0.220267  10.1562    -0.0479369  -0.00426106 0.0340885   0.26       0             pose: 0.6007986     -4.71548   0.165378    0 -0.00392796 -0.00520332 -0.00869919 0.999941       uwb: 0.0            833.678  1513.44  
imu_odom_:  1691062938.637074923  0.318429   -0.0909797 10.41      -0.0500674  0.0276969   0.0692422   0.26       0             pose: 0.0           -4.71548   0.165378    0 -0.00392796 -0.00520332 -0.00869919 0.999941       uwb: 0.49764206     832.609  1512.15  
imu_odom_:  1691062938.662049188  0.430956   -0.134075  9.76595    -0.0596548  0.0436758   0.0298274   0.22       0             pose: 0.41029878    -4.70581   0.162825    0 -0.00447063 -0.00658868 -0.00870871 0.99993        uwb: 0.0            832.609  1512.15  
imu_odom_:  1691062938.676031463  0.217872   -0.0287304 9.76355    -0.0532632  -0.00958738 0.0532632   0.22       0             pose: 0.0           -4.70581   0.162825    0 -0.00447063 -0.00658868 -0.00870871 0.99993        uwb: 0.0            832.609  1512.15  
imu_odom_:  1691062938.700985312  0.0215478  -0.318429  9.73961    -0.0575243  0.0330232   0.0298274   0.18       -0.02         pose: 0.50007442    -4.69359   0.169949    0 -0.000715163-0.00270579 -0.00842848 0.999961       uwb: 0.50050315     832.901  1511.26  
imu_odom_:  1691062938.727037806  0.122104   -0.260968  9.71088    -0.0681769  -0.0149137  0.0660464   0.18       -0.02         pose: 0.0           -4.69359   0.169949    0 -0.000715163-0.00270579 -0.00842848 0.999961       uwb: 0.0            832.901  1511.26  
imu_odom_:  1691062938.751986697  0.493206   -0.464475  9.40921    -0.0681769  0.00532632  0.0308927   0.19       0             pose: 0.38922417    -4.69359   0.169949    0 0.00162148  7.9246e-05  -0.00846324 0.999963       uwb: 0.50003943     832.823  1510     
imu_odom_:  1691062938.769088167  0.268151   0.126893   10.1514    -0.0660464  0.0181095   0.0383495   0.19       0             pose: 0.0           -4.69359   0.169949    0 0.00162148  7.9246e-05  -0.00846324 0.999963       uwb: 0.0            832.823  1510     
imu_odom_:  1691062938.794034725  0.390255   -0.215478  9.94791    -0.0585895  0           0.0298274   0.19       0             pose: 0.51157418    -4.68389   0.167497    0 -0.0004464730.00413947  -0.00824535 0.999957       uwb: 0.50091729     833.101  1509.15  
imu_odom_:  1691062938.819111358  0.742203   -0.521936  9.63906    -0.0916127  0.0351537   0.0490022   0.19       0             pose: 0.0           -4.68389   0.167497    0 -0.0004464730.00413947  -0.00824535 0.999957       uwb: 0.0            833.101  1509.15  
imu_odom_:  1691062938.840134351  0.548272   -0.234632  9.70131    -0.0660464  0.052198    0.0276969   0.18       0.02          pose: 0.42966433    -4.6742    0.16505     0 -0.0003544080.00293628  -0.00837248 0.999961       uwb: 0.49881159     834.208  1508.77  
imu_odom_:  1691062938.854117501  0.177171   -0.21069   9.74201    -0.0490022  -0.0127832  0.0372843   0.18       0.02          pose: 0.0           -4.6742    0.16505     0 -0.0003544080.00293628  -0.00837248 0.999961       uwb: 0.0            834.208  1508.77  
imu_odom_:  1691062938.878246273  0.0837971  -0.418985  9.68933    -0.0596548  0.0191748   0.0330232   0.17       0             pose: 0.47915438    -4.6645    0.162599    0 -0.00217389 -0.000535825-0.00837543 0.999962       uwb: 0.0            834.208  1508.77  
imu_odom_:  1691062938.903247953  0.301669   -0.320823  10.1825    -0.052198   0.0138484   0.0490022   0.17       0             pose: 0.0           -4.6645    0.162599    0 -0.00217389 -0.000535825-0.00837543 0.999962       uwb: 0.49958445     836.683  1508.71  
imu_odom_:  1691062938.928162138  0.246603   -0.399832  9.49062    -0.0479369  0.0681769   0.0191748   0.2        0             pose: 0.35998336    -4.65236   0.169843    0 -0.00206985 0.000405939 -0.00850469 0.999962       uwb: 0.0            836.683  1508.71  
imu_odom_:  1691062938.946230718  0.426168   -0.102951  9.91439    -0.0532632  -0.0266316  0.0479369   0.2        0             pose: 0.0           -4.65236   0.169843    0 -0.00206985 0.000405939 -0.00850469 0.999962       uwb: 0.50121186     838.385  1507.97  
imu_odom_:  1691062938.962105217  0.227449   -0.600945  9.29669    -0.072438   0.0287621   0.0394148   0.18       -0.02         pose: 0.50134018    -4.64266   0.167391    0 -0.00500612 0.0050892   -0.00852161 0.999938       uwb: 0.0            838.385  1507.97  
imu_odom_:  1691062938.987084732  0.0885855  -0.0837971 9.74919    -0.0607201  -0.0106526  0.0532632   0.18       -0.02         pose: 0.0           -4.64266   0.167391    0 -0.00500612 0.0050892   -0.00852161 0.999938       uwb: 0.49919072     838.335  1506.6   
imu_odom_:  1691062939.11178214   0.167594   -0.387861  10.2232    -0.0671117  -0.0223706  0.052198    0.18       0             pose: 0.40926926    -4.63297   0.164936    0 -0.00538342 0.00577596  -0.0086222  0.999932       uwb: 0.0            838.335  1506.6   
imu_odom_:  1691062939.35033418   0.428562   -0.0574608 10.1442    -0.052198   -0.0234358  0.0319579   0.18       0             pose: 0.0           -4.63297   0.164936    0 -0.00538342 0.00577596  -0.0086222  0.999932       uwb: 0.50060524     839.084  1505.78  
imu_odom_:  1691062939.59964227   0.955286   -0.311246  10.0724    -0.0340885  -0.015979   0.015979    0.18       -0.02         pose: 0.42110149    -4.63297   0.164936    0 -0.00504347 0.00806911  -0.00838967 0.99992        uwb: 0.0            839.084  1505.78  
imu_odom_:  1691062939.76995118   0.23942    -0.0167594 9.80904    -0.0490022  0.0223706   0.0479369   0.18       -0.02         pose: 0.0           -4.63297   0.164936    0 -0.00504347 0.00806911  -0.00838967 0.99992        uwb: 0.0            839.084  1505.78  
imu_odom_:  1691062939.99002429   0.452504   -0.289698  9.81623    -0.0458064  -0.00532632 0.0479369   0.19       0             pose: 0.47848359    -4.62327   0.162485    0 -0.00431192 0.00674781  -0.00845179 0.999932       uwb: 0.49876783     839.791  1505.06  
imu_odom_:  1691062939.123960070  0.488417   -0.131681  9.67976    -0.0543285  -0.015979   0.0532632   0.19       0             pose: 0.0           -4.62327   0.162485    0 -0.00431192 0.00674781  -0.00845179 0.999932       uwb: 0.0            839.791  1505.06  
imu_odom_:  1691062939.149952776  0.567426   -0.129287  9.64863    -0.0426106  -0.0255663  0.0319579   0.23       0             pose: 0.40995173    -4.61113   0.169727    0 -0.00252494 0.00487653  -0.00857013 0.999948       uwb: 0.49999569     841.873  1504.61  
imu_odom_:  1691062939.164679342  1.34794    -0.071826  10.2185    -0.0532632  0.036219    0.0553937   0.23       0             pose: 0.0           -4.61113   0.169727    0 -0.00252494 0.00487653  -0.00857013 0.999948       uwb: 0.0            841.873  1504.61  
imu_odom_:  1691062939.181096893  1.31681    -0.440533  9.67018    -0.0820254  0.0500674   0.0660464   0.18       0             pose: 0.47985726    -4.60143   0.167276    0 -0.00066472 0.000599516 -0.00836477 0.999965       uwb: 0.0            841.873  1504.61  
imu_odom_:  1691062939.206097698  0.474052   -0.349553  9.53371    -0.0458064  -0.00639159 0.0511327   0.18       0             pose: 0.0           -4.60143   0.167276    0 -0.00066472 0.000599516 -0.00836477 0.999965       uwb: 0.49990527     841.757  1503.44  
imu_odom_:  1691062939.232272393  0.620098   -0.196325  9.47625    -0.0713727  0.0127832   0.0436758   0.2        0             pose: 0.75095160    -4.59174   0.164826    0 -0.00246082 -0.00364156 -0.00794784 0.999959       uwb: 0.49981195     842.102  1502.35  
imu_odom_:  1691062939.257039295  0.533907   -0.158017  9.38527    -0.0798948  0.00532632  0.0649811   0.2        0             pose: 0.8026203     -4.59174   0.164826    0 -0.00221286 -0.00431374 -0.00793475 0.999957       uwb: 0.0            842.102  1502.35  
imu_odom_:  1691062939.280973537  0.433351   -0.37589   9.74679    -0.0777643  0.0191748   0.0479369   0.23       0.02          pose: 0.42915394    -4.58204   0.162385    0 0.000436599 -0.00635255 -0.00760757 0.999951       uwb: 0.0            842.102  1502.35  
imu_odom_:  1691062939.308436158  0.414197   -0.395043  10.1658    -0.0937433  -0.00319579 0.052198    0.25       0.02          pose: 0.0           -4.58204   0.162385    0 0.000436599 -0.00635255 -0.00760757 0.999951       uwb: 0.50144518     841.741  1501.96  
imu_odom_:  1691062939.325080029  0.035913   -0.430956  9.84256    -0.0468716  0.0319579   0.0266316   0.25       0.02          pose: 0.31136534    -4.5699    0.16965     0 -0.00267657 -0.00452893 -0.00744787 0.999958       uwb: 0.0            841.741  1501.96  
imu_odom_:  1691062939.349942592  0.586579   -0.392649  9.60554    -0.0713727  -0.0500674  0.0500674   0.18       0.02          pose: 0.0           -4.5699    0.16965     0 -0.00267657 -0.00452893 -0.00744787 0.999958       uwb: 0.49877076     840.303  1500.42  
imu_odom_:  1691062939.374052407  0.682347   -0.186748  9.73722    -0.056459   0.0138484   0.0394148   0.18       0.02          pose: 0.43794719    -4.5699    0.16965     0 -0.00553536 -0.00229576 -0.00737697 0.999955       uwb: 0.0            840.303  1500.42  
imu_odom_:  1691062939.401048972  -0.00957681-0.272939  9.83538    -0.0500674  -0.0234358  0.0479369   0.23       -0.02         pose: 0.42081859    -4.5602    0.167219    0 -0.005069   -0.00598609 -0.0073099  0.999943       uwb: 0.0            840.303  1500.42  
imu_odom_:  1691062939.425929325  0.129287   -0.296881  9.91918    -0.0117179  -0.0511327  0.036219    0.23       -0.02         pose: 0.7949207     -4.5602    0.167219    0 -0.00498394 -0.00526943 -0.00727258 0.999947       uwb: 0.0            840.303  1500.42  
imu_odom_:  1691062939.442945634  0.387861   -0.399832  9.40921    -0.0681769  0.0138484   0.056459    0.23       0.02          pose: 0.0           -4.5602    0.167219    0 -0.00498394 -0.00526943 -0.00727258 0.999947       uwb: 0.99999137     840.675  1499.26  
imu_odom_:  1691062939.467015201  0.373495   -0.318429  9.76595    -0.0394148  0.0106526   0.0532632   0.23       0.02          pose: 0.50948306    -4.5505    0.164791    0 -0.00483173 -0.00130427 -0.00714758 0.999962       uwb: 0.0            840.675  1499.26  
imu_odom_:  1691062939.492957451  0.411803   -0.354342  9.99819    -0.0500674  -0.00958738 0.0468716   0.24       0             pose: 0.34065281    -4.5408    0.162365    0 -0.00517884 0.00173349  -0.00688334 0.999961       uwb: 0.50035149     842.124  1499.22  
imu_odom_:  1691062939.518102040  0.263362   -0.124498  10.3765    -0.0649811  -0.00958738 0.0607201   0.24       0             pose: 0.8010453     -4.5408    0.162365    0 -0.00569149 0.00111373  -0.00685807 0.99996        uwb: 0.0            842.124  1499.22  
imu_odom_:  1691062939.535957716  0.842759   -0.253785  10.1251    -0.0585895  0.0383495   0.0543285   0.19       0             pose: 0.24986223    -4.52868   0.169646    0 -0.00627487 8.25858e-05 -0.00672445 0.999958       uwb: 0.49826912     842.015  1498.06  
imu_odom_:  1691062939.559943871  0.191536   -0.196325  9.91678    -0.0372843  0.00213053  0.0340885   0.19       0             pose: 0.0           -4.52868   0.169646    0 -0.00482801 0.000996056 -0.00652685 0.999967       uwb: 0.0            842.015  1498.06  
imu_odom_:  1691062939.585085543  0.423774   -0.280122  9.28471    -0.0596548  -0.0468716  0.04048     0.19       0             pose: 0.26015454    -4.51897   0.167233    0 -0.00420155 0.000356385 -0.00642464 0.99997        uwb: 0.50118270     841.836  1497.11  
imu_odom_:  1691062939.609078698  0.466869   -0.363919  9.4571     -0.0798948  -0.0458064  0.0649811   0.19       0             pose: 0.0           -4.51897   0.167233    0 -0.00420155 0.000356385 -0.00642464 0.99997        uwb: 0.0            841.836  1497.11  
imu_odom_:  1691062939.626066425  0.306458   -0.354342  9.95988    -0.0500674  0.00106526  0.0479369   0.19       0             pose: 0.47978436    -4.51897   0.167233    0 -0.00432153 -0.00167486 -0.00636842 0.999969       uwb: 0.0            841.836  1497.11  
imu_odom_:  1691062939.650070662  0.557849   -0.229843  10.2999    -0.0394148  -0.0447411  0.0468716   0.19       0             pose: 0.0           -4.51897   0.167233    0 -0.00432153 -0.00167486 -0.00636842 0.999969       uwb: 0.49865993     844.694  1497.13  
imu_odom_:  1691062939.674990680  0.553061   -0.177171  9.91678    -0.0511327  0.0106526   0.0383495   0.19       0.02          pose: 0.24880937    -4.50927   0.164822    0 -0.00614196 -0.00196161 -0.0061145  0.999961       uwb: 0.0            844.694  1497.13  
imu_odom_:  1691062939.700976970  0.380678   -0.292093  9.95988    -0.0777643  -0.0106526  0.0735032   0.23       -0.02         pose: 0.16095861    -4.50927   0.164822    0 -0.00573215 -0.00171821 -0.00604818 0.999964       uwb: 0.49983236     845.408  1496.37  
imu_odom_:  1691062939.717085372  0.0790087  -0.272939  9.80186    -0.0532632  -0.0340885  0.0479369   0.23       -0.02         pose: 0.0           -4.50927   0.164822    0 -0.00573215 -0.00171821 -0.00604818 0.999964       uwb: 0.0            845.408  1496.37  
imu_odom_:  1691062939.742934295  0.56982    -0.248997  10.2352    -0.0596548  -0.036219   0.0617853   0.24       0             pose: 0.49919365    -4.49956   0.162417    0 -0.00268709 -0.00383021 -0.00588435 0.999972       uwb: 0.50136061     846.107  1495.65  
imu_odom_:  1691062939.767981472  0.629675   -0.325611  10.1778    -0.0319579  -0.0532632  0.0340885   0.24       0             pose: 0.0           -4.49956   0.162417    0 -0.00268709 -0.00383021 -0.00588435 0.999972       uwb: 0.0            846.107  1495.65  
imu_odom_:  1691062939.793974470  0.708684   -0.323217  9.62469    -0.0809601  0           0.0617853   0.2        0.02          pose: 0.41947992    -4.48746   0.169723    0 -0.00315995 -0.00167101 -0.00541543 0.999979       uwb: 0.49877950     842.073  1493.39  
imu_odom_:  1691062939.809967379  0.509965   -0.251391  9.88326    -0.0745685  -0.015979   0.0479369   0.2        0.02          pose: 0.0           -4.48746   0.169723    0 -0.00315995 -0.00167101 -0.00541543 0.999979       uwb: 0.0            842.073  1493.39  
imu_odom_:  1691062939.835923920  0.52433    -0.696713  10.2137    0.0149137   -0.0170442  0.00426106  0.22       0             pose: 0.50987970    -4.47775   0.167331    0 -0.00370062 -0.00744076 -0.00520394 0.999952       uwb: 0.49999860     841.149  1491.84  
imu_odom_:  1691062939.859911534  0.0646434  0.011971   10.0461    -0.0426106  -0.0191748  0.0628506   0.22       0             pose: 0.0           -4.47775   0.167331    0 -0.00370062 -0.00744076 -0.00520394 0.999952       uwb: 0.0            841.149  1491.84  
imu_odom_:  1691062939.885923489  0.596156   -0.246603  9.91199    -0.0884169  -0.00213053 0.0575243   0.21       -0.02         pose: 0.40992839    -4.46804   0.164945    0 -0.00409084 -0.00788797 -0.00505966 0.999948       uwb: 0.49998402     841.902  1490.97  
imu_odom_:  1691062939.908925034  0.727837   -0.167594  10.2496    -0.0458064  -0.0223706  0.0181095   0.21       -0.02         pose: 0.0           -4.46804   0.164945    0 -0.00409084 -0.00788797 -0.00505966 0.999948       uwb: 0.0            841.902  1490.97  
imu_odom_:  1691062939.927108817  0.713472   -0.407014  8.89207    -0.0596548  -0.0127832  0.0298274   0.19       0             pose: 0.50995552    -4.45833   0.16256     0 -0.00355762 -0.00670702 -0.00502668 0.999959       uwb: 0.0            841.902  1490.97  
imu_odom_:  1691062939.951979254  -0.0622492 -0.232238  10.24      -0.0234358  -0.015979   0.0266316   0.19       0             pose: 0.0           -4.45833   0.16256     0 -0.00355762 -0.00670702 -0.00502668 0.999959       uwb: 0.49986444     843.488  1490.44  
imu_odom_:  1691062939.976907438  0.244209   -0.397437  9.9527     -0.0543285  -0.0245011  0.0447411   0.22       -0.02         pose: 0.49210656    -4.44861   0.160175    0 -0.00225317 -0.0109147  -0.00517396 0.999925       uwb: 0.0            843.488  1490.44  
imu_odom_:  1691062940.1064792    0.337582   -0.1652    9.65821    -0.0415453  -0.00639159 0.0383495   0.22       -0.02         pose: 0.42833732    -4.44623   0.169886    0 -0.00278842 -0.00856355 -0.00534054 0.999945       uwb: 0.50054107     839.924  1488.32  
imu_odom_:  1691062940.17062951   0.469264   -0.234632  10.0293    -0.0820254  0.00426106  0.0468716   0.19       -0.02         pose: 0.41103958    -4.43652   0.167495    0 -0.0020358  -0.00508053 -0.0053018  0.999971       uwb: 0.0            839.924  1488.32  
imu_odom_:  1691062940.42908666   0.332794   -0.162806  9.65582    -0.0639159  0.00106526  0.0468716   0.19       -0.02         pose: 0.0           -4.43652   0.167495    0 -0.0020358  -0.00508053 -0.0053018  0.999971       uwb: 0.50007735     836.622  1486.88  
imu_odom_:  1691062940.69055071   0.497994   -0.373495  10.4531    -0.0649811  -0.0287621  0.0500674   0.26       0.02          pose: 0.24054985    -4.42681   0.165105    0 -0.00108253 -0.00290194 -0.00521722 0.999982       uwb: 0.0            836.622  1486.88  
imu_odom_:  1691062940.93939800   0.608127   -0.0646434 10.5345    -0.0617853  -0.0117179  0.0415453   0.23       -0.02         pose: 0.0           -4.42681   0.165105    0 -0.00108253 -0.00290194 -0.00521722 0.999982       uwb: 0.49916449     837.375  1486.04  
imu_odom_:  1691062940.117971161  0.744597   -0.215478  10.0365    -0.0298274  -0.0245011  0.015979    0.23       -0.02         pose: 0.50942473    -4.4171    0.162717    0 -0.00225384 -0.00311097 -0.00500958 0.99998        uwb: 0.0            837.375  1486.04  
imu_odom_:  1691062940.135063590  0.143652   0.00957681 9.65103    -0.0532632  0.0149137   0.0553937   0.23       -0.02         pose: 0.0           -4.4171    0.162717    0 -0.00225384 -0.00311097 -0.00500958 0.99998        uwb: 0.49990236     839.372  1485.69  
imu_odom_:  1691062940.161101794  0.299275   -0.306458  9.5385     -0.0500674  0.0245011   0.0340885   0.18       0             pose: 0.48990169    -4.4171    0.162717    0 -4.88351e-05-0.00619515 -0.00522968 0.999967       uwb: 0.0            839.372  1485.69  
imu_odom_:  1691062940.184955540  0.126893   -0.306458  9.67018    -0.0532632  -0.0106526  0.0575243   0.23       0             pose: 0.36049375    -4.40568   0.167259    0 -0.000604863-0.00253145 -0.00521978 0.999983       uwb: 0.50158227     838.68   1484.94  
imu_odom_:  1691062940.198887360  0.502782   -0.35913   9.71328    -0.0394148  -0.0106526  0.036219    0.23       0             pose: 0.0           -4.40568   0.167259    0 -0.000604863-0.00253145 -0.00521978 0.999983       uwb: 0.0            838.68   1484.94  
imu_odom_:  1691062940.223225829  0.519542   -0.0454898 10.3789    -0.0447411  -0.0149137  0.0660464   0.17       0             pose: 0.0           -4.40568   0.167259    0 -0.000604863-0.00253145 -0.00521978 0.999983       uwb: 0.0            838.68   1484.94  
imu_odom_:  1691062940.249927244  0.517148   -0.0335188 10.5177    -0.0553937  0.0138484   0.036219    0.17       0             pose: 0.45809436    -4.39529   0.16765     0 -0.00136513 -0.00153983 -0.00492205 0.999986       uwb: 0.49861326     838.517  1484.02  
imu_odom_:  1691062940.274902093  0.215478   -0.500388  9.56962    -0.0862864  0.036219    0.072438    0.19       0             pose: 0.43016014    -4.38846   0.165975    0 0.00271458  -0.00299689 -0.00475932 0.99998        uwb: 0.0            838.517  1484.02  
imu_odom_:  1691062940.299937021  0.746991   -0.1652    9.7851     -0.0532632  0.0266316   0.0287621   0.19       0             pose: 0.8024453     -4.38557   0.165268    0 0.00194226  -0.00236029 -0.00462678 0.999985       uwb: 0.49997236     841.301  1484.08  
imu_odom_:  1691062940.312868774  -0.0766145 -0.277727  9.74679    -0.0809601  0.04048     0.0628506   0.2        -0.02         pose: 0.0           -4.38557   0.165268    0 0.00194226  -0.00236029 -0.00462678 0.999985       uwb: 0.0            841.301  1484.08  
imu_odom_:  1691062940.329961494  0.287304   -0.337582  10.4148    -0.0681769  -0.0117179  0.0628506   0.2        -0.02         pose: 0.47923606    -4.37586   0.162891    0 0.000504414 -0.00239379 -0.00441279 0.999987       uwb: 0.0            841.301  1484.08  
imu_odom_:  1691062940.355034045  0.711078   0.0430956  10.3932    -0.056459   -0.0138484  0.0330232   0.18       0.02          pose: 0.0           -4.37586   0.162891    0 0.000504414 -0.00239379 -0.00441279 0.999987       uwb: 0.49987612     841.77   1482.65  
imu_odom_:  1691062940.379021659  0.392649   -0.483629  9.6199     -0.0458064  0.0223706   0.0223706   0.18       0.02          pose: 0.31200988    -4.37586   0.162891    0 -0.000437708-0.000877856-0.0041557  0.999991       uwb: 0.0            841.77   1482.65  
imu_odom_:  1691062940.403950718  0.557849   -0.241814  10.0293    -0.0628506  -0.0394148  0.0543285   0.25       0             pose: 0.0           -4.37586   0.162891    0 -0.000437708-0.000877856-0.0041557  0.999991       uwb: 0.50129936     842.868  1482.14  
imu_odom_:  1691062940.427048509  1.02951    -0.126893  9.91918    -0.0532632  0.0223706   0.04048     0.25       0             pose: 0.49867160    -4.36377   0.170238    0 -0.00149833 -0.00244639 -0.00435955 0.999986       uwb: 0.0            842.868  1482.14  
imu_odom_:  1691062940.442921550  0.641646   -0.253785  9.95748    -0.0532632  0.00639159  0.0436758   0.2        0             pose: 0.0           -4.36377   0.170238    0 -0.00149833 -0.00244639 -0.00435955 0.999986       uwb: 0.50004819     843.195  1481.14  
imu_odom_:  1691062940.468915423  0.318429   -0.452504  9.98622    -0.0351537  -0.0117179  0.0394148   0.2        0             pose: 0.48143510    -4.35406   0.167866    0 -0.00116627 -0.00714939 -0.00421531 0.999965       uwb: 0.0            843.195  1481.14  
imu_odom_:  1691062940.485024408  0.68953    0.0502782  9.9527     -0.0436758  -0.0330232  0.0468716   0.2        0             pose: 0.0           -4.35406   0.167866    0 -0.00116627 -0.00714939 -0.00421531 0.999965       uwb: 0.49983819     843.914  1480.36  
imu_odom_:  1691062940.510026672  0.840365   -0.047884  10.1107    -0.0394148  -0.0479369  0.0458064   0.2        0             pose: 0.41080626    -4.34434   0.165496    0 -0.0020666  -0.00646873 -0.00416091 0.999968       uwb: 0.0            843.914  1480.36  
imu_odom_:  1691062940.534019827  0.617704   -0.007182619.35654    -0.0532632  0.0149137   0.0436758   0.17       0.02          pose: 0.0           -4.34434   0.165496    0 -0.0020666  -0.00646873 -0.00416091 0.999968       uwb: 0.49994028     843.322  1479.33  
imu_odom_:  1691062940.556912879  0.134075   -0.318429  9.77553    -0.0543285  0.0223706   0.0340885   0.17       0.02          pose: 0.40889012    -4.33463   0.163129    0 0.00100876  -0.00973041 -0.00405805 0.999944       uwb: 0.0            843.322  1479.33  
imu_odom_:  1691062940.575121160  0.349553   -0.0287304 10.3932    -0.0607201  -0.0340885  0.0575243   0.25       0             pose: 0.0           -4.33463   0.163129    0 0.00100876  -0.00973041 -0.00405805 0.999944       uwb: 0.0            843.322  1479.33  
imu_odom_:  1691062940.598919785  0.732626   -0.0837971 9.84975    -0.0458064  -0.0649811  0.04048     0.25       0             pose: 0.47993310    -4.32491   0.160762    0 0.00243015  -0.0068566  -0.004032   0.999965       uwb: 0.49947072     842.727  1478.32  
imu_odom_:  1691062940.621936205  0.416591   -0.110133  9.97424    -0.0319579  -0.0223706  0.0287621   0.23       0             pose: 0.0           -4.32491   0.160762    0 0.00243015  -0.0068566  -0.004032   0.999965       uwb: 0.0            842.727  1478.32  
imu_odom_:  1691062940.647865331  0.409408   -0.31364   10.2304    -0.0340885  -0.0330232  0.036219    0.23       0             pose: 0.40891637    -4.32255   0.170478    0 0.00406376  -0.00853407 -0.00397803 0.999947       uwb: 0.50055274     843.013  1477.44  
imu_odom_:  1691062940.671915358  0.768539   -0.287304  10.331     -0.0543285  -0.0319579  0.0479369   0.2        0.02          pose: 0.41923785    -4.3128    0.168097    0 0.00269107  -0.00595365 -0.00410731 0.99997        uwb: 0.0            843.013  1477.44  
imu_odom_:  1691062940.686860953  0.155623   -0.0287304 9.61033    -0.0468716  -0.0106526  0.0426106   0.2        0.02          pose: 0.0           -4.3128    0.168097    0 0.00269107  -0.00595365 -0.00410731 0.99997        uwb: 0.49869493     842.006  1476.3   
imu_odom_:  1691062940.705191144  0.392649   -0.150835  10.07      -0.0426106  -0.0138484  0.0436758   0.25       0.02          pose: 0.0           -4.3128    0.168097    0 0.00269107  -0.00595365 -0.00410731 0.99997        uwb: 0.0            842.006  1476.3   
imu_odom_:  1691062940.729010184  0.514753   -0.280122  9.60793    -0.0426106  -0.0308927  0.0330232   0.25       0.02          pose: 0.46992368    -4.30314   0.165648    0 0.00233464  -0.00631191 -0.00396469 0.999969       uwb: 0.0            842.006  1476.3   
imu_odom_:  1691062940.755066761  0.629675   -0.112527  9.93115    -0.0607201  -0.0298274  0.0713727   0.23       0.02          pose: 0.34152485    -4.29671   0.164016    0 0.000317415 -0.00586419 -0.00401131 0.999975       uwb: 0.50117104     843.97   1475.93  
imu_odom_:  1691062940.779919117  0.840365   -0.0814029 10.2759    -0.0628506  -0.0117179  0.036219    0.23       0.02          pose: 0.8105531     -4.29345   0.163186    0 0.000819636 -0.00658631 -0.00388549 0.99997        uwb: 0.0            843.97   1475.93  
imu_odom_:  1691062940.805964903  0.782904   -0.225055  9.68455    -0.0798948  -0.0223706  0.0617853   0.19       0.02          pose: 0.42803402    -4.28685   0.161514    0 0.00264089  -0.0106336  -0.00365148 0.999933       uwb: 0.49878826     844.16   1475.35  
imu_odom_:  1691062940.829987224  1.23062    -0.0742203 10.0437    -0.0436758  -0.036219   0.0340885   0.2        0             pose: 0.0           -4.28685   0.161514    0 0.00264089  -0.0106336  -0.00365148 0.999933       uwb: 0.0            844.16   1475.35  
imu_odom_:  1691062940.855864437  0.624887   -0.280122  9.71806    -0.0756338  0.0149137   0.0575243   0.2        0             pose: 0.33998202    -4.28375   0.16073     0 0.00164582  -0.014233   -0.00337277 0.999892       uwb: 0.49993153     844.023  1474.36  
imu_odom_:  1691062940.869908833  0.514753   -0.232238  9.99819    -0.0798948  -0.00213053 0.0436758   0.2        0             pose: 0.0           -4.28375   0.16073     0 0.00164582  -0.014233   -0.00337277 0.999892       uwb: 0.0            844.023  1474.36  
imu_odom_:  1691062940.892854091  0.368707   -0.134075  10.0317    -0.076699   -0.00639159 0.0436758   0.2        0.02          pose: 0.47944604    -4.27161   0.167975    0 -0.000340423-0.0135668  -0.00314858 0.999903       uwb: 0.49982945     842.376  1472.41  
imu_odom_:  1691062940.918050593  0.517148   -0.280122  9.81862    -0.0585895  0.0213053   0.0255663   0.23       -0.02         pose: 0.0           -4.27161   0.167975    0 -0.000340423-0.0135668  -0.00314858 0.999903       uwb: 0.0            842.376  1472.41  
imu_odom_:  1691062940.933055101  0.512359   -0.272939  10.0054    -0.0671117  -0.00852212 0.0607201   0.23       -0.02         pose: 0.30992168    -4.26516   0.166361    0 -5.8985e-05 -0.0105915  -0.00309635 0.999939       uwb: 0.50133727     839.247  1470.81  
imu_odom_:  1691062940.956895140  0.471658   -0.141258  9.79707    -0.072438   -0.0426106  0.0351537   0.23       -0.02         pose: 0.0           -4.26516   0.166361    0 -5.8985e-05 -0.0105915  -0.00309635 0.999939       uwb: 0.0            839.247  1470.81  
imu_odom_:  1691062940.983122333  0.35913    -0.260968  10.3214    -0.0575243  -0.0394148  0.0308927   0.18       0             pose: 0.8160070     -4.26191   0.165551    0 -0.000541976-0.00982008 -0.00314867 0.999947       uwb: 0.0            839.247  1470.81  
imu_odom_:  1691062941.119392     0.301669   -0.320823  9.46188    -0.0553937  -0.00213053 0.0308927   0.18       0             pose: 0.0           -4.26191   0.165551    0 -0.000541976-0.00982008 -0.00314867 0.999947       uwb: 0.0            839.247  1470.81  
imu_odom_:  1691062941.26120848   0.0574608  -0.344765  10.4196    -0.0575243  0.0234358   0.0532632   0.19       -0.02         pose: 0.39845780    -4.25219   0.163202    0 -0.00172001 -0.00668596 -0.00311346 0.999971       uwb: 0.0            839.247  1470.81  
imu_odom_:  1691062941.50850127   0.416591   -0.275333  9.79947    -0.036219   0.0426106   0.0191748   0.18       -0.02         pose: 0.50280720    -4.24247   0.160854    0 -0.0013847  -0.0033829  -0.0032991  0.999988       uwb: 0.99880729     837.431  1469.44  
imu_odom_:  1691062941.76838459   0.555455   -0.0861913 9.77792    -0.0532632  -0.0149137  0.0511327   0.18       -0.02         pose: 0.0           -4.24247   0.160854    0 -0.0013847  -0.0033829  -0.0032991  0.999988       uwb: 0.0            837.431  1469.44  
imu_odom_:  1691062941.90845525   0.287304   -0.102951  9.80904    -0.0447411  -0.0149137  0.0245011   0.2        -0.05         pose: 0.43863840    -4.24247   0.160854    0 -0.00283171 -0.00017858 -0.00324554 0.999991       uwb: 0.50045650     840.021  1468.56  
imu_odom_:  1691062941.114836930  0.272939   0.0574608  9.75877    -0.0788296  0.0117179   0.0639159   0.2        -0.05         pose: 0.0           -4.24247   0.160854    0 -0.00283171 -0.00017858 -0.00324554 0.999991       uwb: 0.0            840.021  1468.56  
imu_odom_:  1691062941.139987061  0.871489   -0.21069   9.97903    -0.056459   0           0.0351537   0.25       0             pose: 0.47993019    -4.23039   0.168223    0 -0.00100135 -0.00222282 -0.00331511 0.999992       uwb: 0.49938031     839.045  1467.41  
imu_odom_:  1691062941.164910871  0.277727   -0.426168  9.68933    -0.0575243  0.0276969   0.0511327   0.25       0             pose: 0.0           -4.23039   0.168223    0 -0.00100135 -0.00222282 -0.00331511 0.999992       uwb: 0.0            839.045  1467.41  
imu_odom_:  1691062941.182045297  -0.035913  -0.387861  9.77313    -0.0330232  -0.0213053  0.0298274   0.18       0             pose: 0.39842573    -4.22068   0.165871    0 0.00130222  -0.00105669 -0.00310276 0.999994       uwb: 0.49868619     841.815  1467.31  
imu_odom_:  1691062941.205178377  0.964863   -0.191536  10.0485    -0.056459   -0.0671117  0.0553937   0.18       0             pose: 0.0           -4.22068   0.165871    0 0.00130222  -0.00105669 -0.00310276 0.999994       uwb: 0.0            841.815  1467.31  
imu_odom_:  1691062941.230040941  0.746991   -0.296881  9.45949    -0.04048    0.015979    0.0308927   0.2        0             pose: 0.50040984    -4.21095   0.163524    0 -0.000974551-0.000139941-0.00302828 0.999995       uwb: 0.0            841.815  1467.31  
imu_odom_:  1691062941.253873397  0.445322   -0.363919  9.33499    -0.0596548  -0.0298274  0.0553937   0.2        0             pose: 0.0           -4.21095   0.163524    0 -0.000974551-0.000139941-0.00302828 0.999995       uwb: 0.50002194     841.769  1466.11  
imu_odom_:  1691062941.278891410  0.277727   -0.177171  10.0748    -0.0340885  0.0330232   0.0340885   0.25       0             pose: 0.40124598    -4.20123   0.161179    0 -0.00111181 -0.00307603 -0.00292501 0.99999        uwb: 0.0            841.769  1466.11  
imu_odom_:  1691062941.292867269  0.433351   0.0837971  10.0916    -0.056459   -0.00532632 0.0703074   0.25       0             pose: 0.0           -4.20123   0.161179    0 -0.00111181 -0.00307603 -0.00292501 0.99999        uwb: 0.50088231     839.283  1464.09  
imu_odom_:  1691062941.316866841  0.617704   0.00718261 10.5129    -0.0543285  0.02024     0.0372843   0.18       0             pose: 0.49052583    -4.19151   0.158835    0 -0.00318211 -0.00323023 -0.00282133 0.999986       uwb: 0.0            839.283  1464.09  
imu_odom_:  1691062941.333825694  0.282516   -0.31364   9.83777    -0.0703074  -0.0149137  0.0490022   0.18       0             pose: 0.0           -4.19151   0.158835    0 -0.00318211 -0.00323023 -0.00282133 0.999986       uwb: 0.49973905     836.743  1462.3   
imu_odom_:  1691062941.358823292  -0.21069   -0.426168  9.48822    -0.056459   0.0447411   0.0394148   0.18       0             pose: 0.37988555    -4.18917   0.168557    0 -0.000244326-0.00180232 -0.00266261 0.999995       uwb: 0.0            836.743  1462.3   
imu_odom_:  1691062941.382844445  0.292093   -0.244209  9.92636    -0.0820254  0.0181095   0.0681769   0.18       0             pose: 0.0           -4.18917   0.168557    0 -0.000244326-0.00180232 -0.00266261 0.999995       uwb: 0.50014735     836.25   1461.13  
imu_odom_:  1691062941.407969785  0.459687   -0.445322  10.0748    -0.0692422  0.0245011   0.0458064   0.25       0.02          pose: 0.42791152    -4.17945   0.166218    0 -0.000288405-0.000250116-0.00260474 0.999997       uwb: 0.0            836.25   1461.13  
imu_odom_:  1691062941.420970951  0.718261   -0.234632  10.0413    -0.0543285  -0.0181095  0.0372843   0.25       0.02          pose: 0.0           -4.17945   0.166218    0 -0.000288405-0.000250116-0.00260474 0.999997       uwb: 0.0            836.25   1461.13  
imu_odom_:  1691062941.439003951  0.371101   -0.213084  9.78989    -0.0713727  0.0234358   0.0511327   0.18       0             pose: 0.48009060    -4.16972   0.163879    0 -0.00223638 0.00395394  -0.00223896 0.999987       uwb: 0.50021735     837.826  1460.52  
imu_odom_:  1691062941.463977341  0.0407014  -0.268151  10.0389    -0.0372843  -0.00106526 0.036219    0.18       0             pose: 0.0           -4.16972   0.163879    0 -0.00223638 0.00395394  -0.00223896 0.999987       uwb: 0.0            837.826  1460.52  
imu_odom_:  1691062941.489838222  0.177171   -0.500388  9.52653    -0.052198   0.0223706   0.0511327   0.21       0             pose: 0.38136713    -4.16      0.161548    0 -0.00282524 0.00190605  -0.00216459 0.999992       uwb: 0.50017651     837.698  1459.6   
imu_odom_:  1691062941.513801337  0.409408   -0.344765  9.78271    -0.0458064  0.00532632  0.0458064   0.21       0             pose: 0.0           -4.16      0.161548    0 -0.00282524 0.00190605  -0.00216459 0.999992       uwb: 0.0            837.698  1459.6   
imu_odom_:  1691062941.531892667  0.392649   -0.122104  10.0365    -0.052198   -0.0287621  0.0458064   0.19       0             pose: 0.43028847    -4.16      0.161548    0 -0.00248005 0.00503295  -0.00209967 0.999982       uwb: 0.50001903     836.942  1457.91  
imu_odom_:  1691062941.556810061  0.476446   0.0383072  10.4196    -0.0553937  -0.00745685 0.0500674   0.19       0             pose: 0.0           -4.16      0.161548    0 -0.00248005 0.00503295  -0.00209967 0.999982       uwb: 0.0            836.942  1457.91  
imu_odom_:  1691062941.574939596  0.11971    -0.397437  9.69173    -0.0479369  0.0234358   0.0468716   0.25       0             pose: 0.49798331    -4.14795   0.168945    0 -0.00406028 0.00367027  -0.00191686 0.999983       uwb: 0.0            836.942  1457.91  
imu_odom_:  1691062941.598024846  0.435745   -0.397437  10.0221    -0.0372843  -0.00213053 0.0479369   0.25       0             pose: 0.0           -4.14795   0.168945    0 -0.00406028 0.00367027  -0.00191686 0.999983       uwb: 0.49993736     837.61   1457.3   
imu_odom_:  1691062941.624084049  0.521936   -0.215478  10.1251    -0.04048    -0.0319579  0.0372843   0.2        -0.02         pose: 0.43103801    -4.13824   0.166523    0 -0.0012441  0.00292883  -0.00171894 0.999993       uwb: 0.0            837.61   1457.3   
imu_odom_:  1691062941.641061568  0.153229   -0.124498  9.95988    -0.0394148  0.0276969   0.0500674   0.2        -0.02         pose: 0.0           -4.13824   0.166523    0 -0.0012441  0.00292883  -0.00171894 0.999993       uwb: 0.0            837.61   1457.3   
imu_odom_:  1691062941.665825845  0.548272   -0.37589   10.1562    -0.0649811  0.0223706   0.0458064   0.25       0             pose: 0.41103375    -4.12854   0.164104    0 -0.00306658 0.00168823  -0.00160794 0.999993       uwb: 0.0            837.61   1457.3   
imu_odom_:  1691062941.688903220  0.624887   -0.19393   10.1107    -0.0426106  0.0191748   0.0298274   0.25       0             pose: 0.0           -4.12854   0.164104    0 -0.00306658 0.00168823  -0.00160794 0.999993       uwb: 0.100173546    837.112  1456.17  
imu_odom_:  1691062941.713876027  0.349553   -0.237026  9.34936    -0.0617853  -0.0234358  0.04048     0.18       0.02          pose: 0.42810694    -4.11884   0.161688    0 -0.00184213 0.00101657  -0.00151803 0.999997       uwb: 0.0            837.112  1456.17  
imu_odom_:  1691062941.731801117  0.129287   -0.234632  9.91678    -0.0298274  0.0138484   0.0458064   0.18       0.02          pose: 0.0           -4.11884   0.161688    0 -0.00184213 0.00101657  -0.00151803 0.999997       uwb: 0.0            837.112  1456.17  
imu_odom_:  1691062941.755854935  0.282516   -0.320823  9.80904    -0.0532632  -0.0106526  0.0426106   0.2        -0.02         pose: 0.49009710    -4.10913   0.159274    0 -0.00190796 -0.00121312 -0.00158289 0.999996       uwb: 0.49855203     835.169  1454.1   
imu_odom_:  1691062941.782073379  0.715866   -0.122104  10.2065    -0.0458064  -0.0458064  0.0447411   0.2        -0.02         pose: 0.0           -4.10913   0.159274    0 -0.00190796 -0.00121312 -0.00158289 0.999996       uwb: 0.50224139     835.538  1453.08  
imu_odom_:  1691062941.807875055  0.457293   -0.354342  10.1251    -0.0500674  0.0319579   0.0298274   0.2        0.02          pose: 0.84234883    -4.09701   0.166564    0 -0.00197173 0.000803869 -0.00141411 0.999997       uwb: 0.0            835.538  1453.08  
imu_odom_:  1691062941.832815780  0.399832   -0.368707  10.094     -0.076699   -0.0127832  0.0703074   0.2        0.02          pose: 0.0           -4.09701   0.166564    0 -0.00197173 0.000803869 -0.00141411 0.999997       uwb: 0.0            835.538  1453.08  
imu_odom_:  1691062941.847929365  0.138864   -0.40462   9.73004    -0.056459   -0.0447411  0.0500674   0.21       -0.02         pose: 0.25801676    -4.09035   0.164906    0 -0.00401835 -0.00020649 -0.00154552 0.999991       uwb: 0.0            835.538  1453.08  
imu_odom_:  1691062941.871846692  0.344765   -0.227449  9.94312    -0.056459   -0.0298274  0.0479369   0.21       -0.02         pose: 0.0           -4.09035   0.164906    0 -0.00401835 -0.00020649 -0.00154552 0.999991       uwb: 0.0            835.538  1453.08  
imu_odom_:  1691062941.897798859  0.708684   -0.392649  10.1778    -0.0415453  -0.0479369  0.0308927   0.18       -0.02         pose: 0.48000309    -4.0776    0.161738    0 -0.00634783 0.00123548  -0.00103275 0.999979       uwb: 0.99723530     833.53   1451.25  
imu_odom_:  1691062941.921854719  0.316035   -0.155623  9.52413    -0.0703074  -0.0127832  0.0639159   0.19       0             pose: 0.41923495    -4.07092   0.160082    0 -0.00525514 -0.00162137 -0.00108306 0.999984       uwb: 0.0            833.53   1451.25  
imu_odom_:  1691062941.939798182  0.521936   -0.201113  9.99819    -0.0788296  -0.0106526  0.0458064   0.19       0             pose: 0.8076075     -4.0679    0.159333    0 -0.00466745 -0.00117297 -0.00098323 0.999988       uwb: 0.49977113     835.453  1450.88  
imu_odom_:  1691062941.963793379  0.229843   0.023942   10.0365    -0.0777643  0.0149137   0.0383495   0.18       0             pose: 0.0           -4.0679    0.159333    0 -0.00466745 -0.00117297 -0.00098323 0.999988       uwb: 0.0            835.453  1450.88  
imu_odom_:  1691062941.981775632  0.260968   -0.316035  10.1897    -0.052198   -0.00639159 0.036219    0.18       0             pose: 0.33923248    -4.06656   0.164721    0 -0.0026551  -0.00179415 -0.0007350920.999995       uwb: 0.49994028     835.006  1449.66  
imu_odom_:  1691062942.4896754    0.337582   -0.244209  10.2903    -0.0585895  -0.0191748  0.0479369   0.18       0             pose: 0.0           -4.06656   0.164721    0 -0.0026551  -0.00179415 -0.0007350920.999995       uwb: 0.0            835.006  1449.66  
imu_odom_:  1691062942.30792342   0.557849   -0.225055  10.1275    -0.0745685  -0.0181095  0.0308927   0.18       -0.02         pose: 0.50050608    -4.05581   0.166749    0 -0.00167682 0.00211746  -0.0007437540.999996       uwb: 0.0            835.006  1449.66  
imu_odom_:  1691062942.54865701   0.584185   -0.42138   9.54089    -0.0777643  0.0127832   0.0415453   0.17       0             pose: 0.40943552    -4.04608   0.164447    0 -0.00144977 0.000716965 -0.0007918370.999998       uwb: 0.50029026     836.025  1449.31  
imu_odom_:  1691062942.80926945   0.620098   -0.241814  9.71328    -0.0330232  0.036219    0.0319579   0.17       0             pose: 0.8005496     -4.04608   0.164447    0 -0.00208327 0.000196345 -0.0007852510.999998       uwb: 0.0            836.025  1449.31  
imu_odom_:  1691062942.105156046  0.608127   -0.265756  9.43555    -0.0777643  0.0383495   0.0436758   0.2        -0.02         pose: 0.42129107    -4.03932   0.162848    0 -0.00258985 -0.00288633 -0.0008818820.999992       uwb: 0.50006861     836.565  1447.83  
imu_odom_:  1691062942.121789127  0.174777   -0.196325  9.88805    -0.0298274  0.0223706   0.0245011   0.2        -0.02         pose: 0.0           -4.03932   0.162848    0 -0.00258985 -0.00288633 -0.0008818820.999992       uwb: 0.0            836.565  1447.83  
imu_odom_:  1691062942.138834017  0.143652   -0.0861913 9.97185    -0.0479369  0.00319579  0.036219    0.19       -0.02         pose: 0.0           -4.03932   0.162848    0 -0.00258985 -0.00288633 -0.0008818820.999992       uwb: 0.50071899     840.485  1447.97  
imu_odom_:  1691062942.155840701  0.268151   -0.617704  9.97185    -0.0660464  0.0191748   0.0415453   0.19       -0.02         pose: 0.48907633    -4.02661   0.159838    0 -0.0018993  -0.00221612 -0.0009756770.999995       uwb: 0.0            840.485  1447.97  
imu_odom_:  1691062942.179790693  0.186748   -0.122104  9.94551    -0.0511327  -0.0170442  0.0426106   0.19       0             pose: 0.0           -4.02661   0.159838    0 -0.0018993  -0.00221612 -0.0009756770.999995       uwb: 0.0            840.485  1447.97  
imu_odom_:  1691062942.205913475  0.54109    -0.287304  10.2448    -0.0660464  -0.0394148  0.04048     0.19       0             pose: 0.33956497    -4.02431   0.169568    0 -0.00261974 9.24166e-05 -0.0009567820.999996       uwb: 0.49916450     840.323  1447.19  
imu_odom_:  1691062942.220879194  0.711078   -0.335188  9.61511    -0.0468716  0.00958738  0.0213053   0.19       0             pose: 0.0           -4.02431   0.169568    0 -0.00261974 9.24166e-05 -0.0009567820.999996       uwb: 0.0            840.323  1447.19  
imu_odom_:  1691062942.246819404  0.299275   -0.407014  9.69652    -0.0436758  -0.00213053 0.0394148   0.19       -0.02         pose: 0.49054041    -4.01458   0.167262    0 -0.00257748 -0.00231141 -0.0009856830.999994       uwb: 0.49997237     843.287  1447.49  
imu_odom_:  1691062942.271832167  0.565032   -0.277727  10.0149    -0.0575243  -0.0266316  0.052198    0.19       0.02          pose: 0.33974288    -4.00485   0.164956    0 -0.00429601 -0.00103574 -0.0010519  0.99999        uwb: 0.0            843.287  1447.49  
imu_odom_:  1691062942.288815519  0.366313   -0.237026  9.77553    -0.0500674  -0.0234358  0.0490022   0.19       0.02          pose: 0.0           -4.00485   0.164956    0 -0.00429601 -0.00103574 -0.0010519  0.99999        uwb: 0.49863078     841.667  1445.87  
imu_odom_:  1691062942.313768495  0.191536   -0.172383  9.71567    -0.0575243  0.0234358   0.0500674   0.19       0             pose: 0.8118947     -4.00485   0.164956    0 -0.00418116 -0.00193017 -0.00100388 0.999989       uwb: 0.0            841.667  1445.87  
imu_odom_:  1691062942.338902876  0.557849   -0.237026  9.87608    -0.0319579  -0.0468716  0.0436758   0.19       0             pose: 0.0           -4.00485   0.164956    0 -0.00418116 -0.00193017 -0.00100388 0.999989       uwb: 0.49995778     841.687  1444.58  
imu_odom_:  1691062942.361977335  0.320823   -0.143652  10.1131    -0.0798948  0.00852212  0.0671117   0.19       0             pose: 0.42857066    -3.99512   0.162649    0 -0.00282873 -0.00146809 -0.0007714660.999995       uwb: 0.0            841.687  1444.58  
imu_odom_:  1691062942.377972869  0.54109    -0.339977  9.87848    -0.0713727  -0.00532632 0.0532632   0.19       0             pose: 0.0           -3.99512   0.162649    0 -0.00282873 -0.00146809 -0.0007714660.999995       uwb: 0.0            841.687  1444.58  
imu_odom_:  1691062942.394936389  0.533907   -0.181959  9.7444     -0.0511327  -0.00213053 0.0458064   0.19       0             pose: 0.48124845    -3.98539   0.160347    0 -0.00128826 -0.00218326 -0.0005421220.999997       uwb: 0.50018236     845.879  1445.06  
imu_odom_:  1691062942.419905405  0.667982   -0.299275  9.59835    -0.0830906  0.00958738  0.0500674   0.25       0             pose: 0.0           -3.98539   0.160347    0 -0.00128826 -0.00218326 -0.0005421220.999997       uwb: 0.0            845.879  1445.06  
imu_odom_:  1691062942.446755854  0.0933739  -0.263362  9.59117    -0.0852212  0.0298274   0.0628506   0.24       0             pose: 0.39946693    -3.97336   0.167789    0 -0.00127175 -0.002603   -0.0001902440.999996       uwb: 0.49972446     842.784  1442.73  
imu_odom_:  1691062942.471803907  0.509965   -0.387861  10.0652    -0.0735032  0.0138484   0.0447411   0.24       0             pose: 0.0           -3.97336   0.167789    0 -0.00127175 -0.002603   -0.0001902440.999996       uwb: 0.0            842.784  1442.73  
imu_odom_:  1691062942.488904211  0.493206   -0.023942  10.24      -0.056459   -0.0170442  0.036219    0.23       0             pose: 0.85936952    -3.96362   0.165502    0 -0.00487932 -0.00322123 0.000347624 0.999983       uwb: 0.49983238     846.209  1442.86  
imu_odom_:  1691062942.512815121  0.371101   -0.318429  9.77553    -0.0575243  0.0287621   0.0308927   0.23       0             pose: 0.7012428     -3.96362   0.165502    0 -0.00418321 -0.00332613 0.000333498 0.999986       uwb: 0.0            846.209  1442.86  
imu_odom_:  1691062942.538811619  0.280122   -0.337582  9.61511    -0.0660464  -0.0319579  0.0479369   0.2        0             pose: 0.33998786    -3.95389   0.163222    0 -0.00414791 -0.0008809190.000218241 0.999991       uwb: 0.50067524     846.124  1441.86  
imu_odom_:  1691062942.552810519  0.196325   -0.481235  9.65342    -0.0585895  0.0276969   0.0511327   0.2        0             pose: 0.0           -3.95389   0.163222    0 -0.00414791 -0.0008809190.000218241 0.999991       uwb: 0.0            846.124  1441.86  
imu_odom_:  1691062942.575792816  0.481235   -0.174777  9.93354    -0.0447411  0           0.0500674   0.17       0.02          pose: 0.0           -3.95389   0.163222    0 -0.00414791 -0.0008809190.000218241 0.999991       uwb: 0.0            846.124  1441.86  
imu_odom_:  1691062942.592766836  0.538695   -0.196325  10.0293    -0.0511327  -0.0575243  0.0490022   0.17       0.02          pose: 0.39995398    -3.9487    0.162006    0 -0.00604551 0.00248791  0.00042297  0.999979       uwb: 0.50104564     843.793  1439.92  
imu_odom_:  1691062942.617813722  0.483629   0.0143652  10.2544    -0.0319579  -0.052198   0.04048     0.19       0             pose: 0.0           -3.9487    0.162006    0 -0.00604551 0.00248791  0.00042297  0.999979       uwb: 0.0            843.793  1439.92  
imu_odom_:  1691062942.643749849  0.782904   0.0574608  9.82102    -0.0426106  -0.0447411  0.0511327   0.19       0             pose: 0.39956317    -3.93933   0.159812    0 -0.00318001 -0.0007836530.000615539 0.999994       uwb: 0.50041567     842.879  1438.85  
imu_odom_:  1691062942.668785944  0.588974   0.0215478  9.70849    -0.0553937  0.00319579  0.0479369   0.19       0             pose: 0.50983013    -3.92542   0.166832    0 0.00137569  -0.00445453 0.00077162  0.999989       uwb: 0.0            842.879  1438.85  
imu_odom_:  1691062942.694030861  0.155623   -0.332794  9.7875     -0.052198   0.02024     0.0351537   0.19       0             pose: 0.0           -3.92542   0.166832    0 0.00137569  -0.00445453 0.00077162  0.999989       uwb: 0.50050026     841.76   1437.14  
imu_odom_:  1691062942.708762385  0.184354   -0.102951  10.3046    -0.0639159  -0.0138484  0.056459    0.18       -0.02         pose: 0.50281012    -3.9224    0.166126    0 0.00248363  -0.00290466 0.000811621 0.999992       uwb: 0.0            841.76   1437.14  
imu_odom_:  1691062942.732806871  0.270545   -0.143652  10.1203    -0.0447411  -0.0607201  0.0447411   0.18       -0.02         pose: 0.0           -3.9224    0.166126    0 0.00248363  -0.00290466 0.000811621 0.999992       uwb: 0.49873285     842.534  1436.2   
imu_odom_:  1691062942.759024148  0.581791   -0.134075  10.6686    -0.0436758  -0.0191748  0.036219    0.25       0             pose: 0.38776010    -3.91266   0.163856    0 0.00310056  0.000182295 0.000984554 0.999995       uwb: 0.0            842.534  1436.2   
imu_odom_:  1691062942.784791409  0.991199   0.0646434  10.1442    -0.0340885  -0.0181095  0.0330232   0.25       0             pose: 0.8014828     -3.91266   0.163856    0 0.00321458  -0.0006774230.00097338  0.999994       uwb: 0.50054692     838.266  1433.78  
imu_odom_:  1691062942.801748513  0.476446   -0.380678  9.55287    -0.0713727  -0.0660464  0.0575243   0.23       0             pose: 0.26109950    -3.90292   0.161587    0 0.00384734  -0.00342175 0.000923904 0.999986       uwb: 0.0            838.266  1433.78  
imu_odom_:  1691062942.826756027  0.490811   -0.282516  10.1011    -0.0468716  -0.0298274  0.0330232   0.23       0             pose: 0.0           -3.90292   0.161587    0 0.00384734  -0.00342175 0.000923904 0.999986       uwb: 0.0            838.266  1433.78  
imu_odom_:  1691062942.852885226  0.634463   -0.608127  9.7851     -0.0607201  -0.00426106 0.0500674   0.19       0             pose: 0.24984182    -3.90292   0.161587    0 0.00392504  -0.00536134 0.000935436 0.999977       uwb: 0.49993737     839.063  1432.8   
imu_odom_:  1691062942.878850226  0.282516   -0.0694318 9.80186    -0.0181095  0.0127832   0.0372843   0.18       0             pose: 0.60969395    -3.89089   0.169042    0 -0.00204937 -0.00621293 0.0011071   0.999978       uwb: 0.0            839.063  1432.8   
imu_odom_:  1691062942.894726767  0.577003   -0.337582  9.67497    -0.0809601  -0.00426106 0.0660464   0.18       0             pose: 0.0           -3.89089   0.169042    0 -0.00204937 -0.00621293 0.0011071   0.999978       uwb: 0.49939198     838.651  1431.59  
imu_odom_:  1691062942.919732822  0.208296   -0.294487  9.5792     -0.056459   0.0585895   0.0308927   0.18       -0.02         pose: 0.8031744     -3.89092   0.169058    0 -0.00141124 -0.00550688 0.00109695  0.999983       uwb: 0.0            838.651  1431.59  
imu_odom_:  1691062942.945791442  0.280122   -0.208296  10.1011    -0.0660464  -0.0479369  0.0596548   0.18       -0.02         pose: 0.0           -3.89092   0.169058    0 -0.00141124 -0.00550688 0.00109695  0.999983       uwb: 0.50191768     838.587  1430.62  
imu_odom_:  1691062942.961724563  1.19471    -0.258574  10.4124    -0.0415453  -0.0298274  0.0308927   0.18       -0.02         pose: 0.0           -3.89092   0.169058    0 -0.00141124 -0.00550688 0.00109695  0.999983       uwb: 0.0            838.587  1430.62  
imu_odom_:  1691062942.984726109  0.423774   -0.332794  9.61511    -0.0777643  -0.0245011  0.0607201   0.19       0             pose: 0.41831333    -3.8812    0.166695    0 -0.00157958 -0.00388572 0.00125506  0.99999        uwb: 0.49871827     839.964  1430.38  
imu_odom_:  1691062943.12067988   0.550666   -0.0814029 9.85932    -0.0575243  -0.0223706  0.0351537   0.25       0             pose: 0.81977806    -3.86498   0.16293     0 -0.00379839 -0.00156606 0.00162604  0.99999        uwb: 0.0            839.964  1430.38  
imu_odom_:  1691062943.37752421   0.600945   -0.40462   9.46667    -0.0852212  0.0127832   0.0436758   0.25       0             pose: 0.0           -3.86498   0.16293     0 -0.00379839 -0.00156606 0.00162604  0.99999        uwb: 0.49994029     838.831  1428.82  
imu_odom_:  1691062943.63999155   0.138864   -0.232238  9.77553    -0.056459   0.00639159  0.0458064   0.25       -0.02         pose: 0.8032036     -3.86172   0.162174    0 -0.00310689 -0.00203305 0.00160593  0.999992       uwb: 0.0            838.831  1428.82  
imu_odom_:  1691062943.86866835   0.184354   -0.131681  9.63666    -0.076699   -0.0511327  0.0447411   0.25       -0.02         pose: 0.0           -3.86172   0.162174    0 -0.00310689 -0.00203305 0.00160593  0.999992       uwb: 0.49865120     838.347  1427.84  
imu_odom_:  1691062943.103733235  0.859518   -0.0957681 10.0269    -0.0394148  -0.0181095  0.036219    0.18       0             pose: 0.53186720    -3.85197   0.159918    0 -0.00366072 -0.00375441 0.0016402   0.999985       uwb: 0.0            838.347  1427.84  
imu_odom_:  1691062943.128865575  0.620098   -0.124498  9.87608    -0.0553937  -0.00745685 0.0372843   0.18       0             pose: 0.0           -3.85197   0.159918    0 -0.00366072 -0.00375441 0.0016402   0.999985       uwb: 0.0            838.347  1427.84  
imu_odom_:  1691062943.153726098  0.588974   -0.153229  9.70131    -0.052198   0.00639159  0.0468716   0.19       -0.02         pose: 0.48928049    -3.83998   0.167406    0 -0.0021445  -0.00123391 0.00175114  0.999995       uwb: 0.49970697     837.375  1427.02  
imu_odom_:  1691062943.177703796  0.744597   -0.179565  10.3741    -0.0490022  0.02024     0.0276969   0.19       -0.02         pose: 0.0           -3.83998   0.167406    0 -0.0021445  -0.00123391 0.00175114  0.999995       uwb: 0.0            837.375  1427.02  
imu_odom_:  1691062943.193852447  0.402226   -0.237026  9.56244    -0.0340885  -0.00852212 0.0319579   0.25       0             pose: 0.65916943    -3.83023   0.165152    0 0.00114915  -0.00679231 0.00174191  0.999975       uwb: 0.49935990     836.312  1425.33  
imu_odom_:  1691062943.219711578  0.146046   -0.325611  10.4722    -0.0511327  -0.0319579  0.0426106   0.25       0             pose: 0.0           -3.83023   0.165152    0 0.00114915  -0.00679231 0.00174191  0.999975       uwb: 0.0            836.312  1425.33  
imu_odom_:  1691062943.244729883  0.0957681  -0.035913  9.94073    -0.0617853  -0.00639159 0.0500674   0.19       0             pose: 0.23919368    -3.83023   0.165152    0 0.0011823   -0.00761642 0.00161782  0.999969       uwb: 0.50026694     833.047  1422.77  
imu_odom_:  1691062943.271987476  1.34794    -0.514753  10.2496    -0.0596548  0.0628506   0.0330232   0.18       0             pose: 0.17012517    -3.82049   0.162896    0 0.000784482 -0.00612127 0.00159765  0.99998        uwb: 0.0            833.047  1422.77  
imu_odom_:  1691062943.287851768  -0.0670376 -0.0861913 9.15543    -0.0553937  0.0575243   0.0191748   0.18       0             pose: 0.0           -3.82049   0.162896    0 0.000784482 -0.00612127 0.00159765  0.99998        uwb: 0.50120605     833.006  1421.79  
imu_odom_:  1691062943.314791753  -0.155623  -0.435745  10.2113    -0.0276969  -0.0628506  0.0127832   0.24       0             pose: 0.51165003    -3.81075   0.160641    0 0.000875907 -0.00288731 0.00172771  0.999994       uwb: 0.0            833.006  1421.79  
imu_odom_:  1691062943.340777752  0.507571   -0.201113  10.7045    -0.0596548  -0.0330232  0.056459    0.24       0             pose: 0.0           -3.81075   0.160641    0 0.000875907 -0.00288731 0.00172771  0.999994       uwb: 0.49889036     835.122  1421.81  
imu_odom_:  1691062943.363729718  0.114922   -0.0837971 10.4028    -0.02024    -0.0255663  0.036219    0.25       -0.02         pose: 0.42992101    -3.8085    0.170383    0 0.000361845 -0.00149528 0.00139862  0.999998       uwb: 0.0            835.122  1421.81  
imu_odom_:  1691062943.380746027  0.397437   -0.304064  9.65103    -0.0532632  0.02024     0.0553937   0.25       -0.02         pose: 0.0           -3.8085    0.170383    0 0.000361845 -0.00149528 0.00139862  0.999998       uwb: 0.0            835.122  1421.81  
imu_odom_:  1691062943.405696378  0.823605   -0.181959  9.49062    -0.0436758  0.0276969   0.0287621   0.18       -0.02         pose: 0.51863212    -3.79875   0.168123    0 0.000627204 -0.00264667 0.00135264  0.999995       uwb: 0.49984113     832.749  1420.3   
imu_odom_:  1691062943.422735144  0.414197   0          10.3166    -0.0500674  -0.0138484  0.0575243   0.18       -0.02         pose: 0.0           -3.79875   0.168123    0 0.000627204 -0.00264667 0.00135264  0.999995       uwb: 0.0            832.749  1420.3   
imu_odom_:  1691062943.448862884  0.402226   -0.246603  10.6087    -0.0543285  0.02024     0.0351537   0.18       0             pose: 0.41965202    -3.78901   0.165862    0 -5.64808e-05-0.00141967 0.00141221  0.999998       uwb: 0.50024652     833.515  1419.44  
imu_odom_:  1691062943.475856534  0.011971   -0.373495  9.53132    -0.076699   0.0298274   0.0713727   0.18       0             pose: 0.0           -3.78901   0.165862    0 -5.64808e-05-0.00141967 0.00141221  0.999998       uwb: 0.0            833.515  1419.44  
imu_odom_:  1691062943.500831674  0.414197   -0.162806  10.0197    -0.0585895  0.0340885   0.0298274   0.18       0             pose: 0.41059628    -3.77927   0.163602    0 0.00124893  -0.00190483 0.00145677  0.999996       uwb: 0.50029318     831.333  1417.5   
imu_odom_:  1691062943.527756494  0.411803   -0.488417  10.1155    -0.0948085  0.0117179   0.0585895   0.23       0             pose: 0.52944942    -3.76953   0.161346    0 -0.0008385350.00206524  0.00181101  0.999996       uwb: 0.0            831.333  1417.5   
imu_odom_:  1691062943.543741238  0.146046   -0.428562  9.64384    -0.0628506  0.0330232   0.0330232   0.23       0             pose: 0.0           -3.76953   0.161346    0 -0.0008385350.00206524  0.00181101  0.999996       uwb: 0.50002196     829.239  1415.35  
imu_odom_:  1691062943.570961499  0.215478   -0.0766145 10.1634    -0.072438   -0.0127832  0.0607201   0.25       0             pose: 0.25134090    -3.76728   0.171089    0 -0.0004295260.00135523  0.00180432  0.999997       uwb: 0.0            829.239  1415.35  
imu_odom_:  1691062943.596928832  0.1652     -0.265756  9.84735    -0.0415453  0.00213053  0.0287621   0.25       0             pose: 0.43072595    -3.75753   0.168836    0 -0.00303409 0.0032624   0.00202169  0.999988       uwb: 0.50239015     831.492  1415     
imu_odom_:  1691062943.622757049  0.217872   -0.248997  9.55765    -0.0447411  -0.00852212 0.0500674   0.24       0             pose: 0.45010317    -3.74779   0.166588    0 -0.00174249 0.00684069  0.00209328  0.999973       uwb: 0.0            831.492  1415     
imu_odom_:  1691062943.648688218  0.0311246  -0.0837971 9.93354    -0.052198   0.0181095   0.04048     0.24       0             pose: 0.0           -3.74779   0.166588    0 -0.00174249 0.00684069  0.00209328  0.999973       uwb: 0.49875327     834.406  1415.09  
imu_odom_:  1691062943.673677066  0.0311246  -0.581791  9.90002    -0.056459   0.0117179   0.0426106   0.23       0.02          pose: 0.51759386    -3.73805   0.164342    0 4.81252e-05 0.0116174   0.00226167  0.99993        uwb: 0.0            834.406  1415.09  
imu_odom_:  1691062943.697701137  0.19393    -0.414197  10.082     -0.0532632  -0.00532632 0.052198    0.23       0.02          pose: 0.0           -3.73805   0.164342    0 4.81252e-05 0.0116174   0.00226167  0.99993        uwb: 0.49819914     834.986  1414.69  
imu_odom_:  1691062943.712699812  0.533907   -0.146046  9.84017    -0.0415453  -0.0394148  0.0511327   0.18       0             pose: 0.32357089    -3.73805   0.164342    0 -0.00299328 0.0125143   0.00230947  0.999915       uwb: 0.0            834.986  1414.69  
imu_odom_:  1691062943.737841777  0.675165   -0.0550666 9.97903    -0.0426106  -0.0287621  0.0415453   0.18       0             pose: 0.0           -3.73805   0.164342    0 -0.00299328 0.0125143   0.00230947  0.999915       uwb: 0.49934241     834.567  1413.63  
imu_odom_:  1691062943.760943651  0.272939   -0.100556  9.7851     -0.0532632  0.0276969   0.0351537   0.19       0.02          pose: 0.23887870    -3.7283    0.162099    0 -0.00423692 0.0112496   0.00243509  0.999925       uwb: 0.0            834.567  1413.63  
imu_odom_:  1691062943.785744385  0.227449   -0.131681  9.68933    -0.0671117  0.0117179   0.0703074   0.19       0.02          pose: 0.0           -3.7283    0.162099    0 -0.00423692 0.0112496   0.00243509  0.999925       uwb: 0.50168436     837.369  1413.91  
imu_odom_:  1691062943.801664674  0.0047884  -0.617704  9.97903    -0.0596548  0.0340885   0.0543285   0.23       0             pose: 0.39988399    -3.71631   0.169604    0 -0.00188375 0.00786239  0.00249685  0.999964       uwb: 0.0            837.369  1413.91  
imu_odom_:  1691062943.827836162  0.37589    -0.0766145 9.87129    -0.0394148  -0.00639159 0.0276969   0.23       0             pose: 0.0           -3.71631   0.169604    0 -0.00188375 0.00786239  0.00249685  0.999964       uwb: 0.0            837.369  1413.91  
imu_odom_:  1691062943.852763181  0.102951   -0.464475  10.003     -0.0458064  -0.0170442  0.0372843   0.18       0             pose: 0.46924706    -3.70657   0.167369    0 0.00141433  0.00916634  0.00291374  0.999953       uwb: 0.49883202     835.439  1412.46  
imu_odom_:  1691062943.875669649  0.514753   -0.418985  10.0054    -0.0628506  -0.0255663  0.056459    0.18       0             pose: 0.0           -3.70657   0.167369    0 0.00141433  0.00916634  0.00291374  0.999953       uwb: 0.0            835.439  1412.46  
imu_odom_:  1691062943.891736055  0.222661   -0.342371  9.92636    -0.0490022  -0.0149137  0.0511327   0.18       0             pose: 0.67864289    -3.69682   0.165139    0 -0.00021738 0.00802145  0.00284311  0.999964       uwb: 0.0            835.439  1412.46  
imu_odom_:  1691062943.909012807  0.588974   -0.0646434 9.95748    -0.0372843  0.00106526  0.036219    0.18       0             pose: 0.0           -3.69682   0.165139    0 -0.00021738 0.00802145  0.00284311  0.999964       uwb: 0.0            835.439  1412.46  
imu_odom_:  1691062943.933829873  0.442927   -0.196325  9.6199     -0.0596548  -0.0245011  0.0500674   0.18       0             pose: 0.49302236    -3.68707   0.162907    0 -0.00154818 0.00576408  0.00302676  0.999978       uwb: 0.100187838    835.743  1411.7   
imu_odom_:  1691062943.959861078  0.464475   -0.296881  9.76116    -0.0245011  -0.0287621  0.04048     0.18       0             pose: 0.0           -3.68707   0.162907    0 -0.00154818 0.00576408  0.00302676  0.999978       uwb: 0.0            835.743  1411.7   
imu_odom_:  1691062943.982700467  0.0143652  0.122104   10.0269    -0.0543285  -0.0937433  0.0490022   0.19       0             pose: 0.7707138     -3.68707   0.162907    0 -0.00132873 0.00495104  0.00306761  0.999982       uwb: 0.49804165     835.462  1410.32  
imu_odom_:  1691062944.6691582    0.294487   -0.174777  9.28471    -0.0990696  -0.0511327  0.0862864   0.19       0             pose: 0.50053525    -3.6751    0.17043     0 -0.00118811 0.000719064 0.00319738  0.999994       uwb: 0.0            835.462  1410.32  
imu_odom_:  1691062944.23768554   0.694318   -0.543484  10.1969    -0.076699   -0.0319579  0.0372843   0.18       -0.02         pose: 0.0           -3.6751    0.17043     0 -0.00118811 0.000719064 0.00319738  0.999994       uwb: 0.0            835.462  1410.32  
imu_odom_:  1691062944.48808149   0.981623   -0.332794  9.97903    -0.0553937  -0.0553937  0.0372843   0.18       -0.02         pose: 0.0           -3.6751    0.17043     0 -0.00118811 0.000719064 0.00319738  0.999994       uwb: 0.49906535     835.411  1409.41  
imu_odom_:  1691062944.74732611   0.373495   0.0502782  10.477     -0.0745685  0.0117179   0.0436758   0.2        0             pose: 0.65011662    -3.66535   0.168209    0 -0.00107259 0.000299802 0.00380641  0.999992       uwb: 0.0            835.411  1409.41  
imu_odom_:  1691062944.99763457   0.385466   -0.0766145 9.57681    -0.0820254  -0.00745685 0.0447411   0.19       0.02          pose: 0.42947479    -3.65824   0.166598    0 0.000937748 -0.00102014 0.00383388  0.999992       uwb: 0.0            835.411  1409.41  
imu_odom_:  1691062944.126722692  0.687136   -0.47884   9.64863    -0.0596548  0.0351537   0.04048     0.19       0.02          pose: 0.0           -3.65824   0.166598    0 0.000937748 -0.00102014 0.00383388  0.999992       uwb: 0.0            835.411  1409.41  
imu_odom_:  1691062944.142649980  0.1652     -0.270545  10.2472    -0.0607201  -0.00745685 0.0436758   0.19       -0.02         pose: 0.7093215     -3.65559   0.165996    0 0.00152069  -0.00082057 0.00385118  0.999991       uwb: 0.100102969    836.466  1408.85  
imu_odom_:  1691062944.168667478  0.785298   -0.131681  9.7851     -0.0671117  0.0117179   0.0181095   0.19       -0.02         pose: 0.0           -3.65559   0.165996    0 0.00152069  -0.00082057 0.00385118  0.999991       uwb: 0.0            836.466  1408.85  
imu_odom_:  1691062944.194682350  0.246603   -0.656011  9.23683    -0.0479369  -0.00426106 0.0468716   0.19       0             pose: 0.52848990    -3.64584   0.163784    0 0.000664684 -0.00080466 0.00393048  0.999992       uwb: 0.50023778     836.451  1407.86  
imu_odom_:  1691062944.220673016  0.275333   -0.294487  9.46667    -0.0149137  0.0149137   0.0298274   0.19       0             pose: 0.0           -3.64584   0.163784    0 0.000664684 -0.00080466 0.00393048  0.999992       uwb: 0.0            836.451  1407.86  
imu_odom_:  1691062944.245666239  0.208296   -0.208296  9.88566    -0.0596548  -0.0287621  0.0383495   0.2        0             pose: 0.41999324    -3.63388   0.171324    0 8.0564e-05  -0.00207308 0.00369901  0.999991       uwb: 0.50003654     836.594  1406.47  
imu_odom_:  1691062944.272661347  -0.011971  -0.260968  10.1203    -0.0394148  -0.00319579 0.0351537   0.22       0             pose: 0.52063869    -3.62413   0.169108    0 -0.0016466  0.00204598  0.00364357  0.99999        uwb: 0.0            836.594  1406.47  
imu_odom_:  1691062944.289656366  0.442927   -0.545878  9.56005    -0.0798948  0.0127832   0.0458064   0.22       0             pose: 0.0           -3.62413   0.169108    0 -0.0016466  0.00204598  0.00364357  0.99999        uwb: 0.50002779     836.971  1405.53  
imu_odom_:  1691062944.313714268  0.296881   -0.0646434 9.67018    -0.0479369  -0.0191748  0.0458064   0.25       0             pose: 0.24003655    -3.62413   0.169108    0 -0.00126816 0.00419606  0.00362198  0.999984       uwb: 0.0            836.971  1405.53  
imu_odom_:  1691062944.338718866  0.533907   -0.0095768110.0724    -0.0830906  -0.0106526  0.0553937   0.25       0             pose: 0.43919255    -3.61437   0.166891    0 -0.00223207 0.00551431  0.00364879  0.999976       uwb: 0.49929866     837.745  1404.63  
imu_odom_:  1691062944.352805844  0.363919   -0.332794  9.81862    -0.0479369  -0.0532632  0.0319579   0.25       0             pose: 0.0           -3.61437   0.166891    0 -0.00223207 0.00551431  0.00364879  0.999976       uwb: 0.0            837.745  1404.63  
imu_odom_:  1691062944.376874537  0.167594   -0.275333  9.48822    -0.0777643  -0.0170442  0.0383495   0.18       0.02          pose: 0.47999728    -3.60462   0.164675    0 0.000312778 0.00318672  0.00389449  0.999987       uwb: 0.0            837.745  1404.63  
imu_odom_:  1691062944.402671256  0.430956   -0.150835  9.96227    -0.0287621  -0.02024    0.036219    0.23       0             pose: 0.32213890    -3.59764   0.163091    0 -0.00139642 0.00497635  0.00384568  0.999979       uwb: 0.50057318     838.396  1404.03  
imu_odom_:  1691062944.428772457  0.577003   -0.0383072 10.0437    -0.0426106  -0.00106526 0.0319579   0.23       0             pose: 0.0           -3.59764   0.163091    0 -0.00139642 0.00497635  0.00384568  0.999979       uwb: 0.0            838.396  1404.03  
imu_odom_:  1691062944.445642066  0.500388   -0.205901  9.69652    -0.0372843  -0.00745685 0.0415453   0.21       0             pose: 0.6819065     -3.59487   0.162463    0 -0.0009042360.00437072  0.00383509  0.999983       uwb: 0.49994904     835.587  1401.87  
imu_odom_:  1691062944.461634392  0.260968   -0.323217  9.71088    -0.0479369  -0.0234358  0.0575243   0.21       0             pose: 0.0           -3.59487   0.162463    0 -0.0009042360.00437072  0.00383509  0.999983       uwb: 0.0            835.587  1401.87  
imu_odom_:  1691062944.488685497  0.770933   -0.0790087 10.161     -0.0234358  -0.0394148  0.0351537   0.25       0             pose: 0.52144947    -3.58291   0.170001    0 0.00204785  -6.16244e-050.00371906  0.999991       uwb: 0.49890494     836.085  1400.66  
imu_odom_:  1691062944.505653975  0.519542   -0.28491   9.46667    -0.076699   -0.00213053 0.0649811   0.25       0             pose: 0.0           -3.58291   0.170001    0 0.00204785  -6.16244e-050.00371906  0.999991       uwb: 0.0            836.085  1400.66  
imu_odom_:  1691062944.532662499  0.758962   -0.150835  9.97185    -0.0458064  -0.0436758  0.0500674   0.25       -0.02         pose: 0.32888184    -3.58291   0.170001    0 0.00117864  -0.0007767590.00385738  0.999992       uwb: 0.49936575     838.109  1400.69  
imu_odom_:  1691062944.557638223  0.672771   -0.320823  10.2041    -0.0948085  -0.0372843  0.0585895   0.25       -0.02         pose: 0.0           -3.58291   0.170001    0 0.00117864  -0.0007767590.00385738  0.999992       uwb: 0.0            838.109  1400.69  
imu_odom_:  1691062944.584780031  0.593762   -0.059855  10.1035    -0.0628506  -0.0234358  0.0553937   0.21       0.02          pose: 0.43964752    -3.57315   0.167789    0 0.000621978 -0.0046543  0.00407245  0.999981       uwb: 0.49998987     837.012  1399.38  
imu_odom_:  1691062944.600659197  0.3304     -0.395043  9.74679    -0.0894822  0.0223706   0.0596548   0.21       0.02          pose: 0.0           -3.57315   0.167789    0 0.000621978 -0.0046543  0.00407245  0.999981       uwb: 0.0            837.012  1399.38  
imu_odom_:  1691062944.626702360  0.435745   -0.347159  9.7037     -0.0543285  -0.0106526  0.0298274   0.23       0.02          pose: 0.52118116    -3.5634    0.165583    0 -0.00044866 -0.00929328 0.00447428  0.999947       uwb: 0.0            837.012  1399.38  
imu_odom_:  1691062944.651685667  0.42138    -0.296881  9.55287    -0.0916127  -0.0149137  0.0479369   0.23       0.02          pose: 0.0           -3.5634    0.165583    0 -0.00044866 -0.00929328 0.00447428  0.999947       uwb: 0.50015320     838.028  1398.88  
imu_odom_:  1691062944.676744803  0.229843   -0.222661  9.60554    -0.0447411  -0.0351537  0.0340885   0.19       0             pose: 0.42871940    -3.55364   0.163385    0 -0.000323501-0.00766627 0.00474813  0.999959       uwb: 0.0            838.028  1398.88  
imu_odom_:  1691062944.690647167  0.318429   -0.409408  10.0078    -0.0639159  -0.00532632 0.0298274   0.19       0             pose: 0.0           -3.55364   0.163385    0 -0.000323501-0.00766627 0.00474813  0.999959       uwb: 0.49992863     840.007  1399     
imu_odom_:  1691062944.716682163  0.68953    -0.220267  9.95988    -0.0308927  -0.0617853  0.0490022   0.17       0             pose: 0.50978348    -3.54169   0.170947    0 -0.00308279 -0.00376253 0.00476232  0.999977       uwb: 0.0            840.007  1399     
imu_odom_:  1691062944.741654096  0.608127   -0.28491   10.2735    -0.0649811  -0.0170442  0.0468716   0.17       0             pose: 0.0           -3.54169   0.170947    0 -0.00308279 -0.00376253 0.00476232  0.999977       uwb: 0.50213350     838.658  1397.34  
imu_odom_:  1691062944.756764182  0.845153   0.0143652  9.97903    -0.0308927  -0.00106526 0.0234358   0.18       0             pose: 0.39062119    -3.54169   0.170947    0 -0.00344282 -0.00223619 0.00468647  0.999981       uwb: 0.0            838.658  1397.34  
imu_odom_:  1691062944.782714600  0.667982   -0.454898  9.53132    -0.0788296  -0.0170442  0.0511327   0.18       0             pose: 0.0           -3.54169   0.170947    0 -0.00344282 -0.00223619 0.00468647  0.999981       uwb: 0.49814374     838.072  1395.8   
imu_odom_:  1691062944.808663560  0.447716   -0.277727  9.8689     -0.0330232  -0.0127832  0.0426106   0.24       0             pose: 0.50948891    -3.53194   0.168751    0 -0.00257513 -0.00774446 0.00479494  0.999955       uwb: 0.0            838.072  1395.8   
imu_odom_:  1691062944.834659475  0.426168   -0.423774  9.72046    -0.0607201  -0.0319579  0.0468716   0.23       0             pose: 0.59992661    -3.52218   0.166557    0 -0.00376665 -0.0072571  0.00493852  0.999954       uwb: 0.49935699     839.507  1395.25  
imu_odom_:  1691062944.850696424  0.895431   -0.213084  9.93115    -0.0340885  -0.0213053  0.0245011   0.23       0             pose: 0.0           -3.52218   0.166557    0 -0.00376665 -0.0072571  0.00493852  0.999954       uwb: 0.0            839.507  1395.25  
imu_odom_:  1691062944.876615636  0.835576   -0.299275  10.1658    -0.0596548  -0.00319579 0.0490022   0.23       0.02          pose: 0.7127922     -3.52218   0.166557    0 -0.00433055 -0.00689589 0.00497043  0.999954       uwb: 0.0            839.507  1395.25  
imu_odom_:  1691062944.902746877  0.981623   -0.363919  10.0365    -0.0234358  -0.00213053 0.0213053   0.23       0.02          pose: 0.0           -3.52218   0.166557    0 -0.00433055 -0.00689589 0.00497043  0.999954       uwb: 0.50016487     839.481  1394.32  
imu_odom_:  1691062944.926625998  0.596156   -0.124498  10.094     -0.0585895  -0.0351537  0.0468716   0.23       0             pose: 0.42925604    -3.51242   0.164367    0 -0.00512552 -0.00840227 0.00495698  0.999939       uwb: 0.0            839.481  1394.32  
imu_odom_:  1691062944.942737317  0.430956   -0.339977  9.62469    -0.0330232  0.0255663   0.0330232   0.23       0             pose: 0.0           -3.51242   0.164367    0 -0.00512552 -0.00840227 0.00495698  0.999939       uwb: 0.50099023     839.854  1393.41  
imu_odom_:  1691062944.960620409  0.531513   -0.311246  10.1394    -0.0681769  -0.0170442  0.0415453   0.23       0             pose: 0.0           -3.51242   0.164367    0 -0.00512552 -0.00840227 0.00495698  0.999939       uwb: 0.0            839.854  1393.41  
imu_odom_:  1691062944.985602258  0.526724   -0.220267  9.93833    -0.0223706  0.0127832   0.0298274   0.18       0             pose: 0.50978348    -3.50048   0.171934    0 -0.00427908 -0.0126362  0.00480441  0.999899       uwb: 0.49879120     838.847  1391.96  
imu_odom_:  1691062945.9823193    0.407014   -0.0885855 10.1873    -0.0436758  -0.00106526 0.0468716   0.23       -0.02         pose: 0.40990508    -3.49072   0.169741    0 -0.00341399 -0.00993007 0.00482178  0.999933       uwb: 0.0            838.847  1391.96  
imu_odom_:  1691062945.25821936   0.533907   -0.304064  9.54808    -0.0458064  0.0181095   0.0308927   0.23       -0.02         pose: 0.0           -3.49072   0.169741    0 -0.00341399 -0.00993007 0.00482178  0.999933       uwb: 0.0            838.847  1391.96  
imu_odom_:  1691062945.52766880   0.588974   -0.447716  9.8665     -0.0639159  0.0138484   0.052198    0.18       0.02          pose: 0.41920287    -3.48096   0.167547    0 -0.000911928-0.00684368 0.00472983  0.999965       uwb: 0.50047110     839.799  1391.58  
imu_odom_:  1691062945.78754046   0.682347   -0.105345  10.4722    -0.0479369  -0.0458064  0.04048     0.18       0.02          pose: 0.0           -3.48096   0.167547    0 -0.000911928-0.00684368 0.00472983  0.999965       uwb: 0.0            839.799  1391.58  
imu_odom_:  1691062945.103698564  0.744597   -0.263362  9.75637    -0.072438   0.0255663   0.0490022   0.23       0             pose: 0.41186497    -3.48096   0.167547    0 -0.001814   -0.00604551 0.00477988  0.999969       uwb: 0.49929575     839.509  1390.35  
imu_odom_:  1691062945.118599246  0.507571   -0.205901  10.0126    -0.0308927  0.0330232   0.0308927   0.23       0             pose: 0.0           -3.48096   0.167547    0 -0.001814   -0.00604551 0.00477988  0.999969       uwb: 0.0            839.509  1390.35  
imu_odom_:  1691062945.145734929  0.241814   -0.562637  9.84735    -0.0788296  0           0.056459    0.19       0             pose: 0.51865547    -3.46901   0.17511     0 -0.00166196 -0.00920233 0.00493518  0.999944       uwb: 0.50116232     838.204  1388.69  
imu_odom_:  1691062945.171605144  0.505177   -0.181959  9.94791    -0.0447411  0.00639159  0.0255663   0.19       0             pose: 0.0           -3.46901   0.17511     0 -0.00166196 -0.00920233 0.00493518  0.999944       uwb: 0.0            838.204  1388.69  
imu_odom_:  1691062945.197607184  0.794875   -0.222661  9.9503     -0.0660464  -0.0298274  0.0458064   0.22       -0.05         pose: 0.40954927    -3.45926   0.172919    0 -0.00185387 -0.00850107 0.00502253  0.99995        uwb: 0.50018237     838.629  1387.67  
imu_odom_:  1691062945.220600856  0.486023   -0.244209  10.1634    -0.0543285  -0.0415453  0.036219    0.22       -0.05         pose: 0.0           -3.45926   0.172919    0 -0.00185387 -0.00850107 0.00502253  0.99995        uwb: 0.0            838.629  1387.67  
imu_odom_:  1691062945.236657054  0.148441   0.0407014  9.84735    -0.0532632  -0.056459   0.0426106   0.19       0             pose: 0.53051103    -3.4495    0.170729    0 -0.00085678 -0.0069515  0.0050248   0.999963       uwb: 0.49912659     839.265  1387.09  
imu_odom_:  1691062945.262631388  -0.0622492 -0.361524  10.082     -0.0490022  0.0245011   0.0298274   0.19       0             pose: 0.0           -3.4495    0.170729    0 -0.00085678 -0.0069515  0.0050248   0.999963       uwb: 0.0            839.265  1387.09  
imu_odom_:  1691062945.287663692  0.198719   -0.486023  9.67257    -0.0479369  -0.0181095  0.0330232   0.2        -0.02         pose: 0.47945773    -3.43974   0.16854     0 -0.000726402-0.0067301  0.00505331  0.999964       uwb: 0.50009488     837.241  1385.33  
imu_odom_:  1691062945.303658644  0.648829   -0.0550666 10.3334    -0.0383495  -0.0330232  0.0372843   0.2        -0.02         pose: 0.0           -3.43974   0.16854     0 -0.000726402-0.0067301  0.00505331  0.999964       uwb: 0.0            837.241  1385.33  
imu_odom_:  1691062945.331669860  0.663194   -0.270545  10.1897    -0.052198   0.0298274   0.0223706   0.18       0.02          pose: 0.76048568    -3.42365   0.170359    0 -0.0011168  -0.00306872 0.00484601  0.999983       uwb: 0.49930159     838.813  1385.35  
imu_odom_:  1691062945.356735412  0.706289   -0.174777  9.65342    -0.072438   0.00532632  0.0511327   0.19       0             pose: 0.8020370     -3.41804   0.173915    0 -0.00123283 -0.00372383 0.00477638  0.999981       uwb: 0.0            838.813  1385.35  
imu_odom_:  1691062945.383729937  0.299275   -0.294487  10.1466    -0.0330232  -0.00319579 0.02024     0.23       -0.02         pose: 0.45056398    -3.41111   0.172356    0 -0.000908092-0.00760651 0.00473815  0.999959       uwb: 0.50131688     838.496  1384.22  
imu_odom_:  1691062945.408606501  0.648829   -0.323217  10.0293    -0.0841559  -0.0170442  0.0585895   0.18       0.02          pose: 0.0           -3.41111   0.172356    0 -0.000908092-0.00760651 0.00473815  0.999959       uwb: 0.0            838.496  1384.22  
imu_odom_:  1691062945.435587026  0.778116   -0.464475  9.84496    -0.0383495  -0.0607201  0.02024     0.18       0.02          pose: 0.34949857    -3.40828   0.171719    0 -0.00174591 -0.00571377 0.00456285  0.999972       uwb: 0.49985864     841.214  1384.31  
imu_odom_:  1691062945.451663056  0.0909797  -0.203507  9.87129    -0.052198   0.0234358   0.0468716   0.19       0             pose: 0.0           -3.40828   0.171719    0 -0.00174591 -0.00571377 0.00456285  0.999972       uwb: 0.0            841.214  1384.31  
imu_odom_:  1691062945.478666039  0.325611   -0.407014  9.94312    -0.0276969  -0.0287621  0.0298274   0.19       0             pose: 0.51934960    -3.39852   0.16952     0 -0.00414418 -0.00924098 0.00450522  0.999939       uwb: 0.0            841.214  1384.31  
imu_odom_:  1691062945.505118678  0.672771   -0.181959  9.95509    -0.0532632  -0.0266316  0.052198    0.19       0.02          pose: 0.35045810    -3.39166   0.167973    0 -0.0047713  -0.00622813 0.00442838  0.999959       uwb: 0.49886120     841.157  1383.5   
imu_odom_:  1691062945.531769056  0.545878   -0.177171  10.2376    -0.0372843  -0.0170442  0.0479369   0.19       0.02          pose: 0.0           -3.39166   0.167973    0 -0.0047713  -0.00622813 0.00442838  0.999959       uwb: 0.50048277     840.09   1382.29  
imu_odom_:  1691062945.557589107  0.608127   -0.244209  10.0197    -0.0330232  -0.0383495  0.0426106   0.19       0             pose: 0.7944250     -3.38877   0.167321    0 -0.00424158 -0.00691636 0.00447285  0.999957       uwb: 0.0            840.09   1382.29  
imu_odom_:  1691062945.574642747  0.423774   -0.129287  10.1849    -0.0351537  0.00319579  0.056459    0.19       0             pose: 0.0           -3.38877   0.167321    0 -0.00424158 -0.00691636 0.00447285  0.999957       uwb: 0.0            840.09   1382.29  
imu_odom_:  1691062945.600640413  0.502782   -0.150835  10.2017    -0.0649811  0.015979    0.0436758   0.23       0.02          pose: 0.53014355    -3.37682   0.174879    0 -0.000481009-0.00875414 0.00468625  0.999951       uwb: 0.49930742     841.769  1382.02  
imu_odom_:  1691062945.626604539  0.950498   -0.253785  10.1251    -0.0756338  -0.00426106 0.0649811   0.23       0             pose: 0.61015769    -3.36706   0.172685    0 0.00138524  -0.00679678 0.00489742  0.999964       uwb: 0.0            841.769  1382.02  
imu_odom_:  1691062945.652592580  1.00317    -0.124498  10.1035    -0.0500674  0.0276969   0.0319579   0.23       0             pose: 0.0           -3.36706   0.172685    0 0.00138524  -0.00679678 0.00489742  0.999964       uwb: 0.50275472     841.427  1380.96  
imu_odom_:  1691062945.669603056  0.0023942  -0.316035  9.57681    -0.0862864  0.0351537   0.0553937   0.21       0             pose: 0.7020011     -3.36706   0.172685    0 0.00120527  -0.00749101 0.00498776  0.999959       uwb: 0.0            841.427  1380.96  
imu_odom_:  1691062945.694701857  0.395043   -0.268151  9.93115    -0.0692422  -0.0149137  0.04048     0.21       0             pose: 0.0           -3.36706   0.172685    0 0.00120527  -0.00749101 0.00498776  0.999959       uwb: 0.49863079     840.425  1379.63  
imu_odom_:  1691062945.721699298  0.462081   -0.332794  9.92157    -0.0703074  -0.02024    0.056459    0.21       0.02          pose: 0.52001164    -3.3573    0.170494    0 0.00102183  -0.0106701  0.00518618  0.999929       uwb: 0.0            840.425  1379.63  
imu_odom_:  1691062945.747772501  0.414197   -0.244209  10.2496    -0.0372843  -0.00426106 0.0298274   0.21       0.02          pose: 0.0           -3.3573    0.170494    0 0.00102183  -0.0106701  0.00518618  0.999929       uwb: 0.49931909     839.44   1378.26  
imu_odom_:  1691062945.764570364  0.213084   -0.462081  9.66779    -0.0596548  0.00532632  0.0415453   0.23       -0.02         pose: 0.43109928    -3.34754   0.168309    0 -0.00103225 -0.00684359 0.00535277  0.999962       uwb: 0.0            839.44   1378.26  
imu_odom_:  1691062945.790663691  0.459687   -0.179565  9.83538    -0.036219   -0.0394148  0.04048     0.23       -0.02         pose: 0.0           -3.34754   0.168309    0 -0.00103225 -0.00684359 0.00535277  0.999962       uwb: 0.50060234     841.009  1378.24  
imu_odom_:  1691062945.817681256  0.531513   -0.3304    10.3286    -0.0553937  -0.0276969  0.0458064   0.18       0             pose: 0.51883629    -3.33779   0.166128    0 -0.00232635 -0.00276341 0.00540976  0.999979       uwb: 0.0            841.009  1378.24  
imu_odom_:  1691062945.842593984  0.814029   0.0502782  10.2328    -0.0458064  -0.0468716  0.0458064   0.18       0.02          pose: 0.63026111    -3.32584   0.173705    0 -0.00246698 -0.00466174 0.00552053  0.999971       uwb: 0.49982656     840.705  1377.12  
imu_odom_:  1691062945.869573051  0.54109    0.117316   10.1323    -0.0553937  -0.00852212 0.0426106   0.18       0.02          pose: 0.0           -3.32584   0.173705    0 -0.00246698 -0.00466174 0.00552053  0.999971       uwb: 0.0            840.705  1377.12  
imu_odom_:  1691062945.885853236  0.19393    -0.399832  9.97664    -0.0426106  -0.00852212 0.04048     0.18       0.02          pose: 0.7948333     -3.32584   0.173705    0 -0.00186362 -0.00539188 0.00554184  0.999968       uwb: 0.50147438     841.756  1376.46  
imu_odom_:  1691062945.912692312  0.45011    -0.155623  9.95748    -0.0458064  0.00319579  0.0383495   0.18       0.02          pose: 0.0           -3.32584   0.173705    0 -0.00186362 -0.00539188 0.00554184  0.999968       uwb: 0.0            841.756  1376.46  
imu_odom_:  1691062945.937592499  0.454898   -0.11971   10.0389    -0.0617853  0.00319579  0.0681769   0.18       0.02          pose: 0.52086617    -3.31608   0.171526    0 0.00172963  -0.0063208  0.00561514  0.999963       uwb: 0.49904785     842.111  1375.62  
imu_odom_:  1691062945.964828218  0.42138    -0.287304  9.95748    -0.0458064  0.0553937   0.0234358   0.18       0.02          pose: 0.0           -3.31608   0.171526    0 0.00172963  -0.0063208  0.00561514  0.999963       uwb: 0.0            842.111  1375.62  
imu_odom_:  1691062945.980686386  0.371101   -0.143652  9.9096     -0.0330232  0.00319579  0.0298274   0.18       0             pose: 0.42930271    -3.30635   0.169258    0 0.00342443  -0.00292329 0.00570584  0.999974       uwb: 0.0            842.111  1375.62  
imu_odom_:  1691062946.6615805    0.588974   -0.28491   9.91439    -0.0330232  -0.0298274  0.0319579   0.18       0             pose: 0.0           -3.30635   0.169258    0 0.00342443  -0.00292329 0.00570584  0.999974       uwb: 0.49954365     842.221  1374.44  
imu_odom_:  1691062946.29704847   0.651223   -0.301669  10.2615    -0.056459   -0.0191748  0.0511327   0.25       0             pose: 0.51991540    -3.29661   0.166987    0 0.00283042  -0.0003945610.0056905   0.99998        uwb: 0.0            842.221  1374.44  
imu_odom_:  1691062946.55700180   0.59855    -0.356736  9.92875    -0.0458064  -0.00106526 0.0319579   0.25       0             pose: 0.0           -3.29661   0.166987    0 0.00283042  -0.0003945610.0056905   0.99998        uwb: 0.50073651     841.292  1373     
imu_odom_:  1691062946.81682972   0.514753   -0.368707  9.94791    -0.0372843  -0.0213053  0.0468716   0.18       -0.02         pose: 0.63968140    -3.28459   0.17445     0 0.000304256 -0.00462078 0.00567169  0.999973       uwb: 0.49939784     841.715  1372     
imu_odom_:  1691062946.98549956   0.701501   -0.141258  9.61033    -0.0383495  0.00852212  0.0298274   0.18       -0.02         pose: 0.0           -3.28459   0.17445     0 0.000304256 -0.00462078 0.00567169  0.999973       uwb: 0.0            841.715  1372     
imu_odom_:  1691062946.123651090  0.469264   -0.627281  9.40921    -0.0830906  0.0298274   0.0639159   0.21       0             pose: 0.51991540    -3.27486   0.172175    0 -0.0030382  -0.00643629 0.00567992  0.999959       uwb: 0.0            841.715  1372     
imu_odom_:  1691062946.150693738  0.591368   0.0454898  10.2615    -0.0308927  -0.0319579  0.0394148   0.23       -0.02         pose: 0.35053393    -3.26797   0.170568    0 -0.00517328 -0.00630235 0.00594588  0.999949       uwb: 0.0            841.715  1372     
imu_odom_:  1691062946.176554620  0.548272   -0.416591  9.96227    -0.072438   -0.0117179  0.0575243   0.23       -0.02         pose: 0.0           -3.26797   0.170568    0 -0.00517328 -0.00630235 0.00594588  0.999949       uwb: 0.0            841.715  1372     
imu_odom_:  1691062946.193750877  0.203507   -0.191536  9.83299    -0.0298274  0.0319579   0.0287621   0.26       0.02          pose: 0.7025845     -3.26511   0.169932    0 -0.0043923  -0.00651078 0.0059414   0.999952       uwb: 0.99845736     842.705  1371.48  
imu_odom_:  1691062946.218676146  0.656011   -0.318429  9.97664    -0.0884169  0.00639159  0.0671117   0.26       0.02          pose: 0.0           -3.26511   0.169932    0 -0.0043923  -0.00651078 0.0059414   0.999952       uwb: 0.0            842.705  1371.48  
imu_odom_:  1691062946.245690795  0.445322   -0.0909797 10.0197    -0.0479369  0.00319579  0.0276969   0.21       -0.02         pose: 0.52899738    -3.25535   0.167762    0 -0.00465551 -0.00651562 0.00614106  0.999949       uwb: 0.50130522     843.601  1371.17  
imu_odom_:  1691062946.270562984  0.265756   -0.268151  10.5058    -0.056459   -0.0330232  0.0426106   0.21       -0.02         pose: 0.0           -3.25535   0.167762    0 -0.00465551 -0.00651562 0.00614106  0.999949       uwb: 0.0            843.601  1371.17  
imu_odom_:  1691062946.287674955  0.529119   -0.299275  9.71806    -0.0639159  -0.00426106 0.0468716   0.21       -0.02         pose: 0.41986492    -3.24342   0.175359    0 -0.00429388 -0.0073745  0.00637602  0.999943       uwb: 0.50173687     843.117  1370.5   
imu_odom_:  1691062946.312576892  0.112527   -0.0383072 9.80186    -0.0681769  -0.0490022  0.052198    0.21       -0.02         pose: 0.0           -3.24342   0.175359    0 -0.00429388 -0.0073745  0.00637602  0.999943       uwb: 0.0            843.117  1370.5   
imu_odom_:  1691062946.339548668  0.392649   -0.31364   10.1251    -0.056459   -0.0340885  0.04048     0.23       0             pose: 0.52011081    -3.24342   0.175359    0 -0.00294351 -0.00481067 0.00631808  0.999964       uwb: 0.49806791     846.287  1371.09  
imu_odom_:  1691062946.365544584  1.05584    -0.258574  9.95509    -0.0340885  0.00532632  0.0234358   0.19       0             pose: 0.61974422    -3.22671   0.171658    0 -0.00378886 -0.00206109 0.00653841  0.999969       uwb: 0.0            846.287  1371.09  
imu_odom_:  1691062946.392534151  0.737414   -0.225055  9.81623    -0.0692422  0.0319579   0.0511327   0.25       0             pose: 0.8089492     -3.22389   0.171035    0 -0.00365687 -0.00282968 0.00646997  0.999968       uwb: 0.0            846.287  1371.09  
imu_odom_:  1691062946.417579872  0.852336   -0.304064  9.63906    -0.0511327  -0.0276969  0.0436758   0.21       0             pose: 0.25098217    -3.22389   0.171035    0 -0.00325363 -0.00510174 0.00635624  0.999961       uwb: 0.0            846.287  1371.09  
imu_odom_:  1691062946.434512769  0.265756   -0.356736  9.55765    -0.0468716  0.00639159  0.0553937   0.21       0             pose: 0.0           -3.22389   0.171035    0 -0.00325363 -0.00510174 0.00635624  0.999961       uwb: 0.99943147     846.074  1369.78  
imu_odom_:  1691062946.459589697  0.383072   -0.155623  10.0054    -0.0351537  -0.0287621  0.0298274   0.2        0             pose: 0.27810853    -3.21413   0.168872    0 -0.00300558 -0.00756566 0.0064751   0.999946       uwb: 0.0            846.074  1369.78  
imu_odom_:  1691062946.486567014  0.821211   -0.387861  9.83059    -0.0820254  -0.00426106 0.0596548   0.2        0             pose: 0.0           -3.21413   0.168872    0 -0.00300558 -0.00756566 0.0064751   0.999946       uwb: 0.49991697     846.544  1368.65  
imu_odom_:  1691062946.512556514  0.636858   -0.232238  9.69173    -0.0500674  0.0330232   0.0266316   0.19       0             pose: 0.41981826    -3.20221   0.176477    0 -0.00293616 -0.00718596 0.00661087  0.999948       uwb: 0.0            846.544  1368.65  
imu_odom_:  1691062946.539540248  0.545878   -0.428562  9.81144    -0.0319579  -0.04048    0.0351537   0.19       0             pose: 0.52224569    -3.19244   0.17432     0 -0.00275803 -0.00902238 0.00673831  0.999933       uwb: 0.49870080     847.198  1367.98  
imu_odom_:  1691062946.556513976  0.543484   -0.0861913 9.62948    -0.0415453  0.00213053  0.0511327   0.19       0.02          pose: 0.0           -3.19244   0.17432     0 -0.00275803 -0.00902238 0.00673831  0.999933       uwb: 0.0            847.198  1367.98  
imu_odom_:  1691062946.581584779  0.323217   -0.100556  9.91678    -0.0500674  0.0319579   0.0394148   0.19       0.02          pose: 0.0           -3.19244   0.17432     0 -0.00275803 -0.00902238 0.00673831  0.999933       uwb: 0.49988781     846.552  1366.82  
imu_odom_:  1691062946.606530755  0.150835   -0.186748  9.87848    -0.056459   0.0298274   0.0553937   0.18       0.02          pose: 0.52871448    -3.18268   0.172161    0 -0.00317439 -0.00969267 0.00662152  0.999926       uwb: 0.0            846.552  1366.82  
imu_odom_:  1691062946.633566694  0.42138    -0.325611  9.53132    -0.04048    0.0127832   0.0234358   0.25       0             pose: 0.58905682    -3.17594   0.170673    0 -0.000642377-0.00394251 0.00685321  0.999969       uwb: 0.50015612     846.249  1365.75  
imu_odom_:  1691062946.649656141  0.332794   0.0143652  10.4914    -0.0479369  -0.02024    0.0639159   0.19       0.02          pose: 0.8074326     -3.17291   0.170006    0 -0.00128737 -0.00347925 0.00679127  0.99997        uwb: 0.0            846.249  1365.75  
imu_odom_:  1691062946.676674581  0.600945   -0.102951  10.331     -0.0543285  0.0181095   0.0383495   0.19       0.02          pose: 0.27092811    -3.17291   0.170006    0 -0.00202232 -0.00213839 0.00674408  0.999973       uwb: 0.0            846.249  1365.75  
imu_odom_:  1691062946.701725551  0.260968   -0.373495  9.49301    -0.0798948  0.0394148   0.0703074   0.25       0             pose: 0.0           -3.17291   0.170006    0 -0.00202232 -0.00213839 0.00674408  0.999973       uwb: 0.49987614     845.732  1364.3   
imu_odom_:  1691062946.728665246  0.198719   -0.28491   9.73722    -0.0500674  0.02024     0.0351537   0.21       0.02          pose: 0.60027659    -3.161     0.177615    0 -0.00136141 -0.00113005 0.0072061   0.999972       uwb: 0.0            845.732  1364.3   
imu_odom_:  1691062946.753650887  0.373495   -0.385466  10.1418    -0.0937433  0.0213053   0.0628506   0.21       0.02          pose: 0.0           -3.161     0.177615    0 -0.00136141 -0.00113005 0.0072061   0.999972       uwb: 0.49916744     846.679  1363.84  
imu_odom_:  1691062946.770534787  0.253785   -0.373495  9.63906    -0.0660464  0.015979    0.036219    0.23       0.02          pose: 0.6820232     -3.161     0.177615    0 -0.00147896 -0.0003776890.00719198  0.999973       uwb: 0.0            846.679  1363.84  
imu_odom_:  1691062946.796530995  0.232238   -0.129287  9.99579    -0.0692422  0.0149137   0.0596548   0.23       0.02          pose: 0.0           -3.161     0.177615    0 -0.00147896 -0.0003776890.00719198  0.999973       uwb: 0.49993155     847.044  1362.97  
imu_odom_:  1691062946.823903498  0.0909797  -0.0909797 10.1323    -0.0436758  -0.00532632 0.036219    0.25       0             pose: 0.52110824    -3.15123   0.175468    0 -0.00521005 0.00266568  0.00742639  0.999955       uwb: 0.0            847.044  1362.97  
imu_odom_:  1691062946.848645903  0.0790087  -0.158017  9.53611    -0.0436758  0.00319579  0.0511327   0.25       0             pose: 0.0           -3.15123   0.175468    0 -0.00521005 0.00266568  0.00742639  0.999955       uwb: 0.50016196     847.951  1362.58  
imu_odom_:  1691062946.875733756  0.19393    -0.292093  10.0892    -0.0575243  -0.0234358  0.0447411   0.21       -0.02         pose: 0.43143176    -3.14146   0.173325    0 -0.00311039 0.00556168  0.00767969  0.99995        uwb: 0.0            847.951  1362.58  
imu_odom_:  1691062946.891571216  0.610521   -0.0694318 10.2424    -0.052198   0.00213053  0.0479369   0.21       -0.02         pose: 0.0           -3.14146   0.173325    0 -0.00311039 0.00556168  0.00767969  0.99995        uwb: 0.49994906     847.099  1361.08  
imu_odom_:  1691062946.918708358  0.636858   -0.368707  9.51935    -0.0585895  -0.0138484  0.0543285   0.23       0             pose: 0.52873490    -3.13169   0.171187    0 -0.00126337 0.00955399  0.00782359  0.999923       uwb: 0.0            847.099  1361.08  
imu_odom_:  1691062946.944538034  0.253785   -0.509965  10.2256    -0.0426106  0.0351537   0.036219    0.19       0             pose: 0.41861666    -3.11979   0.178821    0 -0.00255038 0.00786312  0.0079732   0.999934       uwb: 0.50207226     846.458  1359.96  
imu_odom_:  1691062946.971719506  0.622492   -0.418985  9.8282     -0.0607201  -0.00852212 0.0543285   0.25       -0.02         pose: 0.0           -3.11979   0.178821    0 -0.00255038 0.00786312  0.0079732   0.999934       uwb: 0.0            846.458  1359.96  
imu_odom_:  1691062946.987703958  0.0263362  -0.416591  9.75158    -0.0447411  0.0255663   0.0383495   0.25       -0.02         pose: 0.53145891    -3.11002   0.176689    0 -0.00572224 0.00594506  0.00810128  0.999933       uwb: 0.49885245     845.841  1358.8   
imu_odom_:  1691062947.14483537   0.289698   -0.493206  9.33978    -0.076699   0.00745685  0.0628506   0.19       0             pose: 0.0           -3.11002   0.176689    0 -0.00572224 0.00594506  0.00810128  0.999933       uwb: 0.0            845.841  1358.8   
imu_odom_:  1691062947.39510009   -0.217872  -0.40462   9.64145    -0.0266316  0.0287621   0.0287621   0.19       0             pose: 0.62802707    -3.10023   0.174544    0 -0.00961556 0.00599046  0.00852885  0.999899       uwb: 0.50029904     846.534  1358.05  
imu_odom_:  1691062947.66638402   0.263362   -0.0263362 9.93115    -0.0447411  -0.0372843  0.0490022   0.19       0             pose: 0.0           -3.10023   0.174544    0 -0.00961556 0.00599046  0.00852885  0.999899       uwb: 0.0            846.534  1358.05  
imu_odom_:  1691062947.92510659   0.222661   0.0311246  10.2951    -0.0468716  -0.0117179  0.0458064   0.18       0.02          pose: 0.8005788     -3.10025   0.174559    0 -0.00952092 0.00692359  0.00849113  0.999895       uwb: 0.50060235     846.784  1357.47  
imu_odom_:  1691062947.109627879  0.337582   -0.397437  9.78031    -0.0575243  -0.015979   0.0532632   0.18       0.02          pose: 0.0           -3.10025   0.174559    0 -0.00952092 0.00692359  0.00849113  0.999895       uwb: 0.0            846.784  1357.47  
imu_odom_:  1691062947.135515885  0.679953   -0.0933739 10.1658    -0.0479369  -0.0383495  0.04048     0.18       -0.02         pose: 0.52173822    -3.0905    0.172339    0 -0.00563078 0.00822043  0.00859531  0.999913       uwb: 0.49999864     847.466  1356.73  
imu_odom_:  1691062947.162765020  0.641646   -0.383072  9.76355    -0.0426106  -0.00532632 0.04048     0.18       -0.02         pose: 0.0           -3.0905    0.172339    0 -0.00563078 0.00822043  0.00859531  0.999913       uwb: 0.0            847.466  1356.73  
imu_odom_:  1691062947.187600170  0.198719   -0.0622492 10.4267    -0.0468716  0.0351537   0.0660464   0.18       0.02          pose: 0.43031766    -3.07853   0.179871    0 -0.00466805 0.00616399  0.00877189  0.999932       uwb: 0.49990240     848.559  1355.9   
imu_odom_:  1691062947.214747520  0.442927   -0.0430956 10.149     -0.056459   0.0149137   0.0340885   0.21       -0.02         pose: 0.53085519    -3.06878   0.177657    0 -0.00365236 0.00228529  0.00888601  0.999951       uwb: 0.0            848.559  1355.9   
imu_odom_:  1691062947.230647394  0.407014   -0.260968  9.72525    -0.0511327  -0.0138484  0.0553937   0.21       -0.02         pose: 0.0           -3.06878   0.177657    0 -0.00365236 0.00228529  0.00888601  0.999951       uwb: 0.0            848.559  1355.9   
imu_odom_:  1691062947.257672250  0.732626   -0.263362  10.1251    -0.0394148  -0.052198   0.0351537   0.25       0             pose: 0.24054112    -3.06878   0.177657    0 -0.00157279 0.003338    0.00909516  0.999952       uwb: 0.50065485     848.298  1354.79  
imu_odom_:  1691062947.282479693  0.35913    -0.25618   9.54329    -0.0788296  -0.00426106 0.0628506   0.25       0             pose: 0.43676896    -3.059     0.175547    0 -0.0008474150.000399698 0.00914946  0.999958       uwb: 0.49868330     847.162  1353.17  
imu_odom_:  1691062947.309533423  0.19393    -0.136469  9.87129    -0.052198   -0.00319579 0.0372843   0.23       0             pose: 0.43968253    -3.04923   0.173438    0 -0.00189809 0.000390498 0.00939693  0.999954       uwb: 0.0            847.162  1353.17  
imu_odom_:  1691062947.334591977  0.371101   -0.0335188 10.0006    -0.0798948  -0.00426106 0.0532632   0.23       0             pose: 0.0           -3.04923   0.173438    0 -0.00189809 0.000390498 0.00939693  0.999954       uwb: 0.50107191     847.518  1351.51  
imu_odom_:  1691062947.351477336  0.567426   -0.366313  9.7444     -0.0490022  0.0330232   0.0319579   0.21       -0.02         pose: 0.52112284    -3.03802   0.178004    0 0.00165129  0.00249094  0.00954982  0.99995        uwb: 0.0            847.518  1351.51  
imu_odom_:  1691062947.367597405  0.577003   -0.0814029 10.0772    -0.0585895  -0.0245011  0.052198    0.21       -0.02         pose: 0.0           -3.03802   0.178004    0 0.00165129  0.00249094  0.00954982  0.99995        uwb: 0.0            847.518  1351.51  
imu_odom_:  1691062947.384477223  0.0837971  -0.21069   9.73243    -0.0617853  -0.0181095  0.0511327   0.21       -0.02         pose: 0.0           -3.03802   0.178004    0 0.00165129  0.00249094  0.00954982  0.99995        uwb: 0.49880871     847.474  1350.77  
imu_odom_:  1691062947.410501429  0.237026   -0.402226  9.56005    -0.0500674  0.0234358   0.0319579   0.25       0             pose: 0.39904405    -3.02756   0.179006    0 0.00133814  0.000615741 0.00962782  0.999953       uwb: 0.0            847.474  1350.77  
imu_odom_:  1691062947.437470872  0.651223   -0.191536  10.5321    -0.0223706  -0.056459   0.0276969   0.25       0             pose: 0.36005047    -3.02054   0.177498    0 -0.0009062290.00330122  0.00957997  0.999948       uwb: 0.49981781     846.886  1349.61  
imu_odom_:  1691062947.463471163  1.88184    -0.21069   9.11951    -0.0820254  0.0458064   0.0415453   0.25       0             pose: 0.7057926     -3.01778   0.176906    0 -0.00069027 0.00241909  0.00953753  0.999951       uwb: 0.0            846.886  1349.61  
imu_odom_:  1691062947.490523435  0.423774   -0.280122  8.84657    -0.052198   -0.072438   0.0372843   0.23       -0.02         pose: 0.45911808    -3.01103   0.175454    0 -0.000399487-0.00202223 0.00944297  0.999953       uwb: 0.50064611     846.227  1348.63  
imu_odom_:  1691062947.515591321  0.993594   -0.392649  9.98622    -0.0798948  -0.0490022  0.0490022   0.23       -0.02         pose: 0.0           -3.01103   0.175454    0 -0.000399487-0.00202223 0.00944297  0.999953       uwb: 0.0            846.227  1348.63  
imu_odom_:  1691062947.542516725  0.562637   -0.244209  9.64863    -0.0575243  -0.00639159 0.0479369   0.21       0             pose: 0.52120158    -3.00106   0.173309    0 -0.00379351 -0.00533116 0.0095307   0.999933       uwb: 0.50073943     842.99   1346.13  
imu_odom_:  1691062947.568531890  0.445322   -0.225055  10.1778    -0.0713727  -0.0436758  0.0500674   0.2        0             pose: 0.0           -3.00106   0.173309    0 -0.00379351 -0.00533116 0.0095307   0.999933       uwb: 0.0            842.99   1346.13  
imu_odom_:  1691062947.595580663  0.948104   -0.124498  10.2735    -0.0798948  -0.0287621  0.0511327   0.2        0             pose: 0.34968523    -2.99823   0.172702    0 -0.00201435 -0.00689316 0.00966821  0.999927       uwb: 0.49806208     841.137  1343.83  
imu_odom_:  1691062947.611455163  0.232238   -0.502782  9.64624    -0.0458064  0.0223706   0.0415453   0.18       0             pose: 0.24996433    -2.99613   0.182479    0 -0.00150227 -0.00629289 0.00979998  0.999931       uwb: 0.0            841.137  1343.83  
imu_odom_:  1691062947.638496644  0.371101   -0.21069   9.91439    -0.0596548  -0.0479369  0.0607201   0.18       0             pose: 0.0           -2.99613   0.182479    0 -0.00150227 -0.00629289 0.00979998  0.999931       uwb: 0.49996364     841.232  1342.84  
imu_odom_:  1691062947.654449598  0.639252   -0.294487  9.95748    -0.0500674  -0.0181095  0.0553937   0.17       0             pose: 0.27929554    -2.98635   0.180383    0 -0.00163711 -0.00774242 0.00992122  0.999919       uwb: 0.0            841.232  1342.84  
imu_odom_:  1691062947.681606280  0.275333   -0.155623  9.90481    -0.0532632  0.0127832   0.0543285   0.17       0             pose: 0.0           -2.98635   0.180383    0 -0.00163711 -0.00774242 0.00992122  0.999919       uwb: 0.50008030     840.742  1341.55  
imu_odom_:  1691062947.706473512  0.488417   -0.265756  10.082     -0.0308927  -0.0276969  0.0436758   0.2        0.02          pose: 0.42964395    -2.97658   0.178291    0 -0.00170726 -0.00579571 0.010285    0.999929       uwb: 0.0            840.742  1341.55  
imu_odom_:  1691062947.733464537  0.409408   -0.373495  9.72046    -0.0820254  0.00958738  0.0692422   0.2        0.02          pose: 0.0           -2.97658   0.178291    0 -0.00170726 -0.00579571 0.010285    0.999929       uwb: 0.49994323     839.071  1339.69  
imu_odom_:  1691062947.758507342  0.0215478  -0.107739  9.87848    -0.0468716  -0.0255663  0.0490022   0.18       0             pose: 0.43062973    -2.9668    0.176206    0 -0.00163489 -0.00415249 0.0105667   0.999934       uwb: 0.0            839.071  1339.69  
imu_odom_:  1691062947.785603944  0.751779   -0.186748  10.1442    -0.092678   -0.0458064  0.0596548   0.23       0.02          pose: 0.52028580    -2.95701   0.17413     0 -0.00508429 -0.0022761  0.0110629   0.999923       uwb: 0.49927826     838.883  1338.56  
imu_odom_:  1691062947.801595979  0.790087   -0.0670376 9.75877    -0.0468716  0.04048     0.0298274   0.23       0.02          pose: 0.0           -2.95701   0.17413     0 -0.00508429 -0.0022761  0.0110629   0.999923       uwb: 0.0            838.883  1338.56  
imu_odom_:  1691062947.819476156  -0.0550666 -0.220267  9.71088    -0.0820254  0.02024     0.056459    0.23       0.02          pose: 0.0           -2.95701   0.17413     0 -0.00508429 -0.0022761  0.0110629   0.999923       uwb: 0.0            838.883  1338.56  
imu_odom_:  1691062947.844605872  0.474052   -0.258574  10.1466    -0.0692422  0.00639159  0.0447411   0.18       0             pose: 0.77934377    -2.94516   0.181845    0 -0.0029548  -0.00297486 0.011478    0.999925       uwb: 0.50066069     839.327  1337.63  
imu_odom_:  1691062947.871631604  0.548272   -0.23942   9.85214    -0.0681769  -0.0117179  0.056459    0.25       0             pose: 0.7142504     -2.94516   0.181845    0 -0.00242747 -0.00335853 0.0114932   0.999925       uwb: 0.0            839.327  1337.63  
imu_odom_:  1691062947.896583705  0.586579   -0.3304    10.3573    -0.0490022  0.0298274   0.0298274   0.2        0             pose: 0.0           -2.94516   0.181845    0 -0.00242747 -0.00335853 0.0114932   0.999925       uwb: 0.49937451     839.093  1336.6   
imu_odom_:  1691062947.923604770  0.342371   -0.54109   9.59835    -0.0596548  0.02024     0.0500674   0.23       0             pose: 0.52868823    -2.93538   0.179783    0 -0.00204151 -0.00731782 0.0117224   0.999902       uwb: 0.0            839.093  1336.6   
imu_odom_:  1691062947.949576188  0.225055   -0.189142  9.81862    -0.0479369  0.00106526  0.0500674   0.23       0             pose: 0.0           -2.93538   0.179783    0 -0.00204151 -0.00731782 0.0117224   0.999902       uwb: 0.50086484     839.863  1335.75  
imu_odom_:  1691062947.976578004  0.45011    -0.555455  9.93115    -0.0490022  -0.00745685 0.0415453   0.23       0             pose: 0.70088705    -2.92561   0.177626    0 -0.00455003 -0.00330167 0.0119553   0.999913       uwb: 0.0            839.863  1335.75  
imu_odom_:  1691062948.1623142    0.433351   -0.225055  10.3908    -0.0511327  -0.00852212 0.0575243   0.23       0             pose: 0.7007179     -2.92561   0.177626    0 -0.00522714 -0.00327425 0.0119648   0.999909       uwb: 0.49948825     839.744  1334.49  
imu_odom_:  1691062948.18450171   0.483629   -0.0143652 10.0389    -0.0490022  -0.0191748  0.0532632   0.21       0.02          pose: 0.0           -2.92561   0.177626    0 -0.00522714 -0.00327425 0.0119648   0.999909       uwb: 0.0            839.744  1334.49  
imu_odom_:  1691062948.43502600   0.347159   -0.378284  9.49301    -0.0617853  0.02024     0.0500674   0.21       0.02          pose: 0.45039775    -2.91432   0.182417    0 -0.00467856 -0.00262155 0.0122139   0.999911       uwb: 0.49942701     840.623  1334.15  
imu_odom_:  1691062948.70488376   0.526724   -0.502782  9.69891    -0.0319579  -0.0319579  0.0319579   0.18       0             pose: 0.24849733    -2.90393   0.183096    0 -0.00354288 -0.00223077 0.0123697   0.999915       uwb: 0.0            840.623  1334.15  
imu_odom_:  1691062948.95596219   0.706289   -0.459687  9.4547     -0.0671117  -0.0319579  0.0660464   0.2        0             pose: 0.0           -2.90393   0.183096    0 -0.00354288 -0.00223077 0.0123697   0.999915       uwb: 0.50134315     841.339  1333.4   
imu_odom_:  1691062948.122524540  0.466869   -0.292093  9.87129    0.0266316   -0.0458064  0.0127832   0.2        0             pose: 0.52029163    -2.89416   0.180952    0 -0.00720085 -0.00337968 0.0124621   0.999891       uwb: 0.0            841.339  1333.4   
imu_odom_:  1691062948.138441621  0.129287   -0.186748  9.79468    0.00106526  -0.00852212 0.0298274   0.2        -0.02         pose: 0.0           -2.89416   0.180952    0 -0.00720085 -0.00337968 0.0124621   0.999891       uwb: 0.50062277     840.852  1332.18  
imu_odom_:  1691062948.155486221  0.488417   0.191536   10.3693    -0.052198   -0.0649811  0.0735032   0.2        -0.02         pose: 0.52121034    -2.8844    0.17881     0 -0.00395944 -0.00384354 0.0122906   0.999909       uwb: 0.0            840.852  1332.18  
imu_odom_:  1691062948.181478637  0.584185   -0.246603  9.91199    -0.105461   -0.0319579  0.0628506   0.18       0             pose: 0.0           -2.8844    0.17881     0 -0.00395944 -0.00384354 0.0122906   0.999909       uwb: 0.0            840.852  1332.18  
imu_odom_:  1691062948.198601107  0.325611   -0.215478  9.96706    -0.0649811  -0.02024    0.0117179   0.18       0             pose: 0.32886144    -2.8844    0.17881     0 -0.00193724 -0.00460055 0.0126325   0.999908       uwb: 0.49974200     838.94   1330.23  
imu_odom_:  1691062948.224522361  0.299275   -0.258574  9.74679    -0.0596548  0.056459    0.0415453   0.18       0             pose: 0.0           -2.8844    0.17881     0 -0.00193724 -0.00460055 0.0126325   0.999908       uwb: 0.0            838.94   1330.23  
imu_odom_:  1691062948.251409560  0.596156   -0.169988  9.59117    -0.0298274  -0.00213053 0.0340885   0.18       0             pose: 0.42984228    -2.87463   0.176671    0 -0.00207497 -0.00408459 0.0126086   0.99991        uwb: 0.49970407     838.255  1328.72  
imu_odom_:  1691062948.276423783  0.445322   -0.514753  9.54089    -0.0756338  -0.00745685 0.0703074   0.18       0             pose: 0.0           -2.87463   0.176671    0 -0.00207497 -0.00408459 0.0126086   0.99991        uwb: 0.0            838.255  1328.72  
imu_odom_:  1691062948.293416760  0.428562   -0.0861913 10.1394    -0.0607201  0.0255663   0.0351537   0.18       0             pose: 0.52974401    -2.86272   0.184301    0 -0.00141351 -0.00398538 0.012675    0.999911       uwb: 0.50028446     839.275  1328.09  
imu_odom_:  1691062948.318626389  0.914585   -0.335188  9.61751    -0.0884169  -0.00319579 0.0628506   0.18       0             pose: 0.0           -2.86272   0.184301    0 -0.00141351 -0.00398538 0.012675    0.999911       uwb: 0.0            839.275  1328.09  
imu_odom_:  1691062948.345483547  0.229843   -0.399832  9.96467    -0.0266316  0.0234358   0.0308927   0.18       0             pose: 0.42111319    -2.85295   0.182165    0 -0.00196186 -0.00393682 0.0129919   0.999906       uwb: 0.49955534     836.487  1325.84  
imu_odom_:  1691062948.370611805  0.47884    -0.304064  10.0126    -0.072438   0.0213053   0.0596548   0.19       0             pose: 0.43904383    -2.84597   0.180643    0 -0.00334453 -0.00281794 0.0130848   0.999905       uwb: 0.0            836.487  1325.84  
imu_odom_:  1691062948.387409378  0.0957681  -0.25618   9.65582    -0.0511327  0.0266316   0.0351537   0.19       0             pose: 0.7953000     -2.84318   0.180034    0 -0.00399107 -0.00326401 0.0131638   0.9999         uwb: 0.0            836.487  1325.84  
imu_odom_:  1691062948.413544411  0.380678   0.0694318  10.0149    -0.0777643  -0.00852212 0.0553937   0.18       0             pose: 0.33972831    -2.83781   0.178865    0 -0.00510995 -0.00230571 0.0133041   0.999896       uwb: 0.0            836.487  1325.84  
imu_odom_:  1691062948.430419562  0.821211   -0.430956  9.71088    -0.0596548  0.015979    0.0351537   0.18       0             pose: 0.0           -2.83781   0.178865    0 -0.00510995 -0.00230571 0.0133041   0.999896       uwb: 0.0            836.487  1325.84  
imu_odom_:  1691062948.456434436  0.349553   -0.40462   9.94073    -0.0649811  -0.00852212 0.0458064   0.18       -0.02         pose: 0.43010184    -2.83341   0.177907    0 -0.00350678 -0.00327945 0.0134658   0.999898       uwb: 0.99997979     835.849  1324.28  
imu_odom_:  1691062948.483585869  0.967257   0.0191536  9.99819    -0.0394148  -0.0415453  0.036219    0.25       0             pose: 0.0           -2.83341   0.177907    0 -0.00350678 -0.00327945 0.0134658   0.999898       uwb: 0.50149189     835.225  1323.41  
imu_odom_:  1691062948.509475916  0.418985   -0.225055  10.0245    -0.0649811  0.00319579  0.04048     0.19       0             pose: 0.53166307    -2.82159   0.185677    0 -0.00380066 -0.00431459 0.0135016   0.999892       uwb: 0.0            835.225  1323.41  
imu_odom_:  1691062948.536501940  0.701501   -0.339977  9.26556    -0.052198   0.0138484   0.0436758   0.21       -0.02         pose: 0.0           -2.82159   0.185677    0 -0.00380066 -0.00431459 0.0135016   0.999892       uwb: 0.49899245     835.057  1322.35  
imu_odom_:  1691062948.561489331  0.562637   -0.275333  10.3286    -0.0436758  0.0436758   0.015979    0.21       -0.02         pose: 0.32900726    -2.8118    0.183653    0 -0.00235865 -0.00293494 0.0135253   0.999901       uwb: 0.0            835.057  1322.35  
imu_odom_:  1691062948.588571351  0.40462    -0.550666  9.73722    -0.0585895  0.00426106  0.0532632   0.2        0             pose: 0.45002736    -2.80486   0.182219    0 -0.00274302 -0.00656144 0.0132595   0.999887       uwb: 0.49882622     836.222  1322.15  
imu_odom_:  1691062948.614449733  0.385466   -0.0957681 9.94791    -0.0330232  0           0.0308927   0.2        0             pose: 0.6984722     -2.80201   0.181629    0 -0.0033982  -0.00625849 0.0133121   0.999886       uwb: 0.0            836.222  1322.15  
imu_odom_:  1691062948.641438134  0.447716   -0.397437  9.97903    -0.0809601  0.0106526   0.0511327   0.23       -0.02         pose: 0.45975680    -2.79523   0.180229    0 -0.00273884 -0.00405962 0.013347    0.999899       uwb: 0.50036612     837.123  1321.76  
imu_odom_:  1691062948.666544227  0.462081   -0.373495  9.77313    -0.0479369  0.0447411   0.0223706   0.18       0.02          pose: 0.0           -2.79523   0.180229    0 -0.00273884 -0.00405962 0.013347    0.999899       uwb: 0.0            837.123  1321.76  
imu_odom_:  1691062948.683436585  0.25618    -0.225055  9.55765    -0.0745685  -0.0468716  0.0447411   0.18       0.02          pose: 0.34997689    -2.79221   0.179603    0 -0.0064754  -0.00298429 0.0134458   0.999884       uwb: 0.50007739     837.009  1320.6   
imu_odom_:  1691062948.699610318  1.00078    -0.167594  9.99579    -0.0340885  0.0181095   0.0255663   0.18       0.02          pose: 0.0           -2.79221   0.179603    0 -0.0064754  -0.00298429 0.0134458   0.999884       uwb: 0.0            837.009  1320.6   
imu_odom_:  1691062948.726470685  0.466869   -0.174777  10.1682    -0.0649811  0.0191748   0.0585895   0.18       0             pose: 0.42110153    -2.7804    0.187372    0 -0.00693904 -0.0022161  0.0132933   0.999885       uwb: 0.0            837.009  1320.6   
imu_odom_:  1691062948.751452243  0.603339   -0.258574  9.85453    -0.0426106  -0.0106526  0.0415453   0.18       -0.02         pose: 0.34913110    -2.7735    0.185944    0 -0.00403207 -0.00265169 0.0134751   0.999898       uwb: 0.49862497     836.706  1319.81  
imu_odom_:  1691062948.778589094  0.531513   -0.383072  9.84496    -0.0458064  0.00426106  0.0383495   0.18       -0.02         pose: 0.0           -2.7735    0.185944    0 -0.00403207 -0.00265169 0.0134751   0.999898       uwb: 0.0            836.706  1319.81  
imu_odom_:  1691062948.803530404  0.605733   -0.0790087 10.2951    -0.0458064  0.00106526  0.0607201   0.2        0             pose: 0.7997330     -2.7706    0.185345    0 -0.0037868  -0.00345257 0.0134796   0.999896       uwb: 0.50002489     836.813  1318.91  
imu_odom_:  1691062948.830525221  0.600945   -0.213084  10.5249    -0.056459   0.0181095   0.0394148   0.2        0             pose: 0.0           -2.7706    0.185345    0 -0.0037868  -0.00345257 0.0134796   0.999896       uwb: 0.0            836.813  1318.91  
imu_odom_:  1691062948.855400036  0.826      -0.232238  9.96946    -0.0777643  0.00106526  0.0660464   0.2        0             pose: 0.52044038    -2.76081   0.183321    0 -0.00495281 -0.00602559 0.0135613   0.999878       uwb: 0.50004531     836.568  1318.02  
imu_odom_:  1691062948.872396221  -0.0646434 -0.299275  9.82102    -0.0543285  0.0181095   0.0426106   0.2        0             pose: 0.0           -2.76081   0.183321    0 -0.00495281 -0.00602559 0.0135613   0.999878       uwb: 0.0            836.568  1318.02  
imu_odom_:  1691062948.897544312  0.0383072  -0.270545  9.62948    -0.0852212  0.0234358   0.0596548   0.22       0             pose: 0.51996208    -2.75102   0.181302    0 -0.00128448 -0.00874965 0.0138101   0.999866       uwb: 0.49989657     836.103  1316.88  
imu_odom_:  1691062948.923598850  0.591368   -0.361524  9.84017    -0.0756338  -0.00958738 0.0383495   0.23       0.02          pose: 0.23916744    -2.75102   0.181302    0 -0.00146165 -0.0096163  0.0140415   0.999854       uwb: 0.0            836.103  1316.88  
imu_odom_:  1691062948.949436984  0.577003   -0.244209  9.88326    -0.0703074  -0.0127832  0.0543285   0.23       0.02          pose: 0.35119307    -2.74122   0.179289    0 -0.00208626 -0.00565475 0.014313    0.999879       uwb: 0.50001323     836.471  1316.17  
imu_odom_:  1691062948.974438082  0.351948   -0.323217  10.2496    -0.04048    -0.00745685 0.0383495   0.23       0             pose: 0.6999013     -2.74122   0.179289    0 -0.00271025 -0.00610351 0.0143105   0.999875       uwb: 0.0            836.471  1316.17  
imu_odom_:  1691062948.991742834  0.457293   -0.486023  9.85214    -0.0628506  -0.0245011  0.0468716   0.23       0             pose: 0.0           -2.74122   0.179289    0 -0.00271025 -0.00610351 0.0143105   0.999875       uwb: 0.50124982     836.52   1315.4   
imu_odom_:  1691062949.18400795   0.205901   -0.179565  10.0485    -0.0394148  0           0.0447411   0.18       0             pose: 0.51858840    -2.72942   0.187079    0 -0.00244969 -0.0079844  0.0144706   0.99986        uwb: 0.0            836.52   1315.4   
imu_odom_:  1691062949.43371855   0.282516   -0.232238  10.1011    -0.052198   -0.0191748  0.0458064   0.18       0             pose: 0.0           -2.72942   0.187079    0 -0.00244969 -0.0079844  0.0144706   0.99986        uwb: 0.49854915     837.341  1315.16  
imu_odom_:  1691062949.70743192   0.711078   0.0742203  10.2735    -0.0490022  -0.0415453  0.0458064   0.21       0.02          pose: 0.42201148    -2.71963   0.185036    0 -0.00421896 -0.00529957 0.0145635   0.999871       uwb: 0.0            837.341  1315.16  
imu_odom_:  1691062949.95533428   0.588974   0.0407014  10.0293    -0.0543285  -0.0276969  0.0468716   0.21       0.02          pose: 0.0           -2.71963   0.185036    0 -0.00421896 -0.00529957 0.0145635   0.999871       uwb: 0.50016488     836.742  1313.63  
imu_odom_:  1691062949.112436286  0.339977   -0.263362  10.1921    -0.0415453  -0.0308927  0.04048     0.23       0.02          pose: 0.51856508    -2.70985   0.182936    0 -0.00211791 -0.00174524 0.0147248   0.999888       uwb: 0.0            836.742  1313.63  
imu_odom_:  1691062949.137508839  0.407014   -0.198719  10.0221    -0.0415453  -0.0170442  0.0372843   0.23       0.02          pose: 0.0           -2.70985   0.182936    0 -0.00211791 -0.00174524 0.0147248   0.999888       uwb: 0.0            836.742  1313.63  
imu_odom_:  1691062949.164395163  0.603339   -0.0430956 9.67976    -0.0681769  -0.0149137  0.0681769   0.18       0             pose: 0.51968501    -2.70007   0.18084     0 0.00154791  -0.00415223 0.0148696   0.99988        uwb: 0.0            836.742  1313.63  
imu_odom_:  1691062949.190524072  0.627281   -0.325611  10.1586    -0.0415453  0.0511327   0.0287621   0.19       0             pose: 0.61966841    -2.69107   0.189139    0 0.00265061  -0.00324518 0.0152289   0.999875       uwb: 0.100002063    835.998  1312.39  
imu_odom_:  1691062949.217423228  0.0981623  -0.430956  9.72764    -0.0415453  0.0106526   0.0490022   0.19       0             pose: 0.0           -2.69107   0.189139    0 0.00265061  -0.00324518 0.0152289   0.999875       uwb: 0.0            835.998  1312.39  
imu_odom_:  1691062949.233405347  0.620098   -0.237026  10.161     -0.0266316  -0.0170442  0.0330232   0.2        0             pose: 0.8321353     -2.6882    0.188525    0 0.00211541  -0.00360261 0.0151881   0.999876       uwb: 0.49960493     835.653  1311.07  
imu_odom_:  1691062949.251504845  0.617704   -0.397437  9.5816     -0.0649811  -0.0628506  0.0628506   0.2        0             pose: 0.0           -2.6882    0.188525    0 0.00211541  -0.00360261 0.0151881   0.999876       uwb: 0.0            835.653  1311.07  
imu_odom_:  1691062949.276377035  0.347159   -0.445322  9.43794    -0.0639159  -0.0181095  0.036219    0.18       0             pose: 0.51651478    -2.67842   0.186437    0 -0.000220185-0.00261469 0.01521     0.999881       uwb: 0.0            835.653  1311.07  
imu_odom_:  1691062949.293430384  0.775721   -0.138864  9.92636    -0.0436758  -0.0351537  0.0490022   0.18       0             pose: 0.0           -2.67842   0.186437    0 -0.000220185-0.00261469 0.01521     0.999881       uwb: 0.50151231     836.166  1310.75  
imu_odom_:  1691062949.318376361  0.579397   -0.23942   9.9096     -0.0479369  0.00106526  0.0372843   0.18       0             pose: 0.34039619    -2.66864   0.18435     0 -0.00220012 -0.00490924 0.0153874   0.999867       uwb: 0.0            836.166  1310.75  
imu_odom_:  1691062949.345514087  0.42138    -0.280122  9.98861    -0.0713727  0.02024     0.0713727   0.18       0             pose: 0.0           -2.66864   0.18435     0 -0.00220012 -0.00490924 0.0153874   0.999867       uwb: 0.0            836.166  1310.75  
imu_odom_:  1691062949.370437607  0.337582   -0.162806  9.60075    -0.0671117  0.0330232   0.0287621   0.19       0             pose: 0.43030017    -2.66864   0.18435     0 -0.00242017 -0.00642272 0.015426    0.999857       uwb: 0.0            836.166  1310.75  
imu_odom_:  1691062949.387511372  0.399832   -0.117316  10.3501    -0.0532632  -0.0276969  0.0543285   0.19       0             pose: 0.0           -2.66864   0.18435     0 -0.00242017 -0.00642272 0.015426    0.999857       uwb: 0.99888028     835.222  1309.27  
imu_odom_:  1691062949.412557093  0.605733   -0.337582  9.96467    -0.0383495  -0.0436758  0.0351537   0.18       0             pose: 0.52041414    -2.65678   0.192047    0 -0.00209876 -0.00409134 0.0157926   0.999865       uwb: 0.0            835.222  1309.27  
imu_odom_:  1691062949.436528960  0.332794   -0.153229  9.93354    -0.0692422  -0.0351537  0.0649811   0.18       0             pose: 0.0           -2.65678   0.192047    0 -0.00209876 -0.00409134 0.0157926   0.999865       uwb: 0.0            835.222  1309.27  
imu_odom_:  1691062949.451644296  0.483629   0.0933739  10.2304    -0.0617853  -0.0330232  0.0553937   0.18       -0.02         pose: 0.41933414    -2.647     0.189971    0 -0.000127663-0.00265301 0.015806    0.999872       uwb: 0.0            835.222  1309.27  
imu_odom_:  1691062949.476452323  0.217872   -0.0526724 10.1083    -0.0777643  0.00639159  0.0415453   0.18       -0.02         pose: 0.0           -2.647     0.189971    0 -0.000127663-0.00265301 0.015806    0.999872       uwb: 0.0            835.222  1309.27  
imu_odom_:  1691062949.500362360  0.548272   -0.234632  9.90242    -0.0553937  -0.00213053 0.0351537   0.25       0             pose: 0.48142930    -2.63721   0.187916    0 0.000605329 -0.00275085 0.0161257   0.999866       uwb: 0.99979314     835.037  1308.31  
imu_odom_:  1691062949.524404806  0.64404    -0.102951  10.0676    -0.0788296  0.0149137   0.0500674   0.25       0             pose: 0.0           -2.63721   0.187916    0 0.000605329 -0.00275085 0.0161257   0.999866       uwb: 0.0            835.037  1308.31  
imu_odom_:  1691062949.540398883  0.0407014  -0.059855  9.90721    -0.0745685  -0.0458064  0.0458064   0.18       0.02          pose: 0.39831202    -2.62741   0.185944    0 0.00198254  -0.00122897 0.0161911   0.999866       uwb: 0.49992282     837.877  1308.81  
imu_odom_:  1691062949.558375887  0.878672   -0.0526724 9.85453    -0.0415453  -0.0245011  0.036219    0.18       0.02          pose: 0.0           -2.62741   0.185944    0 0.00198254  -0.00122897 0.0161911   0.999866       uwb: 0.0            837.877  1308.81  
imu_odom_:  1691062949.582388877  0.85473    -0.105345  9.98143    -0.0713727  -0.00426106 0.04048     0.18       0             pose: 0.49204535    -2.6176    0.183973    0 0.00215172  -0.0040592  0.016305    0.999857       uwb: 0.50110983     837.777  1307.69  
imu_odom_:  1691062949.609349863  0.727837   -0.4956    9.39006    -0.052198   0.0170442   0.0468716   0.18       0             pose: 0.0           -2.6176    0.183973    0 0.00215172  -0.0040592  0.016305    0.999857       uwb: 0.0            837.777  1307.69  
imu_odom_:  1691062949.625358231  0.205901   -0.399832  9.66539    -0.0649811  -0.00958738 0.0447411   0.19       0             pose: 0.32929892    -2.6176    0.183973    0 0.00298455  -0.00606795 0.0163022   0.999844       uwb: 0.0            837.777  1307.69  
imu_odom_:  1691062949.642341876  0.550666   0          10.0389    -0.0415453  -0.0149137  0.0383495   0.19       0             pose: 0.0           -2.6176    0.183973    0 0.00298455  -0.00606795 0.0163022   0.999844       uwb: 0.50018822     838.593  1306.79  
imu_odom_:  1691062949.667410638  0.349553   -0.311246  9.79707    -0.0894822  -0.00213053 0.0532632   0.18       0             pose: 0.50894646    -2.60583   0.191808    0 0.000434859 -0.0081624  0.0164545   0.999831       uwb: 0.0            838.593  1306.79  
imu_odom_:  1691062949.694345667  0.648829   -0.167594  9.75637    -0.0649811  -0.015979   0.0479369   0.18       0             pose: 0.0           -2.60583   0.191808    0 0.000434859 -0.0081624  0.0164545   0.999831       uwb: 0.49876497     838.22   1305.55  
imu_odom_:  1691062949.719466925  0.383072   -0.217872  10.3214    -0.0660464  -0.0191748  0.0553937   0.18       0.02          pose: 0.33969332    -2.59602   0.189842    0 0.00118595  -0.00679842 0.0165145   0.99984        uwb: 0.0            838.22   1305.55  
imu_odom_:  1691062949.743394753  0.320823   -0.0957681 10.1849    -0.0468716  -0.00745685 0.0330232   0.18       0.02          pose: 0.0           -2.59602   0.189842    0 0.00118595  -0.00679842 0.0165145   0.99984        uwb: 0.50043904     837.41   1303.87  
imu_odom_:  1691062949.758466633  0.268151   -0.304064  9.75398    -0.0735032  -0.0372843  0.0490022   0.18       0             pose: 0.51977542    -2.58622   0.187878    0 0.000627143 -0.00732045 0.0168031   0.999832       uwb: 0.0            837.41   1303.87  
imu_odom_:  1691062949.783341448  0.430956   -0.0861913 10.094     -0.04048    -0.00213053 0.0383495   0.18       0             pose: 0.0           -2.58622   0.187878    0 0.000627143 -0.00732045 0.0168031   0.999832       uwb: 0.49932494     838.78   1303.85  
imu_odom_:  1691062949.807620422  0.565032   -0.263362  10.1706    -0.0468716  -0.02024    0.0543285   0.25       0             pose: 0.47972316    -2.58622   0.187878    0 0.0012019   -0.0032058  0.0168854   0.999852       uwb: 0.0            838.78   1303.85  
imu_odom_:  1691062949.831481462  0.529119   -0.169988  10.0676    -0.0415453  0.02024     0.0468716   0.25       0             pose: 0.0           -2.58622   0.187878    0 0.0012019   -0.0032058  0.0168854   0.999852       uwb: 0.50116817     839.519  1303.1   
imu_odom_:  1691062949.847367337  0.438139   -0.244209  9.74679    -0.0660464  0.0191748   0.0436758   0.18       0             pose: 0.40046439    -2.57641   0.185921    0 0.00286986  -0.00261544 0.0169564   0.999849       uwb: 0.0            839.519  1303.1   
imu_odom_:  1691062949.871465488  0.361524   -0.122104  9.76116    -0.0383495  -0.0149137  0.0511327   0.18       0             pose: 0.0           -2.57641   0.185921    0 0.00286986  -0.00261544 0.0169564   0.999849       uwb: 0.0            839.519  1303.1   
imu_odom_:  1691062949.895588138  0.280122   -0.368707  9.59117    -0.0681769  0.02024     0.0649811   0.18       0             pose: 0.48993964    -2.56465   0.193771    0 0.00192904  -0.00537621 0.0171976   0.999836       uwb: 0.49887288     839.543  1301.78  
imu_odom_:  1691062949.920327335  0.00718261 -0.306458  9.37809    -0.0639159  -0.00319579 0.0490022   0.18       0             pose: 0.0           -2.56465   0.193771    0 0.00192904  -0.00537621 0.0171976   0.999836       uwb: 0.0            839.543  1301.78  
imu_odom_:  1691062949.937576382  0.514753   -0.155623  9.96946    -0.0756338  -0.0681769  0.0617853   0.23       0.02          pose: 0.80952079    -2.54799   0.190464    0 -0.0001601540.00156916  0.0177713   0.999841       uwb: 0.50117108     841.848  1301.88  
imu_odom_:  1691062949.962382659  0.476446   0.0526724  10.3597    -0.0660464  -0.0106526  0.0500674   0.23       0.02          pose: 0.0           -2.54799   0.190464    0 -0.0001601540.00156916  0.0177713   0.999841       uwb: 0.0            841.848  1301.88  
imu_odom_:  1691062949.987353718  0.318429   -0.265756  10.556     -0.0649811  -0.0117179  0.0617853   0.23       -0.02         pose: 0.7294163     -2.54503   0.189879    0 7.13692e-05 0.000670285 0.0178528   0.99984        uwb: 0.49924327     841.99   1300.97  
imu_odom_:  1691062950.8451959    0.605733   -0.299275  9.89763    -0.052198   -0.0127832  0.036219    0.23       -0.02         pose: 0.0           -2.54503   0.189879    0 7.13692e-05 0.000670285 0.0178528   0.99984        uwb: 0.0            841.99   1300.97  
imu_odom_:  1691062950.31315556   0.177171   -0.28491   9.70609    -0.0585895  -0.0138484  0.0415453   0.18       0             pose: 0.41717593    -2.53522   0.187942    0 0.00215318  -0.0007045280.0181691   0.999832       uwb: 0.49807960     841.937  1299.8   
imu_odom_:  1691062950.47485498   0.612916   -0.42138   10.5967    -0.056459   0.0213053   0.015979    0.18       0             pose: 0.0           -2.53522   0.187942    0 0.00215318  -0.0007045280.0181691   0.999832       uwb: 0.0            841.937  1299.8   
imu_odom_:  1691062950.64375524   0.378284   -0.316035  9.56005    -0.056459   -0.0106526  -0.04048    0.23       -0.11         pose: 0.45045609    -2.53522   0.187942    0 -0.000216954-0.0009726210.0183386   0.999831       uwb: 0.0            841.937  1299.8   
imu_odom_:  1691062950.81467954   0.217872   0.0526724  9.59117    -0.0681769  -0.0372843  -0.0809601  0.23       -0.11         pose: 0.0           -2.53522   0.187942    0 -0.000216954-0.0009726210.0183386   0.999831       uwb: 0.49964284     840.225  1297.36  
imu_odom_:  1691062950.96588832   0.545878   -0.289698  10.1035    -0.0543285  -0.00319579 -0.0958738  0.23       -0.11         pose: 0.0           -2.53522   0.187942    0 -0.000216954-0.0009726210.0183386   0.999831       uwb: 0.0            840.225  1297.36  
imu_odom_:  1691062950.113382905  0.543484   -0.196325  9.75877    -0.0596548  -0.00958738 -0.155529   0.18       -0.17         pose: 0.74128056    -2.51367   0.193887    0 -0.00207035 6.34209e-05 0.0159851   0.99987        uwb: 0.0            840.225  1297.36  
imu_odom_:  1691062950.127441594  0.893037   -0.11971   9.51456    -0.0553937  -0.0149137  -0.198139   0.18       -0.17         pose: 0.0           -2.51367   0.193887    0 -0.00207035 6.34209e-05 0.0159851   0.99987        uwb: 0.0            840.225  1297.36  
imu_odom_:  1691062950.144496985  0.993594   -0.385466  9.9934     -0.0649811  -0.0223706  -0.233293   0.18       -0.29         pose: 0.38928838    -2.50839   0.192834    0 -0.00111509 -0.00370177 0.0121208   0.999919       uwb: 0.50029905     839.68   1295.89  
imu_odom_:  1691062950.158327312  0.526724   -0.107739  9.78031    -0.0575243  -0.0426106  -0.296144   0.18       -0.29         pose: 0.0           -2.50839   0.192834    0 -0.00111509 -0.00370177 0.0121208   0.999919       uwb: 0.0            839.68   1295.89  
imu_odom_:  1691062950.174429300  0.610521   0.205901   9.38288    -0.0394148  0.00426106  -0.353668   0.18       -0.29         pose: 0.0           -2.50839   0.192834    0 -0.00111509 -0.00370177 0.0121208   0.999919       uwb: 0.0            839.68   1295.89  
imu_odom_:  1691062950.189319482  0.373495   -0.189142  9.46907    -0.0585895  0.00213053  -0.388822   0.19       -0.44         pose: 0.7003387     -2.50386   0.191947    0 -0.00132881 -0.00444285 0.0111652   0.999927       uwb: 0.50123525     838.375  1294     
imu_odom_:  1691062950.205362265  0.25618    -0.0694318 10.5441    -0.036219   -0.015979   -0.417584   0.19       -0.44         pose: 0.0           -2.50386   0.191947    0 -0.00132881 -0.00444285 0.0111652   0.999927       uwb: 0.0            838.375  1294     
imu_odom_:  1691062950.220292112  0.0885855  -0.42138   8.98065    -0.0681769  0.0213053   -0.451672   0.19       -0.44         pose: 0.0           -2.50386   0.191947    0 -0.00132881 -0.00444285 0.0111652   0.999927       uwb: 0.0            838.375  1294     
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imu_odom_:  1691062950.251293615  0.737414   0.0622492  9.91199    -0.0596548  -0.0234358  -0.471912   0.18       -0.47         pose: 0.0           -2.50386   0.191947    0 0.00144969  -0.00549221 0.00279673  0.99998        uwb: 0.0            837.805  1292.61  
imu_odom_:  1691062950.268323924  0.864307   0.035913   9.50977    -0.0607201  -0.00426106 -0.518784   0.18       -0.47         pose: 0.0           -2.50386   0.191947    0 0.00144969  -0.00549221 0.00279673  0.99998        uwb: 0.0            837.805  1292.61  
imu_odom_:  1691062950.282432193  0.191536   -0.150835  9.80186    -0.0681769  -0.0191748  -0.537959   0.18       -0.61         pose: 0.45894602    -2.49405   0.190007    0 0.00184223  -0.00117284 -0.00803905 0.999965       uwb: 0.50134899     837.855  1291.32  
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imu_odom_:  1691062950.313434571  0.931344   0.146046   9.97185    -0.0553937  -0.00532632 -0.546481   0.18       -0.53         pose: 0.0           -2.49405   0.190007    0 0.00184223  -0.00117284 -0.00803905 0.999965       uwb: 0.0            837.855  1291.32  
imu_odom_:  1691062950.330445923  1.25935    -0.466869  10.0868    -0.0607201  -0.0596548  -0.498544   0.15       -0.47         pose: 0.62170705    -2.4725    0.196058    0 0.00340345  -0.00129574 -0.0251472  0.999677       uwb: 0.49863956     838.661  1291.07  
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imu_odom_:  1691062950.361357890  1.3216     -0.150835  10.7571    -0.04048    0.0127832   -0.493217   0.15       -0.47         pose: 0.30990712    -2.4725    0.196058    0 0.00337862  -0.00268533 -0.0341434  0.999408       uwb: 0.0            838.661  1291.07  
imu_odom_:  1691062950.375406663  1.35272    -0.311246  9.60793    -0.0660464  -0.0276969  -0.449542   0.14       -0.47         pose: 0.40905640    -2.46268   0.194178    0 0.00277059  -0.00676692 -0.0452429  0.998949       uwb: 0.0            838.661  1291.07  
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imu_odom_:  1691062950.491312976  0.670376   -0.23942   9.88566    -0.0617853  -0.0127832  -0.218379   0.12       -0.41         pose: 0.0           -2.45286   0.192258    0 -0.000532664-0.0112635  -0.0609719  0.998076       uwb: 0.49932494     839.458  1288.44  
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imu_odom_:  1691062950.524423690  0.948104   -0.253785  9.97664    -0.0617853  0.00532632  -0.170442   0.07       -0.2          pose: 0.0           -2.45286   0.192258    0 -0.000809564-0.0103402  -0.0656369  0.99779        uwb: 0.0            839.458  1288.44  
imu_odom_:  1691062950.541290967  0.708684   -0.124498  10.07      -0.0575243  -0.0170442  -0.160855   0.07       -0.2          pose: 0.0           -2.45286   0.192258    0 -0.000809564-0.0103402  -0.0656369  0.99779        uwb: 0.49996949     838.947  1286.99  
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imu_odom_:  1691062950.574347144  0.658405   -0.316035  9.79228    -0.0490022  -0.00106526 -0.155529   0.07       -0.23         pose: 0.42039866    -2.44304   0.190369    0 0.001095    -0.0148828  -0.0738497  0.997158       uwb: 0.0            838.947  1286.99  
imu_odom_:  1691062950.592365854  0.550666   -0.335188  9.91439    -0.056459   0           -0.144876   0.07       -0.23         pose: 0.8008413     -2.44304   0.190369    0 0.000364117 -0.0146479  -0.0746174  0.997105       uwb: 0.50041863     839.293  1286.38  
imu_odom_:  1691062950.606434459  0.667982   -0.316035  10.0389    -0.0543285  0.00639159  -0.13955    0.07       -0.23         pose: 0.0           -2.44304   0.190369    0 0.000364117 -0.0146479  -0.0746174  0.997105       uwb: 0.0            839.293  1286.38  
imu_odom_:  1691062950.623431520  0.588974   -0.129287  9.8665     -0.0596548  -0.015979   -0.11931    0.04       -0.14         pose: 0.41024633    -2.44304   0.190369    0 -0.00298125 -0.0128833  -0.0783528  0.996838       uwb: 0.0            839.293  1286.38  
imu_odom_:  1691062950.640567406  0.584185   -0.335188  9.7037     -0.0596548  0.00213053  -0.107592   0.05       -0.11         pose: 0.0           -2.44304   0.190369    0 -0.00298125 -0.0128833  -0.0783528  0.996838       uwb: 0.50151523     838.405  1285.04  
imu_odom_:  1691062950.657618131  0.694318   -0.229843  9.87608    -0.0596548  -0.0330232  -0.092678   0.05       -0.11         pose: 0.0           -2.44304   0.190369    0 -0.00298125 -0.0128833  -0.0783528  0.996838       uwb: 0.0            838.405  1285.04  
imu_odom_:  1691062950.675342275  0.703895   -0.289698  9.75637    -0.0532632  0.00213053  -0.0798948  0.04       -0.08         pose: 0.25012182    -2.44304   0.190369    0 -0.00215552 -0.0118305  -0.0802971  0.996698       uwb: 0.0            838.405  1285.04  
imu_odom_:  1691062950.691416556  0.684742   -0.251391  9.96467    -0.052198   -0.00639159 -0.072438   0.04       -0.08         pose: 0.0           -2.44304   0.190369    0 -0.00215552 -0.0118305  -0.0802971  0.996698       uwb: 0.49946202     839.794  1284.9   
imu_odom_:  1691062950.708473697  0.593762   -0.234632  9.82102    -0.0553937  -0.00319579 -0.0617853  0.04       -0.08         pose: 0.34085700    -2.44304   0.190369    0 -0.00314631 -0.0136762  -0.0825515  0.996488       uwb: 0.0            839.794  1284.9   
imu_odom_:  1691062950.726348332  0.667982   -0.268151  9.93594    -0.0596548  -0.00852212 -0.0479369  0.03       -0.05         pose: 0.42941356    -2.44304   0.190369    0 -0.00210082 -0.0122767  -0.0849062  0.996311       uwb: 0.0            839.794  1284.9   
imu_odom_:  1691062950.743580463  0.471658   -0.282516  9.90242    -0.0607201  -0.00319579 -0.0479369  0.03       -0.05         pose: 0.7947458     -2.44304   0.190369    0 -0.00281834 -0.0126632  -0.0852445  0.996276       uwb: 0.50114776     840.151  1284.27  
imu_odom_:  1691062950.761286525  0.677559   -0.294487  9.94312    -0.0500674  0.00106526  -0.0447411  0.03       -0.05         pose: 0.0           -2.44304   0.190369    0 -0.00281834 -0.0126632  -0.0852445  0.996276       uwb: 0.0            840.151  1284.27  
imu_odom_:  1691062950.778320917  0.632069   -0.186748  9.90721    -0.0607201  -0.0117179  -0.0170442  0.02       -0.02         pose: 0.44865370    -2.43737   0.189251    0 -0.00471167 -0.0128247  -0.0871494  0.996102       uwb: 0.0            840.151  1284.27  
imu_odom_:  1691062950.795256440  0.591368   -0.368707  9.8258     -0.056459   -0.00426106 -0.00213053 0.02       -0.02         pose: 0.0           -2.43737   0.189251    0 -0.00471167 -0.0128247  -0.0871494  0.996102       uwb: 0.49930161     839.026  1282.79  
imu_odom_:  1691062950.812435491  0.593762   -0.179565  9.94791    -0.0500674  -0.00639159 -0.00106526 0.02       -0.02         pose: 0.0           -2.43737   0.189251    0 -0.00471167 -0.0128247  -0.0871494  0.996102       uwb: 0.0            839.026  1282.79  
imu_odom_:  1691062950.828549728  0.612916   -0.181959  9.82341    -0.0553937  -0.0127832  0.0138484   0.01       -0.02         pose: 0.24047404    -2.43323   0.188434    0 -0.00368266 -0.012167   -0.0877882  0.996058       uwb: 0.0            839.026  1282.79  
imu_odom_:  1691062950.846555897  0.703895   -0.306458  9.91199    -0.0585895  -0.00852212 0.0191748   0.01       -0.02         pose: 0.0           -2.43323   0.188434    0 -0.00368266 -0.012167   -0.0877882  0.996058       uwb: 0.50068403     838.473  1282.04  
imu_odom_:  1691062950.863456714  0.708684   -0.258574  9.85453    -0.0532632  -0.00319579 0.0245011   0.01       -0.02         pose: 0.35295172    -2.43323   0.188434    0 -0.00202875 -0.0111032  -0.0884612  0.996016       uwb: 0.0            838.473  1282.04  
imu_odom_:  1691062950.877366953  0.667982   -0.23942   9.88566    -0.0553937  -0.00213053 0.0383495   0.01       0             pose: 0.42827613    -2.43323   0.188434    0 -0.0031494  -0.0138545  -0.0888621  0.995943       uwb: 0.0            838.473  1282.04  
imu_odom_:  1691062950.893360155  0.639252   -0.282516  9.89763    -0.0532632  0           0.0447411   0.01       0             pose: 0.5911450     -2.43323   0.188434    0 -0.00266202 -0.0135129  -0.088872   0.995948       uwb: 0.49805626     839.445  1282.05  
imu_odom_:  1691062950.910350217  0.579397   -0.196325  9.87608    -0.0532632  0.00213053  0.0468716   0.01       0             pose: 0.0           -2.43323   0.188434    0 -0.00266202 -0.0135129  -0.088872   0.995948       uwb: 0.0            839.445  1282.05  
imu_odom_:  1691062950.934303418  0.550666   -0.244209  9.85932    -0.056459   -0.00426106 0.0490022   0          0.02          pose: 0.40982053    -2.43323   0.188434    0 -0.00211558 -0.0110764  -0.0887759  0.995988       uwb: 0.50134024     838.393  1281.04  
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imu_odom_:  1691062950.967474213  -0.775721  -0.186748  9.73961    -0.0479369  0.0905475   0.0553937   0          0             pose: 0.30028851    -2.43323   0.188434    0 -0.00212445 -0.00793866 -0.0886571  0.996028       uwb: 0.0            838.393  1281.04  
imu_odom_:  1691062950.984282285  -1.24498   -0.418985  9.86411    -0.0575243  0.00106526  0.0756338   0.03       0.02          pose: 0.0           -2.43323   0.188434    0 -0.00212445 -0.00793866 -0.0886571  0.996028       uwb: 0.49838875     838.268  1280.13  
imu_odom_:  1691062951.1320760    -0.593762  -0.299275  9.86411    -0.0585895  -0.0649811  0.052198    0.03       0.02          pose: 0.0           -2.43323   0.188434    0 -0.00212445 -0.00793866 -0.0886571  0.996028       uwb: 0.0            838.268  1280.13  
imu_odom_:  1691062951.18255991   0.378284   -0.023942  9.92397    -0.0532632  -0.0617853  0.04048     0.03       0.02          pose: 0.35098308    -2.43323   0.188434    0 -0.00170106 -0.00339981 -0.0883723  0.99608        uwb: 0.0            838.268  1280.13  
imu_odom_:  1691062951.36320491   0.529119   -0.225055  9.96467    -0.0703074  -0.00532632 0.0596548   0.06       0             pose: 0.42778615    -2.43323   0.188434    0 -8.29919e-05-0.00154159 -0.088096   0.996111       uwb: 0.50001907     838.259  1279.58  
imu_odom_:  1691062951.50302476   0.268151   -0.459687  9.7851     -0.0575243  0.015979    0.0543285   0.06       0             pose: 0.8005789     -2.43323   0.188434    0 -0.000308275-0.00232408 -0.0880158  0.996116       uwb: 0.0            838.259  1279.58  
imu_odom_:  1691062951.67295163   -0.265756  -0.308852  9.94312    -0.0490022  -0.00639159 0.0585895   0.06       0             pose: 0.0           -2.43323   0.188434    0 -0.000308275-0.00232408 -0.0880158  0.996116       uwb: 0.0            838.259  1279.58  
imu_odom_:  1691062951.83246076   0.011971   -0.217872  10.0772    -0.056459   -0.0308927  0.0617853   0.08       0.02          pose: 0.41033383    -2.43322   0.188416    0 -0.00154309 -0.000499015-0.087645   0.99615        uwb: 0.49989658     839.456  1280.32  
imu_odom_:  1691062951.100237887  0.25618    -0.3304    9.96467    -0.0500674  -0.0106526  0.0479369   0.11       0             pose: 0.0           -2.43322   0.188416    0 -0.00154309 -0.000499015-0.087645   0.99615        uwb: 0.0            839.456  1280.32  
imu_odom_:  1691062951.117235532  0.277727   -0.191536  10.3669    -0.0458064  -0.0213053  0.0468716   0.11       0             pose: 0.0           -2.43322   0.188416    0 -0.00154309 -0.000499015-0.087645   0.99615        uwb: 0.0            839.456  1280.32  
imu_odom_:  1691062951.134422457  0.342371   -0.371101  9.40921    -0.0436758  -0.00426106 0.0532632   0.12       0.02          pose: 0.22956634    -2.42342   0.186486    0 -0.00164705 0.00145798  -0.0874362  0.996168       uwb: 0.50135192     839.225  1279.59  
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imu_odom_:  1691062951.168472285  0.107739   -0.19393   10.2663    -0.0479369  0.0138484   0.0511327   0.12       0.02          pose: 0.33993539    -2.42342   0.186486    0 -0.00148051 0.00340017  -0.0872809  0.996177       uwb: 0.0            839.225  1279.59  
imu_odom_:  1691062951.185292314  0.363919   -0.277727  9.89763    -0.0585895  -0.00852212 0.0543285   0.1        0             pose: 0.44226949    -2.42342   0.186486    0 -0.0004585730.00453193  -0.0870048  0.996197       uwb: 0.49993741     840.808  1280.23  
imu_odom_:  1691062951.199402334  0.454898   -0.215478  9.99819    -0.0692422  0.0298274   0.0490022   0.1        0             pose: 0.6998429     -2.42342   0.186486    0 -0.0009984590.00405728  -0.086956   0.996203       uwb: 0.0            840.808  1280.23  
imu_odom_:  1691062951.215401661  1.11809    -0.186748  10.1059    -0.0607201  -0.0585895  0.0447411   0.1        0             pose: 0.0           -2.42342   0.186486    0 -0.0009984590.00405728  -0.086956   0.996203       uwb: 0.0            840.808  1280.23  
imu_odom_:  1691062951.232270688  1.10612    -0.0263362 9.60075    -0.056459   -0.0500674  0.0543285   0.1        0             pose: 0.39930947    -2.41361   0.184549    0 -0.00158305 0.00023962  -0.0867837  0.996226       uwb: 0.49875914     841.891  1280.6   
imu_odom_:  1691062951.250258192  1.14922    -0.296881  9.99579    -0.0490022  0           0.0937433   0.09       -0.02         pose: 0.0           -2.41361   0.184549    0 -0.00158305 0.00023962  -0.0867837  0.996226       uwb: 0.0            841.891  1280.6   
imu_odom_:  1691062951.267368705  1.1133     -0.560243  10.0533    -0.0639159  -0.0500674  0.113983    0.09       -0.02         pose: 0.0           -2.41361   0.184549    0 -0.00158305 0.00023962  -0.0867837  0.996226       uwb: 0.0            841.891  1280.6   
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imu_odom_:  1691062951.314388493  1.09894    -0.19393   10.149     -0.0671117  0.0106526   0.0745685   0.07       0             pose: 0.0           -2.41361   0.184549    0 -0.00137845 -0.00257049 -0.0864455  0.996252       uwb: 0.0            841.239  1280.04  
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imu_odom_:  1691062952.938158043  0.371101   -0.275333  9.53132    -0.0468716  -0.0276969  0.04048     0.23       0.02          pose: 0.0           -2.16792   0.138337    0 -0.0007902588.26355e-05 -0.0798012  0.99681        uwb: 0.49933954     840.751  1258.35  
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imu_odom_:  1691062952.990158627  0.177171   -0.411803  9.98622    -0.04048    -0.00639159 0.04048     0.17       0.02          pose: 0.0           -2.16613   0.148175    0 -0.0030754  0.000953706 -0.0793222  0.996844       uwb: 0.50099902     840.958  1257.01  
imu_odom_:  1691062953.15217182   0.442927   -0.071826  9.83538    -0.0628506  -0.0106526  0.0628506   0.2        -0.02         pose: 0.39155742    -2.15629   0.146388    0 -0.00250228 0.0025622   -0.0791555  0.996856       uwb: 0.0            840.958  1257.01  
imu_odom_:  1691062953.32198203   0.711078   -0.435745  10.4315    -0.0681769  0.0138484   0.0372843   0.2        -0.02         pose: 0.0           -2.15629   0.146388    0 -0.00250228 0.0025622   -0.0791555  0.996856       uwb: 0.50207229     840.202  1255.23  
imu_odom_:  1691062953.58281616   0.356736   -0.141258  9.93594    -0.0660464  0.00745685  0.0628506   0.18       0.02          pose: 0.52852202    -2.14645   0.144605    0 -0.00296437 0.00559106  -0.0789629  0.996857       uwb: 0.0            840.202  1255.23  
imu_odom_:  1691062953.83171305   0.948104   -0.189142  9.87608    -0.0575243  -0.0415453  0.0458064   0.18       0.02          pose: 0.0           -2.14645   0.144605    0 -0.00296437 0.00559106  -0.0789629  0.996857       uwb: 0.49793671     840.334  1254.04  
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imu_odom_:  1691062953.122268717  0.921768   -0.148441  10.1275    -0.0628506  0.00426106  0.0372843   0.2        0             pose: 0.0           -2.13661   0.142825    0 -0.00185008 0.00310473  -0.0786928  0.996892       uwb: 0.0            840.334  1254.04  
imu_odom_:  1691062953.147157824  0.316035   -0.258574  9.49062    -0.0745685  0.0319579   0.0649811   0.25       0             pose: 0.48984925    -2.12677   0.141053    0 -0.00044219 -0.000807636-0.078355   0.996925       uwb: 0.49943286     840.249  1252.7   
imu_odom_:  1691062953.171293307  0.383072   -0.272939  9.69652    -0.0532632  0.0298274   0.0596548   0.25       0             pose: 0.0           -2.12677   0.141053    0 -0.00044219 -0.000807636-0.078355   0.996925       uwb: 0.0            840.249  1252.7   
imu_odom_:  1691062953.196276325  0.323217   0.0502782  10.2639    -0.100135   0.0117179   0.0713727   0.19       0             pose: 0.39974403    -2.11693   0.139287    0 -0.000738878-0.00319268 -0.0781402  0.996937       uwb: 0.50028740     840.275  1251.69  
imu_odom_:  1691062953.212139451  0.799663   -0.356736  9.8665     -0.0862864  -0.0191748  0.0490022   0.19       0             pose: 0.0           -2.11693   0.139287    0 -0.000738878-0.00319268 -0.0781402  0.996937       uwb: 0.0            840.275  1251.69  
imu_odom_:  1691062953.237198006  0.600945   -0.459687  9.84496    -0.0596548  -0.0617853  0.0394148   0.25       0.02          pose: 0.49164873    -2.10708   0.13753     0 -0.00188968 0.00133141  -0.0775505  0.996986       uwb: 0.50103111     840.01   1250.65  
imu_odom_:  1691062953.253195292  0.505177   -0.172383  9.79468    -0.0436758  0.0149137   0.0340885   0.25       0.02          pose: 0.0           -2.10708   0.13753     0 -0.00188968 0.00133141  -0.0775505  0.996986       uwb: 0.0            840.01   1250.65  
imu_odom_:  1691062953.270201395  0.591368   -0.0837971 10.0389    -0.0479369  -0.0149137  0.0458064   0.18       0.02          pose: 0.73879573    -2.09724   0.135785    0 -0.00202329 -0.00284956 -0.0772591  0.997005       uwb: 0.0            840.01   1250.65  
imu_odom_:  1691062953.295187912  -0.0407014 -0.40462   9.7851     -0.0617853  0.0276969   0.0426106   0.18       0.02          pose: 0.0           -2.09724   0.135785    0 -0.00202329 -0.00284956 -0.0772591  0.997005       uwb: 0.49926663     840.042  1249.16  
imu_odom_:  1691062953.311137368  0.538695   -0.222661  10.2544    -0.0245011  -0.0756338  0.0266316   0.19       -0.02         pose: 0.7953583     -2.09724   0.135785    0 -0.00140713 -0.00342818 -0.077237   0.997006       uwb: 0.0            840.042  1249.16  
imu_odom_:  1691062953.336132926  0.45011    -0.124498  10.0006    -0.0117179  -0.0628506  0.0223706   0.18       0.02          pose: 0.0           -2.09724   0.135785    0 -0.00140713 -0.00342818 -0.077237   0.997006       uwb: 0.50078028     839.66   1247.85  
imu_odom_:  1691062953.360202788  0.68953    -0.0335188 9.96227    -0.036219   -0.00639159 0.0490022   0.2        0             pose: 0.74984051    -2.0805    0.132652    0 0.00191936  -0.00388317 -0.0774945  0.996983       uwb: 0.0            839.66   1247.85  
imu_odom_:  1691062953.377201016  0.612916   -0.392649  9.7851     -0.0447411  0.0149137   0.0490022   0.2        0             pose: 0.0           -2.0805    0.132652    0 0.00191936  -0.00388317 -0.0774945  0.996983       uwb: 0.0            839.66   1247.85  
imu_odom_:  1691062953.393125681  0.605733   0.0263362  10.082     -0.00319579 0.00426106  0.0213053   0.19       0             pose: 0.41068090    -2.07758   0.132115    0 0.00176543  -0.00638585 -0.0772876  0.996987       uwb: 0.49893123     841.667  1248.05  
imu_odom_:  1691062953.410128576  0.311246   -0.277727  9.36851    -0.0607201  0.0490022   0.0436758   0.19       0             pose: 0.7008929     -2.07758   0.132115    0 0.00257946  -0.00668016 -0.0773534  0.996978       uwb: 0.0            841.667  1248.05  
imu_odom_:  1691062953.426107196  0.531513   -0.301669  10.319     -0.0596548  -0.0330232  0.0479369   0.19       0             pose: 0.0           -2.07758   0.132115    0 0.00257946  -0.00668016 -0.0773534  0.996978       uwb: 0.0            841.667  1248.05  
imu_odom_:  1691062953.443142755  0.311246   -0.296881  9.48104    -0.0394148  -0.0245011  0.0383495   0.19       -0.02         pose: 0.34014831    -2.06773   0.130367    0 0.00196404  -0.00530701 -0.0773641  0.996987       uwb: 0.49990826     841.718  1247.01  
imu_odom_:  1691062953.459263117  0.253785   -0.0885855 10.0868    -0.0426106  -0.0298274  0.0426106   0.19       -0.02         pose: 0.0           -2.06773   0.130367    0 0.00196404  -0.00530701 -0.0773641  0.996987       uwb: 0.0            841.718  1247.01  
imu_odom_:  1691062953.484193638  0.25618    -0.134075  10.3334    -0.04048    -0.052198   0.0383495   0.25       0             pose: 0.41038341    -2.05788   0.128619    0 0.00142413  -0.00296552 -0.0773155  0.997001       uwb: 0.49828376     841.608  1245.77  
imu_odom_:  1691062953.507172730  0.37589    -0.629675  9.84017    -0.0596548  -0.0234358  0.0553937   0.25       0             pose: 0.0           -2.05788   0.128619    0 0.00142413  -0.00296552 -0.0773155  0.997001       uwb: 0.0            841.608  1245.77  
imu_odom_:  1691062953.523110810  -0.100556  -0.225055  9.45231    -0.0340885  -0.0234358  0.04048     0.19       0             pose: 0.8098825     -2.05788   0.128619    0 0.00171017  -0.00239037 -0.0773225  0.997002       uwb: 0.0            841.608  1245.77  
imu_odom_:  1691062953.539098764  0.517148   -0.0909797 10.3717    -0.0617853  -0.0266316  0.052198    0.25       0             pose: 0.0           -2.05788   0.128619    0 0.00171017  -0.00239037 -0.0773225  0.997002       uwb: 0.49996076     842.09   1245.49  
imu_odom_:  1691062953.555249749  0.275333   -0.371101  9.93115    -0.0468716  0.00958738  0.0511327   0.18       -0.02         pose: 0.0           -2.05788   0.128619    0 0.00171017  -0.00239037 -0.0773225  0.997002       uwb: 0.0            842.09   1245.49  
imu_odom_:  1691062953.580151105  -0.0407014 -0.0430956 10.1059    -0.0511327  0.04048     0.0500674   0.18       -0.02         pose: 0.79863061    -2.03819   0.12513     0 0.000627545 -0.000370464-0.0769995  0.997031       uwb: 0.0            842.09   1245.49  
imu_odom_:  1691062953.596099685  0.00718261 -0.328006  9.96706    -0.0649811  0.0181095   0.0703074   0.18       0             pose: 0.0           -2.03819   0.12513     0 0.000627545 -0.000370464-0.0769995  0.997031       uwb: 0.50105152     842.473  1244.89  
imu_odom_:  1691062953.613130286  0.337582   -0.514753  9.19373    -0.0617853  0.00106526  0.0436758   0.18       0             pose: 0.39987819    -2.03819   0.12513     0 0.00101446  0.00378501  -0.0767156  0.997045       uwb: 0.0            842.473  1244.89  
imu_odom_:  1691062953.638266712  0.665588   -0.155623  10.2208    -0.0511327  -0.0372843  0.0394148   0.18       0             pose: 0.25917464    -2.02834   0.123395    0 -0.00104166 0.00479851  -0.0765538  0.997053       uwb: 0.50041573     843.069  1244.44  
imu_odom_:  1691062953.654436071  0.861913   -0.325611  9.60075    -0.0553937  0.0234358   0.0383495   0.18       0             pose: 0.8270023     -2.02834   0.123395    0 -0.0009001620.00384408  -0.0765549  0.997058       uwb: 0.0            843.069  1244.44  
imu_odom_:  1691062953.680122839  0.521936   -0.213084  9.5816     -0.0532632  0.0287621   0.0426106   0.18       0             pose: 0.0           -2.02834   0.123395    0 -0.0009001620.00384408  -0.0765549  0.997058       uwb: 0.0            843.069  1244.44  
imu_odom_:  1691062953.705357551  0.713472   -0.129287  9.94551    -0.0607201  -0.0607201  0.0596548   0.18       0             pose: 0.41887626    -2.01849   0.121663    0 -0.000924548-0.000175561-0.0765565  0.997065       uwb: 0.49865416     844.303  1244.39  
imu_odom_:  1691062953.728258772  0.622492   -0.0670376 9.96227    -0.0692422  0.00213053  0.04048     0.18       -0.02         pose: 0.42069616    -2.01132   0.120402    0 -0.000205303-0.0047239  -0.0762821  0.997075       uwb: 0.0            844.303  1244.39  
imu_odom_:  1691062953.753262788  0.416591   -0.21069   9.991      -0.0660464  0.00213053  0.0447411   0.18       -0.02         pose: 0.6763360     -2.00864   0.119933    0 0.000223463 -0.00518154 -0.0762815  0.997073       uwb: 0.50183022     845.284  1244.25  
imu_odom_:  1691062953.779377116  0.344765   -0.071826  10.0509    -0.0735032  -0.00639159 0.0479369   0.23       0             pose: 0.41141877    -2.00195   0.11876     0 0.00063466  -0.00372824 -0.0762172  0.997084       uwb: 0.0            845.284  1244.25  
imu_odom_:  1691062953.805335411  0.138864   -0.059855  10.4722    -0.0458064  -0.0170442  0.0372843   0.23       0             pose: 0.0           -2.00195   0.11876     0 0.00063466  -0.00372824 -0.0762172  0.997084       uwb: 0.49948537     844.965  1242.88  
imu_odom_:  1691062953.821115126  0.395043   -0.442927  9.54568    -0.0468716  -0.00319579 0.0415453   0.21       0.02          pose: 0.52072623    -1.99155   0.11694     0 0.00347293  0.000224608 -0.0761552  0.99709        uwb: 0.0            844.965  1242.88  
imu_odom_:  1691062953.837106578  0.158017   -0.260968  10.2232    -0.0426106  0.00213053  0.0351537   0.21       0.02          pose: 0.0           -1.99155   0.11694     0 0.00347293  0.000224608 -0.0761552  0.99709        uwb: 0.50052363     845.473  1242.08  
imu_odom_:  1691062953.861117527  0.337582   -0.237026  9.52653    -0.0660464  0.02024     0.0628506   0.23       0             pose: 0.31771167    -1.98894   0.116483    0 0.00164226  0.00192515  -0.0761791  0.997091       uwb: 0.0            845.473  1242.08  
imu_odom_:  1691062953.878226291  0.0646434  -0.248997  10.0868    -0.0458064  0.0117179   0.0511327   0.23       0             pose: 0.8039329     -1.98894   0.116483    0 0.000929555 0.00245914  -0.0760876  0.997098       uwb: 0.0            845.473  1242.08  
imu_odom_:  1691062953.903107522  0.155623   -0.131681  10.3789    -0.0319579  -0.0191748  0.0394148   0.19       0             pose: 0.33080384    -1.97909   0.114761    0 -0.0003869930.00536194  -0.075806   0.997108       uwb: 0.49931913     846.14   1241.5   
imu_odom_:  1691062953.928267863  0.629675   0.0047884  10.2735    -0.0255663  -0.0532632  0.0436758   0.19       0             pose: 0.0           -1.97909   0.114761    0 -0.0003869930.00536194  -0.075806   0.997108       uwb: 0.0            846.14   1241.5   
imu_odom_:  1691062953.953119638  0.641646   -0.0933739 9.67736    -0.0628506  0.00958738  0.0681769   0.18       0.02          pose: 0.8950733     -1.97909   0.114761    0 0.000288398 0.00597426  -0.0758036  0.997105       uwb: 0.49987909     846.412  1240.61  
imu_odom_:  1691062953.979239799  0.344765   -0.201113  9.62708    -0.052198   0.0276969   0.0447411   0.18       0.02          pose: 0.0           -1.97909   0.114761    0 0.000288398 0.00597426  -0.0758036  0.997105       uwb: 0.0            846.412  1240.61  
imu_odom_:  1691062954.2226473    0.0981623  -0.342371  9.42358    -0.0585895  0.052198    0.0458064   0.18       0.02          pose: 0.48086644    -1.96924   0.113044    0 0.00292036  0.0034773   -0.0756394  0.997125       uwb: 0.49936578     845.98   1239.44  
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imu_odom_:  1691062954.324082208  0.457293   -0.244209  9.51935    -0.0458064  0.0617853   0.0340885   0.18       0             pose: 0.0           -1.90558   0.101918    0 -0.00320214 0.00395208  -0.0739194  0.997251       uwb: 0.0            846.188  1234.15  
imu_odom_:  1691062954.341218678  0.308852   -0.0574608 10.2017    -0.0436758  0.00532632  0.04048     0.26       -0.02         pose: 0.49003300    -1.89336   0.0997196   0 -0.00352726 0.00475537  -0.0738772  0.99725        uwb: 0.49747590     846.364  1232.99  
imu_odom_:  1691062954.359093314  0.28491    -0.0502782 10.0628    -0.0617853  -0.00532632 0.0596548   0.26       -0.02         pose: 0.0           -1.89336   0.0997196   0 -0.00352726 0.00475537  -0.0738772  0.99725        uwb: 0.0            846.364  1232.99  
imu_odom_:  1691062954.384072832  0.47884    -0.126893  9.55526    -0.0617853  -0.0340885  0.0532632   0.19       0             pose: 0.35011106    -1.89045   0.0992057   0 1.9171e-05  0.00482693  -0.0736751  0.997271       uwb: 0.50004241     845.004  1231.1   
imu_odom_:  1691062954.408125778  0.500388   -0.299275  9.61751    -0.0703074  -0.00213053 0.0415453   0.19       0             pose: 0.7143088     -1.89045   0.0992057   0 0.000293166 0.00407606  -0.073625   0.997278       uwb: 0.0            845.004  1231.1   
imu_odom_:  1691062954.425317954  0.397437   -0.395043  9.91678    -0.0511327  -0.00106526 0.0351537   0.24       0             pose: 0.41889376    -1.8806    0.0974185   0 -0.0007385  0.000387462 -0.0734774  0.997297       uwb: 0.0            845.004  1231.1   
imu_odom_:  1691062954.450061527  0.395043   -0.426168  9.92636    -0.04048    -0.00745685 0.0436758   0.24       0             pose: 0.0           -1.8806    0.0974185   0 -0.0007385  0.000387462 -0.0734774  0.997297       uwb: 0.50122360     844.795  1230.1   
imu_odom_:  1691062954.477214128  0.407014   -0.0167594 10.0676    -0.0415453  0.0106526   0.0479369   0.23       0             pose: 0.8015705     -1.88061   0.0974333   0 -0.00152159 0.000453935 -0.0734953  0.997294       uwb: 0.0            844.795  1230.1   
imu_odom_:  1691062954.494142361  0.21069    -0.308852  10.1083    -0.0628506  -0.0372843  0.0543285   0.23       0             pose: 0.0           -1.88061   0.0974333   0 -0.00152159 0.000453935 -0.0734953  0.997294       uwb: 0.49913831     845.138  1229.59  
imu_odom_:  1691062954.520078199  0.402226   -0.155623  10.082     -0.0415453  -0.0276969  0.0340885   0.25       0.02          pose: 0.40968929    -1.87076   0.0956635   0 -0.00395287 0.00064926  -0.0734365  0.997292       uwb: 0.0            845.138  1229.59  
imu_odom_:  1691062954.544120646  0.526724   -0.208296  9.77792    -0.0351537  -0.0553937  0.036219    0.25       0.02          pose: 0.0           -1.87076   0.0956635   0 -0.00395287 0.00064926  -0.0734365  0.997292       uwb: 0.50019699     845.799  1229.04  
imu_odom_:  1691062954.570061442  0.344765   -0.134075  9.65103    -0.0511327  -0.0127832  0.0500674   0.2        -0.02         pose: 0.45066027    -1.86092   0.0938948   0 -0.0014769  0.00154405  -0.0732469  0.997312       uwb: 0.0            845.799  1229.04  
imu_odom_:  1691062954.596189477  0.294487   -0.0215478 9.4954     -0.0490022  -0.0223706  0.0383495   0.18       0.02          pose: 0.50018241    -1.85107   0.0921504   0 0.000860212 -0.00178615 -0.0732931  0.997308       uwb: 0.50021158     845.915  1228.01  
imu_odom_:  1691062954.613177497  0.387861   -0.64404   9.72285    -0.0585895  0.00639159  0.0468716   0.18       0.02          pose: 0.0           -1.85107   0.0921504   0 0.000860212 -0.00178615 -0.0732931  0.997308       uwb: 0.0            845.915  1228.01  
imu_odom_:  1691062954.639266160  0.347159   -0.3304    10.0293    -0.0511327  0.02024     0.0479369   0.19       0             pose: 0.60982817    -1.84121   0.0904847   0 0.00256584  0.000889355 -0.0731625  0.997316       uwb: 0.49919080     845.651  1226.69  
imu_odom_:  1691062954.662187505  0.840365   -0.110133  9.76355    -0.0703074  0.00319579  0.0585895   0.19       0             pose: 0.8973775     -1.84121   0.0904847   0 0.00172906  0.00124586  -0.0731263  0.99732        uwb: 0.0            845.651  1226.69  
imu_odom_:  1691062954.679193316  0.629675   -0.395043  9.36133    -0.0788296  0.04048     0.0458064   0.25       -0.02         pose: 0.0           -1.84121   0.0904847   0 0.00172906  0.00124586  -0.0731263  0.99732        uwb: 0.0            845.651  1226.69  
imu_odom_:  1691062954.704108379  0.3304     -0.361524  9.06445    -0.04048    0.015979    0.0479369   0.25       -0.02         pose: 0.47052162    -1.83135   0.0888207   0 -0.000261103-0.000586171-0.0728167  0.997345       uwb: 0.49989659     845.135  1224.91  
imu_odom_:  1691062954.730104297  0.258574   -0.289698  9.44513    -0.036219   -0.00532632 0.0372843   0.23       0             pose: 0.34904945    -1.82452   0.0876712   0 -0.00276654 0.000767577 -0.0726775  0.997351       uwb: 0.0            845.135  1224.91  
imu_odom_:  1691062954.756060259  0.0766145  -0.395043  9.80186    -0.0436758  0.00958738  0.0468716   0.23       0             pose: 0.7069010     -1.82149   0.0871637   0 -0.00276578 0.00146375  -0.0726836  0.99735        uwb: 0.0            845.135  1224.91  
imu_odom_:  1691062954.782088550  0.4956     -0.167594  9.81383    -0.0490022  0.015979    0.0372843   0.23       -0.02         pose: 0.44882870    -1.81472   0.0860269   0 -0.00350902 0.00592745  -0.0726019  0.997337       uwb: 0.100095687    845.124  1223.67  
imu_odom_:  1691062954.808306122  0.457293   -0.150835  9.98622    -0.0543285  -0.0138484  0.0372843   0.23       -0.02         pose: 0.0           -1.81472   0.0860269   0 -0.00350902 0.00592745  -0.0726019  0.997337       uwb: 0.0            845.124  1223.67  
imu_odom_:  1691062954.824094295  0.311246   -0.272939  9.77792    -0.0692422  -0.00106526 0.0394148   0.23       0             pose: 0.52245863    -1.80445   0.0843043   0 -0.0006159330.00165749  -0.0726641  0.997355       uwb: 0.0            845.124  1223.67  
imu_odom_:  1691062954.840124829  0.292093   -0.153229  9.90002    -0.056459   -0.0340885  0.0490022   0.23       0             pose: 0.0           -1.80445   0.0843043   0 -0.0006159330.00165749  -0.0726641  0.997355       uwb: 0.0            845.124  1223.67  
imu_odom_:  1691062954.857059186  0.804452   -0.186748  9.82341    -0.0703074  -0.00213053 0.0394148   0.23       0             pose: 0.0           -1.80445   0.0843043   0 -0.0006159330.00165749  -0.0726641  0.997355       uwb: 0.0            845.124  1223.67  
imu_odom_:  1691062954.882115408  0.292093   -0.189142  9.7037     -0.0351537  0.0383495   0.0415453   0.23       0             pose: 0.38797304    -1.80177   0.083854    0 -0.0001786840.00279127  -0.0725849  0.997358       uwb: 0.99954237     845.802  1223.11  
imu_odom_:  1691062954.908076911  0.260968   -0.316035  9.78271    -0.0458064  0           0.04048     0.23       0.02          pose: 0.35011982    -1.79074   0.0891643   0 0.00119214  0.00455579  -0.0725585  0.997353       uwb: 0.0            845.802  1223.11  
imu_odom_:  1691062954.922182847  0.25618    -0.244209  9.88326    -0.0436758  -0.00852212 0.04048     0.23       0.02          pose: 0.7098465     -1.79025   0.0920631   0 0.000601277 0.00490392  -0.0725587  0.997352       uwb: 0.0            845.802  1223.11  
imu_odom_:  1691062954.939183701  0.926556   -0.071826  10.0102    -0.0575243  -0.00639159 0.0543285   0.23       0.02          pose: 0.0           -1.79025   0.0920631   0 0.000601277 0.00490392  -0.0725587  0.997352       uwb: 0.49927538     845.677  1222.04  
imu_odom_:  1691062954.954181503  0.634463   -0.124498  10.0341    -0.0500674  -0.00639159 0.0415453   0.18       0             pose: 0.41004803    -1.78039   0.0904103   0 -0.0007518560.00640576  -0.0724918  0.997348       uwb: 0.0            845.677  1222.04  
imu_odom_:  1691062954.971296974  0.25618    -0.469264  9.37809    -0.0415453  0.0170442   0.0394148   0.18       0             pose: 0.0           -1.78039   0.0904103   0 -0.0007518560.00640576  -0.0724918  0.997348       uwb: 0.0            845.677  1222.04  
imu_odom_:  1691062954.987162434  0.100556   -0.325611  10.3094    -0.0500674  0           0.0479369   0.2        0             pose: 0.0           -1.78039   0.0904103   0 -0.0007518560.00640576  -0.0724918  0.997348       uwb: 0.50180690     845.102  1220.81  
imu_odom_:  1691062955.13100897   0.593762   -0.0885855 9.92636    -0.0575243  -0.00319579 0.0553937   0.2        0             pose: 0.49177414    -1.77053   0.0887586   0 -0.00185712 0.00561361  -0.0723844  0.997359       uwb: 0.0            845.102  1220.81  
imu_odom_:  1691062955.29029937   0.414197   -0.162806  9.97185    -0.0798948  0.0106526   0.0713727   0.2        0             pose: 0.0           -1.77053   0.0887586   0 -0.00185712 0.00561361  -0.0723844  0.997359       uwb: 0.0            845.102  1220.81  
imu_odom_:  1691062955.46043623   0.42138    -0.136469  9.98861    -0.0585895  -0.00745685 0.131028    0.24       0.11          pose: 0.49633847    -1.76066   0.0870923   0 -0.00019433 0.00289536  -0.0718901  0.997408       uwb: 0.49935121     844.726  1219.3   
imu_odom_:  1691062955.62221732   0.155623   -0.737414  9.63427    -0.0649811  0.0383495   0.20027     0.18       0.14          pose: 0.0           -1.76066   0.0870923   0 -0.00019433 0.00289536  -0.0718901  0.997408       uwb: 0.0            844.726  1219.3   
imu_odom_:  1691062955.79277707   0.126893   -0.572214  9.72764    -0.0490022  -0.0191748  0.248207    0.18       0.14          pose: 0.0           -1.76066   0.0870923   0 -0.00019433 0.00289536  -0.0718901  0.997408       uwb: 0.0            844.726  1219.3   
imu_odom_:  1691062955.95026799   0.222661   -0.246603  9.84975    -0.0255663  -0.0213053  0.298274    0.18       0.14          pose: 0.25139634    -1.76066   0.087109    0 0.000221752 0.00219041  -0.0704611  0.997512       uwb: 0.49991702     844.891  1218.26  
imu_odom_:  1691062955.112087149  0.909797   -0.418985  9.9096     -0.0830906  0.0181095   0.361125    0.18       0.26          pose: 0.0           -1.76066   0.087109    0 0.000221752 0.00219041  -0.0704611  0.997512       uwb: 0.0            844.891  1218.26  
imu_odom_:  1691062955.128086185  0.739808   -0.289698  10.0916    -0.0330232  -0.00745685 0.369647    0.18       0.26          pose: 0.32973058    -1.75081   0.0853991   0 -0.00160943 0.00432165  -0.0670283  0.99774        uwb: 0.0            844.891  1218.26  
imu_odom_:  1691062955.145155576  0.141258   -0.289698  9.43794    -0.0458064  0.015979    0.412257    0.25       0.47          pose: 0.40943556    -1.74096   0.0836583   0 -0.00218486 0.00201324  -0.0606462  0.998155       uwb: 0.50040698     845.344  1217.22  
imu_odom_:  1691062955.162265215  0.608127   -0.196325  10.1323    -0.0681769  -0.0671117  0.460194    0.25       0.47          pose: 0.0           -1.74096   0.0836583   0 -0.00218486 0.00201324  -0.0606462  0.998155       uwb: 0.0            845.344  1217.22  
imu_odom_:  1691062955.179156991  0.567426   -0.514753  9.80665    -0.0372843  0.00639159  0.496413    0.25       0.47          pose: 0.0           -1.74096   0.0836583   0 -0.00218486 0.00201324  -0.0606462  0.998155       uwb: 0.0            845.344  1217.22  
imu_odom_:  1691062955.195023326  1.10852    -0.3304    10.1873    -0.0671117  -0.00319579 0.508131    0.18       0.47          pose: 0.7960000     -1.74096   0.0836583   0 -0.00220264 0.00288797  -0.0591642  0.998242       uwb: 0.49728342     845.448  1215.87  
imu_odom_:  1691062955.211027320  0.869095   0.0646434  10.0987    -0.0500674  -0.00745685 0.550742    0.25       0.67          pose: 0.0           -1.74096   0.0836583   0 -0.00220264 0.00288797  -0.0591642  0.998242       uwb: 0.0            845.448  1215.87  
imu_odom_:  1691062955.228024674  0.713472   -0.758962  10.0724    -0.0681769  0.0170442   0.579504    0.25       0.67          pose: 0.66100397    -1.73111   0.0819743   0 -0.00313372 -0.00131432 -0.0445042  0.999003       uwb: 0.0            845.448  1215.87  
imu_odom_:  1691062955.244080581  0.208296   -0.373495  9.93594    -0.0639159  0.0351537   0.589091    0.24       0.7           pose: 0.0           -1.73111   0.0819743   0 -0.00313372 -0.00131432 -0.0445042  0.999003       uwb: 0.50164650     847.033  1215.64  
imu_odom_:  1691062955.259127964  0.325611   -0.411803  10.1538    -0.0607201  0.0138484   0.617853    0.24       0.7           pose: 0.0           -1.73111   0.0819743   0 -0.00313372 -0.00131432 -0.0445042  0.999003       uwb: 0.0            847.033  1215.64  
imu_odom_:  1691062955.275005674  0.40462    -0.387861  10.0293    -0.0809601  0           0.657268    0.24       0.7           pose: 0.32950309    -1.72125   0.0802842   0 -0.00445374 -0.00176462 -0.0357094  0.999351       uwb: 0.0            847.033  1215.64  
imu_odom_:  1691062955.291002668  0.938527   -0.603339  9.92157    -0.0703074  0.00958738  0.638093    0.19       0.61          pose: 0.39908783    -1.71605   0.0793392   0 -0.00761609 0.000395772 -0.0239851  0.999683       uwb: 0.50113902     847.429  1215.08  
imu_odom_:  1691062955.308053102  1.01754    -0.588974  10.1394    -0.0372843  -0.0266316  0.608266    0.19       0.61          pose: 0.8001997     -1.7114    0.078562    0 -0.00801547 -0.000253257-0.0215972  0.999735       uwb: 0.0            847.429  1215.08  
imu_odom_:  1691062955.324050388  1.17795    -0.0550666 9.89763    -0.0340885  0.0106526   0.617853    0.19       0.61          pose: 0.0           -1.7114    0.078562    0 -0.00801547 -0.000253257-0.0215972  0.999735       uwb: 0.0            847.429  1215.08  
imu_odom_:  1691062955.341183067  1.60412    -0.292093  10.5249    -0.0532632  -0.0788296  0.591222    0.19       0.53          pose: 0.41042717    -1.7114    0.078562    0 -0.00804984 -0.00395877 -0.00976552 0.999912       uwb: 0.49880583     847.771  1214.6   
imu_odom_:  1691062955.359350228  1.6113     -0.105345  9.03572    -0.0245011  -0.0319579  0.482565    0.12       0.35          pose: 0.0           -1.7114    0.078562    0 -0.00804984 -0.00395877 -0.00976552 0.999912       uwb: 0.0            847.771  1214.6   
imu_odom_:  1691062955.376155093  1.39343    -0.146046  9.84256    -0.056459   0.052198    0.420779    0.12       0.35          pose: 0.0           -1.7114    0.078562    0 -0.00804984 -0.00395877 -0.00976552 0.999912       uwb: 0.0            847.771  1214.6   
imu_odom_:  1691062955.393031703  0.727837   -0.0646434 9.77553    -0.0479369  0.0191748   0.360059    0.14       0.41          pose: 0.26016042    -1.70154   0.076907    0 -0.00761881 -0.00724444 -0.00308815 0.99994        uwb: 0.50194398     847.365  1212.8   
imu_odom_:  1691062955.418015888  0.708684   -0.124498  9.54808    -0.0490022  -0.00639159 0.295078    0.14       0.41          pose: 0.0           -1.70154   0.076907    0 -0.00761881 -0.00724444 -0.00308815 0.99994        uwb: 0.0            847.365  1212.8   
imu_odom_:  1691062955.434068004  0.802058   -0.102951  9.72764    -0.0532632  0.00958738  0.298274    0.14       0.41          pose: 0.34237068    -1.70154   0.076907    0 -0.00616308 -0.0096587  0.00344124  0.999928       uwb: 0.49867750     846.71   1211.37  
imu_odom_:  1691062955.449149801  0.253785   -0.371101  9.88087    -0.0543285  0.0500674   0.247141    0.11       0.32          pose: 0.40729777    -1.69167   0.0752763   0 -0.00269621 -0.0117024  0.00889377  0.999888       uwb: 0.0            846.71   1211.37  
imu_odom_:  1691062955.465203084  -0.174777  0.0885855  10.2113    -0.036219   0.0490022   0.151268    0.11       0.32          pose: 0.0           -1.69167   0.0752763   0 -0.00269621 -0.0117024  0.00889377  0.999888       uwb: 0.0            846.71   1211.37  
imu_odom_:  1691062955.482073570  -0.948104  0.25618    9.77553    -0.0649811  0.0308927   0.197074    0.11       0.23          pose: 0.40169809    -1.69167   0.0752597   0 -0.00173988 -0.00852668 0.0125198   0.999884       uwb: 0.49977702     846.661  1210.67  
imu_odom_:  1691062955.499149377  -0.464475  -0.806846  9.81383    -0.0649811  -0.0671117  0.257794    0.11       0.23          pose: 0.0           -1.69167   0.0752597   0 -0.00173988 -0.00852668 0.0125198   0.999884       uwb: 0.0            846.661  1210.67  
imu_odom_:  1691062955.515005796  0.390255   -0.766145  9.35893    -0.0351537  -0.0798948  0.221575    0.11       0.23          pose: 0.0           -1.69167   0.0752597   0 -0.00173988 -0.00852668 0.0125198   0.999884       uwb: 0.0            846.661  1210.67  
imu_odom_:  1691062955.531193530  0.531513   -0.0885855 9.8258     -0.0511327  0.00106526  0.245011    0.18       0.26          pose: 0.9008772     -1.69167   0.0752764   0 -0.00151631 -0.00750978 0.0132277   0.999883       uwb: 0.49919664     847.005  1209.81  
imu_odom_:  1691062955.548002477  0.141258   -0.0287304 9.61272    -0.0777643  0.0149137   0.251402    0.18       0.26          pose: 0.0           -1.69167   0.0752764   0 -0.00151631 -0.00750978 0.0132277   0.999883       uwb: 0.0            847.005  1209.81  
imu_odom_:  1691062955.565060202  0.059855   -0.110133  9.89284    -0.0436758  -0.00426106 0.215183    0.18       0.26          pose: 0.0           -1.69167   0.0752764   0 -0.00151631 -0.00750978 0.0132277   0.999883       uwb: 0.0            847.005  1209.81  
imu_odom_:  1691062955.581140317  -0.0622492 -0.277727  9.90242    -0.0415453  -0.00213053 0.186421    0.14       0.17          pose: 0.47806078    -1.68182   0.0735786   0 -0.00295286 -0.0059595  0.0178867   0.999818       uwb: 0.49930455     847.197  1208.78  
imu_odom_:  1691062955.598036760  0.246603   -0.153229  9.99819    -0.052198   -0.0319579  0.203466    0.19       0.2           pose: 0.0           -1.68182   0.0735786   0 -0.00295286 -0.0059595  0.0178867   0.999818       uwb: 0.0            847.197  1208.78  
imu_odom_:  1691062955.615107317  0.304064   -0.402226  9.34936    -0.0458064  -0.00852212 0.20027     0.19       0.2           pose: 0.65980529    -1.67029   0.0817729   0 -0.000607417-0.0005619110.0238427   0.999715       uwb: 0.0            847.197  1208.78  
imu_odom_:  1691062955.631064939  0.0742203  -0.277727  10.0892    -0.0415453  -0.0191748  0.175769    0.21       0.17          pose: 0.0           -1.67029   0.0817729   0 -0.000607417-0.0005619110.0238427   0.999715       uwb: 0.50089404     846.471  1207.48  
imu_odom_:  1691062955.647053184  0.380678   -0.0861913 9.65821    -0.0415453  -0.0596548  0.187487    0.21       0.17          pose: 0.0           -1.67029   0.0817729   0 -0.000607417-0.0005619110.0238427   0.999715       uwb: 0.0            846.471  1207.48  
imu_odom_:  1691062955.664180905  0.500388   -0.222661  10.1059    -0.0543285  0.00106526  0.193878    0.21       0.17          pose: 0.34111659    -1.67029   0.0817729   0 -0.00169365 0.00158181  0.0265142   0.999646       uwb: 0.0            846.471  1207.48  
imu_odom_:  1691062955.680283768  0.0861913  -0.514753  9.85214    -0.0607201  0.0245011   0.175769    0.15       0.11          pose: 0.42070783    -1.66042   0.0800864   0 -7.74576e-050.000104473 0.0296318   0.999561       uwb: 0.0            846.471  1207.48  
imu_odom_:  1691062955.696134938  0.579397   -0.174777  9.48343    -0.0532632  -0.0127832  0.157659    0.15       0.11          pose: 0.7975165     -1.66043   0.0801031   0 -0.0006686610.000781325 0.0301745   0.999544       uwb: 0.50118861     846.655  1206.85  
imu_odom_:  1691062955.713273741  0.782904   0.035913   9.82102    -0.0649811  -0.0383495  0.203466    0.15       0.11          pose: 0.0           -1.66043   0.0801031   0 -0.0006686610.000781325 0.0301745   0.999544       uwb: 0.0            846.655  1206.85  
imu_odom_:  1691062955.730271678  1.01035    -0.502782  9.4954     -0.0713727  0.0117179   0.252468    0.17       0.08          pose: 0.41117671    -1.65518   0.0792223   0 0.000215417 -0.0017631  0.0330647   0.999452       uwb: 0.49808837     846.785  1206.3   
imu_odom_:  1691062955.747110957  1.4461     -0.651223  9.9503     -0.0511327  -0.0234358  0.225836    0.11       0.08          pose: 0.0           -1.65518   0.0792223   0 0.000215417 -0.0017631  0.0330647   0.999452       uwb: 0.0            846.785  1206.3   
imu_odom_:  1691062955.763063038  1.14682    0.1652     9.36851    -0.0330232  0.0266316   0.164051    0.11       0.08          pose: 0.0           -1.65518   0.0792223   0 0.000215417 -0.0017631  0.0330647   0.999452       uwb: 0.0            846.785  1206.3   
imu_odom_:  1691062955.778995578  1.39103    0.363919   10.4196    -0.0490022  0.0223706   0.14168     0.11       0.08          pose: 0.24871900    -1.65057   0.0784561   0 -0.000916241-0.00398418 0.0356075   0.999357       uwb: 0.0            846.785  1206.3   
imu_odom_:  1691062955.796003139  0.751779   -0.105345  9.67736    -0.0575243  0.0170442   0.115049    0.09       0.05          pose: 0.0           -1.65057   0.0784561   0 -0.000916241-0.00398418 0.0356075   0.999357       uwb: 0.50191190     846.57   1205.47  
imu_odom_:  1691062955.812993493  0.727837   -0.354342  10.173     -0.0607201  0.0319579   0.0873517   0.09       0.05          pose: 0.32921435    -1.65057   0.0784561   0 0.000325161 -0.00651283 0.0378341   0.999263       uwb: 0.0            846.57   1205.47  
imu_odom_:  1691062955.829051442  0.553061   -0.371101  9.78989    -0.0575243  -0.0308927  0.0649811   0.12       0.14          pose: 0.41926417    -1.64502   0.0775324   0 0.000304863 -0.0092894  0.0392892   0.999185       uwb: 0.0            846.57   1205.47  
imu_odom_:  1691062955.845044062  0.919373   -0.112527  10.0437    -0.0575243  -0.0330232  0.0745685   0.12       0.14          pose: 0.0           -1.64502   0.0775324   0 0.000304863 -0.0092894  0.0392892   0.999185       uwb: 0.49820211     847.036  1204.84  
imu_odom_:  1691062955.862307400  0.859518   -0.227449  9.7851     -0.0543285  -0.00852212 0.115049    0.12       0.14          pose: 0.0           -1.64502   0.0775324   0 0.000304863 -0.0092894  0.0392892   0.999185       uwb: 0.0            847.036  1204.84  
imu_odom_:  1691062955.878063491  0.756568   -0.316035  9.87848    -0.056459   0.0149137   0.129962    0.06       0.08          pose: 0.7003388     -1.6407    0.0768251   0 -0.000393026-0.00927759 0.0393845   0.999181       uwb: 0.0            847.036  1204.84  
imu_odom_:  1691062955.894043279  0.737414   -0.342371  9.91918    -0.0490022  0.00852212  0.124636    0.08       0.05          pose: 0.0           -1.6407    0.0768251   0 -0.000393026-0.00927759 0.0393845   0.999181       uwb: 0.50094945     847.296  1204.12  
imu_odom_:  1691062955.920978601  0.612916   -0.0287304 9.86411    -0.052198   0.00106526  0.110787    0.08       0.05          pose: 0.65087206    -1.6407    0.0768251   0 -0.00198487 -0.0142361  0.0414528   0.999037       uwb: 0.0            847.296  1204.12  
imu_odom_:  1691062955.947992377  0.270545   -0.229843  9.77553    -0.0660464  0.0330232   0.072438    0.05       0.08          pose: 0.0           -1.6407    0.0768251   0 -0.00198487 -0.0142361  0.0414528   0.999037       uwb: 0.50148318     847.686  1203.97  
imu_odom_:  1691062955.974201491  -1.23301   0.122104   9.81144    -0.0447411  0.0852212   0.0106526   0.07       0.08          pose: 0.62908290    -1.6407    0.0768251   0 -0.000396156-0.0105812  0.0432111   0.99901        uwb: 0.0            847.686  1203.97  
imu_odom_:  1691062955.990987981  -1.15161   -0.232238  10.2376    -0.0617853  -0.0394148  0.0990696   0.07       0.08          pose: 0.0           -1.6407    0.0768251   0 -0.000396156-0.0105812  0.0432111   0.99901        uwb: 0.49783463     848.302  1203.52  
imu_odom_:  1691062956.7036306    0.0143652  -0.816423  9.84975    -0.0703074  -0.0958738  0.107592    0.07       0.08          pose: 0.0           -1.6407    0.0768251   0 -0.000396156-0.0105812  0.0432111   0.99901        uwb: 0.0            848.302  1203.52  
imu_odom_:  1691062956.33985920   0.758962   -0.0550666 10.0173    -0.0500674  -0.00319579 0.105461    0.11       0.02          pose: 0.8037578     -1.6407    0.0768251   0 -0.000250462-0.00942489 0.0430947   0.999027       uwb: 0.49943871     849.322  1203.63  
imu_odom_:  1691062956.50030162   0.251391   0.0287304  10.1083    -0.0777643  0.00745685  0.105461    0.11       0.02          pose: 0.0           -1.6407    0.0768251   0 -0.000250462-0.00942489 0.0430947   0.999027       uwb: 0.0            849.322  1203.63  
imu_odom_:  1691062956.77201429   -0.342371  -0.222661  9.58399    -0.0703074  0.0490022   0.0500674   0.12       0.05          pose: 0.43221050    -1.6292    0.0850518   0 -0.000755763-0.00531261 0.0436147   0.999034       uwb: 0.0            849.322  1203.63  
imu_odom_:  1691062956.103010691  0.837971   -0.459687  10.0724    -0.0607201  -0.0649811  0.0820254   0.12       0.05          pose: 0.42799325    -1.6292    0.0850518   0 0.000753133 -0.00657045 0.0450183   0.998964       uwb: 0.50145985     849.631  1203.21  
imu_odom_:  1691062956.130023592  0.146046   -0.0550666 9.98622    -0.0436758  -0.0319579  0.0894822   0.12       0.05          pose: 0.0           -1.6292    0.0850518   0 0.000753133 -0.00657045 0.0450183   0.998964       uwb: 0.49921706     849.311  1202.53  
imu_odom_:  1691062956.156114005  0.399832   -0.0023942 9.50019    -0.0745685  0.0351537   0.0692422   0.15       0.02          pose: 0.43006979    -1.61932   0.0834537   0 0.000283432 -0.00337414 0.045585    0.998955       uwb: 0.0            849.311  1202.53  
imu_odom_:  1691062956.183020746  0.861913   -0.292093  9.88087    -0.0639159  -0.02024    0.0617853   0.15       0.02          pose: 0.0           -1.61932   0.0834537   0 0.000283432 -0.00337414 0.045585    0.998955       uwb: 0.50006284     850.188  1202.83  
imu_odom_:  1691062956.198985951  0.395043   -0.270545  9.96706    -0.056459   0.0234358   0.0660464   0.14       0.02          pose: 0.52998029    -1.60946   0.0818421   0 0.00124253  -0.00290751 0.0467549   0.998901       uwb: 0.0            850.188  1202.83  
imu_odom_:  1691062956.216163252  0.454898   -0.184354  10.4387    -0.0617853  -0.00852212 0.0735032   0.14       0.02          pose: 0.0           -1.60946   0.0818421   0 0.00124253  -0.00290751 0.0467549   0.998901       uwb: 0.0            850.188  1202.83  
imu_odom_:  1691062956.232001881  0.356736   -0.270545  9.97903    -0.0447411  0.00319579  0.0575243   0.14       0.02          pose: 0.52953697    -1.60946   0.0818421   0 0.00140164  -0.00406397 0.0474291   0.998865       uwb: 0.50101362     849.199  1201.95  
imu_odom_:  1691062956.259108694  0.727837   -0.124498  10.4962    -0.0458064  0.0106526   0.0649811   0.14       0.02          pose: 0.0           -1.60946   0.0818421   0 0.00140164  -0.00406397 0.0474291   0.998865       uwb: 0.0            849.199  1201.95  
imu_odom_:  1691062956.285102279  0.37589    -0.148441  9.7851     -0.0479369  -0.0127832  0.0649811   0.15       0             pose: 0.68099659    -1.59843   0.0871527   0 0.00164813  -0.00334131 0.0483104   0.998825       uwb: 0.49896332     848.954  1201.17  
imu_odom_:  1691062956.312006686  0.0933739  -0.37589   9.6606     -0.0681769  -0.00532632 0.0607201   0.15       0             pose: 0.0           -1.59843   0.0871527   0 0.00164813  -0.00334131 0.0483104   0.998825       uwb: 0.0            848.954  1201.17  
imu_odom_:  1691062956.337041618  0.976834   -0.294487  9.77074    -0.0532632  -0.0500674  0.072438    0.15       0             pose: 0.7904877     -1.59795   0.0900552   0 0.00193756  -0.00262655 0.0484087   0.998822       uwb: 0.49841503     848.803  1200.65  
imu_odom_:  1691062956.353006240  0.720655   -0.201113  9.83777    -0.0617853  0.0298274   0.0660464   0.15       0             pose: 0.0           -1.59795   0.0900552   0 0.00193756  -0.00262655 0.0484087   0.998822       uwb: 0.0            848.803  1200.65  
imu_odom_:  1691062956.379103360  0.474052   -0.0981623 9.6606     -0.072438   -0.0213053  0.072438    0.16       0.02          pose: 0.51980754    -1.58809   0.0884231   0 0.000814385 0.00033129  0.0490284   0.998797       uwb: 0.0            848.803  1200.65  
imu_odom_:  1691062956.406081264  0.440533   -0.203507  10.1921    -0.0511327  0.0181095   0.0607201   0.16       0.02          pose: 0.0           -1.58809   0.0884231   0 0.000814385 0.00033129  0.0490284   0.998797       uwb: 0.49964578     849.295  1200.72  
imu_odom_:  1691062956.422000388  -0.136469  -0.186748  9.46667    -0.0553937  -0.0213053  0.0617853   0.17       0             pose: 0.43144638    -1.57822   0.0868032   0 0.00151756  -0.003317   0.0496837   0.998758       uwb: 0.0            849.295  1200.72  
imu_odom_:  1691062956.449102242  -0.0957681 -0.0143652 9.90481    -0.04048    -0.0351537  0.0628506   0.17       0             pose: 0.51972296    -1.56835   0.0852043   0 0.000888001 -0.0009459930.0503337   0.998732       uwb: 0.50123527     850.103  1200.74  
imu_odom_:  1691062956.474292332  0.189142   -0.378284  10.0963    -0.0394148  -0.0191748  0.052198    0.22       0.02          pose: 0.0           -1.56835   0.0852043   0 0.000888001 -0.0009459930.0503337   0.998732       uwb: 0.0            850.103  1200.74  
imu_odom_:  1691062956.501073372  0.229843   -0.246603  9.95988    -0.0532632  -0.0117179  0.0703074   0.19       0.05          pose: 0.43059185    -1.56835   0.0852043   0 0.00132176  0.00240078  0.0507809   0.998706       uwb: 0.49967787     849.872  1199.59  
imu_odom_:  1691062956.517108281  0.418985   -0.311246  10.0533    -0.0628506  -0.00213053 0.0681769   0.19       0.05          pose: 0.0           -1.56835   0.0852043   0 0.00132176  0.00240078  0.0507809   0.998706       uwb: 0.0            849.872  1199.59  
imu_odom_:  1691062956.534096885  0.237026   -0.208296  9.99819    -0.0426106  -0.00639159 0.0511327   0.19       0.05          pose: 0.0           -1.56835   0.0852043   0 0.00132176  0.00240078  0.0507809   0.998706       uwb: 0.50160859     849.723  1199.06  
imu_odom_:  1691062956.560059263  0.205901   -0.282516  9.64863    -0.0585895  0.0383495   0.0703074   0.17       0             pose: 0.23857833    -1.55847   0.0836197   0 -0.0001286930.0039367   0.0509858   0.998692       uwb: 0.0            849.723  1199.06  
imu_odom_:  1691062956.584990660  0.337582   -0.117316  9.94791    -0.0490022  0.0276969   0.052198    0.17       0             pose: 0.0           -1.55847   0.0836197   0 -0.0001286930.0039367   0.0509858   0.998692       uwb: 0.49852001     849.59   1198.52  
imu_odom_:  1691062956.607990751  0.474052   -0.299275  10.1634    -0.0756338  0.00852212  0.0660464   0.17       0.02          pose: 0.60932946    -1.54702   0.0919183   0 -0.00147567 0.00672027  0.0517347   0.998637       uwb: 0.0            849.59   1198.52  
imu_odom_:  1691062956.623948373  0.696713   -0.253785  9.85214    -0.0671117  -0.0319579  0.0649811   0.17       0.02          pose: 0.0           -1.54702   0.0919183   0 -0.00147567 0.00672027  0.0517347   0.998637       uwb: 0.0            849.59   1198.52  
imu_odom_:  1691062956.651126348  0.411803   -0.1652    10.058     -0.0841559  0.00639159  0.0713727   0.22       0             pose: 0.50124694    -1.53714   0.0903588   0 -0.0007519730.00693204  0.0522693   0.998609       uwb: 0.49859585     849.875  1198.14  
imu_odom_:  1691062956.676216693  0.452504   -0.0143652 10.1945    -0.0841559  -0.00852212 0.0607201   0.18       0             pose: 0.40023985    -1.53714   0.0903588   0 -0.0010042  0.00314366  0.0528096   0.998599       uwb: 0.0            849.875  1198.14  
imu_odom_:  1691062956.703129558  0.509965   -0.148441  9.98382    -0.0745685  -0.02024    0.056459    0.21       0.02          pose: 0.26924531    -1.52726   0.0888154   0 0.000687681 0.00157588  0.0532006   0.998582       uwb: 0.50390387     849.743  1197.24  
imu_odom_:  1691062956.719088055  0.608127   -0.42138   9.40442    -0.0585895  -0.0820254  0.0490022   0.21       0.02          pose: 0.0           -1.52726   0.0888154   0 0.000687681 0.00157588  0.0532006   0.998582       uwb: 0.0            849.743  1197.24  
imu_odom_:  1691062956.746086082  0.464475   -0.328006  9.64863    -0.052198   -0.0553937  0.0532632   0.18       0             pose: 0.23965744    -1.52726   0.0888154   0 0.00215798  0.000200459 0.053444    0.998568       uwb: 0.49622181     850.087  1196.79  
imu_odom_:  1691062956.771998006  0.514753   0.0407014  10.1323    -0.0628506  -0.0255663  0.04048     0.17       0.02          pose: 0.63085905    -1.51585   0.0971654   0 -0.00141952 -0.00419764 0.0538892   0.998537       uwb: 0.0            850.087  1196.79  
imu_odom_:  1691062956.799209520  0.23942    -0.19393   9.98622    -0.0681769  -0.00319579 0.0543285   0.17       0.02          pose: 0.0           -1.51585   0.0971654   0 -0.00141952 -0.00419764 0.0538892   0.998537       uwb: 0.50120611     850.63   1196.43  
imu_odom_:  1691062956.816259954  0.715866   -0.335188  9.87608    -0.0553937  -0.0213053  0.04048     0.17       -0.02         pose: 0.8015122     -1.51585   0.0971654   0 -0.000642831-0.00432234 0.0538895   0.998537       uwb: 0.0            850.63   1196.43  
imu_odom_:  1691062956.833210352  0.632069   -0.31364   9.95988    -0.0458064  -0.00852212 0.0617853   0.17       -0.02         pose: 0.0           -1.51585   0.0971654   0 -0.000642831-0.00432234 0.0538895   0.998537       uwb: 0.50123819     850.132  1195.66  
imu_odom_:  1691062956.849052189  0.126893   -0.409408  10.0796    -0.0500674  -0.00852212 0.052198    0.17       -0.02         pose: 0.0           -1.51585   0.0971654   0 -0.000642831-0.00432234 0.0538895   0.998537       uwb: 0.0            850.132  1195.66  
imu_odom_:  1691062956.864999020  0.584185   -0.0430956 10.1586    -0.0543285  -0.0255663  0.0394148   0.18       0             pose: 0.52951073    -1.50598   0.0955431   0 0.000510488 -0.00266598 0.0540919   0.998532       uwb: 0.0            850.132  1195.66  
imu_odom_:  1691062956.880984640  0.538695   -0.301669  9.55765    -0.0543285  -0.0372843  0.056459    0.18       0             pose: 0.0           -1.50598   0.0955431   0 0.000510488 -0.00266598 0.0540919   0.998532       uwb: 0.50181566     849.24   1194.71  
imu_odom_:  1691062956.907943003  0.42138    -0.155623  10.0987    -0.04048    -0.04048    0.0436758   0.22       0             pose: 0.73932363    -1.48625   0.0923112   0 -0.00114331 -0.00571909 0.0545264   0.998495       uwb: 0.0            849.24   1194.71  
imu_odom_:  1691062956.932940604  0.440533   -0.162806  10.2975    -0.0511327  -0.0255663  0.0703074   0.22       0             pose: 0.0           -1.48625   0.0923112   0 -0.00114331 -0.00571909 0.0545264   0.998495       uwb: 0.49718426     849.041  1193.57  
imu_odom_:  1691062956.949093339  0.737414   -0.311246  10.0365    -0.0511327  0.00958738  0.0394148   0.21       0             pose: 0.6989389     -1.48625   0.0923112   0 -0.000636769-0.00530595 0.0545394   0.998497       uwb: 0.0            849.041  1193.57  
imu_odom_:  1691062956.966069694  -0.0311246 -0.172383  9.77313    -0.0468716  -0.00106526 -0.00213053 0.18       -0.08         pose: 0.0           -1.48625   0.0923112   0 -0.000636769-0.00530595 0.0545394   0.998497       uwb: 0.0            849.041  1193.57  
imu_odom_:  1691062956.983088922  0.0933739  0.00718261 10.4148    -0.036219   -0.0330232  -0.0479369  0.24       -0.17         pose: 0.0           -1.48625   0.0923112   0 -0.000636769-0.00530595 0.0545394   0.998497       uwb: 0.50087072     848.483  1192.2   
imu_odom_:  1691062957.58568      0.232238   -0.318429  9.68694    -0.0458064  -0.0106526  -0.105461   0.24       -0.17         pose: 0.78095665    -1.47477   0.100557    0 0.00178949  -0.00203493 0.0546004   0.998505       uwb: 0.0            848.483  1192.2   
imu_odom_:  1691062957.17113669   0.143652   0.167594   9.5816     -0.0394148  -0.0117179  -0.129962   0.26       -0.38         pose: 0.0           -1.47477   0.100557    0 0.00178949  -0.00203493 0.0546004   0.998505       uwb: 0.0            848.483  1192.2   
imu_odom_:  1691062957.33059333   0.804452   -0.227449  10.4507    -0.0798948  -0.0532632  -0.16192    0.26       -0.38         pose: 0.40893977    -1.46488   0.0990581   0 0.002214    0.000890093 0.052036    0.998642       uwb: 0.49880291     847.817  1190.98  
imu_odom_:  1691062957.50041813   0.912191   -0.258574  9.62708    -0.0543285  -0.0234358  -0.280165   0.26       -0.38         pose: 0.0           -1.46488   0.0990581   0 0.002214    0.000890093 0.052036    0.998642       uwb: 0.0            847.817  1190.98  
imu_odom_:  1691062957.67106538   0.897826   0.438139   10.331     -0.0511327  -0.0372843  -0.312122   0.25       -0.44         pose: 0.33113924    -1.46488   0.0990581   0 0.00261697  -0.00124374 0.0484561   0.998821       uwb: 0.0            847.817  1190.98  
imu_odom_:  1691062957.82978998   0.521936   -0.107739  9.78031    -0.052198   -0.0266316  -0.325971   0.25       -0.44         pose: 0.0           -1.46488   0.0990581   0 0.00261697  -0.00124374 0.0484561   0.998821       uwb: 0.50009785     846.725  1189.28  
imu_odom_:  1691062957.101045832  0.715866   -0.213084  9.98861    -0.052198   -0.0181095  -0.395213   0.18       -0.41         pose: 0.0           -1.46488   0.0990581   0 0.00261697  -0.00124374 0.0484561   0.998821       uwb: 0.0            846.725  1189.28  
imu_odom_:  1691062957.117162403  0.830788   0.316035   10.1586    -0.0308927  -0.00532632 -0.428236   0.18       -0.41         pose: 0.42901403    -1.455     0.0975088   0 0.00498297  -0.0049615  0.0409698   0.999136       uwb: 0.0            846.725  1189.28  
imu_odom_:  1691062957.134046888  0.368707   -0.011971  9.72046    -0.0617853  0.0308927   -0.431432   0.18       -0.41         pose: 0.0           -1.455     0.0975088   0 0.00498297  -0.0049615  0.0409698   0.999136       uwb: 0.50037199     846.767  1188.55  
imu_odom_:  1691062957.151041034  1.27372    -0.0861913 11.1857    -0.0798948  0.0436758   -0.460194   0.18       -0.53         pose: 0.8292480     -1.455     0.0975257   0 0.00470462  -0.00578197 0.0391736   0.999205       uwb: 0.0            846.767  1188.55  
imu_odom_:  1691062957.167033945  0.208296   0.162806   8.89207    -0.0458064  0.0245011   -0.498544   0.18       -0.53         pose: 0.0           -1.455     0.0975257   0 0.00470462  -0.00578197 0.0391736   0.999205       uwb: 0.0            846.767  1188.55  
imu_odom_:  1691062957.183042315  0.0790087  -0.0311246 10.8218    -0.0351537  0.0873517   -0.515588   0.18       -0.53         pose: 0.0           -1.455     0.0975257   0 0.00470462  -0.00578197 0.0391736   0.999205       uwb: 0.49884376     845.816  1187.04  
imu_odom_:  1691062957.199963256  0.466869   0.0143652  8.79151    -0.0745685  0.00106526  -0.536893   0.18       -0.58         pose: 0.50713828    -1.44362   0.105895    0 0.00657763  -0.00630009 0.0273197   0.999585       uwb: 0.0            845.816  1187.04  
imu_odom_:  1691062957.215964917  0.555455   0.167594   10.9583    -0.0639159  -0.0372843  -0.54435    0.22       -0.76         pose: 0.0           -1.44362   0.105895    0 0.00657763  -0.00630009 0.0273197   0.999585       uwb: 0.0            845.816  1187.04  
imu_odom_:  1691062957.231923122  1.31681    -0.280122  10.3046    -0.072438   -0.0511327  -0.487891   0.22       -0.76         pose: 0.64994754    -1.42383   0.103016    0 0.00996007  -0.00350669 0.00937088  0.9999         uwb: 0.49970120     845.851  1186.34  
imu_odom_:  1691062957.248973265  1.58496    -0.378284  9.30866    -0.0553937  -0.00213053 -0.478304   0.22       -0.76         pose: 0.0           -1.42383   0.103016    0 0.00996007  -0.00350669 0.00937088  0.9999         uwb: 0.0            845.851  1186.34  
imu_odom_:  1691062957.265953995  1.33118    -0.246603  10.1035    -0.052198   -0.0383495  -0.474043   0.19       -0.58         pose: 0.0           -1.42383   0.103016    0 0.00996007  -0.00350669 0.00937088  0.9999         uwb: 0.0            845.851  1186.34  
imu_odom_:  1691062957.282032943  1.34794    -0.0191536 9.51216    -0.0788296  0.0617853   -0.421845   0.19       -0.58         pose: 0.32958767    -1.42383   0.103016    0 0.00989639  -0.00657186 0.000486293 0.999929       uwb: 0.50232896     846.322  1185.44  
imu_odom_:  1691062957.299026797  1.29287    -0.232238  10.556     -0.0553937  -0.0330232  -0.346211   0.12       -0.38         pose: 0.42094116    -1.41854   0.102225    0 0.00910109  -0.0103176  -0.00987754 0.999857       uwb: 0.0            846.322  1185.44  
imu_odom_:  1691062957.314903340  1.25935    -0.402226  9.15064    -0.0447411  -0.0458064  -0.302535   0.12       -0.38         pose: 0.0           -1.41854   0.102225    0 0.00910109  -0.0103176  -0.00987754 0.999857       uwb: 0.0            846.322  1185.44  
imu_odom_:  1691062957.330955748  1.22823    -0.184354  9.61272    -0.0511327  0.0181095   -0.26312    0.12       -0.38         pose: 0.0           -1.41854   0.102225    0 0.00910109  -0.0103176  -0.00987754 0.999857       uwb: 0.49890208     846.366  1184.4   
imu_odom_:  1691062957.346883914  0.620098   -0.430956  9.78031    -0.0660464  -0.00319579 -0.210922   0.1        -0.32         pose: 0.7883587     -1.41394   0.101543    0 0.00887412  -0.0111688  -0.0113896  0.999833       uwb: 0.0            846.366  1184.4   
imu_odom_:  1691062957.363877768  0.325611   -0.318429  9.85932    -0.0415453  0.0138484   -0.238619   0.11       -0.35         pose: 0.0           -1.41394   0.101543    0 0.00887412  -0.0111688  -0.0113896  0.999833       uwb: 0.0            846.366  1184.4   
imu_odom_:  1691062957.379877679  0.28491    -0.0407014 9.95988    -0.0532632  -0.0181095  -0.235423   0.11       -0.35         pose: 0.64028518    -1.41394   0.101543    0 0.00574144  -0.014165   -0.0211956  0.999659       uwb: 0.0            846.366  1184.4   
imu_odom_:  1691062957.397041856  1.0319     -0.222661  9.90002    -0.0660464  -0.02024    -0.198139   0.1        -0.35         pose: 0.0           -1.41394   0.101543    0 0.00574144  -0.014165   -0.0211956  0.999659       uwb: 0.0            846.366  1184.4   
imu_odom_:  1691062957.412894776  1.10133    -0.457293  10.0796    -0.0617853  -0.00958738 -0.186421   0.1        -0.35         pose: 0.0           -1.41394   0.101543    0 0.00574144  -0.014165   -0.0211956  0.999659       uwb: 0.0            846.366  1184.4   
imu_odom_:  1691062957.428882438  0.672771   -0.328006  9.60314    -0.0436758  0.0308927   -0.185356   0.1        -0.35         pose: 0.33019722    -1.40404   0.100114    0 0.0054118   -0.0124654  -0.0256217  0.999579       uwb: 0.0            846.366  1184.4   
imu_odom_:  1691062957.445883292  0.493206   -0.136469  10.058     -0.0479369  0.0106526   -0.165116   0.06       -0.2          pose: 0.41917668    -1.40404   0.100097    0 0.00251992  -0.0143371  -0.0303533  0.999433       uwb: 0.99834664     845.639  1182.99  
imu_odom_:  1691062957.461940366  0.474052   -0.174777  9.84496    -0.0617853  0           -0.145941   0.06       -0.2          pose: 0.8009288     -1.40404   0.100114    0 0.0026674   -0.0134823  -0.0311758  0.999419       uwb: 0.0            845.639  1182.99  
imu_odom_:  1691062957.478939178  0.545878   -0.301669  10.0437    -0.0511327  0.00426106  -0.150202   0.06       -0.2          pose: 0.0           -1.40404   0.100114    0 0.0026674   -0.0134823  -0.0311758  0.999419       uwb: 0.0            845.639  1182.99  
imu_odom_:  1691062957.494945797  0.629675   -0.270545  9.81383    -0.0617853  -0.00532632 -0.138484   0.07       -0.23         pose: 0.42047452    -1.40404   0.100098    0 0.00118928  -0.010012   -0.035189   0.99933        uwb: 0.49959912     845.588  1182.08  
imu_odom_:  1691062957.510939001  0.684742   -0.153229  10.0844    -0.0553937  -0.00532632 -0.128897   0.05       -0.17         pose: 0.0           -1.40404   0.100098    0 0.00118928  -0.010012   -0.035189   0.99933        uwb: 0.0            845.588  1182.08  
imu_odom_:  1691062957.526879999  0.624887   -0.246603  9.84735    -0.0596548  -0.0127832  -0.109722   0.05       -0.17         pose: 0.0           -1.40404   0.100098    0 0.00118928  -0.010012   -0.035189   0.99933        uwb: 0.0            845.588  1182.08  
imu_odom_:  1691062957.544026094  0.608127   -0.167594  9.88566    -0.0553937  -0.00852212 -0.106526   0.04       -0.14         pose: 0.23954078    -1.40404   0.100114    0 0.000140204 -0.0111706  -0.0372718  0.999243       uwb: 0.50007160     845.409  1181.65  
imu_odom_:  1691062957.561083819  0.751779   -0.215478  9.97185    -0.0500674  -0.00958738 -0.0958738  0.04       -0.14         pose: 0.0           -1.40404   0.100114    0 0.000140204 -0.0111706  -0.0372718  0.999243       uwb: 0.0            845.409  1181.65  
imu_odom_:  1691062957.576955113  0.553061   -0.253785  9.68215    -0.0543285  0.0117179   -0.0937433  0.04       -0.14         pose: 0.32003906    -1.39415   0.0986482   0 -0.000183231-0.0113486  -0.0397194  0.999146       uwb: 0.0            845.409  1181.65  
imu_odom_:  1691062957.593948967  0.646434   -0.189142  10.1299    -0.0490022  -0.00319579 -0.0894822  0.04       -0.14         pose: 0.42057951    -1.39415   0.0986482   0 -0.000355797-0.0112631  -0.0425916  0.999029       uwb: 0.50141902     846.225  1181.01  
imu_odom_:  1691062957.609941295  0.608127   -0.198719  9.8258     -0.0596548  -0.00958738 -0.0703074  0.04       -0.14         pose: 0.6947391     -1.39415   0.0986482   0 0.000204585 -0.0117069  -0.0430452  0.999005       uwb: 0.0            846.225  1181.01  
imu_odom_:  1691062957.625876460  0.555455   -0.203507  9.96706    -0.0553937  -0.00213053 -0.0575243  0.04       -0.14         pose: 0.0           -1.39415   0.0986482   0 0.000204585 -0.0117069  -0.0430452  0.999005       uwb: 0.0            846.225  1181.01  
imu_odom_:  1691062957.642938268  0.627281   -0.294487  9.8282     -0.056459   -0.0127832  -0.0447411  0.03       -0.05         pose: 0.41973956    -1.39415   0.0986482   0 0.000332328 -0.00928381 -0.0453478  0.998928       uwb: 0.50042157     845.665  1179.75  
imu_odom_:  1691062957.660016409  0.624887   -0.172383  9.90481    -0.052198   -0.00106526 -0.0436758  0.04       -0.11         pose: 0.0           -1.39415   0.0986482   0 0.000332328 -0.00928381 -0.0453478  0.998928       uwb: 0.0            845.665  1179.75  
imu_odom_:  1691062957.676005529  0.648829   -0.167594  9.87848    -0.0585895  -0.00958738 -0.0319579  0.04       -0.11         pose: 0.0           -1.39415   0.0986482   0 0.000332328 -0.00928381 -0.0453478  0.998928       uwb: 0.0            845.665  1179.75  
imu_odom_:  1691062957.693005800  0.557849   -0.225055  9.80904    -0.056459   0.00852212  -0.0181095  0.04       -0.11         pose: 0.24071904    -1.39415   0.0986482   0 -0.000606073-0.0103061  -0.0463493  0.998872       uwb: 0.49952621     845.689  1178.77  
imu_odom_:  1691062957.708876218  0.509965   -0.289698  9.95748    -0.0532632  0.00319579  -0.00958738 0.03       -0.05         pose: 0.0           -1.39415   0.0986482   0 -0.000606073-0.0103061  -0.0463493  0.998872       uwb: 0.0            845.689  1178.77  
imu_odom_:  1691062957.724870880  0.452504   -0.237026  9.78271    -0.056459   -0.0106526  0.0106526   0.03       -0.05         pose: 0.32999599    -1.39415   0.0986482   0 0.000945398 -0.0113843  -0.0475552  0.998803       uwb: 0.0            845.689  1178.77  
imu_odom_:  1691062957.741937355  0.627281   -0.234632  9.94312    -0.056459   -0.0127832  0.0287621   0.01       -0.02         pose: 0.41922917    -1.39415   0.0986482   0 -0.000733079-0.00763845 -0.0484499  0.998796       uwb: 0.50049158     845.375  1177.88  
imu_odom_:  1691062957.758925959  0.675165   -0.232238  9.89045    -0.0532632  -0.00958738 0.0372843   0.01       -0.02         pose: 0.8009580     -1.39415   0.0986482   0 -0.000915297-0.00845347 -0.0484921  0.998787       uwb: 0.0            845.375  1177.88  
imu_odom_:  1691062957.774929953  0.670376   -0.19393   9.91678    -0.0532632  0.00106526  0.0447411   0.01       -0.02         pose: 0.0           -1.39415   0.0986482   0 -0.000915297-0.00845347 -0.0484921  0.998787       uwb: 0.0            845.375  1177.88  
imu_odom_:  1691062957.792001969  0.636858   -0.237026  9.86172    -0.0575243  0           0.0532632   0          0.02          pose: 0.42049493    -1.39415   0.0986482   0 -0.000383577-0.0124111  -0.0485277  0.998745       uwb: 0.49853751     845.346  1176.97  
imu_odom_:  1691062957.807875013  0.557849   -0.229843  9.88805    -0.0543285  0           0.0532632   0          0.02          pose: 0.0           -1.39415   0.0986482   0 -0.000383577-0.0124111  -0.0485277  0.998745       uwb: 0.0            845.346  1176.97  
imu_odom_:  1691062957.823874049  0.476446   -0.23942   9.91678    -0.056459   0.00106526  0.0543285   0          0.02          pose: 0.0           -1.39415   0.0986482   0 -0.000383577-0.0124111  -0.0485277  0.998745       uwb: 0.0            845.346  1176.97  
imu_odom_:  1691062957.838863685  0.397437   -0.191536  9.88087    -0.0543285  0           0.04048     0          0.02          pose: 0.24082404    -1.39415   0.0986482   0 -0.00185523 -0.0110883  -0.0483443  0.998767       uwb: 0.49991994     845.456  1176.53  
imu_odom_:  1691062957.853925651  0.380678   -0.138864  9.87129    -0.0553937  -0.00319579 0.0340885   0          0             pose: 0.0           -1.39415   0.0986482   0 -0.00185523 -0.0110883  -0.0483443  0.998767       uwb: 0.0            845.456  1176.53  
imu_odom_:  1691062957.868864831  0.397437   -0.237026  9.89524    -0.0596548  -0.00852212 0.0383495   0          0             pose: 0.0           -1.39415   0.0986482   0 -0.00185523 -0.0110883  -0.0483443  0.998767       uwb: 0.0            845.456  1176.53  
imu_odom_:  1691062957.883930005  0.416591   -0.289698  9.91439    -0.0553937  -0.00852212 0.036219    0          0             pose: 0.30872887    -1.39415   0.0986482   0 -0.00143086 -0.00797533 -0.0481638  0.998807       uwb: 0.50105154     845.322  1175.76  
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imu_odom_:  1691062958.73864642   -0.059855  -0.112527  9.99579    -0.056459   -0.0798948  0.0511327   0.04       0.02          pose: 0.0           -1.39415   0.0986482   0 0.00170548  0.00317697  -0.048036   0.998839       uwb: 0.0            844.947  1174.04  
imu_odom_:  1691062958.89852888   0.366313   -0.21069   9.73482    -0.0575243  -0.0458064  0.0617853   0.04       0.02          pose: 0.0           -1.39415   0.0986482   0 0.00170548  0.00317697  -0.048036   0.998839       uwb: 0.50001035     844.886  1173.19  
imu_odom_:  1691062958.106904489  0.177171   -0.268151  9.89045    -0.0511327  0.0191748   0.0543285   0.04       0.02          pose: 0.31869163    -1.39415   0.0986482   0 0.00185297  0.00618143  -0.0478116  0.998836       uwb: 0.0            844.886  1173.19  
imu_odom_:  1691062958.123862470  -0.294487  -0.172383  9.97424    -0.056459   0.0213053   0.0490022   0.07       0             pose: 0.42020621    -1.38426   0.0971724   0 0.000715637 0.00657771  -0.0474646  0.998851       uwb: 0.0            844.886  1173.19  
imu_odom_:  1691062958.140975609  -0.181959  -0.234632  9.89284    -0.056459   -0.0287621  0.0639159   0.07       0             pose: 0.8008996     -1.38426   0.0971891   0 0.000802774 0.00747756  -0.0474266  0.998846       uwb: 0.49803881     845.602  1173.61  
imu_odom_:  1691062958.156908441  -0.0023942 -0.244209  9.75877    -0.0500674  -0.015979   0.0468716   0.07       0             pose: 0.0           -1.38426   0.0971891   0 0.000802774 0.00747756  -0.0474266  0.998846       uwb: 0.0            845.602  1173.61  
imu_odom_:  1691062958.173905503  0.227449   -0.251391  10.0054    -0.0585895  -0.02024    0.0447411   0.11       0             pose: 0.41994956    -1.38426   0.0971891   0 0.000683333 0.0114729   -0.0471223  0.998823       uwb: 0.0            845.602  1173.61  
imu_odom_:  1691062958.189846209  0.00718261 -0.205901  9.87369    -0.0468716  0.00852212  0.0298274   0.09       0.02          pose: 0.0           -1.38426   0.0971891   0 0.000683333 0.0114729   -0.0471223  0.998823       uwb: 0.50118862     845.431  1172.88  
imu_odom_:  1691062958.206905393  -0.201113  -0.241814  9.65342    -0.0458064  0.00426106  0.0426106   0.09       0.02          pose: 0.0           -1.38426   0.0971891   0 0.000683333 0.0114729   -0.0471223  0.998823       uwb: 0.0            845.431  1172.88  
imu_odom_:  1691062958.223954369  0.0981623  -0.260968  9.88326    -0.0639159  0.00852212  0.0479369   0.1        0.02          pose: 0.24949770    -1.38426   0.0971891   0 -0.0002690820.0108715   -0.0471275  0.99883        uwb: 0.0            845.431  1172.88  
imu_odom_:  1691062958.239830329  0.311246   -0.201113  10.0796    -0.0490022  0.00532632  0.0255663   0.1        0.02          pose: 0.0           -1.38426   0.0971891   0 -0.0002690820.0108715   -0.0471275  0.99883        uwb: 0.49878250     845.636  1172.65  
imu_odom_:  1691062958.255889445  0.234632   0.0454898  9.69652    -0.0490022  -0.00852212 0.0436758   0.1        0.02          pose: 0.33056470    -1.37438   0.0956442   0 -0.0004997080.0141781   -0.0471106  0.998789       uwb: 0.0            845.636  1172.65  
imu_odom_:  1691062958.271828985  -0.112527  -0.169988  9.59117    -0.056459   0.00639159  0.0596548   0.11       0             pose: 0.40974764    -1.37438   0.0956442   0 0.00083413  0.0128939   -0.0471375  0.998805       uwb: 0.0            845.636  1172.65  
imu_odom_:  1691062958.286826788  0.545878   -0.387861  10.1825    -0.04048    -0.0649811  0.0394148   0.11       0             pose: 0.7940459     -1.37438   0.0956442   0 0.00098702  0.0137161   -0.047056   0.998798       uwb: 0.50119154     846.046  1172.2   
imu_odom_:  1691062958.302880946  0.866701   -0.169988  9.54329    -0.0532632  -0.0298274  0.052198    0.11       0             pose: 0.0           -1.37438   0.0956442   0 0.00098702  0.0137161   -0.047056   0.998798       uwb: 0.0            846.046  1172.2   
imu_odom_:  1691062958.318883482  0.893037   -0.289698  9.93594    -0.0639159  0.0532632   0.0862864   0.1        0             pose: 0.39051042    -1.3645    0.094101    0 0.000623361 0.0109174   -0.0468847  0.99884        uwb: 0.0            846.046  1172.2   
imu_odom_:  1691062958.334989846  1.24498    -0.258574  10.2304    -0.0553937  -0.0372843  0.122505    0.1        0             pose: 0.0           -1.3645    0.094101    0 0.000623361 0.0109174   -0.0468847  0.99884        uwb: 0.49950580     845.453  1171.95  
imu_odom_:  1691062958.351860915  1.32639    -0.268151  9.23922    -0.0500674  -0.0127832  0.129962    0.1        0             pose: 0.0           -1.3645    0.094101    0 0.000623361 0.0109174   -0.0468847  0.99884        uwb: 0.0            845.453  1171.95  
imu_odom_:  1691062958.367840411  1.34554    -0.0957681 10.0748    -0.0426106  0.0287621   0.102265    0.06       0             pose: 0.39045208    -1.3645    0.094101    0 0.000141986 0.00720529  -0.045535   0.998937       uwb: 0.0            845.453  1171.95  
imu_odom_:  1691062958.384860805  0.500388   -0.023942  9.75637    -0.0511327  0.0553937   0.0383495   0.09       -0.02         pose: 0.0           -1.3645    0.094101    0 0.000141986 0.00720529  -0.045535   0.998937       uwb: 0.49989953     845.777  1171.89  
imu_odom_:  1691062958.401942738  0.696713   -0.0191536 10.2639    -0.0543285  -0.0330232  0.00852212  0.09       -0.02         pose: 0.0           -1.3645    0.094101    0 0.000141986 0.00720529  -0.045535   0.998937       uwb: 0.0            845.777  1171.89  
imu_odom_:  1691062958.416849837  0.68953    -0.306458  9.55765    -0.0649811  -0.0170442  -0.00213053 0.05       0.05          pose: 0.32953226    -1.3645    0.094101    0 0.00080347  0.00452182  -0.0445895  0.998995       uwb: 0.0            845.777  1171.89  
imu_odom_:  1691062958.431869221  0.905008   -0.260968  9.97903    -0.0607201  0.00532632  0.00852212  0.05       0.05          pose: 0.0           -1.3645    0.094101    0 0.00080347  0.00452182  -0.0445895  0.998995       uwb: 0.50010368     845.998  1171.64  
imu_odom_:  1691062958.448861034  0.773327   -0.378284  9.81144    -0.0553937  0.00532632  0.0245011   0.05       0.05          pose: 0.34009291    -1.3645    0.094101    0 0.00181304  0.00156547  -0.044997   0.998984       uwb: 0.0            845.998  1171.64  
imu_odom_:  1691062958.465848764  0.732626   -0.107739  10.0461    -0.0585895  0.00852212  0.0213053   0.04       0.02          pose: 0.39972363    -1.35461   0.0925985   0 0.000284962 -0.00200376 -0.0455187  0.998961       uwb: 0.0            845.998  1171.64  
imu_odom_:  1691062958.481987209  0.476446   -0.186748  9.76834    -0.0468716  -0.00213053 0.0138484   0.04       0.02          pose: 0.8038162     -1.35461   0.0925985   0 0.000500319 -0.00272335 -0.0455923  0.998956       uwb: 0.49909166     845.998  1171.64  
imu_odom_:  1691062958.500050543  0.392649   -0.160412  10.003     -0.0585895  0.00745685  0.0436758   0.04       0.02          pose: 0.0           -1.35461   0.0925985   0 0.000500319 -0.00272335 -0.0455923  0.998956       uwb: 0.0            845.998  1171.64  
imu_odom_:  1691062958.517943845  0.430956   -0.423774  9.84735    -0.056459   -0.015979   0.076699    0.03       0             pose: 0.43151347    -1.35461   0.0925985   0 0.00236943  -0.00247619 -0.0458532  0.998942       uwb: 0.0            845.998  1171.64  
imu_odom_:  1691062958.542990152  0.804452   -0.0670376 9.8689     -0.0490022  -0.00958738 0.076699    0.03       0.02          pose: 0.0           -1.35461   0.0925985   0 0.00236943  -0.00247619 -0.0458532  0.998942       uwb: 0.49894583     846.212  1171.11  
imu_odom_:  1691062958.559848680  0.00718261 -0.131681  9.71567    -0.0628506  0.0809601   0.0894822   0.03       0.02          pose: 0.23945328    -1.35461   0.0925985   0 0.000782467 -0.00296602 -0.0454058  0.998964       uwb: 0.0            846.212  1171.11  
imu_odom_:  1691062958.585881055  -1.40779   -0.328006  10.1538    -0.0511327  0.0255663   0.0585895   0.03       0.05          pose: 0.0           -1.35461   0.0925985   0 0.000782467 -0.00296602 -0.0454058  0.998964       uwb: 0.50048575     844.946  1170.41  
imu_odom_:  1691062958.611895056  -0.31364   -0.299275  9.81623    -0.0575243  -0.0671117  0.0639159   0.08       0             pose: 0.43894763    -1.35461   0.0925985   0 0.0016426   -0.00151575 -0.0445611  0.999004       uwb: 0.0            844.946  1170.41  
imu_odom_:  1691062958.637886309  0.646434   -0.131681  9.5792     -0.0596548  -0.0255663  0.0511327   0.08       0             pose: 0.0           -1.35461   0.0925985   0 0.0016426   -0.00151575 -0.0445611  0.999004       uwb: 0.49920540     845.079  1170.56  
imu_odom_:  1691062958.663962431  -0.514753  -0.272939  9.80665    -0.056459   0.0500674   0.0479369   0.12       0             pose: 0.25113969    -1.35461   0.0925985   0 0.00152731  0.00103454  -0.0443076  0.999016       uwb: 0.0            845.079  1170.56  
imu_odom_:  1691062958.689853356  0.220267   -0.0909797 9.6199     -0.0479369  -0.0852212  0.0319579   0.12       0             pose: 0.0           -1.35461   0.0925985   0 0.00152731  0.00103454  -0.0443076  0.999016       uwb: 0.50051491     845.026  1170.32  
imu_odom_:  1691062958.705975760  0.383072   -0.241814  9.87129    -0.0607201  -0.00958738 0.0596548   0.14       0             pose: 0.51893551    -1.34472   0.0911097   0 0.00158391  0.000371765 -0.0438996  0.999035       uwb: 0.0            845.026  1170.32  
imu_odom_:  1691062958.731096729  0.102951   -0.0023942 9.65821    -0.0628506  0.00639159  0.0340885   0.14       0             pose: 0.0           -1.34472   0.0911097   0 0.00158391  0.000371765 -0.0438996  0.999035       uwb: 0.50194399     845.286  1170.33  
imu_odom_:  1691062958.756984446  0.011971   -0.395043  10.0197    -0.0553937  -0.0436758  0.0511327   0.14       0             pose: 0.51990963    -1.34472   0.0911097   0 0.00257458  0.00336533  -0.0438511  0.999029       uwb: 0.0            845.286  1170.33  
imu_odom_:  1691062958.774017964  0.203507   -0.229843  9.87369    -0.052198   -0.0585895  0.0266316   0.14       0             pose: 0.0           -1.34472   0.0911097   0 0.00257458  0.00336533  -0.0438511  0.999029       uwb: 0.0            845.286  1170.33  
imu_odom_:  1691062958.799947095  0.37589    -0.129287  9.79947    -0.0585895  0.0479369   0.0447411   0.16       0             pose: 0.42106657    -1.33335   0.09952     0 0.00277699  0.00544615  -0.0437876  0.999022       uwb: 0.49909166     844.46   1169.45  
imu_odom_:  1691062958.825941264  0.162806   -0.150835  9.81144    -0.0511327  -0.0276969  0.0383495   0.12       0             pose: 0.41956457    -1.33335   0.09952     0 0.00121031  0.00714068  -0.0437922  0.999014       uwb: 0.0            844.46   1169.45  
imu_odom_:  1691062958.850873536  0.445322   -0.009576819.85693    -0.0628506  -0.0106526  0.0575243   0.17       0             pose: 0.0           -1.33335   0.09952     0 0.00121031  0.00714068  -0.0437922  0.999014       uwb: 0.50076281     844.197  1169.14  
imu_odom_:  1691062958.872830104  0.328006   -0.248997  10.0485    -0.0553937  0.0458064   0.0426106   0.14       0.02          pose: 0.52025086    -1.32346   0.0980414   0 0.0032343   0.00758536  -0.043684   0.999011       uwb: 0.0            844.197  1169.14  
imu_odom_:  1691062958.889869164  0.301669   -0.186748  10.1514    -0.111853   -0.052198   0.0745685   0.14       0.02          pose: 0.0           -1.32346   0.0980414   0 0.0032343   0.00758536  -0.043684   0.999011       uwb: 0.49895166     844.229  1169.11  
imu_odom_:  1691062958.914832058  0.198719   -0.0957681 10.2711    -0.100135   0.0191748   0.0490022   0.14       0.02          pose: 0.23902164    -1.32346   0.0980414   0 0.00363846  0.00599889  -0.0435038  0.999029       uwb: 0.0            844.229  1169.11  
imu_odom_:  1691062958.939822077  0.557849   -0.289698  9.66539    -0.0745685  -0.0575243  0.0340885   0.18       -0.02         pose: 0.39997737    -1.31357   0.0965689   0 0.00105361  0.00461607  -0.0431526  0.999057       uwb: 0.50012702     845.363  1170.24  
imu_odom_:  1691062958.965819745  0.383072   -0.203507  9.52413    -0.0671117  0           0.0543285   0.15       0             pose: 0.42944859    -1.30642   0.0955081   0 0.000632674 0.0031964   -0.0431326  0.999064       uwb: 0.0            845.363  1170.24  
imu_odom_:  1691062958.980829797  0.059855   -0.244209  10.0533    -0.0607201  0.0340885   0.0447411   0.15       0             pose: 0.0           -1.30642   0.0955081   0 0.000632674 0.0031964   -0.0431326  0.999064       uwb: 0.49982953     845.49   1170.1   
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imu_odom_:  1691062959.32846133   0.347159   -0.411803  9.9527     -0.0436758  -0.052198   0.0319579   0.16       0.02          pose: 0.0           -1.30368   0.0951031   0 0.000592002 0.00249002  -0.0430788  0.999068       uwb: 0.50043908     845.337  1169.68  
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imu_odom_:  1691062959.76013813   0.222661   -0.179565  10.1323    -0.0479369  -0.0170442  0.0436758   0.17       0.02          pose: 0.0           -1.30368   0.0951031   0 1.7982e-05  0.00313727  -0.0429332  0.999073       uwb: 0.0            845.337  1169.68  
imu_odom_:  1691062959.100801135  0.0215478  -0.275333  9.84975    -0.0479369  0.00639159  0.0372843   0.22       0             pose: 0.51003437    -1.29379   0.0936414   0 -0.00238751 0.00399948  -0.0430674  0.999061       uwb: 0.50029618     845.337  1169.68  
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imu_odom_:  1691062959.151948355  0.325611   -0.158017  9.23204    -0.0692422  0.00958738  0.0436758   0.17       0.02          pose: 0.42880404    -1.2839    0.0921769   0 0.000351127 0.00671435  -0.0429089  0.999056       uwb: 0.50065782     845.888  1169.66  
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imu_odom_:  1691062959.190959149  0.387861   -0.19393   9.6606     -0.0426106  -0.0298274  0.0319579   0.17       0             pose: 0.51053017    -1.274     0.090716    0 -0.00179616 0.0078008   -0.0428145  0.999051       uwb: 0.49859002     845.6    1168.79  
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imu_odom_:  1691062959.242860867  0.577003   -0.217872  10.0245    -0.0543285  -0.0276969  0.0511327   0.21       -0.02         pose: 0.64062351    -1.26411   0.0892574   0 0.000624928 0.00184358  -0.0428328  0.99908        uwb: 0.49966330     846.13   1168.51  
imu_odom_:  1691062959.268926782  0.3304     -0.0909797 10.1323    -0.0415453  -0.0308927  0.0394148   0.21       0             pose: 0.44897455    -1.25422   0.0877978   0 0.000305649 -0.00320231 -0.0426311  0.999086       uwb: 0.0            846.13   1168.51  
imu_odom_:  1691062959.285955051  0.59855    -0.105345  10.1107    -0.0415453  -0.0681769  0.0479369   0.21       0             pose: 0.0           -1.25422   0.0877978   0 0.000305649 -0.00320231 -0.0426311  0.999086       uwb: 0.50036034     846.063  1168.29  
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imu_odom_:  1691062959.336792830  0.672771   -0.332794  9.78031    -0.0671117  -0.0330232  0.0575243   0.23       -0.02         pose: 0.0           -1.25422   0.0877978   0 0.000819996 -0.00278358 -0.0426333  0.999087       uwb: 0.50138403     846.007  1167.47  
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imu_odom_:  1691062959.378797702  0.555455   -0.172383  9.63427    -0.0660464  -0.0330232  0.04048     0.2        -0.02         pose: 0.0           -1.24432   0.086342    0 0.00231576  -0.00420623 -0.0425341  0.999083       uwb: 0.0            846.007  1167.47  
imu_odom_:  1691062959.404947903  0.509965   -0.172383  9.43555    -0.0671117  0.00426106  0.0490022   0.22       0             pose: 0.51965590    -1.23443   0.0848901   0 -0.000307462-0.00801638 -0.0421885  0.999077       uwb: 0.49852003     845.908  1166.99  
imu_odom_:  1691062959.430857202  0.42138    -0.538695  9.42118    -0.0703074  0.00958738  0.0511327   0.22       0             pose: 0.0           -1.23443   0.0848901   0 -0.000307462-0.00801638 -0.0421885  0.999077       uwb: 0.50076573     846.31   1166.84  
imu_odom_:  1691062959.456815207  0.392649   -0.268151  10.003     -0.0713727  -0.0468716  0.0479369   0.22       0.02          pose: 0.42160029    -1.23443   0.0848901   0 0.00196602  -0.00703293 -0.0421019  0.999087       uwb: 0.0            846.31   1166.84  
imu_odom_:  1691062959.482825416  0.584185   -0.203507  10.0724    -0.0639159  -0.0671117  0.0276969   0.18       0             pose: 0.50847112    -1.22454   0.0834446   0 -0.00112825 -0.00382116 -0.0418313  0.999117       uwb: 0.49850836     847.34   1166.89  
imu_odom_:  1691062959.499924556  0.641646   -0.136469  9.76355    -0.0479369  -0.00426106 0.036219    0.18       0             pose: 0.0           -1.22454   0.0834446   0 -0.00112825 -0.00382116 -0.0418313  0.999117       uwb: 0.0            847.34   1166.89  
imu_odom_:  1691062959.524815706  0.68953    -0.282516  9.50977    -0.052198   0.00426106  0.0511327   0.18       0             pose: 0.62110338    -1.20877   0.081152    0 -0.000254664-0.00712849 -0.0419432  0.999095       uwb: 0.0            847.34   1166.89  
imu_odom_:  1691062959.550779543  0.553061   -0.0550666 10.2328    -0.0532632  0.0575243   0.0298274   0.18       0             pose: 0.6925226     -1.20474   0.0805652   0 -0.000554133-0.00771901 -0.0419009  0.999092       uwb: 0.49986162     847.499  1166.72  
imu_odom_:  1691062959.575771311  0.529119   -0.0861913 9.74201    -0.072438   -0.0191748  0.0490022   0.19       0             pose: 0.43929761    -1.19766   0.0795336   0 0.00129361  -0.00801439 -0.0419416  0.999087       uwb: 0.0            847.499  1166.72  
imu_odom_:  1691062959.593775149  -0.0933739 -0.241814  10.0173    -0.0490022  -0.0298274  0.0340885   0.19       0             pose: 0.0           -1.19766   0.0795336   0 0.00129361  -0.00801439 -0.0419416  0.999087       uwb: 0.50053241     848.09   1166.07  
imu_odom_:  1691062959.618768959  0.361524   -0.138864  9.87848    -0.0703074  -0.0511327  0.0351537   0.18       0             pose: 0.42995606    -1.19485   0.0791237   0 0.00334457  -0.00606237 -0.0419011  0.999098       uwb: 0.0            848.09   1166.07  
imu_odom_:  1691062959.643861930  0.490811   -0.337582  10.4004    -0.052198   0.0127832   0.04048     0.18       0             pose: 0.0           -1.19485   0.0791237   0 0.00334457  -0.00606237 -0.0419011  0.999098       uwb: 0.49881459     848.746  1165.64  
imu_odom_:  1691062959.665794000  0.878672   -0.148441  10.4148    -0.0671117  -0.0596548  0.04048     0.18       0             pose: 0.50086781    -1.18386   0.0851846   0 0.000865553 -0.00389788 -0.0419473  0.999112       uwb: 0.0            848.746  1165.64  
imu_odom_:  1691062959.682769189  0.490811   -0.244209  9.50977    -0.0436758  0.0276969   0.0340885   0.18       0             pose: 0.0           -1.18386   0.0851846   0 0.000865553 -0.00389788 -0.0419473  0.999112       uwb: 0.50128487     848.44   1165.11  
imu_odom_:  1691062959.709046258  0.361524   -0.0861913 9.71088    -0.056459   -0.00532632 0.0351537   0.24       0             pose: 0.38907259    -1.17362   0.086135    0 -0.000352506-0.00536571 -0.0419746  0.999104       uwb: 0.0            848.44   1165.11  
imu_odom_:  1691062959.734770068  0.308852   -0.366313  9.54568    -0.0596548  0.0287621   0.0447411   0.24       0             pose: 0.0           -1.17362   0.086135    0 -0.000352506-0.00536571 -0.0419746  0.999104       uwb: 0.50108072     847.93   1164.22  
imu_odom_:  1691062959.759902995  0.459687   -0.270545  9.63427    -0.0330232  0.00745685  0.0372843   0.21       0             pose: 0.34316397    -1.16372   0.0846919   0 0.000881171 -0.00281849 -0.0420204  0.999112       uwb: 0.0            847.93   1164.22  
imu_odom_:  1691062959.784979341  0.483629   -0.361524  9.96706    -0.056459   0.0149137   0.0500674   0.18       0             pose: 0.0           -1.16372   0.0846919   0 0.000881171 -0.00281849 -0.0420204  0.999112       uwb: 0.49957288     848.507  1163.88  
imu_odom_:  1691062959.801880743  0.371101   -0.371101  9.97185    -0.0617853  0.00639159  0.0468716   0.18       0             pose: 0.42817409    -1.16372   0.0846919   0 -0.00231024 -0.0024394  -0.0419979  0.999112       uwb: 0.0            848.507  1163.88  
imu_odom_:  1691062959.818901429  0.325611   -0.277727  9.8282     -0.056459   0           0.0436758   0.18       0             pose: 0.0           -1.16372   0.0846919   0 -0.00231024 -0.0024394  -0.0419979  0.999112       uwb: 0.0            848.507  1163.88  
imu_odom_:  1691062959.844902597  0.562637   -0.416591  9.9096     -0.0543285  -0.0426106  0.0490022   0.24       0             pose: 0.58998434    -1.14802   0.0824034   0 -0.00498706 0.00026695  -0.0417496  0.999116       uwb: 0.0            848.507  1163.88  
imu_odom_:  1691062959.861990363  0.201113   -0.0909797 9.43315    -0.0639159  0.0383495   0.0458064   0.24       0             pose: 0.6941266     -1.14393   0.081809    0 -0.00539063 -0.000432269-0.0417191  0.999115       uwb: 0.0            848.507  1163.88  
imu_odom_:  1691062959.887768419  0.253785   -0.277727  9.31344    -0.072438   0.0287621   0.0394148   0.23       0             pose: 0.36147668    -1.14393   0.081809    0 -0.00531737 -0.000807257-0.0415803  0.999121       uwb: 0.100097733    848.063  1162.08  
imu_odom_:  1691062959.903804495  0.608127   -0.356736  10.0365    -0.0511327  -0.0191748  0.0372843   0.19       0             pose: 0.0           -1.14393   0.081809    0 -0.00531737 -0.000807257-0.0415803  0.999121       uwb: 0.0            848.063  1162.08  
imu_odom_:  1691062959.929955572  0.610521   -0.169988  10.2089    -0.0585895  -0.0351537  0.0415453   0.21       0             pose: 0.32918812    -1.13403   0.0803742   0 -0.00504465 0.0013808   -0.0415838  0.999121       uwb: 0.0            848.063  1162.08  
imu_odom_:  1691062959.955914160  0.342371   -0.280122  9.67257    -0.052198   0.0234358   0.0458064   0.18       0             pose: 0.35046397    -1.12689   0.0793388   0 -0.00385684 -0.00215143 -0.0415815  0.999125       uwb: 0.0            848.063  1162.08  
imu_odom_:  1691062959.981879164  0.308852   -0.246603  9.69173    -0.0671117  0.00745685  0.0436758   0.18       0             pose: 0.0           -1.12689   0.0793388   0 -0.00385684 -0.00215143 -0.0415815  0.999125       uwb: 0.99942867     848.331  1161.23  
imu_odom_:  1691062959.998791356  0.102951   -0.129287  9.96227    -0.0639159  -0.00852212 0.0585895   0.18       0             pose: 0.0           -1.12689   0.0793388   0 -0.00385684 -0.00215143 -0.0415815  0.999125       uwb: 0.0            848.331  1161.23  
imu_odom_:  1691062960.24944475   0.385466   -0.299275  9.64384    -0.0692422  -0.0479369  0.0383495   0.18       0             pose: 0.59863468    -1.11424   0.0775056   0 -0.0021384  0.00393552  -0.0413522  0.999135       uwb: 0.0            848.331  1161.23  
imu_odom_:  1691062960.50823734   0.383072   -0.205901  10.1897    -0.0628506  -0.0170442  0.0553937   0.19       0.02          pose: 0.35125435    -1.107     0.0764596   0 -0.00348249 0.0020266   -0.0412885  0.999139       uwb: 0.49903042     848.321  1159.55  
imu_odom_:  1691062960.76773572   0.603339   -0.23942   9.72764    -0.0703074  0.00106526  0.0468716   0.19       0.02          pose: 0.0           -1.107     0.0764596   0 -0.00348249 0.0020266   -0.0412885  0.999139       uwb: 0.0            848.321  1159.55  
imu_odom_:  1691062960.102770658  0.416591   -0.234632  9.81862    -0.056459   -0.00213053 0.0575243   0.2        -0.02         pose: 0.7013595     -1.10434   0.0760754   0 -0.00283163 0.00180289  -0.0412323  0.999144       uwb: 0.50030784     847.323  1157.55  
imu_odom_:  1691062960.128778826  0.31364    -0.3304    9.88326    -0.0372843  0           0.0458064   0.23       -0.02         pose: 0.52867080    -1.09444   0.0746514   0 -0.00103916 -0.000595929-0.0409165  0.999162       uwb: 0.0            847.323  1157.55  
imu_odom_:  1691062960.153883464  0.411803   0.105345   10.24      -0.0596548  -0.02024    0.0426106   0.23       -0.02         pose: 0.0           -1.09444   0.0746514   0 -0.00103916 -0.000595929-0.0409165  0.999162       uwb: 0.0            847.323  1157.55  
imu_odom_:  1691062960.170884609  0.768539   -0.174777  10.319     -0.04048    0.0149137   0.0500674   0.2        0             pose: 0.24985061    -1.09444   0.0746514   0 -0.0007186920.00141909  -0.0407332  0.999169       uwb: 0.0            847.323  1157.55  
imu_odom_:  1691062960.196774368  0.770933   -0.320823  9.9503     -0.0511327  -0.0106526  0.036219    0.2        0             pose: 0.52152829    -1.09444   0.0746514   0 0.000394892 0.00110243  -0.0405894  0.999175       uwb: 0.99931785     847.862  1156.72  
imu_odom_:  1691062960.222760954  0.390255   -0.0837971 9.77074    -0.056459   0.0106526   0.0553937   0.25       0             pose: 0.34811328    -1.08771   0.0736883   0 -0.000308028-0.00223119 -0.040585   0.999174       uwb: 0.0            847.862  1156.72  
imu_odom_:  1691062960.247872299  0.651223   -0.160412  9.43076    -0.0692422  -0.0255663  0.0415453   0.25       0             pose: 0.0           -1.08771   0.0736883   0 -0.000308028-0.00223119 -0.040585   0.999174       uwb: 0.50036034     848.488  1156.07  
imu_odom_:  1691062960.265870304  0.189142   -0.208296  10.0533    -0.0415453  -0.015979   0.0436758   0.2        0             pose: 0.51097931    -1.07766   0.0722525   0 0.001989    -0.00390829 -0.0403554  0.999176       uwb: 0.0            848.488  1156.07  
imu_odom_:  1691062960.290812492  0.481235   -0.304064  9.9934     -0.0458064  -0.0436758  0.0394148   0.2        0             pose: 0.0           -1.07766   0.0722525   0 0.001989    -0.00390829 -0.0403554  0.999176       uwb: 0.49849379     847.747  1153.85  
imu_odom_:  1691062960.315785595  0.682347   -0.25618   10.1658    -0.0426106  0.0330232   0.0447411   0.25       0.02          pose: 0.42940193    -1.0672    0.0707621   0 -0.000374393-0.00328472 -0.0403178  0.999181       uwb: 0.0            847.747  1153.85  
imu_odom_:  1691062960.339764464  0.54109    -0.172383  9.97664    -0.0479369  0.00532632  0.0394148   0.25       0.02          pose: 0.0           -1.0672    0.0707621   0 -0.000374393-0.00328472 -0.0403178  0.999181       uwb: 0.50015619     848.816  1153.84  
imu_odom_:  1691062960.356742569  0.155623   -0.110133  10.1323    -0.0394148  -0.0170442  0.0372843   0.19       0             pose: 0.30914011    -1.06475   0.070413    0 -0.000210397-0.00558333 -0.040255   0.999174       uwb: 0.0            848.816  1153.84  
imu_odom_:  1691062960.382743738  0.205901   -0.342371  9.88805    -0.0436758  -0.0106526  0.0383495   0.19       0             pose: 0.0           -1.06475   0.070413    0 -0.000210397-0.00558333 -0.040255   0.999174       uwb: 0.50137236     848.696  1152.63  
imu_odom_:  1691062960.409763057  1.07978    -0.186748  10.635     -0.0490022  -0.0245011  0.0436758   0.21       0             pose: 0.25006935    -1.05484   0.0690043   0 0.00154997  -0.005903   -0.0402743  0.99917        uwb: 0.0            848.696  1152.63  
imu_odom_:  1691062960.435712604  0.699107   -0.141258  9.9503     -0.052198   0.015979    0.0436758   0.19       -0.05         pose: 0.43033521    -1.05484   0.0690043   0 0.000803456 -0.00354944 -0.0402873  0.999182       uwb: 0.49857253     848.504  1150.96  
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imu_odom_:  1691062960.479701278  0.153229   -0.131681  10.2376    -0.0372843  0.0245011   0.0415453   0.23       -0.02         pose: 0.52960699    -1.04354   0.0774956   0 0.0019167   -0.00863819 -0.0401959  0.999153       uwb: 0.0            848.504  1150.96  
imu_odom_:  1691062960.505792275  0.416591   -0.280122  10.3358    -0.0585895  -0.0298274  0.0532632   0.19       0             pose: 0.0           -1.04354   0.0774956   0 0.0019167   -0.00863819 -0.0401959  0.999153       uwb: 0.50077741     848.127  1149.51  
imu_odom_:  1691062960.530722505  0.6608     -0.208296  10.094     -0.0692422  0.0308927   0.0426106   0.18       0             pose: 0.63064617    -1.02638   0.0750557   0 0.00170588  -0.00680658 -0.040013   0.999175       uwb: 0.49993161     848.322  1148.79  
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imu_odom_:  1691062960.621831882  0.100556   -0.363919  9.73004    -0.0479369  0.0213053   0.0351537   0.17       0.02          pose: 0.51056225    -1.01383   0.0732774   0 -0.00183059 -0.00733189 -0.039912   0.999175       uwb: 0.0            848.846  1148.28  
imu_odom_:  1691062960.648752040  0.0694318  -0.0933739 10.3789    -0.0490022  0           0.0436758   0.17       0.02          pose: 0.0           -1.01383   0.0732774   0 -0.00183059 -0.00733189 -0.039912   0.999175       uwb: 0.49997245     847.709  1145.54  
imu_odom_:  1691062960.673740308  0.308852   -0.287304  10.1107    -0.0426106  -0.0532632  0.0308927   0.19       0             pose: 0.41059927    -1.01383   0.0732774   0 -0.00126579 -0.00321448 -0.039817   0.999201       uwb: 0.0            847.709  1145.54  
imu_odom_:  1691062960.690855781  0.318429   -0.227449  9.55287    -0.0660464  -0.0213053  0.0394148   0.19       0             pose: 0.0           -1.01383   0.0732774   0 -0.00126579 -0.00321448 -0.039817   0.999201       uwb: 0.50114197     848.101  1144.4   
imu_odom_:  1691062960.706741366  0.641646   -0.167594  10.1083    -0.0596548  -0.015979   0.0394148   0.19       0             pose: 0.52107331    -1.00393   0.0718776   0 -0.0009132160.00155074  -0.0398292  0.999205       uwb: 0.0            848.101  1144.4   
imu_odom_:  1691062960.733755726  0.842759   -0.234632  10.003     -0.0553937  -0.00958738 0.0319579   0.19       0             pose: 0.0           -1.00393   0.0718776   0 -0.0009132160.00155074  -0.0398292  0.999205       uwb: 0.49954080     848.257  1143.5   
imu_odom_:  1691062960.758699373  0.667982   -0.177171  9.34457    -0.0436758  0.0447411   0.0351537   0.18       0.02          pose: 0.41907170    -0.994031  0.0704774   0 -0.0008969260.00289436  -0.0398992  0.999199       uwb: 0.0            848.257  1143.5   
imu_odom_:  1691062960.785863058  0.253785   -0.19393   9.54808    -0.056459   0.0117179   0.0319579   0.18       0.02          pose: 0.0           -0.994031  0.0704774   0 -0.0008969260.00289436  -0.0398992  0.999199       uwb: 0.50121488     848.181  1142.07  
imu_odom_:  1691062960.811835645  0.146046   -0.414197  9.71806    -0.0596548  0.0500674   0.0500674   0.19       0             pose: 0.42852115    -0.98413   0.0690752   0 -0.000712386-0.00129016 -0.0400239  0.999198       uwb: 0.0            848.181  1142.07  
imu_odom_:  1691062960.838779134  0.304064   -0.0909797 10.137     -0.0319579  -0.0319579  0.0351537   0.22       0.02          pose: 0.52123955    -0.97423   0.0676695   0 -0.0003559740.00120318  -0.0401257  0.999194       uwb: 0.49931040     848.68   1141.36  
imu_odom_:  1691062960.863834191  0.634463   -0.258574  10.1442    -0.0458064  -0.00852212 0.052198    0.22       0.02          pose: 0.0           -0.97423   0.0676695   0 -0.0003559740.00120318  -0.0401257  0.999194       uwb: 0.0            848.68   1141.36  
imu_odom_:  1691062960.880834462  0.1652     -0.347159  9.65103    -0.0532632  0.0106526   0.0415453   0.23       0.02          pose: 0.25039308    -0.97423   0.0676695   0 -0.0006786510.00317715  -0.040045   0.999193       uwb: 0.49984413     849.494  1140.6   
imu_odom_:  1691062960.905865312  0.260968   -0.201113  9.79947    -0.0639159  -0.0266316  0.0596548   0.23       0.02          pose: 0.51973173    -0.964329  0.066265    0 0.000574116 0.00146     -0.0399179  0.999202       uwb: 0.0            849.494  1140.6   
imu_odom_:  1691062960.932853132  0.459687   -0.189142  10.0556    -0.0532632  -0.0127832  0.04048     0.23       0             pose: 0.35011983    -0.954427  0.0648631   0 0.000407876 0.00456819  -0.0396566  0.999203       uwb: 0.49877085     849.979  1140.14  
imu_odom_:  1691062960.958956670  0.567426   -0.136469  10.1562    -0.0639159  -0.0298274  0.0394148   0.23       0             pose: 0.0           -0.954427  0.0648631   0 0.000407876 0.00456819  -0.0396566  0.999203       uwb: 0.0            849.979  1140.14  
imu_odom_:  1691062960.985855245  0.435745   -0.263362  10.4651    -0.0692422  0.036219    0.0553937   0.25       0             pose: 0.6926392     -0.954427  0.0648631   0 0.000484226 0.00384875  -0.0396531  0.999206       uwb: 0.50125571     850.446  1139.46  
imu_odom_:  1691062961.10758061   0.653617   -0.0957681 10.0437    -0.0553937  -0.0106526  0.0351537   0.18       0.02          pose: 0.53055194    -0.944525  0.0634665   0 0.000564451 -0.00101059 -0.0395864  0.999215       uwb: 0.0            850.446  1139.46  
imu_odom_:  1691062961.27824536   0.672771   -0.126893  9.77074    -0.0543285  -0.0149137  0.0394148   0.21       -0.02         pose: 0.0           -0.944525  0.0634665   0 0.000564451 -0.00101059 -0.0395864  0.999215       uwb: 0.0            850.446  1139.46  
imu_odom_:  1691062961.52818930   0.402226   -0.19393   9.68694    -0.0703074  -0.0255663  0.0436758   0.21       -0.02         pose: 0.0           -0.944525  0.0634665   0 0.000564451 -0.00101059 -0.0395864  0.999215       uwb: 0.49869502     850.776  1138.67  
imu_odom_:  1691062961.79820750   0.605733   -0.272939  9.9096     -0.0628506  0.0255663   0.0490022   0.18       0             pose: 0.51996796    -0.934623  0.062072    0 -3.60484e-05-0.00374934 -0.0394862  0.999213       uwb: 0.49869211     851.002  1138.22  
imu_odom_:  1691062961.104834684  0.577003   -0.246603  9.32063    -0.0607201  0.0447411   0.0351537   0.18       0.02          pose: 0.61977056    -0.917724  0.0596944   0 -0.000786809-0.00452939 -0.0393093  0.999217       uwb: 0.0            851.002  1138.22  
imu_odom_:  1691062961.128701851  0.59855    -0.462081  9.49062    -0.0788296  0.036219    0.056459    0.18       0.02          pose: 0.0           -0.917724  0.0596944   0 -0.000786809-0.00452939 -0.0393093  0.999217       uwb: 0.0            851.002  1138.22  
imu_odom_:  1691062961.145807407  0.251391   -0.430956  10.1107    -0.0671117  0.0234358   0.0468716   0.18       0             pose: 0.7940751     -0.914818  0.0592865   0 -0.0010094  -0.00510027 -0.0393266  0.999213       uwb: 0.50012994     852.006  1138.01  
imu_odom_:  1691062961.171817034  0.622492   -0.0766145 10.0006    -0.0575243  0.0298274   0.0479369   0.18       0             pose: 0.0           -0.914818  0.0592865   0 -0.0010094  -0.00510027 -0.0393266  0.999213       uwb: 0.0            852.006  1138.01  
imu_odom_:  1691062961.197954404  0.265756   -0.282516  10.0652    -0.0351537  -0.00106526 0.0447411   0.18       -0.02         pose: 0.48059523    -0.914818  0.0592865   0 -0.00436736 -0.00575745 -0.0391215  0.999208       uwb: 0.50238149     851.109  1136.2   
imu_odom_:  1691062961.223810915  0.536301   0.0023942  10.1778    -0.0308927  -0.0234358  0.0372843   0.18       -0.02         pose: 0.0           -0.914818  0.0592865   0 -0.00436736 -0.00575745 -0.0391215  0.999208       uwb: 0.0            851.109  1136.2   
imu_odom_:  1691062961.241003966  0.174777   -0.407014  9.69412    -0.0436758  -0.0117179  0.0426106   0.18       0             pose: 0.43025064    -0.904915  0.0579009   0 -0.00255306 -0.00486413 -0.0389701  0.999225       uwb: 0.49994037     850.614  1134.98  
imu_odom_:  1691062961.266949430  0.687136   -0.112527  9.67497    -0.0468716  -0.0394148  0.0394148   0.18       0             pose: 0.0           -0.904915  0.0579009   0 -0.00255306 -0.00486413 -0.0389701  0.999225       uwb: 0.0            850.614  1134.98  
imu_odom_:  1691062961.291806748  0.562637   -0.1652    9.7037     -0.0543285  -0.0628506  0.0500674   0.19       0             pose: 0.88103342    -0.883724  0.0650394   0 0.000630398 -0.00542731 -0.0389276  0.999227       uwb: 0.50067241     850.373  1134.26  
imu_odom_:  1691062961.317683091  0.555455   -0.191536  10.3837    -0.0639159  -0.036219   0.04048     0.19       0             pose: 0.7770719     -0.883724  0.0650394   0 0.00099636  -0.00633842 -0.0388884  0.999223       uwb: 0.0            850.373  1134.26  
imu_odom_:  1691062961.334813438  0.435745   -0.237026  9.69891    -0.0628506  0.0170442   0.036219    0.2        0.02          pose: 0.0           -0.883724  0.0650394   0 0.00099636  -0.00633842 -0.0388884  0.999223       uwb: 0.49853170     849.893  1133.04  
imu_odom_:  1691062961.359663756  0.629675   -0.241814  10.0556    -0.0617853  -0.0149137  0.0426106   0.2        0.02          pose: 0.42962942    -0.87382   0.0636578   0 -0.00023454 -0.00700298 -0.03878    0.999223       uwb: 0.0            849.893  1133.04  
imu_odom_:  1691062961.384701898  0.509965   -0.306458  10.0221    -0.04048    -0.0181095  0.0447411   0.19       0             pose: 0.41980665    -0.866418  0.0626267   0 -0.00116466 -0.00770128 -0.0387682  0.999218       uwb: 0.49949415     849.688  1132.06  
imu_odom_:  1691062961.408727431  0.493206   -0.356736  9.8282     -0.0394148  -0.0106526  0.04048     0.19       0             pose: 0.0           -0.866418  0.0626267   0 -0.00116466 -0.00770128 -0.0387682  0.999218       uwb: 0.0            849.688  1132.06  
imu_odom_:  1691062961.432674218  0.52433    -0.0670376 10.2137    -0.0415453  -0.02024    0.0330232   0.25       -0.02         pose: 0.49063675    -0.856915  0.0613051   0 -0.00503893 -0.00552062 -0.038655   0.999225       uwb: 0.49982371     849.391  1130.92  
imu_odom_:  1691062961.447670854  0.383072   -0.351948  9.98143    -0.0585895  -0.0596548  0.0511327   0.25       -0.02         pose: 0.0           -0.856915  0.0613051   0 -0.00503893 -0.00552062 -0.038655   0.999225       uwb: 0.0            849.391  1130.92  
imu_odom_:  1691062961.472804948  0.409408   -0.263362  10.0102    -0.0351537  -0.02024    0.0436758   0.17       -0.02         pose: 0.38943423    -0.84881   0.0601786   0 -0.00332106 -0.00500553 -0.0386508  0.999235       uwb: 0.0            849.391  1130.92  
imu_odom_:  1691062961.499792185  0.105345   -0.0885855 9.58638    -0.0553937  0.0276969   0.0532632   0.17       -0.02         pose: 0.7211626     -0.844106  0.0595249   0 -0.00312482 -0.00435567 -0.0386339  0.999239       uwb: 0.50164361     849.642  1130.02  
imu_odom_:  1691062961.515715393  0.234632   -0.464475  9.91678    -0.0649811  0.00106526  0.0468716   0.19       0             pose: 0.17922468    -0.844106  0.0595249   0 -0.00263711 -0.00274063 -0.0385918  0.999248       uwb: 0.0            849.642  1130.02  
imu_odom_:  1691062961.542652758  0.454898   -0.234632  10.1035    -0.0490022  -0.00958738 0.0372843   0.19       0             pose: 0.34957737    -0.834201  0.0581511   0 -0.00198822 0.000588791 -0.0383762  0.999261       uwb: 0.49852003     849.405  1128.4   
imu_odom_:  1691062961.558666669  0.648829   -0.0287304 9.67018    -0.0692422  -0.00852212 0.0500674   0.25       0             pose: 0.0           -0.834201  0.0581511   0 -0.00198822 0.000588791 -0.0383762  0.999261       uwb: 0.0            849.405  1128.4   
imu_odom_:  1691062961.575780392  0.521936   -0.409408  10.0509    -0.0628506  0.0191748   0.0575243   0.25       0             pose: 0.0           -0.834201  0.0581511   0 -0.00198822 0.000588791 -0.0383762  0.999261       uwb: 0.0            849.405  1128.4   
imu_odom_:  1691062961.592777163  0.586579   -0.0957681 10.3837    -0.0649811  -0.0266316  0.0394148   0.19       0             pose: 0.15052633    -0.834201  0.0581511   0 -0.00234601 0.000439674 -0.0383562  0.999261       uwb: 0.49975663     848.912  1127.01  
imu_odom_:  1691062961.607677846  -0.071826  0.023942   10.0652    -0.0479369  -0.0106526  0.052198    0.19       0             pose: 0.52965074    -0.824295  0.0567801   0 -0.00223919 -0.00296327 -0.038145   0.999265       uwb: 0.0            848.912  1127.01  
imu_odom_:  1691062961.632778692  -0.0622492 -0.37589   9.9096     -0.0607201  0.015979    0.036219    0.19       0             pose: 0.0           -0.824295  0.0567801   0 -0.00223919 -0.00296327 -0.038145   0.999265       uwb: 0.50011828     848.616  1126.13  
imu_odom_:  1691062961.657907828  0.335188   -0.323217  10.058     -0.0415453  -0.00958738 0.0447411   0.23       -0.05         pose: 0.7924419     -0.824295  0.0567801   0 -0.0016633  -0.00354754 -0.0381485  0.999264       uwb: 0.0            848.616  1126.13  
imu_odom_:  1691062961.683671594  0.387861   -0.179565  9.86411    -0.0553937  -0.0255663  0.0490022   0.2        0             pose: 0.74203017    -0.807476  0.0544604   0 -0.00268151 0.00134941  -0.0380328  0.999272       uwb: 0.49866295     848.543  1124.85  
imu_odom_:  1691062961.700895269  0.620098   -0.131681  10.0868    -0.0585895  0.015979    0.0340885   0.2        0             pose: 0.0           -0.807476  0.0544604   0 -0.00268151 0.00134941  -0.0380328  0.999272       uwb: 0.0            848.543  1124.85  
imu_odom_:  1691062961.725719923  0.234632   -0.071826  10.0413    -0.0649811  -0.00532632 0.0543285   0.21       0             pose: 0.32962852    -0.804483  0.0540482   0 7.90742e-05 0.000104992 -0.0379282  0.99928        uwb: 0.0            848.543  1124.85  
imu_odom_:  1691062961.752726117  0.507571   -0.557849  10.2472    -0.0607201  0.0170442   0.0276969   0.23       0             pose: 0.34849243    -0.797469  0.0530835   0 0.00180945  0.00119027  -0.0377746  0.999284       uwb: 0.50104864     848.927  1124.54  
imu_odom_:  1691062961.777703303  0.129287   -0.258574  9.87369    -0.0458064  0.015979    0.036219    0.23       0             pose: 0.6941850     -0.794576  0.0526866   0 0.00112891  0.00106471  -0.0378161  0.999284       uwb: 0.0            848.927  1124.54  
imu_odom_:  1691062961.804953026  0.806846   -0.339977  10.0844    -0.0628506  -0.0660464  0.0351537   0.22       0             pose: 0.45041530    -0.787565  0.051724    0 -0.0008728980.00344329  -0.0379761  0.999272       uwb: 0.50121196     848.773  1123.34  
imu_odom_:  1691062961.830644754  0.579397   -0.253785  9.48583    -0.0426106  0.036219    0.0372843   0.22       0             pose: 0.0           -0.787565  0.051724    0 -0.0008728980.00344329  -0.0379761  0.999272       uwb: 0.49955248     849.007  1122.27  
imu_odom_:  1691062961.847708896  0.292093   -0.316035  9.92875    -0.0458064  0.00745685  0.0383495   0.25       0             pose: 0.52941451    -0.777563  0.0503464   0 -0.00172351 -0.00207933 -0.0380747  0.999271       uwb: 0.0            849.007  1122.27  
imu_odom_:  1691062961.872639127  0.316035   -0.332794  9.92397    -0.0351537  -0.00852212 0.0468716   0.25       0             pose: 0.0           -0.777563  0.0503464   0 -0.00172351 -0.00207933 -0.0380747  0.999271       uwb: 0.0            849.007  1122.27  
imu_odom_:  1691062961.897779346  0.555455   -0.40462   10.0078    -0.0500674  -0.0308927  0.0500674   0.21       0.02          pose: 0.41994373    -0.767752  0.0489942   0 -0.00346831 0.00157571  -0.0379847  0.999271       uwb: 0.49908875     848.808  1121.35  
imu_odom_:  1691062961.921767256  0.579397   -0.181959  10.2041    -0.0468716  0.02024     0.0490022   0.21       0.02          pose: 0.7008055     -0.764856  0.0485956   0 -0.00386361 0.000912749 -0.0379502  0.999272       uwb: 0.0            848.808  1121.35  
imu_odom_:  1691062961.937712046  0.454898   -0.11971   10.0197    -0.056459   -0.00852212 0.0596548   0.2        0.02          pose: 0.25447909    -0.764856  0.0485956   0 -0.00440463 -0.00129307 -0.0378303  0.999274       uwb: 0.50147154     848.522  1119.85  
imu_odom_:  1691062961.964768404  0.466869   -0.071826  9.90002    -0.052198   0           0.04048     0.2        0.02          pose: 0.0           -0.764856  0.0485956   0 -0.00440463 -0.00129307 -0.0378303  0.999274       uwb: 0.0            848.522  1119.85  
imu_odom_:  1691062961.989632139  0.260968   -0.339977  9.64624    -0.0585895  -0.0127832  0.0500674   0.23       0             pose: 0.24563335    -0.754949  0.0472356   0 -0.00252306 -0.00246506 -0.037683   0.999284       uwb: 0.50028160     848.347  1119.12  
imu_odom_:  1691062962.6824898    0.21069    -0.0407014 10.1801    -0.0553937  -0.00319579 0.0490022   0.23       0             pose: 0.0           -0.754949  0.0472356   0 -0.00252306 -0.00246506 -0.037683   0.999284       uwb: 0.0            848.347  1119.12  
imu_odom_:  1691062962.31671426   0.514753   -0.102951  9.9503     -0.0703074  -0.0351537  0.0436758   0.23       0.02          pose: 0.67001308    -0.745041  0.0458797   0 2.8413e-05  -0.000319163-0.0374348  0.999299       uwb: 0.50034285     848.26   1118.13  
imu_odom_:  1691062962.56773438   0.708684   0.0383072  10.2448    -0.0585895  -0.0319579  0.0532632   0.21       0.02          pose: 0.0           -0.745041  0.0458797   0 2.8413e-05  -0.000319163-0.0374348  0.999299       uwb: 0.0            848.26   1118.13  
imu_odom_:  1691062962.82658531   0.639252   -0.0861913 10.3908    -0.0500674  -0.00532632 0.0383495   0.21       0.02          pose: 0.35011692    -0.738339  0.0449646   0 0.00201663  -0.00193625 -0.0373343  0.999299       uwb: 0.49990538     848.132  1116.95  
imu_odom_:  1691062962.107643301  0.471658   -0.272939  9.71567    -0.0596548  -0.0117179  0.0436758   0.21       0             pose: 0.8133240     -0.735133  0.0445276   0 0.00247854  -0.00270723 -0.0372784  0.999298       uwb: 0.0            848.132  1116.95  
imu_odom_:  1691062962.123635630  0.617704   -0.007182619.69891    -0.0745685  -0.0500674  0.0394148   0.21       0             pose: 0.0           -0.735133  0.0445276   0 0.00247854  -0.00270723 -0.0372784  0.999298       uwb: 0.0            848.132  1116.95  
imu_odom_:  1691062962.149689587  0.591368   -0.47884   9.69173    -0.072438   -0.00319579 0.0553937   0.18       0.02          pose: 0.49871836    -0.723875  0.0530868   0 0.00364435  -0.00653536 -0.0371547  0.999282       uwb: 0.49684597     847.704  1115.18  
imu_odom_:  1691062962.174766227  0.718261   -0.191536  9.76355    -0.0532632  -0.0330232  0.0340885   0.18       0.02          pose: 0.0           -0.723875  0.0530868   0 0.00364435  -0.00653536 -0.0371547  0.999282       uwb: 0.0            847.704  1115.18  
imu_odom_:  1691062962.198760845  0.337582   -0.215478  10.0963    -0.0607201  0           0.0607201   0.22       0.02          pose: 0.41956750    -0.723875  0.0530868   0 0.00225486  -0.00721865 -0.0370508  0.999285       uwb: 0.50034868     848.403  1115.28  
imu_odom_:  1691062962.216771391  0.73502    -0.270545  9.61272    -0.0735032  -0.015979   0.0490022   0.22       0.02          pose: 0.0           -0.723875  0.0530868   0 0.00225486  -0.00721865 -0.0370508  0.999285       uwb: 0.0            848.403  1115.28  
imu_odom_:  1691062962.240764843  0.502782   -0.220267  9.80426    -0.0735032  0.0117179   0.0415453   0.18       -0.02         pose: 0.50044493    -0.713966  0.0517414   0 0.000365181 -0.00959503 -0.036891   0.999273       uwb: 0.50052368     848.66   1114.04  
imu_odom_:  1691062962.267768996  0.711078   -0.296881  9.9096     -0.0479369  -0.0276969  0.0436758   0.18       -0.02         pose: 0.0           -0.713966  0.0517414   0 0.000365181 -0.00959503 -0.036891   0.999273       uwb: 0.0            848.66   1114.04  
imu_odom_:  1691062962.292710018  1.02232    -0.383072  10.058     -0.0426106  -0.0372843  0.0276969   0.19       0             pose: 0.42097326    -0.704056  0.0503993   0 -0.000615164-0.00885726 -0.0366157  0.99929        uwb: 0.49963706     849.309  1113.76  
imu_odom_:  1691062962.317675830  1.17795    -0.122104  10.1011    -0.0511327  0.0319579   0.0383495   0.23       0             pose: 0.51902011    -0.694146  0.0490629   0 -0.00202757 -0.010652   -0.0365817  0.999272       uwb: 0.0            849.309  1113.76  
imu_odom_:  1691062962.331698064  0.54109    -0.253785  10.1442    -0.0490022  0.0170442   0.0458064   0.23       0             pose: 0.0           -0.694146  0.0490629   0 -0.00202757 -0.010652   -0.0365817  0.999272       uwb: 0.49990829     849.509  1113.2   
imu_odom_:  1691062962.347618064  0.304064   -0.337582  9.95509    -0.0372843  -0.0106526  0.04048     0.23       0             pose: 0.0           -0.694146  0.0490629   0 -0.00202757 -0.010652   -0.0365817  0.999272       uwb: 0.0            849.509  1113.2   
imu_odom_:  1691062962.371776589  0.112527   -0.277727  9.78989    -0.0617853  0.00426106  0.0500674   0.19       0             pose: 0.71940982    -0.678756  0.0469874   0 -0.00213424 -0.0114814  -0.0366423  0.99926        uwb: 0.0            849.509  1113.2   
imu_odom_:  1691062962.396805398  0.268151   -0.428562  9.92875    -0.0660464  -0.00639159 0.0394148   0.19       0             pose: 0.7147463     -0.674326  0.0463899   0 -0.00217191 -0.0107354  -0.0366038  0.99927        uwb: 0.49941832     849.809  1112.77  
imu_odom_:  1691062962.423718265  0.363919   -0.454898  9.75158    -0.0532632  0.0181095   0.0394148   0.23       0             pose: 0.42039871    -0.667641  0.0454902   0 -0.00354552 -0.00675613 -0.0365004  0.999305       uwb: 0.0            849.809  1112.77  
imu_odom_:  1691062962.439633307  0.213084   -0.282516  9.62708    -0.0500674  0.0245011   0.0351537   0.23       0             pose: 0.0           -0.667641  0.0454902   0 -0.00354552 -0.00675613 -0.0365004  0.999305       uwb: 0.49999288     849.643  1111.87  
imu_odom_:  1691062962.465613769  1.00078    -0.390255  10.4459    -0.0468716  -0.0191748  0.052198    0.19       0.02          pose: 0.34857409    -0.664415  0.0450561   0 -0.0052243  -0.00361149 -0.0364987  0.999314       uwb: 0.0            849.643  1111.87  
imu_odom_:  1691062962.490663576  1.08697    -0.531513  9.34217    -0.0543285  0.072438    0.0436758   0.19       0.02          pose: 0.0           -0.664415  0.0450561   0 -0.0052243  -0.00361149 -0.0364987  0.999314       uwb: 0.50052659     850.098  1111.33  
imu_odom_:  1691062962.514661402  -0.0047884 -0.418985  9.17698    -0.0276969  -0.0138484  0.052198    0.19       0.02          pose: 0.40965433    -0.654504  0.0437232   0 -0.00568149 -0.00584405 -0.0363484  0.999306       uwb: 0.0            850.098  1111.33  
imu_odom_:  1691062962.537667911  0.361524   -0.105345  9.90721    -0.00958738 -0.00106526 0.0500674   0.18       -0.02         pose: 0.0           -0.654504  0.0437232   0 -0.00568149 -0.00584405 -0.0363484  0.999306       uwb: 0.49994912     850.304  1110.37  
imu_odom_:  1691062962.551596525  0.737414   -0.196325  10.319     -0.0394148  -0.0372843  0.0479369   0.18       -0.02         pose: 0.49052591    -0.644593  0.0423938   0 -0.00557326 -0.00422451 -0.0361121  0.999323       uwb: 0.0            850.304  1110.37  
imu_odom_:  1691062962.568642002  0.59855    -0.205901  9.42597    -0.0628506  0.00106526  0.0553937   0.18       -0.02         pose: 0.0           -0.644593  0.0423938   0 -0.00557326 -0.00422451 -0.0361121  0.999323       uwb: 0.0            850.304  1110.37  
imu_odom_:  1691062962.593615106  0.318429   -0.11971   9.92636    -0.072438   0.00852212  0.0490022   0.2        0             pose: 0.46961171    -0.634681  0.0410678   0 -0.00244747 -0.00641911 -0.0358504  0.999334       uwb: 0.50141029     850.17   1109.06  
imu_odom_:  1691062962.617656388  0.677559   -0.141258  9.97185    -0.0735032  -0.0436758  0.0415453   0.2        0             pose: 0.0           -0.634681  0.0410678   0 -0.00244747 -0.00641911 -0.0358504  0.999334       uwb: 0.0            850.17   1109.06  
imu_odom_:  1691062962.642718153  1.00556    -0.292093  9.87129    -0.0713727  -0.0117179  0.0607201   0.23       0             pose: 0.49014386    -0.627689  0.0401375   0 -0.000462594-0.00686912 -0.0357225  0.999338       uwb: 0.49883211     850.686  1109.08  
imu_odom_:  1691062962.667783418  0.122104   -0.0981623 10.0485    -0.0543285  0.0213053   0.0319579   0.19       -0.02         pose: 0.0           -0.627689  0.0401375   0 -0.000462594-0.00686912 -0.0357225  0.999338       uwb: 0.0            850.686  1109.08  
imu_odom_:  1691062962.691724664  0.335188   -0.301669  9.77313    -0.0575243  -0.0532632  0.0468716   0.19       -0.02         pose: 0.32021697    -0.624769  0.039749    0 -0.000923595-0.00866481 -0.0354843  0.999332       uwb: 0.49972164     849.973  1107.61  
imu_odom_:  1691062962.706660054  0.818817   -0.169988  10.173     -0.056459   -0.0585895  0.0298274   0.19       -0.02         pose: 0.0           -0.624769  0.039749    0 -0.000923595-0.00866481 -0.0354843  0.999332       uwb: 0.0            849.973  1107.61  
imu_odom_:  1691062962.730708335  0.950498   -0.107739  10.1754    -0.0596548  -0.00213053 0.0490022   0.18       -0.02         pose: 0.49182085    -0.614855  0.0384351   0 -0.00115249 -0.00595766 -0.0354997  0.999351       uwb: 0.50194109     849.773  1105.98  
imu_odom_:  1691062962.754580752  0.754174   -0.268151  9.64384    -0.0575243  -0.0138484  0.0458064   0.22       0             pose: 0.31848165    -0.604942  0.0371209   0 -0.000468994-0.00923724 -0.0354321  0.999329       uwb: 0.0            849.773  1105.98  
imu_odom_:  1691062962.771633520  0.548272   -0.217872  9.97903    -0.0639159  0.0266316   0.0351537   0.22       0             pose: 0.0           -0.604942  0.0371209   0 -0.000468994-0.00923724 -0.0354321  0.999329       uwb: 0.0            849.773  1105.98  
imu_odom_:  1691062962.796586208  0.526724   -0.56982   9.25598    -0.076699   0.0191748   0.0500674   0.18       0             pose: 0.6944475     -0.604942  0.0371209   0 -0.000695352-0.00992988 -0.0354086  0.999323       uwb: 0.50227941     850.026  1105.8   
imu_odom_:  1691062962.821728469  0.778116   -0.54109   10.0533    -0.0703074  0.00639159  0.0308927   0.18       0             pose: 0.0           -0.604942  0.0371209   0 -0.000695352-0.00992988 -0.0354086  0.999323       uwb: 0.0            850.026  1105.8   
imu_odom_:  1691062962.846612327  0.275333   -0.217872  9.94791    -0.0415453  -0.00852212 0.04048     0.19       0             pose: 0.40938310    -0.595028  0.0358093   0 -0.00174253 -0.00945962 -0.0353501  0.999329       uwb: 0.49631808     850.628  1105.37  
imu_odom_:  1691062962.871659218  0.337582   -0.203507  9.75158    -0.0607201  -0.0809601  0.036219    0.19       0             pose: 0.0           -0.595028  0.0358093   0 -0.00174253 -0.00945962 -0.0353501  0.999329       uwb: 0.0            850.628  1105.37  
imu_odom_:  1691062962.888709945  0.402226   -0.368707  9.86172    -0.0511327  0.0245011   0.0415453   0.18       0             pose: 0.51025603    -0.585115  0.0344986   0 -0.00561752 -0.00947989 -0.0353322  0.999315       uwb: 0.50030202     850.156  1103.95  
imu_odom_:  1691062962.911709162  1.04627    -0.371101  10.4076    -0.0671117  0.0276969   0.0394148   0.18       0             pose: 0.0           -0.585115  0.0344986   0 -0.00561752 -0.00947989 -0.0353322  0.999315       uwb: 0.0            850.156  1103.95  
imu_odom_:  1691062962.936578438  0.639252   -0.234632  9.81862    -0.0479369  0.0351537   0.0415453   0.2        0             pose: 0.50017953    -0.573891  0.0431021   0 -0.00428683 -0.00582855 -0.0353438  0.999349       uwb: 0.49981789     850.272  1102.91  
imu_odom_:  1691062962.959612361  0.474052   -0.227449  9.93354    -0.0628506  -0.0138484  0.0553937   0.2        0             pose: 0.0           -0.573891  0.0431021   0 -0.00428683 -0.00582855 -0.0353438  0.999349       uwb: 0.0            850.272  1102.91  
imu_odom_:  1691062962.973778671  0.047884   -0.184354  9.93115    -0.0511327  -0.00426106 0.0468716   0.19       0             pose: 0.39961282    -0.573891  0.0431021   0 -0.00469688 -0.00730419 -0.0353413  0.999338       uwb: 0.0            850.272  1102.91  
imu_odom_:  1691062962.998643572  0.459687   -0.198719  10.0628    -0.0628506  -0.00106526 0.0500674   0.19       0             pose: 0.0           -0.573891  0.0431021   0 -0.00469688 -0.00730419 -0.0353413  0.999338       uwb: 0.50172819     850.138  1102.04  
imu_odom_:  1691062963.23617842   0.181959   -0.35913   9.71567    -0.0511327  0.00319579  0.0436758   0.18       0             pose: 0.46074554    -0.563977  0.0417916   0 -0.00242441 -0.00589744 -0.0351384  0.999362       uwb: 0.0            850.138  1102.04  
imu_odom_:  1691062963.47573379   0.263362   -0.0909797 9.84256    -0.0543285  -0.0436758  0.0628506   0.18       0             pose: 0.0           -0.563977  0.0417916   0 -0.00242441 -0.00589744 -0.0351384  0.999362       uwb: 0.49812631     850.217  1100.84  
imu_odom_:  1691062963.65627965   0.830788   -0.102951  9.9096     -0.0479369  -0.0287621  0.0436758   0.25       0             pose: 0.39921326    -0.554063  0.0404847   0 -0.00062513 -0.00289514 -0.0349698  0.999384       uwb: 0.0            850.217  1100.84  
imu_odom_:  1691062963.81555548   0.117316   -0.323217  9.4571     -0.0671117  0.00745685  0.0458064   0.25       0             pose: 0.0           -0.554063  0.0404847   0 -0.00062513 -0.00289514 -0.0349698  0.999384       uwb: 0.49912668     850.185  1099.72  
imu_odom_:  1691062963.107550593  0.490811   -0.301669  9.55765    -0.0607201  -0.00958738 0.036219    0.25       0             pose: 0.75963710    -0.538893  0.0384935   0 0.000167826 -0.000322045-0.0345635  0.999402       uwb: 0.0            850.185  1099.72  
imu_odom_:  1691062963.131711160  0.0622492  -0.143652  10.1275    -0.0937433  -0.0117179  0.076699    0.25       0             pose: 0.7012721     -0.534233  0.0378845   0 -0.000387807-0.000791987-0.034575   0.999402       uwb: 0.49937749     850.494  1099.33  
imu_odom_:  1691062963.154594300  0.514753   -0.241814  9.8282     -0.0777643  -0.0106526  0.0298274   0.21       0             pose: 0.43142891    -0.527224  0.0369685   0 -0.00162737 0.000165495 -0.0341561  0.999415       uwb: 0.0            850.494  1099.33  
imu_odom_:  1691062963.179596569  0.857124   -0.368707  9.89045    -0.0745685  -0.0298274  0.0543285   0.21       0             pose: 0.0           -0.527224  0.0369685   0 -0.00162737 0.000165495 -0.0341561  0.999415       uwb: 0.50078325     850.401  1097.89  
imu_odom_:  1691062963.193588472  0.826      -0.134075  9.82102    -0.0894822  -0.0319579  0.0585895   0.18       0.02          pose: 0.0           -0.527224  0.0369685   0 -0.00162737 0.000165495 -0.0341561  0.999415       uwb: 0.0            850.401  1097.89  
imu_odom_:  1691062963.217712583  0.0383072  -0.198719  9.7037     -0.0426106  -0.0234358  0.0276969   0.18       0.02          pose: 0.47885409    -0.524317  0.036591    0 -0.00290421 -0.00487838 -0.0340891  0.999403       uwb: 0.0            850.401  1097.89  
imu_odom_:  1691062963.243578427  0.442927   -0.100556  10.386     -0.0575243  -0.0308927  0.0543285   0.21       0             pose: 0.38116014    -0.5144    0.0353062   0 -0.0021281  -0.00423335 -0.0341011  0.999407       uwb: 0.49983830     850.659  1097.72  
imu_odom_:  1691062963.268605777  0.260968   -0.292093  10.2855    -0.0575243  0.00426106  0.0511327   0.21       0             pose: 0.0           -0.5144    0.0353062   0 -0.0021281  -0.00423335 -0.0341011  0.999407       uwb: 0.0            850.659  1097.72  
imu_odom_:  1691062963.293641002  0.627281   -0.177171  9.7875     -0.0756338  0.00639159  0.0490022   0.19       -0.02         pose: 0.50893194    -0.504482  0.0340207   0 -0.000534774-0.00141828 -0.0337724  0.999428       uwb: 0.50001621     850.718  1096.94  
imu_odom_:  1691062963.309564502  0.442927   -0.299275  9.84975    -0.0788296  0.0117179   0.0426106   0.19       -0.02         pose: 0.0           -0.504482  0.0340207   0 -0.000534774-0.00141828 -0.0337724  0.999428       uwb: 0.0            850.718  1096.94  
imu_odom_:  1691062963.333673739  0.277727   -0.550666  9.75398    -0.0479369  -0.00639159 0.04048     0.19       0             pose: 0.32040072    -0.494565  0.0327415   0 -0.00100652 -0.00338763 -0.033644   0.999428       uwb: 0.49952916     850.677  1094.94  
imu_odom_:  1691062963.358571014  0.567426   -0.622492  9.62948    -0.04048    -0.0170442  0.0383495   0.19       0             pose: 0.0           -0.494565  0.0327415   0 -0.00100652 -0.00338763 -0.033644   0.999428       uwb: 0.0            850.677  1094.94  
imu_odom_:  1691062963.372553292  0.517148   0.011971   9.77074    -0.0607201  -0.0298274  0.0479369   0.25       0             pose: 0.40967766    -0.494565  0.0327415   0 -0.00454525 -0.00196973 -0.0336123  0.999423       uwb: 0.0            850.677  1094.94  
imu_odom_:  1691062963.395697459  0.445322   -0.0957681 10.173     -0.0532632  -0.0426106  0.0500674   0.25       0             pose: 0.0           -0.494565  0.0327415   0 -0.00454525 -0.00196973 -0.0336123  0.999423       uwb: 0.49991996     850.339  1093.33  
imu_odom_:  1691062963.420611066  0.550666   -0.158017  10.07      -0.0447411  -0.0394148  0.0351537   0.19       0             pose: 0.37945398    -0.484646  0.0314648   0 -0.00399495 -0.00318622 -0.0335321  0.999425       uwb: 0.0            850.339  1093.33  
imu_odom_:  1691062963.445583003  0.706289   -0.328006  10.2831    -0.0500674  -0.0436758  0.0500674   0.19       0             pose: 0.0           -0.484646  0.0314648   0 -0.00399495 -0.00318622 -0.0335321  0.999425       uwb: 0.50001912     850.985  1092.39  
imu_odom_:  1691062963.462676019  0.548272   -0.110133  9.79947    -0.072438   -0.0191748  0.0500674   0.18       0             pose: 0.48067108    -0.474728  0.0301898   0 -0.000698612-0.00614338 -0.0334756  0.99942        uwb: 0.0            850.985  1092.39  
imu_odom_:  1691062963.487619666  0.462081   -0.308852  9.49301    -0.0671117  -0.0234358  0.04048     0.18       0             pose: 0.0           -0.474728  0.0301898   0 -0.000698612-0.00614338 -0.0334756  0.99942        uwb: 0.50052952     850.805  1091.78  
imu_odom_:  1691062963.513613253  0.23942    -0.37589   9.65821    -0.0479369  -0.00426106 0.0340885   0.18       -0.02         pose: 0.42962068    -0.46481   0.0289157   0 -0.000657077-0.00757459 -0.0332935  0.999417       uwb: 0.0            850.805  1091.78  
imu_odom_:  1691062963.538562150  0.560243   -0.416591  9.84975    -0.0426106  -0.0298274  0.0447411   0.18       0.02          pose: 0.24187107    -0.46481   0.0289157   0 -0.00220861 -0.00586362 -0.0332937  0.999426       uwb: 0.50290937     851.49   1092.26  
imu_odom_:  1691062963.555695413  0.490811   -0.0383072 10.0365    -0.0426106  0.00639159  0.0426106   0.18       0.02          pose: 0.0           -0.46481   0.0289157   0 -0.00220861 -0.00586362 -0.0332937  0.999426       uwb: 0.0            851.49   1092.26  
imu_odom_:  1691062963.579559955  0.653617   -0.162806  10.4244    -0.0436758  -0.0170442  0.0330232   0.18       0             pose: 0.25771932    -0.454891  0.0276452   0 -0.00343202 -0.00449766 -0.0333169  0.999429       uwb: 0.49658058     851.132  1091.22  
imu_odom_:  1691062963.604582640  1.01754    -0.143652  9.76834    -0.0500674  -0.0106526  0.0479369   0.18       0             pose: 0.0           -0.454891  0.0276452   0 -0.00343202 -0.00449766 -0.0333169  0.999429       uwb: 0.0            851.132  1091.22  
imu_odom_:  1691062963.630640681  0.756568   -0.299275  10.1778    -0.0500674  0.0223706   0.0447411   0.18       -0.02         pose: 0.42039288    -0.444972  0.0263751   0 -0.00268258 -0.00589995 -0.0332736  0.999425       uwb: 0.50033702     850.933  1089.56  
imu_odom_:  1691062963.647680616  -0.134075  -0.155623  9.54089    -0.0575243  -0.02024    0.0596548   0.18       -0.02         pose: 0.0           -0.444972  0.0263751   0 -0.00268258 -0.00589995 -0.0332736  0.999425       uwb: 0.0            850.933  1089.56  
imu_odom_:  1691062963.665741910  0.442927   0.189142   10.1203    -0.0468716  -0.0106526  0.116114    0.18       0.08          pose: 0.50182444    -0.435052  0.0251054   0 -0.00141641 -0.0105421  -0.0332146  0.999392       uwb: 0.0            850.933  1089.56  
imu_odom_:  1691062963.679608111  0.0526724  -0.476446  9.36851    -0.0585895  -0.0351537  0.171508    0.18       0.08          pose: 0.0           -0.435052  0.0251054   0 -0.00141641 -0.0105421  -0.0332146  0.999392       uwb: 0.50031077     850.938  1088.51  
imu_odom_:  1691062963.696547428  0.574608   -0.296881  9.87608    -0.0596548  -0.0479369  0.229032    0.18       0.08          pose: 0.0           -0.435052  0.0251054   0 -0.00141641 -0.0105421  -0.0332146  0.999392       uwb: 0.0            850.938  1088.51  
imu_odom_:  1691062963.710665615  0.861913   -0.325611  9.87129    -0.0735032  0.00426106  0.286556    0.19       0.26          pose: 0.42992399    -0.433761  0.0350218   0 -0.00112633 -0.0101206  -0.0326887  0.999414       uwb: 0.0            850.938  1088.51  
imu_odom_:  1691062963.728656620  0.409408   -0.323217  9.8665     -0.056459   0.0106526   0.333428    0.19       0.26          pose: 0.0           -0.433761  0.0350218   0 -0.00112633 -0.0101206  -0.0326887  0.999414       uwb: 0.0            850.938  1088.51  
imu_odom_:  1691062963.745595645  0.134075   -0.35913   9.98622    -0.0553937  -0.0117179  0.372843    0.19       0.26          pose: 0.0           -0.433761  0.0350218   0 -0.00112633 -0.0101206  -0.0326887  0.999414       uwb: 0.49990830     850.604  1087.47  
imu_odom_:  1691062963.762540794  0.272939   -0.390255  9.81144    -0.0735032  -0.0106526  0.410127    0.19       0.35          pose: 0.47943156    -0.423854  0.0336642   0 -0.00277856 -0.00974183 -0.0288947  0.999531       uwb: 0.0            850.604  1087.47  
imu_odom_:  1691062963.780595088  0.174777   -0.1652    9.52413    -0.0383495  -0.00213053 0.442085    0.18       0.38          pose: 0.0           -0.423854  0.0336642   0 -0.00277856 -0.00974183 -0.0288947  0.999531       uwb: 0.49957582     850.725  1086.88  
imu_odom_:  1691062963.797766266  0.452504   -0.311246  9.93354    -0.0575243  -0.0191748  0.494283    0.18       0.38          pose: 0.66913231    -0.404026  0.0310454   0 -0.00417627 -0.00456011 -0.0177802  0.999823       uwb: 0.0            850.725  1086.88  
imu_odom_:  1691062963.813543066  0.85473    -0.488417  10.1658    -0.0415453  -0.0223706  0.516653    0.2        0.5           pose: 0.0           -0.404026  0.0310454   0 -0.00417627 -0.00456011 -0.0177802  0.999823       uwb: 0.0            850.725  1086.88  
imu_odom_:  1691062963.830530796  0.730232   -0.31364   9.76834    -0.056459   0.0106526   0.528371    0.2        0.5           pose: 0.0           -0.404026  0.0310454   0 -0.00417627 -0.00456011 -0.0177802  0.999823       uwb: 0.50105740     849.808  1084.46  
imu_odom_:  1691062963.846592246  0.687136   0.1652     10.1658    -0.0468716  -0.0266316  0.56246     0.2        0.5           pose: 0.33989459    -0.404026  0.0310454   0 -0.00523075 -0.00323269 -0.0102276  0.999929       uwb: 0.0            849.808  1084.46  
imu_odom_:  1691062963.863538270  0.577003   -0.732626  10.1754    -0.0543285  0.0372843   0.597613    0.25       0.7           pose: 0.41985041    -0.394123  0.0297209   0 -0.00397142 -0.00635553 0.000231269 0.999972       uwb: 0.0            849.808  1084.46  
imu_odom_:  1691062963.879528850  0.409408   -0.399832  10.2472    -0.0394148  0.00639159  0.597613    0.25       0.7           pose: 0.8175238     -0.394112  0.029737    0 -0.00479551 -0.00626238 0.00251636  0.999966       uwb: 0.0            849.808  1084.46  
imu_odom_:  1691062963.896583076  0.507571   -0.390255  9.44991    -0.0330232  -0.0468716  0.630637    0.25       0.7           pose: 0.0           -0.394112  0.029737    0 -0.00479551 -0.00626238 0.00251636  0.999966       uwb: 0.49942416     849.888  1083.04  
imu_odom_:  1691062963.913539600  0.756568   -0.466869  10.2999    -0.0415453  -0.0628506  0.632767    0.17       0.53          pose: 0.41815592    -0.384215  0.0283681   0 -0.0078426  -0.0055554  0.0144888   0.999849       uwb: 0.0            849.888  1083.04  
imu_odom_:  1691062963.930716902  0.976834   -0.61531   9.61751    -0.0532632  -0.0330232  0.619984    0.22       0.64          pose: 0.0           -0.384215  0.0283681   0 -0.0078426  -0.0055554  0.0144888   0.999849       uwb: 0.50074533     849.789  1082.07  
imu_odom_:  1691062963.947643678  1.56102    -0.445322  10.1131    -0.0500674  -0.131028   0.581634    0.22       0.64          pose: 0.0           -0.384215  0.0283681   0 -0.0078426  -0.0055554  0.0144888   0.999849       uwb: 0.0            849.789  1082.07  
imu_odom_:  1691062963.964583285  1.08218    -0.294487  8.76278    -0.0340885  0.0117179   0.493217    0.14       0.38          pose: 0.24146568    -0.384204  0.0283841   0 -0.00866015 -0.008328   0.0215958   0.999695       uwb: 0.0            849.789  1082.07  
imu_odom_:  1691062963.981581515  1.43652    -0.169988  10.6087    -0.0873517  0.0660464   0.438889    0.14       0.38          pose: 0.0           -0.384204  0.0283841   0 -0.00866015 -0.008328   0.0215958   0.999695       uwb: 0.49856088     849.687  1080.43  
imu_odom_:  1691062963.998642741  1.37427    -0.0095768110.0054    -0.0553937  0.0127832   0.394148    0.14       0.38          pose: 0.34922447    -0.374285  0.027113    0 -0.00891644 -0.0127529  0.0308767   0.999402       uwb: 0.0            849.687  1080.43  
imu_odom_:  1691062964.16717159   1.12049    -0.280122  9.95748    -0.0671117  0.0372843   0.366451    0.12       0.32          pose: 0.33885049    -0.374285  0.027113    0 -0.00805532 -0.015125   0.037648    0.999144       uwb: 0.0            849.687  1080.43  
imu_odom_:  1691062964.33534857   0.617704   -0.418985  9.50498    -0.0703074  0.015979    0.334493    0.12       0.32          pose: 0.0           -0.374285  0.027113    0 -0.00805532 -0.015125   0.037648    0.999144       uwb: 0.50040993     849.375  1079.07  
imu_odom_:  1691062964.49515229   0.629675   -0.23942   9.63906    -0.0479369  -0.0170442  0.265251    0.09       0.29          pose: 0.0           -0.374285  0.027113    0 -0.00805532 -0.015125   0.037648    0.999144       uwb: 0.0            849.375  1079.07  
imu_odom_:  1691062964.67648851   0.727837   0.0837971  9.9527     -0.0585895  -0.0138484  0.253533    0.09       0.29          pose: 0.43997717    -0.364374  0.0258482   0 -0.00832048 -0.0155282  0.0446707   0.998846       uwb: 0.0            849.375  1079.07  
imu_odom_:  1691062964.91519519   0.919373   -0.428562  9.90242    -0.0575243  0.00426106  0.252468    0.09       0.29          pose: 0.0           -0.364374  0.0258482   0 -0.00832048 -0.0155282  0.0446707   0.998846       uwb: 0.50021746     849.47   1078.02  
imu_odom_:  1691062964.108696238  0.514753   -0.301669  9.82102    -0.0628506  0.0191748   0.223706    0.1        0.32          pose: 0.6987348     -0.364363  0.0258641   0 -0.00767299 -0.0152648  0.0454521   0.99882        uwb: 0.0            849.47   1078.02  
imu_odom_:  1691062964.124585615  -0.572214  -0.071826  9.82102    -0.0500674  0.103331    0.215183    0.1        0.23          pose: 0.0           -0.364363  0.0258641   0 -0.00767299 -0.0152648  0.0454521   0.99882        uwb: 0.0            849.47   1078.02  
imu_odom_:  1691062964.142542206  -1.12049   -0.435745  9.90481    -0.0617853  -0.036219   0.251402    0.1        0.23          pose: 0.76047997    -0.364363  0.025864    0 -0.00572164 -0.0140711  0.0531794   0.998469       uwb: 0.50029328     849.303  1076.44  
imu_odom_:  1691062964.158521120  -0.260968  -0.344765  9.80904    -0.0500674  -0.092678   0.22051     0.1        0.23          pose: 0.0           -0.364363  0.025864    0 -0.00572164 -0.0140711  0.0531794   0.998469       uwb: 0.0            849.303  1076.44  
imu_odom_:  1691062964.175570680  0.90022    -0.237026  10.1227    -0.0436758  -0.04048    0.232228    0.11       0.2           pose: 0.0           -0.364363  0.025864    0 -0.00572164 -0.0140711  0.0531794   0.998469       uwb: 0.0            849.303  1076.44  
imu_odom_:  1691062964.192623156  0.500388   -0.047884  9.78271    -0.0713727  0.0479369   0.24288     0.11       0.2           pose: 0.34128576    -0.353115  0.0344362   0 -0.00588577 -0.0108749  0.0565414   0.998324       uwb: 0.49780842     849.177  1075.18  
imu_odom_:  1691062964.206642766  0.265756   -0.282516  10.2855    -0.0490022  0.0596548   0.20027     0.12       0.17          pose: 0.41924378    -0.353115  0.0344362   0 -0.0038187  -0.0110201  0.0605939   0.998094       uwb: 0.0            849.177  1075.18  
imu_odom_:  1691062964.224778430  -0.402226  -0.0742203 9.82102    -0.0511327  0.0436758   0.18216     0.12       0.17          pose: 0.6942726     -0.353115  0.0344362   0 -0.0038132  -0.0101     0.0611532   0.99807        uwb: 0.0            849.177  1075.18  
imu_odom_:  1691062964.239654615  0.0694318  -0.31364   9.78989    -0.056459   0.00319579  0.211988    0.12       0.17          pose: 0.0           -0.353115  0.0344362   0 -0.0038132  -0.0101     0.0611532   0.99807        uwb: 0.50114781     848.784  1073.25  
imu_odom_:  1691062964.257652621  0.363919   -0.4956    9.84496    -0.056459   -0.0340885  0.198139    0.15       0.2           pose: 0.40088733    -0.343197  0.0331565   0 -0.00369809 -0.00539456 0.0643035   0.997909       uwb: 0.0            848.784  1073.25  
imu_odom_:  1691062964.273542289  0.342371   -0.222661  9.75877    -0.0479369  0.0223706   0.177899    0.14       0.11          pose: 0.0           -0.343197  0.0331565   0 -0.00369809 -0.00539456 0.0643035   0.997909       uwb: 0.0            848.784  1073.25  
imu_odom_:  1691062964.291632456  0.11971    -0.21069   10.2065    -0.0500674  0.0383495   0.191748    0.14       0.11          pose: 0.0           -0.343197  0.0331565   0 -0.00369809 -0.00539456 0.0643035   0.997909       uwb: 0.49927834     848.581  1071.72  
imu_odom_:  1691062964.308510234  0.0981623  -0.110133  9.62469    -0.0575243  0.0458064   0.162985    0.14       0.14          pose: 0.26015169    -0.343197  0.0331565   0 -0.00481608 -0.003932   0.0662947   0.997781       uwb: 0.0            848.581  1071.72  
imu_odom_:  1691062964.322558426  0.629675   -0.0981623 10.1682    -0.0436758  0.0170442   0.165116    0.14       0.14          pose: 0.0           -0.343197  0.0331565   0 -0.00481608 -0.003932   0.0662947   0.997781       uwb: 0.0            848.581  1071.72  
imu_odom_:  1691062964.338566796  0.517148   -0.488417  9.76355    -0.0745685  0.0191748   0.191748    0.14       0.14          pose: 0.34018625    -0.333279  0.0318792   0 -0.00367409 -4.9597e-05 0.0687158   0.99763        uwb: 0.50164654     848.231  1070.76  
imu_odom_:  1691062964.356621964  0.378284   -0.301669  10.082     -0.0607201  0.0223706   0.166181    0.22       0.17          pose: 0.0           -0.333279  0.0318792   0 -0.00367409 -4.9597e-05 0.0687158   0.99763        uwb: 0.0            848.231  1070.76  
imu_odom_:  1691062964.372556839  0.608127   -0.179565  9.90721    -0.0479369  -0.056459   0.166181    0.22       0.17          pose: 0.0           -0.333279  0.0318792   0 -0.00367409 -4.9597e-05 0.0687158   0.99763        uwb: 0.0            848.231  1070.76  
imu_odom_:  1691062964.389550985  1.11809    -0.227449  9.77553    -0.0639159  -0.0255663  0.235423    0.22       0.17          pose: 0.46822638    -0.333279  0.0318792   0 -0.00418114 0.000244194 0.0718537   0.997406       uwb: 0.49858421     848.187  1069.81  
imu_odom_:  1691062964.407605279  1.24498    -0.646434  9.87608    -0.076699   -0.0607201  0.298274    0.12       0.05          pose: 0.34009292    -0.32336   0.030613    0 -0.00355251 -0.00131155 0.0742732   0.997231       uwb: 0.0            848.187  1069.81  
imu_odom_:  1691062964.420544909  1.58017    -0.656011  10.3932    -0.0649811  -0.0351537  0.217314    0.11       0.08          pose: 0.0           -0.32336   0.030613    0 -0.00355251 -0.00131155 0.0742732   0.997231       uwb: 0.0            848.187  1069.81  
imu_odom_:  1691062964.436488241  1.4461     0.215478   9.40921    -0.0490022  0.0575243   0.112918    0.11       0.08          pose: 0.0           -0.32336   0.030613    0 -0.00355251 -0.00131155 0.0742732   0.997231       uwb: 0.50224150     847.784  1068.23  
imu_odom_:  1691062964.453541010  0.979228   0.433351   9.89763    -0.0788296  0.0372843   0.147006    0.11       0.08          pose: 0.33046555    -0.32209   0.040532    0 -0.00438058 -0.00518703 0.0780029   0.99693        uwb: 0.0            847.784  1068.23  
imu_odom_:  1691062964.471501975  0.526724   -0.617704  9.73961    -0.0617853  0.0426106   0.0980043   0.13       0.08          pose: 0.0           -0.32209   0.040532    0 -0.00438058 -0.00518703 0.0780029   0.99693        uwb: 0.0            847.784  1068.23  
imu_odom_:  1691062964.484557974  0.696713   -0.486023  10.3645    -0.0596548  -0.00958738 0.0372843   0.13       0.08          pose: 0.30939094    -0.312168  0.0392894   0 -0.00306979 -0.00701117 0.0796098   0.996797       uwb: 0.49782009     847.929  1066.73  
imu_odom_:  1691062964.500492848  0.723049   -0.277727  9.64384    -0.052198   -0.0479369  0.0426106   0.07       0.08          pose: 0.0           -0.312168  0.0392894   0 -0.00306979 -0.00701117 0.0796098   0.996797       uwb: 0.0            847.929  1066.73  
imu_odom_:  1691062964.517469787  0.893037   -0.184354  9.89045    -0.0639159  0.015979    0.0980043   0.07       0.08          pose: 0.40051986    -0.312168  0.0392894   0 -0.00518895 -0.00790786 0.080605    0.996701       uwb: 0.0            847.929  1066.73  
imu_odom_:  1691062964.535473917  0.715866   -0.500388  9.99819    -0.0543285  -0.0127832  0.127832    0.07       0.08          pose: 0.0           -0.312168  0.0392894   0 -0.00518895 -0.00790786 0.080605    0.996701       uwb: 0.50033994     847.507  1065.04  
imu_odom_:  1691062964.548471586  0.512359   -0.4956    9.64384    -0.0490022  0.015979    0.092678    0.06       0.05          pose: 0.7980999     -0.312168  0.0392894   0 -0.00489424 -0.00883239 0.0806116   0.996694       uwb: 0.0            847.507  1065.04  
imu_odom_:  1691062964.564472665  0.588974   -0.0191536 10.0748    -0.0447411  -0.0127832  0.0798948   0.06       0.05          pose: 0.0           -0.312168  0.0392894   0 -0.00489424 -0.00883239 0.0806116   0.996694       uwb: 0.0            847.507  1065.04  
imu_odom_:  1691062964.581470311  0.64404    -0.215478  9.73243    -0.056459   -0.00852212 0.0948085   0.06       0.05          pose: 0.0           -0.312168  0.0392894   0 -0.00489424 -0.00883239 0.0806116   0.996694       uwb: 0.50009204     847.795  1064.13  
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imu_odom_:  1691062964.631645756  0.122104   -0.129287  9.8665     -0.0543285  0.0798948   0.0585895   0.06       0.05          pose: 0.64003148    -0.302247  0.0380296   0 -0.00426669 -0.0138358  0.0836287   0.996392       uwb: 0.50135197     847.781  1063.67  
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imu_odom_:  1691062964.680628644  -0.189142  -0.380678  9.87848    -0.0479369  -0.0990696  0.0692422   0.08       0.05          pose: 0.34073747    -0.302247  0.0380296   0 -0.00375462 -0.00923574 0.0840886   0.996408       uwb: 0.49835090     847.692  1063.08  
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imu_odom_:  1691062964.745694564  0.107739   -0.181959  9.91678    -0.056459   0.015979    0.0607201   0.11       0.02          pose: 0.0           -0.302247  0.0380296   0 -0.00361299 -0.00662813 0.0851606   0.996339       uwb: 0.0            847.695  1062.15  
imu_odom_:  1691062964.763621699  0.31364    -0.373495  10.3525    -0.0458064  0.0298274   0.0713727   0.11       0.02          pose: 0.47913116    -0.292332  0.0367311   0 -0.00161311 -0.00467233 0.0860447   0.996279       uwb: 0.0            847.695  1062.15  
imu_odom_:  1691062964.787672898  0.146046   -0.100556  9.75158    -0.056459   -0.0191748  0.0713727   0.12       0             pose: 0.0           -0.292332  0.0367311   0 -0.00161311 -0.00467233 0.0860447   0.996279       uwb: 0.49935417     847.34   1059.98  
imu_odom_:  1691062964.814487770  0.150835   -0.246603  10.1873    -0.0468716  -0.0138484  0.0607201   0.12       0             pose: 0.35068565    -0.292332  0.0367311   0 -0.0023316  -0.00135576 0.0865608   0.996243       uwb: 0.0            847.34   1059.98  
imu_odom_:  1691062964.840608225  -0.114922  -0.447716  9.34696    -0.0553937  -0.00958738 0.0553937   0.13       -0.02         pose: 0.42849199    -0.281554  0.0421641   0 -0.00174486 0.00253361  0.0871044   0.996194       uwb: 0.50064034     847.406  1059.49  
imu_odom_:  1691062964.857537917  0.059855   -0.299275  9.74201    -0.0575243  -0.0255663  0.0660464   0.13       -0.02         pose: 0.9062729     -0.281145  0.0453794   0 -0.00217736 0.00330594  0.0871758   0.996185       uwb: 0.0            847.406  1059.49  
imu_odom_:  1691062964.881463706  0.217872   -0.160412  9.86172    -0.0490022  0.0308927   0.0703074   0.14       0.02          pose: 0.0           -0.281145  0.0453794   0 -0.00217736 0.00330594  0.0871758   0.996185       uwb: 0.49923751     847.234  1058.19  
imu_odom_:  1691062964.907454085  0.339977   -0.251391  10.3358    -0.0639159  -0.0127832  0.0639159   0.14       0.02          pose: 0.33987418    -0.275629  0.0446793   0 -0.00337756 0.00622746  0.0875361   0.996136       uwb: 0.0            847.234  1058.19  
imu_odom_:  1691062964.932608595  0.435745   -0.225055  9.89284    -0.0479369  -0.04048    0.0628506   0.14       0             pose: 0.49916168    -0.271225  0.0441235   0 -0.00180538 0.00527342  0.0882278   0.996085       uwb: 0.49854629     847.076  1057.64  
imu_odom_:  1691062964.956591548  0.131681   -0.42138   9.81623    -0.0426106  0.0149137   0.0500674   0.14       0             pose: 0.0           -0.271225  0.0441235   0 -0.00180538 0.00527342  0.0882278   0.996085       uwb: 0.0            847.076  1057.64  
imu_odom_:  1691062964.978525951  0.658405   -0.442927  10.2376    -0.0319579  0.00319579  0.0415453   0.2        0.02          pose: 0.49137463    -0.261301  0.0428871   0 -0.00273653 0.0042944   0.0886405   0.996051       uwb: 0.0            847.076  1057.64  
imu_odom_:  1691062964.995574053  0.356736   -0.0047884 9.97424    -0.0372843  -0.0234358  0.0660464   0.2        0.02          pose: 0.0           -0.261301  0.0428871   0 -0.00273653 0.0042944   0.0886405   0.996051       uwb: 0.50086200     847.182  1057.44  
imu_odom_:  1691062965.11524093   0.373495   -0.37589   9.69412    -0.04048    -0.02024    0.0617853   0.15       0             pose: 0.0           -0.261301  0.0428871   0 -0.00273653 0.0042944   0.0886405   0.996051       uwb: 0.0            847.182  1057.44  
imu_odom_:  1691062965.37467225   0.227449   -0.0407014 9.77792    -0.0436758  -0.0127832  0.056459    0.15       0             pose: 0.46994127    -0.251377  0.0416596   0 -0.00217322 0.00210663  0.0889679   0.99603        uwb: 0.49908002     846.95   1056.62  
imu_odom_:  1691062965.61526007   0.725443   -0.220267  10.0102    -0.0692422  -0.015979   0.0628506   0.16       0.02          pose: 0.33881550    -0.250533  0.0485032   0 -0.0006193230.00330378  0.0892798   0.996001       uwb: 0.0            846.95   1056.62  
imu_odom_:  1691062965.87467097   0.237026   -0.229843  9.76116    -0.0553937  0.0234358   0.0436758   0.16       0.02          pose: 0.0           -0.250533  0.0485032   0 -0.0006193230.00330378  0.0892798   0.996001       uwb: 0.50148613     846.253  1055.96  
imu_odom_:  1691062965.111534920  0.351948   -0.385466  9.8282     -0.0713727  -0.0213053  0.0639159   0.17       0             pose: 0.8057703     -0.250156  0.0515847   0 -0.0005969950.00244924  0.0893734   0.995995       uwb: 0.0            846.253  1055.96  
imu_odom_:  1691062965.137504008  0.361524   -0.45011   9.70849    -0.0607201  0.036219    0.04048     0.17       0.02          pose: 0.48985222    -0.24023   0.0503696   0 -0.0016565  0.00346053  0.0896952   0.995962       uwb: 0.49883795     845.616  1054.82  
imu_odom_:  1691062965.162658227  0.258574   -0.486023  9.61272    -0.0426106  0.0628506   0.0490022   0.17       0.02          pose: 0.0           -0.24023   0.0503696   0 -0.0016565  0.00346053  0.0896952   0.995962       uwb: 0.0            845.616  1054.82  
imu_odom_:  1691062965.179585294  0.00718261 -0.0766145 9.95509    -0.0436758  -0.00639159 0.0553937   0.18       0             pose: 0.25127386    -0.24023   0.0503696   0 -0.0042707  0.00292018  0.0898954   0.995938       uwb: 0.50226776     845.543  1054.55  
imu_odom_:  1691062965.195541750  0.105345   -0.153229  9.68933    -0.0415453  -0.0319579  0.0458064   0.18       0             pose: 0.50973691    -0.230303  0.0491647   0 -0.00780493 0.0052726   0.0900744   0.99589        uwb: 0.0            845.543  1054.55  
imu_odom_:  1691062965.220540811  0.35913    -0.241814  9.94551    -0.0671117  -0.0319579  0.0692422   0.18       0             pose: 0.0           -0.230303  0.0491647   0 -0.00780493 0.0052726   0.0900744   0.99589        uwb: 0.0            845.543  1054.55  
imu_odom_:  1691062965.236495226  0.399832   -0.0095768110.0844    -0.0319579  0.00213053  0.0543285   0.23       0             pose: 0.32937187    -0.220375  0.0479628   0 -0.00546268 0.00621683  0.0903386   0.995877       uwb: 0.49749636     845.077  1053.65  
imu_odom_:  1691062965.261443832  0.23942    -0.169988  10.2352    -0.052198   0.0181095   0.0490022   0.23       0             pose: 0.0           -0.220375  0.0479628   0 -0.00546268 0.00621683  0.0903386   0.995877       uwb: 0.0            845.077  1053.65  
imu_odom_:  1691062965.286579676  0.462081   -0.248997  10.1897    -0.0532632  0.0127832   0.0426106   0.17       0.02          pose: 0.40929853    -0.219179  0.057891    0 -0.00207504 0.0050383   0.0907565   0.995858       uwb: 0.50127323     844.638  1052.44  
imu_odom_:  1691062965.310496425  0.452504   -0.287304  9.7851     -0.0617853  -0.0607201  0.0458064   0.17       0             pose: 0.0           -0.219179  0.057891    0 -0.00207504 0.0050383   0.0907565   0.995858       uwb: 0.0            844.638  1052.44  
imu_odom_:  1691062965.328462349  0.893037   -0.497994  9.75637    -0.0660464  0.0245011   0.0383495   0.17       0             pose: 0.42101409    -0.209249  0.0567034   0 -0.00097843 0.00409558  0.0908792   0.995853       uwb: 0.0            844.638  1052.44  
imu_odom_:  1691062965.345586863  0.117316   -0.45011   9.50019    -0.0447411  -0.0191748  -0.02024    0.17       0             pose: 0.0           -0.209249  0.0567034   0 -0.00097843 0.00409558  0.0908792   0.995853       uwb: 0.49981498     844.614  1051.54  
imu_odom_:  1691062965.360453132  0.301669   -0.035913  9.80904    -0.0660464  -0.0372843  -0.0745685  0.18       -0.11         pose: 0.8068203     -0.209249  0.0567034   0 -0.00125896 0.00310705  0.0909029   0.995854       uwb: 0.0            844.614  1051.54  
imu_odom_:  1691062965.377585813  0.620098   0.0407014  9.87129    -0.0671117  -0.0234358  -0.107592   0.18       -0.11         pose: 0.0           -0.209249  0.0567034   0 -0.00125896 0.00310705  0.0909029   0.995854       uwb: 0.0            844.614  1051.54  
imu_odom_:  1691062965.393610224  0.0311246  -0.150835  9.47864    -0.0436758  0.0255663   -0.142745   0.18       -0.11         pose: 0.0           -0.209249  0.0567034   0 -0.00125896 0.00310705  0.0909029   0.995854       uwb: 0.49973331     844.415  1050.55  
imu_odom_:  1691062965.411832508  0.179565   -0.282516  10.1131    -0.0735032  -0.0138484  -0.168312   0.21       -0.32         pose: 0.57946456    -0.19932   0.0555187   0 -0.00290671 0.00110413  0.0900315   0.995934       uwb: 0.0            844.415  1050.55  
imu_odom_:  1691062965.429435911  0.553061   -0.0981623 9.96467    -0.0330232  -0.0340885  -0.252468   0.18       -0.35         pose: 0.0           -0.19932   0.0555187   0 -0.00290671 0.00110413  0.0900315   0.995934       uwb: 0.50067826     844.19   1050.47  
imu_odom_:  1691062965.443575972  0.363919   0.124498   9.98143    -0.0287621  -0.0223706  -0.298274   0.18       -0.35         pose: 0.67036016    -0.178294  0.0630814   0 -0.0009187020.00280398  0.0838563   0.996473       uwb: 0.0            844.19   1050.47  
imu_odom_:  1691062965.461583311  0.531513   -0.110133  10.1011    -0.072438   -0.0245011  -0.354733   0.17       -0.38         pose: 0.0           -0.178294  0.0630814   0 -0.0009187020.00280398  0.0838563   0.996473       uwb: 0.0            844.19   1050.47  
imu_odom_:  1691062965.477553475  0.672771   -0.126893  9.72764    -0.0543285  -0.0287621  -0.411192   0.17       -0.38         pose: 0.0           -0.178294  0.0630814   0 -0.0009187020.00280398  0.0838563   0.996473       uwb: 0.0            844.19   1050.47  
imu_odom_:  1691062965.494677114  0.550666   -0.378284  10.228     -0.0649811  0.0106526   -0.455933   0.17       -0.38         pose: 0.31938286    -0.178293  0.0630814   0 0.00171479  0.00110919  0.0784827   0.996913       uwb: 0.49998122     843.675  1049.89  
imu_odom_:  1691062965.511558976  1.07021    0.160412   10.6279    -0.0628506  -0.0138484  -0.474043   0.25       -0.64         pose: 0.34007251    -0.168358  0.0619472   0 0.00181358  -0.00197306 0.0709496   0.997476       uwb: 0.0            843.675  1049.89  
imu_odom_:  1691062965.527558596  0.399832   -0.150835  9.62948    -0.0660464  -0.015979   -0.500674   0.25       -0.64         pose: 0.0           -0.168358  0.0619472   0 0.00181358  -0.00197306 0.0709496   0.997476       uwb: 0.0            843.675  1049.89  
imu_odom_:  1691062965.543579216  -0.258574  0.0694318  10.0365    -0.0500674  0.0308927   -0.52411    0.25       -0.64         pose: 0.0           -0.168358  0.0619472   0 0.00181358  -0.00197306 0.0709496   0.997476       uwb: 0.50225901     843.124  1047.96  
imu_odom_:  1691062965.560665232  0.397437   -0.54109   9.95748    -0.0745685  -0.00319579 -0.523045   0.18       -0.55         pose: 0.49990247    -0.158417  0.0608615   0 0.0025748   -0.0015176  0.057802    0.998324       uwb: 0.0            843.124  1047.96  
imu_odom_:  1691062965.576499196  0.814029   0.110133   10.2256    -0.0372843  -0.0426106  -0.561394   0.18       -0.55         pose: 0.0           -0.158417  0.0608615   0 0.0025748   -0.0015176  0.057802    0.998324       uwb: 0.0            843.124  1047.96  
imu_odom_:  1691062965.594432163  1.05345    -0.272939  9.78271    -0.0532632  -0.0596548  -0.578439   0.25       -0.82         pose: 0.40933061    -0.158431  0.0608448   0 0.00212268  -0.00208221 0.0459946   0.998937       uwb: 0.49882337     842.61   1046.92  
imu_odom_:  1691062965.611546762  1.61369    0.124498   9.79707    -0.0532632  -0.0703074  -0.535828   0.25       -0.82         pose: 0.0           -0.158431  0.0608448   0 0.00212268  -0.00208221 0.0459946   0.998937       uwb: 0.0            842.61   1046.92  
imu_odom_:  1691062965.625423171  1.65918    -0.42138   9.68933    -0.0575243  -0.0191748  -0.502805   0.25       -0.82         pose: 0.0           -0.158431  0.0608448   0 0.00212268  -0.00208221 0.0459946   0.998937       uwb: 0.0            842.61   1046.92  
imu_odom_:  1691062965.643549503  1.62087    -0.325611  10.2615    -0.0585895  -0.0255663  -0.484695   0.13       -0.41         pose: 0.7999081     -0.158417  0.0608615   0 0.00205633  -0.00309309 0.0435267   0.999045       uwb: 0.49984997     842.286  1045.82  
imu_odom_:  1691062965.656429053  1.17555    -0.339977  9.56005    -0.0372843  -0.0234358  -0.454868   0.13       -0.5          pose: 0.0           -0.158417  0.0608615   0 0.00205633  -0.00309309 0.0435267   0.999045       uwb: 0.0            842.286  1045.82  
imu_odom_:  1691062965.673416783  1.41976    -0.258574  10.1897    -0.0543285  0.0213053   -0.386691   0.13       -0.5          pose: 0.0           -0.158417  0.0608615   0 0.00205633  -0.00309309 0.0435267   0.999045       uwb: 0.0            842.286  1045.82  
imu_odom_:  1691062965.687476932  1.12049    -0.500388  9.75877    -0.0713727  0           -0.330232   0.13       -0.5          pose: 0.65059213    -0.147353  0.0696628   0 0.00204975  -0.0106173  0.0255579   0.999615       uwb: 0.49919085     842.307  1044.77  
imu_odom_:  1691062965.703477720  0.857124   -0.272939  9.8258     -0.0511327  0.00426106  -0.315318   0.11       -0.38         pose: 0.0           -0.147353  0.0696628   0 0.00204975  -0.0106173  0.0255579   0.999615       uwb: 0.0            842.307  1044.77  
imu_odom_:  1691062965.720473616  0.636858   -0.0335188 9.85693    -0.0511327  -0.0319579  -0.264186   0.11       -0.38         pose: 0.30917512    -0.137424  0.0684685   0 0.00145992  -0.0133918  0.018949    0.99973        uwb: 0.0            842.307  1044.77  
imu_odom_:  1691062965.736412865  0.61531    -0.263362  9.5792     -0.0660464  -0.0276969  -0.230097   0.09       -0.29         pose: 0.39998614    -0.137424  0.0684685   0 0.00219898  -0.0149946  0.012226    0.99981        uwb: 0.49944750     841.868  1044     
imu_odom_:  1691062965.753472342  1.09894    -0.459687  10.0604    -0.0596548  -0.0223706  -0.225836   0.09       -0.29         pose: 0.0           -0.137424  0.0684685   0 0.00219898  -0.0149946  0.012226    0.99981        uwb: 0.0            841.868  1044     
imu_odom_:  1691062965.769522126  0.972046   -0.23942   9.991      -0.0639159  0.0106526   -0.215183   0.09       -0.29         pose: 0.0           -0.137424  0.0684685   0 0.00219898  -0.0149946  0.012226    0.99981        uwb: 0.0            841.868  1044     
imu_odom_:  1691062965.786411862  0.699107   -0.0383072 10.058     -0.052198   0.00745685  -0.208792   0.1        -0.35         pose: 0.8008414     -0.137424  0.0684685   0 0.00155126  -0.0145826  0.0111538   0.99983        uwb: 0.49833923     841.624  1044.37  
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imu_odom_:  1691062965.819552038  0.821211   -0.289698  9.84735    -0.052198   0.00958738  -0.166181   0.06       -0.2          pose: 0.65995701    -0.127495  0.0672861   0 0.00174354  -0.0175833  0.00276401  0.99984        uwb: 0.0            841.624  1044.37  
imu_odom_:  1691062965.835420416  0.565032   -0.248997  9.98861    -0.0585895  0.00213053  -0.165116   0.06       -0.2          pose: 0.0           -0.127495  0.0672861   0 0.00174354  -0.0175833  0.00276401  0.99984        uwb: 0.50023495     841.165  1043.15  
imu_odom_:  1691062965.852555138  0.718261   -0.198719  9.79947    -0.0607201  -0.0138484  -0.153398   0.06       -0.17         pose: 0.0           -0.127495  0.0672861   0 0.00174354  -0.0175833  0.00276401  0.99984        uwb: 0.0            841.165  1043.15  
imu_odom_:  1691062965.871606291  0.663194   -0.227449  9.76116    -0.0575243  -0.0117179  -0.123571   0.06       -0.17         pose: 0.33152425    -0.127495  0.0672861   0 0.000331963 -0.0182916  -0.0006882590.999832       uwb: 0.0            841.165  1043.15  
imu_odom_:  1691062965.887445796  0.68953    -0.328006  9.87608    -0.0575243  -0.00532632 -0.106526   0.05       -0.14         pose: 0.43976135    -0.127508  0.0672695   0 -8.92025e-05-0.014513   -0.00469032 0.999884       uwb: 0.49965749     841.249  1043.28  
imu_odom_:  1691062965.905665164  0.488417   -0.306458  9.72285    -0.0511327  0.00426106  -0.102265   0.05       -0.14         pose: 0.0           -0.127508  0.0672695   0 -8.92025e-05-0.014513   -0.00469032 0.999884       uwb: 0.0            841.249  1043.28  
imu_odom_:  1691062965.922603606  0.593762   -0.100556  10.0078    -0.0532632  -0.0255663  -0.0969391  0.05       -0.14         pose: 0.0           -0.127508  0.0672695   0 -8.92025e-05-0.014513   -0.00469032 0.999884       uwb: 0.0            841.249  1043.28  
imu_odom_:  1691062965.937551537  0.64404    -0.253785  9.81144    -0.0596548  -0.0181095  -0.0830906  0.04       -0.11         pose: 0.8008998     -0.127495  0.067286    0 -0.000890589-0.0145351  -0.00526383 0.99988        uwb: 0.50000455     840.923  1041.88  
imu_odom_:  1691062965.954597889  0.744597   -0.294487  9.89284    -0.0607201  -0.0117179  -0.076699   0.04       -0.08         pose: 0.0           -0.127495  0.067286    0 -0.000890589-0.0145351  -0.00526383 0.99988        uwb: 0.0            840.923  1041.88  
imu_odom_:  1691062965.971541872  0.799663   -0.387861  9.81862    -0.0585895  -0.0127832  -0.0660464  0.04       -0.08         pose: 0.65816919    -0.117556  0.0661753   0 -0.00239137 -0.0132536  -0.00963436 0.999863       uwb: 0.0            840.923  1041.88  
imu_odom_:  1691062965.987660486  0.754174   -0.205901  9.991      -0.0575243  -0.00106526 -0.0468716  0.04       -0.08         pose: 0.0           -0.117556  0.0661753   0 -0.00239137 -0.0132536  -0.00963436 0.999863       uwb: 0.50022329     840.786  1040.88  
imu_odom_:  1691062966.4471768    0.588974   -0.248997  9.78271    -0.056459   0.00426106  -0.036219   0.04       -0.08         pose: 0.0           -0.117556  0.0661753   0 -0.00239137 -0.0132536  -0.00963436 0.999863       uwb: 0.0            840.786  1040.88  
imu_odom_:  1691062966.21547868   0.342371   -0.220267  9.87129    -0.0511327  0.00639159  -0.0383495  0.04       -0.08         pose: 0.33128218    -0.117556  0.0661753   0 -0.00340103 -0.0157199  -0.0113594  0.999806       uwb: 0.0            840.786  1040.88  
imu_odom_:  1691062966.37566446   0.438139   -0.28491   9.85693    -0.0575243  -0.0181095  -0.00106526 0.02       -0.02         pose: 0.42987442    -0.117556  0.0661753   0 -0.0021683  -0.0126265  -0.0130673  0.999833       uwb: 0.50001330     840.366  1040.1   
imu_odom_:  1691062966.54608716   0.754174   -0.40462   9.9503     -0.0607201  -0.015979   0.0170442   0.02       -0.02         pose: 0.7944835     -0.117556  0.0661753   0 -0.00228157 -0.0118937  -0.0132258  0.999839       uwb: 0.0            840.366  1040.1   
imu_odom_:  1691062966.79659690   0.766145   -0.220267  9.83538    -0.0532632  0.00639159  0.0394148   0.01       0.02          pose: 0.0           -0.117556  0.0661753   0 -0.00228157 -0.0118937  -0.0132258  0.999839       uwb: 0.50166988     840.666  1039.43  
imu_odom_:  1691062966.96601340   0.469264   -0.248997  9.991      -0.0543285  0.0490022   0.056459    0.01       0.02          pose: 0.34080163    -0.117556  0.0661753   0 -0.0033087  -0.0131245  -0.013576   0.999816       uwb: 0.0            840.666  1039.43  
imu_odom_:  1691062966.113556698  -1.09894   -0.191536  9.91199    -0.0394148  0.12144     0.1012      0.04       0.08          pose: 0.0           -0.117556  0.0661753   0 -0.0033087  -0.0131245  -0.013576   0.999816       uwb: 0.0            840.666  1039.43  
imu_odom_:  1691062966.130412894  -1.62806   -0.526724  10.0221    -0.0543285  0.00958738  0.18003     0.04       0.08          pose: 0.42036373    -0.117556  0.0661753   0 -0.00231028 -0.0108677  -0.0131688  0.999852       uwb: 0.50141905     840.771  1039.26  
imu_odom_:  1691062966.147421915  -0.73502   -0.545878  9.56005    -0.0617853  -0.0692422  0.264186    0.06       0.2           pose: 0.0           -0.117556  0.0661753   0 -0.00231028 -0.0108677  -0.0131688  0.999852       uwb: 0.0            840.771  1039.26  
imu_odom_:  1691062966.163567069  0.167594   -0.378284  10.161     -0.0511327  -0.0628506  0.332363    0.06       0.2           pose: 0.0           -0.117556  0.0661753   0 -0.00231028 -0.0108677  -0.0131688  0.999852       uwb: 0.0            840.771  1039.26  
imu_odom_:  1691062966.180534384  0.691924   -0.363919  9.95748    -0.0585895  -0.0266316  0.365386    0.06       0.2           pose: 0.32881774    -0.117556  0.0661753   0 -0.00258893 -0.00724634 -0.0108237  0.999912       uwb: 0.49791635     840.452  1038.45  
imu_odom_:  1691062966.196529339  0.37589    -0.0502782 9.76834    -0.0511327  -0.00213053 0.369647    0.13       0.44          pose: 0.42043371    -0.107626  0.064995    0 -0.00403319 -0.00727412 -0.00468105 0.999954       uwb: 0.0            840.452  1038.45  
imu_odom_:  1691062966.213455531  0.00718261 -0.282516  9.50498    -0.0649811  0.0372843   0.399474    0.13       0.44          pose: 0.0           -0.107626  0.064995    0 -0.00403319 -0.00727412 -0.00468105 0.999954       uwb: 0.0            840.452  1038.45  
imu_odom_:  1691062966.229444361  -0.011971  -0.426168  10.2735    -0.0798948  0           0.452737    0.13       0.44          pose: 0.0           -0.107626  0.064995    0 -0.00403319 -0.00727412 -0.00468105 0.999954       uwb: 0.50010663     840.594  1038.12  
imu_odom_:  1691062966.245436982  0.0885855  -0.818817  9.69652    -0.052198   -0.00852212 0.452737    0.11       0.38          pose: 0.7011264     -0.107626  0.064995    0 -0.00344932 -0.00686449 -0.00352653 0.999964       uwb: 0.0            840.594  1038.12  
imu_odom_:  1691062966.262497625  0.553061   -0.186748  10.2256    -0.0596548  -0.015979   0.465521    0.14       0.55          pose: 0.0           -0.107626  0.064995    0 -0.00344932 -0.00686449 -0.00352653 0.999964       uwb: 0.0            840.594  1038.12  
imu_odom_:  1691062966.278515328  -0.0023942 0.0215478  9.74919    -0.052198   0.0255663   0.498544    0.14       0.55          pose: 0.65901498    -0.107626  0.064995    0 -0.00426351 -0.00241046 0.00932329  0.999945       uwb: 0.0            840.594  1038.12  
imu_odom_:  1691062966.295393982  0.306458   -0.565032  9.8282     -0.0735032  -0.00745685 0.519849    0.14       0.55          pose: 0.0           -0.107626  0.064995    0 -0.00426351 -0.00241046 0.00932329  0.999945       uwb: 0.0            840.594  1038.12  
imu_odom_:  1691062966.311463307  0.287304   -0.502782  9.73482    -0.036219   -0.0308927  0.523045    0.16       0.64          pose: 0.0           -0.107626  0.064995    0 -0.00426351 -0.00241046 0.00932329  0.999945       uwb: 0.0            840.594  1038.12  
imu_odom_:  1691062966.328436163  0.435745   -0.526724  10.137     -0.0372843  -0.0298274  0.555003    0.16       0.64          pose: 0.33065805    -0.0977007 0.0637767   0 -0.00354529 -0.00116586 0.0168457   0.999851       uwb: 0.0            840.594  1038.12  
imu_odom_:  1691062966.344375413  0.328006   -0.347159  9.56962    -0.0585895  0.00213053  0.578439    0.13       0.53          pose: 0.41923212    -0.0924773 0.0631189   0 -0.00717818 -0.0006850320.0272414   0.999603       uwb: 0.99851586     840.527  1037.84  
imu_odom_:  1691062966.361366643  0.646434   -0.428562  10.2256    -0.0351537  -0.0330232  0.577373    0.13       0.53          pose: 0.0           -0.0924773 0.0631189   0 -0.00717818 -0.0006850320.0272414   0.999603       uwb: 0.0            840.527  1037.84  
imu_odom_:  1691062966.377363347  1.12527    -0.296881  9.92157    -0.04048    -0.0543285  0.541154    0.13       0.53          pose: 0.0           -0.0924773 0.0631189   0 -0.00717818 -0.0006850320.0272414   0.999603       uwb: 0.0            840.527  1037.84  
imu_odom_:  1691062966.394523735  1.07021    -0.234632  9.49301    -0.0511327  -0.00426106 0.546481    0.14       0.55          pose: 0.7997915     -0.0877715 0.0625874   0 -0.00718197 0.000156341 0.0294009   0.999542       uwb: 0.50044203     840.178  1037.19  
imu_odom_:  1691062966.411394514  1.96325    -0.433351  10.6015    -0.0585895  -0.0532632  0.495348    0.09       0.32          pose: 0.0           -0.0877715 0.0625874   0 -0.00718197 0.000156341 0.0294009   0.999542       uwb: 0.0            840.178  1037.19  
imu_odom_:  1691062966.436430323  1.47243    0.146046   10.228     -0.0415453  0.0553937   0.309992    0.09       0.32          pose: 0.66122278    -0.0877715 0.0625874   0 -0.00666119 -0.00546263 0.0462567   0.998892       uwb: 0.49955250     840.221  1036.74  
imu_odom_:  1691062966.453426511  0.675165   0.105345   9.81144    -0.0628506  0.0585895   0.268447    0.08       0.29          pose: 0.0           -0.0877715 0.0625874   0 -0.00666119 -0.00546263 0.0462567   0.998892       uwb: 0.0            840.221  1036.74  
imu_odom_:  1691062966.469481254  0.107739   -0.311246  9.75398    -0.0713727  0.0394148   0.176834    0.08       0.29          pose: 0.0           -0.0877715 0.0625874   0 -0.00666119 -0.00546263 0.0462567   0.998892       uwb: 0.0            840.221  1036.74  
imu_odom_:  1691062966.485545329  -1.15879   0.0837971  9.48583    -0.0319579  0.115049    0.0894822   0.08       0.29          pose: 0.16981897    -0.0877715 0.0625874   0 -0.00622638 -0.00699846 0.0493546   0.998737       uwb: 0.50037786     840.212  1036.59  
imu_odom_:  1691062966.501411083  -1.05345   0.0167594  10.7691    -0.0777643  0.015979    0.221575    0.09       0.23          pose: 0.56959222    -0.0767169 0.0714076   0 -0.00385961 -0.00470822 0.0548226   0.998478       uwb: 0.0            840.212  1036.59  
imu_odom_:  1691062966.519432420  -0.205901  -1.13246   9.77313    -0.0490022  -0.103331   0.253533    0.09       0.23          pose: 0.0           -0.0767169 0.0714076   0 -0.00385961 -0.00470822 0.0548226   0.998478       uwb: 0.0            840.212  1036.59  
imu_odom_:  1691062966.535444290  0.622492   -0.11971   9.81144    -0.0181095  -0.0511327  0.186421    0.11       0.14          pose: 0.42934945    -0.0767314 0.071391    0 -0.00498645 -0.00142554 0.0584284   0.998278       uwb: 0.50078618     840.155  1036.02  
imu_odom_:  1691062966.551374790  0.682347   0.136469   9.9096     -0.04048    0.00958738  0.243946    0.11       0.14          pose: 0.0           -0.0767314 0.071391    0 -0.00498645 -0.00142554 0.0584284   0.998278       uwb: 0.0            840.155  1036.02  
imu_odom_:  1691062966.568429600  0.490811   -0.0837971 10.1897    -0.0660464  0.0298274   0.235423    0.11       0.14          pose: 0.0           -0.0767314 0.071391    0 -0.00498645 -0.00142554 0.0584284   0.998278       uwb: 0.0            840.155  1036.02  
imu_odom_:  1691062966.585417914  0.205901   -0.23942   9.76595    -0.0351537  -0.00852212 0.178964    0.13       0.14          pose: 0.8058286     -0.0767169 0.0714076   0 -0.00422932 -0.00214555 0.0590167   0.998246       uwb: 0.49877671     840.267  1036.73  
imu_odom_:  1691062966.601476448  -0.126893  -0.232238  9.7875     -0.0585895  0.0106526   0.186421    0.17       0.2           pose: 0.0           -0.0767169 0.0714076   0 -0.00422932 -0.00214555 0.0590167   0.998246       uwb: 0.0            840.267  1036.73  
imu_odom_:  1691062966.617479569  0.258574   -0.351948  10.1969    -0.0553937  -0.0308927  0.201335    0.17       0.2           pose: 0.64958887    -0.066792  0.0701838   0 -0.000440848-0.0008061660.0645749   0.997912       uwb: 0.0            840.267  1036.73  
imu_odom_:  1691062966.634413052  0.42138    -0.440533  9.76834    -0.0351537  -0.0266316  0.187487    0.17       0.17          pose: 0.0           -0.066792  0.0701838   0 -0.000440848-0.0008061660.0645749   0.997912       uwb: 0.50230567     840.427  1036.25  
imu_odom_:  1691062966.650359885  0.349553   -0.138864  9.72525    -0.0415453  -0.0234358  0.157659    0.17       0.17          pose: 0.0           -0.066792  0.0701838   0 -0.000440848-0.0008061660.0645749   0.997912       uwb: 0.0            840.427  1036.25  
imu_odom_:  1691062966.666567452  0.373495   -0.047884  9.81144    -0.0340885  -0.0511327  0.166181    0.17       0.17          pose: 0.33040431    -0.0568658 0.0689713   0 -0.00235027 0.000766689 0.0671184   0.997742       uwb: 0.0            840.427  1036.25  
imu_odom_:  1691062966.683508518  0.483629   -0.0957681 9.79468    -0.0490022  0.00319579  0.170442    0.15       0.11          pose: 0.41077428    -0.0568658 0.0689713   0 0.000308258 0.000697079 0.0697434   0.997565       uwb: 0.49885254     840.713  1035.46  
imu_odom_:  1691062966.699387104  0.244209   -0.25618   10.6326    -0.0468716  -0.0223706  0.153398    0.15       0.11          pose: 0.8056244     -0.0568658 0.0689713   0 0.000985218 0.000256156 0.0702698   0.997528       uwb: 0.0            840.713  1035.46  
imu_odom_:  1691062966.715562298  0.320823   -0.158017  9.64624    -0.0639159  -0.052198   0.152333    0.15       0.11          pose: 0.0           -0.0568658 0.0689713   0 0.000985218 0.000256156 0.0702698   0.997528       uwb: 0.0            840.713  1035.46  
imu_odom_:  1691062966.732499574  1.11091    -0.213084  10.2975    -0.0500674  -0.0649811  0.192813    0.17       0.11          pose: 0.40938602    -0.0469379 0.0677728   0 0.00167414  0.00209579  0.0726573   0.997353       uwb: 0.49803592     840.635  1035.33  
imu_odom_:  1691062966.749499553  1.36469    -0.490811  9.84256    -0.056459   -0.0181095  0.24288     0.12       0.08          pose: 0.0           -0.0469379 0.0677728   0 0.00167414  0.00209579  0.0726573   0.997353       uwb: 0.0            840.635  1035.33  
imu_odom_:  1691062966.765358599  2.09253    -0.56982   10.3693    -0.0447411  -0.0660464  0.215183    0.12       0.08          pose: 0.0           -0.0469379 0.0677728   0 0.00167414  0.00209579  0.0726573   0.997353       uwb: 0.0            840.635  1035.33  
imu_odom_:  1691062966.782416617  1.71425    -0.126893  9.3709     -0.0383495  -0.00106526 0.137419    0.12       0.08          pose: 0.24899026    -0.0469378 0.0677727   0 0.00161214  -0.0009410240.0747619   0.9972         uwb: 0.49933959     840.855  1034.55  
imu_odom_:  1691062966.799429430  1.36469    0.11971    10.2448    -0.0585895  0.0447411   0.136354    0.1        0.08          pose: 0.0           -0.0469378 0.0677727   0 0.00161214  -0.0009410240.0747619   0.9972         uwb: 0.0            840.855  1034.55  
imu_odom_:  1691062966.816488906  0.658405   -0.296881  9.65821    -0.072438   0.0255663   0.113983    0.1        0.08          pose: 0.32101319    -0.0370111 0.0665643   0 0.00143133  -0.00463485 0.0774215   0.996987       uwb: 0.0            840.855  1034.55  
imu_odom_:  1691062966.832382950  0.550666   -0.292093  10.1538    -0.0607201  0.00106526  0.0692422   0.08       0.05          pose: 0.43926263    -0.0358557 0.0764973   0 0.00105407  -0.00782387 0.0793634   0.996814       uwb: 0.50260024     841.074  1033.06  
imu_odom_:  1691062966.849489965  0.636858   -0.263362  9.75637    -0.0511327  -0.0234358  0.0607201   0.08       0.05          pose: 0.0           -0.0358557 0.0764973   0 0.00105407  -0.00782387 0.0793634   0.996814       uwb: 0.0            841.074  1033.06  
imu_odom_:  1691062966.865356010  0.814029   -0.0526724 9.96706    -0.0543285  -0.02024    0.092678    0.08       0.05          pose: 0.0           -0.0358557 0.0764973   0 0.00105407  -0.00782387 0.0793634   0.996814       uwb: 0.0            841.074  1033.06  
imu_odom_:  1691062966.882621683  0.617704   -0.380678  9.71567    -0.0532632  -0.00745685 0.116114    0.09       0.05          pose: 0.8013080     -0.0358557 0.0764973   0 0.000228323 -0.00776907 0.079488    0.996806       uwb: 0.49876796     841.203  1032.74  
imu_odom_:  1691062966.901557635  0.78051    -0.203507  9.991      -0.0426106  -0.0117179  0.108657    0.06       0.05          pose: 0.0           -0.0358557 0.0764973   0 0.000228323 -0.00776907 0.079488    0.996806       uwb: 0.0            841.203  1032.74  
imu_odom_:  1691062966.917422805  0.713472   -0.191536  9.81623    -0.0458064  -0.00106526 0.124636    0.06       0.05          pose: 0.67017935    -0.0259179 0.0753822   0 -0.00102735 -0.0118809  0.0811771   0.996628       uwb: 0.0            841.203  1032.74  
imu_odom_:  1691062966.944478289  0.565032   -0.263362  9.90242    -0.0511327  -0.00426106 0.115049    0.06       0.08          pose: 0.0           -0.0259179 0.0753822   0 -0.00102735 -0.0118809  0.0811771   0.996628       uwb: 0.50007455     840.95   1032.21  
imu_odom_:  1691062966.962597330  0.158017   -0.287304  9.72046    -0.0617853  0.0415453   0.0458064   0.06       0.08          pose: 0.33971961    -0.0259179 0.0753822   0 0.000323345 -0.0131785  0.0824823   0.996505       uwb: 0.0            840.95   1032.21  
imu_odom_:  1691062966.978414961  -0.627281  0.0263362  10.003     -0.0415453  0.0330232   -0.1012     0.07       -0.11         pose: 0.37105448    -0.0259179 0.0753822   0 -0.000843419-0.00925213 0.0832695   0.996484       uwb: 0.0            840.95   1032.21  
imu_odom_:  1691062966.994495077  -0.861913  0.335188   9.87608    -0.0447411  -0.0255663  -0.219444   0.07       -0.11         pose: 0.7843340     -0.0259179 0.0753822   0 -0.000688407-0.0083257  0.0827199   0.996538       uwb: 0.49993456     840.862  1031.65  
imu_odom_:  1691062967.11358565   -0.600945  0.205901   9.51935    -0.0756338  -0.0298274  -0.236489   0.07       -0.11         pose: 0.0           -0.0259179 0.0753822   0 -0.000688407-0.0083257  0.0827199   0.996538       uwb: 0.0            840.862  1031.65  
imu_odom_:  1691062967.28540535   0.0550666  -0.543484  9.75637    -0.0735032  -0.0756338  -0.268447   0.13       -0.38         pose: 0.40917895    -0.0259179 0.0753822   0 0.000401867 -0.00462439 0.0777605   0.996961       uwb: 0.0            840.862  1031.65  
imu_odom_:  1691062967.44359624   0.201113   -0.318429  9.32302    -0.0543285  -0.0127832  -0.325971   0.13       -0.38         pose: 0.0           -0.0259179 0.0753822   0 0.000401867 -0.00462439 0.0777605   0.996961       uwb: 0.50070160     840.522  1031.29  
imu_odom_:  1691062967.60482613   -0.00957681-0.126893  10.0126    -0.0447411  0.00958738  -0.325971   0.13       -0.38         pose: 0.0           -0.0259179 0.0753822   0 0.000401867 -0.00462439 0.0777605   0.996961       uwb: 0.0            840.522  1031.29  
imu_odom_:  1691062967.77542381   -0.342371  -0.0742203 9.92875    -0.0596548  -0.0127832  -0.329167   0.11       -0.38         pose: 0.40028655    -0.0159865 0.0742118   0 -0.00121737 -0.00181034 0.0709661   0.997476       uwb: 0.0            840.522  1031.29  
imu_odom_:  1691062967.93344847   -0.277727  -0.0981623 9.75398    -0.0596548  -0.0245011  -0.38243    0.16       -0.58         pose: 0.0           -0.0159865 0.0742118   0 -0.00121737 -0.00181034 0.0709661   0.997476       uwb: 0.49937459     840.748  1030.95  
imu_odom_:  1691062967.109356134  0.414197   -0.205901  10.0892    -0.0671117  -0.0681769  -0.413323   0.16       -0.58         pose: 0.0           -0.0159865 0.0742118   0 -0.00121737 -0.00181034 0.0709661   0.997476       uwb: 0.0            840.748  1030.95  
imu_odom_:  1691062967.126538395  0.143652   -0.0670376 9.17937    -0.0639159  -0.0266316  -0.415453   0.15       -0.58         pose: 0.33043640    -0.0159865 0.0742118   0 -0.0007214960.00137258  0.0647225   0.997902       uwb: 0.0            840.748  1030.95  
imu_odom_:  1691062967.144412450  0.323217   -0.112527  10.1562    -0.0660464  -0.0340885  -0.425041   0.15       -0.58         pose: 0.0           -0.0159865 0.0742118   0 -0.0007214960.00137258  0.0647225   0.997902       uwb: 0.49987332     840.621  1030.55  
imu_odom_:  1691062967.158347189  0.328006   -0.452504  9.663      -0.0777643  -0.00106526 -0.455933   0.15       -0.58         pose: 0.33075430    -0.006048960.0730964   0 0.000249007 0.000796862 0.0573772   0.998352       uwb: 0.0            840.621  1030.55  
imu_odom_:  1691062967.173329827  0.0981623  -0.0957681 9.91678    -0.0543285  0.0138484   -0.478304   0.13       -0.5          pose: 0.40840899    -0.006064450.0730797   0 0.000478825 0.00233096  0.0477296   0.998857       uwb: 0.0            840.621  1030.55  
imu_odom_:  1691062967.190326307  0.222661   -0.126893  9.96467    -0.0820254  -0.0191748  -0.4815     0.13       -0.5          pose: 0.7013305     -0.006049060.0730965   0 0.000712104 0.00305673  0.0459157   0.99894        uwb: 0.50173404     840.729  1030.09  
imu_odom_:  1691062967.206384550  0.684742   0.0311246  10.0892    -0.0756338  -0.0830906  -0.493217   0.13       -0.5          pose: 0.0           -0.006049060.0730965   0 0.000712104 0.00305673  0.0459157   0.99894        uwb: 0.0            840.729  1030.09  
imu_odom_:  1691062967.223448401  0.775721   -0.047884  9.8665     -0.0479369  -0.0415453  -0.532632   0.19       -0.79         pose: 0.41024056    0.00496325 0.0819331   0 0.00223786  0.0032195   0.0351639   0.999374       uwb: 0.0            840.729  1030.09  
imu_odom_:  1691062967.241349871  1.56102    -0.146046  9.61272    -0.0490022  -0.0575243  -0.512392   0.13       -0.55         pose: 0.0           0.00496325 0.0819331   0 0.00223786  0.0032195   0.0351639   0.999374       uwb: 0.49866589     840.974  1029.33  
imu_odom_:  1691062967.255463975  1.6113     -0.220267  9.55287    -0.0703074  -0.0479369  -0.471912   0.13       -0.55         pose: 0.0           0.00496325 0.0819331   0 0.00223786  0.0032195   0.0351639   0.999374       uwb: 0.0            840.974  1029.33  
imu_odom_:  1691062967.270326745  1.19471    -0.229843  10.8649    -0.0468716  0           -0.46339    0.13       -0.55         pose: 0.25007227    0.00497876 0.0819501   0 0.00287559  0.000288366 0.0280993   0.999601       uwb: 0.0            840.974  1029.33  
imu_odom_:  1691062967.286327241  1.20668    0.124498   9.92636    -0.0490022  -0.0181095  -0.427171   0.1        -0.44         pose: 0.0           0.00497876 0.0819501   0 0.00287559  0.000288366 0.0280993   0.999601       uwb: 0.49802425     841.081  1028.45  
imu_odom_:  1691062967.303445048  1.29766    -0.272939  9.6223     -0.0458064  -0.0138484  -0.370712   0.1        -0.44         pose: 0.31086378    0.0149241  0.0809062   0 0.00280187  -0.00335396 0.0199873   0.999791       uwb: 0.0            841.081  1028.45  
imu_odom_:  1691062967.319380214  0.955286   -0.387861  9.91678    -0.072438   -0.0138484  -0.295078   0.12       -0.44         pose: 0.40966893    0.0149241  0.0809062   0 0.00332524  -0.00745495 0.0107802   0.999909       uwb: 0.0            841.081  1028.45  
imu_odom_:  1691062967.336353070  1.08936    -0.395043  10.1993    -0.052198   0.00319579  -0.24288    0.12       -0.44         pose: 0.0           0.0149241  0.0809062   0 0.00332524  -0.00745495 0.0107802   0.999909       uwb: 0.50246317     841.288  1027.84  
imu_odom_:  1691062967.353328843  0.97444    -0.383072  9.86411    -0.0639159  -0.00213053 -0.2024     0.12       -0.44         pose: 0.0           0.0149241  0.0809062   0 0.00332524  -0.00745495 0.0107802   0.999909       uwb: 0.0            841.288  1027.84  
imu_odom_:  1691062967.369458832  0.40462    -0.253785  9.56962    -0.052198   0.0319579   -0.201335   0.06       -0.26         pose: 0.7001638     0.0149241  0.0809062   0 0.00292781  -0.00809373 0.00961273  0.999917       uwb: 0.0            841.288  1027.84  
imu_odom_:  1691062967.386336902  0.481235   -0.179565  9.90481    -0.0575243  -0.00852212 -0.201335   0.09       -0.32         pose: 0.0           0.0149241  0.0809062   0 0.00292781  -0.00809373 0.00961273  0.999917       uwb: 0.49986748     841.667  1028.2   
imu_odom_:  1691062967.403333674  0.684742   -0.0335188 9.73722    -0.0585895  -0.0191748  -0.18003    0.09       -0.32         pose: 0.66090780    0.0149241  0.0809062   0 0.000716222 -0.00933094 0.000899447 0.999956       uwb: 0.0            841.667  1028.2   
imu_odom_:  1691062967.419365960  1.1157     -0.349553  10.1035    -0.0639159  -0.0234358  -0.155529   0.05       -0.23         pose: 0.0           0.0149241  0.0809062   0 0.000716222 -0.00933094 0.000899447 0.999956       uwb: 0.0            841.667  1028.2   
imu_odom_:  1691062967.436337358  0.835576   -0.280122  9.84017    -0.0532632  0.00213053  -0.138484   0.05       -0.23         pose: 0.0           0.0149241  0.0809062   0 0.000716222 -0.00933094 0.000899447 0.999956       uwb: 0.50036913     841.406  1027.82  
imu_odom_:  1691062967.453320714  0.799663   -0.131681  10.0437    -0.0543285  0.00958738  -0.123571   0.05       -0.23         pose: 0.33829637    0.0248647  0.0798183   0 0.00201548  -0.0102539  -0.00284349 0.999941       uwb: 0.0            841.406  1027.82  
imu_odom_:  1691062967.469294087  0.464475   -0.203507  9.7444     -0.056459   0.00852212  -0.122505   0.05       -0.17         pose: 0.33963503    0.0248647  0.0798183   0 0.00132867  -0.0133515  -0.00587193 0.999893       uwb: 0.0            841.406  1027.82  
imu_odom_:  1691062967.486310107  0.59855    -0.0694318 10.1227    -0.0553937  -0.0266316  -0.136354   0.05       -0.17         pose: 0.0           0.0248647  0.0798183   0 0.00132867  -0.0133515  -0.00587193 0.999893       uwb: 0.50122073     841.356  1026.83  
imu_odom_:  1691062967.502311770  0.782904   -0.222661  9.7444     -0.0607201  -0.0181095  -0.124636   0.05       -0.17         pose: 0.0           0.0248647  0.0798183   0 0.00132867  -0.0133515  -0.00587193 0.999893       uwb: 0.0            841.356  1026.83  
imu_odom_:  1691062967.519312041  0.790087   -0.320823  10.0365    -0.056459   0.00852212  -0.100135   0.05       -0.2          pose: 0.48986098    0.0248647  0.0798183   0 0.00278467  -0.0125796  -0.00999074 0.999867       uwb: 0.0            841.356  1026.83  
imu_odom_:  1691062967.535458945  0.703895   -0.35913   9.84975    -0.056459   -0.00213053 -0.0798948  0.05       -0.2          pose: 0.0           0.0248647  0.0798183   0 0.00278467  -0.0125796  -0.00999074 0.999867       uwb: 0.49616645     841.123  1026.3   
imu_odom_:  1691062967.551447775  0.651223   -0.179565  9.85453    -0.0532632  0           -0.0703074  0.03       -0.11         pose: 0.17030312    0.0248647  0.0798183   0 0.00174529  -0.0138842  -0.0112738  0.999839       uwb: 0.0            841.123  1026.3   
imu_odom_:  1691062967.567446521  0.471658   -0.234632  9.7851     -0.0596548  -0.00106526 -0.0628506  0.03       -0.11         pose: 0.0           0.0248647  0.0798183   0 0.00174529  -0.0138842  -0.0112738  0.999839       uwb: 0.0            841.123  1026.3   
imu_odom_:  1691062967.584334216  0.617704   -0.241814  9.99579    -0.0532632  -0.00958738 -0.0660464  0.03       -0.11         pose: 0.0           0.0248647  0.0798183   0 0.00174529  -0.0138842  -0.0112738  0.999839       uwb: 0.50100784     841.021  1024.61  
imu_odom_:  1691062967.600309047  0.718261   -0.268151  9.88566    -0.0543285  -0.0149137  -0.052198   0.03       -0.08         pose: 0.32109485    0.0248647  0.0798183   0 -8.83588e-06-0.0140773  -0.0132222  0.999813       uwb: 0.0            841.021  1024.61  
imu_odom_:  1691062967.616377497  0.667982   -0.280122  9.89763    -0.056459   0           -0.0340885  0.02       -0.05         pose: 0.0           0.0248647  0.0798183   0 -8.83588e-06-0.0140773  -0.0132222  0.999813       uwb: 0.0            841.021  1024.61  
imu_odom_:  1691062967.633315356  0.622492   -0.272939  9.88326    -0.0553937  -0.00426106 -0.0191748  0.02       -0.05         pose: 0.64873142    0.0248647  0.0798183   0 -0.00227347 -0.0129499  -0.0163958  0.999779       uwb: 0.50151822     841.186  1024.59  
imu_odom_:  1691062967.649314977  0.565032   -0.186748  9.89284    -0.0575243  -0.00639159 -0.0138484  0.02       -0.05         pose: 0.0           0.0248647  0.0798183   0 -0.00227347 -0.0129499  -0.0163958  0.999779       uwb: 0.0            841.186  1024.59  
imu_odom_:  1691062967.665307015  0.636858   -0.203507  9.92397    -0.056459   -0.00745685 -0.00639159 0.01       -0.05         pose: 0.0           0.0248647  0.0798183   0 -0.00227347 -0.0129499  -0.0163958  0.999779       uwb: 0.0            841.186  1024.59  
imu_odom_:  1691062967.681307802  0.620098   -0.263362  9.87848    -0.056459   -0.00852212 0.00106526  0.01       -0.05         pose: 0.32992601    0.0248647  0.0798183   0 -0.00259657 -0.0111651  -0.0174033  0.999783       uwb: 0.49856672     840.925  1024.77  
imu_odom_:  1691062967.697368961  0.701501   -0.277727  9.87369    -0.0553937  -0.00532632 0.0117179   0          -0.02         pose: 0.40985558    0.0248647  0.0798183   0 -0.00207867 -0.0112118  -0.018324   0.999767       uwb: 0.0            840.925  1024.77  
imu_odom_:  1691062967.713355166  0.677559   -0.260968  9.84496    -0.056459   -0.00213053 0.0287621   0          -0.02         pose: 0.0           0.0248647  0.0798183   0 -0.00207867 -0.0112118  -0.018324   0.999767       uwb: 0.0            840.925  1024.77  
imu_odom_:  1691062967.729414867  0.593762   -0.229843  9.93115    -0.0543285  0.00213053  0.0394148   0          -0.02         pose: 0.0           0.0248647  0.0798183   0 -0.00207867 -0.0112118  -0.018324   0.999767       uwb: 0.0            840.925  1024.77  
imu_odom_:  1691062967.743357190  0.42138    -0.225055  9.84735    -0.0543285  0.00532632  0.0458064   0          0             pose: 0.7018263     0.0248647  0.0798183   0 -0.00231431 -0.0118775  -0.0184204  0.999757       uwb: 0.50007164     840.882  1024.49  
imu_odom_:  1691062967.758296955  0.387861   -0.229843  9.90481    -0.0543285  -0.00106526 0.0394148   0          0             pose: 0.0           0.0248647  0.0798183   0 -0.00231431 -0.0118775  -0.0184204  0.999757       uwb: 0.0            840.882  1024.49  
imu_odom_:  1691062967.772289733  0.349553   -0.203507  9.90242    -0.0553937  -0.00852212 0.036219    0          0             pose: 0.0           0.0248647  0.0798183   0 -0.00231431 -0.0118775  -0.0184204  0.999757       uwb: 0.0            840.882  1024.49  
imu_odom_:  1691062967.786304093  0.466869   -0.220267  9.87848    -0.0553937  -0.0106526  0.0383495   0          0             pose: 0.47041668    0.0348069  0.0787444   0 -0.00201257 -0.0121402  -0.0186215  0.999751       uwb: 0.49962541     840.625  1024.39  
imu_odom_:  1691062967.800295121  0.548272   -0.294487  9.84735    -0.0553937  -0.00639159 0.04048     0          0             pose: 0.0           0.0348069  0.0787444   0 -0.00201257 -0.0121402  -0.0186215  0.999751       uwb: 0.0            840.625  1024.39  
imu_odom_:  1691062967.814349146  0.52433    -0.248997  9.92157    -0.0553937  -0.00106526 0.04048     0          0             pose: 0.0           0.0348069  0.0787444   0 -0.00201257 -0.0121402  -0.0186215  0.999751       uwb: 0.0            840.625  1024.39  
imu_odom_:  1691062967.828348340  0.459687   -0.203507  9.88566    -0.0553937  0           0.04048     0          0             pose: 0.42988901    0.0348069  0.0787444   0 -0.00136595 -0.00788108 -0.0186246  0.999795       uwb: 0.0            840.625  1024.39  
imu_odom_:  1691062967.843334478  0.430956   -0.189142  9.89524    -0.056459   -0.00426106 0.0415453   0          0             pose: 0.0           0.0348069  0.0787444   0 -0.00136595 -0.00788108 -0.0186246  0.999795       uwb: 0.50012414     840.656  1023.96  
imu_odom_:  1691062967.857272134  0.442927   -0.203507  9.91439    -0.056459   -0.00745685 0.0383495   0          0             pose: 0.0           0.0348069  0.0787444   0 -0.00136595 -0.00788108 -0.0186246  0.999795       uwb: 0.0            840.656  1023.96  
imu_odom_:  1691062967.871272495  0.483629   -0.248997  9.89045    -0.0553937  -0.00639159 0.0372843   0          0             pose: 0.41975126    0.0348069  0.0787444   0 -0.00146809 -0.00556411 -0.0186087  0.99981        uwb: 0.0            840.656  1023.96  
imu_odom_:  1691062967.886331253  0.536301   -0.244209  9.90242    -0.0543285  -0.00532632 0.0394148   0          0             pose: 0.0           0.0348069  0.0787444   0 -0.00146809 -0.00556411 -0.0186087  0.99981        uwb: 0.49993748     840.609  1023.96  
imu_odom_:  1691062967.901300184  0.507571   -0.260968  9.88087    -0.0553937  -0.00213053 0.04048     0          0             pose: 0.0           0.0348069  0.0787444   0 -0.00146809 -0.00556411 -0.0186087  0.99981        uwb: 0.0            840.609  1023.96  
imu_odom_:  1691062967.915430329  0.464475   -0.189142  9.88566    -0.052198   -0.00213053 0.04048     0          0             pose: 0.42945737    0.0348069  0.0787444   0 -0.000101103-0.00276383 -0.0186113  0.999823       uwb: 0.0            840.609  1023.96  
imu_odom_:  1691062967.930431049  0.442927   -0.220267  9.89284    -0.0553937  -0.00639159 0.0394148   0          0             pose: 0.0           0.0348069  0.0787444   0 -0.000101103-0.00276383 -0.0186113  0.999823       uwb: 0.50077743     840.756  1023.66  
imu_odom_:  1691062967.945311026  0.493206   -0.246603  9.88805    -0.0543285  -0.00639159 0.0383495   0          0             pose: 0.0           0.0348069  0.0787444   0 -0.000101103-0.00276383 -0.0186113  0.999823       uwb: 0.0            840.756  1023.66  
imu_odom_:  1691062967.967296469  0.505177   -0.265756  9.88087    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.44053131    0.0348069  0.0787444   0 -0.00195034 -0.00498644 -0.0186063  0.999813       uwb: 0.0            840.756  1023.66  
imu_odom_:  1691062967.982377101  0.201113   -0.294487  9.86172    -0.0639159  0.0245011   0.0191748   0          0             pose: 0.0           0.0348069  0.0787444   0 -0.00195034 -0.00498644 -0.0186063  0.999813       uwb: 0.0            840.756  1023.66  
imu_odom_:  1691062967.996294050  -0.574608  -0.189142  9.88566    -0.04048    0.0894822   -0.0266316  0.01       0.02          pose: 0.43984594    0.0348069  0.0787444   0 -0.00208144 -0.00474583 -0.0186133  0.999813       uwb: 0.0            840.756  1023.66  
imu_odom_:  1691062968.12442121   -1.45567   0.0215478  9.94791    -0.0458064  0.0479369   0.0213053   0.03       0.02          pose: 0.0           0.0348069  0.0787444   0 -0.00208144 -0.00474583 -0.0186133  0.999813       uwb: 0.0            840.756  1023.66  
imu_odom_:  1691062968.28424826   -0.509965  -0.665588  10.1203    -0.0639159  -0.0852212  0.0713727   0.04       0.05          pose: 0.0           0.0348069  0.0787444   0 -0.00208144 -0.00474583 -0.0186133  0.999813       uwb: 0.0            840.756  1023.66  
imu_odom_:  1691062968.45442014   0.229843   -0.42138   9.58638    -0.052198   -0.0575243  0.0585895   0.04       0.05          pose: 0.68011586    0.0348069  0.0787444   0 -0.00317396 0.000484957 -0.0192501  0.99981        uwb: 0.99819797     840.934  1024.2   
imu_odom_:  1691062968.62322417   0.641646   -0.138864  10.24      -0.056459   -0.0127832  0.0692422   0.06       0.02          pose: 0.0           0.0348069  0.0787444   0 -0.00317396 0.000484957 -0.0192501  0.99981        uwb: 0.0            840.934  1024.2   
imu_odom_:  1691062968.79477847   -0.0335188 -0.047884  9.5792     -0.0468716  0.0245011   0.0447411   0.06       0.02          pose: 0.0           0.0348069  0.0787444   0 -0.00317396 0.000484957 -0.0192501  0.99981        uwb: 0.50041288     840.986  1023.91  
imu_odom_:  1691062968.95353517   -0.071826  -0.215478  10.0293    -0.0596548  0.0223706   0.0298274   0.06       0.02          pose: 0.34001127    0.0348069  0.0787444   0 -0.00425209 0.00109209  -0.0188205  0.999813       uwb: 0.0            840.986  1023.91  
imu_odom_:  1691062968.111480005  -0.1652    -0.35913   9.79947    -0.056459   -0.0117179  0.0511327   0.11       0.05          pose: 0.42025582    0.0348069  0.0787444   0 -0.00265732 0.00379827  -0.0187134  0.999814       uwb: 0.0            840.986  1023.91  
imu_odom_:  1691062968.128478527  0.332794   -0.47884   10.0317    -0.036219   -0.015979   0.052198    0.11       0.05          pose: 0.6962557     0.0348069  0.0787444   0 -0.00277519 0.00445935  -0.0186717  0.999812       uwb: 0.0            840.986  1023.91  
imu_odom_:  1691062968.145421344  0.155623   -0.225055  9.77313    -0.0500674  -0.0127832  0.0596548   0.11       0.05          pose: 0.0           0.0348069  0.0787444   0 -0.00277519 0.00445935  -0.0186717  0.999812       uwb: 0.49940084     841.028  1024.18  
imu_odom_:  1691062968.161421548  0.289698   -0.208296  9.92875    -0.0607201  0.00639159  0.0681769   0.1        0             pose: 0.43105270    0.0447371  0.0775655   0 -0.00361317 0.00640452  -0.0183389  0.999805       uwb: 0.0            841.028  1024.18  
imu_odom_:  1691062968.177365173  0.229843   -0.241814  9.80665    -0.052198   -0.0149137  0.0479369   0.13       0.02          pose: 0.0           0.0447371  0.0775655   0 -0.00361317 0.00640452  -0.0183389  0.999805       uwb: 0.0            841.028  1024.18  
imu_odom_:  1691062968.194415900  0.25618    -0.059855  9.83299    -0.0447411  -0.0287621  0.0319579   0.13       0.02          pose: 0.0           0.0447371  0.0775655   0 -0.00361317 0.00640452  -0.0183389  0.999805       uwb: 0.49978583     840.936  1024.06  
imu_odom_:  1691062968.211291929  0.244209   0.0550666  9.78031    -0.0479369  0.0106526   0.0596548   0.14       0             pose: 0.22970637    0.0447371  0.0775655   0 -0.00185622 0.00687411  -0.0180692  0.999811       uwb: 0.0            840.936  1024.06  
imu_odom_:  1691062968.228422860  0.37589    -0.627281  10.1993    -0.0479369  0.0106526   0.0607201   0.14       0             pose: 0.0           0.0447371  0.0775655   0 -0.00185622 0.00687411  -0.0180692  0.999811       uwb: 0.0            840.936  1024.06  
imu_odom_:  1691062968.244543224  0.603339   -0.318429  9.79468    -0.0458064  -0.0351537  0.0287621   0.14       0             pose: 0.33028474    0.0447371  0.0775655   0 0.000938556 0.00750632  -0.0180052  0.999809       uwb: 0.50129074     840.779  1023.65  
imu_odom_:  1691062968.262411737  1.10133    -0.222661  9.79707    -0.0575243  -0.0117179  0.0447411   0.1        0.02          pose: 0.43122769    0.054669   0.0764002   0 -6.90326e-050.0055281   -0.0178213  0.999826       uwb: 0.0            840.779  1023.65  
imu_odom_:  1691062968.278378985  1.39103    -0.148441  10.4244    -0.0607201  -0.0106526  0.0958738   0.1        0.02          pose: 0.7897296     0.054669   0.0764002   0 -9.66913e-050.00470908  -0.0178011  0.99983        uwb: 0.0            840.779  1023.65  
imu_odom_:  1691062968.294534056  1.43173    -0.304064  10.1155    -0.0511327  -0.0447411  0.127832    0.1        0.02          pose: 0.0           0.054669   0.0764002   0 -9.66913e-050.00470908  -0.0178011  0.99983        uwb: 0.49877088     840.963  1023.91  
imu_odom_:  1691062968.311468706  1.13485    -0.361524  9.23444    -0.0532632  -0.0127832  0.137419    0.07       0             pose: 0.42093536    0.054669   0.0764002   0 -0.0002251929.38464e-05 -0.0166139  0.999862       uwb: 0.0            840.963  1023.91  
imu_odom_:  1691062968.328392566  1.23062    -0.0957681 10.2927    -0.0319579  0.02024     0.0948085   0.09       -0.02         pose: 0.0           0.054669   0.0764002   0 -0.0002251929.38464e-05 -0.0166139  0.999862       uwb: 0.0            840.963  1023.91  
imu_odom_:  1691062968.344379354  0.845153   0.117316   10.1179    -0.0575243  0.00852212  0.0553937   0.09       -0.02         pose: 0.0           0.054669   0.0764002   0 -0.0002251929.38464e-05 -0.0166139  0.999862       uwb: 0.50003665     840.494  1023.84  
imu_odom_:  1691062968.361421040  0.816423   -0.110133  10.1873    -0.0575243  -0.00639159 0.0266316   0.07       0             pose: 0.23981203    0.054669   0.0764002   0 -0.000373427-0.00224758 -0.0155918  0.999876       uwb: 0.0            840.494  1023.84  
imu_odom_:  1691062968.377406662  0.696713   -0.3304    9.59117    -0.0639159  -0.02024    0           0.07       0             pose: 0.0           0.054669   0.0764002   0 -0.000373427-0.00224758 -0.0155918  0.999876       uwb: 0.0            840.494  1023.84  
imu_odom_:  1691062968.393283790  1.01035    -0.189142  9.93833    -0.0532632  -0.00426106 0.0106526   0.07       0             pose: 0.32820528    0.0646063  0.0752827   0 0.00106391  -0.00490553 -0.0152418  0.999871       uwb: 0.50110991     840.105  1023.33  
imu_odom_:  1691062968.410297186  0.766145   -0.301669  9.88087    -0.0596548  0.0149137   0.0255663   0.04       0.02          pose: 0.41948003    0.0646063  0.0752827   0 0.000279226 -0.00885813 -0.0158456  0.999835       uwb: 0.0            840.105  1023.33  
imu_odom_:  1691062968.427426659  0.629675   -0.146046  9.98861    -0.052198   0.00319579  0.00958738  0.04       0.02          pose: 0.8165905     0.0646063  0.0752827   0 -0.000114155-0.00950441 -0.0158993  0.999828       uwb: 0.0            840.105  1023.33  
imu_odom_:  1691062968.453277922  0.691924   -0.124498  9.91439    -0.056459   -0.00213053 0.00213053  0.03       0.02          pose: 0.25976964    0.0646063  0.0752827   0 0.00111126  -0.0107012  -0.0162308  0.99981        uwb: 0.50020289     839.918  1022.36  
imu_odom_:  1691062968.470265652  0.292093   -0.318429  9.95748    -0.0575243  0.0543285   0.0287621   0.04       0.05          pose: 0.0           0.0646063  0.0752827   0 0.00111126  -0.0107012  -0.0162308  0.99981        uwb: 0.0            839.918  1022.36  
imu_odom_:  1691062968.496252240  -1.50116   -0.308852  10.2424    -0.04048    0.0575243   0.0639159   0.05       0.02          pose: 0.42838993    0.0646063  0.0752827   0 0.00202955  -0.0106419  -0.0168162  0.9998         uwb: 0.49975374     839.935  1021.78  
imu_odom_:  1691062968.523321433  -0.237026  -0.0263362 9.77313    -0.0543285  -0.105461   0.0490022   0.09       0.02          pose: 0.0           0.0646063  0.0752827   0 0.00202955  -0.0106419  -0.0168162  0.9998         uwb: 0.0            839.935  1021.78  
imu_odom_:  1691062968.539277015  0.725443   -0.246603  9.85453    -0.052198   -0.0628506  0.0532632   0.09       0.02          pose: 0.0           0.0646063  0.0752827   0 0.00202955  -0.0106419  -0.0168162  0.9998         uwb: 0.0            839.935  1021.78  
imu_odom_:  1691062968.566330166  0.538695   -0.469264  9.96946    -0.0575243  0.0479369   0.0607201   0.12       0.02          pose: 0.69011363    0.0745417  0.0741474   0 0.00202234  -0.00790029 -0.0162698  0.999834       uwb: 0.0            839.935  1021.78  
imu_odom_:  1691062968.592314713  -0.464475  -0.0885855 10.2927    -0.0553937  -0.00532632 0.036219    0.12       0.02          pose: 0.8058869     0.0745417  0.0741474   0 0.001213    -0.00762436 -0.0161781  0.999839       uwb: 0.100029203    839.865  1021.08  
imu_odom_:  1691062968.619316534  0.442927   -0.45011   9.38527    -0.0681769  -0.0372843  0.0500674   0.15       0.02          pose: 0.44978829    0.0745417  0.0741474   0 -0.000302035-0.00441974 -0.0160068  0.999862       uwb: 0.0            839.865  1021.08  
imu_odom_:  1691062968.645449531  0.694318   -0.150835  9.84256    -0.0511327  0.02024     0.0511327   0.15       0.02          pose: 0.0           0.0745417  0.0741474   0 -0.000302035-0.00441974 -0.0160068  0.999862       uwb: 0.49839757     840.541  1021.28  
imu_odom_:  1691062968.672301444  -0.138864  -0.184354  9.81144    -0.0617853  0.0181095   0.0255663   0.17       0             pose: 0.35029776    0.0844782  0.0730226   0 -0.0027105  -0.00493243 -0.0158117  0.999859       uwb: 0.0            840.541  1021.28  
imu_odom_:  1691062968.688300190  0.0622492  0.220267   9.86172    -0.056459   0.00639159  0.0415453   0.17       0             pose: 0.0           0.0844782  0.0730226   0 -0.0027105  -0.00493243 -0.0158117  0.999859       uwb: 0.50060244     840.314  1021.73  
imu_odom_:  1691062968.715407297  0.773327   -0.459687  10.3525    -0.072438   0.0106526   0.0415453   0.13       0.02          pose: 0.52956911    0.0844782  0.0730226   0 -0.000942366-0.00274462 -0.0158964  0.999869       uwb: 0.0            840.314  1021.73  
imu_odom_:  1691062968.741240185  0.423774   -0.189142  9.75398    -0.0511327  0.0117179   0.0340885   0.13       -0.02         pose: 0.35105897    0.0944149  0.0718991   0 -0.00220251 -0.00413879 -0.0158608  0.999863       uwb: 0.49959042     840.139  1021.33  
imu_odom_:  1691062968.768225091  0.162806   -0.148441  9.69652    -0.0713727  -0.0127832  0.0703074   0.13       -0.02         pose: 0.7835466     0.0944149  0.0718991   0 -0.00159289 -0.00356225 -0.0158838  0.999866       uwb: 0.0            840.139  1021.33  
imu_odom_:  1691062968.794362170  0.457293   -0.323217  9.90721    -0.0639159  0.0191748   0.0351537   0.14       0             pose: 0.44982328    0.10149    0.0710993   0 0.000270737 0.000261185 -0.0155234  0.999879       uwb: 0.49989665     839.97   1020.22  
imu_odom_:  1691062968.810264089  0.21069    -0.222661  10.0676    -0.0703074  0.0479369   0.0319579   0.14       0             pose: 0.0           0.10149    0.0710993   0 0.000270737 0.000261185 -0.0155234  0.999879       uwb: 0.0            839.97   1020.22  
imu_odom_:  1691062968.836278967  0.517148   -0.586579  9.67736    -0.0745685  0.0426106   0.0575243   0.14       0             pose: 0.42038998    0.105468   0.0807154   0 -0.00199272 0.00137674  -0.0156398  0.999875       uwb: 0.50032247     839.953  1020.08  
imu_odom_:  1691062968.863248415  0.0502782  -0.220267  9.81144    -0.0511327  -0.02024    0.0479369   0.14       0             pose: 0.0           0.105468   0.0807154   0 -0.00199272 0.00137674  -0.0156398  0.999875       uwb: 0.0            839.953  1020.08  
imu_odom_:  1691062968.888263809  0.696713   -0.253785  10.5105    -0.0628506  0.00745685  0.0543285   0.15       0.02          pose: 0.52984326    0.115406   0.0795983   0 -0.00389038 0.00341352  -0.0152859  0.99987        uwb: 0.49954667     840.013  1019.79  
imu_odom_:  1691062968.915243173  0.581791   0.0311246  10.7284    -0.0447411  0.0127832   0.0255663   0.18       -0.02         pose: 0.0           0.115406   0.0795983   0 -0.00389038 0.00341352  -0.0152859  0.99987        uwb: 0.0            840.013  1019.79  
imu_odom_:  1691062968.932228279  0.399832   -0.294487  9.3733     -0.0671117  0           0.0671117   0.18       -0.02         pose: 0.32075946    0.115406   0.0795983   0 -0.00309147 0.000749395 -0.0151612  0.99988        uwb: 0.49986749     839.948  1019.65  
imu_odom_:  1691062968.959427256  0.483629   -0.112527  9.96946    -0.0458064  -0.0596548  0.0383495   0.23       0             pose: 0.36903918    0.125344   0.0784894   0 -0.00308389 0.000106415 -0.0150695  0.999882       uwb: 0.0            839.948  1019.65  
imu_odom_:  1691062968.984368279  0.56982    -0.059855  9.31823    -0.0607201  0.0671117   0.0447411   0.23       0             pose: 0.0           0.125344   0.0784894   0 -0.00308389 0.000106415 -0.0150695  0.999882       uwb: 0.50187987     839.888  1018.95  
imu_odom_:  1691062969.11244691   -0.823605  -0.248997  9.64863    -0.0479369  -0.00639159 0.0276969   0.2        0             pose: 0.7064344     0.125344   0.0784894   0 -0.00242586 -0.000416256-0.0150742  0.999883       uwb: 0.0            839.888  1018.95  
imu_odom_:  1691062969.37249361   0.232238   -0.146046  9.9503     -0.0617853  -0.0649811  0.0607201   0.2        0             pose: 0.0           0.125344   0.0784894   0 -0.00242586 -0.000416256-0.0150742  0.999883       uwb: 0.49955834     839.925  1018.24  
imu_odom_:  1691062969.64227851   0.497994   -0.0742203 9.97424    -0.0479369  -0.00958738 0.0255663   0.22       0             pose: 0.52078461    0.135283   0.0773822   0 0.00132581  -0.00191077 -0.0150707  0.999884       uwb: 0.0            839.925  1018.24  
imu_odom_:  1691062969.90302226   0.409408   -0.0742203 9.77792    -0.0649811  0.0340885   0.0617853   0.17       0             pose: 0.52867959    0.145221   0.076275    0 0.00236152  0.00120972  -0.0149679  0.999884       uwb: 0.49980624     839.974  1017.38  
imu_odom_:  1691062969.107273041  0.0047884  -0.560243  10.0556    -0.0458064  0.0426106   0.0340885   0.17       0             pose: 0.0           0.145221   0.076275    0 0.00236152  0.00120972  -0.0149679  0.999884       uwb: 0.0            839.974  1017.38  
imu_odom_:  1691062969.124275646  0.574608   0.035913   9.94551    -0.0138484  -0.0415453  0.0276969   0.17       0             pose: 0.0           0.145221   0.076275    0 0.00236152  0.00120972  -0.0149679  0.999884       uwb: 0.0            839.974  1017.38  
imu_odom_:  1691062969.141278543  0.579397   -0.502782  9.7875     -0.0617853  0.0149137   0.0585895   0.17       0             pose: 0.71042996    0.15516    0.0751691   0 0.00559071  0.000778642 -0.0149084  0.999873       uwb: 0.49975375     840.312  1016.5   
imu_odom_:  1691062969.157272039  0.428562   -0.366313  9.98143    -0.0436758  -0.0266316  0.0298274   0.17       0             pose: 0.0           0.15516    0.0751691   0 0.00559071  0.000778642 -0.0149084  0.999873       uwb: 0.0            840.312  1016.5   
imu_odom_:  1691062969.173269911  0.311246   0.0023942  9.67976    -0.0426106  -0.0383495  0.0447411   0.23       -0.02         pose: 0.0           0.15516    0.0751691   0 0.00559071  0.000778642 -0.0149084  0.999873       uwb: 0.0            840.312  1016.5   
imu_odom_:  1691062969.189215285  1.07978    -0.349553  10.094     -0.0671117  -0.0245011  0.072438    0.23       -0.02         pose: 0.41990000    0.165099   0.0740653   0 0.00317278  -0.000856229-0.0148693  0.999884       uwb: 0.49949710     840.486  1015.36  
imu_odom_:  1691062969.206325509  -0.0933739 -0.253785  9.44513    -0.0351537  0.0276969   0.0319579   0.23       -0.02         pose: 0.0           0.165099   0.0740653   0 0.00317278  -0.000856229-0.0148693  0.999884       uwb: 0.0            840.486  1015.36  
imu_odom_:  1691062969.222326588  0.232238   0.184354   10.3525    -0.0500674  -0.0276969  0.0447411   0.17       0             pose: 0.7007181     0.165099   0.0740653   0 0.00379895  -0.000587899-0.0148533  0.999882       uwb: 0.0            840.486  1015.36  
imu_odom_:  1691062969.239209909  0.378284   -0.397437  9.84735    -0.072438   -0.00852212 0.0628506   0.17       0             pose: 0.0           0.165099   0.0740653   0 0.00379895  -0.000587899-0.0148533  0.999882       uwb: 0.49904503     840.41   1014.8   
imu_odom_:  1691062969.256265886  0.37589    -0.260968  10.058     -0.0649811  -0.0117179  0.0298274   0.17       0             pose: 0.0           0.165099   0.0740653   0 0.00379895  -0.000587899-0.0148533  0.999882       uwb: 0.0            840.41   1014.8   
imu_odom_:  1691062969.270221916  0.430956   0.0023942  9.3733     -0.0596548  -0.0255663  0.0394148   0.17       0             pose: 0.50000165    0.175038   0.0729624   0 0.00454648  0.000308509 -0.0146155  0.999883       uwb: 0.0            840.41   1014.8   
imu_odom_:  1691062969.285325881  0.68953    -0.6608    9.91199    -0.0788296  0.00958738  0.0777643   0.16       0             pose: 0.0           0.175038   0.0729624   0 0.00454648  0.000308509 -0.0146155  0.999883       uwb: 0.50000165     840.454  1014.24  
imu_odom_:  1691062969.301265130  0.141258   -0.385466  9.76116    -0.0628506  -0.00958738 0.052198    0.16       0             pose: 0.0           0.175038   0.0729624   0 0.00454648  0.000308509 -0.0146155  0.999883       uwb: 0.0            840.454  1014.24  
imu_odom_:  1691062969.318265402  0.756568   0.0622492  10.2592    -0.0500674  -0.02024    0.036219    0.17       0             pose: 0.61992808    0.184977   0.0718644   0 0.00240256  6.44207e-05 -0.0143702  0.999894       uwb: 0.0            840.454  1014.24  
imu_odom_:  1691062969.334220109  0.723049   -0.387861  9.61511    -0.0820254  0.0628506   0.052198    0.17       0             pose: 0.0           0.184977   0.0718644   0 0.00240256  6.44207e-05 -0.0143702  0.999894       uwb: 0.50109243     840.216  1013.14  
imu_odom_:  1691062969.351343749  0          -0.361524  9.67018    -0.0660464  -0.00745685 0.0394148   0.17       0             pose: 0.33000185    0.194918   0.0707738   0 0.000987358 0.000211561 -0.0141101  0.9999         uwb: 0.0            840.216  1013.14  
imu_odom_:  1691062969.368217153  0.663194   0.011971   10.1754    -0.0426106  -0.0820254  0.0245011   0.23       0             pose: 0.42071371    0.194918   0.0707738   0 -0.0002260530.000208138 -0.014022   0.999902       uwb: 0.0            840.216  1013.14  
imu_odom_:  1691062969.384287937  1.17555    -0.399832  9.0022     -0.0575243  -0.0138484  0.0585895   0.23       0             pose: 0.7008638     0.194918   0.0707738   0 0.000269698 -0.000599751-0.0140748  0.999901       uwb: 0.50080368     840.699  1011.98  
imu_odom_:  1691062969.401259919  0.773327   -0.416591  10.0221    -0.0543285  0.00639159  0.103331    0.23       0             pose: 0.0           0.194918   0.0707738   0 0.000269698 -0.000599751-0.0140748  0.999901       uwb: 0.0            840.699  1011.98  
imu_odom_:  1691062969.417292788  1.64003    -0.287304  10.0509    -0.0426106  -0.0532632  0.0681769   0.13       0             pose: 0.42907532    0.204858   0.0696865   0 -0.000482829-0.00464643 -0.013449   0.999899       uwb: 0.0            840.699  1011.98  
imu_odom_:  1691062969.434356056  1.50835    -0.0814029 10.1442    -0.0490022  -0.0213053  0.0149137   0.17       -0.05         pose: 0.0           0.204858   0.0696865   0 -0.000482829-0.00464643 -0.013449   0.999899       uwb: 0.49883797     840.993  1012.38  
imu_odom_:  1691062969.452405685  1.67355    -0.253785  10.0844    -0.0553937  0.02024     -0.0117179  0.17       -0.05         pose: 0.0           0.204858   0.0696865   0 -0.000482829-0.00464643 -0.013449   0.999899       uwb: 0.0            840.993  1012.38  
imu_odom_:  1691062969.466245055  1.06781    -0.282516  9.94791    -0.072438   0.0117179   0.015979    0.1        0             pose: 0.23156126    0.204858   0.0696865   0 -0.000382706-0.00740981 -0.0133079  0.999884       uwb: 0.0            840.993  1012.38  
imu_odom_:  1691062969.482359586  1.03669    -0.229843  10.003     -0.0617853  0.0330232   0.0436758   0.1        0             pose: 0.0           0.204858   0.0696865   0 -0.000382706-0.00740981 -0.0133079  0.999884       uwb: 0.50133449     840.771  1011.97  
imu_odom_:  1691062969.498229715  0.794875   -0.301669  9.69652    -0.0479369  -0.00426106 0.076699    0.1        0             pose: 0.0           0.204858   0.0696865   0 -0.000382706-0.00740981 -0.0133079  0.999884       uwb: 0.0            840.771  1011.97  
imu_odom_:  1691062969.514379536  0.438139   -0.323217  9.82102    -0.0585895  0.0447411   0.0798948   0.08       0             pose: 0.73813670    0.214801   0.0686144   0 -0.0014074  -0.0140336  -0.0137205  0.999806       uwb: 0.0            840.771  1011.97  
imu_odom_:  1691062969.533369152  0.21069    -0.150835  10.2783    -0.0447411  0.0191748   0.00958738  0.08       0             pose: 0.0           0.214801   0.0686144   0 -0.0014074  -0.0140336  -0.0137205  0.999806       uwb: 0.50016789     840.634  1010.73  
imu_odom_:  1691062969.550214557  0.471658   -0.0837971 9.96467    -0.0607201  -0.0468716  -0.00319579 0.08       0             pose: 0.0           0.214801   0.0686144   0 -0.0014074  -0.0140336  -0.0137205  0.999806       uwb: 0.0            840.634  1010.73  
imu_odom_:  1691062969.566336963  0.679953   -0.172383  9.71328    -0.0639159  -0.00639159 0.0170442   0.06       0.02          pose: 0.7046553     0.214801   0.0686144   0 -0.00164648 -0.0131942  -0.0135749  0.999819       uwb: 0.0            840.634  1010.73  
imu_odom_:  1691062969.583350359  0.869095   -0.471658  10.1849    -0.0649811  -0.0223706  0.04048     0.09       0.02          pose: 0.0           0.214801   0.0686144   0 -0.00164648 -0.0131942  -0.0135749  0.999819       uwb: 0.49910337     840.797  1010.3   
imu_odom_:  1691062969.600351798  0.948104   -0.325611  9.85932    -0.0479369  -0.00213053 0.0383495   0.09       0.02          pose: 0.68024128    0.225827   0.0774784   0 -0.000135682-0.0113742  -0.0142242  0.999834       uwb: 0.0            840.797  1010.3   
imu_odom_:  1691062969.615328020  0.770933   -0.208296  9.91199    -0.0532632  0.0106526   0.0458064   0.06       0             pose: 0.0           0.225827   0.0774784   0 -0.000135682-0.0113742  -0.0142242  0.999834       uwb: 0.0            840.797  1010.3   
imu_odom_:  1691062969.631322099  0.502782   -0.1652    9.69891    -0.0543285  0.0138484   0.0426106   0.06       0             pose: 0.0           0.225827   0.0774784   0 -0.000135682-0.0113742  -0.0142242  0.999834       uwb: 0.49747013     840.618  1008.91  
imu_odom_:  1691062969.646323695  0.562637   -0.248997  10.1299    -0.0490022  0.0170442   0.0138484   0.06       0             pose: 0.33922673    0.225827   0.0774784   0 -0.00120221 -0.0143451  -0.0141982  0.999796       uwb: 0.0            840.618  1008.91  
imu_odom_:  1691062969.662264986  0.474052   -0.131681  9.94073    -0.0617853  -0.00426106 0.0447411   0.04       0             pose: 0.39100626    0.225827   0.0774784   0 -0.000745869-0.0117977  -0.0143467  0.999827       uwb: 0.0            840.618  1008.91  
imu_odom_:  1691062969.679315713  0.531513   -0.442927  9.78989    -0.0639159  0.0138484   0.0873517   0.04       0             pose: 0.7118590     0.225827   0.0774784   0 -0.000400472-0.0111881  -0.0143326  0.999835       uwb: 0.50201403     840.951  1007.5   
imu_odom_:  1691062969.696312485  0.562637   -0.371101  9.93115    -0.052198   -0.00319579 0.0862864   0.04       0             pose: 0.0           0.225827   0.0774784   0 -0.000400472-0.0111881  -0.0143326  0.999835       uwb: 0.0            840.951  1007.5   
imu_odom_:  1691062969.711191879  0.4956     -0.0622492 9.81862    -0.0500674  0.00106526  0.0958738   0.04       0.08          pose: 0.42870200    0.225827   0.0774784   0 -0.00328345 -0.00928862 -0.013478   0.999861       uwb: 0.0            840.951  1007.5   
imu_odom_:  1691062969.727186542  0.591368   -0.232238  9.94312    -0.0617853  -0.00426106 0.110787    0.03       0.08          pose: 0.0           0.225827   0.0774784   0 -0.00328345 -0.00928862 -0.013478   0.999861       uwb: 0.0            840.951  1007.5   
imu_odom_:  1691062969.744246019  0.677559   -0.320823  9.93354    -0.0468716  -0.00639159 0.0990696   0.03       0.08          pose: 0.0           0.225827   0.0774784   0 -0.00328345 -0.00928862 -0.013478   0.999861       uwb: 0.49921711     840.903  1007.51  
imu_odom_:  1691062969.761301121  0.612916   -0.301669  9.91918    -0.052198   0.00745685  0.0980043   0.03       0.05          pose: 0.21885116    0.235767   0.0763843   0 -0.00140153 -0.00919879 -0.0128261  0.999874       uwb: 0.0            840.903  1007.51  
imu_odom_:  1691062969.776178182  0.526724   -0.189142  9.89763    -0.0543285  0.00213053  0.113983    0.03       0.05          pose: 0.0           0.235767   0.0763843   0 -0.00140153 -0.00919879 -0.0128261  0.999874       uwb: 0.0            840.903  1007.51  
imu_odom_:  1691062969.792229134  0.497994   -0.265756  9.8689     -0.0596548  -0.00426106 0.122505    0.03       0.05          pose: 0.0           0.235767   0.0763843   0 -0.00140153 -0.00919879 -0.0128261  0.999874       uwb: 0.49986166     841.094  1007.5   
imu_odom_:  1691062969.808177716  0.629675   -0.292093  9.9527     -0.0575243  -0.015979   0.117179    0.02       0.08          pose: 0.74031533    0.235767   0.0763843   0 -0.00265646 -0.00801527 -0.0102613  0.999912       uwb: 0.0            841.094  1007.5   
imu_odom_:  1691062969.825318855  0.663194   -0.220267  9.83777    -0.0490022  -0.00532632 0.107592    0.02       0.08          pose: 0.7068135     0.235767   0.0763843   0 -0.00293209 -0.00871163 -0.00998656 0.999908       uwb: 0.0            841.094  1007.5   
imu_odom_:  1691062969.841246439  0.565032   -0.248997  9.94551    -0.0532632  0.00319579  0.117179    0.02       0.08          pose: 0.0           0.235767   0.0763843   0 -0.00293209 -0.00871163 -0.00998656 0.999908       uwb: 0.50160281     841.087  1006.8   
imu_odom_:  1691062969.857330346  0.529119   -0.320823  9.91678    -0.056459   0.00213053  0.126766    0.02       0.08          pose: 0.41949170    0.235767   0.0763843   0 -0.00197111 -0.00932207 -0.00845335 0.999919       uwb: 0.0            841.087  1006.8   
imu_odom_:  1691062969.874391865  0.586579   -0.28491   9.89524    -0.0532632  -0.00426106 0.12144     0.01       0.05          pose: 0.0           0.235767   0.0763843   0 -0.00197111 -0.00932207 -0.00845335 0.999919       uwb: 0.0            841.087  1006.8   
imu_odom_:  1691062969.891211314  0.536301   -0.158017  9.89524    -0.0543285  -0.00532632 0.122505    0.01       0.05          pose: 0.0           0.235767   0.0763843   0 -0.00197111 -0.00932207 -0.00845335 0.999919       uwb: 0.49824592     841.201  1006.1   
imu_odom_:  1691062969.909188030  0.653617   -0.21069   9.90481    -0.0607201  -0.00319579 0.123571    0          0.05          pose: 0.24099030    0.235767   0.0763842   0 -0.0035115  -0.0089771  -0.00741073 0.999926       uwb: 0.0            841.201  1006.1   
imu_odom_:  1691062969.924299285  0.584185   -0.351948  9.8689     -0.056459   0.00426106  0.109722    0          0.05          pose: 0.0           0.235767   0.0763842   0 -0.0035115  -0.0089771  -0.00741073 0.999926       uwb: 0.0            841.201  1006.1   
imu_odom_:  1691062969.941304224  0.416591   -0.225055  9.92636    -0.0532632  0.00852212  0.0990696   0          0.05          pose: 0.33869301    0.235767   0.0763842   0 -0.00188414 -0.00979866 -0.00602503 0.999932       uwb: 0.49996957     841.181  1005.55  
imu_odom_:  1691062969.957189226  0.392649   -0.205901  9.90721    -0.056459   -0.00639159 0.0948085   0          0.02          pose: 0.42089454    0.235767   0.0763842   0 -0.00243222 -0.00844305 -0.00456136 0.999951       uwb: 0.0            841.181  1005.55  
imu_odom_:  1691062969.974187748  0.493206   -0.215478  9.84496    -0.0543285  -0.00852212 0.0692422   0          0.02          pose: 0.6882645     0.235767   0.0763842   0 -0.00222726 -0.00779432 -0.00437153 0.999958       uwb: 0.0            841.181  1005.55  
imu_odom_:  1691062969.989165137  0.526724   -0.169988  9.87129    -0.052198   -0.00106526 0.0479369   0          0.02          pose: 0.0           0.235767   0.0763842   0 -0.00222726 -0.00779432 -0.00437153 0.999958       uwb: 0.49986457     841.44   1004.71  
imu_odom_:  1691062970.4283684    0.476446   -0.248997  9.9096     -0.0585895  -0.00319579 0.0383495   0          0             pose: 0.40978268    0.235767   0.0763842   0 0.000612011 -0.00595834 -0.00382181 0.999975       uwb: 0.0            841.44   1004.71  
imu_odom_:  1691062970.19222574   0.438139   -0.270545  9.84735    -0.0575243  0.00213053  0.0319579   0          0             pose: 0.0           0.235767   0.0763842   0 0.000612011 -0.00595834 -0.00382181 0.999975       uwb: 0.0            841.44   1004.71  
imu_odom_:  1691062970.33288848   0.318429   -0.296881  9.87848    -0.0543285  0           0.036219    0          0             pose: 0.0           0.235767   0.0763842   0 0.000612011 -0.00595834 -0.00382181 0.999975       uwb: 0.49940377     841.156  1003.88  
imu_odom_:  1691062970.48149577   0.347159   -0.282516  9.90721    -0.0553937  -0.00958738 0.0447411   0          0             pose: 0.21012208    0.235767   0.0763842   0 -0.000879092-0.00442998 -0.00384584 0.999982       uwb: 0.0            841.156  1003.88  
imu_odom_:  1691062970.63306330   0.426168   -0.234632  9.88805    -0.0532632  -0.00852212 0.0415453   0          0             pose: 0.0           0.235767   0.0763842   0 -0.000879092-0.00442998 -0.00384584 0.999982       uwb: 0.0            841.156  1003.88  
imu_odom_:  1691062970.77330315   0.462081   -0.196325  9.86411    -0.0532632  -0.00426106 0.0372843   0          0             pose: 0.0           0.235767   0.0763842   0 -0.000879092-0.00442998 -0.00384584 0.999982       uwb: 0.0            841.156  1003.88  
imu_odom_:  1691062970.92258414   0.416591   -0.232238  9.87608    -0.0553937  -0.00319579 0.0394148   0          0             pose: 0.29105784    0.235767   0.0763842   0 -0.00205839 -0.00175884 -0.00388043 0.999989       uwb: 0.49971292     841.197  1003.6   
imu_odom_:  1691062970.107307257  0.361524   -0.270545  9.86411    -0.0553937  -0.00106526 0.036219    0          0             pose: 0.43930639    0.235767   0.0763842   0 -0.000152698-0.00176474 -0.00386031 0.999991       uwb: 0.0            841.197  1003.6   
imu_odom_:  1691062970.122242065  0.351948   -0.296881  9.87848    -0.056459   -0.00745685 0.04048     0          0             pose: 0.0           0.235767   0.0763842   0 -0.000152698-0.00176474 -0.00386031 0.999991       uwb: 0.0            841.197  1003.6   
imu_odom_:  1691062970.137231702  0.40462    -0.28491   9.88326    -0.0553937  -0.00745685 0.0415453   0          0             pose: 0.0           0.235767   0.0763842   0 -0.000152698-0.00176474 -0.00386031 0.999991       uwb: 0.50106035     840.836  1003.47  
imu_odom_:  1691062970.151193858  0.457293   -0.25618   9.90002    -0.0543285  -0.00532632 0.0394148   0          0             pose: 0.44977663    0.235767   0.0763842   0 -0.00300464 0.000729253 -0.00387145 0.999988       uwb: 0.0            840.836  1003.47  
imu_odom_:  1691062970.166205077  0.423774   -0.234632  9.92875    -0.0543285  -0.00106526 0.0394148   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00300464 0.000729253 -0.00387145 0.999988       uwb: 0.0            840.836  1003.47  
imu_odom_:  1691062970.180171607  0.366313   -0.246603  9.85453    -0.056459   -0.00213053 0.0383495   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00300464 0.000729253 -0.00387145 0.999988       uwb: 0.50259442     840.538  1002.92  
imu_odom_:  1691062970.195431021  0.354342   -0.277727  9.90721    -0.0532632  -0.00532632 0.0394148   0          0             pose: 0.44147044    0.235767   0.0763842   0 -0.00145171 -0.000449704-0.00387624 0.999991       uwb: 0.0            840.538  1002.92  
imu_odom_:  1691062970.210377786  0.411803   -0.227449  9.86172    -0.0553937  -0.00319579 0.0394148   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00145171 -0.000449704-0.00387624 0.999991       uwb: 0.0            840.538  1002.92  
imu_odom_:  1691062970.224195866  0.402226   -0.244209  9.89045    -0.056459   -0.00958738 0.04048     0          0             pose: 0.0           0.235767   0.0763842   0 -0.00145171 -0.000449704-0.00387624 0.999991       uwb: 0.0            840.538  1002.92  
imu_odom_:  1691062970.239215544  0.447716   -0.258574  9.87129    -0.0553937  -0.00213053 0.0383495   0          0             pose: 0.44040591    0.235767   0.0763842   0 -0.00155756 -0.000174202-0.00388029 0.999991       uwb: 0.49866590     840.87   1002.78  
imu_odom_:  1691062970.254302885  0.409408   -0.270545  9.89284    -0.0543285  -0.00106526 0.04048     0          0             pose: 0.0           0.235767   0.0763842   0 -0.00155756 -0.000174202-0.00388029 0.999991       uwb: 0.0            840.87   1002.78  
imu_odom_:  1691062970.269181112  0.37589    -0.251391  9.87608    -0.0532632  -0.00319579 0.04048     0          0             pose: 0.0           0.235767   0.0763842   0 -0.00155756 -0.000174202-0.00388029 0.999991       uwb: 0.0            840.87   1002.78  
imu_odom_:  1691062970.283195764  0.366313   -0.251391  9.92397    -0.0543285  -0.00532632 0.04048     0          0             pose: 0.43929765    0.235767   0.0763842   0 -0.00248402 -0.000285365-0.00387389 0.999989       uwb: 0.49903920     840.718  1002.22  
imu_odom_:  1691062970.298295062  0.445322   -0.246603  9.88326    -0.0553937  -0.00639159 0.0394148   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00248402 -0.000285365-0.00387389 0.999989       uwb: 0.0            840.718  1002.22  
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imu_odom_:  1691062970.342302114  0.378284   -0.265756  9.89045    -0.0543285  -0.00319579 0.0394148   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00177615 0.000388004 -0.00386233 0.999991       uwb: 0.49969543     840.666  1001.95  
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imu_odom_:  1691062970.445320146  0.402226   -0.251391  9.91199    -0.0553937  -0.00319579 0.0394148   0          0             pose: 0.81821793    0.235767   0.0763842   0 -0.00260657 9.81132e-05 -0.00386035 0.999989       uwb: 0.0            840.321  1000     
imu_odom_:  1691062970.459280843  0.40462    -0.25618   9.89045    -0.0543285  -0.00532632 0.04048     0          0             pose: 0.6067484     0.235767   0.0763842   0 -0.00200056 6.39925e-05 -0.0038609  0.999991       uwb: 0.0            840.321  1000     
imu_odom_:  1691062970.474278064  0.411803   -0.244209  9.92397    -0.0553937  -0.00426106 0.0415453   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00200056 6.39925e-05 -0.0038609  0.999991       uwb: 0.0            840.321  1000     
imu_odom_:  1691062970.489160666  0.407014   -0.234632  9.93115    -0.0532632  -0.00426106 0.0394148   0          0             pose: 0.38083643    0.235767   0.0763842   0 -0.00105648 -0.000593571-0.00384221 0.999992       uwb: 0.49962834     840.608  999.443  
imu_odom_:  1691062970.504206592  0.414197   -0.227449  9.91199    -0.0543285  -0.00426106 0.0394148   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00105648 -0.000593571-0.00384221 0.999992       uwb: 0.0            840.608  999.443  
imu_odom_:  1691062970.519171731  0.40462    -0.227449  9.91439    -0.056459   -0.00639159 0.0394148   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00105648 -0.000593571-0.00384221 0.999992       uwb: 0.0            840.608  999.443  
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imu_odom_:  1691062970.577194602  0.397437   -0.253785  9.92397    -0.056459   -0.00532632 0.0394148   0          0             pose: 0.44116421    0.235767   0.0763842   0 -0.00179472 6.08814e-05 -0.00384169 0.999991       uwb: 0.0            840.822  999.722  
imu_odom_:  1691062970.592190364  0.373495   -0.244209  9.81862    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00179472 6.08814e-05 -0.00384169 0.999991       uwb: 0.49983250     840.584  1000.55  
imu_odom_:  1691062970.607128380  0.392649   -0.220267  9.89045    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00179472 6.08814e-05 -0.00384169 0.999991       uwb: 0.0            840.584  1000.55  
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imu_odom_:  1691062970.637200400  0.395043   -0.225055  9.92875    -0.056459   -0.00319579 0.0383495   0          0             pose: 0.0           0.235767   0.0763842   0 -0.0002683010.000508315 -0.00384027 0.999992       uwb: 0.50014456     840.655  1000.42  
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imu_odom_:  1691062970.666195649  0.402226   -0.244209  9.88326    -0.0532632  -0.00532632 0.04048     0          0             pose: 0.45121738    0.235767   0.0763842   0 -0.00180672 0.000399955 -0.0038448  0.999991       uwb: 0.0            840.655  1000.42  
imu_odom_:  1691062970.681182078  0.397437   -0.248997  9.92157    -0.0553937  -0.00745685 0.0415453   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00180672 0.000399955 -0.0038448  0.999991       uwb: 0.50110409     840.774  1000.42  
imu_odom_:  1691062970.696242004  0.430956   -0.232238  9.87848    -0.0553937  -0.00426106 0.0383495   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00180672 0.000399955 -0.0038448  0.999991       uwb: 0.0            840.774  1000.42  
imu_odom_:  1691062970.710173827  0.397437   -0.237026  9.89284    -0.0553937  -0.00426106 0.04048     0          0             pose: 0.43991886    0.235767   0.0763842   0 -0.0011797  -0.000910178-0.00383516 0.999992       uwb: 0.0            840.774  1000.42  
imu_odom_:  1691062970.725269042  0.40462    -0.260968  9.89524    -0.0553937  -0.00532632 0.0383495   0          0             pose: 0.5944408     0.235767   0.0763842   0 -0.00116298 -0.000315846-0.0038318  0.999992       uwb: 0.0            840.774  1000.42  
imu_odom_:  1691062970.740283179  0.390255   -0.227449  9.91918    -0.056459   -0.00426106 0.04048     0          0             pose: 0.0           0.235767   0.0763842   0 -0.00116298 -0.000315846-0.0038318  0.999992       uwb: 0.49853174     841.186  998.613  
imu_odom_:  1691062970.754189629  0.411803   -0.260968  9.88326    -0.056459   -0.00532632 0.04048     0          0             pose: 0.13929782    0.235767   0.0763842   0 -0.00168355 0.00023684  -0.00383148 0.999991       uwb: 0.0            841.186  998.613  
imu_odom_:  1691062970.769241388  0.390255   -0.258574  9.84735    -0.0543285  -0.00532632 0.0394148   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00168355 0.00023684  -0.00383148 0.999991       uwb: 0.0            841.186  998.613  
imu_odom_:  1691062970.784119032  0.392649   -0.234632  9.88566    -0.0553937  -0.00319579 0.0394148   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00168355 0.00023684  -0.00383148 0.999991       uwb: 0.50182738     841.335  998.06   
imu_odom_:  1691062970.798115602  0.37589    -0.265756  9.89045    -0.0553937  -0.00426106 0.04048     0          0             pose: 0.30164765    0.235767   0.0763842   0 -0.00163651 9.66337e-05 -0.00382781 0.999991       uwb: 0.0            841.335  998.06   
imu_odom_:  1691062970.813176402  0.397437   -0.251391  9.8689     -0.0543285  -0.00426106 0.04048     0          0             pose: 0.0           0.235767   0.0763842   0 -0.00163651 9.66337e-05 -0.00382781 0.999991       uwb: 0.0            841.335  998.06   
imu_odom_:  1691062970.828232536  0.409408   -0.260968  9.86411    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00163651 9.66337e-05 -0.00382781 0.999991       uwb: 0.0            841.335  998.06   
imu_odom_:  1691062970.842174276  0.407014   -0.225055  9.90242    -0.0553937  -0.00319579 0.04048     0          0             pose: 0.57907960    0.235767   0.0763842   0 -0.0019587  0.000562823 -0.00381609 0.999991       uwb: 0.50148615     841.295  997.505  
imu_odom_:  1691062970.857108500  0.411803   -0.268151  9.88805    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.0           0.235767   0.0763842   0 -0.0019587  0.000562823 -0.00381609 0.999991       uwb: 0.0            841.295  997.505  
imu_odom_:  1691062970.872100179  0.40462    -0.237026  9.87848    -0.0543285  -0.00532632 0.0394148   0          0             pose: 0.0           0.235767   0.0763842   0 -0.0019587  0.000562823 -0.00381609 0.999991       uwb: 0.0            841.295  997.505  
imu_odom_:  1691062970.886146329  0.402226   -0.251391  9.91199    -0.0543285  -0.00532632 0.0394148   0          0             pose: 0.29942528    0.235767   0.0763842   0 -0.00261976 -0.000301828-0.00381189 0.999989       uwb: 0.49933961     841.534  997.508  
imu_odom_:  1691062970.901261668  0.399832   -0.248997  9.91439    -0.056459   -0.00532632 0.0394148   0          0             pose: 0.43975553    0.235767   0.0763842   0 -0.00195027 0.000354449 -0.00381016 0.999991       uwb: 0.0            841.534  997.508  
imu_odom_:  1691062970.916263264  0.397437   -0.272939  9.90721    -0.0553937  -0.00532632 0.04048     0          0             pose: 0.0           0.235767   0.0763842   0 -0.00195027 0.000354449 -0.00381016 0.999991       uwb: 0.0            841.534  997.508  
imu_odom_:  1691062970.931142366  0.378284   -0.23942   9.84496    -0.0543285  -0.00532632 0.0383495   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00195027 0.000354449 -0.00381016 0.999991       uwb: 0.49927545     841.247  997.504  
imu_odom_:  1691062970.946257413  0.423774   -0.227449  9.87608    -0.0543285  -0.00426106 0.0415453   0          0             pose: 0.44161335    0.235767   0.0763842   0 -0.00244546 0.000589116 -0.00380752 0.99999        uwb: 0.0            841.247  997.504  
imu_odom_:  1691062970.960253983  0.392649   -0.234632  9.88805    -0.056459   -0.00532632 0.04048     0          0             pose: 0.0           0.235767   0.0763842   0 -0.00244546 0.000589116 -0.00380752 0.99999        uwb: 0.0            841.247  997.504  
imu_odom_:  1691062970.975306325  0.390255   -0.237026  9.86411    -0.0553937  -0.00426106 0.04048     0          0             pose: 0.0           0.235767   0.0763842   0 -0.00244546 0.000589116 -0.00380752 0.99999        uwb: 0.0            841.247  997.504  
imu_odom_:  1691062970.990126515  0.416591   -0.251391  9.90721    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.15072174    0.235767   0.0763842   0 -0.0014009  0.000474328 -0.003806   0.999992       uwb: 0.49923461     841.066  996.946  
imu_odom_:  1691062971.5266352    0.392649   -0.237026  9.9096     -0.0543285  -0.00532632 0.04048     0          0             pose: 0.0           0.235767   0.0763842   0 -0.0014009  0.000474328 -0.003806   0.999992       uwb: 0.0            841.066  996.946  
imu_odom_:  1691062971.20330069   0.402226   -0.253785  9.88566    -0.0543285  -0.00319579 0.0383495   0          0             pose: 0.28917670    0.235767   0.0763842   0 -0.00119599 0.000484814 -0.00378854 0.999992       uwb: 0.0            841.066  996.946  
imu_odom_:  1691062971.35386203   0.373495   -0.241814  9.87129    -0.0532632  -0.00426106 0.04048     0          0             pose: 0.0           0.235767   0.0763842   0 -0.00119599 0.000484814 -0.00378854 0.999992       uwb: 0.50149782     841.104  997.503  
imu_odom_:  1691062971.50365050   0.40462    -0.241814  9.88805    -0.0543285  -0.00639159 0.0383495   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00119599 0.000484814 -0.00378854 0.999992       uwb: 0.0            841.104  997.503  
imu_odom_:  1691062971.64382035   0.392649   -0.244209  9.87129    -0.0553937  -0.00319579 0.0383495   0          0             pose: 0.45036576    0.235767   0.0763842   0 -0.0022302  0.000138776 -0.00378217 0.99999        uwb: 0.0            841.104  997.503  
imu_odom_:  1691062971.79386256   0.409408   -0.25618   9.92157    -0.0543285  -0.00532632 0.04048     0          0             pose: 0.0           0.235767   0.0763842   0 -0.0022302  0.000138776 -0.00378217 0.99999        uwb: 0.50007165     841.095  996.669  
imu_odom_:  1691062971.94257775   0.380678   -0.234632  9.93354    -0.056459   -0.00532632 0.04048     0          0             pose: 0.0           0.235767   0.0763842   0 -0.0022302  0.000138776 -0.00378217 0.99999        uwb: 0.0            841.095  996.669  
imu_odom_:  1691062971.108139435  0.418985   -0.234632  9.90721    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.45094032    0.235767   0.0763842   0 -0.00148258 0.000396663 -0.00379148 0.999992       uwb: 0.0            841.095  996.669  
imu_odom_:  1691062971.123263232  0.407014   -0.260968  9.85453    -0.056459   -0.00426106 0.0383495   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00148258 0.000396663 -0.00379148 0.999992       uwb: 0.0            841.095  996.669  
imu_odom_:  1691062971.138262203  0.40462    -0.248997  9.87608    -0.0543285  -0.00426106 0.0394148   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00148258 0.000396663 -0.00379148 0.999992       uwb: 0.49839759     841.084  996.113  
imu_odom_:  1691062971.152222608  0.383072   -0.268151  9.91199    -0.0553937  -0.00532632 0.04048     0          0             pose: 0.43860935    0.235767   0.0763842   0 -0.0011369  0.000318162 -0.00378368 0.999992       uwb: 0.0            841.084  996.113  
imu_odom_:  1691062971.167164998  0.40462    -0.237026  9.89763    -0.0553937  -0.00426106 0.04048     0          0             pose: 0.0           0.235767   0.0763842   0 -0.0011369  0.000318162 -0.00378368 0.999992       uwb: 0.0            841.084  996.113  
imu_odom_:  1691062971.182121388  0.392649   -0.246603  9.9096     -0.0543285  -0.00532632 0.0394148   0          0             pose: 0.0           0.235767   0.0763842   0 -0.0011369  0.000318162 -0.00378368 0.999992       uwb: 0.50151532     841.405  995.705  
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imu_odom_:  1691062971.211093597  0.392649   -0.220267  9.92636    -0.0532632  -0.00319579 0.0394148   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00155525 0.000313454 -0.00379156 0.999992       uwb: 0.0            841.405  995.705  
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imu_odom_:  1691062971.592351460  0.399832   -0.265756  9.87608    -0.0553937  -0.00426106 0.0383495   0          0             pose: 0.20078636    0.235767   0.0763842   0 -0.000788628-0.00112047 -0.00379334 0.999992       uwb: 0.49898963     842.132  995.314  
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imu_odom_:  1691062971.637072471  0.409408   -0.237026  9.87848    -0.0553937  -0.00426106 0.0383495   0          0             pose: 0.30032356    0.235767   0.0763842   0 -0.0030422  -3.91901e-07-0.00379307 0.999988       uwb: 0.50004249     842.136  995.176  
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imu_odom_:  1691062971.784066349  0.390255   -0.260968  9.87369    -0.056459   -0.00532632 0.04048     0          0             pose: 0.43924515    0.235767   0.0763842   0 -0.00115593 -0.000344957-0.00379461 0.999992       uwb: 0.49996374     841.701  996.268  
imu_odom_:  1691062971.798120666  0.426168   -0.268151  9.87608    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00115593 -0.000344957-0.00379461 0.999992       uwb: 0.0            841.701  996.268  
imu_odom_:  1691062971.813123428  0.418985   -0.265756  9.89763    -0.0553937  -0.00532632 0.04048     0          0             pose: 0.0           0.235767   0.0763842   0 -0.00115593 -0.000344957-0.00379461 0.999992       uwb: 0.0            841.701  996.268  
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imu_odom_:  1691062971.842270918  0.395043   -0.23942   9.85932    -0.0543285  -0.00426106 0.04048     0          0             pose: 0.0           0.235767   0.0763842   0 -0.0022964  -0.00103997 -0.00378694 0.99999        uwb: 0.50001624     842.107  996.278  
imu_odom_:  1691062971.857222058  0.399832   -0.244209  9.91439    -0.056459   -0.00532632 0.0383495   0          0             pose: 0.0           0.235767   0.0763842   0 -0.0022964  -0.00103997 -0.00378694 0.99999        uwb: 0.0            842.107  996.278  
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imu_odom_:  1691062973.386995750  0.399832   -0.25618   9.88566    -0.056459   -0.00532632 0.0394148   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00242214 -0.000408946-0.00376479 0.99999        uwb: 0.49961668     841.356  998.333  
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imu_odom_:  1691062973.416003540  0.399832   -0.25618   9.90721    -0.0553937  -0.00639159 0.0394148   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00240082 -0.00100973 -0.00376036 0.99999        uwb: 0.0            841.356  998.333  
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imu_odom_:  1691062973.489959246  0.40462    -0.260968  9.88805    -0.056459   -0.00426106 0.0394148   0          0             pose: 0.44088132    0.235767   0.0763842   0 -0.00140864 -0.000467241-0.00373723 0.999992       uwb: 0.50110410     841.186  998.609  
imu_odom_:  1691062973.504083267  0.42138    -0.248997  9.91199    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00140864 -0.000467241-0.00373723 0.999992       uwb: 0.0            841.186  998.609  
imu_odom_:  1691062973.519022742  0.395043   -0.241814  9.87848    -0.0575243  -0.00639159 0.0383495   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00140864 -0.000467241-0.00373723 0.999992       uwb: 0.0            841.186  998.609  
imu_odom_:  1691062973.533961633  0.411803   -0.251391  9.88087    -0.0532632  -0.00639159 0.0394148   0          0             pose: 0.43890101    0.235767   0.0763842   0 -0.00216616 0.000298717 -0.00372203 0.999991       uwb: 0.49989375     841.252  1000.13  
imu_odom_:  1691062973.547958494  0.397437   -0.225055  9.90002    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00216616 0.000298717 -0.00372203 0.999991       uwb: 0.0            841.252  1000.13  
imu_odom_:  1691062973.562958340  0.416591   -0.265756  9.93115    -0.056459   -0.00426106 0.0394148   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00216616 0.000298717 -0.00372203 0.999991       uwb: 0.0            841.252  1000.13  
imu_odom_:  1691062973.578004558  0.409408   -0.258574  9.93594    -0.056459   -0.00319579 0.0394148   0          0             pose: 0.43998595    0.235767   0.0763842   0 -0.00139641 0.000469781 -0.00373297 0.999992       uwb: 0.0            841.252  1000.13  
imu_odom_:  1691062973.592002587  0.387861   -0.251391  9.88326    -0.0543285  -0.00426106 0.0394148   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00139641 0.000469781 -0.00373297 0.999992       uwb: 0.50071913     841.538  999.717  
imu_odom_:  1691062973.606944103  0.433351   -0.258574  9.93354    -0.0543285  -0.00639159 0.0383495   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00139641 0.000469781 -0.00373297 0.999992       uwb: 0.0            841.538  999.717  
imu_odom_:  1691062973.622000529  0.390255   -0.227449  9.92636    -0.0543285  -0.00426106 0.04048     0          0             pose: 0.44100089    0.235767   0.0763842   0 -0.00252991 -0.000269723-0.00373759 0.99999        uwb: 0.0            841.538  999.717  
imu_odom_:  1691062973.636055429  0.392649   -0.260968  9.88805    -0.0543285  -0.00426106 0.0394148   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00252991 -0.000269723-0.00373759 0.99999        uwb: 0.49928712     841.611  1000.55  
imu_odom_:  1691062973.650994320  0.37589    -0.263362  9.89284    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00252991 -0.000269723-0.00373759 0.99999        uwb: 0.0            841.611  1000.55  
imu_odom_:  1691062973.665938169  0.385466   -0.241814  9.89045    -0.052198   -0.00532632 0.0415453   0          0             pose: 0.43939973    0.235767   0.0763842   0 -0.00179826 -0.000500492-0.00374585 0.999991       uwb: 0.0            841.611  1000.55  
imu_odom_:  1691062973.679941155  0.402226   -0.275333  9.89045    -0.056459   -0.00532632 0.0394148   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00179826 -0.000500492-0.00374585 0.999991       uwb: 0.50113619     841.302  1000.96  
imu_odom_:  1691062973.695155655  0.407014   -0.25618   9.87369    -0.0543285  -0.00426106 0.0394148   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00179826 -0.000500492-0.00374585 0.999991       uwb: 0.0            841.302  1000.96  
imu_odom_:  1691062973.710037383  0.402226   -0.253785  9.89524    -0.0553937  -0.00213053 0.0394148   0          0             pose: 0.44053425    0.235767   0.0763842   0 -0.00206511 0.00162854  -0.00373359 0.99999        uwb: 0.0            841.302  1000.96  
imu_odom_:  1691062973.724100741  0.42138    -0.244209  9.8665     -0.056459   -0.00532632 0.0394148   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00206511 0.00162854  -0.00373359 0.99999        uwb: 0.0            841.302  1000.96  
imu_odom_:  1691062973.739100295  0.407014   -0.237026  9.93354    -0.056459   -0.00426106 0.0394148   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00206511 0.00162854  -0.00373359 0.99999        uwb: 0.49994916     841.544  1001.38  
imu_odom_:  1691062973.754185594  0.399832   -0.248997  9.88087    -0.0543285  -0.00532632 0.0394148   0          0             pose: 0.44166294    0.235767   0.0763842   0 -0.00184707 -0.000196972-0.00373169 0.999991       uwb: 0.0            841.544  1001.38  
imu_odom_:  1691062973.769154817  0.414197   -0.241814  9.87608    -0.0543285  -0.00532632 0.0383495   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00184707 -0.000196972-0.00373169 0.999991       uwb: 0.0            841.544  1001.38  
imu_odom_:  1691062973.784015254  0.430956   -0.244209  9.88326    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00184707 -0.000196972-0.00373169 0.999991       uwb: 0.50125576     841.45   1001.52  
imu_odom_:  1691062973.798070738  0.402226   -0.263362  9.91199    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.43881352    0.235767   0.0763842   0 -0.00117317 0.000258048 -0.00373563 0.999992       uwb: 0.0            841.45   1001.52  
imu_odom_:  1691062973.828116218  0.418985   -0.229843  9.89284    -0.0553937  -0.00639159 0.0394148   0          0             pose: 0.44977372    0.235767   0.0763842   0 -0.00222322 -0.00136971 -0.00374824 0.99999        uwb: 0.49929879     841.445  1000.96  
imu_odom_:  1691062973.843056276  0.395043   -0.251391  9.89045    -0.0553937  -0.00532632 0.0383495   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00222322 -0.00136971 -0.00374824 0.99999        uwb: 0.0            841.445  1000.96  
imu_odom_:  1691062973.858118826  0.42138    -0.260968  9.89045    -0.0543285  -0.00426106 0.0394148   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00222322 -0.00136971 -0.00374824 0.99999        uwb: 0.0            841.445  1000.96  
imu_odom_:  1691062973.872001945  0.40462    -0.263362  9.85932    -0.0543285  -0.00639159 0.0415453   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00222322 -0.00136971 -0.00374824 0.99999        uwb: 0.0            841.445  1000.96  
imu_odom_:  1691062973.886993916  0.418985   -0.222661  9.8689     -0.0553937  -0.00426106 0.0383495   0          0             pose: 0.58895488    0.235767   0.0763842   0 -0.00194834 -0.000468569-0.00375813 0.999991       uwb: 0.49876507     841.808  1001.51  
imu_odom_:  1691062973.901981512  0.392649   -0.272939  9.88566    -0.0553937  -0.00426106 0.04048     0          0             pose: 0.0           0.235767   0.0763842   0 -0.00194834 -0.000468569-0.00375813 0.999991       uwb: 0.0            841.808  1001.51  
imu_odom_:  1691062973.916050995  0.40462    -0.263362  9.89524    -0.0543285  -0.00426106 0.0394148   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00194834 -0.000468569-0.00375813 0.999991       uwb: 0.0            841.808  1001.51  
imu_odom_:  1691062973.929927697  0.397437   -0.23942   9.90481    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.29030831    0.235767   0.0763842   0 -0.00194077 -3.73858e-05-0.003747   0.999991       uwb: 0.50047997     841.384  1002.07  
imu_odom_:  1691062973.945050036  0.402226   -0.232238  9.86172    -0.0575243  -0.00532632 0.04048     0          0             pose: 0.43994512    0.235767   0.0763842   0 -0.00218583 -0.00070159 -0.00374968 0.99999        uwb: 0.0            841.384  1002.07  
imu_odom_:  1691062973.958980693  0.399832   -0.227449  9.89045    -0.0553937  -0.00426106 0.04048     0          0             pose: 0.0           0.235767   0.0763842   0 -0.00218583 -0.00070159 -0.00374968 0.99999        uwb: 0.0            841.384  1002.07  
imu_odom_:  1691062973.972990388  0.390255   -0.260968  9.92157    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00218583 -0.00070159 -0.00374968 0.99999        uwb: 0.0            841.384  1002.07  
imu_odom_:  1691062973.987105951  0.363919   -0.246603  9.87369    -0.0553937  -0.00319579 0.0394148   0          0             pose: 0.42983362    0.235767   0.0763842   0 -0.00206389 0.000445627 -0.00373626 0.999991       uwb: 0.49875341     841.603  1002.35  
imu_odom_:  1691062974.1096688    0.409408   -0.263362  9.85693    -0.0543285  -0.00532632 0.0383495   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00206389 0.000445627 -0.00373626 0.999991       uwb: 0.0            841.603  1002.35  
imu_odom_:  1691062974.16123074   0.40462    -0.232238  9.89524    -0.0543285  -0.00532632 0.04048     0          0             pose: 0.0           0.235767   0.0763842   0 -0.00206389 0.000445627 -0.00373626 0.999991       uwb: 0.0            841.603  1002.35  
imu_odom_:  1691062974.31073631   0.37589    -0.237026  9.89045    -0.0553937  -0.00532632 0.04048     0          0             pose: 0.41966670    0.235767   0.0763842   0 -0.00165316 0.000326437 -0.00374322 0.999992       uwb: 0.50127034     842.104  1002.34  
imu_odom_:  1691062974.45064077   0.414197   -0.263362  9.91678    -0.0553937  -0.00319579 0.0394148   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00165316 0.000326437 -0.00374322 0.999992       uwb: 0.0            842.104  1002.34  
imu_odom_:  1691062974.60219664   0.397437   -0.258574  9.92157    -0.056459   -0.00532632 0.0394148   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00165316 0.000326437 -0.00374322 0.999992       uwb: 0.0            842.104  1002.34  
imu_odom_:  1691062974.73997497   0.402226   -0.253785  9.93833    -0.0553937  -0.00426106 0.04048     0          0             pose: 0.44236290    0.235767   0.0763842   0 -0.00253858 0.000379068 -0.00373539 0.99999        uwb: 0.0            842.104  1002.34  
imu_odom_:  1691062974.87962277   0.407014   -0.253785  9.90002    -0.0543285  -0.00532632 0.0394148   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00253858 0.000379068 -0.00373539 0.99999        uwb: 0.49993168     842.194  1001.92  
imu_odom_:  1691062974.101995887  0.399832   -0.25618   9.92875    -0.0543285  -0.00319579 0.0394148   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00253858 0.000379068 -0.00373539 0.99999        uwb: 0.0            842.194  1001.92  
imu_odom_:  1691062974.116951402  0.416591   -0.258574  9.89763    -0.056459   -0.00639159 0.04048     0          0             pose: 0.42820913    0.235767   0.0763842   0 -0.00179395 -0.000616347-0.00373377 0.999991       uwb: 0.0            842.194  1001.92  
imu_odom_:  1691062974.130931057  0.411803   -0.263362  9.8689     -0.0543285  -0.00426106 0.0394148   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00179395 -0.000616347-0.00373377 0.999991       uwb: 0.49925796     842.176  1002.34  
imu_odom_:  1691062974.145104075  0.40462    -0.263362  9.9096     -0.0543285  -0.00426106 0.0394148   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00179395 -0.000616347-0.00373377 0.999991       uwb: 0.0            842.176  1002.34  
imu_odom_:  1691062974.158921281  0.387861   -0.253785  9.87848    -0.056459   -0.00426106 0.04048     0          0             pose: 0.42938156    0.235767   0.0763842   0 -0.00223835 -0.000480256-0.00372866 0.99999        uwb: 0.0            842.176  1002.34  
imu_odom_:  1691062974.172923684  0.378284   -0.241814  9.89524    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00223835 -0.000480256-0.00372866 0.99999        uwb: 0.0            842.176  1002.34  
imu_odom_:  1691062974.187171948  0.395043   -0.25618   9.91199    -0.0543285  -0.00532632 0.04048     0          0             pose: 0.0           0.235767   0.0763842   0 -0.00223835 -0.000480256-0.00372866 0.99999        uwb: 0.50122077     842.266  1001.92  
imu_odom_:  1691062974.201928266  0.363919   -0.241814  9.88326    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.50224154    0.235767   0.0763842   0 -0.00219343 0.000314131 -0.00371716 0.999991       uwb: 0.0            842.266  1001.92  
imu_odom_:  1691062974.216058704  0.414197   -0.232238  9.91199    -0.0553937  -0.00639159 0.04048     0          0             pose: 0.0           0.235767   0.0763842   0 -0.00219343 0.000314131 -0.00371716 0.999991       uwb: 0.0            842.266  1001.92  
imu_odom_:  1691062974.229928990  0.402226   -0.268151  9.89524    -0.0543285  -0.00532632 0.04048     0          0             pose: 0.0           0.235767   0.0763842   0 -0.00219343 0.000314131 -0.00371716 0.999991       uwb: 0.50004833     841.864  1002.2   
imu_odom_:  1691062974.244927961  0.371101   -0.25618   9.91439    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.5888120     0.235767   0.0763842   0 -0.00194041 0.000843008 -0.0037164  0.999991       uwb: 0.0            841.864  1002.2   
imu_odom_:  1691062974.258918407  0.399832   -0.25618   9.85932    -0.0553937  -0.00319579 0.0372843   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00194041 0.000843008 -0.0037164  0.999991       uwb: 0.0            841.864  1002.2   
imu_odom_:  1691062974.272981765  0.423774   -0.222661  9.91199    -0.0553937  -0.00319579 0.0415453   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00194041 0.000843008 -0.0037164  0.999991       uwb: 0.0            841.864  1002.2   
imu_odom_:  1691062974.287990652  0.395043   -0.251391  9.8665     -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.71929906    0.235767   0.0763842   0 -0.00163262 -0.000207236-0.00371599 0.999992       uwb: 0.49800387     842.011  1002.48  
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imu_odom_:  1691062974.571896662  0.411803   -0.268151  9.90721    -0.0543285  -0.00319579 0.0394148   0          0             pose: 0.0           0.235767   0.0763842   0 -0.00292725 -1.20295e-05-0.00370563 0.999989       uwb: 0.0            841.467  999.446  
imu_odom_:  1691062974.586011351  0.430956   -0.248997  9.88566    -0.0553937  -0.00426106 0.04048     0          0             pose: 0.0           0.235767   0.0763842   0 -0.00292725 -1.20295e-05-0.00370563 0.999989       uwb: 0.50037206     841.278  999.168  
imu_odom_:  1691062974.601045320  0.409408   -0.244209  9.90002    -0.0553937  -0.00426106 0.0372843   0          0             pose: 0.71980654    0.235767   0.0763842   0 -0.00247365 -0.000387743-0.00369728 0.99999        uwb: 0.0            841.278  999.168  
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