imu_odom_:  1691062406.60567234   0.40462    -0.203507  9.88087    -0.0553937  -0.00532632 0.04048     0          0             pose: 4.992375385   0          0           0 -0.0001201543.25945e-05 0.0017383   0.999998       uwb: 5.69647        848.899  990.624  
imu_odom_:  1691062406.74560911   0.395043   -0.217872  9.89284    -0.0532632  -0.00532632 0.04048     0          0             pose: 0.0           0          0           0 -0.0001201543.25945e-05 0.0017383   0.999998       uwb: 0.0            848.899  990.624  
imu_odom_:  1691062406.88551088   0.407014   -0.220267  9.93354    -0.056459   -0.00319579 0.0394148   0          0             pose: 0.0           0          0           0 -0.0001201543.25945e-05 0.0017383   0.999998       uwb: 0.0            848.899  990.624  
imu_odom_:  1691062406.103499256  0.407014   -0.201113  9.86411    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.41938452    0          0           0 -0.000324512-8.4751e-05 0.00174832  0.999998       uwb: 0.49796316     848.749  990.349  
imu_odom_:  1691062406.117553882  0.395043   -0.215478  9.90721    -0.0553937  -0.00639159 0.0383495   0          0             pose: 0.0           0          0           0 -0.000324512-8.4751e-05 0.00174832  0.999998       uwb: 0.0            848.749  990.349  
imu_odom_:  1691062406.131637380  0.411803   -0.234632  9.89763    -0.0543285  -0.00639159 0.0394148   0          0             pose: 0.0           0          0           0 -0.000324512-8.4751e-05 0.00174832  0.999998       uwb: 0.0            848.749  990.349  
imu_odom_:  1691062406.145511781  0.402226   -0.213084  9.86172    -0.0543285  -0.00426106 0.04048     0          0             pose: 0.42989764    0          0           0 -0.000664817-3.48417e-060.00173524  0.999998       uwb: 0.0            848.749  990.349  
imu_odom_:  1691062406.159568449  0.385466   -0.21069   9.90242    -0.0543285  -0.00426106 0.04048     0          0             pose: 0.0           0          0           0 -0.000664817-3.48417e-060.00173524  0.999998       uwb: 0.50022618     848.829  990.222  
imu_odom_:  1691062406.174740294  0.395043   -0.198719  9.88805    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.0           0          0           0 -0.000664817-3.48417e-060.00173524  0.999998       uwb: 0.0            848.829  990.222  
imu_odom_:  1691062406.189629554  0.368707   -0.21069   9.90242    -0.0553937  -0.00213053 0.0394148   0          0             pose: 0.42203248    0          0           0 0.000574562 0.000871917 0.00174669  0.999998       uwb: 0.0            848.829  990.222  
imu_odom_:  1691062406.203636062  0.399832   -0.215478  9.88326    -0.056459   -0.00426106 0.0394148   0          0             pose: 0.0           0          0           0 0.000574562 0.000871917 0.00174669  0.999998       uwb: 0.50110397     848.408  991.655  
imu_odom_:  1691062406.218761831  0.40462    -0.198719  9.85693    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.0           0          0           0 0.000574562 0.000871917 0.00174669  0.999998       uwb: 0.0            848.408  991.655  
imu_odom_:  1691062406.232487212  0.397437   -0.227449  9.91918    -0.0543285  -0.00426106 0.04048     0          0             pose: 0.43939590    0          0           0 0.000515237 -2.01853e-050.00174243  0.999998       uwb: 0.0            848.408  991.655  
imu_odom_:  1691062406.246468640  0.392649   -0.205901  9.88566    -0.056459   -0.00319579 0.04048     0          0             pose: 0.0           0          0           0 0.000515237 -2.01853e-050.00174243  0.999998       uwb: 0.49904509     848.374  990.99   
imu_odom_:  1691062406.261469884  0.442927   -0.208296  9.88805    -0.0553937  -0.00426106 0.0383495   0          0             pose: 0.0           0          0           0 0.000515237 -2.01853e-050.00174243  0.999998       uwb: 0.0            848.374  990.99   
imu_odom_:  1691062406.275469393  0.392649   -0.203507  9.90721    -0.0543285  -0.00532632 0.0394148   0          0             pose: 0.42895860    0          0           0 0.000866584 0.000589087 0.00175076  0.999998       uwb: 0.0            848.374  990.99   
imu_odom_:  1691062406.289530144  0.397437   -0.208296  9.88566    -0.0553937  -0.00532632 0.04048     0          0             pose: 0.0           0          0           0 0.000866584 0.000589087 0.00175076  0.999998       uwb: 0.0            848.374  990.99   
imu_odom_:  1691062406.303534610  0.395043   -0.196325  9.91678    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.0           0          0           0 0.000866584 0.000589087 0.00175076  0.999998       uwb: 0.49984707     848.287  991.251  
imu_odom_:  1691062406.317526828  0.407014   -0.246603  9.88087    -0.056459   -0.00532632 0.0394148   0          0             pose: 0.43000554    0          0           0 0.000633687 0.000122746 0.00174983  0.999998       uwb: 0.0            848.287  991.251  
imu_odom_:  1691062406.331611784  0.390255   -0.208296  9.88087    -0.0553937  -0.00426106 0.0415453   0          0             pose: 0.0           0          0           0 0.000633687 0.000122746 0.00174983  0.999998       uwb: 0.0            848.287  991.251  
imu_odom_:  1691062406.346509209  0.397437   -0.222661  9.86172    -0.0543285  -0.00426106 0.04048     0          0             pose: 0.0           0          0           0 0.000633687 0.000122746 0.00174983  0.999998       uwb: 0.50000746     848.374  990.591  
imu_odom_:  1691062406.361576361  0.399832   -0.222661  9.85932    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.42095055    0          0           0 0.000423404 0.000852043 0.00176396  0.999998       uwb: 0.0            848.374  990.591  
imu_odom_:  1691062406.375555456  0.407014   -0.213084  9.87608    -0.0553937  -0.00532632 0.04048     0          0             pose: 0.0           0          0           0 0.000423404 0.000852043 0.00176396  0.999998       uwb: 0.0            848.374  990.591  
imu_odom_:  1691062406.389449105  0.409408   -0.246603  9.92875    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.0           0          0           0 0.000423404 0.000852043 0.00176396  0.999998       uwb: 0.0            848.374  990.591  
imu_odom_:  1691062406.403450072  0.407014   -0.232238  9.90242    -0.0543285  -0.00532632 0.04048     0          0             pose: 0.43840729    0          0           0 -0.000477101-0.0002333210.00177124  0.999998       uwb: 0.49956418     848.589  991.4    
imu_odom_:  1691062406.417437916  0.40462    -0.232238  9.90002    -0.0553937  -0.00426106 0.04048     0          0             pose: 0.0           0          0           0 -0.000477101-0.0002333210.00177124  0.999998       uwb: 0.0            848.589  991.4    
imu_odom_:  1691062406.431440341  0.387861   -0.213084  9.89284    -0.0543285  -0.00426106 0.04048     0          0             pose: 0.0           0          0           0 -0.000477101-0.0002333210.00177124  0.999998       uwb: 0.0            848.589  991.4    
imu_odom_:  1691062406.445570207  0.385466   -0.234632  9.87369    -0.056459   -0.00532632 0.0383495   0          0             pose: 0.0           0          0           0 -0.000477101-0.0002333210.00177124  0.999998       uwb: 0.49974208     848.861  991.68   
imu_odom_:  1691062406.459430902  0.40462    -0.222661  9.89524    -0.0553937  -0.00426106 0.04048     0          0             pose: 0.41972863    0          0           0 -0.00079746 0.000198817 0.00178639  0.999998       uwb: 0.0            848.861  991.68   
imu_odom_:  1691062406.473489903  0.385466   -0.203507  9.92636    -0.056459   -0.00426106 0.0394148   0          0             pose: 0.0           0          0           0 -0.00079746 0.000198817 0.00178639  0.999998       uwb: 0.0            848.861  991.68   
imu_odom_:  1691062406.487484162  0.378284   -0.21069   9.90242    -0.0543285  -0.00426106 0.04048     0          0             pose: 0.41991528    0          0           0 -5.58655e-050.000411178 0.00178643  0.999998       uwb: 0.0            848.861  991.68   
imu_odom_:  1691062406.501428554  0.383072   -0.196325  9.88566    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.0           0          0           0 -5.58655e-050.000411178 0.00178643  0.999998       uwb: 0.50040991     849.074  991.295  
imu_odom_:  1691062406.515422522  0.418985   -0.215478  9.93833    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.0           0          0           0 -5.58655e-050.000411178 0.00178643  0.999998       uwb: 0.0            849.074  991.295  
imu_odom_:  1691062406.529420281  0.423774   -0.203507  9.91199    -0.0553937  -0.00639159 0.04048     0          0             pose: 0.42008151    0          0           0 0.000522006 0.000584839 0.00179126  0.999998       uwb: 0.0            849.074  991.295  
imu_odom_:  1691062406.543414541  0.414197   -0.213084  9.87848    -0.0553937  -0.00426106 0.04048     0          0             pose: 0.0           0          0           0 0.000522006 0.000584839 0.00179126  0.999998       uwb: 0.0            849.074  991.295  
imu_odom_:  1691062406.557481999  0.42138    -0.232238  9.91439    -0.0543285  -0.00426106 0.04048     0          0             pose: 0.0           0          0           0 0.000522006 0.000584839 0.00179126  0.999998       uwb: 0.49959626     849.679  990.803  
imu_odom_:  1691062406.571417058  0.399832   -0.222661  9.89524    -0.0553937  -0.00532632 0.04048     0          0             pose: 0.50036616    0          0           0 -0.00121253 -0.00117036 0.00181061  0.999997       uwb: 0.0            849.679  990.803  
imu_odom_:  1691062406.585471685  0.402226   -0.232238  9.90242    -0.0553937  -0.00319579 0.0394148   0          0             pose: 0.0           0          0           0 -0.00121253 -0.00117036 0.00181061  0.999997       uwb: 0.0            849.679  990.803  
imu_odom_:  1691062406.600479636  0.428562   -0.198719  9.87848    -0.0553937  -0.00213053 0.0394148   0          0             pose: 0.0           0          0           0 -0.00121253 -0.00117036 0.00181061  0.999997       uwb: 0.50178346     849.711  991.069  
imu_odom_:  1691062406.614416446  0.390255   -0.196325  9.91199    -0.0543285  -0.00426106 0.0383495   0          0             pose: 0.5995248     0          0           0 -0.000904869-0.0006590710.00181358  0.999998       uwb: 0.0            849.711  991.069  
imu_odom_:  1691062406.628428786  0.387861   -0.191536  9.87129    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.0           0          0           0 -0.000904869-0.0006590710.00181358  0.999998       uwb: 0.0            849.711  991.069  
imu_odom_:  1691062406.642425087  0.40462    -0.229843  9.90002    -0.0553937  -0.00532632 0.0383495   0          0             pose: 0.0           0          0           0 -0.000904869-0.0006590710.00181358  0.999998       uwb: 0.0            849.711  991.069  
imu_odom_:  1691062406.657601891  0.392649   -0.208296  9.91199    -0.0553937  -0.00319579 0.0394148   0          0             pose: 0.70946788    0          0           0 0.00112456  0.00085094  0.00180015  0.999997       uwb: 0.49945046     849.52   990.662  
imu_odom_:  1691062406.671486499  0.387861   -0.198719  9.90481    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.0           0          0           0 0.00112456  0.00085094  0.00180015  0.999997       uwb: 0.0            849.52   990.662  
imu_odom_:  1691062406.685474634  0.409408   -0.220267  9.90242    -0.0575243  -0.00532632 0.04048     0          0             pose: 0.0           0          0           0 0.00112456  0.00085094  0.00180015  0.999997       uwb: 0.0            849.52   990.662  
imu_odom_:  1691062406.699437690  0.385466   -0.234632  9.87369    -0.0543285  -0.00426106 0.04048     0          0             pose: 0.29053246    0          0           0 -0.0003847890.00103862  0.00179286  0.999998       uwb: 0.49975666     849.584  991.193  
imu_odom_:  1691062406.713414744  0.387861   -0.234632  9.87608    -0.0553937  -0.00319579 0.0383495   0          0             pose: 0.0           0          0           0 -0.0003847890.00103862  0.00179286  0.999998       uwb: 0.0            849.584  991.193  
imu_odom_:  1691062406.728469356  0.42138    -0.229843  9.88805    -0.0543285  -0.00426106 0.0383495   0          0             pose: 0.49937463    0          0           0 -0.00147886 -0.0004448520.00179571  0.999997       uwb: 0.0            849.584  991.193  
imu_odom_:  1691062406.742406457  0.409408   -0.227449  9.91199    -0.0553937  -0.00319579 0.0394148   0          0             pose: 0.0           0          0           0 -0.00147886 -0.0004448520.00179571  0.999997       uwb: 0.0            849.584  991.193  
imu_odom_:  1691062406.756404799  0.407014   -0.222661  9.92875    -0.056459   -0.00426106 0.04048     0          0             pose: 0.0           0          0           0 -0.00147886 -0.0004448520.00179571  0.999997       uwb: 0.49735366     849.998  991.48   
imu_odom_:  1691062406.770462342  0.407014   -0.232238  9.90721    -0.056459   -0.00426106 0.04048     0          0             pose: 0.6061447     0          0           0 -0.000978658-0.0007928610.00179124  0.999998       uwb: 0.0            849.998  991.48   
imu_odom_:  1691062406.784402651  0.42138    -0.215478  9.88087    -0.0553937  -0.00319579 0.0394148   0          0             pose: 0.0           0          0           0 -0.000978658-0.0007928610.00179124  0.999998       uwb: 0.0            849.998  991.48   
imu_odom_:  1691062406.798463401  0.390255   -0.201113  9.90242    -0.0553937  -0.00426106 0.04048     0          0             pose: 0.0           0          0           0 -0.000978658-0.0007928610.00179124  0.999998       uwb: 0.50061404     849.918  990.424  
imu_odom_:  1691062406.813396988  0.445322   -0.225055  9.86411    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.70934831    0          0           0 0.000341352 -0.0005377510.00179746  0.999998       uwb: 0.0            849.918  990.424  
imu_odom_:  1691062406.827453656  0.440533   -0.215478  9.89284    -0.0553937  -0.00426106 0.0383495   0          0             pose: 0.0           0          0           0 0.000341352 -0.0005377510.00179746  0.999998       uwb: 0.0            849.918  990.424  
imu_odom_:  1691062406.841578272  0.411803   -0.213084  9.91918    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.0           0          0           0 0.000341352 -0.0005377510.00179746  0.999998       uwb: 0.0            849.918  990.424  
imu_odom_:  1691062406.856536939  0.378284   -0.21069   9.85214    -0.0553937  -0.00426106 0.04048     0          0             pose: 0.42987139    0          0           0 6.30002e-07 -0.00194115 0.00179076  0.999997       uwb: 0.49960501     849.951  990.295  
imu_odom_:  1691062406.871512521  0.399832   -0.213084  9.87369    -0.0553937  -0.00319579 0.04048     0          0             pose: 0.0           0          0           0 6.30002e-07 -0.00194115 0.00179076  0.999997       uwb: 0.0            849.951  990.295  
imu_odom_:  1691062406.885396254  0.414197   -0.213084  9.89524    -0.0553937  -0.00532632 0.04048     0          0             pose: 0.38114360    0          0           0 -0.000303558-0.00105341 0.00180333  0.999998       uwb: 0.0            849.951  990.295  
imu_odom_:  1691062406.900382917  0.409408   -0.208296  9.87369    -0.0553937  -0.00639159 0.04048     0          0             pose: 0.5994373     0          0           0 6.63217e-05 -0.0005848740.00180578  0.999998       uwb: 0.0            849.951  990.295  
imu_odom_:  1691062406.914379510  0.373495   -0.220267  9.92157    -0.0543285  -0.00426106 0.0394148   0          0             pose: 0.0           0          0           0 6.63217e-05 -0.0005848740.00180578  0.999998       uwb: 0.0            849.951  990.295  
imu_odom_:  1691062406.929440538  0.390255   -0.21069   9.88805    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.36872616    0          0           0 -0.0002704940.00015937  0.00181564  0.999998       uwb: 0.0            849.951  990.295  
imu_odom_:  1691062406.944369167  0.42138    -0.25618   9.91918    -0.056459   -0.00426106 0.0394148   0          0             pose: 0.0           0          0           0 -0.0002704940.00015937  0.00181564  0.999998       uwb: 0.0            849.951  990.295  
imu_odom_:  1691062406.958454706  0.395043   -0.21069   9.91678    -0.0553937  -0.00532632 0.0383495   0          0             pose: 0.0           0          0           0 -0.0002704940.00015937  0.00181564  0.999998       uwb: 0.100083731    849.831  990.287  
imu_odom_:  1691062406.973370504  0.416591   -0.220267  9.85214    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.44075196    0          0           0 0.000963665 0.000485006 0.00180471  0.999998       uwb: 0.0            849.831  990.287  
imu_odom_:  1691062406.987376429  0.407014   -0.217872  9.90481    -0.0553937  -0.00532632 0.0383495   0          0             pose: 0.0           0          0           0 0.000963665 0.000485006 0.00180471  0.999998       uwb: 0.0            849.831  990.287  
imu_odom_:  1691062407.1429305    0.423774   -0.232238  9.9096     -0.0543285  -0.00426106 0.04048     0          0             pose: 0.0           0          0           0 0.000963665 0.000485006 0.00180471  0.999998       uwb: 0.50059946     849.568  990.666  
imu_odom_:  1691062407.15432613   0.390255   -0.217872  9.89763    -0.056459   -0.00319579 0.0394148   0          0             pose: 0.0           0          0           0 0.000963665 0.000485006 0.00180471  0.999998       uwb: 0.0            849.568  990.666  
imu_odom_:  1691062407.30440866   0.37589    -0.220267  9.85453    -0.0553937  -0.00426106 0.04048     0          0             pose: 0.42974599    0          0           0 -0.000713508-0.0004941290.00180113  0.999998       uwb: 0.0            849.568  990.666  
imu_odom_:  1691062407.44421428   0.402226   -0.222661  9.88326    -0.0553937  -0.00532632 0.0415453   0          0             pose: 0.0           0          0           0 -0.000713508-0.0004941290.00180113  0.999998       uwb: 0.0            849.568  990.666  
imu_odom_:  1691062407.58423863   0.395043   -0.227449  9.93115    -0.0532632  -0.00639159 0.0394148   0          0             pose: 0.0           0          0           0 -0.000713508-0.0004941290.00180113  0.999998       uwb: 0.49981234     848.948  991.024  
imu_odom_:  1691062407.73422784   0.411803   -0.201113  9.89763    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.42992123    0          0           0 -0.0004521030.000819597 0.00182034  0.999998       uwb: 0.0            848.948  991.024  
imu_odom_:  1691062407.87360769   0.399832   -0.208296  9.9096     -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.0           0          0           0 -0.0004521030.000819597 0.00182034  0.999998       uwb: 0.0            848.948  991.024  
imu_odom_:  1691062407.101494435  0.399832   -0.227449  9.89284    -0.0543285  -0.00532632 0.04048     0          0             pose: 0.0           0          0           0 -0.0004521030.000819597 0.00182034  0.999998       uwb: 0.50077476     848.995  990.63   
imu_odom_:  1691062407.115550820  0.397437   -0.227449  9.8689     -0.0543285  -0.00426106 0.04048     0          0             pose: 0.42939341    0          0           0 0.000178155 0.000909794 0.00181455  0.999998       uwb: 0.0            848.995  990.63   
imu_odom_:  1691062407.130418218  0.385466   -0.198719  9.88326    -0.056459   -0.00426106 0.0394148   0          0             pose: 0.0           0          0           0 0.000178155 0.000909794 0.00181455  0.999998       uwb: 0.0            848.995  990.63   
imu_odom_:  1691062407.144481018  0.380678   -0.227449  9.90242    -0.0543285  -0.00532632 0.04048     0          0             pose: 0.0           0          0           0 0.000178155 0.000909794 0.00181455  0.999998       uwb: 0.0            848.995  990.63   
imu_odom_:  1691062407.159402659  0.37589    -0.215478  9.87369    -0.0553937  -0.00319579 0.0394148   0          0             pose: 0.49119775    0          0           0 0.000739394 0.000878484 0.00182992  0.999998       uwb: 0.49777976     848.884  990.491  
imu_odom_:  1691062407.173460794  0.380678   -0.215478  9.91678    -0.0543285  -0.00426106 0.0394148   0          0             pose: 0.0           0          0           0 0.000739394 0.000878484 0.00182992  0.999998       uwb: 0.0            848.884  990.491  
imu_odom_:  1691062407.187552757  0.402226   -0.222661  9.87848    -0.056459   -0.00532632 0.0394148   0          0             pose: 0.0           0          0           0 0.000739394 0.000878484 0.00182992  0.999998       uwb: 0.0            848.884  990.491  
imu_odom_:  1691062407.202425404  0.392649   -0.225055  9.90721    -0.0553937  -0.00426106 0.04048     0          0             pose: 0.42984834    0          0           0 -0.0002404190.000545218 0.00182954  0.999998       uwb: 0.50013609     848.685  990.611  
imu_odom_:  1691062407.216487038  0.409408   -0.241814  9.90242    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.0           0          0           0 -0.0002404190.000545218 0.00182954  0.999998       uwb: 0.0            848.685  990.611  
imu_odom_:  1691062407.230513094  0.390255   -0.217872  9.90002    -0.056459   -0.00532632 0.04048     0          0             pose: 0.37021660    0          0           0 -0.00121172 8.37096e-06 0.00183332  0.999998       uwb: 0.0            848.685  990.611  
imu_odom_:  1691062407.245489560  0.387861   -0.203507  9.88566    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.6008959     0          0           0 -0.0007046690.000322611 0.00183642  0.999998       uwb: 0.50020317     849.112  989.58   
imu_odom_:  1691062407.259619727  0.407014   -0.222661  9.88805    -0.0553937  -0.00532632 0.04048     0          0             pose: 0.0           0          0           0 -0.0007046690.000322611 0.00183642  0.999998       uwb: 0.0            849.112  989.58   
imu_odom_:  1691062407.273382444  0.409408   -0.21069   9.91678    -0.0553937  -0.00426106 0.04048     0          0             pose: 0.37123730    0          0           0 0.000229183 0.000148828 0.00184672  0.999998       uwb: 0.0            849.112  989.58   
imu_odom_:  1691062407.288316916  0.402226   -0.208296  9.88566    -0.056459   -0.00426106 0.04048     0          0             pose: 0.0           0          0           0 0.000229183 0.000148828 0.00184672  0.999998       uwb: 0.0            849.112  989.58   
imu_odom_:  1691062407.302315267  0.407014   -0.198719  9.87369    -0.056459   -0.00532632 0.0394148   0          0             pose: 0.0           0          0           0 0.000229183 0.000148828 0.00184672  0.999998       uwb: 0.50020901     849.288  989.46   
imu_odom_:  1691062407.316325867  0.378284   -0.220267  9.90721    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.42695540    0          0           0 0.00134726  -0.0007230960.00185888  0.999997       uwb: 0.0            849.288  989.46   
imu_odom_:  1691062407.331441731  0.411803   -0.215478  9.90721    -0.0543285  -0.00532632 0.0394148   0          0             pose: 0.0           0          0           0 0.00134726  -0.0007230960.00185888  0.999997       uwb: 0.0            849.288  989.46   
imu_odom_:  1691062407.345438041  0.407014   -0.220267  9.88087    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.0           0          0           0 0.00134726  -0.0007230960.00185888  0.999997       uwb: 0.50005444     849.274  989.327  
imu_odom_:  1691062407.360320311  0.416591   -0.205901  9.89284    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.43122774    0          0           0 -0.0002431980.000452744 0.00185516  0.999998       uwb: 0.0            849.274  989.327  
imu_odom_:  1691062407.375309025  0.409408   -0.225055  9.89045    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.0           0          0           0 -0.0002431980.000452744 0.00185516  0.999998       uwb: 0.0            849.274  989.327  
imu_odom_:  1691062407.389306794  0.395043   -0.196325  9.8689     -0.0553937  -0.00319579 0.0394148   0          0             pose: 0.0           0          0           0 -0.0002431980.000452744 0.00185516  0.999998       uwb: 0.0            849.274  989.327  
imu_odom_:  1691062407.403402257  0.392649   -0.232238  9.87848    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.43868753    0          0           0 0.000496921 0.000274422 0.00185247  0.999998       uwb: 0.49890835     849.246  989.722  
imu_odom_:  1691062407.417313412  0.366313   -0.205901  9.88326    -0.0553937  -0.00639159 0.0394148   0          0             pose: 0.0           0          0           0 0.000496921 0.000274422 0.00185247  0.999998       uwb: 0.0            849.246  989.722  
imu_odom_:  1691062407.432424901  0.399832   -0.203507  9.85932    -0.0575243  -0.00426106 0.0394148   0          0             pose: 0.0           0          0           0 0.000496921 0.000274422 0.00185247  0.999998       uwb: 0.0            849.246  989.722  
imu_odom_:  1691062407.446329640  0.414197   -0.237026  9.87369    -0.056459   -0.00319579 0.04048     0          0             pose: 0.0           0          0           0 0.000496921 0.000274422 0.00185247  0.999998       uwb: 0.49992904     849.274  989.328  
imu_odom_:  1691062407.461370847  0.40462    -0.19393   9.89284    -0.0543285  -0.00319579 0.0394148   0          0             pose: 0.49024996    0          0           0 2.81445e-05 -0.0001227620.00185344  0.999998       uwb: 0.0            849.274  989.328  
imu_odom_:  1691062407.476362186  0.399832   -0.215478  9.90002    -0.0532632  -0.00319579 0.0383495   0          0             pose: 0.0           0          0           0 2.81445e-05 -0.0001227620.00185344  0.999998       uwb: 0.0            849.274  989.328  
imu_odom_:  1691062407.490371619  0.395043   -0.213084  9.86411    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.38030396    0          0           0 -0.00063261 0.000392392 0.00184606  0.999998       uwb: 0.0            849.274  989.328  
imu_odom_:  1691062407.505449863  0.407014   -0.203507  9.92157    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.0           0          0           0 -0.00063261 0.000392392 0.00184606  0.999998       uwb: 0.49953535     848.927  989.833  
imu_odom_:  1691062407.520425454  0.40462    -0.225055  9.87369    -0.0553937  -0.00426106 0.04048     0          0             pose: 0.0           0          0           0 -0.00063261 0.000392392 0.00184606  0.999998       uwb: 0.0            848.927  989.833  
imu_odom_:  1691062407.534504877  0.414197   -0.21069   9.89045    -0.0553937  -0.00319579 0.0394148   0          0             pose: 0.6003710     0          0           0 -3.18713e-050.000408123 0.00184581  0.999998       uwb: 0.0            848.927  989.833  
imu_odom_:  1691062407.549458013  0.402226   -0.215478  9.86172    -0.0532632  -0.00532632 0.0383495   0          0             pose: 0.0           0          0           0 -3.18713e-050.000408123 0.00184581  0.999998       uwb: 0.50132593     848.719  990.084  
imu_odom_:  1691062407.564475015  0.380678   -0.222661  9.91199    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.0           0          0           0 -3.18713e-050.000408123 0.00184581  0.999998       uwb: 0.0            848.719  990.084  
imu_odom_:  1691062407.578365465  0.402226   -0.222661  9.90481    -0.0553937  -0.00426106 0.04048     0          0             pose: 0.44148422    0          0           0 -0.000211341-0.0002558890.00185183  0.999998       uwb: 0.0            848.719  990.084  
imu_odom_:  1691062407.593355054  0.40462    -0.229843  9.90242    -0.056459   -0.00426106 0.04048     0          0             pose: 0.0           0          0           0 -0.000211341-0.0002558890.00185183  0.999998       uwb: 0.0            848.719  990.084  
imu_odom_:  1691062407.608349892  0.385466   -0.232238  9.85453    -0.0553937  -0.00639159 0.0394148   0          0             pose: 0.0           0          0           0 -0.000211341-0.0002558890.00185183  0.999998       uwb: 0.50094682     847.842  990.694  
imu_odom_:  1691062407.622390530  0.373495   -0.241814  9.89763    -0.0553937  -0.00319579 0.04048     0          0             pose: 0.43854755    0          0           0 -0.0004917090.00143281  0.00184329  0.999997       uwb: 0.0            847.842  990.694  
imu_odom_:  1691062407.637341333  0.383072   -0.215478  9.92397    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.0           0          0           0 -0.0004917090.00143281  0.00184329  0.999997       uwb: 0.0            847.842  990.694  
imu_odom_:  1691062407.651341142  0.418985   -0.213084  9.91678    -0.0543285  -0.00532632 0.04048     0          0             pose: 0.0           0          0           0 -0.0004917090.00143281  0.00184329  0.999997       uwb: 0.49902500     847.818  990.692  
imu_odom_:  1691062407.665261921  0.390255   -0.208296  9.90721    -0.0543285  -0.00426106 0.04048     0          0             pose: 0.80972069    0          0           0 -5.6394e-05 -0.0001700510.00186564  0.999998       uwb: 0.0            847.818  990.692  
imu_odom_:  1691062407.680261425  0.392649   -0.225055  9.91199    -0.0553937  -0.00319579 0.0394148   0          0             pose: 0.0           0          0           0 -5.6394e-05 -0.0001700510.00186564  0.999998       uwb: 0.0            847.818  990.692  
imu_odom_:  1691062407.694314894  0.397437   -0.225055  9.88805    -0.056459   -0.00426106 0.04048     0          0             pose: 0.0           0          0           0 -5.6394e-05 -0.0001700510.00186564  0.999998       uwb: 0.0            847.818  990.692  
imu_odom_:  1691062407.708345325  0.402226   -0.220267  9.92875    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.42973752    0          0           0 0.000487665 -0.0001557160.00187594  0.999998       uwb: 0.49846217     847.849  990.961  
imu_odom_:  1691062407.723336664  0.399832   -0.208296  9.89763    -0.0553937  -0.00426106 0.04048     0          0             pose: 0.5950051     0          0           0 -8.83478e-05-6.57095e-060.00187547  0.999998       uwb: 0.0            847.849  990.961  
imu_odom_:  1691062407.738328877  0.397437   -0.208296  9.86172    -0.0543285  -0.00426106 0.0394148   0          0             pose: 0.0           0          0           0 -8.83478e-05-6.57095e-060.00187547  0.999998       uwb: 0.0            847.849  990.961  
imu_odom_:  1691062407.752334228  0.428562   -0.222661  9.90481    -0.056459   -0.00426106 0.04048     0          0             pose: 0.38063932    0          0           0 -0.0007430650.000750997 0.00187999  0.999998       uwb: 0.49974531     847.778  990.956  
imu_odom_:  1691062407.767246828  0.40462    -0.215478  9.85932    -0.0553937  -0.00426106 0.0383495   0          0             pose: 0.0           0          0           0 -0.0007430650.000750997 0.00187999  0.999998       uwb: 0.0            847.778  990.956  
imu_odom_:  1691062407.781369703  0.42138    -0.19393   9.91199    -0.056459   -0.00319579 0.0394148   0          0             pose: 0.0           0          0           0 -0.0007430650.000750997 0.00187999  0.999998       uwb: 0.0            847.778  990.956  
imu_odom_:  1691062407.795250238  0.397437   -0.201113  9.92397    -0.0553937  -0.00319579 0.04048     0          0             pose: 0.6001668     0          0           0 -0.0006497120.00015766  0.00188232  0.999998       uwb: 0.50001653     847.651  991.082  
imu_odom_:  1691062407.810257908  0.390255   -0.23942   9.91199    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.0           0          0           0 -0.0006497120.00015766  0.00188232  0.999998       uwb: 0.0            847.651  991.082  
imu_odom_:  1691062407.824384283  0.392649   -0.215478  9.89284    -0.0543285  -0.00426106 0.0394148   0          0             pose: 0.0           0          0           0 -0.0006497120.00015766  0.00188232  0.999998       uwb: 0.0            847.651  991.082  
imu_odom_:  1691062407.838398383  0.42138    -0.21069   9.88805    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.42994458    0          0           0 0.000832779 -0.0002189910.00187816  0.999998       uwb: 0.0            847.651  991.082  
imu_odom_:  1691062407.853310982  0.387861   -0.222661  9.87848    -0.056459   -0.00426106 0.0394148   0          0             pose: 0.0           0          0           0 0.000832779 -0.0002189910.00187816  0.999998       uwb: 0.50142801     847.819  991.492  
imu_odom_:  1691062407.867266173  0.411803   -0.21069   9.87369    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.0           0          0           0 0.000832779 -0.0002189910.00187816  0.999998       uwb: 0.0            847.819  991.492  
imu_odom_:  1691062407.881337140  0.402226   -0.208296  9.89524    -0.056459   -0.00319579 0.04048     0          0             pose: 0.43000873    0          0           0 0.000393929 -0.0001092860.00187834  0.999998       uwb: 0.0            847.819  991.492  
imu_odom_:  1691062407.896259655  0.426168   -0.203507  9.92157    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.0           0          0           0 0.000393929 -0.0001092860.00187834  0.999998       uwb: 0.50050646     847.754  990.955  
imu_odom_:  1691062407.910362117  0.387861   -0.215478  9.92636    -0.056459   -0.00532632 0.0394148   0          0             pose: 0.0           0          0           0 0.000393929 -0.0001092860.00187834  0.999998       uwb: 0.0            847.754  990.955  
imu_odom_:  1691062407.925347040  0.409408   -0.229843  9.89045    -0.0553937  -0.00639159 0.0383495   0          0             pose: 0.42962088    0          0           0 0.000325992 -0.0001172390.00187823  0.999998       uwb: 0.0            847.754  990.955  
imu_odom_:  1691062407.939314187  0.397437   -0.220267  9.86411    -0.0543285  -0.00426106 0.04048     0          0             pose: 0.0           0          0           0 0.000325992 -0.0001172390.00187823  0.999998       uwb: 0.0            847.754  990.955  
imu_odom_:  1691062407.953262962  0.407014   -0.234632  9.88566    -0.0553937  -0.00639159 0.0394148   0          0             pose: 0.0           0          0           0 0.000325992 -0.0001172390.00187823  0.999998       uwb: 0.49909207     847.484  991.073  
imu_odom_:  1691062407.968366286  0.385466   -0.203507  9.87129    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.43028869    0          0           0 -0.00037905 9.11783e-05 0.00187558  0.999998       uwb: 0.0            847.484  991.073  
imu_odom_:  1691062407.983340418  0.416591   -0.222661  9.92875    -0.0553937  -0.00426106 0.04048     0          0             pose: 0.0           0          0           0 -0.00037905 9.11783e-05 0.00187558  0.999998       uwb: 0.0            847.484  991.073  
imu_odom_:  1691062407.997255948  0.418985   -0.208296  9.88087    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.0           0          0           0 -0.00037905 9.11783e-05 0.00187558  0.999998       uwb: 0.49886461     847.897  990.564  
imu_odom_:  1691062408.12244668   0.399832   -0.234632  9.89524    -0.0553937  -0.00426106 0.04048     0          0             pose: 0.42967628    0          0           0 -0.000720653-1.03628e-050.00187451  0.999998       uwb: 0.0            847.897  990.564  
imu_odom_:  1691062408.27431114   0.395043   -0.203507  9.9096     -0.056459   -0.00426106 0.04048     0          0             pose: 0.0           0          0           0 -0.000720653-1.03628e-050.00187451  0.999998       uwb: 0.0            847.897  990.564  
imu_odom_:  1691062408.42303188   0.409408   -0.220267  9.92397    -0.0553937  -0.00426106 0.04048     0          0             pose: 0.0           0          0           0 -0.000720653-1.03628e-050.00187451  0.999998       uwb: 0.0            847.897  990.564  
imu_odom_:  1691062408.56234474   0.399832   -0.189142  9.89284    -0.0543285  -0.00532632 0.04048     0          0             pose: 0.43991819    0          0           0 0.000357955 -0.0004988840.0018812   0.999998       uwb: 0.50114248     848.35   990.592  
imu_odom_:  1691062408.71271900   0.426168   -0.229843  9.89045    -0.056459   -0.00532632 0.04048     0          0             pose: 0.0           0          0           0 0.000357955 -0.0004988840.0018812   0.999998       uwb: 0.0            848.35   990.592  
imu_odom_:  1691062408.86254499   0.402226   -0.227449  9.91678    -0.0575243  -0.00532632 0.04048     0          0             pose: 0.0           0          0           0 0.000357955 -0.0004988840.0018812   0.999998       uwb: 0.0            848.35   990.592  
imu_odom_:  1691062408.100252860  0.42138    -0.191536  9.87608    -0.0543285  -0.00532632 0.0394148   0          0             pose: 0.44978128    0          0           0 0.000284091 -0.0001479330.00190184  0.999998       uwb: 0.49924696     848.318  991.121  
imu_odom_:  1691062408.115283869  0.407014   -0.23942   9.89524    -0.0553937  -0.00426106 0.04048     0          0             pose: 0.0           0          0           0 0.000284091 -0.0001479330.00190184  0.999998       uwb: 0.0            848.318  991.121  
imu_odom_:  1691062408.129218364  0.423774   -0.215478  9.89524    -0.0543285  -0.00426106 0.04048     0          0             pose: 0.0           0          0           0 0.000284091 -0.0001479330.00190184  0.999998       uwb: 0.0            848.318  991.121  
imu_odom_:  1691062408.144344443  0.411803   -0.237026  9.94312    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.44066213    0          0           0 -0.0004370390.000174625 0.00191979  0.999998       uwb: 0.0            848.318  991.121  
imu_odom_:  1691062408.159348623  0.40462    -0.198719  9.88566    -0.0543285  -0.00426106 0.0394148   0          0             pose: 0.0           0          0           0 -0.0004370390.000174625 0.00191979  0.999998       uwb: 0.49949484     848.255  990.984  
imu_odom_:  1691062408.174455456  0.423774   -0.191536  9.91678    -0.056459   -0.00426106 0.0383495   0          0             pose: 0.0           0          0           0 -0.0004370390.000174625 0.00191979  0.999998       uwb: 0.0            848.255  990.984  
imu_odom_:  1691062408.188266592  0.399832   -0.213084  9.84975    -0.056459   -0.00532632 0.0383495   0          0             pose: 0.42966197    0          0           0 -0.000659841-0.0007072660.0019313   0.999998       uwb: 0.0            848.255  990.984  
imu_odom_:  1691062408.203339888  0.411803   -0.208296  9.90242    -0.0553937  -0.00426106 0.04048     0          0             pose: 0.0           0          0           0 -0.000659841-0.0007072660.0019313   0.999998       uwb: 0.50012767     848.43   990.862  
imu_odom_:  1691062408.218335611  0.387861   -0.213084  9.88326    -0.056459   -0.00426106 0.04048     0          0             pose: 0.0           0          0           0 -0.000659841-0.0007072660.0019313   0.999998       uwb: 0.0            848.43   990.862  
imu_odom_:  1691062408.232210030  0.411803   -0.213084  9.88805    -0.0543285  -0.00426106 0.0394148   0          0             pose: 0.58924579    0          0           0 0.000346888 -0.00066466 0.00191459  0.999998       uwb: 0.0            848.43   990.862  
imu_odom_:  1691062408.247255912  0.414197   -0.201113  9.85693    -0.0543285  -0.00639159 0.04048     0          0             pose: 0.0           0          0           0 0.000346888 -0.00066466 0.00191459  0.999998       uwb: 0.50067592     848.183  990.98   
imu_odom_:  1691062408.261395129  0.414197   -0.21069   9.89045    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.0           0          0           0 0.000346888 -0.00066466 0.00191459  0.999998       uwb: 0.0            848.183  990.98   
imu_odom_:  1691062408.276198086  0.402226   -0.191536  9.88805    -0.0553937  -0.00426106 0.04048     0          0             pose: 0.30022942    0          0           0 9.4087e-06  -0.0006464870.00192502  0.999998       uwb: 0.0            848.183  990.98   
imu_odom_:  1691062408.291196142  0.409408   -0.23942   9.85693    -0.056459   -0.00532632 0.04048     0          0             pose: 0.42974946    0          0           0 2.88088e-05 -0.0004788010.00193201  0.999998       uwb: 0.0            848.183  990.98   
imu_odom_:  1691062408.306192740  0.397437   -0.205901  9.91918    -0.0553937  -0.00639159 0.0394148   0          0             pose: 0.0           0          0           0 2.88088e-05 -0.0004788010.00193201  0.999998       uwb: 0.50139042     847.96   990.7    
imu_odom_:  1691062408.320313875  0.383072   -0.205901  9.91678    -0.0553937  -0.00319579 0.04048     0          0             pose: 0.0           0          0           0 2.88088e-05 -0.0004788010.00193201  0.999998       uwb: 0.0            847.96   990.7    
imu_odom_:  1691062408.335313389  0.395043   -0.205901  9.86172    -0.056459   -0.00532632 0.0394148   0          0             pose: 0.45125982    0          0           0 0.000462345 0.000973844 0.00194381  0.999998       uwb: 0.0            847.96   990.7    
imu_odom_:  1691062408.350342941  0.418985   -0.220267  9.87129    -0.0543285  -0.00426106 0.04048     0          0             pose: 0.0           0          0           0 0.000462345 0.000973844 0.00194381  0.999998       uwb: 0.50057969     848.175  990.714  
imu_odom_:  1691062408.364306014  0.399832   -0.237026  9.91199    -0.0543285  -0.00319579 0.04048     0          0             pose: 0.0           0          0           0 0.000462345 0.000973844 0.00194381  0.999998       uwb: 0.0            848.175  990.714  
imu_odom_:  1691062408.379376977  0.416591   -0.198719  9.93115    -0.0543285  -0.00426106 0.04048     0          0             pose: 0.43983099    0          0           0 -0.000721934-0.00047258 0.00195666  0.999998       uwb: 0.0            848.175  990.714  
imu_odom_:  1691062408.393308555  0.387861   -0.213084  9.9096     -0.0543285  -0.00532632 0.0394148   0          0             pose: 0.0           0          0           0 -0.000721934-0.00047258 0.00195666  0.999998       uwb: 0.0            848.175  990.714  
imu_odom_:  1691062408.408194626  0.426168   -0.241814  9.92397    -0.0543285  -0.00426106 0.04048     0          0             pose: 0.0           0          0           0 -0.000721934-0.00047258 0.00195666  0.999998       uwb: 0.49794922     848.104  990.709  
imu_odom_:  1691062408.423323914  0.385466   -0.21069   9.89524    -0.0543285  -0.00532632 0.0394148   0          0             pose: 0.42995069    0          0           0 -0.0002737120.000458477 0.00196829  0.999998       uwb: 0.0            848.104  990.709  
imu_odom_:  1691062408.438302139  0.409408   -0.215478  9.8665     -0.0543285  -0.00426106 0.04048     0          0             pose: 0.0           0          0           0 -0.0002737120.000458477 0.00196829  0.999998       uwb: 0.0            848.104  990.709  
imu_odom_:  1691062408.452176267  0.399832   -0.225055  9.88805    -0.056459   -0.00426106 0.04048     0          0             pose: 0.0           0          0           0 -0.0002737120.000458477 0.00196829  0.999998       uwb: 0.49977771     848.033  990.305  
imu_odom_:  1691062408.467296222  0.390255   -0.19393   9.88566    -0.0543285  -0.00426106 0.0394148   0          0             pose: 0.45009915    0          0           0 -0.000400283-6.45934e-050.00198092  0.999998       uwb: 0.0            848.033  990.305  
imu_odom_:  1691062408.482293403  0.390255   -0.213084  9.90481    -0.0543285  -0.00319579 0.0394148   0          0             pose: 0.0           0          0           0 -0.000400283-6.45934e-050.00198092  0.999998       uwb: 0.0            848.033  990.305  
imu_odom_:  1691062408.496224398  0.423774   -0.208296  9.88566    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.0           0          0           0 -0.000400283-6.45934e-050.00198092  0.999998       uwb: 0.49995270     848.214  989.386  
imu_odom_:  1691062408.511290986  0.411803   -0.189142  9.90002    -0.0543285  -0.00426106 0.0394148   0          0             pose: 0.44035592    0          0           0 -0.0004511660.00015853  0.00198154  0.999998       uwb: 0.0            848.214  989.386  
imu_odom_:  1691062408.526294875  0.411803   -0.220267  9.92636    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.0           0          0           0 -0.0004511660.00015853  0.00198154  0.999998       uwb: 0.0            848.214  989.386  
imu_odom_:  1691062408.540206039  0.407014   -0.237026  9.87608    -0.056459   -0.00532632 0.04048     0          0             pose: 0.0           0          0           0 -0.0004511660.00015853  0.00198154  0.999998       uwb: 0.0            848.214  989.386  
imu_odom_:  1691062408.555157434  0.414197   -0.225055  9.87129    -0.0543285  -0.00319579 0.04048     0          0             pose: 0.37935933    0          0           0 -1.71129e-05-0.0004492120.00197805  0.999998       uwb: 0.50000810     848.262  989.389  
imu_odom_:  1691062408.570146450  0.402226   -0.201113  9.9096     -0.056459   -0.00426106 0.0394148   0          0             pose: 0.0           0          0           0 -1.71129e-05-0.0004492120.00197805  0.999998       uwb: 0.0            848.262  989.389  
imu_odom_:  1691062408.584201969  0.395043   -0.217872  9.91918    -0.0553937  -0.00426106 0.04048     0          0             pose: 0.5918850     0          0           0 -0.000598935-0.0003256810.00198097  0.999998       uwb: 0.0            848.262  989.389  
imu_odom_:  1691062408.599169404  0.399832   -0.229843  9.88087    -0.0543285  -0.00532632 0.0394148   0          0             pose: 0.0           0          0           0 -0.000598935-0.0003256810.00198097  0.999998       uwb: 0.49993519     848.733  989.157  
imu_odom_:  1691062408.613214133  0.378284   -0.201113  9.88805    -0.0553937  -0.00532632 0.04048     0          0             pose: 0.0           0          0           0 -0.000598935-0.0003256810.00198097  0.999998       uwb: 0.0            848.733  989.157  
imu_odom_:  1691062408.628153864  0.402226   -0.241814  9.89524    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.43935272    0          0           0 0.000332678 0.000381464 0.00199099  0.999998       uwb: 0.0            848.733  989.157  
imu_odom_:  1691062408.643259822  0.397437   -0.220267  9.90002    -0.0543285  -0.00532632 0.0394148   0          0             pose: 0.0           0          0           0 0.000332678 0.000381464 0.00199099  0.999998       uwb: 0.0            848.733  989.157  
imu_odom_:  1691062408.657166611  0.373495   -0.205901  9.93115    -0.0543285  -0.00426106 0.0394148   0          0             pose: 0.0           0          0           0 0.000332678 0.000381464 0.00199099  0.999998       uwb: 0.50061177     848.9    989.169  
imu_odom_:  1691062408.672139879  0.395043   -0.203507  9.91439    -0.0543285  -0.00532632 0.0383495   0          0             pose: 0.43072641    0          0           0 -0.00107771 0.000137046 0.00199845  0.999997       uwb: 0.0            848.9    989.169  
imu_odom_:  1691062408.687139685  0.426168   -0.222661  9.8689     -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.0           0          0           0 -0.00107771 0.000137046 0.00199845  0.999997       uwb: 0.0            848.9    989.169  
imu_odom_:  1691062408.702133074  0.407014   -0.225055  9.92875    -0.0543285  -0.00532632 0.04048     0          0             pose: 0.0           0          0           0 -0.00107771 0.000137046 0.00199845  0.999997       uwb: 0.50050387     849.067  989.181  
imu_odom_:  1691062408.717196746  0.414197   -0.205901  9.89045    -0.0532632  -0.00426106 0.0394148   0          0             pose: 0.43925648    0          0           0 0.00048425  0.000785263 0.00199286  0.999998       uwb: 0.0            849.067  989.181  
imu_odom_:  1691062408.731205605  0.418985   -0.19393   9.88087    -0.056459   -0.00532632 0.04048     0          0             pose: 0.0           0          0           0 0.00048425  0.000785263 0.00199286  0.999998       uwb: 0.0            849.067  989.181  
imu_odom_:  1691062408.746201037  0.409408   -0.217872  9.89045    -0.0553937  -0.00426106 0.04048     0          0             pose: 0.0           0          0           0 0.00048425  0.000785263 0.00199286  0.999998       uwb: 0.49811545     849.062  988.916  
imu_odom_:  1691062408.760151570  0.42138    -0.205901  9.89284    -0.0575243  -0.00426106 0.0394148   0          0             pose: 0.45044328    0          0           0 -0.00013769 -6.95455e-050.00199448  0.999998       uwb: 0.0            849.062  988.916  
imu_odom_:  1691062408.775239155  0.414197   -0.225055  9.90002    -0.056459   -0.00426106 0.0394148   0          0             pose: 0.0           0          0           0 -0.00013769 -6.95455e-050.00199448  0.999998       uwb: 0.0            849.062  988.916  
imu_odom_:  1691062408.790250043  0.414197   -0.21069   9.88326    -0.0543285  -0.00532632 0.04048     0          0             pose: 0.0           0          0           0 -0.00013769 -6.95455e-050.00199448  0.999998       uwb: 0.0            849.062  988.916  
imu_odom_:  1691062408.812188516  0.40462    -0.217872  9.91439    -0.0532632  -0.00426106 0.0383495   0          0             pose: 0.44013428    0          0           0 0.00041827  -0.00116151 0.00200636  0.999997       uwb: 0.50263274     848.816  989.691  
imu_odom_:  1691062408.829120930  0.0909797  -0.270545  9.8282     -0.0639159  0.0266316   0.0138484   0          0             pose: 0.0           0          0           0 0.00041827  -0.00116151 0.00200636  0.999997       uwb: 0.0            848.816  989.691  
imu_odom_:  1691062408.845170299  -0.0430956 0.0215478  10.0437    -0.052198   0.00639159  -0.0607201  0.02       0.05          pose: 0.43972308    0          0           0 0.00045809  -0.0002698340.00200829  0.999998       uwb: 0.49653483     848.807  989.823  
imu_odom_:  1691062408.862170954  -0.64404   0.184354   9.43076    -0.0511327  0.0245011   -0.0319579  0.04       0.11          pose: 0.0           0          0           0 0.00045809  -0.0002698340.00200829  0.999998       uwb: 0.0            848.807  989.823  
imu_odom_:  1691062408.878282731  -0.739808  -0.675165  10.094     -0.0649811  0.0127832   0.106526    0.03       0.11          pose: 0.0           0          0           0 0.00045809  -0.0002698340.00200829  0.999998       uwb: 0.0            848.807  989.823  
imu_odom_:  1691062408.895170235  -0.342371  -0.976834  9.83777    -0.0479369  -0.0671117  0.153398    0.03       0.11          pose: 0.74006915    0          0           0 -0.0001087880.00620026  0.000642013 0.999981       uwb: 0.49887076     848.631  989.944  
imu_odom_:  1691062408.911129491  0.213084   0.0287304  9.89284    -0.0276969  -0.0458064  0.152333    0.03       0.11          pose: 0.0           0          0           0 -0.0001087880.00620026  0.000642013 0.999981       uwb: 0.0            848.631  989.944  
imu_odom_:  1691062408.928170099  0.385466   0.222661   9.76116    -0.052198   -0.0170442  0.18003     0.05       0.11          pose: 0.0           0          0           0 -0.0001087880.00620026  0.000642013 0.999981       uwb: 0.0            848.631  989.944  
imu_odom_:  1691062408.944113316  0.184354   -0.237026  10.0556    -0.0607201  0.0149137   0.149137    0.05       0.11          pose: 0.32988199    0          0           0 -0.0008164670.00749711  0.00232018  0.999969       uwb: 0.0            848.631  989.944  
imu_odom_:  1691062408.961166463  -0.11971   -0.287304  9.98861    -0.0553937  -0.00745685 0.111853    0.09       0.11          pose: 0.40940852    0          0           0 0.000799371 0.00832667  0.00484823  0.999953       uwb: 0.50107837     848.885  990.093  
imu_odom_:  1691062408.977217874  -0.244209  -0.301669  9.59835    -0.0596548  -0.00745685 0.126766    0.09       0.11          pose: 0.0           0          0           0 0.000799371 0.00832667  0.00484823  0.999953       uwb: 0.0            848.885  990.093  
imu_odom_:  1691062408.994266647  -0.0263362 -0.181959  9.95988    -0.0639159  -0.0191748  0.118244    0.09       0.11          pose: 0.0           0          0           0 0.000799371 0.00832667  0.00484823  0.999953       uwb: 0.0            848.885  990.093  
imu_odom_:  1691062409.10154167   0.131681   -0.124498  9.78271    -0.0639159  -0.00852212 0.122505    0.08       0.05          pose: 0.7076607     0          0           0 0.00062707  0.00900129  0.00510189  0.999946       uwb: 0.50116294     848.787  990.485  
imu_odom_:  1691062409.27200035   0.35913    -0.28491   10.1418    -0.0639159  -0.00532632 0.118244    0.12       0.08          pose: 0.0           0          0           0 0.00062707  0.00900129  0.00510189  0.999946       uwb: 0.0            848.787  990.485  
imu_odom_:  1691062409.43199838   -0.0502782 -0.234632  9.51935    -0.0617853  -0.00958738 0.0830906   0.12       0.08          pose: 0.50992632    0.00999995 3.22119e-05 0 0.000945413 0.013217    0.00716805  0.999887       uwb: 0.0            848.787  990.485  
imu_odom_:  1691062409.60086186   -0.222661  -0.155623  9.8665     -0.0660464  -0.0138484  0.0894822   0.13       0.08          pose: 0.7142520     0.00999995 3.22119e-05 0 0.00136536  0.0127285   0.0077875   0.999888       uwb: 0.49916557     848.787  991.279  
imu_odom_:  1691062409.76209055   0.423774   -0.265756  10.1347    -0.0820254  -0.00852212 0.107592    0.13       0.08          pose: 0.0           0.00999995 3.22119e-05 0 0.00136536  0.0127285   0.0077875   0.999888       uwb: 0.0            848.787  991.279  
imu_odom_:  1691062409.93085487   0.380678   -0.122104  10.1275    -0.0798948  -0.02024    0.0788296   0.13       0.08          pose: 0.33829562    0.00999995 3.22119e-05 0 0.000636734 0.0141049   0.0087162   0.999862       uwb: 0.0            848.787  991.279  
imu_odom_:  1691062409.109086457  0.837971   0.0047884  9.63666    -0.092678   -0.0671117  0.0980043   0.11       0.05          pose: 0.41959238    0.0158599  7.59036e-05 0 0.000546147 0.0116114   0.00983104  0.999884       uwb: 0.49943975     848.844  991.547  
imu_odom_:  1691062409.126130283  0.933739   -0.141258  9.85932    -0.1012     -0.0330232  0.125701    0.11       0.05          pose: 0.7017120     0.0199998  7.4575e-05  0 0.000637725 0.0107217   0.0100404   0.999892       uwb: 0.0            848.844  991.547  
imu_odom_:  1691062409.142129794  0.857124   -0.632069  9.91439    -0.0894822  -0.00106526 0.12144     0.11       0.05          pose: 0.0           0.0199998  7.4575e-05  0 0.000637725 0.0107217   0.0100404   0.999892       uwb: 0.0            848.844  991.547  
imu_odom_:  1691062409.159078842  1.16358    -0.452504  10.1323    -0.0713727  -0.0319579  0.0894822   0.11       0             pose: 0.42027187    0.0199998  7.4575e-05  0 -0.0006555480.00634185  0.0116994   0.999911       uwb: 0.50039337     849.131  991.563  
imu_odom_:  1691062409.175124430  0.962469   0.100556   9.84975    -0.0639159  -0.0340885  0.0671117   0.08       -0.02         pose: 0.0           0.0199998  7.4575e-05  0 -0.0006555480.00634185  0.0116994   0.999911       uwb: 0.0            849.131  991.563  
imu_odom_:  1691062409.192118971  1.1564     -0.0454898 10.149     -0.0639159  0.0394148   0.0596548   0.08       -0.02         pose: 0.0           0.0199998  7.4575e-05  0 -0.0006555480.00634185  0.0116994   0.999911       uwb: 0.0            849.131  991.563  
imu_odom_:  1691062409.208068906  0.476446   -0.344765  9.83538    -0.056459   0.036219    0.0319579   0.06       0.02          pose: 0.23952169    0.0199998  7.4575e-05  0 -0.000882   0.00373478  0.0122172   0.999918       uwb: 0.50006383     849.114  991.43   
imu_odom_:  1691062409.225062281  0.481235   -0.445322  10.0365    -0.0500674  -0.00106526 0.00745685  0.06       0.02          pose: 0.0           0.0199998  7.4575e-05  0 -0.000882   0.00373478  0.0122172   0.999918       uwb: 0.0            849.114  991.43   
imu_odom_:  1691062409.241060917  0.890643   -0.349553  9.68455    -0.0628506  -0.00106526 0.0138484   0.06       0.02          pose: 0.34065489    0.0199998  7.4575e-05  0 -0.0008057940.00116573  0.0124822   0.999921       uwb: 0.0            849.114  991.43   
imu_odom_:  1691062409.268142240  0.737414   -0.378284  9.93354    -0.0511327  -0.0287621  0.0490022   0.07       0.02          pose: 0.40913465    0.0299997  0.00012129  0 -0.00320648 -0.0014515  0.0119651   0.999922       uwb: 0.49941642     849.392  990.787  
imu_odom_:  1691062409.293055902  0.196325   -0.246603  9.68694    -0.0479369  0.0511327   -0.0308927  0.05       0             pose: 0.7018578     0.0299997  0.00012129  0 -0.00340129 -0.0022077  0.0119966   0.99992        uwb: 0.0            849.392  990.787  
imu_odom_:  1691062409.310065608  -1.29287   0.296881   9.98143    -0.0383495  0.0798948   -0.0543285  0.08       0.05          pose: 0.0           0.0299997  0.00012129  0 -0.00340129 -0.0022077  0.0119966   0.99992        uwb: 0.50004633     849.432  990.526  
imu_odom_:  1691062409.335110210  -0.612916  -0.770933  10.0149    -0.0660464  -0.052198   0.0788296   0.08       0.05          pose: 0.0           0.0299997  0.00012129  0 -0.00340129 -0.0022077  0.0119966   0.99992        uwb: 0.0            849.432  990.526  
imu_odom_:  1691062409.352102127  0.229843   -0.802058  9.84256    -0.0351537  -0.076699   0.0575243   0.1        0             pose: 0.52051852    0.0299997  0.00012129  0 -0.00324234 -0.00024472 0.0108837   0.999935       uwb: 0.50108744     849.338  990.124  
imu_odom_:  1691062409.377201847  0.711078   0.0622492  9.36372    -0.0426106  0.00213053  0.0735032   0.1        0             pose: 0.0           0.0299997  0.00012129  0 -0.00324234 -0.00024472 0.0108837   0.999935       uwb: 0.0            849.338  990.124  
imu_odom_:  1691062409.401203009  -0.0861913 -0.208296  10.0293    -0.0607201  0.0298274   0.0500674   0.12       0             pose: 0.77070500    0.0399997  0.000140628 0 -0.00359622 0.000890675 0.0114886   0.999927       uwb: 0.49867568     849.249  990.382  
imu_odom_:  1691062409.425189590  0.0574608  -0.349553  9.39245    -0.0532632  -0.0415453  0.0490022   0.12       0             pose: 0.6903968     0.0399997  0.000140628 0 -0.00351178 0.00169089  0.0115269   0.999926       uwb: 0.0            849.249  990.382  
imu_odom_:  1691062409.450047260  0.258574   -0.507571  9.90481    -0.0543285  0.00213053  0.0788296   0.11       0             pose: 0.41083775    0.0399997  0.000140628 0 -0.0039215  0.00553469  0.0117413   0.999908       uwb: 0.50004050     849.436  989.735  
imu_odom_:  1691062409.475034995  0.0742203  -0.0981623 9.91918    -0.052198   -0.0276969  0.0639159   0.14       0             pose: 0.0           0.0399997  0.000140628 0 -0.0039215  0.00553469  0.0117413   0.999908       uwb: 0.0            849.436  989.735  
imu_odom_:  1691062409.489026074  0.282516   -0.414197  9.51456    -0.0500674  -0.00532632 0.072438    0.14       0             pose: 0.0           0.0399997  0.000140628 0 -0.0039215  0.00553469  0.0117413   0.999908       uwb: 0.0            849.436  989.735  
imu_odom_:  1691062409.505228849  0.476446   -0.407014  9.74919    -0.0511327  -0.0170442  0.0617853   0.14       0             pose: 0.31914451    0.0499996  0.000179442 0 -0.00582917 0.00637566  0.0123088   0.999887       uwb: 0.0            849.436  989.735  
imu_odom_:  1691062409.529199099  0.481235   -0.248997  10.0054    -0.0458064  0.0170442   0.0585895   0.19       0.05          pose: 0.0           0.0499996  0.000179442 0 -0.00582917 0.00637566  0.0123088   0.999887       uwb: 0.0            849.436  989.735  
imu_odom_:  1691062409.554056769  0.184354   -0.184354  9.71567    -0.0458064  -0.00106526 0.0553937   0.19       0.05          pose: 0.55059689    0.0499996  0.000179442 0 -0.00599331 0.00495178  0.0129925   0.999885       uwb: 0.100085090    849.165  989.848  
imu_odom_:  1691062409.579369667  0.107739   -0.318429  9.97903    -0.0372843  -0.00532632 0.0458064   0.14       0.02          pose: 0.41893039    0.0599994  0.000238711 0 -0.00344069 0.00554724  0.0133589   0.999889       uwb: 0.0            849.165  989.848  
imu_odom_:  1691062409.606126118  0.557849   -0.124498  9.60554    -0.0660464  -0.0117179  0.056459    0.19       0.02          pose: 0.7053281     0.0599994  0.000238711 0 -0.00352574 0.00623393  0.013382    0.999885       uwb: 0.50027963     849.173  989.717  
imu_odom_:  1691062409.631229046  0.469264   -0.476446  9.8665     -0.0735032  -0.036219   0.0617853   0.19       0.02          pose: 0.0           0.0599994  0.000238711 0 -0.00352574 0.00623393  0.013382    0.999885       uwb: 0.0            849.173  989.717  
imu_odom_:  1691062409.648058527  0.28491    -0.181959  9.83538    -0.056459   -0.0117179  0.0490022   0.18       0.02          pose: 0.25057726    0.0599994  0.000238711 0 -0.00346067 0.00738586  0.0134999   0.999876       uwb: 0.50041670     848.763  989.423  
imu_odom_:  1691062409.673209573  0.011971   -0.220267  9.7037     -0.056459   -0.00639159 0.0426106   0.18       0.02          pose: 0.0           0.0599994  0.000238711 0 -0.00346067 0.00738586  0.0134999   0.999876       uwb: 0.0            848.763  989.423  
imu_odom_:  1691062409.698152398  0.512359   -0.418985  9.97664    -0.0490022  -0.0149137  0.0372843   0.19       0             pose: 0.52016273    0.0699992  0.000308221 0 -0.00411926 0.0037554   0.0139731   0.999887       uwb: 0.49926769     848.748  989.289  
imu_odom_:  1691062409.711992705  0.320823   -0.0430956 9.8258     -0.0394148  -0.00319579 0.0383495   0.19       0             pose: 0.0           0.0699992  0.000308221 0 -0.00411926 0.0037554   0.0139731   0.999887       uwb: 0.0            848.748  989.289  
imu_odom_:  1691062409.736134432  0.351948   -0.328006  10.3477    -0.0436758  0.015979    0.0426106   0.16       0             pose: 0.42133631    0.0799991  0.000287955 0 -0.00316824 0.00590524  0.0140602   0.999879       uwb: 0.0            848.748  989.289  
imu_odom_:  1691062409.753110892  0.110133   -0.0550666 9.90242    -0.04048    -0.00106526 0.0458064   0.16       0             pose: 0.0           0.0799991  0.000287955 0 -0.00316824 0.00590524  0.0140602   0.999879       uwb: 0.49995301     848.667  988.752  
imu_odom_:  1691062409.778114958  0.37589    -0.0814029 10.2232    -0.0447411  -0.00745685 0.0479369   0.16       0             pose: 0.38782549    0.0799991  0.000287955 0 -0.00311066 0.0040003   0.0140331   0.999889       uwb: 0.0            848.667  988.752  
imu_odom_:  1691062409.795004222  0.521936   -0.155623  10.3741    -0.0553937  -0.0170442  0.0500674   0.16       0             pose: 0.0           0.0799991  0.000287955 0 -0.00311066 0.0040003   0.0140331   0.999889       uwb: 0.49881275     848.636  988.218  
imu_odom_:  1691062409.819998665  0.775721   -0.213084  9.81383    -0.0500674  0.00213053  0.056459    0.17       0.02          pose: 0.40916965    0.0899991  0.000268383 0 -0.00240933 0.00425923  0.0141421   0.999888       uwb: 0.0            848.636  988.218  
imu_odom_:  1691062409.844996899  0.392649   -0.241814  9.77313    -0.0745685  -0.0351537  0.0649811   0.17       0.02          pose: 0.0           0.0899991  0.000268383 0 -0.00240933 0.00425923  0.0141421   0.999888       uwb: 0.50114285     848.589  986.752  
imu_odom_:  1691062409.868009739  0.833182   -0.146046  10.2496    -0.0500674  -0.00319579 0.036219    0.17       0             pose: 0.43129827    0.0999988  0.000351029 0 4.45041e-05 0.00121224  0.0143822   0.999896       uwb: 0.0            848.589  986.752  
imu_odom_:  1691062409.884019165  0.275333   -0.138864  10.1825    -0.0660464  -0.02024    0.052198    0.17       0             pose: 0.0           0.0999988  0.000351029 0 4.45041e-05 0.00121224  0.0143822   0.999896       uwb: 0.0            848.589  986.752  
imu_odom_:  1691062409.911027873  0.428562   -0.177171  9.44991    -0.0490022  -0.0511327  0.0415453   0.21       -0.02         pose: 0.47865260    0.109999   0.000340999 0 -0.00207654 -7.61926e-050.014831    0.999888       uwb: 0.49736628     848.269  985.789  
imu_odom_:  1691062409.936120011  0.536301   -0.213084  10.1418    -0.0703074  0.00213053  0.0532632   0.21       -0.02         pose: 0.0           0.109999   0.000340999 0 -0.00207654 -7.61926e-050.014831    0.999888       uwb: 0.0            848.269  985.789  
imu_odom_:  1691062409.952992944  0.162806   -0.174777  10.0652    -0.0596548  0.00958738  0.0479369   0.21       0.02          pose: 0.40070373    0.109999   0.000340999 0 -9.21659e-05-0.0008595810.0149073   0.999889       uwb: 0.50115743     848.129  985.241  
imu_odom_:  1691062409.978108120  0.071826   -0.136469  9.69891    -0.0745685  0.0234358   0.0490022   0.21       0.02          pose: 0.0           0.109999   0.000340999 0 -9.21659e-05-0.0008595810.0149073   0.999889       uwb: 0.0            848.129  985.241  
imu_odom_:  1691062410.3023240    0.136469   -0.294487  10.4076    -0.0639159  0.0181095   0.0255663   0.21       -0.02         pose: 0.52022106    0.119998   0.000439156 0 0.000874678 -0.00343258 0.0151317   0.999879       uwb: 0.50003758     848.079  984.298  
imu_odom_:  1691062410.26077797   0.636858   -0.0335188 9.97424    -0.036219   0.00639159  0.0276969   0.21       -0.02         pose: 0.0           0.119998   0.000439156 0 0.000874678 -0.00343258 0.0151317   0.999879       uwb: 0.0            848.079  984.298  
imu_odom_:  1691062410.50984184   0.462081   -0.150835  10.2113    -0.0692422  -0.0138484  0.0308927   0.17       -0.02         pose: 0.41930075    0.129998   0.000541744 0 0.000736568 0.00117063  0.0152376   0.999883       uwb: 0.50097397     847.89   982.936  
imu_odom_:  1691062410.68022771   0.246603   -0.179565  9.89524    -0.052198   0           0.0245011   0.17       -0.02         pose: 0.0           0.129998   0.000541744 0 0.000736568 0.00117063  0.0152376   0.999883       uwb: 0.0            847.89   982.936  
imu_odom_:  1691062410.92954238   0.45011    -0.440533  9.46907    -0.0607201  -0.0127832  0.0468716   0.17       -0.02         pose: 0.49006415    0.139997   0.000644866 0 0.00169411  0.00044293  0.0149427   0.999887       uwb: 0.0            847.89   982.936  
imu_odom_:  1691062410.117986317  0.476446   -0.275333  9.55526    -0.0468716  -0.00958738 0.0234358   0.17       -0.02         pose: 0.0           0.139997   0.000644866 0 0.00169411  0.00044293  0.0149427   0.999887       uwb: 0.49874891     847.942  981.464  
imu_odom_:  1691062410.140991005  -0.174777  -0.0335188 10.0221    -0.0692422  0.00213053  0.0330232   0.19       -0.05         pose: 0.41930393    0.149997   0.000740542 0 0.0013751   0.000331139 0.014769    0.99989        uwb: 0.0            847.942  981.464  
imu_odom_:  1691062410.156952324  0.181959   -0.351948  10.343     -0.0468716  0.00532632  0.0245011   0.19       -0.05         pose: 0.0           0.149997   0.000740542 0 0.0013751   0.000331139 0.014769    0.99989        uwb: 0.50111692     847.782  979.692  
imu_odom_:  1691062410.184063993  0.687136   -0.102951  10.2807    -0.0639159  -0.0351537  0.0394148   0.25       0.02          pose: 0.48015770    0.149997   0.000740542 0 -0.00156645 -0.00160602 0.014609    0.999891       uwb: 0.0            847.782  979.692  
imu_odom_:  1691062410.209946455  0.414197   -0.102951  9.97185    -0.0479369  -0.0234358  0.036219    0.18       0             pose: 0.40024321    0.159996   0.000832782 0 -0.00155694 0.000801571 0.0144346   0.999894       uwb: 0.49877515     847.581  979.394  
imu_odom_:  1691062410.237045292  0.658405   -0.280122  10.3046    -0.0575243  -0.00426106 0.0319579   0.21       -0.02         pose: 0.28012796    0.169996   0.000921454 0 6.30117e-05 -0.00128815 0.0144174   0.999895       uwb: 0.0            847.581  979.394  
imu_odom_:  1691062410.252919997  0.335188   -0.1652    9.55765    -0.0511327  -0.015979   0.04048     0.21       -0.02         pose: 0.0           0.169996   0.000921454 0 6.30117e-05 -0.00128815 0.0144174   0.999895       uwb: 0.50149020     847.531  978.708  
imu_odom_:  1691062410.280039540  0.385466   -0.452504  9.61511    -0.0628506  -0.0213053  0.0426106   0.24       0             pose: 0.25035286    0.169996   0.000921454 0 0.00161788  -0.00188057 0.0143598   0.999894       uwb: 0.0            847.531  978.708  
imu_odom_:  1691062410.305113904  0.452504   -0.167594  9.92397    -0.0351537  0.0127832   0.0383495   0.18       -0.02         pose: 0.42995414    0.179996   0.0010086   0 0.000480605 -0.00216994 0.0143048   0.999895       uwb: 0.49774280     847.388  978.01   
imu_odom_:  1691062410.329982380  0.675165   -0.148441  10.2711    -0.0479369  -0.0106526  0.0287621   0.23       0             pose: 0.0           0.179996   0.0010086   0 0.000480605 -0.00216994 0.0143048   0.999895       uwb: 0.0            847.388  978.01   
imu_odom_:  1691062410.351932255  -0.0502782 -0.282516  9.94312    -0.0585895  -0.00426106 0.0543285   0.23       0             pose: 0.51971396    0.189995   0.0010949   0 0.00135025  -0.00275179 0.0142811   0.999893       uwb: 0.50178183     847.502  977.074  
imu_odom_:  1691062410.367966480  0.414197   -0.0526724 10.3453    -0.0394148  -0.0234358  0.0490022   0.18       -0.02         pose: 0.0           0.189995   0.0010949   0 0.00135025  -0.00275179 0.0142811   0.999893       uwb: 0.0            847.502  977.074  
imu_odom_:  1691062410.393127749  0.550666   0.0287304  9.70131    -0.0511327  -0.036219   0.052198    0.18       -0.02         pose: 0.24023925    0.189995   0.0010949   0 0.00164105  -0.003975   0.0142296   0.99989        uwb: 0.0            847.502  977.074  
imu_odom_:  1691062410.415186692  0.198719   -0.117316  9.67736    -0.076699   -0.0479369  0.052198    0.21       0             pose: 0.38884351    0.199995   0.00117938  0 0.00359645  -0.00255431 0.0144599   0.999886       uwb: 0.49887139     847.545  975.854  
imu_odom_:  1691062410.430954953  0.790087   -0.177171  10.228     -0.0543285  0.0287621   0.0372843   0.21       0             pose: 0.0           0.199995   0.00117938  0 0.00359645  -0.00255431 0.0144599   0.999886       uwb: 0.0            847.545  975.854  
imu_odom_:  1691062410.455904209  0.837971   -0.265756  10.307     -0.0745685  -0.0223706  0.036219    0.22       0             pose: 0.56020051    0.209994   0.0012684   0 0.00470743  -0.00329706 0.0146889   0.999876       uwb: 0.50122482     847.716  974.654  
imu_odom_:  1691062410.479940090  0.23942    -0.232238  9.94551    -0.0639159  0.0117179   0.0340885   0.22       0             pose: 0.0           0.209994   0.0012684   0 0.00470743  -0.00329706 0.0146889   0.999876       uwb: 0.0            847.716  974.654  
imu_odom_:  1691062410.497043128  0.409408   -0.215478  9.83777    -0.0862864  -0.0191748  0.056459    0.18       0.02          pose: 0.6964631     0.209994   0.0012684   0 0.00439303  -0.00401186 0.0146805   0.999875       uwb: 0.49976085     847.569  973.945  
imu_odom_:  1691062410.521097381  0.603339   -0.287304  9.33739    -0.0681769  0.0223706   0.0543285   0.18       0.02          pose: 0.0           0.209994   0.0012684   0 0.00439303  -0.00401186 0.0146805   0.999875       uwb: 0.0            847.569  973.945  
imu_odom_:  1691062410.546917435  0.225055   -0.186748  10.3956    -0.0426106  0.00213053  0.0255663   0.18       0             pose: 0.49082249    0.219994   0.00136167  0 0.00214947  -0.00290943 0.0146486   0.999886       uwb: 0.49915427     848.203  972.279  
imu_odom_:  1691062410.571883897  -0.0694318 -0.1652    9.99579    -0.04048    0.0319579   0.0255663   0.18       0             pose: 0.41046473    0.229994   0.00145453  0 5.4736e-05  -0.00328385 0.014867    0.999884       uwb: 0.0            848.203  972.279  
imu_odom_:  1691062410.596884188  0.0670376  -0.320823  9.90242    -0.0511327  -0.0223706  0.0308927   0.18       0             pose: 0.43835591    0.239993   0.00155188  0 0.000720276 0.0016003   0.014559    0.999892       uwb: 0.49947797     848.189  971.179  
imu_odom_:  1691062410.613071809  0.794875   -0.150835  9.56723    -0.0426106  -0.015979   0.04048     0.18       0             pose: 0.0           0.239993   0.00155188  0 0.000720276 0.0016003   0.014559    0.999892       uwb: 0.0            848.189  971.179  
imu_odom_:  1691062410.634896867  0.332794   -0.347159  9.84975    -0.0447411  -0.0138484  0.0436758   0.19       0             pose: 0.41187912    0.246348   0.0016095   0 0.000178374 0.00199674  0.0144545   0.999894       uwb: 0.0            848.189  971.179  
imu_odom_:  1691062410.660038597  0.418985   -0.181959  9.84256    -0.0319579  0.0138484   0.0276969   0.19       0             pose: 0.0           0.246348   0.0016095   0 0.000178374 0.00199674  0.0144545   0.999894       uwb: 0.50058325     848.655  970.033  
imu_odom_:  1691062410.677019443  0.418985   -0.306458  9.95988    -0.0553937  -0.00319579 0.0426106   0.21       0             pose: 0.28936670    0.249993   0.00164198  0 -0.0012274  0.00194653  0.0144524   0.999893       uwb: 0.0            848.655  970.033  
imu_odom_:  1691062410.702084767  0.56982    -0.196325  9.73482    -0.0287621  0.0308927   0.0287621   0.21       0             pose: 0.0           0.249993   0.00164198  0 -0.0012274  0.00194653  0.0144524   0.999893       uwb: 0.49871099     848.583  968.23   
imu_odom_:  1691062410.727990559  0.538695   -0.198719  10.0317    -0.0426106  0.0255663   0.0276969   0.23       0.02          pose: 0.24953047    0.259992   0.00173041  0 -0.0003239960.000682612 0.0143554   0.999897       uwb: 0.0            848.583  968.23   
imu_odom_:  1691062410.755164636  0.361524   0.023942   10.0652    -0.0500674  -0.0383495  0.0479369   0.23       0.02          pose: 0.43037992    0.259992   0.00173041  0 -8.27458e-05-0.00228652 0.0141833   0.999897       uwb: 0.50165351     848.607  967.545  
imu_odom_:  1691062410.770865531  0.711078   -0.392649  9.78271    -0.0809601  0.0170442   0.0436758   0.23       0             pose: 0.0           0.259992   0.00173041  0 -8.27458e-05-0.00228652 0.0141833   0.999897       uwb: 0.0            848.607  967.545  
imu_odom_:  1691062410.795850366  0.215478   -0.25618   9.95509    -0.0298274  0.00958738  0.02024     0.23       0             pose: 0.50912499    0.269992   0.00181409  0 0.00246155  -0.00333799 0.0141933   0.999891       uwb: 0.49888598     848.843  966.351  
imu_odom_:  1691062410.818909881  0.603339   -0.201113  9.60314    -0.04048    -0.02024    0.0255663   0.22       -0.02         pose: 0.0           0.269992   0.00181409  0 0.00246155  -0.00333799 0.0141933   0.999891       uwb: 0.0            848.843  966.351  
imu_odom_:  1691062410.836904421  0.356736   -0.31364   9.20331    -0.0223706  0.00745685  0.0266316   0.22       -0.02         pose: 0.0           0.269992   0.00181409  0 0.00246155  -0.00333799 0.0141933   0.999891       uwb: 0.0            848.843  966.351  
imu_odom_:  1691062410.860965382  0.258574   -0.337582  9.69891    -0.0511327  -0.0106526  0.0394148   0.18       -0.02         pose: 0.75992404    0.289991   0.00197646  0 0.000327618 -0.00254233 0.0137064   0.999903       uwb: 0.49855935     848.89   966.362  
imu_odom_:  1691062410.885892766  0.665588   -0.0143652 9.98382    -0.0308927  -0.0415453  0.036219    0.18       -0.02         pose: 0.5949770     0.289991   0.00197646  0 4.23546e-06 -0.00207026 0.0137066   0.999904       uwb: 0.0            848.89   966.362  
imu_odom_:  1691062410.910905889  0.553061   -0.368707  9.93354    -0.0585895  -0.00958738 0.0490022   0.19       0             pose: 0.43038575    0.297469   0.00203174  0 0.00100464  -0.00294734 0.0136631   0.999902       uwb: 0.49976960     849.149  964.897  
imu_odom_:  1691062410.934077972  0.593762   -0.220267  10.2089    -0.0511327  -0.04048    0.0553937   0.18       0             pose: 0.0           0.297469   0.00203174  0 0.00100464  -0.00294734 0.0136631   0.999902       uwb: 0.0            849.149  964.897  
imu_odom_:  1691062410.951877997  -0.059855  -0.251391  9.54568    -0.0777643  0.04048     0.052198    0.18       0             pose: 0.30978933    0.299991   0.0020502   0 -0.00109394 -0.00490976 0.0138345   0.999892       uwb: 0.50147562     849.329  963.827  
imu_odom_:  1691062410.975932542  0.292093   -0.035913  9.58399    -0.0532632  0.0127832   0.0255663   0.18       0             pose: 0.0           0.299991   0.0020502   0 -0.00109394 -0.00490976 0.0138345   0.999892       uwb: 0.0            849.329  963.827  
imu_odom_:  1691062411.862843     0.11971    -0.323217  10.137     -0.0788296  -0.00745685 0.0383495   0.18       0             pose: 0.41015851    0.309991   0.00212702  0 -0.000577791-0.00425005 0.0140363   0.999892       uwb: 0.49971711     849.265  962.975  
imu_odom_:  1691062411.25825819   0.383072   -0.222661  10.343     -0.0553937  0.00213053  0.0394148   0.19       0             pose: 0.42975293    0.31999    0.00220781  0 -0.000472306-0.0005026780.01389     0.999903       uwb: 0.0            849.265  962.975  
imu_odom_:  1691062411.41825059   0.332794   -0.177171  9.9527     -0.0639159  -0.0106526  0.0511327   0.19       0             pose: 0.6006056     0.31999    0.00220781  0 -0.00044633 0.000116802 0.0138897   0.999903       uwb: 0.0            849.265  962.975  
imu_odom_:  1691062411.66819825   0.521936   -0.0694318 10.2304    -0.0617853  -0.0223706  0.0351537   0.18       -0.02         pose: 0.0           0.31999    0.00220781  0 -0.00044633 0.000116802 0.0138897   0.999903       uwb: 0.49980486     849.396  962.449  
imu_odom_:  1691062411.82943589   0.110133   -0.19393   9.89524    -0.0628506  0.0383495   0.0298274   0.18       -0.02         pose: 0.40958135    0.32999    0.00228561  0 0.00122292  0.0023898   0.0139727   0.999899       uwb: 0.0            849.396  962.449  
imu_odom_:  1691062411.108809445  -0.122104  0.0167594  9.97424    -0.0479369  -0.0213053  0.0340885   0.19       0             pose: 0.0           0.32999    0.00228561  0 0.00122292  0.0023898   0.0139727   0.999899       uwb: 0.50140885     849.317  961.589  
imu_odom_:  1691062411.133927277  -0.035913  -0.198719  10.3382    -0.0703074  -0.0255663  0.0319579   0.19       0             pose: 0.42013242    0.33999    0.00236419  0 0.00233512  0.00321807  0.0138339   0.999896       uwb: 0.0            849.317  961.589  
imu_odom_:  1691062411.158808017  0.37589    -0.294487  9.78271    -0.0585895  -0.0447411  0.0468716   0.18       -0.02         pose: 0.44087001    0.347589   0.00242258  0 0.00251598  0.00704307  0.013674    0.999879       uwb: 0.49983699     849.029  961.656  
imu_odom_:  1691062411.181785015  0.332794   -0.577003  10.0341    -0.0820254  -0.0372843  0.0479369   0.18       -0.02         pose: 0.6011599     0.34999    0.00244031  0 0.00205025  0.00653032  0.0136934   0.999883       uwb: 0.0            849.029  961.656  
imu_odom_:  1691062411.205811288  0.665588   -0.167594  10.1011    -0.0468716  -0.0745685  0.0383495   0.23       -0.02         pose: 0.41846139    0.357019   0.00249245  0 -0.00200224 0.00434008  0.0138407   0.999893       uwb: 0.49762063     849.058  959.837  
imu_odom_:  1691062411.222855427  0.593762   -0.0454898 9.93594    -0.076699   -0.0479369  0.0330232   0.23       -0.02         pose: 0.0           0.357019   0.00249245  0 -0.00200224 0.00434008  0.0138407   0.999893       uwb: 0.0            849.058  959.837  
imu_odom_:  1691062411.246824832  0.248997   -0.251391  9.71328    -0.0575243  0.00426106  0.0266316   0.19       0             pose: 0.41070412    0.359989   0.00251521  0 -0.000295431-0.0004547770.0137698   0.999905       uwb: 0.50114348     848.866  958.088  
imu_odom_:  1691062411.271788685  0.407014   -0.299275  9.54089    -0.0756338  -0.00852212 0.0319579   0.19       0             pose: 0.0           0.359989   0.00251521  0 -0.000295431-0.0004547770.0137698   0.999905       uwb: 0.0            848.866  958.088  
imu_odom_:  1691062411.288783831  0.629675   -0.220267  10.24      -0.0383495  -0.00745685 0.036219    0.19       0             pose: 0.0           0.359989   0.00251521  0 -0.000295431-0.0004547770.0137698   0.999905       uwb: 0.0            848.866  958.088  
imu_odom_:  1691062411.312907507  0.864307   -0.282516  10.1035    -0.0745685  -0.0426106  0.0500674   0.19       0             pose: 0.48933258    0.369989   0.00258971  0 -0.00318602 0.000632022 0.0135155   0.999903       uwb: 0.0            848.866  958.088  
imu_odom_:  1691062411.336772802  0.708684   -0.349553  10.2975    -0.04048    -0.0234358  0.0394148   0.19       0             pose: 0.41118822    0.379989   0.00265975  0 -0.00289243 -0.00391939 0.013603    0.999896       uwb: 0.0            848.866  958.088  
imu_odom_:  1691062411.353793611  0.213084   -0.339977  9.55526    -0.0575243  -0.00958738 0.0426106   0.19       0             pose: 0.0           0.379989   0.00265975  0 -0.00289243 -0.00391939 0.013603    0.999896       uwb: 0.99841998     848.757  957.06   
imu_odom_:  1691062411.377825716  0.385466   -0.433351  9.75398    -0.0436758  0.0170442   0.0383495   0.19       0             pose: 0.40886104    0.389988   0.00273208  0 -0.00378944 -0.00479822 0.0136323   0.999888       uwb: 0.0            848.757  957.06   
imu_odom_:  1691062411.402823398  0.586579   -0.550666  9.47864    -0.0692422  0.0372843   0.0276969   0.19       0             pose: 0.0           0.389988   0.00273208  0 -0.00378944 -0.00479822 0.0136323   0.999888       uwb: 0.50031526     848.679  956.466  
imu_odom_:  1691062411.426772098  0.349553   -0.440533  9.57681    -0.0490022  -0.0340885  0.0596548   0.2        -0.02         pose: 0.49029787    0.397477   0.00280557  0 -0.0079478  -0.00383507 0.0134796   0.99987        uwb: 0.0            848.679  956.466  
imu_odom_:  1691062411.443849191  0.691924   -0.189142  10.1969    -0.0479369  -0.0394148  0.0468716   0.2        -0.02         pose: 0.0           0.397477   0.00280557  0 -0.0079478  -0.00383507 0.0134796   0.99987        uwb: 0.0            848.679  956.466  
imu_odom_:  1691062411.467911042  0.667982   -0.0383072 10.161     -0.0511327  -0.00213053 0.0447411   0.2        0             pose: 0.41025793    0.406058   0.0129288   0 -0.00793795 -0.00374099 0.013795    0.999866       uwb: 0.49955994     848.705  955.184  
imu_odom_:  1691062411.491920983  0.402226   -0.380678  9.75158    -0.0745685  0.0276969   0.0394148   0.2        0             pose: 0.0           0.406058   0.0129288   0 -0.00793795 -0.00374099 0.013795    0.999866       uwb: 0.0            848.705  955.184  
imu_odom_:  1691062411.517801711  0.402226   -0.229843  9.3733     -0.0681769  0.00958738  0.0479369   0.23       0             pose: 0.48071792    0.416939   0.0131009   0 -0.00723827 -0.00242659 0.0138527   0.999875       uwb: 0.50109973     848.514  953.829  
imu_odom_:  1691062411.541755369  0.435745   -0.181959  9.13388    -0.0596548  0.0170442   0.0436758   0.19       -0.02         pose: 0.0           0.416939   0.0131009   0 -0.00723827 -0.00242659 0.0138527   0.999875       uwb: 0.0            848.514  953.829  
imu_odom_:  1691062411.558752556  0.318429   -0.229843  9.83299    -0.0713727  0.0127832   0.052198    0.19       -0.02         pose: 0.31894369    0.419814   0.013152    0 -0.00440155 -0.00129708 0.0139712   0.999892       uwb: 0.49946079     848.619  952.124  
imu_odom_:  1691062411.582807408  0.148441   -0.363919  9.96227    -0.0607201  0.0372843   0.052198    0.18       0.02          pose: 0.0           0.419814   0.013152    0 -0.00440155 -0.00129708 0.0139712   0.999892       uwb: 0.0            848.619  952.124  
imu_odom_:  1691062411.606759899  0.746991   -0.4956    10.0748    -0.0617853  -0.0255663  0.0383495   0.18       0.02          pose: 0.42003909    0.429812   0.0133316   0 -0.00257465 0.00132522  0.0141599   0.999896       uwb: 0.50052815     848.638  950.966  
imu_odom_:  1691062411.630758759  0.349553   -0.395043  9.48343    -0.0383495  -0.00319579 0.0394148   0.25       0.02          pose: 0.40940638    0.436872   0.0133903   0 -0.00448025 0.000836703 0.0142451   0.999888       uwb: 0.0            848.638  950.966  
imu_odom_:  1691062411.647728825  0.445322   -0.371101  9.91918    -0.0383495  -0.00958738 0.0351537   0.25       0.02          pose: 0.0           0.436872   0.0133903   0 -0.00448025 0.000836703 0.0142451   0.999888       uwb: 0.49981366     848.298  950.855  
imu_odom_:  1691062411.672798538  0.414197   -0.280122  9.2895     -0.0447411  -0.0117179  0.0468716   0.18       0             pose: 0.40968926    0.445685   0.013465    0 -0.00696463 2.96602e-05 0.0141955   0.999875       uwb: 0.0            848.298  950.855  
imu_odom_:  1691062411.696798856  0.272939   -0.428562  9.40921    -0.0532632  -0.00532632 0.052198    0.18       0             pose: 0.0           0.445685   0.013465    0 -0.00696463 2.96602e-05 0.0141955   0.999875       uwb: 0.49995947     848.372  949.558  
imu_odom_:  1691062411.713745883  1.02232    -0.205901  10.307     -0.0383495  -0.0117179  0.0415453   0.18       0.02          pose: 0.0           0.445685   0.013465    0 -0.00696463 2.96602e-05 0.0141955   0.999875       uwb: 0.0            848.372  949.558  
imu_odom_:  1691062411.737907763  0.68953    -0.275333  10.2065    -0.0596548  -0.0383495  0.0532632   0.18       0.02          pose: 0.56113114    0.459811   0.0135853   0 -0.0058122  0.00043354  0.0144472   0.999879       uwb: 0.0            848.372  949.558  
imu_odom_:  1691062411.761857629  0.782904   -0.0191536 10.0485    -0.0266316  -0.0138484  0.0372843   0.19       0             pose: 0.34065824    0.459811   0.0135853   0 -0.00509058 -0.0033553  0.0146056   0.999875       uwb: 0.49725317     848.507  949.455  
imu_odom_:  1691062411.778782493  0.270545   -0.201113  9.47864    -0.0458064  0.0191748   0.04048     0.19       0             pose: 0.6955012     0.459811   0.0135853   0 -0.00450438 -0.00388609 0.014594    0.999876       uwb: 0.0            848.507  949.455  
imu_odom_:  1691062411.795840630  0.227449   -0.201113  10.2663    -0.0511327  -0.00745685 0.0458064   0.19       0             pose: 0.0           0.459811   0.0135853   0 -0.00450438 -0.00388609 0.014594    0.999876       uwb: 0.50265411     848.616  947.869  
imu_odom_:  1691062411.819855237  0.445322   -0.0837971 10.2807    -0.0511327  0.00213053  0.0607201   0.19       0             pose: 0.41866553    0.469811   0.0136775   0 -0.00229465 -0.00260508 0.0146016   0.999887       uwb: 0.0            848.616  947.869  
imu_odom_:  1691062411.844778554  0.94571    -0.0885855 10.2831    -0.0713727  -0.0383495  0.0330232   0.19       0             pose: 0.0           0.469811   0.0136775   0 -0.00229465 -0.00260508 0.0146016   0.999887       uwb: 0.49889795     848.644  946.988  
imu_odom_:  1691062411.861707209  0.363919   -0.222661  9.78031    -0.0351537  -0.00213053 0.0266316   0.19       0             pose: 0.41064287    0.47981    0.0137714   0 0.000532899 -0.00263415 0.0148548   0.999886       uwb: 0.0            848.644  946.988  
imu_odom_:  1691062411.885775184  0.0670376  -0.289698  9.9527     -0.0383495  -0.00213053 0.0308927   0.19       0             pose: 0.0           0.47981    0.0137714   0 0.000532899 -0.00263415 0.0148548   0.999886       uwb: 0.0            848.644  946.988  
imu_odom_:  1691062411.910869103  0.529119   -0.416591  9.94312    -0.0276969  -0.0213053  0.04048     0.19       0             pose: 0.40995756    0.48981    0.0138685   0 0.00056242  -0.00219203 0.0146595   0.99989        uwb: 0.50030651     848.751  944.499  
imu_odom_:  1691062411.935813126  0.337582   -0.402226  9.5816     -0.04048    -0.0213053  0.0447411   0.19       0.02          pose: 0.42079732    0.497003   0.0139355   0 -0.0015107  -0.00197992 0.0145991   0.99989        uwb: 0.0            848.751  944.499  
imu_odom_:  1691062411.952692204  0.586579   0.0933739  10.0963    -0.0490022  -0.0106526  0.0511327   0.19       0.02          pose: 0.0           0.497003   0.0139355   0 -0.0015107  -0.00197992 0.0145991   0.99989        uwb: 0.49991864     848.861  943.789  
imu_odom_:  1691062411.976676774  0.732626   -0.172383  9.94791    -0.0713727  0.0308927   0.0500674   0.18       -0.02         pose: 0.41823101    0.50536    0.0140127   0 -0.00182783 -0.00157981 0.0147644   0.999888       uwb: 0.0            848.861  943.789  
imu_odom_:  1691062411.994679491  0.47884    -0.325611  10.2855    -0.0447411  0.02024     0.056459    0.18       -0.02         pose: 0.0           0.50536    0.0140127   0 -0.00182783 -0.00157981 0.0147644   0.999888       uwb: 0.49975242     848.862  942.432  
imu_odom_:  1691062412.18712189   0.790087   -0.325611  10.0341    -0.0809601  -0.00639159 0.0426106   0.19       0             pose: 0.0           0.50536    0.0140127   0 -0.00182783 -0.00157981 0.0147644   0.999888       uwb: 0.0            848.862  942.432  
imu_odom_:  1691062412.42687442   0.385466   -0.435745  9.77313    -0.0596548  -0.0468716  0.0436758   0.19       0             pose: 0.41987287    0.509809   0.0140551   0 -0.00308567 -0.00339796 0.0150417   0.999876       uwb: 0.0            848.862  942.432  
imu_odom_:  1691062412.67736757   0.557849   -0.452504  9.7037     -0.0447411  0.00958738  0.036219    0.19       0             pose: 0.48007951    0.519809   0.0141564   0 -0.00559293 -0.00477456 0.0151378   0.999858       uwb: 0.0            848.862  942.432  
imu_odom_:  1691062412.91674098   0.88346    -0.023942  9.59117    -0.0692422  -0.0681769  0.0628506   0.19       0             pose: 0.0           0.519809   0.0141564   0 -0.00559293 -0.00477456 0.0151378   0.999858       uwb: 0.0            848.862  942.432  
imu_odom_:  1691062412.108685294  0.723049   -0.191536  10.1083    -0.0916127  -0.0447411  0.0532632   0.24       0             pose: 0.48986656    0.529808   0.0142596   0 -0.00620749 -0.00827243 0.0153597   0.999829       uwb: 0.99998367     848.654  941.443  
imu_odom_:  1691062412.124722164  0.418985   0.107739   9.7444     -0.0607201  -0.056459   0.0596548   0.24       0             pose: 0.7011884     0.529808   0.0142596   0 -0.00583996 -0.00891579 0.0154003   0.999825       uwb: 0.0            848.654  941.443  
imu_odom_:  1691062412.141665119  1.70946    -0.418985  10.4004    -0.072438   -0.0692422  0.0255663   0.24       0             pose: 0.0           0.529808   0.0142596   0 -0.00583996 -0.00891579 0.0154003   0.999825       uwb: 0.0            848.654  941.443  
imu_odom_:  1691062412.157673118  1.89142    -0.169988  9.28711    -0.072438   -0.0138484  -0.0937433  0.22       -0.26         pose: 0.33048940    0.539807   0.0143687   0 -0.00399612 -0.010558   0.0155588   0.999815       uwb: 0.49949027     848.974  939.588  
imu_odom_:  1691062412.175658931  1.64003    0.160412   10.1251    -0.0340885  0.04048     -0.205596   0.22       -0.26         pose: 0.0           0.539807   0.0143687   0 -0.00399612 -0.010558   0.0155588   0.999815       uwb: 0.0            848.974  939.588  
imu_odom_:  1691062412.191668388  1.0343     0.368707   9.67976    -0.0372843  0.00958738  -0.279099   0.12       -0.35         pose: 0.43924009    0.539807   0.0143687   0 -0.00309589 -0.0147632  0.0121882   0.999812       uwb: 0.0            848.974  939.588  
imu_odom_:  1691062412.206660941  0.890643   -0.237026  9.55047    -0.0543285  0.0490022   -0.371777   0.12       -0.35         pose: 0.0           0.539807   0.0143687   0 -0.00309589 -0.0147632  0.0121882   0.999812       uwb: 0.49929487     849.139  937.352  
imu_odom_:  1691062412.223687885  0.567426   -0.136469  9.62948    -0.0617853  -0.02024    -0.406931   0.12       -0.35         pose: 0.0           0.539807   0.0143687   0 -0.00309589 -0.0147632  0.0121882   0.999812       uwb: 0.0            849.139  937.352  
imu_odom_:  1691062412.237709027  0.514753   -0.114922  10.0245    -0.0607201  0.0319579   -0.409062   0.1        -0.41         pose: 0.7069335     0.539807   0.0143687   0 -0.00238987 -0.0150457  0.0110525   0.999823       uwb: 0.0            849.139  937.352  
imu_odom_:  1691062412.252707412  1.18274    -0.387861  9.58878    -0.0681769  0.0170442   -0.421845   0.1        -0.41         pose: 0.0           0.539807   0.0143687   0 -0.00238987 -0.0150457  0.0110525   0.999823       uwb: 0.0            849.139  937.352  
imu_odom_:  1691062412.269648034  0.816423   -0.454898  9.5816     -0.0692422  -0.0298274  -0.435693   0.1        -0.41         pose: 0.0           0.539807   0.0143687   0 -0.00238987 -0.0150457  0.0110525   0.999823       uwb: 0.0            849.139  937.352  
imu_odom_:  1691062412.285762185  0.785298   -0.0694318 9.98143    -0.0628506  -0.0117179  -0.444215   0.08       -0.47         pose: 0.46934476    0.549805   0.0145905   0 -8.23879e-05-0.0146233  0.00136852  0.999892       uwb: 0.0            849.139  937.352  
imu_odom_:  1691062412.303853860  0.708684   0.0694318  9.97664    -0.0639159  -0.0191748  -0.446346   0.08       -0.47         pose: 0.0           0.549805   0.0145905   0 -8.23879e-05-0.0146233  0.00136852  0.999892       uwb: 0.100171891    849.757  936.067  
imu_odom_:  1691062412.319974135  0.821211   -0.0550666 9.93833    -0.0543285  -0.0127832  -0.488956   0.07       -0.53         pose: 0.46989885    0.559804   0.0147485   0 -0.001117   -0.0163287  -0.00960608 0.99982        uwb: 0.0            849.757  936.067  
imu_odom_:  1691062412.336842433  0.768539   -0.110133  10.0724    -0.056459   0.00958738  -0.52198    0.07       -0.5          pose: 0.0           0.559804   0.0147485   0 -0.001117   -0.0163287  -0.00960608 0.99982        uwb: 0.0            849.757  936.067  
imu_odom_:  1691062412.353641908  0.792481   -0.208296  9.65342    -0.076699   0.0106526   -0.509196   0.06       -0.53         pose: 0.0           0.559804   0.0147485   0 -0.001117   -0.0163287  -0.00960608 0.99982        uwb: 0.50037681     849.788  936.544  
imu_odom_:  1691062412.369633284  0.574608   -0.373495  9.96227    -0.0639159  -0.0181095  -0.527306   0.06       -0.53         pose: 0.67187692    0.559804   0.0147484   0 0.00389373  -0.0184121  -0.0271953  0.999453       uwb: 0.0            849.788  936.544  
imu_odom_:  1691062412.386644480  0.52433    -0.0861913 9.77074    -0.0735032  -0.0276969  -0.520914   0.06       -0.53         pose: 0.0           0.559804   0.0147484   0 0.00389373  -0.0184121  -0.0271953  0.999453       uwb: 0.0            849.788  936.544  
imu_odom_:  1691062412.402766213  0.509965   -0.258574  9.8665     -0.0692422  -0.0127832  -0.461259   0.08       -0.67         pose: 0.0           0.559804   0.0147484   0 0.00389373  -0.0184121  -0.0271953  0.999453       uwb: 0.49818085     850.021  936.178  
imu_odom_:  1691062412.419721999  0.711078   -0.512359  9.86172    -0.056459   0.0149137   -0.434628   0.08       -0.67         pose: 0.32797849    0.559804   0.0147484   0 0.00202002  -0.0171876  -0.0363487  0.999189       uwb: 0.0            850.021  936.178  
imu_odom_:  1691062412.435757411  0.545878   -0.354342  9.97664    -0.0500674  0.0234358   -0.4048     0.04       -0.38         pose: 0.43083831    0.565645   0.014873    0 2.06073e-05 -0.0147981  -0.0471809  0.998777       uwb: 0.0            850.021  936.178  
imu_odom_:  1691062412.452806518  0.749385   -0.131681  10.1778    -0.056459   -0.00213053 -0.352603   0.04       -0.38         pose: 0.7008968     0.569803   0.0148963   0 -0.000413967-0.0141914  -0.0487292  0.998711       uwb: 0.50123128     849.977  936.159  
imu_odom_:  1691062412.468894423  0.423774   -0.213084  9.7875     -0.0543285  -0.00106526 -0.325971   0.04       -0.38         pose: 0.0           0.569803   0.0148963   0 -0.000413967-0.0141914  -0.0487292  0.998711       uwb: 0.0            849.977  936.159  
imu_odom_:  1691062412.486789832  0.572214   -0.244209  9.7851     -0.052198   -0.00852212 -0.315318   0.05       -0.47         pose: 0.42163456    0.569795   0.0148961   0 0.000322298 -0.012931   -0.0570152  0.99829        uwb: 0.0            849.977  936.159  
imu_odom_:  1691062412.501772178  0.684742   -0.246603  9.82341    -0.0575243  -0.00958738 -0.285491   0.04       -0.29         pose: 0.0           0.569795   0.0148961   0 0.000322298 -0.012931   -0.0570152  0.99829        uwb: 0.50045263     850.024  934.782  
imu_odom_:  1691062412.518642226  0.871489   -0.25618   10.0796    -0.0607201  -0.0149137  -0.247141   0.04       -0.29         pose: 0.0           0.569795   0.0148961   0 0.000322298 -0.012931   -0.0570152  0.99829        uwb: 0.0            850.024  934.782  
imu_odom_:  1691062412.534815577  0.579397   -0.332794  9.84256    -0.0585895  -0.00639159 -0.230097   0.04       -0.29         pose: 0.24895336    0.569803   0.0148963   0 -0.000862751-0.0119966  -0.0613062  0.998047       uwb: 0.0            850.024  934.782  
imu_odom_:  1691062412.552605126  0.588974   -0.282516  9.97185    -0.0479369  -0.00213053 -0.225836   0.03       -0.23         pose: 0.0           0.569803   0.0148963   0 -0.000862751-0.0119966  -0.0613062  0.998047       uwb: 0.49803213     850.267  934.108  
imu_odom_:  1691062412.567653671  0.471658   -0.198719  9.95509    -0.0553937  -0.0106526  -0.208792   0.03       -0.23         pose: 0.32860841    0.569803   0.0148963   0 -0.00219897 -0.0138214  -0.0660753  0.997716       uwb: 0.0            850.267  934.108  
imu_odom_:  1691062412.584883879  0.588974   -0.234632  9.94551    -0.0553937  -0.00852212 -0.192813   0.04       -0.29         pose: 0.33013653    0.569803   0.0148963   0 -0.00288313 -0.0109     -0.0703857  0.997456       uwb: 0.0            850.267  934.108  
imu_odom_:  1691062412.600674032  0.667982   -0.366313  9.80904    -0.0596548  -0.0149137  -0.175769   0.04       -0.29         pose: 0.0           0.569803   0.0148963   0 -0.00288313 -0.0109     -0.0703857  0.997456       uwb: 0.50276232     850.586  934.093  
imu_odom_:  1691062412.617604447  0.593762   -0.260968  9.95509    -0.0553937  -0.00639159 -0.160855   0.04       -0.29         pose: 0.0           0.569803   0.0148963   0 -0.00288313 -0.0109     -0.0703857  0.997456       uwb: 0.0            850.586  934.093  
imu_odom_:  1691062412.633715682  0.682347   -0.213084  9.96467    -0.056459   -0.0117179  -0.132093   0.01       -0.14         pose: 0.14989054    0.569803   0.0148963   0 -0.00203267 -0.00972495 -0.0721928  0.997341       uwb: 0.0            850.586  934.093  
imu_odom_:  1691062412.650593896  0.620098   -0.280122  9.85932    -0.0543285  0.00319579  -0.107592   0.02       -0.17         pose: 0.0           0.569803   0.0148963   0 -0.00203267 -0.00972495 -0.0721928  0.997341       uwb: 0.49652150     850.643  933.494  
imu_odom_:  1691062412.666654679  0.61531    -0.25618   9.93594    -0.0543285  -0.00852212 -0.0916127  0.02       -0.17         pose: 0.67018256    0.569803   0.0148964   0 -0.00379338 -0.0105458  -0.0787124  0.996834       uwb: 0.0            850.643  933.494  
imu_odom_:  1691062412.683745489  0.684742   -0.208296  9.88805    -0.0543285  -0.00745685 -0.0607201  0.01       -0.17         pose: 0.0           0.569803   0.0148964   0 -0.00379338 -0.0105458  -0.0787124  0.996834       uwb: 0.0            850.643  933.494  
imu_odom_:  1691062412.699673290  0.634463   -0.342371  9.87608    -0.0553937  0.00106526  -0.0340885  0.01       -0.17         pose: 0.0           0.569803   0.0148964   0 -0.00379338 -0.0105458  -0.0787124  0.996834       uwb: 0.49990729     850.273  933.329  
imu_odom_:  1691062412.715650959  0.52433    -0.339977  9.9503     -0.0553937  0           -0.00639159 0.01       -0.17         pose: 0.31984501    0.569803   0.0148964   0 -0.00260586 -0.011265   -0.080781   0.996665       uwb: 0.0            850.273  933.329  
imu_odom_:  1691062412.730762204  0.519542   -0.28491   9.90002    -0.0543285  -0.00213053 0.0234358   0          -0.02         pose: 0.41994895    0.569803   0.0148964   0 -0.00438321 -0.0104067  -0.0822107  0.996551       uwb: 0.0            850.273  933.329  
imu_odom_:  1691062412.745581530  0.533907   -0.25618   9.93354    -0.0553937  -0.00639159 0.0447411   0          -0.02         pose: 0.7002552     0.569803   0.0148964   0 -0.00433246 -0.00970106 -0.0822651  0.996554       uwb: 0.49990437     851.086  931.191  
imu_odom_:  1691062412.759577593  0.4956     -0.270545  9.8282     -0.0543285  0.00106526  0.0500674   0          -0.02         pose: 0.0           0.569803   0.0148964   0 -0.00433246 -0.00970106 -0.0822651  0.996554       uwb: 0.0            851.086  931.191  
imu_odom_:  1691062412.773748049  0.433351   -0.203507  9.9096     -0.0500674  0.00213053  0.04048     0          0             pose: 0.36924082    0.569803   0.0148964   0 -0.00335836 -0.00623273 -0.0822165  0.996589       uwb: 0.0            851.086  931.191  
imu_odom_:  1691062412.787730988  0.342371   -0.162806  9.86411    -0.0543285  -0.00426106 0.0394148   0          0             pose: 0.0           0.569803   0.0148964   0 -0.00335836 -0.00623273 -0.0822165  0.996589       uwb: 0.0            851.086  931.191  
imu_odom_:  1691062412.801862949  0.392649   -0.237026  9.92157    -0.056459   -0.00852212 0.0394148   0          0             pose: 0.0           0.569803   0.0148964   0 -0.00335836 -0.00623273 -0.0822165  0.996589       uwb: 0.50112921     850.76   931.671  
imu_odom_:  1691062412.816741767  0.466869   -0.272939  9.90002    -0.0553937  -0.00852212 0.0351537   0          0             pose: 0.42285356    0.569803   0.0148964   0 -0.00148016 -0.00255511 -0.0822154  0.99661        uwb: 0.0            850.76   931.671  
imu_odom_:  1691062412.830841649  0.4956     -0.248997  9.87848    -0.0543285  -0.00426106 0.0383495   0          0             pose: 0.0           0.569803   0.0148964   0 -0.00148016 -0.00255511 -0.0822154  0.99661        uwb: 0.0            850.76   931.671  
imu_odom_:  1691062412.844794259  0.466869   -0.270545  9.90002    -0.056459   -0.00106526 0.0426106   0          0             pose: 0.0           0.569803   0.0148964   0 -0.00148016 -0.00255511 -0.0822154  0.99661        uwb: 0.50045847     851.02   930.37   
imu_odom_:  1691062412.858580933  0.438139   -0.232238  9.87369    -0.0553937  -0.00213053 0.04048     0          0             pose: 0.0           0.569803   0.0148964   0 -0.00148016 -0.00255511 -0.0822154  0.99661        uwb: 0.0            851.02   930.37   
imu_odom_:  1691062412.873562987  0.409408   -0.225055  9.87608    -0.0543285  -0.00426106 0.04048     0          0             pose: 0.42931310    0.569803   0.0148964   0 -0.00308728 -0.00304234 -0.0822319  0.996604       uwb: 0.0            851.02   930.37   
imu_odom_:  1691062412.887563133  0.452504   -0.272939  9.88326    -0.0543285  -0.00639159 0.0383495   0          0             pose: 0.0           0.569803   0.0148964   0 -0.00308728 -0.00304234 -0.0822319  0.996604       uwb: 0.0            851.02   930.37   
imu_odom_:  1691062412.901565611  0.457293   -0.265756  9.87129    -0.0543285  -0.00532632 0.0372843   0          0             pose: 0.0           0.569803   0.0148964   0 -0.00308728 -0.00304234 -0.0822319  0.996604       uwb: 0.49881660     850.964  930.66   
imu_odom_:  1691062412.916559331  0.447716   -0.260968  9.89524    -0.0543285  -0.00319579 0.0383495   0          0             pose: 0.42768874    0.569803   0.0148964   0 -0.00227781 -0.00176265 -0.0822282  0.996609       uwb: 0.0            850.964  930.66   
imu_odom_:  1691062412.930840896  0.440533   -0.23942   9.86172    -0.056459   -0.00319579 0.0415453   0          0             pose: 0.0           0.569803   0.0148964   0 -0.00227781 -0.00176265 -0.0822282  0.996609       uwb: 0.0            850.964  930.66   
imu_odom_:  1691062412.944616780  0.426168   -0.248997  9.8689     -0.056459   -0.00426106 0.0394148   0          0             pose: 0.0           0.569803   0.0148964   0 -0.00227781 -0.00176265 -0.0822282  0.996609       uwb: 0.50047597     851.067  929.597  
imu_odom_:  1691062412.959572296  0.45011    -0.225055  9.88805    -0.0543285  -0.00532632 0.0372843   0          0             pose: 0.43277763    0.569803   0.0148964   0 -0.000871205-0.00191191 -0.0822422  0.99661        uwb: 0.0            851.067  929.597  
imu_odom_:  1691062412.973722630  0.502782   -0.232238  9.89763    -0.056459   -0.00532632 0.04048     0          0             pose: 0.0           0.569803   0.0148964   0 -0.000871205-0.00191191 -0.0822422  0.99661        uwb: 0.0            851.067  929.597  
imu_odom_:  1691062412.987676406  0.486023   -0.251391  9.90242    -0.0532632  -0.00426106 0.0383495   0          0             pose: 0.0           0.569803   0.0148964   0 -0.000871205-0.00191191 -0.0822422  0.99661        uwb: 0.0            851.067  929.597  
imu_odom_:  1691062413.1710089    0.459687   -0.25618   9.88326    -0.0553937  -0.00213053 0.0394148   0          0             pose: 0.48868256    0.569803   0.0148964   0 -0.00165661 -0.00380177 -0.0822568  0.996603       uwb: 0.50072676     851.181  929.969  
imu_odom_:  1691062413.16548962   0.440533   -0.222661  9.88566    -0.056459   -0.00532632 0.0415453   0          0             pose: 0.0           0.569803   0.0148964   0 -0.00165661 -0.00380177 -0.0822568  0.996603       uwb: 0.0            851.181  929.969  
imu_odom_:  1691062413.30742465   0.438139   -0.241814  9.90721    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.0           0.569803   0.0148964   0 -0.00165661 -0.00380177 -0.0822568  0.996603       uwb: 0.0            851.181  929.969  
imu_odom_:  1691062413.44718414   0.476446   -0.248997  9.90481    -0.0553937  -0.00532632 0.0383495   0          0             pose: 0.43008895    0.569803   0.0148964   0 -0.00149798 -0.00169664 -0.0822447  0.99661        uwb: 0.50107697     851.052  929.908  
imu_odom_:  1691062413.58736941   0.47884    -0.237026  9.85932    -0.056459   -0.00532632 0.0383495   0          0             pose: 0.0           0.569803   0.0148964   0 -0.00149798 -0.00169664 -0.0822447  0.99661        uwb: 0.0            851.052  929.908  
imu_odom_:  1691062413.72568243   0.471658   -0.263362  9.91678    -0.056459   -0.00426106 0.0394148   0          0             pose: 0.0           0.569803   0.0148964   0 -0.00149798 -0.00169664 -0.0822447  0.99661        uwb: 0.0            851.052  929.908  
imu_odom_:  1691062413.86633429   0.459687   -0.244209  9.84496    -0.0553937  -0.00213053 0.04048     0          0             pose: 0.41888477    0.569803   0.0148964   0 -0.00199159 -0.00360883 -0.0822655  0.996602       uwb: 0.0            851.052  929.908  
imu_odom_:  1691062413.100553094  0.440533   -0.248997  9.92875    -0.0543285  -0.00319579 0.0415453   0          0             pose: 0.0           0.569803   0.0148964   0 -0.00199159 -0.00360883 -0.0822655  0.996602       uwb: 0.49744626     851.02   930.37   
imu_odom_:  1691062413.114537209  0.442927   -0.215478  9.88326    -0.0543285  -0.00639159 0.04048     0          0             pose: 0.0           0.569803   0.0148964   0 -0.00199159 -0.00360883 -0.0822655  0.996602       uwb: 0.0            851.02   930.37   
imu_odom_:  1691062413.128550195  0.466869   -0.217872  9.87129    -0.0553937  -0.00639159 0.0383495   0          0             pose: 0.41943012    0.569803   0.0148964   0 -0.00151909 -0.00156314 -0.0822408  0.99661        uwb: 0.0            851.02   930.37   
imu_odom_:  1691062413.143533133  0.433351   -0.260968  9.89524    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.0           0.569803   0.0148964   0 -0.00151909 -0.00156314 -0.0822408  0.99661        uwb: 0.0            851.02   930.37   
imu_odom_:  1691062413.157538536  0.459687   -0.234632  9.85214    -0.0543285  -0.00426106 0.0394148   0          0             pose: 0.0           0.569803   0.0148964   0 -0.00151909 -0.00156314 -0.0822408  0.99661        uwb: 0.50009133     851.717  930.063  
imu_odom_:  1691062413.171640760  0.445322   -0.244209  9.90002    -0.0543285  -0.00319579 0.04048     0          0             pose: 0.43003660    0.569803   0.0148964   0 -0.00128594 -0.00275889 -0.082248   0.996607       uwb: 0.0            851.717  930.063  
imu_odom_:  1691062413.185584921  0.454898   -0.229843  9.89045    -0.0543285  -0.00319579 0.04048     0          0             pose: 0.0           0.569803   0.0148964   0 -0.00128594 -0.00275889 -0.082248   0.996607       uwb: 0.0            851.717  930.063  
imu_odom_:  1691062413.199585659  0.438139   -0.253785  9.88566    -0.0543285  -0.00319579 0.0394148   0          0             pose: 0.0           0.569803   0.0148964   0 -0.00128594 -0.00275889 -0.082248   0.996607       uwb: 0.50045002     851.677  930.203  
imu_odom_:  1691062413.214517562  0.445322   -0.23942   9.90002    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.41991422    0.569803   0.0148964   0 -0.000851786-0.00258398 -0.0822373  0.996609       uwb: 0.0            851.677  930.203  
imu_odom_:  1691062413.228518299  0.435745   -0.241814  9.89763    -0.056459   -0.00532632 0.0394148   0          0             pose: 0.0           0.569803   0.0148964   0 -0.000851786-0.00258398 -0.0822373  0.996609       uwb: 0.0            851.677  930.203  
imu_odom_:  1691062413.250551620  0.474052   -0.25618   9.94551    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.36973681    0.569803   0.0148964   0 -0.00172132 -0.00164854 -0.0822379  0.99661        uwb: 0.50077665     851.659  931.141  
imu_odom_:  1691062413.266630786  0.19393    -0.244209  9.9096     -0.0500674  0.0372843   0.00958738  0          0             pose: 0.0           0.569803   0.0148964   0 -0.00172132 -0.00164854 -0.0822379  0.99661        uwb: 0.0            851.659  931.141  
imu_odom_:  1691062413.282577844  -0.696713  -0.0550666 9.92636    -0.0330232  0.076699    -0.00639159 0          0             pose: 0.0           0.569803   0.0148964   0 -0.00172132 -0.00164854 -0.0822379  0.99661        uwb: 0.0            851.659  931.141  
imu_odom_:  1691062413.299511186  -1.03669   -0.220267  9.84256    -0.0500674  -0.0149137  0.0319579   0.04       0.08          pose: 0.6035812     0.569803   0.0148964   0 -0.00193836 -0.00221175 -0.0822389  0.996608       uwb: 0.49780497     852.07   930.544  
imu_odom_:  1691062413.315505779  -0.361524  -0.402226  9.90721    -0.0596548  -0.0553937  0.0681769   0.04       0.08          pose: 0.0           0.569803   0.0148964   0 -0.00193836 -0.00221175 -0.0822389  0.996608       uwb: 0.0            852.07   930.544  
imu_odom_:  1691062413.332500655  0.407014   -0.476446  9.94312    -0.0426106  -0.0319579  0.0798948   0.04       0.08          pose: 0.0           0.569803   0.0148964   0 -0.00193836 -0.00221175 -0.0822389  0.996608       uwb: 0.0            852.07   930.544  
imu_odom_:  1691062413.348690638  0.275333   -0.160412  9.89763    -0.0298274  0.0106526   0.0884169   0.06       0.02          pose: 0.55020456    0.569803   0.0148964   0 -0.00151127 0.00105179  -0.0828687  0.996559       uwb: 0.50047044     852.256  929.37   
imu_odom_:  1691062413.365558656  -0.0526724 -0.0167594 9.85693    -0.0468716  0.02024     0.0788296   0.09       0.05          pose: 0.0           0.569803   0.0148964   0 -0.00151127 0.00105179  -0.0828687  0.996559       uwb: 0.0            852.256  929.37   
imu_odom_:  1691062413.381555874  -0.0215478 -0.11971   10.1514    -0.052198   -0.00213053 0.0713727   0.09       0.05          pose: 0.65997894    0.579803   0.0149371   0 -0.00117505 0.0041407   -0.081802   0.996639       uwb: 0.0            852.256  929.37   
imu_odom_:  1691062413.398514587  0.177171   -0.301669  9.78989    -0.0532632  -0.0138484  0.0703074   0.1        0.05          pose: 0.0           0.579803   0.0149371   0 -0.00117505 0.0041407   -0.081802   0.996639       uwb: 0.49936225     852.305  929.71   
imu_odom_:  1691062413.414492558  0.332794   -0.246603  9.94791    -0.0532632  -0.00852212 0.0649811   0.1        0.05          pose: 0.0           0.579803   0.0149371   0 -0.00117505 0.0041407   -0.081802   0.996639       uwb: 0.0            852.305  929.71   
imu_odom_:  1691062413.431665035  0.035913   -0.186748  9.60075    -0.0426106  0.0234358   0.052198    0.1        0.05          pose: 0.32929685    0.579864   0.00493726  0 -0.00024034 0.00709102  -0.0812413  0.996669       uwb: 0.0            852.305  929.71   
imu_odom_:  1691062413.446665762  0.138864   -0.205901  10.0748    -0.0500674  -0.015979   0.0639159   0.09       0.02          pose: 0.43162889    0.579864   0.00493726  0 -0.00034317 0.00811941  -0.0807802  0.996699       uwb: 0.0            852.305  929.71   
imu_odom_:  1691062413.464605510  0.112527   -0.244209  9.68933    -0.0436758  -0.02024    0.0543285   0.09       0.02          pose: 0.7887353     0.579864   0.00493726  0 -5.45902e-050.0088131   -0.0806817  0.996701       uwb: 0.0            852.305  929.71   
imu_odom_:  1691062413.480660470  0.162806   -0.361524  9.5816     -0.0511327  0.00319579  0.052198    0.09       0.02          pose: 0.0           0.579864   0.00493726  0 -5.45902e-050.0088131   -0.0806817  0.996701       uwb: 0.0            852.305  929.71   
imu_odom_:  1691062413.497513615  0.37589    -0.296881  9.89284    -0.0479369  0.00106526  0.052198    0.14       0.05          pose: 0.41108082    0.589864   0.00502167  0 -0.00135214 0.0116231   -0.0803784  0.996696       uwb: 0.99973937     852.648  928.448  
imu_odom_:  1691062413.513479045  0.181959   -0.134075  9.56244    -0.0585895  -0.00319579 0.0447411   0.11       -0.02         pose: 0.0           0.589864   0.00502167  0 -0.00135214 0.0116231   -0.0803784  0.996696       uwb: 0.0            852.648  928.448  
imu_odom_:  1691062413.530596404  -0.222661  0.117316   9.80904    -0.0500674  -0.0117179  0.0436758   0.11       -0.02         pose: 0.0           0.589864   0.00502167  0 -0.00135214 0.0116231   -0.0803784  0.996696       uwb: 0.0            852.648  928.448  
imu_odom_:  1691062413.545521017  1.07021    -0.227449  10.4124    -0.0511327  -0.111853   0.0628506   0.11       -0.02         pose: 0.24856566    0.589864   0.00502167  0 -0.0009572290.01019     -0.0802531  0.996722       uwb: 0.50003300     853.365  927.688  
imu_odom_:  1691062413.562624378  1.1157     -0.253785  9.64384    -0.0575243  0.00213053  0.0830906   0.11       0.02          pose: 0.0           0.589864   0.00502167  0 -0.0009572290.01019     -0.0802531  0.996722       uwb: 0.0            853.365  927.688  
imu_odom_:  1691062413.578492696  0.950498   -0.531513  9.79707    -0.0575243  0.0351537   0.107592    0.11       0.02          pose: 0.33136157    0.599864   0.00511443  0 0.000953633 0.0102678   -0.0800841  0.996735       uwb: 0.0            853.365  927.688  
imu_odom_:  1691062413.595630469  0.80924    -0.435745  9.79228    -0.0649811  -0.00426106 0.126766    0.1        -0.02         pose: 0.39839503    0.599864   0.00511443  0 -0.0001153730.0064988   -0.0791036  0.996845       uwb: 0.49945558     852.984  928.138  
imu_odom_:  1691062413.610545750  0.914585   -0.105345  9.75637    -0.0543285  0.0255663   0.0937433   0.1        -0.02         pose: 0.0           0.599864   0.00511443  0 -0.0001153730.0064988   -0.0791036  0.996845       uwb: 0.0            852.984  928.138  
imu_odom_:  1691062413.628612064  0.794875   -0.035913  9.85932    -0.0543285  -0.0170442  0.072438    0.1        -0.02         pose: 0.0           0.599864   0.00511443  0 -0.0001153730.0064988   -0.0791036  0.996845       uwb: 0.0            852.984  928.138  
imu_odom_:  1691062413.644549790  0.533907   -0.0550666 9.29908    -0.0607201  0           0.0415453   0.06       0             pose: 0.7199405     0.599864   0.00511443  0 -0.0004639180.00585357  -0.078793   0.996874       uwb: 0.49965971     853.341  927.198  
imu_odom_:  1691062413.661558080  0.878672   -0.328006  10.1658    -0.0543285  -0.0298274  0.0234358   0.07       0.02          pose: 0.0           0.599864   0.00511443  0 -0.0004639180.00585357  -0.078793   0.996874       uwb: 0.0            853.341  927.198  
imu_odom_:  1691062413.677610416  0.826      -0.328006  9.83059    -0.0596548  -0.0213053  0.0223706   0.07       0.02          pose: 0.65946275    0.599864   0.00511443  0 0.000630246 -5.58816e-05-0.0777054  0.996976       uwb: 0.0            853.341  927.198  
imu_odom_:  1691062413.694576712  0.926556   -0.296881  9.97185    -0.0543285  0.00958738  0.0308927   0.06       0.02          pose: 0.0           0.599864   0.00511443  0 0.000630246 -5.58816e-05-0.0777054  0.996976       uwb: 0.50153197     853.491  927.432  
imu_odom_:  1691062413.709541569  0.766145   -0.299275  9.8665     -0.0607201  -0.00958738 0.0340885   0.06       0.02          pose: 0.0           0.599864   0.00511443  0 0.000630246 -5.58816e-05-0.0777054  0.996976       uwb: 0.0            853.491  927.432  
imu_odom_:  1691062413.735505152  0.742203   -0.172383  9.97903    -0.052198   -0.00426106 0.00958738  0.06       0.02          pose: 0.32922978    0.609863   0.0052102   0 -0.000489959-0.00337725 -0.0779509  0.996951       uwb: 0.0            853.491  927.432  
imu_odom_:  1691062413.749481976  0.390255   -0.253785  9.8689     -0.0649811  0.0383495   0.00213053  0.05       0.05          pose: 0.32985094    0.609863   0.0052102   0 -0.00112351 -0.00651483 -0.078154   0.996919       uwb: 0.49881108     853.066  927.701  
imu_odom_:  1691062413.772490207  -1.41497   -0.263362  10.2496    -0.0607201  0.0777643   0.0468716   0.05       0.05          pose: 0.0           0.609863   0.0052102   0 -0.00112351 -0.00651483 -0.078154   0.996919       uwb: 0.0            853.066  927.701  
imu_odom_:  1691062413.795541890  -0.806846  -0.430956  9.70609    -0.0585895  -0.103331   0.0628506   0.05       0.05          pose: 0.38938958    0.609863   0.0052102   0 -0.000952515-0.00560988 -0.0786601  0.996885       uwb: 0.50097787     852.674  928.941  
imu_odom_:  1691062413.813444310  0.766145   -0.105345  10.1059    -0.0468716  -0.0841559  0.0426106   0.05       0.05          pose: 0.0           0.609863   0.0052102   0 -0.000952515-0.00560988 -0.0786601  0.996885       uwb: 0.0            852.674  928.941  
imu_odom_:  1691062413.837432701  0.6608     -0.237026  9.94073    -0.0671117  0.0308927   0.052198    0.09       0.02          pose: 0.56958904    0.609863   0.0052102   0 -0.000601219-0.0046161  -0.0783068  0.996918       uwb: 0.0            852.674  928.941  
imu_odom_:  1691062413.862591100  -0.387861  -0.225055  9.95988    -0.0458064  0.0276969   0.0319579   0.09       0.02          pose: 0.0           0.609863   0.0052102   0 -0.000601219-0.0046161  -0.0783068  0.996918       uwb: 0.49866235     852.939  927.798  
imu_odom_:  1691062413.876549260  -0.217872  -0.356736  9.65821    -0.0585895  -0.0266316  0.0426106   0.1        0.02          pose: 0.8099950     0.609863   0.0052102   0 -0.000786651-0.00526798 -0.0782556  0.996919       uwb: 0.0            852.939  927.798  
imu_odom_:  1691062413.899448131  0.402226   -0.179565  10.149     -0.0553937  -0.0234358  0.0426106   0.1        0.02          pose: 0.0           0.609863   0.0052102   0 -0.000786651-0.00526798 -0.0782556  0.996919       uwb: 0.50052293     852.83   927.425  
imu_odom_:  1691062413.922429532  0.215478   -0.0670376 9.98622    -0.0553937  0.00745685  0.0319579   0.14       0             pose: 0.77903871    0.619863   0.00524351  0 0.000745296 -0.00114537 -0.0781956  0.996937       uwb: 0.0            852.83   927.425  
imu_odom_:  1691062413.945426973  0.294487   -0.35913   9.35893    -0.0511327  -0.0127832  0.0479369   0.14       0             pose: 0.0           0.619863   0.00524351  0 0.000745296 -0.00114537 -0.0781956  0.996937       uwb: 0.50124033     853.385  925.94   
imu_odom_:  1691062413.963424463  0.323217   -0.402226  9.58638    -0.0500674  -0.0255663  0.04048     0.17       0             pose: 0.45978842    0.629863   0.00527743  0 0.0001885   0.00191084  -0.0781942  0.996936       uwb: 0.0            853.385  925.94   
imu_odom_:  1691062413.987471471  0.677559   -0.21069   9.59357    -0.0681769  0.0308927   0.0468716   0.17       0             pose: 0.8053873     0.629863   0.00527743  0 -0.0005650630.00206584  -0.0781921  0.996936       uwb: 0.0            853.385  925.94   
imu_odom_:  1691062414.12539472   0.0143652  -0.25618   9.82341    -0.0447411  -0.0149137  0.0479369   0.14       0             pose: 0.33990625    0.629863   0.00527743  0 -0.00153353 0.000283397 -0.0781061  0.996944       uwb: 0.49786038     853.192  926.164  
imu_odom_:  1691062414.26444856   -0.280122  -0.1652    9.73482    -0.0532632  -0.00639159 0.0575243   0.14       0             pose: 0.0           0.629863   0.00527743  0 -0.00153353 0.000283397 -0.0781061  0.996944       uwb: 0.0            853.192  926.164  
imu_odom_:  1691062414.49437061   0.622492   -0.296881  10.0317    -0.0575243  -0.00426106 0.0415453   0.13       0             pose: 0.6964061     0.629863   0.00527743  0 -0.00146574 0.00093917  -0.0780759  0.996946       uwb: 0.50208047     853.888  924.588  
imu_odom_:  1691062414.73419634   0.129287   -0.0981623 9.6199     -0.0585895  0.0234358   0.0479369   0.13       0             pose: 0.0           0.629863   0.00527743  0 -0.00146574 0.00093917  -0.0780759  0.996946       uwb: 0.0            853.888  924.588  
imu_odom_:  1691062414.90460014   0.56982    -0.19393   9.88087    -0.0628506  -0.036219   0.0553937   0.19       0             pose: 0.39130576    0.639863   0.00531429  0 -0.00119275 0.00330623  -0.0778648  0.996958       uwb: 0.0            853.888  924.588  
imu_odom_:  1691062414.114546989  0.378284   -0.138864  10.2687    -0.0500674  0.0213053   0.0308927   0.19       0             pose: 0.0           0.639863   0.00531429  0 -0.00119275 0.00330623  -0.0778648  0.996958       uwb: 0.49819314     854.415  923.729  
imu_odom_:  1691062414.137531904  -0.0694318 -0.354342  9.47864    -0.0639159  0.00639159  0.0500674   0.19       0             pose: 0.47864243    0.649863   0.00535612  0 -0.0002225840.00312224  -0.0776841  0.996973       uwb: 0.0            854.415  923.729  
imu_odom_:  1691062414.155428794  0.416591   -0.387861  10.1083    -0.0447411  -0.052198   0.0351537   0.19       0             pose: 0.0           0.649863   0.00535612  0 -0.0002225840.00312224  -0.0776841  0.996973       uwb: 0.50189389     854.704  922.418  
imu_odom_:  1691062414.179392119  -0.00718261-0.217872  9.67976    -0.0532632  0.0149137   0.0553937   0.14       0             pose: 0.41162642    0.649863   0.00535612  0 0.00190938  0.00253252  -0.0776725  0.996974       uwb: 0.0            854.704  922.418  
imu_odom_:  1691062414.197424324  0.222661   -0.361524  9.96467    -0.0607201  -0.0319579  0.0490022   0.14       0             pose: 0.0           0.649863   0.00535612  0 0.00190938  0.00253252  -0.0776725  0.996974       uwb: 0.49924299     854.936  921.234  
imu_odom_:  1691062414.221391441  0.440533   -0.0742203 10.0509    -0.0511327  -0.00639159 0.0340885   0.15       0             pose: 0.40909800    0.659863   0.00540119  0 -0.0001149790.00382016  -0.07758    0.996979       uwb: 0.0            854.936  921.234  
imu_odom_:  1691062414.247382744  0.0454898  -0.184354  9.69173    -0.0500674  -0.00639159 0.0415453   0.15       0             pose: 0.0           0.659863   0.00540119  0 -0.0001149790.00382016  -0.07758    0.996979       uwb: 0.50036867     855.005  921.107  
imu_odom_:  1691062414.271385731  0.146046   -0.301669  9.75398    -0.0340885  0.00106526  0.0394148   0.16       0             pose: 0.41921749    0.669863   0.0054497   0 -0.0009710680.00566799  -0.0773963  0.996984       uwb: 0.0            855.005  921.107  
imu_odom_:  1691062414.294431012  0.411803   -0.301669  9.20571    -0.0415453  -0.0255663  0.0394148   0.16       0             pose: 0.0           0.669863   0.0054497   0 -0.0009710680.00566799  -0.0773963  0.996984       uwb: 0.50026661     855.121  920.348  
imu_odom_:  1691062414.320498430  0.112527   -0.251391  10.4483    -0.0468716  -0.0308927  0.04048     0.22       -0.02         pose: 0.48986717    0.669863   0.0054497   0 0.000458481 0.00762677  -0.0774112  0.99697        uwb: 0.0            855.121  920.348  
imu_odom_:  1691062414.345468454  -0.205901  -0.0502782 10.5919    -0.0340885  0.00106526  0.036219    0.17       0             pose: 0.48035719    0.679863   0.00549986  0 -0.00107583 0.00745613  -0.0774295  0.996969       uwb: 0.50023161     854.71   920.452  
imu_odom_:  1691062414.362413471  0.572214   -0.189142  10.0533    -0.0511327  -0.0426106  0.0468716   0.17       0             pose: 0.0           0.679863   0.00549986  0 -0.00107583 0.00745613  -0.0774295  0.996969       uwb: 0.0            854.71   920.452  
imu_odom_:  1691062414.387378537  0.308852   -0.110133  10.2951    -0.04048    0.00639159  0.0436758   0.17       0             pose: 0.26181445    0.689862   0.00554948  0 -0.0004148340.00973704  -0.0774274  0.99695        uwb: 0.0            854.71   920.452  
imu_odom_:  1691062414.410398739  0.248997   -0.476446  9.3709     -0.0713727  0.00852212  0.0543285   0.17       0             pose: 0.41975407    0.689862   0.00554948  0 0.00124838  0.0086647   -0.0773652  0.996964       uwb: 0.49842060     854.39   920.442  
imu_odom_:  1691062414.427507360  0.265756   -0.323217  9.89284    -0.0436758  0.0106526   0.0255663   0.17       0             pose: 0.0           0.689862   0.00554948  0 0.00124838  0.0086647   -0.0773652  0.996964       uwb: 0.0            854.39   920.442  
imu_odom_:  1691062414.451372698  0.742203   -0.323217  9.2081     -0.0490022  0.0170442   0.0330232   0.23       0             pose: 0.47806501    0.699913   -0.00439919 0 -0.00065345 0.00793863  -0.0772307  0.996981       uwb: 0.50002456     854.72   919.299  
imu_odom_:  1691062414.477398414  0.0430956  -0.363919  9.44513    -0.0394148  0.0170442   0.0383495   0.2        -0.02         pose: 0.32962367    0.706498   -0.0043653  0 -0.00193285 0.00582619  -0.0773897  0.996982       uwb: 0.0            854.72   919.299  
imu_odom_:  1691062414.501340450  0.351948   -0.208296  10.003     -0.0553937  -0.0426106  0.056459    0.2        -0.02         pose: 0.0           0.706498   -0.0043653  0 -0.00193285 0.00582619  -0.0773897  0.996982       uwb: 0.50006247     855.041  918.481  
imu_odom_:  1691062414.527407285  0.383072   -0.337582  9.70609    -0.0575243  -0.0287621  0.04048     0.18       -0.02         pose: 0.49967752    0.716567   -0.00431472 0 -0.00146489 0.00596855  -0.0772006  0.996997       uwb: 0.0            855.041  918.481  
imu_odom_:  1691062414.542401897  0.713472   -0.136469  10.0149    -0.0596548  -0.015979   0.0447411   0.18       -0.02         pose: 0.0           0.716567   -0.00431472 0 -0.00146489 0.00596855  -0.0772006  0.996997       uwb: 0.0            855.041  918.481  
imu_odom_:  1691062414.559490687  0.433351   -0.399832  9.47146    -0.0628506  -0.0181095  0.0383495   0.17       -0.02         pose: 0.0           0.716567   -0.00431472 0 -0.00146489 0.00596855  -0.0772006  0.996997       uwb: 0.49986707     854.607  918.572  
imu_odom_:  1691062414.583344944  0.567426   -0.440533  9.165      -0.0692422  -0.0298274  0.0639159   0.17       -0.02         pose: 0.49014422    0.719913   -0.00429659 0 -0.00379026 0.00198894  -0.0771745  0.997008       uwb: 0.0            854.607  918.572  
imu_odom_:  1691062414.606356980  0.217872   -0.114922  10.0676    -0.0500674  0.0255663   0.0340885   0.2        -0.02         pose: 0.32990072    0.729913   -0.00424176 0 -0.00642299 -0.000535192-0.0769017  0.997018       uwb: 0.50054074     854.932  917.416  
imu_odom_:  1691062414.629347728  0.306458   0.0957681  10.2496    -0.0671117  0.0149137   0.0490022   0.2        -0.02         pose: 0.8040754     0.729913   -0.00424176 0 -0.00575766 7.59938e-05 -0.076922   0.99702        uwb: 0.0            854.932  917.416  
imu_odom_:  1691062414.655450724  0.725443   -0.265756  10.307     -0.0511327  0.0181095   0.036219    0.24       -0.02         pose: 0.37962030    0.739913   -0.0041817  0 -0.00235256 0.00171226  -0.076849   0.997038       uwb: 0.49878805     855.027  916.292  
imu_odom_:  1691062414.671408291  0.217872   -0.354342  9.57202    -0.0596548  -0.0372843  0.0426106   0.24       -0.02         pose: 0.0           0.739913   -0.0041817  0 -0.00235256 0.00171226  -0.076849   0.997038       uwb: 0.0            855.027  916.292  
imu_odom_:  1691062414.694386499  0.251391   -0.177171  9.36612    -0.0809601  -0.0426106  0.0575243   0.17       0.02          pose: 0.42060563    0.745519   -0.00414743 0 -0.00309924 0.00062604  -0.0768712  0.997036       uwb: 0.0            855.027  916.292  
imu_odom_:  1691062414.718404358  0.428562   -0.0502782 9.9934     -0.072438   0.00426106  0.0458064   0.17       0.02          pose: 0.0           0.745519   -0.00414743 0 -0.00309924 0.00062604  -0.0768712  0.997036       uwb: 0.0            855.027  916.292  
imu_odom_:  1691062414.735408868  0.445322   -0.557849  9.663      -0.0649811  0.00426106  0.036219    0.24       0             pose: 0.0           0.745519   -0.00414743 0 -0.00309924 0.00062604  -0.0768712  0.997036       uwb: 0.0            855.027  916.292  
imu_odom_:  1691062414.759407188  0.222661   -0.23942   9.63427    -0.0340885  0.00532632  0.0351537   0.24       0             pose: 0.46996067    0.756857   -0.00407733 0 3.15403e-05 0.00127614  -0.0765805  0.997063       uwb: 0.100048656    854.75   915.962  
imu_odom_:  1691062414.776396825  0.557849   -0.277727  10.0963    -0.0511327  -0.00639159 0.0394148   0.22       -0.02         pose: 0.0           0.756857   -0.00407733 0 3.15403e-05 0.00127614  -0.0765805  0.997063       uwb: 0.0            854.75   915.962  
imu_odom_:  1691062414.801318438  0.428562   -0.122104  9.75158    -0.0426106  0.0255663   0.0479369   0.22       -0.02         pose: 0.49082079    0.759979   -0.0140567  0 -0.00131017 0.00283693  -0.0766619  0.997052       uwb: 0.50130188     855.638  914.445  
imu_odom_:  1691062414.825334548  0.701501   -0.275333  10.0341    -0.0575243  -0.015979   0.052198    0.22       0             pose: 0.33832001    0.769979   -0.0139915  0 0.000842636 0.0010486   -0.0765595  0.997064       uwb: 0.0            855.638  914.445  
imu_odom_:  1691062414.849310997  0.768539   -0.289698  10.0556    -0.0383495  0.00639159  0.0415453   0.22       0             pose: 0.8078083     0.769979   -0.0139915  0 0.000584448 0.000231233 -0.0765084  0.997069       uwb: 0.49916425     855.882  912.373  
imu_odom_:  1691062414.872301744  0.78051    -0.220267  10.1035    -0.0468716  -0.0351537  0.0447411   0.17       0.02          pose: 0.39914476    0.779979   -0.0139232  0 -0.00043297 -0.0035604  -0.076382   0.997072       uwb: 0.0            855.882  912.373  
imu_odom_:  1691062414.896309106  0.136469   -0.186748  10.0293    -0.0383495  -0.0191748  0.0436758   0.17       0.02          pose: 0.0           0.779979   -0.0139232  0 -0.00043297 -0.0035604  -0.076382   0.997072       uwb: 0.49945880     856.08   912.322  
imu_odom_:  1691062414.913293784  0.435745   -0.253785  9.96227    -0.0575243  -0.02024    0.0617853   0.21       0             pose: 0.46998109    0.789978   -0.0138519  0 -4.03012e-06-0.00403375 -0.0762733  0.997079       uwb: 0.0            856.08   912.322  
imu_odom_:  1691062414.928401548  1.09894    -0.124498  10.1323    -0.0809601  -0.092678   0.128897    0.21       0             pose: 0.0           0.789978   -0.0138519  0 -4.03012e-06-0.00403375 -0.0762733  0.997079       uwb: 0.0            856.08   912.322  
imu_odom_:  1691062414.946296397  0.723049   -0.1652    9.17937    -0.0894822  0.0117179   0.197074    0.21       0             pose: 0.0           0.789978   -0.0138519  0 -4.03012e-06-0.00403375 -0.0762733  0.997079       uwb: 0.49999831     856.157  912.196  
imu_odom_:  1691062414.961284302  0.940921   -0.579397  10.2663    -0.0671117  0.0426106   0.223706    0.2        0.14          pose: 0.40100826    0.789978   -0.0138519  0 -0.00119995 -0.00572751 -0.0747833  0.997183       uwb: 0.0            856.157  912.196  
imu_odom_:  1691062414.978278896  1.21625    -0.37589   9.92397    -0.0500674  0.00319579  0.236489    0.2        0.14          pose: 0.0           0.789978   -0.0138519  0 -0.00119995 -0.00572751 -0.0747833  0.997183       uwb: 0.0            856.157  912.196  
imu_odom_:  1691062414.994395982  0.991199   -0.131681  9.92636    -0.0447411  -0.00852212 0.287621    0.12       0.32          pose: 0.0           0.789978   -0.0138519  0 -0.00119995 -0.00572751 -0.0747833  0.997183       uwb: 0.49983791     855.501  913.003  
imu_odom_:  1691062415.11337213   1.27132    -0.488417  9.41161    -0.0596548  -0.0330232  0.338754    0.12       0.32          pose: 0.49998372    0.799978   -0.013749   0 -0.00249405 -0.0096914  -0.0699559  0.9975         uwb: 0.0            855.501  913.003  
imu_odom_:  1691062415.26331252   1.13485    -0.397437  9.97424    -0.0426106  0.00319579  0.38456     0.12       0.32          pose: 0.0           0.799978   -0.013749   0 -0.00249405 -0.0096914  -0.0699559  0.9975         uwb: 0.0            855.501  913.003  
imu_odom_:  1691062415.43266072   0.751779   -0.289698  9.75637    -0.052198   0.0308927   0.468716    0.13       0.5           pose: 0.39922948    0.809968   -0.0137487  0 -0.0034938  -0.0136245  -0.0638523  0.99786        uwb: 0.0            855.501  913.003  
imu_odom_:  1691062415.59388127   0.799663   -0.555455  9.77074    -0.0660464  -0.0308927  0.54435     0.13       0.5           pose: 0.0           0.809968   -0.0137487  0 -0.0034938  -0.0136245  -0.0638523  0.99786        uwb: 0.49995773     856.207  911.023  
imu_odom_:  1691062415.76265788   0.749385   -0.272939  9.414      -0.04048    -0.0138484  0.552872    0.13       0.5           pose: 0.0           0.809968   -0.0137487  0 -0.0034938  -0.0136245  -0.0638523  0.99786        uwb: 0.0            856.207  911.023  
imu_odom_:  1691062415.91388726   0.766145   -0.296881  9.79468    -0.0543285  0.0298274   0.585895    0.08       0.47          pose: 0.8004305     0.809978   -0.013749   0 -0.00377419 -0.01423    -0.0621369  0.997959       uwb: 0.0            856.207  911.023  
imu_odom_:  1691062415.108381289  0.828394   -0.301669  10.0389    -0.0511327  -0.00745685 0.64342     0.1        0.64          pose: 0.0           0.809978   -0.013749   0 -0.00377419 -0.01423    -0.0621369  0.997959       uwb: 0.50108055     856.091  910.082  
imu_odom_:  1691062415.124275290  0.857124   -0.426168  9.8282     -0.0500674  0.0394148   0.680704    0.1        0.64          pose: 0.65078472    0.809978   -0.013749   0 -0.00534236 -0.0191002  -0.0452924  0.998777       uwb: 0.0            856.091  910.082  
imu_odom_:  1691062415.141319471  0.292093   -0.490811  9.96467    -0.0532632  0.052198    0.681769    0.09       0.73          pose: 0.0           0.809978   -0.013749   0 -0.00534236 -0.0191002  -0.0452924  0.998777       uwb: 0.0            856.091  910.082  
imu_odom_:  1691062415.154262784  0.316035   -0.356736  9.97185    -0.0372843  0.0149137   0.649811    0.09       0.73          pose: 0.0           0.809978   -0.013749   0 -0.00534236 -0.0191002  -0.0452924  0.998777       uwb: 0.49920539     855.752  910.221  
imu_odom_:  1691062415.171255930  0.296881   0.0191536  9.76355    -0.0490022  -0.0255663  0.646616    0.09       0.73          pose: 0.32913102    0.819978   -0.0137497  0 -0.00714801 -0.0192472  -0.0348852  0.99918        uwb: 0.0            855.752  910.221  
imu_odom_:  1691062415.186257551  0.914585   -0.160412  9.85214    -0.0532632  -0.0138484  0.639159    0.06       0.58          pose: 0.38928799    0.819968   -0.0137495  0 -0.00624501 -0.0155389  -0.0228877  0.999598       uwb: 0.0            855.752  910.221  
imu_odom_:  1691062415.203255946  0.861913   -0.414197  9.97185    -0.0458064  -0.00106526 0.586961    0.06       0.58          pose: 0.7004606     0.819978   -0.0137496  0 -0.00583912 -0.0161116  -0.0207983  0.999637       uwb: 0.50063728     855.115  910.526  
imu_odom_:  1691062415.219304510  0.718261   -0.227449  9.93594    -0.0490022  -0.00106526 0.551807    0.06       0.58          pose: 0.0           0.819978   -0.0137496  0 -0.00583912 -0.0161116  -0.0207983  0.999637       uwb: 0.0            855.115  910.526  
imu_odom_:  1691062415.235245172  0.574608   -0.0694318 9.89763    -0.056459   0.00745685  0.536893    0.06       0.55          pose: 0.41043974    0.819968   -0.0137495  0 -0.00496186 -0.0174364  -0.00966332 0.999789       uwb: 0.0            855.115  910.526  
imu_odom_:  1691062415.251274489  0.565032   -0.114922  9.84256    -0.0553937  0           0.517718    0.06       0.55          pose: 0.0           0.819968   -0.0137495  0 -0.00496186 -0.0174364  -0.00966332 0.999789       uwb: 0.49995195     854.788  910.149  
imu_odom_:  1691062415.268250137  0.651223   -0.28491   9.84975    -0.0532632  0           0.478304    0.06       0.55          pose: 0.0           0.819968   -0.0137495  0 -0.00496186 -0.0174364  -0.00966332 0.999789       uwb: 0.0            854.788  910.149  
imu_odom_:  1691062415.292366582  0.708684   -0.131681  9.80186    -0.0532632  -0.00319579 0.426106    0.04       0.35          pose: 0.39102318    0.819978   -0.0137496  0 -0.00289462 -0.0145977  -0.0003329040.999889       uwb: 0.0            854.788  910.149  
imu_odom_:  1691062415.309294987  0.579397   -0.184354  10.003     -0.0596548  0.0181095   0.393083    0.04       0.38          pose: 0.0           0.819978   -0.0137496  0 -0.00289462 -0.0145977  -0.0003329040.999889       uwb: 0.49857255     854.598  909.326  
imu_odom_:  1691062415.324226617  0.122104   -0.251391  9.77074    -0.0649811  0.0426106   0.32384     0.04       0.38          pose: 0.42030259    0.819978   -0.0137497  0 -0.00068663 -0.0134544  0.00788274  0.999878       uwb: 0.0            854.598  909.326  
imu_odom_:  1691062415.341355078  -0.454898  0.122104   10.1873    -0.052198   0.056459    0.175769    0.04       0.38          pose: 0.0           0.819978   -0.0137497  0 -0.00068663 -0.0134544  0.00788274  0.999878       uwb: 0.0            854.598  909.326  
imu_odom_:  1691062415.357228374  -1.34075   0.402226   9.58878    -0.0649811  0.0308927   0.176834    0.08       0.29          pose: 0.0           0.819978   -0.0137497  0 -0.00068663 -0.0134544  0.00788274  0.999878       uwb: 0.50114471     854.495  908.908  
imu_odom_:  1691062415.373230861  -0.811634  -0.670376  9.92875    -0.0862864  -0.0628506  0.26099     0.08       0.29          pose: 0.31798501    0.829977   -0.0135918  0 -0.000295395-0.00970658 0.0121093   0.99988        uwb: 0.0            854.495  908.908  
imu_odom_:  1691062415.386282659  0.167594   -0.885855  9.96946    -0.0756338  -0.0873517  0.252468    0.08       0.17          pose: 0.0           0.829977   -0.0135918  0 -0.000295395-0.00970658 0.0121093   0.99988        uwb: 0.0            854.495  908.908  
imu_odom_:  1691062415.401277280  0.775721   -0.529119  9.70131    -0.0447411  -0.0127832  0.207727    0.08       0.17          pose: 0.40995273    0.829977   -0.0135918  0 -0.000427854-0.00572894 0.0155853   0.999862       uwb: 0.49960491     854.291  908.426  
imu_odom_:  1691062415.418281508  0.294487   0.179565   9.87369    -0.0809601  0.0191748   0.24288     0.08       0.17          pose: 0.0           0.829977   -0.0135918  0 -0.000427854-0.00572894 0.0155853   0.999862       uwb: 0.0            854.291  908.426  
imu_odom_:  1691062415.434510007  0.0981623  -0.0814029 9.9096     -0.0745685  0.036219    0.230097    0.1        0.17          pose: 0.6023570     0.829977   -0.0135918  0 -0.00102611 -0.00570733 0.0162294   0.999851       uwb: 0.0            854.291  908.426  
imu_odom_:  1691062415.451220857  0.213084   -0.476446  9.61272    -0.0639159  0.0276969   0.168312    0.1        0.17          pose: 0.0           0.829977   -0.0135918  0 -0.00102611 -0.00570733 0.0162294   0.999851       uwb: 0.49916165     855.289  905.501  
imu_odom_:  1691062415.466330380  0.126893   -0.31364   9.67257    -0.0639159  0.00532632  0.154463    0.1        0.17          pose: 0.0           0.829977   -0.0135918  0 -0.00102611 -0.00570733 0.0162294   0.999851       uwb: 0.0            855.289  905.501  
imu_odom_:  1691062415.483210083  0.181959   -0.299275  9.50019    -0.0692422  -0.0298274  0.181095    0.15       0.17          pose: 0.47198194    0.839974   -0.0133791  0 -0.00127203 -0.00483091 0.0207415   0.999772       uwb: 0.0            855.289  905.501  
imu_odom_:  1691062415.499206446  0.0574608  -0.447716  9.6199     -0.0585895  -0.0298274  0.18216     0.12       0.11          pose: 0.0           0.839974   -0.0133791  0 -0.00127203 -0.00483091 0.0207415   0.999772       uwb: 0.49906540     855.688  904.677  
imu_odom_:  1691062415.516209216  0.0837971  -0.196325  10.1083    -0.0553937  -0.00852212 0.173638    0.12       0.11          pose: 0.0           0.839974   -0.0133791  0 -0.00127203 -0.00483091 0.0207415   0.999772       uwb: 0.0            855.688  904.677  
imu_odom_:  1691062415.531267121  0.225055   -0.19393   9.89284    -0.0415453  -0.0287621  0.166181    0.12       0.11          pose: 0.64893871    0.839974   -0.0133791  0 -0.00346193 0.00118366  0.0252411   0.999675       uwb: 0.0            855.688  904.677  
imu_odom_:  1691062415.548200775  0.593762   -0.191536  9.80904    -0.04048    -0.04048    0.160855    0.13       0.08          pose: 0.0           0.839974   -0.0133791  0 -0.00346193 0.00118366  0.0252411   0.999675       uwb: 0.50246870     855.319  904.978  
imu_odom_:  1691062415.564318455  0.320823   -0.191536  9.71806    -0.0585895  -0.0372843  0.176834    0.13       0.08          pose: 0.31865284    0.849972   -0.0131744  0 -0.00289047 0.00385228  0.0273963   0.999613       uwb: 0.0            855.319  904.978  
imu_odom_:  1691062415.580199625  0.905008   -0.371101  10.0149    -0.0500674  -0.0479369  0.172573    0.17       0.14          pose: 0.33127158    0.849972   -0.0131744  0 -0.00110206 0.00278099  0.0294957   0.99956        uwb: 0.0            855.319  904.978  
imu_odom_:  1691062415.595322854  0.988805   -0.25618   9.5792     -0.0553937  -0.0500674  0.206661    0.17       0.14          pose: 0.0           0.849972   -0.0131744  0 -0.00110206 0.00278099  0.0294957   0.99956        uwb: 0.49882627     855.463  903.982  
imu_odom_:  1691062415.611311343  0.761356   -0.337582  9.39485    -0.0532632  -0.00745685 0.26099     0.17       0.14          pose: 0.0           0.849972   -0.0131744  0 -0.00110206 0.00278099  0.0294957   0.99956        uwb: 0.0            855.463  903.982  
imu_odom_:  1691062415.625317055  1.54665    -0.493206  10.6638    -0.052198   -0.0287621  0.232228    0.09       0.05          pose: 0.14866305    0.849972   -0.0131744  0 -0.0005719070.00226228  0.0305028   0.999532       uwb: 0.0            855.463  903.982  
imu_odom_:  1691062415.642368818  1.4054     0.112527   9.663      -0.0298274  -0.0127832  0.109722    0.09       0.05          pose: 0.0           0.849972   -0.0131744  0 -0.0005719070.00226228  0.0305028   0.999532       uwb: 0.0            855.463  903.982  
imu_odom_:  1691062415.658186122  1.01514    0.0430956  9.62708    -0.0585895  0.0298274   0.105461    0.09       0.05          pose: 0.0           0.849972   -0.0131744  0 -0.0005719070.00226228  0.0305028   0.999532       uwb: 0.50047105     855.647  903.192  
imu_odom_:  1691062415.675304376  0.670376   -0.275333  9.84017    -0.0681769  0.0191748   0.118244    0.11       0.11          pose: 0.47122079    0.85997    -0.0129643  0 -0.00128945 -0.00300712 0.0348045   0.999389       uwb: 0.0            855.647  903.192  
imu_odom_:  1691062415.691187879  0.536301   -0.624887  9.94073    -0.0511327  0.00106526  0.0830906   0.07       0.08          pose: 0.0           0.85997    -0.0129643  0 -0.00128945 -0.00300712 0.0348045   0.999389       uwb: 0.0            855.647  903.192  
imu_odom_:  1691062415.707247525  0.715866   -0.143652  9.92636    -0.0490022  -0.0223706  0.0777643   0.07       0.08          pose: 0.64983401    0.85997    -0.0129643  0 -0.00129669 -0.00787473 0.0374422   0.999267       uwb: 0.0            855.647  903.192  
imu_odom_:  1691062415.723180313  0.732626   -0.110133  9.71806    -0.0585895  0.00106526  0.11931     0.06       0.05          pose: 0.0           0.85997    -0.0129643  0 -0.00129669 -0.00787473 0.0374422   0.999267       uwb: 0.0            855.647  903.192  
imu_odom_:  1691062415.740235576  0.730232   -0.40462   9.97664    -0.0553937  0.00319579  0.135289    0.06       0.05          pose: 0.0           0.85997    -0.0129643  0 -0.00129669 -0.00787473 0.0374422   0.999267       uwb: 0.0            855.647  903.192  
imu_odom_:  1691062415.755194327  0.715866   -0.430956  9.88087    -0.0436758  -0.00319579 0.115049    0.06       0.05          pose: 0.30881041    0.869967   -0.012715   0 -0.000562915-0.00973396 0.0381875   0.999223       uwb: 0.99939063     855.691  902.487  
imu_odom_:  1691062415.781189729  0.687136   -0.162806  9.67497    -0.0543285  0.0170442   0.120375    0.06       0.11          pose: 0.41002563    0.869956   -0.012715   0 -0.00258466 -0.0120364  0.0399464   0.999126       uwb: 0.0            855.691  902.487  
imu_odom_:  1691062415.794175036  0.45011    -0.270545  9.97185    -0.0607201  0.0351537   0.1012      0.06       0.11          pose: 0.0           0.869956   -0.012715   0 -0.00258466 -0.0120364  0.0399464   0.999126       uwb: 0.49866296     855.675  901.368  
imu_odom_:  1691062415.818189410  -0.924162  -0.0502782 9.86411    -0.0319579  0.0958738   -0.0138484  0.05       0.08          pose: 0.8067589     0.869967   -0.012715   0 -0.00185433 -0.0122855  0.0402621   0.999112       uwb: 0.0            855.675  901.368  
imu_odom_:  1691062415.843216900  -0.794875  -0.600945  9.92157    -0.0841559  -0.0873517  0.116114    0.1        0.11          pose: 0.0           0.869967   -0.012715   0 -0.00185433 -0.0122855  0.0402621   0.999112       uwb: 0.0            855.675  901.368  
imu_odom_:  1691062415.866230117  0.466869   -0.4956    9.69173    -0.0319579  -0.0532632  0.0639159   0.08       0.05          pose: 0.79954984    0.869967   -0.012715   0 -0.00126011 -0.00638574 0.0416904   0.999109       uwb: 0.50182129     855.266  901.461  
imu_odom_:  1691062415.882188859  0.648829   0.232238   9.90002    -0.0468716  -0.0426106  0.0905475   0.08       0.05          pose: 0.0           0.869967   -0.012715   0 -0.00126011 -0.00638574 0.0416904   0.999109       uwb: 0.0            855.266  901.461  
imu_odom_:  1691062415.899158967  0.497994   -0.047884  10.1778    -0.0692422  0.0372843   0.118244    0.14       0.05          pose: 0.38971959    0.879964   -0.0124788  0 -0.00158677 -0.00712028 0.0423841   0.999075       uwb: 0.49739437     855.64   900.788  
imu_odom_:  1691062415.923364358  -0.0957681 -0.411803  9.94791    -0.0617853  -0.00745685 0.0553937   0.14       0.05          pose: 0.8076046     0.879964   -0.0124788  0 -0.000872959-0.00674092 0.0426957   0.999065       uwb: 0.0            855.64   900.788  
imu_odom_:  1691062415.949154454  0.40462    -0.294487  10.0628    -0.0532632  -0.0276969  0.0937433   0.13       0             pose: 0.33099453    0.879964   -0.0124788  0 -0.00097051 -0.00407945 0.0432353   0.999056       uwb: 0.50023483     855.577  899.624  
imu_odom_:  1691062415.973202366  0.215478   -0.40462   9.67736    -0.0511327  -0.0245011  0.0639159   0.13       0             pose: 0.0           0.879964   -0.0124788  0 -0.00097051 -0.00407945 0.0432353   0.999056       uwb: 0.0            855.577  899.624  
imu_odom_:  1691062415.999143816  0.227449   0.102951   10.0916    -0.0500674  -0.0234358  0.0809601   0.13       0.05          pose: 0.7897278     0.879964   -0.0124788  0 -0.00144986 -0.00355258 0.0434518   0.999048       uwb: 0.50039231     855.564  898.108  
imu_odom_:  1691062416.24161988   0.1652     -0.481235  9.73004    -0.0383495  -0.0127832  0.0596548   0.13       0.05          pose: 0.50029899    0.88996    -0.0122095  0 -0.00306884 -0.0002966530.044412    0.999009       uwb: 0.0            855.564  898.108  
imu_odom_:  1691062416.47168512   0.94571    -0.265756  10.2639    -0.0500674  -0.00426106 0.0639159   0.13       0.05          pose: 0.0           0.88996    -0.0122095  0 -0.00306884 -0.0002966530.044412    0.999009       uwb: 0.50055589     855.658  897.234  
imu_odom_:  1691062416.64139213   0.395043   -0.328006  9.87608    -0.0426106  0.0245011   0.0756338   0.13       0.05          pose: 0.0           0.88996    -0.0122095  0 -0.00306884 -0.0002966530.044412    0.999009       uwb: 0.0            855.658  897.234  
imu_odom_:  1691062416.88424816   0.19393    -0.0981623 9.85214    -0.0575243  -0.0181095  0.0745685   0.19       0.02          pose: 0.73884203    0.899959   -0.0120119  0 -0.00363491 -0.00011811 0.0454537   0.99896        uwb: 0.0            855.658  897.234  
imu_odom_:  1691062416.115280535  0.454898   -0.0742203 10.2759    -0.0553937  0.00532632  0.072438    0.17       0             pose: 0.33249078    0.906664   -0.0118715  0 -0.00283898 0.00179667  0.046049    0.998934       uwb: 0.49978311     854.803  897.577  
imu_odom_:  1691062416.132197577  0.387861   -0.28491   9.67497    -0.072438   0.0213053   0.0809601   0.17       0             pose: 0.0           0.906664   -0.0118715  0 -0.00283898 0.00179667  0.046049    0.998934       uwb: 0.0            854.803  897.577  
imu_odom_:  1691062416.156155099  0.555455   -0.100556  10.2448    -0.0543285  -0.0138484  0.0617853   0.22       0.02          pose: 0.43772761    0.909956   -0.0117987  0 -0.00219668 0.000977277 0.0468392   0.9989         uwb: 0.49927568     854.296  898.549  
imu_odom_:  1691062416.180199234  0.148441   -0.0191536 10.5201    -0.0511327  0.00213053  0.0745685   0.22       0.02          pose: 0.0           0.909956   -0.0117987  0 -0.00219668 0.000977277 0.0468392   0.9989         uwb: 0.0            854.296  898.549  
imu_odom_:  1691062416.204143924  0.035913   -0.184354  10.0556    -0.0596548  -0.0234358  0.0575243   0.22       0             pose: 0.48001657    0.919953   -0.0115598  0 0.000923597 0.00122523  0.0475231   0.998869       uwb: 0.50011264     854.215  897.544  
imu_odom_:  1691062416.220144671  0.505177   0.174777   10.161     -0.0458064  -0.0500674  0.0500674   0.22       0             pose: 0.0           0.919953   -0.0115598  0 0.000923597 0.00122523  0.0475231   0.998869       uwb: 0.0            854.215  897.544  
imu_odom_:  1691062416.244195222  0.141258   -0.28491   10.0892    -0.0639159  0.0149137   0.0649811   0.17       0             pose: 0.0           0.919953   -0.0115598  0 0.000923597 0.00122523  0.0475231   0.998869       uwb: 0.49905404     855.485  895.395  
imu_odom_:  1691062416.267191539  0.435745   -0.217872  10.1586    -0.0607201  0.0245011   0.0458064   0.17       0             pose: 0.47947414    0.92995    -0.0113077  0 0.00196215  0.00318506  0.0479228   0.998844       uwb: 0.0            855.485  895.395  
imu_odom_:  1691062416.284176238  -0.009576810          9.93115    -0.0596548  0.0447411   0.0617853   0.2        0.02          pose: 0.0           0.92995    -0.0113077  0 0.00196215  0.00318506  0.0479228   0.998844       uwb: 0.0            855.485  895.395  
imu_odom_:  1691062416.309120628  0.560243   -0.361524  9.86411    -0.0660464  0.00745685  0.0500674   0.2        0.02          pose: 0.46992042    0.939947   -0.011047   0 0.000886632 0.00366371  0.0482831   0.998827       uwb: 0.50079506     855.606  894.904  
imu_odom_:  1691062416.336152200  0.610521   -0.059855  9.83777    -0.0649811  -0.0138484  0.0575243   0.19       -0.02         pose: 0.33981938    0.939947   -0.011047   0 -0.0002248490.00273197  0.0485122   0.998819       uwb: 0.0            855.606  894.904  
imu_odom_:  1691062416.352150613  0.122104   -0.155623  10.2065    -0.0585895  0.0213053   0.0415453   0.19       -0.02         pose: 0.8066427     0.939947   -0.011047   0 0.000186926 0.00202086  0.0485857   0.998817       uwb: 0.49934567     855.648  894.161  
imu_odom_:  1691062416.378090330  0.428562   -0.143652  10.1107    -0.0394148  0.0276969   0.0319579   0.21       0.02          pose: 0.0           0.939947   -0.011047   0 0.000186926 0.00202086  0.0485857   0.998817       uwb: 0.0            855.648  894.161  
imu_odom_:  1691062416.402141464  0.270545   -0.440533  9.60793    -0.0500674  0.0458064   0.0543285   0.21       0.02          pose: 0.34963558    0.949943   -0.010775   0 0.00124594  0.00214827  0.0487726   0.998807       uwb: 0.49982102     855.898  892.982  
imu_odom_:  1691062416.425100744  0.866701   -0.356736  10.2113    -0.0372843  0.00745685  0.0308927   0.17       0             pose: 0.49990851    0.956744   -0.0105877  0 0.000750977 0.00195188  0.0488551   0.998804       uwb: 0.0            855.898  892.982  
imu_odom_:  1691062416.442154267  0.751779   -0.42138   9.62708    -0.0607201  -0.00532632 0.0649811   0.17       0             pose: 0.0           0.956744   -0.0105877  0 0.000750977 0.00195188  0.0488551   0.998804       uwb: 0.0            855.898  892.982  
imu_odom_:  1691062416.467095742  0.713472   -0.179565  10.0652    -0.0596548  -0.0181095  0.0394148   0.17       0             pose: 0.40012803    0.965208   -0.0103531  0 -0.000504063-0.00162935 0.0489728   0.998799       uwb: 0.50038094     856.439  891.822  
imu_odom_:  1691062416.491100799  0.519542   -0.0622492 10.3334    -0.0596548  -0.0490022  0.0490022   0.17       0             pose: 0.0           0.965208   -0.0103531  0 -0.000504063-0.00162935 0.0489728   0.998799       uwb: 0.0            856.439  891.822  
imu_odom_:  1691062416.514091282  0.921768   -0.189142  10.0126    -0.0596548  -0.0426106  0.0394148   0.25       0.02          pose: 0.48946532    0.969935   -0.0102207  0 0.00233614  -0.00511605 0.0490707   0.998779       uwb: 0.49938941     855.171  893.806  
imu_odom_:  1691062416.537138050  0.533907   -0.263362  9.78031    -0.0809601  -0.0351537  0.0617853   0.25       0.02          pose: 0.0           0.969935   -0.0102207  0 0.00233614  -0.00511605 0.0490707   0.998779       uwb: 0.0            855.171  893.806  
imu_odom_:  1691062416.554074339  0.749385   -0.414197  10.0963    -0.076699   -0.0191748  0.0575243   0.23       0             pose: 0.46037251    0.97965    5.684e-05   0 -0.000198956-0.00774229 0.0493412   0.998752       uwb: 0.50059967     854.985  892.695  
imu_odom_:  1691062416.569073053  0.395043   -0.395043  9.44034    -0.04048    0.00639159  0.0351537   0.23       0             pose: 0.0           0.97965    5.684e-05   0 -0.000198956-0.00774229 0.0493412   0.998752       uwb: 0.0            854.985  892.695  
imu_odom_:  1691062416.585098005  0.395043   -0.208296  10.1011    -0.0479369  0.02024     0.0447411   0.23       0             pose: 0.0           0.97965    5.684e-05   0 -0.000198956-0.00774229 0.0493412   0.998752       uwb: 0.0            854.985  892.695  
imu_odom_:  1691062416.610077974  0.409408   -0.0957681 9.8258     -0.052198   0.0245011   0.0426106   0.21       0.02          pose: 0.39110798    0.989646   0.00034575  0 -0.00215122 -0.00717198 0.0494971   0.998746       uwb: 0.49929026     855.112  891.609  
imu_odom_:  1691062416.635131433  0.337582   -0.452504  10.0963    -0.0639159  0.00532632  0.0543285   0.2        0             pose: 0.33829126    0.99669    0.000550592 0 0.000142064 -0.00432549 0.0495485   0.998762       uwb: 0.0            855.112  891.609  
imu_odom_:  1691062416.657280571  0.632069   -0.126893  10.2831    -0.0287621  -0.0255663  0.0436758   0.2        0             pose: 0.7080725     0.999642   0.000636633 0 -0.000504858-0.00393991 0.0496032   0.998761       uwb: 0.50003099     854.581  892.003  
imu_odom_:  1691062416.673072803  0.299275   -0.294487  10.1035    -0.052198   -0.00319579 0.0543285   0.2        0             pose: 0.0           0.999642   0.000636633 0 -0.000504858-0.00393991 0.0496032   0.998761       uwb: 0.0            854.581  892.003  
imu_odom_:  1691062416.699089510  0.301669   -0.196325  9.8258     -0.0426106  -0.0351537  0.0479369   0.19       0             pose: 0.48069606    0.999642   0.000636633 0 -0.000665179-0.0041101  0.0498409   0.998748       uwb: 0.49987643     854.37   891.45   
imu_odom_:  1691062416.714080641  0.363919   -0.215478  9.68933    -0.0553937  -0.0223706  0.0532632   0.19       0             pose: 0.0           0.999642   0.000636633 0 -0.000665179-0.0041101  0.0498409   0.998748       uwb: 0.0            854.37   891.45   
imu_odom_:  1691062416.740133509  0.483629   -0.169988  9.83777    -0.0436758  -0.0394148  0.0479369   0.19       0             pose: 0.40945138    1.00964    0.000933898 0 -0.000243716-0.0005630920.0500597   0.998746       uwb: 0.0            854.37   891.45   
imu_odom_:  1691062416.764134192  0.177171   -0.105345  10.0269    -0.0596548  -0.00639159 0.0479369   0.17       0.02          pose: 0.33960066    1.01694    0.0011543   0 0.00138374  -0.00248021 0.0502223   0.998734       uwb: 0.49943899     853.799  891.422  
imu_odom_:  1691062416.788126417  -0.0407014 -0.263362  9.75877    -0.076699   0.0127832   0.0436758   0.17       0.02          pose: 0.0           1.01694    0.0011543   0 0.00138374  -0.00248021 0.0502223   0.998734       uwb: 0.0            853.799  891.422  
imu_odom_:  1691062416.812055068  0.378284   -0.146046  10.0102    -0.0756338  0.00106526  0.0596548   0.21       0             pose: 0.6959408     1.01963    0.00123633  0 0.00153889  -0.00181233 0.05025     0.998734       uwb: 0.49913278     853.532  891.422  
imu_odom_:  1691062416.828160217  0.462081   -0.430956  9.84256    -0.0852212  0           0.0607201   0.21       0             pose: 0.0           1.01963    0.00123633  0 0.00153889  -0.00181233 0.05025     0.998734       uwb: 0.0            853.532  891.422  
imu_odom_:  1691062416.852113948  0.383072   -0.366313  9.59357    -0.0607201  0.0149137   0.0532632   0.17       0             pose: 0.47985909    1.02963    0.00154234  0 0.00166105  0.00210472  0.0504343   0.998724       uwb: 0.50043052     853.631  889.702  
imu_odom_:  1691062416.878038792  0.737414   -0.294487  9.85214    -0.0660464  -0.0298274  0.0298274   0.17       0             pose: 0.0           1.02963    0.00154234  0 0.00166105  0.00210472  0.0504343   0.998724       uwb: 0.0            853.631  889.702  
imu_odom_:  1691062416.902043557  0.363919   -0.474052  9.81144    -0.0607201  -0.0607201  0.0468716   0.18       0.02          pose: 0.41085993    1.03962    0.00185469  0 0.000483385 0.00103103  0.0508334   0.998706       uwb: 0.50059967     853.235  889.202  
imu_odom_:  1691062416.918100005  0.732626   -0.294487  10.0389    -0.0490022  -0.04048    0.0479369   0.18       0.02          pose: 0.0           1.03962    0.00185469  0 0.000483385 0.00103103  0.0508334   0.998706       uwb: 0.0            853.235  889.202  
imu_odom_:  1691062416.942082607  0.936133   -0.174777  9.94073    -0.0500674  0.0223706   0.052198    0.19       0.02          pose: 0.48885290    1.03962    0.00185469  0 -0.00225726 -0.00181254 0.0508392   0.998703       uwb: 0.0            853.235  889.202  
imu_odom_:  1691062416.967327082  0.531513   -0.124498  10.0652    -0.0479369  -0.0149137  0.0458064   0.19       0.02          pose: 0.0           1.03962    0.00185469  0 -0.00225726 -0.00181254 0.0508392   0.998703       uwb: 0.49990559     852.392  889.573  
imu_odom_:  1691062416.983045533  0.390255   -0.301669  9.4547     -0.0511327  0.00639159  0.0415453   0.18       0             pose: 0.39988598    1.04962    0.00217195  0 -0.00355697 -0.00432379 0.0510068   0.998683       uwb: 0.0            852.392  889.573  
imu_odom_:  1691062417.9020834    0.299275   -0.399832  9.66779    -0.0532632  0.0170442   0.052198    0.18       0             pose: 0.0           1.04962    0.00217195  0 -0.00355697 -0.00432379 0.0510068   0.998683       uwb: 0.49881490     852.241  889.259  
imu_odom_:  1691062417.34030855   0.395043   -0.337582  9.78271    -0.0255663  0.0245011   0.0319579   0.17       0             pose: 0.49198498    1.05961    0.0024928   0 -0.000769626-0.00539627 0.0511794   0.998675       uwb: 0.0            852.241  889.259  
imu_odom_:  1691062417.60150522   0.548272   -0.0909797 10.228     -0.052198   0.00106526  0.0490022   0.17       0             pose: 0.0           1.05961    0.0024928   0 -0.000769626-0.00539627 0.0511794   0.998675       uwb: 0.50187143     852.877  887.513  
imu_odom_:  1691062417.84012404   0.378284   -0.222661  10.3238    -0.0490022  -0.0170442  0.0543285   0.2        0             pose: 0.42831980    1.06961    0.00281807  0 -0.00351423 -0.00181823 0.0513377   0.998674       uwb: 0.0            852.877  887.513  
imu_odom_:  1691062417.108215491  0.881066   -0.150835  10.161     -0.0511327  -0.015979   0.0372843   0.2        0             pose: 0.50232057    1.0796     0.0031452   0 -0.00192263 -0.00120749 0.0514485   0.998673       uwb: 0.49820570     852.217  888.027  
imu_odom_:  1691062417.124003942  0.31364    -0.23942   9.71806    -0.0500674  0.0340885   0.0383495   0.19       0             pose: 0.0           1.0796     0.0031452   0 -0.00192263 -0.00120749 0.0514485   0.998673       uwb: 0.0            852.217  888.027  
imu_odom_:  1691062417.140035903  0.378284   -0.380678  10.0461    -0.0479369  -0.0223706  0.04048     0.19       0             pose: 0.0           1.0796     0.0031452   0 -0.00192263 -0.00120749 0.0514485   0.998673       uwb: 0.0            852.217  888.027  
imu_odom_:  1691062417.165039217  0.371101   -0.0766145 9.991      -0.0468716  -0.00106526 0.0308927   0.18       0.02          pose: 0.72734661    1.0896     0.0034769   0 -0.00212117 -0.0004010170.0515435   0.998668       uwb: 0.50282800     851.906  887.179  
imu_odom_:  1691062417.188972548  0.28491    -0.272939  10.2352    -0.056459   -0.0266316  0.0447411   0.18       0.02          pose: 0.0           1.0896     0.0034769   0 -0.00212117 -0.0004010170.0515435   0.998668       uwb: 0.0            851.906  887.179  
imu_odom_:  1691062417.214056935  0.68953    -0.244209  9.85453    -0.0340885  -0.00745685 0.0458064   0.26       0             pose: 0.7976902     1.0896     0.0034769   0 -0.00131609 -0.0001828620.0515091   0.998672       uwb: 0.49786158     852.21   885.769  
imu_odom_:  1691062417.236141636  0.54109    -0.253785  9.87608    -0.0426106  0           0.0511327   0.18       0             pose: 0.0           1.0896     0.0034769   0 -0.00131609 -0.0001828620.0515091   0.998672       uwb: 0.0            852.21   885.769  
imu_odom_:  1691062417.252260793  0.476446   -0.167594  9.8282     -0.056459   0.0213053   0.0426106   0.2        0             pose: 0.72084913    1.10925    0.014133    0 -0.000679935-0.00111192 0.0516056   0.998667       uwb: 0.49904851     851.447  885.592  
imu_odom_:  1691062417.275981527  0.56982    -0.287304  10.058     -0.0681769  -0.0372843  0.0532632   0.2        0             pose: 0.0           1.10925    0.014133    0 -0.000679935-0.00111192 0.0516056   0.998667       uwb: 0.0            851.447  885.592  
imu_odom_:  1691062417.301005547  0.76375    -0.208296  10.4291    -0.0543285  0.0138484   0.04048     0.18       0             pose: 0.55883809    1.1163     0.0143698   0 -0.00077464 -0.00524961 0.051883    0.998639       uwb: 0.50127945     851.629  884.696  
imu_odom_:  1691062417.315966941  0.830788   -0.174777  10.0389    -0.0500674  -0.00532632 0.0511327   0.18       0             pose: 0.0           1.1163     0.0143698   0 -0.00077464 -0.00524961 0.051883    0.998639       uwb: 0.0            851.629  884.696  
imu_odom_:  1691062417.339011098  0.88346    -0.023942  10.1682    -0.052198   -0.0383495  0.0383495   0.25       -0.02         pose: 0.39985414    1.12451    0.0146475   0 3.32989e-05 -0.00895176 0.051972    0.998608       uwb: 0.0            851.629  884.696  
imu_odom_:  1691062417.364959287  0.471658   -0.153229  9.8689     -0.0745685  -0.0394148  0.0532632   0.25       -0.02         pose: 0.7014529     1.12924    0.0148085   0 0.000468777 -0.00963485 0.0519638   0.998602       uwb: 0.49980674     851.438  884.13   
imu_odom_:  1691062417.379962676  0.608127   -0.31364   9.74679    -0.0703074  -0.0191748  0.0500674   0.19       0.02          pose: 0.41977817    1.12924    0.0148085   0 0.00183607  -0.00913798 0.0521096   0.998598       uwb: 0.0            851.438  884.13   
imu_odom_:  1691062417.398032241  0.454898   -0.131681  10.2687    -0.0490022  0.0127832   0.0383495   0.19       0.02          pose: 0.0           1.12924    0.0148085   0 0.00183607  -0.00913798 0.0521096   0.998598       uwb: 0.50034625     850.959  883.548  
imu_odom_:  1691062417.423077258  0.378284   -0.129287  10.1466    -0.0575243  0.015979    0.0383495   0.18       -0.02         pose: 0.6018328     1.12924    0.0148085   0 0.00121263  -0.00934429 0.0521462   0.998595       uwb: 0.0            850.959  883.548  
imu_odom_:  1691062417.446979385  0.502782   -0.0287304 10.1993    -0.0468716  -0.0479369  0.0372843   0.18       -0.02         pose: 0.0           1.12924    0.0148085   0 0.00121263  -0.00934429 0.0521462   0.998595       uwb: 0.49952094     850.604  883.27   
imu_odom_:  1691062417.461950986  0.452504   -0.488417  9.23204    -0.0607201  0.02024     0.04048     0.18       -0.02         pose: 0.0           1.12924    0.0148085   0 0.00121263  -0.00934429 0.0521462   0.998595       uwb: 0.0            850.604  883.27   
imu_odom_:  1691062417.488966242  0.584185   -0.423774  9.6606     -0.04048    0.0394148   0.0298274   0.18       0             pose: 0.35202714    1.13924    0.0151517   0 0.00142302  -0.00704357 0.0521747   0.998612       uwb: 0.0            850.604  883.27   
imu_odom_:  1691062417.514018550  0.225055   -0.361524  9.73004    -0.0500674  0.02024     0.0436758   0.18       -0.02         pose: 0.82785913    1.15653    0.0157456   0 0.000506754 -0.00551379 0.0520198   0.998631       uwb: 0.49992048     851.014  881.483  
imu_odom_:  1691062417.529957190  0.648829   -0.268151  9.23683    -0.04048    -0.0298274  0.0276969   0.18       -0.02         pose: 0.0           1.15653    0.0157456   0 0.000506754 -0.00551379 0.0520198   0.998631       uwb: 0.0            851.014  881.483  
imu_odom_:  1691062417.554955255  0.493206   -0.246603  10.5608    -0.0436758  0.015979    0.0330232   0.18       -0.02         pose: 0.7009864     1.15923    0.0158375   0 0.000159576 -0.00482509 0.0520362   0.998634       uwb: 0.50049789     850.172  881.666  
imu_odom_:  1691062417.580965853  0.418985   0.00718261 10.647     -0.0415453  0.00213053  0.0191748   0.18       -0.02         pose: 0.0           1.15923    0.0158375   0 0.000159576 -0.00482509 0.0520362   0.998634       uwb: 0.0            850.172  881.666  
imu_odom_:  1691062417.605967125  0.148441   0.0215478  9.73243    -0.0585895  -0.0426106  0.0458064   0.19       0             pose: 0.42057140    1.16922    0.0161782   0 -0.00137827 -0.0041964  0.0519603   0.998639       uwb: 0.49809488     849.84   880.977  
imu_odom_:  1691062417.631935437  0.545878   -0.11971   9.50977    -0.0713727  0.00532632  0.0447411   0.19       0             pose: 0.0           1.16922    0.0161782   0 -0.00137827 -0.0041964  0.0519603   0.998639       uwb: 0.0            849.84   880.977  
imu_odom_:  1691062417.647944942  0.306458   -0.292093  10.2352    -0.0596548  0.00426106  0.0351537   0.19       0             pose: 0.50203185    1.17921    0.0165162   0 0.000610555 -0.00180603 0.0516633   0.998663       uwb: 0.50063788     849.256  880.3    
imu_odom_:  1691062417.671049175  0.0622492  -0.294487  9.93354    -0.0287621  0.0181095   0.0170442   0.19       0             pose: 0.0           1.17921    0.0165162   0 0.000610555 -0.00180603 0.0516633   0.998663       uwb: 0.0            849.256  880.3    
imu_odom_:  1691062417.696981908  0.442927   -0.258574  9.80665    -0.0458064  -0.0372843  0.0458064   0.24       0             pose: 0.50788192    1.18921    0.0168515   0 0.00220887  -0.00228349 0.0517695   0.998654       uwb: 0.50024418     848.945  879.622  
imu_odom_:  1691062417.713929289  0.11971    0.035913   9.89284    -0.0511327  0.0181095   0.0479369   0.24       0             pose: 0.0           1.18921    0.0168515   0 0.00220887  -0.00228349 0.0517695   0.998654       uwb: 0.0            848.945  879.622  
imu_odom_:  1691062417.737924736  0.600945   -0.150835  9.65582    -0.0511327  -0.015979   0.04048     0.25       0             pose: 0.74904666    1.1992     0.0171821   0 0.000419318 0.000214681 0.0516392   0.998666       uwb: 0.0            848.945  879.622  
imu_odom_:  1691062417.762983460  0.205901   -0.280122  10.2065    -0.0394148  0.04048     0.0500674   0.25       0             pose: 0.7008405     1.1992     0.0171821   0 0.000657542 -0.0004914910.0516426   0.998665       uwb: 0.50073995     848.836  878.885  
imu_odom_:  1691062417.786046573  0.651223   -0.363919  10.0556    -0.0468716  0.0234358   0.052198    0.18       0             pose: 0.42045766    1.20672    0.0174333   0 0.000430587 0.000675048 0.0517826   0.998658       uwb: 0.0            848.836  878.885  
imu_odom_:  1691062417.802900925  0.28491    -0.114922  10.0054    -0.0447411  -0.0191748  0.0543285   0.18       0             pose: 0.0           1.20672    0.0174333   0 0.000430587 0.000675048 0.0517826   0.998658       uwb: 0.49802489     849.314  877.311  
imu_odom_:  1691062417.826926993  0.56982    -0.148441  9.63906    -0.0458064  -0.0245011  0.0532632   0.18       0.02          pose: 0.39917465    1.21479    0.0177051   0 0.00050992  0.000210207 0.0520522   0.998644       uwb: 0.0            849.314  877.311  
imu_odom_:  1691062417.842893629  0.814029   -0.328006  10.1514    -0.0607201  0.0319579   0.0490022   0.18       0.02          pose: 0.0           1.21479    0.0177051   0 0.00050992  0.000210207 0.0520522   0.998644       uwb: 0.0            849.326  876.884  
imu_odom_:  1691062417.866978607  0.646434   -0.304064  10.4244    -0.0873517  -0.0255663  0.0617853   0.18       0             pose: 0.0           1.21479    0.0177051   0 0.00050992  0.000210207 0.0520522   0.998644       uwb: 0.0            849.326  876.884  
imu_odom_:  1691062417.890895607  0.557849   0.0550666  9.85453    -0.0607201  -0.0106526  0.0553937   0.18       0             pose: 0.47009567    1.22919    0.0181996   0 0.000506778 -0.00419363 0.052375    0.998619       uwb: 0.0            849.326  876.884  
imu_odom_:  1691062417.914958420  0.452504   -0.258574  9.89045    -0.0820254  -0.0181095  0.0479369   0.18       0.02          pose: 0.40985115    1.22919    0.0181996   0 0.00174681  -0.00617859 0.0527411   0.998588       uwb: 0.49992339     849.572  875.985  
imu_odom_:  1691062417.939931989  0.368707   -0.328006  9.75158    -0.0575243  0.0117179   0.036219    0.18       -0.02         pose: 0.7025611     1.22919    0.0181996   0 0.00113761  -0.00575737 0.0527723   0.998589       uwb: 0.0            849.572  875.985  
imu_odom_:  1691062417.954954333  0.416591   -0.347159  9.83059    -0.0713727  0.00213053  0.036219    0.18       -0.02         pose: 0.17037202    1.236      0.0184422   0 -0.000339699-0.0047359  0.0528479   0.998591       uwb: 0.50013919     850.732  874.076  
imu_odom_:  1691062417.981948009  -0.272939  -0.220267  9.65342    -0.0415453  0.0426106   0.0479369   0.18       -0.02         pose: 0.0           1.236      0.0184422   0 -0.000339699-0.0047359  0.0528479   0.998591       uwb: 0.0            850.732  874.076  
imu_odom_:  1691062418.7010817    0.186748   -0.134075  9.71806    -0.0415453  -0.0266316  0.0351537   0.18       0             pose: 0.7949489     1.23918    0.018556    0 -0.000886422-0.00408322 0.0528373   0.998594       uwb: 0.50169358     851.182  872.667  
imu_odom_:  1691062418.30945620   0.526724   -0.241814  9.95509    -0.0383495  -0.0149137  0.0426106   0.2        0.02          pose: 0.40049572    1.24917    0.0189132   0 -0.00352352 -0.00116224 0.0528294   0.998597       uwb: 0.0            851.182  872.667  
imu_odom_:  1691062418.48032410   0.703895   -0.203507  10.1658    -0.0490022  0.00745685  0.0394148   0.2        0.02          pose: 0.0           1.24917    0.0189132   0 -0.00352352 -0.00116224 0.0528294   0.998597       uwb: 0.49939578     850.951  872.243  
imu_odom_:  1691062418.70874482   0.244209   -0.0526724 9.81862    -0.04048    0.0287621   0.0532632   0.19       0             pose: 0.50034339    1.25917    0.0192704   0 -0.00165684 0.00236914  0.0528759   0.998597       uwb: 0.0            850.951  872.243  
imu_odom_:  1691062418.96853891   0.557849   -0.143652  9.63906    -0.0511327  -0.0298274  0.0436758   0.19       0             pose: 0.0           1.25917    0.0192704   0 -0.00165684 0.00236914  0.0528759   0.998597       uwb: 0.49899922     851.599  870.083  
imu_odom_:  1691062418.111866620  0.526724   -0.433351  9.87848    -0.0340885  0.00639159  0.0340885   0.19       0             pose: 0.0           1.25917    0.0192704   0 -0.00165684 0.00236914  0.0528759   0.998597       uwb: 0.0            851.599  870.083  
imu_odom_:  1691062418.137879566  0.363919   -0.361524  10.1083    -0.0436758  -0.0447411  0.0479369   0.25       0             pose: 0.40906983    1.25917    0.0192704   0 -0.000583403-0.0005587910.0529365   0.998598       uwb: 0.0            851.599  870.083  
imu_odom_:  1691062418.162936847  0.366313   -0.110133  10.4866    -0.0500674  -0.00852212 0.0543285   0.21       -0.02         pose: 0.83980763    1.27915    0.0199918   0 -0.00170514 -0.00163719 0.0531838   0.998582       uwb: 0.0            851.599  870.083  
imu_odom_:  1691062418.186873983  0.943315   -0.112527  10.4004    -0.056459   -0.0149137  0.036219    0.21       -0.02         pose: 0.0           1.27915    0.0199918   0 -0.00170514 -0.00163719 0.0531838   0.998582       uwb: 0.0            851.599  870.083  
imu_odom_:  1691062418.211035673  0.555455   -0.0502782 10.4603    -0.0458064  -0.0234358  0.0383495   0.18       0.02          pose: 0.7132352     1.27915    0.0199918   0 -0.00106156 -0.00130581 0.053236    0.998581       uwb: 0.99937785     852.472  868.094  
imu_odom_:  1691062418.226994445  0.770933   -0.325611  9.55526    -0.0617853  -0.04048    0.0394148   0.18       0.02          pose: 0.0           1.27915    0.0199918   0 -0.00106156 -0.00130581 0.053236    0.998581       uwb: 0.0            852.472  868.094  
imu_odom_:  1691062418.251865374  0.667982   -0.531513  9.54329    -0.0543285  -0.0138484  0.0394148   0.19       0             pose: 0.48893513    1.28915    0.0203575   0 0.00173509  -0.00334101 0.0533218   0.99857        uwb: 0.50129142     852.271  867.216  
imu_odom_:  1691062418.277986223  0.509965   -0.260968  9.83059    -0.0458064  -0.0234358  0.0383495   0.19       0             pose: 0.0           1.28915    0.0203575   0 0.00173509  -0.00334101 0.0533218   0.99857        uwb: 0.0            852.271  867.216  
imu_odom_:  1691062418.302852778  0.703895   -0.311246  9.90481    -0.0255663  -0.0436758  0.0447411   0.19       0             pose: 0.41072336    1.29914    0.0207243   0 0.00183143  -0.00641623 0.053317    0.998555       uwb: 0.50033197     851.876  866.627  
imu_odom_:  1691062418.317859967  0.624887   -0.0526724 9.82102    -0.0543285  0.00852212  0.0436758   0.19       0             pose: 0.0           1.29914    0.0207243   0 0.00183143  -0.00641623 0.053317    0.998555       uwb: 0.0            851.876  866.627  
imu_odom_:  1691062418.344910818  0.849942   -0.201113  9.28711    -0.0575243  -0.0308927  0.0575243   0.18       0             pose: 0.49951832    1.30913    0.021091    0 -0.0017734  -0.00682387 0.0533451   0.998551       uwb: 0.49915087     851.605  865.441  
imu_odom_:  1691062418.369833658  0.215478   -0.215478  9.92157    -0.0511327  0.0191748   0.036219    0.18       0             pose: 0.0           1.30913    0.021091    0 -0.0017734  -0.00682387 0.0533451   0.998551       uwb: 0.0            851.605  865.441  
imu_odom_:  1691062418.384918419  0.531513   -0.102951  10.3262    -0.0394148  -0.0319579  0.0383495   0.19       -0.02         pose: 0.40998263    1.31913    0.0214592   0 -0.000317181-0.00998903 0.0534795   0.998519       uwb: 0.0            851.605  865.441  
imu_odom_:  1691062418.409845050  0.0766145  -0.3304    9.91678    -0.052198   -0.0372843  0.0468716   0.19       -0.02         pose: 0.0           1.31913    0.0214592   0 -0.000317181-0.00998903 0.0534795   0.998519       uwb: 0.49999659     851.959  864.104  
imu_odom_:  1691062418.434949283  0.407014   -0.0191536 10.1083    -0.0671117  -0.0106526  0.0383495   0.19       0             pose: 0.50017448    1.31913    0.0214592   0 0.000540013 -0.00910638 0.0535977   0.998521       uwb: 0.0            851.959  864.104  
imu_odom_:  1691062418.449838653  0.493206   -0.23942   9.85693    -0.076699   -0.0138484  0.0458064   0.19       0             pose: 0.0           1.31913    0.0214592   0 0.000540013 -0.00910638 0.0535977   0.998521       uwb: 0.50034946     852.208  863.378  
imu_odom_:  1691062418.475957460  0.624887   -0.148441  9.50498    -0.0607201  -0.0276969  0.0479369   0.26       -0.02         pose: 0.73893343    1.33911    0.0222043   0 0.000897194 -0.00515811 0.0537028   0.998543       uwb: 0.0            852.208  863.378  
imu_odom_:  1691062418.499938924  0.071826   -0.0430956 10.2639    -0.056459   -0.0106526  0.0351537   0.26       -0.02         pose: 0.0           1.33911    0.0222043   0 0.000897194 -0.00515811 0.0537028   0.998543       uwb: 0.50153639     852.456  861.684  
imu_odom_:  1691062418.523988337  0.100556   -0.311246  10.3118    -0.0660464  -0.0138484  0.0298274   0.19       -0.02         pose: 0.7082192     1.33911    0.0222043   0 0.00120246  -0.00587523 0.0537308   0.998537       uwb: 0.0            852.456  861.684  
imu_odom_:  1691062418.539819376  0.438139   -0.0215478 10.1586    -0.0458064  -0.0596548  0.0298274   0.19       -0.02         pose: 0.0           1.33911    0.0222043   0 0.00120246  -0.00587523 0.0537308   0.998537       uwb: 0.0            852.456  861.684  
imu_odom_:  1691062418.565839029  0.557849   -0.253785  9.38288    -0.0575243  -0.036219   0.0447411   0.19       0             pose: 0.49926169    1.34911    0.0225793   0 0.00224977  -0.00493443 0.0537109   0.998542       uwb: 0.49805435     852.094  860.858  
imu_odom_:  1691062418.591153234  0.445322   -0.162806  9.88566    -0.0617853  0.00106526  0.0308927   0.19       0             pose: 0.41137369    1.35873    0.0329452   0 0.00258545  -0.00416933 0.0535676   0.998552       uwb: 0.0            852.094  860.858  
imu_odom_:  1691062418.614924434  0.433351   -0.316035  9.52174    -0.0692422  -0.00532632 0.0500674   0.19       -0.02         pose: 0.43168851    1.36639    0.0332307   0 0.00215979  -0.00331304 0.0535027   0.99856        uwb: 0.50031738     852.292  859.579  
imu_odom_:  1691062418.631922568  0.282516   -0.220267  10.5489    -0.0468716  0.0106526   0.0319579   0.19       -0.02         pose: 0.0           1.36639    0.0332307   0 0.00215979  -0.00331304 0.0535027   0.99856        uwb: 0.0            852.292  859.579  
imu_odom_:  1691062418.655797588  -0.0407014 -0.246603  10.647     -0.0479369  0.0276969   0.0223706   0.21       0             pose: 0.5812151     1.36872    0.0333169   0 0.00154873  -0.00320968 0.0535347   0.99856        uwb: 0.49833431     852.449  858.249  
imu_odom_:  1691062418.679784593  0.636858   -0.0454898 10.4172    -0.0713727  -0.0287621  0.0330232   0.21       0             pose: 0.0           1.36872    0.0333169   0 0.00154873  -0.00320968 0.0535347   0.99856        uwb: 0.0            852.449  858.249  
imu_odom_:  1691062418.704946859  0.890643   -0.512359  9.31823    -0.0703074  -0.0394148  0.0479369   0.19       0             pose: 0.41836110    1.37871    0.0336883   0 -0.000373896-0.0002619560.053511    0.998567       uwb: 0.50020657     853.305  856.345  
imu_odom_:  1691062418.727774350  0.943315   -0.414197  9.44991    -0.0500674  -0.0149137  0.0276969   0.19       0             pose: 0.48078704    1.38871    0.0340552   0 0.000344274 -0.00126986 0.0533192   0.998577       uwb: 0.0            853.305  856.345  
imu_odom_:  1691062418.744830518  0.407014   -0.277727  10.1155    -0.0436758  0.015979    0.0383495   0.18       -0.02         pose: 0.0           1.38871    0.0340552   0 0.000344274 -0.00126986 0.0533192   0.998577       uwb: 0.50098229     853.402  854.929  
imu_odom_:  1691062418.769771439  0.622492   -0.289698  9.90481    -0.0543285  0.00426106  0.0500674   0.18       -0.02         pose: 0.0           1.38871    0.0340552   0 0.000344274 -0.00126986 0.0533192   0.998577       uwb: 0.0            853.402  854.929  
imu_odom_:  1691062418.792780906  0.577003   -0.414197  9.65103    -0.0607201  -0.0276969  0.0575243   0.19       -0.02         pose: 0.41036174    1.3987     0.0344229   0 -0.00192399 -0.00433105 0.053292    0.998568       uwb: 0.0            853.402  854.929  
imu_odom_:  1691062418.808785171  0.23942    -0.112527  10.2185    -0.0340885  -0.0117179  0.0372843   0.19       -0.02         pose: 0.0           1.3987     0.0344229   0 -0.00192399 -0.00433105 0.053292    0.998568       uwb: 0.49799602     853.761  853.761  
imu_odom_:  1691062418.834766622  0.665588   -0.208296  9.76595    -0.0511327  -0.00532632 0.052198    0.18       -0.02         pose: 0.56908331    1.40869    0.0347894   0 -0.00340559 -0.00593251 0.0535831   0.99854        uwb: 0.0            853.761  853.761  
imu_odom_:  1691062418.858803495  0.550666   -0.390255  9.52413    -0.0458064  0.0490022   0.04048     0.18       -0.02         pose: 0.0           1.40869    0.0347894   0 -0.00340559 -0.00593251 0.0535831   0.99854        uwb: 0.50088315     853.934  852.654  
imu_odom_:  1691062418.883831321  0.280122   -0.282516  9.27753    -0.0617853  -0.00319579 0.0607201   0.19       0             pose: 0.7007535     1.40869    0.0347894   0 -0.00303656 -0.00654112 0.0536231   0.998535       uwb: 0.0            853.934  852.654  
imu_odom_:  1691062418.898778142  0.191536   -0.260968  9.9503     -0.0660464  -0.0149137  0.0532632   0.19       0             pose: 0.0           1.40869    0.0347894   0 -0.00303656 -0.00654112 0.0536231   0.998535       uwb: 0.49983911     853.483  852.199  
imu_odom_:  1691062418.925848241  0.768539   -0.107739  10.422     -0.0809601  -0.0298274  0.0575243   0.25       0             pose: 0.50024448    1.41868    0.0351627   0 -0.00437047 -0.00688821 0.0538377   0.998516       uwb: 0.0            853.483  852.199  
imu_odom_:  1691062418.950862360  0.521936   -0.0550666 10.0197    -0.0639159  0           0.0511327   0.19       0             pose: 0.40021891    1.42868    0.0355406   0 -0.00398642 -0.00433024 0.0542031   0.998513       uwb: 0.49842763     853.322  851.259  
imu_odom_:  1691062418.967777964  0.373495   -0.222661  9.64624    -0.0905475  0.00745685  0.0500674   0.24       0             pose: 0.28154955    1.42868    0.0355406   0 -0.00223662 -0.00613225 0.0544129   0.998497       uwb: 0.0            853.322  851.259  
imu_odom_:  1691062418.992905526  0.521936   -0.289698  9.56962    -0.076699   -0.0106526  0.0340885   0.24       0             pose: 0.0           1.42868    0.0355406   0 -0.00223662 -0.00613225 0.0544129   0.998497       uwb: 0.50090356     853.111  849.739  
imu_odom_:  1691062419.17814960   0.320823   -0.447716  10.0054    -0.0639159  -0.00745685 0.0372843   0.23       0             pose: 0.23914681    1.43867    0.0359301   0 -0.000740168-0.00526581 0.0545363   0.998498       uwb: 0.0            853.111  849.739  
imu_odom_:  1691062419.31805249   0.725443   -0.181959  10.1897    -0.0649811  -0.0234358  0.0394148   0.23       0             pose: 0.0           1.43867    0.0359301   0 -0.000740168-0.00526581 0.0545363   0.998498       uwb: 0.0            853.111  849.739  
imu_odom_:  1691062419.55899295   0.414197   -0.282516  10.2927    -0.0490022  -0.0170442  0.0351537   0.17       -0.02         pose: 0.41868773    1.44866    0.0363214   0 -0.00359962 -0.00544573 0.0545202   0.998491       uwb: 0.49915694     852.746  848.839  
imu_odom_:  1691062419.80814276   0.438139   -0.131681  10.2472    -0.0415453  -0.0191748  0.0436758   0.17       -0.02         pose: 0.0           1.44866    0.0363214   0 -0.00359962 -0.00544573 0.0545202   0.998491       uwb: 0.0            852.746  848.839  
imu_odom_:  1691062419.102734232  1.9393     -0.260968  11.734     -0.0479369  0.0127832   0.04048     0.2        -0.02         pose: 0.39009962    1.44866    0.0363214   0 -0.00406608 -0.00484558 0.054488    0.998494       uwb: 0.50359849     852.914  847.421  
imu_odom_:  1691062419.118723342  0.25618    0.186748   8.53054    -0.0649811  -0.00106526 0.0383495   0.2        -0.02         pose: 0.0           1.44866    0.0363214   0 -0.00406608 -0.00484558 0.054488    0.998494       uwb: 0.0            852.914  847.421  
imu_odom_:  1691062419.143718521  -0.914585  -0.351948  10.9702    -0.0692422  0.00213053  0.0468716   0.23       0.02          pose: 0.48062984    1.45866    0.036712    0 -0.00102039 -0.00345097 0.0545053   0.998507       uwb: 0.49755887     852.536  847.029  
imu_odom_:  1691062419.165788666  -0.682347  -0.167594  10.8577    -0.0543285  -0.0138484  0.04048     0.23       0.02          pose: 0.0           1.45866    0.036712    0 -0.00102039 -0.00345097 0.0545053   0.998507       uwb: 0.0            852.536  847.029  
imu_odom_:  1691062419.189755271  0.390255   -0.208296  10.2256    -0.0500674  0.015979    0.0490022   0.19       0             pose: 0.38939390    1.46865    0.0371026   0 0.000225285 -0.00332019 0.0545201   0.998507       uwb: 0.0            852.536  847.029  
imu_odom_:  1691062419.214731493  0.555455   -0.294487  9.93354    -0.0543285  0.0990696   0.0415453   0.19       0             pose: 0.46942548    1.47864    0.0374939   0 0.00052884  0.000748817 0.054629    0.998506       uwb: 0.50113133     852.229  846.174  
imu_odom_:  1691062419.229724109  0.141258   -0.342371  9.50737    -0.0532632  -0.00213053 0.036219    0.24       0             pose: 0.0           1.47864    0.0374939   0 0.00052884  0.000748817 0.054629    0.998506       uwb: 0.0            852.229  846.174  
imu_odom_:  1691062419.246738585  0.806846   -0.167594  10.5058    -0.0628506  0.00106526  0.0351537   0.24       0             pose: 0.0           1.47864    0.0374939   0 0.00052884  0.000748817 0.054629    0.998506       uwb: 0.50047515     851.848  846.047  
imu_odom_:  1691062419.272792083  0.304064   -0.320823  10.082     -0.0585895  0.00106526  0.0415453   0.23       0             pose: 0.48069400    1.48824    0.0478811   0 0.000521424 0.000813439 0.0547301   0.998501       uwb: 0.0            851.848  846.047  
imu_odom_:  1691062419.297854044  0.337582   -0.0837971 9.80426    -0.0575243  -0.0170442  0.0330232   0.23       0             pose: 0.0           1.48824    0.0478811   0 0.000521424 0.000813439 0.0547301   0.998501       uwb: 0.49948071     851.842  845.232  
imu_odom_:  1691062419.322765233  0.402226   -0.253785  10.0126    -0.0639159  -0.0298274  0.0426106   0.19       -0.02         pose: 0.77052306    1.49823    0.0482752   0 0.000596233 0.00209427  0.0546259   0.998505       uwb: 0.0            851.842  845.232  
imu_odom_:  1691062419.346714923  0.696713   -0.294487  9.73961    -0.0479369  0.0394148   0.0351537   0.19       -0.02         pose: 0.5939304     1.49823    0.0482752   0 0.000119505 0.00163549  0.0546343   0.998505       uwb: 0.49739264     852.052  843.823  
imu_odom_:  1691062419.370752977  0.505177   -0.392649  9.59117    -0.0553937  0.0127832   0.0468716   0.19       0             pose: 0.42921575    1.50822    0.0486684   0 -0.00163297 -0.00168054 0.0546035   0.998505       uwb: 0.0            852.052  843.823  
imu_odom_:  1691062419.386702134  0.311246   -0.122104  10.1179    -0.0553937  0.0383495   0.0458064   0.19       0             pose: 0.0           1.50822    0.0486684   0 -0.00163297 -0.00168054 0.0546035   0.998505       uwb: 0.0            852.052  843.823  
imu_odom_:  1691062419.403707861  0.438139   -0.0885855 9.93115    -0.0639159  0.00532632  0.056459    0.18       -0.02         pose: 0.0           1.50822    0.0486684   0 -0.00163297 -0.00168054 0.0546035   0.998505       uwb: 0.50074054     851.805  843.014  
imu_odom_:  1691062419.429692534  0.282516   -0.351948  10.094     -0.0639159  0.00213053  0.0436758   0.18       -0.02         pose: 0.48036155    1.51821    0.0490615   0 -0.00181836 -0.00121655 0.0548081   0.998495       uwb: 0.0            851.805  843.014  
imu_odom_:  1691062419.454761495  0.234632   -0.280122  10.1466    -0.0660464  -0.0234358  0.0532632   0.17       -0.02         pose: 0.34941456    1.52546    0.0493492   0 -0.00282905 0.000804474 0.054939    0.998485       uwb: 0.50088927     851.519  842.437  
imu_odom_:  1691062419.480748793  0.31364    -0.0837971 9.81862    -0.04048    0.0117179   0.0351537   0.17       -0.02         pose: 0.7120983     1.52821    0.0494588   0 -0.00294861 0.00144203  0.0549897   0.998482       uwb: 0.0            851.519  842.437  
imu_odom_:  1691062419.505795881  0.442927   -0.203507  10.0963    -0.0681769  -0.0468716  0.0500674   0.19       0             pose: 0.43935276    1.53551    0.0497529   0 -0.0005187950.00377173  0.0550684   0.998475       uwb: 0.49950695     851.227  841.574  
imu_odom_:  1691062419.529689870  0.64404    0.0215478  10.0341    -0.0553937  -0.0287621  0.04048     0.21       0             pose: 0.0           1.53551    0.0497529   0 -0.0005187950.00377173  0.0550684   0.998475       uwb: 0.0            851.227  841.574  
imu_odom_:  1691062419.553784500  0.457293   -0.172383  9.88087    -0.0596548  -0.00639159 0.0479369   0.21       0             pose: 0.30967727    1.5382     0.0498611   0 0.000288844 0.000291375 0.0552042   0.998475       uwb: 0.49989481     851.86   840.304  
imu_odom_:  1691062419.578674400  0.586579   0.0861913  9.9527     -0.0585895  -0.052198   0.0394148   0.19       0             pose: 0.0           1.5382     0.0498611   0 0.000288844 0.000291375 0.0552042   0.998475       uwb: 0.0            851.86   840.304  
imu_odom_:  1691062419.593839369  0.296881   -0.399832  9.82102    -0.0575243  0.056459    0.0287621   0.19       0             pose: 0.48976365    1.54819    0.0502656   0 0.00324317  -0.00378959 0.0553126   0.998457       uwb: 0.50034101     851.677  839.827  
imu_odom_:  1691062419.610669243  0.684742   -0.497994  10.1394    -0.0479369  -0.00852212 0.0351537   0.19       0             pose: 0.0           1.54819    0.0502656   0 0.00324317  -0.00378959 0.0553126   0.998457       uwb: 0.0            851.677  839.827  
imu_odom_:  1691062419.635734704  0.921768   -0.232238  9.39724    -0.0575243  0.00106526  0.0468716   0.25       0             pose: 0.40055160    1.55818    0.0506721   0 0.003063    -0.00396542 0.0552163   0.998462       uwb: 0.0            851.677  839.827  
imu_odom_:  1691062419.662724329  -0.258574  -0.141258  9.97664    -0.0426106  0.0127832   0.0383495   0.24       0             pose: 0.34986659    1.56817    0.0510766   0 0.00206368  -0.00696945 0.0552964   0.998444       uwb: 0.50062389     851.809  839.126  
imu_odom_:  1691062419.687746629  0.198719   -0.363919  9.81862    -0.0617853  0.0138484   0.0415453   0.24       0             pose: 0.0           1.56817    0.0510766   0 0.00206368  -0.00696945 0.0552964   0.998444       uwb: 0.0            851.809  839.126  
imu_odom_:  1691062419.714687260  0.0550666  -0.131681  10.5417    -0.052198   -0.00426106 0.0319579   0.22       0             pose: 0.6959420     1.56817    0.0510766   0 0.00210132  -0.00621186 0.0552914   0.998449       uwb: 0.49934655     851.844  838.033  
imu_odom_:  1691062419.739871122  0.751779   -0.514753  10.2472    -0.0468716  -0.0127832  0.0308927   0.22       0             pose: 0.0           1.56817    0.0510766   0 0.00210132  -0.00621186 0.0552914   0.998449       uwb: 0.0            851.844  838.033  
imu_odom_:  1691062419.763773860  0.653617   -0.4956    9.13627    -0.0106526  -0.0607201  0.0234358   0.2        0             pose: 0.51993260    1.57816    0.0514827   0 0.000724686 -0.00110773 0.0552766   0.99847        uwb: 0.49995315     851.858  837.764  
imu_odom_:  1691062419.778774641  -0.0766145 -0.0335188 9.71567    -0.0436758  -0.0223706  0.0585895   0.2        0             pose: 0.0           1.57816    0.0514827   0 0.000724686 -0.00110773 0.0552766   0.99847        uwb: 0.0            851.858  837.764  
imu_odom_:  1691062419.794650308  0.557849   -0.141258  9.97664    -0.0308927  -0.0532632  0.0511327   0.18       0             pose: 0.52133826    1.58816    0.0518887   0 -0.00077087 -0.00186647 0.0550346   0.998482       uwb: 0.49925031     851.045  837.159  
imu_odom_:  1691062419.818657741  0.531513   -0.25618   9.8282     -0.0447411  -0.0117179  0.0479369   0.18       0             pose: 0.0           1.58816    0.0518887   0 -0.00077087 -0.00186647 0.0550346   0.998482       uwb: 0.0            851.045  837.159  
imu_odom_:  1691062419.842659633  0.622492   -0.0311246 9.93115    -0.076699   -0.0127832  0.056459    0.18       0.02          pose: 0.38857151    1.59815    0.0522899   0 -0.000461203-0.00285807 0.0550817   0.998478       uwb: 0.0            851.045  837.159  
imu_odom_:  1691062419.867674642  -0.198719  -0.328006  9.87608    -0.0639159  -0.036219   0.0287621   0.18       0.02          pose: 0.0           1.59815    0.0522899   0 -0.000461203-0.00285807 0.0550817   0.998478       uwb: 0.50011062     850.169  836.775  
imu_odom_:  1691062419.891683825  0.742203   -0.620098  10.2185    -0.0394148  -0.0553937  0.036219    0.23       0             pose: 0.40009957    1.59815    0.0522899   0 -0.000378273-0.0061082  0.0552922   0.998451       uwb: 0.0            850.169  836.775  
imu_odom_:  1691062419.916781073  0.869095   -0.292093  9.96946    -0.04048    0           0.0511327   0.23       0             pose: 0.0           1.59815    0.0522899   0 -0.000378273-0.0061082  0.0552922   0.998451       uwb: 0.0            850.169  836.775  
imu_odom_:  1691062419.933770468  0.205901   -0.0957681 9.99819    -0.0596548  0.0245011   0.0596548   0.19       0             pose: 0.49033524    1.60814    0.0526964   0 -0.000163871-0.00541528 0.0552816   0.998456       uwb: 0.0            850.169  836.775  
imu_odom_:  1691062419.956656007  0.0215478  0.0263362  10.0173    -0.0532632  0.0106526   0.0511327   0.19       0             pose: 0.0           1.60814    0.0526964   0 -0.000163871-0.00541528 0.0552816   0.998456       uwb: 0.99922096     850.23   835.405  
imu_odom_:  1691062419.972693235  0.287304   -0.270545  9.73004    -0.0553937  -0.0266316  0.0447411   0.2        0.02          pose: 0.50119256    1.61773    0.0630943   0 -0.00116678 -0.00835271 0.0554823   0.998424       uwb: 0.0            850.23   835.405  
imu_odom_:  1691062419.999644365  0.488417   -0.105345  10.003     -0.0628506  -0.0511327  0.0490022   0.2        0.02          pose: 0.0           1.61773    0.0630943   0 -0.00116678 -0.00835271 0.0554823   0.998424       uwb: 0.50063264     850.282  834.304  
imu_odom_:  1691062420.24692924   0.287304   -0.237026  9.90721    -0.0862864  0.0191748   0.052198    0.19       0             pose: 0.74803267    1.6351     0.0638111   0 0.00221386  -0.00449756 0.0558584   0.998426       uwb: 0.0            850.282  834.304  
imu_odom_:  1691062420.49835972   0.071826   -0.320823  9.4547     -0.076699   -0.00958738 0.04048     0.19       0             pose: 0.7020081     1.63771    0.0639202   0 0.00186467  -0.00375964 0.0559021   0.998427       uwb: 0.50004669     850.044  834.04   
imu_odom_:  1691062420.72752729   0.395043   -0.181959  10.3956    -0.0500674  0.00106526  0.0383495   0.18       0.02          pose: 0.43171526    1.64527    0.0642388   0 -0.0002233390.000391084 0.0560244   0.998429       uwb: 0.0            850.044  834.04   
imu_odom_:  1691062420.88692854   0.124498   -0.430956  9.48104    -0.0553937  0.00532632  0.0458064   0.18       0.02          pose: 0.0           1.64527    0.0642388   0 -0.0002233390.000391084 0.0560244   0.998429       uwb: 0.0            850.044  834.04   
imu_odom_:  1691062420.114611635  0.215478   -0.452504  10.2089    -0.0458064  0.00319579  0.0330232   0.25       0             pose: 0.0           1.64527    0.0642388   0 -0.0002233390.000391084 0.0560244   0.998429       uwb: 0.50090415     849.484  834.005  
imu_odom_:  1691062420.138619082  0.172383   -0.282516  9.90721    -0.052198   -0.00106526 0.0479369   0.25       0             pose: 0.38856882    1.65306    0.0645667   0 0.00096118  0.00173983  0.0560578   0.998426       uwb: 0.0            849.484  834.005  
imu_odom_:  1691062420.162620113  0.272939   -0.407014  10.0772    -0.0394148  0.00213053  0.0383495   0.18       0.02          pose: 0.49926228    1.66488    0.0650645   0 -0.00195995 0.00535522  0.0560673   0.998411       uwb: 0.49967638     849.349  832.978  
imu_odom_:  1691062420.188607718  0.608127   -0.402226  9.71806    -0.0458064  -0.00852212 0.0479369   0.23       -0.02         pose: 0.0           1.66488    0.0650645   0 -0.00195995 0.00535522  0.0560673   0.998411       uwb: 0.0            849.349  832.978  
imu_odom_:  1691062420.203710870  0.509965   -0.253785  9.97903    -0.0639159  -0.00958738 0.0553937   0.23       -0.02         pose: 0.31083231    1.66768    0.0651829   0 -0.00433467 0.00493608  0.0560641   0.998406       uwb: 0.0            849.349  832.978  
imu_odom_:  1691062420.219577797  0.411803   -0.294487  10.0509    -0.0553937  0.02024     0.036219    0.23       -0.02         pose: 0.0           1.66768    0.0651829   0 -0.00433467 0.00493608  0.0560641   0.998406       uwb: 0.0            849.349  832.978  
imu_odom_:  1691062420.246591059  0.476446   -0.328006  10.1466    -0.0426106  -0.015979   0.0383495   0.18       0             pose: 0.49875484    1.67767    0.0656042   0 -0.00410666 0.000243157 0.0562133   0.99841        uwb: 0.100006435    849.512  831.688  
imu_odom_:  1691062420.270743737  0.596156   -0.112527  9.88087    -0.0490022  -0.0255663  0.036219    0.18       0             pose: 0.8083652     1.67767    0.0656042   0 -0.00429672 -0.00057312 0.0562053   0.99841        uwb: 0.0            849.512  831.688  
imu_odom_:  1691062420.295577368  0.536301   -0.349553  10.2256    -0.0458064  -0.02024    0.0500674   0.19       0             pose: 0.43082288    1.68766    0.0660289   0 -0.00264784 -0.00408773 0.0561359   0.998411       uwb: 0.49781288     849.249  831.098  
imu_odom_:  1691062420.320608722  0.948104   -0.0766145 10.0892    -0.0511327  -0.0149137  0.0351537   0.19       0             pose: 0.0           1.68766    0.0660289   0 -0.00264784 -0.00408773 0.0561359   0.998411       uwb: 0.0            849.249  831.098  
imu_odom_:  1691062420.337692907  0.0837971  -0.397437  10.3142    -0.0543285  0           0.0394148   0.19       0             pose: 0.31974448    1.69766    0.0664537   0 -0.00408246 -0.00645985 0.0562494   0.998388       uwb: 0.0            849.249  831.098  
imu_odom_:  1691062420.362587780  0.493206   -0.31364   9.97903    -0.0511327  0.0234358   0.0351537   0.19       0             pose: 0.0           1.69766    0.0664537   0 -0.00408246 -0.00645985 0.0562494   0.998388       uwb: 0.50093914     848.953  829.872  
imu_odom_:  1691062420.386570730  0.579397   -0.617704  9.56244    -0.056459   -0.0543285  0.0479369   0.19       0             pose: 0.42876690    1.69766    0.0664537   0 -0.00403986 -0.00566122 0.0561936   0.998396       uwb: 0.0            848.953  829.872  
imu_odom_:  1691062420.411664201  0.610521   -0.270545  9.95988    -0.0223706  0.00213053  0.0447411   0.19       0             pose: 0.40975855    1.70765    0.0668786   0 -0.0072467  -0.00558099 0.0562733   0.998374       uwb: 0.50117536     849.135  828.575  
imu_odom_:  1691062420.435577452  0.526724   -0.23942   9.85453    -0.0681769  0.00852212  0.0468716   0.19       0             pose: 0.0           1.70765    0.0668786   0 -0.0072467  -0.00558099 0.0562733   0.998374       uwb: 0.0            849.135  828.575  
imu_odom_:  1691062420.452589896  0.169988   -0.0694318 9.54808    -0.0490022  0.0191748   0.0543285   0.22       0             pose: 0.7064119     1.70765    0.0668786   0 -0.00663602 -0.00605674 0.0562856   0.998374       uwb: 0.49994468     848.776  828.167  
imu_odom_:  1691062420.477625042  0.423774   -0.397437  9.77553    -0.0692422  -0.0458064  0.056459    0.22       0             pose: 0.0           1.70765    0.0668786   0 -0.00663602 -0.00605674 0.0562856   0.998374       uwb: 0.0            848.776  828.167  
imu_odom_:  1691062420.502639191  0.4956     -0.205901  10.1131    -0.0479369  -0.0383495  0.0426106   0.22       0.02          pose: 0.48934398    1.71764    0.0673056   0 -0.00255933 -0.00593342 0.0564395   0.998385       uwb: 0.49971430     848.53   827.281  
imu_odom_:  1691062420.516619865  0.517148   -0.198719  10.07      -0.072438   -0.0426106  0.0596548   0.22       0.02          pose: 0.0           1.71764    0.0673056   0 -0.00255933 -0.00593342 0.0564395   0.998385       uwb: 0.0            848.53   827.281  
imu_odom_:  1691062420.540578026  0.399832   -0.107739  10.0533    -0.0532632  -0.00958738 0.0351537   0.18       0             pose: 0.42063338    1.72763    0.0677352   0 -0.00377239 -0.00455532 0.0567456   0.998371       uwb: 0.0            848.53   827.281  
imu_odom_:  1691062420.564552811  0.847547   -0.143652  10.1801    -0.0628506  -0.0617853  0.0490022   0.18       0             pose: 0.0           1.72763    0.0677352   0 -0.00377239 -0.00455532 0.0567456   0.998371       uwb: 0.49903480     848.543  826.075  
imu_odom_:  1691062420.589579208  0.457293   0.0454898  9.99819    -0.052198   -0.0138484  0.0415453   0.19       0             pose: 0.38929498    1.73762    0.0681723   0 -0.000136502-0.00505994 0.0568818   0.998368       uwb: 0.0            848.543  826.075  
imu_odom_:  1691062420.614656057  0.184354   -0.0694318 9.84735    -0.0660464  0.0149137   0.0383495   0.19       0             pose: 0.0           1.73762    0.0681723   0 -0.000136502-0.00505994 0.0568818   0.998368       uwb: 0.49740169     849.237  824.413  
imu_odom_:  1691062420.631600843  0.265756   -0.509965  10.0556    -0.0639159  0.0372843   0.0298274   0.26       0             pose: 0.48012560    1.74761    0.0686108   0 0.00218096  -0.00670325 0.0569523   0.998352       uwb: 0.0            849.237  824.413  
imu_odom_:  1691062420.656582037  0.217872   -0.136469  10.082     -0.0415453  -0.04048    0.0340885   0.26       0             pose: 0.0           1.74761    0.0686108   0 0.00218096  -0.00670325 0.0569523   0.998352       uwb: 0.50102371     849.191  823.114  
imu_odom_:  1691062420.673743504  0.390255   -0.428562  9.42358    -0.0351537  0.00426106  0.0340885   0.21       -0.02         pose: 0.50001468    1.75716    0.0790403   0 0.00347628  -0.00293494 0.0568984   0.99837        uwb: 0.0            849.191  823.114  
imu_odom_:  1691062420.698581217  0.304064   -0.23942   9.47386    -0.0511327  0.0458064   0.0468716   0.21       -0.02         pose: 0.0           1.75716    0.0790403   0 0.00347628  -0.00293494 0.0568984   0.99837        uwb: 0.50021590     849.372  821.441  
imu_odom_:  1691062420.725650472  0.371101   -0.023942  9.75637    -0.0479369  -0.0532632  0.0415453   0.21       -0.02         pose: 0.42127788    1.76715    0.0794779   0 0.00225841  -0.0001910330.0567568   0.998385       uwb: 0.0            849.372  821.441  
imu_odom_:  1691062420.750608045  0.275333   -0.299275  10.1203    -0.0553937  0.0127832   0.0308927   0.21       -0.02         pose: 0.0           1.76715    0.0794779   0 0.00225841  -0.0001910330.0567568   0.998385       uwb: 0.50107037     848.263  821.078  
imu_odom_:  1691062420.774560083  0.246603   -0.179565  10.5441    -0.0490022  -0.0372843  0.0436758   0.23       0             pose: 0.41928314    1.76715    0.0794779   0 0.000899397 0.00246537  0.0568267   0.998381       uwb: 0.0            848.263  821.078  
imu_odom_:  1691062420.790597029  0.37589    -0.191536  9.59117    -0.0681769  -0.0372843  0.056459    0.23       0             pose: 0.0           1.76715    0.0794779   0 0.000899397 0.00246537  0.0568267   0.998381       uwb: 0.0            848.263  821.078  
imu_odom_:  1691062420.807592559  0.557849   -0.28491   10.0317    -0.0553937  0.0223706   0.0383495   0.19       0             pose: 0.51941672    1.77714    0.0799149   0 0.000909314 0.00390062  0.0567495   0.99838        uwb: 0.49854778     847.819  820.556  
imu_odom_:  1691062420.832655409  0.658405   -0.196325  10.319     -0.0745685  -0.0255663  0.04048     0.19       0             pose: 0.0           1.77714    0.0799149   0 0.000909314 0.00390062  0.0567495   0.99838        uwb: 0.0            847.819  820.556  
imu_odom_:  1691062420.849585906  0.699107   -0.411803  9.39724    -0.0372843  0.0255663   0.0213053   0.21       -0.02         pose: 0.75081524    1.79437    0.0806683   0 0.000437851 -0.0007130360.0569232   0.998378       uwb: 0.49985428     847.604  819.344  
imu_odom_:  1691062420.874525398  0.816423   -0.318429  9.78271    -0.0692422  -0.00319579 0.0532632   0.21       -0.02         pose: 0.6899057     1.79712    0.0807894   0 0.000121796 -0.00118793 0.0568608   0.998381       uwb: 0.0            847.604  819.344  
imu_odom_:  1691062420.901531078  0.581791   -0.220267  9.60075    -0.0458064  -0.0170442  0.0490022   0.23       -0.02         pose: 0.34970932    1.80413    0.0810964   0 -0.000983355-0.00432415 0.0569397   0.998368       uwb: 0.50067959     848.566  817.921  
imu_odom_:  1691062420.926536769  0.0670376  -0.349553  9.75158    -0.0490022  -0.00852212 0.0330232   0.23       -0.02         pose: 0.0           1.80413    0.0810964   0 -0.000983355-0.00432415 0.0569397   0.998368       uwb: 0.0            848.566  817.921  
imu_odom_:  1691062420.943532007  0.287304   -0.258574  10.0317    -0.0266316  0.0191748   0.0308927   0.21       0.02          pose: 0.52011371    1.81428    0.0815445   0 -0.000898401-0.00478524 0.0569868   0.998363       uwb: 0.49925352     848.697  817.107  
imu_odom_:  1691062420.968529825  0.31364    -0.339977  9.64624    -0.0383495  0.00639159  0.0511327   0.21       0.02          pose: 0.0           1.81428    0.0815445   0 -0.000898401-0.00478524 0.0569868   0.998363       uwb: 0.0            848.697  817.107  
imu_odom_:  1691062420.993483315  0.526724   -0.0287304 10.137     -0.0511327  0.0170442   0.0607201   0.24       0             pose: 0.41993056    1.82416    0.0819794   0 -0.00231044 -0.0008128990.0570683   0.998367       uwb: 0.50191318     848.07   816.674  
imu_odom_:  1691062421.16519646   0.335188   -0.184354  9.81144    -0.052198   0.036219    0.0532632   0.24       0             pose: 0.7029706     1.82709    0.082109    0 -0.00164804 -0.00100043 0.0571412   0.998364       uwb: 0.0            848.07   816.674  
imu_odom_:  1691062421.32497109   0.318429   -0.294487  9.54329    -0.0585895  -0.00106526 0.0447411   0.19       0             pose: 0.23956412    1.82709    0.082109    0 0.000195136 -0.0007720440.0573681   0.998353       uwb: 0.0            848.07   816.674  
imu_odom_:  1691062421.59492015   0.574608   -0.0957681 10.1706    -0.0777643  -0.0372843  0.0511327   0.19       0             pose: 0.0           1.82709    0.082109    0 0.000195136 -0.0007720440.0573681   0.998353       uwb: 0.49774312     847.633  816.147  
imu_odom_:  1691062421.84565962   0.237026   -0.328006  9.8665     -0.0841559  0.0319579   0.0500674   0.18       0.02          pose: 0.25164350    1.82709    0.082109    0 -8.68974e-050.00164666  0.0575034   0.998344       uwb: 0.0            847.633  816.147  
imu_odom_:  1691062421.109499927  -0.0814029 -0.349553  9.26077    -0.0745685  -0.0117179  0.04048     0.18       0.02          pose: 0.42849593    1.83708    0.0825596   0 -0.0001169790.000157646 0.0577227   0.998333       uwb: 0.50023952     848.145  814.469  
imu_odom_:  1691062421.123530477  0.311246   -0.222661  9.96946    -0.0543285  0.0372843   0.0266316   0.18       0             pose: 0.0           1.83708    0.0825596   0 -0.0001169790.000157646 0.0577227   0.998333       uwb: 0.0            848.145  814.469  
imu_odom_:  1691062421.139589889  0.227449   -0.428562  10.0173    -0.0617853  -0.0255663  0.0415453   0.18       0             pose: 0.0           1.83708    0.0825596   0 -0.0001169790.000157646 0.0577227   0.998333       uwb: 0.0            848.145  814.469  
imu_odom_:  1691062421.156478692  0.737414   -0.251391  9.87608    -0.0468716  0.0298274   0.0351537   0.18       0             pose: 0.48024254    1.84707    0.0830145   0 -0.00181915 0.00438871  0.0577884   0.998318       uwb: 0.50040575     848.405  813.129  
imu_odom_:  1691062421.181503645  0.701501   -0.158017  10.0006    -0.0585895  -0.0340885  0.0458064   0.18       0             pose: 0.0           1.84707    0.0830145   0 -0.00181915 0.00438871  0.0577884   0.998318       uwb: 0.0            848.405  813.129  
imu_odom_:  1691062421.205461821  0.845153   -0.134075  9.91678    -0.0500674  0.0138484   0.0468716   0.2        0             pose: 0.65949505    1.85706    0.0834703   0 -0.00167552 0.000992031 0.0577838   0.998327       uwb: 0.50059530     848.301  811.997  
imu_odom_:  1691062421.222500521  0.560243   -0.442927  9.87848    -0.0426106  -0.02024    0.0383495   0.2        0             pose: 0.5972265     1.85706    0.0834703   0 -0.00148889 0.000475479 0.0578047   0.998327       uwb: 0.0            848.301  811.997  
imu_odom_:  1691062421.246463946  0.579397   -0.260968  9.83059    -0.0383495  -0.0117179  0.0436758   0.18       -0.02         pose: 0.0           1.85706    0.0834703   0 -0.00148889 0.000475479 0.0578047   0.998327       uwb: 0.49865890     848.663  811.1    
imu_odom_:  1691062421.263448404  0.612916   -0.0550666 10.2951    -0.0543285  -0.00532632 0.0553937   0.18       -0.02         pose: 0.40988711    1.86705    0.0839268   0 -0.00209906 -0.00284104 0.0578685   0.998318       uwb: 0.0            848.663  811.1    
imu_odom_:  1691062421.278626513  0.493206   -0.0502782 9.87848    -0.0479369  -0.0319579  0.0426106   0.18       -0.02         pose: 0.0           1.86705    0.0839268   0 -0.00209906 -0.00284104 0.0578685   0.998318       uwb: 0.0            848.663  811.1    
imu_odom_:  1691062421.294506864  0.351948   -0.325611  9.98622    -0.0340885  0.0287621   0.0319579   0.17       0             pose: 0.50161892    1.87658    0.0943743   0 0.00124155  -0.00544894 0.058042    0.998299       uwb: 0.50103275     847.724  810.945  
imu_odom_:  1691062421.309509996  0.718261   -0.265756  10.3693    -0.036219   -0.0191748  0.0500674   0.17       0             pose: 0.5997928     1.87658    0.0943743   0 0.000896208 -0.00490236 0.0580214   0.998303       uwb: 0.0            847.724  810.945  
imu_odom_:  1691062421.327511072  0.141258   -0.292093  9.27753    -0.0383495  -0.00532632 0.0436758   0.17       0             pose: 0.0           1.87658    0.0943743   0 0.000896208 -0.00490236 0.0580214   0.998303       uwb: 0.0            847.724  810.945  
imu_odom_:  1691062421.351452624  0.208296   -0.351948  9.64145    -0.0532632  0.00213053  0.0532632   0.19       0             pose: 0.42886631    1.88657    0.0948352   0 -8.61223e-05-0.00384845 0.058108    0.998303       uwb: 0.49889802     847.596  810.108  
imu_odom_:  1691062421.376484577  -0.0957681 -0.0694318 9.98143    -0.0500674  0.00745685  0.0394148   0.21       0             pose: 0.0           1.88657    0.0948352   0 -8.61223e-05-0.00384845 0.058108    0.998303       uwb: 0.0            847.596  810.108  
imu_odom_:  1691062421.400462000  0.0167594  -0.246603  10.0078    -0.0607201  -0.0149137  0.0436758   0.18       0             pose: 0.30981762    1.89656    0.0952996   0 -0.00104971 -0.00096168 0.0582766   0.998299       uwb: 0.50013162     847.329  809.776  
imu_odom_:  1691062421.425496577  0.6608     -0.308852  9.9934     -0.0447411  -0.00106526 0.0287621   0.18       0             pose: 0.0           1.89656    0.0952996   0 -0.00104971 -0.00096168 0.0582766   0.998299       uwb: 0.0            847.329  809.776  
imu_odom_:  1691062421.451437536  0.565032   -0.54109   9.56723    -0.0426106  -0.0149137  0.0436758   0.25       -0.02         pose: 0.67003743    1.90655    0.0957658   0 -0.00122944 0.000725005 0.0581874   0.998305       uwb: 0.49996830     846.764  809.412  
imu_odom_:  1691062421.467509196  0.19393    -0.244209  10.058     -0.0383495  0.0181095   0.0351537   0.25       -0.02         pose: 0.8139650     1.90655    0.0957658   0 -0.00185402 0.000234766 0.0582029   0.998303       uwb: 0.0            846.764  809.412  
imu_odom_:  1691062421.493593053  0.433351   -0.0407014 9.991      -0.0447411  -0.00319579 0.0479369   0.22       0             pose: 0.0           1.90655    0.0957658   0 -0.00185402 0.000234766 0.0582029   0.998303       uwb: 0.49893303     845.82   809.263  
imu_odom_:  1691062421.518515062  0.112527   -0.150835  9.73243    -0.0511327  0.0276969   0.0479369   0.22       0             pose: 0.40986085    1.91654    0.0962304   0 -0.00219484 0.000840224 0.0582359   0.9983         uwb: 0.0            845.82   809.263  
imu_odom_:  1691062421.544430649  0.45011    -0.248997  9.90721    -0.0628506  -0.0298274  0.0447411   0.21       0             pose: 0.43892750    1.92653    0.0966955   0 0.000248968 0.00340023  0.0584202   0.998286       uwb: 0.49932672     845.753  808.497  
imu_odom_:  1691062421.569436355  0.553061   -0.146046  10.4339    -0.0426106  -0.0415453  0.0447411   0.21       0             pose: 0.6998506     1.92653    0.0966955   0 1.74592e-05 0.00264198  0.0584379   0.998288       uwb: 0.0            845.753  808.497  
imu_odom_:  1691062421.586429270  0.64404    -0.102951  9.69412    -0.0713727  0.00106526  0.0607201   0.2        -0.02         pose: 0.0           1.92653    0.0966955   0 1.74592e-05 0.00264198  0.0584379   0.998288       uwb: 0.0            845.753  808.497  
imu_odom_:  1691062421.611494468  0.438139   -0.25618   9.81862    -0.0660464  -0.0276969  0.0436758   0.2        -0.02         pose: 0.51976406    1.93652    0.0971648   0 0.00114642  -0.00272533 0.0586338   0.998275       uwb: 0.50006162     844.29   808.739  
imu_odom_:  1691062421.628415642  0.368707   -0.385466  9.70849    -0.0532632  -0.00106526 0.0426106   0.23       0             pose: 0.0           1.93652    0.0971648   0 0.00114642  -0.00272533 0.0586338   0.998275       uwb: 0.0            844.29   808.739  
imu_odom_:  1691062421.653407350  0.344765   -0.102951  10.3286    -0.0479369  0.00958738  0.0340885   0.23       0             pose: 0.42023118    1.94651    0.0976389   0 -0.00160855 -0.00240611 0.058799    0.998266       uwb: 0.50010537     843.097  808.983  
imu_odom_:  1691062421.679526203  0.366313   -0.253785  9.89524    -0.0585895  0.0106526   0.0500674   0.22       0             pose: 0.33894258    1.95364    0.0979792   0 -0.00023866 -0.0004198110.0587458   0.998273       uwb: 0.0            843.097  808.983  
imu_odom_:  1691062421.704398926  0.3304     0.0311246  10.1275    -0.0490022  -0.0287621  0.0415453   0.22       0             pose: 0.7174359     1.9565     0.0981151   0 -0.0007209730.000177825 0.0587836   0.99827        uwb: 0.50098609     842.692  808.49   
imu_odom_:  1691062421.730451871  0.260968   -0.308852  9.78271    -0.0511327  0.0181095   0.0245011   0.22       0             pose: 0.43817217    1.96334    0.0984429   0 0.000552515 0.00190902  0.0589135   0.998261       uwb: 0.0            842.692  808.49   
imu_odom_:  1691062421.754463706  0.435745   -0.4956    9.91199    -0.0511327  0.0255663   0.0383495   0.19       0             pose: 0.0           1.96334    0.0984429   0 0.000552515 0.00190902  0.0589135   0.998261       uwb: 0.49998580     842.839  807.301  
imu_odom_:  1691062421.780459200  0.402226   -0.416591  9.65821    -0.04048    0           0.0330232   0.19       0             pose: 0.33034537    1.96648    0.0985936   0 -0.00198331 0.00371514  0.0587051   0.998266       uwb: 0.0            842.839  807.301  
imu_odom_:  1691062421.796451245  0.59855    0.0047884  10.2759    -0.0681769  -0.00852212 0.0447411   0.19       0             pose: 0.0           1.96648    0.0985936   0 -0.00198331 0.00371514  0.0587051   0.998266       uwb: 0.50084611     842.455  806.486  
imu_odom_:  1691062421.820553777  0.912191   -0.179565  10.3286    -0.0649811  -0.015979   0.0287621   0.19       0             pose: 0.50039117    1.97647    0.0990681   0 -0.00504869 0.00164827  0.0586066   0.998267       uwb: 0.0            842.455  806.486  
imu_odom_:  1691062421.837408460  0.339977   -0.3304    10.0293    -0.0553937  0.00852212  0.0298274   0.19       0             pose: 0.0           1.97647    0.0990681   0 -0.00504869 0.00164827  0.0586066   0.998267       uwb: 0.0            842.455  806.486  
imu_odom_:  1691062421.863390247  0.586579   -0.0502782 10.6542    -0.0660464  -0.0234358  0.0298274   0.18       -0.02         pose: 0.39954886    1.98646    0.0995405   0 -0.00411416 -0.0006783210.0584595   0.998281       uwb: 0.49895635     841.854  806.093  
imu_odom_:  1691062421.889518723  0.725443   -0.548272  9.22007    -0.0788296  -0.0266316  0.0500674   0.21       0             pose: 0.35962781    1.99371    0.0998814   0 -0.00254437 -0.00142308 0.0582836   0.998296       uwb: 0.0            841.854  806.093  
imu_odom_:  1691062421.914511889  0.634463   -0.426168  9.22486    -0.0308927  0.0287621   0.0223706   0.21       0             pose: 0.0           1.99371    0.0998814   0 -0.00254437 -0.00142308 0.0582836   0.998296       uwb: 0.50129230     841.367  805.149  
imu_odom_:  1691062421.939428940  0.828394   -0.399832  9.62708    -0.0756338  -0.00639159 0.0532632   0.19       -0.02         pose: 0.51121642    1.99645    0.100009    0 -0.00561802 -0.00538779 0.0581967   0.998275       uwb: 0.0            841.367  805.149  
imu_odom_:  1691062421.956366446  0.244209   -0.25618   9.60314    -0.0372843  0.0213053   0.04048     0.19       -0.02         pose: 0.0           1.99645    0.100009    0 -0.00561802 -0.00538779 0.0581967   0.998275       uwb: 0.49914883     841.758  803.889  
imu_odom_:  1691062421.971413905  0.85473    -0.0909797 10.3238    -0.0426106  -0.00639159 0.0543285   0.17       -0.11         pose: 0.0           1.99645    0.100009    0 -0.00561802 -0.00538779 0.0581967   0.998275       uwb: 0.0            841.758  803.889  
imu_odom_:  1691062421.988356368  1.87466    -0.390255  10.1754    -0.0607201  -0.0745685  0.00852212  0.17       -0.11         pose: 0.47857151    2.00597    0.110464    0 -0.00533236 -0.00647653 0.058408    0.998258       uwb: 0.0            841.758  803.889  
imu_odom_:  1691062422.5415484    1.80523    0.0263362  9.38288    -0.0394148  0.0245011   -0.143811   0.17       -0.11         pose: 0.0           2.00597    0.110464    0 -0.00533236 -0.00647653 0.058408    0.998258       uwb: 0.49987498     842.346  802.51   
imu_odom_:  1691062422.22352999   1.74298    0.270545   9.99579    -0.0585895  -0.00319579 -0.213053   0.13       -0.29         pose: 0.43046444    2.01596    0.110934    0 -0.00401335 -0.0108453  0.0566234   0.998329       uwb: 0.0            842.346  802.51   
imu_odom_:  1691062422.38459080   1.35512    0.0574608  9.93594    -0.0649811  0.0255663   -0.309992   0.13       -0.29         pose: 0.6960890     2.01596    0.110934    0 -0.00366415 -0.0114471  0.0557389   0.998373       uwb: 0.0            842.346  802.51   
imu_odom_:  1691062422.55356058   0.888249   -0.196325  10.1299    -0.052198   0.0298274   -0.399474   0.13       -0.29         pose: 0.0           2.01596    0.110934    0 -0.00366415 -0.0114471  0.0557389   0.998373       uwb: 0.49939403     842.162  801.569  
imu_odom_:  1691062422.72342276   0.584185   0.0837971  9.4571     -0.0532632  -0.0181095  -0.401605   0.14       -0.53         pose: 0.42979684    2.02595    0.11145     0 -0.00170427 -0.0147623  0.0479253   0.99874        uwb: 0.0            842.162  801.569  
imu_odom_:  1691062422.88405779   0.553061   -0.447716  9.48343    -0.0639159  -0.00745685 -0.411192   0.1        -0.44         pose: 0.0           2.02595    0.11145     0 -0.00170427 -0.0147623  0.0479253   0.99874        uwb: 0.0            842.162  801.569  
imu_odom_:  1691062422.105359333  0.591368   -0.342371  9.57681    -0.052198   -0.0468716  -0.426106   0.1        -0.44         pose: 0.0           2.02595    0.11145     0 -0.00170427 -0.0147623  0.0479253   0.99874        uwb: 0.50049352     841.374  801.291  
imu_odom_:  1691062422.121380842  0.349553   -0.296881  9.43076    -0.0649811  0.00319579  -0.444215   0.1        -0.44         pose: 0.24998430    2.02595    0.11145     0 -0.000737914-0.0140295  0.0423666   0.999003       uwb: 0.0            841.374  801.291  
imu_odom_:  1691062422.138398847  0.600945   -0.0383072 9.87608    -0.0575243  -0.0383495  -0.456998   0.08       -0.5          pose: 0.0           2.02595    0.11145     0 -0.000737914-0.0140295  0.0423666   0.999003       uwb: 0.0            841.374  801.291  
imu_odom_:  1691062422.154473724  0.878672   -0.294487  9.67257    -0.0788296  -0.0330232  -0.477238   0.08       -0.5          pose: 0.33080341    2.02595    0.11145     0 -0.00285869 -0.0122476  0.0346922   0.999319       uwb: 0.49990443     841.28   800.46   
imu_odom_:  1691062422.171344164  0.658405   -0.0837971 9.96706    -0.0458064  -0.0245011  -0.529436   0.1        -0.67         pose: 0.41038895    2.031      0.111751    0 -0.00163098 -0.0133466  0.0243801   0.999612       uwb: 0.0            841.28   800.46   
imu_odom_:  1691062422.187345259  0.624887   -0.270545  9.5792     -0.0671117  -0.00639159 -0.517718   0.1        -0.67         pose: 0.0           2.031      0.111751    0 -0.00163098 -0.0133466  0.0243801   0.999612       uwb: 0.0            841.28   800.46   
imu_odom_:  1691062422.204454251  0.354342   -0.356736  9.76595    -0.0809601  0.0170442   -0.497478   0.1        -0.67         pose: 0.0           2.031      0.111751    0 -0.00163098 -0.0133466  0.0243801   0.999612       uwb: 0.49924827     841.087  799.859  
imu_odom_:  1691062422.220384772  0.500388   -0.368707  10.0604    -0.0458064  -0.00745685 -0.540089   0.06       -0.58         pose: 0.7932306     2.03593    0.111992    0 -0.000768104-0.0133782  0.0221142   0.999666       uwb: 0.0            841.087  799.859  
imu_odom_:  1691062422.237500764  0.758962   0.0454898  10.1083    -0.0713727  -0.0394148  -0.493217   0.07       -0.64         pose: 0.0           2.03593    0.111992    0 -0.000768104-0.0133782  0.0221142   0.999666       uwb: 0.0            841.087  799.859  
imu_odom_:  1691062422.253379083  0.526724   -0.366313  9.53132    -0.0745685  -0.00852212 -0.426106   0.07       -0.64         pose: 0.64997666    2.03593    0.111992    0 -0.00242064 -0.0102119  0.00405609  0.999937       uwb: 0.0            841.087  799.859  
imu_odom_:  1691062422.270444623  0.761356   -0.519542  9.94073    -0.0532632  0.0127832   -0.413323   0.07       -0.64         pose: 0.0           2.03593    0.111992    0 -0.00242064 -0.0102119  0.00405609  0.999937       uwb: 0.0            841.087  799.859  
imu_odom_:  1691062422.286379518  0.675165   -0.148441  9.95748    -0.0575243  -0.0266316  -0.394148   0.06       -0.55         pose: 0.0           2.03593    0.111992    0 -0.00242064 -0.0102119  0.00405609  0.999937       uwb: 0.0            841.087  799.859  
imu_odom_:  1691062422.303530505  0.794875   -0.205901  10.0173    -0.0660464  -0.0138484  -0.339819   0.06       -0.55         pose: 0.33039222    2.03593    0.111992    0 -0.0035736  -0.0103416  -0.00392166 0.999932       uwb: 0.100016466    840.281  799.565  
imu_odom_:  1691062422.319469483  0.581791   -0.363919  9.66539    -0.0607201  0.00106526  -0.32384    0.04       -0.32         pose: 0.43087587    2.03591    0.11199     0 -0.00231832 -0.0132855  -0.0129184  0.999826       uwb: 0.0            840.281  799.565  
imu_odom_:  1691062422.346352710  0.588974   -0.225055  9.96467    -0.0596548  -0.00319579 -0.300405   0.04       -0.32         pose: 0.0           2.03591    0.11199     0 -0.00231832 -0.0132855  -0.0129184  0.999826       uwb: 0.50372477     840.998  797.943  
imu_odom_:  1691062422.362472206  0.124498   -0.241814  9.85214    -0.0660464  0.0532632   -0.243946   0.04       -0.26         pose: 0.7909851     2.03593    0.111992    0 -0.00296321 -0.0128057  -0.0143462  0.999811       uwb: 0.0            840.998  797.943  
imu_odom_:  1691062422.379468630  -1.01993   -0.402226  10.0461    -0.0468716  0.0905475   -0.206661   0.07       -0.32         pose: 0.0           2.03593    0.111992    0 -0.00296321 -0.0128057  -0.0143462  0.999811       uwb: 0.0            840.998  797.943  
imu_odom_:  1691062422.395473808  -1.28808   -0.356736  10.0461    -0.0553937  -0.0276969  -0.193878   0.07       -0.23         pose: 0.0           2.03593    0.111992    0 -0.00296321 -0.0128057  -0.0143462  0.999811       uwb: 0.49615117     841.431  796.674  
imu_odom_:  1691062422.413514263  -0.337582  -0.047884  9.94073    -0.056459   -0.0937433  -0.166181   0.07       -0.23         pose: 0.76029405    2.04593    0.112405    0 -0.0017618  -0.00515921 -0.0256879  0.999655       uwb: 0.0            841.431  796.674  
imu_odom_:  1691062422.429327257  0.588974   -0.411803  9.72285    -0.0735032  -0.0692422  -0.124636   0.07       -0.23         pose: 0.0           2.04593    0.112405    0 -0.0017618  -0.00515921 -0.0256879  0.999655       uwb: 0.0            841.431  796.674  
imu_odom_:  1691062422.446307350  0.584185   -0.277727  9.75877    -0.0575243  0           -0.132093   0.1        -0.2          pose: 0.0           2.04593    0.112405    0 -0.0017618  -0.00515921 -0.0256879  0.999655       uwb: 0.50122259     841.844  795.367  
imu_odom_:  1691062422.462341399  0.270545   -0.342371  9.94791    -0.0500674  0.0394148   -0.137419   0.1        -0.2          pose: 0.32877951    2.04593    0.112405    0 -0.00198485 -0.00410862 -0.0290325  0.999568       uwb: 0.0            841.844  795.367  
imu_odom_:  1691062422.479342489  -0.19393   -0.253785  9.9503     -0.052198   0.0255663   -0.11931    0.15       -0.2          pose: 0.41993687    2.05123    0.112628    0 -0.00341955 -0.00462074 -0.0326393  0.999451       uwb: 0.0            841.844  795.367  
imu_odom_:  1691062422.495352041  -0.129287  -0.292093  9.77074    -0.0617853  -0.0149137  -0.127832   0.15       -0.2          pose: 0.0           2.05123    0.112628    0 -0.00341955 -0.00462074 -0.0326393  0.999451       uwb: 0.49849879     842.473  793.96   
imu_odom_:  1691062422.512287223  0.0622492  -0.110133  9.8258     -0.0585895  0.015979    -0.12144    0.15       -0.2          pose: 0.0           2.05123    0.112628    0 -0.00341955 -0.00462074 -0.0326393  0.999451       uwb: 0.0            842.473  793.96   
imu_odom_:  1691062422.528403511  0.275333   -0.31364   10.1347    -0.0639159  0.0117179   -0.0969391  0.11       -0.11         pose: 0.6952725     2.05592    0.112791    0 -0.00335458 -0.00382473 -0.0331896  0.999436       uwb: 0.0            842.473  793.96   
imu_odom_:  1691062422.546292903  -0.0047884 -0.196325  9.59357    -0.0735032  -0.0266316  -0.0798948  0.17       -0.17         pose: 0.0           2.05592    0.112791    0 -0.00335458 -0.00382473 -0.0331896  0.999436       uwb: 0.50187292     843.083  792.518  
imu_odom_:  1691062422.562333951  0.260968   -0.361524  9.53371    -0.0607201  -0.0234358  -0.0873517  0.17       -0.17         pose: 0.67005531    2.05625    0.102797    0 -0.00304494 0.00284475  -0.038242   0.99926        uwb: 0.0            843.083  792.518  
imu_odom_:  1691062422.579400074  0.452504   -0.234632  9.85214    -0.0671117  -0.0490022  -0.0735032  0.18       -0.17         pose: 0.0           2.05625    0.102797    0 -0.00304494 0.00284475  -0.038242   0.99926        uwb: 0.0            843.083  792.518  
imu_odom_:  1691062422.595283059  0.414197   -0.0383072 9.83059    -0.0479369  -0.0372843  -0.092678   0.18       -0.17         pose: 0.0           2.05625    0.102797    0 -0.00304494 0.00284475  -0.038242   0.99926        uwb: 0.49825965     843.202  791.541  
imu_odom_:  1691062422.612403134  0.500388   -0.196325  9.78271    -0.0532632  -0.036219   -0.0735032  0.18       -0.17         pose: 0.33107463    2.06625    0.103131    0 -0.00391247 0.00381028  -0.0402523  0.999175       uwb: 0.0            843.202  791.541  
imu_odom_:  1691062422.628333363  0.588974   -0.486023  9.78031    -0.0628506  -0.0426106  -0.0703074  0.18       -0.14         pose: 0.33012975    2.06625    0.103131    0 -0.00175751 0.00118241  -0.042268   0.999104       uwb: 0.0            843.202  791.541  
imu_odom_:  1691062422.645298291  1.04627    -0.114922  9.79468    -0.0436758  -0.0266316  -0.0735032  0.18       -0.14         pose: 0.0           2.06625    0.103131    0 -0.00175751 0.00118241  -0.042268   0.999104       uwb: 0.50001525     843.943  790.249  
imu_odom_:  1691062422.661395332  0.940921   -0.112527  10.0556    -0.0436758  0.0298274   -0.0223706  0.18       -0.14         pose: 0.0           2.06625    0.103131    0 -0.00175751 0.00118241  -0.042268   0.999104       uwb: 0.0            843.943  790.249  
imu_odom_:  1691062422.678385923  1.00078    -0.397437  9.83059    -0.0596548  -0.0234358  0.00106526  0.1        -0.11         pose: 0.32917321    2.07624    0.103486    0 -0.00259484 -0.00189267 -0.0441055  0.999022       uwb: 0.0            843.943  790.249  
imu_odom_:  1691062422.694361938  1.51792    -0.292093  9.98622    -0.0511327  -0.0276969  -0.0319579  0.1        -0.11         pose: 0.0           2.07624    0.103486    0 -0.00259484 -0.00189267 -0.0441055  0.999022       uwb: 0.49968571     844.211  789.463  
imu_odom_:  1691062422.711334157  1.34075    -0.0981623 9.52653    -0.0458064  0.0319579   -0.0735032  0.11       -0.14         pose: 0.17974256    2.07624    0.103486    0 -0.00209105 -0.00362834 -0.0449211  0.998982       uwb: 0.0            844.211  789.463  
imu_odom_:  1691062422.727319503  0.481235   -0.0646434 9.88566    -0.0628506  0.02024     -0.0692422  0.11       -0.14         pose: 0.0           2.07624    0.103486    0 -0.00209105 -0.00362834 -0.0449211  0.998982       uwb: 0.0            844.211  789.463  
imu_odom_:  1691062422.744274808  0.426168   -0.100556  9.9503     -0.0617853  -0.00319579 -0.0862864  0.11       -0.14         pose: 0.0           2.07624    0.103486    0 -0.00209105 -0.00362834 -0.0449211  0.998982       uwb: 0.49982861     844.17   789.023  
imu_odom_:  1691062422.760384972  0.871489   -0.361524  10.1131    -0.0628506  -0.0543285  -0.0798948  0.06       -0.05         pose: 0.47951082    2.07624    0.103486    0 -0.00238463 -0.00838845 -0.0464654  0.998882       uwb: 0.0            844.17   789.023  
imu_odom_:  1691062422.777376146  0.852336   -0.368707  9.60793    -0.0607201  0.00426106  -0.0628506  0.08       -0.11         pose: 0.0           2.07624    0.103486    0 -0.00238463 -0.00838845 -0.0464654  0.998882       uwb: 0.0            844.17   789.023  
imu_odom_:  1691062422.793249508  1.02472    -0.447716  9.92636    -0.0628506  -0.00106526 -0.0340885  0.08       -0.11         pose: 0.66128021    2.08624    0.103856    0 -0.000892336-0.00943187 -0.0503053  0.998689       uwb: 0.50023106     844.999  787.829  
imu_odom_:  1691062422.810286760  0.579397   -0.380678  9.79228    -0.0596548  0.0106526   -0.0351537  0.07       -0.08         pose: 0.0           2.08624    0.103856    0 -0.000892336-0.00943187 -0.0503053  0.998689       uwb: 0.0            844.999  787.829  
imu_odom_:  1691062422.835391634  0.806846   -0.198719  9.93354    -0.0543285  -0.015979   -0.0372843  0.07       -0.08         pose: 0.0           2.08624    0.103856    0 -0.000892336-0.00943187 -0.0503053  0.998689       uwb: 0.0            844.999  787.829  
imu_odom_:  1691062422.852338773  0.328006   -0.253785  9.73004    -0.0660464  0.0351537   -0.0319579  0.07       -0.08         pose: 0.32878534    2.08624    0.103856    0 -0.00293532 -0.0112555  -0.0516433  0.998598       uwb: 0.49897706     844.836  787.217  
imu_odom_:  1691062422.877529969  -1.18992   -0.217872  9.96467    -0.0500674  0.0841559   -0.0234358  0.05       -0.05         pose: 0.42089925    2.08624    0.103856    0 -0.0029645  -0.0124541  -0.0532347  0.9985         uwb: 0.0            844.836  787.217  
imu_odom_:  1691062422.902397749  -0.787692  -0.502782  9.93115    -0.0553937  -0.104396   0.0181095   0.1        -0.02         pose: 0.35170737    2.09336    0.104115    0 -0.00260636 -0.00763927 -0.054382   0.998488       uwb: 0.50125175     845.275  786.256  
imu_odom_:  1691062422.925257080  0.687136   -0.0790087 9.67018    -0.0447411  -0.056459   -0.0138484  0.1        -0.02         pose: 0.0           2.09336    0.104115    0 -0.00260636 -0.00763927 -0.054382   0.998488       uwb: 0.0            845.275  786.256  
imu_odom_:  1691062422.941374535  0.612916   -0.196325  9.65582    -0.0468716  -0.0149137  0.00319579  0.11       -0.02         pose: 0.6871069     2.09623    0.104205    0 -0.00271117 -0.00730031 -0.0544526  0.998486       uwb: 0.0            845.275  786.256  
imu_odom_:  1691062422.968298299  -0.25618   -0.344765  9.76595    -0.04048    0.0468716   -0.015979   0.11       -0.02         pose: 0.0           2.09623    0.104205    0 -0.00271117 -0.00730031 -0.0544526  0.998486       uwb: 0.49800302     845.144  785.681  
imu_odom_:  1691062422.993224696  0.184354   -0.177171  10.1849    -0.0468716  -0.0351537  0.0181095   0.12       -0.02         pose: 0.48994239    2.09623    0.104205    0 -0.000759749-0.00932082 -0.0554112  0.99842        uwb: 0.50055768     844.625  785.357  
imu_odom_:  1691062423.18235382   0.0909797  -0.397437  9.44513    -0.0490022  -0.0138484  -0.0117179  0.12       -0.02         pose: 0.0           2.09623    0.104205    0 -0.000759749-0.00932082 -0.0554112  0.99842        uwb: 0.0            844.625  785.357  
imu_odom_:  1691062423.40277582   0.452504   -0.186748  10.0916    -0.0628506  -0.0617853  0.0106526   0.13       -0.05         pose: 0.42853992    2.10622    0.104591    0 -0.000165888-0.00601549 -0.0563884  0.998391       uwb: 0.0            844.625  785.357  
imu_odom_:  1691062423.56372007   0.605733   -0.011971  9.65821    -0.0532632  -0.056459   0.00532632  0.13       -0.05         pose: 0.0           2.10622    0.104591    0 -0.000165888-0.00601549 -0.0563884  0.998391       uwb: 0.50065123     844.939  784.607  
imu_odom_:  1691062423.81293461   0.122104   -0.531513  9.79468    -0.0607201  0.0191748   0.0191748   0.13       -0.02         pose: 0.47995422    2.10622    0.104591    0 -0.000147899-0.00262666 -0.0572964  0.998354       uwb: 0.0            844.939  784.607  
imu_odom_:  1691062423.104275873  0.502782   -0.0191536 9.79947    -0.052198   -0.0426106  0.0223706   0.13       -0.02         pose: 0.0           2.10622    0.104591    0 -0.000147899-0.00262666 -0.0572964  0.998354       uwb: 0.49941478     844.903  783.761  
imu_odom_:  1691062423.120236440  0.289698   -0.311246  9.71806    -0.0553937  0.0117179   0.0181095   0.15       0             pose: 0.39089377    2.11622    0.10494     0 0.00206127  -0.00411058 -0.0578793  0.998313       uwb: 0.0            844.903  783.761  
imu_odom_:  1691062423.144290589  0.526724   -0.237026  10.0054    -0.0607201  -0.0426106  0.0181095   0.15       0             pose: 0.0           2.11622    0.10494     0 0.00206127  -0.00411058 -0.0578793  0.998313       uwb: 0.49979973     844.388  783.84   
imu_odom_:  1691062423.161272150  0.706289   -0.387861  9.85214    -0.0479369  -0.00106526 0.0117179   0.14       -0.02         pose: 0.47953734    2.11622    0.10494     0 0.00258195  -0.00315612 -0.0583374  0.998289       uwb: 0.0            844.388  783.84   
imu_odom_:  1691062423.178216382  0.191536   -0.215478  9.79468    -0.0490022  0.0170442   0.0170442   0.14       -0.02         pose: 0.0           2.11622    0.10494     0 0.00258195  -0.00315612 -0.0583374  0.998289       uwb: 0.0            844.388  783.84   
imu_odom_:  1691062423.203235532  0.509965   -0.433351  10.3741    -0.0490022  0.0415453   0.02024     0.15       -0.02         pose: 0.40002468    2.12656    0.0952784   0 -0.000151616-0.00508694 -0.0587791  0.998258       uwb: 0.49963350     844.787  782.799  
imu_odom_:  1691062423.228312132  0.466869   -0.136469  10.3789    -0.0553937  -0.0372843  0.036219    0.15       -0.02         pose: 0.0           2.12656    0.0952784   0 -0.000151616-0.00508694 -0.0587791  0.998258       uwb: 0.0            844.787  782.799  
imu_odom_:  1691062423.242312077  0.782904   -0.407014  9.76116    -0.0735032  -0.0351537  0.0436758   0.15       -0.02         pose: 0.0           2.12656    0.0952784   0 -0.000151616-0.00508694 -0.0587791  0.998258       uwb: 0.49975016     844.012  782.919  
imu_odom_:  1691062423.266235868  0.287304   -0.349553  9.87129    -0.0585895  0.00106526  0.0245011   0.17       0             pose: 0.34924039    2.12656    0.0952784   0 -0.0013624  -0.00379194 -0.0591786  0.998239       uwb: 0.0            844.012  782.919  
imu_odom_:  1691062423.283172809  0.519542   -0.320823  9.42118    -0.0639159  -0.0617853  0.0372843   0.17       0             pose: 0.0           2.12656    0.0952784   0 -0.0013624  -0.00379194 -0.0591786  0.998239       uwb: 0.0            844.012  782.919  
imu_odom_:  1691062423.299177704  0.828394   -0.385466  9.59835    -0.0681769  -0.0308927  0.0820254   0.2        -0.02         pose: 0.86971080    2.14654    0.0961058   0 -0.00302572 -0.00359549 -0.0595341  0.998215       uwb: 0.50156117     845.244  781.431  
imu_odom_:  1691062423.316396943  1.01514    -0.31364   9.23922    -0.0596548  -0.00213053 0.108657    0.2        -0.02         pose: 0.0           2.14654    0.0961058   0 -0.00302572 -0.00359549 -0.0595341  0.998215       uwb: 0.0            845.244  781.431  
imu_odom_:  1691062423.333236188  1.6113     -0.265756  10.2568    -0.0426106  -0.0660464  0.167247    0.11       0.23          pose: 0.43211554    2.15216    0.0963356   0 -0.0047586  -0.00790619 -0.0586196  0.998238       uwb: 0.0            845.244  781.431  
imu_odom_:  1691062423.350214833  1.44849    -0.452504  9.55526    -0.0436758  -0.0266316  0.268447    0.11       0.23          pose: 0.0           2.15216    0.0963356   0 -0.0047586  -0.00790619 -0.0586196  0.998238       uwb: 0.50000971     844.917  781.374  
imu_odom_:  1691062423.366268138  1.41976    -0.667982  10.5225    -0.056459   0.0415453   0.324906    0.11       0.23          pose: 0.0           2.15216    0.0963356   0 -0.0047586  -0.00790619 -0.0586196  0.998238       uwb: 0.0            844.917  781.374  
imu_odom_:  1691062423.383178833  1.05824    -0.42138   9.991      -0.0532632  0.00106526  0.373908    0.12       0.44          pose: 0.7953308     2.15654    0.096479    0 -0.0047456  -0.00894697 -0.0581145  0.998259       uwb: 0.0            844.917  781.374  
imu_odom_:  1691062423.399227472  0.701501   -0.203507  9.91199    -0.056459   0.0330232   0.425041    0.09       0.38          pose: 0.0           2.15654    0.096479    0 -0.0047456  -0.00894697 -0.0581145  0.998259       uwb: 0.49922813     845.245  780.621  
imu_odom_:  1691062423.416178704  0.586579   -0.126893  10.0796    -0.0426106  -0.00852212 0.494283    0.09       0.38          pose: 0.66837591    2.15654    0.0964789   0 -0.00561743 -0.0144549  -0.0489738  0.99868        uwb: 0.0            845.245  780.621  
imu_odom_:  1691062423.433171055  0.567426   -0.538695  9.79707    -0.0553937  -0.0276969  0.526241    0.09       0.38          pose: 0.0           2.15654    0.0964789   0 -0.00561743 -0.0144549  -0.0489738  0.99868        uwb: 0.0            845.245  780.621  
imu_odom_:  1691062423.450167780  0.902614   -0.220267  9.83059    -0.0340885  -0.00213053 0.502805    0.07       0.41          pose: 0.0           2.15654    0.0964789   0 -0.00561743 -0.0144549  -0.0489738  0.99868        uwb: 0.49991055     844.384  780.623  
imu_odom_:  1691062423.467228664  0.696713   -0.102951  9.59357    -0.0415453  -0.00745685 0.520914    0.07       0.41          pose: 0.32991705    2.16653    0.0968003   0 -0.00408044 -0.0133498  -0.0416501  0.999035       uwb: 0.0            844.384  780.623  
imu_odom_:  1691062423.483232976  0.778116   -0.215478  10.0173    -0.0617853  0.0138484   0.569916    0.06       0.5           pose: 0.43049117    2.16651    0.0967991   0 -0.00258679 -0.0148852  -0.0314501  0.999391       uwb: 0.0            844.384  780.623  
imu_odom_:  1691062423.500178374  0.907402   -0.481235  10.1849    -0.0479369  0.02024     0.58483     0.06       0.5           pose: 0.0           2.16651    0.0967991   0 -0.00258679 -0.0148852  -0.0314501  0.999391       uwb: 0.50047048     844.029  780.123  
imu_odom_:  1691062423.517163726  0.754174   -0.428562  9.92875    -0.0596548  0.0223706   0.607201    0.06       0.5           pose: 0.0           2.16651    0.0967991   0 -0.00258679 -0.0148852  -0.0314501  0.999391       uwb: 0.0            844.029  780.123  
imu_odom_:  1691062423.534163368  0.509965   -0.222661  9.67497    -0.056459   0           0.66366     0.07       0.82          pose: 0.7000556     2.16653    0.0968004   0 -0.00233026 -0.0154474  -0.0296013  0.99944        uwb: 0.0            844.029  780.123  
imu_odom_:  1691062423.550177303  0.608127   -0.306458  9.84496    -0.0426106  -0.00745685 0.670051    0.05       0.58          pose: 0.0           2.16653    0.0968004   0 -0.00233026 -0.0154474  -0.0296013  0.99944        uwb: 0.50001846     843.92   779.969  
imu_odom_:  1691062423.567152740  0.749385   0.011971   10.1203    -0.0436758  0           0.641289    0.05       0.58          pose: 0.66999445    2.16653    0.0968004   0 -0.00466015 -0.0145065  -0.0102076  0.999832       uwb: 0.0            843.92   779.969  
imu_odom_:  1691062423.583150927  0.500388   -0.158017  9.75877    -0.0490022  0.0181095   0.606135    0.05       0.58          pose: 0.0           2.16653    0.0968004   0 -0.00466015 -0.0145065  -0.0102076  0.999832       uwb: 0.0            843.92   779.969  
imu_odom_:  1691062423.600173025  0.272939   -0.158017  9.88805    -0.0596548  0.00639159  0.525175    0.04       0.41          pose: 0.0           2.16653    0.0968004   0 -0.00466015 -0.0145065  -0.0102076  0.999832       uwb: 0.50075336     843.923  779.157  
imu_odom_:  1691062423.616148757  0.526724   -0.0550666 9.91199    -0.0436758  -0.0245011  0.462325    0.04       0.41          pose: 0.33930751    2.16653    0.0968004   0 -0.00256419 -0.0131848  -3.43402e-050.99991        uwb: 0.0            843.923  779.157  
imu_odom_:  1691062423.634151894  0.818817   -0.184354  9.76834    -0.0553937  -0.0223706  0.426106    0.05       0.53          pose: 0.40989341    2.17652    0.0972003   0 -0.000262757-0.0101845  0.00971889  0.999901       uwb: 0.0            843.923  779.157  
imu_odom_:  1691062423.649197913  0.828394   -0.162806  9.92397    -0.0553937  0.00319579  0.415453    0.05       0.53          pose: 0.0           2.17652    0.0972003   0 -0.000262757-0.0101845  0.00971889  0.999901       uwb: 0.49847282     843.347  779.161  
imu_odom_:  1691062423.666204845  0.679953   -0.3304    9.90481    -0.0479369  -0.00106526 0.38243     0.05       0.53          pose: 0.0           2.17652    0.0972003   0 -0.000262757-0.0101845  0.00971889  0.999901       uwb: 0.0            843.347  779.161  
imu_odom_:  1691062423.691194832  0.59855    -0.0502782 9.90481    -0.0447411  -0.00106526 0.316384    0.03       0.29          pose: 0.8007259     2.17652    0.0972003   0 -0.000135917-0.0110452  0.0112644   0.999876       uwb: 0.0            843.347  779.161  
imu_odom_:  1691062423.708223345  0.488417   -0.141258  9.97664    -0.056459   0.015979    0.275903    0.03       0.29          pose: 0.0           2.17652    0.0972003   0 -0.000135917-0.0110452  0.0112644   0.999876       uwb: 0.49958975     844.527  777.55   
imu_odom_:  1691062423.724151541  -0.138864  -0.023942  9.89524    -0.0596548  0.0990696   0.192813    0.03       0.29          pose: 0.74004959    2.17652    0.0972002   0 0.00136474  -0.011981   0.0232024   0.999658       uwb: 0.0            844.527  777.55   
imu_odom_:  1691062423.742124932  -1.38624   -0.023942  10.058     -0.0809601  0.0713727   0.189617    0.07       0.26          pose: 0.0           2.17652    0.0972002   0 0.00136474  -0.011981   0.0232024   0.999658       uwb: 0.49929813     844.004  777.628  
imu_odom_:  1691062423.757191948  -1.23541   -0.52433   10.082     -0.0628506  -0.0607201  0.22051     0.07       0.26          pose: 0.0           2.17652    0.0972002   0 0.00136474  -0.011981   0.0232024   0.999658       uwb: 0.0            844.004  777.628  
imu_odom_:  1691062423.774175550  -0.107739  -0.770933  9.6606     -0.0479369  -0.102265   0.22264     0.07       0.26          pose: 0.34021739    2.17652    0.0972002   0 0.00180185  -0.00743334 0.026202    0.999627       uwb: 0.0            844.004  777.628  
imu_odom_:  1691062423.790117745  0.634463   -0.244209  9.97903    -0.0266316  -0.0458064  0.217314    0.08       0.17          pose: 0.41992836    2.17652    0.0972002   0 0.000205163 -0.00466092 0.0298638   0.999543       uwb: 0.0            844.004  777.628  
imu_odom_:  1691062423.808119424  0.342371   0.126893   9.62469    -0.0458064  0.0181095   0.238619    0.08       0.17          pose: 0.7980138     2.17652    0.0972002   0 0.000171761 -0.00560854 0.0305739   0.999517       uwb: 0.50005345     843.607  777.475  
imu_odom_:  1691062423.824111779  0.0861913  -0.141258  10.3334    -0.0596548  0.0223706   0.219444    0.08       0.17          pose: 0.0           2.17652    0.0972002   0 0.000171761 -0.00560854 0.0305739   0.999517       uwb: 0.0            843.607  777.475  
imu_odom_:  1691062423.839238579  -0.3304    -0.160412  9.72764    -0.0735032  0.00532632  0.181095    0.1        0.11          pose: 0.41956091    2.18651    0.0977116   0 0.0018131   -0.00363879 0.0344977   0.999397       uwb: 0.0            843.607  777.475  
imu_odom_:  1691062423.854177570  -0.0622492 -0.107739  9.81623    -0.0607201  -0.0319579  0.175769    0.11       0.14          pose: 0.0           2.18651    0.0977116   0 0.0018131   -0.00363879 0.0344977   0.999397       uwb: 0.50093417     843.968  777.164  
imu_odom_:  1691062423.872113632  0.304064   -0.553061  9.34217    -0.0585895  -0.0436758  0.199204    0.11       0.14          pose: 0.0           2.18651    0.0977116   0 0.0018131   -0.00363879 0.0344977   0.999397       uwb: 0.0            843.968  777.164  
imu_odom_:  1691062423.888120277  0.148441   -0.490811  9.50737    -0.0585895  0           0.185356    0.11       0.11          pose: 0.22141354    2.18651    0.0977116   0 0.00172183  -0.00146144 0.0360403   0.999348       uwb: 0.0            843.968  777.164  
imu_odom_:  1691062423.905194867  0.361524   -0.246603  9.9503     -0.0617853  0.00213053  0.167247    0.11       0.11          pose: 0.0           2.18651    0.0977116   0 0.00172183  -0.00146144 0.0360403   0.999348       uwb: 0.49866530     844.323  776.427  
imu_odom_:  1691062423.922109353  0.488417   0.0047884  9.83299    -0.0692422  -0.0191748  0.171508    0.11       0.11          pose: 0.32865721    2.1965     0.0982242   0 -0.000490048-0.0001931570.0385189   0.999258       uwb: 0.0            844.323  776.427  
imu_odom_:  1691062423.938106958  0.390255   -0.158017  10.0126    -0.0660464  0.015979    0.165116    0.14       0.14          pose: 0.42990499    2.1965     0.0982242   0 -0.0003333310.00127119  0.0413829   0.999142       uwb: 0.0            844.323  776.427  
imu_odom_:  1691062423.955165508  0.512359   -0.177171  10.0652    -0.0575243  -0.0447411  0.144876    0.14       0.14          pose: 0.8004927     2.1965     0.0982242   0 0.000411862 0.00122477  0.0418859   0.999122       uwb: 0.50038299     844.215  776.272  
imu_odom_:  1691062423.971100704  1.01514    -0.342371  10.0269    -0.036219   -0.0745685  0.152333    0.14       0.14          pose: 0.0           2.1965     0.0982242   0 0.000411862 0.00122477  0.0418859   0.999122       uwb: 0.0            844.215  776.272  
imu_odom_:  1691062423.988101221  1.41497    -0.371101  10.0221    -0.0617853  -0.0266316  0.209857    0.16       0.17          pose: 0.40986424    2.20648    0.0987619   0 0.00124012  -0.00296965 0.0441864   0.999018       uwb: 0.0            844.215  776.272  
imu_odom_:  1691062424.4255722    1.31442    -0.529119  9.62948    -0.0543285  0.00426106  0.272708    0.1        0.08          pose: 0.0           2.20648    0.0987619   0 0.00124012  -0.00296965 0.0441864   0.999018       uwb: 0.50002720     844.627  775.612  
imu_odom_:  1691062424.21097310   1.25696    -0.766145  9.76116    -0.0628506  -0.0106526  0.258859    0.1        0.08          pose: 0.0           2.20648    0.0987619   0 0.00124012  -0.00296965 0.0441864   0.999018       uwb: 0.0            844.627  775.612  
imu_odom_:  1691062424.38162578   1.26893    0.0335188  10.0748    -0.0234358  -0.0106526  0.157659    0.08       0.05          pose: 0.25015942    2.20648    0.0987619   0 0.000684431 -0.00557128 0.0465696   0.998899       uwb: 0.0            844.627  775.612  
imu_odom_:  1691062424.54162524   1.18034    0.438139   9.90002    -0.0511327  0.0266316   0.118244    0.08       0.05          pose: 0.0           2.20648    0.0987619   0 0.000684431 -0.00557128 0.0465696   0.998899       uwb: 0.49954040     844.399  775.283  
imu_odom_:  1691062424.70095396   0.802058   -0.0957681 9.83059    -0.0777643  0.0319579   0.111853    0.08       0.05          pose: 0.32993177    2.20648    0.0987619   0 -0.00016514 -0.00850879 0.0498393   0.998721       uwb: 0.0            844.399  775.283  
imu_odom_:  1691062424.88096502   0.380678   -0.605733  9.85453    -0.0660464  0.0127832   0.0809601   0.07       0.08          pose: 0.40985573    2.21644    0.0993568   0 0.00216497  -0.0112446  0.0515548   0.998605       uwb: 0.0            844.399  775.283  
imu_odom_:  1691062424.104159440  0.711078   -0.577003  10.0078    -0.0511327  -0.0223706  0.0479369   0.07       0.08          pose: 0.8065298     2.21647    0.0993589   0 0.00139821  -0.0108124  0.0517286   0.998602       uwb: 0.49986709     844.23   775.457  
imu_odom_:  1691062424.121088517  0.756568   -0.0430956 9.92636    -0.0468716  -0.02024    0.0713727   0.07       0.08          pose: 0.0           2.21647    0.0993589   0 0.00139821  -0.0108124  0.0517286   0.998602       uwb: 0.0            844.23   775.457  
imu_odom_:  1691062424.137145331  0.758962   -0.169988  9.88087    -0.0532632  0.0138484   0.109722    0.05       0.08          pose: 0.32942730    2.21647    0.0993589   0 -0.000401408-0.0113674  0.0521291   0.998576       uwb: 0.0            844.23   775.457  
imu_odom_:  1691062424.154088990  0.553061   -0.308852  9.90721    -0.0511327  0.0117179   0.0990696   0.06       0.08          pose: 0.0           2.21647    0.0993589   0 -0.000401408-0.0113674  0.0521291   0.998576       uwb: 0.49999249     845.679  773.773  
imu_odom_:  1691062424.170086311  0.59855    -0.138864  9.84735    -0.0394148  -0.0127832  0.0788296   0.06       0.08          pose: 0.0           2.21647    0.0993589   0 -0.000401408-0.0113674  0.0521291   0.998576       uwb: 0.0            845.679  773.773  
imu_odom_:  1691062424.187085671  0.715866   -0.155623  9.97185    -0.0585895  -0.00852212 0.104396    0.05       0.08          pose: 0.33051216    2.21647    0.0993589   0 0.000659956 -0.0127433  0.0530474   0.99851        uwb: 0.0            845.679  773.773  
imu_odom_:  1691062424.212099877  0.481235   -0.337582  10.003     -0.0543285  0.00106526  0.0990696   0.05       0.08          pose: 0.0           2.21647    0.0993589   0 0.000659956 -0.0127433  0.0530474   0.99851        uwb: 0.50008290     844.165  774.526  
imu_odom_:  1691062424.237083754  -0.134075  -0.244209  9.663      -0.0511327  0.0681769   0.107592    0.04       0.11          pose: 0.67945237    2.21647    0.0993589   0 0.000558017 -0.011011   0.0549547   0.998428       uwb: 0.0            844.165  774.526  
imu_odom_:  1691062424.260065887  -1.32878   -0.316035  9.95509    -0.0543285  0.0596548   0.115049    0.04       0.11          pose: 0.7157165     2.21647    0.0993589   0 0.000489582 -0.0100389  0.0551988   0.998425       uwb: 0.49980584     844.911  773.498  
imu_odom_:  1691062424.285080676  -0.289698  -0.325611  10.094     -0.0553937  -0.0756338  0.0937433   0.07       0.08          pose: 0.40808845    2.22325    0.0997015   0 3.45027e-05 -0.00459856 0.0566745   0.998382       uwb: 0.0            844.911  773.498  
imu_odom_:  1691062424.310061345  0.706289   -0.141258  9.81383    -0.052198   -0.0319579  0.076699    0.07       0.08          pose: 0.0           2.22325    0.0997015   0 3.45027e-05 -0.00459856 0.0566745   0.998382       uwb: 0.49980585     843.696  773.847  
imu_odom_:  1691062424.324119040  0.435745   -0.047884  9.73243    -0.056459   0.0245011   0.0894822   0.1        0.02          pose: 0.0           2.22325    0.0997015   0 3.45027e-05 -0.00459856 0.0566745   0.998382       uwb: 0.0            843.696  773.847  
imu_odom_:  1691062424.348066467  -0.347159  -0.464475  9.73482    -0.0671117  0.0351537   0.0607201   0.1        0.02          pose: 0.56074469    2.22645    0.0998727   0 0.00113514  -0.00530826 0.0579605   0.998304       uwb: 0.50133107     843.942  772.933  
imu_odom_:  1691062424.373048010  0.268151   -0.335188  9.93594    -0.0585895  -0.0383495  0.0777643   0.13       0.02          pose: 0.31926111    2.23351    0.100268    0 0.00076917  -0.00211779 0.0584086   0.99829        uwb: 0.0            843.942  772.933  
imu_odom_:  1691062424.386133122  0.339977   -0.289698  9.87848    -0.0671117  0.00213053  0.0884169   0.13       0.02          pose: 0.7018349     2.23644    0.100435    0 0.000310522 -0.00170178 0.0585429   0.998283       uwb: 0.0            843.942  772.933  
imu_odom_:  1691062424.411078212  0.268151   -0.287304  9.90002    -0.0490022  -0.0330232  0.0660464   0.11       0.05          pose: 0.0           2.23644    0.100435    0 0.000310522 -0.00170178 0.0585429   0.998283       uwb: 0.0            843.942  772.933  
imu_odom_:  1691062424.436112832  0.105345   -0.318429  9.8689     -0.0745685  0.0213053   0.0713727   0.11       0.05          pose: 0.39058486    2.23644    0.100435    0 -0.00204674 0.00102633  0.0593139   0.998237       uwb: 0.0            843.942  772.933  
imu_odom_:  1691062424.449050671  0.483629   -0.071826  10.2017    -0.0543285  0.0127832   0.04048     0.11       0.05          pose: 0.0           2.23644    0.100435    0 -0.00204674 0.00102633  0.0593139   0.998237       uwb: 0.99832561     843.82   772.33   
imu_odom_:  1691062424.473164909  -0.0766145 -0.201113  9.29669    -0.0852212  0.0170442   0.0841559   0.14       0.02          pose: 0.47972426    2.24642    0.101       0 -0.00305338 0.00476218  0.0599449   0.998186       uwb: 0.0            843.82   772.33   
imu_odom_:  1691062424.497117585  0.59855    -0.40462   10.0509    -0.0756338  -0.0170442  0.0681769   0.16       0.02          pose: 0.0           2.24642    0.101       0 -0.00305338 0.00476218  0.0599449   0.998186       uwb: 0.50027828     844.563  771.708  
imu_odom_:  1691062424.520178458  0.0023942  -0.172383  9.79707    -0.0585895  -0.00426106 0.0575243   0.16       0.02          pose: 0.37939797    2.24642    0.101       0 -0.00299617 0.00633386  0.0605885   0.998138       uwb: 0.0            844.563  771.708  
imu_odom_:  1691062424.536044255  -0.1652    -0.40462   9.414      -0.0660464  0.0191748   0.0809601   0.15       0             pose: 0.0           2.24642    0.101       0 -0.00299617 0.00633386  0.0605885   0.998138       uwb: 0.0            844.563  771.708  
imu_odom_:  1691062424.561027840  -0.366313  -0.0430956 10.5752    -0.0394148  0.00852212  0.0607201   0.15       0             pose: 0.47022298    2.25641    0.101511    0 -0.00342432 0.00754816  0.0611852   0.998092       uwb: 0.49977669     843.62   772.038  
imu_odom_:  1691062424.583023100  0.011971   -0.220267  10.3813    -0.0543285  0.0351537   0.0596548   0.14       0             pose: 0.0           2.25641    0.101511    0 -0.00342432 0.00754816  0.0611852   0.998092       uwb: 0.0            843.62   772.038  
imu_odom_:  1691062424.599046085  0.610521   -0.220267  10.3717    -0.0553937  -0.0511327  0.0671117   0.14       0             pose: 0.40039527    2.25641    0.101511    0 -0.00270922 0.0117463   0.0617091   0.998021       uwb: 0.49974460     844.285  770.87   
imu_odom_:  1691062424.624063207  0.897826   -0.222661  10.0628    -0.0436758  -0.0298274  0.052198    0.18       0.02          pose: 0.0           2.25641    0.101511    0 -0.00270922 0.0117463   0.0617091   0.998021       uwb: 0.0            844.285  770.87   
imu_odom_:  1691062424.648034547  0.543484   -0.260968  9.56484    -0.0500674  -0.0234358  0.0532632   0.18       0.02          pose: 0.38928128    2.26639    0.102046    0 -0.00212565 0.0108794   0.062138    0.998006       uwb: 0.50068949     843.858  771.103  
imu_odom_:  1691062424.664014954  0.452504   -0.392649  9.92397    -0.0617853  -0.00958738 0.0649811   0.18       0.02          pose: 0.0           2.26639    0.102046    0 -0.00212565 0.0108794   0.062138    0.998006       uwb: 0.0            843.858  771.103  
imu_odom_:  1691062424.689013121  0.325611   -0.205901  9.87129    -0.0415453  0.0149137   0.0500674   0.15       0.02          pose: 0.50202807    2.27638    0.102591    0 -0.00230434 0.00555923  0.06251     0.998026       uwb: 0.0            843.858  771.103  
imu_odom_:  1691062424.703014824  0.25618    -0.337582  9.50498    -0.052198   0.0117179   0.0511327   0.15       0.02          pose: 0.0           2.27638    0.102591    0 -0.00230434 0.00555923  0.06251     0.998026       uwb: 0.49933049     844.648  770.111  
imu_odom_:  1691062424.726021745  0.509965   -0.203507  10.0868    -0.0383495  -0.015979   0.052198    0.15       0             pose: 0.38811185    2.27638    0.102591    0 -0.00080078 0.0047232   0.0627764   0.998016       uwb: 0.0            844.648  770.111  
imu_odom_:  1691062424.749004171  0.217872   -0.258574  10.0317    -0.0319579  -0.00426106 0.0532632   0.15       0             pose: 0.0           2.27638    0.102591    0 -0.00080078 0.0047232   0.0627764   0.998016       uwb: 0.50061657     844.384  769.72   
imu_odom_:  1691062424.767013151  0.114922   -0.37589   9.37569    -0.0532632  0.0117179   0.0479369   0.2        0.02          pose: 0.39075984    2.28636    0.103147    0 -0.0009433970.00352312  0.0630177   0.998006       uwb: 0.0            844.384  769.72   
imu_odom_:  1691062424.791057981  0.426168   -0.186748  10.0892    -0.0458064  0.0276969   0.0628506   0.2        0.02          pose: 0.0           2.28636    0.103147    0 -0.0009433970.00352312  0.0630177   0.998006       uwb: 0.0            844.384  769.72   
imu_odom_:  1691062424.808011847  0.213084   -0.416591  10.2352    -0.0500674  0.0394148   0.0511327   0.16       0             pose: 0.39928708    2.29579    0.113692    0 -0.00201567 0.00596079  0.0632707   0.997977       uwb: 0.49970378     845.537  767.952  
imu_odom_:  1691062424.833014096  0.107739   -0.0909797 9.78031    -0.0479369  0.0298274   0.0426106   0.16       0             pose: 0.0           2.29579    0.113692    0 -0.00201567 0.00596079  0.0632707   0.997977       uwb: 0.0            845.537  767.952  
imu_odom_:  1691062424.849998874  0.294487   -0.155623  9.91918    -0.056459   -0.0447411  0.0532632   0.21       0             pose: 0.42085598    2.30577    0.114258    0 -0.00217815 0.00652911  0.0635752   0.997953       uwb: 0.50073323     845.669  767.27   
imu_odom_:  1691062424.873995586  0.356736   -0.169988  9.8665     -0.0479369  -0.00958738 0.04048     0.21       0             pose: 0.0           2.30577    0.114258    0 -0.00217815 0.00652911  0.0635752   0.997953       uwb: 0.0            845.669  767.27   
imu_odom_:  1691062424.899011833  0.227449   -0.237026  9.97664    -0.0543285  -0.0234358  0.0543285   0.2        0             pose: 0.41886124    2.30577    0.114258    0 0.000711208 0.00609067  0.0637422   0.997948       uwb: 0.49903886     845.369  766.818  
imu_odom_:  1691062424.924032455  0.493206   -0.189142  10.1682    -0.0372843  0.02024     0.0447411   0.15       0             pose: 0.0           2.30577    0.114258    0 0.000711208 0.00609067  0.0637422   0.997948       uwb: 0.0            845.369  766.818  
imu_odom_:  1691062424.948000295  0.608127   -0.0263362 9.93594    -0.0340885  -0.0340885  0.0532632   0.18       0             pose: 0.40975949    2.31575    0.114833    0 -6.63615e-050.0063595   0.0639276   0.997934       uwb: 0.50040077     844.913  766.13   
imu_odom_:  1691062424.961983625  -0.0167594 -0.148441  9.9527     -0.052198   -0.00213053 0.0575243   0.18       0             pose: 0.0           2.31575    0.114833    0 -6.63615e-050.0063595   0.0639276   0.997934       uwb: 0.0            844.913  766.13   
imu_odom_:  1691062424.978041022  0.167594   -0.23942   10.07      -0.0543285  -0.0149137  0.0607201   0.17       0             pose: 0.8045759     2.31575    0.114833    0 0.000119927 0.00566607  0.0639489   0.997937       uwb: 0.0            844.913  766.13   
imu_odom_:  1691062425.3030731    0.368707   -0.35913   9.89284    -0.0681769  -0.0458064  0.0596548   0.17       0             pose: 0.0           2.31575    0.114833    0 0.000119927 0.00566607  0.0639489   0.997937       uwb: 0.49904470     844.257  766.028  
imu_odom_:  1691062425.16985781   0.519542   -0.258574  10.0485    -0.0596548  -0.0426106  0.0479369   0.17       -0.02         pose: 0.47941221    2.32574    0.115413    0 0.00216478  0.00259805  0.064224    0.99793        uwb: 0.0            844.257  766.028  
imu_odom_:  1691062425.40027711   0.124498   -0.129287  10.0892    -0.0703074  -0.0468716  0.0660464   0.17       -0.02         pose: 0.0           2.32574    0.115413    0 0.00216478  0.00259805  0.064224    0.99793        uwb: 0.0            844.257  766.028  
imu_odom_:  1691062425.56989169   0.646434   -0.107739  10.2735    -0.0500674  -0.0490022  0.0436758   0.17       -0.02         pose: 0.54028985    2.33572    0.115998    0 -0.00105286 0.00253474  0.0647137   0.9979         uwb: 0.49948527     844.288  765.186  
imu_odom_:  1691062425.73118608   0.35913    -0.177171  10.1706    -0.0671117  -0.0351537  0.0479369   0.22       0             pose: 0.0           2.33572    0.115998    0 -0.00105286 0.00253474  0.0647137   0.9979         uwb: 0.0            844.288  765.186  
imu_odom_:  1691062425.90117102   0.42138    -0.42138   9.92397    -0.0607201  0.0138484   0.0532632   0.22       0             pose: 0.0           2.33572    0.115998    0 -0.00105286 0.00253474  0.0647137   0.9979         uwb: 0.0            844.288  765.186  
imu_odom_:  1691062425.113949640  0.107739   -0.328006  9.71328    -0.0479369  0.0447411   0.0394148   0.17       -0.02         pose: 0.70989595    2.3457     0.116597    0 0.000836181 0.00183425  0.0652061   0.99787        uwb: 0.49928703     844.605  764.326  
imu_odom_:  1691062425.137955988  0.047884   -0.332794  9.91199    -0.0745685  0.0426106   0.0490022   0.17       -0.02         pose: 0.0           2.3457     0.116597    0 0.000836181 0.00183425  0.0652061   0.99787        uwb: 0.0            844.605  764.326  
imu_odom_:  1691062425.163125064  0.409408   -0.538695  9.61033    -0.0681769  0.0138484   0.0436758   0.24       0             pose: 0.18118642    2.35568    0.117201    0 -0.0005088990.00254832  0.0652725   0.997864       uwb: 0.49999568     844.628  763.464  
imu_odom_:  1691062425.187945350  0.433351   -0.390255  9.53611    -0.0543285  0.0276969   0.0308927   0.18       0             pose: 0.39819953    2.36273    0.117629    0 -0.0024427  0.00708997  0.0653801   0.997832       uwb: 0.0            844.628  763.464  
imu_odom_:  1691062425.210949077  0.438139   -0.500388  9.61751    -0.0308927  0.00319579  0.0287621   0.18       -0.02         pose: 0.7015729     2.36567    0.117808    0 -0.00309782 0.00679512  0.0653895   0.997832       uwb: 0.0            844.628  763.464  
imu_odom_:  1691062425.236114653  -0.0430956 -0.517148  9.36372    -0.0127832  -0.0149137  0.0170442   0.18       -0.02         pose: 0.0           2.36567    0.117808    0 -0.00309782 0.00679512  0.0653895   0.997832       uwb: 0.0            844.628  763.464  
imu_odom_:  1691062425.248935556  0.469264   -0.304064  10.0963    -0.0298274  -0.0649811  0.0372843   0.25       0.02          pose: 0.0           2.36567    0.117808    0 -0.00309782 0.00679512  0.0653895   0.997832       uwb: 0.100165950    844.33   763.01   
imu_odom_:  1691062425.264048374  0.715866   0.0335188  9.7037     -0.0436758  -0.0532632  0.0660464   0.25       0.02          pose: 0.50059936    2.36567    0.117808    0 -0.00644832 0.0038288   0.0652431   0.997841       uwb: 0.0            844.33   763.01   
imu_odom_:  1691062425.281932256  1.72622    -0.251391  10.5512    -0.0681769  -0.125701   0.0553937   0.21       -0.23         pose: 0.0           2.36567    0.117808    0 -0.00644832 0.0038288   0.0652431   0.997841       uwb: 0.0            844.33   763.01   
imu_odom_:  1691062425.298069860  1.55623    -0.294487  9.35654    -0.056459   -0.0106526  -0.0873517  0.21       -0.23         pose: 0.86900603    2.3856     0.119008    0 -0.00597487 -0.0007333950.0651914   0.997855       uwb: 0.0            844.33   763.01   
imu_odom_:  1691062425.314918457  1.94649    0.126893   9.84017    -0.0543285  0.0213053   -0.20027    0.21       -0.23         pose: 0.0           2.3856     0.119008    0 -0.00597487 -0.0007333950.0651914   0.997855       uwb: 0.0            844.33   763.01   
imu_odom_:  1691062425.330982571  1.38385    0.138864   9.88087    -0.0681769  0.0213053   -0.298274   0.11       -0.35         pose: 0.0           2.3856     0.119008    0 -0.00597487 -0.0007333950.0651914   0.997855       uwb: 0.0            844.33   763.01   
imu_odom_:  1691062425.348049889  0.940921   0.244209   10.6159    -0.0745685  0.0127832   -0.415453   0.11       -0.35         pose: 0.7999977     2.38563    0.11901     0 -0.00590327 -0.00155884 0.0646801   0.997887       uwb: 0.100116664    845.03   761.82   
imu_odom_:  1691062425.362914823  0.591368   0.105345   10.331     -0.0873517  -0.0340885  -0.417584   0.11       -0.35         pose: 0.0           2.38563    0.11901     0 -0.00590327 -0.00155884 0.0646801   0.997887       uwb: 0.0            845.03   761.82   
imu_odom_:  1691062425.380982723  0.847547   -0.248997  9.72525    -0.0980043  -0.0468716  -0.426106   0.13       -0.58         pose: 0.66188792    2.39561    0.119704    0 -0.00259014 -0.00606694 0.0536742   0.998537       uwb: 0.0            845.03   761.82   
imu_odom_:  1691062425.396968388  1.04387    -0.248997  9.87608    -0.0830906  -0.100135   -0.420779   0.08       -0.44         pose: 0.0           2.39561    0.119704    0 -0.00259014 -0.00606694 0.0536742   0.998537       uwb: 0.49796303     844.789  760.993  
imu_odom_:  1691062425.413918763  1.10133    -0.146046  9.97185    -0.0553937  -0.0117179  -0.446346   0.08       -0.44         pose: 0.0           2.39561    0.119704    0 -0.00259014 -0.00606694 0.0536742   0.998537       uwb: 0.0            844.789  760.993  
imu_odom_:  1691062425.429913761  1.18274    -0.158017  9.93115    -0.0511327  -0.02024    -0.472977   0.07       -0.5          pose: 0.32808015    2.39561    0.119705    0 -0.00220666 -0.00966383 0.046081    0.998889       uwb: 0.0            844.789  760.993  
imu_odom_:  1691062425.446925962  0.842759   0.0047884  9.73961    -0.052198   0.0436758   -0.50387    0.07       -0.5          pose: 0.40984721    2.40053    0.120086    0 -0.00123975 -0.0142491  0.0360029   0.999249       uwb: 0.50052645     845.438  759.703  
imu_odom_:  1691062425.462971411  0.88346    -0.323217  10.2879    -0.0553937  0.0191748   -0.517718   0.07       -0.5          pose: 0.8068219     2.40558    0.1204      0 -0.000512923-0.0144765  0.0338016   0.999324       uwb: 0.0            845.438  759.703  
imu_odom_:  1691062425.479975738  0.588974   -0.186748  9.94312    -0.0596548  0           -0.526241   0.08       -0.7          pose: 0.0           2.40558    0.1204      0 -0.000512923-0.0144765  0.0338016   0.999324       uwb: 0.0            845.438  759.703  
imu_odom_:  1691062425.495912702  0.61531    -0.320823  9.80426    -0.0596548  -0.0234358  -0.52198    0.08       -0.7          pose: 0.41993758    2.40555    0.120398    0 0.000144963 -0.0142957  0.0220874   0.999654       uwb: 0.50119428     844.622  759.359  
imu_odom_:  1691062425.512914696  0.799663   -0.0646434 9.90242    -0.0532632  -0.0234358  -0.543285   0.08       -0.7          pose: 0.0           2.40555    0.120398    0 0.000144963 -0.0142957  0.0220874   0.999654       uwb: 0.0            844.622  759.359  
imu_odom_:  1691062425.527965397  0.737414   -0.0670376 9.76116    -0.0607201  -0.0245011  -0.512392   0.05       -0.5          pose: 0.0           2.40555    0.120398    0 0.000144963 -0.0142957  0.0220874   0.999654       uwb: 0.0            844.622  759.359  
imu_odom_:  1691062425.553021029  0.624887   -0.572214  9.97424    -0.0575243  -0.00745685 -0.444215   0.07       -0.64         pose: 0.24015390    2.40558    0.1204      0 -0.000485017-0.014175   0.0152699   0.999783       uwb: 0.49944451     843.633  759.213  
imu_odom_:  1691062425.566962372  0.483629   -0.411803  9.92397    -0.0575243  0.0181095   -0.416518   0.07       -0.64         pose: 0.0           2.40558    0.1204      0 -0.000485017-0.014175   0.0152699   0.999783       uwb: 0.0            843.633  759.213  
imu_odom_:  1691062425.582964369  0.105345   -0.126893  9.95748    -0.0415453  0.0340885   -0.427171   0.06       -0.32         pose: 0.32014783    2.40558    0.1204      0 0.000980741 -0.0152429  0.00655159  0.999862       uwb: 0.0            843.633  759.213  
imu_odom_:  1691062425.600966651  -1.00317   0.237026   9.38288    -0.0181095  0.0511327   -0.415453   0.06       -0.32         pose: 0.38976269    2.40558    0.1204      0 -0.00128165 -0.0127829  -0.00257603 0.999914       uwb: 0.49737102     843.605  758.248  
imu_odom_:  1691062425.616891366  -1.31681   -0.251391  9.99579    -0.0617853  -0.0245011  -0.262055   0.06       -0.32         pose: 0.0           2.40558    0.1204      0 -0.00128165 -0.0127829  -0.00257603 0.999914       uwb: 0.0            843.605  758.248  
imu_odom_:  1691062425.633037720  -0.52433   -1.075     9.8258     -0.0681769  -0.100135   -0.192813   0.09       -0.23         pose: 0.0           2.40558    0.1204      0 -0.00128165 -0.0127829  -0.00257603 0.999914       uwb: 0.0            843.605  758.248  
imu_odom_:  1691062425.649907605  0.727837   -0.713472  10.0844    -0.0276969  -0.092678   -0.206661   0.09       -0.23         pose: 0.41909186    2.41557    0.120949    0 -0.000189155-0.00819712 -0.0109375  0.999907       uwb: 0.50123803     844.641  756.601  
imu_odom_:  1691062425.665918351  0.6608     0.347159   9.25119    -0.0458064  -0.0276969  -0.164051   0.11       -0.26         pose: 0.0           2.41557    0.120949    0 -0.000189155-0.00819712 -0.0109375  0.999907       uwb: 0.0            844.641  756.601  
imu_odom_:  1691062425.682031167  0.335188   -0.215478  9.75637    -0.0649811  0.0298274   -0.153398   0.11       -0.26         pose: 0.7065014     2.41557    0.120949    0 -0.000663811-0.0079756  -0.0117551  0.999899       uwb: 0.0            844.641  756.601  
imu_odom_:  1691062425.698107529  -0.299275  -0.430956  9.87848    -0.0479369  0.00426106  -0.190682   0.11       -0.26         pose: 0.0           2.41557    0.120949    0 -0.000663811-0.0079756  -0.0117551  0.999899       uwb: 0.49994903     843.762  756.632  
imu_odom_:  1691062425.715027575  -0.423774  -0.35913   9.60554    -0.0447411  -0.02024    -0.174703   0.14       -0.23         pose: 0.0           2.41557    0.120949    0 -0.000663811-0.0079756  -0.0117551  0.999899       uwb: 0.0            843.762  756.632  
imu_odom_:  1691062425.731027239  0.136469   -0.265756  9.81383    -0.0447411  -0.0415453  -0.150202   0.14       -0.23         pose: 0.49084144    2.41557    0.120949    0 -0.000930785-0.00862    -0.0171994  0.999814       uwb: 0.0            843.762  756.632  
imu_odom_:  1691062425.747870878  0.354342   -0.282516  9.65103    -0.0777643  -0.0170442  -0.132093   0.14       -0.23         pose: 0.0           2.41557    0.120949    0 -0.000930785-0.00862    -0.0171994  0.999814       uwb: 0.50060810     843.529  755.801  
imu_odom_:  1691062425.764987774  0.407014   -0.213084  10.0413    -0.0628506  0.00213053  -0.129962   0.13       -0.17         pose: 0.66005357    2.42555    0.121505    0 -0.00164486 -0.00239627 -0.0239237  0.99971        uwb: 0.0            843.529  755.801  
imu_odom_:  1691062425.780921529  -0.0430956 -0.126893  9.5385     -0.0596548  0.0298274   -0.145941   0.13       -0.17         pose: 0.0           2.42555    0.121505    0 -0.00164486 -0.00239627 -0.0239237  0.99971        uwb: 0.0            843.529  755.801  
imu_odom_:  1691062425.797866364  0.0454898  -0.241814  10.331     -0.0447411  0.0127832   -0.144876   0.13       -0.17         pose: 0.0           2.42555    0.121505    0 -0.00164486 -0.00239627 -0.0239237  0.99971        uwb: 0.50029315     843.662  754.597  
imu_odom_:  1691062425.812856698  0.162806   -0.464475  9.99819    -0.0703074  -0.00213053 -0.105461   0.13       -0.11         pose: 0.32827554    2.43554    0.122007    0 -0.0005474980.000163054 -0.0267686  0.999641       uwb: 0.0            843.662  754.597  
imu_odom_:  1691062425.830982632  0.399832   -0.45011   10.0485    -0.052198   -0.0351537  -0.112918   0.13       -0.11         pose: 0.40983263    2.43554    0.122007    0 -0.00159462 0.00398214  -0.0302583  0.999533       uwb: 0.0            843.662  754.597  
imu_odom_:  1691062425.845861272  0.727837   -0.430956  9.67736    -0.0596548  -0.0990696  -0.0937433  0.13       -0.11         pose: 0.8007268     2.43554    0.122007    0 -0.00234748 0.00360096  -0.0308719  0.999514       uwb: 0.49896332     843.762  753.807  
imu_odom_:  1691062425.862973793  1.16119    -0.184354  9.59117    -0.0841559  -0.0234358  -0.0543285  0.15       -0.17         pose: 0.0           2.43554    0.122007    0 -0.00234748 0.00360096  -0.0308719  0.999514       uwb: 0.0            843.762  753.807  
imu_odom_:  1691062425.877855350  1.403      -0.280122  10.1993    -0.0532632  -0.0138484  -0.0191748  0.15       -0.17         pose: 0.42109827    2.44553    0.122489    0 -0.00402446 -0.00081625 -0.0334511  0.999432       uwb: 0.0            843.762  753.807  
imu_odom_:  1691062425.895867256  1.32639    -0.354342  9.72285    -0.0553937  -0.0415453  -0.0234358  0.15       -0.17         pose: 0.0           2.44553    0.122489    0 -0.00402446 -0.00081625 -0.0334511  0.999432       uwb: 0.50172213     843.446  753.309  
imu_odom_:  1691062425.911921163  1.652      -0.181959  9.79947    -0.0351537  -0.00745685 -0.0852212  0.09       -0.14         pose: 0.0           2.44553    0.122489    0 -0.00402446 -0.00081625 -0.0334511  0.999432       uwb: 0.0            843.446  753.309  
imu_odom_:  1691062425.928867747  1.15401    0.0502782  10.0078    -0.0660464  0.0149137   -0.0980043  0.11       -0.17         pose: 0.23007227    2.44553    0.122489    0 -0.00412881 -0.00333945 -0.0341518  0.999403       uwb: 0.0            843.446  753.309  
imu_odom_:  1691062425.944881118  0.876278   -0.289698  10.0054    -0.0628506  -0.00958738 -0.0948085  0.11       -0.17         pose: 0.0           2.44553    0.122489    0 -0.00412881 -0.00333945 -0.0341518  0.999403       uwb: 0.49821675     843.131  752.812  
imu_odom_:  1691062425.962145870  0.746991   -0.373495  9.87369    -0.0649811  -0.0287621  -0.116114   0.1        -0.11         pose: 0.0           2.44553    0.122489    0 -0.00412881 -0.00333945 -0.0341518  0.999403       uwb: 0.0            843.131  752.812  
imu_odom_:  1691062425.976895610  0.859518   -0.225055  9.89524    -0.0543285  -0.00213053 -0.0980043  0.1        -0.11         pose: 0.76164850    2.45551    0.123069    0 -0.00450726 -0.0108081  -0.0390677  0.999168       uwb: 0.0            843.131  752.812  
imu_odom_:  1691062425.995127113  0.85473    -0.270545  10.0293    -0.0596548  0.00532632  -0.0575243  0.1        -0.11         pose: 0.7785921     2.45551    0.123069    0 -0.00431156 -0.0115584  -0.039608   0.999139       uwb: 0.49998694     844.348  750.903  
imu_odom_:  1691062426.10124450   0.663194   -0.31364   9.88326    -0.0458064  0.00745685  -0.0575243  0.06       -0.08         pose: 0.0           2.45551    0.123069    0 -0.00431156 -0.0115584  -0.039608   0.999139       uwb: 0.0            844.348  750.903  
imu_odom_:  1691062426.27157950   0.677559   -0.217872  9.79468    -0.0511327  -0.0191748  -0.0543285  0.06       -0.08         pose: 0.40192659    2.45551    0.123069    0 -0.00530623 -0.0131353  -0.0416895  0.99903        uwb: 0.0            844.348  750.903  
imu_odom_:  1691062426.44861614   0.706289   -0.169988  9.94551    -0.0553937  0           -0.0351537  0.06       -0.08         pose: 0.0           2.45551    0.123069    0 -0.00530623 -0.0131353  -0.0416895  0.99903        uwb: 0.49970136     844.864  750.276  
imu_odom_:  1691062426.68991335   0.679953   -0.318429  9.85932    -0.0553937  -0.015979   -0.0447411  0.04       -0.08         pose: 0.25899330    2.45551    0.123069    0 -0.00276034 -0.0139216  -0.0428547  0.998981       uwb: 0.0            844.864  750.276  
imu_odom_:  1691062426.92835551   -0.316035  -0.0766145 9.59357    -0.0415453  0.108657    -0.0777643  0.04       -0.05         pose: 0.0           2.45551    0.123069    0 -0.00276034 -0.0139216  -0.0428547  0.998981       uwb: 0.49999596     845.559  748.959  
imu_odom_:  1691062426.116845121  -1.39103   -0.418985  10.1993    -0.0756338  -0.0266316  0.0106526   0.04       -0.05         pose: 0.40983285    2.45551    0.123069    0 -0.00404269 -0.0129753  -0.0446492  0.99891        uwb: 0.0            845.559  748.959  
imu_odom_:  1691062426.141824651  0.600945   -0.289698  10.0676    -0.04048    -0.109722   -0.00958738 0.09       -0.05         pose: 0.39838056    2.4655     0.123576    0 -0.00380121 -0.00841714 -0.0459195  0.998902       uwb: 0.49989390     844.58   748.843  
imu_odom_:  1691062426.163823436  0.486023   0.102951   9.36133    -0.0692422  0.0117179   0.00852212  0.09       -0.02         pose: 0.0           2.4655     0.123576    0 -0.00380121 -0.00841714 -0.0459195  0.998902       uwb: 0.0            844.58   748.843  
imu_odom_:  1691062426.178824568  -0.0023942 -0.349553  9.95509    -0.0649811  0.0511327   0.0191748   0.09       -0.02         pose: 0.7188961     2.4655     0.123576    0 -0.00398112 -0.00948495 -0.0460946  0.998884       uwb: 0.0            844.58   748.843  
imu_odom_:  1691062426.202875550  -0.172383  -0.304064  9.73243    -0.056459   -0.0234358  -0.0330232  0.09       -0.02         pose: 0.0           2.4655     0.123576    0 -0.00398112 -0.00948495 -0.0460946  0.998884       uwb: 0.50065213     844.282  748.362  
imu_odom_:  1691062426.227854497  0.632069   -0.395043  9.92636    -0.0820254  -0.02024    0.0330232   0.13       -0.05         pose: 0.23829926    2.4655     0.123576    0 -0.00388897 -0.0118932  -0.0466284  0.998834       uwb: 0.0            844.282  748.362  
imu_odom_:  1691062426.241856507  0.586579   -0.205901  9.43555    -0.0649811  0.0447411   -0.00426106 0.13       -0.05         pose: 0.0           2.4655     0.123576    0 -0.00388897 -0.0118932  -0.0466284  0.998834       uwb: 0.0            844.282  748.362  
imu_odom_:  1691062426.264837208  0.047884   -0.220267  9.51935    -0.0490022  -0.0138484  0           0.12       0             pose: 0.62063145    2.47548    0.124057    0 -0.00343661 -0.00759392 -0.0479303  0.998816       uwb: 0.49977724     845.135  747.283  
imu_odom_:  1691062426.288828697  0.3304     -0.294487  10.2448    -0.0340885  0.00745685  -0.00745685 0.12       0             pose: 0.0           2.47548    0.124057    0 -0.00343661 -0.00759392 -0.0479303  0.998816       uwb: 0.0            845.135  747.283  
imu_odom_:  1691062426.314818723  0.265756   -0.134075  10.0509    -0.056459   -0.0234358  0.0138484   0.18       -0.02         pose: 0.63120593    2.47602    0.114072    0 -0.00340823 -0.00557736 -0.0489416  0.99878        uwb: 0.49812954     843.736  747.48   
imu_odom_:  1691062426.328812568  0.177171   -0.438139  9.67736    -0.0490022  0.00639159  0.00106526  0.18       -0.02         pose: 0.0           2.47602    0.114072    0 -0.00340823 -0.00557736 -0.0489416  0.99878        uwb: 0.0            843.736  747.48   
imu_odom_:  1691062426.345851900  -0.047884  -0.114922  9.66539    -0.0596548  -0.00639159 0.00213053  0.14       -0.02         pose: 0.55764822    2.48601    0.11459     0 -0.00249225 -0.000808918-0.0499044  0.998751       uwb: 0.50012428     844.717  746.102  
imu_odom_:  1691062426.369812476  0.0167594  -0.169988  10.0892    -0.0543285  -0.0436758  0.0138484   0.14       -0.02         pose: 0.7019523     2.48601    0.11459     0 -0.00226502 -0.000157283-0.0500343  0.998745       uwb: 0.0            844.717  746.102  
imu_odom_:  1691062426.386805147  0.138864   -0.225055  10.2017    -0.0436758  -0.0106526  0.00213053  0.17       -0.05         pose: 0.0           2.48601    0.11459     0 -0.00226502 -0.000157283-0.0500343  0.998745       uwb: 0.0            844.717  746.102  
imu_odom_:  1691062426.401873938  0.407014   -0.205901  10.0724    -0.04048    -0.0181095  0.00639159  0.17       -0.05         pose: 0.42159719    2.496      0.115089    0 -0.00115002 0.0033906   -0.0506731  0.998709       uwb: 0.49976266     845.519  745.42   
imu_odom_:  1691062426.424822851  0.430956   -0.387861  9.65582    -0.0447411  -0.0106526  0.0127832   0.17       -0.05         pose: 0.0           2.496      0.115089    0 -0.00115002 0.0033906   -0.0506731  0.998709       uwb: 0.0            845.519  745.42   
imu_odom_:  1691062426.451010019  0.45011    -0.287304  9.54568    -0.0319579  0.0181095   0           0.19       -0.05         pose: 0.31834866    2.496      0.115089    0 -0.00111196 0.00234825  -0.0511949  0.998685       uwb: 0.49994930     845.472  744.842  
imu_odom_:  1691062426.474777829  0.581791   -0.21069   9.92875    -0.0490022  0.00213053  0.0223706   0.15       -0.02         pose: 0.41183343    2.50599    0.115564    0 -0.00304973 -0.000455469-0.0519259  0.998646       uwb: 0.0            845.472  744.842  
imu_odom_:  1691062426.500791769  0.0430956  -0.294487  9.56723    -0.0426106  0.00745685  0.0106526   0.15       -0.02         pose: 0.0           2.50599    0.115564    0 -0.00304973 -0.000455469-0.0519259  0.998646       uwb: 0.50006596     846.357  743.786  
imu_odom_:  1691062426.523847710  0.811634   -0.351948  10.0437    -0.056459   -0.00106526 0.0191748   0.15       -0.05         pose: 0.7873999     2.50599    0.115564    0 -0.00278235 -0.00118245 -0.0519961  0.998643       uwb: 0.0            846.357  743.786  
imu_odom_:  1691062426.539788474  0.440533   -0.426168  9.4978     -0.0490022  0.0447411   0.0213053   0.15       -0.05         pose: 0.0           2.50599    0.115564    0 -0.00278235 -0.00118245 -0.0519961  0.998643       uwb: 0.0            846.357  743.786  
imu_odom_:  1691062426.563768297  0.201113   -0.246603  9.73004    -0.0628506  -0.0117179  0.0340885   0.22       -0.02         pose: 0.48924066    2.51597    0.116024    0 -0.00238113 -0.000569246-0.0525802  0.998614       uwb: 0.0            846.357  743.786  
imu_odom_:  1691062426.579777302  0.811634   -0.129287  10.0916    -0.052198   -0.0372843  0.0138484   0.22       -0.02         pose: 0.0           2.51597    0.116024    0 -0.00238113 -0.000569246-0.0525802  0.998614       uwb: 0.0            846.357  743.786  
imu_odom_:  1691062426.595834717  0.608127   -0.282516  10.0078    -0.0649811  -0.0223706  0.02024     0.22       -0.02         pose: 0.0           2.51597    0.116024    0 -0.00238113 -0.000569246-0.0525802  0.998614       uwb: 0.100091931    847.164  742.591  
imu_odom_:  1691062426.621885403  1.01754    -0.277727  10.0987    -0.0479369  -0.0458064  0.0106526   0.16       -0.02         pose: 0.77965413    2.52596    0.116569    0 -0.00338924 -0.00177988 -0.0532158  0.998576       uwb: 0.0            847.164  742.591  
imu_odom_:  1691062426.645772780  1.24259    -0.258574  10.0987    -0.0500674  -0.0245011  0.036219    0.17       0             pose: 0.36111906    2.53595    0.117104    0 -0.00356763 -0.00602534 -0.053698   0.998533       uwb: 0.50132580     847.242  741.695  
imu_odom_:  1691062426.668809182  0.196325   -0.246603  9.69173    -0.0660464  -0.0234358  0.0308927   0.17       0             pose: 0.0           2.53595    0.117104    0 -0.00356763 -0.00602534 -0.053698   0.998533       uwb: 0.0            847.242  741.695  
imu_odom_:  1691062426.693752842  0.351948   -0.047884  9.91199    -0.0553937  -0.0170442  0.036219    0.23       0             pose: 0.7920367     2.53595    0.117104    0 -0.00357047 -0.00689937 -0.0537133  0.998526       uwb: 0.49964892     846.325  741.691  
imu_odom_:  1691062426.715797703  0.237026   -0.131681  10.149     -0.0490022  0.0181095   0.02024     0.23       0             pose: 0.0           2.53595    0.117104    0 -0.00357047 -0.00689937 -0.0537133  0.998526       uwb: 0.0            846.325  741.691  
imu_odom_:  1691062426.731740217  0.356736   -0.31364   9.29429    -0.0596548  0.0149137   0.0394148   0.16       -0.02         pose: 0.47006602    2.54646    0.107642    0 -0.00277288 -0.00617164 -0.0538558  0.998526       uwb: 0.0            846.325  741.691  
imu_odom_:  1691062426.754792367  0.323217   -0.509965  9.94551    -0.0628506  -0.0340885  0.0415453   0.16       -0.02         pose: 0.0           2.54646    0.107642    0 -0.00277288 -0.00617164 -0.0538558  0.998526       uwb: 0.49950603     847.596  740.229  
imu_odom_:  1691062426.777796690  0.380678   -0.244209  9.93354    -0.0532632  0.0234358   0.0298274   0.23       0             pose: 0.77979995    2.55644    0.108163    0 -0.00363701 -0.000969841-0.0540752  0.99853        uwb: 0.0            847.596  740.229  
imu_odom_:  1691062426.800748811  0.775721   -0.40462   9.60793    -0.056459   0.0181095   0.0415453   0.23       0             pose: 0.0           2.55644    0.108163    0 -0.00363701 -0.000969841-0.0540752  0.99853        uwb: 0.49992306     848.831  738.691  
imu_odom_:  1691062426.817743232  0.481235   -0.172383  10.1897    -0.0458064  0.0170442   0.0213053   0.23       0             pose: 0.0           2.55644    0.108163    0 -0.00363701 -0.000969841-0.0540752  0.99853        uwb: 0.0            848.831  738.691  
imu_odom_:  1691062426.842746384  0.287304   -0.0790087 10.1658    -0.0575243  -0.02024    0.0436758   0.23       -0.02         pose: 0.54059955    2.56643    0.10868     0 -0.00219336 -0.00122129 -0.0542432  0.998525       uwb: 0.50002512     847.718  738.874  
imu_odom_:  1691062426.867754785  0.577003   -0.059855  10.4603    -0.0735032  0.00106526  0.0266316   0.19       0             pose: 0.33894062    2.57642    0.109194    0 0.000490162 -0.000215428-0.0542763  0.998526       uwb: 0.0            847.718  738.874  
imu_odom_:  1691062426.891814807  0.605733   -0.0933739 10.0054    -0.0798948  -0.00745685 0.0372843   0.19       0             pose: 0.8033811     2.57642    0.109194    0 0.000905187 -0.000830331-0.054328   0.998522       uwb: 0.49940979     846.329  739.115  
imu_odom_:  1691062426.915860248  0.423774   -0.270545  9.43315    -0.056459   0.00639159  0.015979    0.18       0             pose: 0.41034612    2.58319    0.109542    0 0.00247072  -0.00434927 -0.0544631  0.998503       uwb: 0.0            846.329  739.115  
imu_odom_:  1691062426.931911539  0.725443   -0.387861  10.3022    -0.0617853  -0.00106526 0.0330232   0.18       0             pose: 0.0           2.58319    0.109542    0 0.00247072  -0.00434927 -0.0544631  0.998503       uwb: 0.0            846.329  739.115  
imu_odom_:  1691062426.947769480  0.459687   -0.363919  9.61511    -0.076699   -0.0181095  0.0351537   0.18       0             pose: 0.0           2.58319    0.109542    0 0.00247072  -0.00434927 -0.0544631  0.998503       uwb: 0.50091169     846.439  738.257  
imu_odom_:  1691062426.970888121  0.411803   -0.471658  9.82102    -0.0426106  0.00106526  0.0415453   0.17       0             pose: 0.48032556    2.59639    0.110212    0 -0.00148819 -0.00406735 -0.0548043  0.998488       uwb: 0.0            846.439  738.257  
imu_odom_:  1691062426.995737293  0.385466   -0.198719  9.66539    -0.0468716  -0.0149137  0.0351537   0.24       0             pose: 0.0           2.59639    0.110212    0 -0.00148819 -0.00406735 -0.0548043  0.998488       uwb: 0.49714382     846.963  737.05   
imu_odom_:  1691062427.18874024   0.198719   -0.246603  9.79228    -0.0479369  0.0181095   0.0383495   0.24       0             pose: 0.38943919    2.59639    0.110212    0 -0.00369179 -0.00262491 -0.0548022  0.998487       uwb: 0.0            846.963  737.05   
imu_odom_:  1691062427.43774536   0.241814   -0.42138   9.56244    -0.0596548  0.0383495   0.0319579   0.18       0             pose: 0.40082742    2.60688    0.100728    0 -0.00194577 0.00085495  -0.054849   0.998492       uwb: 0.49896090     846.979  736.55   
imu_odom_:  1691062427.60726389   0.0191536  -0.0814029 10.137     -0.04048    -0.02024    0.036219    0.18       0             pose: 0.7891792     2.60688    0.100728    0 -0.00251971 0.00157376  -0.0548786  0.998489       uwb: 0.0            846.979  736.55   
imu_odom_:  1691062427.84773301   0.19393    -0.37589   9.54089    -0.052198   -0.0127832  0.0447411   0.18       0             pose: 0.0           2.60688    0.100728    0 -0.00251971 0.00157376  -0.0548786  0.998489       uwb: 0.0            846.979  736.55   
imu_odom_:  1691062427.101775313  0.761356   -0.251391  9.99579    -0.0543285  0.00426106  0.036219    0.18       0             pose: 0.41997888    2.61687    0.101229    0 -0.00310258 0.00496237  -0.0549417  0.998472       uwb: 0.50069907     846.66   736      
imu_odom_:  1691062427.126773813  0.687136   -0.160412  10.3214    -0.0756338  0.0106526   0.052198    0.17       0.02          pose: 0.0           2.61687    0.101229    0 -0.00310258 0.00496237  -0.0549417  0.998472       uwb: 0.0            846.66   736      
imu_odom_:  1691062427.149824518  0.938527   -0.205901  9.87608    -0.056459   0.0106526   0.0266316   0.17       0.02          pose: 0.40988266    2.62686    0.101729    0 -0.00377391 0.00386     -0.0548881  0.998478       uwb: 0.50061158     846.536  735.255  
imu_odom_:  1691062427.174763234  0.873884   -0.414197  9.92397    -0.0703074  -0.0266316  0.0394148   0.24       -0.02         pose: 0.0           2.62686    0.101729    0 -0.00377391 0.00386     -0.0548881  0.998478       uwb: 0.0            846.536  735.255  
imu_odom_:  1691062427.197697870  0.943315   -0.232238  9.49062    -0.0511327  0.0181095   0.0308927   0.24       -0.02         pose: 0.47969589    2.62686    0.101729    0 -0.00357333 -0.000587612-0.054945   0.998483       uwb: 0.49982709     846.448  734.57   
imu_odom_:  1691062427.213764918  0.354342   -0.392649  10.4627    -0.0596548  0.0330232   0.0447411   0.18       0             pose: 0.0           2.62686    0.101729    0 -0.00357333 -0.000587612-0.054945   0.998483       uwb: 0.0            846.448  734.57   
imu_odom_:  1691062427.238885610  0.476446   -0.201113  10.1849    -0.0681769  0.0383495   0.0394148   0.18       0             pose: 0.48040456    2.63684    0.10223     0 -0.00448456 -0.00357536 -0.0550364  0.998468       uwb: 0.0            846.448  734.57   
imu_odom_:  1691062427.254744434  0.433351   -0.356736  9.89524    -0.0468716  -0.00213053 0.0500674   0.18       0.02          pose: 0.0           2.63684    0.10223     0 -0.00448456 -0.00357536 -0.0550364  0.998468       uwb: 0.49991750     845.677  734.309  
imu_odom_:  1691062427.280670900  0.531513   -0.174777  9.70609    -0.0500674  -0.00852212 0.0351537   0.18       0.02          pose: 0.40957644    2.64683    0.102729    0 -0.00327784 -0.00238813 -0.0549826  0.998479       uwb: 0.0            845.677  734.309  
imu_odom_:  1691062427.304705855  0.577003   -0.311246  9.86411    -0.052198   -0.0138484  0.0447411   0.18       0             pose: 0.0           2.64683    0.102729    0 -0.00327784 -0.00238813 -0.0549826  0.998479       uwb: 0.50001666     845.925  733.13   
imu_odom_:  1691062427.327748103  0.318429   -0.222661  9.86411    -0.0553937  -0.0255663  0.0383495   0.18       0             pose: 0.40988266    2.65682    0.103228    0 -0.00233739 -0.00444448 -0.0549867  0.998474       uwb: 0.0            845.925  733.13   
imu_odom_:  1691062427.350734066  0.325611   -0.392649  9.92157    -0.072438   -0.0234358  0.0596548   0.25       0             pose: 0.40040178    2.66396    0.0935732   0 -0.00265753 -0.00393975 -0.0549516  0.998478       uwb: 0.50118026     846.845  731.489  
imu_odom_:  1691062427.367832025  0.859518   -0.308852  10.1849    -0.0617853  -0.015979   0.0383495   0.25       0             pose: 0.0           2.66396    0.0935732   0 -0.00265753 -0.00393975 -0.0549516  0.998478       uwb: 0.0            846.845  731.489  
imu_odom_:  1691062427.392696666  0.895431   -0.222661  10.3142    -0.076699   -0.00426106 0.0575243   0.18       0.02          pose: 0.40083922    2.6726     0.0940071   0 -0.00443477 -0.00409988 -0.054728   0.998483       uwb: 0.49992625     846.589  731.038  
imu_odom_:  1691062427.417796653  0.550666   -0.117316  10.1251    -0.0671117  -0.0287621  0.0351537   0.18       0.02          pose: 0.0           2.6726     0.0940071   0 -0.00443477 -0.00409988 -0.054728   0.998483       uwb: 0.0            846.589  731.038  
imu_odom_:  1691062427.440661881  0.392649   -0.258574  9.84496    -0.0532632  0.00958738  0.036219    0.18       0             pose: 0.49964628    2.67729    0.0942441   0 -0.00203337 -0.00715257 -0.054591   0.998481       uwb: 0.0            846.589  731.038  
imu_odom_:  1691062427.455666522  0.620098   -0.282516  10.1993    -0.0681769  0.0106526   0.0383495   0.18       0             pose: 0.0           2.67729    0.0942441   0 -0.00203337 -0.00715257 -0.054591   0.998481       uwb: 0.49967836     846.462  730.27   
imu_odom_:  1691062427.481721596  0.557849   -0.201113  10.3908    -0.0628506  -0.0213053  0.0330232   0.23       0             pose: 0.37869869    2.68728    0.0947516   0 -0.00260875 -0.00602104 -0.0546354  0.998485       uwb: 0.0            846.462  730.27   
imu_odom_:  1691062427.505741678  0.265756   -0.023942  9.9503     -0.056459   0           0.0330232   0.23       0             pose: 0.0           2.68728    0.0947516   0 -0.00260875 -0.00602104 -0.0546354  0.998485       uwb: 0.50021205     845.9    729.831  
imu_odom_:  1691062427.521803185  0.380678   -0.366313  9.84256    -0.0500674  -0.02024    0.0351537   0.18       0.02          pose: 0.0           2.68728    0.0947516   0 -0.00260875 -0.00602104 -0.0546354  0.998485       uwb: 0.0            845.9    729.831  
imu_odom_:  1691062427.546645663  0.593762   -0.268151  9.8282     -0.04048    -0.0213053  0.0298274   0.18       0.02          pose: 0.50075156    2.69408    0.0950963   0 0.00101556  -0.00549899 -0.0548269  0.99848        uwb: 0.49866057     846.248  728.793  
imu_odom_:  1691062427.570643873  0.54109    -0.25618   9.75398    -0.0372843  -0.0234358  0.0319579   0.18       -0.02         pose: 0.40903985    2.7043     0.0956103   0 -0.00132613 -0.00695642 -0.0549705  0.998463       uwb: 0.0            846.248  728.793  
imu_odom_:  1691062427.585696341  0.792481   0.023942   9.85214    -0.0500674  -0.00532632 0.0394148   0.18       -0.02         pose: 0.0           2.7043     0.0956103   0 -0.00132613 -0.00695642 -0.0549705  0.998463       uwb: 0.0            846.248  728.793  
imu_odom_:  1691062427.611697755  0.536301   -0.356736  9.97664    -0.0532632  0.0106526   0.0383495   0.25       -0.02         pose: 0.39050678    2.71225    0.0960081   0 -0.00236331 -0.00836037 -0.0550556  0.998445       uwb: 0.50071657     845.894  728.722  
imu_odom_:  1691062427.625697440  0.502782   -0.572214  9.19134    -0.0777643  -0.00106526 0.0500674   0.25       -0.02         pose: 0.0           2.71225    0.0960081   0 -0.00236331 -0.00836037 -0.0550556  0.998445       uwb: 0.0            845.894  728.722  
imu_odom_:  1691062427.641751073  0.203507   -0.117316  9.89524    -0.0468716  0.015979    0.0415453   0.25       -0.02         pose: 0.0           2.71225    0.0960081   0 -0.00236331 -0.00836037 -0.0550556  0.998445       uwb: 0.49933716     845.067  728.922  
imu_odom_:  1691062427.663649549  0.438139   -0.260968  10.2089    -0.0511327  -0.0276969  0.0553937   0.18       0             pose: 0.47101700    2.71774    0.0862696   0 -0.00584351 -0.00628964 -0.0549585  0.998452       uwb: 0.0            845.067  728.922  
imu_odom_:  1691062427.676690647  0.385466   -0.507571  9.37569    -0.072438   -0.00319579 0.0479369   0.18       0             pose: 0.0           2.71774    0.0862696   0 -0.00584351 -0.00628964 -0.0549585  0.998452       uwb: 0.0            845.067  728.922  
imu_odom_:  1691062427.700699938  0.557849   -0.349553  9.8282     -0.0394148  -0.0170442  0.0330232   0.18       0.02          pose: 0.43892606    2.72773    0.0867703   0 -0.00522266 -0.00338616 -0.0547126  0.998483       uwb: 0.50005457     845.261  728.161  
imu_odom_:  1691062427.726804006  0.356736   -0.0861913 10.0628    -0.04048    0.00639159  0.036219    0.18       0.02          pose: 0.8086892     2.72773    0.0867703   0 -0.00553051 -0.00416123 -0.0547408  0.998477       uwb: 0.0            845.261  728.161  
imu_odom_:  1691062427.750780052  0.447716   -0.251391  10.477     -0.0468716  0.0394148   0.0479369   0.19       0             pose: 0.42026467    2.73772    0.0872752   0 -0.0036963  -0.00421033 -0.0548452  0.998479       uwb: 0.50077197     844.603  727.559  
imu_odom_:  1691062427.767689910  0.0766145  -0.505177  9.72764    -0.0553937  -0.0106526  0.0447411   0.19       0             pose: 0.0           2.73772    0.0872752   0 -0.0036963  -0.00421033 -0.0548452  0.998479       uwb: 0.0            844.603  727.559  
imu_odom_:  1691062427.792669745  0.181959   -0.114922  9.80904    -0.0436758  -0.0585895  0.056459    0.18       -0.02         pose: 0.40885904    2.7477     0.0877784   0 -0.00291906 -0.000465631-0.0546986  0.998499       uwb: 0.49937799     843.632  727.518  
imu_odom_:  1691062427.815615464  0.462081   -0.272939  9.22007    -0.056459   -0.0447411  0.0436758   0.18       -0.02         pose: 0.0           2.7477     0.0877784   0 -0.00291906 -0.000465631-0.0546986  0.998499       uwb: 0.0            843.632  727.518  
imu_odom_:  1691062427.832613102  0.4956     0.220267   10.2352    -0.0426106  0.0276969   0.0500674   0.25       -0.02         pose: 0.47925554    2.75435    0.0881177   0 -0.00242052 -0.0016435  -0.054437   0.998513       uwb: 0.0            843.632  727.518  
imu_odom_:  1691062427.857619476  0.430956   -0.296881  9.79707    -0.0553937  0.00213053  0.04048     0.25       -0.02         pose: 0.0           2.75435    0.0881177   0 -0.00242052 -0.0016435  -0.054437   0.998513       uwb: 0.49952963     844.462  726.203  
imu_odom_:  1691062427.883683590  0.00718261 -0.114922  10.1801    -0.0649811  0.0415453   0.0543285   0.23       0.02          pose: 0.42004012    2.76434    0.0886289   0 -0.00310172 -0.00127705 -0.0543363  0.998517       uwb: 0.0            844.462  726.203  
imu_odom_:  1691062427.907612975  0.162806   -0.213084  10.4244    -0.0553937  0.0298274   0.0319579   0.23       0.02          pose: 0.8008443     2.76768    0.0888002   0 -0.00280641 -0.000358127-0.0542761  0.998522       uwb: 0.49986209     845.792  724.641  
imu_odom_:  1691062427.923676232  0.35913    -0.153229  9.92636    -0.0511327  -0.0479369  0.0415453   0.19       -0.02         pose: 0.25044286    2.76768    0.0888002   0 -0.00194158 0.00250443  -0.0541654  0.998527       uwb: 0.0            845.792  724.641  
imu_odom_:  1691062427.939607381  0.627281   0.0167594  9.68215    -0.0681769  -0.00852212 0.056459    0.19       -0.02         pose: 0.0           2.76768    0.0888002   0 -0.00194158 0.00250443  -0.0541654  0.998527       uwb: 0.0            845.792  724.641  
imu_odom_:  1691062427.962591594  0.500388   -0.134075  10.2089    -0.0553937  0.00106526  0.0308927   0.23       -0.02         pose: 0.24020082    2.77766    0.0893157   0 -0.0008189620.0039494   -0.0542166  0.998521       uwb: 0.50045410     846.193  723.662  
imu_odom_:  1691062427.985791613  0.723049   0.0023942  10.963     -0.0500674  -0.00639159 0.04048     0.23       -0.02         pose: 0.0           2.77766    0.0893157   0 -0.0008189620.0039494   -0.0542166  0.998521       uwb: 0.0            846.193  723.662  
imu_odom_:  1691062428.11644301   0.924162   0.0311246  10.0509    -0.04048    -0.0351537  0.0266316   0.25       0             pose: 0.31917998    2.77766    0.0893157   0 0.00109538  0.00140502  -0.0540965  0.998534       uwb: 0.49997875     846.183  723.075  
imu_odom_:  1691062428.35625901   0.600945   -0.25618   9.91199    -0.0468716  -0.0149137  0.0415453   0.25       0             pose: 0.0           2.77766    0.0893157   0 0.00109538  0.00140502  -0.0540965  0.998534       uwb: 0.0            846.183  723.075  
imu_odom_:  1691062428.51606635   0.172383   -0.189142  9.50977    -0.0511327  0.0117179   0.0426106   0.17       0.02          pose: 0.47028501    2.78765    0.089833    0 0.00308613  -0.00301458 -0.0541984  0.998521       uwb: 0.50072844     846.532  721.993  
imu_odom_:  1691062428.76585609   0.42138    -0.347159  10.0221    -0.0532632  -0.0245011  0.0617853   0.17       0.02          pose: 0.0           2.78765    0.089833    0 0.00308613  -0.00301458 -0.0541984  0.998521       uwb: 0.0            846.532  721.993  
imu_odom_:  1691062428.100623494  0.225055   -0.354342  10.0389    -0.04048    0.0340885   0.0394148   0.21       0             pose: 0.48986232    2.79764    0.0903481   0 0.00198156  -0.0058527  -0.0542633  0.998508       uwb: 0.49879500     847.13   720.777  
imu_odom_:  1691062428.123645340  0.351948   -0.579397  9.663      -0.0671117  0.0468716   0.0500674   0.21       0             pose: 0.0           2.79764    0.0903481   0 0.00198156  -0.0058527  -0.0542633  0.998508       uwb: 0.0            847.13   720.777  
imu_odom_:  1691062428.138620826  0.361524   -0.354342  9.81623    -0.052198   0.0394148   0.0383495   0.18       0             pose: 0.40979247    2.80762    0.0908636   0 -0.000461481-0.0032629  -0.0539658  0.998537       uwb: 0.0            847.13   720.777  
imu_odom_:  1691062428.163703329  0.555455   -0.512359  9.46188    -0.0596548  -0.0383495  0.0490022   0.18       0             pose: 0.0           2.80762    0.0908636   0 -0.000461481-0.0032629  -0.0539658  0.998537       uwb: 0.0            847.13   720.777  
imu_odom_:  1691062428.187632144  0.189142   -0.0383072 9.47146    -0.0479369  -0.0127832  0.0468716   0.18       0             pose: 0.47013654    2.81761    0.0913843   0 -0.00390944 0.000386767 -0.0538431  0.998542       uwb: 0.0            847.13   720.777  
imu_odom_:  1691062428.210638242  0.167594   -0.234632  9.69652    -0.0692422  -0.0671117  0.0553937   0.18       0             pose: 0.0           2.81761    0.0913843   0 -0.00390944 0.000386767 -0.0538431  0.998542       uwb: 0.99983555     847.313  719.952  
imu_odom_:  1691062428.227566773  1.0319     -0.150835  10.24      -0.052198   -0.0234358  0.0330232   0.21       0             pose: 0.39973707    2.81761    0.0913843   0 -0.00607832 -0.000471424-0.0537075  0.998538       uwb: 0.0            847.313  719.952  
imu_odom_:  1691062428.251561205  0.720655   -0.464475  9.64384    -0.0639159  0.00639159  0.0394148   0.21       0             pose: 0.0           2.81761    0.0913843   0 -0.00607832 -0.000471424-0.0537075  0.998538       uwb: 0.49973113     847.442  719.024  
imu_odom_:  1691062428.277558551  0.112527   -0.471658  9.55287    -0.0585895  0.036219    0.0436758   0.21       0.02          pose: 0.47020653    2.8276     0.0919095   0 -0.00392812 0.00113186  -0.0534699  0.998561       uwb: 0.0            847.442  719.024  
imu_odom_:  1691062428.300625016  0.0861913  -0.160412  9.62948    -0.0681769  0.00106526  0.0394148   0.21       0.02          pose: 0.41987995    2.83758    0.0924393   0 -0.00546109 -0.000933847-0.0534956  0.998553       uwb: 0.50042521     848.751  717.329  
imu_odom_:  1691062428.316550632  0.35913    -0.306458  9.81383    -0.072438   0.00639159  0.0479369   0.18       0             pose: 0.41024742    2.8481     0.0829827   0 -0.0050683  0.00309415  -0.0534397  0.998553       uwb: 0.0            848.751  717.329  
imu_odom_:  1691062428.339606016  0.301669   -0.47884   10.252     -0.056459   -0.0117179  0.04048     0.18       0             pose: 0.0           2.8481     0.0829827   0 -0.0050683  0.00309415  -0.0534397  0.998553       uwb: 0.0            848.751  717.329  
imu_odom_:  1691062428.354694071  0.462081   -0.11971   9.90481    -0.0468716  -0.0138484  0.0394148   0.19       0             pose: 0.6965871     2.8481     0.0829827   0 -0.0046904  0.00259009  -0.0534123  0.998558       uwb: 0.49948033     848.731  716.699  
imu_odom_:  1691062428.381670710  0.797269   -0.184354  10.0197    -0.0500674  -0.0298274  0.0490022   0.19       0             pose: 0.0           2.8481     0.0829827   0 -0.0046904  0.00259009  -0.0534123  0.998558       uwb: 0.0            848.731  716.699  
imu_odom_:  1691062428.406535948  0.799663   -0.071826  9.89524    -0.0511327  0.0149137   0.0447411   0.19       0             pose: 0.39134689    2.85808    0.0835143   0 -0.00568125 0.00240544  -0.0533668  0.998556       uwb: 0.50049521     848.431  716.138  
imu_odom_:  1691062428.429523090  0.732626   -0.234632  9.78989    -0.0681769  0.0127832   0.0436758   0.19       0             pose: 0.0           2.85808    0.0835143   0 -0.00568125 0.00240544  -0.0533668  0.998556       uwb: 0.0            848.431  716.138  
imu_odom_:  1691062428.452527439  0.656011   -0.191536  9.80904    -0.0543285  0.00639159  0.0415453   0.25       0             pose: 0.82797514    2.86807    0.0840467   0 -0.00297509 -0.00504253 -0.0531599  0.998569       uwb: 0.50192418     849.071  714.944  
imu_odom_:  1691062428.468524504  0.474052   -0.306458  10.1179    -0.0713727  0.00213053  0.0649811   0.25       0             pose: 0.7020115     2.86807    0.0840467   0 -0.00269104 -0.00565101 -0.0531562  0.998567       uwb: 0.0            849.071  714.944  
imu_odom_:  1691062428.494530599  0.730232   -0.220267  10.0796    -0.0681769  0.00745685  0.036219    0.18       0.02          pose: 0.0           2.86807    0.0840467   0 -0.00269104 -0.00565101 -0.0531562  0.998567       uwb: 0.49862003     849.357  713.674  
imu_odom_:  1691062428.519529987  0.227449   -0.476446  10.2208    -0.0447411  -0.00532632 0.0308927   0.18       0.02          pose: 0.31981299    2.87806    0.0845831   0 -0.00311469 -0.00568533 -0.0529371  0.998577       uwb: 0.0            849.357  713.674  
imu_odom_:  1691062428.534661204  0.215478   -0.102951  9.74679    -0.0447411  0.00319579  0.0426106   0.2        -0.02         pose: 0.0           2.87806    0.0845831   0 -0.00311469 -0.00568533 -0.0529371  0.998577       uwb: 0.0            849.357  713.674  
imu_odom_:  1691062428.559529358  0.335188   -0.138864  10.3525    -0.0543285  -0.0319579  0.0436758   0.2        -0.02         pose: 0.57091799    2.88804    0.0851235   0 -0.00351148 -0.00539106 -0.0530749  0.99857        uwb: 0.49872500     850.501  712.199  
imu_odom_:  1691062428.582534873  0.514753   -0.138864  10.2855    -0.0617853  -0.0319579  0.0383495   0.18       -0.02         pose: 0.0           2.88804    0.0851235   0 -0.00351148 -0.00539106 -0.0530749  0.99857        uwb: 0.0            850.501  712.199  
imu_odom_:  1691062428.608513263  0.509965   -0.248997  10.3166    -0.0575243  -0.0255663  0.0394148   0.18       -0.02         pose: 0.7015741     2.89803    0.0856619   0 -0.00072962 -0.00351989 -0.0530187  0.998587       uwb: 0.49860836     850.197  711.614  
imu_odom_:  1691062428.632524901  1.00556    -0.258574  10.2041    -0.0340885  -0.00213053 0.0351537   0.23       0             pose: 0.41968164    2.90571    0.0760619   0 -0.00195361 -0.00540368 -0.053024   0.998577       uwb: 0.0            850.197  711.614  
imu_odom_:  1691062428.648515551  0.462081   -0.260968  9.73961    -0.036219   0.00639159  0.0383495   0.23       0             pose: 0.0           2.90571    0.0760619   0 -0.00195361 -0.00540368 -0.053024   0.998577       uwb: 0.50055645     850.564  710.469  
imu_odom_:  1691062428.674519312  0.411803   -0.3304    9.70609    -0.0500674  0.036219    0.036219    0.18       -0.02         pose: 0.40002288    2.90855    0.0762151   0 -0.00194312 -0.00612678 -0.0530832  0.998569       uwb: 0.0            850.564  710.469  
imu_odom_:  1691062428.699494204  0.4956     -0.533907  9.65821    -0.0692422  -0.0308927  0.0426106   0.18       -0.02         pose: 0.0           2.90855    0.0762151   0 -0.00194312 -0.00612678 -0.0530832  0.998569       uwb: 0.50113387     851.494  708.537  
imu_odom_:  1691062428.723504967  0.553061   -0.474052  9.69652    -0.0575243  0.0223706   0.0490022   0.21       -0.02         pose: 0.50978653    2.91854    0.0767527   0 -0.00600698 -0.00386992 -0.0530673  0.998565       uwb: 0.0            851.494  708.537  
imu_odom_:  1691062428.739561233  0.488417   -0.268151  10.4722    -0.0468716  -0.0223706  0.052198    0.21       -0.02         pose: 0.0           2.91854    0.0767527   0 -0.00600698 -0.00386992 -0.0530673  0.998565       uwb: 0.0            851.494  708.537  
imu_odom_:  1691062428.764514835  0.730232   -0.342371  10.3813    -0.0490022  0.0213053   0.0255663   0.18       -0.02         pose: 0.40067029    2.92852    0.0772918   0 -0.00658253 -0.00446207 -0.0528562  0.99857        uwb: 0.50000526     851.576  707.438  
imu_odom_:  1691062428.787534057  0.651223   -0.332794  9.70609    -0.056459   -0.0490022  0.0340885   0.18       -0.02         pose: 0.6968788     2.92852    0.0772918   0 -0.00658515 -0.00507183 -0.0529097  0.998565       uwb: 0.0            851.576  707.438  
imu_odom_:  1691062428.812636682  0.42138    -0.28491   9.54568    -0.0351537  0.0234358   0.0426106   0.19       0             pose: 0.24116041    2.93851    0.0778335   0 -0.00662779 -0.00739517 -0.0530672  0.998542       uwb: 0.50124761     852.12   706.609  
imu_odom_:  1691062428.828557049  0.0933739  -0.19393   10.0533    -0.052198   -0.0255663  0.0479369   0.19       0             pose: 0.0           2.93851    0.0778335   0 -0.00662779 -0.00739517 -0.0530672  0.998542       uwb: 0.0            852.12   706.609  
imu_odom_:  1691062428.853494320  0.325611   -0.0837971 9.95748    -0.0745685  -0.0170442  0.0458064   0.18       0             pose: 0.25032343    2.93851    0.0778335   0 -0.00637631 -0.00858013 -0.0531063  0.998532       uwb: 0.49827298     853.733  704.697  
imu_odom_:  1691062428.879541826  0.332794   -0.667982  9.59117    -0.0639159  -0.0340885  0.0383495   0.21       0             pose: 0.40882426    2.94849    0.0783716   0 -0.00456076 -0.00497497 -0.0529804  0.998573       uwb: 0.0            853.733  704.697  
imu_odom_:  1691062428.895481732  0.189142   -0.0143652 10.635     -0.0458064  0.0138484   0.0319579   0.19       -0.02         pose: 0.0           2.94849    0.0783716   0 -0.00456076 -0.00497497 -0.0529804  0.998573       uwb: 0.50020649     853.077  704.024  
imu_odom_:  1691062428.921479953  0.385466   -0.0933739 10.0341    -0.0671117  0.0127832   0.0511327   0.19       -0.02         pose: 0.0           2.94849    0.0783716   0 -0.00456076 -0.00497497 -0.0529804  0.998573       uwb: 0.0            853.077  704.024  
imu_odom_:  1691062428.946473509  0.581791   -0.308852  9.5385     -0.0479369  0.0223706   0.0298274   0.23       -0.02         pose: 0.49969905    2.95848    0.0789125   0 -0.00531118 -0.0028757  -0.0529586  0.998578       uwb: 0.50115429     852.991  703.199  
imu_odom_:  1691062428.962530650  0.172383   -0.265756  9.87129    -0.0703074  -0.04048    0.0553937   0.23       -0.02         pose: 0.0           2.95848    0.0789125   0 -0.00531118 -0.0028757  -0.0529586  0.998578       uwb: 0.0            852.991  703.199  
imu_odom_:  1691062428.987481919  0.588974   -0.490811  9.67257    -0.0511327  -0.00745685 0.0276969   0.22       0             pose: 0.75999914    2.969      0.0694675   0 -0.00307625 -0.00200685 -0.0528409  0.998596       uwb: 0.0            852.991  703.199  
imu_odom_:  1691062429.12473730   0.490811   -0.0837971 10.0078    -0.0543285  -0.0170442  0.056459    0.2        0             pose: 0.0           2.969      0.0694675   0 -0.00307625 -0.00200685 -0.0528409  0.998596       uwb: 0.49826423     852.833  702.227  
imu_odom_:  1691062429.36459134   0.454898   -0.196325  10.2592    -0.0543285  0.00852212  0.0319579   0.22       0             pose: 0.31979841    2.97899    0.0700091   0 -0.0044822  -0.00344408 -0.0529311  0.998582       uwb: 0.0            852.833  702.227  
imu_odom_:  1691062429.60514238   0.976834   0          10.5824    -0.0596548  -0.0383495  0.0330232   0.19       0             pose: 0.0           2.97899    0.0700091   0 -0.0044822  -0.00344408 -0.0529311  0.998582       uwb: 0.50151903     851.417  701.983  
imu_odom_:  1691062429.76460277   0.591368   -0.244209  9.82341    -0.0553937  0.00852212  0.0319579   0.19       0             pose: 0.48960596    2.98897    0.0705518   0 -0.000182444-0.00363002 -0.0529087  0.998593       uwb: 0.0            851.417  701.983  
imu_odom_:  1691062429.101452680  0.299275   -0.282516  9.28711    -0.0553937  -0.0213053  0.04048     0.18       0             pose: 0.0           2.98897    0.0705518   0 -0.000182444-0.00363002 -0.0529087  0.998593       uwb: 0.49826159     850.841  701.481  
imu_odom_:  1691062429.127510407  0.158017   -0.433351  9.69412    -0.0511327  -0.00106526 0.0415453   0.18       0             pose: 0.41053344    2.99896    0.0710928   0 -0.000634022-0.00607746 -0.0530167  0.998575       uwb: 0.0            850.841  701.481  
imu_odom_:  1691062429.143447406  0.490811   -0.339977  9.991      -0.0543285  -0.0340885  0.0458064   0.17       -0.02         pose: 0.0           2.99896    0.0710928   0 -0.000634022-0.00607746 -0.0530167  0.998575       uwb: 0.50115748     849.274  701.609  
imu_odom_:  1691062429.169723855  0.296881   -0.0742203 9.87848    -0.04048    0.0287621   0.0426106   0.17       -0.02         pose: 0.49986264    3.00894    0.0716318   0 -0.002854   -0.00261999 -0.0529497  0.99859        uwb: 0.0            849.274  701.609  
imu_odom_:  1691062429.193459333  0.926556   -0.059855  10.0413    -0.0607201  -0.00958738 0.0458064   0.19       -0.02         pose: 0.35213160    3.00894    0.0716318   0 -0.00133801 -0.00112684 -0.0528829  0.998599       uwb: 0.49940186     849.517  700.142  
imu_odom_:  1691062429.217487023  0.497994   -0.311246  9.97424    -0.0553937  -0.00958738 0.0372843   0.19       -0.02         pose: 0.0           3.00894    0.0716318   0 -0.00133801 -0.00112684 -0.0528829  0.998599       uwb: 0.0            849.517  700.142  
imu_odom_:  1691062429.233437437  0.514753   -0.402226  9.54808    -0.0511327  -0.0351537  0.052198    0.18       0.02          pose: 0.6893260     3.00894    0.0716318   0 -0.00115819 -0.00180446 -0.0528625  0.998599       uwb: 0.0            849.517  700.142  
imu_odom_:  1691062429.257580613  0.0957681  -0.169988  9.55287    -0.0458064  0.0245011   0.0426106   0.18       0.02          pose: 0.0           3.00894    0.0716318   0 -0.00115819 -0.00180446 -0.0528625  0.998599       uwb: 0.50119247     851.492  698.188  
imu_odom_:  1691062429.281440908  0.0646434  -0.253785  9.63427    -0.0745685  -0.0490022  0.0543285   0.25       0             pose: 0.47829951    3.01893    0.0721738   0 -0.00373554 -0.0043278  -0.0527853  0.99859        uwb: 0.0            851.492  698.188  
imu_odom_:  1691062429.306707151  0.368707   -0.304064  10.1394    -0.056459   -0.0298274  0.0394148   0.25       0             pose: 0.0           3.01893    0.0721738   0 -0.00373554 -0.0043278  -0.0527853  0.99859        uwb: 0.49797870     850.864  697.579  
imu_odom_:  1691062429.321666023  0.842759   -0.337582  9.85693    -0.0628506  -0.0298274  0.04048     0.19       0             pose: 0.40157748    3.02946    0.0627324   0 -0.00361173 -0.00147956 -0.052629   0.998607       uwb: 0.0            850.864  697.579  
imu_odom_:  1691062429.347631595  0.596156   -0.234632  9.84975    -0.0553937  0.0511327   0.0394148   0.19       0             pose: 0.0           3.02946    0.0627324   0 -0.00361173 -0.00147956 -0.052629   0.998607       uwb: 0.49874278     851.008  696.537  
imu_odom_:  1691062429.372430355  1.3623     -0.588974  9.1267     -0.0980043  0.0820254   0.0372843   0.18       0.02          pose: 0.48863488    3.03944    0.0632799   0 -0.00460218 0.00111871  -0.0524902  0.99861        uwb: 0.0            851.008  696.537  
imu_odom_:  1691062429.398440838  0.368707   -0.387861  9.44991    -0.0415453  -0.0106526  0.0447411   0.18       0.02          pose: 0.0           3.03944    0.0632799   0 -0.00460218 0.00111871  -0.0524902  0.99861        uwb: 0.50044882     851.78   695.426  
imu_odom_:  1691062429.414471450  0.011971   -0.102951  10.3286    -0.0468716  -0.0735032  0.0426106   0.18       -0.02         pose: 0.42181952    3.04943    0.0638292   0 -0.00435874 -0.0019495  -0.0525203  0.998608       uwb: 0.0            851.78   695.426  
imu_odom_:  1691062429.440628040  0.282516   -0.201113  9.85693    -0.0500674  0.0287621   0.0436758   0.18       -0.02         pose: 0.0           3.04943    0.0638292   0 -0.00435874 -0.0019495  -0.0525203  0.998608       uwb: 0.0            851.78   695.426  
imu_odom_:  1691062429.465533829  0.277727   -0.387861  9.73722    -0.056459   0.0372843   0.0458064   0.23       -0.02         pose: 0.49820035    3.05941    0.0643785   0 -0.00627783 -0.000456117-0.0524485  0.998604       uwb: 0.50071711     851.686  694.556  
imu_odom_:  1691062429.480411335  0.174777   -0.258574  9.81383    -0.0543285  -0.00106526 0.0543285   0.23       -0.02         pose: 0.0           3.05941    0.0643785   0 -0.00627783 -0.000456117-0.0524485  0.998604       uwb: 0.0            851.686  694.556  
imu_odom_:  1691062429.507471395  0.902614   -0.268151  10.0173    -0.0639159  -0.0447411  0.0415453   0.18       0             pose: 0.42101754    3.0694     0.0649292   0 -0.00422053 0.00279983  -0.0523456  0.998616       uwb: 0.49843948     852.128  693.427  
imu_odom_:  1691062429.531401973  0.509965   -0.177171  10.0485    -0.0649811  -0.015979   0.0500674   0.18       0             pose: 0.0           3.0694     0.0649292   0 -0.00422053 0.00279983  -0.0523456  0.998616       uwb: 0.0            852.128  693.427  
imu_odom_:  1691062429.556411873  0.454898   -0.0215478 9.86172    -0.056459   -0.0319579  0.0394148   0.19       -0.02         pose: 0.40916278    3.0694     0.0649292   0 -0.00482514 0.00480813  -0.0521639  0.998615       uwb: 0.50017760     851.573  692.962  
imu_odom_:  1691062429.579402236  0.414197   -0.138864  9.9527     -0.0447411  -0.0170442  0.0330232   0.2        0             pose: 0.49932895    3.07938    0.0654847   0 -0.00282523 0.000251152 -0.0520322  0.998641       uwb: 0.0            851.573  692.962  
imu_odom_:  1691062429.595404851  0.605733   -0.301669  9.92397    -0.0628506  -0.00213053 0.0458064   0.2        0             pose: 0.0           3.07938    0.0654847   0 -0.00282523 0.000251152 -0.0520322  0.998641       uwb: 0.49999095     851.483  692.091  
imu_odom_:  1691062429.620464620  0.356736   -0.442927  10.2663    -0.0649811  -0.0276969  0.0447411   0.2        0             pose: 0.0           3.07938    0.0654847   0 -0.00282523 0.000251152 -0.0520322  0.998641       uwb: 0.0            851.483  692.091  
imu_odom_:  1691062429.646389073  0.474052   -0.0861913 10.2328    -0.056459   -0.0287621  0.04048     0.19       -0.02         pose: 0.63999671    3.08993    0.0560589   0 -0.000338627-0.00187823 -0.0520387  0.998643       uwb: 0.50105832     852.494  690.744  
imu_odom_:  1691062429.670394308  0.37589    -0.23942   10.0461    -0.0543285  -0.0127832  0.0383495   0.21       0             pose: 0.43968186    3.09991    0.0566173   0 0.000365104 -0.00242918 -0.0519819  0.998645       uwb: 0.0            852.494  690.744  
imu_odom_:  1691062429.686384966  0.550666   -0.129287  9.7444     -0.0415453  0.0319579   0.0383495   0.21       0             pose: 0.0           3.09991    0.0566173   0 0.000365104 -0.00242918 -0.0519819  0.998645       uwb: 0.0            852.494  690.744  
imu_odom_:  1691062429.702393706  0.124498   -0.418985  9.66539    -0.0372843  0.0170442   0.0394148   0.21       0             pose: 0.0           3.09991    0.0566173   0 0.000365104 -0.00242918 -0.0519819  0.998645       uwb: 0.49875153     853.274  689.592  
imu_odom_:  1691062429.727438893  0.126893   -0.64404   9.56244    -0.052198   0.0394148   0.04048     0.23       -0.02         pose: 0.7013119     3.09991    0.0566173   0 0.000106926 -0.00180689 -0.0519859  0.998646       uwb: 0.0            853.274  689.592  
imu_odom_:  1691062429.750438005  0.141258   -0.275333  10.0509    -0.0394148  0.00106526  0.04048     0.23       -0.02         pose: 0.0           3.09991    0.0566173   0 0.000106926 -0.00180689 -0.0519859  0.998646       uwb: 0.50003762     853.294  688.932  
imu_odom_:  1691062429.775439157  0.526724   -0.229843  9.81862    -0.0436758  0.00852212  0.0426106   0.19       0             pose: 0.55058585    3.1099     0.0571768   0 -0.0007425080.000616871 -0.0520041  0.998646       uwb: 0.0            853.294  688.932  
imu_odom_:  1691062429.801424268  0.627281   -0.102951  10.659     -0.0490022  -0.0276969  0.0543285   0.23       0             pose: 0.48944561    3.11988    0.057736    0 -0.00196707 0.00384269  -0.0519711  0.998639       uwb: 0.50043423     853.447  687.845  
imu_odom_:  1691062429.817408802  0.169988   -0.169988  9.91918    -0.0575243  -0.00213053 0.0340885   0.23       0             pose: 0.0           3.11988    0.057736    0 -0.00196707 0.00384269  -0.0519711  0.998639       uwb: 0.0            853.447  687.845  
imu_odom_:  1691062429.833365048  0.440533   -0.234632  10.1418    -0.0543285  -0.0308927  0.0245011   0.23       0             pose: 0.0           3.11988    0.057736    0 -0.00196707 0.00384269  -0.0519711  0.998639       uwb: 0.0            853.447  687.845  
imu_odom_:  1691062429.849366205  0.488417   -0.447716  9.74919    -0.056459   -0.0181095  0.0308927   0.19       -0.02         pose: 0.75959710    3.13985    0.0588572   0 -0.000607548-0.000646162-0.0519219  0.998651       uwb: 0.49934645     850.997  688.302  
imu_odom_:  1691062429.873343152  0.545878   -0.265756  9.69891    -0.0340885  0.0223706   0.0372843   0.19       -0.02         pose: 0.7017785     3.13985    0.0588572   0 -0.00129166 -0.000876772-0.051952   0.998648       uwb: 0.0            850.997  688.302  
imu_odom_:  1691062429.898383674  0.61531    -0.292093  9.51216    -0.0809601  0.0511327   0.0426106   0.19       -0.02         pose: 0.32960319    3.14746    0.0492684   0 -0.00223862 -0.00323964 -0.0520227  0.998638       uwb: 0.50009594     852.068  687.037  
imu_odom_:  1691062429.914353043  0.203507   -0.344765  9.57681    -0.0628506  0.0181095   0.0383495   0.18       -0.02         pose: 0.0           3.14746    0.0492684   0 -0.00223862 -0.00323964 -0.0520227  0.998638       uwb: 0.0            852.068  687.037  
imu_odom_:  1691062429.929465603  0.636858   -0.232238  9.70849    -0.056459   -0.0447411  0.0426106   0.19       0.02          pose: 0.0           3.14746    0.0492684   0 -0.00223862 -0.00323964 -0.0520227  0.998638       uwb: 0.0            852.068  687.037  
imu_odom_:  1691062429.956482210  0.790087   -0.0047884 10.2735    -0.0617853  0.00426106  0.036219    0.19       0.02          pose: 0.47057423    3.15039    0.0494328   0 -0.00350162 -0.00388257 -0.051987   0.998634       uwb: 0.50073461     852.284  686.077  
imu_odom_:  1691062429.981467906  0.237026   -0.146046  10.1203    -0.1012     -0.00426106 0.0607201   0.17       -0.02         pose: 0.36081635    3.16038    0.0499925   0 -0.00162335 -0.00687428 -0.0520375  0.99862        uwb: 0.0            852.284  686.077  
imu_odom_:  1691062430.7471392    0.452504   -0.246603  9.40442    -0.0916127  0.00213053  0.0351537   0.2        0.02          pose: 0.6941087     3.16038    0.0499925   0 -0.00154425 -0.00621368 -0.0519662  0.998628       uwb: 0.50034091     851.87   685.908  
imu_odom_:  1691062430.23475182   0.409408   -0.565032  9.82341    -0.0894822  -0.0735032  0.0479369   0.17       0             pose: 0.0           3.16038    0.0499925   0 -0.00154425 -0.00621368 -0.0519662  0.998628       uwb: 0.0            851.87   685.908  
imu_odom_:  1691062430.47325866   0.548272   -0.512359  9.44273    -0.04048    0.0181095   0.0223706   0.17       0             pose: 0.50953315    3.17036    0.0505537   0 -0.00329179 -0.00199982 -0.0518034  0.99865        uwb: 0.49904337     853.207  684.475  
imu_odom_:  1691062430.63392940   0.392649   0.102951   10.4698    -0.0639159  0.0106526   0.052198    0.19       -0.02         pose: 0.0           3.17036    0.0505537   0 -0.00329179 -0.00199982 -0.0518034  0.99865        uwb: 0.0            853.207  684.475  
imu_odom_:  1691062430.79320907   0.124498   -0.304064  9.59357    -0.0756338  -0.0468716  0.0511327   0.19       -0.02         pose: 0.39973459    3.18035    0.051117    0 -0.00571363 -0.00265602 -0.0519247  0.998631       uwb: 0.0            853.207  684.475  
imu_odom_:  1691062430.104404020  0.770933   -0.294487  10.0413    -0.0500674  0.00958738  0.0245011   0.19       0             pose: 0.24970836    3.18594    0.0514312   0 -0.00494614 -0.00121998 -0.0517699  0.998646       uwb: 0.50076696     853.077  683.472  
imu_odom_:  1691062430.129331403  0.167594   -0.208296  9.71088    -0.052198   -0.0276969  0.0266316   0.19       0             pose: 0.7024496     3.19033    0.0516793   0 -0.00492624 -0.00187631 -0.0518264  0.998642       uwb: 0.0            853.077  683.472  
imu_odom_:  1691062430.152369897  0.397437   -0.275333  10.2927    -0.0458064  0.0266316   0.0372843   0.19       0             pose: 0.42986000    3.19033    0.0516793   0 -0.00398448 -0.00151637 -0.0521234  0.998632       uwb: 0.49898218     854.87   681.533  
imu_odom_:  1691062430.177320027  0.363919   -0.222661  10.1442    -0.0351537  0.0308927   0.0458064   0.19       0             pose: 0.0           3.19033    0.0516793   0 -0.00398448 -0.00151637 -0.0521234  0.998632       uwb: 0.0            854.87   681.533  
imu_odom_:  1691062430.201353854  0.507571   -0.28491   9.95509    -0.052198   -0.0213053  0.0479369   0.24       0             pose: 0.47988624    3.20805    0.0426516   0 -0.0002268920.00230922  -0.0520639  0.998641       uwb: 0.50020703     855.213  680.808  
imu_odom_:  1691062430.215299902  0.0383072  -0.117316  9.98143    -0.04048    0.0106526   0.04048     0.24       0             pose: 0.0           3.20805    0.0426516   0 -0.0002268920.00230922  -0.0520639  0.998641       uwb: 0.0            855.213  680.808  
imu_odom_:  1691062430.231430260  0.100556   -0.232238  9.95748    -0.0383495  0.00745685  0.0308927   0.18       0.02          pose: 0.0           3.20805    0.0426516   0 -0.0002268920.00230922  -0.0520639  0.998641       uwb: 0.0            855.213  680.808  
imu_odom_:  1691062430.255336645  0.0023942  -0.304064  9.73722    -0.0447411  -0.0181095  0.04048     0.18       0.02          pose: 0.44985416    3.21086    0.0428086   0 -0.0005480390.00207527  -0.0519889  0.998645       uwb: 0.49957128     853.795  680.653  
imu_odom_:  1691062430.280430841  0.270545   -0.201113  10.1179    -0.0490022  0.00852212  0.0447411   0.18       0             pose: 0.33031202    3.21789    0.0432027   0 -0.0007236460.00522325  -0.0520171  0.998632       uwb: 0.0            853.795  680.653  
imu_odom_:  1691062430.306392052  0.213084   -0.158017  10.3214    -0.0607201  -0.0127832  0.0458064   0.18       0             pose: 0.7059493     3.22084    0.0433679   0 -0.0001416730.00570242  -0.0519958  0.998631       uwb: 0.50093902     853.521  680.053  
imu_odom_:  1691062430.330320018  0.80924    -0.124498  10.41      -0.0777643  -0.00319579 0.0575243   0.21       0             pose: 0.43995914    3.22816    0.0437792   0 0.00295956  0.00879274  -0.05185    0.998612       uwb: 0.0            853.521  680.053  
imu_odom_:  1691062430.355320892  0.488417   -0.213084  9.94551    -0.056459   0.0415453   0.0330232   0.21       0             pose: 0.0           3.22816    0.0437792   0 0.00295956  0.00879274  -0.05185    0.998612       uwb: 0.50067364     853.187  679.326  
imu_odom_:  1691062430.379379217  0.617704   -0.244209  9.81383    -0.0607201  -0.0340885  0.0447411   0.19       0             pose: 0.48928840    3.23828    0.0443527   0 0.00209683  0.00457625  -0.0517053  0.99865        uwb: 0.0            853.187  679.326  
imu_odom_:  1691062430.395416253  0.100556   -0.246603  9.56484    -0.0458064  -0.0426106  0.0351537   0.19       0             pose: 0.0           3.23828    0.0443527   0 0.00209683  0.00457625  -0.0517053  0.99865        uwb: 0.49678912     853.367  678.235  
imu_odom_:  1691062430.419412752  0.371101   -0.323217  9.21528    -0.0735032  -0.0383495  0.0383495   0.19       0             pose: 0.40095361    3.24644    0.0448147   0 0.00119624  0.00317149  -0.0516807  0.998658       uwb: 0.0            853.367  678.235  
imu_odom_:  1691062430.435271019  0.656011   0.124498   10.319     -0.0628506  -0.0191748  0.04048     0.19       0             pose: 0.7006707     3.25079    0.0450612   0 0.000433277 0.00294692  -0.0516871  0.998659       uwb: 0.0            853.367  678.235  
imu_odom_:  1691062430.461376004  0.454898   -0.361524  9.93833    -0.0681769  0.00639159  0.0447411   0.25       0.02          pose: 0.32848059    3.25079    0.0450612   0 -0.0003024990.00122553  -0.0516938  0.998662       uwb: 0.50086612     852.433  677.678  
imu_odom_:  1691062430.477490031  0.387861   -0.174777  9.8689     -0.0447411  -0.0223706  0.0351537   0.25       0.02          pose: 0.0           3.25079    0.0450612   0 -0.0003024990.00122553  -0.0516938  0.998662       uwb: 0.0            852.433  677.678  
imu_odom_:  1691062430.502274223  0.610521   -0.253785  9.95509    -0.0511327  -0.0245011  0.0500674   0.24       0             pose: 0.7185768     3.25079    0.0450612   0 -0.0009960670.000957323 -0.0516761  0.998663       uwb: 0.50008454     852.44   676.95   
imu_odom_:  1691062430.525313884  0.68953    -0.160412  9.67736    -0.0596548  -0.00958738 0.0372843   0.24       0             pose: 0.0           3.25079    0.0450612   0 -0.0009960670.000957323 -0.0516761  0.998663       uwb: 0.0            852.44   676.95   
imu_odom_:  1691062430.550299009  0.605733   -0.474052  9.7875     -0.0713727  -0.0234358  0.0532632   0.19       0             pose: 0.41832310    3.26134    0.0356429   0 -0.00121584 -0.00050414 -0.0516291  0.998665       uwb: 0.50032077     852.371  676.05   
imu_odom_:  1691062430.576271886  0.706289   -0.009576819.79707    -0.056459   0.0436758   0.036219    0.22       0.02          pose: 0.48989207    3.27133    0.0362096   0 -0.0016732  -0.0051118  -0.0515098  0.998658       uwb: 0.0            852.371  676.05   
imu_odom_:  1691062430.601382121  0.277727   -0.143652  9.54089    -0.0852212  -0.0213053  0.0596548   0.17       0             pose: 0.0           3.27133    0.0362096   0 -0.0016732  -0.0051118  -0.0515098  0.998658       uwb: 0.50032368     852.225  674.979  
imu_odom_:  1691062430.618264593  0.675165   -0.433351  10.2592    -0.0500674  0.0394148   0.0298274   0.17       0             pose: 0.0           3.27133    0.0362096   0 -0.0016732  -0.0051118  -0.0515098  0.998658       uwb: 0.0            852.225  674.979  
imu_odom_:  1691062430.634374245  0.474052   -0.153229  9.97664    -0.0479369  -0.00426106 0.0351537   0.2        -0.02         pose: 0.50033827    3.28131    0.0367796   0 -0.00118299 -0.00625996 -0.0513809  0.998659       uwb: 0.0            852.225  674.979  
imu_odom_:  1691062430.660290254  0.428562   -0.311246  9.67736    -0.0553937  -0.0127832  0.0447411   0.2        -0.02         pose: 0.0           3.28131    0.0367796   0 -0.00118299 -0.00625996 -0.0513809  0.998659       uwb: 0.50161561     851.59   674.337  
imu_odom_:  1691062430.686264006  0.282516   -0.198719  9.88566    -0.056459   0.00852212  0.0372843   0.23       0.02          pose: 0.58140854    3.29129    0.0373513   0 -0.00101424 -0.00446424 -0.0513024  0.998673       uwb: 0.0            851.59   674.337  
imu_odom_:  1691062430.702278295  0.490811   -0.198719  10.1634    -0.0596548  -0.0223706  0.0372843   0.23       0.02          pose: 0.0           3.29129    0.0373513   0 -0.00101424 -0.00446424 -0.0513024  0.998673       uwb: 0.49748028     851.808  673.307  
imu_odom_:  1691062430.728265170  0.600945   -0.383072  10.4507    -0.0532632  -0.02024    0.0394148   0.23       0             pose: 0.51841350    3.30128    0.0379246   0 -0.001221   -0.00142684 -0.0512831  0.998682       uwb: 0.0            851.808  673.307  
imu_odom_:  1691062430.744290833  0.177171   -0.160412  9.7875     -0.0426106  0.0287621   0.0426106   0.23       0             pose: 0.0           3.30128    0.0379246   0 -0.001221   -0.00142684 -0.0512831  0.998682       uwb: 0.50062698     853.204  671.827  
imu_odom_:  1691062430.769299872  0.505177   -0.337582  10.2472    -0.0394148  0.00958738  0.04048     0.2        0             pose: 0.50996498    3.31126    0.0384982   0 -0.00203272 -0.00245021 -0.0512679  0.99868        uwb: 0.0            853.204  671.827  
imu_odom_:  1691062430.795244753  0.172383   -0.316035  9.96946    -0.0330232  0.0181095   0.0319579   0.2        0             pose: 0.0           3.31126    0.0384982   0 -0.00203272 -0.00245021 -0.0512679  0.99868        uwb: 0.49940505     851.376  671.591  
imu_odom_:  1691062430.811268082  0.225055   -0.155623  10.1418    -0.0479369  -0.0351537  0.04048     0.19       -0.02         pose: 0.7081948     3.31126    0.0384982   0 -0.00259981 -0.0027355  -0.0512637  0.998678       uwb: 0.0            851.376  671.591  
imu_odom_:  1691062430.837235710  0.562637   -0.198719  9.86172    -0.0553937  0.0245011   0.0415453   0.19       -0.02         pose: 0.0           3.31126    0.0384982   0 -0.00259981 -0.0027355  -0.0512637  0.998678       uwb: 0.0            851.376  671.591  
imu_odom_:  1691062430.861353819  0.227449   -0.294487  10.0365    -0.0745685  0.0106526   0.0585895   0.23       0.02          pose: 0.50888303    3.32182    0.0290887   0 -0.00336508 -0.000144811-0.051336   0.998676       uwb: 0.50168559     854.299  668.87   
imu_odom_:  1691062430.886225500  0.186748   -0.0933739 10.1107    -0.0468716  0.00426106  0.0276969   0.2        0             pose: 0.16032370    3.3318     0.0296612   0 -0.00253892 -0.000132013-0.0513243  0.998679       uwb: 0.0            854.299  668.87   
imu_odom_:  1691062430.910285575  0.47884    -0.1652    9.8282     -0.0532632  -0.0372843  0.0298274   0.2        0             pose: 0.43060365    3.3389     0.0300687   0 -0.00247084 0.000936662 -0.0510779  0.998691       uwb: 0.49958295     853.079  668.456  
imu_odom_:  1691062430.936248828  0.797269   -0.229843  10.2496    -0.0458064  -0.0532632  0.0426106   0.19       0.02          pose: 0.6933799     3.34178    0.0302354   0 -0.00196238 0.00146749  -0.0511174  0.99869        uwb: 0.0            853.079  668.456  
imu_odom_:  1691062430.961339815  0.672771   -0.007182619.7851     -0.0468716  -0.04048    0.0394148   0.19       0.02          pose: 0.0           3.34178    0.0302354   0 -0.00196238 0.00146749  -0.0511174  0.99869        uwb: 0.0            853.079  668.456  
imu_odom_:  1691062430.976253783  0.792481   -0.31364   9.85453    -0.0490022  0.0191748   0.0340885   0.2        0             pose: 0.49061823    3.35177    0.030811    0 0.000269696 -0.000642827-0.0513247  0.998682       uwb: 0.0            853.079  668.456  
imu_odom_:  1691062430.993221995  0.263362   -0.699107  9.37569    -0.0681769  -0.0149137  0.0426106   0.2        0             pose: 0.0           3.35177    0.030811    0 0.000269696 -0.000642827-0.0513247  0.998682       uwb: 0.99836390     852.784  667.79   
imu_odom_:  1691062431.19232209   0.442927   -0.363919  9.32302    -0.0447411  0.00745685  0.0415453   0.19       0             pose: 0.49897927    3.35177    0.030811    0 0.00159156  -0.00580265 -0.0513148  0.998664       uwb: 0.0            852.784  667.79   
imu_odom_:  1691062431.44337208   0.560243   -0.409408  9.72764    -0.0596548  0.0245011   0.036219    0.19       0             pose: 0.0           3.35177    0.030811    0 0.00159156  -0.00580265 -0.0513148  0.998664       uwb: 0.0            852.784  667.79   
imu_odom_:  1691062431.59413331   0.399832   -0.316035  9.74201    -0.0468716  0.0191748   0.0351537   0.19       0             pose: 0.0           3.35177    0.030811    0 0.00159156  -0.00580265 -0.0513148  0.998664       uwb: 0.0            852.784  667.79   
imu_odom_:  1691062431.86231075   0.251391   -0.222661  10.2065    -0.0575243  0.0468716   0.0394148   0.19       -0.05         pose: 0.32999707    3.36175    0.0313837   0 -0.000985709-0.00537203 -0.0512913  0.998669       uwb: 0.0            852.784  667.79   
imu_odom_:  1691062431.111269290  0.349553   -0.179565  9.96946    -0.0468716  -0.0266316  0.0372843   0.19       0             pose: 0.50006146    3.37173    0.0319572   0 -0.00494221 -0.00432694 -0.0513073  0.998661       uwb: 0.100112902    854.327  665.775  
imu_odom_:  1691062431.126191432  0.526724   -0.301669  9.56005    -0.0585895  -0.0266316  0.0596548   0.19       0             pose: 0.0           3.37173    0.0319572   0 -0.00494221 -0.00432694 -0.0513073  0.998661       uwb: 0.0            854.327  665.775  
imu_odom_:  1691062431.142189982  0.634463   -0.0861913 10.5369    -0.0596548  -0.0181095  0.036219    0.19       0             pose: 0.0           3.37173    0.0319572   0 -0.00494221 -0.00432694 -0.0513073  0.998661       uwb: 0.49920701     855.085  664.317  
imu_odom_:  1691062431.157247732  0.213084   -0.222661  9.34696    -0.072438   -0.0127832  0.0383495   0.19       -0.02         pose: 0.42967358    3.38172    0.0325305   0 -0.00317826 4.74422e-05 -0.0513278  0.998677       uwb: 0.0            855.085  664.317  
imu_odom_:  1691062431.182245994  0.229843   -0.328006  9.61272    -0.0703074  0.00745685  0.036219    0.19       -0.02         pose: 0.0           3.38172    0.0325305   0 -0.00317826 4.74422e-05 -0.0513278  0.998677       uwb: 0.0            855.085  664.317  
imu_odom_:  1691062431.207187388  0.605733   -0.514753  10.647     -0.0479369  0.00958738  0.0351537   0.19       0.02          pose: 0.89025415    3.39948    0.0235368   0 -0.0023834  0.00164197  -0.0512744  0.99868        uwb: 0.49900870     855.715  663.355  
imu_odom_:  1691062431.230222103  0.591368   -0.263362  10.1945    -0.056459   0.02024     0.0500674   0.19       0.02          pose: 0.0           3.39948    0.0235368   0 -0.0023834  0.00164197  -0.0512744  0.99868        uwb: 0.0            855.715  663.355  
imu_odom_:  1691062431.246194406  0.311246   -0.277727  10.4148    -0.036219   -0.00213053 0.0532632   0.25       0             pose: 0.6950426     3.40226    0.0236966   0 -0.0028847  0.00123733  -0.0512918  0.998679       uwb: 0.50040852     853.947  663.297  
imu_odom_:  1691062431.263186832  0.25618    -0.205901  9.72285    -0.0511327  -0.0106526  0.0415453   0.25       0             pose: 0.0           3.40226    0.0236966   0 -0.0028847  0.00123733  -0.0512918  0.998679       uwb: 0.0            853.947  663.297  
imu_odom_:  1691062431.287183927  0.299275   -0.306458  9.48583    -0.0426106  0.0298274   0.0458064   0.24       0             pose: 0.47987483    3.41224    0.0242703   0 -0.00368981 -0.00111904 -0.0511768  0.998682       uwb: 0.0            853.947  663.297  
imu_odom_:  1691062431.312269095  0.481235   -0.52433   9.7875     -0.0490022  0.0479369   0.0415453   0.24       0             pose: 0.0           3.41224    0.0242703   0 -0.00368981 -0.00111904 -0.0511768  0.998682       uwb: 0.49876081     853.582  662.455  
imu_odom_:  1691062431.337213114  0.0814029  -0.205901  10.0461    -0.0468716  0.0426106   0.0479369   0.19       0             pose: 0.75085192    3.42222    0.024848    0 -0.00548611 0.00325078  -0.051002   0.998678       uwb: 0.0            853.582  662.455  
imu_odom_:  1691062431.354258325  0.636858   -0.0790087 10.3046    -0.0490022  -0.0415453  0.0468716   0.19       0             pose: 0.8037041     3.42222    0.024848    0 -0.00506915 0.00415061  -0.0509645  0.998679       uwb: 0.0            853.582  662.455  
imu_odom_:  1691062431.379169390  0.744597   0.124498   9.96946    -0.056459   -0.00106526 0.0468716   0.18       -0.02         pose: 0.0           3.42222    0.024848    0 -0.00506915 0.00415061  -0.0509645  0.998679       uwb: 0.0            853.582  662.455  
imu_odom_:  1691062431.404166194  0.392649   -0.19393   9.75158    -0.0585895  -0.00958738 0.0394148   0.18       -0.02         pose: 0.33952189    3.43221    0.0254275   0 -0.00330393 0.00424564  -0.0508239  0.998693       uwb: 0.100092204    853.798  661.336  
imu_odom_:  1691062431.427415841  0.632069   -0.131681  9.57441    -0.0585895  -0.0127832  0.0351537   0.18       -0.02         pose: 0.49907869    3.43962    0.0258604   0 0.000339539 0.000919925 -0.0507325  0.998712       uwb: 0.0            853.798  661.336  
imu_odom_:  1691062431.452212878  -0.347159  -0.225055  9.414      -0.0628506  0.0191748   0.0319579   0.18       -0.02         pose: 0.0           3.43962    0.0258604   0 0.000339539 0.000919925 -0.0507325  0.998712       uwb: 0.50000315     854.037  660.26   
imu_odom_:  1691062431.478209391  0.318429   -0.198719  9.98861    -0.0628506  -0.0394148  0.0394148   0.19       0             pose: 0.31222529    3.44278    0.0160281   0 0.000867032 -0.000537812-0.0508136  0.998708       uwb: 0.0            854.037  660.26   
imu_odom_:  1691062431.493164195  0.68953    -0.0383072 9.87129    -0.0458064  -0.0372843  0.036219    0.19       0             pose: 0.0           3.44278    0.0160281   0 0.000867032 -0.000537812-0.0508136  0.998708       uwb: 0.49995650     854.475  658.818  
imu_odom_:  1691062431.520381181  0.754174   -0.296881  9.99579    -0.0596548  -0.00213053 0.0468716   0.19       0             pose: 0.48766136    3.45276    0.0166111   0 0.00112552  0.00283781  -0.0508921  0.998699       uwb: 0.0            854.475  658.818  
imu_odom_:  1691062431.536290784  0.442927   -0.150835  9.7037     -0.0468716  0.0298274   0.0330232   0.19       0             pose: 0.0           3.45276    0.0166111   0 0.00112552  0.00283781  -0.0508921  0.998699       uwb: 0.0            854.475  658.818  
imu_odom_:  1691062431.562370703  0.294487   -0.320823  10.0676    -0.052198   -0.0245011  0.0500674   0.17       -0.02         pose: 0.44110841    3.46274    0.0171925   0 0.00128664  -0.000961811-0.0508302  0.998706       uwb: 0.50135341     854.704  657.698  
imu_odom_:  1691062431.587289642  0.371101   -0.177171  9.75877    -0.056459   -0.00639159 0.0394148   0.17       0.02          pose: 0.34105003    3.4701     0.0176218   0 0.00018909  0.000331325 -0.050722   0.998713       uwb: 0.0            854.704  657.698  
imu_odom_:  1691062431.612313276  0.507571   -0.407014  9.60075    -0.0639159  -0.02024    0.0479369   0.17       0.02          pose: 0.0           3.4701     0.0176218   0 0.00018909  0.000331325 -0.050722   0.998713       uwb: 0.49847793     854.899  656.491  
imu_odom_:  1691062431.634126351  0.0407014  -0.294487  9.81144    -0.052198   -0.00745685 0.0351537   0.18       0             pose: 0.49942573    3.48027    0.0182175   0 -8.58538e-050.000330127 -0.0506206  0.998718       uwb: 0.0            854.899  656.491  
imu_odom_:  1691062431.658180315  0.3304     -0.476446  9.92397    -0.0809601  0.0372843   0.0628506   0.18       0             pose: 0.0           3.48027    0.0182175   0 -8.58538e-050.000330127 -0.0506206  0.998718       uwb: 0.50082555     853.613  655.963  
imu_odom_:  1691062431.675198987  0.730232   -0.191536  10.149     -0.0671117  0.00639159  0.0287621   0.19       0.02          pose: 0.5831440     3.48271    0.018361    0 -0.0001727230.000895907 -0.0506335  0.998717       uwb: 0.0            853.613  655.963  
imu_odom_:  1691062431.691126379  0.174777   -0.366313  9.67018    -0.0479369  0.0117179   0.0340885   0.19       0.02          pose: 0.40035599    3.4899     0.0187834   0 -0.00307012 0.00332202  -0.0503939  0.998719       uwb: 0.49799382     854.048  654.475  
imu_odom_:  1691062431.717192008  0.196325   -0.143652  9.85214    -0.0490022  -0.0170442  0.0436758   0.19       0.02          pose: 0.7004961     3.49269    0.0189488   0 -0.00299015 0.00267087  -0.0504336  0.998719       uwb: 0.0            854.048  654.475  
imu_odom_:  1691062431.742130778  0.414197   -0.232238  10.2256    -0.056459   -0.0213053  0.0351537   0.19       0.02          pose: 0.0           3.49269    0.0189488   0 -0.00299015 0.00267087  -0.0504336  0.998719       uwb: 0.49992442     854.324  653.44   
imu_odom_:  1691062431.769269607  0.445322   -0.251391  9.87608    -0.052198   0.0511327   0.0447411   0.2        -0.02         pose: 0.33075256    3.49269    0.0189488   0 -0.00288513 0.00377371  -0.0505129  0.998712       uwb: 0.0            854.324  653.44   
imu_odom_:  1691062431.785168127  0.304064   -0.349553  9.92157    -0.0490022  0.00319579  0.0383495   0.2        -0.02         pose: 0.0           3.49269    0.0189488   0 -0.00288513 0.00377371  -0.0505129  0.998712       uwb: 0.0            854.324  653.44   
imu_odom_:  1691062431.802114475  0.761356   -0.160412  10.2544    -0.0383495  -0.0181095  0.0330232   0.23       0.02          pose: 0.0           3.49269    0.0189488   0 -0.00288513 0.00377371  -0.0505129  0.998712       uwb: 0.50039103     853.968  652.594  
imu_odom_:  1691062431.818178933  0.447716   -0.148441  9.71806    -0.0351537  0.0276969   0.0447411   0.23       0.02          pose: 0.50868208    3.50326    0.0095549   0 -0.00132307 0.00174824  -0.0505058  0.998721       uwb: 0.0            853.968  652.594  
imu_odom_:  1691062431.835250391  0.3304     -0.25618   10.1323    -0.0415453  -0.00639159 0.0436758   0.23       0.02          pose: 0.0           3.50326    0.0095549   0 -0.00132307 0.00174824  -0.0505058  0.998721       uwb: 0.0            853.968  652.594  
imu_odom_:  1691062431.851496243  0.770933   -0.0837971 9.81383    -0.0500674  -0.0149137  0.0340885   0.2        -0.02         pose: 0.86121651    3.52323    0.0107333   0 -0.0009009690.000980092 -0.0504503  0.998726       uwb: 0.49923908     852.185  652.607  
imu_odom_:  1691062431.868277820  0.545878   -0.258574  9.60314    -0.0426106  0.0138484   0.0394148   0.2        -0.02         pose: 0.0           3.52323    0.0107333   0 -0.0009009690.000980092 -0.0504503  0.998726       uwb: 0.0            852.185  652.607  
imu_odom_:  1691062431.884148927  0.517148   -0.217872  9.84017    -0.0468716  -0.0372843  0.0447411   0.2        -0.02         pose: 0.0           3.52323    0.0107333   0 -0.0009009690.000980092 -0.0504503  0.998726       uwb: 0.0            852.185  652.607  
imu_odom_:  1691062431.911139900  0.967257   -0.0023942 10.3837    -0.0500674  -0.0149137  0.0543285   0.25       -0.02         pose: 0.6850980     3.52323    0.0107333   0 -0.0006699720.00029158  -0.0504695  0.998725       uwb: 0.50019855     850.757  651.785  
imu_odom_:  1691062431.936171408  0.440533   -0.0790087 9.61272    -0.056459   -0.0181095  0.0447411   0.18       0.02          pose: 0.69038529    3.53321    0.0113232   0 0.000461103 -0.00659733 -0.0502628  0.998714       uwb: 0.0            850.757  651.785  
imu_odom_:  1691062431.953149252  0.237026   -0.244209  10.0533    -0.0553937  -0.0245011  0.0276969   0.18       0.02          pose: 0.0           3.53321    0.0113232   0 0.000461103 -0.00659733 -0.0502628  0.998714       uwb: 0.49989817     851.512  650.184  
imu_odom_:  1691062431.978137307  0.703895   -0.37589   9.99819    -0.0532632  -0.0372843  0.0372843   0.23       -0.02         pose: 0.32042301    3.54319    0.0119173   0 0.00235654  -0.00479685 -0.0502559  0.998722       uwb: 0.0            851.512  650.184  
imu_odom_:  1691062432.3204686    1.0319     -0.1652    10.161     -0.0458064  -0.0213053  0.0532632   0.21       0             pose: 0.0           3.54319    0.0119173   0 0.00235654  -0.00479685 -0.0502559  0.998722       uwb: 0.49988942     849.21   650.709  
imu_odom_:  1691062432.26201209   0.217872   -0.100556  9.83299    -0.0447411  -0.0468716  0.0458064   0.21       0             pose: 0.42090134    3.55317    0.0125107   0 0.00037243  -0.00687473 -0.0502858  0.998711       uwb: 0.0            849.21   650.709  
imu_odom_:  1691062432.42071158   0.682347   -0.3304    10.1778    -0.0468716  0.0223706   0.0340885   0.21       0             pose: 0.0           3.55317    0.0125107   0 0.00037243  -0.00687473 -0.0502858  0.998711       uwb: 0.49997128     848.865  649.91   
imu_odom_:  1691062432.66079348   0.47884    -0.153229  10.0916    -0.0458064  -0.00426106 0.0351537   0.2        0             pose: 0.47817770    3.56316    0.0131041   0 0.000799887 -0.00748213 -0.0501116  0.998715       uwb: 0.0            848.865  649.91   
imu_odom_:  1691062432.82091321   0.462081   -0.395043  9.14346    -0.0511327  0.0372843   0.0511327   0.2        0             pose: 0.0           3.56316    0.0131041   0 0.000799887 -0.00748213 -0.0501116  0.998715       uwb: 0.0            848.865  649.91   
imu_odom_:  1691062432.108137134  0.531513   -0.500388  9.53132    -0.0649811  0.036219    0.0479369   0.18       0             pose: 0.40007915    3.56375    0.00312193  0 0.000968303 -0.00563317 -0.0501494  0.998725       uwb: 0.49972637     848.659  648.59   
imu_odom_:  1691062432.131101870  0.258574   -0.294487  10.2544    -0.0500674  0.056459    0.0266316   0.18       0             pose: 0.0           3.56375    0.00312193  0 0.000968303 -0.00563317 -0.0501494  0.998725       uwb: 0.0            848.659  648.59   
imu_odom_:  1691062432.156071857  0.344765   -0.19393   9.80904    -0.0628506  -0.02024    0.052198    0.18       -0.02         pose: 0.41048744    3.57373    0.00371801  0 -0.00259566 -0.00403799 -0.0500081  0.998737       uwb: 0.50247062     845.916  648.987  
imu_odom_:  1691062432.173114452  0.373495   -0.102951  9.4164     -0.0308927  -0.00532632 0.0245011   0.18       -0.02         pose: 0.0           3.57373    0.00371801  0 -0.00259566 -0.00403799 -0.0500081  0.998737       uwb: 0.0            845.916  648.987  
imu_odom_:  1691062432.198083273  0.438139   -0.237026  9.81144    -0.0777643  0.00958738  0.0585895   0.22       0             pose: 0.48999466    3.58372    0.00431726  0 -0.0004140343.3274e-05  -0.0500075  0.998749       uwb: 0.49935017     845.595  648.255  
imu_odom_:  1691062432.215201984  0.538695   -0.301669  9.48583    -0.0628506  0.00532632  0.0372843   0.22       0             pose: 0.0           3.58372    0.00431726  0 -0.0004140343.3274e-05  -0.0500075  0.998749       uwb: 0.0            845.595  648.255  
imu_odom_:  1691062432.240058819  0.629675   -0.493206  9.43076    -0.0596548  0.00213053  0.0394148   0.21       -0.02         pose: 0.42067118    3.5937     0.00491634  0 -0.00175538 -0.00194449 -0.0498527  0.998753       uwb: 0.0            845.595  648.255  
imu_odom_:  1691062432.257064960  0.663194   -0.225055  9.7444     -0.0500674  -0.00745685 0.0276969   0.21       -0.02         pose: 0.0           3.5937     0.00491634  0 -0.00175538 -0.00194449 -0.0498527  0.998753       uwb: 0.49923352     844.351  647.929  
imu_odom_:  1691062432.273122719  0.823605   -0.354342  9.95509    -0.0575243  0.0117179   0.0426106   0.21       -0.02         pose: 0.41878724    3.60368    0.00551857  0 -0.0042166  -0.00469173 -0.0499092  0.998734       uwb: 0.0            844.351  647.929  
imu_odom_:  1691062432.290051287  0.433351   -0.440533  9.66539    -0.0649811  -0.00532632 0.0447411   0.21       -0.02         pose: 0.0           3.60368    0.00551857  0 -0.0042166  -0.00469173 -0.0499092  0.998734       uwb: 0.0            844.351  647.929  
imu_odom_:  1691062432.306058011  0.270545   -0.0694318 9.73004    -0.0351537  0.0149137   0.0532632   0.2        -0.02         pose: 0.0           3.60368    0.00551857  0 -0.0042166  -0.00469173 -0.0499092  0.998734       uwb: 0.50048461     844.691  647.033  
imu_odom_:  1691062432.323118687  0.462081   -0.409408  10.1107    -0.0532632  -0.00852212 0.0511327   0.2        -0.02         pose: 0.51069459    3.61366    0.00611997  0 -0.00503074 -0.00539224 -0.0498411  0.99873        uwb: 0.0            844.691  647.033  
imu_odom_:  1691062432.339049295  0.402226   -0.253785  10.0796    -0.0415453  -0.00213053 0.0415453   0.2        -0.02         pose: 0.0           3.61366    0.00611997  0 -0.00503074 -0.00539224 -0.0498411  0.99873        uwb: 0.0            844.691  647.033  
imu_odom_:  1691062432.356111430  0.177171   -0.196325  9.61272    -0.0458064  0.0340885   0.0436758   0.25       0             pose: 0.40887764    3.61366    0.00611997  0 -0.0047325  -0.00297499 -0.0496605  0.998751       uwb: 0.50007050     845.885  645.561  
imu_odom_:  1691062432.372107946  0.227449   -0.201113  10.1897    -0.052198   0.00319579  0.0468716   0.25       0             pose: 0.0           3.61366    0.00611997  0 -0.0047325  -0.00297499 -0.0496605  0.998751       uwb: 0.0            845.885  645.561  
imu_odom_:  1691062432.389238906  0.782904   -0.114922  9.59357    -0.0500674  -0.0117179  0.0330232   0.25       0             pose: 0.0           3.61366    0.00611997  0 -0.0047325  -0.00297499 -0.0496605  0.998751       uwb: 0.0            845.885  645.561  
imu_odom_:  1691062432.405181762  0.560243   -0.215478  9.71567    -0.0415453  0.0117179   0.0468716   0.18       -0.02         pose: 0.40002082    3.62425    -0.0032551  0 -0.00294783 -0.000281409-0.0495838  0.998766       uwb: 0.49875233     846.788  644.247  
imu_odom_:  1691062432.432035974  0.462081   -0.153229  10.137     -0.0490022  -0.0127832  0.0447411   0.25       0.02          pose: 0.0           3.62425    -0.0032551  0 -0.00294783 -0.000281409-0.0495838  0.998766       uwb: 0.0            846.788  644.247  
imu_odom_:  1691062432.448034532  0.881066   0.0574608  9.36612    -0.0532632  -0.0777643  0.0681769   0.25       0.02          pose: 0.34010242    3.63423    -0.00264738 0 -0.00118063 -0.00278437 -0.0495484  0.998767       uwb: 0.50235105     847.918  642.587  
imu_odom_:  1691062432.465031050  0.852336   -0.268151  9.48583    -0.0692422  0.0213053   0.136354    0.17       0.02          pose: 0.0           3.63423    -0.00264738 0 -0.00118063 -0.00278437 -0.0495484  0.998767       uwb: 0.0            847.918  642.587  
imu_odom_:  1691062432.481028442  1.16119    -0.304064  10.082     -0.056459   0.0106526   0.158724    0.17       0.02          pose: 0.0           3.63423    -0.00264738 0 -0.00118063 -0.00278437 -0.0495484  0.998767       uwb: 0.0            847.918  642.587  
imu_odom_:  1691062432.498276928  0.486023   -0.56982   9.32781    -0.0276969  -0.0383495  0.196009    0.19       0.35          pose: 0.67966823    3.64417    -0.00203713 0 0.000549954 -0.0078723  -0.0474947  0.99884        uwb: 0.49903229     846.43   642.558  
imu_odom_:  1691062432.514030516  1.42934    -0.354342  9.79468    -0.0585895  -0.0287621  0.290817    0.19       0.35          pose: 0.0           3.64417    -0.00203713 0 0.000549954 -0.0078723  -0.0474947  0.99884        uwb: 0.0            846.43   642.558  
imu_odom_:  1691062432.531143395  1.48201    -0.653617  10.1873    -0.0628506  0.0330232   0.38243     0.19       0.35          pose: 0.0           3.64417    -0.00203713 0 0.000549954 -0.0078723  -0.0474947  0.99884        uwb: 0.0            846.43   642.558  
imu_odom_:  1691062432.547180156  0.933739   -0.486023  9.71806    -0.0372843  0.0351537   0.411192    0.11       0.38          pose: 0.7121908     3.64421    -0.00203616 0 -5.81585e-05-0.00784921 -0.0469322  0.998867       uwb: 0.49909353     846.436  641.711  
imu_odom_:  1691062432.574194473  0.790087   -0.28491   9.96706    -0.0681769  -0.0149137  0.565655    0.11       0.38          pose: 0.0           3.64421    -0.00203616 0 -5.81585e-05-0.00784921 -0.0469322  0.998867       uwb: 0.0            846.436  641.711  
imu_odom_:  1691062432.590002014  0.828394   -0.61531   9.57681    -0.0532632  -0.0181095  0.637028    0.1        0.44          pose: 0.50880483    3.6542     -0.00146899 0 -0.00258808 -0.0111986  -0.0397491  0.999144       uwb: 0.0            846.436  641.711  
imu_odom_:  1691062432.607020987  -0.344765  -0.679953  9.06684    -0.0543285  0.116114    0.532632    0.14       0.47          pose: 0.0           3.6542     -0.00146899 0 -0.00258808 -0.0111986  -0.0397491  0.999144       uwb: 0.49985469     845.283  641.617  
imu_odom_:  1691062432.623069997  -1.40061   0.641646   10.3741    -0.0213053  -0.00106526 0.328101    0.11       0.32          pose: 0.0           3.6542     -0.00146899 0 -0.00258808 -0.0111986  -0.0397491  0.999144       uwb: 0.0            845.283  641.617  
imu_odom_:  1691062432.640007022  -0.909797  0.459687   9.76595    -0.0660464  -0.106526   0.297209    0.11       0.32          pose: 0.75989579    3.6542     -0.00146901 0 -0.00535069 -0.0117501  -0.0210347  0.999695       uwb: 0.0            845.283  641.617  
imu_odom_:  1691062432.656126607  0.560243   -0.407014  10.4818    -0.072438   -0.0500674  0.291882    0.13       0.26          pose: 0.0           3.6542     -0.00146901 0 -0.00535069 -0.0117501  -0.0210347  0.999695       uwb: 0.49927435     844.737  641.213  
imu_odom_:  1691062432.673177659  0.758962   -0.739808  9.34457    -0.0553937  -0.0266316  0.262055    0.13       0.26          pose: 0.33112602    3.66417    -0.0007890840 -0.0050022  -0.0101451  -0.016656   0.999797       uwb: 0.0            844.737  641.213  
imu_odom_:  1691062432.689126057  0.122104   -0.31364   9.47146    -0.052198   0.0777643   0.245011    0.13       0.26          pose: 0.0           3.66417    -0.0007890840 -0.0050022  -0.0101451  -0.016656   0.999797       uwb: 0.0            844.737  641.213  
imu_odom_:  1691062432.706196065  -0.265756  0.0430956  9.60075    -0.0543285  0.015979    0.247141    0.19       0.23          pose: 0.40993043    3.66417    -0.0007890840 -0.00723249 -0.00846985 -0.0120856  0.999865       uwb: 0.50117578     843.941  641.097  
imu_odom_:  1691062432.722109759  -0.275333  -0.40462   10.0844    -0.0756338  -0.0330232  0.246076    0.19       0.23          pose: 0.0           3.66417    -0.0007890840 -0.00723249 -0.00846985 -0.0120856  0.999865       uwb: 0.0            843.941  641.097  
imu_odom_:  1691062432.739105985  0.682347   -0.47884   10.2831    -0.0596548  -0.0415453  0.207727    0.19       0.23          pose: 0.0           3.66417    -0.0007890840 -0.00723249 -0.00846985 -0.0120856  0.999865       uwb: 0.0            843.941  641.097  
imu_odom_:  1691062432.754993432  0.548272   -0.287304  9.91199    -0.0532632  -0.00958738 0.2024      0.14       0.17          pose: 0.8021880     3.66417    -0.0007890840 -0.00688279 -0.00766175 -0.0112516  0.999884       uwb: 0.49793576     844.326  640.263  
imu_odom_:  1691062432.772054691  0.275333   -0.0574608 9.74679    -0.0639159  0.0394148   0.225836    0.2        0.17          pose: 0.0           3.66417    -0.0007890840 -0.00688279 -0.00766175 -0.0112516  0.999884       uwb: 0.0            844.326  640.263  
imu_odom_:  1691062432.788046542  -0.126893  -0.301669  9.94312    -0.0884169  0.00532632  0.224771    0.2        0.17          pose: 0.64997441    3.67415    -0.0001135950 -0.00577582 -0.00654618 -0.00528359 0.999948       uwb: 0.0            844.326  640.263  
imu_odom_:  1691062432.805167294  0.526724   -0.272939  9.88326    -0.0607201  -0.0255663  0.169377    0.19       0.14          pose: 0.0           3.67415    -0.0001135950 -0.00577582 -0.00654618 -0.00528359 0.999948       uwb: 0.50009091     843.999  639.508  
imu_odom_:  1691062432.821064073  0.730232   -0.186748  10.173     -0.0553937  -0.0287621  0.169377    0.19       0.14          pose: 0.0           3.67415    -0.0001135950 -0.00577582 -0.00654618 -0.00528359 0.999948       uwb: 0.0            843.999  639.508  
imu_odom_:  1691062432.839246069  0.275333   -0.337582  9.50977    -0.0553937  0.0532632   0.170442    0.19       0.14          pose: 0.32855968    3.68413    0.000580923 0 -0.00487133 -0.00452094 -0.00242951 0.999975       uwb: 0.0            843.999  639.508  
imu_odom_:  1691062432.855008406  0.565032   -0.466869  10.3046    -0.0436758  -0.0276969  0.158724    0.16       0.14          pose: 0.44244723    3.69001    0.000942103 0 -0.00387705 -0.00465317 0.000443445 0.999982       uwb: 0.50263976     843.997  638.638  
imu_odom_:  1691062432.872186318  1.09654    -0.0670376 9.28232    -0.0468716  -0.0106526  0.191748    0.16       0.14          pose: 0.6842526     3.69411    0.00123151  0 -0.00447738 -0.00497957 0.000853558 0.999977       uwb: 0.0            843.997  638.638  
imu_odom_:  1691062432.889256910  1.01993    -0.0071826110.1682    -0.0511327  0.0170442   0.257794    0.16       0.14          pose: 0.0           3.69411    0.00123151  0 -0.00447738 -0.00497957 0.000853558 0.999977       uwb: 0.0            843.997  638.638  
imu_odom_:  1691062432.905086614  1.63763    -0.536301  9.7851     -0.0468716  -0.0447411  0.24075     0.17       0.11          pose: 0.43168315    3.69411    0.00123151  0 -0.00360135 -0.00829753 0.00453267  0.999949       uwb: 0.49783078     846.357  637.168  
imu_odom_:  1691062432.922130084  1.60412    -0.007182619.61272    -0.0276969  0.00958738  0.134223    0.11       0.08          pose: 0.0           3.69411    0.00123151  0 -0.00360135 -0.00829753 0.00453267  0.999949       uwb: 0.0            846.357  637.168  
imu_odom_:  1691062432.939175595  1.30484    0.304064   9.85693    -0.0479369  0.0287621   0.117179    0.11       0.08          pose: 0.0           3.69411    0.00123151  0 -0.00360135 -0.00829753 0.00453267  0.999949       uwb: 0.0            846.357  637.168  
imu_odom_:  1691062432.954996842  0.677559   -0.277727  9.91199    -0.0617853  0.0394148   0.11931     0.1        0.05          pose: 0.23883955    3.70408    0.00194444  0 -0.00357007 -0.0108737  0.00650046  0.999913       uwb: 0.49998592     847.752  636.045  
imu_odom_:  1691062432.972109429  0.392649   -0.593762  9.9934     -0.0543285  0.00426106  0.0852212   0.1        0.05          pose: 0.0           3.70408    0.00194444  0 -0.00357007 -0.0108737  0.00650046  0.999913       uwb: 0.0            847.752  636.045  
imu_odom_:  1691062432.988027205  0.653617   -0.009576819.67736    -0.0436758  -0.0234358  0.0649811   0.1        0.05          pose: 0.33016365    3.70408    0.00194444  0 -0.00248936 -0.0130648  0.00784673  0.999881       uwb: 0.0            847.752  636.045  
imu_odom_:  1691062433.5136293    0.770933   0          9.76355    -0.0553937  0.00106526  0.122505    0.1        0.11          pose: 0.41869975    3.70408    0.00194444  0 -0.00268839 -0.0125846  0.00879937  0.999878       uwb: 0.49933268     849.011  634.579  
imu_odom_:  1691062433.20960756   0.711078   -0.459687  9.8282     -0.0585895  -0.00106526 0.134223    0.1        0.11          pose: 0.7959180     3.70408    0.00194444  0 -0.00196869 -0.0128929  0.00911926  0.999873       uwb: 0.0            849.011  634.579  
imu_odom_:  1691062433.37954949   0.68953    -0.435745  9.92157    -0.0436758  -0.00852212 0.110787    0.1        0.11          pose: 0.0           3.70408    0.00194444  0 -0.00196869 -0.0128929  0.00911926  0.999873       uwb: 0.0            849.011  634.579  
imu_odom_:  1691062433.54135785   0.617704   -0.0646434 9.93354    -0.0436758  0.00745685  0.0937433   0.05       0.08          pose: 0.41968564    3.71474    -0.00734984 0 -0.00431178 -0.0138506  0.0108839   0.999836       uwb: 0.50151718     849.398  633.707  
imu_odom_:  1691062433.81071376   0.663194   -0.244209  9.79707    -0.0681769  -0.00852212 0.111853    0.07       0.08          pose: 0.0           3.71474    -0.00734984 0 -0.00431178 -0.0138506  0.0108839   0.999836       uwb: 0.0            849.398  633.707  
imu_odom_:  1691062433.105957387  0.100556   -0.325611  9.85693    -0.0532632  0.0372843   0.0117179   0.05       0.02          pose: 0.24148477    3.71474    -0.00734984 0 -0.00191389 -0.0134307  0.0115795   0.999841       uwb: 0.49967998     849.228  633.294  
imu_odom_:  1691062433.133078455  -1.41737   0.155623   10.1083    -0.0681769  0.0340885   0.0585895   0.05       0.02          pose: 0.0           3.71474    -0.00734984 0 -0.00191389 -0.0134307  0.0115795   0.999841       uwb: 0.0            849.228  633.294  
imu_odom_:  1691062433.158036499  -0.354342  -0.869095  9.663      -0.0575243  -0.103331   0.0681769   0.09       0.02          pose: 0.70975029    3.71474    -0.00734984 0 -0.000318458-0.00744581 0.012151    0.999898       uwb: 0.49949041     850.431  631.659  
imu_odom_:  1691062433.184944094  0.691924   0.0191536  9.663      -0.0607201  -0.0308927  0.0969391   0.09       0.02          pose: 0.7999721     3.71474    -0.00734984 0 -0.000798665-0.00719732 0.0122693   0.999899       uwb: 0.0            850.431  631.659  
imu_odom_:  1691062433.201010902  0.23942    -0.0646434 9.54568    -0.0713727  0.0372843   0.0980043   0.11       0             pose: 0.0           3.71474    -0.00734984 0 -0.000798665-0.00719732 0.0122693   0.999899       uwb: 0.49983454     848.352  632.078  
imu_odom_:  1691062433.227954075  -0.155623  -0.191536  9.97185    -0.0458064  -0.00319579 0.0543285   0.11       0             pose: 0.50886343    3.72472    -0.00670477 0 0.000657383 -0.00759467 0.0134757   0.99988        uwb: 0.0            848.352  632.078  
imu_odom_:  1691062433.252936033  0.172383   -0.277727  9.87608    -0.0415453  0.00745685  0.0756338   0.16       0.02          pose: 0.35989556    3.72472    -0.00670477 0 0.00105386  -0.00386247 0.0139333   0.999895       uwb: 0.0            848.352  632.078  
imu_odom_:  1691062433.269934601  0.0837971  -0.0790087 9.60554    -0.0447411  0.015979    0.0639159   0.16       0.02          pose: 0.7063003     3.72472    -0.00670477 0 0.000908043 -0.00314052 0.0140609   0.999896       uwb: 0.0            848.352  632.078  
imu_odom_:  1691062433.285929084  -0.102951  -0.0957681 10.1682    -0.0415453  0.0245011   0.0809601   0.15       0.05          pose: 0.0           3.72472    -0.00670477 0 0.000908043 -0.00314052 0.0140609   0.999896       uwb: 0.0            848.352  632.078  
imu_odom_:  1691062433.303046346  -0.208296  -0.268151  9.46428    -0.0490022  -0.0213053  0.0617853   0.15       0.05          pose: 0.42925117    3.7347     -0.00602412 0 0.00137846  0.00137385  0.014755    0.999889       uwb: 0.99929288     848.324  631.097  
imu_odom_:  1691062433.327939065  0.397437   -0.0742203 9.89045    -0.0383495  -0.02024    0.0628506   0.14       0.02          pose: 0.0           3.7347     -0.00602412 0 0.00137846  0.00137385  0.014755    0.999889       uwb: 0.0            848.324  631.097  
imu_odom_:  1691062433.352918980  1.1157     -0.459687  10.1969    -0.0596548  -0.0532632  0.0894822   0.14       0.02          pose: 0.33111163    3.7347     -0.00602412 0 0.00211421  0.00335105  0.0152017   0.999877       uwb: 0.50138018     849.835  629.261  
imu_odom_:  1691062433.375905893  -0.227449  -0.189142  9.57441    -0.0458064  0.0308927   0.056459    0.14       0.02          pose: 0.0           3.7347     -0.00602412 0 0.00211421  0.00335105  0.0152017   0.999877       uwb: 0.0            849.835  629.261  
imu_odom_:  1691062433.391924290  -0.0335188 -0.0837971 10.1227    -0.0575243  0.00213053  0.0916127   0.14       0             pose: 0.47900044    3.74467    -0.00532051 0 0.00273128  0.000140661 0.0160812   0.999867       uwb: 0.49886925     848.878  628.762  
imu_odom_:  1691062433.408980892  -0.107739  -0.347159  9.13627    -0.072438   -0.00745685 0.0884169   0.2        0.05          pose: 0.0           3.74467    -0.00532051 0 0.00273128  0.000140661 0.0160812   0.999867       uwb: 0.0            848.878  628.762  
imu_odom_:  1691062433.433955267  0.536301   -0.0430956 10.2065    -0.0617853  -0.0458064  0.0596548   0.2        0.05          pose: 0.39991313    3.75465    -0.00459949 0 0.00262815  0.00439192  0.0168022   0.999846       uwb: 0.0            848.878  628.762  
imu_odom_:  1691062433.458043085  -0.272939  -0.260968  10.4363    -0.0596548  0.00319579  0.0884169   0.16       0.02          pose: 0.35010552    3.75465    -0.00459949 0 0.00327438  0.00258293  0.0173042   0.999842       uwb: 0.0            848.878  628.762  
imu_odom_:  1691062433.481081616  0.383072   -0.296881  9.72764    -0.0553937  0.0138484   0.0479369   0.16       0.02          pose: 0.0           3.75465    -0.00459949 0 0.00327438  0.00258293  0.0173042   0.999842       uwb: 0.0            848.878  628.762  
imu_odom_:  1691062433.494904618  0.773327   -0.131681  9.98143    -0.0447411  -0.0351537  0.0596548   0.15       0.02          pose: 0.0           3.75465    -0.00459949 0 0.00327438  0.00258293  0.0173042   0.999842       uwb: 0.100052939    848.243  628.132  
imu_odom_:  1691062433.511928557  0.11971    -0.241814  9.94551    -0.0639159  -0.00532632 0.0894822   0.15       0.02          pose: 0.53017871    3.76462    -0.00385053 0 0.000874939 0.00341408  0.0180335   0.999831       uwb: 0.0            848.243  628.132  
imu_odom_:  1691062433.536912265  0.011971   -0.383072  9.81862    -0.0585895  0.0681769   0.0468716   0.16       0.02          pose: 0.0           3.76462    -0.00385053 0 0.000874939 0.00341408  0.0180335   0.999831       uwb: 0.0            848.243  628.132  
imu_odom_:  1691062433.561897430  0.23942    -0.500388  9.43315    -0.0543285  -0.00106526 0.0830906   0.16       0.02          pose: 0.32953390    3.7746     -0.00319025 0 0.000167325 0.00513128  0.0185633   0.999815       uwb: 0.49924836     845.739  628.501  
imu_odom_:  1691062433.575955194  0.708684   -0.517148  9.36372    -0.0735032  -0.0543285  0.0713727   0.18       0.02          pose: 0.0           3.7746     -0.00319025 0 0.000167325 0.00513128  0.0185633   0.999815       uwb: 0.0            845.739  628.501  
imu_odom_:  1691062433.599911487  0.143652   -0.153229  9.90242    -0.0511327  -0.0223706  0.0543285   0.15       0             pose: 0.56028666    3.77992    -0.002832   0 -0.00400705 0.00585881  0.019363    0.999787       uwb: 0.49952541     845.848  627.845  
imu_odom_:  1691062433.624893736  0.122104   -0.361524  10.1059    -0.0649811  0.0351537   0.0628506   0.2        0             pose: 0.0           3.77992    -0.002832   0 -0.00400705 0.00585881  0.019363    0.999787       uwb: 0.0            845.848  627.845  
imu_odom_:  1691062433.647898729  0.636858   0.0143652  9.34696    -0.052198   -0.02024    0.0468716   0.2        0             pose: 0.6969390     3.78457    -0.00251223 0 -0.00351786 0.00630821  0.0194194   0.999785       uwb: 0.50059278     845.008  627.659  
imu_odom_:  1691062433.672890893  0.414197   -0.438139  10.0221    -0.0681769  0.00852212  0.0692422   0.18       0             pose: 0.48063066    3.79455    -0.0018195  0 -0.00365505 0.00929799  0.0198634   0.999753       uwb: 0.0            845.008  627.659  
imu_odom_:  1691062433.696888014  0.806846   -0.342371  10.1706    -0.0319579  -0.0181095  0.0372843   0.2        0             pose: 0.0           3.79455    -0.0018195  0 -0.00365505 0.00929799  0.0198634   0.999753       uwb: 0.49917546     847.292  625.802  
imu_odom_:  1691062433.712876082  0.260968   -0.138864  9.43555    -0.0745685  0.0149137   0.072438    0.2        0             pose: 0.0           3.79455    -0.0018195  0 -0.00365505 0.00929799  0.0198634   0.999753       uwb: 0.0            847.292  625.802  
imu_odom_:  1691062433.738866206  0.361524   -0.0790087 10.1586    -0.0330232  -0.00319579 0.0383495   0.17       0             pose: 0.72914373    3.80452    -0.00111986 0 -0.00382438 0.00402356  0.0203621   0.999777       uwb: 0.0            847.292  625.802  
imu_odom_:  1691062433.752862728  0.244209   -0.141258  9.71806    -0.0692422  0.00745685  0.0532632   0.17       0             pose: 0.0           3.80452    -0.00111986 0 -0.00382438 0.00402356  0.0203621   0.999777       uwb: 0.50058111     848.628  624.397  
imu_odom_:  1691062433.768898332  0.395043   -0.320823  9.9503     -0.0777643  -0.00639159 0.0639159   0.17       0             pose: 0.48960705    3.8145     -0.0004134750 0.000548768 0.00505738  0.0206064   0.999775       uwb: 0.0            848.628  624.397  
imu_odom_:  1691062433.793916451  0.732626   -0.454898  10.2113    -0.0426106  -0.0223706  0.0330232   0.17       0.02          pose: 0.0           3.8145     -0.0004134750 0.000548768 0.00505738  0.0206064   0.999775       uwb: 0.49875259     847.584  623.703  
imu_odom_:  1691062433.818971316  0.567426   -0.332794  10.1634    -0.0660464  -0.00852212 0.0596548   0.17       0.02          pose: 0.7015176     3.8145     -0.0004134750 -7.72448e-050.00461045  0.0206897   0.999775       uwb: 0.0            847.584  623.703  
imu_odom_:  1691062433.835847691  0.452504   -0.189142  9.98143    -0.0245011  0.00958738  0.036219    0.24       0             pose: 0.0           3.8145     -0.0004134750 -7.72448e-050.00461045  0.0206897   0.999775       uwb: 0.0            847.584  623.703  
imu_odom_:  1691062433.860904014  0.579397   -0.0981623 10.058     -0.0628506  0.0127832   0.0649811   0.24       0             pose: 0.75969787    3.82447    0.00029983  0 -0.00108002 -0.0012992  0.0209221   0.99978        uwb: 0.50113230     848.263  622.542  
imu_odom_:  1691062433.885846310  1.67834    -0.0694318 9.11233    -0.0468716  0.0479369   0.0191748   0.17       0.02          pose: 0.0           3.82447    0.00029983  0 -0.00108002 -0.0012992  0.0209221   0.99978        uwb: 0.0            848.263  622.542  
imu_odom_:  1691062433.899892118  -0.203507  0.100556   11.0971    -0.0490022  0.116114    0.0671117   0.17       0.02          pose: 0.32035045    3.83445    0.00101972  0 0.000672383 -0.00340849 0.0211647   0.99977        uwb: 0.49933002     847.6    621.846  
imu_odom_:  1691062433.916056330  0.371101   -0.445322  8.7556     -0.052198   -0.0213053  0.0458064   0.17       0             pose: 0.0           3.83445    0.00101972  0 0.000672383 -0.00340849 0.0211647   0.99977        uwb: 0.0            847.6    621.846  
imu_odom_:  1691062433.940942341  1.21386    -0.392649  9.23204    -0.0639159  -0.0958738  0.0649811   0.17       0             pose: 0.48173594    3.84442    0.00174238  0 -1.28184e-05-0.00227125 0.0212263   0.999772       uwb: 0.49982579     847.98   620.881  
imu_odom_:  1691062433.965858973  1.17076    -0.390255  9.79468    -0.0639159  0.0138484   0.056459    0.19       0.02          pose: 0.6890650     3.84442    0.00174238  0 -0.000175975-0.00326272 0.021314    0.999767       uwb: 0.0            847.98   620.881  
imu_odom_:  1691062433.981985566  0.445322   -0.227449  10.4052    -0.0447411  -0.0223706  0.0426106   0.18       0             pose: 0.0           3.84442    0.00174238  0 -0.000175975-0.00326272 0.021314    0.999767       uwb: 0.0            847.98   620.881  
imu_odom_:  1691062433.996004543  0.366313   -0.0814029 9.67976    -0.0756338  -0.0447411  0.0319579   0.17       -0.02         pose: 0.48930667    3.85439    0.00247024  0 -0.00115905 -0.00751956 0.0217635   0.999734       uwb: 0.49949041     845.338  621.012  
imu_odom_:  1691062434.19915350   0.306458   -0.217872  10.07      -0.0639159  -0.0511327  0.0468716   0.17       -0.02         pose: 0.0           3.85439    0.00247024  0 -0.00115905 -0.00751956 0.0217635   0.999734       uwb: 0.0            845.338  621.012  
imu_odom_:  1691062434.47006686   0.914585   -0.162806  10.0173    -0.0713727  -0.0127832  0.0553937   0.22       0.02          pose: 0.31044084    3.85439    0.00247024  0 -0.000212066-0.0053262  0.0217461   0.999749       uwb: 0.50169243     845.977  619.737  
imu_odom_:  1691062434.71874629   0.991199   0.122104   10.4986    -0.0607201  -0.015979   0.0511327   0.22       0.02          pose: 0.0           3.85439    0.00247024  0 -0.000212066-0.0053262  0.0217461   0.999749       uwb: 0.0            845.977  619.737  
imu_odom_:  1691062434.88880496   0.138864   -0.435745  9.73004    -0.092678   -0.0383495  0.0671117   0.23       0             pose: 0.68952898    3.87142    0.00372583  0 0.00141275  -0.00891412 0.0221507   0.999714       uwb: 0.0            845.977  619.737  
imu_odom_:  1691062434.113966871  0.349553   -0.277727  9.61511    -0.0617853  -0.00745685 0.04048     0.23       0             pose: 0.6958602     3.87434    0.00394323  0 0.000931206 -0.00843648 0.0222476   0.999716       uwb: 0.49879659     845.309  619.044  
imu_odom_:  1691062434.139908598  0.428562   -0.248997  10.1155    -0.0820254  0.0181095   0.0649811   0.19       0.02          pose: 0.35133640    3.88156    0.00448182  0 -0.000663038-0.00541439 0.0224042   0.999734       uwb: 0.0            845.309  619.044  
imu_odom_:  1691062434.163844197  0.40462    -0.189142  9.93594    -0.0468716  0.0138484   0.0287621   0.2        0             pose: 0.0           3.88156    0.00448182  0 -0.000663038-0.00541439 0.0224042   0.999734       uwb: 0.50003020     847.634  617.121  
imu_odom_:  1691062434.181823820  0.155623   -0.423774  9.65821    -0.0830906  0.00426106  0.0607201   0.2        0             pose: 0.49877326    3.89119    0.00520525  0 0.00025435  -0.00082117 0.0226053   0.999744       uwb: 0.0            847.634  617.121  
imu_odom_:  1691062434.205834368  0.603339   -0.186748  10.0533    -0.0276969  -0.00319579 0.0394148   0.18       -0.02         pose: 0.0           3.89119    0.00520525  0 0.00025435  -0.00082117 0.0226053   0.999744       uwb: 0.50060179     848.327  615.935  
imu_odom_:  1691062434.229827710  0.773327   -0.124498  9.84256    -0.0575243  0.00213053  0.0468716   0.18       -0.02         pose: 0.41990171    3.89428    0.0054383   0 -0.00022111 -0.00168381 0.0227911   0.999739       uwb: 0.0            848.327  615.935  
imu_odom_:  1691062434.255945874  0.718261   -0.227449  9.89045    -0.0468716  -0.015979   0.0500674   0.19       0             pose: 0.0           3.89428    0.0054383   0 -0.00022111 -0.00168381 0.0227911   0.999739       uwb: 0.49935361     850.11   614.555  
imu_odom_:  1691062434.279817606  0.169988   -0.0454898 9.85932    -0.0585895  -0.02024    0.0436758   0.19       0             pose: 0.31026894    3.90426    0.00619395  0 0.00044365  -0.00464723 0.022914    0.999727       uwb: 0.0            850.11   614.555  
imu_odom_:  1691062434.296982704  0.409408   -0.167594  10.0006    -0.0223706  -0.0308927  0.0447411   0.25       -0.02         pose: 0.0           3.90426    0.00619395  0 0.00044365  -0.00464723 0.022914    0.999727       uwb: 0.50213869     851.066  613.025  
imu_odom_:  1691062434.312967281  0.47884    -0.107739  10.3094    -0.056459   -0.0117179  0.0575243   0.25       -0.02         pose: 0.49974440    3.91423    0.00695375  0 0.00159474  -0.00406481 0.023074    0.999724       uwb: 0.0            851.066  613.025  
imu_odom_:  1691062434.339889763  0.483629   -0.131681  9.991      -0.0543285  0.00639159  0.0394148   0.25       -0.02         pose: 0.0           3.91423    0.00695375  0 0.00159474  -0.00406481 0.023074    0.999724       uwb: 0.0            851.066  613.025  
imu_odom_:  1691062434.364999176  0.272939   -0.301669  9.98861    -0.056459   -0.0127832  0.0426106   0.25       -0.02         pose: 0.33009400    3.91423    0.00695375  0 0.00414276  -0.00382749 0.0232359   0.999714       uwb: 0.49814334     852.177  611.869  
imu_odom_:  1691062434.381937677  0.0933739  -0.1652    9.98143    -0.0468716  -0.0308927  0.036219    0.23       0             pose: 0.0           3.91423    0.00695375  0 0.00414276  -0.00382749 0.0232359   0.999714       uwb: 0.0            852.177  611.869  
imu_odom_:  1691062434.406804745  0.797269   -0.241814  9.83299    -0.0543285  -0.00426106 0.0468716   0.23       0             pose: 0.62092575    3.92975    0.00814282  0 0.0039709   -0.00170322 0.023233    0.999721       uwb: 0.49921946     850.221  611.839  
imu_odom_:  1691062434.432815880  0.474052   -0.107739  10.0317    -0.0223706  -0.00213053 0.0298274   0.23       0             pose: 0.7901154     3.93417    0.00848121  0 0.00377375  -0.00246759 0.0232652   0.999719       uwb: 0.0            850.221  611.839  
imu_odom_:  1691062434.458055361  0.335188   -0.225055  9.80904    -0.0553937  -0.02024    0.0340885   0.23       0             pose: 0.0           3.93417    0.00848121  0 0.00377375  -0.00246759 0.0232652   0.999719       uwb: 0.49950817     850.722  611.117  
imu_odom_:  1691062434.474941368  0.675165   -0.0766145 9.73004    -0.0245011  -0.0149137  0.0351537   0.21       0             pose: 0.0           3.93417    0.00848121  0 0.00377375  -0.00246759 0.0232652   0.999719       uwb: 0.0            850.722  611.117  
imu_odom_:  1691062434.490832915  0.363919   -0.169988  9.85453    -0.0511327  0.00745685  0.0575243   0.21       0             pose: 0.50016142    3.94414    0.00924556  0 0.00576691  -0.00286    0.0231752   0.999711       uwb: 0.49939153     852.162  609.787  
imu_odom_:  1691062434.516858340  0.179565   -0.0814029 10.0724    -0.0394148  0.00213053  0.0351537   0.25       0             pose: 0.0           3.94414    0.00924556  0 0.00576691  -0.00286    0.0231752   0.999711       uwb: 0.0            852.162  609.787  
imu_odom_:  1691062434.541937132  0.191536   -0.268151  9.29669    -0.072438   0.0191748   0.0532632   0.25       0             pose: 0.58089942    3.95411    0.0100068   0 0.00459545  -0.00122267 0.0232097   0.999719       uwb: 0.49960441     853.31   608.701  
imu_odom_:  1691062434.566809449  0.114922   -0.201113  9.59835    -0.0308927  0.00745685  0.0245011   0.18       0             pose: 0.0           3.95411    0.0100068   0 0.00459545  -0.00122267 0.0232097   0.999719       uwb: 0.0            853.31   608.701  
imu_odom_:  1691062434.588925855  0.107739   -0.335188  9.59596    -0.0639159  0.0340885   0.0479369   0.18       0             pose: 0.43992217    3.96128    0.0105556   0 0.0032807   0.00299469  0.0233217   0.999718       uwb: 0.0            853.31   608.701  
imu_odom_:  1691062434.614927659  0.337582   -0.158017  9.88326    -0.0553937  0.00852212  0.0458064   0.19       -0.02         pose: 0.7027428     3.96408    0.0107709   0 0.003202    0.00372135  0.0232658   0.999717       uwb: 0.50008560     854.319  607.221  
imu_odom_:  1691062434.631921569  0.557849   0.00957681 9.94551    -0.0639159  -0.0223706  0.052198    0.19       -0.02         pose: 0.0           3.96408    0.0107709   0 0.003202    0.00372135  0.0232658   0.999717       uwb: 0.0            854.319  607.221  
imu_odom_:  1691062434.647852486  0.402226   -0.339977  9.81623    -0.0639159  0.0639159   0.0181095   0.2        0             pose: 0.0           3.96408    0.0107709   0 0.003202    0.00372135  0.0232658   0.999717       uwb: 0.50019934     855.311  605.677  
imu_odom_:  1691062434.674825420  0.225055   -0.335188  10.1921    -0.0607201  -0.015979   0.0543285   0.2        0             pose: 0.47998349    3.97405    0.0115353   0 0.00161298  0.00685759  0.0232328   0.999705       uwb: 0.0            855.311  605.677  
imu_odom_:  1691062434.699777352  0.414197   -0.0766145 10.0341    -0.0511327  -0.0447411  0.0426106   0.19       0             pose: 0.77862511    3.98479    0.0023308   0 -0.0007524830.00499569  0.023427    0.999713       uwb: 0.0            855.311  605.677  
imu_odom_:  1691062434.716761639  0.699107   -0.280122  9.93594    -0.0660464  0.0330232   0.0490022   0.19       0             pose: 0.0           3.98479    0.0023308   0 -0.0007524830.00499569  0.023427    0.999713       uwb: 0.0            855.311  605.677  
imu_odom_:  1691062434.741768982  0.0574608  0.251391   9.88566    -0.0415453  -0.0255663  0.0351537   0.19       0             pose: 0.8010807     3.98479    0.0023308   0 -7.43923e-050.00437511  0.0234422   0.999716       uwb: 0.100066698    853.624  605.348  
imu_odom_:  1691062434.766738704  0.538695   -0.131681  9.53371    -0.0692422  0.00639159  0.052198    0.19       0             pose: 0.0           3.98479    0.0023308   0 -7.43923e-050.00437511  0.0234422   0.999716       uwb: 0.0            853.624  605.348  
imu_odom_:  1691062434.780805224  0.593762   -0.31364   9.39724    -0.0468716  0.0276969   0.0170442   0.19       0             pose: 0.0           3.98479    0.0023308   0 -7.43923e-050.00437511  0.0234422   0.999716       uwb: 0.0            853.624  605.348  
imu_odom_:  1691062434.796772303  0.536301   -0.265756  10.2161    -0.0607201  -0.0213053  0.0383495   0.19       0             pose: 0.41978797    3.99476    0.00309894  0 0.00157601  0.00211569  0.0235387   0.999719       uwb: 0.50078552     852.203  604.698  
imu_odom_:  1691062434.820804432  0.790087   -0.414197  9.84017    -0.0553937  -0.0287621  0.0383495   0.27       0             pose: 0.0           3.99476    0.00309894  0 0.00157601  0.00211569  0.0235387   0.999719       uwb: 0.0            852.203  604.698  
imu_odom_:  1691062434.837863376  0.373495   -0.0574608 9.93833    -0.0351537  0.0500674   0.0287621   0.27       0             pose: 0.78971583    4.00473    0.00386906  0 0.00109277  -0.00238859 0.023505    0.99972        uwb: 0.0            852.203  604.698  
imu_odom_:  1691062434.861880049  0.548272   -0.107739  9.65103    -0.0617853  -0.0298274  0.036219    0.18       0             pose: 0.0           4.00473    0.00386906  0 0.00109277  -0.00238859 0.023505    0.99972        uwb: 0.50031016     854.353  603.074  
imu_odom_:  1691062434.885772487  0.363919   -0.158017  9.79468    -0.0426106  0.0170442   0.0276969   0.18       0             pose: 0.58093442    4.02179    0.00518539  0 0.00319859  -0.00473131 0.0233586   0.999711       uwb: 0.0            854.353  603.074  
imu_odom_:  1691062434.901765812  0.344765   -0.308852  9.991      -0.0703074  -0.036219   0.052198    0.19       0             pose: 0.0           4.02179    0.00518539  0 0.00319859  -0.00473131 0.0233586   0.999711       uwb: 0.49975315     852.962  602.509  
imu_odom_:  1691062434.926718620  0.42138    -0.205901  10.0221    -0.0394148  0.0127832   0.0436758   0.19       0             pose: 0.6913400     4.02467    0.00540681  0 0.00320847  -0.00396542 0.023316    0.999715       uwb: 0.0            852.962  602.509  
imu_odom_:  1691062434.940768809  0.92895    -0.265756  9.71088    -0.0585895  -0.0117179  0.0596548   0.19       0             pose: 0.0           4.02467    0.00540681  0 0.00320847  -0.00396542 0.023316    0.999715       uwb: 0.49913780     855.121  600.866  
imu_odom_:  1691062434.956721889  0.605733   -0.311246  10.0102    -0.0553937  0.0607201   0.0340885   0.17       -0.02         pose: 0.71975360    4.03464    0.00617283  0 -0.000428578-0.00169939 0.0235052   0.999722       uwb: 0.0            855.121  600.866  
imu_odom_:  1691062434.973839452  0.258574   -0.143652  9.90721    -0.0308927  0.00639159  0.0383495   0.17       -0.02         pose: 0.0           4.03464    0.00617283  0 -0.000428578-0.00169939 0.0235052   0.999722       uwb: 0.0            855.121  600.866  
imu_odom_:  1691062434.990827530  0.110133   -0.244209  9.96227    -0.0639159  -0.0234358  0.0671117   0.18       0             pose: 0.0           4.03464    0.00617283  0 -0.000428578-0.00169939 0.0235052   0.999722       uwb: 0.49980272     855.15   599.856  
imu_odom_:  1691062435.6792569    0.167594   -0.213084  9.77074    -0.056459   -0.00426106 0.0372843   0.18       0             pose: 0.40082614    4.04461    0.00694185  0 -0.000322302-0.0003301760.0235483   0.999723       uwb: 0.0            855.15   599.856  
imu_odom_:  1691062435.31784176   0.347159   -0.215478  10.1227    -0.0671117  -0.0372843  0.0628506   0.25       0.02          pose: 0.0           4.04461    0.00694185  0 -0.000322302-0.0003301760.0235483   0.999723       uwb: 0.0            855.15   599.856  
imu_odom_:  1691062435.45915738   0.471658   -0.565032  9.97185    -0.0660464  0.00319579  0.0319579   0.18       0             pose: 0.33001240    4.04461    0.00694185  0 -0.0001510840.00267243  0.0237515   0.999714       uwb: 0.50104527     855.49   598.608  
imu_odom_:  1691062435.61994811   0.629675   -0.105345  10.5177    -0.0394148  -0.0276969  0.0383495   0.17       0.02          pose: 0.0           4.04461    0.00694185  0 -0.0001510840.00267243  0.0237515   0.999714       uwb: 0.0            855.49   598.608  
imu_odom_:  1691062435.86718993   0.397437   -0.220267  10.2568    -0.0617853  -0.0575243  0.0415453   0.17       0.02          pose: 0.48142148    4.06023    0.00815483  0 -1.0619e-05 0.00180305  0.0238955   0.999713       uwb: 0.0            855.49   598.608  
imu_odom_:  1691062435.100765690  0.725443   -0.201113  9.47864    -0.052198   -0.0266316  0.0383495   0.18       0             pose: 0.0           4.06023    0.00815483  0 -1.0619e-05 0.00180305  0.0238955   0.999713       uwb: 0.49896891     854.222  598.391  
imu_odom_:  1691062435.124859074  0.866701   -0.122104  10.1323    -0.0809601  0.0106526   0.0543285   0.18       0             pose: 0.6879574     4.06455    0.00849169  0 -0.0001501370.00094226  0.0239021   0.999714       uwb: 0.0            854.222  598.391  
imu_odom_:  1691062435.148732276  0.845153   0.0167594  10.7284    -0.0596548  -0.00958738 0.0372843   0.23       0             pose: 0.0           4.06455    0.00849169  0 -0.0001501370.00094226  0.0239021   0.999714       uwb: 0.49878811     855.292  596.955  
imu_odom_:  1691062435.173706094  0.562637   -0.0311246 10.1083    -0.0809601  -0.00852212 0.0543285   0.23       0             pose: 0.79857891    4.07452    0.00927091  0 0.00134423  -0.00698821 0.0240484   0.999685       uwb: 0.0            855.292  596.955  
imu_odom_:  1691062435.197775855  0.363919   -0.0454898 9.84975    -0.0617853  0.0468716   0.0426106   0.18       0.02          pose: 0.0           4.07452    0.00927091  0 0.00134423  -0.00698821 0.0240484   0.999685       uwb: 0.50045915     854.566  596.042  
imu_odom_:  1691062435.214783190  0.332794   -0.225055  9.99579    -0.0830906  0.00958738  0.0607201   0.18       0.02          pose: 0.32090488    4.08449    0.0100524   0 0.00382363  -0.00648008 0.0242196   0.999678       uwb: 0.0            854.566  596.042  
imu_odom_:  1691062435.239675351  0.517148   -0.217872  10.0748    -0.0500674  -0.00106526 0.0266316   0.2        0             pose: 0.0           4.08449    0.0100524   0 0.00382363  -0.00648008 0.0242196   0.999678       uwb: 0.49946761     853.886  595.263  
imu_odom_:  1691062435.263966169  0.241814   -0.244209  9.76595    -0.0553937  -0.0426106  0.0490022   0.2        0             pose: 0.41943532    4.08449    0.0100524   0 0.00280204  -0.00349299 0.0243645   0.999693       uwb: 0.0            853.886  595.263  
imu_odom_:  1691062435.287975272  0.299275   -0.316035  10.0245    -0.0436758  -0.0308927  0.0532632   0.18       0             pose: 0.41199873    4.09446    0.0108388   0 0.000932275 -0.00262673 0.0243758   0.999699       uwb: 0.0            853.886  595.263  
imu_odom_:  1691062435.303846120  0.893037   -0.105345  9.9503     -0.056459   -0.0276969  0.0479369   0.18       0             pose: 0.0           4.09446    0.0108388   0 0.000932275 -0.00262673 0.0243758   0.999699       uwb: 0.49982339     852.498  594.741  
imu_odom_:  1691062435.330720206  0.80924    -0.0263362 10.3669    -0.0458064  -0.00639159 0.0479369   0.25       -0.02         pose: 0.6774588     4.09446    0.0108388   0 0.00055141  -0.00218646 0.0244228   0.999699       uwb: 0.0            852.498  594.741  
imu_odom_:  1691062435.346688167  0.186748   -0.411803  9.63187    -0.0745685  -0.00958738 0.056459    0.25       -0.02         pose: 0.0           4.09446    0.0108388   0 0.00055141  -0.00218646 0.0244228   0.999699       uwb: 0.50040374     853.2    593.361  
imu_odom_:  1691062435.370797883  0.246603   -0.411803  9.93594    -0.0426106  -0.0394148  0.0383495   0.25       0             pose: 0.40201328    4.10443    0.0116264   0 0.000391285 -0.00340384 0.0246363   0.999691       uwb: 0.0            853.2    593.361  
imu_odom_:  1691062435.395674879  0.790087   -0.248997  10.1418    -0.0628506  0.0106526   0.0532632   0.25       0             pose: 0.0           4.10443    0.0116264   0 0.000391285 -0.00340384 0.0246363   0.999691       uwb: 0.50088785     851.096  593.1    
imu_odom_:  1691062435.419662109  0.474052   -0.158017  10.2113    -0.0468716  -0.0351537  0.0415453   0.18       0             pose: 0.42831548    4.11439    0.0124183   0 -6.34763e-05-0.00350368 0.0248508   0.999685       uwb: 0.0            851.096  593.1    
imu_odom_:  1691062435.443741203  0.533907   -0.186748  10.1466    -0.0628506  -0.056459   0.0447411   0.23       0             pose: 0.0           4.11439    0.0124183   0 -6.34763e-05-0.00350368 0.0248508   0.999685       uwb: 0.49826026     851.5    592.002  
imu_odom_:  1691062435.468732810  0.509965   -0.0766145 10.0461    -0.0426106  -0.00319579 0.04048     0.23       0             pose: 0.48927802    4.12436    0.0132155   0 -0.000515146-0.00473029 0.0250158   0.999676       uwb: 0.0            851.5    592.002  
imu_odom_:  1691062435.484829381  0.679953   -0.289698  9.83538    -0.0596548  0.0191748   0.0479369   0.23       0             pose: 0.0           4.12436    0.0132155   0 -0.000515146-0.00473029 0.0250158   0.999676       uwb: 0.0            851.5    592.002  
imu_odom_:  1691062435.501781889  0.167594   -0.299275  10.0461    -0.0213053  -0.00426106 0.0213053   0.18       0             pose: 0.48021413    4.13433    0.0140154   0 0.00223001  -0.00717411 0.0250857   0.999657       uwb: 0.50134862     850.076  591.421  
imu_odom_:  1691062435.525709627  0.454898   -0.387861  9.93833    -0.0575243  -0.0170442  0.0511327   0.18       0             pose: 0.0           4.13433    0.0140154   0 0.00223001  -0.00717411 0.0250857   0.999657       uwb: 0.0            850.076  591.421  
imu_odom_:  1691062435.542663885  0.392649   -0.146046  10.1011    -0.0234358  0.0255663   0.0287621   0.2        -0.05         pose: 0.0           4.13433    0.0140154   0 0.00223001  -0.00717411 0.0250857   0.999657       uwb: 0.50002171     848.616  590.756  
imu_odom_:  1691062435.566642658  0.531513   -0.366313  9.83059    -0.0511327  -0.00852212 0.0596548   0.2        -0.05         pose: 0.40947029    4.13433    0.0140154   0 0.00273145  -0.00682239 0.0250993   0.999658       uwb: 0.0            848.616  590.756  
imu_odom_:  1691062435.591688217  0.392649   -0.0191536 9.90481    -0.0308927  0.00958738  0.0372843   0.18       0             pose: 0.74972781    4.15427    0.0156178   0 -0.000942277-0.00450341 0.0253135   0.999669       uwb: 0.49994004     847.85   589.787  
imu_odom_:  1691062435.614640448  0.402226   -0.153229  9.8282     -0.0798948  -0.0117179  0.0596548   0.18       0             pose: 0.0           4.15427    0.0156178   0 -0.000942277-0.00450341 0.0253135   0.999669       uwb: 0.0            847.85   589.787  
imu_odom_:  1691062435.630755101  0.37589    -0.251391  9.64384    -0.0639159  0.0340885   0.0351537   0.2        0.02          pose: 0.7052511     4.15427    0.0156178   0 -0.000222471-0.00414467 0.0253032   0.999671       uwb: 0.0            847.85   589.787  
imu_odom_:  1691062435.655640846  0.423774   -0.275333  10.0102    -0.0585895  0.00532632  0.056459    0.2        0.02          pose: 0.0           4.15427    0.0156178   0 -0.000222471-0.00414467 0.0253032   0.999671       uwb: 0.49739995     847.173  589.06   
imu_odom_:  1691062435.669638841  0.153229   -0.474052  9.7444     -0.0777643  -0.0372843  0.0426106   0.25       -0.02         pose: 0.0           4.15427    0.0156178   0 -0.000222471-0.00414467 0.0253032   0.999671       uwb: 0.0            847.173  589.06   
imu_odom_:  1691062435.685702749  0.751779   0.00957681 10.0796    -0.0553937  -0.00852212 0.0394148   0.25       -0.02         pose: 0.48961340    4.16423    0.0164243   0 0.00157339  -0.0006625220.0254822   0.999674       uwb: 0.0            847.173  589.06   
imu_odom_:  1691062435.710643321  0.543484   -0.0837971 9.97424    -0.0585895  -0.0340885  0.0532632   0.19       0             pose: 0.0           4.16423    0.0164243   0 0.00157339  -0.0006625220.0254822   0.999674       uwb: 0.50104824     845.808  588.692  
imu_odom_:  1691062435.726644820  0.588974   -0.282516  9.76355    -0.0575243  0.0596548   0.0149137   0.19       0             pose: 0.70002514    4.1742     0.0172331   0 -0.00111447 -0.00158537 0.0257411   0.999667       uwb: 0.0            845.808  588.692  
imu_odom_:  1691062435.743748393  0.459687   -0.514753  9.63187    -0.0607201  -0.0351537  0.0575243   0.19       0             pose: 0.0           4.1742     0.0172331   0 -0.00111447 -0.00158537 0.0257411   0.999667       uwb: 0.50009170     847.295  587.185  
imu_odom_:  1691062435.760671738  0.347159   -0.0861913 10.3717    -0.0607201  0.0127832   0.0447411   0.18       0             pose: 0.0           4.1742     0.0172331   0 -0.00111447 -0.00158537 0.0257411   0.999667       uwb: 0.0            847.295  587.185  
imu_odom_:  1691062435.785749377  0.136469   -0.0981623 9.84496    -0.0649811  0.0394148   0.0436758   0.18       0             pose: 0.51089370    4.18417    0.0180471   0 -0.00218183 -0.00399997 0.0258262   0.999656       uwb: 0.0            847.295  587.185  
imu_odom_:  1691062435.810690823  0.251391   -0.574608  9.34457    -0.056459   0.00426106  0.0351537   0.23       0             pose: 0.6963856     4.18417    0.0180471   0 -0.0016638  -0.00349817 0.0258429   0.999659       uwb: 0.0            847.295  587.185  
imu_odom_:  1691062435.824817136  0.0287304  -0.0814029 10.1299    -0.0436758  0.00213053  0.04048     0.23       0             pose: 0.0           4.18417    0.0180471   0 -0.0016638  -0.00349817 0.0258429   0.999659       uwb: 0.0            847.295  587.185  
imu_odom_:  1691062435.839819216  0.699107   -0.368707  10.1011    -0.0639159  -0.0649811  0.056459    0.23       0             pose: 0.0           4.18417    0.0180471   0 -0.0016638  -0.00349817 0.0258429   0.999659       uwb: 0.0            847.295  587.185  
imu_odom_:  1691062435.856773473  0.577003   -0.198719  9.14824    -0.0479369  0.00532632  0.0223706   0.24       0             pose: 0.81068159    4.2041     0.0196802   0 -0.00201452 0.00155143  0.0259289   0.999661       uwb: 0.99971678     846.567  586.327  
imu_odom_:  1691062435.880655717  0.258574   -0.318429  9.40203    -0.0894822  0.0287621   0.0479369   0.24       0             pose: 0.0           4.2041     0.0196802   0 -0.00201452 0.00155143  0.0259289   0.999661       uwb: 0.0            846.567  586.327  
imu_odom_:  1691062435.904628948  0.328006   -0.19393   9.96467    -0.0500674  -0.0276969  0.0298274   0.21       -0.02         pose: 0.32981713    4.21407    0.0204972   0 -0.00216692 -0.0001357420.0258804   0.999663       uwb: 0.50008878     845.927  585.711  
imu_odom_:  1691062435.927739828  0.591368   -0.1652    10.3501    -0.0841559  0           0.0415453   0.18       0             pose: 0.39866827    4.21407    0.0204972   0 -0.0009645550.00244795  0.0258399   0.999663       uwb: 0.0            845.927  585.711  
imu_odom_:  1691062435.952628197  0.636858   -0.136469  9.93115    -0.04048    0.00319579  0.0213053   0.17       -0.02         pose: 0.7050179     4.21407    0.0204972   0 -0.0008561750.00178721  0.025847    0.999664       uwb: 0.50007420     845.706  585.117  
imu_odom_:  1691062435.975632340  0.37589    -0.23942   9.52413    -0.056459   -0.0191748  0.0511327   0.17       -0.02         pose: 0.40949070    4.22403    0.0213132   0 0.000508538 -0.00192764 0.0256344   0.999669       uwb: 0.0            845.706  585.117  
imu_odom_:  1691062435.992613719  0.486023   -0.260968  9.54329    -0.0479369  -0.0330232  0.0372843   0.21       0             pose: 0.0           4.22403    0.0213132   0 0.000508538 -0.00192764 0.0256344   0.999669       uwb: 0.0            845.706  585.117  
imu_odom_:  1691062436.8602973    0.773327   -0.0861913 10.2017    -0.0607201  0.00213053  0.0607201   0.21       0             pose: 0.0           4.22403    0.0213132   0 0.000508538 -0.00192764 0.0256344   0.999669       uwb: 0.0            845.706  585.117  
imu_odom_:  1691062436.32597214   1.16837    -0.169988  10.1873    -0.0468716  0.015979    0.0308927   0.25       0             pose: 0.48059034    4.234      0.0221259   0 -0.00084029 -0.00261378 0.0258317   0.999663       uwb: 0.0            845.706  585.117  
imu_odom_:  1691062436.57617706   0.225055   0.0550666  10.0173    -0.056459   0           0.0575243   0.25       0             pose: 0.0           4.234      0.0221259   0 -0.00084029 -0.00261378 0.0258317   0.999663       uwb: 0.99965281     843.59   584.98   
imu_odom_:  1691062436.81800050   0.117316   -0.174777  9.87848    -0.052198   -0.0106526  0.0340885   0.18       0.02          pose: 0.39008868    4.24397    0.0229416   0 0.000315128 -0.00490583 0.0258686   0.999653       uwb: 0.0            843.59   584.98   
imu_odom_:  1691062436.105617271  0.440533   -0.232238  10.1586    -0.0671117  -0.0149137  0.0575243   0.18       0.02          pose: 0.42103951    4.25104    0.0235213   0 0.00157413  -0.00120199 0.025953    0.999661       uwb: 0.50088519     843.927  583.673  
imu_odom_:  1691062436.130724669  0.351948   -0.112527  9.68694    -0.0372843  -0.0127832  0.0266316   0.23       0             pose: 0.0           4.25104    0.0235213   0 0.00157413  -0.00120199 0.025953    0.999661       uwb: 0.0            843.927  583.673  
imu_odom_:  1691062436.146606608  -0.0933739 -0.409408  10.003     -0.0617853  -0.00745685 0.0639159   0.23       0             pose: 0.48924619    4.26171    0.0171672   0 0.00135213  -0.0005356140.0260055   0.999661       uwb: 0.49898084     843.556  582.683  
imu_odom_:  1691062436.161579533  0.337582   -0.268151  9.97185    -0.0628506  -0.0266316  0.0415453   0.18       0             pose: 0.0           4.26171    0.0171672   0 0.00135213  -0.0005356140.0260055   0.999661       uwb: 0.0            843.556  582.683  
imu_odom_:  1691062436.185744378  0.244209   -0.114922  9.98382    -0.0436758  -0.0213053  0.0383495   0.18       0             pose: 0.0           4.26171    0.0171672   0 0.00135213  -0.0005356140.0260055   0.999661       uwb: 0.0            843.556  582.683  
imu_odom_:  1691062436.208688165  0.11971    -0.184354  9.58878    -0.0596548  -0.0245011  0.0468716   0.21       0.02          pose: 0.37894839    4.26472    0.0146133   0 -0.0001626120.00204632  0.0262067   0.999654       uwb: 0.50069855     844.993  580.969  
imu_odom_:  1691062436.233699907  0.47884    -0.205901  9.83777    -0.0692422  -0.0149137  0.0447411   0.21       0.02          pose: 0.40068657    4.27469    0.0154365   0 0.00102689  0.00528461  0.0262796   0.99964        uwb: 0.0            844.993  580.969  
imu_odom_:  1691062436.255564075  0.835576   -0.31364   9.90481    -0.0735032  -0.00319579 0.0426106   0.18       0             pose: 0.7071763     4.27469    0.0154365   0 0.000942199 0.00453874  0.0262987   0.999643       uwb: 0.49993447     844.732  580.263  
imu_odom_:  1691062436.271630617  0.600945   -0.0526724 9.8665     -0.052198   0.0330232   0.04048     0.18       0             pose: 0.0           4.27469    0.0154365   0 0.000942199 0.00453874  0.0262987   0.999643       uwb: 0.0            844.732  580.263  
imu_odom_:  1691062436.296563036  0.1652     -0.296881  9.78989    -0.0873517  0.0106526   0.0553937   0.23       0             pose: 0.45895447    4.28465    0.0162618   0 0.000472652 0.00015378  0.0263841   0.999652       uwb: 0.50051190     845.921  578.974  
imu_odom_:  1691062436.318614431  0.457293   -0.0981623 10.2137    -0.0426106  0.00639159  0.0319579   0.23       0             pose: 0.0           4.28465    0.0162618   0 0.000472652 0.00015378  0.0263841   0.999652       uwb: 0.0            845.921  578.974  
imu_odom_:  1691062436.343564348  0.481235   -0.220267  9.63427    -0.0585895  -0.0117179  0.0394148   0.18       -0.02         pose: 0.40930427    4.29462    0.0170895   0 0.000205957 0.00169127  0.0265618   0.999646       uwb: 0.50124098     846.271  577.646  
imu_odom_:  1691062436.360544570  0.0335188  -0.244209  10.2137    -0.0394148  -0.00958738 0.0479369   0.18       -0.02         pose: 0.0           4.29462    0.0170895   0 0.000205957 0.00169127  0.0265618   0.999646       uwb: 0.0            846.271  577.646  
imu_odom_:  1691062436.376578740  0.433351   -0.105345  10.319     -0.0436758  -0.0660464  0.0468716   0.18       0             pose: 0.47994316    4.30458    0.0179195   0 0.000672727 -0.0009366850.0265327   0.999647       uwb: 0.0            846.271  577.646  
imu_odom_:  1691062436.401710635  0.481235   -0.0215478 10.2615    -0.0287621  -0.0447411  0.0383495   0.18       0             pose: 0.0           4.30458    0.0179195   0 0.000672727 -0.0009366850.0265327   0.999647       uwb: 0.49768600     844.865  577.234  
imu_odom_:  1691062436.426743083  0.452504   -0.191536  9.67736    -0.0426106  0.00639159  0.0458064   0.19       0             pose: 0.34057556    4.30458    0.0179195   0 0.00313782  -0.0013445  0.026627    0.99964        uwb: 0.0            844.865  577.234  
imu_odom_:  1691062436.451546018  0.371101   0.0335188  9.34936    -0.0330232  0.0170442   0.0383495   0.19       0             pose: 0.0           4.30458    0.0179195   0 0.00313782  -0.0013445  0.026627    0.99964        uwb: 0.49964284     844.952  576.326  
imu_odom_:  1691062436.475546384  0.275333   0.0646434  9.87369    -0.056459   -0.0170442  0.0479369   0.2        0             pose: 0.49082683    4.31455    0.0187511   0 0.00335637  -0.00198005 0.0266952   0.999636       uwb: 0.0            844.952  576.326  
imu_odom_:  1691062436.499575038  0.399832   0.0622492  10.1514    -0.0585895  -0.0138484  0.0436758   0.18       0.02          pose: 0.41826027    4.32452    0.019584    0 0.00697625  0.000344138 0.0267682   0.999617       uwb: 0.50060231     846.403  574.548  
imu_odom_:  1691062436.524596988  0.445322   -0.253785  9.83059    -0.0703074  0.0106526   0.0276969   0.18       0.02          pose: 0.0           4.32452    0.019584    0 0.00697625  0.000344138 0.0267682   0.999617       uwb: 0.0            846.403  574.548  
imu_odom_:  1691062436.538527331  0.416591   -0.280122  9.65103    -0.0490022  0.0149137   0.0330232   0.18       0.02          pose: 0.0           4.32452    0.019584    0 0.00697625  0.000344138 0.0267682   0.999617       uwb: 0.0            846.403  574.548  
imu_odom_:  1691062436.554539629  0.483629   -0.397437  9.79947    -0.056459   -0.0628506  0.052198    0.2        0             pose: 0.54997545    4.33448    0.0204187   0 0.00613307  -5.29946e-050.0266558   0.999626       uwb: 0.50047399     847.249  573.394  
imu_odom_:  1691062436.571612881  0.828394   -0.246603  10.1658    -0.0426106  0.0681769   0.0223706   0.2        0             pose: 0.0           4.33448    0.0204187   0 0.00613307  -5.29946e-050.0266558   0.999626       uwb: 0.0            847.249  573.394  
imu_odom_:  1691062436.595546172  0.129287   -0.138864  9.9503     -0.0351537  0.0234358   0.0447411   0.18       0             pose: 0.30993680    4.34445    0.0212509   0 0.00370422  -0.0013858  0.0266754   0.999636       uwb: 0.49919081     845.831  572.955  
imu_odom_:  1691062436.619682146  -0.126893  0.0694318  10.0676    -0.0319579  -0.0127832  0.0287621   0.18       0             pose: 0.34008563    4.35137    0.0218296   0 0.00375022  0.000733345 0.0266492   0.999638       uwb: 0.0            845.831  572.955  
imu_odom_:  1691062436.644679016  0.366313   -0.160412  10.1778    -0.0649811  -0.0330232  0.0607201   0.19       0             pose: 0.0           4.35137    0.0218296   0 0.00375022  0.000733345 0.0266492   0.999638       uwb: 0.50012404     845.17   572.295  
imu_odom_:  1691062436.660513127  0.624887   -0.490811  9.8258     -0.0490022  -0.00852212 0.0340885   0.21       0             pose: 0.7005271     4.35441    0.0220833   0 0.00407834  0.00136294  0.0266088   0.999637       uwb: 0.0            845.17   572.295  
imu_odom_:  1691062436.677519596  0.483629   0.129287   10.4004    -0.0426106  0.0213053   0.052198    0.18       0             pose: 0.0           4.35441    0.0220833   0 0.00407834  0.00136294  0.0266088   0.999637       uwb: 0.0            845.17   572.295  
imu_odom_:  1691062436.700496045  0.593762   -0.143652  10.3837    -0.0649811  -0.0191748  0.0383495   0.18       0             pose: 0.0           4.35441    0.0220833   0 0.00407834  0.00136294  0.0266088   0.999637       uwb: 0.49947661     846.395  571.004  
imu_odom_:  1691062436.725512162  0.61531    -0.282516  9.59357    -0.0735032  0.00745685  0.0532632   0.25       0             pose: 0.48136632    4.36438    0.0229155   0 0.00204235  0.00112529  0.0267551   0.999639       uwb: 0.0            846.395  571.004  
imu_odom_:  1691062436.747579888  0.857124   -0.337582  10.149     -0.0735032  0.00426106  0.0266316   0.25       0             pose: 0.33828043    4.36438    0.0229155   0 0.00307799  -0.0004659790.0268349   0.999635       uwb: 0.49865713     845.703  570.254  
imu_odom_:  1691062436.772576758  0.272939   -0.0861913 10.0485    -0.0596548  0.0351537   0.056459    0.19       0             pose: 0.40996044    4.37434    0.0237513   0 0.00144177  -0.00409267 0.02701     0.999626       uwb: 0.0            845.703  570.254  
imu_odom_:  1691062436.797565753  0.818817   -0.160412  9.47625    -0.0468716  0.0394148   0.0170442   0.18       -0.02         pose: 0.6009642     4.37434    0.0237513   0 0.00117716  -0.00463176 0.0269725   0.999625       uwb: 0.50081520     844.922  569.261  
imu_odom_:  1691062436.813636086  0.179565   -0.289698  9.9096     -0.0745685  0.00319579  0.0426106   0.18       -0.02         pose: 0.0           4.37434    0.0237513   0 0.00117716  -0.00463176 0.0269725   0.999625       uwb: 0.0            844.922  569.261  
imu_odom_:  1691062436.838497347  0.6608     -0.562637  9.45231    -0.0468716  -0.00532632 0.0308927   0.18       -0.02         pose: 0.48091138    4.38431    0.0245897   0 0.00154051  -0.003848   0.0269978   0.999627       uwb: 0.0            844.922  569.261  
imu_odom_:  1691062436.851632704  0.960075   -0.112527  9.77074    -0.0479369  -0.015979   0.0245011   0.18       -0.02         pose: 0.0           4.38431    0.0245897   0 0.00154051  -0.003848   0.0269978   0.999627       uwb: 0.50005404     845.309  567.973  
imu_odom_:  1691062436.874487834  0.636858   -0.215478  10.4627    -0.0671117  -0.0447411  0.036219    0.18       -0.02         pose: 0.0           4.38431    0.0245897   0 0.00154051  -0.003848   0.0269978   0.999627       uwb: 0.0            845.309  567.973  
imu_odom_:  1691062436.892565172  0.347159   0.0837971  9.80426    -0.0468716  -0.0330232  0.0340885   0.21       -0.02         pose: 0.40890473    4.39427    0.0254272   0 0.000529064 -0.00400267 0.0267949   0.999633       uwb: 0.50017652     848.828  565.908  
imu_odom_:  1691062436.916492922  0.186748   -0.399832  9.56723    -0.0884169  -0.00213053 0.0372843   0.21       -0.02         pose: 0.0           4.39427    0.0254272   0 0.000529064 -0.00400267 0.0267949   0.999633       uwb: 0.0            848.828  565.908  
imu_odom_:  1691062436.942497086  0.222661   -0.11971   10.2185    -0.0458064  -0.0138484  0.0351537   0.22       0.02          pose: 0.80057116    4.40424    0.0262622   0 0.0006585   -0.00738421 0.0265102   0.999621       uwb: 0.49974492     847.705  565.13   
imu_odom_:  1691062436.966697219  0.588974   -0.548272  9.83059    -0.0788296  -0.00319579 0.0372843   0.19       0             pose: 0.41936555    4.4142     0.0270914   0 0.000517119 -0.00364511 0.0264347   0.999644       uwb: 0.0            847.705  565.13   
imu_odom_:  1691062436.990617678  0.320823   -0.447716  9.56005    -0.0639159  -0.0234358  0.036219    0.18       0             pose: 0.0           4.4142     0.0270914   0 0.000517119 -0.00364511 0.0264347   0.999644       uwb: 0.49998988     847.317  564.021  
imu_odom_:  1691062437.15625052   0.260968   -0.323217  9.29908    -0.0394148  0.0213053   0.02024     0.22       0             pose: 0.7011103     4.4142     0.0270914   0 -0.000224129-0.00388446 0.0264289   0.999643       uwb: 0.0            847.317  564.021  
imu_odom_:  1691062437.28505239   0.550666   -0.380678  10.0916    -0.0245011  0.00106526  0.0266316   0.22       0             pose: 0.0           4.4142     0.0270914   0 -0.000224129-0.00388446 0.0264289   0.999643       uwb: 0.0            847.317  564.021  
imu_odom_:  1691062437.51474409   0.56982    -0.296881  10.1849    -0.0649811  -0.0415453  0.052198    0.22       0             pose: 0.48126717    4.42417    0.0279192   0 -0.00407311 -0.00240955 0.0263209   0.999642       uwb: 0.50108077     848.572  562.713  
imu_odom_:  1691062437.69637495   0.373495   0.0670376  9.84256    -0.0340885  0.0181095   0.04048     0.21       -0.02         pose: 0.0           4.42417    0.0279192   0 -0.00407311 -0.00240955 0.0263209   0.999642       uwb: 0.0            848.572  562.713  
imu_odom_:  1691062437.93462312   0.0957681  -0.244209  9.65342    -0.0713727  0.0191748   0.052198    0.21       -0.02         pose: 0.38854322    4.43413    0.0287449   0 -0.00463236 -0.0024513  0.0261137   0.999645       uwb: 0.49808871     847.476  562.024  
imu_odom_:  1691062437.116667703  0.519542   -0.134075  9.84496    -0.0287621  -0.0181095  0.0298274   0.22       0             pose: 0.0           4.43413    0.0287449   0 -0.00463236 -0.0024513  0.0261137   0.999645       uwb: 0.0            847.476  562.024  
imu_odom_:  1691062437.141532768  0.68953    -0.241814  9.73004    -0.0756338  -0.0330232  0.0543285   0.25       0             pose: 0.41017645    4.4441     0.0295673   0 -0.00264235 -0.00257788 0.0262567   0.999648       uwb: 0.49946811     848.033  561.159  
imu_odom_:  1691062437.165459072  0.47884    -0.414197  9.56005    -0.0553937  -0.0117179  0.0468716   0.18       0             pose: 0.0           4.4441     0.0295673   0 -0.00264235 -0.00257788 0.0262567   0.999648       uwb: 0.0            848.033  561.159  
imu_odom_:  1691062437.180465542  0.380678   -0.23942   10.0221    -0.0575243  -0.00319579 0.0447411   0.18       0             pose: 0.46985005    4.45407    0.0303916   0 -0.000633998-0.00321003 0.0262999   0.999649       uwb: 0.0            848.033  561.159  
imu_odom_:  1691062437.204499749  0.474052   -0.191536  10.3669    -0.036219   -0.0511327  0.0351537   0.25       -0.02         pose: 0.0           4.45407    0.0303916   0 -0.000633998-0.00321003 0.0262999   0.999649       uwb: 0.49988515     848.086  560.071  
imu_odom_:  1691062437.221451400  0.620098   -0.438139  9.3709     -0.0798948  -0.076699   0.0596548   0.25       -0.02         pose: 0.0           4.45407    0.0303916   0 -0.000633998-0.00321003 0.0262999   0.999649       uwb: 0.0            848.086  560.071  
imu_odom_:  1691062437.236446204  0.828394   -0.237026  9.92157    -0.0585895  0.0191748   0.0351537   0.2        0             pose: 0.49039839    4.46403    0.0312183   0 -0.00301135 -0.00426096 0.0265461   0.999634       uwb: 0.0            848.086  560.071  
imu_odom_:  1691062437.259473992  0.536301   -0.227449  9.80904    -0.0660464  0.00319579  0.0490022   0.2        0             pose: 0.0           4.46403    0.0312183   0 -0.00301135 -0.00426096 0.0265461   0.999634       uwb: 0.50121499     846.27   559.806  
imu_odom_:  1691062437.285428300  0.632069   -0.380678  9.5816     -0.0532632  0.0394148   0.0287621   0.25       0.02          pose: 0.70962635    4.474      0.032049    0 -0.000907505-0.00687943 0.0266757   0.99962        uwb: 0.0            846.27   559.806  
imu_odom_:  1691062437.299450514  0.105345   -0.260968  10.0509    -0.0532632  0.0127832   0.0458064   0.25       0.02          pose: 0.0           4.474      0.032049    0 -0.000907505-0.00687943 0.0266757   0.99962        uwb: 0.50050924     845.184  559.165  
imu_odom_:  1691062437.323457308  0.4956     -0.275333  10.1083    -0.0841559  0.00958738  0.0479369   0.17       -0.02         pose: 0.54956162    4.48396    0.0328818   0 -0.00173703 -0.00601978 0.0266574   0.999625       uwb: 0.0            845.184  559.165  
imu_odom_:  1691062437.341434043  0.603339   -0.0430956 10.0413    -0.0490022  0.00639159  0.0372843   0.17       -0.02         pose: 0.0           4.48396    0.0328818   0 -0.00173703 -0.00601978 0.0266574   0.999625       uwb: 0.50029927     844.943  558.478  
imu_odom_:  1691062437.364438500  0.332794   -0.383072  9.63187    -0.0905475  0           0.0607201   0.18       0             pose: 0.41983529    4.49393    0.0337151   0 -0.00200207 -0.00472656 0.026738    0.999629       uwb: 0.0            844.943  558.478  
imu_odom_:  1691062437.387565443  0.54109    -0.28491   10.1347    -0.0458064  0.00532632  0.0319579   0.18       0             pose: 0.0           4.49393    0.0337151   0 -0.00200207 -0.00472656 0.026738    0.999629       uwb: 0.0            844.943  558.478  
imu_odom_:  1691062437.404482389  0.258574   -0.411803  9.54089    -0.0703074  0.0298274   0.0458064   0.18       0             pose: 0.46131400    4.50056    0.0342736   0 -0.00346391 -0.00511184 0.0268914   0.999619       uwb: 0.49889944     845.103  557.7    
imu_odom_:  1691062437.429484521  0.395043   -0.134075  9.91918    -0.0351537  0.0127832   0.0436758   0.25       0.02          pose: 0.0           4.50056    0.0342736   0 -0.00346391 -0.00511184 0.0268914   0.999619       uwb: 0.0            845.103  557.7    
imu_odom_:  1691062437.452475855  0.481235   -0.186748  10.0676    -0.0511327  0.0308927   0.0415453   0.23       0             pose: 0.25906480    4.50389    0.0345532   0 -0.00353643 -0.00290743 0.0269692   0.999626       uwb: 0.49878278     845.226  556.81   
imu_odom_:  1691062437.476474192  0.964863   0.0287304  10.331     -0.0383495  -0.0372843  0.0415453   0.23       0             pose: 0.0           4.50389    0.0345532   0 -0.00353643 -0.00290743 0.0269692   0.999626       uwb: 0.0            845.226  556.81   
imu_odom_:  1691062437.500621843  0.723049   -0.186748  9.67018    -0.0458064  -0.0138484  0.0458064   0.24       0             pose: 0.46954092    4.51386    0.0353919   0 0.000591533 -0.00359748 0.0270227   0.999628       uwb: 0.50310185     843.706  556.198  
imu_odom_:  1691062437.514471704  0.0957681  -0.134075  9.95748    -0.0426106  0.00106526  0.04048     0.24       0             pose: 0.0           4.51386    0.0353919   0 0.000591533 -0.00359748 0.0270227   0.999628       uwb: 0.0            843.706  556.198  
imu_odom_:  1691062437.537598355  0.299275   -0.158017  10.3813    -0.0692422  -0.00958738 0.0553937   0.17       0             pose: 0.54045689    4.52382    0.0362314   0 0.00188317  -0.00639693 0.027119    0.99961        uwb: 0.0            843.706  556.198  
imu_odom_:  1691062437.555405943  0.442927   -0.366313  9.76116    -0.056459   -0.02024    0.0351537   0.17       0             pose: 0.0           4.52382    0.0362314   0 0.00188317  -0.00639693 0.027119    0.99961        uwb: 0.49814411     842.554  555.408  
imu_odom_:  1691062437.570401914  0.304064   -0.0814029 10.4124    -0.0490022  -0.0191748  0.0394148   0.17       0             pose: 0.7137092     4.52382    0.0362314   0 0.00187937  -0.00570459 0.0271736   0.999613       uwb: 0.0            842.554  555.408  
imu_odom_:  1691062437.593416287  0.699107   -0.196325  10.228     -0.0649811  -0.0500674  0.04048     0.25       0.02          pose: 0.0           4.52382    0.0362314   0 0.00187937  -0.00570459 0.0271736   0.999613       uwb: 0.49980641     846.019  552.829  
imu_odom_:  1691062437.618618769  0.639252   -0.0526724 10.3525    -0.0490022  -0.00319579 0.0479369   0.25       0.02          pose: 0.71807491    4.54111    0.0276586   0 0.000983199 -0.0056673  0.0272696   0.999612       uwb: 0.0            846.019  552.829  
imu_odom_:  1691062437.634385522  0.605733   -0.246603  9.7851     -0.0596548  0.0245011   0.0500674   0.18       0             pose: 0.0           4.54111    0.0276586   0 0.000983199 -0.0056673  0.0272696   0.999612       uwb: 0.0            846.019  552.829  
imu_odom_:  1691062437.657448597  0.701501   -0.0885855 9.83299    -0.0181095  -0.00852212 0.0213053   0.18       0             pose: 0.40969235    4.54459    0.0279537   0 0.00174805  -0.00792545 0.0274602   0.99959        uwb: 0.49996389     845.812  552.229  
imu_odom_:  1691062437.680463554  0.114922   -0.308852  9.84975    -0.0468716  -0.0106526  0.0479369   0.24       0             pose: 0.7012274     4.54459    0.0279537   0 0.00228674  -0.00850872 0.0273947   0.999586       uwb: 0.0            845.812  552.229  
imu_odom_:  1691062437.697520191  0.035913   -0.047884  10.137     -0.0372843  -0.0298274  0.0223706   0.24       0             pose: 0.24082326    4.55456    0.0288004   0 0.00328397  -0.00911251 0.027279    0.999581       uwb: 0.50078337     847.443  550.604  
imu_odom_:  1691062437.721448245  0.521936   -0.251391  9.8665     -0.0649811  -0.036219   0.0607201   0.18       0             pose: 0.0           4.55456    0.0288004   0 0.00328397  -0.00911251 0.027279    0.999581       uwb: 0.0            847.443  550.604  
imu_odom_:  1691062437.739481264  0.907402   -0.428562  9.73482    -0.0426106  0.015979    0.0298274   0.18       0             pose: 0.21956335    4.55456    0.0288004   0 0.0030397   -0.00715012 0.0272798   0.999598       uwb: 0.49786707     848.693  549.116  
imu_odom_:  1691062437.762436436  -0.155623  -0.146046  9.79947    -0.0585895  -0.00213053 0.0617853   0.18       0             pose: 0.0           4.55456    0.0288004   0 0.0030397   -0.00715012 0.0272798   0.999598       uwb: 0.0            848.693  549.116  
imu_odom_:  1691062437.779381087  0.656011   -0.220267  10.3717    -0.0628506  -0.00106526 0.0351537   0.18       0             pose: 0.42109222    4.56452    0.0296446   0 0.000476233 -0.00722619 0.0274191   0.999598       uwb: 0.0            848.693  549.116  
imu_odom_:  1691062437.803368925  0.881066   -0.201113  9.72764    -0.0713727  0.00639159  0.0479369   0.18       0             pose: 0.0           4.56452    0.0296446   0 0.000476233 -0.00722619 0.0274191   0.999598       uwb: 0.49990848     850.01   547.809  
imu_odom_:  1691062437.826397880  0.787692   -0.337582  10.1035    -0.072438   0.00532632  0.0287621   0.18       0             pose: 0.39903614    4.57449    0.0304933   0 0.000138612 -0.00636688 0.0276128   0.999598       uwb: 0.0            850.01   547.809  
imu_odom_:  1691062437.849581690  0.811634   -0.37589   9.70849    -0.0617853  -0.00852212 0.0543285   0.25       0             pose: 0.0           4.57449    0.0304933   0 0.000138612 -0.00636688 0.0276128   0.999598       uwb: 0.50010096     849.677  546.806  
imu_odom_:  1691062437.866486680  0.222661   -0.186748  10.3382    -0.0820254  -0.0223706  0.0479369   0.25       0             pose: 0.42098140    4.57449    0.0304933   0 -0.000414399-0.0102894  0.0276467   0.999565       uwb: 0.0            849.677  546.806  
imu_odom_:  1691062437.890379446  0.232238   0.0407014  10.2208    -0.0468716  0.052198    0.0287621   0.18       0             pose: 0.0           4.57449    0.0304933   0 -0.000414399-0.0102894  0.0276467   0.999565       uwb: 0.50100501     845.47   547.378  
imu_odom_:  1691062437.907398464  0.505177   -0.320823  9.58399    -0.0713727  -0.0607201  0.0511327   0.18       0             pose: 0.46005123    4.58445    0.0313454   0 -0.002603   -0.0127887  0.0277861   0.999529       uwb: 0.0            845.47   547.378  
imu_odom_:  1691062437.932505874  0.725443   -0.138864  9.65582    -0.0511327  -0.0735032  0.0276969   0.18       0.02          pose: 0.0           4.58445    0.0313454   0 -0.002603   -0.0127887  0.0277861   0.999529       uwb: 0.0            845.47   547.378  
imu_odom_:  1691062437.949529266  0.134075   -0.23942   9.8258     -0.0735032  0.0234358   0.0585895   0.18       0.02          pose: 0.40863956    4.59441    0.032201    0 -0.00175525 -0.00907371 0.0277342   0.999573       uwb: 0.50009513     847.889  545.395  
imu_odom_:  1691062437.965503660  0.54109    -0.517148  9.52653    -0.0532632  0.0170442   0.0223706   0.18       0.02          pose: 0.0           4.59441    0.032201    0 -0.00175525 -0.00907371 0.0277342   0.999573       uwb: 0.0            847.889  545.395  
imu_odom_:  1691062437.990516290  0.282516   -0.272939  10.5848    -0.0575243  0.00426106  0.0426106   0.18       0             pose: 0.42103098    4.60438    0.0330544   0 -0.00088072 -0.0105964  0.0277031   0.99956        uwb: 0.49986182     850.349  543.491  
imu_odom_:  1691062438.14495093   -0.0957681 -0.186748  10.2065    -0.0436758  0.0255663   0.015979    0.18       0             pose: 0.0           4.60438    0.0330544   0 -0.00088072 -0.0105964  0.0277031   0.99956        uwb: 0.0            850.349  543.491  
imu_odom_:  1691062438.30410294   0.227449   -0.596156  9.7851     -0.0511327  -0.0276969  0.0479369   0.18       0             pose: 0.0           4.60438    0.0330544   0 -0.00088072 -0.0105964  0.0277031   0.99956        uwb: 0.0            850.349  543.491  
imu_odom_:  1691062438.46365741   0.955286   -0.248997  10.7404    -0.0532632  0.285491    0.0394148   0.18       0             pose: 0.32908546    4.60438    0.0330544   0 -0.00260125 -0.00838475 0.0276812   0.999578       uwb: 0.50033445     849.946  542.263  
imu_odom_:  1691062438.63492962   2.09253    -0.306458  7.91284    -0.0500674  0.286556    0.0223706   0.25       0             pose: 0.0           4.60438    0.0330544   0 -0.00260125 -0.00838475 0.0276812   0.999578       uwb: 0.0            849.946  542.263  
imu_odom_:  1691062438.87384574   -0.356736  -0.54109   8.67659    -0.0735032  -0.112918   0.0351537   0.25       0             pose: 0.90064806    4.6243     0.0347561   0 -0.00342119 -0.00162755 0.0273307   0.999619       uwb: 0.0            849.946  542.263  
imu_odom_:  1691062438.111417918  0.500388   -0.316035  10.6231    -0.0458064  -0.156594   0.0170442   0.19       0             pose: 0.0           4.6243     0.0347561   0 -0.00342119 -0.00162755 0.0273307   0.999619       uwb: 0.49939838     850.848  540.956  
imu_odom_:  1691062438.136328199  0.632069   -0.294487  10.5273    -0.0671117  -0.0351537  0.0628506   0.25       0             pose: 0.8007615     4.6243     0.0347561   0 -0.00376012 -0.00131351 0.0273173   0.999619       uwb: 0.0            850.848  540.956  
imu_odom_:  1691062438.161395668  0.0885855  -0.141258  10.5393    -0.0447411  0.00639159  0.0458064   0.19       0             pose: 0.0           4.6243     0.0347561   0 -0.00376012 -0.00131351 0.0273173   0.999619       uwb: 0.49998747     852.496  539.19   
imu_odom_:  1691062438.178348494  0.272939   0.0143652  9.67257    -0.0681769  0.0532632   0.0266316   0.19       0             pose: 0.64827622    4.64103    0.036173    0 -0.00420827 -0.00777257 0.0272952   0.999588       uwb: 0.0            852.496  539.19   
imu_odom_:  1691062438.202329637  0.505177   -0.203507  9.65103    -0.04048    0.0447411   0.0287621   0.18       0             pose: 0.0           4.64103    0.036173    0 -0.00420827 -0.00777257 0.0272952   0.999588       uwb: 0.49864306     850.635  538.925  
imu_odom_:  1691062438.219348954  0.177171   -0.533907  9.93594    -0.056459   0.00958738  0.0511327   0.18       0             pose: 0.50092944    4.6542     0.0372904   0 -0.00137349 -0.00389175 0.027216    0.999621       uwb: 0.0            850.635  538.925  
imu_odom_:  1691062438.234400635  -0.0311246 -0.234632  10.4507    -0.036219   0.00532632  0.0394148   0.19       0             pose: 0.0           4.6542     0.0372904   0 -0.00137349 -0.00389175 0.027216    0.999621       uwb: 0.0            850.635  538.925  
imu_odom_:  1691062438.257333654  0.584185   -0.203507  10.1035    -0.0500674  -0.0223706  0.0607201   0.19       0             pose: 0.47979492    4.65945    0.0377349   0 -0.00103509 -0.00144088 0.0272274   0.999628       uwb: 0.50082737     851.519  537.529  
imu_odom_:  1691062438.283387421  0.354342   -0.0981623 9.76595    -0.0372843  -0.0138484  0.0276969   0.25       -0.02         pose: 0.0           4.65945    0.0377349   0 -0.00103509 -0.00144088 0.0272274   0.999628       uwb: 0.0            851.519  537.529  
imu_odom_:  1691062438.307356607  0.73502    -0.397437  9.39485    -0.0777643  0           0.0490022   0.25       -0.02         pose: 0.8069149     4.66416    0.0381339   0 -0.000822318-0.00229766 0.0273116   0.999624       uwb: 0.49983583     850.451  536.984  
imu_odom_:  1691062438.322357544  0.751779   -0.23942   10.0006    -0.0617853  0.0298274   0.0340885   0.18       0             pose: 0.0           4.66416    0.0381339   0 -0.000822318-0.00229766 0.0273116   0.999624       uwb: 0.0            850.451  536.984  
imu_odom_:  1691062438.339393776  0.150835   -0.177171  9.76834    -0.0436758  -0.0351537  0.0372843   0.18       0             pose: 0.0           4.66416    0.0381339   0 -0.000822318-0.00229766 0.0273116   0.999624       uwb: 0.0            850.451  534.915  
imu_odom_:  1691062438.355365262  0.852336   -0.325611  10.3884    -0.0798948  -0.0607201  0.0543285   0.18       0             pose: 0.32029295    4.67413    0.0389803   0 -0.000137642-0.0053039  0.0273839   0.999611       uwb: 0.0            852.913  534.915  
imu_odom_:  1691062438.380328619  1.17076    -0.0407014 10.6494    -0.0543285  0.00106526  0.0394148   0.18       0             pose: 0.0           4.67413    0.0389803   0 -0.000137642-0.0053039  0.0273839   0.999611       uwb: 0.0            852.913  534.915  
imu_odom_:  1691062438.404308887  0.651223   -0.131681  10.0173    -0.0777643  -0.00213053 0.0479369   0.17       0             pose: 0.41029331    4.68409    0.0398269   0 -0.000226533-0.00660768 0.0274805   0.9996         uwb: 0.49989416     853.767  533.365  
imu_odom_:  1691062438.421445149  0.225055   -0.301669  9.73243    -0.0468716  -0.00319579 0.0298274   0.17       0             pose: 0.40922012    4.69073    0.0403922   0 0.00172486  -0.00985441 0.0275591   0.99957        uwb: 0.0            853.767  533.365  
imu_odom_:  1691062438.437507332  0.248997   -0.181959  10.082     -0.0777643  -0.00639159 0.0607201   0.17       0             pose: 0.0           4.69073    0.0403922   0 0.00172486  -0.00985441 0.0275591   0.99957        uwb: 0.0            853.767  533.365  
imu_odom_:  1691062438.454325715  0.0766145  -0.433351  9.71567    -0.0798948  -0.0106526  0.0500674   0.25       0             pose: 0.0           4.69073    0.0403922   0 0.00172486  -0.00985441 0.0275591   0.99957        uwb: 0.50042784     851.847  532.96   
imu_odom_:  1691062438.479418265  0.679953   -0.454898  9.63427    -0.0628506  0.0266316   0.0287621   0.25       0             pose: 0.7996825     4.69405    0.0406761   0 0.00149995  -0.0090928  0.027522    0.999579       uwb: 0.0            851.847  532.96   
imu_odom_:  1691062438.503360329  0.371101   -0.299275  10.003     -0.0468716  0.0383495   0.0351537   0.21       0             pose: 0.32213314    4.69405    0.0406761   0 0.000654801 -0.00604929 0.0276837   0.999598       uwb: 0.50086237     852.485  532.142  
imu_odom_:  1691062438.520381105  0.124498   -0.292093  9.93115    -0.04048    -0.0287621  0.0458064   0.25       0             pose: 0.0           4.69405    0.0406761   0 0.000654801 -0.00604929 0.0276837   0.999598       uwb: 0.0            852.485  532.142  
imu_odom_:  1691062438.545357877  0.42138    -0.237026  9.56244    -0.0479369  -0.0255663  0.0351537   0.18       0             pose: 0.0           4.69405    0.0406761   0 0.000654801 -0.00604929 0.0276837   0.999598       uwb: 0.49887344     852.647  531.229  
imu_odom_:  1691062438.568355347  0.694318   -0.272939  10.2352    -0.0500674  -0.0170442  0.0468716   0.18       0             pose: 0.42924644    4.70402    0.0415287   0 -0.00221229 -0.00545031 0.0275958   0.999602       uwb: 0.0            852.647  531.229  
imu_odom_:  1691062438.585486651  0.301669   -0.071826  9.88326    -0.0511327  0.00213053  0.0479369   0.23       0             pose: 0.0           4.70402    0.0415287   0 -0.00221229 -0.00545031 0.0275958   0.999602       uwb: 0.0            852.647  531.229  
imu_odom_:  1691062438.611394311  0.203507   -0.198719  9.42118    -0.0447411  0.0276969   0.0426106   0.23       0             pose: 0.88959538    4.72394    0.0432312   0 -0.000226617-0.00266984 0.0276863   0.999613       uwb: 0.50063781     850.358  531.116  
imu_odom_:  1691062438.628331680  0.378284   -0.260968  10.1466    -0.0596548  0.0127832   0.0458064   0.18       0.02          pose: 0.0           4.72394    0.0432312   0 -0.000226617-0.00266984 0.0276863   0.999613       uwb: 0.0            850.358  531.116  
imu_odom_:  1691062438.643285081  0.227449   -0.122104  10.0413    -0.0436758  0.0117179   0.0266316   0.18       0.02          pose: 0.43027007    4.73391    0.044084    0 -0.0002599820.00114343  0.0277856   0.999613       uwb: 0.49874804     848.852  530.637  
imu_odom_:  1691062438.669489913  0.620098   -0.445322  9.68933    -0.0777643  -0.0213053  0.0543285   0.21       0             pose: 0.0           4.73391    0.044084    0 -0.0002599820.00114343  0.0277856   0.999613       uwb: 0.0            848.852  530.637  
imu_odom_:  1691062438.694271001  0.636858   -0.0957681 9.5792     -0.0468716  0.00639159  0.0223706   0.21       0             pose: 0.31908268    4.73391    0.044084    0 -0.0008046750.00189582  0.027776    0.999612       uwb: 0.50062032     848.11   529.74   
imu_odom_:  1691062438.719354510  0.713472   -0.438139  10.0437    -0.0596548  0.0149137   0.0500674   0.21       0             pose: 0.0           4.73391    0.044084    0 -0.0008046750.00189582  0.027776    0.999612       uwb: 0.0            848.11   529.74   
imu_odom_:  1691062438.742276739  0.325611   -0.363919  9.80904    0.0468716   -0.0287621  0.00319579  0.21       0             pose: 0.50947132    4.74387    0.0449385   0 -0.00110406 -0.00214992 0.027732    0.999612       uwb: 0.49998456     845.766  529.515  
imu_odom_:  1691062438.758264265  0.320823   -0.198719  10.1418    -0.113983   -0.0958738  0.0916127   0.18       0             pose: 0.0           4.74387    0.0449385   0 -0.00110406 -0.00214992 0.027732    0.999612       uwb: 0.0            845.766  529.515  
imu_odom_:  1691062438.781380721  0.215478   -0.035913  9.75877    -0.176834   -0.107592   0.113983    0.18       0             pose: 0.48027028    4.75384    0.0457922   0 -0.00223757 -0.00149058 0.0276288   0.999615       uwb: 0.0            845.766  529.515  
imu_odom_:  1691062438.804398021  0.857124   -0.675165  10.0676    -0.0873517  -0.0756338  0.00532632  0.23       0             pose: 0.0           4.75384    0.0457922   0 -0.00223757 -0.00149058 0.0276288   0.999615       uwb: 0.49936046     846.377  528.598  
imu_odom_:  1691062438.821542157  0.924162   -0.811634  9.60075    -0.0575243  -0.00745685 -0.0117179  0.23       0             pose: 0.39025824    4.7638     0.0466439   0 -0.00249139 -0.00162288 0.0285627   0.999588       uwb: 0.0            846.377  528.598  
imu_odom_:  1691062438.837520059  0.61531    -0.0814029 10.489     -0.0447411  0.0266316   0.0575243   0.17       -0.02         pose: 0.0           4.7638     0.0466439   0 -0.00249139 -0.00162288 0.0285627   0.999588       uwb: 0.0            846.377  528.598  
imu_odom_:  1691062438.863269071  0.507571   -0.428562  10.0365    -0.0490022  0.0255663   0.0319579   0.17       -0.02         pose: 0.40218888    4.77376    0.0475142   0 -0.0042389  -0.00469935 0.0279307   0.99959        uwb: 0.50182767     844.517  528.491  
imu_odom_:  1691062438.888376495  0.610521   -0.232238  9.86172    -0.0703074  0.00426106  0.0660464   0.2        0             pose: 0.0           4.77376    0.0475142   0 -0.0042389  -0.00469935 0.0279307   0.99959        uwb: 0.0            844.517  528.491  
imu_odom_:  1691062438.911247688  0.799663   -0.395043  9.7851     -0.0713727  0.0106526   0.0298274   0.19       0             pose: 0.41798364    4.77376    0.0475142   0 -0.00549483 -0.00532864 0.0280095   0.999578       uwb: 0.49715865     847.903  526.277  
imu_odom_:  1691062438.935370564  0.624887   -0.351948  9.50498    -0.0639159  0.0117179   0.0415453   0.25       0             pose: 0.0           4.77376    0.0475142   0 -0.00549483 -0.00532864 0.0280095   0.999578       uwb: 0.0            847.903  526.277  
imu_odom_:  1691062438.958301250  0.505177   -0.521936  10.1514    -0.0394148  -0.00852212 0.0223706   0.25       0             pose: 0.48103726    4.78372    0.0483754   0 -0.00571354 -0.00922213 0.0281074   0.999546       uwb: 0.49994082     847.238  525.628  
imu_odom_:  1691062438.975372186  0.11971    0.0143652  10.0509    -0.0394148  0.0383495   0.0298274   0.26       0             pose: 0.0           4.78372    0.0483754   0 -0.00571354 -0.00922213 0.0281074   0.999546       uwb: 0.0            847.238  525.628  
imu_odom_:  1691062438.991528858  0.351948   -0.213084  10.1203    -0.0596548  -0.0468716  0.0660464   0.26       0             pose: 0.46791677    4.79369    0.0492376   0 -0.00771211 -0.00864136 0.0279138   0.999543       uwb: 0.50080404     846.157  525.113  
imu_odom_:  1691062439.7445228    0.251391   -0.304064  9.73004    -0.04048    0.00319579  0.0319579   0.22       -0.02         pose: 0.0           4.79369    0.0492376   0 -0.00771211 -0.00864136 0.0279138   0.999543       uwb: 0.0            846.157  525.113  
imu_odom_:  1691062439.23371519   0.311246   0.110133   10.1778    -0.052198   0.0585895   0.0383495   0.22       -0.02         pose: 0.0           4.79369    0.0492376   0 -0.00771211 -0.00864136 0.0279138   0.999543       uwb: 0.0            846.157  525.113  
imu_odom_:  1691062439.40412426   0.0215478  -0.586579  10.0556    -0.0628506  -0.0138484  0.0340885   0.22       -0.02         pose: 0.41194106    4.80413    0.0445061   0 -0.00592243 -0.00509886 0.0280368   0.999576       uwb: 0.50062925     844.672  524.781  
imu_odom_:  1691062439.56258810   0.301669   -0.244209  10.2376    -0.04048    -0.0117179  0.0138484   0.19       -0.02         pose: 0.0           4.80413    0.0445061   0 -0.00592243 -0.00509886 0.0280368   0.999576       uwb: 0.0            844.672  524.781  
imu_odom_:  1691062439.79299744   0.684742   -0.301669  10.2999    -0.0617853  -0.0692422  0.0575243   0.23       0             pose: 0.7073523     4.80451    0.0401333   0 -0.00527499 -0.00458009 0.0280298   0.999583       uwb: 0.0            844.672  524.781  
imu_odom_:  1691062439.96220499   0.203507   -0.184354  9.65342    -0.0436758  0.0138484   0.0213053   0.23       0             pose: 0.0           4.80451    0.0401333   0 -0.00527499 -0.00458009 0.0280298   0.999583       uwb: 0.50050100     841.544  525.047  
imu_odom_:  1691062439.122406971  0.0502782  -0.102951  9.55526    -0.076699   0.00852212  0.0511327   0.18       0             pose: 0.49797839    4.81447    0.0409934   0 -0.00459002 -0.00229735 0.0278568   0.999599       uwb: 0.0            841.544  525.047  
imu_odom_:  1691062439.138267062  0.471658   -0.392649  9.92397    -0.0713727  -0.0170442  0.0319579   0.18       0             pose: 0.0           4.81447    0.0409934   0 -0.00459002 -0.00229735 0.0278568   0.999599       uwb: 0.0            841.544  525.047  
imu_odom_:  1691062439.162281171  0.385466   -0.280122  9.75398    -0.0639159  -0.015979   0.0372843   0.18       0             pose: 0.73950472    4.83005    0.0423332   0 -0.00453339 -0.0009424020.0279298   0.999599       uwb: 0.49879787     840.498  524.678  
imu_odom_:  1691062439.178271621  0.428562   -0.344765  9.72285    -0.0713727  -0.0308927  0.0426106   0.18       0             pose: 0.0           4.83005    0.0423332   0 -0.00453339 -0.0009424020.0279298   0.999599       uwb: 0.0            840.498  524.678  
imu_odom_:  1691062439.202207281  0.562637   -0.316035  10.0868    -0.0266316  -0.0181095  0.0223706   0.2        0             pose: 0.40004559    4.8344     0.0427076   0 -0.00476751 -0.00020927 0.0279315   0.999598       uwb: 0.49982441     839.382  524.112  
imu_odom_:  1691062439.225214678  0.40462    -0.354342  9.76355    -0.0713727  -0.0276969  0.052198    0.2        0             pose: 0.7967958     4.8344     0.0427076   0 -0.00466091 -0.00105861 0.0278594   0.9996         uwb: 0.0            839.382  524.112  
imu_odom_:  1691062439.248204869  0.351948   -0.232238  9.71328    -0.0458064  0           0.0372843   0.25       0             pose: 0.24060187    4.84436    0.0435639   0 -0.00511459 -0.00231862 0.0277702   0.999599       uwb: 0.49992648     838.702  523.473  
imu_odom_:  1691062439.274263315  0.148441   -0.608127  9.65342    -0.0628506  -0.0138484  0.0511327   0.25       0             pose: 0.22949945    4.84436    0.0435639   0 -0.00567076 -0.0009935860.0278651   0.999595       uwb: 0.0            838.702  523.473  
imu_odom_:  1691062439.298196934  0.383072   -0.244209  10.0341    -0.0330232  0.0106526   0.0330232   0.19       0             pose: 0.0           4.84436    0.0435639   0 -0.00567076 -0.0009935860.0278651   0.999595       uwb: 0.50018896     838.743  522.219  
imu_odom_:  1691062439.314194675  0.00718261 -0.21069   9.94073    -0.0628506  -0.0287621  0.0596548   0.19       0             pose: 0.0           4.84436    0.0435639   0 -0.00567076 -0.0009935860.0278651   0.999595       uwb: 0.0            838.743  522.219  
imu_odom_:  1691062439.330209330  0.150835   -0.222661  9.86172    -0.0490022  -0.0319579  0.0298274   0.24       0             pose: 0.71955713    4.86429    0.0452773   0 -0.00381935 0.00199671  0.0280057   0.999598       uwb: 0.0            838.743  522.219  
imu_odom_:  1691062439.355235984  0.746991   -0.296881  10.252     -0.0649811  -0.0426106  0.0543285   0.24       0             pose: 0.0           4.86429    0.0452773   0 -0.00381935 0.00199671  0.0280057   0.999598       uwb: 0.50029102     835.601  522.546  
imu_odom_:  1691062439.371196980  0.682347   -0.593762  9.44513    -0.0585895  0.0234358   0.0213053   0.19       0.02          pose: 0.50030560    4.87142    0.0458919   0 -0.00333717 0.00110315  0.028208    0.999596       uwb: 0.0            835.601  522.546  
imu_odom_:  1691062439.395250167  -0.189142  -0.454898  9.85214    -0.0617853  -0.0127832  0.0617853   0.19       0.02          pose: 0.0           4.87142    0.0458919   0 -0.00333717 0.00110315  0.028208    0.999596       uwb: 0.49928198     833.671  522.369  
imu_odom_:  1691062439.411257824  0.378284   -0.287304  10.2185    -0.0543285  -0.0415453  0.0308927   0.19       0             pose: 0.7145848     4.87425    0.0461375   0 -0.00385582 0.000694619 0.0281401   0.999596       uwb: 0.0            833.671  522.369  
imu_odom_:  1691062439.434305757  0.588974   -0.177171  9.7037     -0.056459   -0.0351537  0.0447411   0.19       0             pose: 0.0           4.87425    0.0461375   0 -0.00385582 0.000694619 0.0281401   0.999596       uwb: 0.0            833.671  522.369  
imu_odom_:  1691062439.460335915  0.828394   -0.263362  9.81862    -0.0596548  -0.0138484  0.0287621   0.18       0.02          pose: 0.71923925    4.88421    0.0470021   0 -0.00281751 -0.00124725 0.0283182   0.999594       uwb: 0.50101135     834.624  521.069  
imu_odom_:  1691062439.475307696  0.538695   -0.277727  10.1682    -0.0607201  0.0287621   0.0351537   0.18       0.02          pose: 0.0           4.88421    0.0470021   0 -0.00281751 -0.00124725 0.0283182   0.999594       uwb: 0.0            834.624  521.069  
imu_odom_:  1691062439.498298762  0.493206   -0.23942   10.5632    -0.0916127  -0.0245011  0.0575243   0.17       -0.02         pose: 0.41001939    4.88917    0.0474319   0 -0.00290246 -0.00522455 0.0281322   0.999586       uwb: 0.50020062     834.348  520.27   
imu_odom_:  1691062439.515172272  0.490811   -0.392649  9.61272    -0.0511327  -0.0276969  0.0340885   0.17       -0.02         pose: 0.8013452     4.89418    0.0478653   0 -0.00232225 -0.00496265 0.0282009   0.999587       uwb: 0.0            834.348  520.27   
imu_odom_:  1691062439.540228673  0.514753   -0.227449  9.94551    -0.0873517  0.0191748   0.0607201   0.18       0             pose: 0.31851124    4.89911    0.0482928   0 -0.00288252 -0.00475569 0.0282906   0.999584       uwb: 0.50033185     831.647  520.588  
imu_odom_:  1691062439.563222654  0.409408   -0.306458  10.1251    -0.0479369  -0.00745685 0.0245011   0.18       0             pose: 0.0           4.89911    0.0482928   0 -0.00288252 -0.00475569 0.0282906   0.999584       uwb: 0.0            831.647  520.588  
imu_odom_:  1691062439.587292465  0.263362   -0.35913   9.78989    -0.0575243  -0.0245011  0.0479369   0.25       0.02          pose: 0.9140608     4.90414    0.0487295   0 -0.00218116 -0.00498689 0.0283812   0.999582       uwb: 0.0            831.647  520.588  
imu_odom_:  1691062439.610151130  0.107739   -0.332794  10.0533    -0.0426106  -0.00106526 0.0511327   0.25       0.02          pose: 0.0           4.90414    0.0487295   0 -0.00218116 -0.00498689 0.0283812   0.999582       uwb: 0.49815919     832.588  519.239  
imu_odom_:  1691062439.627229657  0.64404    -0.174777  10.1825    -0.0500674  -0.0607201  0.0447411   0.24       0             pose: 0.46969596    4.90414    0.0487295   0 -0.00260565 -0.00293316 0.0284121   0.999589       uwb: 0.0            832.588  519.239  
imu_odom_:  1691062439.643161489  0.591368   -0.227449  9.80904    -0.0468716  0.0532632   0.0276969   0.24       0             pose: 0.0           4.90414    0.0487295   0 -0.00260565 -0.00293316 0.0284121   0.999589       uwb: 0.50017146     833.035  517.815  
imu_odom_:  1691062439.659195101  0.31364    -0.134075  10.2017    -0.0426106  0.00745685  0.0436758   0.24       0             pose: 0.71879013    4.92406    0.0504666   0 -0.00232498 -0.00247585 0.0285653   0.999586       uwb: 0.0            833.035  517.815  
imu_odom_:  1691062439.683308948  0.557849   -0.385466  9.95509    -0.0532632  -0.0340885  0.0394148   0.18       0             pose: 0.0           4.92406    0.0504666   0 -0.00232498 -0.00247585 0.0285653   0.999586       uwb: 0.0            833.035  517.815  
imu_odom_:  1691062439.708308480  0.411803   -0.462081  9.85214    -0.0490022  -0.00852212 0.0447411   0.18       0             pose: 0.6996242     4.92406    0.0504666   0 -0.00181872 -0.00190833 0.0285798   0.999588       uwb: 0.49894368     831.947  517.397  
imu_odom_:  1691062439.733302180  0.493206   -0.311246  9.84975    -0.0553937  -0.0266316  0.0298274   0.18       0             pose: 0.0           4.92406    0.0504666   0 -0.00181872 -0.00190833 0.0285798   0.999588       uwb: 0.0            831.947  517.397  
imu_odom_:  1691062439.749178018  0.260968   -0.129287  10.2855    -0.0490022  -0.0149137  0.0426106   0.18       0             pose: 0.83144449    4.94121    0.0519665   0 -0.00475621 -0.0053972  0.0285362   0.999567       uwb: 0.50109010     833.382  516.08   
imu_odom_:  1691062439.765155345  0.572214   -0.620098  9.53611    -0.0777643  -0.0213053  0.0468716   0.18       0             pose: 0.0           4.94121    0.0519665   0 -0.00475621 -0.0053972  0.0285362   0.999567       uwb: 0.0            833.382  516.08   
imu_odom_:  1691062439.791152257  0.368707   -0.184354  9.62708    -0.0458064  0.0170442   0.0330232   0.18       0             pose: 0.31853165    4.94399    0.0522089   0 -0.00549598 -0.00479366 0.0286248   0.999564       uwb: 0.49847999     829.647  516.236  
imu_odom_:  1691062439.815199904  0.423774   -0.40462   10.0149    -0.0585895  0.00852212  0.0479369   0.19       0             pose: 0.8091609     4.94399    0.0522089   0 -0.00487143 -0.0041507  0.0285984   0.99957        uwb: 0.0            829.647  516.236  
imu_odom_:  1691062439.832128824  0.557849   -0.184354  9.87129    -0.0191748  -0.0234358  0.0149137   0.19       0             pose: 0.24966286    4.95395    0.0530802   0 -0.00418979 -0.00252332 0.0285715   0.99958        uwb: 0.0            829.647  516.236  
imu_odom_:  1691062439.847139392  0.560243   -0.203507  10.3406    -0.0266316  0.0213053   0.04048     0.18       -0.02         pose: 0.0           4.95395    0.0530802   0 -0.00418979 -0.00252332 0.0285715   0.99958        uwb: 0.50183375     829.013  515.787  
imu_odom_:  1691062439.864175050  0.397437   -0.380678  9.38527    -0.0532632  -0.00532632 0.0330232   0.18       -0.02         pose: 0.0           4.95395    0.0530802   0 -0.00418979 -0.00252332 0.0285715   0.99958        uwb: 0.0            829.013  515.787  
imu_odom_:  1691062439.880171624  0.311246   -0.110133  9.81383    -0.0191748  -0.00639159 0.0351537   0.18       -0.02         pose: 0.24950247    4.95395    0.0530802   0 -0.00509549 -0.00258781 0.0285462   0.999576       uwb: 0.0            829.013  515.787  
imu_odom_:  1691062439.905212859  0.620098   -0.203507  9.5792     -0.0532632  -0.0191748  0.0575243   0.18       0             pose: 0.0           4.95395    0.0530802   0 -0.00509549 -0.00258781 0.0285462   0.999576       uwb: 0.49856457     826.586  515.653  
imu_odom_:  1691062439.921143525  0.624887   -0.0383072 10.1275    -0.0319579  -0.00639159 0.0340885   0.18       0             pose: 0.82049372    4.97099    0.0545665   0 -0.00182361 -0.00457724 0.0285664   0.99958        uwb: 0.0            826.586  515.653  
imu_odom_:  1691062439.937176553  0.1652     -0.248997  9.72046    -0.0628506  -0.00426106 0.0585895   0.18       0             pose: 0.0           4.97099    0.0545665   0 -0.00182361 -0.00457724 0.0285664   0.99958        uwb: 0.0            826.586  515.653  
imu_odom_:  1691062439.962107844  0.158017   -0.114922  10.0652    -0.0596548  -0.0138484  0.0351537   0.18       0             pose: 0.6942581     4.97387    0.0548187   0 -0.00113906 -0.00492642 0.0285443   0.99958        uwb: 0.50064098     828.41   514.107  
imu_odom_:  1691062439.977164198  0.440533   -0.265756  9.64145    -0.0671117  -0.0287621  0.052198    0.19       0             pose: 0.0           4.97387    0.0548187   0 -0.00113906 -0.00492642 0.0285443   0.99958        uwb: 0.0            828.41   514.107  
imu_odom_:  1691062439.993109736  0.691924   -0.356736  10.0772    -0.0713727  -0.00532632 0.0553937   0.18       0.02          pose: 0.0           4.97387    0.0548187   0 -0.00113906 -0.00492642 0.0285443   0.99958        uwb: 0.50087720     827.617  513.216  
imu_odom_:  1691062440.9165515    0.153229   -0.25618   9.56005    -0.0490022  0.02024     0.0266316   0.18       0             pose: 0.71967378    4.98384    0.0556898   0 -0.0016726  -0.00262652 0.0287639   0.999581       uwb: 0.0            827.617  513.216  
imu_odom_:  1691062440.25219840   0.696713   -0.19393   10.1227    -0.0596548  -0.0426106  0.0479369   0.18       0             pose: 0.0           4.98384    0.0556898   0 -0.0016726  -0.00262652 0.0287639   0.999581       uwb: 0.0            827.617  513.216  
imu_odom_:  1691062440.41157221   0.481235   -0.0694318 10.2185    -0.0735032  -0.0266316  0.0479369   0.18       0             pose: 0.0           4.98384    0.0556898   0 -0.0016726  -0.00262652 0.0287639   0.999581       uwb: 0.0            827.617  513.216  
imu_odom_:  1691062440.58155267   0.124498   -0.213084  10.0365    -0.0308927  -0.00639159 0.0276969   0.18       0             pose: 0.32108641    4.9938     0.0565641   0 -0.00192032 -0.00247481 0.0287618   0.999581       uwb: 0.0            827.617  513.216  
imu_odom_:  1691062440.73255373   0.399832   -0.543484  9.46428    -0.0511327  -0.0351537  0.0532632   0.18       0             pose: 0.41923808    4.99973    0.0570846   0 -4.06345e-05-0.00203288 0.0287586   0.999584       uwb: 0.0            827.617  513.216  
imu_odom_:  1691062440.89103806   0.184354   -0.189142  10.3022    -0.0575243  -0.00319579 0.04048     0.18       -0.02         pose: 0.0           4.99973    0.0570846   0 -4.06345e-05-0.00203288 0.0287586   0.999584       uwb: 0.0            827.617  513.216  
imu_odom_:  1691062440.106227545  0.402226   -0.0957681 10.0341    -0.0458064  -0.0649811  0.0372843   0.18       -0.02         pose: 0.0           4.99973    0.0570846   0 -4.06345e-05-0.00203288 0.0287586   0.999584       uwb: 0.99926431     827.62   511.87   
imu_odom_:  1691062440.122272247  0.617704   -0.258574  9.98861    -0.0671117  0.0287621   0.0490022   0.18       -0.02         pose: 0.6113475     5.00376    0.0574384   0 -0.000634409-0.00206779 0.0288016   0.999583       uwb: 0.0            827.62   511.87   
imu_odom_:  1691062440.138092392  0.191536   -0.402226  10.0365    -0.056459   0.0575243   0.0330232   0.25       -0.02         pose: 0.0           5.00376    0.0574384   0 -0.000634409-0.00206779 0.0288016   0.999583       uwb: 0.0            827.62   511.87   
imu_odom_:  1691062440.163087270  0.861913   -0.35913   9.4547     -0.0436758  0.00639159  0.0500674   0.25       -0.02         pose: 0.48963797    5.01372    0.0583139   0 0.000360781 -0.00145461 0.0288877   0.999582       uwb: 0.49964968     831.2    509.775  
imu_odom_:  1691062440.188163222  0.208296   -0.253785  9.84496    -0.04048    0.0426106   0.0138484   0.21       -0.02         pose: 0.0           5.01372    0.0583139   0 0.000360781 -0.00145461 0.0288877   0.999582       uwb: 0.0            831.2    509.775  
imu_odom_:  1691062440.212093062  -0.0311246 -0.603339  9.39245    -0.0916127  0.00958738  0.0532632   0.18       -0.02         pose: 0.74930683    5.02368    0.0591918   0 -0.00139082 0.000355925 0.0286912   0.999587       uwb: 0.50033793     830.803  508.62   
imu_odom_:  1691062440.229088774  0.486023   -0.368707  9.68215    -0.0532632  -0.0351537  0.0340885   0.18       -0.02         pose: 0.0           5.02368    0.0591918   0 -0.00139082 0.000355925 0.0286912   0.999587       uwb: 0.0            830.803  508.62   
imu_odom_:  1691062440.253155972  0.823605   -0.282516  9.41879    -0.0479369  -0.0298274  0.0330232   0.18       -0.02         pose: 0.40925552    5.03364    0.0600655   0 -0.00433962 0.000602384 0.0288036   0.999575       uwb: 0.49846274     832.203  507.098  
imu_odom_:  1691062440.269171802  0.555455   -0.253785  9.40442    -0.0596548  -0.00745685 0.0351537   0.18       0             pose: 0.7074985     5.03364    0.0600655   0 -0.00426997 -0.0001942450.0287778   0.999577       uwb: 0.0            832.203  507.098  
imu_odom_:  1691062440.293134888  0.507571   -0.237026  10.058     -0.0415453  0.0308927   0.0234358   0.18       0             pose: 0.33008043    5.03925    0.0605573   0 -0.00358989 -0.00364018 0.0286729   0.999576       uwb: 0.50048667     831.87   506.12   
imu_odom_:  1691062440.309191546  0.344765   -0.265756  9.63666    -0.0745685  -0.0181095  0.056459    0.18       0.02          pose: 0.0           5.03925    0.0605573   0 -0.00358989 -0.00364018 0.0286729   0.999576       uwb: 0.0            831.87   506.12   
imu_odom_:  1691062440.326285247  0.54109    -0.248997  10.1083    -0.0276969  -0.00319579 0.0372843   0.18       0.02          pose: 0.6998286     5.04361    0.0609392   0 -0.00295237 -0.00388864 0.0286126   0.999579       uwb: 0.0            831.87   506.12   
imu_odom_:  1691062440.343227591  0.196325   -0.1652    9.72525    -0.0617853  0.00426106  0.0585895   0.18       0.02          pose: 0.0           5.04361    0.0609392   0 -0.00295237 -0.00388864 0.0286126   0.999579       uwb: 0.49975759     829.522  506.304  
imu_odom_:  1691062440.360103734  0.950498   -0.246603  10.0437    -0.0468716  -0.0436758  0.0415453   0.23       0.02          pose: 0.0           5.04361    0.0609392   0 -0.00295237 -0.00388864 0.0286126   0.999579       uwb: 0.0            829.522  506.304  
imu_odom_:  1691062440.385055743  0.325611   -0.253785  10.4148    -0.0330232  0.0117179   0.0372843   0.18       -0.02         pose: 0.41108697    5.04361    0.0609392   0 -0.00166846 -0.00382552 0.0285945   0.999582       uwb: 0.0            829.522  506.304  
imu_odom_:  1691062440.402335796  0.445322   -0.339977  9.67257    -0.0681769  -0.02024    0.0490022   0.18       -0.02         pose: 0.0           5.04361    0.0609392   0 -0.00166846 -0.00382552 0.0285945   0.999582       uwb: 0.49998797     827.466  505.949  
imu_odom_:  1691062440.427284597  0.47884    -0.426168  9.5792     -0.0681769  -0.0245011  0.0479369   0.18       0.02          pose: 0.74967721    5.06353    0.0626843   0 -0.00179889 -0.00239153 0.0287711   0.999582       uwb: 0.0            827.466  505.949  
imu_odom_:  1691062440.443209729  0.529119   -0.177171  9.91439    -0.0671117  -0.00319579 0.0500674   0.18       0.02          pose: 0.0           5.06353    0.0626843   0 -0.00179889 -0.00239153 0.0287711   0.999582       uwb: 0.49989757     828.848  504.349  
imu_odom_:  1691062440.469199072  0.694318   -0.0335188 10.647     -0.0394148  -0.015979   0.0383495   0.18       0             pose: 0.50963223    5.07437    0.0535971   0 -0.00407948 -0.00388611 0.0290046   0.999563       uwb: 0.0            828.848  504.349  
imu_odom_:  1691062440.493211443  0.407014   -0.414197  10.2065    -0.0585895  -0.0426106  0.0351537   0.18       0             pose: 0.0           5.07437    0.0535971   0 -0.00407948 -0.00388611 0.0290046   0.999563       uwb: 0.50086871     829.387  503.096  
imu_odom_:  1691062440.510068922  0.402226   -0.158017  9.44034    -0.0468716  0.00106526  0.0330232   0.27       0.02          pose: 0.9022794     5.07437    0.0535971   0 -0.00328007 -0.00447469 0.0289945   0.999564       uwb: 0.0            829.387  503.096  
imu_odom_:  1691062440.535203201  0.287304   -0.457293  9.44991    -0.0841559  0.0266316   0.0532632   0.27       0.02          pose: 0.0           5.07437    0.0535971   0 -0.00328007 -0.00447469 0.0289945   0.999564       uwb: 0.0            829.387  503.096  
imu_odom_:  1691062440.552030642  0.758962   -0.0933739 10.6231    -0.0479369  -0.02024    0.0287621   0.21       0             pose: 0.47959708    5.08433    0.0544762   0 -0.00323607 -0.00433795 0.0289128   0.999567       uwb: 0.49998505     828.166  502.373  
imu_odom_:  1691062440.577125550  0.502782   -0.241814  9.80665    -0.0777643  -0.0383495  0.0575243   0.21       0             pose: 0.0           5.08433    0.0544762   0 -0.00323607 -0.00433795 0.0289128   0.999567       uwb: 0.0            828.166  502.373  
imu_odom_:  1691062440.601034100  0.639252   -0.105345  10.2232    -0.0458064  0.00958738  0.0351537   0.2        0             pose: 0.76933319    5.10134    0.0559768   0 -0.00195264 -0.0052494  0.029175    0.999559       uwb: 0.49981300     828.536  500.631  
imu_odom_:  1691062440.626371354  0.395043   -0.299275  9.76355    -0.0798948  -0.0287621  0.0575243   0.2        0             pose: 0.6929752     5.10425    0.056235    0 -0.0013835  -0.00563827 0.0291561   0.999558       uwb: 0.0            828.536  500.631  
imu_odom_:  1691062440.650108717  0.778116   -0.181959  10.0102    -0.0607201  0.0255663   0.0330232   0.18       0.02          pose: 0.42316052    5.11151    0.0568785   0 -0.00166052 -0.00477456 0.029344    0.999557       uwb: 0.50010755     826.483  500.346  
imu_odom_:  1691062440.675176503  0.507571   -0.287304  9.85214    -0.0479369  0.0383495   0.0340885   0.18       0.02          pose: 0.0           5.11151    0.0568785   0 -0.00166052 -0.00477456 0.029344    0.999557       uwb: 0.0            826.483  500.346  
imu_odom_:  1691062440.690062552  0.0311246  -0.246603  10.058     -0.0383495  0.0234358   0.0490022   0.22       0.02          pose: 0.30732733    5.11421    0.0571185   0 -0.00170966 -0.00625082 0.0292436   0.999551       uwb: 0.49977216     828.295  498.504  
imu_odom_:  1691062440.707174334  0.469264   -0.248997  10.1538    -0.0458064  -0.0788296  0.0511327   0.22       0.02          pose: 0.0           5.11421    0.0571185   0 -0.00170966 -0.00625082 0.0292436   0.999551       uwb: 0.0            828.295  498.504  
imu_odom_:  1691062440.724121344  0.543484   -0.387861  9.72525    -0.0426106  0.052198    0.0308927   0.18       0             pose: 0.0           5.11421    0.0571185   0 -0.00170966 -0.00625082 0.0292436   0.999551       uwb: 0.0            828.295  498.504  
imu_odom_:  1691062440.749162300  -0.174777  -0.306458  9.42118    -0.0628506  -0.00106526 0.0607201   0.18       0             pose: 0.58158652    5.12417    0.0580025   0 -0.00195264 -0.00409617 0.0293431   0.999559       uwb: 0.49969926     829.306  497.166  
imu_odom_:  1691062440.772167667  0.107739   -0.19393   10.0676    -0.0394148  0.00213053  0.0436758   0.18       -0.02         pose: 0.33899561    5.13162    0.0586654   0 -0.00302328 -0.00169058 0.0295791   0.999556       uwb: 0.0            829.306  497.166  
imu_odom_:  1691062440.788035932  0.474052   -0.464475  9.71567    -0.0468716  -0.0138484  0.0468716   0.18       0             pose: 0.6024236     5.13413    0.0588896   0 -0.00284683 -0.00108042 0.0295931   0.999557       uwb: 0.0            829.306  497.166  
imu_odom_:  1691062440.814038689  0.890643   -0.301669  9.4978     -0.0511327  0           0.036219    0.25       -0.02         pose: 0.0           5.13413    0.0588896   0 -0.00284683 -0.00108042 0.0295931   0.999557       uwb: 0.49868730     830.689  495.46   
imu_odom_:  1691062440.839046108  0.318429   -0.246603  9.79228    -0.0607201  -0.0436758  0.0543285   0.18       0             pose: 0.32849396    5.13909    0.0593341   0 -0.00372944 -8.28618e-050.0296877   0.999552       uwb: 0.49992382     831.639  493.904  
imu_odom_:  1691062440.854209207  0.526724   -0.275333  9.87848    -0.0681769  -0.0106526  0.0351537   0.18       0             pose: 0.0           5.13909    0.0593341   0 -0.00372944 -8.28618e-050.0296877   0.999552       uwb: 0.0            831.639  493.904  
imu_odom_:  1691062440.871157967  0.560243   -0.167594  9.74919    -0.0415453  0.015979    0.036219    0.18       0             pose: 0.33149775    5.14409    0.059782    0 -0.00351517 -0.00207743 0.0296893   0.999551       uwb: 0.0            831.639  493.904  
imu_odom_:  1691062440.895164797  0.184354   -0.572214  9.47864    -0.0585895  0.0276969   0.0511327   0.22       0.02          pose: 0.0           5.14409    0.059782    0 -0.00351517 -0.00207743 0.0296893   0.999551       uwb: 0.50006963     830.405  493.152  
imu_odom_:  1691062440.920178631  0.227449   -0.155623  10.1011    -0.0117179  0           0.0276969   0.22       0.02          pose: 0.56983377    5.15405    0.0606748   0 -0.00237748 -0.0027422  0.0297967   0.999549       uwb: 0.0            830.405  493.152  
imu_odom_:  1691062440.944051019  0.577003   -0.411803  10.0054    -0.0479369  0           0.0276969   0.19       0             pose: 0.42009547    5.16156    0.0613507   0 -0.00186024 0.000796416 0.0297587   0.999555       uwb: 0.50023587     831.091  492.255  
imu_odom_:  1691062440.968117926  0.608127   -0.555455  9.67976    -0.0543285  -0.0458064  0.0490022   0.23       0.02          pose: 0.0           5.16156    0.0613507   0 -0.00186024 0.000796416 0.0297587   0.999555       uwb: 0.0            831.091  492.255  
imu_odom_:  1691062440.992984778  0.691924   -0.438139  9.84975    -0.0383495  -0.00639159 0.0308927   0.23       0.02          pose: 0.23872388    5.16401    0.0615704   0 -0.00325726 -0.00102004 0.029612    0.999556       uwb: 0.0            831.091  492.255  
imu_odom_:  1691062441.8002938    0.584185   0.047884   10.2783    -0.0383495  0.00106526  0.0468716   0.23       0.02          pose: 0.0           5.16401    0.0615704   0 -0.00325726 -0.00102004 0.029612    0.999556       uwb: 0.0            831.091  492.255  
imu_odom_:  1691062441.33000162   0.744597   -0.246603  10.3142    -0.0639159  0.0255663   0.0330232   0.18       0             pose: 0.54950704    5.17397    0.0624624   0 -0.0054039  -0.00527623 0.0296263   0.999533       uwb: 0.0            831.091  492.255  
imu_odom_:  1691062441.47065858   0.105345   -0.059855  9.44513    -0.0543285  0.0191748   0.036219    0.18       0             pose: 0.0           5.17397    0.0624624   0 -0.0054039  -0.00527623 0.0296263   0.999533       uwb: 0.100029984    827.169  492.311  
imu_odom_:  1691062441.62000325   0.414197   -0.160412  10.1969    -0.072438   -0.0181095  0.0553937   0.19       0             pose: 0.0           5.17397    0.0624624   0 -0.0054039  -0.00527623 0.0296263   0.999533       uwb: 0.0            827.169  492.311  
imu_odom_:  1691062441.78997504   0.857124   -0.457293  9.69652    -0.0660464  0.0170442   0.0276969   0.19       0             pose: 0.40011888    5.18393    0.0633544   0 -0.00358087 -0.00682283 0.0295448   0.999534       uwb: 0.0            827.169  492.311  
imu_odom_:  1691062441.104041680  0.445322   -0.172383  10.1969    -0.0607201  0.0298274   0.0532632   0.18       0             pose: 0.39983893    5.19389    0.0642447   0 -0.0031253  -0.00642874 0.0295443   0.999538       uwb: 0.0            827.169  492.311  
imu_odom_:  1691062441.128975037  0.634463   -0.304064  9.91199    -0.0415453  0.0713727   0.0170442   0.18       0             pose: 0.0           5.19389    0.0642447   0 -0.0031253  -0.00642874 0.0295443   0.999538       uwb: 0.0            827.169  492.311  
imu_odom_:  1691062441.150990325  0.756568   -0.316035  9.6223     -0.0500674  0.00745685  0.0479369   0.2        -0.02         pose: 0.8078494     5.19389    0.0642447   0 -0.00252994 -0.00577414 0.0295967   0.999542       uwb: 0.99904906     827.273  491.159  
imu_odom_:  1691062441.175978508  0.782904   -0.0861913 9.67257    -0.0340885  0.02024     0.0181095   0.2        0             pose: 0.0           5.19389    0.0642447   0 -0.00252994 -0.00577414 0.0295967   0.999542       uwb: 0.0            827.273  491.159  
imu_odom_:  1691062441.190978593  0.174777   -0.244209  9.663      -0.0639159  0.0138484   0.0447411   0.19       0             pose: 0.71949368    5.21381    0.0660246   0 -0.00184802 -0.00832171 0.0294245   0.999531       uwb: 0.49988615     827.046  490.492  
imu_odom_:  1691062441.205158608  -0.100556  -0.481235  10.082     -0.0703074  -0.00213053 0.0490022   0.19       0             pose: 0.0           5.21381    0.0660246   0 -0.00184802 -0.00832171 0.0294245   0.999531       uwb: 0.0            827.046  490.492  
imu_odom_:  1691062441.229033049  -0.0646434 -0.215478  10.1801    -0.0394148  0.052198    0.0372843   0.19       0.02          pose: 0.46133242    5.21922    0.0665045   0 -0.00140035 -0.00646104 0.0293431   0.999548       uwb: 0.0            827.046  490.492  
imu_odom_:  1691062441.246074556  0.64404    -0.308852  9.84735    -0.0617853  -0.0319579  0.0553937   0.19       0.02          pose: 0.6881637     5.22377    0.0669095   0 -0.00133542 -0.00557649 0.0293363   0.999553       uwb: 0.50010487     824.486  490.275  
imu_odom_:  1691062441.271131273  0.926556   -0.0694318 9.89524    -0.0415453  0.00106526  0.0245011   0.2        0.02          pose: 0.34034311    5.22377    0.0669095   0 -0.00180332 -0.00523237 0.0294539   0.999551       uwb: 0.0            824.486  490.275  
imu_odom_:  1691062441.295961392  0.744597   -0.134075  10.1227    -0.076699   -0.0138484  0.0426106   0.2        0.02          pose: 0.0           5.22377    0.0669095   0 -0.00180332 -0.00523237 0.0294539   0.999551       uwb: 0.49993573     825.962  488.777  
imu_odom_:  1691062441.310987140  0.124498   -0.337582  9.34696    -0.0468716  -0.0308927  0.0308927   0.18       0             pose: 0.8079369     5.22377    0.0669095   0 -0.00140389 -0.00594097 0.0293901   0.999549       uwb: 0.0            825.962  488.777  
imu_odom_:  1691062441.337014407  0.198719   -0.222661  9.92397    -0.0777643  -0.0191748  0.0468716   0.18       0             pose: 0.0           5.22377    0.0669095   0 -0.00140389 -0.00594097 0.0293901   0.999549       uwb: 0.0            825.962  488.777  
imu_odom_:  1691062441.360027368  0.416591   -0.42138   10.1658    -0.0351537  -0.00745685 0.0255663   0.18       0.02          pose: 0.47843080    5.23373    0.0677964   0 0.000199966 -0.0092498  0.0292567   0.999529       uwb: 0.50123641     826.871  487.055  
imu_odom_:  1691062441.376021625  0.447716   -0.584185  9.89284    -0.0660464  -0.00745685 0.0532632   0.18       0.02          pose: 0.0           5.23373    0.0677964   0 0.000199966 -0.0092498  0.0292567   0.999529       uwb: 0.0            826.871  487.055  
imu_odom_:  1691062441.392964853  0.107739   -0.248997  9.68694    -0.052198   0           0.0468716   0.18       0.02          pose: 0.0           5.23373    0.0677964   0 0.000199966 -0.0092498  0.0292567   0.999529       uwb: 0.49977533     823.878  487.056  
imu_odom_:  1691062441.408954152  0.521936   -0.169988  10.1538    -0.0447411  -0.00319579 0.0447411   0.25       0             pose: 0.41987404    5.24369    0.0686805   0 -0.000948102-0.00579549 0.0292699   0.999554       uwb: 0.0            823.878  487.056  
imu_odom_:  1691062441.432929498  0.414197   -0.399832  9.92875    -0.0479369  -0.04048    0.0458064   0.25       0             pose: 0.0           5.24369    0.0686805   0 -0.000948102-0.00579549 0.0292699   0.999554       uwb: 0.0            823.878  487.056  
imu_odom_:  1691062441.454933704  0.45011    -0.272939  10.0413    -0.0330232  0.0234358   0.036219    0.18       0             pose: 0.88945089    5.26101    0.0702185   0 -0.00428965 -0.00332139 0.0294735   0.999551       uwb: 0.50001447     827.087  484.702  
imu_odom_:  1691062441.471033824  0.220267   -0.148441  9.991      -0.0617853  -0.0213053  0.0596548   0.18       0             pose: 0.0           5.26101    0.0702185   0 -0.00428965 -0.00332139 0.0294735   0.999551       uwb: 0.0            827.087  484.702  
imu_odom_:  1691062441.495956390  0.378284   0.0143652  10.1658    -0.0415453  0.0308927   0.0500674   0.21       0             pose: 0.38104326    5.26925    0.0709534   0 -0.00153946 -0.00054238 0.0295987   0.999561       uwb: 0.49861172     830.808  482.332  
imu_odom_:  1691062441.517999675  0.356736   -0.356736  9.95748    -0.0703074  0.00532632  0.0490022   0.19       0             pose: 0.0           5.26925    0.0709534   0 -0.00153946 -0.00054238 0.0295987   0.999561       uwb: 0.0            830.808  482.332  
imu_odom_:  1691062441.533935314  0.023942   0          9.68933    -0.0458064  -0.00745685 0.0276969   0.18       0             pose: 0.46965851    5.28053    0.0719646   0 -0.0012446  0.000878155 0.0298308   0.999554       uwb: 0.0            830.808  482.332  
imu_odom_:  1691062441.548992849  0.1652     -0.512359  9.8689     -0.072438   0.00958738  0.0617853   0.18       0             pose: 0.0           5.28053    0.0719646   0 -0.0012446  0.000878155 0.0298308   0.999554       uwb: 0.50130057     829.142  481.84   
imu_odom_:  1691062441.574053941  0.222661   -0.220267  10.1801    -0.0394148  0           0.0330232   0.18       0.02          pose: 0.0           5.28053    0.0719646   0 -0.0012446  0.000878155 0.0298308   0.999554       uwb: 0.0            829.142  481.84   
imu_odom_:  1691062441.599912353  0.502782   -0.184354  10.2927    -0.0820254  -0.0628506  0.0553937   0.18       0.02          pose: 0.39029673    5.28354    0.0722353   0 -0.00151734 0.0039174   0.0298784   0.999545       uwb: 0.49949536     832.36   479.433  
imu_odom_:  1691062441.624906953  0.634463   -0.0742203 10.0676    -0.0468716  -0.0490022  0.0287621   0.18       0.02          pose: 0.42883005    5.2935     0.0731316   0 -0.00072274 0.00235102  0.0300342   0.999546       uwb: 0.0            832.36   479.433  
imu_odom_:  1691062441.649921091  0.708684   -0.191536  10.0293    -0.0777643  -0.0372843  0.0543285   0.18       0.02          pose: 0.0           5.2935     0.0731316   0 -0.00072274 0.00235102  0.0300342   0.999546       uwb: 0.49926790     833.383  477.921  
imu_odom_:  1691062441.663953249  0.323217   -0.035913  9.64384    -0.0447411  0.02024     0.0372843   0.2        -0.02         pose: 0.8025417     5.2935     0.0731316   0 -0.0002750350.00148099  0.0299913   0.999549       uwb: 0.0            833.383  477.921  
imu_odom_:  1691062441.688180857  0.299275   -0.122104  9.85693    -0.0905475  0           0.0639159   0.2        -0.02         pose: 0.0           5.2935     0.0731316   0 -0.0002750350.00148099  0.0299913   0.999549       uwb: 0.0            833.383  477.921  
imu_odom_:  1691062441.712113333  0.205901   -0.189142  9.82102    -0.0575243  0.00106526  0.0330232   0.24       0             pose: 0.48017767    5.30346    0.0740302   0 0.001043    -0.00280121 0.0300777   0.999543       uwb: 0.49981324     835.811  476.07   
imu_odom_:  1691062441.737065354  0.339977   -0.457293  9.54808    -0.0713727  0.0319579   0.0479369   0.24       0             pose: 0.0           5.30346    0.0740302   0 0.001043    -0.00280121 0.0300777   0.999543       uwb: 0.0            835.811  476.07   
imu_odom_:  1691062441.752917586  0.162806   -0.311246  10.0604    -0.0298274  -0.0213053  0.0372843   0.18       0.02          pose: 0.81109817    5.32061    0.0755864   0 -0.0008867340.00308753  0.0303702   0.999534       uwb: 0.49980450     838.758  474.221  
imu_odom_:  1691062441.767968998  0.320823   -0.423774  9.91918    -0.0447411  -0.0458064  0.0458064   0.18       0.02          pose: 0.0           5.32061    0.0755864   0 -0.0008867340.00308753  0.0303702   0.999534       uwb: 0.0            838.758  474.221  
imu_odom_:  1691062441.784037912  0.656011   -0.158017  10.1179    -0.0543285  0.015979    0.0436758   0.18       0.02          pose: 0.0           5.32061    0.0755864   0 -0.0008867340.00308753  0.0303702   0.999534       uwb: 0.0            838.758  474.221  
imu_odom_:  1691062441.799902685  0.248997   -0.21069   9.91439    -0.0223706  -0.00745685 0.0383495   0.18       -0.02         pose: 0.6891552     5.32337    0.0758374   0 -0.00110046 0.00365023  0.0303616   0.999532       uwb: 0.50020694     838.071  473.622  
imu_odom_:  1691062441.813926677  0.574608   -0.423774  9.88326    -0.0532632  0.0213053   0.0575243   0.18       -0.02         pose: 0.0           5.32337    0.0758374   0 -0.00110046 0.00365023  0.0303616   0.999532       uwb: 0.0            838.071  473.622  
imu_odom_:  1691062441.839110837  0.61531    -0.356736  10.3765    -0.0319579  0.04048     0.0351537   0.17       0             pose: 0.30982676    5.32337    0.0758374   0 -0.00255257 0.00340476  0.0304038   0.999529       uwb: 0.0            838.071  473.622  
imu_odom_:  1691062441.856048232  0.521936   -0.45011   9.71088    -0.0500674  -0.0394148  0.04048     0.17       0             pose: 0.0           5.32337    0.0758374   0 -0.00255257 0.00340476  0.0304038   0.999529       uwb: 0.50088354     833.639  473.971  
imu_odom_:  1691062441.872090025  0.94571    -0.0957681 9.69891    -0.0607201  -0.0372843  0.052198    0.17       0             pose: 0.0           5.32337    0.0758374   0 -0.00255257 0.00340476  0.0304038   0.999529       uwb: 0.0            833.639  473.971  
imu_odom_:  1691062441.889039376  1.67594    -0.323217  10.07      -0.0575243  -0.0447411  0.0117179   0.21       -0.26         pose: 0.46127993    5.33424    0.0667855   0 -0.00229012 0.00259275  0.0305177   0.999528       uwb: 0.0            833.639  473.971  
imu_odom_:  1691062441.906026348  1.60172    -0.174777  9.21289    -0.0671117  -0.02024    -0.122505   0.13       -0.29         pose: 0.0           5.33424    0.0667855   0 -0.00229012 0.00259275  0.0305177   0.999528       uwb: 0.49985115     827.948  475.162  
imu_odom_:  1691062441.922901042  1.75495    0.141258   9.86411    -0.0607201  0.0213053   -0.213053   0.13       -0.29         pose: 0.75991385    5.3442     0.0676949   0 -0.00330663 -0.0047593  0.0296774   0.999543       uwb: 0.0            827.948  475.162  
imu_odom_:  1691062441.939027117  0.881066   -0.0981623 9.71088    -0.0500674  0.0468716   -0.298274   0.13       -0.29         pose: 0.0           5.3442     0.0676949   0 -0.00330663 -0.0047593  0.0296774   0.999543       uwb: 0.0            827.948  475.162  
imu_odom_:  1691062441.956093704  0.73502    0.158017   9.81862    -0.0575243  0.00213053  -0.374973   0.13       -0.44         pose: 0.0           5.3442     0.0676949   0 -0.00330663 -0.0047593  0.0296774   0.999543       uwb: 0.49755018     829.05   473.863  
imu_odom_:  1691062441.971948853  0.54109    -0.0933739 9.69412    -0.0596548  -0.0234358  -0.394148   0.13       -0.44         pose: 0.33982110    5.35415    0.0686872   0 -0.00228472 -0.00761435 0.0254274   0.999645       uwb: 0.0            829.05   473.863  
imu_odom_:  1691062441.989142300  0.957681   -0.440533  9.98382    -0.0500674  -0.0383495  -0.421845   0.13       -0.55         pose: 0.40907783    5.35415    0.0686872   0 0.00125671  -0.00848133 0.0170717   0.999818       uwb: 0.0            829.05   473.863  
imu_odom_:  1691062442.5006490    0.938527   -0.148441  9.84256    -0.0479369  -0.0330232  -0.434628   0.13       -0.55         pose: 0.0           5.35415    0.0686872   0 0.00125671  -0.00848133 0.0170717   0.999818       uwb: 0.49997365     830.597  472.352  
imu_odom_:  1691062442.20967801   1.08936    0.0023942  10.1442    -0.0383495  -0.0170442  -0.425041   0.13       -0.55         pose: 0.0           5.35415    0.0686872   0 0.00125671  -0.00848133 0.0170717   0.999818       uwb: 0.0            830.597  472.352  
imu_odom_:  1691062442.37908703   1.17555    -0.217872  10.0293    -0.0617853  -0.00958738 -0.437824   0.08       -0.47         pose: 0.7068864     5.35415    0.0686872   0 0.000919914 -0.00920139 0.0154449   0.999838       uwb: 0.0            830.597  472.352  
imu_odom_:  1691062442.52849010   0.85473    -0.148441  9.98861    -0.0468716  0.00213053  -0.492152   0.1        -0.7          pose: 0.0           5.35415    0.0686872   0 0.000919914 -0.00920139 0.0154449   0.999838       uwb: 0.49995632     832.002  470.375  
imu_odom_:  1691062442.66914713   0.68953    -0.162806  10.0892    -0.056459   -0.0351537  -0.494283   0.1        -0.7          pose: 0.0           5.35415    0.0686872   0 0.000919914 -0.00920139 0.0154449   0.999838       uwb: 0.0            832.002  470.375  
imu_odom_:  1691062442.81849770   0.787692   -0.148441  9.57441    -0.0617853  -0.0319579  -0.476173   0.1        -0.7          pose: 0.64849319    5.3641     0.0696944   0 0.00177364  -0.0158478  1.45038e-05 0.999873       uwb: 0.0            832.002  470.375  
imu_odom_:  1691062442.98909367   0.833182   -0.538695  9.63666    -0.0649811  -0.0191748  -0.50174    0.06       -0.5          pose: 0.0           5.3641     0.0696944   0 0.00177364  -0.0158478  1.45038e-05 0.999873       uwb: 0.50112875     831.219  469.515  
imu_odom_:  1691062442.114845889  0.603339   -0.184354  10.0533    -0.0553937  0.0117179   -0.516653   0.06       -0.5          pose: 0.29987060    5.3641     0.0696944   0 0.00255038  -0.0162957  -0.007927   0.999833       uwb: 0.0            831.219  469.515  
imu_odom_:  1691062442.130845986  0.557849   -0.155623  10.161     -0.0617853  0.00213053  -0.476173   0.07       -0.67         pose: 0.0           5.3641     0.0696944   0 0.00255038  -0.0162957  -0.007927   0.999833       uwb: 0.0            831.219  469.515  
imu_odom_:  1691062442.146843167  0.574608   -0.181959  9.94312    -0.0617853  -0.0266316  -0.426106   0.07       -0.67         pose: 0.48037913    5.3641     0.0696944   0 0.00134458  -0.0152894  -0.0208322  0.999665       uwb: 0.50135039     829.647  469.401  
imu_odom_:  1691062442.163891974  0.821211   -0.4956    9.59835    -0.0532632  -0.015979   -0.381365   0.07       -0.67         pose: 0.0           5.3641     0.0696944   0 0.00134458  -0.0152894  -0.0208322  0.999665       uwb: 0.0            829.647  469.401  
imu_odom_:  1691062442.179897029  0.778116   -0.354342  10.0317    -0.0553937  0.00532632  -0.337689   0.05       -0.38         pose: 0.41999965    5.37398    0.0706717   0 4.73243e-05 -0.0138224  -0.0304373  0.999441       uwb: 0.0            829.647  469.401  
imu_odom_:  1691062442.196863303  0.366313   -0.356736  9.7875     -0.0596548  0.0138484   -0.311057   0.05       -0.38         pose: 0.0           5.37398    0.0706717   0 4.73243e-05 -0.0138224  -0.0304373  0.999441       uwb: 0.49901441     831.644  467.631  
imu_odom_:  1691062442.212972763  0.418985   -0.0694318 10.1035    -0.0543285  -0.0245011  -0.296144   0.05       -0.38         pose: 0.0           5.37398    0.0706717   0 4.73243e-05 -0.0138224  -0.0304373  0.999441       uwb: 0.0            831.644  467.631  
imu_odom_:  1691062442.229969950  0.610521   -0.272939  9.81144    -0.0628506  -0.0170442  -0.26312    0.05       -0.32         pose: 0.8004423     5.37405    0.070676    0 -0.000607343-0.014213   -0.0319368  0.999389       uwb: 0.0            831.644  467.631  
imu_odom_:  1691062442.245851354  0.758962   -0.40462   9.83538    -0.0617853  -0.0127832  -0.224771   0.03       -0.26         pose: 0.0           5.37405    0.070676    0 -0.000607343-0.014213   -0.0319368  0.999389       uwb: 0.49934105     832.315  466.508  
imu_odom_:  1691062442.261964021  0.629675   -0.442927  9.96706    -0.0596548  0.00852212  -0.206661   0.03       -0.26         pose: 0.66081768    5.37405    0.0706762   0 -0.00302652 -0.0117014  -0.0427156  0.999014       uwb: 0.0            832.315  466.508  
imu_odom_:  1691062442.277900252  0.476446   -0.155623  10.0628    -0.0553937  0.00426106  -0.194943   0.03       -0.26         pose: 0.0           5.37405    0.0706762   0 -0.00302652 -0.0117014  -0.0427156  0.999014       uwb: 0.0            832.315  466.508  
imu_odom_:  1691062442.294903563  0.488417   -0.220267  9.83538    -0.0553937  -0.00745685 -0.175769   0.03       -0.23         pose: 0.0           5.37405    0.0706762   0 -0.00302652 -0.0117014  -0.0427156  0.999014       uwb: 0.50199198     830.195  466.292  
imu_odom_:  1691062442.310841252  0.517148   -0.268151  9.80426    -0.0628506  -0.0149137  -0.157659   0.03       -0.23         pose: 0.31933411    5.37405    0.0706762   0 -0.00467662 -0.01131    -0.0466465  0.998836       uwb: 0.0            830.195  466.292  
imu_odom_:  1691062442.327999712  0.627281   -0.380678  9.78031    -0.0543285  -0.00745685 -0.143811   0.04       -0.23         pose: 0.0           5.37405    0.0706762   0 -0.00467662 -0.01131    -0.0466465  0.998836       uwb: 0.0            830.195  466.292  
imu_odom_:  1691062442.352980033  0.629675   -0.275333  9.92397    -0.052198   -0.00639159 -0.117179   0.04       -0.23         pose: 0.47934968    5.37405    0.0706762   0 -0.00380638 -0.00812064 -0.0516227  0.998626       uwb: 0.49947811     831.075  465.84   
imu_odom_:  1691062442.368815359  0.512359   -0.299275  9.80186    -0.0596548  0.00106526  -0.0990696  0.03       -0.17         pose: 0.0           5.37405    0.0706762   0 -0.00380638 -0.00812064 -0.0516227  0.998626       uwb: 0.0            831.075  465.84   
imu_odom_:  1691062442.384975854  0.169988   -0.270545  9.83299    -0.0490022  0.0234358   -0.135289   0.02       -0.23         pose: 0.42020379    5.37405    0.0706762   0 -0.0038945  -0.0103334  -0.054992   0.998426       uwb: 0.0            831.075  465.84   
imu_odom_:  1691062442.409824941  0.0215478  0.0143652  9.7037     -0.0575243  -0.0213053  -0.211988   0.03       -0.35         pose: 0.0           5.37405    0.0706762   0 -0.0038945  -0.0103334  -0.054992   0.998426       uwb: 0.49746002     834.74   464.474  
imu_odom_:  1691062442.431805827  0.782904   -0.0670376 9.73482    -0.0553937  -0.0287621  -0.302535   0.03       -0.35         pose: 0.31967532    5.37405    0.0706765   0 -0.00346929 -0.00708135 -0.0578759  0.998293       uwb: 0.0            834.74   464.474  
imu_odom_:  1691062442.447803009  0.732626   -0.222661  9.94551    -0.0617853  0.00958738  -0.334493   0.02       -0.32         pose: 0.0           5.37405    0.0706765   0 -0.00346929 -0.00708135 -0.0578759  0.998293       uwb: 0.50113167     833.162  464.348  
imu_odom_:  1691062442.464859397  0.366313   -0.35913   9.96706    -0.0617853  0.00852212  -0.336624   0.02       -0.32         pose: 0.24119715    5.384      0.0717168   0 -0.00219465 -0.00631889 -0.0611859  0.998104       uwb: 0.0            833.162  464.348  
imu_odom_:  1691062442.489828054  0.52433    -0.167594  9.96467    -0.0458064  -0.00213053 -0.38456    0.02       -0.41         pose: 0.48905227    5.38393    0.071713    0 -0.00216953 -0.00772312 -0.0700793  0.997509       uwb: 0.49925064     833.05   463.989  
imu_odom_:  1691062442.516827052  0.653617   -0.117316  9.85214    -0.0596548  0.00532632  -0.413323   0.02       -0.41         pose: 0.0           5.38393    0.071713    0 -0.00216953 -0.00772312 -0.0700793  0.997509       uwb: 0.0            833.05   463.989  
imu_odom_:  1691062442.541866866  0.52433    -0.344765  10.0245    -0.0649811  0.00106526  -0.435693   0.02       -0.5          pose: 0.7954846     5.384      0.0717174   0 -0.00136454 -0.00746182 -0.0717672  0.997393       uwb: 0.49967642     834.821  463.072  
imu_odom_:  1691062442.558820892  0.653617   -0.383072  9.60314    -0.0649811  -0.00745685 -0.433563   0.02       -0.5          pose: 0.0           5.384      0.0717174   0 -0.00136454 -0.00746182 -0.0717672  0.997393       uwb: 0.0            834.821  463.072  
imu_odom_:  1691062442.583809963  0.395043   -0.201113  10.0389    -0.0639159  -0.00426106 -0.442085   0.02       -0.47         pose: 0.51103257    5.384      0.0717173   0 0.00103396  -0.00881553 -0.0831527  0.996497       uwb: 0.0            834.821  463.072  
imu_odom_:  1691062442.600854686  0.488417   -0.349553  9.73243    -0.0553937  -0.0127832  -0.448476   0.02       -0.47         pose: 0.0           5.384      0.0717173   0 0.00103396  -0.00881553 -0.0831527  0.996497       uwb: 0.50079629     831.516  463.977  
imu_odom_:  1691062442.616794707  0.407014   -0.304064  9.991      -0.0660464  0.00319579  -0.462325   0.02       -0.5          pose: 0.43028843    5.384      0.0717172   0 -0.00203053 -0.00803989 -0.0933221  0.995601       uwb: 0.0            831.516  463.977  
imu_odom_:  1691062442.642846485  0.471658   -0.270545  9.84975    -0.056459   -0.00532632 -0.46339    0.02       -0.5          pose: 0.41873396    5.384      0.0717171   0 -0.0032858  -0.00500126 -0.103481   0.994613       uwb: 0.50033259     831.802  463.247  
imu_odom_:  1691062442.664809582  0.536301   -0.318429  9.84975    -0.0575243  -0.015979   -0.467651   0.03       -0.53         pose: 0.34026746    5.38395    0.0717141   0 -0.00280662 -0.00171476 -0.111976   0.993705       uwb: 0.0            831.802  463.247  
imu_odom_:  1691062442.689854354  0.383072   -0.136469  9.88805    -0.0575243  -0.0106526  -0.493217   0.03       -0.53         pose: 0.0           5.38395    0.0717141   0 -0.00280662 -0.00171476 -0.111976   0.993705       uwb: 0.0            831.802  463.247  
imu_odom_:  1691062442.713849251  0.4956     -0.059855  9.94073    -0.0436758  -0.00958738 -0.540089   0.02       -0.64         pose: 0.6128938     5.384      0.0717172   0 -0.00317523 -0.00225062 -0.113521   0.993528       uwb: 0.0            831.802  463.247  
imu_odom_:  1691062442.728902420  0.639252   -0.287304  9.89524    -0.056459   -0.0117179  -0.543285   0.02       -0.64         pose: 0.0           5.384      0.0717172   0 -0.00317523 -0.00225062 -0.113521   0.993528       uwb: 0.0            831.802  463.247  
imu_odom_:  1691062442.743950922  0.557849   -0.320823  9.75877    -0.0511327  -0.00426106 -0.569916   0.02       -0.64         pose: 0.0           5.384      0.0717172   0 -0.00317523 -0.00225062 -0.113521   0.993528       uwb: 0.99939368     830.382  463.645  
imu_odom_:  1691062442.761057763  0.438139   -0.0957681 9.87369    -0.0490022  -0.00426106 -0.600809   0.02       -0.61         pose: 0.47837854    5.384      0.0717178   0 -0.00120175 -0.00284925 -0.126141   0.992007       uwb: 0.0            830.382  463.645  
imu_odom_:  1691062442.785917349  0.701501   -0.201113  9.77313    -0.072438   -0.0308927  -0.60507    0.02       -0.61         pose: 0.0           5.384      0.0717178   0 -0.00120175 -0.00284925 -0.126141   0.992007       uwb: 0.0            830.382  463.645  
imu_odom_:  1691062442.802800800  0.505177   -0.351948  9.86172    -0.056459   0.00319579  -0.616788   0.01       -0.61         pose: 0.72126424    5.384      0.0717178   0 -0.000191798-0.00561142 -0.147863   0.988992       uwb: 0.50135330     827.94   464.078  
imu_odom_:  1691062442.818833560  0.47884    -0.129287  10.0197    -0.0511327  -0.0117179  -0.640224   0.01       -0.61         pose: 0.0           5.384      0.0717178   0 -0.000191798-0.00561142 -0.147863   0.988992       uwb: 0.0            827.94   464.078  
imu_odom_:  1691062442.835776213  0.311246   -0.148441  9.65103    -0.0575243  0           -0.647681   0.02       -0.97         pose: 0.49893859    5.38927    0.0722911   0 -0.000517887-0.00619964 -0.164119   0.986421       uwb: 0.0            827.94   464.078  
imu_odom_:  1691062442.851766103  0.366313   -0.208296  9.94791    -0.0500674  -0.0181095  -0.666856   0.02       -0.97         pose: 0.0           5.38927    0.0722911   0 -0.000517887-0.00619964 -0.164119   0.986421       uwb: 0.49861197     827.4    464.005  
imu_odom_:  1691062442.868766207  0.701501   -0.186748  9.73961    -0.0596548  -0.0170442  -0.692422   0.02       -0.97         pose: 0.0           5.38927    0.0722911   0 -0.000517887-0.00619964 -0.164119   0.986421       uwb: 0.0            827.4    464.005  
imu_odom_:  1691062442.884825214  0.68953    -0.213084  10.0269    -0.056459   -0.00532632 -0.702009   0.01       -0.73         pose: 0.6944050     5.39394    0.0727592   0 -0.000219775-0.00555257 -0.166474   0.98603        uwb: 0.0            827.4    464.005  
imu_odom_:  1691062442.901761742  0.620098   -0.318429  9.71328    -0.0607201  -0.00106526 -0.714792   0.01       -0.73         pose: 0.0           5.39394    0.0727592   0 -0.000219775-0.00555257 -0.166474   0.98603        uwb: 0.50046091     828.689  463.198  
imu_odom_:  1691062442.917762423  0.452504   -0.263362  9.95748    -0.0490022  -0.00958738 -0.729706   0.01       -0.73         pose: 0.0           5.39394    0.0727592   0 -0.000219775-0.00555257 -0.166474   0.98603        uwb: 0.0            828.689  463.198  
imu_odom_:  1691062442.934766318  0.409408   -0.148441  10.0197    -0.0607201  -0.0117179  -0.72651    0.01       -1            pose: 0.50998561    5.39394    0.0727593   0 -0.000106867-0.00569735 -0.184466   0.982822       uwb: 0.0            828.689  463.198  
imu_odom_:  1691062442.950760583  0.59855    -0.272939  9.94073    -0.056459   -0.0298274  -0.735032   0.01       -0.76         pose: 0.0           5.39394    0.0727593   0 -0.000106867-0.00569735 -0.184466   0.982822       uwb: 0.49995056     832.921  461.939  
imu_odom_:  1691062442.967829220  0.617704   -0.198719  9.90002    -0.0532632  -0.00745685 -0.782969   0.01       -0.76         pose: 0.65999528    5.39394    0.0727602   0 -0.00137252 -0.0053259  -0.209104   0.977878       uwb: 0.0            832.921  461.939  
imu_odom_:  1691062442.992745382  0.536301   -0.0933739 10.1107    -0.0596548  -0.0213053  -0.782969   0          -0.79         pose: 0.0           5.39394    0.0727602   0 -0.00137252 -0.0053259  -0.209104   0.977878       uwb: 0.50003221     835.209  461.013  
imu_odom_:  1691062443.9811108    0.565032   -0.23942   9.61511    -0.0596548  -0.0170442  -0.778708   0          -0.79         pose: 0.33331787    5.39394    0.0727599   0 -0.000912336-0.00783999 -0.222307   0.974945       uwb: 0.0            835.209  461.013  
imu_odom_:  1691062443.25922908   0.430956   -0.392649  10.0413    -0.0671117  -0.0234358  -0.791491   0          -0.79         pose: 0.0           5.39394    0.0727599   0 -0.000912336-0.00783999 -0.222307   0.974945       uwb: 0.0            835.209  461.013  
imu_odom_:  1691062443.41749201   0.426168   -0.148441  9.93833    -0.0553937  -0.00958738 -0.80534    0          -0.88         pose: 0.41822369    5.39394    0.0727599   0 -0.00155794 -0.00755929 -0.239037   0.97098        uwb: 0.50033571     833.715  461.177  
imu_odom_:  1691062443.57744640   0.500388   -0.203507  9.94312    -0.0575243  -0.0287621  -0.80534    0          -0.88         pose: 0.0           5.39394    0.0727599   0 -0.00155794 -0.00755929 -0.239037   0.97098        uwb: 0.0            833.715  461.177  
imu_odom_:  1691062443.74743294   0.502782   -0.31364   9.93833    -0.0681769  -0.0276969  -0.819188   0          -1.06         pose: 0.39814785    5.39387    0.0727553   0 -0.000569587-0.00462183 -0.255287   0.966854       uwb: 0.0            833.715  461.177  
imu_odom_:  1691062443.90747774   0.596156   -0.268151  9.80426    -0.0745685  -0.0127832  -0.814927   0          -1.06         pose: 0.0           5.39387    0.0727553   0 -0.000569587-0.00462183 -0.255287   0.966854       uwb: 0.50085194     833.674  461.042  
imu_odom_:  1691062443.107852874  0.428562   -0.296881  9.96227    -0.0596548  -0.0319579  -0.836233   0          -1.06         pose: 0.0           5.39387    0.0727553   0 -0.000569587-0.00462183 -0.255287   0.966854       uwb: 0.0            833.674  461.042  
imu_odom_:  1691062443.123756449  0.521936   -0.110133  9.89045    -0.0671117  -0.0223706  -0.837298   0          -0.85         pose: 0.7069163     5.39394    0.07276     0 -0.00131702 -0.00456729 -0.258218   0.966075       uwb: 0.0            833.674  461.042  
imu_odom_:  1691062443.140737313  0.701501   -0.35913   9.78989    -0.0490022  -0.02024    -0.828776   0          -0.85         pose: 0.0           5.39394    0.07276     0 -0.00131702 -0.00456729 -0.258218   0.966075       uwb: 0.49787146     832.832  461.647  
imu_odom_:  1691062443.156852030  0.383072   -0.234632  9.91678    -0.056459   -0.00213053 -0.833037   0          -0.85         pose: 0.0           5.39394    0.07276     0 -0.00131702 -0.00456729 -0.258218   0.966075       uwb: 0.0            832.832  461.647  
imu_odom_:  1691062443.173849517  0.351948   -0.280122  10.0413    -0.0511327  -0.00532632 -0.851146   0          -1.09         pose: 0.50924220    5.39394    0.0727599   0 -0.00304798 -0.00478695 -0.279446   0.960145       uwb: 0.0            832.832  461.647  
imu_odom_:  1691062443.189976774  0.56982    -0.186748  9.83777    -0.0532632  -0.0149137  -0.850081   0          -1.09         pose: 0.0           5.39394    0.0727599   0 -0.00304798 -0.00478695 -0.279446   0.960145       uwb: 0.50086361     833.316  461.546  
imu_odom_:  1691062443.206725208  0.622492   -0.337582  10.07      -0.0575243  -0.0191748  -0.841559   0          -1.09         pose: 0.47999150    5.39394    0.0727599   0 -0.0029193  -0.00422493 -0.299529   0.954073       uwb: 0.0            833.316  461.546  
imu_odom_:  1691062443.222834384  0.203507   -0.349553  9.53611    -0.0617853  -0.00426106 -0.836233   0          -0.85         pose: 0.0           5.39394    0.0727599   0 -0.0029193  -0.00422493 -0.299529   0.954073       uwb: 0.0            833.316  461.546  
imu_odom_:  1691062443.239780544  0.392649   -0.258574  10.0987    -0.0511327  -0.0117179  -0.844755   0          -1.17         pose: 0.0           5.39394    0.0727599   0 -0.0029193  -0.00422493 -0.299529   0.954073       uwb: 0.49930629     830.504  462.449  
imu_odom_:  1691062443.255724656  0.454898   -0.059855  9.88566    -0.0575243  -0.0138484  -0.84795    0          -1.17         pose: 0.66061094    5.39394    0.0727603   0 -0.0035626  -0.00358886 -0.327237   0.944929       uwb: 0.0            830.504  462.449  
imu_odom_:  1691062443.272838796  0.612916   -0.153229  9.79707    -0.052198   -0.0181095  -0.844755   0          -1.17         pose: 0.0           5.39394    0.0727603   0 -0.0035626  -0.00358886 -0.327237   0.944929       uwb: 0.0            830.504  462.449  
imu_odom_:  1691062443.288841818  0.368707   -0.325611  9.74201    -0.0468716  -0.00958738 -0.826645   0          -1.17         pose: 0.0           5.39394    0.0727603   0 -0.0035626  -0.00358886 -0.327237   0.944929       uwb: 0.0            830.504  462.449  
imu_odom_:  1691062443.305829389  0.605733   -0.387861  10.0365    -0.072438   -0.0330232  -0.76486    0          -1.17         pose: 0.32994677    5.39394    0.0727605   0 -0.00158902 -0.00393378 -0.341017   0.940048       uwb: 0.49988665     831.338  461.818  
imu_odom_:  1691062443.321767669  0.514753   -0.423774  9.74679    -0.0553937  -0.015979   -0.713727   0          -0.7          pose: 0.43036445    5.39388    0.0727563   0 -0.00377677 -0.0042614  -0.358063   0.93368        uwb: 0.0            831.338  461.818  
imu_odom_:  1691062443.338881226  0.497994   -0.507571  10.0078    -0.0543285  -0.00319579 -0.659399   0          -0.7          pose: 0.6886310     5.39394    0.0727605   0 -0.00443608 -0.00409597 -0.36048    0.932748       uwb: 0.0            831.338  461.818  
imu_odom_:  1691062443.354708393  0.64404    -0.275333  9.90721    -0.0585895  -0.0266316  -0.600809   0          -0.7          pose: 0.0           5.39394    0.0727605   0 -0.00443608 -0.00409597 -0.36048    0.932748       uwb: 0.49986039     830.44   462.248  
imu_odom_:  1691062443.370709082  0.486023   -0.366313  9.89045    -0.0511327  0.00745685  -0.551807   0          -0.85         pose: 0.41992694    5.39387    0.0727565   0 -0.00702631 -0.00494721 -0.373915   0.927423       uwb: 0.0            830.44   462.248  
imu_odom_:  1691062443.387762854  0.553061   -0.328006  10.003     -0.0585895  -0.0266316  -0.523045   0          -0.58         pose: 0.0           5.39387    0.0727565   0 -0.00702631 -0.00494721 -0.373915   0.927423       uwb: 0.0            830.44   462.248  
imu_odom_:  1691062443.404715722  0.574608   -0.158017  9.73961    -0.0468716  -0.00532632 -0.509196   0          -0.58         pose: 0.0           5.39387    0.0727565   0 -0.00702631 -0.00494721 -0.373915   0.927423       uwb: 0.49994788     828.455  462.483  
imu_odom_:  1691062443.420707370  0.509965   -0.28491   9.92636    -0.0500674  0           -0.48363    0          -0.47         pose: 0.24012115    5.39394    0.0727605   0 -0.00793816 -0.00427886 -0.380374   0.924789       uwb: 0.0            828.455  462.483  
imu_odom_:  1691062443.436698726  0.397437   -0.383072  9.81623    -0.052198   0           -0.449542   0          -0.47         pose: 0.0           5.39394    0.0727605   0 -0.00793816 -0.00427886 -0.380374   0.924789       uwb: 0.0            828.455  462.483  
imu_odom_:  1691062443.453720711  0.454898   -0.435745  9.99819    -0.0511327  -0.0127832  -0.407996   0          -0.47         pose: 0.33980976    5.39394    0.0727606   0 -0.00632873 -0.00540794 -0.388961   0.921217       uwb: 0.49990997     831.095  461.033  
imu_odom_:  1691062443.470699533  0.390255   -0.349553  9.89763    -0.0585895  -0.0149137  -0.357929   0          -0.58         pose: 0.41019227    5.39394    0.0727606   0 -0.00740141 -0.00204381 -0.397962   0.91737        uwb: 0.0            831.095  461.033  
imu_odom_:  1691062443.486698181  0.402226   -0.35913   9.89284    -0.052198   -0.0149137  -0.318514   0          -0.58         pose: 0.6984589     5.39394    0.0727606   0 -0.00725564 -0.00140487 -0.399232   0.91682        uwb: 0.0            831.095  461.033  
imu_odom_:  1691062443.513699817  0.488417   -0.100556  9.84496    -0.0500674  -0.0106526  -0.305731   0          -0.53         pose: 0.0           5.39394    0.0727606   0 -0.00725564 -0.00140487 -0.399232   0.91682        uwb: 0.49991873     832.901  460.199  
imu_odom_:  1691062443.538763557  0.395043   -0.335188  9.91439    -0.0585895  0.00106526  -0.302535   0          -0.35         pose: 0.34000224    5.39394    0.0727609   0 -0.00625876 0.0004959   -0.404927   0.914327       uwb: 0.50006162     830.974  460.652  
imu_odom_:  1691062443.563755265  0.301669   0.0454898  9.89045    -0.0490022  -0.00852212 -0.409062   0          -0.47         pose: 0.44058033    5.39394    0.072761    0 -0.00521623 0.00181863  -0.41183    0.911244       uwb: 0.0            830.974  460.652  
imu_odom_:  1691062443.577806101  0.292093   0.0574608  9.8282     -0.0532632  -0.0191748  -0.437824   0          -0.47         pose: 0.0           5.39394    0.072761    0 -0.00521623 0.00181863  -0.41183    0.911244       uwb: 0.0            830.974  460.652  
imu_odom_:  1691062443.593805331  0.481235   -0.248997  9.88326    -0.0553937  -0.0181095  -0.486826   0          -0.44         pose: 0.0           5.39394    0.072761    0 -0.00521623 0.00181863  -0.41183    0.911244       uwb: 0.49881051     830.404  460.486  
imu_odom_:  1691062443.609756734  0.447716   -0.184354  9.85453    -0.0468716  -0.00958738 -0.52411    0          -0.44         pose: 0.45997095    5.39394    0.072761    0 -0.00166114 0.000438912 -0.421641   0.906761       uwb: 0.0            830.404  460.486  
imu_odom_:  1691062443.636679630  0.459687   -0.445322  9.82341    -0.0575243  -0.0149137  -0.536893   0          -0.53         pose: 0.0           5.39394    0.072761    0 -0.00166114 0.000438912 -0.421641   0.906761       uwb: 0.0            830.404  460.486  
imu_odom_:  1691062443.661696417  0.608127   -0.107739  9.89045    -0.0479369  -0.0117179  -0.58483    0          -0.53         pose: 0.32988261    5.39394    0.0727611   0 -0.00163366 -0.00135138 -0.429949   0.90285        uwb: 0.49979332     829.82   460.276  
imu_odom_:  1691062443.688677639  0.466869   -0.251391  9.91678    -0.0607201  -0.00958738 -0.609331   0          -0.7          pose: 0.43947504    5.39388    0.0727575   0 -0.00259615 -0.00330906 -0.441891   0.897059       uwb: 0.50024243     828.457  460.881  
imu_odom_:  1691062443.713719507  0.308852   -0.167594  9.9527     -0.0532632  0.00106526  -0.631702   0          -0.7          pose: 0.8054880     5.39394    0.0727611   0 -0.00293449 -0.00258515 -0.444231   0.895904       uwb: 0.0            828.457  460.881  
imu_odom_:  1691062443.739808918  0.483629   -0.217872  9.98143    -0.056459   -0.0287621  -0.656203   0          -0.85         pose: 0.43968210    5.39371    0.072747    0 -0.00143474 0.000271139 -0.457211   0.889357       uwb: 0.0            828.457  460.881  
imu_odom_:  1691062443.755806690  0.708684   -0.0694318 9.90242    -0.0511327  -0.0223706  -0.691357   0          -0.85         pose: 0.0           5.39371    0.072747    0 -0.00143474 0.000271139 -0.457211   0.889357       uwb: 0.0            828.457  460.881  
imu_odom_:  1691062443.772667985  0.517148   -0.0861913 9.90481    -0.0585895  -0.0117179  -0.698813   0          -0.91         pose: 0.0           5.39371    0.072747    0 -0.00143474 0.000271139 -0.457211   0.889357       uwb: 0.0            828.457  460.881  
imu_odom_:  1691062443.797727060  0.0694318  -0.299275  9.65103    -0.052198   0.00852212  -0.730771   0          -0.91         pose: 0.49022487    5.39394    0.0727616   0 -0.00133406 -0.00480273 -0.472692   0.881214       uwb: 0.99963914     831.221  459.787  
imu_odom_:  1691062443.823833968  0.464475   -0.248997  9.83299    -0.0596548  -0.0394148  -0.738228   0          -0.91         pose: 0.34985066    5.39371    0.0727469   0 0.000126831 -0.00288269 -0.484393   0.874846       uwb: 0.0            831.221  459.787  
imu_odom_:  1691062443.848657987  0.459687   -0.143652  9.94791    -0.0596548  -0.0181095  -0.755272   0          -0.91         pose: 0.8068294     5.39394    0.0727609   0 -0.000719955-0.00276239 -0.487134   0.873322       uwb: 0.50038533     832.075  459.202  
imu_odom_:  1691062443.874766062  0.253785   -0.162806  9.74201    -0.0628506  0.00532632  -0.778708   0          -0.91         pose: 0.42862633    5.39371    0.0727468   0 -0.000423456-0.00359035 -0.501808   0.864971       uwb: 0.0            832.075  459.202  
imu_odom_:  1691062443.898657442  0.229843   -0.246603  9.75398    -0.0596548  -0.0106526  -0.80534    0          -0.82         pose: 0.0           5.39371    0.0727468   0 -0.000423456-0.00359035 -0.501808   0.864971       uwb: 0.49948127     831.97   458.865  
imu_odom_:  1691062443.915641222  0.694318   -0.189142  10.1059    -0.0649811  -0.0255663  -0.801079   0          -0.82         pose: 0.33119495    5.39394    0.0727608   0 0.00127085  -0.000659586-0.513571   0.858046       uwb: 0.0            831.97   458.865  
imu_odom_:  1691062443.941645476  0.378284   -0.387861  9.78989    -0.0681769  0.00426106  -0.800014   0          -0.79         pose: 0.0           5.39394    0.0727608   0 0.00127085  -0.000659586-0.513571   0.858046       uwb: 0.50113774     833.389  458.427  
imu_odom_:  1691062443.957799272  0.4956     -0.311246  10.1083    -0.0596548  -0.00532632 -0.811731   0          -0.79         pose: 0.40865245    5.39394    0.0727606   0 -8.36158e-06-9.72928e-05-0.528261   0.849082       uwb: 0.0            833.389  458.427  
imu_odom_:  1691062443.981793889  0.416591   0.0023942  9.83059    -0.0607201  -0.0181095  -0.829841   0          -0.79         pose: 0.0           5.39394    0.0727606   0 -8.36158e-06-9.72928e-05-0.528261   0.849082       uwb: 0.0            833.389  458.427  
imu_odom_:  1691062443.998784377  0.78051    -0.153229  10.149     -0.0639159  -0.0436758  -0.820254   0          -0.88         pose: 0.42076101    5.39394    0.0727606   0 -0.0024375  0.000142277 -0.543342   0.839508       uwb: 0.49996247     832.332  458.36   
imu_odom_:  1691062444.14659379   0.241814   -0.385466  9.51216    -0.0585895  -0.015979   -0.830906   0          -0.88         pose: 0.0           5.39394    0.0727606   0 -0.0024375  0.000142277 -0.543342   0.839508       uwb: 0.0            832.332  458.36   
imu_odom_:  1691062444.39630101   0.433351   -0.126893  9.8258     -0.0628506  -0.0266316  -0.855407   0          -1.11         pose: 0.49940551    5.39368    0.0727443   0 -0.00209612 -0.00114504 -0.561377   0.827557       uwb: 0.49941147     829.497  459.246  
imu_odom_:  1691062444.64625904   0.665588   -0.316035  10.3046    -0.0596548  -0.0223706  -0.840494   0          -1.11         pose: 0.0           5.39368    0.0727443   0 -0.00209612 -0.00114504 -0.561377   0.827557       uwb: 0.0            829.497  459.246  
imu_odom_:  1691062444.88737768   0.737414   -0.172383  10.0844    -0.0628506  -0.0213053  -0.870321   0          -0.85         pose: 0.6991301     5.39394    0.07276     0 -0.00154215 -0.00153431 -0.563965   0.825796       uwb: 0.49988688     831.31   458.407  
imu_odom_:  1691062444.105742846  0.514753   -0.0526724 9.65103    -0.0628506  -0.0298274  -0.879908   0          -0.85         pose: 0.0           5.39394    0.07276     0 -0.00154215 -0.00153431 -0.563965   0.825796       uwb: 0.0            831.31   458.407  
imu_odom_:  1691062444.121621932  0.433351   -0.059855  9.93354    -0.0575243  0.0117179   -0.880974   0          -0.88         pose: 0.49063047    5.39394    0.0727627   0 -0.00283934 -0.00431858 -0.581835   0.81329        uwb: 0.0            831.31   458.407  
imu_odom_:  1691062444.148617457  0.395043   -0.258574  9.59596    -0.0607201  -0.0458064  -0.878843   0          -0.88         pose: 0.0           5.39394    0.0727627   0 -0.00283934 -0.00431858 -0.581835   0.81329        uwb: 0.50054306     830.978  459.002  
imu_odom_:  1691062444.164787883  0.612916   -0.311246  9.79707    -0.0660464  -0.0255663  -0.889496   0          -1            pose: 0.77903730    5.39347    0.0727364   0 -0.00128281 -0.0044055  -0.610531   0.791979       uwb: 0.0            830.978  459.002  
imu_odom_:  1691062444.181724136  0.723049   -0.0670376 10.0748    -0.0607201  -0.00106526 -0.894822   0          -1            pose: 0.7124285     5.39394    0.0727622   0 -0.00205234 -0.00453267 -0.613145   0.789955       uwb: 0.0            830.978  459.002  
imu_odom_:  1691062444.197898937  0.605733   -0.1652    10.1394    -0.0660464  -0.02024    -0.882039   0          -1            pose: 0.0           5.39394    0.0727622   0 -0.00205234 -0.00453267 -0.613145   0.789955       uwb: 0.50105924     834.21   457.733  
imu_odom_:  1691062444.214757032  0.531513   -0.280122  9.91199    -0.0585895  -0.0234358  -0.874582   0          -0.97         pose: 0.34028820    5.39394    0.0727622   0 -0.00349572 -0.00714059 -0.625556   0.780139       uwb: 0.0            834.21   457.733  
imu_odom_:  1691062444.230764728  0.56982    -0.361524  9.76834    -0.0596548  -0.0213053  -0.8863     0          -0.97         pose: 0.0           5.39394    0.0727622   0 -0.00349572 -0.00714059 -0.625556   0.780139       uwb: 0.0            834.21   457.733  
imu_odom_:  1691062444.247629239  0.706289   -0.162806  9.96706    -0.0596548  0.0127832   -0.895887   0          -1.23         pose: 0.0           5.39394    0.0727622   0 -0.00349572 -0.00714059 -0.625556   0.780139       uwb: 0.49947568     833.202  457.821  
imu_odom_:  1691062444.264664647  0.469264   -0.323217  10.0365    -0.0681769  0.00319579  -0.889496   0          -1.23         pose: 0.48003548    5.39394    0.0727621   0 -0.00622421 -0.00644279 -0.642653   0.766105       uwb: 0.0            833.202  457.821  
imu_odom_:  1691062444.289614079  0.521936   -0.332794  10.1778    -0.0490022  -0.0223706  -0.909736   0          -0.88         pose: 0.0           5.39394    0.0727621   0 -0.00622421 -0.00644279 -0.642653   0.766105       uwb: 0.49911114     834.244  457.845  
imu_odom_:  1691062444.306616533  0.215478   -0.0861913 9.66539    -0.0617853  0.0298274   -0.899083   0          -0.91         pose: 0.33838967    5.39394    0.0727621   0 -0.00661068 -0.00501717 -0.654688   0.755854       uwb: 0.0            834.244  457.845  
imu_odom_:  1691062444.321659217  -0.0742203 -0.162806  10.1754    -0.0607201  0.00958738  -0.874582   0.01       -0.97         pose: 0.0           5.39394    0.0727621   0 -0.00661068 -0.00501717 -0.654688   0.755854       uwb: 0.0            834.244  457.845  
imu_odom_:  1691062444.336651449  -0.557849  -0.483629  9.55765    -0.0585895  0.00213053  -0.921454   0.01       -0.97         pose: 0.0           5.39394    0.0727621   0 -0.00661068 -0.00501717 -0.654688   0.755854       uwb: 0.0            834.244  457.845  
imu_odom_:  1691062444.352654187  -0.280122  0.0407014  10.3621    -0.0532632  -0.0181095  -0.932106   0.01       -0.97         pose: 0.41002332    5.39394    0.0727641   0 -0.00501114 -0.00240526 -0.669131   0.743124       uwb: 0.49997438     834.326  458.115  
imu_odom_:  1691062444.368586350  -0.514753  -0.205901  9.81383    -0.0777643  -0.00852212 -0.797883   0.03       -0.82         pose: 0.0           5.39394    0.0727641   0 -0.00501114 -0.00240526 -0.669131   0.743124       uwb: 0.0            834.326  458.115  
imu_odom_:  1691062444.385648879  -0.493206  -0.787692  9.87848    -0.0596548  -0.0639159  -0.666856   0.03       -0.82         pose: 0.31058837    5.39394    0.0727641   0 -0.00289109 -0.000225485-0.680022   0.733186       uwb: 0.0            834.326  458.115  
imu_odom_:  1691062444.402586299  -0.213084  -0.687136  9.50737    -0.0436758  -0.104396   -0.609331   0.07       -0.85         pose: 0.41974633    5.39472    0.0627968   0 -0.00114834 0.00260462  -0.692427   0.721483       uwb: 0.49988396     833.915  458.462  
imu_odom_:  1691062444.419580586  0.574608   -0.0933739 9.9096     -0.0596548  -0.036219   -0.583765   0.07       -0.85         pose: 0.0           5.39472    0.0627968   0 -0.00114834 0.00260462  -0.692427   0.721483       uwb: 0.0            833.915  458.462  
imu_odom_:  1691062444.435582157  0.646434   0.114922   10.0293    -0.0479369  -0.0127832  -0.590156   0.07       -0.85         pose: 0.0           5.39472    0.0627968   0 -0.00114834 0.00260462  -0.692427   0.721483       uwb: 0.0            833.915  458.462  
imu_odom_:  1691062444.451627765  0.136469   -0.0383072 9.91918    -0.0607201  0.0308927   -0.586961   0.08       -0.61         pose: 0.7955437     5.39478    0.0627998   0 -0.00128042 0.00306906  -0.694284   0.719694       uwb: 0.50184082     833.094  459.157  
imu_odom_:  1691062444.468725874  0.217872   -0.428562  10.1897    -0.0426106  0.00745685  -0.569916   0.09       -0.55         pose: 0.0           5.39478    0.0627998   0 -0.00128042 0.00306906  -0.694284   0.719694       uwb: 0.0            833.094  459.157  
imu_odom_:  1691062444.485616632  0.0694318  -0.37589   10.0341    -0.0788296  0.00106526  -0.519849   0.09       -0.55         pose: 0.66074541    5.39478    0.0627998   0 0.000377829 0.0013742   -0.709056   0.70515        uwb: 0.0            833.094  459.157  
imu_odom_:  1691062444.502601004  0.241814   -0.282516  9.98143    -0.072438   0           -0.491087   0.1        -0.5          pose: 0.0           5.39478    0.0627998   0 0.000377829 0.0013742   -0.709056   0.70515        uwb: 0.49861245     830.836  460.203  
imu_odom_:  1691062444.519714278  0.0622492  -0.270545  9.88566    -0.0703074  -0.0511327  -0.442085   0.1        -0.5          pose: 0.0           5.39478    0.0627998   0 0.000377829 0.0013742   -0.709056   0.70515        uwb: 0.0            830.836  460.203  
imu_odom_:  1691062444.537717321  0.354342   -0.318429  9.72285    -0.0703074  -0.0149137  -0.436758   0.1        -0.5          pose: 0.33958537    5.39562    0.0528349   0 0.00122773  0.00476926  -0.715791   0.698298       uwb: 0.0            830.836  460.203  
imu_odom_:  1691062444.554681279  0.155623   -0.213084  9.8665     -0.0585895  0.00852212  -0.410127   0.1        -0.47         pose: 0.34088897    5.39562    0.0528349   0 0.00161114  0.00645851  -0.721626   0.692251       uwb: 0.49971482     828.184  461.633  
imu_odom_:  1691062444.569733296  0.560243   -0.335188  10.0149    -0.0735032  -0.0671117  -0.380299   0.1        -0.47         pose: 0.0           5.39562    0.0528349   0 0.00161114  0.00645851  -0.721626   0.692251       uwb: 0.0            828.184  461.633  
imu_odom_:  1691062444.585563970  1.21625    -0.397437  9.72764    -0.0735032  -0.056459   -0.353668   0.1        -0.47         pose: 0.0           5.39562    0.0528349   0 0.00161114  0.00645851  -0.721626   0.692251       uwb: 0.0            828.184  461.633  
imu_odom_:  1691062444.601624743  1.26893    -0.248997  10.1083    -0.0649811  0.0298274   -0.320645   0.09       -0.38         pose: 0.48017254    5.3965     0.0428733   0 -0.0001683210.0053605   -0.728886   0.684614       uwb: 0.49840248     827.829  462.141  
imu_odom_:  1691062444.617559822  1.41976    -0.533907  10.1873    -0.0585895  0.0106526   -0.285491   0.09       -0.38         pose: 0.0           5.3965     0.0428733   0 -0.0001683210.0053605   -0.728886   0.684614       uwb: 0.0            827.829  462.141  
imu_odom_:  1691062444.633565768  1.14922    -0.122104  9.70849    -0.0585895  0.00639159  -0.26099    0.07       -0.38         pose: 0.41816277    5.38647    0.0420061   0 -0.00351387 0.0030377   -0.733957   0.67918        uwb: 0.0            827.829  462.141  
imu_odom_:  1691062444.649558007  1.03908    -0.0694318 9.96706    -0.0372843  0.00958738  -0.24288    0.07       -0.38         pose: 0.0           5.38647    0.0420061   0 -0.00351387 0.0030377   -0.733957   0.67918        uwb: 0.50012893     827.453  462.582  
imu_odom_:  1691062444.665556662  0.938527   -0.181959  9.76116    -0.0617853  0.00213053  -0.24075    0.07       -0.38         pose: 0.0           5.38647    0.0420061   0 -0.00351387 0.0030377   -0.733957   0.67918        uwb: 0.0            827.453  462.582  
imu_odom_:  1691062444.682549783  0.699107   -0.196325  10.1203    -0.056459   0.00745685  -0.252468   0.07       -0.38         pose: 0.7005882     5.38653    0.0420089   0 -0.00388308 0.00248262  -0.734674   0.678405       uwb: 0.0            827.453  462.582  
imu_odom_:  1691062444.698559228  0.847547   -0.203507  9.94312    -0.0585895  -0.00852212 -0.264186   0.07       -0.38         pose: 0.0           5.38653    0.0420089   0 -0.00388308 0.00248262  -0.734674   0.678405       uwb: 0.49969441     827.575  462.962  
imu_odom_:  1691062444.715614759  0.864307   -0.222661  9.76116    -0.0617853  -0.02024    -0.243946   0.07       -0.38         pose: 0.0           5.38653    0.0420089   0 -0.00388308 0.00248262  -0.734674   0.678405       uwb: 0.0            827.575  462.962  
imu_odom_:  1691062444.732613421  0.742203   -0.294487  9.81383    -0.0575243  0           -0.229032   0.04       -0.23         pose: 0.47992466    5.38653    0.0420089   0 -0.00608282 -0.00156033 -0.73933    0.673314       uwb: 0.0            827.575  462.962  
imu_odom_:  1691062444.749552590  0.924162   -0.275333  9.90002    -0.0585895  -0.0181095  -0.216249   0.06       -0.32         pose: 0.0           5.38653    0.0420089   0 -0.00608282 -0.00156033 -0.73933    0.673314       uwb: 0.49993646     830.922  462.121  
imu_odom_:  1691062444.765606655  0.675165   -0.198719  9.77553    -0.0596548  0.00213053  -0.210922   0.06       -0.32         pose: 0.66994641    5.3874     0.0320469   0 -0.0107834  -0.00630366 -0.745647   0.666225       uwb: 0.0            830.922  462.121  
imu_odom_:  1691062444.792741872  0.675165   -0.23942   9.90242    -0.0596548  -0.0181095  -0.199204   0.05       -0.29         pose: 0.0           5.3874     0.0320469   0 -0.0107834  -0.00630366 -0.745647   0.666225       uwb: 0.50007644     829.507  462.543  
imu_odom_:  1691062444.808551257  0.502782   -0.289698  9.92157    -0.0692422  0.0191748   -0.20027    0.05       -0.29         pose: 0.34241128    5.3874     0.0320469   0 -0.0116578  -0.00823981 -0.748476   0.663009       uwb: 0.0            829.507  462.543  
imu_odom_:  1691062444.825561876  -1.03908   -0.0957681 9.61033    -0.0223706  0.131028    -0.227967   0.06       -0.26         pose: 0.34757318    5.38734    0.0320441   0 -0.012443   -0.00665674 -0.751212   0.65991        uwb: 0.0            829.507  462.543  
imu_odom_:  1691062444.842582411  -1.55623   -0.253785  10.1586    -0.0500674  0.0511327   -0.155529   0.06       -0.26         pose: 0.7050502     5.3874     0.0320467   0 -0.0114255  -0.00603365 -0.751846   0.659212       uwb: 0.50003853     831.034  462.479  
imu_odom_:  1691062444.869575019  0.392649   -0.332794  10.0604    -0.0543285  -0.116114   -0.120375   0.11       -0.2          pose: 0.0           5.3874     0.0320467   0 -0.0114255  -0.00603365 -0.751846   0.659212       uwb: 0.0            831.034  462.479  
imu_odom_:  1691062444.894576654  0.797269   -0.047884  9.58878    -0.0628506  0.0191748   -0.107592   0.11       -0.2          pose: 0.26980652    5.3874     0.0320467   0 -0.00830586 -0.00378201 -0.753843   0.656991       uwb: 0.50113799     830.642  462.874  
imu_odom_:  1691062444.911568025  -0.21069   -0.325611  10.0221    -0.0532632  0.0532632   -0.116114   0.12       -0.2          pose: 0.0           5.3874     0.0320467   0 -0.00830586 -0.00378201 -0.753843   0.656991       uwb: 0.0            830.642  462.874  
imu_odom_:  1691062444.937552169  -0.136469  -0.440533  9.47864    -0.036219   -0.00852212 -0.108657   0.12       -0.2          pose: 0.51994243    5.38802    0.024999    0 -0.00820355 -0.00468751 -0.756464   0.653967       uwb: 0.0            830.642  462.874  
imu_odom_:  1691062444.964591439  0.6608     0.102951   9.9096     -0.0575243  -0.0319579  -0.0937433  0.15       -0.17         pose: 0.42975515    5.38821    0.0220818   0 -0.00507926 -0.00123484 -0.758598   0.651538       uwb: 0.49860662     830.223  463.178  
imu_odom_:  1691062444.980538767  0.727837   -0.229843  9.88805    -0.0479369  0.00213053  -0.072438   0.15       -0.17         pose: 0.6994217     5.38826    0.0220837   0 -0.00496325 -0.0019668  -0.758903   0.651182       uwb: 0.0            830.223  463.178  
imu_odom_:  1691062445.7579496    0.129287   -0.179565  10.2256    -0.056459   -0.0436758  -0.0745685  0.15       -0.17         pose: 0.35992381    5.38872    0.0167691   0 -0.0058426  -0.00501534 -0.760347   0.649472       uwb: 0.50006769     830.287  463.38   
imu_odom_:  1691062445.32632471   0.136469   -0.232238  9.9934     -0.0607201  0.00426106  -0.0575243  0.15       -0.17         pose: 0.0           5.38872    0.0167691   0 -0.0058426  -0.00501534 -0.760347   0.649472       uwb: 0.0            830.287  463.38   
imu_odom_:  1691062445.59628300   0.469264   0.0191536  10.0509    -0.0745685  -0.0287621  -0.056459   0.16       -0.14         pose: 0.6980218     5.38911    0.0121195   0 -0.00538185 -0.00469477 -0.760609   0.649171       uwb: 0.50258465     831.756  463.139  
imu_odom_:  1691062445.85624122   0.344765   -0.380678  10.3286    -0.0511327  0.00106526  -0.0575243  0.14       -0.08         pose: 0.0           5.38911    0.0121195   0 -0.00538185 -0.00469477 -0.760609   0.649171       uwb: 0.0            831.756  463.139  
imu_odom_:  1691062445.102616376  0.430956   0.0047884  10.5584    -0.0500674  -0.0255663  -0.072438   0.18       -0.11         pose: 0.52149118    5.38911    0.0121195   0 -0.00187887 -0.00247991 -0.762377   0.647126       uwb: 0.49823649     831.456  463.824  
imu_odom_:  1691062445.119622920  0.220267   0.0885855  9.94312    -0.0681769  0.00532632  -0.0330232  0.18       -0.11         pose: 0.0           5.38911    0.0121195   0 -0.00187887 -0.00247991 -0.762377   0.647126       uwb: 0.0            831.456  463.824  
imu_odom_:  1691062445.136627132  0.349553   -0.409408  9.56005    -0.0671117  0.0170442   -0.0223706  0.21       -0.11         pose: 0.52976778    5.38997    0.00215651  0 -0.000862945-0.00206891 -0.764069   0.64513        uwb: 0.0            831.456  463.824  
imu_odom_:  1691062445.152502434  0.102951   -0.110133  9.76355    -0.0617853  0.00532632  -0.0372843  0.21       -0.11         pose: 0.0           5.38997    0.00215651  0 -0.000862945-0.00206891 -0.764069   0.64513        uwb: 0.49987545     829.571  464.37   
imu_odom_:  1691062445.169607550  0.0383072  -0.0191536 9.97185    -0.0735032  -0.00106526 -0.0255663  0.21       -0.11         pose: 0.0           5.38997    0.00215651  0 -0.000862945-0.00206891 -0.764069   0.64513        uwb: 0.0            829.571  464.37   
imu_odom_:  1691062445.186539145  0.217872   -0.47884   9.13867    -0.0756338  0.0276969   -0.00639159 0.2        -0.08         pose: 0.66976883    5.38088    -0.00861165 0 0.00290503  -0.000261538-0.765713   0.643175       uwb: 0.0            829.571  464.37   
imu_odom_:  1691062445.203513901  -0.0215478 -0.517148  9.71567    -0.0490022  -0.00426106 -0.0340885  0.2        -0.08         pose: 0.0           5.38088    -0.00861165 0 0.00290503  -0.000261538-0.765713   0.643175       uwb: 0.49886058     829.735  464.885  
imu_odom_:  1691062445.229499224  0.198719   -0.035913  10.0485    -0.0383495  0.0276969   -0.0181095  0.16       -0.05         pose: 0.43892137    5.38135    -0.0140532  0 0.00369885  0.00364308  -0.766575   0.642134       uwb: 0.0            829.735  464.885  
imu_odom_:  1691062445.256762480  0.620098   -0.373495  10.1538    -0.052198   -0.0127832  -0.0319579  0.16       -0.05         pose: 0.0           5.38135    -0.0140532  0 0.00369885  0.00364308  -0.766575   0.642134       uwb: 0.50005627     832.185  464.506  
imu_odom_:  1691062445.273648872  0.342371   -0.11971   10.1993    -0.0543285  0.00426106  -0.0245011  0.15       -0.08         pose: 0.53248579    5.3823     -0.0257216  0 0.00382945  0.00219599  -0.76768    0.640818       uwb: 0.0            832.185  464.506  
imu_odom_:  1691062445.300701278  0.316035   -0.124498  10.5034    -0.056459   -0.0372843  0           0.15       -0.08         pose: 0.0           5.3823     -0.0257216  0 0.00382945  0.00219599  -0.76768    0.640818       uwb: 0.50178857     833.699  464.427  
imu_odom_:  1691062445.317471017  0.466869   -0.3304    10.2161    -0.0532632  0.00852212  -0.0138484  0.23       -0.05         pose: 0.23894611    5.38253    -0.0285435  0 0.00493639  0.000128706 -0.768107   0.640302       uwb: 0.0            833.699  464.427  
imu_odom_:  1691062445.344483761  0.732626   -0.131681  9.87129    -0.0394148  0.00213053  0.0138484   0.23       -0.05         pose: 0.0           5.38253    -0.0285435  0 0.00493639  0.000128706 -0.768107   0.640302       uwb: 0.49949050     834.194  464.372  
imu_odom_:  1691062445.370534118  -0.100556  -0.517148  10.0102    -0.0479369  0.0426106   0.00745685  0.21       -0.05         pose: 0.43878138    5.38253    -0.0285435  0 0.00420308  -0.00133687 -0.768702   0.639591       uwb: 0.0            834.194  464.372  
imu_odom_:  1691062445.387469504  0.203507   -0.0047884 10.3334    -0.036219   0.0127832   0.00319579  0.21       -0.05         pose: 0.0           5.38253    -0.0285435  0 0.00420308  -0.00133687 -0.768702   0.639591       uwb: 0.0            834.194  464.372  
imu_odom_:  1691062445.413518695  0.35913    -0.335188  9.61511    -0.0500674  -0.0127832  0.0106526   0.19       -0.02         pose: 0.52981444    5.37343    -0.0393689  0 0.00474201  -1.53259e-05-0.769213   0.638974       uwb: 0.49907930     835.694  464.254  
imu_odom_:  1691062445.430498992  0.61531    -0.107739  9.73961    -0.04048    -0.0245011  -0.00532632 0.19       -0.02         pose: 0.0           5.37343    -0.0393689  0 0.00474201  -1.53259e-05-0.769213   0.638974       uwb: 0.0            835.694  464.254  
imu_odom_:  1691062445.456532143  0.160412   -0.31364   10.1131    -0.0681769  0.0266316   0.0490022   0.22       -0.02         pose: 0.42974369    5.37427    -0.049333   0 0.00336362  0.000652648 -0.769679   0.638422       uwb: 0.49865060     837.977  463.363  
imu_odom_:  1691062445.473528480  0.445322   -0.268151  10.0197    -0.0511327  -0.0490022  0.0106526   0.22       -0.02         pose: 0.0           5.37427    -0.049333   0 0.00336362  0.000652648 -0.769679   0.638422       uwb: 0.0            837.977  463.363  
imu_odom_:  1691062445.490524817  0.732626   -0.213084  9.69891    -0.0426106  -0.00745685 0.0191748   0.21       -0.05         pose: 0.43041154    5.37511    -0.0592983  0 0.00289993  0.00230271  -0.769811   0.638261       uwb: 0.50077660     839.436  463.12   
imu_odom_:  1691062445.507462244  0.181959   -0.335188  9.92397    -0.0511327  0.0266316   0.0308927   0.21       -0.05         pose: 0.0           5.37511    -0.0592983  0 0.00289993  0.00230271  -0.769811   0.638261       uwb: 0.0            839.436  463.12   
imu_odom_:  1691062445.523460324  0.169988   -0.311246  9.21528    -0.0458064  -0.0426106  0.00319579  0.17       0             pose: 0.0           5.37511    -0.0592983  0 0.00289993  0.00230271  -0.769811   0.638261       uwb: 0.0            839.436  463.12   
imu_odom_:  1691062445.540523445  0.442927   -0.141258  10.0006    -0.0543285  -0.0223706  0.0330232   0.17       0             pose: 0.43930048    5.37556    -0.0648131  0 0.00135457  0.00240074  -0.770065   0.637959       uwb: 0.49998045     842.264  462.332  
imu_odom_:  1691062445.558514248  0.349553   -0.272939  10.307     -0.0756338  -0.0223706  0.0436758   0.17       0             pose: 0.0           5.37556    -0.0648131  0 0.00135457  0.00240074  -0.770065   0.637959       uwb: 0.0            842.264  462.332  
imu_odom_:  1691062445.572511729  0.390255   -0.189142  9.69412    -0.0585895  -0.052198   0.0245011   0.18       0.02          pose: 0.8005310     5.37593    -0.0692642  0 0.00162998  0.00298485  -0.770157   0.637846       uwb: 0.0            842.264  462.332  
imu_odom_:  1691062445.588507476  0.605733   -0.100556  9.87848    -0.0575243  -0.00106526 0.0255663   0.18       0.02          pose: 0.0           5.37593    -0.0692642  0 0.00162998  0.00298485  -0.770157   0.637846       uwb: 0.49869434     845.59   461.514  
imu_odom_:  1691062445.612567150  0.847547   -0.308852  9.39964    -0.0681769  -0.0553937  0.0287621   0.17       -0.02         pose: 0.49048781    5.36596    -0.0700801  0 0.000374327 0.002658    -0.770292   0.637686       uwb: 0.0            845.59   461.514  
imu_odom_:  1691062445.628442744  0.897826   -0.071826  10.568     -0.0607201  -0.0170442  0.0170442   0.17       0             pose: 0.0           5.36596    -0.0700801  0 0.000374327 0.002658    -0.770292   0.637686       uwb: 0.0            845.59   461.514  
imu_odom_:  1691062445.654453147  0.466869   -0.0981623 10.0389    -0.076699   0.00106526  0.0607201   0.23       0             pose: 0.63926409    5.3672     -0.0852484  0 -0.00370565 -0.00253135 -0.770596   0.637309       uwb: 0.49972381     849.384  460.562  
imu_odom_:  1691062445.671506644  0.658405   -0.387861  9.6606     -0.056459   -0.0490022  0.0213053   0.23       0             pose: 0.0           5.3672     -0.0852484  0 -0.00370565 -0.00253135 -0.770596   0.637309       uwb: 0.0            849.384  460.562  
imu_odom_:  1691062445.688502690  0.517148   0.0023942  10.3573    -0.0575243  -0.0117179  0.0383495   0.18       0             pose: 0.0           5.3672     -0.0852484  0 -0.00370565 -0.00253135 -0.770596   0.637309       uwb: 0.0            849.384  460.562  
imu_odom_:  1691062445.705438951  0.107739   -0.440533  9.64863    -0.0639159  -0.00319579 0.0436758   0.18       0             pose: 0.33006373    5.36758    -0.0900146  0 -0.00262506 -0.00389456 -0.770467   0.637463       uwb: 0.50105365     850.377  460.481  
imu_odom_:  1691062445.722451036  0.481235   -0.260968  9.97185    -0.0447411  -0.0213053  0.00958738  0.25       -0.02         pose: 0.43989834    5.36839    -0.099982   0 -0.00235388 -0.0035385  -0.770514   0.637409       uwb: 0.0            850.377  460.481  
imu_odom_:  1691062445.748437526  0.172383   -0.100556  9.71806    -0.0628506  -0.00532632 0.0575243   0.25       -0.02         pose: 0.7069753     5.36839    -0.099982   0 -0.00281097 -0.00304738 -0.77058    0.63733        uwb: 0.50015834     848.627  461.482  
imu_odom_:  1691062445.775580338  0.59855    -0.244209  10.1011    -0.0500674  -0.0255663  0.0308927   0.24       0             pose: 0.35928822    5.36897    -0.107146   0 -0.00105486 -0.00147551 -0.770531   0.6374         uwb: 0.0            848.627  461.482  
imu_odom_:  1691062445.792454189  0.814029   0.0215478  10.0437    -0.0713727  0.0330232   0.0426106   0.18       0             pose: 0.0           5.36897    -0.107146   0 -0.00105486 -0.00147551 -0.770531   0.6374         uwb: 0.49987254     851.123  461.346  
imu_odom_:  1691062445.817564615  0.557849   -0.248997  10.398     -0.0458064  -0.00745685 0.0117179   0.25       -0.02         pose: 0.44016663    5.35923    -0.110754   0 -0.0039148  -0.00424207 -0.770581   0.637317       uwb: 0.0            851.123  461.346  
imu_odom_:  1691062445.840482840  0.658405   -0.134075  9.49062    -0.0532632  -0.0149137  0.0511327   0.17       0             pose: 0.0           5.35923    -0.110754   0 -0.0039148  -0.00424207 -0.770581   0.637317       uwb: 0.50057538     849.369  462.322  
imu_odom_:  1691062445.856457589  0.222661   -0.42138   9.40921    -0.0628506  -0.00745685 0.0351537   0.17       0             pose: 0.31164715    5.36003    -0.120722   0 -0.00643087 -0.0043771  -0.770764   0.637073       uwb: 0.0            849.369  462.322  
imu_odom_:  1691062445.883437378  0.550666   -0.225055  10.0916    -0.0617853  -0.0394148  0.0447411   0.17       0             pose: 0.0           5.36003    -0.120722   0 -0.00643087 -0.0043771  -0.770764   0.637073       uwb: 0.0            849.369  462.322  
imu_odom_:  1691062445.908405196  0.610521   -0.253785  10.5034    -0.0511327  -0.0308927  0.0298274   0.24       -0.02         pose: 0.40959773    5.36003    -0.120722   0 -0.00584667 -0.00409298 -0.770716   0.637138       uwb: 0.49969756     850.953  462.563  
imu_odom_:  1691062445.935413274  0.474052   -0.129287  9.9096     -0.072438   -0.04048    0.0415453   0.22       -0.02         pose: 0.43826519    5.36083    -0.13069    0 -0.00723701 -0.00429064 -0.770753   0.637079       uwb: 0.0            850.953  462.563  
imu_odom_:  1691062445.960558112  0.555455   -0.186748  9.82341    -0.0330232  0.00745685  0.0170442   0.22       -0.02         pose: 0.0           5.36083    -0.13069    0 -0.00723701 -0.00429064 -0.770753   0.637079       uwb: 0.49977339     852.067  462.938  
imu_odom_:  1691062445.977538993  0.629675   -0.229843  9.95748    -0.0436758  0.0213053   0.0330232   0.23       0             pose: 0.7017551     5.36083    -0.13069    0 -0.00668277 -0.00445684 -0.770754   0.637083       uwb: 0.0            852.067  462.938  
imu_odom_:  1691062445.994421593  0.114922   -0.414197  9.96227    -0.0468716  -0.00532632 0.0330232   0.23       0             pose: 0.0           5.36083    -0.13069    0 -0.00668277 -0.00445684 -0.770754   0.637083       uwb: 0.50029540     853.559  462.87   
imu_odom_:  1691062446.21471967   0.620098   -0.270545  9.77074    -0.0607201  -0.0191748  0.0543285   0.26       -0.02         pose: 0.52148250    5.35166    -0.141454   0 -0.00546766 -0.00741587 -0.770939   0.636843       uwb: 0.0            853.559  462.87   
imu_odom_:  1691062446.46381470   0.577003   -0.23942   10.003     -0.0426106  -0.0266316  0.036219    0.26       -0.02         pose: 0.0           5.35166    -0.141454   0 -0.00546766 -0.00741587 -0.770939   0.636843       uwb: 0.50021976     853.701  463.391  
imu_odom_:  1691062446.63416602   0.581791   -0.0957681 9.63906    -0.0426106  -0.0138484  0.0351537   0.22       0.02          pose: 0.33845983    5.35245    -0.151423   0 -0.00631372 -0.00562983 -0.770955   0.636833       uwb: 0.0            853.701  463.391  
imu_odom_:  1691062446.88388514   0.395043   -0.308852  9.94551    -0.0468716  -0.02024    0.0372843   0.22       0.02          pose: 0.0           5.35245    -0.151423   0 -0.00631372 -0.00562983 -0.770955   0.636833       uwb: 0.49861292     856.599  462.95   
imu_odom_:  1691062446.105428604  0.059855   -0.0885855 9.85214    -0.0458064  -0.0127832  0.0415453   0.23       0             pose: 0.86971534    5.3538     -0.168421   0 -0.00519042 -0.00354924 -0.770932   0.636886       uwb: 0.0            856.599  462.95   
imu_odom_:  1691062446.130539334  0.296881   -0.263362  9.94551    -0.072438   -0.0511327  0.0340885   0.23       0             pose: 0.7083755     5.35403    -0.17136    0 -0.00454083 -0.00331629 -0.770931   0.636894       uwb: 0.0            856.599  462.95   
imu_odom_:  1691062446.147374115  0.636858   -0.0622492 10.0604    -0.0479369  -0.00532632 0.0276969   0.23       0             pose: 0.0           5.35403    -0.17136    0 -0.00454083 -0.00331629 -0.770931   0.636894       uwb: 0.49932451     857.212  463.37   
imu_odom_:  1691062446.172363233  0.830788   -0.339977  9.4547     -0.0660464  0.00319579  0.0436758   0.23       0             pose: 0.42078203    5.35403    -0.17136    0 -0.00278717 -0.00190338 -0.771004   0.636822       uwb: 0.0            857.212  463.37   
imu_odom_:  1691062446.189522601  0.263362   -0.148441  10.1969    -0.04048    -0.015979   0.0276969   0.21       0             pose: 0.0           5.35403    -0.17136    0 -0.00278717 -0.00190338 -0.771004   0.636822       uwb: 0.50177714     858.281  463.621  
imu_odom_:  1691062446.205437573  0.52433    -0.220267  9.72525    -0.0468716  -0.0276969  0.0532632   0.21       0             pose: 0.41877560    5.34496    -0.18221    0 -0.00461167 -0.00334372 -0.771026   0.636778       uwb: 0.0            858.281  463.621  
imu_odom_:  1691062446.232378005  0.588974   -0.201113  9.82102    -0.0458064  -0.00319579 0.0266316   0.25       0             pose: 0.0           5.34496    -0.18221    0 -0.00461167 -0.00334372 -0.771026   0.636778       uwb: 0.0            858.281  463.621  
imu_odom_:  1691062446.257437699  0.47884    -0.177171  10.0892    -0.0500674  0.0383495   0.0458064   0.25       0             pose: 0.33977234    5.34585    -0.192171   0 -0.00559082 -0.00466513 -0.77102    0.636769       uwb: 0.49929535     859.776  463.592  
imu_odom_:  1691062446.282432941  0.378284   0.0430956  10.252     -0.0426106  0.0553937   0.0234358   0.19       -0.02         pose: 0.44032433    5.34648    -0.199217   0 -0.00388019 -0.00489055 -0.77106    0.636732       uwb: 0.0            859.776  463.592  
imu_odom_:  1691062446.296600451  0.215478   -0.325611  9.84496    -0.0628506  0.0276969   0.0585895   0.19       -0.02         pose: 0.0           5.34648    -0.199217   0 -0.00388019 -0.00489055 -0.77106    0.636732       uwb: 0.0            859.776  463.592  
imu_odom_:  1691062446.312431141  0.440533   -0.529119  9.82341    -0.076699   0.0383495   0.0468716   0.19       -0.02         pose: 0.0           5.34648    -0.199217   0 -0.00388019 -0.00489055 -0.77106    0.636732       uwb: 0.0            859.776  463.592  
imu_odom_:  1691062446.336422001  0.411803   -0.112527  10.6231    -0.0511327  0.0127832   0.0383495   0.18       -0.02         pose: 0.7012888     5.34674    -0.202131   0 -0.00302171 -0.00500595 -0.7711     0.636687       uwb: 0.0            859.776  463.592  
imu_odom_:  1691062446.361384290  0.452504   -0.213084  9.98143    -0.0426106  -0.0394148  0.0223706   0.18       -0.02         pose: 0.0           5.34674    -0.202131   0 -0.00302171 -0.00500595 -0.7711     0.636687       uwb: 0.99944517     862.136  463.053  
imu_odom_:  1691062446.378396675  0.136469   -0.0430956 9.72525    -0.0479369  0.02024     0.0426106   0.22       0             pose: 0.54976235    5.34763    -0.212092   0 -0.000406762-0.00243005 -0.771088   0.636724       uwb: 0.0            862.136  463.053  
imu_odom_:  1691062446.394508207  0.452504   -0.442927  10.2352    -0.072438   -0.0191748  0.0426106   0.22       0             pose: 0.0           5.34763    -0.212092   0 -0.000406762-0.00243005 -0.771088   0.636724       uwb: 0.50101598     862.773  463.593  
imu_odom_:  1691062446.412451191  0.794875   -0.1652    9.51456    -0.0479369  -0.02024    0.0223706   0.25       0             pose: 0.49089342    5.33855    -0.222938   0 -0.000466223-0.00224973 -0.771225   0.636558       uwb: 0.0            862.773  463.593  
imu_odom_:  1691062446.436509419  0.280122   -0.220267  9.63666    -0.0649811  -0.02024    0.0553937   0.25       0             pose: 0.0           5.33855    -0.222938   0 -0.000466223-0.00224973 -0.771225   0.636558       uwb: 0.0            862.773  463.593  
imu_odom_:  1691062446.463501761  0.371101   -0.0933739 10.2017    -0.036219   0.0340885   0.0340885   0.23       0             pose: 0.67993255    5.33944    -0.232899   0 -0.000536016-0.000634055-0.77118    0.636617       uwb: 0.49948199     865.573  462.836  
imu_odom_:  1691062446.479370655  0.337582   -0.191536  9.74679    -0.0575243  -0.0287621  0.0649811   0.23       0             pose: 0.0           5.33944    -0.232899   0 -0.000536016-0.000634055-0.77118    0.636617       uwb: 0.0            865.573  462.836  
imu_odom_:  1691062446.497559778  0.830788   -0.213084  9.96706    -0.0340885  -0.0234358  0.0436758   0.25       0.02          pose: 0.7003555     5.33944    -0.232899   0 0.000227677 -0.000930843-0.771192   0.636601       uwb: 0.0            865.573  462.836  
imu_odom_:  1691062446.514488464  0.0861913  -0.265756  9.62948    -0.0394148  0.00426106  0.0447411   0.25       0.02          pose: 0.0           5.33944    -0.232899   0 0.000227677 -0.000930843-0.771192   0.636601       uwb: 0.0            865.573  462.836  
imu_odom_:  1691062446.537413699  0.289698   -0.387861  9.82102    -0.0490022  0.00639159  0.0490022   0.25       0.02          pose: 0.0           5.33944    -0.232899   0 0.000227677 -0.000930843-0.771192   0.636601       uwb: 0.0            865.573  462.836  
imu_odom_:  1691062446.563341874  0.390255   -0.483629  10.058     -0.0692422  0.0117179   0.0681769   0.18       -0.02         pose: 0.43869411    5.34032    -0.242859   0 0.00207245  -0.000951964-0.77109    0.636722       uwb: 0.99840988     865.322  463.819  
imu_odom_:  1691062446.588351407  0.538695   -0.40462   9.7875     -0.0426106  -0.0276969  0.0415453   0.25       0.05          pose: 0.33072881    5.34032    -0.242859   0 0.00218827  0.00023263  -0.771033   0.636791       uwb: 0.50146218     866.389  464.109  
imu_odom_:  1691062446.611388046  0.617704   -0.225055  10.252     -0.0490022  -0.00745685 0.0468716   0.25       0.05          pose: 0.0           5.34032    -0.242859   0 0.00218827  0.00023263  -0.771033   0.636791       uwb: 0.0            866.389  464.109  
imu_odom_:  1691062446.627633437  0.342371   -0.270545  9.63187    -0.0468716  0.00958738  0.0415453   0.2        0             pose: 0.49953157    5.33125    -0.253709   0 -0.0008418210.00374301  -0.770746   0.637131       uwb: 0.0            866.389  464.109  
imu_odom_:  1691062446.644444888  0.493206   -0.102951  10.0293    -0.0500674  -0.00426106 0.0372843   0.2        0             pose: 0.0           5.33125    -0.253709   0 -0.0008418210.00374301  -0.770746   0.637131       uwb: 0.50112388     866.976  464.471  
imu_odom_:  1691062446.669315895  0.766145   -0.198719  9.91918    -0.0671117  0.0149137   0.0500674   0.2        0             pose: 0.0           5.33125    -0.253709   0 -0.0008418210.00374301  -0.770746   0.637131       uwb: 0.0            866.976  464.471  
imu_odom_:  1691062446.694434207  0.47884    -0.184354  9.81383    -0.0575243  -0.00319579 0.0447411   0.18       0             pose: 0.49005059    5.33205    -0.263677   0 -0.0031444  0.00178907  -0.770685   0.637206       uwb: 0.49987570     867.545  464.766  
imu_odom_:  1691062446.717402020  0.816423   -0.486023  9.54329    -0.0671117  0.0490022   0.0394148   0.18       0             pose: 0.75020725    5.33285    -0.273645   0 -0.00230544 -0.00315172 -0.770576   0.637336       uwb: 0.0            867.545  464.766  
imu_odom_:  1691062446.742316481  0.294487   0.0742203  9.60554    -0.0681769  0.0223706   0.0532632   0.18       0             pose: 0.0           5.33285    -0.273645   0 -0.00230544 -0.00315172 -0.770576   0.637336       uwb: 0.49985528     864.922  466.173  
imu_odom_:  1691062446.759316326  0.718261   -0.320823  10.2639    -0.072438   0.0213053   0.0575243   0.21       -0.02         pose: 0.5898560     5.33285    -0.273645   0 -0.00279653 -0.00301817 -0.770575   0.637336       uwb: 0.0            864.922  466.173  
imu_odom_:  1691062446.784345107  0.584185   -0.0670376 10.0916    -0.0511327  -0.0106526  0.0458064   0.21       -0.02         pose: 0.0           5.33285    -0.273645   0 -0.00279653 -0.00301817 -0.770575   0.637336       uwb: 0.0            864.922  466.173  
imu_odom_:  1691062446.809310603  0.481235   -0.368707  9.83538    -0.0660464  0.0149137   0.0436758   0.23       0             pose: 0.49047638    5.32369    -0.284418   0 -0.0023363  -0.00304809 -0.77043    0.637514       uwb: 0.49881415     864.089  466.796  
imu_odom_:  1691062446.823362043  0.73502    0.0502782  9.95748    -0.0298274  -0.0138484  0.0234358   0.23       0             pose: 0.0           5.32369    -0.284418   0 -0.0023363  -0.00304809 -0.77043    0.637514       uwb: 0.0            864.089  466.796  
imu_odom_:  1691062446.839305594  0.529119   -0.452504  9.5792     -0.0649811  0.0223706   0.0607201   0.23       0             pose: 0.0           5.32369    -0.284418   0 -0.0023363  -0.00304809 -0.77043    0.637514       uwb: 0.50000110     867.894  466.18   
imu_odom_:  1691062446.862364105  0.490811   -0.201113  9.77792    -0.0553937  0           0.0479369   0.17       -0.02         pose: 0.41957759    5.3245     -0.294385   0 -0.00331319 -0.00500503 -0.770307   0.637644       uwb: 0.0            867.894  466.18   
imu_odom_:  1691062446.884286708  0.632069   -0.0861913 9.97903    -0.0735032  0.0287621   0.0500674   0.17       -0.02         pose: 0.0           5.3245     -0.294385   0 -0.00331319 -0.00500503 -0.770307   0.637644       uwb: 0.0            867.894  466.18   
imu_odom_:  1691062446.909347860  0.603339   -0.241814  10.2208    -0.0532632  0.00532632  0.0308927   0.19       0             pose: 0.55036020    5.32531    -0.304352   0 -0.00430111 -0.00343226 -0.770224   0.637749       uwb: 0.49987861     867.541  466.751  
imu_odom_:  1691062446.936463854  0.916979   -0.457293  10.4172    -0.0628506  -0.0266316  0.0436758   0.21       -0.02         pose: 0.22072210    5.32612    -0.314319   0 -0.00277287 -0.00388317 -0.770169   0.637822       uwb: 0.0            867.541  466.751  
imu_odom_:  1691062446.961461139  0.593762   -0.342371  10.0317    -0.0340885  0.00958738  0.0330232   0.21       -0.02         pose: 0.0           5.32612    -0.314319   0 -0.00277287 -0.00388317 -0.770169   0.637822       uwb: 0.50120554     871.338  466.136  
imu_odom_:  1691062446.978285421  -0.292093  -0.0909797 9.9096     -0.0745685  0.0117179   0.056459    0.21       0             pose: 0.47897731    5.32612    -0.314319   0 -0.00619761 -0.00523974 -0.770151   0.63781        uwb: 0.0            871.338  466.136  
imu_odom_:  1691062446.994286716  0.361524   -0.344765  10.1347    -0.0585895  -0.04048    0.0383495   0.21       0             pose: 0.0           5.32612    -0.314319   0 -0.00619761 -0.00523974 -0.770151   0.63781        uwb: 0.49856626     872.835  466.212  
imu_odom_:  1691062447.12338775   0.794875   0.0502782  9.64624    -0.072438   -0.036219   0.0490022   0.21       0             pose: 0.0           5.32612    -0.314319   0 -0.00619761 -0.00523974 -0.770151   0.63781        uwb: 0.0            872.835  466.212  
imu_odom_:  1691062447.28276793   0.342371   -0.399832  9.84256    -0.0713727  0.0330232   0.0372843   0.25       0.02          pose: 0.52132818    5.31697    -0.325102   0 -0.00895533 -0.00313256 -0.770107   0.637844       uwb: 0.0            872.835  466.212  
imu_odom_:  1691062447.43276629   0.493206   -0.222661  9.9503     -0.0351537  -0.00213053 0.0223706   0.25       0.02          pose: 0.0           5.31697    -0.325102   0 -0.00895533 -0.00313256 -0.770107   0.637844       uwb: 0.49840895     872.468  466.734  
imu_odom_:  1691062447.59297179   0.586579   -0.294487  9.63666    -0.0468716  0.0138484   0.0330232   0.18       0             pose: 0.33810129    5.31779    -0.335068   0 -0.00760115 -0.00219261 -0.770045   0.637941       uwb: 0.0            872.468  466.734  
imu_odom_:  1691062447.74408419   0.529119   -0.3304    9.84496    -0.0628506  0.036219    0.0383495   0.18       0             pose: 0.48020238    5.31861    -0.345035   0 -0.00621287 -0.00215616 -0.770132   0.63785        uwb: 0.0            872.468  466.734  
imu_odom_:  1691062447.99331349   0.229843   -0.0383072 9.57681    -0.0415453  0.0149137   0.0447411   0.18       0             pose: 0.0           5.31861    -0.345035   0 -0.00621287 -0.00215616 -0.770132   0.63785        uwb: 0.50280684     877.154  465.78   
imu_odom_:  1691062447.116289206  0.818817   -0.272939  10.2951    -0.0628506  0.0266316   0.0532632   0.25       -0.02         pose: 0.31100585    5.31943    -0.355001   0 -0.0068445  -0.000808507-0.770138   0.63784        uwb: 0.0            877.154  465.78   
imu_odom_:  1691062447.141287961  0.718261   -0.435745  9.35654    -0.0447411  -0.00852212 0.0394148   0.18       0             pose: 0.0           5.31943    -0.355001   0 -0.0068445  -0.000808507-0.770138   0.63784        uwb: 0.49883189     878.632  465.804  
imu_odom_:  1691062447.158268857  0.268151   -0.339977  9.85453    -0.0671117  0.00958738  0.0490022   0.18       0             pose: 0.42969161    5.30946    -0.355821   0 -0.00681097 -0.00171629 -0.770037   0.63796        uwb: 0.0            878.632  465.804  
imu_odom_:  1691062447.183265570  0.282516   -0.220267  9.62948    -0.0585895  0.00106526  0.0415453   0.18       0             pose: 0.0           5.30946    -0.355821   0 -0.00681097 -0.00171629 -0.770037   0.63796        uwb: 0.0            878.632  465.804  
imu_odom_:  1691062447.200326374  1.01514    -0.0502782 10.8888    -0.0649811  -0.0213053  0.0490022   0.18       0             pose: 0.41929490    5.31028    -0.365787   0 -0.00657589 -5.78548e-05-0.769976   0.638039       uwb: 0.49833319     876.434  466.911  
imu_odom_:  1691062447.225260386  0.490811   0.0814029  9.95748    -0.0426106  -0.0191748  0.0213053   0.19       0             pose: 0.34019828    5.31111    -0.375754   0 -0.00589105 -0.000960428-0.76992    0.638113       uwb: 0.0            876.434  466.911  
imu_odom_:  1691062447.250300261  1.12767    -0.328006  9.89045    -0.0703074  -0.0127832  0.0479369   0.19       0             pose: 0.8066269     5.31111    -0.375754   0 -0.00536567 -0.00164051 -0.769971   0.638054       uwb: 0.50004508     880.17   466.106  
imu_odom_:  1691062447.264415866  0.897826   -0.107739  9.73004    -0.0490022  -0.0181095  0.0372843   0.2        0             pose: 0.0           5.31111    -0.375754   0 -0.00536567 -0.00164051 -0.769971   0.638054       uwb: 0.0            880.17   466.106  
imu_odom_:  1691062447.289262972  0.047884   -0.160412  10.1227    -0.0809601  -0.0245011  0.0607201   0.2        0             pose: 0.47904169    5.31193    -0.38572    0 -0.00696284 -0.0047964  -0.769997   0.637991       uwb: 0.49997217     881.149  466.104  
imu_odom_:  1691062447.306349439  0.442927   -0.220267  9.93833    -0.0436758  -0.0308927  0.0351537   0.25       -0.02         pose: 0.0           5.31193    -0.38572    0 -0.00696284 -0.0047964  -0.769997   0.637991       uwb: 0.0            881.149  466.104  
imu_odom_:  1691062447.331298908  0.565032   -0.272939  9.64384    -0.0553937  -0.0490022  0.0596548   0.25       -0.02         pose: 0.40011714    5.31193    -0.38572    0 -0.00519873 -0.00377696 -0.769861   0.638179       uwb: 0.0            881.149  466.104  
imu_odom_:  1691062447.356308161  0.94571    -0.162806  9.96706    -0.0447411  -0.0575243  0.0372843   0.23       0             pose: 0.34990382    5.30279    -0.396512   0 -0.00739106 -0.00350839 -0.7697     0.638354       uwb: 0.50061085     880.816  466.804  
imu_odom_:  1691062447.373388796  0.23942    -0.356736  9.54808    -0.0639159  0.0191748   0.0617853   0.23       0             pose: 0.6992185     5.30279    -0.396512   0 -0.00793136 -0.00421439 -0.769701   0.638342       uwb: 0.0            880.816  466.804  
imu_odom_:  1691062447.397526651  0.651223   -0.191536  9.40682    -0.076699   -0.0458064  0.0490022   0.18       0             pose: 0.0           5.30279    -0.396512   0 -0.00793136 -0.00421439 -0.769701   0.638342       uwb: 0.50088789     882.767  466.805  
imu_odom_:  1691062447.412513946  0.407014   -0.158017  9.9934     -0.0426106  0.0372843   0.0340885   0.18       0             pose: 0.42003273    5.30362    -0.406477   0 -0.00860743 -0.00511925 -0.769567   0.638488       uwb: 0.0            882.767  466.805  
imu_odom_:  1691062447.428358642  0.830788   -0.299275  10.2759    -0.0660464  -0.00426106 0.0372843   0.17       0             pose: 0.0           5.30362    -0.406477   0 -0.00860743 -0.00511925 -0.769567   0.638488       uwb: 0.0            882.767  466.805  
imu_odom_:  1691062447.445236301  0.462081   -0.3304    9.61511    -0.0458064  -0.00852212 0.0276969   0.17       0             pose: 0.0           5.30362    -0.406477   0 -0.00860743 -0.00511925 -0.769567   0.638488       uwb: 0.49945307     882.429  467.48   
imu_odom_:  1691062447.462225946  0.557849   -0.488417  9.84975    -0.0490022  -0.0585895  0.056459    0.17       0             pose: 0.39228389    5.30445    -0.416442   0 -0.00839008 -0.00639937 -0.769552   0.638497       uwb: 0.0            882.429  467.48   
imu_odom_:  1691062447.479345077  0.402226   -0.071826  9.81862    -0.056459   0.015979    0.0426106   0.18       0             pose: 0.0           5.30445    -0.416442   0 -0.00839008 -0.00639937 -0.769552   0.638497       uwb: 0.0            882.429  467.48   
imu_odom_:  1691062447.496217486  0.483629   -0.292093  10.1897    -0.0553937  -0.0234358  0.0372843   0.18       0             pose: 0.50884947    5.30529    -0.426407   0 -0.00902142 -0.00404511 -0.76951    0.638559       uwb: 0.50010048     884.915  467.73   
imu_odom_:  1691062447.513215298  0.0143652  -0.248997  9.41879    -0.0681769  -0.00213053 0.0575243   0.18       0.02          pose: 0.0           5.30529    -0.426407   0 -0.00902142 -0.00404511 -0.76951    0.638559       uwb: 0.0            884.915  467.73   
imu_odom_:  1691062447.530257437  0.612916   -0.320823  10.4076    -0.04048    -0.0308927  0.0330232   0.18       0.02          pose: 0.0           5.30529    -0.426407   0 -0.00902142 -0.00404511 -0.76951    0.638559       uwb: 0.0            884.915  467.73   
imu_odom_:  1691062447.555239569  0.399832   -0.263362  9.52892    -0.052198   -0.0106526  0.0607201   0.18       0.02          pose: 0.50953772    5.29616    -0.437211   0 -0.00692295 -0.0018381  -0.769446   0.638672       uwb: 0.50009758     884.55   468.29   
imu_odom_:  1691062447.579286142  0.21069    -0.316035  10.0269    -0.0394148  0.00745685  0.0319579   0.18       -0.02         pose: 0.16177448    5.29616    -0.437211   0 -0.00725132 -0.00175066 -0.769411   0.63871        uwb: 0.0            884.55   468.29   
imu_odom_:  1691062447.604232403  0.112527   -0.509965  10.0748    -0.052198   -0.00106526 0.0553937   0.25       0.02          pose: 0.25854113    5.29616    -0.437211   0 -0.00517822 -0.000239027-0.769318   0.638846       uwb: 0.49980010     883.302  469.26   
imu_odom_:  1691062447.629364725  0.486023   -0.0311246 9.95988    -0.0245011  -0.0170442  0.0330232   0.26       0.02          pose: 0.40839368    5.29701    -0.447175   0 -0.00320693 0.00329116  -0.769222   0.638965       uwb: 0.0            883.302  469.26   
imu_odom_:  1691062447.655206881  0.914585   -0.407014  10.0748    -0.0639159  -0.0383495  0.0649811   0.26       0.02          pose: 0.0           5.29701    -0.447175   0 -0.00320693 0.00329116  -0.769222   0.638965       uwb: 0.50010632     882.023  470.072  
imu_odom_:  1691062447.671269134  0.308852   -0.169988  9.98622    -0.0447411  0.0266316   0.0340885   0.21       0             pose: 0.7091632     5.29701    -0.447175   0 -0.00288024 0.00253016  -0.76924    0.638949       uwb: 0.0            882.023  470.072  
imu_odom_:  1691062447.688373975  0.778116   -0.203507  10.1945    -0.0490022  -0.0351537  0.0468716   0.21       0             pose: 0.0           5.29701    -0.447175   0 -0.00288024 0.00253016  -0.76924    0.638949       uwb: 0.49912644     881.708  470.841  
imu_odom_:  1691062447.713200083  0.842759   -0.122104  10.3238    -0.0255663  -0.04048    0.0308927   0.24       0             pose: 0.50896320    5.29785    -0.457139   0 -0.00406059 -0.000392958-0.769083   0.639136       uwb: 0.0            881.708  470.841  
imu_odom_:  1691062447.737200870  0.629675   -0.296881  9.79468    -0.056459   -0.0383495  0.0596548   0.24       0             pose: 0.0           5.29785    -0.457139   0 -0.00406059 -0.000392958-0.769083   0.639136       uwb: 0.0            881.708  470.841  
imu_odom_:  1691062447.762309278  0.562637   -0.222661  9.87848    -0.0500674  -0.0266316  0.0340885   0.18       0             pose: 0.33016029    5.2987     -0.467103   0 -0.00472955 -0.00240518 -0.769076   0.639135       uwb: 0.49939474     883.135  470.716  
imu_odom_:  1691062447.786246781  0.184354   -0.378284  9.94791    -0.072438   -0.00106526 0.0575243   0.18       0             pose: 0.0           5.2987     -0.467103   0 -0.00472955 -0.00240518 -0.769076   0.639135       uwb: 0.0            883.135  470.716  
imu_odom_:  1691062447.811247285  0.457293   -0.114922  10.1347    -0.0490022  0.0149137   0.0372843   0.18       0.02          pose: 0.49084990    5.28959    -0.477918   0 -0.00780389 -0.00474713 -0.768961   0.63923        uwb: 0.49994300     885.109  470.885  
imu_odom_:  1691062447.835227950  0.742203   -0.289698  10.4579    -0.076699   -0.0170442  0.0617853   0.18       0.02          pose: 0.0           5.28959    -0.477918   0 -0.00780389 -0.00474713 -0.768961   0.63923        uwb: 0.0            885.109  470.885  
imu_odom_:  1691062447.852174142  0.567426   -0.198719  9.76834    -0.052198   0.0276969   0.0287621   0.24       0             pose: 0.48870640    5.28959    -0.477918   0 -0.00448286 -0.00316004 -0.768886   0.639363       uwb: 0.50115328     883.853  471.784  
imu_odom_:  1691062447.869175745  0.208296   -0.311246  10.0173    -0.0596548  -0.0511327  0.0543285   0.24       0             pose: 0.0           5.28959    -0.477918   0 -0.00448286 -0.00316004 -0.768886   0.639363       uwb: 0.0            883.853  471.784  
imu_odom_:  1691062447.886204469  0.94571    -0.268151  10.0149    -0.0628506  0.0351537   0.0436758   0.24       0             pose: 0.49056118    5.29045    -0.487881   0 -0.00542713 -0.00498864 -0.768747   0.639511       uwb: 0.0            883.853  471.784  
imu_odom_:  1691062447.910179010  0.656011   0.023942   9.76834    -0.0511327  -0.0138484  0.0479369   0.23       0             pose: 0.0           5.29045    -0.487881   0 -0.00542713 -0.00498864 -0.768747   0.639511       uwb: 0.49893396     886.231  471.603  
imu_odom_:  1691062447.928232240  0.761356   -0.373495  10.1801    -0.0596548  0.00213053  0.0607201   0.23       0             pose: 0.33937005    5.29131    -0.497844   0 -0.00564697 -0.0048481  -0.768691   0.639577       uwb: 0.0            886.231  471.603  
imu_odom_:  1691062447.944180465  0.584185   -0.0981623 10.2807    -0.0426106  0.00958738  0.04048     0.2        0             pose: 0.41997732    5.28221    -0.508669   0 -0.00645322 -0.00743774 -0.76855    0.639714       uwb: 0.49897479     886.821  472.101  
imu_odom_:  1691062447.961230479  0.512359   -0.0550666 9.87369    -0.0713727  0.00639159  0.0511327   0.2        0             pose: 0.0           5.28221    -0.508669   0 -0.00645322 -0.00743774 -0.76855    0.639714       uwb: 0.0            886.821  472.101  
imu_odom_:  1691062447.979161223  0.562637   -0.440533  9.91199    -0.0447411  0.0234358   0.0319579   0.19       0             pose: 0.43047610    5.28269    -0.514218   0 -0.00432424 -0.00838125 -0.768433   0.639861       uwb: 0.0            886.821  472.101  
imu_odom_:  1691062447.996181199  0.184354   -0.287304  9.4978     -0.0511327  0.0543285   0.0426106   0.19       0             pose: 0.0           5.28269    -0.514218   0 -0.00432424 -0.00838125 -0.768433   0.639861       uwb: 0.50039503     885.093  473.028  
imu_odom_:  1691062448.13172016   0.550666   -0.328006  10.2807    -0.0607201  -0.0511327  0.0468716   0.19       0             pose: 0.0           5.28269    -0.514218   0 -0.00432424 -0.00838125 -0.768433   0.639861       uwb: 0.0            885.093  473.028  
imu_odom_:  1691062448.30164002   0.349553   -0.0311246 9.76834    -0.0308927  0.0191748   0.0287621   0.18       -0.02         pose: 0.42011147    5.28308    -0.518631   0 -0.00447711 -0.00479188 -0.768446   0.63988        uwb: 0.0            885.093  473.028  
imu_odom_:  1691062448.46248136   0.148441   -0.251391  10.1442    -0.056459   -0.0276969  0.0511327   0.19       0             pose: 0.0           5.28308    -0.518631   0 -0.00447711 -0.00479188 -0.768446   0.63988        uwb: 0.50032522     888.846  472.56   
imu_odom_:  1691062448.70253309   0.0957681  -0.234632  9.94551    -0.0543285  -0.0351537  0.0394148   0.19       0             pose: 0.33967059    5.28395    -0.528593   0 -0.00303816 -0.00396029 -0.768464   0.639874       uwb: 0.0            888.846  472.56   
imu_odom_:  1691062448.88347376   0.622492   0.153229   9.76595    -0.0575243  -0.0266316  0.0426106   0.25       0.02          pose: 0.0           5.28395    -0.528593   0 -0.00303816 -0.00396029 -0.768464   0.639874       uwb: 0.50024362     887.595  473.449  
imu_odom_:  1691062448.104148334  0.536301   -0.208296  10.0868    -0.0798948  -0.00958738 0.04048     0.25       0.02          pose: 0.41047904    5.28482    -0.538555   0 -0.00102232 -0.00270483 -0.768432   0.639924       uwb: 0.0            887.595  473.449  
imu_odom_:  1691062448.127201035  0.536301   -0.371101  9.85932    -0.0532632  0.00319579  0.0255663   0.19       0             pose: 0.25891745    5.27486    -0.539426   0 -0.00260185 -0.00392512 -0.768411   0.63994        uwb: 0.0            887.595  473.449  
imu_odom_:  1691062448.141195327  0.428562   -0.363919  9.77074    -0.052198   0.0255663   0.0372843   0.19       0             pose: 0.7015228     5.27486    -0.539426   0 -0.00314233 -0.0034988  -0.76844    0.639905       uwb: 0.50005114     885.932  474.648  
imu_odom_:  1691062448.158379209  0.435745   -0.0766145 9.78989    -0.0308927  -0.00745685 0.0319579   0.19       0             pose: 0.0           5.27486    -0.539426   0 -0.00314233 -0.0034988  -0.76844    0.639905       uwb: 0.0            885.932  474.648  
imu_odom_:  1691062448.174298861  0.117316   -0.0981623 9.75637    -0.0383495  0.0319579   0.0415453   0.19       0             pose: 0.47215647    5.27573    -0.549388   0 -0.00297379 -0.00221454 -0.768561   0.639765       uwb: 0.0            885.932  474.648  
imu_odom_:  1691062448.199194681  0.237026   -0.177171  9.93115    -0.0628506  0.00319579  0.052198    0.19       0             pose: 0.0           5.27573    -0.549388   0 -0.00297379 -0.00221454 -0.768561   0.639765       uwb: 0.49952329     891.491  473.736  
imu_odom_:  1691062448.213294545  0.110133   -0.275333  9.93354    -0.0490022  -0.0138484  0.0372843   0.18       0             pose: 0.0           5.27573    -0.549388   0 -0.00297379 -0.00221454 -0.768561   0.639765       uwb: 0.0            891.491  473.736  
imu_odom_:  1691062448.230369647  0.962469   -0.126893  9.97664    -0.0458064  0.00532632  0.0532632   0.18       0.05          pose: 0.40815472    5.27659    -0.559351   0 0.000948882 -0.000118556-0.768458   0.6399         uwb: 0.0            891.491  473.736  
imu_odom_:  1691062448.255287339  0.687136   0.00957681 9.73004    -0.0415453  -0.0170442  0.036219    0.19       0             pose: 0.0           5.27659    -0.559351   0 0.000948882 -0.000118556-0.768458   0.6399         uwb: 0.49981201     889.729  474.486  
imu_odom_:  1691062448.272120386  0.397437   -0.438139  9.63187    -0.0660464  -0.0511327  0.0585895   0.19       0             pose: 0.31174966    5.27708    -0.564958   0 0.000702389 -0.00031266 -0.768394   0.639977       uwb: 0.0            889.729  474.486  
imu_odom_:  1691062448.296115352  0.464475   -0.229843  9.61511    -0.0383495  -0.0170442  0.015979    0.19       0             pose: 0.0           5.27708    -0.564958   0 0.000702389 -0.00031266 -0.768394   0.639977       uwb: 0.50121476     889.839  475.015  
imu_odom_:  1691062448.314139427  0.840365   -0.225055  10.0341    -0.0660464  0.0149137   0.0458064   0.19       0             pose: 0.48780840    5.2675     -0.570186   0 -0.00184951 -0.00168333 -0.768366   0.640006       uwb: 0.0            889.839  475.015  
imu_odom_:  1691062448.339288384  0.770933   -0.11971   9.72764    -0.0468716  -0.02024    0.0394148   0.18       0.02          pose: 0.34988940    5.26838    -0.580148   0 -0.00480763 -0.00263658 -0.768449   0.639888       uwb: 0.50006281     888.081  475.747  
imu_odom_:  1691062448.364145708  0.531513   -0.0047884 9.83299    -0.076699   -0.00532632 0.0596548   0.18       0.02          pose: 0.8128682     5.26838    -0.580148   0 -0.00520081 -0.00343157 -0.768447   0.639883       uwb: 0.0            888.081  475.747  
imu_odom_:  1691062448.389127559  0.265756   -0.0430956 10.3597    -0.0415453  0.0458064   0.0245011   0.2        0             pose: 0.41877599    5.26925    -0.59011    0 -0.0043973  -0.00660898 -0.768296   0.640046       uwb: 0.50005989     890.032  475.982  
imu_odom_:  1691062448.406120421  0.471658   -0.136469  9.50019    -0.0575243  -0.0308927  0.0553937   0.2        0             pose: 0.0           5.26925    -0.59011    0 -0.0043973  -0.00660898 -0.768296   0.640046       uwb: 0.0            890.032  475.982  
imu_odom_:  1691062448.422304002  0.225055   -0.435745  9.63427    -0.0500674  0.0500674   0.0383495   0.2        -0.02         pose: 0.0           5.26925    -0.59011    0 -0.0043973  -0.00660898 -0.768296   0.640046       uwb: 0.0            890.032  475.982  
imu_odom_:  1691062448.440298622  0.174777   -0.253785  9.50259    -0.0479369  -0.0319579  0.0490022   0.2        -0.02         pose: 0.33110533    5.27012    -0.600072   0 -0.000690362-0.00563031 -0.768397   0.639949       uwb: 0.49847050     890.547  476.162  
imu_odom_:  1691062448.464125024  0.560243   -0.407014  9.74201    -0.0713727  0.0138484   0.0543285   0.18       -0.02         pose: 0.0           5.27012    -0.600072   0 -0.000690362-0.00563031 -0.768397   0.639949       uwb: 0.0            890.547  476.162  
imu_odom_:  1691062448.482099522  0.19393    -0.311246  9.58878    -0.076699   0.0117179   0.0458064   0.18       -0.02         pose: 0.50988501    5.27099    -0.610033   0 0.000447459 -0.00206187 -0.768281   0.640109       uwb: 0.0            890.547  476.162  
imu_odom_:  1691062448.499094425  0.471658   -0.435745  10.0987    -0.0713727  -0.015979   0.0436758   0.18       -0.02         pose: 0.0           5.27099    -0.610033   0 0.000447459 -0.00206187 -0.768281   0.640109       uwb: 0.49991116     887.888  477.133  
imu_odom_:  1691062448.520187936  0.253785   -0.21069   10.5345    -0.0298274  0.00639159  0.0266316   0.2        0             pose: 0.50849683    5.26158    -0.617102   0 -0.0018395  0.00142852  -0.768146   0.640271       uwb: 0.0            887.888  477.133  
imu_odom_:  1691062448.537242332  0.445322   -0.361524  9.63666    -0.052198   -0.0500674  0.0511327   0.19       0             pose: 0.0           5.26158    -0.617102   0 -0.0018395  0.00142852  -0.768146   0.640271       uwb: 0.49996949     888.846  477.145  
imu_odom_:  1691062448.554090252  0.339977   -0.347159  9.94551    -0.0575243  -0.00426106 0.0330232   0.19       0             pose: 0.0           5.26158    -0.617102   0 -0.0018395  0.00142852  -0.768146   0.640271       uwb: 0.0            888.846  477.145  
imu_odom_:  1691062448.578101841  0.562637   -0.263362  10.2496    -0.0713727  -0.00213053 0.0479369   0.18       0             pose: 0.28082783    5.26191    -0.62087    0 -0.0004006940.00220154  -0.768206   0.640199       uwb: 0.0            888.846  477.145  
imu_odom_:  1691062448.604153110  0.85473    -0.337582  10.3286    -0.0394148  -0.0553937  0.036219    0.18       0             pose: 0.35117550    5.26279    -0.630832   0 -0.00220091 0.00348638  -0.768179   0.640222       uwb: 0.50406109     890.208  476.809  
imu_odom_:  1691062448.630102599  0.895431   -0.0790087 10.1969    -0.0639159  -0.0319579  0.0628506   0.19       0             pose: 0.41858352    5.2634     -0.637737   0 -0.00580744 0.000322089 -0.768167   0.640224       uwb: 0.0            890.208  476.809  
imu_odom_:  1691062448.654113604  0.830788   -0.100556  10.3166    -0.036219   -0.00319579 0.0330232   0.19       0             pose: 0.7973824     5.26367    -0.640793   0 -0.0062164  -0.00046073 -0.768108   0.64029        uwb: 0.49566791     894.863  476.285  
imu_odom_:  1691062448.668088066  0.251391   -0.112527  9.62708    -0.0479369  0.0266316   0.0436758   0.18       0.02          pose: 0.0           5.26367    -0.640793   0 -0.0062164  -0.00046073 -0.768108   0.64029        uwb: 0.0            894.863  476.285  
imu_odom_:  1691062448.684141287  0.6608     -0.481235  9.76834    -0.0596548  0.00106526  0.0436758   0.18       0.02          pose: 0.48976818    5.26367    -0.640793   0 -0.0070051  -0.00439954 -0.768019   0.640374       uwb: 0.0            894.863  476.285  
imu_odom_:  1691062448.702121909  1.1564     -0.0670376 10.24      -0.0340885  -0.0490022  0.04048     0.18       0.02          pose: 0.0           5.26367    -0.640793   0 -0.0070051  -0.00439954 -0.768019   0.640374       uwb: 0.49990241     896.274  476.195  
imu_odom_:  1691062448.726297104  1.76932    -0.258574  9.60793    -0.0628506  0.0511327   0.0596548   0.25       0.02          pose: 0.31109057    5.25459    -0.651637   0 -0.00818924 -0.00424845 -0.767976   0.640412       uwb: 0.0            896.274  476.195  
imu_odom_:  1691062448.751104267  0.715866   -0.167594  9.086      -0.0308927  0.015979    0.0415453   0.23       0             pose: 0.34084295    5.25519    -0.658443   0 -0.0102355  -0.0063374  -0.7678     0.640576       uwb: 0.50003948     897.811  476.755  
imu_odom_:  1691062448.776077078  -0.0430956 -0.277727  9.49301    -0.0351537  0.0458064   0.0330232   0.23       0             pose: 0.0           5.25519    -0.658443   0 -0.0102355  -0.0063374  -0.7678     0.640576       uwb: 0.0            897.811  476.755  
imu_odom_:  1691062448.793092687  0.301669   -0.222661  9.94551    -0.0447411  0.00745685  0.0458064   0.2        0             pose: 0.7945536     5.25548    -0.661598   0 -0.0102783  -0.00713831 -0.767795   0.640574       uwb: 0.49939497     898.34   477.035  
imu_odom_:  1691062448.809206275  0.42138    -0.0981623 10.2161    -0.0692422  0.00852212  0.0575243   0.2        0             pose: 0.0           5.25548    -0.661598   0 -0.0102783  -0.00713831 -0.767795   0.640574       uwb: 0.0            898.34   477.035  
imu_odom_:  1691062448.826200012  0.509965   -0.25618   9.54329    -0.0490022  -0.0468716  0.0308927   0.2        0             pose: 0.0           5.25548    -0.661598   0 -0.0102783  -0.00713831 -0.767795   0.640574       uwb: 0.0            898.34   477.035  
imu_odom_:  1691062448.843091677  0.684742   0.105345   10.1682    -0.0511327  -0.036219   0.0511327   0.23       0.02          pose: 0.48903034    5.25637    -0.671558   0 -0.00738496 -0.00638998 -0.767849   0.640556       uwb: 0.50063441     900.609  476.503  
imu_odom_:  1691062448.868135938  0.675165   -0.0167594 10.0245    -0.0426106  0.00213053  0.0308927   0.23       0.02          pose: 0.0           5.25637    -0.671558   0 -0.00738496 -0.00638998 -0.767849   0.640556       uwb: 0.0            900.609  476.503  
imu_odom_:  1691062448.892221018  0.684742   -0.354342  9.70131    -0.0830906  0.0149137   0.0649811   0.18       0             pose: 0.84990264    5.25035    -0.682136   0 -0.00485267 -0.00845637 -0.767806   0.640608       uwb: 0.50089980     899.276  476.973  
imu_odom_:  1691062448.916062877  0.593762   -0.220267  9.73243    -0.0575243  0.00958738  0.0330232   0.18       0             pose: 0.0           5.25035    -0.682136   0 -0.00485267 -0.00845637 -0.767806   0.640608       uwb: 0.0            899.276  476.973  
imu_odom_:  1691062448.939102453  0.871489   -0.0454898 9.91678    -0.0681769  -0.0149137  0.0543285   0.27       0.02          pose: 0.7949327     5.2473     -0.682409   0 -0.00559906 -0.00801559 -0.767737   0.640691       uwb: 0.49927540     900.217  476.937  
imu_odom_:  1691062448.965081980  0.572214   -0.112527  10.0485    -0.0436758  0.0181095   0.0351537   0.24       0             pose: 0.47023461    5.24819    -0.692369   0 -0.00859016 -0.00570092 -0.767597   0.64085        uwb: 0.0            900.217  476.937  
imu_odom_:  1691062448.990058582  0.0191536  -0.0766145 9.6199     -0.0745685  0.0308927   0.0479369   0.24       0             pose: 0.0           5.24819    -0.692369   0 -0.00859016 -0.00570092 -0.767597   0.64085        uwb: 0.50083272     905.76   476.244  
imu_odom_:  1691062449.8082077    0.792481   -0.222661  10.3022    -0.0660464  -0.00532632 0.0447411   0.18       -0.02         pose: 0.24023546    5.24908    -0.702329   0 -0.008278   -0.00748157 -0.767538   0.640906       uwb: 0.0            905.76   476.244  
imu_odom_:  1691062449.32122840   0.306458   -0.316035  10.1969    -0.0735032  0.0149137   0.0468716   0.18       -0.02         pose: 0.51037203    5.24998    -0.712288   0 -0.00478376 -0.00667565 -0.767521   0.640971       uwb: 0.0            905.76   476.244  
imu_odom_:  1691062449.58036762   0.639252   -0.0502782 10.3142    -0.0553937  -0.0319579  0.036219    0.2        0             pose: 0.33953365    5.24998    -0.712288   0 -0.00470032 -0.00457615 -0.767453   0.641071       uwb: 0.49929306     904.45   476.839  
imu_odom_:  1691062449.80042802   0.849942   -0.363919  10.3286    -0.0671117  -0.0415453  0.0447411   0.2        0             pose: 0.0           5.24998    -0.712288   0 -0.00470032 -0.00457615 -0.767453   0.641071       uwb: 0.0            904.45   476.839  
imu_odom_:  1691062449.105169023  0.610521   -0.237026  10.1442    -0.036219   -0.00213053 0.0266316   0.19       0             pose: 0.47919962    5.24092    -0.723148   0 -0.00729375 -0.00768372 -0.767418   0.641059       uwb: 0.49945062     903.607  477.4    
imu_odom_:  1691062449.123067996  -0.110133  -0.201113  9.51216    -0.0777643  0.0458064   0.0500674   0.19       0             pose: 0.0           5.24092    -0.723148   0 -0.00729375 -0.00768372 -0.767418   0.641059       uwb: 0.0            903.607  477.4    
imu_odom_:  1691062449.146050424  0.177171   -0.0335188 9.97664    -0.0500674  0           0.036219    0.18       0.02          pose: 0.43025194    5.24182    -0.733108   0 -0.0069328  -0.00427949 -0.767463   0.641042       uwb: 0.50115083     906.315  476.741  
imu_odom_:  1691062449.172192111  0.572214   -0.232238  10.0844    -0.0756338  0.00426106  0.0394148   0.18       0.02          pose: 0.0           5.24182    -0.733108   0 -0.0069328  -0.00427949 -0.767463   0.641042       uwb: 0.0            906.315  476.741  
imu_odom_:  1691062449.195042720  0.529119   -0.378284  9.91199    -0.0436758  0.0255663   0.0223706   0.19       0             pose: 0.49124115    5.24247    -0.740254   0 -0.00713389 -0.00447333 -0.767489   0.641007       uwb: 0.49937479     902.257  477.77   
imu_odom_:  1691062449.212099166  0.0502782  -0.363919  9.77074    -0.056459   0.0138484   0.0426106   0.19       0             pose: 0.0           5.24247    -0.740254   0 -0.00713389 -0.00447333 -0.767489   0.641007       uwb: 0.0            902.257  477.77   
imu_odom_:  1691062449.235146044  0.37589    -0.0502782 10.4459    -0.00958738 0.00958738  0.0298274   0.19       0             pose: 0.39907055    5.24323    -0.748659   0 -0.00654081 -0.000876821-0.767591   0.640906       uwb: 0.0            902.257  477.77   
imu_odom_:  1691062449.259171059  0.667982   -0.146046  10.3717    -0.0649811  -0.00852212 0.0575243   0.19       0             pose: 0.0           5.24323    -0.748659   0 -0.00654081 -0.000876821-0.767591   0.640906       uwb: 0.50051216     903.75   478.186  
imu_odom_:  1691062449.285016155  0.474052   -0.28491   9.89763    -0.0436758  -0.0287621  0.0351537   0.25       0             pose: 0.47071893    5.23426    -0.760578   0 -0.00497296 -0.00408297 -0.767533   0.640977       uwb: 0.0            903.75   478.186  
imu_odom_:  1691062449.298083937  0.23942    -0.0694318 9.84975    -0.0585895  0.0426106   0.0511327   0.25       0             pose: 0.0           5.23426    -0.760578   0 -0.00497296 -0.00408297 -0.767533   0.640977       uwb: 0.49991139     903.784  478.37   
imu_odom_:  1691062449.323083298  0.37589    0.110133   9.99579    -0.0532632  0.0149137   0.0436758   0.18       0             pose: 0.38912878    5.23456    -0.763883   0 -0.00365927 -0.00148549 -0.767524   0.641008       uwb: 0.0            903.784  478.37   
imu_odom_:  1691062449.340151117  0.706289   -0.0861913 10.149     -0.0735032  -0.0415453  0.0553937   0.18       0             pose: 0.7944082     5.23456    -0.763883   0 -0.00293543 -0.00188651 -0.767517   0.641019       uwb: 0.50039550     906.12   478.303  
imu_odom_:  1691062449.365015160  0.349553   -0.11971   9.79228    -0.0532632  -0.0181095  0.0234358   0.18       0             pose: 0.34123098    5.23546    -0.773842   0 -0.00250787 -0.0043501  -0.767407   0.641141       uwb: 0.0            906.12   478.303  
imu_odom_:  1691062449.390041935  0.316035   -0.323217  10.3262    -0.076699   -0.0553937  0.0543285   0.18       0             pose: 0.0           5.23546    -0.773842   0 -0.00250787 -0.0043501  -0.767407   0.641141       uwb: 0.49804203     905.227  478.536  
imu_odom_:  1691062449.413074523  0.181959   -0.141258  9.93594    -0.052198   -0.00639159 0.0340885   0.19       0             pose: 0.7967121     5.23546    -0.773842   0 -0.00178136 -0.00416036 -0.767452   0.641091       uwb: 0.0            905.227  478.536  
imu_odom_:  1691062449.437070083  0.715866   -0.138864  9.98622    -0.092678   -0.0458064  0.0553937   0.19       0             pose: 0.0           5.23546    -0.773842   0 -0.00178136 -0.00416036 -0.767452   0.641091       uwb: 0.0            905.227  478.536  
imu_odom_:  1691062449.455120705  0.555455   -0.172383  9.27514    -0.0681769  -0.0138484  0.0319579   0.19       0             pose: 0.48903348    5.23636    -0.783801   0 -0.00024976 -0.00116677 -0.767446   0.641112       uwb: 0.49982682     907.54   478.336  
imu_odom_:  1691062449.479046857  0.117316   -0.344765  10.0916    -0.0798948  -0.015979   0.0426106   0.19       0             pose: 0.0           5.23636    -0.783801   0 -0.00024976 -0.00116677 -0.767446   0.641112       uwb: 0.0            907.54   478.336  
imu_odom_:  1691062449.505187086  -0.0622492 -0.184354  10.2687    -0.04048    0.0213053   0.0319579   0.18       0             pose: 0.65986333    5.2273     -0.794663   0 -0.00205252 -0.00291659 -0.767384   0.641178       uwb: 0.0            907.54   478.336  
imu_odom_:  1691062449.518108759  0.0766145  -0.201113  9.991      -0.0585895  0.00426106  0.0585895   0.18       0             pose: 0.0           5.2273     -0.794663   0 -0.00205252 -0.00291659 -0.767384   0.641178       uwb: 0.0            907.54   478.336  
imu_odom_:  1691062449.542002540  0.557849   -0.268151  10.1442    -0.0447411  0.0351537   0.0340885   0.18       -0.02         pose: 0.55100840    5.22821    -0.804622   0 0.00198983  0.0010924   -0.767357   0.641216       uwb: 0.100042938    908.028  478.44   
imu_odom_:  1691062449.568009492  0.696713   -0.440533  10.3932    -0.0628506  -0.00532632 0.04048     0.18       -0.02         pose: 0.0           5.22821    -0.804622   0 0.00198983  0.0010924   -0.767357   0.641216       uwb: 0.0            908.028  478.44   
imu_odom_:  1691062449.593040350  0.610521   -0.023942  10.1801    -0.04048    -0.00639159 0.0308927   0.19       0             pose: 0.8015241     5.22821    -0.804622   0 0.00139771  0.000853809 -0.767372   0.6412         uwb: 0.49967809     909.895  478.377  
imu_odom_:  1691062449.610103211  0.339977   -0.505177  10.5201    -0.0575243  -0.0106526  0.0394148   0.19       0             pose: 0.0           5.22821    -0.804622   0 0.00139771  0.000853809 -0.767372   0.6412         uwb: 0.0            909.895  478.377  
imu_odom_:  1691062449.634094689  0.0885855  -0.258574  10.137     -0.036219   0.0117179   0.0245011   0.21       0             pose: 0.49907732    5.22911    -0.814581   0 -0.0023805  -0.000564884-0.767416   0.641145       uwb: 0.0            909.895  478.377  
imu_odom_:  1691062449.659990821  0.828394   -0.466869  9.49062    -0.0511327  -0.0308927  0.0351537   0.2        -0.02         pose: 0.25094142    5.23001    -0.82454    0 -0.00249133 -0.00160967 -0.767463   0.641086       uwb: 0.49936604     911.38   478.837  
imu_odom_:  1691062449.686097804  0.378284   -0.162806  9.68215    -0.0234358  -0.0468716  0.0458064   0.2        -0.02         pose: 0.32968815    5.22393    -0.831827   0 -0.0007199950.000824773 -0.767579   0.640954       uwb: 0.0            911.38   478.837  
imu_odom_:  1691062449.709977586  0.129287   -0.11971   9.99819    -0.0458064  -0.0127832  0.0500674   0.22       0             pose: 0.7899753     5.22095    -0.8354     0 -0.00156483 0.000590291 -0.76759    0.640939       uwb: 0.49919106     910.009  479.025  
imu_odom_:  1691062449.724051793  0.641646   -0.225055  9.84975    -0.0447411  0.0213053   0.0340885   0.22       0             pose: 0.0           5.22095    -0.8354     0 -0.00156483 0.000590291 -0.76759    0.640939       uwb: 0.0            910.009  479.025  
imu_odom_:  1691062449.748043562  0.739808   -0.124498  9.91918    -0.0415453  -0.0255663  0.0447411   0.18       0.02          pose: 0.50997565    5.22095    -0.8354     0 -0.000461377-0.000927301-0.767541   0.640998       uwb: 0.50127040     909.151  479.483  
imu_odom_:  1691062449.774044098  0.301669   -0.009576819.80426    -0.0596548  0.00639159  0.0607201   0.18       0.02          pose: 0.0           5.22095    -0.8354     0 -0.000461377-0.000927301-0.767541   0.640998       uwb: 0.0            909.151  479.483  
imu_odom_:  1691062449.786961397  0.011971   -0.306458  9.62708    -0.0798948  -0.0127832  0.0745685   0.18       0.02          pose: 0.0           5.22095    -0.8354     0 -0.000461377-0.000927301-0.767541   0.640998       uwb: 0.0            909.151  479.483  
imu_odom_:  1691062449.811033074  -0.011971  -0.294487  10.0509    -0.0543285  0.0191748   0.036219    0.18       0.02          pose: 0.39160766    5.22185    -0.845359   0 -0.000419957-0.00181917 -0.767494   0.641053       uwb: 0.49872737     910.484  479.062  
imu_odom_:  1691062449.837007947  0.486023   -0.380678  9.91199    -0.052198   -0.0490022  0.0490022   0.22       0             pose: 0.78880301    5.21675    -0.862525   0 0.00319797  -3.22951e-05-0.767181   0.641423       uwb: 0.0            910.484  479.062  
imu_odom_:  1691062449.850943920  0.632069   -0.179565  10.2831    -0.0330232  -0.0490022  0.0266316   0.22       0             pose: 0.0           5.21675    -0.862525   0 0.00319797  -3.22951e-05-0.767181   0.641423       uwb: 0.50038675     911.86   478.899  
imu_odom_:  1691062449.878106031  0.117316   -0.229843  10.0987    -0.0788296  -0.015979   0.0607201   0.18       0             pose: 0.8022531     5.2137     -0.866186   0 0.00230477  8.82657e-05 -0.76716    0.641452       uwb: 0.0            911.86   478.899  
imu_odom_:  1691062449.902971532  0.533907   -0.246603  9.61751    -0.0639159  -0.00319579 0.0394148   0.18       0             pose: 0.0           5.2137     -0.866186   0 0.00230477  8.82657e-05 -0.76716    0.641452       uwb: 0.49987640     913.785  479.243  
imu_odom_:  1691062449.929009981  0.725443   -0.31364   9.5816     -0.0639159  -0.0255663  0.04048     0.2        0             pose: 0.40253806    5.21461    -0.876145   0 -0.000251183-0.000385443-0.76711    0.641515       uwb: 0.0            913.785  479.243  
imu_odom_:  1691062449.941947403  0.665588   -0.260968  10.1299    -0.0543285  -0.0191748  0.036219    0.2        0             pose: 0.0           5.21461    -0.876145   0 -0.000251183-0.000385443-0.76711    0.641515       uwb: 0.49939812     915.21   479.39   
imu_odom_:  1691062449.965951712  0.620098   -0.308852  10.4531    -0.0809601  -0.0490022  0.0660464   0.18       0             pose: 0.51747937    5.21461    -0.876145   0 -0.00216703 -0.000493754-0.766981   0.641666       uwb: 0.0            915.21   479.39   
imu_odom_:  1691062449.991061602  0.667982   -0.213084  10.3453    -0.0500674  -0.00958738 0.036219    0.18       0             pose: 0.0           5.21461    -0.876145   0 -0.00216703 -0.000493754-0.766981   0.641666       uwb: 0.50012137     914.32   479.655  
imu_odom_:  1691062450.4987368    0.828394   -0.201113  9.84017    -0.0575243  0.0170442   0.056459    0.18       0             pose: 0.0           5.21461    -0.876145   0 -0.00216703 -0.000493754-0.766981   0.641666       uwb: 0.0            914.32   479.655  
imu_odom_:  1691062450.28920530   0.718261   -0.112527  9.92875    -0.0170442  0.0181095   0.0223706   0.18       0             pose: 0.38895088    5.21553    -0.886103   0 -0.00611833 -0.00229848 -0.766909   0.641723       uwb: 0.0            914.32   479.655  
imu_odom_:  1691062450.55077394   0.244209   0.0047884  9.85214    -0.0575243  -0.015979   0.0671117   0.23       0.02          pose: 0.78968094    5.2071     -0.9036     0 -0.00892744 -0.00871795 -0.766839   0.641718       uwb: 0.49992322     911.202  480.536  
imu_odom_:  1691062450.76911964   0.641646   -0.011971  10.1323    -0.0468716  0.0106526   0.0436758   0.23       0.02          pose: 0.0           5.2071     -0.9036     0 -0.00892744 -0.00871795 -0.766839   0.641718       uwb: 0.0            911.202  480.536  
imu_odom_:  1691062450.93918840   0.500388   -0.268151  9.84496    -0.0660464  -0.00745685 0.0479369   0.19       0             pose: 0.8065696     5.20741    -0.90694    0 -0.00818486 -0.00855458 -0.766777   0.641804       uwb: 0.50246633     911.262  480.883  
imu_odom_:  1691062450.118033397  0.706289   -0.311246  10.2161    -0.04048    -0.0649811  0.0308927   0.19       0             pose: 0.0           5.20741    -0.90694    0 -0.00818486 -0.00855458 -0.766777   0.641804       uwb: 0.0            911.262  480.883  
imu_odom_:  1691062450.141908524  0.632069   -0.198719  10.2161    -0.052198   -0.0298274  0.0458064   0.18       -0.02         pose: 0.47940982    5.20833    -0.916898   0 -0.00536284 -0.00925256 -0.766595   0.642042       uwb: 0.49772729     914.889  480.3    
imu_odom_:  1691062450.158918900  0.701501   -0.332794  9.56005    -0.0415453  -0.00426106 0.0255663   0.18       -0.02         pose: 0.0           5.20833    -0.916898   0 -0.00536284 -0.00925256 -0.766595   0.642042       uwb: 0.0            914.889  480.3    
imu_odom_:  1691062450.183993222  0.0383072  -0.153229  9.48822    -0.0735032  0.0308927   0.0553937   0.19       0             pose: 0.40996615    5.20833    -0.916898   0 -0.00822996 -0.00761765 -0.766597   0.642031       uwb: 0.0            914.889  480.3    
imu_odom_:  1691062450.201028094  0.23942    -0.229843  10.0916    -0.0458064  -0.0415453  0.0394148   0.19       0             pose: 0.0           5.20833    -0.916898   0 -0.00822996 -0.00761765 -0.766597   0.642031       uwb: 0.50125022     917.719  480.534  
imu_odom_:  1691062450.217046042  0.687136   -0.105345  9.46188    -0.052198   -0.015979   0.0372843   0.19       0             pose: 0.0           5.20833    -0.916898   0 -0.00822996 -0.00761765 -0.766597   0.642031       uwb: 0.0            917.719  480.534  
imu_odom_:  1691062450.233980010  0.392649   -0.332794  10.1801    -0.0809601  0.00106526  0.0458064   0.18       0.02          pose: 0.42006831    5.20926    -0.926855   0 -0.00903089 -0.00545773 -0.766586   0.642055       uwb: 0.0            917.719  480.534  
imu_odom_:  1691062450.259035667  0.339977   -0.4956    9.98861    -0.0458064  -0.00639159 0.0298274   0.18       0.02          pose: 0.0           5.20926    -0.926855   0 -0.00903089 -0.00545773 -0.766586   0.642055       uwb: 0.49932836     920.951  480.412  
imu_odom_:  1691062450.282012856  0.679953   -0.442927  10.3597    -0.0532632  0.00426106  0.0351537   0.18       0.02          pose: 0.74990826    5.20116    -0.947696   0 -0.00623441 -0.00257506 -0.766534   0.642169       uwb: 0.0            920.951  480.412  
imu_odom_:  1691062450.307900543  0.237026   -0.0766145 10.0149    -0.0468716  -0.02024    0.052198    0.18       0.02          pose: 0.0           5.20116    -0.947696   0 -0.00623441 -0.00257506 -0.766534   0.642169       uwb: 0.50002244     924.197  480.427  
imu_odom_:  1691062450.331938984  0.593762   -0.229843  9.94073    -0.0532632  -0.036219   0.0394148   0.25       -0.02         pose: 0.24099685    5.20116    -0.947696   0 -0.00700838 -0.000954096-0.766586   0.642102       uwb: 0.0            924.197  480.427  
imu_odom_:  1691062450.356974227  0.68953    -0.35913   10.3046    -0.0532632  -0.0287621  0.0553937   0.2        0             pose: 0.22902822    5.20116    -0.947696   0 -0.00768177 -0.000837432-0.76657    0.642114       uwb: 0.50037532     927.869  480.213  
imu_odom_:  1691062450.372953971  0.849942   -0.500388  9.52892    -0.0532632  0.0468716   0.0372843   0.2        0             pose: 0.0           5.20116    -0.947696   0 -0.00768177 -0.000837432-0.76657    0.642114       uwb: 0.0            927.869  480.213  
imu_odom_:  1691062450.397952469  0.251391   0.160412   9.4547     -0.0575243  0.00958738  0.0639159   0.18       0             pose: 0.50065820    5.20209    -0.957653   0 -0.008033   -0.0034801  -0.766456   0.642237       uwb: 0.49961708     929.754  480.476  
imu_odom_:  1691062450.422889432  0.184354   -0.196325  9.87129    -0.0735032  -0.00852212 0.0234358   0.18       0             pose: 0.0           5.20209    -0.957653   0 -0.008033   -0.0034801  -0.766456   0.642237       uwb: 0.0            929.754  480.476  
imu_odom_:  1691062450.446901043  0.332794   -0.411803  10.1299    -0.0681769  -0.00426106 0.0553937   0.18       0             pose: 0.40973284    5.20302    -0.967609   0 -0.0103386  -0.00354482 -0.766299   0.642391       uwb: 0.50043073     927.541  481.184  
imu_odom_:  1691062450.469875315  0.636858   -0.153229  9.48343    -0.0532632  -0.0181095  0.0266316   0.18       0             pose: 0.0           5.20302    -0.967609   0 -0.0103386  -0.00354482 -0.766299   0.642391       uwb: 0.0            927.541  481.184  
imu_odom_:  1691062450.487897366  0.881066   -0.0814029 9.64863    -0.0649811  -0.0468716  0.052198    0.25       -0.02         pose: 0.49997870    5.194      -0.978502   0 -0.00647205 -0.00161195 -0.766287   0.642464       uwb: 0.49935169     929.389  481.19   
imu_odom_:  1691062450.502873017  0.804452   -0.11971   9.95509    -0.0788296  -0.0383495  0.056459    0.25       -0.02         pose: 0.0           5.194      -0.978502   0 -0.00647205 -0.00161195 -0.766287   0.642464       uwb: 0.0            929.389  481.19   
imu_odom_:  1691062450.527935965  0.849942   -0.373495  9.87369    -0.0681769  -0.00852212 0.0372843   0.25       0             pose: 0.46970427    5.19494    -0.988458   0 -0.00701949 -0.00320939 -0.766269   0.642474       uwb: 0.0            929.389  481.19   
imu_odom_:  1691062450.542877495  0.0047884  -0.237026  10.0149    -0.0692422  0.0213053   0.0511327   0.25       0             pose: 0.0           5.19494    -0.988458   0 -0.00701949 -0.00320939 -0.766269   0.642474       uwb: 0.50060279     929.456  481.678  
imu_odom_:  1691062450.565968421  0.881066   -0.0766145 9.59357    -0.052198   0.0308927   0.0276969   0.25       0             pose: 0.0           5.19494    -0.988458   0 -0.00701949 -0.00320939 -0.766269   0.642474       uwb: 0.0            929.456  481.678  
imu_odom_:  1691062450.582982004  0.351948   -0.131681  9.90721    -0.0671117  0.00426106  0.0607201   0.17       0.02          pose: 0.32956581    5.19588    -0.998414   0 -0.00929435 -0.00577596 -0.766137   0.642584       uwb: 0.0            929.456  481.678  
imu_odom_:  1691062450.606865005  0.742203   -0.275333  9.65103    -0.0617853  0.00852212  0.0330232   0.17       0.02          pose: 0.0           5.19588    -0.998414   0 -0.00929435 -0.00577596 -0.766137   0.642584       uwb: 0.49955000     928.579  482.012  
imu_odom_:  1691062450.631911914  0.347159   -0.452504  10.3549    -0.072438   -0.0181095  0.0468716   0.18       0             pose: 0.40025768    5.19588    -0.998414   0 -0.0099085  -0.00562401 -0.766121   0.642595       uwb: 0.0            928.579  482.012  
imu_odom_:  1691062450.654903392  0.277727   -0.0407014 10.647     -0.0266316  0.00426106  0.0245011   0.18       0             pose: 0.0           5.19588    -0.998414   0 -0.0099085  -0.00562401 -0.766121   0.642595       uwb: 0.50170517     929.909  481.617  
imu_odom_:  1691062450.670868846  0.390255   -0.292093  9.66779    -0.0543285  -0.0394148  0.0490022   0.2        -0.02         pose: 0.40003021    5.18687    -1.00931    0 -0.0092327  -0.00645414 -0.766092   0.642632       uwb: 0.0            929.909  481.617  
imu_odom_:  1691062450.693939066  0.411803   -0.0814029 9.48343    -0.0458064  -0.0127832  0.0287621   0.2        -0.02         pose: 0.0           5.18687    -1.00931    0 -0.0092327  -0.00645414 -0.766092   0.642632       uwb: 0.49815308     929.538  482.284  
imu_odom_:  1691062450.718940480  0.308852   -0.201113  9.49301    -0.0735032  0.0181095   0.0575243   0.25       0.02          pose: 0.88185182    5.18875    -1.02922    0 -0.00613968 -0.00354412 -0.766175   0.642593       uwb: 0.0            929.538  482.284  
imu_odom_:  1691062450.742123853  0.811634   -0.124498  10.2472    -0.0287621  0.00426106  0.0351537   0.25       0.02          pose: 0.0           5.18875    -1.02922    0 -0.00613968 -0.00354412 -0.766175   0.642593       uwb: 0.50164392     932.729  482.049  
imu_odom_:  1691062450.760904441  0.0814029  -0.493206  9.65582    -0.0532632  0.00319579  0.056459    0.18       0.02          pose: 0.46924641    5.18875    -1.02922    0 -0.00293132 -0.00275092 -0.766111   0.642695       uwb: 0.0            932.729  482.049  
imu_odom_:  1691062450.784891555  0.61531    -0.148441  10.1682    -0.0330232  -0.0234358  0.0319579   0.18       0.02          pose: 0.0           5.18875    -1.02922    0 -0.00293132 -0.00275092 -0.766111   0.642695       uwb: 0.0            932.729  482.049  
imu_odom_:  1691062450.801908346  0.624887   0          9.77553    -0.0458064  -0.0106526  0.0415453   0.2        0             pose: 0.42894854    5.18969    -1.03918    0 -0.00340951 -0.00320901 -0.766048   0.642766       uwb: 0.49808017     934.151  482.387  
imu_odom_:  1691062450.818021658  0.837971   -0.275333  10.3382    -0.0596548  0.00639159  0.0415453   0.2        0             pose: 0.0           5.18969    -1.03918    0 -0.00340951 -0.00320901 -0.766048   0.642766       uwb: 0.0            934.151  482.387  
imu_odom_:  1691062450.835027076  0.383072   -0.059855  10.1778    -0.0245011  -0.00319579 0.0415453   0.23       0             pose: 0.49100223    5.18068    -1.05008    0 -0.0051402  -0.00709929 -0.766047   0.642725       uwb: 0.0            934.151  482.387  
imu_odom_:  1691062450.850837673  0.191536   -0.320823  9.61033    -0.0649811  0.0191748   0.0735032   0.23       0             pose: 0.0           5.18068    -1.05008    0 -0.0051402  -0.00709929 -0.766047   0.642725       uwb: 0.50243716     939.147  482.06   
imu_odom_:  1691062450.867848631  0.354342   -0.203507  9.85932    -0.0479369  -0.0479369  0.0383495   0.23       0             pose: 0.0           5.18068    -1.05008    0 -0.0051402  -0.00709929 -0.766047   0.642725       uwb: 0.0            939.147  482.06   
imu_odom_:  1691062450.884025811  0.766145   -0.263362  9.73482    -0.0394148  -0.02024    0.0372843   0.18       0             pose: 0.49826973    5.18163    -1.06003    0 -0.00178484 -0.00430324 -0.765898   0.642945       uwb: 0.0            939.147  482.06   
imu_odom_:  1691062450.900956570  -0.0814029 -0.452504  10.1706    -0.0607201  -0.00745685 0.056459    0.25       0.02          pose: 0.0           5.18163    -1.06003    0 -0.00178484 -0.00430324 -0.765898   0.642945       uwb: 0.49845930     936.924  482.657  
imu_odom_:  1691062450.917013014  0.59855    -0.148441  10.3286    -0.0223706  -0.052198   0.0287621   0.25       0.02          pose: 0.0           5.18163    -1.06003    0 -0.00178484 -0.00430324 -0.765898   0.642945       uwb: 0.0            936.924  482.657  
imu_odom_:  1691062450.932960095  0.00718261 -0.124498  9.49062    -0.0596548  0.00213053  0.0681769   0.23       0.02          pose: 0.24144596    5.18258    -1.06999    0 -0.00297693 -0.00437303 -0.76586    0.642985       uwb: 0.0            936.924  482.657  
imu_odom_:  1691062450.949838944  0.380678   -0.31364   10.1849    -0.0596548  -0.0266316  0.0500674   0.23       0.02          pose: 0.0           5.18258    -1.06999    0 -0.00297693 -0.00437303 -0.76586    0.642985       uwb: 0.49829597     940.553  482.346  
imu_odom_:  1691062450.966853985  0.521936   -0.107739  9.9096     -0.0500674  0.0106526   0.0340885   0.23       0.02          pose: 0.32059518    5.18258    -1.06999    0 -0.00288844 -0.00501191 -0.765802   0.643051       uwb: 0.0            940.553  482.346  
imu_odom_:  1691062450.982879807  0.189142   -0.112527  10.1945    -0.0703074  -0.0255663  0.0617853   0.18       0             pose: 0.42801240    5.17829    -1.08044    0 -0.0018294  -0.00449614 -0.765699   0.64318        uwb: 0.0            940.553  482.346  
imu_odom_:  1691062450.999880850  0.806846   -0.296881  9.64145    -0.0596548  -0.0351537  0.0340885   0.18       0             pose: 0.0           5.17829    -1.08044    0 -0.0018294  -0.00449614 -0.765699   0.64318        uwb: 0.49817933     939.726  483.104  
imu_odom_:  1691062451.15999709   0.536301   -0.131681  10.1945    -0.0553937  0.00958738  0.0436758   0.18       0             pose: 0.0           5.17829    -1.08044    0 -0.0018294  -0.00449614 -0.765699   0.64318        uwb: 0.0            939.726  483.104  
imu_odom_:  1691062451.32862817   0.543484   -0.344765  9.50737    -0.0777643  -0.0127832  0.0692422   0.24       0             pose: 0.8082028     5.17357    -1.0809     0 -0.0012304  -0.00410848 -0.765646   0.643248       uwb: 0.0            939.726  483.104  
imu_odom_:  1691062451.48868232   0.246603   -0.373495  9.56962    -0.0532632  -0.00213053 0.0372843   0.18       0             pose: 0.0           5.17357    -1.0809     0 -0.0012304  -0.00410848 -0.765646   0.643248       uwb: 0.49969014     942.432  482.772  
imu_odom_:  1691062451.65798708   0.703895   -0.155623  9.85453    -0.056459   -0.0138484  0.0447411   0.18       0             pose: 0.65885767    5.17453    -1.09085    0 -0.00359656 -0.00404462 -0.765433   0.643493       uwb: 0.0            942.432  482.772  
imu_odom_:  1691062451.81009422   1.19471    -0.112527  10.0604    -0.0617853  -0.02024    0.0852212   0.18       0             pose: 0.0           5.17453    -1.09085    0 -0.00359656 -0.00404462 -0.765433   0.643493       uwb: 0.0            942.432  482.772  
imu_odom_:  1691062451.98819464   1.0343     -0.481235  9.59357    -0.0511327  0.0234358   0.11931     0.16       0             pose: 0.0           5.17453    -1.09085    0 -0.00359656 -0.00404462 -0.765433   0.643493       uwb: 0.50025306     944.725  482.852  
imu_odom_:  1691062451.115872717  1.51314    -0.402226  10.0963    -0.0575243  -0.0703074  0.108657    0.16       0             pose: 0.32044951    5.1755     -1.1008     0 -0.00496139 -0.00522969 -0.765298   0.643636       uwb: 0.0            944.725  482.852  
imu_odom_:  1691062451.138879079  1.2378     0.0143652  9.61272    -0.0490022  0.0575243   0.0436758   0.14       -0.02         pose: 0.43005986    5.1755     -1.1008     0 -0.00907325 -0.00717381 -0.764302   0.644754       uwb: 0.49986519     939.827  483.943  
imu_odom_:  1691062451.163914042  -0.0407014 -0.153229  9.28471    -0.0692422  0.0426106   -0.00106526 0.14       -0.02         pose: 0.0           5.1755     -1.1008     0 -0.00907325 -0.00717381 -0.764302   0.644754       uwb: 0.0            939.827  483.943  
imu_odom_:  1691062451.188820395  -0.366313  0.0909797  10.0987    -0.0351537  0.0149137   -0.11931    0.17       0.02          pose: 0.7011446     5.1755     -1.1008     0 -0.00923226 -0.00766606 -0.764291   0.64476        uwb: 0.49993519     937.119  484.242  
imu_odom_:  1691062451.211963534  -0.493206  -0.47884   10.1921    -0.0820254  -0.00958738 0.0532632   0.17       0.02          pose: 0.0           5.1755     -1.1008     0 -0.00923226 -0.00766606 -0.764291   0.64476        uwb: 0.0            937.119  484.242  
imu_odom_:  1691062451.227798052  0.318429   -0.881066  9.66779    -0.0479369  -0.0756338  0.0426106   0.14       0.05          pose: 0.48075738    5.17649    -1.11075    0 -0.0064745  -0.00655494 -0.76499    0.643976       uwb: 0.0            937.119  484.242  
imu_odom_:  1691062451.252907381  1.01993    0.0143652  9.85932    -0.0543285  -0.0181095  0.0639159   0.14       0.05          pose: 0.0           5.17649    -1.11075    0 -0.0064745  -0.00655494 -0.76499    0.643976       uwb: 0.50046595     936.679  484.391  
imu_odom_:  1691062451.275907619  0.282516   -0.299275  9.56484    -0.0585895  0           0.0394148   0.2        0             pose: 0.64847274    5.16749    -1.12166    0 -0.00495847 -0.00351712 -0.765742   0.643119       uwb: 0.0            936.679  484.391  
imu_odom_:  1691062451.300913127  -0.0957681 -0.217872  9.55287    -0.04048    -0.00319579 0.0308927   0.15       0             pose: 0.0           5.16749    -1.12166    0 -0.00495847 -0.00351712 -0.765742   0.643119       uwb: 0.0            936.679  484.391  
imu_odom_:  1691062451.317913887  0.579397   -0.371101  9.79947    -0.0692422  -0.0756338  0.0596548   0.15       0             pose: 0.40100444    5.1681     -1.12801    0 -0.00453869 -0.00313404 -0.765612   0.643279       uwb: 0.0            936.679  484.391  
imu_odom_:  1691062451.333838228  0.770933   -0.354342  10.3501    -0.0468716  -0.0639159  0.0308927   0.15       0             pose: 0.0           5.1681     -1.12801    0 -0.00453869 -0.00313404 -0.765612   0.643279       uwb: 0.0            936.679  484.391  
imu_odom_:  1691062451.360801761  0.720655   -0.248997  10.0341    -0.0660464  -0.036219   0.0532632   0.22       0             pose: 0.9014967     5.16844    -1.13161    0 -0.00379489 -0.00260992 -0.76564    0.643253       uwb: 0.100055571    933.107  485.079  
imu_odom_:  1691062451.384817175  0.670376   -0.263362  10.0748    -0.0458064  -0.00958738 0.0149137   0.22       0             pose: 0.0           5.16844    -1.13161    0 -0.00379489 -0.00260992 -0.76564    0.643253       uwb: 0.0            933.107  485.079  
imu_odom_:  1691062451.409785062  0.440533   -0.37589   9.87608    -0.0617853  0.00319579  0.0490022   0.19       0             pose: 0.56971718    5.1694     -1.14157    0 -0.0072203  -0.00311902 -0.765566   0.643309       uwb: 0.49867533     931.352  485.642  
imu_odom_:  1691062451.434833440  0.794875   -0.299275  9.7875     -0.0266316  -0.0298274  0.0191748   0.17       0             pose: 0.50942493    5.1694     -1.14157    0 -0.0105114  -0.00531697 -0.765621   0.643184       uwb: 0.0            931.352  485.642  
imu_odom_:  1691062451.459815909  0.306458   -0.205901  9.65342    -0.0692422  0.00426106  0.0628506   0.17       0             pose: 0.0           5.1694     -1.14157    0 -0.0105114  -0.00531697 -0.765621   0.643184       uwb: 0.50183663     932.233  485.383  
imu_odom_:  1691062451.486812689  0.294487   -0.179565  9.90721    -0.0436758  -0.00639159 0.036219    0.23       -0.02         pose: 0.66979112    5.16108    -1.15949    0 -0.00979261 -0.00421669 -0.76555    0.643288       uwb: 0.0            932.233  485.383  
imu_odom_:  1691062451.502907053  0.706289   -0.141258  10.1514    -0.0575243  -0.0330232  0.0617853   0.23       -0.02         pose: 0.7129558     5.16136    -1.16243    0 -0.00911398 -0.00397596 -0.765563   0.643284       uwb: 0.49930817     932.273  485.686  
imu_odom_:  1691062451.519958264  0.723049   -0.423774  10.0987    -0.0553937  -0.00213053 0.0436758   0.23       0             pose: 0.0           5.16136    -1.16243    0 -0.00911398 -0.00397596 -0.765563   0.643284       uwb: 0.0            932.273  485.686  
imu_odom_:  1691062451.537956992  0.112527   0.0622492  9.7875     -0.0394148  0.015979    0.0383495   0.23       0             pose: 0.42952034    5.16136    -1.16243    0 -0.00842639 -0.00484401 -0.765465   0.643404       uwb: 0.50027056     931.86   486.025  
imu_odom_:  1691062451.553953367  0.679953   -0.21069   10.2663    -0.0660464  -0.0351537  0.0585895   0.23       0             pose: 0.0           5.16136    -1.16243    0 -0.00842639 -0.00484401 -0.765465   0.643404       uwb: 0.0            931.86   486.025  
imu_odom_:  1691062451.571901934  0.354342   -0.287304  9.76355    -0.0596548  -0.0426106  0.0276969   0.17       -0.02         pose: 0.0           5.16136    -1.16243    0 -0.00842639 -0.00484401 -0.765465   0.643404       uwb: 0.0            931.86   486.025  
imu_odom_:  1691062451.588032751  0.658405   -0.289698  9.7444     -0.056459   0.0127832   0.036219    0.17       -0.02         pose: 0.44055866    5.16233    -1.17238    0 -0.0084925  -0.00583165 -0.76536    0.64352        uwb: 0.0            931.86   486.025  
imu_odom_:  1691062451.603764614  0.253785   -0.347159  9.89045    -0.0660464  -0.0117179  0.0585895   0.17       -0.02         pose: 0.0           5.16233    -1.17238    0 -0.0084925  -0.00583165 -0.76536    0.64352        uwb: 0.50163249     933.69   486.046  
imu_odom_:  1691062451.618809973  0.28491    -0.246603  9.64863    -0.0351537  0.0117179   0.0287621   0.17       0.02          pose: 0.49811247    5.16329    -1.18234    0 -0.00835177 -0.00350069 -0.765348   0.643553       uwb: 0.0            933.69   486.046  
imu_odom_:  1691062451.635836396  0.270545   -0.0646434 10.0269    -0.0479369  0.0138484   0.0458064   0.2        0             pose: 0.0           5.16329    -1.18234    0 -0.00835177 -0.00350069 -0.765348   0.643553       uwb: 0.0            933.69   486.046  
imu_odom_:  1691062451.660892065  0.275333   -0.531513  9.53371    -0.0798948  0.0617853   0.0415453   0.2        0             pose: 0.23015987    5.16329    -1.18234    0 -0.00607472 -0.00257369 -0.765398   0.643524       uwb: 0.49869574     937.796  486.077  
imu_odom_:  1691062451.686768973  0.536301   -0.335188  9.20571    -0.0447411  0.00426106  0.0436758   0.21       0.02          pose: 0.0           5.16329    -1.18234    0 -0.00607472 -0.00257369 -0.765398   0.643524       uwb: 0.0            937.796  486.077  
imu_odom_:  1691062451.712854399  0.586579   -0.258574  9.71328    -0.0479369  0.015979    0.0298274   0.18       0             pose: 0.42009183    5.1543     -1.19326    0 -0.0054542  0.00071251  -0.765354   0.643586       uwb: 0.49917694     937.426  486.785  
imu_odom_:  1691062451.738731016  -0.0023942 -0.351948  10.1442    -0.0735032  0.0234358   0.0703074   0.22       0.02          pose: 0.26048389    5.15527    -1.20321    0 -0.00730193 -0.000195182-0.765352   0.643571       uwb: 0.50058261     938.817  486.995  
imu_odom_:  1691062451.753737295  0.237026   -0.533907  10.1514    -0.0777643  0.04048     0.056459    0.22       0.02          pose: 0.0           5.15527    -1.20321    0 -0.00730193 -0.000195182-0.765352   0.643571       uwb: 0.0            938.817  486.995  
imu_odom_:  1691062451.770851792  0.162806   0.0335188  10.0916    -0.0628506  0.0308927   0.0383495   0.18       0             pose: 0.25986271    5.15527    -1.20321    0 -0.00711211 -0.00112763 -0.765337   0.64359        uwb: 0.0            938.817  486.995  
imu_odom_:  1691062451.787914669  0.438139   -0.373495  9.67976    -0.0756338  0.00958738  0.0607201   0.18       0             pose: 0.0           5.15527    -1.20321    0 -0.00711211 -0.00112763 -0.765337   0.64359        uwb: 0.0            938.817  486.995  
imu_odom_:  1691062451.803850092  0.282516   -0.306458  9.72525    -0.0351537  -0.00426106 0.0213053   0.18       0             pose: 0.40974469    5.15624    -1.21316    0 -0.00460603 0.00227931  -0.765083   0.643911       uwb: 0.0            938.817  486.995  
imu_odom_:  1691062451.819913250  0.416591   0.0502782  10.1801    -0.0415453  -0.015979   0.036219    0.24       0             pose: 0.0           5.15624    -1.21316    0 -0.00460603 0.00227931  -0.765083   0.643911       uwb: 0.0            938.817  486.995  
imu_odom_:  1691062451.836919842  0.454898   -0.366313  10.149     -0.072438   -0.0213053  0.0468716   0.24       0             pose: 0.0           5.15624    -1.21316    0 -0.00460603 0.00227931  -0.765083   0.643911       uwb: 0.0            938.817  486.995  
imu_odom_:  1691062451.852735404  0.464475   -0.162806  9.98143    -0.0500674  -0.0308927  0.0319579   0.18       0             pose: 0.75120929    5.15188    -1.22364    0 -0.00429176 0.00338393  -0.765035   0.643965       uwb: 0.100227051    939.743  487.146  
imu_odom_:  1691062451.876780564  0.703895   -0.289698  10.58      -0.0692422  -0.0255663  0.0543285   0.18       0             pose: 0.0           5.15188    -1.22364    0 -0.00429176 0.00338393  -0.765035   0.643965       uwb: 0.0            939.743  487.146  
imu_odom_:  1691062451.899728016  0.488417   -0.332794  9.98622    -0.0308927  -0.0191748  0.0255663   0.26       0             pose: 0.7893053     5.14727    -1.22409    0 -0.00401259 0.00258951  -0.765058   0.643943       uwb: 0.49815913     940.197  487.14   
imu_odom_:  1691062451.925772613  0.629675   -0.378284  9.69412    -0.052198   -0.0266316  0.056459    0.24       0             pose: 0.0           5.14727    -1.22409    0 -0.00401259 0.00258951  -0.765058   0.643943       uwb: 0.0            940.197  487.14   
imu_odom_:  1691062451.951932406  0.481235   -0.167594  10.1682    -0.0330232  -0.00213053 0.0308927   0.18       -0.02         pose: 0.80959718    5.14891    -1.24089    0 -0.00988475 0.000513454 -0.764901   0.644072       uwb: 0.49751172     939.821  487.775  
imu_odom_:  1691062451.977711325  0.162806   -0.418985  10.0389    -0.0500674  -0.0255663  0.052198    0.22       0             pose: 0.0           5.14891    -1.24089    0 -0.00988475 0.000513454 -0.764901   0.644072       uwb: 0.0            939.821  487.775  
imu_odom_:  1691062452.693774     0.665588   -0.124498  9.8282     -0.0266316  -0.00958738 0.0340885   0.22       0             pose: 0.33107371    5.14922    -1.244      0 -0.00708956 -0.000456666-0.764967   0.64403        uwb: 0.50124753     940.291  487.91   
imu_odom_:  1691062452.16721067   0.706289   -0.356736  9.90481    -0.0692422  0.00852212  0.0745685   0.22       0             pose: 0.0           5.14922    -1.244      0 -0.00708956 -0.000456666-0.764967   0.64403        uwb: 0.0            940.291  487.91   
imu_odom_:  1691062452.39725690   0.670376   -0.141258  9.78989    -0.0458064  -0.052198   0.0298274   0.18       0             pose: 0.48866650    5.1502     -1.25395    0 -0.00694298 -0.00171375 -0.764853   0.644166       uwb: 0.49853550     938.574  488.704  
imu_odom_:  1691062452.65731512   0.627281   -0.306458  9.94791    -0.0458064  0.015979    0.052198    0.18       0             pose: 0.31979056    5.14435    -1.26107    0 -0.0082287  -0.00460677 -0.764819   0.644176       uwb: 0.0            938.574  488.704  
imu_odom_:  1691062452.90842020   0.97444    0.023942   10.2041    -0.0276969  -0.0127832  0.0308927   0.18       0             pose: 0.0           5.14435    -1.26107    0 -0.0082287  -0.00460677 -0.764819   0.644176       uwb: 0.50051576     940.805  488.418  
imu_odom_:  1691062452.104960283  0.110133   -0.282516  9.26077    -0.0745685  -0.0213053  0.0671117   0.18       0             pose: 0.0           5.14435    -1.26107    0 -0.0082287  -0.00460677 -0.764819   0.644176       uwb: 0.0            940.805  488.418  
imu_odom_:  1691062452.129783531  -0.059855  -0.342371  9.65342    -0.0639159  -0.0447411  0.036219    0.18       0             pose: 0.9010305     5.14123    -1.26488    0 -0.00900913 -0.0043708  -0.764774   0.64422        uwb: 0.0            940.805  488.418  
imu_odom_:  1691062452.154782927  0.385466   -0.201113  10.319     -0.0692422  -0.0660464  0.0617853   0.24       0             pose: 0.48122130    5.14221    -1.27483    0 -0.0103604  -0.00631437 -0.76471    0.644261       uwb: 0.49994416     943.101  488.724  
imu_odom_:  1691062452.177896037  0.301669   -0.0023942 9.84017    -0.0585895  -0.0308927  0.0308927   0.24       0             pose: 0.0           5.14221    -1.27483    0 -0.0103604  -0.00631437 -0.76471    0.644261       uwb: 0.0            943.101  488.724  
imu_odom_:  1691062452.193721813  0.529119   -0.25618   9.79947    -0.072438   -0.0149137  0.0596548   0.2        0             pose: 0.39931898    5.1432     -1.28478    0 -0.00821368 -0.00396473 -0.764633   0.644401       uwb: 0.50006081     943.558  488.768  
imu_odom_:  1691062452.219752132  0.339977   -0.270545  10.0389    -0.0511327  -0.0191748  0.036219    0.2        0             pose: 0.0           5.1432     -1.28478    0 -0.00821368 -0.00396473 -0.764633   0.644401       uwb: 0.0            943.558  488.768  
imu_odom_:  1691062452.244821811  0.713472   -0.153229  9.73961    -0.0681769  -0.0330232  0.056459    0.18       0.02          pose: 0.49128265    5.1432     -1.28478    0 -0.00566755 -0.00328358 -0.764536   0.644548       uwb: 0.50058284     949.388  488.465  
imu_odom_:  1691062452.268821487  0.718261   -0.143652  9.63187    -0.0308927  -0.0287621  0.0181095   0.18       0.02          pose: 0.0           5.1432     -1.28478    0 -0.00566755 -0.00328358 -0.764536   0.644548       uwb: 0.0            949.388  488.465  
imu_odom_:  1691062452.284744086  0.351948   -0.143652  9.76834    -0.056459   -0.0106526  0.0553937   0.18       0.02          pose: 0.41792227    5.13424    -1.29573    0 -0.00503748 -0.00178837 -0.76447    0.644637       uwb: 0.0            949.388  488.465  
imu_odom_:  1691062452.311674677  0.1652     -0.277727  9.39006    -0.0479369  -0.0191748  0.0415453   0.18       0.02          pose: 0.0           5.13424    -1.29573    0 -0.00503748 -0.00178837 -0.76447    0.644637       uwb: 0.49880096     953.423  488.247  
imu_odom_:  1691062452.336733274  0.754174   -0.28491   10.0676    -0.0681769  -0.0372843  0.0490022   0.18       0             pose: 0.47999644    5.13523    -1.30568    0 -0.00638611 -0.00577482 -0.764501   0.644566       uwb: 0.0            953.423  488.247  
imu_odom_:  1691062452.361805869  0.47884    -0.244209  10.1825    -0.04048    -0.0351537  0.0223706   0.18       0             pose: 0.0           5.13523    -1.30568    0 -0.00638611 -0.00577482 -0.764501   0.644566       uwb: 0.50094737     956.149  488.501  
imu_odom_:  1691062452.377945151  0.387861   -0.169988  9.92397    -0.0607201  -0.0383495  0.0532632   0.18       0.02          pose: 0.44045095    5.13623    -1.31563    0 -0.00485356 -0.00391123 -0.764425   0.644682       uwb: 0.0            956.149  488.501  
imu_odom_:  1691062452.394813517  0.562637   -0.368707  9.70131    -0.0628506  0.0191748   0.0330232   0.18       0.02          pose: 0.0           5.13623    -1.31563    0 -0.00485356 -0.00391123 -0.764425   0.644682       uwb: 0.50009873     962.376  487.747  
imu_odom_:  1691062452.419716089  0.648829   -0.349553  9.67976    -0.0447411  -0.00106526 0.036219    0.18       0             pose: 0.48971367    5.13722    -1.32558    0 -0.00467846 -0.00305069 -0.76448    0.644623       uwb: 0.0            962.376  487.747  
imu_odom_:  1691062452.435770215  0.265756   -0.232238  9.88566    -0.0745685  -0.0223706  0.0479369   0.18       0             pose: 0.0           5.13722    -1.32558    0 -0.00467846 -0.00305069 -0.76448    0.644623       uwb: 0.0            962.376  487.747  
imu_odom_:  1691062452.460774276  0.418985   -0.232238  9.98622    -0.0532632  -0.0383495  0.0330232   0.18       0             pose: 0.67043594    5.12826    -1.33652    0 -0.00653259 -0.00145585 -0.764446   0.644653       uwb: 0.50009289     962.371  487.676  
imu_odom_:  1691062452.486700190  0.73502    -0.356736  9.74679    -0.0628506  0.0255663   0.0266316   0.18       0             pose: 0.7977047     5.12826    -1.33652    0 -0.00586674 -0.00131828 -0.764465   0.644637       uwb: 0.0            962.371  487.676  
imu_odom_:  1691062452.511652633  0.68953    -0.292093  9.75877    -0.0415453  -0.0181095  0.0340885   0.19       0             pose: 0.42952928    5.12926    -1.34647    0 -0.00667835 -0.0015145  -0.764606   0.644462       uwb: 0.50040203     965.082  487.861  
imu_odom_:  1691062452.527719298  0.538695   -0.45011   9.9527     -0.0575243  -0.0127832  0.0383495   0.19       0             pose: 0.0           5.12926    -1.34647    0 -0.00667835 -0.0015145  -0.764606   0.644462       uwb: 0.0            965.082  487.861  
imu_odom_:  1691062452.544705775  0.806846   -0.131681  9.94312    -0.0191748  -0.0149137  0.0298274   0.18       -0.02         pose: 0.0           5.12926    -1.34647    0 -0.00667835 -0.0015145  -0.764606   0.644462       uwb: 0.49991791     966.448  488.194  
imu_odom_:  1691062452.570644813  0.52433    -0.0957681 10.0485    -0.0713727  0.0191748   0.0543285   0.18       -0.02         pose: 0.49092394    5.13025    -1.35642    0 -0.00970387 -0.00271162 -0.764658   0.644358       uwb: 0.0            966.448  488.194  
imu_odom_:  1691062452.595638375  0.782904   -0.1652    9.83059    -0.0458064  -0.0245011  0.0319579   0.19       0.02          pose: 0.34852229    5.13097    -1.36368    0 -0.00744644 -0.00459104 -0.764592   0.644456       uwb: 0.49924424     968.254  488.361  
imu_odom_:  1691062452.621694066  0.782904   -0.395043  9.80186    -0.052198   0.0213053   0.0372843   0.19       0.02          pose: 0.7014365     5.13123    -1.36638    0 -0.00783515 -0.00526754 -0.764606   0.644429       uwb: 0.0            968.254  488.361  
imu_odom_:  1691062452.644670693  0.0957681  0.0335188  9.52892    -0.0745685  0.00426106  0.0596548   0.19       0.02          pose: 0.44034888    5.12477    -1.37426    0 -0.0111357  -0.00650151 -0.76463    0.644341       uwb: 0.50042827     969.602  488.397  
imu_odom_:  1691062452.671775681  0.550666   -0.497994  9.60554    -0.0681769  -0.0276969  0.0255663   0.19       -0.02         pose: 0.0           5.12477    -1.37426    0 -0.0111357  -0.00650151 -0.76463    0.644341       uwb: 0.0            969.602  488.397  
imu_odom_:  1691062452.687776729  0.914585   -0.378284  9.91918    -0.04048    -0.0106526  0.0330232   0.19       -0.02         pose: 0.30993919    5.12227    -1.37731    0 -0.00944357 -0.00509784 -0.76454    0.644487       uwb: 0.49894677     966.911  488.399  
imu_odom_:  1691062452.714784603  0.488417   -0.0885855 9.88566    -0.0308927  -0.0138484  0.036219    0.23       0             pose: 0.0           5.12227    -1.37731    0 -0.00944357 -0.00509784 -0.76454    0.644487       uwb: 0.0            966.911  488.399  
imu_odom_:  1691062452.740646358  0.1652     -0.260968  9.59117    -0.0639159  0.00958738  0.0607201   0.23       0             pose: 0.42048282    5.12326    -1.38726    0 -0.0113122  -0.00454753 -0.764645   0.644336       uwb: 0.49862889     968.247  488.244  
imu_odom_:  1691062452.756642448  0.459687   -0.31364   9.47386    -0.0617853  -0.0149137  0.0340885   0.23       -0.02         pose: 0.0           5.12326    -1.38726    0 -0.0113122  -0.00454753 -0.764645   0.644336       uwb: 0.0            968.247  488.244  
imu_odom_:  1691062452.782657894  0.577003   -0.363919  10.3932    -0.0436758  0.0500674   0.0394148   0.23       -0.02         pose: 0.52922998    5.12425    -1.39722    0 -0.007138   -0.00273798 -0.764539   0.644532       uwb: 0.0            968.247  488.244  
imu_odom_:  1691062452.807601587  0.481235   -0.0071826110.738     -0.0372843  -0.0106526  0.0266316   0.23       0             pose: 0.34998629    5.12425    -1.39722    0 -0.00866286 -0.000432352-0.76454    0.644518       uwb: 0.50130317     969.587  488.139  
imu_odom_:  1691062452.829611157  0.258574   -0.253785  9.92397    -0.0713727  -0.00213053 0.0692422   0.23       0             pose: 0.0           5.12425    -1.39722    0 -0.00866286 -0.000432352-0.76454    0.644518       uwb: 0.0            969.587  488.139  
imu_odom_:  1691062452.854734205  0.548272   -0.208296  9.73243    -0.0671117  -0.0692422  0.0426106   0.19       0             pose: 0.6967412     5.12425    -1.39722    0 -0.00808845 -0.000921912-0.764574   0.644484       uwb: 0.49919175     971.832  488.269  
imu_odom_:  1691062452.879627445  0.438139   -0.402226  10.4076    -0.072438   -0.02024    0.0490022   0.19       0             pose: 0.0           5.12425    -1.39722    0 -0.00808845 -0.000921912-0.764574   0.644484       uwb: 0.0            971.832  488.269  
imu_odom_:  1691062452.893653260  0.299275   -0.203507  9.83538    -0.0447411  0.00106526  0.0191748   0.18       0.02          pose: 0.46997300    5.11529    -1.40816    0 -0.00525379 -0.00149752 -0.764451   0.644659       uwb: 0.50046910     969.622  488.772  
imu_odom_:  1691062452.917663435  0.742203   -0.416591  9.64384    -0.0660464  -0.00958738 0.0426106   0.18       0.02          pose: 0.0           5.11529    -1.40816    0 -0.00525379 -0.00149752 -0.764451   0.644659       uwb: 0.0            969.622  488.772  
imu_odom_:  1691062452.944593152  0.447716   -0.1652    9.43794    -0.0468716  0.0149137   0.0234358   0.23       0             pose: 0.48987406    5.11628    -1.41811    0 -0.0060143  -0.00089317 -0.764389   0.644726       uwb: 0.49932590     970.073  488.84   
imu_odom_:  1691062452.960645235  0.608127   -0.320823  10.2256    -0.0681769  -0.0213053  0.0447411   0.23       0             pose: 0.0           5.11628    -1.41811    0 -0.0060143  -0.00089317 -0.764389   0.644726       uwb: 0.0            970.073  488.84   
imu_odom_:  1691062452.976584457  0.639252   -0.332794  9.48822    -0.0458064  0.0170442   0.0298274   0.25       -0.02         pose: 0.39994600    5.11728    -1.42806    0 -0.00687733 -0.00123295 -0.764457   0.644637       uwb: 0.0            970.073  488.84   
imu_odom_:  1691062453.2585029    0.299275   -0.138864  9.26317    -0.0639159  -0.0458064  0.0543285   0.25       -0.02         pose: 0.0           5.11728    -1.42806    0 -0.00687733 -0.00123295 -0.764457   0.644637       uwb: 0.50011330     970.972  488.905  
imu_odom_:  1691062453.18736275   -0.0814029 -0.260968  10.1035    -0.0458064  0.0181095   0.0500674   0.23       -0.02         pose: 0.41984414    5.11827    -1.43801    0 -0.00725657 -0.00208882 -0.764551   0.644519       uwb: 0.0            970.972  488.905  
imu_odom_:  1691062453.44737734   0.328006   -0.112527  10.319     -0.036219   -0.0191748  0.0426106   0.23       -0.02         pose: 0.0           5.11827    -1.43801    0 -0.00725657 -0.00208882 -0.764551   0.644519       uwb: 0.50007847     970.093  489.191  
imu_odom_:  1691062453.71724623   -0.0407014 -0.225055  10.003     -0.036219   0.00852212  0.0340885   0.21       0.02          pose: 0.77148708    5.10932    -1.44895    0 -0.00193491 -0.00136943 -0.764394   0.644745       uwb: 0.0            970.093  489.191  
imu_odom_:  1691062453.97625760   0.474052   -0.40462   9.77553    -0.072438   0.0213053   0.0735032   0.21       0.02          pose: 0.0           5.10932    -1.44895    0 -0.00193491 -0.00136943 -0.764394   0.644745       uwb: 0.49965275     973.679  489.3    
imu_odom_:  1691062453.124710055  0.275333   -0.114922  10.2544    -0.0394148  0.0127832   0.0330232   0.23       -0.02         pose: 0.7004162     5.10932    -1.44895    0 -0.00132806 -0.000933321-0.764407   0.644731       uwb: 0.0            973.679  489.3    
imu_odom_:  1691062453.150603318  -0.0909797 -0.414197  10.2113    -0.0628506  -0.00532632 0.052198    0.18       0.02          pose: 0.53878413    5.11031    -1.4589     0 -0.0009152090.00173433  -0.764175   0.645006       uwb: 0.50146963     972.351  489.582  
imu_odom_:  1691062453.177717359  0.445322   -0.1652    10.0796    -0.056459   -0.0138484  0.0500674   0.18       0.02          pose: 0.0           5.11031    -1.4589     0 -0.0009152090.00173433  -0.764175   0.645006       uwb: 0.0            972.351  489.582  
imu_odom_:  1691062453.193588345  0.483629   -0.129287  10.0556    -0.0681769  0           0.0575243   0.2        0             pose: 0.52143194    5.11131    -1.46885    0 0.00204098  0.00309541  -0.764081   0.64511        uwb: 0.49971691     974.586  489.56   
imu_odom_:  1691062453.220640560  0.390255   -0.0766145 9.71806    -0.0596548  -0.0351537  0.0394148   0.2        0             pose: 0.0           5.11131    -1.46885    0 0.00204098  0.00309541  -0.764081   0.64511        uwb: 0.0            974.586  489.56   
imu_odom_:  1691062453.236559957  0.78051    -0.222661  9.96227    -0.0820254  -0.0298274  0.056459    0.18       0.02          pose: 0.27851582    5.11232    -1.4788     0 0.00113758  0.00042243  -0.76397    0.64525        uwb: 0.0            974.586  489.56   
imu_odom_:  1691062453.263553845  0.725443   -0.179565  10.1682    -0.0639159  -0.00745685 0.0394148   0.18       0.02          pose: 0.50944872    5.10291    -1.48508    0 0.000684456 -0.00329114 -0.763831   0.645408       uwb: 0.49918614     974.594  489.724  
imu_odom_:  1691062453.289584468  0.521936   -0.134075  10.0126    -0.0820254  -0.00532632 0.0553937   0.18       -0.02         pose: 0.7023118     5.10338    -1.48976    0 8.30414e-05 -0.00368299 -0.763829   0.645408       uwb: 0.49960900     971.492  490.17   
imu_odom_:  1691062453.316733213  0.500388   -0.347159  9.4164     -0.0671117  -0.0138484  0.0500674   0.18       -0.02         pose: 0.0           5.10338    -1.48976    0 8.30414e-05 -0.00368299 -0.763829   0.645408       uwb: 0.0            971.492  490.17   
imu_odom_:  1691062453.341700248  0.579397   -0.553061  9.7875     -0.0607201  0.052198    0.0319579   0.18       0             pose: 0.54071183    5.1044     -1.49971    0 -0.00277374 -0.00644191 -0.763652   0.64559        uwb: 0.50034684     970.618  490.526  
imu_odom_:  1691062453.358721146  0.486023   -0.220267  9.82341    -0.0458064  0.00532632  0.0330232   0.18       0             pose: 0.0           5.1044     -1.49971    0 -0.00277374 -0.00644191 -0.763652   0.64559        uwb: 0.0            970.618  490.526  
imu_odom_:  1691062453.374754572  0.225055   -0.162806  9.72046    -0.0649811  0.00213053  0.0703074   0.18       -0.02         pose: 0.26945769    5.1044     -1.49971    0 -0.00444118 -0.00416908 -0.763602   0.645659       uwb: 0.0            970.618  490.526  
imu_odom_:  1691062453.401689258  0.246603   -0.220267  9.46907    -0.0575243  0.00213053  0.0383495   0.18       -0.02         pose: 0.50154545    5.10542    -1.50965    0 -0.00217447 -0.00172898 -0.763528   0.645769       uwb: 0.49994439     970.206  491.091  
imu_odom_:  1691062453.418747776  0.794875   -0.186748  10.4363    -0.0649811  0.0223706   0.052198    0.18       -0.02         pose: 0.7952846     5.10542    -1.50965    0 -0.00156273 -0.00118    -0.763533   0.645766       uwb: 0.0            970.206  491.091  
imu_odom_:  1691062453.434684964  -0.00957681-0.124498  9.85932    -0.0372843  0.0351537   0.0234358   0.18       -0.02         pose: 0.0           5.10542    -1.50965    0 -0.00156273 -0.00118    -0.763533   0.645766       uwb: 0.0            970.206  491.091  
imu_odom_:  1691062453.452560930  0.126893   -0.189142  9.62469    -0.056459   -0.02024    0.0500674   0.18       -0.02         pose: 0.51977546    5.09649    -1.52062    0 0.000542513 -1.12154e-05-0.763555   0.645742       uwb: 0.49982189     970.242  491.701  
imu_odom_:  1691062453.468691179  0.826      -0.162806  10.1993    -0.056459   -0.00958738 0.0383495   0.18       0             pose: 0.0           5.09649    -1.52062    0 0.000542513 -1.12154e-05-0.763555   0.645742       uwb: 0.0            970.242  491.701  
imu_odom_:  1691062453.485686704  0.306458   -0.220267  9.55047    -0.0276969  0.0149137   0.0234358   0.18       0             pose: 0.0           5.09649    -1.52062    0 0.000542513 -1.12154e-05-0.763555   0.645742       uwb: 0.0            970.242  491.701  
imu_odom_:  1691062453.510617285  0.0191536  -0.361524  9.76355    -0.076699   0.0181095   0.052198    0.2        0             pose: 0.25017779    5.09752    -1.53057    0 0.00135224  0.00044383  -0.763497   0.64581        uwb: 0.50036143     968.917  491.898  
imu_odom_:  1691062453.537610590  0.203507   -0.196325  9.75158    -0.0511327  -0.0426106  0.0319579   0.23       0.02          pose: 0.33874689    5.09752    -1.53057    0 0.00238951  0.00187671  -0.763555   0.645735       uwb: 0.0            968.917  491.898  
imu_odom_:  1691062453.563546140  0.907402   -0.418985  10.2089    -0.0735032  -0.0117179  0.0330232   0.18       -0.02         pose: 0.44033158    5.09854    -1.54052    0 0.00526723  0.00435918  -0.763535   0.64573        uwb: 0.0            968.917  491.898  
imu_odom_:  1691062453.590543528  0.320823   -0.0694318 9.93115    -0.0372843  0.00213053  0.036219    0.23       0.02          pose: 0.25935550    5.09927    -1.54766    0 0.00264051  0.00348458  -0.763603   0.645671       uwb: 0.99887096     972.907  491.575  
imu_odom_:  1691062453.606590369  0.653617   -0.445322  9.96706    -0.0468716  -0.00639159 0.0383495   0.23       0.02          pose: 0.0           5.09927    -1.54766    0 0.00264051  0.00348458  -0.763603   0.645671       uwb: 0.0            972.907  491.575  
imu_odom_:  1691062453.633832437  0.488417   -0.0191536 9.80904    -0.0383495  -0.0181095  0.0500674   0.23       0             pose: 0.43044229    5.08961    -1.55149    0 0.00301662  0.00117079  -0.763637   0.645638       uwb: 0.0            972.907  491.575  
imu_odom_:  1691062453.659669123  0.311246   -0.0861913 10.4794    -0.0511327  -0.0394148  0.0394148   0.23       0             pose: 0.0           5.08961    -1.55149    0 0.00301662  0.00117079  -0.763637   0.645638       uwb: 0.50066764     972.032  491.881  
imu_odom_:  1691062453.686654554  0.488417   -0.0957681 9.76595    -0.0553937  0.00852212  0.052198    0.25       0             pose: 0.53078754    5.09063    -1.56144    0 0.00532978  -0.00219809 -0.763537   0.645739       uwb: 0.0            972.032  491.881  
imu_odom_:  1691062453.712527403  0.658405   -0.0766145 9.73004    -0.0479369  0.0223706   0.036219    0.25       0             pose: 0.0           5.09063    -1.56144    0 0.00532978  -0.00219809 -0.763537   0.645739       uwb: 0.50001438     972.04   492.022  
imu_odom_:  1691062453.729529052  0.610521   -0.387861  9.62948    -0.0681769  -0.00745685 0.0553937   0.23       0             pose: 0.34918737    5.09166    -1.57138    0 0.00323368  -0.00465192 -0.763422   0.645875       uwb: 0.0            972.04   492.022  
imu_odom_:  1691062453.755621793  0.40462    -0.047884  9.72046    -0.0415453  0.00319579  0.0245011   0.23       0             pose: 0.0           5.09166    -1.57138    0 0.00323368  -0.00465192 -0.763422   0.645875       uwb: 0.50006395     974.721  492.234  
imu_odom_:  1691062453.780649779  0.452504   -0.241814  9.92157    -0.0692422  -0.0617853  0.0415453   0.2        -0.02         pose: 0.42998442    5.09268    -1.58133    0 0.00137726  -0.00548379 -0.763384   0.64592        uwb: 0.0            974.721  492.234  
imu_odom_:  1691062453.803493431  0.122104   -0.0933739 10.058     -0.0319579  -0.00213053 0.0298274   0.18       0             pose: 0.0           5.09268    -1.58133    0 0.00137726  -0.00548379 -0.763384   0.64592        uwb: 0.50054223     977.839  492.371  
imu_odom_:  1691062453.828584119  0.418985   -0.141258  10.4148    -0.0809601  -0.0617853  0.0585895   0.18       0             pose: 0.49067044    5.09268    -1.58133    0 0.00127465  -0.00440875 -0.763486   0.645808       uwb: 0.0            977.839  492.371  
imu_odom_:  1691062453.845612598  0.521936   -0.0383072 9.28711    -0.0511327  -0.056459   0.0319579   0.18       0             pose: 0.0           5.09268    -1.58133    0 0.00127465  -0.00440875 -0.763486   0.645808       uwb: 0.49864662     979.623  492.531  
imu_odom_:  1691062453.870634169  0.342371   -0.280122  9.31344    -0.0735032  0.0106526   0.0468716   0.21       0             pose: 0.48902563    5.08376    -1.5923     0 -0.000293518-0.00380067 -0.763408   0.645906       uwb: 0.0            979.623  492.531  
imu_odom_:  1691062453.897650804  0.328006   -0.0694318 10.1418    -0.0500674  -0.00319579 0.0426106   0.23       -0.02         pose: 0.35078260    5.08479    -1.60225    0 -0.000171894-0.00218524 -0.763378   0.645948       uwb: 0.50117216     977.855  492.676  
imu_odom_:  1691062453.922485438  0.416591   -0.560243  10.1634    -0.0788296  0.0394148   0.0596548   0.23       -0.02         pose: 0.0           5.08479    -1.60225    0 -0.000171894-0.00218524 -0.763378   0.645948       uwb: 0.0            977.855  492.676  
imu_odom_:  1691062453.939548914  0.23942    -0.0047884 10.0126    -0.0617853  0.0298274   0.0372843   0.23       0.02          pose: 0.6884592     5.08479    -1.60225    0 0.000526262 -0.00227863 -0.763372   0.645955       uwb: 0.50056265     980.074  492.772  
imu_odom_:  1691062453.964592649  0.248997   -0.289698  10.1035    -0.0660464  0.0287621   0.0415453   0.23       0.02          pose: 0.0           5.08479    -1.60225    0 0.000526262 -0.00227863 -0.763372   0.645955       uwb: 0.0            980.074  492.772  
imu_odom_:  1691062453.991536959  -0.0143652 -0.191536  9.63427    -0.0490022  -0.0213053  0.0543285   0.21       0             pose: 0.51983670    5.08581    -1.6122     0 0.00186351  -0.000213938-0.763199   0.646161       uwb: 0.49858537     976.084  492.874  
imu_odom_:  1691062454.16624736   0.232238   -0.215478  9.48104    -0.0532632  -0.0223706  0.0351537   0.21       0             pose: 0.0           5.08581    -1.6122     0 0.00186351  -0.000213938-0.763199   0.646161       uwb: 0.0            976.084  492.874  
imu_odom_:  1691062454.33638933   0.766145   -0.311246  9.72046    -0.0575243  -0.0127832  0.0436758   0.23       0.02          pose: 0.42002223    5.08685    -1.62214    0 0.00386251  0.00294316  -0.763154   0.646199       uwb: 0.0            976.084  492.874  
imu_odom_:  1691062454.49646120   -0.0742203 -0.507571  9.58399    -0.0703074  -0.02024    0.0532632   0.23       0.02          pose: 0.0           5.08685    -1.62214    0 0.00386251  0.00294316  -0.763154   0.646199       uwb: 0.50063571     978.302  492.821  
imu_odom_:  1691062454.76749966   0.639252   -0.253785  9.79468    -0.036219   -0.00852212 0.0383495   0.25       0.02          pose: 0.52207946    5.07794    -1.63312    0 0.00614532  0.00541186  -0.763072   0.646262       uwb: 0.0            978.302  492.821  
imu_odom_:  1691062454.101476414  0.265756   -0.351948  10.2137    -0.0447411  0.0255663   0.0500674   0.25       0.02          pose: 0.0           5.07794    -1.63312    0 0.00614532  0.00541186  -0.763072   0.646262       uwb: 0.49926802     981.403  492.698  
imu_odom_:  1691062454.128630421  0.328006   0.00957681 9.84256    -0.0458064  -0.02024    0.0447411   0.23       0             pose: 0.77763814    5.07898    -1.64307    0 0.0025995   0.00689235  -0.762938   0.64643        uwb: 0.0            981.403  492.698  
imu_odom_:  1691062454.153519018  0.215478   -0.229843  9.67018    -0.0436758  0.00426106  0.0308927   0.18       0             pose: 0.7066283     5.07898    -1.64307    0 0.002938    0.00622173  -0.762926   0.646449       uwb: 0.49951882     979.195  492.948  
imu_odom_:  1691062454.179523988  0.325611   -0.447716  9.40442    -0.0713727  0.0255663   0.0735032   0.23       0             pose: 0.44976321    5.08002    -1.65301    0 0.00596462  0.00589623  -0.762946   0.646408       uwb: 0.0            979.195  492.948  
imu_odom_:  1691062454.201481667  0.68953    -0.122104  9.94791    -0.0383495  -0.0255663  0.0340885   0.23       0             pose: 0.0           5.08002    -1.65301    0 0.00596462  0.00589623  -0.762946   0.646408       uwb: 0.49988337     980.081  492.913  
imu_odom_:  1691062454.218491199  0.208296   -0.131681  9.96227    -0.0426106  -0.0394148  0.0490022   0.2        0             pose: 0.32115570    5.07111    -1.664      0 0.00356175  0.00700542  -0.762688   0.646719       uwb: 0.0            980.081  492.913  
imu_odom_:  1691062454.235619716  0.526724   -0.31364   9.72046    -0.0500674  -0.0383495  0.0372843   0.2        0             pose: 0.0           5.07111    -1.664      0 0.00356175  0.00700542  -0.762688   0.646719       uwb: 0.0            980.081  492.913  
imu_odom_:  1691062454.260590846  0.0287304  -0.208296  9.43315    -0.0575243  -0.00213053 0.0607201   0.2        0.02          pose: 0.49985128    5.07216    -1.67395    0 0.00241045  0.00381167  -0.76269    0.646749       uwb: 0.0            980.081  492.913  
imu_odom_:  1691062454.286441833  0.0766145  -0.304064  9.66779    -0.056459   -0.0127832  0.0415453   0.2        0.02          pose: 0.6890720     5.07216    -1.67395    0 0.00298164  0.00420926  -0.762639   0.646803       uwb: 0.0            980.081  492.913  
imu_odom_:  1691062454.311509493  0.174777   -0.25618   10.1107    -0.0649811  -0.036219   0.0575243   0.19       0.02          pose: 0.43931397    5.07293    -1.6812     0 0.00570051  0.00742096  -0.762476   0.646949       uwb: 0.99976964     979.202  493.136  
imu_odom_:  1691062454.327450771  1.09894    -0.447716  9.8689     -0.0596548  -0.0287621  0.0308927   0.19       0.02          pose: 0.0           5.07293    -1.6812     0 0.00570051  0.00742096  -0.762476   0.646949       uwb: 0.0            979.202  493.136  
imu_odom_:  1691062454.343438418  0.299275   0.0143652  9.8282     -0.0479369  0.0223706   0.0436758   0.18       0             pose: 0.0           5.07293    -1.6812     0 0.00570051  0.00742096  -0.762476   0.646949       uwb: 0.49990962     976.981  493.068  
imu_odom_:  1691062454.369495007  0.476446   -0.502782  9.44513    -0.0894822  0.0340885   0.0500674   0.18       0             pose: 0.48010186    5.07427    -1.69384    0 0.00595533  0.00750344  -0.762361   0.647081       uwb: 0.0            976.981  493.068  
imu_odom_:  1691062454.395422986  0.272939   -0.246603  9.84496    -0.0553937  -0.0308927  0.0511327   0.19       0             pose: 0.35042988    5.06711    -1.6946     0 0.00394658  0.00772799  -0.762273   0.647198       uwb: 0.50016625     984.914  492.44   
imu_odom_:  1691062454.421493283  0.179565   -0.184354  9.9527     -0.0351537  -0.0308927  0.0266316   0.19       0             pose: 0.6989583     5.06433    -1.69489    0 0.00390504  0.00696814  -0.762249   0.647235       uwb: 0.0            984.914  492.44   
imu_odom_:  1691062454.447517792  0.641646   -0.356736  9.73243    -0.0735032  -0.0106526  0.0639159   0.19       0.02          pose: 0.45008693    5.06539    -1.70484    0 0.00624569  0.00503808  -0.762276   0.647203       uwb: 0.50003501     984.02   492.233  
imu_odom_:  1691062454.472490671  0.459687   -0.114922  10.0963    -0.052198   0.015979    0.0458064   0.23       0             pose: 0.0           5.06539    -1.70484    0 0.00624569  0.00503808  -0.762276   0.647203       uwb: 0.0            984.02   492.233  
imu_odom_:  1691062454.486423468  0.387861   -0.0263362 9.79707    -0.0639159  0           0.0575243   0.23       0             pose: 0.33015842    5.06645    -1.71478    0 0.00347204  0.00363285  -0.762074   0.647471       uwb: 0.0            984.02   492.233  
imu_odom_:  1691062454.511560245  0.246603   -0.354342  9.6606     -0.0458064  -0.00106526 0.0276969   0.23       0             pose: 0.0           5.06645    -1.71478    0 0.00347204  0.00363285  -0.762074   0.647471       uwb: 0.49961215     983.123  491.956  
imu_odom_:  1691062454.528417835  0.452504   -0.131681  10.0006    -0.0553937  -0.015979   0.052198    0.18       0             pose: 0.38978584    5.06752    -1.72472    0 0.00358983  0.00143513  -0.761983   0.647585       uwb: 0.0            983.123  491.956  
imu_odom_:  1691062454.553443500  0.466869   -0.174777  9.7444     -0.0479369  0.00426106  0.0287621   0.18       0             pose: 0.0           5.06752    -1.72472    0 0.00358983  0.00143513  -0.761983   0.647585       uwb: 0.50059203     985.339  491.817  
imu_odom_:  1691062454.580473271  0.308852   -0.19393   9.53611    -0.072438   0.0127832   0.0532632   0.2        0             pose: 0.42960258    5.06752    -1.72472    0 0.00227238  0.000834218 -0.762017   0.647553       uwb: 0.0            985.339  491.817  
imu_odom_:  1691062454.606541234  0.184354   -0.272939  10.1059    -0.0500674  -0.0298274  0.0330232   0.19       0.02          pose: 0.44025304    5.06149    -1.73543    0 0.00336471  0.00163374  -0.761954   0.64762        uwb: 0.49934676     984.013  492.045  
imu_odom_:  1691062454.633408565  0.957681   -0.31364   10.1682    -0.0756338  -0.0149137  0.0308927   0.19       0.02          pose: 0.0           5.06149    -1.73543    0 0.00336471  0.00163374  -0.761954   0.64762        uwb: 0.0            984.013  492.045  
imu_odom_:  1691062454.649401170  0.600945   0.0407014  9.8282     -0.0394148  0.0245011   0.0181095   0.19       0.02          pose: 0.7947599     5.05865    -1.73574    0 0.00359774  0.00229039  -0.761971   0.647597       uwb: 0.50057162     982.683  492.112  
imu_odom_:  1691062454.676408193  0.383072   -0.42138   10.0987    -0.056459   -0.0245011  0.04048     0.19       0.02          pose: 0.0           5.05865    -1.73574    0 0.00359774  0.00229039  -0.761971   0.647597       uwb: 0.0            982.683  492.112  
imu_odom_:  1691062454.702450201  0.368707   -0.0502782 10.0796    -0.0415453  0.00213053  0.0479369   0.19       -0.02         pose: 0.52992746    5.05972    -1.74568    0 0.00166248  0.00169154  -0.762149   0.647398       uwb: 0.49927677     984.909  492.253  
imu_odom_:  1691062454.729391315  0.610521   -0.117316  10.0485    -0.052198   -0.00852212 0.0340885   0.19       -0.02         pose: 0.0           5.05972    -1.74568    0 0.00166248  0.00169154  -0.762149   0.647398       uwb: 0.0            984.909  492.253  
imu_odom_:  1691062454.755452280  0.47884    -0.0885855 9.79228    -0.0639159  0.0394148   0.0543285   0.19       0.02          pose: 0.43016543    5.06078    -1.75562    0 0.000210943 0.00203339  -0.762177   0.647365       uwb: 0.50082242     985.801  492.391  
imu_odom_:  1691062454.782431306  0.4956     -0.124498  9.99579    -0.0436758  0.0213053   0.04048     0.22       -0.02         pose: 0.52990122    5.06185    -1.76556    0 0.000448537 -0.0024276  -0.762134   0.647414       uwb: 0.0            985.801  492.391  
imu_odom_:  1691062454.798390956  0.514753   -0.316035  9.9934     -0.0671117  -0.0106526  0.0543285   0.22       -0.02         pose: 0.0           5.06185    -1.76556    0 0.000448537 -0.0024276  -0.762134   0.647414       uwb: 0.49914845     986.692  492.508  
imu_odom_:  1691062454.825418978  0.0957681  0.184354   9.94551    -0.052198   0.0149137   0.0234358   0.25       0.02          pose: 0.60970675    5.05297    -1.77657    0 -0.00136953 -0.00501413 -0.761945   0.647621       uwb: 0.0            986.692  492.508  
imu_odom_:  1691062454.842397887  0.371101   -0.536301  10.1586    -0.0607201  -0.0106526  0.0532632   0.25       0.02          pose: 0.7022538     5.05297    -1.77657    0 -0.000608359-0.00498778 -0.761985   0.647575       uwb: 0.49993003     987.568  492.157  
imu_odom_:  1691062454.869410452  0.579397   -0.0287304 10.489     -0.0372843  0.0213053   0.0319579   0.25       -0.02         pose: 0.0           5.05297    -1.77657    0 -0.000608359-0.00498778 -0.761985   0.647575       uwb: 0.0            987.568  492.157  
imu_odom_:  1691062454.885402182  0.342371   -0.35913   9.49062    -0.076699   0.0319579   0.0585895   0.25       -0.02         pose: 0.36984393    5.05404    -1.78652    0 0.000625168 -0.00345081 -0.762024   0.647539       uwb: 0.0            987.568  492.157  
imu_odom_:  1691062454.912442743  0.335188   -0.0837971 9.57441    -0.0490022  -0.0575243  0.0351537   0.23       -0.02         pose: 0.0           5.05404    -1.78652    0 0.000625168 -0.00345081 -0.762024   0.647539       uwb: 0.49884223     987.575  492.439  
imu_odom_:  1691062454.928402685  0.715866   -0.294487  10.082     -0.0479369  0.0415453   0.0351537   0.23       -0.02         pose: 0.43004295    5.05511    -1.79646    0 0.000411935 -0.00421012 -0.761986   0.64758        uwb: 0.0            987.575  492.439  
imu_odom_:  1691062454.955389586  0.696713   0.0622492  9.97903    -0.0468716  -0.0458064  0.0351537   0.23       0             pose: 0.0           5.05511    -1.79646    0 0.000411935 -0.00421012 -0.761986   0.64758        uwb: 0.50050454     988.022  492.593  
imu_odom_:  1691062454.981477672  0.332794   -0.134075  9.90002    -0.0894822  0.0266316   0.052198    0.23       0             pose: 0.43000503    5.05564    -1.80141    0 0.0013209   -0.00431843 -0.76205    0.647503       uwb: 0.0            988.022  492.593  
imu_odom_:  1691062455.8429870    0.318429   -0.129287  9.93354    -0.0692422  -0.00852212 0.0394148   0.25       -0.02         pose: 0.53074987    5.04701    -1.81465    0 0.00198026  -0.00472809 -0.761985   0.647575       uwb: 0.49985129     988.021  492.522  
imu_odom_:  1691062455.24507639   0.603339   -0.253785  10.161     -0.0671117  -0.0117179  0.0511327   0.25       -0.02         pose: 0.0           5.04701    -1.81465    0 0.00198026  -0.00472809 -0.761985   0.647575       uwb: 0.0            988.021  492.522  
imu_odom_:  1691062455.51362733   0.466869   0.0191536  10.228     -0.0415453  0.0138484   0.0340885   0.23       0.02          pose: 0.43029967    5.0473     -1.81741    0 0.00201265  -0.00294951 -0.761937   0.647642       uwb: 0.49925359     992.898  492.618  
imu_odom_:  1691062455.67351846   0.40462    -0.318429  9.84017    -0.0639159  -0.0308927  0.0468716   0.23       0.02          pose: 0.0           5.0473     -1.81741    0 0.00201265  -0.00294951 -0.761937   0.647642       uwb: 0.0            992.898  492.618  
imu_odom_:  1691062455.84489412   0.457293   -0.234632  9.65821    -0.0532632  -0.0351537  0.0298274   0.23       0             pose: 0.0           5.0473     -1.81741    0 0.00201265  -0.00294951 -0.761937   0.647642       uwb: 0.0            992.898  492.618  
imu_odom_:  1691062455.100629007  0.708684   -0.244209  9.9527     -0.0628506  -0.0138484  0.0415453   0.23       0             pose: 0.49852457    5.04838    -1.82736    0 0.00148327  -0.00392657 -0.761964   0.647605       uwb: 0.50001774     995.115  492.733  
imu_odom_:  1691062455.117510227  -0.0814029 -0.486023  9.52413    -0.0649811  -0.0181095  0.0468716   0.23       0             pose: 0.0           5.04838    -1.82736    0 0.00148327  -0.00392657 -0.761964   0.647605       uwb: 0.0            995.115  492.733  
imu_odom_:  1691062455.142498282  0.1652     -0.320823  9.98143    -0.0340885  0.0234358   0.0308927   0.18       0             pose: 0.43150131    5.04945    -1.8373     0 -0.000651124-0.00252576 -0.761947   0.647634       uwb: 0.49986608     995.115  492.663  
imu_odom_:  1691062455.159487698  0.802058   -0.023942  9.81144    -0.0585895  -0.0415453  0.0671117   0.18       0             pose: 0.8054049     5.04945    -1.8373     0 -0.000186133-0.00178166 -0.761971   0.647609       uwb: 0.0            995.115  492.663  
imu_odom_:  1691062455.176484696  0.866701   -0.304064  9.81144    -0.0553937  -0.0703074  0.105461    0.16       0.08          pose: 0.0           5.04945    -1.8373     0 -0.000186133-0.00178166 -0.761971   0.647609       uwb: 0.0            995.115  492.663  
imu_odom_:  1691062455.192339365  1.04148    -0.610521  9.82341    -0.0383495  0.0170442   0.138484    0.15       0.11          pose: 0.50920420    5.04057    -1.84831    0 -0.00217967 -0.00302636 -0.761498   0.648157       uwb: 0.50038228     996.447  492.934  
imu_odom_:  1691062455.208322645  1.37667    -0.469264  10.2113    -0.0532632  -0.0234358  0.170442    0.14       0.26          pose: 0.0           5.04057    -1.84831    0 -0.00217967 -0.00302636 -0.761498   0.648157       uwb: 0.0            996.447  492.934  
imu_odom_:  1691062455.224385249  1.86987    -0.253785  10.2113    -0.04048    -0.0266316  0.251402    0.14       0.26          pose: 0.0           5.04057    -1.84831    0 -0.00217967 -0.00302636 -0.761498   0.648157       uwb: 0.0            996.447  492.934  
imu_odom_:  1691062455.240507929  1.84832    -0.383072  9.85693    -0.0415453  0.0138484   0.363255    0.13       0.38          pose: 0.22875460    5.04057    -1.84831    0 -0.00423791 -0.00347448 -0.760681   0.649102       uwb: 0.50081390     997.778  493.114  
imu_odom_:  1691062455.257441643  1.55384    -0.785298  9.67976    -0.056459   0.0170442   0.4048      0.13       0.38          pose: 0.0           5.04057    -1.84831    0 -0.00423791 -0.00347448 -0.760681   0.649102       uwb: 0.0            997.778  493.114  
imu_odom_:  1691062455.274447974  0.897826   -0.0143652 10.094     -0.0287621  0.0575243   0.441019    0.13       0.38          pose: 0.31971517    5.04159    -1.85826    0 -0.006938   -0.00548807 -0.758442   0.65168        uwb: 0.0            997.778  493.114  
imu_odom_:  1691062455.290332682  0.620098   -0.351948  10.3789    -0.0617853  0.0234358   0.546481    0.1        0.44          pose: 0.43116301    5.04152    -1.85824    0 -0.00892284 -0.00761478 -0.753191   0.657698       uwb: 0.50114636     1000.44  492.921  
imu_odom_:  1691062455.307396756  0.797269   -0.538695  9.84496    -0.0479369  -0.0426106  0.611462    0.1        0.44          pose: 0.7000085     5.04159    -1.85826    0 -0.00923993 -0.00691884 -0.752019   0.65904        uwb: 0.0            1000.44  492.921  
imu_odom_:  1691062455.324498743  0.723049   -0.703895  9.75158    -0.0287621  0.0266316   0.612527    0.1        0.44          pose: 0.0           5.04159    -1.85826    0 -0.00923993 -0.00691884 -0.752019   0.65904        uwb: 0.0            1000.44  492.921  
imu_odom_:  1691062455.340431861  0.543484   0.0143652  10.1275    -0.0458064  0.0149137   0.595483    0.08       0.5           pose: 0.43050684    5.0425     -1.86819    0 -0.0125426  -0.00463763 -0.743987   0.66806        uwb: 0.49868789     1002.65  493.233  
imu_odom_:  1691062455.367388152  0.567426   -0.169988  9.67976    -0.0468716  -0.0117179  0.572047    0.07       0.5           pose: 0.0           5.0425     -1.86819    0 -0.0125426  -0.00463763 -0.743987   0.66806        uwb: 0.0            1002.65  493.233  
imu_odom_:  1691062455.384376693  0.787692   -0.493206  9.80186    -0.0649811  -0.0138484  0.576308    0.07       0.5           pose: 0.23894136    5.04256    -1.86821    0 -0.010272   -0.00561256 -0.739628   0.672915       uwb: 0.0            1002.65  493.233  
imu_odom_:  1691062455.401314199  -0.1652    -0.454898  9.4978     -0.04048    0.0820254   0.526241    0.06       0.55          pose: 0.0           5.04256    -1.86821    0 -0.010272   -0.00561256 -0.739628   0.672915       uwb: 0.50052518     1000.45  493.861  
imu_odom_:  1691062455.418382356  -1.17795   0.234632   9.8689     -0.0649811  0.0266316   0.462325    0.06       0.55          pose: 0.0           5.04256    -1.86821    0 -0.010272   -0.00561256 -0.739628   0.672915       uwb: 0.0            1000.45  493.861  
imu_odom_:  1691062455.434370302  -0.715866  0.126893   9.50498    -0.052198   -0.0617853  0.405866    0.1        0.38          pose: 0.27058363    5.04256    -1.86821    0 -0.00936013 -0.0060973  -0.73476    0.678235       uwb: 0.0            1000.45  493.861  
imu_odom_:  1691062455.450312461  0.0023942  -0.155623  9.71567    -0.0479369  -0.0340885  0.336624    0.1        0.38          pose: 0.42931114    5.04256    -1.86821    0 -0.0071298  -0.00297974 -0.72787    0.685672       uwb: 0.49997108     1006.62  493.904  
imu_odom_:  1691062455.466367774  0.629675   -0.320823  9.68933    -0.0511327  -0.0276969  0.311057    0.1        0.38          pose: 0.0           5.04256    -1.86821    0 -0.0071298  -0.00297974 -0.72787    0.685672       uwb: 0.0            1006.62  493.904  
imu_odom_:  1691062455.483482301  0.138864   -0.371101  9.55287    -0.0575243  0.0266316   0.335558    0.14       0.32          pose: 0.47985418    5.04368    -1.87815    0 -0.00646373 -0.00252522 -0.722724   0.691102       uwb: 0.0            1006.62  493.904  
imu_odom_:  1691062455.499302265  -0.201113  -0.277727  9.8258     -0.0671117  0.0479369   0.32171     0.14       0.32          pose: 0.0           5.04368    -1.87815    0 -0.00646373 -0.00252522 -0.722724   0.691102       uwb: 0.49995649     1007.94  494.346  
imu_odom_:  1691062455.516582732  0.349553   -0.0502782 10.3046    -0.0575243  -0.0266316  0.285491    0.14       0.32          pose: 0.0           5.04368    -1.87815    0 -0.00646373 -0.00252522 -0.722724   0.691102       uwb: 0.0            1007.94  494.346  
imu_odom_:  1691062455.533604228  0.591368   -0.0287304 9.96946    -0.0735032  0           0.296144    0.13       0.23          pose: 0.40115973    5.04479    -1.88809    0 -0.0034399  0.000311094 -0.718816   0.695192       uwb: 0.0            1007.94  494.346  
imu_odom_:  1691062455.550318633  0.433351   -0.409408  9.81623    -0.052198   -0.00958738 0.286556    0.14       0.2           pose: 0.0           5.04479    -1.88809    0 -0.0034399  0.000311094 -0.718816   0.695192       uwb: 0.50206793     1007.5   494.551  
imu_odom_:  1691062455.566333409  0.105345   -0.222661  9.85693    -0.0585895  -0.0106526  0.253533    0.14       0.2           pose: 0.34213305    5.04479    -1.88809    0 -0.00281014 -0.00111394 -0.715822   0.698276       uwb: 0.0            1007.5   494.551  
imu_odom_:  1691062455.584442990  0.0742203  -0.126893  9.91918    -0.0745685  -0.0490022  0.262055    0.14       0.17          pose: 0.0           5.04479    -1.88809    0 -0.00281014 -0.00111394 -0.715822   0.698276       uwb: 0.0            1007.5   494.551  
imu_odom_:  1691062455.601578515  0.349553   -0.174777  10.2687    -0.052198   0           0.232228    0.14       0.17          pose: 0.0           5.04479    -1.88809    0 -0.00281014 -0.00111394 -0.715822   0.698276       uwb: 0.49850416     1009.26  494.697  
imu_odom_:  1691062455.618459735  0.407014   -0.222661  9.80665    -0.0756338  -0.0181095  0.254598    0.14       0.17          pose: 0.33868303    5.03592    -1.89907    0 -0.00163754 0.000902989 -0.713149   0.70101        uwb: 0.0            1009.26  494.697  
imu_odom_:  1691062455.635332206  0.588974   -0.280122  9.89284    -0.0468716  -0.0149137  0.217314    0.21       0.26          pose: 0.43894380    5.03592    -1.89907    0 -0.00085243 5.45926e-05 -0.70994    0.704261       uwb: 0.0            1009.26  494.697  
imu_odom_:  1691062455.651568623  1.05345    0.0622492  9.92157    -0.0639159  -0.102265   0.231162    0.21       0.26          pose: 0.7012333     5.03592    -1.89907    0 -0.00147812 -0.000320678-0.709501   0.704703       uwb: 0.49992441     1010.14  494.597  
imu_odom_:  1691062455.668409015  1.49877    -0.208296  9.54329    -0.0649811  -0.0607201  0.290817    0.21       0.26          pose: 0.0           5.03592    -1.89907    0 -0.00147812 -0.000320678-0.709501   0.704703       uwb: 0.0            1010.14  494.597  
imu_odom_:  1691062455.684395210  1.41018    -0.639252  9.91439    -0.0713727  -0.052198   0.327036    0.12       0.14          pose: 0.42936947    5.03704    -1.90901    0 -0.00507609 -0.0043729  -0.706277   0.707904       uwb: 0.0            1010.14  494.597  
imu_odom_:  1691062455.701399500  1.88184    -0.500388  10.3262    -0.0340885  -0.0181095  0.24075     0.15       0.14          pose: 0.0           5.03704    -1.90901    0 -0.00507609 -0.0043729  -0.706277   0.707904       uwb: 0.49935573     1011.47  494.625  
imu_odom_:  1691062455.718406414  1.41018    0.325611   9.89763    -0.0458064  0.0298274   0.184291    0.15       0.14          pose: 0.0           5.03704    -1.90901    0 -0.00507609 -0.0043729  -0.706277   0.707904       uwb: 0.0            1011.47  494.625  
imu_odom_:  1691062455.733277986  1.10373    0.110133   9.7037     -0.0628506  0.0383495   0.168312    0.1        0.11          pose: 0.23016902    5.03704    -1.90901    0 -0.00751995 -0.00555787 -0.704129   0.710011       uwb: 0.0            1011.47  494.625  
imu_odom_:  1691062455.748268544  0.64404    -0.225055  9.96227    -0.0639159  0.0308927   0.120375    0.1        0.11          pose: 0.0           5.03704    -1.90901    0 -0.00751995 -0.00555787 -0.704129   0.710011       uwb: 0.49948405     1013.23  494.739  
imu_odom_:  1691062455.765325327  0.663194   -0.423774  10.2208    -0.0660464  -0.0223706  0.1012      0.1        0.11          pose: 0.0           5.03704    -1.90901    0 -0.00751995 -0.00555787 -0.704129   0.710011       uwb: 0.0            1013.23  494.739  
imu_odom_:  1691062455.782394359  0.833182   -0.272939  9.7875     -0.0415453  -0.0234358  0.0980043   0.07       0.11          pose: 0.73899410    5.03816    -1.91895    0 -0.0108017  -0.00656064 -0.701018   0.713032       uwb: 0.0            1013.23  494.739  
imu_odom_:  1691062455.797280804  0.790087   -0.150835  9.85214    -0.0585895  0.00852212  0.131028    0.07       0.11          pose: 0.7946728     5.03816    -1.91895    0 -0.0113693  -0.00722244 -0.700846   0.713186       uwb: 0.0            1013.23  494.739  
imu_odom_:  1691062455.812388891  0.651223   -0.232238  9.86172    -0.056459   0.0138484   0.145941    0.07       0.11          pose: 0.0           5.03816    -1.91895    0 -0.0113693  -0.00722244 -0.700846   0.713186       uwb: 0.0            1013.23  494.739  
imu_odom_:  1691062455.829273319  0.737414   -0.304064  9.9934     -0.0479369  -0.00106526 0.122505    0.09       0.14          pose: 0.39116836    5.03816    -1.91895    0 -0.0104134  -0.00871008 -0.699615   0.714391       uwb: 0.0            1013.23  494.739  
imu_odom_:  1691062455.845290136  0.61531    -0.150835  9.67018    -0.0468716  -0.00532632 0.115049    0.09       0.14          pose: 0.0           5.03816    -1.91895    0 -0.0104134  -0.00871008 -0.699615   0.714391       uwb: 0.100109411    1014.12  494.551  
imu_odom_:  1691062455.872398952  0.68953    -0.184354  9.94073    -0.0575243  -0.00852212 0.120375    0.07       0.11          pose: 0.32901245    5.03816    -1.91895    0 -0.0104406  -0.00919436 -0.698681   0.715298       uwb: 0.0            1014.12  494.551  
imu_odom_:  1691062455.898291655  -0.622492  -0.1652    9.83059    -0.0468716  0.116114    0.0894822   0.05       0.11          pose: 0.0           5.03816    -1.91895    0 -0.0104406  -0.00919436 -0.698681   0.715298       uwb: 0.49866164     1015.88  494.603  
imu_odom_:  1691062455.925259903  -1.1564    -0.373495  9.85693    -0.0671117  -0.0649811  0.132093    0.1        0.08          pose: 0.53001519    5.03928    -1.92888    0 -0.00613805 -0.00866777 -0.69749    0.716516       uwb: 0.0            1015.88  494.603  
imu_odom_:  1691062455.950314159  0.725443   -0.349553  10.1418    -0.0415453  -0.0713727  0.0916127   0.09       0.08          pose: 0.0           5.03928    -1.92888    0 -0.00613805 -0.00866777 -0.69749    0.716516       uwb: 0.49869955     1017.65  494.592  
imu_odom_:  1691062455.977291448  0.521936   -0.282516  10.2232    -0.0585895  0.036219    0.135289    0.09       0.08          pose: 0.35008882    5.03928    -1.92888    0 -0.00612364 -0.00722954 -0.696452   0.717541       uwb: 0.0            1017.65  494.592  
imu_odom_:  1691062456.3264059    -0.402226  -0.131681  9.9527     -0.0458064  -0.0127832  0.0852212   0.11       0.05          pose: 0.43990911    5.04005    -1.93596    0 -0.00707165 -0.00466356 -0.695194   0.718772       uwb: 0.49993317     1019.41  494.727  
imu_odom_:  1691062456.30282188   0.493206   -0.418985  9.96706    -0.0575243  -0.00426106 0.100135    0.11       0.05          pose: 0.8100419     5.04038    -1.93882    0 -0.00643869 -0.00420502 -0.695065   0.718906       uwb: 0.0            1019.41  494.727  
imu_odom_:  1691062456.56405293   0.172383   0.0143652  9.52653    -0.0511327  0.00106526  0.11931     0.13       0.05          pose: 0.44890321    5.04032    -1.93881    0 -0.00673815 -0.00104341 -0.694174   0.719775       uwb: 0.50189309     1025.15  494.745  
imu_odom_:  1691062456.73402882   0.0766145  -0.294487  9.65821    -0.0735032  -0.0213053  0.117179    0.13       0.05          pose: 0.0           5.04032    -1.93881    0 -0.00673815 -0.00104341 -0.694174   0.719775       uwb: 0.0            1025.15  494.745  
imu_odom_:  1691062456.89239477   0.0861913  -0.189142  9.83538    -0.0607201  -0.0394148  0.0894822   0.17       0.05          pose: 0.0           5.04032    -1.93881    0 -0.00673815 -0.00104341 -0.694174   0.719775       uwb: 0.49974674     1022.93  494.851  
imu_odom_:  1691062456.116230776  0.730232   -0.153229  9.99819    -0.04048    -0.0127832  0.0990696   0.17       0.05          pose: 0.33126984    5.04143    -1.94877    0 -0.00369237 -0.000321534-0.69324    0.720698       uwb: 0.0            1022.93  494.851  
imu_odom_:  1691062456.142242769  0.124498   -0.25618   9.64384    -0.0575243  0.056459    0.0873517   0.19       0.05          pose: 0.33861027    5.04143    -1.94877    0 -0.00242117 0.000381625 -0.692502   0.721412       uwb: 0.50073246     1023.38  494.683  
imu_odom_:  1691062456.159238608  -0.0143652 -0.272939  9.7875     -0.0447411  0.0127832   0.0681769   0.19       0.05          pose: 0.0           5.04143    -1.94877    0 -0.00242117 0.000381625 -0.692502   0.721412       uwb: 0.0            1023.38  494.683  
imu_odom_:  1691062456.184302499  1.10373    -0.311246  10.0676    -0.072438   -0.0191748  0.106526    0.18       0.05          pose: 0.52088145    5.04253    -1.95871    0 -0.0004264110.00163399  -0.691575   0.722303       uwb: 0.0            1023.38  494.683  
imu_odom_:  1691062456.211349792  0.287304   -0.418985  9.91199    -0.0532632  0.0223706   0.0543285   0.18       0.05          pose: 0.0           5.04253    -1.95871    0 -0.0004264110.00163399  -0.691575   0.722303       uwb: 0.49864436     1024.27  494.678  
imu_odom_:  1691062456.236279823  0.282516   -0.270545  10.3884    -0.0575243  -0.0106526  0.092678    0.18       0.05          pose: 0.34944155    5.04253    -1.95871    0 -0.00187478 0.000787206 -0.690867   0.722979       uwb: 0.0            1024.27  494.678  
imu_odom_:  1691062456.253559422  0.272939   -0.469264  10.1203    -0.0490022  0.0351537   0.0649811   0.18       0.02          pose: 0.0           5.04253    -1.95871    0 -0.00187478 0.000787206 -0.690867   0.722979       uwb: 0.49864437     1025.17  494.369  
imu_odom_:  1691062456.269512962  0.560243   -0.318429  9.67736    -0.0383495  0.0255663   0.0511327   0.18       0.02          pose: 0.58932209    5.04368    -1.96864    0 -0.0001564840.00562969  -0.690162   0.723633       uwb: 0.0            1025.17  494.369  
imu_odom_:  1691062456.287493066  0.186748   0.0215478  9.99579    -0.0468716  -0.0138484  0.0948085   0.18       0.02          pose: 0.0           5.04368    -1.96864    0 -0.0001564840.00562969  -0.690162   0.723633       uwb: 0.50096285     1024.75  493.784  
imu_odom_:  1691062456.303373989  0.500388   -0.469264  9.40442    -0.0777643  0.02024     0.0862864   0.15       0             pose: 0.44258358    5.04484    -1.97857    0 0.000326767 0.00493056  -0.689647   0.724129       uwb: 0.0            1024.75  493.784  
imu_odom_:  1691062456.318348805  0.0694318  -0.19393   10.1299    -0.052198   0.0575243   0.0500674   0.15       0             pose: 0.6898308     5.04484    -1.97857    0 -0.0003597820.0050813   -0.689532   0.724237       uwb: 0.0            1024.75  493.784  
imu_odom_:  1691062456.334325676  0.23942    -0.0909797 9.80904    -0.056459   -0.0245011  0.0788296   0.15       0             pose: 0.0           5.04484    -1.97857    0 -0.0003597820.0050813   -0.689532   0.724237       uwb: 0.0            1024.75  493.784  
imu_odom_:  1691062456.350421242  0.272939   -0.287304  9.88087    -0.0745685  -0.0511327  0.092678    0.16       -0.02         pose: 0.39934302    5.04602    -1.9885     0 0.00179294  0.0054454   -0.689085   0.724658       uwb: 0.49995963     1023.86  493.953  
imu_odom_:  1691062456.377251559  -0.0790087 -0.112527  9.7037     -0.0372843  0.0127832   0.0543285   0.16       0.02          pose: 0.0           5.04602    -1.9885     0 0.00179294  0.0054454   -0.689085   0.724658       uwb: 0.0            1023.86  493.953  
imu_odom_:  1691062456.403216890  0.105345   -0.435745  9.6199     -0.103331   0.0245011   0.0937433   0.17       0.02          pose: 0.23946350    5.04602    -1.9885     0 0.00233791  0.0071697   -0.688723   0.724985       uwb: 0.49959509     1024.74  493.972  
imu_odom_:  1691062456.429205844  0.500388   -0.150835  9.72285    -0.0713727  -0.0181095  0.0479369   0.17       0.02          pose: 0.0           5.04602    -1.9885     0 0.00233791  0.0071697   -0.688723   0.724985       uwb: 0.0            1024.74  493.972  
imu_odom_:  1691062456.455194506  0.73502    -0.550666  9.94073    -0.0777643  -0.0447411  0.0617853   0.15       0             pose: 0.70933818    5.04793    -2.0057     0 0.00273565  0.00862103  -0.688021   0.725634       uwb: 0.0            1024.74  493.972  
imu_odom_:  1691062456.472254213  0.337582   -0.356736  9.79947    -0.0330232  0.0532632   0.0415453   0.15       0             pose: 0.6999213     5.04824    -2.00838    0 0.00191842  0.00834609  -0.68797    0.725688       uwb: 0.0            1024.74  493.972  
imu_odom_:  1691062456.488316532  0.198719   -0.0885855 9.87369    -0.0447411  -0.015979   0.0575243   0.17       -0.02         pose: 0.0           5.04824    -2.00838    0 0.00191842  0.00834609  -0.68797    0.725688       uwb: 0.100107121    1022.99  493.537  
imu_odom_:  1691062456.506254641  0.244209   -0.047884  9.65821    -0.0490022  -0.0330232  0.0585895   0.17       -0.02         pose: 0.43045161    5.0383     -2.0095     0 -0.0008671840.00748195  -0.687782   0.725879       uwb: 0.0            1022.99  493.537  
imu_odom_:  1691062456.523277019  0.758962   -0.318429  9.51935    -0.0490022  -0.0245011  0.0511327   0.17       -0.02         pose: 0.0           5.0383     -2.0095     0 -0.0008671840.00748195  -0.687782   0.725879       uwb: 0.0            1022.99  493.537  
imu_odom_:  1691062456.537393849  0.244209   -0.071826  10.422     -0.0511327  0.00958738  0.052198    0.17       0.02          pose: 0.0           5.0383     -2.0095     0 -0.0008671840.00748195  -0.687782   0.725879       uwb: 0.49960968     1020.61  493.293  
imu_odom_:  1691062456.554522673  0.167594   -0.19393   10.2041    -0.0575243  0.00106526  0.0553937   0.17       0.02          pose: 0.50026001    5.03943    -2.01944    0 0.000639419 0.00451506  -0.687501   0.726169       uwb: 0.0            1020.61  493.293  
imu_odom_:  1691062456.571205006  0.112527   -0.452504  9.40921    -0.0372843  -0.015979   0.0468716   0.17       0.02          pose: 0.0           5.03943    -2.01944    0 0.000639419 0.00451506  -0.687501   0.726169       uwb: 0.0            1020.61  493.293  
imu_odom_:  1691062456.597181711  0.744597   -0.304064  10.0293    -0.0649811  -0.00639159 0.0617853   0.22       0             pose: 0.41928787    5.04056    -2.02937    0 0.00288646  0.0065301   -0.68731    0.726329       uwb: 0.50184650     1020.62  493.105  
imu_odom_:  1691062456.613238781  0.699107   -0.366313  9.81383    -0.0532632  0.0351537   0.0383495   0.15       0             pose: 0.0           5.04056    -2.02937    0 0.00288646  0.0065301   -0.68731    0.726329       uwb: 0.0            1020.62  493.105  
imu_odom_:  1691062456.640321945  0.378284   -0.545878  9.4571     -0.0447411  -0.0191748  0.0671117   0.15       0             pose: 0.33073032    5.04056    -2.02937    0 0.000332314 0.00459374  -0.687121   0.726529       uwb: 0.49756532     1025.53  492.341  
imu_odom_:  1691062456.657287454  -0.0023942 -0.557849  9.71806    -0.056459   -0.00745685 0.0436758   0.22       0             pose: 0.0           5.04056    -2.02937    0 0.000332314 0.00459374  -0.687121   0.726529       uwb: 0.0            1025.53  492.341  
imu_odom_:  1691062456.674343079  0.433351   -0.0670376 10.3477    -0.0532632  -0.0681769  0.0500674   0.22       0             pose: 0.17044251    5.04171    -2.03931    0 -0.0009534960.00465975  -0.687048   0.726596       uwb: 0.0            1025.53  492.341  
imu_odom_:  1691062456.690245874  0.533907   -0.31364   9.90242    -0.0681769  -0.0170442  0.0692422   0.17       -0.02         pose: 0.0           5.04171    -2.03931    0 -0.0009534960.00465975  -0.687048   0.726596       uwb: 0.50157819     1028.66  491.967  
imu_odom_:  1691062456.707167347  0.627281   -0.201113  10.2185    -0.052198   -0.00639159 0.0319579   0.17       -0.02         pose: 0.53020790    5.04235    -2.04483    0 -0.00182748 0.00535355  -0.68676    0.726862       uwb: 0.0            1028.66  491.967  
imu_odom_:  1691062456.724171644  0.213084   -0.270545  9.46188    -0.0500674  -0.00319579 0.0383495   0.17       -0.02         pose: 0.0           5.04235    -2.04483    0 -0.00182748 0.00535355  -0.68676    0.726862       uwb: 0.0            1028.66  491.967  
imu_odom_:  1691062456.748158531  0.208296   -0.277727  9.44752    -0.0543285  -0.00319579 0.0383495   0.17       0.02          pose: 0.8002725     5.04286    -2.04924    0 -0.00245266 0.00477287  -0.686678   0.726942       uwb: 0.49799694     1030.43  492.117  
imu_odom_:  1691062456.773150388  0.811634   -0.433351  9.94791    -0.052198   -0.0681769  0.0553937   0.17       0.02          pose: 0.0           5.04286    -2.04924    0 -0.00245266 0.00477287  -0.686678   0.726942       uwb: 0.0            1030.43  492.117  
imu_odom_:  1691062456.790226135  0.730232   -0.56982   9.79947    -0.0511327  -0.00213053 0.052198    0.22       0.02          pose: 0.48836719    5.04402    -2.05917    0 -0.00169959 0.00408322  -0.686654   0.726971       uwb: 0.0            1030.43  492.117  
imu_odom_:  1691062456.806212047  0.258574   -0.0837971 10.0317    -0.0394148  0.0671117   0.0500674   0.22       0.02          pose: 0.0           5.04402    -2.05917    0 -0.00169959 0.00408322  -0.686654   0.726971       uwb: 0.0            1030.43  492.117  
imu_odom_:  1691062456.823336205  0.227449   -0.260968  10.0389    -0.0532632  0.00852212  0.0585895   0.24       0             pose: 0.48981077    5.04518    -2.06911    0 -0.00379047 0.00326388  -0.686487   0.727125       uwb: 0.0            1030.43  492.117  
imu_odom_:  1691062456.840299090  0.392649   -0.222661  9.88326    -0.0490022  0.00958738  0.0458064   0.24       0             pose: 0.0           5.04518    -2.06911    0 -0.00379047 0.00326388  -0.686487   0.727125       uwb: 0.100012049    1029.57  491.713  
imu_odom_:  1691062456.856199844  0.023942   -0.177171  9.76834    -0.0490022  0.0468716   0.052198    0.24       0             pose: 0.0           5.04518    -2.06911    0 -0.00379047 0.00326388  -0.686487   0.727125       uwb: 0.0            1029.57  491.713  
imu_odom_:  1691062456.872270912  0.536301   -0.308852  10.0102    -0.0681769  -0.0138484  0.0649811   0.17       0.02          pose: 0.76036244    5.04635    -2.07904    0 0.00113201  0.0038218   -0.686149   0.72745        uwb: 0.0            1029.57  491.713  
imu_odom_:  1691062456.890161193  0.244209   -0.112527  9.77313    -0.0585895  0.00745685  0.0426106   0.17       0.02          pose: 0.0           5.04635    -2.07904    0 0.00113201  0.0038218   -0.686149   0.72745        uwb: 0.50091036     1027.37  491.261  
imu_odom_:  1691062456.917263896  0.035913   -0.186748  9.85693    -0.0628506  0.0117179   0.0681769   0.23       0             pose: 0.7011170     5.04635    -2.07904    0 0.000472694 0.00347085  -0.686086   0.727512       uwb: 0.0            1027.37  491.261  
imu_odom_:  1691062456.934260902  0.622492   -0.134075  10.1682    -0.052198   0.0138484   0.0479369   0.18       0.02          pose: 0.0           5.04635    -2.07904    0 0.000472694 0.00347085  -0.686086   0.727512       uwb: 0.0            1027.37  491.261  
imu_odom_:  1691062456.951264907  -0.105345  -0.0670376 9.51216    -0.0287621  0.0213053   0.0319579   0.18       0             pose: 0.0           5.04635    -2.07904    0 0.000472694 0.00347085  -0.686086   0.727512       uwb: 0.49961259     1029.15  491.383  
imu_odom_:  1691062456.968204462  0.52433    -0.347159  10.0604    -0.0873517  -0.00958738 0.0756338   0.18       0             pose: 0.71049888    5.04753    -2.08897    0 0.00300202  0.00347436  -0.68564    0.727926       uwb: 0.0            1029.15  491.383  
imu_odom_:  1691062456.985196218  0.21069    -0.241814  10.173     -0.0703074  -0.0138484  0.0458064   0.18       -0.02         pose: 0.0           5.04753    -2.08897    0 0.00300202  0.00347436  -0.68564    0.727926       uwb: 0.0            1029.15  491.383  
imu_odom_:  1691062457.140122     0.433351   -0.107739  10.0389    -0.0596548  -0.04048    0.0394148   0.18       -0.02         pose: 0.41945118    5.04871    -2.0989     0 0.0033456   0.00460131  -0.685444   0.728103       uwb: 0.49895641     1027.8   491.566  
imu_odom_:  1691062457.17139175   0.560243   -0.0766145 9.79468    -0.0798948  0.0266316   0.0585895   0.18       -0.02         pose: 0.0           5.04871    -2.0989     0 0.0033456   0.00460131  -0.685444   0.728103       uwb: 0.0            1027.8   491.566  
imu_odom_:  1691062457.33139092   -0.1652    -0.464475  9.6199     -0.0532632  -0.00426106 0.036219    0.18       0.02          pose: 0.40933155    5.04991    -2.10883    0 0.00301933  0.00239211  -0.685305   0.728246       uwb: 0.0            1027.8   491.566  
imu_odom_:  1691062457.51134368   1.00317    -0.0502782 10.3022    -0.0671117  -0.036219   0.0426106   0.18       0.02          pose: 0.7001841     5.04991    -2.10883    0 0.00321259  0.00306259  -0.685313   0.728235       uwb: 0.50052263     1028.27  491.122  
imu_odom_:  1691062457.68130215   0.385466   -0.289698  9.38288    -0.0841559  0.00532632  0.0532632   0.18       0.02          pose: 0.0           5.04991    -2.10883    0 0.00321259  0.00306259  -0.685313   0.728235       uwb: 0.0            1028.27  491.122  
imu_odom_:  1691062457.85126937   0.25618    -0.23942   9.78031    -0.0426106  0.0117179   0.0426106   0.18       0             pose: 0.43989199    5.0511     -2.11876    0 0.000525762 0.00289704  -0.685226   0.728325       uwb: 0.0            1028.27  491.122  
imu_odom_:  1691062457.102127742  0.0957681  -0.251391  10.0365    -0.0596548  0.0170442   0.0458064   0.23       0             pose: 0.0           5.0511     -2.11876    0 0.000525762 0.00289704  -0.685226   0.728325       uwb: 0.49986361     1027.39  490.909  
imu_odom_:  1691062457.119120964  0.629675   -0.21069   9.92157    -0.0511327  -0.00852212 0.0394148   0.23       0             pose: 0.0           5.0511     -2.11876    0 0.000525762 0.00289704  -0.685226   0.728325       uwb: 0.0            1027.39  490.909  
imu_odom_:  1691062457.136191469  0.146046   0.047884   9.60554    -0.0319579  -0.00745685 0.0351537   0.26       0             pose: 0.24014019    5.0511     -2.11876    0 0.00243722  0.00468111  -0.685182   0.728353       uwb: 0.49798840     1025.61  490.84   
imu_odom_:  1691062457.152121977  0.414197   -0.351948  9.68455    -0.0639159  0.0149137   0.0394148   0.26       0             pose: 0.0           5.0511     -2.11876    0 0.00243722  0.00468111  -0.685182   0.728353       uwb: 0.0            1025.61  490.84   
imu_odom_:  1691062457.169118699  0.438139   -0.150835  9.8689     -0.0458064  -0.0330232  0.0372843   0.26       0             pose: 0.34045938    5.0523     -2.12868    0 0.00285175  0.00391805  -0.685172   0.728365       uwb: 0.0            1025.61  490.84   
imu_odom_:  1691062457.185115407  0.770933   -0.337582  9.96706    -0.0553937  -0.0191748  0.0511327   0.25       0             pose: 0.33936867    5.0535     -2.13861    0 0.00219275  0.00301812  -0.685199   0.728346       uwb: 0.0            1025.61  490.84   
imu_odom_:  1691062457.202113004  0.955286   -0.251391  9.72285    -0.052198   -0.0436758  0.0681769   0.25       0             pose: 0.0           5.0535     -2.13861    0 0.00219275  0.00301812  -0.685199   0.728346       uwb: 0.49937367     1028.31  490.395  
imu_odom_:  1691062457.220130153  1.30005    -0.150835  9.31823    -0.0490022  -0.052198   0.127832    0.15       -0.02         pose: 0.0           5.0535     -2.13861    0 0.00219275  0.00301812  -0.685199   0.728346       uwb: 0.0            1028.31  490.395  
imu_odom_:  1691062457.234170289  1.71185    -0.536301  10.0054    -0.072438   -0.0617853  0.160855    0.15       -0.02         pose: 0.41985965    5.05417    -2.14412    0 -0.00091088 -0.000330705-0.684967   0.728573       uwb: 0.0            1028.31  490.395  
imu_odom_:  1691062457.251173135  2.16915    -0.557849  10.1203    -0.0479369  -0.076699   0.0916127   0.15       -0.02         pose: 0.0           5.05417    -2.14412    0 -0.00091088 -0.000330705-0.684967   0.728573       uwb: 0.50176798     1026.98  490.228  
imu_odom_:  1691062457.265180609  1.72622    0.0670376  9.10275    -0.0351537  0.0298274   0.00319579  0.13       -0.02         pose: 0.8008561     5.0547     -2.14854    0 -0.00152341 -0.00111412 -0.684709   0.728814       uwb: 0.0            1026.98  490.228  
imu_odom_:  1691062457.282169748  1.12767    0.258574   9.98622    -0.0671117  0.0511327   0.0383495   0.13       -0.02         pose: 0.0           5.0547     -2.14854    0 -0.00152341 -0.00111412 -0.684709   0.728814       uwb: 0.0            1026.98  490.228  
imu_odom_:  1691062457.296100813  0.603339   -0.201113  9.97903    -0.0628506  0.0298274   0.0266316   0.13       -0.02         pose: 0.0           5.0547     -2.14854    0 -0.00152341 -0.00111412 -0.684709   0.728814       uwb: 0.50002109     1027.87  490.323  
imu_odom_:  1691062457.312165181  0.962469   -0.363919  10.5896    -0.0383495  -0.0191748  -0.0276969  0.1        -0.02         pose: 0.47030651    5.0547     -2.14854    0 -0.00577275 -0.00503475 -0.683504   0.729907       uwb: 0.0            1027.87  490.323  
imu_odom_:  1691062457.327154877  1.09654    -0.304064  9.40442    -0.0532632  -0.0394148  -0.00319579 0.1        -0.02         pose: 0.0           5.0547     -2.14854    0 -0.00577275 -0.00503475 -0.683504   0.729907       uwb: 0.0            1027.87  490.323  
imu_odom_:  1691062457.344207301  0.80924    -0.172383  9.81383    -0.0585895  0.0447411   0.0426106   0.1        -0.02         pose: 0.0           5.0547     -2.14854    0 -0.00577275 -0.00503475 -0.683504   0.729907       uwb: 0.49991611     1026.53  490.393  
imu_odom_:  1691062457.358102495  0.80924    -0.23942   10.398     -0.0660464  -0.00958738 0.0575243   0.08       0             pose: 0.46011098    5.05595    -2.15846    0 -0.00713948 -0.00826721 -0.683844   0.729547       uwb: 0.0            1026.53  490.393  
imu_odom_:  1691062457.375114673  0.629675   -0.162806  9.53371    -0.0490022  -0.0255663  0.0383495   0.07       -0.02         pose: 0.0           5.05595    -2.15846    0 -0.00713948 -0.00826721 -0.683844   0.729547       uwb: 0.0            1026.53  490.393  
imu_odom_:  1691062457.389086276  0.916979   -0.0670376 9.97903    -0.0500674  -0.00532632 0.0436758   0.07       -0.02         pose: 0.0           5.05595    -2.15846    0 -0.00713948 -0.00826721 -0.683844   0.729547       uwb: 0.50083767     1027.85  490.745  
imu_odom_:  1691062457.405078610  0.861913   -0.287304  9.89045    -0.0692422  -0.00852212 0.0543285   0.07       -0.02         pose: 0.61940439    5.04602    -2.15969    0 -0.0104657  -0.011581   -0.684149   0.729176       uwb: 0.0            1027.85  490.745  
imu_odom_:  1691062457.422352967  0.756568   -0.258574  9.93594    -0.0543285  0.00319579  0.0266316   0.06       -0.02         pose: 0.0           5.04602    -2.15969    0 -0.0104657  -0.011581   -0.684149   0.729176       uwb: 0.0            1027.85  490.745  
imu_odom_:  1691062457.439269781  0.636858   -0.11971   9.84496    -0.0649811  -0.0127832  0.0415453   0.06       -0.02         pose: 0.30985822    5.04725    -2.16962    0 -0.0105534  -0.0129808  -0.68409    0.729206       uwb: 0.49845501     1029.18  490.844  
imu_odom_:  1691062457.467236608  0.758962   -0.251391  9.90721    -0.0532632  -0.00426106 0.0330232   0.05       0.02          pose: 0.43180206    5.04725    -2.16962    0 -0.0113254  -0.0121453  -0.6841     0.729199       uwb: 0.0            1029.18  490.844  
imu_odom_:  1691062457.482096819  0.6608     -0.289698  9.87608    -0.0575243  0.00852212  0.0308927   0.05       0.02          pose: 0.0           5.04725    -2.16962    0 -0.0113254  -0.0121453  -0.6841     0.729199       uwb: 0.0            1029.18  490.844  
imu_odom_:  1691062457.509082006  -1.13246   0.100556   9.69891    -0.04048    0.102265    -0.0170442  0.06       0.02          pose: 0.42827038    5.04725    -2.16962    0 -0.0134222  -0.0105279  -0.684174   0.729119       uwb: 0.50067144     1030.1   490.356  
imu_odom_:  1691062457.535090218  -1.04627   -0.4956    9.97424    -0.072438   -0.0852212  0.0713727   0.09       0.05          pose: 0.0           5.04725    -2.16962    0 -0.0134222  -0.0105279  -0.684174   0.729119       uwb: 0.0            1030.1   490.356  
imu_odom_:  1691062457.561110680  0.871489   -0.23942   10.2783    -0.0308927  -0.0426106  0.015979    0.12       0             pose: 0.35009788    5.04725    -2.16962    0 -0.0099068  -0.00758425 -0.684684   0.728733       uwb: 0.50011442     1033.67  490.508  
imu_odom_:  1691062457.578075613  0.828394   0.0574608  9.7444     -0.0447411  0.015979    0.0468716   0.12       0             pose: 0.0           5.04725    -2.16962    0 -0.0099068  -0.00758425 -0.684684   0.728733       uwb: 0.0            1033.67  490.508  
imu_odom_:  1691062457.604137778  -0.258574  -0.150835  9.98143    -0.0458064  0.0532632   0.036219    0.11       -0.02         pose: 0.50996581    5.04846    -2.17954    0 -0.0108442  -0.00981666 -0.684667   0.72871        uwb: 0.49967404     1033.84  490.637  
imu_odom_:  1691062457.630066958  0.469264   -0.399832  9.97185    -0.0692422  -0.0138484  0.0372843   0.12       0             pose: 0.36034590    5.04846    -2.17954    0 -0.00786018 -0.00848443 -0.684709   0.728724       uwb: 0.0            1033.84  490.637  
imu_odom_:  1691062457.647124923  0.639252   -0.318429  10.2041    -0.052198   0.00426106  0.0426106   0.12       0             pose: 0.6944681     5.04846    -2.17954    0 -0.00798924 -0.00778518 -0.684714   0.728726       uwb: 0.50119638     1036.97  490.502  
imu_odom_:  1691062457.663060097  0.483629   -0.296881  9.71806    -0.0671117  0.0127832   0.0500674   0.12       0             pose: 0.0           5.04846    -2.17954    0 -0.00798924 -0.00778518 -0.684714   0.728726       uwb: 0.0            1036.97  490.502  
imu_odom_:  1691062457.680174931  0.138864   -0.1652    9.8258     -0.0628506  0.0223706   0.0479369   0.13       -0.02         pose: 0.43042264    5.04968    -2.18947    0 -0.00950011 -0.00478514 -0.684666   0.728779       uwb: 0.0            1036.97  490.502  
imu_odom_:  1691062457.697263225  0.117316   -0.232238  9.72046    -0.052198   0.00106526  0.0330232   0.13       -0.02         pose: 0.0           5.04968    -2.18947    0 -0.00950011 -0.00478514 -0.684666   0.728779       uwb: 0.49815464     1036.05  490.93   
imu_odom_:  1691062457.714091383  0.0191536  -0.174777  9.51456    -0.0617853  0.0223706   0.0394148   0.14       0             pose: 0.0           5.04968    -2.18947    0 -0.00950011 -0.00478514 -0.684666   0.728779       uwb: 0.0            1036.05  490.93   
imu_odom_:  1691062457.731257836  0.25618    -0.0430956 9.89045    -0.0756338  -0.0458064  0.0841559   0.14       0             pose: 0.50084933    5.05089    -2.19939    0 -0.00540889 -0.00127574 -0.684642   0.728858       uwb: 0.0            1036.05  490.93   
imu_odom_:  1691062457.747264168  0.179565   -0.548272  9.77313    -0.0820254  -0.0170442  0.0447411   0.14       0             pose: 0.0           5.05089    -2.19939    0 -0.00540889 -0.00127574 -0.684642   0.728858       uwb: 0.50049354     1037.39  490.98   
imu_odom_:  1691062457.764260598  0.373495   -0.158017  10.3142    -0.0671117  0.015979    0.0276969   0.19       0.02          pose: 0.43054512    5.05089    -2.19939    0 -0.00352608 0.000947221 -0.684336   0.729158       uwb: 0.0            1037.39  490.98   
imu_odom_:  1691062457.781198993  -0.059855  -0.162806  9.21289    -0.0713727  0.0330232   0.052198    0.19       0.02          pose: 0.6946722     5.05089    -2.19939    0 -0.00283712 0.000843075 -0.684368   0.729131       uwb: 0.0            1037.39  490.98   
imu_odom_:  1691062457.804067474  0.708684   -0.548272  10.161     -0.0649811  -0.0479369  0.0319579   0.14       0             pose: 0.0           5.05089    -2.19939    0 -0.00283712 0.000843075 -0.684368   0.729131       uwb: 0.49853959     1037.85  490.778  
imu_odom_:  1691062457.830045649  0.3304     0.0790087  9.92636    -0.0319579  -0.0447411  0.052198    0.15       0.02          pose: 0.33939200    5.05211    -2.20932    0 -0.00118699 0.00188574  -0.684353   0.729147       uwb: 0.0            1037.85  490.778  
imu_odom_:  1691062457.847105655  0.289698   -0.474052  9.85932    -0.0617853  -0.0287621  0.0575243   0.18       0             pose: 0.0           5.05211    -2.20932    0 -0.00118699 0.00188574  -0.684353   0.729147       uwb: 0.50081142     1041.87  490.834  
imu_odom_:  1691062457.863103822  0.363919   -0.0263362 9.68694    -0.0500674  -0.0266316  0.0319579   0.18       0             pose: 0.48904690    5.05333    -2.21924    0 -0.00123888 0.00032855  -0.684234   0.729262       uwb: 0.0            1041.87  490.834  
imu_odom_:  1691062457.881101432  0.287304   -0.229843  9.92157    -0.052198   -0.0191748  0.0436758   0.21       0             pose: 0.0           5.05333    -2.21924    0 -0.00123888 0.00032855  -0.684234   0.729262       uwb: 0.0            1041.87  490.834  
imu_odom_:  1691062457.898034869  0.21069    -0.40462   10.0724    -0.0649811  -0.00532632 0.0490022   0.21       0             pose: 0.0           5.05333    -2.21924    0 -0.00123888 0.00032855  -0.684234   0.729262       uwb: 0.49997151     1047.64  491.247  
imu_odom_:  1691062457.912209157  0.4956     -0.213084  10.8314    -0.0479369  0.0788296   0.036219    0.21       0             pose: 0.34047980    5.05333    -2.21924    0 6.52333e-05 0.000760029 -0.684199   0.729295       uwb: 0.0            1047.64  491.247  
imu_odom_:  1691062457.937092537  0.0885855  0.146046   10.5441    -0.0298274  0.0937433   0.0394148   0.15       0             pose: 0.41106397    5.05456    -2.22917    0 0.0002419   0.00233416  -0.684144   0.729343       uwb: 0.50020483     1046.34  490.75   
imu_odom_:  1691062457.964175421  -0.0430956 -0.407014  9.83299    -0.0468716  -0.0394148  0.04048     0.15       0             pose: 0.7017297     5.05456    -2.22917    0 0.00123823  0.00242654  -0.684143   0.729342       uwb: 0.0            1046.34  490.75   
imu_odom_:  1691062457.980106220  0.411803   -0.208296  10.1203    -0.0436758  -0.02024    0.0298274   0.18       0             pose: 0.0           5.05456    -2.22917    0 0.00123823  0.00242654  -0.684143   0.729342       uwb: 0.0            1046.34  490.75   
imu_odom_:  1691062457.997164477  0.0814029  -0.0837971 10.1203    -0.0607201  -0.00319579 0.0479369   0.18       0             pose: 0.53019355    5.05579    -2.23909    0 0.00362546  0.00416144  -0.684161   0.72931        uwb: 0.49956322     1049.92  490.828  
imu_odom_:  1691062458.13192978   0.80924    -0.4956    10.1921    -0.0649811  -0.0223706  0.0394148   0.18       0             pose: 0.0           5.05579    -2.23909    0 0.00362546  0.00416144  -0.684161   0.72931        uwb: 0.0            1049.92  490.828  
imu_odom_:  1691062458.31173681   0.0287304  -0.244209  9.39485    -0.0426106  0.0436758   0.0191748   0.17       0             pose: 0.33049133    5.05579    -2.23909    0 0.00388708  0.00371628  -0.684137   0.729334       uwb: 0.0            1049.92  490.828  
imu_odom_:  1691062458.48037425   -0.0574608 0.244209   10.2879    -0.0500674  0.0394148   0.0607201   0.17       0             pose: 0.0           5.05579    -2.23909    0 0.00388708  0.00371628  -0.684137   0.729334       uwb: 0.0            1049.92  490.828  
imu_odom_:  1691062458.62023031   -0.0383072 -0.641646  9.52174    -0.0756338  0.00958738  0.0479369   0.17       0             pose: 0.0           5.05579    -2.23909    0 0.00388708  0.00371628  -0.684137   0.729334       uwb: 0.0            1049.92  490.828  
imu_odom_:  1691062458.79032592   0.356736   -0.347159  9.99579    -0.052198   -0.00532632 0.0223706   0.18       0             pose: 0.48749854    5.05702    -2.24902    0 0.00632894  0.00575319  -0.684106   0.729333       uwb: 0.0            1049.92  490.828  
imu_odom_:  1691062458.102137890  0.720655   -0.445322  9.91439    -0.0553937  -0.015979   0.036219    0.18       0             pose: 0.0           5.05702    -2.24902    0 0.00632894  0.00575319  -0.684106   0.729333       uwb: 0.100068123    1051.27  490.797  
imu_odom_:  1691062458.119220360  0.146046   -0.392649  9.55765    -0.0458064  -0.0106526  0.0213053   0.17       -0.02         pose: 0.31002167    5.05825    -2.25894    0 0.00384563  0.00627849  -0.684216   0.729242       uwb: 0.0            1051.27  490.797  
imu_odom_:  1691062458.146034952  0.919373   -0.184354  10.24      -0.04048    -0.0287621  0.0479369   0.25       0             pose: 0.0           5.05825    -2.25894    0 0.00384563  0.00627849  -0.684216   0.729242       uwb: 0.49858939     1052.17  490.77   
imu_odom_:  1691062458.171221934  0.835576   -0.222661  10.3022    -0.0436758  -0.015979   0.0500674   0.17       0             pose: 0.41195072    5.05947    -2.26887    0 0.00184132  0.00647196  -0.684341   0.729131       uwb: 0.0            1052.17  490.77   
imu_odom_:  1691062458.188074013  0.40462    0.124498   10.0676    -0.0415453  0.0181095   0.0468716   0.17       0             pose: 0.0           5.05947    -2.26887    0 0.00184132  0.00647196  -0.684341   0.729131       uwb: 0.50057833     1052.19  490.583  
imu_odom_:  1691062458.204132847  -0.146046  -0.153229  9.59596    -0.052198   0.00426106  0.0511327   0.17       0             pose: 0.27826271    5.05947    -2.26887    0 0.000158871 0.00386826  -0.684266   0.729223       uwb: 0.0            1052.19  490.583  
imu_odom_:  1691062458.222119382  0.797269   0.0191536  10.0317    -0.0372843  -0.04048    0.0319579   0.17       0             pose: 0.41960903    5.06069    -2.27879    0 0.00112641  0.00172511  -0.684127   0.72936        uwb: 0.0            1052.19  490.583  
imu_odom_:  1691062458.238070894  0.603339   -0.342371  9.99819    -0.0500674  -0.0117179  0.0596548   0.17       0             pose: 0.0           5.06069    -2.27879    0 0.00112641  0.00172511  -0.684127   0.72936        uwb: 0.50077664     1051.74  490.538  
imu_odom_:  1691062458.253000812  0.445322   -0.258574  10.1251    -0.0798948  0.015979    0.0649811   0.17       0             pose: 0.0           5.06069    -2.27879    0 0.00112641  0.00172511  -0.684127   0.72936        uwb: 0.0            1051.74  490.538  
imu_odom_:  1691062458.268061382  0.684742   -0.138864  10.0078    -0.0585895  -0.00213053 0.036219    0.18       0             pose: 0.49100690    5.06192    -2.28872    0 -0.00106853 -0.000104997-0.68396    0.729519       uwb: 0.0            1051.74  490.538  
imu_odom_:  1691062458.284999201  0.536301   -0.143652  10.1011    -0.052198   -0.00852212 0.0575243   0.18       0             pose: 0.0           5.06192    -2.28872    0 -0.00106853 -0.000104997-0.68396    0.729519       uwb: 0.0            1051.74  490.538  
imu_odom_:  1691062458.301998555  0.711078   -0.213084  10.2137    -0.0703074  -0.0436758  0.052198    0.17       0.02          pose: 0.39869302    5.06257    -2.29396    0 -0.00229888 -0.00302165 -0.683795   0.729664       uwb: 0.49925723     1053.54  490.511  
imu_odom_:  1691062458.317148949  0.744597   -0.11971   9.61751    -0.0543285  0.0234358   0.0255663   0.17       0.02          pose: 0.0           5.06257    -2.29396    0 -0.00229888 -0.00302165 -0.683795   0.729664       uwb: 0.0            1053.54  490.511  
imu_odom_:  1691062458.333141582  0.627281   0.0263362  10.2639    -0.052198   -0.00213053 0.0585895   0.17       0.02          pose: 0.0           5.06257    -2.29396    0 -0.00229888 -0.00302165 -0.683795   0.729664       uwb: 0.0            1053.54  490.511  
imu_odom_:  1691062458.348139159  0.153229   -0.433351  9.72046    -0.0798948  -0.0319579  0.0639159   0.18       0             pose: 0.8013815     5.06316    -2.29864    0 -0.00301498 -0.00366602 -0.683755   0.729696       uwb: 0.49960427     1055.34  490.585  
imu_odom_:  1691062458.364133250  1.14203    -0.105345  10.161     -0.0713727  -0.0106526  0.0372843   0.17       0.02          pose: 0.0           5.06316    -2.29864    0 -0.00301498 -0.00366602 -0.683755   0.729696       uwb: 0.0            1055.34  490.585  
imu_odom_:  1691062458.387989214  0.811634   -0.277727  10.1275    -0.0777643  -0.015979   0.0468716   0.17       0.02          pose: 0.47142367    5.06316    -2.29864    0 -0.0034894  -0.00640098 -0.683617   0.729805       uwb: 0.50011755     1059.81  490.784  
imu_odom_:  1691062458.403980972  -0.023942  -0.423774  9.39964    -0.0745685  0.0532632   0.0394148   0.18       0             pose: 0.0           5.06316    -2.29864    0 -0.0034894  -0.00640098 -0.683617   0.729805       uwb: 0.0            1059.81  490.784  
imu_odom_:  1691062458.422037499  0.509965   -0.0670376 10.4794    -0.0607201  -0.0500674  0.0436758   0.18       0             pose: 0.0           5.06316    -2.29864    0 -0.0034894  -0.00640098 -0.683617   0.729805       uwb: 0.0            1059.81  490.784  
imu_odom_:  1691062458.437979096  0.627281   -0.220267  9.81623    -0.0703074  -0.0298274  0.052198    0.18       0             pose: 0.71846985    5.05572    -2.31973    0 -0.00550749 -0.00634633 -0.683475   0.729926       uwb: 0.50048792     1060.74  490.539  
imu_odom_:  1691062458.454993032  0.588974   -0.11971   10.307     -0.0543285  0.0234358   0.0372843   0.17       0.02          pose: 0.0           5.05572    -2.31973    0 -0.00550749 -0.00634633 -0.683475   0.729926       uwb: 0.0            1060.74  490.539  
imu_odom_:  1691062458.472972276  0.371101   -0.280122  9.97664    -0.0500674  0.036219    0.0447411   0.17       0.02          pose: 0.32986154    5.05572    -2.31973    0 -0.00577471 -0.00781782 -0.68339    0.729988       uwb: 0.0            1060.74  490.539  
imu_odom_:  1691062458.497977862  0.349553   -0.397437  10.2975    -0.0447411  0.00426106  0.0340885   0.17       0.02          pose: 0.27983754    5.05697    -2.32965    0 -0.00403533 -0.00631086 -0.683381   0.730023       uwb: 0.49946138     1062.15  490.14   
imu_odom_:  1691062458.525158455  0.54109    -0.237026  9.97185    -0.0649811  0.0181095   0.0436758   0.17       0.02          pose: 0.8070975     5.05697    -2.32965    0 -0.004021   -0.00550787 -0.683398   0.730014       uwb: 0.0            1062.15  490.14   
imu_odom_:  1691062458.541185501  0.0454898  -0.244209  9.56723    -0.0426106  0.0127832   0.0351537   0.2        0             pose: 0.0           5.05697    -2.32965    0 -0.004021   -0.00550787 -0.683398   0.730014       uwb: 0.50133657     1063.9   490.57   
imu_odom_:  1691062458.568083792  -0.023942  -0.316035  9.70609    -0.0585895  0.00639159  0.0500674   0.2        0             pose: 0.44115204    5.05786    -2.33669    0 -0.00647399 -0.00432587 -0.683376   0.730025       uwb: 0.0            1063.9   490.57   
imu_odom_:  1691062458.593086461  0.332794   -0.0861913 9.7444     -0.0330232  -0.0330232  0.0308927   0.23       0             pose: 0.42925337    5.0591     -2.34656    0 -0.00356183 -0.000813554-0.683308   0.730121       uwb: 0.49879062     1064.84  490.263  
imu_odom_:  1691062458.610016990  0.826      -0.0023942 10.4698    -0.056459   -0.0276969  0.0596548   0.23       0             pose: 0.0           5.0591     -2.34656    0 -0.00356183 -0.000813554-0.683308   0.730121       uwb: 0.0            1064.84  490.263  
imu_odom_:  1691062458.627028884  0.229843   -0.718261  9.15303    -0.0266316  -0.0532632  0.0308927   0.23       0             pose: 0.0           5.0591     -2.34656    0 -0.00356183 -0.000813554-0.683308   0.730121       uwb: 0.0            1064.84  490.263  
imu_odom_:  1691062458.641957927  0.529119   -0.301669  10.1706    -0.00852212 0.00532632  0.0191748   0.23       0             pose: 0.49940013    5.06072    -2.35942    0 -0.002041   -0.00277145 -0.68329    0.730139       uwb: 0.50162238     1064.9   489.774  
imu_odom_:  1691062458.659005984  0.502782   0.0622492  10.1897    -0.0500674  -0.0149137  0.0660464   0.23       0             pose: 0.0           5.06072    -2.35942    0 -0.002041   -0.00277145 -0.68329    0.730139       uwb: 0.0            1064.9   489.774  
imu_odom_:  1691062458.672958344  0.605733   -0.186748  9.77313    -0.0671117  -0.0447411  0.0745685   0.17       -0.02         pose: 0.0           5.06072    -2.35942    0 -0.002041   -0.00277145 -0.68329    0.730139       uwb: 0.0            1064.9   489.774  
imu_odom_:  1691062458.688950685  0.916979   -0.177171  9.56484    -0.076699   0.00958738  0.0468716   0.17       -0.02         pose: 0.47016089    5.06072    -2.35942    0 -0.00293295 -0.00409513 -0.683183   0.73023        uwb: 0.49933597     1061.77  489.503  
imu_odom_:  1691062458.704005131  0.172383   -0.0766145 10.2783    -0.103331   -0.0287621  0.0532632   0.19       0             pose: 0.0           5.06072    -2.35942    0 -0.00293295 -0.00409513 -0.683183   0.73023        uwb: 0.0            1061.77  489.503  
imu_odom_:  1691062458.720010304  0.047884   -0.301669  9.49062    -0.0841559  0.00852212  0.0255663   0.19       0             pose: 0.38965237    5.06197    -2.36934    0 -0.00367792 -0.00502202 -0.682965   0.730425       uwb: 0.0            1061.77  489.503  
imu_odom_:  1691062458.737058069  0.186748   -0.332794  9.69891    -0.0490022  -0.0490022  0.0298274   0.19       0             pose: 0.0           5.06197    -2.36934    0 -0.00367792 -0.00502202 -0.682965   0.730425       uwb: 0.50016421     1061.79  489.316  
imu_odom_:  1691062458.763017590  0.696713   -0.500388  9.9527     -0.0468716  -0.0213053  0.0479369   0.18       0             pose: 0.33052938    5.06268    -2.37489    0 -0.00255499 -0.00214245 -0.683115   0.730303       uwb: 0.0            1061.79  489.316  
imu_odom_:  1691062458.780003820  0.416591   -0.306458  9.69173    -0.0319579  0.0628506   0.0372843   0.18       0             pose: 0.0           5.06268    -2.37489    0 -0.00255499 -0.00214245 -0.683115   0.730303       uwb: 0.0            1061.79  489.316  
imu_odom_:  1691062458.805247380  0.19393    -0.1652    9.93833    -0.0798948  0.00532632  0.0660464   0.25       0.02          pose: 0.42945751    5.06394    -2.38485    0 -0.00427496 -0.000284442-0.683038   0.730371       uwb: 0.49932722     1061.34  489.333  
imu_odom_:  1691062458.821048700  0.605733   -0.198719  10.0676    -0.0553937  0.0234358   0.0372843   0.18       -0.02         pose: 0.0           5.06394    -2.38485    0 -0.00427496 -0.000284442-0.683038   0.730371       uwb: 0.0            1061.34  489.333  
imu_odom_:  1691062458.838938997  0.134075   -0.189142  9.9096     -0.0639159  0.0127832   0.0543285   0.18       0             pose: 0.0           5.06394    -2.38485    0 -0.00427496 -0.000284442-0.683038   0.730371       uwb: 0.49885185     1060.01  489.127  
imu_odom_:  1691062458.855925519  0.423774   -0.308852  9.98382    -0.0628506  0.00745685  0.052198    0.18       0             pose: 0.49052862    5.06449    -2.38918    0 -0.00198033 0.0003674   -0.682769   0.730631       uwb: 0.0            1060.01  489.127  
imu_odom_:  1691062458.881040176  0.670376   0.011971   10.0078    -0.0649811  0.00319579  0.0660464   0.18       0.02          pose: 0.26868837    5.06576    -2.3991     0 -0.00266204 0.00188452  -0.682635   0.730752       uwb: 0.0            1060.01  489.127  
imu_odom_:  1691062458.898095815  0.3304     -0.416591  9.4164     -0.0884169  0.00958738  0.072438    0.18       0.02          pose: 0.7014675     5.06576    -2.3991     0 -0.00260408 0.00122823  -0.682569   0.730815       uwb: 0.50088747     1058.24  488.804  
imu_odom_:  1691062458.924039879  0.225055   -0.0861913 9.65342    -0.0585895  0.0223706   0.0340885   0.19       0             pose: 0.35155621    5.06703    -2.40902    0 -0.00301331 0.00146605  -0.682189   0.731168       uwb: 0.0            1058.24  488.804  
imu_odom_:  1691062458.939926649  0.507571   -0.325611  10.1634    -0.072438   -0.04048    0.0479369   0.19       0             pose: 0.0           5.06703    -2.40902    0 -0.00301331 0.00146605  -0.682189   0.731168       uwb: 0.49970343     1057.82  488.45   
imu_odom_:  1691062458.956929502  0.881066   -0.40462   9.75877    -0.0458064  0.015979    0.036219    0.19       0             pose: 0.0           5.06703    -2.40902    0 -0.00301331 0.00146605  -0.682189   0.731168       uwb: 0.0            1057.82  488.45   
imu_odom_:  1691062458.973963852  0.160412   -0.363919  10.1011    -0.0468716  0.0223706   0.0394148   0.19       0             pose: 0.49846981    5.06831    -2.41893    0 -0.00265649 0.000999713 -0.682205   0.731156       uwb: 0.0            1057.82  488.45   
imu_odom_:  1691062458.998975271  0.490811   -0.184354  10.0772    -0.0607201  0.00745685  0.0490022   0.2        0             pose: 0.0           5.06831    -2.41893    0 -0.00265649 0.000999713 -0.682205   0.731156       uwb: 0.49871187     1060.52  488.62   
imu_odom_:  1691062459.23918747   0.0215478  -0.545878  9.42597    -0.0532632  -0.0330232  0.0447411   0.2        0             pose: 0.33010652    5.06831    -2.41893    0 -0.00234935 0.00159872  -0.682192   0.731168       uwb: 0.0            1060.52  488.62   
imu_odom_:  1691062459.45927802   0.308852   -0.464475  9.78031    -0.0532632  0.00532632  0.0394148   0.18       0             pose: 0.0           5.06831    -2.41893    0 -0.00234935 0.00159872  -0.682192   0.731168       uwb: 0.49955775     1059.64  488.469  
imu_odom_:  1691062459.62984323   0.543484   -0.306458  10.3717    -0.04048    0.0383495   0.0372843   0.18       0             pose: 0.48971798    5.06959    -2.42885    0 -0.00230127 0.00268888  -0.68208    0.731269       uwb: 0.0            1059.64  488.469  
imu_odom_:  1691062459.79911651   0.23942    -0.153229  9.63906    -0.0415453  0.00532632  0.0394148   0.18       0             pose: 0.0           5.06959    -2.42885    0 -0.00230127 0.00268888  -0.68208    0.731269       uwb: 0.0            1059.64  488.469  
imu_odom_:  1691062459.95897874   0.153229   -0.225055  10.4076    -0.0298274  0.0351537   0.0213053   0.25       -0.02         pose: 0.49986405    5.07087    -2.43877    0 -0.00174143 0.00321262  -0.682098   0.731251       uwb: 0.49991946     1060.15  487.914  
imu_odom_:  1691062459.122941703  0.531513   -0.174777  9.80186    -0.0500674  -0.0319579  0.0500674   0.25       -0.02         pose: 0.0           5.07087    -2.43877    0 -0.00174143 0.00321262  -0.682098   0.731251       uwb: 0.0            1060.15  487.914  
imu_odom_:  1691062459.138900221  0.0574608  -0.1652    9.44034    -0.0426106  0.0340885   0.0298274   0.2        0             pose: 0.7077088     5.07087    -2.43877    0 -0.0009790550.00362742  -0.682144   0.731208       uwb: 0.49973280     1060.22  487.378  
imu_odom_:  1691062459.155966075  0.179565   -0.299275  10.1418    -0.0735032  -0.0628506  0.0607201   0.2        0             pose: 0.0           5.07087    -2.43877    0 -0.0009790550.00362742  -0.682144   0.731208       uwb: 0.0            1060.22  487.378  
imu_odom_:  1691062459.173048552  0.758962   -0.244209  10.0509    -0.0660464  -0.00532632 0.0319579   0.18       0             pose: 0.0           5.07087    -2.43877    0 -0.0009790550.00362742  -0.682144   0.731208       uwb: 0.0            1060.22  487.378  
imu_odom_:  1691062459.198939550  0.390255   -0.368707  9.94073    -0.056459   -0.0372843  0.04048     0.18       0             pose: 0.77084477    5.07344    -2.4586     0 0.000292936 0.00299985  -0.682047   0.731302       uwb: 0.50043565     1060.69  487.244  
imu_odom_:  1691062459.215928412  0.368707   -0.184354  9.58878    -0.0553937  -0.0308927  0.036219    0.18       0             pose: 0.0           5.07344    -2.4586     0 0.000292936 0.00299985  -0.682047   0.731302       uwb: 0.0            1060.69  487.244  
imu_odom_:  1691062459.231869141  0.505177   -0.0646434 10.0868    -0.0245011  0           0.036219    0.18       0             pose: 0.41868764    5.07473    -2.46852    0 -0.00224376 0.00310191  -0.682073   0.731274       uwb: 0.0            1060.69  487.244  
imu_odom_:  1691062459.248934120  0.131681   -0.177171  9.60075    -0.0543285  -0.0351537  0.0639159   0.23       0             pose: 0.0           5.07473    -2.46852    0 -0.00224376 0.00310191  -0.682073   0.731274       uwb: 0.50026649     1063.43  487.079  
imu_odom_:  1691062459.264927926  0.885855   -0.282516  10.2879    -0.0447411  -0.0213053  0.0511327   0.23       0             pose: 0.33012415    5.06481    -2.46981    0 -0.0003077080.00112115  -0.682045   0.731309       uwb: 0.0            1063.43  487.079  
imu_odom_:  1691062459.282162344  0.507571   0.0191536  10.0724    -0.0447411  0.0117179   0.0532632   0.23       0             pose: 0.0           5.06481    -2.46981    0 -0.0003077080.00112115  -0.682045   0.731309       uwb: 0.0            1063.43  487.079  
imu_odom_:  1691062459.299147124  0.519542   -0.282516  9.56484    -0.056459   -0.0319579  0.0458064   0.18       0             pose: 0.43207949    5.06609    -2.47972    0 8.31651e-05 -0.00115514 -0.681804   0.731534       uwb: 0.50168676     1068.37  487.454  
imu_odom_:  1691062459.314923079  0.940921   -0.129287  10.4938    -0.0617853  0.00319579  0.0468716   0.18       0             pose: 0.0           5.06609    -2.47972    0 8.31651e-05 -0.00115514 -0.681804   0.731534       uwb: 0.0            1068.37  487.454  
imu_odom_:  1691062459.339891638  0.790087   -0.102951  10.0413    -0.0703074  0.00639159  0.0628506   0.19       0.02          pose: 0.6899775     5.06609    -2.47972    0 -0.00066982 -0.00131185 -0.681787   0.731549       uwb: 0.49885499     1067.96  487.115  
imu_odom_:  1691062459.356924829  0.462081   -0.19393   9.83299    -0.0607201  0.00213053  0.0383495   0.22       0             pose: 0.0           5.06609    -2.47972    0 -0.00066982 -0.00131185 -0.681787   0.731549       uwb: 0.0            1067.96  487.115  
imu_odom_:  1691062459.381143305  0.0574608  -0.47884   9.36372    -0.0639159  -0.0149137  0.0596548   0.18       0             pose: 0.67862710    5.06815    -2.49549    0 -0.00232323 -0.00372061 -0.681517   0.73179        uwb: 0.0            1067.96  487.115  
imu_odom_:  1691062459.406021165  0.411803   -0.131681  9.46667    -0.0468716  0.00319579  0.0287621   0.2        -0.02         pose: 0.0           5.06815    -2.49549    0 -0.00232323 -0.00372061 -0.681517   0.73179        uwb: 0.49850794     1069.32  487.178  
imu_odom_:  1691062459.430874529  0.342371   -0.418985  9.59357    -0.0809601  -0.00958738 0.0692422   0.2        -0.02         pose: 0.31113585    5.06869    -2.49955    0 -0.00140239 -0.0016119  -0.681369   0.731937       uwb: 0.0            1069.32  487.178  
imu_odom_:  1691062459.455869918  0.395043   -0.246603  10.1394    -0.0511327  0.0117179   0.0426106   0.18       0.02          pose: 0.42836115    5.06962    -2.50667    0 -0.00103352 0.000101163 -0.681174   0.732121       uwb: 0.49994861     1072.48  487.449  
imu_odom_:  1691062459.471859350  0.636858   -0.0885855 9.991      -0.0713727  -0.0308927  0.0458064   0.18       0.02          pose: 0.7009138     5.06999    -2.50947    0 -0.0009087040.00082894  -0.681165   0.732129       uwb: 0.0            1072.48  487.449  
imu_odom_:  1691062459.488984114  0.351948   -0.253785  10.0604    -0.0756338  0.0553937   0.0372843   0.18       0.02          pose: 0.0           5.06999    -2.50947    0 -0.0009087040.00082894  -0.681165   0.732129       uwb: 0.49998362     1073.83  487.618  
imu_odom_:  1691062459.506113252  0.0933739  -0.0694318 9.83299    -0.0436758  -0.0170442  0.0330232   0.18       0.02          pose: 0.42046369    5.0713     -2.51938    0 -0.0005626690.00196061  -0.681113   0.732175       uwb: 0.0            1073.83  487.618  
imu_odom_:  1691062459.521973782  0.505177   -0.191536  9.71088    -0.0745685  -0.0234358  0.0426106   0.18       0.02          pose: 0.0           5.0713     -2.51938    0 -0.0005626690.00196061  -0.681113   0.732175       uwb: 0.0            1073.83  487.618  
imu_odom_:  1691062459.538975476  0.371101   -0.141258  10.3765    -0.0543285  0.00852212  0.0383495   0.25       0             pose: 0.0           5.0713     -2.51938    0 -0.0005626690.00196061  -0.681113   0.732175       uwb: 0.49993403     1074.3   487.496  
imu_odom_:  1691062459.555032858  0.694318   -0.407014  9.90481    -0.0447411  -0.0276969  0.0426106   0.25       0             pose: 0.48923106    5.07261    -2.5293     0 0.00123507  0.0013413   -0.681142   0.732149       uwb: 0.0            1074.3   487.496  
imu_odom_:  1691062459.573022026  0.318429   -0.172383  9.79947    -0.0639159  -0.0298274  0.0458064   0.25       0             pose: 0.0           5.07261    -2.5293     0 0.00123507  0.0013413   -0.681142   0.732149       uwb: 0.0            1074.3   487.496  
imu_odom_:  1691062459.589854572  0.691924   -0.325611  9.61272    -0.0426106  0.015979    0.0330232   0.18       0.02          pose: 0.44168884    5.07334    -2.53482    0 0.00182254  0.000604892 -0.681087   0.7322         uwb: 0.50111515     1073.85  487.455  
imu_odom_:  1691062459.602846296  0.629675   -0.107739  10.4172    -0.0436758  -0.00852212 0.0436758   0.18       0             pose: 0.0           5.07334    -2.53482    0 0.00182254  0.000604892 -0.681087   0.7322         uwb: 0.0            1073.85  487.455  
imu_odom_:  1691062459.619845365  0.603339   -0.277727  9.56484    -0.0692422  0.0149137   0.0415453   0.18       0             pose: 0.0           5.07334    -2.53482    0 0.00182254  0.000604892 -0.681087   0.7322         uwb: 0.0            1073.85  487.455  
imu_odom_:  1691062459.636842976  0.1652     -0.430956  10.1538    -0.036219   0.036219    0.0330232   0.26       0             pose: 0.22844003    5.07392    -2.53921    0 0.000304686 -0.000660506-0.681119   0.732172       uwb: 0.50041815     1076.09  487.759  
imu_odom_:  1691062459.652845532  0.225055   -0.241814  9.93115    -0.0649811  -0.0287621  0.0543285   0.26       0             pose: 0.0           5.07392    -2.53921    0 0.000304686 -0.000660506-0.681119   0.732172       uwb: 0.0            1076.09  487.759  
imu_odom_:  1691062459.670837907  0.61531    -0.426168  9.75877    -0.0575243  0.00745685  0.0415453   0.26       0             pose: 0.0           5.07392    -2.53921    0 0.000304686 -0.000660506-0.681119   0.732172       uwb: 0.0            1076.09  487.759  
imu_odom_:  1691062459.686888582  0.572214   0.0670376  9.88087    -0.0426106  -0.0276969  0.0458064   0.18       0             pose: 0.74971878    5.07523    -2.54912    0 -0.00186088 0.0010572   -0.681034   0.732249       uwb: 0.50045023     1080.6   488.187  
imu_odom_:  1691062459.701905414  0.593762   -0.155623  9.70609    -0.072438   0.0351537   0.0617853   0.18       0             pose: 0.7005930     5.07523    -2.54912    0 -0.00163557 0.000310871 -0.681019   0.732264       uwb: 0.0            1080.6   488.187  
imu_odom_:  1691062459.717883763  0.296881   -0.21069   10.343     -0.0458064  0.00958738  0.0330232   0.18       0             pose: 0.0           5.07523    -2.54912    0 -0.00163557 0.000310871 -0.681019   0.732264       uwb: 0.0            1080.6   488.187  
imu_odom_:  1691062459.743840671  1.0726     -0.174777  10.2496    -0.0500674  -0.056459   0.052198    0.18       0             pose: 0.40039926    5.07655    -2.55904    0 -0.000490408-0.000601574-0.680917   0.73236        uwb: 0.49720142     1083.36  488.153  
imu_odom_:  1691062459.759839726  1.24738    -0.172383  9.24401    -0.076699   0.0181095   0.104396    0.16       0             pose: 0.0           5.07655    -2.55904    0 -0.000490408-0.000601574-0.680917   0.73236        uwb: 0.0            1083.36  488.153  
imu_odom_:  1691062459.781940937  0.514753   -0.222661  10.2927    -0.0703074  -0.00106526 0.0937433   0.16       0             pose: 0.32968962    5.07786    -2.56895    0 -0.00300891 -0.00357638 -0.680624   0.732618       uwb: 0.0            1083.36  488.153  
imu_odom_:  1691062459.806981530  0.385466   -0.174777  9.30626    -0.0617853  0.00319579  -0.00745685 0.17       0             pose: 0.0           5.07786    -2.56895    0 -0.00300891 -0.00357638 -0.680624   0.732618       uwb: 0.49983488     1084.31  487.929  
imu_odom_:  1691062459.823817284  -0.0550666 -0.110133  9.62469    -0.0479369  0.0213053   -0.02024    0.17       0             pose: 0.38990918    5.07786    -2.56895    0 -0.004591   -0.00231884 -0.680099   0.733102       uwb: 0.0            1084.31  487.929  
imu_odom_:  1691062459.840902678  -0.0047884 -0.323217  9.89045    -0.0703074  -0.00319579 -0.00745685 0.17       0             pose: 0.33973641    5.0792     -2.57886    0 -0.00132734 -0.000791737-0.680773   0.732492       uwb: 0.50086726     1085.69  487.896  
imu_odom_:  1691062459.865867445  0.227449   -0.493206  10.0341    -0.0330232  -0.0351537  0.04048     0.17       0             pose: 0.8038899     5.0792     -2.57886    0 -0.000965967-5.1126e-05 -0.680912   0.732365       uwb: 0.0            1085.69  487.896  
imu_odom_:  1691062459.890853211  0.852336   -0.122104  10.0892    -0.0436758  -0.036219   0.0511327   0.17       -0.02         pose: 0.34011262    5.08015    -2.58599    0 -0.00120457 0.00273621  -0.681056   0.732226       uwb: 0.49993403     1087.5   488.059  
imu_odom_:  1691062459.915934632  0.766145   0.00957681 10.0173    -0.0468716  0.04048     0.0436758   0.17       -0.02         pose: 0.0           5.08015    -2.58599    0 -0.00120457 0.00273621  -0.681056   0.732226       uwb: 0.0            1087.5   488.059  
imu_odom_:  1691062459.930047397  0.0861913  -0.150835  10.4411    -0.0532632  0.0458064   0.04048     0.17       -0.02         pose: 0.50067187    5.08149    -2.59612    0 -0.00219506 -0.00207158 -0.680921   0.732351       uwb: 0.0            1087.5   488.059  
imu_odom_:  1691062459.946811118  0.428562   -0.390255  10.0317    -0.0745685  -0.0127832  0.0415453   0.17       -0.02         pose: 0.0           5.08149    -2.59612    0 -0.00219506 -0.00207158 -0.680921   0.732351       uwb: 0.0            1087.5   488.059  
imu_odom_:  1691062459.971812340  0.593762   -0.117316  9.96946    -0.0809601  -0.0191748  0.0639159   0.18       0             pose: 0.30876486    5.08183    -2.59869    0 -0.00221252 0.000223779 -0.680905   0.732369       uwb: 0.0            1087.5   488.059  
imu_odom_:  1691062459.988935646  0.409408   -0.35913   9.43555    -0.106526   0.00532632  0.0713727   0.18       0             pose: 0.0           5.08183    -2.59869    0 -0.00221252 0.000223779 -0.680905   0.732369       uwb: 0.99971059     1088.85  488.29   
imu_odom_:  1691062460.13868921   0.497994   -0.203507  10.0149    -0.0671117  -0.0394148  0.0308927   0.18       0             pose: 0.42124528    5.08315    -2.6086     0 -0.00370297 -0.0002623  -0.68048    0.732757       uwb: 0.0            1088.85  488.29   
imu_odom_:  1691062460.38805995   0.861913   -0.366313  10.3813    -0.0543285  -0.0255663  0.0394148   0.18       0             pose: 0.0           5.08315    -2.6086     0 -0.00370297 -0.0002623  -0.68048    0.732757       uwb: 0.50127861     1088.84  488.337  
imu_odom_:  1691062460.63795270   0.656011   -0.201113  10.3166    -0.0585895  -0.0681769  0.0479369   0.18       0             pose: 0.49870349    5.08447    -2.61851    0 -0.00594618 -0.00422188 -0.680552   0.732664       uwb: 0.0            1088.84  488.337  
imu_odom_:  1691062460.86778393   0.282516   0.0766145  9.74201    -0.0553937  -0.0575243  0.0447411   0.18       0             pose: 0.0           5.08447    -2.61851    0 -0.00594618 -0.00422188 -0.680552   0.732664       uwb: 0.49841775     1089.82  487.984  
imu_odom_:  1691062460.103779511  0.849942   -0.31364   9.83299    -0.0511327  0.0276969   0.0340885   0.24       0             pose: 0.47972398    5.07589    -2.62975    0 -0.00552446 -0.00742465 -0.680439   0.732747       uwb: 0.0            1089.82  487.984  
imu_odom_:  1691062460.127941712  0.0694318  -0.186748  9.90002    -0.052198   -0.0106526  0.0394148   0.24       0             pose: 0.0           5.07589    -2.62975    0 -0.00552446 -0.00742465 -0.680439   0.732747       uwb: 0.0            1089.82  487.984  
imu_odom_:  1691062460.151997466  0.244209   0.102951   10.2185    -0.0351537  0.0245011   0.0383495   0.21       0.02          pose: 0.41163319    5.07679    -2.63649    0 -0.0051866  -0.00629824 -0.680476   0.732725       uwb: 0.50036295     1088.92  487.827  
imu_odom_:  1691062460.169906442  0.778116   -0.138864  9.96946    -0.0575243  -0.0117179  0.0490022   0.21       0.02          pose: 0.0           5.07679    -2.63649    0 -0.0051866  -0.00629824 -0.680476   0.732725       uwb: 0.0            1088.92  487.827  
imu_odom_:  1691062460.185844844  0.902614   -0.335188  9.91678    -0.052198   0.0223706   0.0298274   0.18       0             pose: 0.0           5.07679    -2.63649    0 -0.0051866  -0.00629824 -0.680476   0.732725       uwb: 0.0            1088.92  487.827  
imu_odom_:  1691062460.200803647  0.679953   -0.0981623 9.23683    -0.0511327  -0.00426106 0.0436758   0.18       0             pose: 0.41964730    5.078      -2.64548    0 -0.003494   -0.00753737 -0.680431   0.732765       uwb: 0.50016464     1092.09  488.149  
imu_odom_:  1691062460.224967597  0.25618    -0.486023  9.69652    -0.0585895  -0.0223706  0.0340885   0.18       0             pose: 0.0           5.078      -2.64548    0 -0.003494   -0.00753737 -0.680431   0.732765       uwb: 0.0            1092.09  488.149  
imu_odom_:  1691062460.250838192  0.184354   -0.277727  10.0485    -0.072438   -0.0287621  0.0671117   0.18       -0.02         pose: 0.39089215    5.07854    -2.64957    0 -0.00502868 -0.00869911 -0.680465   0.732712       uwb: 0.49948804     1092.98  488.356  
imu_odom_:  1691062460.273951675  0.536301   -0.177171  10.0556    -0.0543285  0.00426106  0.0255663   0.19       0             pose: 0.41842535    5.07987    -2.65948    0 -0.00421964 -0.00504595 -0.68025    0.73295        uwb: 0.0            1092.98  488.356  
imu_odom_:  1691062460.292053130  0.270545   -0.146046  10.1921    -0.0479369  -0.00639159 0.0266316   0.19       0             pose: 0.7099839     5.07987    -2.65948    0 -0.00371834 -0.00555173 -0.68029    0.732913       uwb: 0.0            1092.98  488.356  
imu_odom_:  1691062460.316771769  0.555455   -0.265756  9.70609    -0.0298274  -0.0383495  0.0287621   0.18       0             pose: 0.34115099    5.0812     -2.66939    0 -0.00124612 -0.00549736 -0.680474   0.732751       uwb: 0.0            1092.98  488.356  
imu_odom_:  1691062460.334824812  0.667982   -0.347159  10.0533    -0.0372843  -0.0511327  0.0458064   0.18       0             pose: 0.0           5.0812     -2.66939    0 -0.00124612 -0.00549736 -0.680474   0.732751       uwb: 0.0            1092.98  488.356  
imu_odom_:  1691062460.358880858  0.445322   -0.23942   10.0796    -0.0585895  -0.0266316  0.0543285   0.2        0             pose: 0.0           5.0812     -2.66939    0 -0.00124612 -0.00549736 -0.680474   0.732751       uwb: 0.99862613     1089.85  487.822  
imu_odom_:  1691062460.376879074  0.610521   0.0622492  10.0724    -0.0394148  0.0234358   0.0468716   0.2        0             pose: 0.42771682    5.08194    -2.6749     0 -0.00567558 -0.005819   -0.680501   0.732703       uwb: 0.0            1089.85  487.822  
imu_odom_:  1691062460.393933562  0.275333   -0.282516  9.58399    -0.0553937  -0.02024    0.0447411   0.2        0             pose: 0.0           5.08194    -2.6749     0 -0.00567558 -0.005819   -0.680501   0.732703       uwb: 0.50119120     1086.34  486.814  
imu_odom_:  1691062460.407762281  0.720655   0.0670376  10.2903    -0.04048    -0.02024    0.0394148   0.19       0             pose: 0.59108750    5.08386    -2.68922    0 -0.00282922 -0.00396387 -0.680308   0.73291        uwb: 0.0            1086.34  486.814  
imu_odom_:  1691062460.424828434  0.830788   -0.138864  9.92397    -0.0511327  -0.0117179  0.0649811   0.19       0             pose: 0.0           5.08386    -2.68922    0 -0.00282922 -0.00396387 -0.680308   0.73291        uwb: 0.0            1086.34  486.814  
imu_odom_:  1691062460.437740546  0.562637   -0.581791  9.50498    -0.0894822  -0.00852212 0.0596548   0.19       0             pose: 0.0           5.08386    -2.68922    0 -0.00282922 -0.00396387 -0.680308   0.73291        uwb: 0.50043002     1088.63  486.941  
imu_odom_:  1691062460.452845749  0.658405   -0.272939  10.1466    -0.0585895  0.0149137   0.0351537   0.19       0             pose: 0.36952409    5.08386    -2.68922    0 -0.00419427 -0.00649374 -0.680092   0.733086       uwb: 0.0            1088.63  486.941  
imu_odom_:  1691062460.478729467  0.890643   -0.316035  9.56484    -0.0660464  -0.0511327  0.0617853   0.24       0             pose: 0.0           5.08386    -2.68922    0 -0.00419427 -0.00649374 -0.680092   0.733086       uwb: 0.0            1088.63  486.941  
imu_odom_:  1691062460.491735486  0.387861   -0.3304    10.4603    -0.0628506  -0.015979   0.0426106   0.24       0             pose: 0.29966017    5.08519    -2.69913    0 -0.00705273 -0.00671282 -0.67998    0.733166       uwb: 0.49966886     1088.7   486.525  
imu_odom_:  1691062460.507797833  0.383072   -0.035913  10.0293    -0.0490022  -0.00852212 0.04048     0.17       0             pose: 0.0           5.08519    -2.69913    0 -0.00705273 -0.00671282 -0.67998    0.733166       uwb: 0.0            1088.7   486.525  
imu_odom_:  1691062460.525787009  0.270545   -0.225055  9.65342    -0.0735032  -0.0223706  0.0649811   0.17       0             pose: 0.0           5.08519    -2.69913    0 -0.00705273 -0.00671282 -0.67998    0.733166       uwb: 0.0            1088.7   486.525  
imu_odom_:  1691062460.542814957  0.797269   0.134075   10.5201    -0.0639159  -0.0266316  0.0436758   0.17       0             pose: 0.38943398    5.08654    -2.70904    0 -0.00770376 -0.00666199 -0.679811   0.733317       uwb: 0.50019672     1083.78  485.675  
imu_odom_:  1691062460.556804076  0.253785   -0.148441  9.37809    -0.0692422  0.0127832   0.04048     0.18       0             pose: 0.33134624    5.08654    -2.70904    0 -0.00579857 -0.00604064 -0.679649   0.73349        uwb: 0.0            1083.78  485.675  
imu_odom_:  1691062460.573872561  0.328006   -0.280122  10.422     -0.0745685  -0.0479369  0.0543285   0.18       0             pose: 0.0           5.08654    -2.70904    0 -0.00579857 -0.00604064 -0.679649   0.73349        uwb: 0.0            1083.78  485.675  
imu_odom_:  1691062460.595753889  -0.0335188 -0.117316  10.2807    -0.0394148  0.0308927   0.036219    0.2        0             pose: 0.40942551    5.08789    -2.71894    0 -0.00422852 -0.00463582 -0.679554   0.733598       uwb: 0.0            1083.78  485.675  
imu_odom_:  1691062460.619733527  0.282516   -0.4956    9.33978    -0.0820254  -0.00106526 0.0383495   0.2        0             pose: 0.0           5.08789    -2.71894    0 -0.00422852 -0.00463582 -0.679554   0.733598       uwb: 0.0            1083.78  485.675  
imu_odom_:  1691062460.636734353  0.328006   -0.0909797 9.68694    -0.0340885  0.00213053  0.0447411   0.2        0             pose: 0.6878197     5.08789    -2.71894    0 -0.00355964 -0.00416522 -0.679566   0.733594       uwb: 0.99925606     1086.1   485.582  
imu_odom_:  1691062460.661877029  0.438139   -0.0933739 9.94791    -0.0607201  -0.0223706  0.0479369   0.19       0             pose: 0.0           5.08789    -2.71894    0 -0.00355964 -0.00416522 -0.679566   0.733594       uwb: 0.0            1086.1   485.582  
imu_odom_:  1691062460.686873595  0.160412   0.0263362  9.71567    -0.0490022  -0.00213053 0.0372843   0.21       0             pose: 0.81126271    5.09059    -2.73876    0 0.000470234 -0.00277118 -0.679494   0.733676       uwb: 0.50048835     1087.06  485.34   
imu_odom_:  1691062460.709787892  0.3304     -0.320823  9.42358    -0.0671117  0.0351537   0.0351537   0.19       0.02          pose: 0.0           5.09059    -2.73876    0 0.000470234 -0.00277118 -0.679494   0.733676       uwb: 0.0            1087.06  485.34   
imu_odom_:  1691062460.733871935  0.52433    -0.416591  9.63666    -0.0511327  0.0181095   0.0511327   0.19       0.02          pose: 0.32056451    5.09195    -2.74867    0 0.00274815  -0.00154618 -0.679531   0.73364        uwb: 0.0            1087.06  485.34   
imu_odom_:  1691062460.750818226  0.191536   -0.225055  10.3118    -0.0553937  -0.0383495  0.0490022   0.19       0.02          pose: 0.0           5.09195    -2.74867    0 0.00274815  -0.00154618 -0.679531   0.73364        uwb: 0.49845566     1086.65  485.055  
imu_odom_:  1691062460.776718276  0.617704   -0.035913  10.3046    -0.0479369  -0.0319579  0.0436758   0.25       0             pose: 0.47955776    5.09195    -2.74867    0 0.000472739 0.00121218  -0.679431   0.733738       uwb: 0.0            1086.65  485.055  
imu_odom_:  1691062460.801844911  0.778116   -0.129287  9.9096     -0.04048    -0.00532632 0.04048     0.23       0.02          pose: 0.34829020    5.0933     -2.75858    0 0.000518243 -0.0011454  -0.67936    0.733804       uwb: 0.50023172     1089.38  485.308  
imu_odom_:  1691062460.814717653  0.191536   -0.0694318 9.99579    -0.0308927  0.0372843   0.0319579   0.23       0.02          pose: 0.0           5.0933     -2.75858    0 0.000518243 -0.0011454  -0.67936    0.733804       uwb: 0.0            1089.38  485.308  
imu_odom_:  1691062460.831748809  0.411803   -0.220267  10.0149    -0.0532632  -0.00532632 0.0436758   0.23       0.02          pose: 0.0           5.0933     -2.75858    0 0.000518243 -0.0011454  -0.67936    0.733804       uwb: 0.0            1089.38  485.308  
imu_odom_:  1691062460.848707057  0.205901   -0.136469  9.84496    -0.056459   0.0138484   0.0436758   0.18       0             pose: 0.8080605     5.0933     -2.75858    0 0.000118329 -0.00186703 -0.679356   0.733807       uwb: 0.50069250     1090.39  484.84   
imu_odom_:  1691062460.865696510  0.715866   -0.263362  9.7875     -0.0713727  -0.0447411  0.0500674   0.18       0             pose: 0.0           5.0933     -2.75858    0 0.000118329 -0.00186703 -0.679356   0.733807       uwb: 0.0            1090.39  484.84   
imu_odom_:  1691062460.883701434  0.608127   -0.232238  10.1203    -0.0777643  -0.0149137  0.0426106   0.18       -0.02         pose: 0.53906867    5.09466    -2.76848    0 0.000651531 -0.000824718-0.679351   0.733813       uwb: 0.0            1090.39  484.84   
imu_odom_:  1691062460.899692331  0.21069    -0.263362  9.69652    -0.0628506  0.0596548   0.0298274   0.18       0             pose: 0.0           5.09466    -2.76848    0 0.000651531 -0.000824718-0.679351   0.733813       uwb: 0.50038919     1090.45  484.516  
imu_odom_:  1691062460.916694324  0.0694318  -0.227449  10.1275    -0.0553937  -0.0213053  0.0511327   0.18       0             pose: 0.0           5.09466    -2.76848    0 0.000651531 -0.000824718-0.679351   0.733813       uwb: 0.0            1090.45  484.516  
imu_odom_:  1691062460.932692803  0.840365   -0.25618   9.77313    -0.0415453  -0.0415453  0.0394148   0.18       0             pose: 0.68999821    5.08611    -2.77975    0 -0.000227338-2.67991e-05-0.679272   0.733886       uwb: 0.0            1090.45  484.516  
imu_odom_:  1691062460.949728917  0.220267   -0.268151  9.61511    -0.0287621  0.0479369   0.0351537   0.26       0             pose: 0.0           5.08611    -2.77975    0 -0.000227338-2.67991e-05-0.679272   0.733886       uwb: 0.49950263     1091.41  484.351  
imu_odom_:  1691062460.965754518  0.746991   -0.342371  9.9527     -0.0468716  0.00639159  0.0532632   0.26       0             pose: 0.0           5.08611    -2.77975    0 -0.000227338-2.67991e-05-0.679272   0.733886       uwb: 0.0            1091.41  484.351  
imu_odom_:  1691062460.982688852  0.270545   -0.0933739 9.8665     -0.0639159  0.0287621   0.0447411   0.26       0             pose: 0.32027288    5.08747    -2.78966    0 -0.000454082-9.12985e-05-0.679247   0.73391        uwb: 0.0            1091.41  484.351  
imu_odom_:  1691062461.7693586    0.0933739  -0.134075  10.137     -0.0660464  0.0266316   0.056459    0.2        -0.02         pose: 0.42955995    5.08883    -2.79956    0 0.000839506 0.000488845 -0.67915    0.733999       uwb: 0.50113870     1094.6   484.666  
imu_odom_:  1691062461.23760898   0.399832   -0.198719  9.81862    -0.0681769  0.015979    0.056459    0.2        -0.02         pose: 0.8087022     5.08883    -2.79956    0 0.00157296  0.00104824  -0.679099   0.734044       uwb: 0.0            1094.6   484.666  
imu_odom_:  1691062461.40750066   0.500388   -0.177171  9.81623    -0.0447411  0.0575243   0.0340885   0.18       0             pose: 0.0           5.08883    -2.79956    0 0.00157296  0.00104824  -0.679099   0.734044       uwb: 0.49741466     1095.14  484.287  
imu_odom_:  1691062461.57805436   0.124498   -0.184354  9.6199     -0.0905475  0.0255663   0.0681769   0.23       0             pose: 0.49974192    5.0902     -2.80947    0 0.0015567   0.00011199  -0.678927   0.734204       uwb: 0.0            1095.14  484.287  
imu_odom_:  1691062461.75734834   0.76375    -0.263362  10.501     -0.0788296  -0.0330232  0.036219    0.18       0             pose: 0.0           5.0902     -2.80947    0 0.0015567   0.00011199  -0.678927   0.734204       uwb: 0.0            1095.14  484.287  
imu_odom_:  1691062461.91817894   0.438139   -0.0694318 9.35415    -0.056459   -0.015979   0.0340885   0.18       0             pose: 0.0           5.0902     -2.80947    0 0.0015567   0.00011199  -0.678927   0.734204       uwb: 0.50045066     1097.06  483.999  
imu_odom_:  1691062461.116722023  -0.0933739 -0.31364   9.76355    -0.0617853  0.0234358   0.0340885   0.18       0.02          pose: 0.25001244    5.09157    -2.81937    0 0.00194685  0.0011945   -0.678757   0.734359       uwb: 0.0            1097.06  483.999  
imu_odom_:  1691062461.132840662  0.0215478  -0.0143652 10.2208    -0.0468716  -0.04048    0.0426106   0.18       0.02          pose: 0.0           5.09157    -2.81937    0 0.00194685  0.0011945   -0.678757   0.734359       uwb: 0.0            1097.06  483.999  
imu_odom_:  1691062461.156829350  0.225055   -0.114922  9.71088    -0.0500674  -0.0383495  0.0458064   0.23       0             pose: 0.67089352    5.09294    -2.82928    0 0.00431674  0.00179167  -0.678829   0.734281       uwb: 0.50167551     1098.05  483.685  
imu_odom_:  1691062461.173681159  0.64404    -0.222661  9.75877    -0.0479369  -0.0181095  0.0415453   0.23       0             pose: 0.6892782     5.09294    -2.82928    0 0.00491803  0.00186512  -0.678811   0.734294       uwb: 0.0            1098.05  483.685  
imu_odom_:  1691062461.189837419  0.3304     -0.179565  10.3717    -0.0703074  0.0255663   0.0426106   0.23       0             pose: 0.0           5.09294    -2.82928    0 0.00491803  0.00186512  -0.678811   0.734294       uwb: 0.50074521     1097.65  483.345  
imu_odom_:  1691062461.206838836  0.323217   -0.339977  9.68455    -0.0575243  -0.0415453  0.0447411   0.18       -0.02         pose: 0.40973190    5.09432    -2.83919    0 0.00438291  0.00129576  -0.678753   0.734352       uwb: 0.0            1097.65  483.345  
imu_odom_:  1691062461.222671674  0.560243   -0.0837971 10.0245    -0.0287621  0.0340885   0.0340885   0.18       -0.02         pose: 0.0           5.09432    -2.83919    0 0.00438291  0.00129576  -0.678753   0.734352       uwb: 0.0            1097.65  483.345  
imu_odom_:  1691062461.239706337  0.325611   -0.299275  9.5816     -0.0532632  -0.0181095  0.0543285   0.24       0             pose: 0.0           5.09432    -2.83919    0 0.00438291  0.00129576  -0.678753   0.734352       uwb: 0.49869792     1099.03  483.442  
imu_odom_:  1691062461.255669535  0.339977   -0.292093  9.91918    -0.0447411  -0.0340885  0.0255663   0.24       0             pose: 0.49964574    5.09569    -2.84909    0 0.00177354  0.00194713  -0.678711   0.734401       uwb: 0.0            1099.03  483.442  
imu_odom_:  1691062461.280713649  0.0814029  -0.0454898 10.1442    -0.0553937  0           0.0490022   0.24       -0.02         pose: 0.0           5.09569    -2.84909    0 0.00177354  0.00194713  -0.678711   0.734401       uwb: 0.0            1099.03  483.442  
imu_odom_:  1691062461.297664030  0.59855    -0.177171  9.85453    -0.0596548  -0.0149137  0.0447411   0.17       0.02          pose: 0.33016235    5.09569    -2.84909    0 0.000965264 0.00379043  -0.678717   0.73439        uwb: 0.49969824     1099.54  483.252  
imu_odom_:  1691062461.314667488  0.23942    0.107739   10.0317    -0.0436758  -0.0255663  0.0340885   0.17       0.05          pose: 0.0           5.09569    -2.84909    0 0.000965264 0.00379043  -0.678717   0.73439        uwb: 0.0            1099.54  483.252  
imu_odom_:  1691062461.330685514  0.73502    -0.380678  9.63427    -0.072438   -0.036219   0.0585895   0.17       0.05          pose: 0.42016367    5.09707    -2.859      0 0.00238584  0.00214089  -0.678637   0.734467       uwb: 0.0            1099.54  483.252  
imu_odom_:  1691062461.347665933  0.818817   -0.189142  10.0963    -0.0575243  -0.00213053 0.0234358   0.26       0             pose: 0.0           5.09707    -2.859      0 0.00238584  0.00214089  -0.678637   0.734467       uwb: 0.50044190     1102.79  483.386  
imu_odom_:  1691062461.363698540  0.294487   -0.146046  9.45949    -0.0436758  -0.00532632 0.0234358   0.26       0             pose: 0.0           5.09707    -2.859      0 0.00238584  0.00214089  -0.678637   0.734467       uwb: 0.0            1102.79  483.386  
imu_odom_:  1691062461.380786573  0.438139   0.0047884  10.4698    -0.0458064  -0.0415453  0.04048     0.26       0             pose: 0.31958768    5.09844    -2.8689     0 0.000953096 0.000438766 -0.678586   0.73452        uwb: 0.0            1102.79  483.386  
imu_odom_:  1691062461.404648983  0.40462    -0.0861913 9.71567    -0.0191748  0.0138484   0.0245011   0.18       0             pose: 0.43123995    5.09844    -2.8689     0 0.00256151  -0.00166051 -0.67873    0.734381       uwb: 0.49833339     1105.08  483.631  
imu_odom_:  1691062461.430640034  0.775721   -0.550666  9.72525    -0.0639159  -0.0266316  0.0511327   0.18       0             pose: 0.7878798     5.09844    -2.8689     0 0.00320077  -0.00232597 -0.678771   0.734339       uwb: 0.0            1105.08  483.631  
imu_odom_:  1691062461.443636143  0.742203   -0.146046  9.89763    -0.0383495  0.0415453   0.0426106   0.19       0             pose: 0.0           5.09844    -2.8689     0 0.00320077  -0.00232597 -0.678771   0.734339       uwb: 0.49946784     1104.16  483.563  
imu_odom_:  1691062461.460631727  0.378284   -0.100556  9.9527     -0.0468716  0.0223706   0.0543285   0.19       0             pose: 0.47988458    5.09982    -2.87881    0 0.00133895  -0.00407346 -0.678733   0.734373       uwb: 0.0            1104.16  483.563  
imu_odom_:  1691062461.476630505  0.459687   -0.282516  9.68455    -0.0490022  -0.02024    0.0447411   0.19       0             pose: 0.0           5.09982    -2.87881    0 0.00133895  -0.00407346 -0.678733   0.734373       uwb: 0.0            1104.16  483.563  
imu_odom_:  1691062461.493631922  0.557849   -0.155623  9.76116    -0.0500674  0.0415453   0.0479369   0.18       0             pose: 0.30985000    5.10119    -2.88871    0 0.0021779   -0.00352439 -0.678622   0.734476       uwb: 0.50075104     1105.6   483.401  
imu_odom_:  1691062461.509637698  0.464475   -0.102951  9.96946    -0.0649811  -0.00213053 0.0649811   0.18       0             pose: 0.0           5.10119    -2.88871    0 0.0021779   -0.00352439 -0.678622   0.734476       uwb: 0.0            1105.6   483.401  
imu_odom_:  1691062461.526717857  0.416591   -0.248997  9.79468    -0.0585895  0.00639159  0.0458064   0.24       0             pose: 0.41998869    5.10257    -2.89862    0 0.00142961  -0.00533787 -0.678395   0.734676       uwb: 0.0            1105.6   483.401  
imu_odom_:  1691062461.542763588  0.263362   -0.011971  9.8258     -0.0436758  -0.00639159 0.0468716   0.24       0             pose: 0.8017908     5.10257    -2.89862    0 0.00107228  -0.00458931 -0.678379   0.734697       uwb: 0.50023775     1105.69  482.964  
imu_odom_:  1691062461.568650525  0.481235   -0.339977  10.0844    -0.0713727  -0.0138484  0.0490022   0.23       0.02          pose: 0.0           5.10257    -2.89862    0 0.00107228  -0.00458931 -0.678379   0.734697       uwb: 0.0            1105.69  482.964  
imu_odom_:  1691062461.593729343  0.356736   -0.0383072 9.95748    -0.0479369  -0.0181095  0.0458064   0.18       0.02          pose: 0.25107982    5.10257    -2.89862    0 0.00230926  -0.00355936 -0.67832    0.734754       uwb: 0.50029317     1112.11  483.669  
imu_odom_:  1691062461.619633487  0.426168   -0.162806  9.50737    -0.0681769  -0.0266316  0.0500674   0.23       0             pose: 0.50965755    5.10396    -2.90852    0 0.00216295  -0.00310051 -0.678175   0.734891       uwb: 0.0            1112.11  483.669  
imu_odom_:  1691062461.642642574  0.433351   -0.162806  9.48822    -0.0745685  0.015979    0.0447411   0.23       0             pose: 0.0           5.10396    -2.90852    0 0.00216295  -0.00310051 -0.678175   0.734891       uwb: 0.50219463     1108.97  482.902  
imu_odom_:  1691062461.660812863  0.636858   -0.203507  10.3837    -0.0649811  -0.0660464  0.0511327   0.18       0.02          pose: 0.33035191    5.10535    -2.91842    0 3.847e-05   -0.00255865 -0.678062   0.735          uwb: 0.0            1108.97  482.902  
imu_odom_:  1691062461.676757105  0.632069   -0.347159  9.7444     -0.052198   0.0596548   0.0234358   0.18       0.02          pose: 0.0           5.10535    -2.91842    0 3.847e-05   -0.00255865 -0.678062   0.735          uwb: 0.0            1108.97  482.902  
imu_odom_:  1691062461.693635452  0.160412   -0.248997  9.8689     -0.0639159  -0.0383495  0.0468716   0.25       0.02          pose: 0.49992571    5.09684    -2.92972    0 -0.00171031 -0.00394233 -0.678039   0.735013       uwb: 0.49972448     1108.13  482.436  
imu_odom_:  1691062461.709758174  0.543484   -0.280122  10.0317    -0.0713727  -0.036219   0.0511327   0.25       0.02          pose: 0.8064569     5.09684    -2.92972    0 -0.00140347 -0.00333342 -0.67802    0.735034       uwb: 0.0            1108.13  482.436  
imu_odom_:  1691062461.726753467  0.596156   -0.265756  9.81623    -0.0511327  -0.0298274  0.0415453   0.25       0.02          pose: 0.0           5.09684    -2.92972    0 -0.00140347 -0.00333342 -0.67802    0.735034       uwb: 0.0            1108.13  482.436  
imu_odom_:  1691062461.742756327  0.395043   -0.416591  10.1227    -0.0660464  -0.0287621  0.0543285   0.18       0             pose: 0.41931793    5.09823    -2.93962    0 -0.0046087  -0.00375059 -0.677905   0.735126       uwb: 0.49646109     1111.32  482.969  
imu_odom_:  1691062461.759641090  0.452504   -0.184354  9.60075    -0.0426106  -0.00213053 0.0340885   0.23       0             pose: 0.0           5.09823    -2.93962    0 -0.0046087  -0.00375059 -0.677905   0.735126       uwb: 0.0            1111.32  482.969  
imu_odom_:  1691062461.784762779  0.497994   -0.265756  9.93115    -0.0692422  0.015979    0.04048     0.23       0             pose: 0.24023101    5.09823    -2.93962    0 -0.00433218 -0.00242893 -0.677833   0.735199       uwb: 0.0            1111.32  482.969  
imu_odom_:  1691062461.801757197  -0.0143652 -0.251391  9.62708    -0.0394148  0.0138484   0.0351537   0.23       0             pose: 0.0           5.09823    -2.93962    0 -0.00433218 -0.00242893 -0.677833   0.735199       uwb: 0.50021735     1107.32  481.812  
imu_odom_:  1691062461.826805393  0.141258   -0.356736  9.70609    -0.0628506  0.036219    0.0511327   0.23       0             pose: 0.41124257    5.09963    -2.94952    0 -0.00505422 -0.000745122-0.677848   0.735185       uwb: 0.0            1107.32  481.812  
imu_odom_:  1691062461.851671901  0.172383   -0.107739  9.8665     -0.0319579  -0.00532632 0.0287621   0.21       0             pose: 0.34904568    5.10057    -2.95614    0 -0.0027777  0.00260819  -0.677754   0.735279       uwb: 0.50147429     1109.61  482.077  
imu_odom_:  1691062461.866597464  0.536301   0.0861913  10.3022    -0.0575243  -0.00532632 0.0490022   0.21       0             pose: 0.7947332     5.10103    -2.95942    0 -0.001927   0.00266779  -0.677785   0.735253       uwb: 0.0            1109.61  482.077  
imu_odom_:  1691062461.890872829  0.548272   -0.328006  9.84975    -0.0436758  -0.00958738 0.04048     0.18       0             pose: 0.0           5.10103    -2.95942    0 -0.001927   0.00266779  -0.677785   0.735253       uwb: 0.49836254     1112.38  482.429  
imu_odom_:  1691062461.915586520  0.634463   0.0766145  9.89284    -0.0340885  -0.0117179  0.0383495   0.18       0             pose: 0.40035877    5.10243    -2.96932    0 -0.0003767970.00111439  -0.677797   0.735248       uwb: 0.0            1112.38  482.429  
imu_odom_:  1691062461.938714012  0.23942    -0.189142  9.62708    -0.0575243  0.0319579   0.0415453   0.18       0.02          pose: 0.0           5.10243    -2.96932    0 -0.0003767970.00111439  -0.677797   0.735248       uwb: 0.50006861     1114.27  482.435  
imu_odom_:  1691062461.962702992  0.311246   -0.174777  10.2999    -0.0745685  0.00532632  0.0532632   0.18       0.02          pose: 0.47937131    5.10243    -2.96932    0 -0.000547706-0.00149997 -0.677802   0.735243       uwb: 0.0            1114.27  482.435  
imu_odom_:  1691062461.987740981  0.3304     -0.023942  10.252     -0.0479369  0.0127832   0.0308927   0.2        0             pose: 0.39977259    5.10383    -2.97923    0 0.00278147  0.00127917  -0.677669   0.735361       uwb: 0.49982947     1115.26  482.269  
imu_odom_:  1691062462.1587204    0.42138    -0.397437  9.74201    -0.0436758  0.0234358   0.0468716   0.2        0             pose: 0.0           5.10383    -2.97923    0 0.00278147  0.00127917  -0.677669   0.735361       uwb: 0.0            1115.26  482.269  
imu_odom_:  1691062462.25614106   0.758962   -0.318429  9.37569    -0.0479369  0.0298274   0.0383495   0.17       -0.02         pose: 0.0           5.10383    -2.97923    0 0.00278147  0.00127917  -0.677669   0.735361       uwb: 0.0            1115.26  482.269  
imu_odom_:  1691062462.50617401   0.725443   -0.136469  9.62469    -0.0490022  0.00532632  0.0585895   0.17       -0.02         pose: 0.38884212    5.10523    -2.98913    0 0.00392052  0.000523435 -0.677706   0.735322       uwb: 0.50375502     1115.31  482.039  
imu_odom_:  1691062462.64629862   0.457293   -0.500388  9.67497    -0.0713727  0.0276969   0.056459    0.19       -0.02         pose: 0.0           5.10523    -2.98913    0 0.00392052  0.000523435 -0.677706   0.735322       uwb: 0.0            1115.31  482.039  
imu_odom_:  1691062462.88634308   0.462081   -0.37589   10.0126    -0.056459   -0.0276969  0.0500674   0.19       -0.02         pose: 0.55999390    5.10664    -2.99903    0 0.000294648 -0.00180333 -0.677496   0.735524       uwb: 0.49690166     1113.05  481.494  
imu_odom_:  1691062462.106585878  0.395043   -0.320823  9.76595    -0.0585895  -0.0117179  0.0628506   0.23       -0.02         pose: 0.0           5.10664    -2.99903    0 0.000294648 -0.00180333 -0.677496   0.735524       uwb: 0.0            1113.05  481.494  
imu_odom_:  1691062462.130564661  0.469264   0.0215478  9.8665     -0.0490022  0.0191748   0.0415453   0.23       -0.02         pose: 0.39012256    5.10805    -3.00893    0 -0.00275936 0.000517392 -0.677286   0.735715       uwb: 0.0            1113.05  481.494  
imu_odom_:  1691062462.155631532  0.349553   -0.363919  9.32781    -0.0862864  0.00852212  0.0660464   0.23       0             pose: 0.33965811    5.10899    -3.01552    0 -0.00133826 -0.000259788-0.677186   0.73581        uwb: 0.50074833     1111.79  480.763  
imu_odom_:  1691062462.178564513  0.25618    -0.253785  9.70849    -0.0585895  0.00213053  0.0351537   0.23       0             pose: 0.8013536     5.10946    -3.01883    0 -0.00165086 0.000622491 -0.677107   0.735882       uwb: 0.0            1111.79  480.763  
imu_odom_:  1691062462.203563434  -0.19393   -0.150835  10.0437    -0.0543285  0.052198    0.0415453   0.19       0             pose: 0.39986316    5.11037    -3.02515    0 -0.0004610510.00395982  -0.676967   0.736003       uwb: 0.0            1111.79  480.763  
imu_odom_:  1691062462.229576077  0.488417   -0.201113  10.1634    -0.0543285  0.0372843   0.0415453   0.22       0             pose: 0.0           5.11037    -3.02515    0 -0.0004610510.00395982  -0.676967   0.736003       uwb: 0.0            1111.79  480.763  
imu_odom_:  1691062462.243623242  0.136469   -0.385466  9.46667    -0.0639159  0.0479369   0.04048     0.22       0             pose: 0.33086533    5.11088    -3.02873    0 0.00185857  0.005281    -0.676934   0.736023       uwb: 0.99817786     1112.71  480.868  
imu_odom_:  1691062462.267613399  0.0646434  -0.191536  10.0461    -0.0436758  -0.00532632 0.0436758   0.22       0             pose: 0.0           5.11088    -3.02873    0 0.00185857  0.005281    -0.676934   0.736023       uwb: 0.0            1112.71  480.868  
imu_odom_:  1691062462.284540456  0.821211   -0.155623  9.72764    -0.0479369  0.0394148   0.036219    0.18       0             pose: 0.0           5.11088    -3.02873    0 0.00185857  0.005281    -0.676934   0.736023       uwb: 0.0            1112.71  480.868  
imu_odom_:  1691062462.308551027  0.694318   -0.0646434 9.34217    -0.0213053  0.0127832   0.0266316   0.18       0             pose: 0.39109662    5.11231    -3.03862    0 0.00237599  0.00595552  -0.676903   0.736045       uwb: 0.50003674     1116     481.04   
imu_odom_:  1691062462.334544713  0.565032   -0.222661  9.89045    -0.0500674  -0.00106526 0.0500674   0.23       0             pose: 0.57790319    5.11373    -3.04852    0 0.0029088   0.00314501  -0.677017   0.735955       uwb: 0.0            1116     481.04   
imu_odom_:  1691062462.347602946  0.0790087  -0.311246  9.73722    -0.0394148  0.0351537   0.0319579   0.23       0             pose: 0.0           5.11373    -3.04852    0 0.0029088   0.00314501  -0.677017   0.735955       uwb: 0.50014173     1117.42  481.094  
imu_odom_:  1691062462.362540471  0.184354   -0.126893  10.0963    -0.04048    0.0617853   0.036219    0.17       0             pose: 0.0           5.11373    -3.04852    0 0.0029088   0.00314501  -0.677017   0.735955       uwb: 0.0            1117.42  481.094  
imu_odom_:  1691062462.379521481  0.672771   -0.129287  9.81623    -0.056459   -0.02024    0.0490022   0.25       0             pose: 0.39051919    5.1144     -3.05316    0 0.00195225  0.00258582  -0.676957   0.736015       uwb: 0.0            1117.42  481.094  
imu_odom_:  1691062462.404688092  0.859518   -0.141258  10.1035    -0.0543285  -0.0383495  0.0532632   0.18       0.02          pose: 0.0           5.1144     -3.05316    0 0.00195225  0.00258582  -0.676957   0.736015       uwb: 0.50122369     1119.38  480.889  
imu_odom_:  1691062462.431540351  0.37589    -0.306458  10.1921    -0.052198   0.00745685  0.0245011   0.23       0             pose: 0.31918535    5.11515    -3.05842    0 0.0028275   0.00174003  -0.676913   0.736056       uwb: 0.0            1119.38  480.889  
imu_odom_:  1691062462.455581543  0.373495   -0.390255  9.88087    -0.0543285  -0.0319579  0.0351537   0.23       0             pose: 0.33144276    5.11658    -3.06832    0 0.00061301  5.84613e-05 -0.676832   0.736137       uwb: 0.50093498     1120.35  480.823  
imu_odom_:  1691062462.481528568  0.624887   -0.25618   9.62948    -0.0245011  -0.00639159 0.0276969   0.21       0             pose: 0.42915786    5.11753    -3.0749     0 -0.00227022 0.00314206  -0.676973   0.735998       uwb: 0.0            1120.35  480.823  
imu_odom_:  1691062462.497646339  0.639252   -0.162806  10.4818    -0.0426106  -0.015979   0.0436758   0.21       0             pose: 0.8012662     5.118      -3.07822    0 -0.00264715 0.00239728  -0.677011   0.735964       uwb: 0.49694250     1123.13  481.164  
imu_odom_:  1691062462.514692967  0.31364    0.00718261 9.78989    -0.0426106  -0.00532632 0.052198    0.21       0             pose: 0.0           5.118      -3.07822    0 -0.00264715 0.00239728  -0.677011   0.735964       uwb: 0.0            1123.13  481.164  
imu_odom_:  1691062462.530658796  0.0550666  -0.265756  9.66779    -0.04048    -0.0127832  0.052198    0.18       0             pose: 0.42053130    5.10953    -3.08954    0 -0.00301049 -0.0011938  -0.677038   0.73594        uwb: 0.0            1123.13  481.164  
imu_odom_:  1691062462.555532314  0.289698   -0.320823  9.61511    -0.0500674  -0.0479369  0.0458064   0.18       0             pose: 0.0           5.10953    -3.08954    0 -0.00301049 -0.0011938  -0.677038   0.73594        uwb: 0.0            1123.13  481.164  
imu_odom_:  1691062462.580526860  0.816423   -0.131681  10.0413    -0.0415453  -0.0351537  0.0596548   0.25       -0.02         pose: 0.32893179    5.10953    -3.08954    0 -0.00109697 0.000361588 -0.676907   0.736068       uwb: 0.0            1123.13  481.164  
imu_odom_:  1691062462.597514578  0.4956     -0.332794  10.0509    -0.0894822  0.0117179   0.0628506   0.25       -0.02         pose: 0.0           5.10953    -3.08954    0 -0.00109697 0.000361588 -0.676907   0.736068       uwb: 0.100037969    1121.43  480.279  
imu_odom_:  1691062462.610675757  0.136469   -0.153229  9.72046    -0.0628506  0.00958738  0.0372843   0.18       0.02          pose: 0.0           5.10953    -3.08954    0 -0.00109697 0.000361588 -0.676907   0.736068       uwb: 0.0            1121.43  480.279  
imu_odom_:  1691062462.627613313  0.988805   -0.21069   10.0173    -0.0585895  -0.0543285  0.0639159   0.18       0.02          pose: 0.49983259    5.11095    -3.09943    0 -0.00318724 -0.00053258 -0.676612   0.736333       uwb: 0.0            1121.43  480.279  
imu_odom_:  1691062462.643513817  0.608127   -0.287304  10.0102    -0.0681769  -0.015979   0.0660464   0.18       0.02          pose: 0.0           5.11095    -3.09943    0 -0.00318724 -0.00053258 -0.676612   0.736333       uwb: 0.50051794     1123.8   480.357  
imu_odom_:  1691062462.660649976  0.679953   -0.124498  9.65821    -0.0490022  0.0117179   0.0298274   0.18       0             pose: 0.46062233    5.11238    -3.10933    0 -0.00486709 -0.00148616 -0.676322   0.736588       uwb: 0.0            1123.8   480.357  
imu_odom_:  1691062462.685667270  0.462081   -0.402226  9.50737    -0.0905475  -0.0138484  0.0703074   0.18       0             pose: 0.0           5.11238    -3.10933    0 -0.00486709 -0.00148616 -0.676322   0.736588       uwb: 0.0            1123.8   480.357  
imu_odom_:  1691062462.711710242  0.37589    -0.45011   9.70609    -0.0628506  0.00958738  0.0415453   0.22       0.02          pose: 0.51081264    5.11382    -3.11923    0 -0.00710655 -0.00119449 -0.676003   0.736864       uwb: 0.49950013     1123.91  479.923  
imu_odom_:  1691062462.734619309  0.584185   -0.301669  9.8665     -0.0830906  0           0.052198    0.17       0             pose: 0.0           5.11382    -3.11923    0 -0.00710655 -0.00119449 -0.676003   0.736864       uwb: 0.0            1123.91  479.923  
imu_odom_:  1691062462.758577094  0.423774   -0.445322  9.43555    -0.0500674  0.0639159   0.0223706   0.17       0             pose: 0.32982710    5.11527    -3.12912    0 -0.00762668 0.0010342   -0.675941   0.736916       uwb: 0.49987051     1126.79  479.918  
imu_odom_:  1691062462.784549491  0.627281   -0.37589   9.78031    -0.0809601  -0.0245011  0.0447411   0.18       -0.02         pose: 0.0           5.11527    -3.12912    0 -0.00762668 0.0010342   -0.675941   0.736916       uwb: 0.0            1126.79  479.918  
imu_odom_:  1691062462.808669425  0.476446   -0.392649  9.90242    -0.0511327  -0.0181095  0.0458064   0.18       0.02          pose: 0.65899511    5.11627    -3.13595    0 -0.010525   0.000874092 -0.675963   0.73686        uwb: 0.50114495     1132.89  480.594  
imu_odom_:  1691062462.834493089  0.711078   -0.220267  9.91678    -0.0671117  -0.00106526 0.0458064   0.18       0.02          pose: 0.0           5.11627    -3.13595    0 -0.010525   0.000874092 -0.675963   0.73686        uwb: 0.0            1132.89  480.594  
imu_odom_:  1691062462.847490661  0.816423   -0.409408  9.77553    -0.0447411  0.02024     0.0319579   0.18       0             pose: 0.8033076     5.11672    -3.13902    0 -0.010183   0.00153737  -0.675941   0.736884       uwb: 0.50084457     1132.17  479.611  
imu_odom_:  1691062462.871549351  0.555455   -0.3304    9.99579    -0.0703074  -0.0351537  0.0415453   0.18       0             pose: 0.0           5.11672    -3.13902    0 -0.010183   0.00153737  -0.675941   0.736884       uwb: 0.0            1132.17  479.611  
imu_odom_:  1691062462.897491127  0.663194   -0.105345  10.422     -0.0394148  -0.036219   0.0458064   0.23       0.02          pose: 0.47930735    5.11817    -3.14891    0 -0.0102246  8.6888e-05  -0.675872   0.736948       uwb: 0.49800405     1136.35  480.253  
imu_odom_:  1691062462.912479689  0.548272   -0.234632  9.38766    -0.0745685  -0.00426106 0.0553937   0.23       0.02          pose: 0.0           5.11817    -3.14891    0 -0.0102246  8.6888e-05  -0.675872   0.736948       uwb: 0.0            1136.35  480.253  
imu_odom_:  1691062462.929477030  0.31364    -0.270545  9.96227    -0.0479369  0.00532632  0.0415453   0.23       0.02          pose: 0.0           5.11817    -3.14891    0 -0.0102246  8.6888e-05  -0.675872   0.736948       uwb: 0.0            1136.35  480.253  
imu_odom_:  1691062462.944543459  0.416591   0.011971   10.1514    -0.0553937  -0.0298274  0.0490022   0.18       0             pose: 0.39046670    5.11962    -3.1588     0 -0.00924756 -0.00318349 -0.675881   0.736946       uwb: 0.49989967     1134.58  479.598  
imu_odom_:  1691062462.960543701  0.0215478  -0.292093  9.81383    -0.076699   0.0319579   0.0607201   0.18       0             pose: 0.0           5.11962    -3.1588     0 -0.00924756 -0.00318349 -0.675881   0.736946       uwb: 0.0            1134.58  479.598  
imu_odom_:  1691062462.975534013  0.47884    -0.198719  10.4698    -0.0383495  -0.00958738 0.0276969   0.18       0             pose: 0.0           5.11962    -3.1588     0 -0.00924756 -0.00318349 -0.675881   0.736946       uwb: 0.0            1134.58  479.598  
imu_odom_:  1691062462.992489067  0.548272   -0.0837971 9.83777    -0.0276969  -0.0149137  0.0383495   0.18       0             pose: 0.86974779    5.12108    -3.1687     0 -0.00313672 -0.00283251 -0.675636   0.737224       uwb: 0.49963429     1133.74  479.091  
imu_odom_:  1691062463.8469772    0.40462    -0.265756  10.2855    -0.0681769  -0.0255663  0.0596548   0.18       0             pose: 0.0           5.12108    -3.1687     0 -0.00313672 -0.00283251 -0.675636   0.737224       uwb: 0.0            1133.74  479.091  
imu_odom_:  1691062463.25542070   0.823605   -0.0622492 9.83538    -0.0458064  0.00852212  0.0394148   0.23       0             pose: 0.41935021    5.12254    -3.17859    0 -0.00188084 -0.00349639 -0.675569   0.737286       uwb: 0.0            1133.74  479.091  
imu_odom_:  1691062463.41467661   0.490811   -0.0383072 10.4315    -0.0777643  0.00426106  0.056459    0.23       0             pose: 0.0           5.12254    -3.17859    0 -0.00188084 -0.00349639 -0.675569   0.737286       uwb: 0.50010978     1132.87  478.722  
imu_odom_:  1691062463.57462952   0.114922   -0.502782  9.56244    -0.0713727  -0.00426106 0.0372843   0.23       0             pose: 0.0           5.12254    -3.17859    0 -0.00188084 -0.00349639 -0.675569   0.737286       uwb: 0.0            1132.87  478.722  
imu_odom_:  1691062463.82461592   0.380678   -0.447716  9.55526    -0.0490022  0.0340885   0.0415453   0.18       0.02          pose: 0.8069242     5.12254    -3.17859    0 -0.00211204 -0.0042361  -0.675567   0.737283       uwb: 0.0            1132.87  478.722  
imu_odom_:  1691062463.99460398   0.715866   -0.500388  10.2568    -0.0500674  -0.0532632  0.0436758   0.21       0.02          pose: 0.0           5.12254    -3.17859    0 -0.00211204 -0.0042361  -0.675567   0.737283       uwb: 0.49990863     1132.51  478.219  
imu_odom_:  1691062463.115454815  1.13246    -0.311246  9.97664    -0.0394148  0           0.0266316   0.21       0.02          pose: 0.74010776    5.12546    -3.19838    0 -0.00293228 -0.00175102 -0.675455   0.737394       uwb: 0.0            1132.51  478.219  
imu_odom_:  1691062463.132460329  1.19231    -0.294487  10.0892    -0.0607201  -0.04048    0.0415453   0.21       0.02          pose: 0.0           5.12546    -3.19838    0 -0.00293228 -0.00175102 -0.675455   0.737394       uwb: 0.0            1132.51  478.219  
imu_odom_:  1691062463.148515114  1.92494    -0.565032  9.75877    -0.0479369  -0.0511327  -0.0809601  0.21       -0.23         pose: 0.0           5.12546    -3.19838    0 -0.00293228 -0.00175102 -0.675455   0.737394       uwb: 0.50040150     1133.97  478.204  
imu_odom_:  1691062463.165456468  1.66876    0.311246   9.95988    -0.056459   0.0553937   -0.218379   0.21       -0.23         pose: 0.31971627    5.12546    -3.19838    0 -0.00564445 -0.00363882 -0.675502   0.737328       uwb: 0.0            1133.97  478.204  
imu_odom_:  1691062463.181448843  1.18513    0.287304   10.1107    -0.0777643  0.00745685  -0.256729   0.12       -0.35         pose: 0.42935051    5.12685    -3.20823    0 -0.00812139 -0.00695196 -0.677801   0.735168       uwb: 0.0            1133.97  478.204  
imu_odom_:  1691062463.198449691  0.921768   0.00718261 9.78989    -0.0660464  -0.00319579 -0.367516   0.12       -0.35         pose: 0.0           5.12685    -3.20823    0 -0.00812139 -0.00695196 -0.677801   0.735168       uwb: 0.49962574     1136.37  478.339  
imu_odom_:  1691062463.214508267  0.948104   -0.155623  10.2161    -0.0436758  -0.036219   -0.438889   0.12       -0.35         pose: 0.0           5.12685    -3.20823    0 -0.00812139 -0.00695196 -0.677801   0.735168       uwb: 0.0            1136.37  478.339  
imu_odom_:  1691062463.231505324  1.09654    0.0646434  9.96467    -0.0745685  -0.0394148  -0.447411   0.13       -0.58         pose: 0.8061077     5.12692    -3.20827    0 -0.00814601 -0.00767201 -0.67868    0.734349       uwb: 0.0            1136.37  478.339  
imu_odom_:  1691062463.247448121  1.13964    -0.344765  10.0509    -0.0713727  -0.0181095  -0.416518   0.09       -0.5          pose: 0.0           5.12692    -3.20827    0 -0.00814601 -0.00767201 -0.67868    0.734349       uwb: 0.49986488     1142.43  479.352  
imu_odom_:  1691062463.264453635  1.04627    -0.399832  9.92397    -0.0628506  0.00213053  -0.451672   0.09       -0.5          pose: 0.65966323    5.12692    -3.20827    0 -0.0106968  -0.0137984  -0.689171   0.724389       uwb: 0.0            1142.43  479.352  
imu_odom_:  1691062463.280432887  0.864307   -0.0646434 10.0844    -0.0500674  -0.0245011  -0.468716   0.07       -0.53         pose: 0.0           5.12692    -3.20827    0 -0.0106968  -0.0137984  -0.689171   0.724389       uwb: 0.0            1142.43  479.352  
imu_odom_:  1691062463.297437526  0.739808   -0.143652  9.82102    -0.076699   0.0298274   -0.468716   0.07       -0.53         pose: 0.0           5.12692    -3.20827    0 -0.0106968  -0.0137984  -0.689171   0.724389       uwb: 0.49989114     1141.72  478.356  
imu_odom_:  1691062463.313465189  0.739808   -0.0909797 10.0868    -0.0660464  0.0223706   -0.504935   0.07       -0.53         pose: 0.32962601    5.1285     -3.21814    0 -0.0128722  -0.0152395  -0.69492    0.71881        uwb: 0.0            1141.72  478.356  
imu_odom_:  1691062463.330528155  0.778116   -0.138864  9.90721    -0.0649811  -0.00532632 -0.535828   0.09       -0.73         pose: 0.41018720    5.12844    -3.21811    0 -0.00920415 -0.0155871  -0.702653   0.711302       uwb: 0.0            1141.72  478.356  
imu_odom_:  1691062463.346490200  0.871489   -0.071826  9.98861    -0.056459   -0.0149137  -0.54435    0.09       -0.73         pose: 0.8007998     5.1285     -3.21814    0 -0.00991499 -0.0159418  -0.704276   0.709678       uwb: 0.50061438     1139.4   477.901  
imu_odom_:  1691062463.363512920  0.517148   -0.143652  9.77074    -0.0532632  -0.0234358  -0.547546   0.09       -0.73         pose: 0.0           5.1285     -3.21814    0 -0.00991499 -0.0159418  -0.704276   0.709678       uwb: 0.0            1139.4   477.901  
imu_odom_:  1691062463.379610284  0.782904   -0.153229  9.92397    -0.0660464  -0.0223706  -0.50387    0.05       -0.53         pose: 0.42039733    5.12327    -3.21895    0 -0.00988984 -0.0168959  -0.712922   0.70097        uwb: 0.0            1139.4   477.901  
imu_odom_:  1691062463.396590717  0.775721   -0.483629  9.85932    -0.0681769  -0.00426106 -0.453803   0.07       -0.64         pose: 0.0           5.12327    -3.21895    0 -0.00988984 -0.0168959  -0.712922   0.70097        uwb: 0.49951492     1138.58  477.317  
imu_odom_:  1691062463.412591550  0.490811   -0.270545  10.1418    -0.0681769  -0.0287621  -0.40267    0.07       -0.64         pose: 0.0           5.12327    -3.21895    0 -0.00988984 -0.0168959  -0.712922   0.70097        uwb: 0.0            1138.58  477.317  
imu_odom_:  1691062463.429449205  0.73502    -0.265756  10.0149    -0.0607201  -0.0340885  -0.356864   0.06       -0.53         pose: 0.23059852    5.11863    -3.21971    0 -0.0118201  -0.0155929  -0.71715    0.696644       uwb: 0.0            1138.58  477.317  
imu_odom_:  1691062463.445481826  0.653617   -0.126893  9.67018    -0.0681769  -0.00639159 -0.313188   0.06       -0.53         pose: 0.0           5.11863    -3.21971    0 -0.0118201  -0.0155929  -0.71715    0.696644       uwb: 0.50100226     1135.88  476.439  
imu_odom_:  1691062463.462533127  0.519542   -0.349553  9.88805    -0.0553937  -0.0213053  -0.28123    0.06       -0.53         pose: 0.34133515    5.12022    -3.22958    0 -0.01237    -0.0129108  -0.722435   0.691208       uwb: 0.0            1135.88  476.439  
imu_odom_:  1691062463.478420221  0.536301   -0.311246  9.8689     -0.0596548  -0.00745685 -0.26312    0.06       -0.47         pose: 0.32721711    5.12022    -3.22958    0 -0.011205   -0.0115121  -0.726479   0.687001       uwb: 0.0            1135.88  476.439  
imu_odom_:  1691062463.495416112  0.502782   -0.251391  9.84256    -0.0543285  -0.0138484  -0.231162   0.06       -0.47         pose: 0.0           5.12022    -3.22958    0 -0.011205   -0.0115121  -0.726479   0.687001       uwb: 0.49857295     1138.71  476.795  
imu_odom_:  1691062463.511473521  0.610521   -0.373495  9.73243    -0.0649811  -0.00745685 -0.197074   0.06       -0.47         pose: 0.0           5.12022    -3.22958    0 -0.011205   -0.0115121  -0.726479   0.687001       uwb: 0.0            1138.71  476.795  
imu_odom_:  1691062463.528559235  0.679953   -0.229843  10.058     -0.0490022  -0.00426106 -0.199204   0.03       -0.29         pose: 0.50050648    5.12022    -3.22958    0 -0.0100789  -0.00722931 -0.731367   0.681872       uwb: 0.0            1138.71  476.795  
imu_odom_:  1691062463.554550599  0.47884    -0.222661  9.83777    -0.0553937  0.00852212  -0.173638   0.03       -0.29         pose: 0.0           5.12022    -3.22958    0 -0.0100789  -0.00722931 -0.731367   0.681872       uwb: 0.49882083     1138.33  476.401  
imu_odom_:  1691062463.571552905  0.586579   -0.416591  9.96227    -0.0596548  -0.0106526  -0.164051   0.04       -0.23         pose: 0.34099394    5.12022    -3.22958    0 -0.00984871 -0.0077025  -0.734056   0.678973       uwb: 0.0            1138.33  476.401  
imu_odom_:  1691062463.589423116  0.500388   -0.232238  9.80186    -0.0639159  -0.0127832  -0.211988   0.03       -0.29         pose: 0.0           5.12022    -3.22958    0 -0.00984871 -0.0077025  -0.734056   0.678973       uwb: 0.50118016     1141.55  477.166  
imu_odom_:  1691062463.612566375  0.351948   0.105345   10.0197    -0.0479369  0.00426106  -0.313188   0.03       -0.29         pose: 0.42876433    5.12022    -3.22958    0 -0.00868976 -0.00483272 -0.737222   0.675577       uwb: 0.0            1141.55  477.166  
imu_odom_:  1691062463.637413365  0.287304   -0.155623  9.75877    -0.0628506  -0.0117179  -0.337689   0.03       -0.35         pose: 0.0           5.12022    -3.22958    0 -0.00868976 -0.00483272 -0.737222   0.675577       uwb: 0.50015943     1140.68  476.738  
imu_odom_:  1691062463.653401365  0.572214   -0.517148  9.92397    -0.0575243  -0.0223706  -0.356864   0.03       -0.35         pose: 0.40227806    5.12022    -3.22958    0 -0.00487786 -0.00470014 -0.741791   0.670597       uwb: 0.0            1140.68  476.738  
imu_odom_:  1691062463.669463733  0.409408   -0.227449  9.79947    -0.056459   0           -0.367516   0.03       -0.41         pose: 0.32719086    5.12106    -3.23506    0 -0.00489701 -0.00303933 -0.746019   0.6659         uwb: 0.0            1140.68  476.738  
imu_odom_:  1691062463.685450567  0.526724   -0.1652    9.9503     -0.052198   0.00426106  -0.378169   0.03       -0.41         pose: 0.7084100     5.12181    -3.23945    0 -0.00432699 -0.00259491 -0.746981   0.664826       uwb: 0.0            1140.68  476.738  
imu_odom_:  1691062463.701387823  0.608127   -0.155623  10.0485    -0.0585895  -0.0223706  -0.409062   0.03       -0.41         pose: 0.0           5.12181    -3.23945    0 -0.00432699 -0.00259491 -0.746981   0.664826       uwb: 0.49995238     1141.2   476.634  
imu_odom_:  1691062463.718510574  0.519542   -0.059855  9.98622    -0.0639159  -0.0255663  -0.433563   0.03       -0.61         pose: 0.40902358    5.12175    -3.23942    0 -0.00407762 -0.00514151 -0.752763   0.658259       uwb: 0.0            1141.2   476.634  
imu_odom_:  1691062463.744564056  0.610521   -0.328006  9.87129    -0.0575243  -0.00852212 -0.472977   0.03       -0.61         pose: 0.0           5.12175    -3.23942    0 -0.00407762 -0.00514151 -0.752763   0.658259       uwb: 0.49855836     1142.14  476.814  
imu_odom_:  1691062463.771400870  0.447716   -0.215478  9.93354    -0.0628506  -0.0117179  -0.488956   0.03       -0.64         pose: 0.43176233    5.12175    -3.23942    0 -0.00541818 -0.00540998 -0.759771   0.650146       uwb: 0.0            1142.14  476.814  
imu_odom_:  1691062463.796455795  0.529119   -0.241814  9.87129    -0.0553937  -0.015979   -0.509196   0.03       -0.58         pose: 0.0           5.12175    -3.23942    0 -0.00541818 -0.00540998 -0.759771   0.650146       uwb: 0.50130847     1140.2   476.73   
imu_odom_:  1691062463.812381677  0.497994   -0.138864  9.88805    -0.0553937  -0.00958738 -0.516653   0.02       -0.64         pose: 0.34913930    5.12181    -3.23945    0 -0.00452472 -0.00336611 -0.765798   0.643057       uwb: 0.0            1140.2   476.73   
imu_odom_:  1691062463.828551657  0.550666   -0.351948  9.80186    -0.0628506  -0.00106526 -0.52411    0.02       -0.64         pose: 0.0           5.12181    -3.23945    0 -0.00452472 -0.00336611 -0.765798   0.643057       uwb: 0.0            1140.2   476.73   
imu_odom_:  1691062463.845383066  0.323217   -0.136469  10.0556    -0.052198   0.00745685  -0.56246    0.02       -0.64         pose: 0.23930089    5.12181    -3.23945    0 -0.00566796 -0.00353471 -0.770014   0.637993       uwb: 0.49952076     1142     477.314  
imu_odom_:  1691062463.861378065  0.641646   -0.19393   9.92157    -0.0575243  -0.00745685 -0.574178   0.02       -0.73         pose: 0.32146316    5.12181    -3.23945    0 -0.00540815 -0.00278472 -0.775827   0.630917       uwb: 0.0            1142     477.314  
imu_odom_:  1691062463.888400067  0.679953   -0.275333  9.94791    -0.0585895  -0.00426106 -0.608266   0.02       -0.73         pose: 0.0           5.12181    -3.23945    0 -0.00540815 -0.00278472 -0.775827   0.630917       uwb: 0.50031692     1142.02  477.246  
imu_odom_:  1691062463.914520042  0.373495   -0.174777  9.95509    -0.0532632  -0.00532632 -0.64342    0.02       -0.82         pose: 0.33004014    5.12181    -3.23945    0 -0.00604141 -0.00411414 -0.782213   0.622968       uwb: 0.0            1142.02  477.246  
imu_odom_:  1691062463.931392862  0.617704   -0.181959  9.92397    -0.0585895  -0.0245011  -0.639159   0.02       -0.82         pose: 0.0           5.12181    -3.23945    0 -0.00604141 -0.00411414 -0.782213   0.622968       uwb: 0.0            1142.02  477.246  
imu_odom_:  1691062463.957486590  0.514753   -0.272939  9.92397    -0.0575243  0.00106526  -0.637028   0.02       -0.91         pose: 0.52972536    5.12181    -3.23945    0 -0.00582454 -0.00455351 -0.793133   0.609004       uwb: 0.49978614     1143.81  477.857  
imu_odom_:  1691062463.983357801  0.323217   -0.0981623 9.89524    -0.0468716  -0.0149137  -0.696683   0.02       -0.94         pose: 0.35955649    5.12159    -3.23934    0 -0.00625711 -0.00286867 -0.800483   0.599316       uwb: 0.0            1143.81  477.857  
imu_odom_:  1691062464.9360833    0.42138    -0.172383  9.85693    -0.0671117  -0.0149137  -0.70414    0.02       -0.94         pose: 0.0           5.12159    -3.23934    0 -0.00625711 -0.00286867 -0.800483   0.599316       uwb: 0.50008069     1142.91  477.562  
imu_odom_:  1691062464.34351900   0.617704   -0.3304    9.65342    -0.0575243  -0.0298274  -0.736098   0.01       -0.94         pose: 0.8004791     5.12181    -3.23945    0 -0.00546255 -0.0029063  -0.80225    0.596956       uwb: 0.0            1142.91  477.562  
imu_odom_:  1691062464.48495025   0.452504   -0.0957681 10.0317    -0.0500674  -0.0127832  -0.74462    0.01       -0.94         pose: 0.0           5.12181    -3.23945    0 -0.00546255 -0.0029063  -0.80225    0.596956       uwb: 0.50117738     1144.74  478.064  
imu_odom_:  1691062464.63365195   0.648829   -0.268151  9.74919    -0.0607201  -0.0266316  -0.741424   0.01       -0.94         pose: 0.0           5.12181    -3.23945    0 -0.00206121 -0.00255795 -0.813444   0.581634       uwb: 0.0            1144.74  478.064  
imu_odom_:  1691062464.80427585   0.502782   -0.184354  9.80665    -0.0436758  0.00426106  -0.772317   0.01       -0.76         pose: 0.0           5.12181    -3.23945    0 -0.00206121 -0.00255795 -0.813444   0.581634       uwb: 0.0            1144.74  478.064  
imu_odom_:  1691062464.96348225   0.335188   -0.107739  9.88087    -0.0479369  -0.00106526 -0.761664   0.01       -0.76         pose: 0.0           5.12181    -3.23945    0 -0.00206121 -0.00255795 -0.813444   0.581634       uwb: 0.49877438     1144.7   478.2    
imu_odom_:  1691062464.123362363  0.622492   -0.0814029 10.0509    -0.0607201  -0.0308927  -0.784035   0.01       -1.09         pose: 0.39131567    5.12181    -3.23945    0 -0.00364428 -0.00359145 -0.822215   0.569154       uwb: 0.0            1144.7   478.2    
imu_odom_:  1691062464.149479141  0.696713   -0.378284  10.1107    -0.0649811  -0.0127832  -0.770186   0          -0.79         pose: 0.48933999    5.12181    -3.23945    0 -0.00160576 -0.00491076 -0.833276   0.552833       uwb: 0.49972802     1143.35  477.755  
imu_odom_:  1691062464.165626964  0.608127   -0.0981623 9.76595    -0.056459   -0.0266316  -0.789361   0          -1.09         pose: 0.0           5.12181    -3.23945    0 -0.00160576 -0.00491076 -0.833276   0.552833       uwb: 0.0            1143.35  477.755  
imu_odom_:  1691062464.191394363  0.435745   -0.201113  10.1179    -0.0681769  -0.0170442  -0.792557   0          -1.09         pose: 0.0           5.12181    -3.23945    0 -0.00160576 -0.00491076 -0.833276   0.552833       uwb: 0.50036962     1143.76  478.062  
imu_odom_:  1691062464.216361808  0.411803   -0.318429  9.72046    -0.052198   -0.00213053 -0.820254   0          -0.79         pose: 0.51971668    5.12181    -3.23945    0 -0.00538985 -0.00643565 -0.844802   0.535012       uwb: 0.0            1143.76  478.062  
imu_odom_:  1691062464.231388878  0.672771   -0.282516  10.094     -0.0511327  -0.0245011  -0.837298   0          -0.79         pose: 0.0           5.12181    -3.23945    0 -0.00538985 -0.00643565 -0.844802   0.535012       uwb: 0.0            1143.76  478.062  
imu_odom_:  1691062464.257353714  0.47884    -0.196325  10.1131    -0.0585895  0.00958738  -0.833037   0          -0.79         pose: 0.74979034    5.12155    -3.23932    0 -0.00538343 -0.00324936 -0.861428   0.507841       uwb: 0.49835734     1140.89  477.839  
imu_odom_:  1691062464.271460093  0.64404    -0.550666  9.83299    -0.052198   -0.00426106 -0.853277   0          -0.79         pose: 0.0           5.12155    -3.23932    0 -0.00538343 -0.00324936 -0.861428   0.507841       uwb: 0.0            1140.89  477.839  
imu_odom_:  1691062464.295340032  0.543484   -0.0981623 10.0173    -0.0458064  -0.00532632 -0.858603   0          -0.85         pose: 0.6961033     5.12181    -3.23946    0 -0.00465596 -0.00308966 -0.862971   0.505223       uwb: 0.50192986     1141.25  478.325  
imu_odom_:  1691062464.322601768  0.591368   -0.071826  9.81383    -0.052198   0.0191748   -0.874582   0          -1.06         pose: 0.0           5.12181    -3.23946    0 -0.00465596 -0.00308966 -0.862971   0.505223       uwb: 0.0            1141.25  478.325  
imu_odom_:  1691062464.338332553  0.639252   -0.277727  10.2017    -0.0543285  -0.0170442  -0.859668   0          -0.94         pose: 0.64167838    5.12181    -3.23946    0 0.00360202  0.00510351  0.877063    -0.480335      uwb: 0.49927016     1142.17  478.527  
imu_odom_:  1691062464.354425257  0.0790087  -0.289698  9.51216    -0.0585895  -0.00745685 -0.844755   0          -0.94         pose: 0.0           5.12181    -3.23946    0 0.00360202  0.00510351  0.877063    -0.480335      uwb: 0.0            1142.17  478.527  
imu_odom_:  1691062464.371372743  0.620098   -0.373495  10.1658    -0.0553937  -0.0319579  -0.850081   0          -0.94         pose: 0.28038652    5.12181    -3.23946    0 0.00446913  0.00668786  0.883106    -0.469104      uwb: 0.0            1142.17  478.527  
imu_odom_:  1691062464.395341047  0.605733   -0.0742203 9.89045    -0.0575243  -0.00213053 -0.856473   0          -0.85         pose: 0.31783535    5.12181    -3.23946    0 0.00470549  0.00484419  0.889652    -0.456589      uwb: 0.50067292     1143.98  479.072  
imu_odom_:  1691062464.411378924  0.440533   -0.275333  9.97903    -0.0649811  0.0234358   -0.843689   0          -0.85         pose: 0.0           5.12181    -3.23946    0 0.00470549  0.00484419  0.889652    -0.456589      uwb: 0.0            1143.98  479.072  
imu_odom_:  1691062464.426315004  -0.217872  -0.263362  9.73961    -0.0553937  0.0490022   -0.830906   0          -1.26         pose: 0.39985475    5.12181    -3.23946    0 0.00532647  0.00604502  0.897649    -0.440637      uwb: 0.0            1143.98  479.072  
imu_odom_:  1691062464.442312635  -0.414197  -0.411803  9.88087    -0.0532632  -0.00958738 -0.855407   0          -1.26         pose: 0.0           5.12181    -3.23946    0 0.00532647  0.00604502  0.897649    -0.440637      uwb: 0.49920016     1142.54  478.969  
imu_odom_:  1691062464.458425753  -0.351948  0.148441   9.82341    -0.0479369  -0.00532632 -0.841559   0          -1.26         pose: 0.0           5.12181    -3.23946    0 0.00532647  0.00604502  0.897649    -0.440637      uwb: 0.0            1142.54  478.969  
imu_odom_:  1691062464.475422817  -1.09654   -0.215478  9.64863    -0.0532632  -0.00106526 -0.691357   0.05       -0.76         pose: 0.47985018    5.12331    -3.24934    0 0.00127447  0.00315101  0.906805    -0.421536      uwb: 0.0            1142.54  478.969  
imu_odom_:  1691062464.491295628  -0.603339  -0.955286  9.76116    -0.0798948  -0.092678   -0.573112   0.05       -0.76         pose: 0.0           5.12331    -3.24934    0 0.00127447  0.00315101  0.906805    -0.421536      uwb: 0.49839525     1141.13  478.779  
imu_odom_:  1691062464.508313981  0.19393    -0.696713  9.66539    -0.0660464  -0.0468716  -0.565655   0.09       -0.85         pose: 0.40985199    5.12331    -3.24934    0 -0.00115156 0.00107947  0.912892    -0.408198      uwb: 0.0            1141.13  478.779  
imu_odom_:  1691062464.525293547  0.385466   0.0861913  10.0533    -0.0500674  -0.0255663  -0.543285   0.09       -0.85         pose: 0.0           5.12331    -3.24934    0 -0.00115156 0.00107947  0.912892    -0.408198      uwb: 0.0            1141.13  478.779  
imu_odom_:  1691062464.541423289  0.124498   -0.0383072 9.77313    -0.0788296  -0.00745685 -0.506001   0.09       -0.85         pose: 0.0           5.12331    -3.24934    0 -0.00115156 0.00107947  0.912892    -0.408198      uwb: 0.50173447     1141.06  479.028  
imu_odom_:  1691062464.558420352  -0.0885855 -0.371101  9.97424    -0.0500674  -0.00532632 -0.526241   0.08       -0.5          pose: 0.7019652     5.12331    -3.24934    0 -0.0009662440.000401723 0.913758    -0.406257      uwb: 0.0            1141.06  479.028  
imu_odom_:  1691062464.575297262  0.0885855  -0.234632  9.93115    -0.0660464  -0.0713727  -0.485761   0.09       -0.5          pose: 0.0           5.12331    -3.24934    0 -0.0009662440.000401723 0.913758    -0.406257      uwb: 0.0            1141.06  479.028  
imu_odom_:  1691062464.591298101  0.169988   -0.189142  9.47864    -0.0596548  -0.052198   -0.430367   0.09       -0.5          pose: 0.67988546    5.11342    -3.25079    0 -0.00431704 -0.0005090850.921405    -0.388579      uwb: 0.49896977     1139.58  479.069  
imu_odom_:  1691062464.607421719  0.035913   -0.23942   9.79947    -0.0287621  -0.0170442  -0.416518   0.1        -0.47         pose: 0.0           5.11342    -3.25079    0 -0.00431704 -0.0005090850.921405    -0.388579      uwb: 0.0            1139.58  479.069  
imu_odom_:  1691062464.624348790  0.246603   0.0047884  9.43794    -0.0490022  -0.0511327  -0.393083   0.1        -0.47         pose: 0.0           5.11342    -3.25079    0 -0.00431704 -0.0005090850.921405    -0.388579      uwb: 0.0            1139.58  479.069  
imu_odom_:  1691062464.640297426  0.610521   -0.320823  10.0556    -0.0553937  -0.0308927  -0.40267    0.1        -0.47         pose: 0.32062630    5.11342    -3.25079    0 -0.00648818 -0.00167617 0.924373    -0.381431      uwb: 0.49933140     1140.86  479.754  
imu_odom_:  1691062464.656313139  0.141258   -0.349553  9.69652    -0.0671117  0.0149137   -0.376038   0.14       -0.53         pose: 0.41930970    5.1087     -3.25714    0 -0.00586887 -0.0003596780.927865    -0.37287       uwb: 0.0            1140.86  479.754  
imu_odom_:  1691062464.672414592  0.0670376  -0.299275  10.0078    -0.0511327  0.00852212  -0.346211   0.14       -0.53         pose: 0.7056106     5.10502    -3.26217    0 -0.00616133 -0.0010935  0.92841     -0.371505      uwb: 0.0            1140.86  479.754  
imu_odom_:  1691062464.689297043  0.703895   -0.263362  9.51695    -0.0585895  -0.0756338  -0.329167   0.14       -0.53         pose: 0.0           5.10502    -3.26217    0 -0.00616133 -0.0010935  0.92841     -0.371505      uwb: 0.50143409     1139.8   480.076  
imu_odom_:  1691062464.706413677  1.09894    0.112527   9.6223     -0.0628506  -0.0170442  -0.28123    0.09       -0.35         pose: 0.41943511    5.10496    -3.26213    0 -0.00552861 -0.00259865 0.931386    -0.363981      uwb: 0.0            1139.8   480.076  
imu_odom_:  1691062464.722279781  1.05105    -0.646434  9.91678    -0.0532632  0.00106526  -0.230097   0.08       -0.38         pose: 0.0           5.10496    -3.26213    0 -0.00552861 -0.00259865 0.931386    -0.363981      uwb: 0.0            1139.8   480.076  
imu_odom_:  1691062464.739278886  0.962469   -0.349553  9.90721    -0.0585895  0.0127832   -0.227967   0.08       -0.38         pose: 0.0           5.10496    -3.26213    0 -0.00552861 -0.00259865 0.931386    -0.363981      uwb: 0.49838650     1138.35  480.052  
imu_odom_:  1691062464.756272742  1.03908    -0.196325  9.80904    -0.0426106  -0.00213053 -0.230097   0.08       -0.38         pose: 0.24127828    5.10502    -3.26217    0 -0.00348541 -0.00156738 0.932733    -0.360547      uwb: 0.0            1138.35  480.052  
imu_odom_:  1691062464.773341839  1.09654    0.143652   10.0126    -0.0585895  -0.00319579 -0.245011   0.06       -0.32         pose: 0.0           5.10502    -3.26217    0 -0.00348541 -0.00156738 0.932733    -0.360547      uwb: 0.0            1138.35  480.052  
imu_odom_:  1691062464.789368926  0.68953    -0.0742203 9.63666    -0.056459   0.00745685  -0.256729   0.06       -0.32         pose: 0.33857351    5.10502    -3.26217    0 -0.000373434-0.00113573 0.934371    -0.3563        uwb: 0.50014798     1138.78  480.241  
imu_odom_:  1691062464.816417769  0.715866   -0.263362  9.84256    -0.0639159  -0.0255663  -0.269512   0.07       -0.38         pose: 0.42086704    5.09515    -3.26373    0 0.00249077  0.0017307   0.936495    -0.350668      uwb: 0.0            1138.78  480.241  
imu_odom_:  1691062464.832277456  0.586579   -0.179565  9.87369    -0.0511327  0.02024     -0.264186   0.07       -0.38         pose: 0.0           5.09515    -3.26373    0 0.00249077  0.0017307   0.936495    -0.350668      uwb: 0.0            1138.78  480.241  
imu_odom_:  1691062464.848257881  0.497994   -0.23942   10.1682    -0.0681769  0           -0.264186   0.05       -0.38         pose: 0.7917886     5.09515    -3.26373    0 0.00336655  0.00182301  0.936921    -0.349521      uwb: 0.50050960     1137.82  480.203  
imu_odom_:  1691062464.865314146  0.263362   -0.158017  9.76834    -0.0511327  0.00745685  -0.312122   0.04       -0.41         pose: 0.0           5.09515    -3.26373    0 0.00336655  0.00182301  0.936921    -0.349521      uwb: 0.0            1137.82  480.203  
imu_odom_:  1691062464.882266590  0.739808   -0.110133  10.1442    -0.0575243  -0.0383495  -0.372843   0.04       -0.53         pose: 0.0           5.09515    -3.26373    0 0.00336655  0.00182301  0.936921    -0.349521      uwb: 0.0            1137.82  480.203  
imu_odom_:  1691062464.898262180  0.773327   0.0047884  9.67018    -0.0735032  0.00426106  -0.401605   0.04       -0.53         pose: 0.75022489    5.09515    -3.26373    0 0.00441451  0.00203358  0.941122    -0.338033      uwb: 0.50090040     1136.4   480.072  
imu_odom_:  1691062464.914323679  0.543484   -0.19393   10.1011    -0.0543285  0.0191748   -0.414388   0.05       -0.58         pose: 0.0           5.09515    -3.26373    0 0.00441451  0.00203358  0.941122    -0.338033      uwb: 0.0            1136.4   480.072  
imu_odom_:  1691062464.930306436  0.258574   -0.280122  9.77553    -0.052198   0.0191748   -0.441019   0.05       -0.58         pose: 0.32997027    5.09515    -3.26373    0 0.00620604  0.00326617  0.943513    -0.33126       uwb: 0.0            1136.4   480.072  
imu_odom_:  1691062464.946257989  0.28491    -0.100556  9.93354    -0.0575243  -0.0191748  -0.419714   0.05       -0.58         pose: 0.0           5.09515    -3.26373    0 0.00620604  0.00326617  0.943513    -0.33126       uwb: 0.50040170     1135.57  479.539  
imu_odom_:  1691062464.963334961  0.691924   -0.294487  9.89045    -0.0607201  -0.0213053  -0.42291    0.03       -0.44         pose: 0.40951661    5.09661    -3.27358    0 0.00329503  0.00177656  0.946649    -0.322245      uwb: 0.0            1135.57  479.539  
imu_odom_:  1691062464.979300512  0.758962   -0.160412  10.0006    -0.052198   -0.00213053 -0.454868   0.03       -0.44         pose: 0.8118823     5.09668    -3.27361    0 0.00417408  0.00172491  0.947249    -0.320467      uwb: 0.0            1135.57  479.539  
imu_odom_:  1691062465.5272640    0.56982    -0.0670376 9.9934     -0.0575243  -0.00852212 -0.510262   0.03       -0.53         pose: 0.0           5.09668    -3.27361    0 0.00417408  0.00172491  0.947249    -0.320467      uwb: 0.49917100     1136.86  480.169  
imu_odom_:  1691062465.20352794   0.4956     -0.107739  9.99579    -0.0532632  0.00852212  -0.526241   0.03       -0.67         pose: 0.24923700    5.09661    -3.27358    0 0.00648017  0.00253161  0.949147    -0.314756      uwb: 0.0            1136.86  480.169  
imu_odom_:  1691062465.36358014   -0.198719  -0.272939  9.54808    -0.0596548  0.0426106   -0.513457   0.04       -0.53         pose: 0.0           5.09661    -3.27358    0 0.00648017  0.00253161  0.949147    -0.314756      uwb: 0.49943944     1135.48  479.88   
imu_odom_:  1691062465.53300840   -0.529119  -0.366313  9.90481    -0.0500674  0.015979    -0.546481   0.04       -0.53         pose: 0.47999902    5.09668    -3.27361    0 0.00394324  0.00536228  0.953269    -0.302051      uwb: 0.0            1135.48  479.88   
imu_odom_:  1691062465.69236943   -0.301669  0.0047884  10.2161    -0.036219   0.0181095   -0.567786   0.06       -0.38         pose: 0.0           5.09668    -3.27361    0 0.00394324  0.00536228  0.953269    -0.302051      uwb: 0.0            1135.48  479.88   
imu_odom_:  1691062465.86236930   -0.577003  0.0526724  9.96946    -0.056459   -0.02024    -0.428236   0.06       -0.38         pose: 0.0           5.09668    -3.27361    0 0.00394324  0.00536228  0.953269    -0.302051      uwb: 0.49914787     1136.41  480.049  
imu_odom_:  1691062465.102233109  -0.222661  -0.905008  9.98143    -0.0660464  -0.0830906  -0.337689   0.06       -0.38         pose: 0.33999099    5.08679    -3.27513    0 0.000351424 0.00398928  0.956228    -0.292597      uwb: 0.0            1136.41  480.049  
imu_odom_:  1691062465.119228139  0.105345   -0.220267  9.53132    -0.0415453  -0.0607201  -0.353668   0.12       -0.5          pose: 0.40933596    5.08679    -3.27513    0 -0.00209648 0.00240927  0.958945    -0.283575      uwb: 0.0            1136.41  480.049  
imu_odom_:  1691062465.135283520  0.270545   0.289698   9.84496    -0.0585895  -0.0223706  -0.305731   0.12       -0.5          pose: 0.0           5.08679    -3.27513    0 -0.00209648 0.00240927  0.958945    -0.283575      uwb: 0.0            1136.41  480.049  
imu_odom_:  1691062465.152296047  0.138864   0.023942   10.0437    -0.0649811  -0.0149137  -0.295078   0.12       -0.5          pose: 0.0           5.08679    -3.27513    0 -0.00209648 0.00240927  0.958945    -0.283575      uwb: 0.50002861     1137.17  480.833  
imu_odom_:  1691062465.169291951  0.1652     -0.387861  10.0772    -0.0479369  -0.0106526  -0.312122   0.1        -0.35         pose: 0.8011797     5.08679    -3.27513    0 -0.002601   0.00213495  0.959391    -0.28206       uwb: 0.0            1137.17  480.833  
imu_odom_:  1691062465.184240870  0.162806   -0.294487  9.73243    -0.0628506  -0.0255663  -0.290817   0.15       -0.44         pose: 0.0           5.08679    -3.27513    0 -0.002601   0.00213495  0.959391    -0.28206       uwb: 0.0            1137.17  480.833  
imu_odom_:  1691062465.201297434  0.593762   -0.208296  10.1538    -0.0596548  -0.0447411  -0.258859   0.15       -0.44         pose: 0.65035478    5.0769     -3.27656    0 -0.00585297 0.00167058  0.962526    -0.27112       uwb: 0.49989738     1137.12  481.015  
imu_odom_:  1691062465.217285447  0.636858   -0.280122  9.66539    -0.0628506  -0.02024    -0.262055   0.14       -0.38         pose: 0.0           5.0769     -3.27656    0 -0.00585297 0.00167058  0.962526    -0.27112       uwb: 0.0            1137.12  481.015  
imu_odom_:  1691062465.234288351  0.426168   0.0311246  9.80665    -0.0447411  0.00852212  -0.252468   0.14       -0.38         pose: 0.0           5.0769     -3.27656    0 -0.00585297 0.00167058  0.962526    -0.27112       uwb: 0.0            1137.12  481.015  
imu_odom_:  1691062465.251309627  0.387861   -0.0957681 9.91199    -0.0394148  0.00745685  -0.233293   0.14       -0.38         pose: 0.33015123    5.0769     -3.27656    0 -0.0033961  0.00106993  0.963904    -0.266226      uwb: 0.50105808     1136.22  480.754  
imu_odom_:  1691062465.267222691  0.409408   -0.246603  10.3238    -0.0511327  0.0106526   -0.207727   0.13       -0.29         pose: 0.43014120    5.07221    -3.28288    0 -0.00255601 0.00454226  0.965516    -0.26029       uwb: 0.0            1136.22  480.754  
imu_odom_:  1691062465.294250839  1.01993    -0.150835  10.4196    -0.056459   -0.0223706  -0.206661   0.13       -0.29         pose: 0.7999840     5.06846    -3.28791    0 -0.00223895 0.00383789  0.965777    -0.259336      uwb: 0.50021234     1137.12  481.038  
imu_odom_:  1691062465.310395752  1.14443    0          9.36372    -0.0607201  -0.0308927  -0.164051   0.11       -0.2          pose: 0.34941372    5.06846    -3.28791    0 0.000925189 0.00384551  0.966884    -0.255184      uwb: 0.0            1137.12  481.038  
imu_odom_:  1691062465.326212284  0.890643   -0.258574  9.45949    -0.0649811  0.0308927   -0.118244   0.12       -0.17         pose: 0.0           5.06846    -3.28791    0 0.000925189 0.00384551  0.966884    -0.255184      uwb: 0.0            1137.12  481.038  
imu_odom_:  1691062465.343345840  0.938527   -0.42138   10.0317    -0.0596548  0.00532632  -0.0830906  0.08       0             pose: 0.0           5.06846    -3.28791    0 0.000925189 0.00384551  0.966884    -0.255184      uwb: 0.50006069     1136.61  481.123  
imu_odom_:  1691062465.360333579  1.51792    -0.251391  9.94791    -0.0671117  -0.0458064  0.00426106  0.08       0             pose: 0.40038276    5.06846    -3.28791    0 0.00464303  0.00416658  0.967728    -0.25192       uwb: 0.0            1136.61  481.123  
imu_odom_:  1691062465.376281930  1.47004    -0.42138   9.83538    -0.0575243  0.0149137   0.0884169   0.08       0             pose: 0.0           5.06846    -3.28791    0 0.00464303  0.00416658  0.967728    -0.25192       uwb: 0.0            1136.61  481.123  
imu_odom_:  1691062465.392302315  0.696713   -0.37589   9.63666    -0.0479369  0.0841559   0.176834    0.07       0.11          pose: 0.0           5.06846    -3.28791    0 0.00464303  0.00416658  0.967728    -0.25192       uwb: 0.49892332     1136.08  481.299  
imu_odom_:  1691062465.409251266  0.320823   -0.488417  10.252     -0.0596548  0.0330232   0.296144    0.07       0.11          pose: 0.34023305    5.05856    -3.28929    0 0.0082349   0.00411243  0.967869    -0.251287      uwb: 0.0            1136.08  481.299  
imu_odom_:  1691062465.426384238  0.61531    -0.512359  9.96706    -0.0617853  -0.0479369  0.383495    0.07       0.32          pose: 0.40938846    5.05849    -3.28925    0 0.00823026  0.00119045  0.966991    -0.254674      uwb: 0.0            1136.08  481.299  
imu_odom_:  1691062465.442264639  0.857124   -0.306458  9.58399    -0.0468716  -0.00532632 0.401605    0.07       0.32          pose: 0.0           5.05849    -3.28925    0 0.00823026  0.00119045  0.966991    -0.254674      uwb: 0.49970489     1139.18  482.389  
imu_odom_:  1691062465.458204533  0.907402   0.0526724  9.97903    -0.0490022  0.00532632  0.415453    0.07       0.32          pose: 0.0           5.05849    -3.28925    0 0.00823026  0.00119045  0.966991    -0.254674      uwb: 0.0            1139.18  482.389  
imu_odom_:  1691062465.475327006  0.217872   -0.225055  9.55287    -0.0553937  0.0415453   0.428236    0.04       0.29          pose: 0.7078273     5.05856    -3.28929    0 0.00868425  0.000554262 0.966676    -0.255855      uwb: 0.0            1139.18  482.389  
imu_odom_:  1691062465.492207423  0.21069    -0.222661  10.1538    -0.04048    0.00958738  0.40267     0.05       0.47          pose: 0.0           5.05856    -3.28929    0 0.00868425  0.000554262 0.966676    -0.255855      uwb: 0.49958241     1140.08  482.656  
imu_odom_:  1691062465.508268346  0.229843   -0.0861913 9.67976    -0.0500674  -0.0308927  0.434628    0.05       0.47          pose: 0.65939547    5.05856    -3.28929    0 0.00875056  0.000689747 0.963487    -0.26761       uwb: 0.0            1140.08  482.656  
imu_odom_:  1691062465.525252876  0.711078   -0.25618   9.79947    -0.052198   -0.0127832  0.46339     0.04       0.55          pose: 0.0           5.05856    -3.28929    0 0.00875056  0.000689747 0.963487    -0.26761       uwb: 0.0            1140.08  482.656  
imu_odom_:  1691062465.541256638  0.706289   -0.378284  10.0533    -0.0447411  0.00852212  0.462325    0.04       0.55          pose: 0.0           5.05856    -3.28929    0 0.00875056  0.000689747 0.963487    -0.26761       uwb: 0.50049523     1142.78  483.396  
imu_odom_:  1691062465.557256025  0.399832   -0.3304    9.72285    -0.0426106  0.0181095   0.472977    0.04       0.55          pose: 0.33069658    5.05856    -3.28929    0 0.0070366   0.00101593  0.961747    -0.273846      uwb: 0.0            1142.78  483.396  
imu_odom_:  1691062465.573253080  0.383072   -0.361524  9.8258     -0.0543285  0.00426106  0.494283    0.03       0.41          pose: 0.41917281    5.05849    -3.28925    0 0.00789331  -0.0005591260.959247    -0.282459      uwb: 0.0            1142.78  483.396  
imu_odom_:  1691062465.590256858  0.670376   -0.294487  9.8665     -0.0458064  -0.0181095  0.434628    0.03       0.41          pose: 0.7997798     5.05856    -3.28929    0 0.00730297  -0.0011546  0.958734    -0.284208      uwb: 0.49946576     1144.2   483.546  
imu_odom_:  1691062465.605312514  0.696713   0.162806   9.83059    -0.0426106  0.00639159  0.390952    0.03       0.41          pose: 0.0           5.05856    -3.28929    0 0.00730297  -0.0011546  0.958734    -0.284208      uwb: 0.0            1144.2   483.546  
imu_odom_:  1691062465.622304627  0.620098   -0.131681  9.89045    -0.0617853  0.00106526  0.372843    0.03       0.38          pose: 0.40058691    5.05321    -3.29001    0 0.00836985  0.000271864 0.956478    -0.291685      uwb: 0.0            1144.2   483.546  
imu_odom_:  1691062465.637243922  0.47884    -0.248997  9.88566    -0.056459   0.00532632  0.348341    0.02       0.29          pose: 0.0           5.05321    -3.29001    0 0.00836985  0.000271864 0.956478    -0.291685      uwb: 0.49997611     1142.8   483.328  
imu_odom_:  1691062465.653187023  0.507571   -0.304064  9.95988    -0.0479369  -0.00426106 0.320645    0.02       0.29          pose: 0.0           5.05321    -3.29001    0 0.00836985  0.000271864 0.956478    -0.291685      uwb: 0.0            1142.8   483.328  
imu_odom_:  1691062465.669325229  0.529119   -0.136469  9.8282     -0.056459   -0.0117179  0.311057    0.02       0.26          pose: 0.23943233    5.04866    -3.29075    0 0.00794806  0.00150898  0.955338    -0.295406      uwb: 0.0            1142.8   483.328  
imu_odom_:  1691062465.686264556  0.624887   -0.177171  9.85932    -0.0479369  -0.00213053 0.291882    0.02       0.26          pose: 0.0           5.04866    -3.29075    0 0.00794806  0.00150898  0.955338    -0.295406      uwb: 0.50013944     1144.16  483.682  
imu_odom_:  1691062465.702232738  0.555455   -0.227449  9.8665     -0.0511327  0.00532632  0.272708    0.02       0.26          pose: 0.0           5.04866    -3.29075    0 0.00794806  0.00150898  0.955338    -0.295406      uwb: 0.0            1144.16  483.682  
imu_odom_:  1691062465.719352879  0.47884    -0.1652    9.90721    -0.056459   -0.00106526 0.256729    0.02       0.29          pose: 0.72976991    5.0486     -3.29071    0 0.00765351  0.000808262 0.952439    -0.304633      uwb: 0.0            1144.16  483.682  
imu_odom_:  1691062465.735347600  0.486023   -0.174777  9.90242    -0.052198   0           0.237554    0.02       0.29          pose: 0.0           5.0486     -3.29071    0 0.00765351  0.000808262 0.952439    -0.304633      uwb: 0.50240543     1144.52  484.147  
imu_odom_:  1691062465.752223643  0.47884    -0.0885855 9.82341    -0.0532632  0           0.219444    0.02       0.29          pose: 0.0           5.0486     -3.29071    0 0.00765351  0.000808262 0.952439    -0.304633      uwb: 0.0            1144.52  484.147  
imu_odom_:  1691062465.768204657  0.4956     -0.198719  9.88805    -0.0532632  0.00532632  0.211988    0.01       0.17          pose: 0.6962203     5.04866    -3.29075    0 0.0070431   0.00114753  0.952213    -0.305351      uwb: 0.0            1144.52  484.147  
imu_odom_:  1691062465.795190810  0.509965   -0.246603  9.91678    -0.052198   -0.00426106 0.193878    0.01       0.2           pose: 0.0           5.04866    -3.29075    0 0.0070431   0.00114753  0.952213    -0.305351      uwb: 0.49809216     1144.49  484.237  
imu_odom_:  1691062465.820170513  0.260968   -0.112527  9.88805    -0.052198   0.0181095   0.214118    0.01       0.14          pose: 0.66196769    5.05005    -3.30065    0 0.00455991  0.00174928  0.950337    -0.311183      uwb: 0.0            1144.49  484.237  
imu_odom_:  1691062465.837158543  0.0335188  -0.37589   9.92636    -0.0596548  0.00745685  0.265251    0.01       0.14          pose: 0.0           5.05005    -3.30065    0 0.00455991  0.00174928  0.950337    -0.311183      uwb: 0.49905163     1144     484.247  
imu_odom_:  1691062465.853155889  0.153229   -0.435745  9.94073    -0.0532632  -0.0149137  0.30147     0.01       0.14          pose: 0.27820520    5.05005    -3.30065    0 0.00481454  0.000273961 0.94964     -0.313307      uwb: 0.0            1144     484.247  
imu_odom_:  1691062465.870217411  0.399832   -0.292093  9.89524    -0.0500674  -0.0181095  0.327036    0.02       0.23          pose: 0.40963051    5.05005    -3.30065    0 0.00115769  -0.00114406 0.948288    -0.317407      uwb: 0.0            1144     484.247  
imu_odom_:  1691062465.886199592  0.567426   -0.146046  9.86411    -0.052198   -0.0106526  0.345146    0.02       0.23          pose: 0.0           5.05005    -3.30065    0 0.00115769  -0.00114406 0.948288    -0.317407      uwb: 0.50141388     1148.03  485.438  
imu_odom_:  1691062465.913304732  0.452504   -0.21069   9.83059    -0.0500674  0.0138484   0.339819    0.03       0.38          pose: 0.42024311    5.05005    -3.30065    0 0.00199216  -0.00203627 0.946342    -0.323154      uwb: 0.0            1148.03  485.438  
imu_odom_:  1691062465.929231502  0.196325   -0.217872  9.90002    -0.0575243  0.00639159  0.360059    0.03       0.38          pose: 0.0           5.05005    -3.30065    0 0.00199216  -0.00203627 0.946342    -0.323154      uwb: 0.0            1148.03  485.438  
imu_odom_:  1691062465.956256150  0.339977   -0.275333  9.78989    -0.0490022  -0.00852212 0.376038    0.03       0.44          pose: 0.6970660     5.05005    -3.30065    0 0.00200342  -0.00134859 0.946005    -0.324143      uwb: 0.49945409     1149.25  486.278  
imu_odom_:  1691062465.972201877  0.500388   -0.213084  9.85932    -0.0490022  -0.0181095  0.389887    0.02       0.41          pose: 0.0           5.05005    -3.30065    0 0.00200342  -0.00134859 0.946005    -0.324143      uwb: 0.0            1149.25  486.278  
imu_odom_:  1691062465.989164243  0.6608     -0.196325  9.93115    -0.0532632  -0.00958738 0.448476    0.02       0.55          pose: 0.0           5.05005    -3.30065    0 0.00200342  -0.00134859 0.946005    -0.324143      uwb: 0.50087727     1148.69  486.532  
imu_odom_:  1691062466.15209003   0.636858   -0.430956  10.0126    -0.0479369  0.0276969   0.495348    0.02       0.55          pose: 0.86068194    5.05005    -3.30065    0 0.00109665  -0.0007982050.941259    -0.337682      uwb: 0.0            1148.69  486.532  
imu_odom_:  1691062466.32201997   0.301669   -0.213084  9.85453    -0.0447411  0.0106526   0.531567    0.02       0.61          pose: 0.0           5.05005    -3.30065    0 0.00109665  -0.0007982050.941259    -0.337682      uwb: 0.0            1148.69  486.532  
imu_odom_:  1691062466.58141191   0.500388   -0.21069   9.90481    -0.0468716  -0.00639159 0.567786    0.02       0.61          pose: 0.42917888    5.05005    -3.30065    0 0.00316288  -0.00147057 0.937944    -0.34677       uwb: 0.49845975     1150.45  487.167  
imu_odom_:  1691062466.85136103   0.567426   -0.189142  10.0149    -0.0479369  0.00106526  0.565655    0.02       0.67          pose: 0.35984857    5.05       -3.30062    0 0.00358754  0.000701754 0.934672    -0.355493      uwb: 0.49834025     1151.64  488.081  
imu_odom_:  1691062466.101192658  0.378284   -0.332794  9.72525    -0.0447411  0.00639159  0.573112    0.02       0.67          pose: 0.7012658     5.05005    -3.30065    0 0.00407581  0.00119037  0.934013    -0.357215      uwb: 0.0            1151.64  488.081  
imu_odom_:  1691062466.117247171  0.344765   -0.241814  9.94791    -0.0543285  0           0.595483    0.02       0.73          pose: 0.0           5.05005    -3.30065    0 0.00407581  0.00119037  0.934013    -0.357215      uwb: 0.0            1151.64  488.081  
imu_odom_:  1691062466.134187671  0.577003   -0.316035  9.82341    -0.052198   -0.015979   0.628506    0.02       0.73          pose: 0.43099878    5.05005    -3.30065    0 0.0040016   0.000840936 0.929842    -0.367938      uwb: 0.0            1151.64  488.081  
imu_odom_:  1691062466.161194541  0.593762   -0.0861913 9.9934     -0.0543285  0.0191748   0.656203    0.02       0.79          pose: 0.0           5.05005    -3.30065    0 0.0040016   0.000840936 0.929842    -0.367938      uwb: 0.50061208     1154.35  488.769  
imu_odom_:  1691062466.187135776  0.411803   -0.153229  9.79947    -0.052198   0.02024     0.660464    0.02       0.79          pose: 0.32909273    5.05005    -3.30065    0 0.0049426   0.000659904 0.926248    -0.376881      uwb: 0.50244647     1155.28  488.927  
imu_odom_:  1691062466.214251425  0.529119   -0.407014  9.96227    -0.0553937  -0.00319579 0.709466    0.02       0.82          pose: 0.0           5.05005    -3.30065    0 0.0049426   0.000659904 0.926248    -0.376881      uwb: 0.0            1155.28  488.927  
imu_odom_:  1691062466.230291356  0.744597   -0.442927  9.89284    -0.0532632  0.0106526   0.711597    0.02       0.82          pose: 0.53155165    5.04015    -3.30206    0 0.00263703  0.00209421  0.919863    -0.392224      uwb: 0.0            1155.28  488.927  
imu_odom_:  1691062466.257137243  0.426168   -0.225055  9.79228    -0.0543285  0.00958738  0.740359    0.01       0.88          pose: 0.0           5.04015    -3.30206    0 0.00263703  0.00209421  0.919863    -0.392224      uwb: 0.49929973     1155.65  489.31   
imu_odom_:  1691062466.274117406  0.416591   -0.208296  10.0054    -0.0575243  0.00745685  0.740359    0.01       0.88          pose: 0.43894001    5.04015    -3.30206    0 0.00450965  3.10833e-05 0.913933    -0.405839      uwb: 0.0            1155.65  489.31   
imu_odom_:  1691062466.301289050  0.507571   -0.268151  9.81383    -0.0543285  -0.00532632 0.760599    0.01       1.03          pose: 0.0           5.04015    -3.30206    0 0.00450965  3.10833e-05 0.913933    -0.405839      uwb: 0.49899351     1155.91  490.053  
imu_odom_:  1691062466.327131128  0.457293   -0.251391  9.85932    -0.0479369  -0.00745685 0.788296    0.01       1.03          pose: 0.35905240    5.04009    -3.30203    0 0.00079443  0.000369665 0.908765    -0.417307      uwb: 0.0            1155.91  490.053  
imu_odom_:  1691062466.344118582  0.497994   -0.277727  9.85453    -0.0532632  0.00106526  0.834102    0.01       0.91          pose: 0.0           5.04009    -3.30203    0 0.00079443  0.000369665 0.908765    -0.417307      uwb: 0.49962344     1158.12  490.783  
imu_odom_:  1691062466.370143225  0.52433    -0.217872  9.92157    -0.0394148  -0.00319579 0.826645    0.01       0.91          pose: 0.53013722    5.03994    -3.30195    0 0.00271544  -0.00233489 0.900459    -0.434926      uwb: 0.0            1158.12  490.783  
imu_odom_:  1691062466.387116388  0.435745   -0.0909797 9.84017    -0.0543285  -0.00852212 0.844755    0.01       0.82          pose: 0.0           5.03994    -3.30195    0 0.00271544  -0.00233489 0.900459    -0.434926      uwb: 0.50021838     1156.23  490.594  
imu_odom_:  1691062466.403097992  0.682347   -0.215478  9.97664    -0.0575243  0           0.858603    0.01       0.82          pose: 0.25073621    5.04015    -3.30206    0 0.00440108  -0.00079033 0.896096    -0.443837      uwb: 0.0            1156.23  490.594  
imu_odom_:  1691062466.430285967  0.502782   -0.237026  10.0892    -0.052198   0.00319579  0.862864    0.01       0.97          pose: 0.50893243    5.04009    -3.30203    0 0.00508798  0.00274395  0.88684     -0.462041      uwb: 0.0            1156.23  490.594  
imu_odom_:  1691062466.456300986  0.565032   -0.265756  10.1179    -0.052198   -0.0106526  0.864995    0.01       0.97          pose: 0.8021424     5.04015    -3.30206    0 0.00498816  0.00192549  0.88531     -0.464971      uwb: 0.50103204     1153.54  489.873  
imu_odom_:  1691062466.483151831  0.691924   -0.253785  9.84735    -0.0575243  0.00426106  0.876713    0          1.06          pose: 0.45181570    5.03995    -3.30195    0 0.00718001  0.00105023  0.876483    -0.481377      uwb: 0.0            1153.54  489.873  
imu_odom_:  1691062466.509167141  0.574608   -0.229843  9.71088    -0.0468716  0.0213053   0.898018    0          0.79          pose: 0.0           5.03995    -3.30195    0 0.00718001  0.00105023  0.876483    -0.481377      uwb: 0.49922098     1152.09  489.856  
imu_odom_:  1691062466.536228838  0.52433    -0.134075  9.79947    -0.0490022  0.00852212  0.882039    0          1.03          pose: 0.34981048    5.04015    -3.30206    0 0.00873457  0.00289121  0.869293    -0.494212      uwb: 0.49862022     1150.3   489.328  
imu_odom_:  1691062466.552130534  0.490811   -0.141258  10.1323    -0.0468716  0.0106526   0.892692    0          1.03          pose: 0.0           5.04015    -3.30206    0 0.00873457  0.00289121  0.869293    -0.494212      uwb: 0.0            1150.3   489.328  
imu_odom_:  1691062466.579155777  0.509965   -0.356736  9.96227    -0.0543285  -0.00319579 0.911866    0          0.88          pose: 0.52968519    5.04015    -3.30206    0 -0.0040698  -0.00545455 -0.857992   0.513618       uwb: 0.0            1150.3   489.328  
imu_odom_:  1691062466.604289766  0.476446   -0.0885855 10.0772    -0.0479369  -0.00106526 0.936367    0          0.88          pose: 0.34905224    5.03966    -3.3018     0 -0.00464234 -0.00303935 -0.850114   0.526569       uwb: 0.50121869     1150.26  489.486  
imu_odom_:  1691062466.621279261  0.533907   -0.201113  9.81144    -0.0543285  0.0117179   0.968325    0          0.88          pose: 0.8088791     5.04015    -3.30206    0 -0.00402017 -0.00357665 -0.848202   0.529646       uwb: 0.0            1150.26  489.486  
imu_odom_:  1691062466.647101508  0.672771   -0.25618   9.93354    -0.0511327  0.0106526   0.966195    0          0.85          pose: 0.0           5.04015    -3.30206    0 -0.00402017 -0.00357665 -0.848202   0.529646       uwb: 0.49869895     1151.17  489.681  
imu_odom_:  1691062466.664236238  0.246603   -0.181959  9.83059    -0.0553937  0.0276969   0.961934    0          0.85          pose: 0.41872095    5.04015    -3.30206    0 -0.00502774 -0.00439271 -0.837889   0.5458         uwb: 0.0            1151.17  489.681  
imu_odom_:  1691062466.680220758  -0.19393   -0.213084  9.76834    -0.0543285  0.0575243   0.942759    0          0.85          pose: 0.0           5.04015    -3.30206    0 -0.00502774 -0.00439271 -0.837889   0.5458         uwb: 0.0            1151.17  489.681  
imu_odom_:  1691062466.696109331  -0.383072  -0.138864  9.80665    -0.0681769  0.00852212  0.960868    0.01       0.91          pose: 0.43124667    5.04015    -3.30206    0 -0.00414539 -0.00299257 -0.826896   0.562332       uwb: 0.49911600     1152.98  490.1    
imu_odom_:  1691062466.713053623  -0.220267  -0.189142  9.93354    -0.0543285  0.00319579  0.966195    0.01       0.91          pose: 0.0           5.04015    -3.30206    0 -0.00414539 -0.00299257 -0.826896   0.562332       uwb: 0.0            1152.98  490.1    
imu_odom_:  1691062466.730110485  -0.289698  -0.3304    9.9503     -0.0500674  0.0234358   0.916127    0.06       1             pose: 0.0           5.04015    -3.30206    0 -0.00414539 -0.00299257 -0.826896   0.562332       uwb: 0.0            1152.98  490.1    
imu_odom_:  1691062466.746216035  -0.423774  0.0407014  10.0652    -0.0426106  0.00958738  0.796818    0.06       1             pose: 0.40812293    5.04009    -3.30203    0 -0.000426549-0.00047751 -0.816206   0.577761       uwb: 0.50188945     1153.98  490.008  
imu_odom_:  1691062466.763209029  -0.201113  0.1652     9.90242    -0.0415453  -0.0575243  0.727576    0.06       1             pose: 0.0           5.04009    -3.30203    0 -0.000426549-0.00047751 -0.816206   0.577761       uwb: 0.0            1153.98  490.008  
imu_odom_:  1691062466.780099368  0.418985   -0.328006  9.69173    -0.0681769  -0.0426106  0.720119    0.06       0.67          pose: 0.7003034     5.04015    -3.30206    0 0.000158965 5.89834e-05 -0.814429   0.580264       uwb: 0.0            1153.98  490.008  
imu_odom_:  1691062466.796079806  0.447716   -0.517148  9.68455    -0.052198   0.0170442   0.700944    0.06       0.67          pose: 0.0           5.04015    -3.30206    0 0.000158965 5.89834e-05 -0.814429   0.580264       uwb: 0.50029128     1151.32  489.163  
imu_odom_:  1691062466.813050053  0.162806   -0.361524  9.8689     -0.0596548  0.0181095   0.710531    0.06       0.67          pose: 0.0           5.04015    -3.30206    0 0.000158965 5.89834e-05 -0.814429   0.580264       uwb: 0.0            1151.32  489.163  
imu_odom_:  1691062466.830051505  0.0407014  -0.272939  9.94073    -0.0628506  0.00319579  0.707336    0.1        0.79          pose: 0.51161839    5.04171    -3.31194    0 0.00320327  0.00121856  -0.803208   0.595689       uwb: 0.0            1151.32  489.163  
imu_odom_:  1691062466.846084437  0.179565   -0.181959  9.87369    -0.0617853  -0.0266316  0.66579     0.08       0.55          pose: 0.0           5.04171    -3.31194    0 0.00320327  0.00121856  -0.803208   0.595689       uwb: 0.49910725     1149.14  488.352  
imu_odom_:  1691062466.863089098  0.335188   -0.071826  9.85214    -0.0596548  -0.0191748  0.621049    0.08       0.55          pose: 0.66837810    5.04171    -3.31194    0 0.00388971  0.005379    -0.789784   0.613349       uwb: 0.0            1149.14  488.352  
imu_odom_:  1691062466.880112714  0.349553   -0.215478  9.98622    -0.0660464  -0.0138484  0.600809    0.09       0.53          pose: 0.0           5.04171    -3.31194    0 0.00388971  0.005379    -0.789784   0.613349       uwb: 0.0            1149.14  488.352  
imu_odom_:  1691062466.897167244  0.316035   -0.361524  10.0652    -0.0671117  -0.00319579 0.568851    0.09       0.53          pose: 0.0           5.04171    -3.31194    0 0.00388971  0.005379    -0.789784   0.613349       uwb: 0.50004923     1148.31  487.889  
imu_odom_:  1691062466.913043568  0.213084   -0.184354  10.0437    -0.056459   -0.00958738 0.539024    0.09       0.53          pose: 0.33115167    5.04171    -3.31194    0 0.00428245  0.00321219  -0.783778   0.621017       uwb: 0.0            1148.31  487.889  
imu_odom_:  1691062466.929048794  0.955286   -0.229843  10.1682    -0.0692422  -0.0532632  0.54222     0.13       0.61          pose: 0.41872095    5.0381     -3.32264    0 0.00392701  0.00426252  -0.776907   0.629589       uwb: 0.0            1148.31  487.889  
imu_odom_:  1691062466.945099516  1.04866    -0.325611  9.78031    -0.0681769  -0.0234358  0.548611    0.13       0.61          pose: 0.7063985     5.03341    -3.3234     0 0.00322073  0.00373784  -0.775792   0.63097        uwb: 0.0            1148.31  487.889  
imu_odom_:  1691062466.962095719  1.22104    -0.533907  9.95988    -0.056459   -0.0298274  0.56459     0.13       0.61          pose: 0.0           5.03341    -3.3234     0 0.00322073  0.00373784  -0.775792   0.63097        uwb: 0.0            1148.31  487.889  
imu_odom_:  1691062466.978154314  1.45567    -0.397437  9.80186    -0.036219   -0.0383495  0.523045    0.06       0.35          pose: 0.41988166    5.03335    -3.32337    0 -0.0009672890.00146986  -0.768947   0.63931        uwb: 0.0            1148.31  487.889  
imu_odom_:  1691062466.995037363  1.1564     0.129287   9.78989    -0.04048    0.0149137   0.444215    0.09       0.47          pose: 0.0           5.03335    -3.32337    0 -0.0009672890.00146986  -0.768947   0.63931        uwb: 0.100013637    1146.51  487.419  
imu_odom_:  1691062467.12096854   0.823605   0.203507   10.0987    -0.0639159  0.015979    0.415453    0.09       0.47          pose: 0.0           5.03335    -3.32337    0 -0.0009672890.00146986  -0.768947   0.63931        uwb: 0.0            1146.51  487.419  
imu_odom_:  1691062467.28033261   0.775721   -0.265756  9.76595    -0.0660464  0.00106526  0.38456     0.05       0.32          pose: 0.23073878    5.03341    -3.3234     0 -0.00262185 -0.000307467-0.765548   0.643373       uwb: 0.0            1146.51  487.419  
imu_odom_:  1691062467.44031495   0.665588   -0.342371  9.93594    -0.0543285  0.00319579  0.334493    0.05       0.32          pose: 0.0           5.03341    -3.3234     0 -0.00262185 -0.000307467-0.765548   0.643373       uwb: 0.49925320     1144.75  486.798  
imu_odom_:  1691062467.61032954   0.770933   -0.205901  9.91918    -0.0468716  -0.00213053 0.316384    0.05       0.32          pose: 0.33872841    5.03509    -3.33326    0 -0.00339539 -0.00304274 -0.761414   0.64825        uwb: 0.0            1144.75  486.798  
imu_odom_:  1691062467.77072891   0.739808   -0.148441  9.84256    -0.0479369  -0.00639159 0.313188    0.04       0.38          pose: 0.41990516    5.03509    -3.33326    0 -0.00683494 -0.0047289  -0.757319   0.652992       uwb: 0.0            1144.75  486.798  
imu_odom_:  1691062467.94048103   0.663194   -0.189142  9.88805    -0.0511327  -0.00106526 0.304666    0.04       0.38          pose: 0.7000995     5.03509    -3.33326    0 -0.00711156 -0.00538711 -0.756691   0.653712       uwb: 0.49956240     1144.83  486.481  
imu_odom_:  1691062467.111029731  0.703895   -0.229843  9.95509    -0.0500674  -0.00319579 0.282295    0.04       0.38          pose: 0.0           5.03509    -3.33326    0 -0.00711156 -0.00538711 -0.756691   0.653712       uwb: 0.0            1144.83  486.481  
imu_odom_:  1691062467.136096071  0.52433    -0.117316  9.8258     -0.052198   0.0149137   0.252468    0.03       0.26          pose: 0.42995782    5.03502    -3.33323    0 -0.00973434 -0.00844636 -0.753023   0.657868       uwb: 0.49961489     1145.35  486.359  
imu_odom_:  1691062467.153094322  -0.385466  -0.117316  9.74679    -0.0649811  0.0958738   0.273773    0.03       0.29          pose: 0.0           5.03502    -3.33323    0 -0.00973434 -0.00844636 -0.753023   0.657868       uwb: 0.0            1145.35  486.359  
imu_odom_:  1691062467.179300955  -1.41497   -0.428562  9.94791    -0.072438   0.0117179   0.314253    0.03       0.29          pose: 0.32036422    5.03509    -3.33326    0 -0.00625771 -0.00743843 -0.750766   0.660497       uwb: 0.0            1145.35  486.359  
imu_odom_:  1691062467.196128308  -0.833182  -0.383072  9.68933    -0.0372843  -0.0585895  0.284426    0.05       0.23          pose: 0.0           5.03509    -3.33326    0 -0.00625771 -0.00743843 -0.750766   0.660497       uwb: 0.50126555     1145.45  486.02   
imu_odom_:  1691062467.222084427  0.430956   -0.0454898 9.81383    -0.04048    -0.0585895  0.259925    0.05       0.23          pose: 0.18014599    5.03509    -3.33326    0 -0.00459842 -0.00575915 -0.749281   0.662211       uwb: 0.0            1145.45  486.02   
imu_odom_:  1691062467.249130678  0.237026   -0.277727  10.003     -0.0596548  0.0191748   0.241815    0.08       0.17          pose: 0.43028737    5.03509    -3.33326    0 -0.00198407 -0.00388359 -0.745683   0.666287       uwb: 0.49925327     1144.53  485.857  
imu_odom_:  1691062467.265128037  0.059855   -0.201113  10.2568    -0.0394148  0.0170442   0.213053    0.08       0.17          pose: 0.0           5.03509    -3.33326    0 -0.00198407 -0.00388359 -0.745683   0.666287       uwb: 0.0            1144.53  485.857  
imu_odom_:  1691062467.292125002  0.172383   0.0335188  9.94073    -0.0596548  -0.00426106 0.219444    0.1        0.17          pose: 0.53035325    5.03675    -3.34312    0 0.00106886  -0.00180633 -0.74208    0.670308       uwb: 0.50312327     1143.19  485.435  
imu_odom_:  1691062467.318005004  0.574608   -0.526724  9.99819    -0.0671117  0           0.213053    0.11       0.14          pose: 0.34980188    5.03669    -3.34309    0 0.00438147  -0.00122677 -0.739982   0.672612       uwb: 0.0            1143.19  485.435  
imu_odom_:  1691062467.345011009  0.0933739  0.174777   9.92397    -0.0490022  -0.0351537  0.18216     0.11       0.14          pose: 0.0           5.03669    -3.34309    0 0.00438147  -0.00122677 -0.739982   0.672612       uwb: 0.49904620     1142.92  484.654  
imu_odom_:  1691062467.370005898  0.423774   -0.282516  9.96227    -0.0735032  0.00532632  0.196009    0.12       0.11          pose: 0.7899523     5.03675    -3.34312    0 0.00361088  -0.000936131-0.739523   0.673121       uwb: 0.0            1142.92  484.654  
imu_odom_:  1691062467.397132349  0.361524   -0.354342  9.7875     -0.0234358  0           0.15979     0.12       0.11          pose: 0.0           5.03675    -3.34312    0 0.00361088  -0.000936131-0.739523   0.673121       uwb: 0.49849210     1143.09  484.042  
imu_odom_:  1691062467.422111198  0.641646   -0.0215478 9.98622    -0.0649811  -0.0436758  0.173638    0.13       0.08          pose: 0.53035617    5.02853    -3.35465    0 0.00350279  -0.000682615-0.736748   0.676158       uwb: 0.0            1143.09  484.042  
imu_odom_:  1691062467.439149403  0.457293   -0.342371  9.51695    -0.0703074  -0.0213053  0.16192     0.13       0.08          pose: 0.0           5.02853    -3.35465    0 0.00350279  -0.000682615-0.736748   0.676158       uwb: 0.49967031     1144.1   483.909  
imu_odom_:  1691062467.456106242  0.64404    -0.160412  10.2113    -0.0436758  0.0117179   0.132093    0.17       0.08          pose: 0.52026850    5.0302     -3.36451    0 0.000280774 0.0010947   -0.734392   0.678725       uwb: 0.0            1144.1   483.909  
imu_odom_:  1691062467.483159493  0.167594   -0.0670376 9.85693    -0.0948085  -0.0330232  0.154463    0.17       0.08          pose: 0.0           5.0302     -3.36451    0 0.000280774 0.0010947   -0.734392   0.678725       uwb: 0.0            1144.1   483.909  
imu_odom_:  1691062467.509040078  0.574608   -0.378284  9.8282     -0.0458064  0.0127832   0.108657    0.2        0.14          pose: 0.58027828    5.0302     -3.36451    0 -0.00201818 -0.00120146 -0.7321     0.681193       uwb: 0.50115181     1149.66  484.882  
imu_odom_:  1691062467.536014004  0.457293   -0.292093  9.84496    -0.0585895  -0.0298274  0.131028    0.19       0.08          pose: 0.27884119    5.03187    -3.37437    0 -0.00125939 -0.000554257-0.731133   0.682233       uwb: 0.49890914     1151.14  484.825  
imu_odom_:  1691062467.561105716  -0.110133  -0.11971   10.0078    -0.056459   0.00745685  0.122505    0.19       0.08          pose: 0.0           5.03187    -3.37437    0 -0.00125939 -0.000554257-0.731133   0.682233       uwb: 0.0            1151.14  484.825  
imu_odom_:  1691062467.587979902  -0.131681  -0.40462   10.0844    -0.0830906  0.0447411   0.110787    0.16       0.08          pose: 0.25061965    5.03187    -3.37437    0 -0.00352456 -2.34334e-05-0.730483   0.682922       uwb: 0.50101766     1155.3   485.646  
imu_odom_:  1691062467.603995342  0.220267   -0.42138   9.91439    -0.072438   0.0138484   0.092678    0.16       0.08          pose: 0.0           5.03187    -3.37437    0 -0.00352456 -2.34334e-05-0.730483   0.682922       uwb: 0.0            1155.3   485.646  
imu_odom_:  1691062467.620973179  0.0383072  -0.0167594 10.2041    -0.056459   0.00213053  0.0884169   0.22       0.05          pose: 0.52057764    5.03358    -3.38422    0 -0.00250703 0.00299648  -0.728967   0.684538       uwb: 0.0            1155.3   485.646  
imu_odom_:  1691062467.646978001  0.663194   -0.45011   9.81623    -0.0649811  0.0351537   0.1012      0.22       0.05          pose: 0.0           5.03358    -3.38422    0 -0.00250703 0.00299648  -0.728967   0.684538       uwb: 0.49914244     1154.86  485.465  
imu_odom_:  1691062467.663965461  0.596156   -0.19393   10.4579    -0.0617853  -0.00213053 0.0884169   0.22       0.05          pose: 0.42914416    5.03532    -3.39407    0 -0.0003359330.00692421  -0.728053   0.685486       uwb: 0.0            1154.86  485.465  
imu_odom_:  1691062467.690033860  0.711078   -0.476446  9.67257    -0.0692422  0.00106526  0.0852212   0.22       0.05          pose: 0.0           5.03532    -3.39407    0 -0.0003359330.00692421  -0.728053   0.685486       uwb: 0.49920661     1155.3   485.646  
imu_odom_:  1691062467.717247509  0.373495   -0.289698  9.39245    -0.0330232  0.00639159  0.0703074   0.22       0.05          pose: 0.43013863    5.02546    -3.39575    0 -0.001697   0.00572837  -0.727232   0.686366       uwb: 0.0            1155.3   485.646  
imu_odom_:  1691062467.733290364  0.52433    -0.361524  9.84735    -0.0532632  -0.0191748  0.0809601   0.22       0.05          pose: 0.0           5.02546    -3.39575    0 -0.001697   0.00572837  -0.727232   0.686366       uwb: 0.0            1155.3   485.646  
imu_odom_:  1691062467.750270242  0.0837971  -0.251391  9.74679    -0.0415453  0.0351537   0.0436758   0.21       0.05          pose: 0.43239298    5.02716    -3.40561    0 -0.00378523 0.00414931  -0.726592   0.687046       uwb: 0.50006984     1151.73  484.46   
imu_odom_:  1691062467.765999879  0.373495   -0.100556  10.343     -0.056459   -0.0117179  0.0788296   0.21       0.05          pose: 0.0           5.02716    -3.40561    0 -0.00378523 0.00414931  -0.726592   0.687046       uwb: 0.0            1151.73  484.46   
imu_odom_:  1691062467.782941261  0.454898   -0.258574  10.3238    -0.0585895  -0.00213053 0.0756338   0.21       0.05          pose: 0.0           5.02716    -3.40561    0 -0.00378523 0.00414931  -0.726592   0.687046       uwb: 0.0            1151.73  484.46   
imu_odom_:  1691062467.800059375  0.574608   -0.201113  9.94791    -0.0479369  -0.0106526  0.0617853   0.17       0             pose: 0.43846481    5.02889    -3.41546    0 -0.00235953 0.00383902  -0.726144   0.687528       uwb: 0.0            1151.73  484.46   
imu_odom_:  1691062467.816155306  0.268151   -0.105345  9.8689     -0.052198   -0.0106526  0.0639159   0.17       0             pose: 0.0           5.02889    -3.41546    0 -0.00235953 0.00383902  -0.726144   0.687528       uwb: 0.0            1151.73  484.46   
imu_odom_:  1691062467.833960804  0.490811   -0.430956  9.30866    -0.0713727  -0.04048    0.076699    0.17       0             pose: 0.0           5.02889    -3.41546    0 -0.00235953 0.00383902  -0.726144   0.687528       uwb: 0.0            1151.73  484.46   
imu_odom_:  1691062467.858996813  0.648829   -0.174777  9.92875    -0.0234358  0.00532632  0.0447411   0.17       0.02          pose: 0.92828078    5.0316     -3.43075    0 -0.00269737 0.000944358 -0.72522    0.688511       uwb: 0.99906064     1149.54  483.599  
imu_odom_:  1691062467.885227652  0.411803   -0.229843  10.1778    -0.052198   -0.0117179  0.0745685   0.21       0.02          pose: 0.0           5.0316     -3.43075    0 -0.00269737 0.000944358 -0.72522    0.688511       uwb: 0.49979280     1150.48  483.726  
imu_odom_:  1691062467.902095251  0.531513   -0.114922  9.95509    -0.0383495  -0.00532632 0.0500674   0.21       0.02          pose: 0.25036009    5.03239    -3.43515    0 -0.00336588 -0.00154505 -0.725178   0.688551       uwb: 0.0            1150.48  483.726  
imu_odom_:  1691062467.928076742  0.452504   -0.105345  9.75637    -0.0617853  0.0191748   0.0809601   0.17       -0.02         pose: 0.0           5.03239    -3.43515    0 -0.00336588 -0.00154505 -0.725178   0.688551       uwb: 0.0            1150.48  483.726  
imu_odom_:  1691062467.944924217  0.105345   -0.59855   9.59357    -0.0447411  0.0308927   0.0500674   0.17       -0.02         pose: 0.34024499    5.02255    -3.43692    0 -0.00122451 -0.00095376 -0.724838   0.688918       uwb: 0.49978112     1154.62  484.631  
imu_odom_:  1691062467.962043789  0.837971   -0.0071826110.1778    -0.0330232  -0.00532632 0.0500674   0.23       0             pose: 0.0           5.02255    -3.43692    0 -0.00122451 -0.00095376 -0.724838   0.688918       uwb: 0.0            1154.62  484.631  
imu_odom_:  1691062467.978038523  0.215478   -0.213084  9.56484    -0.0532632  0           0.0713727   0.23       0             pose: 0.58912650    5.02433    -3.44676    0 0.000485609 -0.00254785 -0.72435    0.689428       uwb: 0.0            1154.62  484.631  
imu_odom_:  1691062467.994934702  0.282516   -0.25618   10.0676    -0.0330232  -0.0596548  0.0436758   0.23       0             pose: 0.0           5.02433    -3.44676    0 0.000485609 -0.00254785 -0.72435    0.689428       uwb: 0.50075519     1154.65  484.518  
imu_odom_:  1691062468.12088981   0.486023   -0.232238  9.27993    -0.036219   -0.0308927  0.0596548   0.17       0.02          pose: 0.0           5.02433    -3.44676    0 0.000485609 -0.00254785 -0.72435    0.689428       uwb: 0.0            1154.65  484.518  
imu_odom_:  1691062468.28130675   0.42138    -0.356736  10.3046    -0.072438   0.00426106  0.0830906   0.17       0.02          pose: 0.51017792    5.02611    -3.4566     0 0.000462563 -0.00137524 -0.724063   0.689732       uwb: 0.0            1154.65  484.518  
imu_odom_:  1691062468.44976407   0.23942    -0.143652  9.23683    -0.0468716  -0.0575243  0.0479369   0.17       0.02          pose: 0.0           5.02611    -3.4566     0 0.000462563 -0.00137524 -0.724063   0.689732       uwb: 0.50009622     1152.95  483.621  
imu_odom_:  1691062468.61193957   0.687136   -0.263362  9.85932    -0.0681769  -0.0255663  0.0703074   0.19       0.02          pose: 0.0           5.02611    -3.4566     0 0.000462563 -0.00137524 -0.724063   0.689732       uwb: 0.0            1152.95  483.621  
imu_odom_:  1691062468.78950175   0.56982    -0.234632  9.85693    -0.0692422  -0.0170442  0.0639159   0.19       0.02          pose: 0.49134431    5.02789    -3.46644    0 -0.000866462-0.000583118-0.723633   0.690184       uwb: 0.0            1152.95  483.621  
imu_odom_:  1691062468.104983296  0.519542   0.0191536  9.9503     -0.0607201  -0.02024    0.0585895   0.17       0.02          pose: 0.0           5.02789    -3.46644    0 -0.000866462-0.000583118-0.723633   0.690184       uwb: 0.50037918     1154.92  483.618  
imu_odom_:  1691062468.131096908  0.351948   -0.361524  9.63187    -0.0660464  -0.0330232  0.0596548   0.17       0.02          pose: 0.33880154    5.0296     -3.47629    0 -0.00295621 -0.00280205 -0.723338   0.690482       uwb: 0.0            1154.92  483.618  
imu_odom_:  1691062468.156973421  0.414197   -0.198719  9.44034    -0.0788296  -0.0149137  0.0596548   0.19       0.02          pose: 0.45130569    5.02386    -3.48447    0 -0.00268979 -0.00199873 -0.723036   0.690803       uwb: 0.49988632     1156.73  484.139  
imu_odom_:  1691062468.183109198  0.0550666  -0.430956  9.40682    -0.0532632  0.0458064   0.0468716   0.19       0.02          pose: 0.0           5.02386    -3.48447    0 -0.00268979 -0.00199873 -0.723036   0.690803       uwb: 0.0            1156.73  484.139  
imu_odom_:  1691062468.209034414  0.0766145  -0.229843  9.81623    -0.0607201  -0.0245011  0.0671117   0.18       0.02          pose: 0.52012290    5.0227     -3.49484    0 0.000623215 0.00191971  -0.722795   0.69106        uwb: 0.50120451     1156.82  483.825  
imu_odom_:  1691062468.226023339  1.17316    -0.292093  9.92397    -0.0628506  0.00426106  0.0543285   0.18       0.02          pose: 0.0           5.0227     -3.49484    0 0.000623215 0.00191971  -0.722795   0.69106        uwb: 0.0            1156.82  483.825  
imu_odom_:  1691062468.252038962  0.476446   0.0670376  9.94551    -0.0639159  0.0191748   0.0596548   0.19       0             pose: 0.42914141    5.02321    -3.49771    0 0.000984592 0.00256542  -0.72246    0.691408       uwb: 0.49764364     1156.44  483.463  
imu_odom_:  1691062468.277895643  0.100556   -0.275333  9.65582    -0.0479369  0.00319579  0.04048     0.23       0             pose: 0.6941505     5.02321    -3.49771    0 0.00128228  0.00199783  -0.722411   0.69146        uwb: 0.0            1156.44  483.463  
imu_odom_:  1691062468.293899716  0.0885855  -0.325611  9.65821    -0.0500674  -0.0117179  0.0500674   0.18       0             pose: 0.19074118    5.02449    -3.50495    0 0.00210026  0.000438199 -0.722277   0.691601       uwb: 0.49967342     1156.12  482.899  
imu_odom_:  1691062468.311903241  0.368707   -0.258574  9.55047    -0.0585895  0.0170442   0.0543285   0.18       0             pose: 0.0           5.02449    -3.50495    0 0.00210026  0.000438199 -0.722277   0.691601       uwb: 0.0            1156.12  482.899  
imu_odom_:  1691062468.328936787  0.490811   -0.177171  10.0556    -0.0426106  -0.0266316  0.0383495   0.18       0             pose: 0.32869053    5.02495    -3.50756    0 0.00371724  0.00332976  -0.72224    0.691624       uwb: 0.0            1156.12  482.899  
imu_odom_:  1691062468.353949767  0.270545   -0.222661  9.79947    -0.0532632  0           0.0500674   0.18       0             pose: 0.0           5.02495    -3.50756    0 0.00371724  0.00332976  -0.72224    0.691624       uwb: 0.0            1156.12  482.899  
imu_odom_:  1691062468.371048056  0.490811   -0.263362  10.1107    -0.0330232  -0.0213053  0.04048     0.18       0             pose: 0.34027138    5.0267     -3.5174     0 0.00203176  0.00309848  -0.722128   0.69175        uwb: 0.0            1156.12  482.899  
imu_odom_:  1691062468.397073303  0.656011   -0.0383072 10.1155    -0.0639159  -0.0234358  0.0543285   0.18       0             pose: 0.6952587     5.01861    -3.529      0 0.00283129  0.00336235  -0.722037   0.69184        uwb: 0.100033549    1160.32  483.671  
imu_odom_:  1691062468.423913670  0.399832   -0.112527  10.0149    -0.056459   0.0106526   0.0394148   0.2        0             pose: 0.36170949    5.01861    -3.529      0 0.00102072  8.78265e-05 -0.721907   0.691989       uwb: 0.0            1160.32  483.671  
imu_odom_:  1691062468.439931158  0.308852   -0.481235  9.75637    -0.0862864  -0.00106526 0.0500674   0.2        0             pose: 0.0           5.01861    -3.529      0 0.00102072  8.78265e-05 -0.721907   0.691989       uwb: 0.50021586     1163.53  484.482  
imu_odom_:  1691062468.457047529  0.634463   -0.37589   10.1394    -0.056459   0.0340885   0.0298274   0.24       0             pose: 0.0           5.01861    -3.529      0 0.00102072  8.78265e-05 -0.721907   0.691989       uwb: 0.0            1163.53  484.482  
imu_odom_:  1691062468.482996367  0.447716   -0.0383072 9.7851     -0.0479369  0.00745685  0.0511327   0.24       0             pose: 0.49893267    5.02037    -3.53885    0 0.00117343  -0.000339061-0.721873   0.692024       uwb: 0.0            1163.53  484.482  
imu_odom_:  1691062468.509863273  0.277727   -0.287304  9.7037     -0.0308927  0.00958738  0.0213053   0.25       0             pose: 0.36029797    5.02213    -3.54869    0 0.00173936  -0.00255754 -0.7218     0.692095       uwb: 0.50004380     1164.4   484.858  
imu_odom_:  1691062468.525864138  0.174777   -0.155623  9.92397    -0.04048    0.0213053   0.0426106   0.25       0             pose: 0.6888718     5.02213    -3.54869    0 0.00185734  -0.00189683 -0.721845   0.69205        uwb: 0.0            1164.4   484.858  
imu_odom_:  1691062468.552859656  0.553061   -0.162806  10.058     -0.0436758  -0.0436758  0.0330232   0.21       0             pose: 0.0           5.02213    -3.54869    0 0.00185734  -0.00189683 -0.721845   0.69205        uwb: 0.50070581     1165.33  485.056  
imu_odom_:  1691062468.577909965  0.905008   -0.272939  10.5967    -0.0607201  -0.00319579 0.0575243   0.21       0             pose: 0.35979053    5.0239     -3.55854    0 0.00373573  0.000999096 -0.721955   0.691929       uwb: 0.0            1165.33  485.056  
imu_odom_:  1691062468.594891017  0.521936   -0.292093  9.31823    -0.0575243  0.0553937   0.0298274   0.21       -0.02         pose: 0.0           5.0239     -3.55854    0 0.00373573  0.000999096 -0.721955   0.691929       uwb: 0.49907557     1162.65  484.152  
imu_odom_:  1691062468.619880958  0.196325   -0.167594  9.77313    -0.0830906  0.0351537   0.0607201   0.21       -0.02         pose: 0.52045827    5.02514    -3.56552    0 -0.000518812-0.00275472 -0.721857   0.692037       uwb: 0.0            1162.65  484.152  
imu_odom_:  1691062468.646872976  0.320823   -0.440533  9.65821    -0.056459   -0.00532632 0.0245011   0.21       -0.02         pose: 0.41970993    5.01705    -3.5771     0 0.000339628 -6.95498e-05-0.721732   0.692173       uwb: 0.49954218     1163.19  484.003  
imu_odom_:  1691062468.662880840  0.4956     -0.167594  9.75158    -0.0319579  0.0245011   0.0383495   0.21       -0.02         pose: 0.0           5.01705    -3.5771     0 0.000339628 -6.95498e-05-0.721732   0.692173       uwb: 0.0            1163.19  484.003  
imu_odom_:  1691062468.689894147  0.61531    0.0622492  10.3286    -0.0458064  -0.00958738 0.0330232   0.23       0.02          pose: 0.42999882    5.01757    -3.57998    0 -0.00073082 0.00081105  -0.721882   0.692016       uwb: 0.50311181     1160.94  483.296  
imu_odom_:  1691062468.714993160  0.258574   -0.42138   9.8665     -0.072438   0.056459    0.0532632   0.23       0.02          pose: 0.0           5.01757    -3.57998    0 -0.00073082 0.00081105  -0.721882   0.692016       uwb: 0.0            1160.94  483.296  
imu_odom_:  1691062468.732017374  0.368707   -0.428562  9.40203    -0.0649811  -0.00958738 0.036219    0.23       0             pose: 0.52112320    5.01933    -3.58983    0 -0.0001833270.00116996  -0.721824   0.692076       uwb: 0.0            1160.94  483.296  
imu_odom_:  1691062468.756951904  0.581791   -0.258574  9.56244    -0.0628506  0.0532632   0.0436758   0.23       0             pose: 0.0           5.01933    -3.58983    0 -0.0001833270.00116996  -0.721824   0.692076       uwb: 0.49653250     1162.48  483.115  
imu_odom_:  1691062468.783990584  0.428562   -0.071826  10.0916    -0.0511327  -0.0500674  0.036219    0.18       -0.02         pose: 0.25032812    5.02109    -3.59967    0 -0.00171772 0.00215361  -0.721832   0.692062       uwb: 0.0            1162.48  483.115  
imu_odom_:  1691062468.799877711  0.888249   0.0335188  9.83538    -0.0585895  0.0308927   0.0426106   0.18       -0.02         pose: 0.0           5.02109    -3.59967    0 -0.00171772 0.00215361  -0.721832   0.692062       uwb: 0.50044626     1160.82  482.079  
imu_odom_:  1691062468.817929647  0.344765   -0.526724  10.161     -0.0511327  0.0255663   0.0308927   0.18       0             pose: 0.51885428    5.02285    -3.60951    0 -0.00133054 -0.00181623 -0.721838   0.692059       uwb: 0.0            1160.82  482.079  
imu_odom_:  1691062468.841867660  0.205901   -0.440533  9.18655    -0.0287621  -0.0181095  0.0532632   0.18       0             pose: 0.0           5.02285    -3.60951    0 -0.00133054 -0.00181623 -0.721838   0.692059       uwb: 0.49939928     1164.5   482.992  
imu_odom_:  1691062468.868914505  0.265756   -0.0311246 9.35654    -0.0308927  -0.0308927  0.015979    0.23       0             pose: 0.49956260    5.01715    -3.6177     0 -0.00173623 0.00137985  -0.721764   0.692136       uwb: 0.0            1164.5   482.992  
imu_odom_:  1691062468.893866534  0.179565   -0.399832  9.663      -0.0660464  0.00745685  0.0532632   0.18       -0.02         pose: 0.0           5.01715    -3.6177     0 -0.00173623 0.00137985  -0.721764   0.692136       uwb: 0.50069707     1167.21  483.837  
imu_odom_:  1691062468.918976920  0.435745   -0.208296  9.81383    -0.0351537  -0.04048    0.0213053   0.21       0             pose: 0.7083822     5.01477    -3.62112    0 -0.00105497 0.00108397  -0.721822   0.692077       uwb: 0.0            1167.21  483.837  
imu_odom_:  1691062468.932968126  0.505177   -0.0335188 9.89524    -0.0436758  0.0106526   0.0458064   0.21       0             pose: 0.0           5.01477    -3.62112    0 -0.00105497 0.00108397  -0.721822   0.692077       uwb: 0.0            1167.21  483.837  
imu_odom_:  1691062468.948845046  0.354342   -0.447716  9.61511    -0.0532632  -0.0330232  0.0415453   0.18       0             pose: 0.52057785    5.01653    -3.63096    0 0.000680963 0.00215106  -0.721911   0.691982       uwb: 0.50042000     1169.6   484.147  
imu_odom_:  1691062468.972824471  0.3304     -0.323217  9.71806    -0.0372843  0.0191748   0.0255663   0.18       0             pose: 0.0           5.01653    -3.63096    0 0.000680963 0.00215106  -0.721911   0.691982       uwb: 0.0            1169.6   484.147  
imu_odom_:  1691062468.988851291  0.447716   -0.179565  10.003     -0.0447411  -0.0308927  0.0553937   0.19       0             pose: 0.71815204    5.01773    -3.63765    0 -0.0004850180.002454    -0.722099   0.691786       uwb: 0.50130950     1169.6   484.17   
imu_odom_:  1691062469.6836153    0.536301   -0.339977  9.72285    -0.0447411  -0.00106526 0.0298274   0.19       0             pose: 0.8002474     5.01829    -3.64081    0 -0.0005199190.00154893  -0.722056   0.691832       uwb: 0.0            1169.6   484.17   
imu_odom_:  1691062469.30855250   0.289698   -0.186748  9.54808    -0.0649811  0.0383495   0.0553937   0.18       0             pose: 0.0           5.01829    -3.64081    0 -0.0005199190.00154893  -0.722056   0.691832       uwb: 0.0            1169.6   484.17   
imu_odom_:  1691062469.55833244   0.6608     -0.265756  9.9503     -0.0319579  -0.0298274  0.0276969   0.18       0             pose: 0.33070286    5.02004    -3.65065    0 -0.00151005 0.000807108 -0.722035   0.691854       uwb: 0.49859450     1167.43  483.167  
imu_odom_:  1691062469.69865284   0.21069    -0.169988  9.94551    -0.0458064  -0.0255663  0.0500674   0.18       0             pose: 0.0           5.02004    -3.65065    0 -0.00151005 0.000807108 -0.722035   0.691854       uwb: 0.0            1167.43  483.167  
imu_odom_:  1691062469.84885677   0.560243   -0.167594  10.398     -0.0500674  -0.0340885  0.0436758   0.2        0             pose: 0.47925039    5.02004    -3.65065    0 -0.00121102 -6.90164e-05-0.722025   0.691866       uwb: 0.49757676     1172.11  484.135  
imu_odom_:  1691062469.111944782  0.610521   -0.0742203 9.50498    -0.0490022  -0.0276969  0.0553937   0.2        0             pose: 0.0           5.02004    -3.65065    0 -0.00121102 -6.90164e-05-0.722025   0.691866       uwb: 0.0            1172.11  484.135  
imu_odom_:  1691062469.136869698  -0.0167594 -0.263362  9.35175    -0.04048    0.0639159   0.0287621   0.25       0             pose: 0.31055968    5.01196    -3.66225    0 -0.00146339 -0.00220029 -0.721929   0.691962       uwb: 0.50002358     1174.07  484.25   
imu_odom_:  1691062469.153804095  0.0694318  -0.213084  10.2256    -0.0585895  -0.02024    0.0490022   0.25       0             pose: 0.0           5.01196    -3.66225    0 -0.00146339 -0.00220029 -0.721929   0.691962       uwb: 0.0            1174.07  484.25   
imu_odom_:  1691062469.170807317  0.577003   -0.0454898 10.2472    -0.0649811  -0.0106526  0.0490022   0.23       -0.02         pose: 0.50999752    5.01372    -3.6721     0 0.000827286 -0.00134237 -0.721899   0.691996       uwb: 0.0            1174.07  484.25   
imu_odom_:  1691062469.194831663  0.325611   -0.0622492 9.8282     -0.056459   0.02024     0.0372843   0.23       -0.02         pose: 0.0           5.01372    -3.6721     0 0.000827286 -0.00134237 -0.721899   0.691996       uwb: 0.49976403     1173.74  483.764  
imu_odom_:  1691062469.219919021  0.0957681  -0.397437  9.36851    -0.0692422  0           0.0511327   0.18       0.02          pose: 0.50953673    5.01548    -3.68194    0 0.00364746  -0.00228288 -0.721828   0.69206        uwb: 0.0            1173.74  483.764  
imu_odom_:  1691062469.246798478  0.265756   -0.143652  9.32781    -0.0777643  0.00106526  0.0426106   0.22       0             pose: 0.0           5.01548    -3.68194    0 0.00364746  -0.00228288 -0.721828   0.69206        uwb: 0.50070893     1172.95  483.105  
imu_odom_:  1691062469.271956994  0.0287304  -0.493206  9.59357    -0.0436758  0.015979    0.0351537   0.19       0             pose: 0.32016616    5.01724    -3.69179    0 0.00433356  0.00074304  -0.721726   0.692164       uwb: 0.0            1172.95  483.105  
imu_odom_:  1691062469.288914138  0.316035   -0.0814029 10.1083    -0.0436758  -0.00852212 0.0319579   0.19       0             pose: 0.0           5.01724    -3.69179    0 0.00433356  0.00074304  -0.721726   0.692164       uwb: 0.50247332     1172.97  483.038  
imu_odom_:  1691062469.304845309  0.61531    -0.19393   9.89524    -0.072438   0.00745685  0.056459    0.23       0             pose: 0.52282365    5.019      -3.70163    0 0.00630054  0.00362841  -0.72176    0.692106       uwb: 0.0            1172.97  483.038  
imu_odom_:  1691062469.331793592  0.739808   -0.138864  10.1394    -0.0532632  0           0.0308927   0.23       0             pose: 0.0           5.019      -3.70163    0 0.00630054  0.00362841  -0.72176    0.692106       uwb: 0.0            1172.97  483.038  
imu_odom_:  1691062469.357799310  0.620098   -0.371101  10.4363    -0.0660464  0.00426106  0.0426106   0.18       0.02          pose: 0.52662948    5.01042    -3.71041    0 0.00354334  -0.000172833-0.721775   0.692118       uwb: 0.49927116     1171.62  482.588  
imu_odom_:  1691062469.384911784  0.600945   -0.361524  9.99579    -0.0479369  -0.0255663  0.0500674   0.25       -0.02         pose: 0.8032807     5.01092    -3.71324    0 0.00273792  -0.000197995-0.721768   0.692129       uwb: 0.49967654     1169.4   481.709  
imu_odom_:  1691062469.400776170  0.134075   -0.129287  9.663      -0.052198   0.0276969   0.0415453   0.18       0             pose: 0.0           5.01092    -3.71324    0 0.00273792  -0.000197995-0.721768   0.692129       uwb: 0.0            1169.4   481.709  
imu_odom_:  1691062469.417805348  0.828394   -0.0909797 10.1418    -0.0372843  -0.0500674  0.0383495   0.18       0             pose: 0.0           5.01092    -3.71324    0 0.00273792  -0.000197995-0.721768   0.692129       uwb: 0.0            1169.4   481.709  
imu_odom_:  1691062469.442773426  0.35913    -0.277727  10.3262    -0.0553937  0.00319579  0.0436758   0.18       0             pose: 0.52978498    5.01269    -3.72308    0 -0.00109076 -0.000370762-0.721647   0.692261       uwb: 0.49892703     1167.26  480.595  
imu_odom_:  1691062469.459909926  0.562637   -0.0814029 9.48104    -0.0213053  0.00745685  0.0330232   0.18       0             pose: 0.0           5.01269    -3.72308    0 -0.00109076 -0.000370762-0.721647   0.692261       uwb: 0.0            1167.26  480.595  
imu_odom_:  1691062469.476016661  0.0622492  -0.23942   9.96706    -0.0532632  0.0330232   0.056459    0.2        0             pose: 0.33277065    5.01269    -3.72308    0 -0.00115488 -0.000969082-0.721636   0.692271       uwb: 0.0            1167.26  480.595  
imu_odom_:  1691062469.492886897  0.629675   -0.227449  10.3669    -0.0628506  -0.0458064  0.0394148   0.2        0             pose: 0.41933972    5.01446    -3.73292    0 -2.43355e-05-0.000414636-0.721605   0.692305       uwb: 0.50137094     1167.31  480.439  
imu_odom_:  1691062469.509884287  0.476446   -0.114922  9.69412    -0.0607201  0.02024     0.0383495   0.2        0             pose: 0.0           5.01446    -3.73292    0 -2.43355e-05-0.000414636-0.721605   0.692305       uwb: 0.0            1167.31  480.439  
imu_odom_:  1691062469.526880802  0.387861   -0.543484  9.67976    -0.0884169  -0.00106526 0.0468716   0.18       0             pose: 0.41868353    5.01623    -3.74276    0 -0.000318067-0.00242646 -0.721565   0.692342       uwb: 0.0            1167.31  480.439  
imu_odom_:  1691062469.544948202  0.23942    0.047884   9.84017    -0.0330232  -0.00532632 0.0298274   0.18       0             pose: 0.0           5.01623    -3.74276    0 -0.000318067-0.00242646 -0.721565   0.692342       uwb: 0.49908160     1168.84  480.365  
imu_odom_:  1691062469.560815504  0.258574   -0.21069   9.30866    -0.056459   0.00426106  0.0351537   0.18       0             pose: 0.0           5.01623    -3.74276    0 -0.000318067-0.00242646 -0.721565   0.692342       uwb: 0.0            1168.84  480.365  
imu_odom_:  1691062469.577750776  0.37589    -0.275333  10.4698    -0.0500674  0.036219    0.0490022   0.18       0.02          pose: 0.41999881    5.00815    -3.75438    0 0.000889122 -0.000739256-0.721596   0.692314       uwb: 0.0            1168.84  480.365  
imu_odom_:  1691062469.595867462  0.260968   -0.232238  9.65103    -0.0308927  -0.0223706  0.0276969   0.18       0             pose: 0.0           5.00815    -3.75438    0 0.000889122 -0.000739256-0.721596   0.692314       uwb: 0.49971153     1171.69  480.877  
imu_odom_:  1691062469.620796462  0.21069    -0.0646434 9.60314    -0.0649811  -0.0117179  0.0511327   0.18       0             pose: 0.33999737    5.00815    -3.75438    0 0.00123947  0.00195506  -0.721588   0.692319       uwb: 0.0            1171.69  480.877  
imu_odom_:  1691062469.647871898  0.402226   -0.184354  9.63187    -0.0436758  -0.02024    0.0383495   0.18       0             pose: 0.0           5.00815    -3.75438    0 0.00123947  0.00195506  -0.721588   0.692319       uwb: 0.50030356     1173.65  481.035  
imu_odom_:  1691062469.663808610  1.10852    -0.1652    10.331     -0.0628506  -0.00426106 0.0479369   0.18       0             pose: 0.16946062    5.00992    -3.76422    0 0.00259259  0.00246141  -0.721597   0.692304       uwb: 0.0            1173.65  481.035  
imu_odom_:  1691062469.681902549  0.526724   -0.191536  10.3118    -0.0447411  -0.0127832  0.0319579   0.2        -0.02         pose: 0.53043533    5.00992    -3.76422    0 0.00179866  -0.000522033-0.72151    0.692402       uwb: 0.0            1173.65  481.035  
imu_odom_:  1691062469.698841611  1.59933    -0.316035  9.68215    -0.076699   -0.0607201  0.00745685  0.2        -0.02         pose: 0.0           5.00992    -3.76422    0 0.00179866  -0.000522033-0.72151    0.692402       uwb: 0.49827085     1175.6   481.244  
imu_odom_:  1691062469.712796368  1.81959    -0.0383072 9.92397    -0.0692422  -0.0511327  -0.12144    0.2        -0.02         pose: 0.0           5.00992    -3.76422    0 0.00179866  -0.000522033-0.72151    0.692402       uwb: 0.0            1175.6   481.244  
imu_odom_:  1691062469.729786758  1.78129    0.3304     10.07      -0.0585895  -0.0149137  -0.226901   0.14       -0.26         pose: 0.48916600    5.01169    -3.77406    0 -0.00249345 -0.00409008 -0.722043   0.691832       uwb: 0.0            1175.6   481.244  
imu_odom_:  1691062469.743891416  1.72143    0.0837971  9.56484    -0.0639159  -0.0127832  -0.295078   0.14       -0.26         pose: 0.0           5.01169    -3.77406    0 -0.00249345 -0.00409008 -0.722043   0.691832       uwb: 0.50163049     1173.37  480.371  
imu_odom_:  1691062469.760845644  1.18513    -0.007182619.89284    -0.0671117  0.0298274   -0.385626   0.11       -0.38         pose: 0.39101316    5.01348    -3.78385    0 -0.00479757 -0.00758219 -0.725658   0.687997       uwb: 0.0            1173.37  480.371  
imu_odom_:  1691062469.774834522  1.1971     0.117316   10.1251    -0.052198   0.0298274   -0.456998   0.11       -0.38         pose: 0.0           5.01348    -3.78385    0 -0.00479757 -0.00758219 -0.725658   0.687997       uwb: 0.0            1173.37  480.371  
imu_odom_:  1691062469.790756360  1.08457    -0.167594  9.79468    -0.0671117  0.00106526  -0.455933   0.11       -0.38         pose: 0.0           5.01348    -3.78385    0 -0.00479757 -0.00758219 -0.725658   0.687997       uwb: 0.49979320     1177.57  481.371  
imu_odom_:  1691062469.805779378  0.97444    -0.258574  9.90721    -0.0660464  0.0319579   -0.469782   0.09       -0.5          pose: 0.46864944    5.01355    -3.78389    0 -0.00700404 -0.0109203  -0.733163   0.679929       uwb: 0.0            1177.57  481.371  
imu_odom_:  1691062469.821745544  0.890643   -0.19393   9.48343    -0.0596548  -0.0191748  -0.488956   0.09       -0.5          pose: 0.0           5.01355    -3.78389    0 -0.00700404 -0.0109203  -0.733163   0.679929       uwb: 0.0            1177.57  481.371  
imu_odom_:  1691062469.836737065  0.758962   -0.177171  9.71567    -0.0713727  0.00639159  -0.496413   0.09       -0.5          pose: 0.0           5.01355    -3.78389    0 -0.00700404 -0.0109203  -0.733163   0.679929       uwb: 0.50039979     1179.63  481.261  
imu_odom_:  1691062469.853751953  0.859518   -0.179565  9.8258     -0.0745685  -0.0415453  -0.497478   0.07       -0.5          pose: 0.45980705    5.00555    -3.79556    0 -0.0108335  -0.0129656  -0.741252   0.671014       uwb: 0.0            1179.63  481.261  
imu_odom_:  1691062469.867929519  0.866701   -0.0191536 9.92875    -0.0639159  -0.00852212 -0.519849   0.07       -0.55         pose: 0.0           5.00555    -3.79556    0 -0.0108335  -0.0129656  -0.741252   0.671014       uwb: 0.0            1179.63  481.261  
imu_odom_:  1691062469.884895412  0.399832   -0.0957681 10.1969    -0.0553937  -0.0213053  -0.532632   0.07       -0.55         pose: 0.0           5.00555    -3.79556    0 -0.0108335  -0.0129656  -0.741252   0.671014       uwb: 0.49914867     1179.33  480.66   
imu_odom_:  1691062469.900782838  0.536301   -0.0143652 9.96706    -0.0596548  -0.0276969  -0.549676   0.07       -0.61         pose: 0.23033952    5.00562    -3.7956     0 -0.0123686  -0.014749   -0.745406   0.666333       uwb: 0.0            1179.33  480.66   
imu_odom_:  1691062469.919013554  0.588974   -0.143652  9.68455    -0.0543285  0.0426106   -0.56246    0.07       -0.61         pose: 0.0           5.00562    -3.7956     0 -0.0123686  -0.014749   -0.745406   0.666333       uwb: 0.0            1179.33  480.66   
imu_odom_:  1691062469.935933077  0.596156   -0.131681  9.84735    -0.0383495  0.0117179   -0.536893   0.07       -0.61         pose: 0.31022431    5.00562    -3.7956     0 -0.0103318  -0.0146903  -0.751327   0.659685       uwb: 0.50098890     1178     480.103  
imu_odom_:  1691062469.952756652  0.584185   -0.54109   9.83538    -0.0628506  0.015979    -0.484695   0.05       -0.5          pose: 0.45139629    5.00537    -3.79545    0 -0.0064021  -0.0117916  -0.760105   0.649661       uwb: 0.0            1178     480.103  
imu_odom_:  1691062469.970917375  0.435745   -0.457293  9.89524    -0.0436758  0.0138484   -0.456998   0.05       -0.5          pose: 0.6955797     5.00562    -3.7956     0 -0.00671356 -0.0111478  -0.761287   0.648284       uwb: 0.0            1178     480.103  
imu_odom_:  1691062469.987869270  0.665588   -0.251391  9.9934     -0.056459   -0.00852212 -0.414388   0.05       -0.41         pose: 0.0           5.00562    -3.7956     0 -0.00671356 -0.0111478  -0.761287   0.648284       uwb: 0.49832335     1179.02  480.104  
imu_odom_:  1691062470.1792822    0.447716   -0.0407014 10.1418    -0.0607201  0.0170442   -0.376038   0.05       -0.47         pose: 0.44980396    5.00562    -3.7956     0 -0.00874429 -0.00797619 -0.768318   0.639958       uwb: 0.0            1179.02  480.104  
imu_odom_:  1691062470.18734807   0.725443   -0.328006  10.0796    -0.0468716  0.00426106  -0.330232   0.04       -0.35         pose: 0.0           5.00562    -3.7956     0 -0.00874429 -0.00797619 -0.768318   0.639958       uwb: 0.0            1179.02  480.104  
imu_odom_:  1691062470.35762533   0.519542   -0.407014  9.71088    -0.0585895  -0.0170442  -0.307861   0.04       -0.35         pose: 0.0           5.00562    -3.7956     0 -0.00874429 -0.00797619 -0.768318   0.639958       uwb: 0.50095694     1185.47  481.997  
imu_odom_:  1691062470.53750907   0.672771   -0.234632  9.89763    -0.0511327  -0.015979   -0.285491   0.04       -0.38         pose: 0.21066581    5.00747    -3.80542    0 -0.00788402 -0.00774951 -0.771018   0.636717       uwb: 0.0            1185.47  481.997  
imu_odom_:  1691062470.70749762   0.579397   -0.40462   9.91199    -0.0681769  0           -0.246076   0.04       -0.38         pose: 0.0           5.00747    -3.80542    0 -0.00788402 -0.00774951 -0.771018   0.636717       uwb: 0.0            1185.47  481.997  
imu_odom_:  1691062470.84749436   0.557849   -0.19393   9.89524    -0.0607201  0.00958738  -0.219444   0.04       -0.38         pose: 0.34829162    5.00747    -3.80542    0 -0.00978721 -0.00655767 -0.774847   0.632039       uwb: 0.0            1185.47  481.997  
imu_odom_:  1691062470.101820033  0.605733   -0.383072  9.95748    -0.0543285  0.00745685  -0.175769   0.03       -0.2          pose: 0.40984423    5.0074     -3.80538    0 -0.00956057 -0.00556854 -0.778541   0.627496       uwb: 0.49929469     1185.52  481.864  
imu_odom_:  1691062470.127811470  0.454898   -0.114922  10.0054    -0.0500674  0.00532632  -0.149137   0.03       -0.2          pose: 0.7017918     5.00747    -3.80542    0 -0.00991003 -0.00496717 -0.77901    0.626914       uwb: 0.0            1185.52  481.864  
imu_odom_:  1691062470.144816449  0.344765   -0.248997  9.83538    -0.0596548  0.00745685  -0.143811   0.03       -0.23         pose: 0.0           5.00747    -3.80542    0 -0.00991003 -0.00496717 -0.77901    0.626914       uwb: 0.49996254     1184.13  481.446  
imu_odom_:  1691062470.161694275  0.641646   -0.105345  9.95509    -0.0500674  -0.0138484  -0.238619   0.02       -0.26         pose: 0.36044116    5.00741    -3.80539    0 -0.00768025 -0.00443491 -0.78124    0.624168       uwb: 0.0            1184.13  481.446  
imu_odom_:  1691062470.178692546  0.464475   0.23942    9.83299    -0.0468716  0.00852212  -0.300405   0.02       -0.35         pose: 0.0           5.00741    -3.80539    0 -0.00768025 -0.00443491 -0.78124    0.624168       uwb: 0.0            1184.13  481.446  
imu_odom_:  1691062470.205760703  0.138864   -0.260968  9.79228    -0.0660464  -0.00319579 -0.347276   0.02       -0.35         pose: 0.41087954    5.00747    -3.80542    0 -0.00568193 -0.00549923 -0.784448   0.620145       uwb: 0.49958924     1185.13  481.525  
imu_odom_:  1691062470.230716834  0.483629   -0.289698  9.83299    -0.0585895  -0.0308927  -0.390952   0.02       -0.38         pose: 0.0           5.00747    -3.80542    0 -0.00568193 -0.00549923 -0.784448   0.620145       uwb: 0.0            1185.13  481.525  
imu_odom_:  1691062470.257774491  0.667982   -0.253785  9.91918    -0.0617853  0.0138484   -0.389887   0.03       -0.53         pose: 0.61817410    5.00741    -3.80539    0 -0.00461708 -0.00198778 -0.792013   0.610484       uwb: 0.0            1185.13  481.525  
imu_odom_:  1691062470.282727706  0.177171   -0.0837971 9.87608    -0.0585895  0           -0.430367   0.03       -0.53         pose: 0.0           5.00741    -3.80539    0 -0.00461708 -0.00198778 -0.792013   0.610484       uwb: 0.0            1185.13  481.525  
imu_odom_:  1691062470.299815509  0.383072   -0.131681  9.94073    -0.0511327  -0.0213053  -0.470847   0.03       -0.61         pose: 0.6998962     5.00747    -3.80542    0 -0.00516791 -0.00231635 -0.792927   0.60929        uwb: 0.100172155    1185.58  481.687  
imu_odom_:  1691062470.325751245  0.684742   -0.167594  9.85214    -0.0649811  -0.0181095  -0.507066   0.03       -0.61         pose: 0.0           5.00747    -3.80542    0 -0.00516791 -0.00231635 -0.792927   0.60929        uwb: 0.0            1185.58  481.687  
imu_odom_:  1691062470.350714667  0.600945   -0.299275  10.0317    -0.0607201  0.0117179   -0.528371   0.03       -0.7          pose: 0.52020788    5.00747    -3.80542    0 -0.00361978 -0.00270245 -0.800167   0.599761       uwb: 0.49916929     1190.18  483.083  
imu_odom_:  1691062470.364880865  0.481235   -0.160412  9.89524    -0.0596548  -0.00532632 -0.533697   0.03       -0.7          pose: 0.0           5.00747    -3.80542    0 -0.00361978 -0.00270245 -0.800167   0.599761       uwb: 0.0            1190.18  483.083  
imu_odom_:  1691062470.389837288  0.550666   -0.339977  9.87608    -0.056459   -0.00106526 -0.553937   0.02       -0.58         pose: 0.42970461    5.00747    -3.80542    0 -0.00526748 -0.0044107  -0.80708    0.590402       uwb: 0.50008794     1189.87  482.543  
imu_odom_:  1691062470.416678552  0.691924   -0.138864  10.0748    -0.0543285  0           -0.580569   0.02       -0.58         pose: 0.0           5.00747    -3.80542    0 -0.00526748 -0.0044107  -0.80708    0.590402       uwb: 0.0            1189.87  482.543  
imu_odom_:  1691062470.441688927  0.545878   -0.177171  10.0987    -0.0447411  0.0138484   -0.62531    0.02       -0.7          pose: 0.39194947    5.00937    -3.81524    0 -0.00591764 -0.00341478 -0.813671   0.581286       uwb: 0.50346216     1192.7   483.238  
imu_odom_:  1691062470.465805148  0.509965   -0.0335188 9.94312    -0.0617853  -0.0138484  -0.631702   0.02       -0.7          pose: 0.0           5.00937    -3.81524    0 -0.00591764 -0.00341478 -0.813671   0.581286       uwb: 0.0            1192.7   483.238  
imu_odom_:  1691062470.491814375  0.620098   -0.392649  10.0006    -0.052198   -0.00106526 -0.637028   0.01       -0.64         pose: 0.52923983    5.00937    -3.81524    0 -0.00685736 -0.00498647 -0.823063   0.567887       uwb: 0.49551218     1194.54  483.828  
imu_odom_:  1691062470.508651664  0.445322   -0.102951  9.87848    -0.0500674  -0.00532632 -0.657268   0.01       -0.64         pose: 0.0           5.00937    -3.81524    0 -0.00685736 -0.00498647 -0.823063   0.567887       uwb: 0.0            1194.54  483.828  
imu_odom_:  1691062470.533681871  0.356736   -0.0957681 9.9096     -0.0617853  -0.0127832  -0.668986   0.01       -0.73         pose: 0.47902018    5.00937    -3.81524    0 -0.00385404 -0.00673915 -0.832085   0.554594       uwb: 0.0            1194.54  483.828  
imu_odom_:  1691062470.559677683  0.40462    -0.241814  9.81144    -0.0511327  -0.00319579 -0.721184   0.01       -0.73         pose: 0.60953878    5.00931    -3.81521    0 -0.00116845 -0.00523469 -0.843667   0.53684        uwb: 0.49927428     1193.63  483.51   
imu_odom_:  1691062470.584714597  0.545878   -0.220267  9.94791    -0.0596548  -0.02024    -0.725445   0.01       -0.73         pose: 0.0           5.00931    -3.81521    0 -0.00116845 -0.00523469 -0.843667   0.53684        uwb: 0.49944342     1191.27  482.935  
imu_odom_:  1691062470.602654268  0.562637   -0.208296  9.81862    -0.0543285  0           -0.739294   0.01       -0.82         pose: 0.0           5.00931    -3.81521    0 -0.00116845 -0.00523469 -0.843667   0.53684        uwb: 0.0            1191.27  482.935  
imu_odom_:  1691062470.626764948  0.292093   -0.167594  9.68933    -0.0511327  -0.0127832  -0.76486    0.01       -0.82         pose: 0.7996939     5.00937    -3.81524    0 -0.00109602 -0.00445191 -0.845299   0.534274       uwb: 0.0            1191.27  482.935  
imu_odom_:  1691062470.652671228  0.366313   -0.138864  9.83538    -0.0511327  -0.0191748  -0.774447   0          -0.97         pose: 0.50998022    4.99954    -3.81709    0 -0.00428541 -0.00348944 -0.855559   0.517675       uwb: 0.0            1191.27  482.935  
imu_odom_:  1691062470.668767762  0.600945   -0.308852  9.94073    -0.0532632  -0.02024    -0.780839   0          -0.97         pose: 0.0           4.99954    -3.81709    0 -0.00428541 -0.00348944 -0.855559   0.517675       uwb: 0.0            1191.27  482.935  
imu_odom_:  1691062470.694789821  0.339977   -0.126893  9.59596    -0.0468716  0.0245011   -0.802144   0.01       -1            pose: 0.41013878    4.99954    -3.81709    0 -0.00231153 -0.00307723 -0.863944   0.503574       uwb: 0.100056376    1190.85  482.701  
imu_odom_:  1691062470.719756743  0.521936   -0.205901  9.9096     -0.0575243  -0.0223706  -0.797883   0.01       -1            pose: 0.0           4.99954    -3.81709    0 -0.00231153 -0.00307723 -0.863944   0.503574       uwb: 0.0            1190.85  482.701  
imu_odom_:  1691062470.745638234  0.797269   -0.265756  9.9527     -0.056459   -0.0394148  -0.80747    0          -0.97         pose: 0.43006040    4.99954    -3.81709    0 0.00124528  0.00270593  0.872708    -0.488234      uwb: 0.49930635     1189.88  482.523  
imu_odom_:  1691062470.770694396  0.61531    -0.174777  9.93594    -0.0617853  0.00106526  -0.842624   0          -0.97         pose: 0.0           4.99954    -3.81709    0 0.00124528  0.00270593  0.872708    -0.488234      uwb: 0.0            1189.88  482.523  
imu_odom_:  1691062470.796647921  0.344765   -0.28491   9.78989    -0.0681769  0.00319579  -0.824515   0          -1            pose: 0.51016978    4.99954    -3.81709    0 0.00270161  0.00321437  0.882968    -0.469415      uwb: 0.49987213     1187.57  481.83   
imu_odom_:  1691062470.813659025  0.272939   -0.263362  10.0221    -0.0671117  -0.00532632 -0.814927   0          -1            pose: 0.0           4.99954    -3.81709    0 0.00270161  0.00321437  0.882968    -0.469415      uwb: 0.0            1187.57  481.83   
imu_odom_:  1691062470.839795988  0.529119   0.0837971  10.0509    -0.052198   -0.0330232  -0.870321   0          -0.97         pose: 0.51244454    4.99954    -3.81709    0 0.00610342  0.00457727  0.893156    -0.449683      uwb: 0.50260476     1193.01  483.78   
imu_odom_:  1691062470.864632257  0.612916   -0.114922  9.85693    -0.0585895  -0.0287621  -0.86606    0          -0.94         pose: 0.24791649    4.99954    -3.81709    0 0.00443878  0.00262318  0.897919    -0.440131      uwb: 0.0            1193.01  483.78   
imu_odom_:  1691062470.889658381  0.428562   -0.244209  9.89524    -0.0543285  -0.0639159  -0.895887   0          -0.94         pose: 0.36046157    4.99905    -3.81679    0 0.00320343  0.00469496  0.9049      -0.425586      uwb: 0.49921595     1190.25  482.906  
imu_odom_:  1691062470.906767182  0.363919   -0.0383072 9.92636    -0.0639159  -0.0745685  -0.913997   0          -0.88         pose: 0.8078306     4.99954    -3.81709    0 0.00384242  0.00531803  0.906446    -0.422271      uwb: 0.0            1190.25  482.906  
imu_odom_:  1691062470.932629717  0.830788   -0.363919  10.0437    -0.072438   -0.0276969  -0.872452   0          -0.88         pose: 0.0           4.99954    -3.81709    0 0.00384242  0.00531803  0.906446    -0.422271      uwb: 0.0            1190.25  482.906  
imu_odom_:  1691062470.957759080  0.785298   -0.227449  10.1107    -0.0490022  -0.0181095  -0.890561   0          -0.82         pose: 0.48901745    4.99954    -3.81709    0 0.00427119  0.00498017  0.915793    -0.401598      uwb: 0.49960382     1189.17  483.038  
imu_odom_:  1691062470.974717397  0.505177   -0.148441  9.73243    -0.0649811  -0.0149137  -0.896953   0          -0.82         pose: 0.0           4.99954    -3.81709    0 0.00427119  0.00498017  0.915793    -0.401598      uwb: 0.0            1189.17  483.038  
imu_odom_:  1691062470.999743521  0.500388   -0.316035  9.9527     -0.0671117  -0.0213053  -0.891626   0          -0.91         pose: 0.43914777    4.99954    -3.81709    0 0.00728081  0.00503626  0.923738    -0.382923      uwb: 0.49986921     1191.85  484.126  
imu_odom_:  1691062471.23764093   0.275333   -0.260968  9.92875    -0.0660464  -0.0234358  -0.884169   0          -0.91         pose: 0.0           4.99954    -3.81709    0 0.00728081  0.00503626  0.923738    -0.382923      uwb: 0.0            1191.85  484.126  
imu_odom_:  1691062471.46752568   0.471658   0.011971   9.83299    -0.056459   -0.0372843  -0.898018   0          -0.91         pose: 0.40991422    4.99954    -3.81709    0 0.0073681   0.00472514  0.930891    -0.365192      uwb: 0.49913442     1194.67  484.832  
imu_odom_:  1691062471.71788034   0.474052   -0.11971   9.78989    -0.0607201  -0.00852212 -0.908671   0          -0.91         pose: 0.0           4.99954    -3.81709    0 0.0073681   0.00472514  0.930891    -0.365192      uwb: 0.0            1194.67  484.832  
imu_odom_:  1691062471.88671699   0.509965   -0.342371  10.0796    -0.0585895  -0.00213053 -0.912932   0          -1.06         pose: 0.49026284    4.99954    -3.81709    0 0.00522105  0.002409    0.938978    -0.343929      uwb: 0.50056933     1194.61  484.985  
imu_odom_:  1691062471.111671840  0.557849   -0.131681  9.96706    -0.0596548  -0.0234358  -0.916127   0          -1.06         pose: 0.0           4.99954    -3.81709    0 0.00522105  0.002409    0.938978    -0.343929      uwb: 0.0            1194.61  484.985  
imu_odom_:  1691062471.136618065  0.390255   -0.186748  9.6606     -0.0617853  0           -0.913997   0          -0.97         pose: 0.48062146    4.99954    -3.81709    0 0.00287191  0.00470057  0.946556    -0.322493      uwb: 0.49841707     1189.5   483.559  
imu_odom_:  1691062471.161597246  0.347159   -0.289698  9.7444     -0.0596548  -0.015979   -0.909736   0          -0.97         pose: 0.0           4.99954    -3.81709    0 0.00287191  0.00470057  0.946556    -0.322493      uwb: 0.0            1189.5   483.559  
imu_odom_:  1691062471.178656767  0.550666   -0.215478  10.058     -0.0617853  -0.0127832  -0.905475   0          -0.88         pose: 0.39873015    4.99954    -3.81709    0 0.00451793  0.00503542  0.952512    -0.304425      uwb: 0.0            1189.5   483.559  
imu_odom_:  1691062471.202586059  0.287304   -0.189142  9.77553    -0.0575243  0.00106526  -0.916127   0          -0.88         pose: 0.0           4.99954    -3.81709    0 0.00451793  0.00503542  0.952512    -0.304425      uwb: 0.50089305     1189     483.548  
imu_odom_:  1691062471.227580113  0.42138    -0.0909797 9.72046    -0.0671117  -0.0138484  -0.92465    0          -1            pose: 0.49974109    4.99954    -3.81709    0 0.00262988  0.00184725  0.959488    -0.281729      uwb: 0.0            1189     483.548  
imu_odom_:  1691062471.249591025  0.47884    -0.167594  9.89045    -0.0617853  -0.0308927  -0.92678    0          -1            pose: 0.0           4.99954    -3.81709    0 0.00262988  0.00184725  0.959488    -0.281729      uwb: 0.49926280     1194.39  485.554  
imu_odom_:  1691062471.263598579  0.325611   -0.265756  9.83777    -0.0607201  -0.0127832  -0.931041   0          -0.97         pose: 0.80973233    4.99908    -3.8168     0 0.00292521  0.00336852  0.969705    -0.244239      uwb: 0.0            1194.39  485.554  
imu_odom_:  1691062471.285591701  0.423774   -0.308852  9.92636    -0.0543285  -0.00426106 -0.949151   0          -0.97         pose: 0.0           4.99908    -3.8168     0 0.00292521  0.00336852  0.969705    -0.244239      uwb: 0.50187878     1195.62  486.373  
imu_odom_:  1691062471.302773418  0.617704   -0.225055  9.9503     -0.0596548  -0.0127832  -0.953412   0          -1.23         pose: 0.36000676    4.99932    -3.81695    0 0.00204997  0.000153726 0.973876    -0.227072      uwb: 0.0            1195.62  486.373  
imu_odom_:  1691062471.327649067  0.380678   -0.263362  9.84496    -0.056459   -0.00426106 -0.945955   0          -1.23         pose: 0.0           4.99932    -3.81695    0 0.00204997  0.000153726 0.973876    -0.227072      uwb: 0.0            1195.62  486.373  
imu_odom_:  1691062471.344572978  0.497994   -0.265756  9.88087    -0.0596548  -0.0181095  -0.937433   0          -1            pose: 0.42057366    4.99933    -3.81696    0 0.00179734  -0.0009307820.978385    -0.206784      uwb: 0.49917532     1196.02  486.676  
imu_odom_:  1691062471.360564238  0.572214   -0.177171  10.0269    -0.056459   0           -0.936367   0          -1            pose: 0.0           4.99933    -3.81696    0 0.00179734  -0.0009307820.978385    -0.206784      uwb: 0.0            1196.02  486.676  
imu_odom_:  1691062471.377633967  0.368707   -0.220267  9.98143    -0.0532632  0.00426106  -0.935302   0          -1            pose: 0.0           4.99933    -3.81696    0 0.00179734  -0.0009307820.978385    -0.206784      uwb: 0.0            1196.02  486.676  
imu_odom_:  1691062471.392579713  0.373495   -0.169988  9.81623    -0.0681769  -0.0426106  -0.928911   0          -1.26         pose: 0.39985004    4.99954    -3.81709    0 0.00392132  -8.33649e-050.982229    -0.187644      uwb: 0.50043226     1193.85  485.65   
imu_odom_:  1691062471.417631219  0.675165   -0.186748  9.84256    -0.056459   -0.04048    -0.922519   0          -1.26         pose: 0.0           4.99954    -3.81709    0 0.00392132  -8.33649e-050.982229    -0.187644      uwb: 0.0            1193.85  485.65   
imu_odom_:  1691062471.434687241  -0.0622492 -0.205901  9.60554    -0.0447411  0.0490022   -0.922519   0          -0.94         pose: 0.49997148    4.99933    -3.81695    0 0.00466319  0.0012294   0.986472    -0.163857      uwb: 0.49891868     1196.88  487.082  
imu_odom_:  1691062471.452690787  -0.299275  -0.0790087 10.307     -0.0543285  -0.00852212 -0.908671   0          -0.94         pose: 0.7008005     4.99954    -3.81709    0 0.00377643  0.00113656  0.987023    -0.160531      uwb: 0.0            1196.88  487.082  
imu_odom_:  1691062471.469615864  -0.316035  -0.0861913 9.72764    -0.0426106  -0.0138484  -0.909736   0          -0.94         pose: 0.0           4.99954    -3.81709    0 0.00377643  0.00113656  0.987023    -0.160531      uwb: 0.0            1196.88  487.082  
imu_odom_:  1691062471.483548759  -1.30963   -0.129287  9.90242    -0.0468716  0.0479369   -0.831972   0.04       -0.73         pose: 0.44976640    4.99954    -3.81709    0 -0.0009055360.00117652  0.99024     -0.139368      uwb: 0.0            1196.88  487.082  
imu_odom_:  1691062471.499643550  -0.878672  -0.608127  10.1754    -0.0660464  -0.0447411  -0.658333   0.05       -0.64         pose: 0.0           4.99954    -3.81709    0 -0.0009055360.00117652  0.99024     -0.139368      uwb: 0.49935030     1196.02  486.651  
imu_odom_:  1691062471.513544365  -0.105345  -0.995988  9.98382    -0.092678   -0.0681769  -0.574178   0.05       -0.64         pose: 0.0           4.99954    -3.81709    0 -0.0009055360.00117652  0.99024     -0.139368      uwb: 0.0            1196.02  486.651  
imu_odom_:  1691062471.529669486  0.466869   -0.217872  9.85453    -0.0447411  -0.0223706  -0.580569   0.05       -0.64         pose: 0.21058722    4.99954    -3.81709    0 -0.00315997 0.00068986  0.991392    -0.130885      uwb: 0.0            1196.02  486.651  
imu_odom_:  1691062471.547546170  0.390255   0.253785   9.35175    -0.0639159  -0.00426106 -0.550742   0.06       -0.61         pose: 0.0           4.99954    -3.81709    0 -0.00315997 0.00068986  0.991392    -0.130885      uwb: 0.50178837     1198.2   487.664  
imu_odom_:  1691062471.565610085  -0.0023942 -0.299275  9.61033    -0.0681769  0.0191748   -0.547546   0.06       -0.61         pose: 0.0           4.99954    -3.81709    0 -0.00315997 0.00068986  0.991392    -0.130885      uwb: 0.0            1198.2   487.664  
imu_odom_:  1691062471.581648882  -0.342371  -0.366313  9.90002    -0.0468716  -0.00426106 -0.552872   0.09       -0.53         pose: 0.30974627    4.99954    -3.81709    0 -0.00294788 -0.00104571 0.992642    -0.121049      uwb: 0.0            1198.2   487.664  
imu_odom_:  1691062471.599698215  -0.0766145 -0.177171  9.89763    -0.0681769  -0.0500674  -0.492152   0.09       -0.53         pose: 0.43960872    4.99373    -3.81807    0 -0.00405812 1.49466e-05 0.994135    -0.108069      uwb: 0.49910240     1199.09  488.034  
imu_odom_:  1691062471.617697678  0.347159   -0.454898  9.663      -0.0649811  -0.0287621  -0.452737   0.09       -0.53         pose: 0.0           4.99373    -3.81807    0 -0.00405812 1.49466e-05 0.994135    -0.108069      uwb: 0.0            1199.09  488.034  
imu_odom_:  1691062471.633760680  0.21069    -0.227449  10.0102    -0.0511327  0.00532632  -0.429302   0.11       -0.53         pose: 0.7145366     4.98969    -3.81879    0 -0.00473491 -0.0002052130.994359    -0.105963      uwb: 0.0            1199.09  488.034  
imu_odom_:  1691062471.651584870  0.174777   -0.150835  9.6223     -0.0500674  -0.00639159 -0.417584   0.11       -0.44         pose: 0.0           4.98969    -3.81879    0 -0.00473491 -0.0002052130.994359    -0.105963      uwb: 0.49895076     1203.1   489.612  
imu_odom_:  1691062471.669583459  0.272939   -0.162806  10.0724    -0.0500674  -0.02024    -0.397344   0.11       -0.44         pose: 0.68916139    4.98969    -3.81879    0 -0.00822645 -0.00145282 0.996032    -0.0886058     uwb: 0.0            1203.1   489.612  
imu_odom_:  1691062471.683670629  -0.129287  -0.287304  9.81623    -0.0500674  -0.0127832  -0.386691   0.11       -0.41         pose: 0.0           4.98969    -3.81879    0 -0.00822645 -0.00145282 0.996032    -0.0886058     uwb: 0.0            1203.1   489.612  
imu_odom_:  1691062471.699581981  0.505177   -0.141258  10.2496    -0.0340885  -0.0788296  -0.379234   0.11       -0.41         pose: 0.0           4.98969    -3.81879    0 -0.00822645 -0.00145282 0.996032    -0.0886058     uwb: 0.49973817     1202.08  489.586  
imu_odom_:  1691062471.716524265  1.53947    -0.0502782 9.78271    -0.0596548  -0.0543285  -0.335558   0.11       -0.41         pose: 0.33863570    4.97983    -3.82044    0 -0.00822401 0.000484531 0.996665    -0.0811823     uwb: 0.0            1202.08  489.586  
imu_odom_:  1691062471.734654964  1.35272    -0.117316  9.97424    -0.0468716  0.00319579  -0.28336    0.09       -0.38         pose: 0.40989105    4.97976    -3.8204     0 -0.00475762 0.00112664  0.997322    -0.0729675     uwb: 0.50046435     1205.13  491.005  
imu_odom_:  1691062471.752579185  1.07739    -0.519542  9.414      -0.0617853  -0.0138484  -0.246076   0.09       -0.38         pose: 0.8012399     4.97983    -3.82044    0 -0.00399758 0.00126298  0.997419    -0.0716786     uwb: 0.0            1205.13  491.005  
imu_odom_:  1691062471.768637522  0.873884   -0.155623  9.89045    -0.0436758  0.0458064   -0.24288    0.09       -0.38         pose: 0.0           4.97983    -3.82044    0 -0.00399758 0.00126298  0.997419    -0.0716786     uwb: 0.0            1205.13  491.005  
imu_odom_:  1691062471.785528478  0.909797   -0.153229  10.07      -0.0585895  0           -0.249272   0.09       -0.44         pose: 0.44100858    4.96997    -3.82215    0 -9.57744e-050.00105193  0.997869    -0.0652364     uwb: 0.49935321     1205.94  491.538  
imu_odom_:  1691062471.802668782  0.6608     0.1652     10.003     -0.056459   -0.00532632 -0.276969   0.06       -0.32         pose: 0.0           4.96997    -3.82215    0 -9.57744e-050.00105193  0.997869    -0.0652364     uwb: 0.0            1205.94  491.538  
imu_odom_:  1691062471.819735011  0.639252   -0.332794  9.64863    -0.0543285  -0.00532632 -0.287621   0.06       -0.32         pose: 0.0           4.96997    -3.82215    0 -9.57744e-050.00105193  0.997869    -0.0652364     uwb: 0.0            1205.94  491.538  
imu_odom_:  1691062471.836548392  0.651223   -0.320823  9.96706    -0.0639159  -0.0340885  -0.282295   0.05       -0.26         pose: 0.25059380    4.96997    -3.82215    0 0.00193487  0.00198055  0.998102    -0.0615126     uwb: 0.50032436     1202.65  490.747  
imu_odom_:  1691062471.853611413  0.871489   -0.275333  9.80186    -0.0543285  -0.00639159 -0.280165   0.05       -0.26         pose: 0.0           4.96997    -3.82215    0 0.00193487  0.00198055  0.998102    -0.0615126     uwb: 0.0            1202.65  490.747  
imu_odom_:  1691062471.868565616  0.814029   -0.184354  9.93354    -0.0628506  -0.00532632 -0.246076   0.05       -0.26         pose: 0.32859760    4.96997    -3.82215    0 0.0043709   0.00131252  0.998408    -0.0562192     uwb: 0.0            1202.65  490.747  
imu_odom_:  1691062471.884569708  0.744597   -0.222661  9.90242    -0.0649811  0.00958738  -0.22264    0.04       -0.23         pose: 0.42008954    4.96997    -3.82215    0 0.00853797  0.000699247 0.998724    -0.0497596     uwb: 0.0            1202.65  490.747  
imu_odom_:  1691062471.899556283  0.708684   -0.344765  9.92157    -0.0468716  0.00106526  -0.22051    0.04       -0.23         pose: 0.0           4.96997    -3.82215    0 0.00853797  0.000699247 0.998724    -0.0497596     uwb: 0.50033603     1206.17  492.262  
imu_odom_:  1691062471.924792395  0.387861   -0.148441  9.93594    -0.0585895  0.0138484   -0.194943   0.03       -0.17         pose: 0.6993424     4.96997    -3.82215    0 0.00919058  0.000652108 0.998764    -0.048844      uwb: 0.0            1206.17  492.262  
imu_odom_:  1691062471.941539574  0.237026   -0.253785  9.92875    -0.0585895  0.0255663   -0.160855   0.04       -0.23         pose: 0.0           4.96997    -3.82215    0 0.00919058  0.000652108 0.998764    -0.048844      uwb: 0.50130134     1204.77  491.876  
imu_odom_:  1691062471.959633819  -0.802058  -0.361524  9.75637    -0.0532632  0.0820254   -0.110787   0.05       -0.11         pose: 0.0           4.96997    -3.82215    0 0.00919058  0.000652108 0.998764    -0.048844      uwb: 0.0            1204.77  491.876  
imu_odom_:  1691062471.981677686  -0.679953  -0.40462   10.0149    -0.0575243  -0.0479369  -0.103331   0.05       -0.11         pose: 0.73963478    4.96011    -3.82378    0 0.00532194  -0.0001048220.999166    -0.0404928     uwb: 0.0            1204.77  491.876  
imu_odom_:  1691062472.5654225    0.162806   -0.0957681 10.0269    -0.056459   -0.0575243  -0.104396   0.07       -0.14         pose: 0.0           4.96011    -3.82378    0 0.00532194  -0.0001048220.999166    -0.0404928     uwb: 0.49810501     1204.25  491.893  
imu_odom_:  1691062472.30503345   0.409408   -0.0957681 9.78031    -0.0585895  -0.0287621  -0.109722   0.07       -0.14         pose: 0.39038645    4.96011    -3.82378    0 0.00175136  -0.0004080380.999289    -0.0376677     uwb: 0.0            1204.25  491.893  
imu_odom_:  1691062472.53600318   0.0167594  -0.260968  10.228     -0.0500674  0.0458064   -0.108657   0.1        -0.11         pose: 0.41942182    4.96006    -3.82375    0 0.000715562 0.00272279  0.999398    -0.0345823     uwb: 0.49867092     1202.73  491.818  
imu_odom_:  1691062472.77607194   -0.122104  -0.229843  9.79707    -0.056459   -0.00106526 -0.0735032  0.1        -0.11         pose: 0.0           4.96006    -3.82375    0 0.000715562 0.00272279  0.999398    -0.0345823     uwb: 0.0            1202.73  491.818  
imu_odom_:  1691062472.104910721  -0.0909797 -0.213084  9.94551    -0.0490022  -0.0181095  -0.0788296  0.11       -0.14         pose: 0.7066628     4.96011    -3.82378    0 -0.0001425110.00254048  0.999417    -0.0340577     uwb: 0.50105656     1203.23  491.864  
imu_odom_:  1691062472.121543295  0.411803   -0.339977  9.87848    -0.0639159  0.0127832   -0.0873517  0.11       -0.14         pose: 0.0           4.96011    -3.82378    0 -0.0001425110.00254048  0.999417    -0.0340577     uwb: 0.0            1203.23  491.864  
imu_odom_:  1691062472.147613786  0.222661   0.023942   9.98143    -0.0532632  -0.0117179  -0.056459   0.11       -0.11         pose: 0.24003668    4.95025    -3.82544    0 -0.00289069 0.00200127  0.999468    -0.0324149     uwb: 0.49993960     1206.31  493.158  
imu_odom_:  1691062472.173543125  0.31364    -0.232238  9.39006    -0.0628506  0.00958738  -0.0575243  0.14       -0.08         pose: 0.52047367    4.95025    -3.82544    0 -0.00649795 0.000840792 0.999548    -0.0293262     uwb: 0.0            1206.31  493.158  
imu_odom_:  1691062472.197478842  0.31364    0.035913   10.4267    -0.0532632  -0.02024    -0.0639159  0.14       -0.08         pose: 0.0           4.95025    -3.82544    0 -0.00649795 0.000840792 0.999548    -0.0293262     uwb: 0.50126945     1205.79  493.174  
imu_odom_:  1691062472.212545623  0.351948   -0.241814  9.59835    -0.0458064  -0.00319579 -0.036219   0.13       -0.08         pose: 0.42892044    4.94038    -3.82709    0 -0.00633755 0.0019131   0.999609    -0.0271483     uwb: 0.0            1205.79  493.174  
imu_odom_:  1691062472.237511398  0.54109    -0.19393   9.84975    -0.0596548  -0.00532632 -0.052198   0.13       -0.08         pose: 0.0           4.94038    -3.82709    0 -0.00633755 0.0019131   0.999609    -0.0271483     uwb: 0.49864473     1202.64  492.059  
imu_odom_:  1691062472.262539874  0.440533   -0.237026  9.86172    -0.0543285  -0.0468716  -0.0298274  0.19       -0.11         pose: 0.48023377    4.94038    -3.82709    0 -0.00493489 0.00215051  0.999677    -0.0248201     uwb: 0.0            1202.64  492.059  
imu_odom_:  1691062472.285532441  0.471658   -0.45011   10.0628    -0.0639159  -0.04048    -0.0234358  0.19       -0.11         pose: 0.0           4.94038    -3.82709    0 -0.00493489 0.00215051  0.999677    -0.0248201     uwb: 0.50007375     1202.03  492.319  
imu_odom_:  1691062472.309583937  -0.023942  -0.0047884 9.82341    -0.0340885  0.0351537   -0.0351537  0.15       -0.08         pose: 0.39973353    4.93052    -3.82876    0 -0.00126403 0.00102391  0.999731    -0.0231297     uwb: 0.0            1202.03  492.319  
imu_odom_:  1691062472.327589532  -0.220267  -0.146046  9.70609    -0.0660464  0.0149137   -0.00426106 0.15       -0.08         pose: 0.0           4.93052    -3.82876    0 -0.00126403 0.00102391  0.999731    -0.0231297     uwb: 0.0            1202.03  492.319  
imu_odom_:  1691062472.352471899  0.632069   -0.23942   10.0078    -0.0543285  -0.0351537  -0.0149137  0.15       -0.02         pose: 0.49004731    4.92066    -3.83039    0 0.000774344 -0.00178291 0.999767    -0.0214834     uwb: 0.50172149     1203.63  493.442  
imu_odom_:  1691062472.369471933  0.885855   -0.191536  10.0676    -0.0500674  -0.00532632 -0.02024    0.15       -0.02         pose: 0.0           4.92066    -3.83039    0 0.000774344 -0.00178291 0.999767    -0.0214834     uwb: 0.0            1203.63  493.442  
imu_odom_:  1691062472.385464366  0.126893   -0.177171  9.35654    -0.0660464  0.0213053   -0.00426106 0.15       -0.05         pose: 0.42036093    4.91904    -3.82053    0 -0.00200577 -0.0007640250.999792    -0.0202742     uwb: 0.49818395     1204.21  494.561  
imu_odom_:  1691062472.409664888  0.756568   -0.191536  10.9319    -0.0543285  -0.0575243  -0.00852212 0.15       -0.05         pose: 0.0           4.91904    -3.82053    0 -0.00200577 -0.0007640250.999792    -0.0202742     uwb: 0.0            1204.21  494.561  
imu_odom_:  1691062472.434477846  0.754174   -0.0047884 9.80186    -0.0436758  -0.0223706  0.0149137   0.22       -0.05         pose: 0.42048051    4.90918    -3.82221    0 0.000741844 -0.0005008680.999817    -0.0191244     uwb: 0.50019623     1206.75  495.898  
imu_odom_:  1691062472.459450911  0.150835   -0.244209  10.0533    -0.0639159  0.0287621   0.00958738  0.22       -0.05         pose: 0.0           4.90918    -3.82221    0 0.000741844 -0.0005008680.999817    -0.0191244     uwb: 0.0            1206.75  495.898  
imu_odom_:  1691062472.476512773  0.150835   -0.23942   9.44991    -0.0490022  -0.0213053  0.00852212  0.17       -0.02         pose: 0.39898694    4.89932    -3.82386    0 0.00361154  0.000373009 0.999826    -0.0182715     uwb: 0.0            1206.75  495.898  
imu_odom_:  1691062472.492567907  0.0646434  -0.205901  9.81383    -0.0468716  -0.00958738 0.0213053   0.17       -0.02         pose: 0.0           4.89932    -3.82386    0 0.00361154  0.000373009 0.999826    -0.0182715     uwb: 0.50003001     1206.47  496.572  
imu_odom_:  1691062472.510729818  0.45011    -0.258574  10.0437    -0.0681769  -0.0181095  0.0298274   0.17       -0.02         pose: 0.0           4.89932    -3.82386    0 0.00361154  0.000373009 0.999826    -0.0182715     uwb: 0.0            1206.47  496.572  
imu_odom_:  1691062472.534579503  0.588974   -0.160412  9.69652    -0.0649811  0.04048     0.0191748   0.21       -0.02         pose: 0.49973545    4.88945    -3.8255     0 0.00152482  0.000842166 0.999844    -0.0175585     uwb: 0.49961004     1204.98  496.447  
imu_odom_:  1691062472.560448765  0.548272   -0.287304  10.1394    -0.0575243  0.0191748   0.0276969   0.19       -0.02         pose: 0.67108607    4.88288    -3.82658    0 0.00231243  0.000175072 0.999854    -0.0169356     uwb: 0.0            1204.98  496.447  
imu_odom_:  1691062472.573441724  0.47884    -0.31364   9.74201    -0.0511327  0.02024     0.0149137   0.19       -0.02         pose: 0.0           4.88288    -3.82658    0 0.00231243  0.000175072 0.999854    -0.0169356     uwb: 0.0            1204.98  496.447  
imu_odom_:  1691062472.597552714  0.581791   -0.454898  9.34457    -0.0596548  0.0276969   0.0149137   0.19       -0.02         pose: 0.0           4.88288    -3.82658    0 0.00231243  0.000175072 0.999854    -0.0169356     uwb: 0.50064536     1206.22  497.181  
imu_odom_:  1691062472.623418477  0.184354   -0.246603  9.41161    -0.0671117  0.00532632  0.0245011   0.16       0             pose: 0.7926369     4.87958    -3.82712    0 0.00285769  -0.0003052650.999853    -0.0168897     uwb: 0.0            1206.22  497.181  
imu_odom_:  1691062472.644444543  1.58736    -0.318429  10.4938    -0.0788296  0.0298274   0.0234358   0.17       0             pose: 0.39021746    4.87958    -3.82712    0 0.00418809  -0.00338435 0.999849    -0.0165322     uwb: 0.49939715     1205.64  497.349  
imu_odom_:  1691062472.657439835  -0.0191536 -0.265756  8.7939     -0.0628506  0.0479369   0.0149137   0.17       0             pose: 0.0           4.87958    -3.82712    0 0.00418809  -0.00338435 0.999849    -0.0165322     uwb: 0.0            1205.64  497.349  
imu_odom_:  1691062472.682437106  -0.76375   -0.136469  10.6781    -0.0596548  0.0692422   0.0287621   0.17       0             pose: 0.0           4.87958    -3.82712    0 0.00418809  -0.00338435 0.999849    -0.0165322     uwb: 0.0            1205.64  497.349  
imu_odom_:  1691062472.707481623  0.181959   -0.251391  10.6255    -0.0681769  -0.0394148  0.0234358   0.16       0             pose: 0.47915763    4.86971    -3.82873    0 0.00257526  -0.00457691 0.999857    -0.0160988     uwb: 0.50244475     1205.89  497.985  
imu_odom_:  1691062472.720539032  0.814029   -0.248997  9.165      -0.0671117  -0.0500674  0.0276969   0.16       0             pose: 0.0           4.86971    -3.82873    0 0.00257526  -0.00457691 0.999857    -0.0160988     uwb: 0.0            1205.89  497.985  
imu_odom_:  1691062472.744546200  0.232238   -0.304064  9.61033    -0.0351537  0.00106526  0.0234358   0.16       0             pose: 0.91095651    4.84999    -3.83202    0 -0.00158278 -0.00391321 0.999872    -0.0154154     uwb: 0.49793897     1203.62  497.287  
imu_odom_:  1691062472.769558928  -0.0215478 -0.0814029 9.94073    -0.0543285  -0.0213053  0.0287621   0.16       0             pose: 0.0           4.84999    -3.83202    0 -0.00158278 -0.00391321 0.999872    -0.0154154     uwb: 0.0            1203.62  497.287  
imu_odom_:  1691062472.782473437  0.270545   -0.136469  9.52892    -0.0511327  -0.00958738 0.036219    0.17       -0.02         pose: 0.7955534     4.84999    -3.83202    0 -0.0023951  -0.0039339  0.999872    -0.0153539     uwb: 0.0            1203.62  497.287  
imu_odom_:  1691062472.807485873  0.215478   -0.323217  9.69891    -0.0575243  0.0138484   0.0266316   0.17       -0.02         pose: 0.0           4.84999    -3.83202    0 -0.0023951  -0.0039339  0.999872    -0.0153539     uwb: 0.49849308     1202.57  497.369  
imu_odom_:  1691062472.824591188  0.1652     -0.122104  9.85214    -0.0340885  -0.0127832  0.0245011   0.22       -0.02         pose: 0.47058353    4.83845    -3.82384    0 -0.00605868 -0.0020845  0.999865    -0.0151026     uwb: 0.0            1202.57  497.369  
imu_odom_:  1691062472.848405293  -0.0311246 -0.248997  9.70849    -0.0436758  -0.00106526 0.0298274   0.22       -0.02         pose: 0.0           4.83845    -3.82384    0 -0.00605868 -0.0020845  0.999865    -0.0151026     uwb: 0.49950798     1203.32  498.028  
imu_odom_:  1691062472.872410128  -0.059855  -0.251391  9.74919    -0.0351537  0.0223706   0.0298274   0.22       -0.02         pose: 0.72852374    4.82859    -3.82552    0 -0.0111197  -0.0016244  0.999829    -0.0146933     uwb: 0.0            1203.32  498.028  
imu_odom_:  1691062472.897522304  0.280122   -0.299275  9.9503     -0.0553937  -0.0181095  0.0436758   0.22       -0.02         pose: 0.7008883     4.82859    -3.82552    0 -0.0119137  -0.0015899  0.99982     -0.0146588     uwb: 0.50053161     1202.25  498.153  
imu_odom_:  1691062472.918528831  0.258574   -0.138864  10.1634    -0.04048    0.00426106  0.0330232   0.17       -0.02         pose: 0.42108128    4.81873    -3.82719    0 -0.0113137  -0.00239144 0.999826    -0.0146114     uwb: 0.0            1202.25  498.153  
imu_odom_:  1691062472.931405135  -0.0837971 -0.292093  9.78989    -0.0479369  0.0191748   0.0383495   0.17       -0.02         pose: 0.0           4.81873    -3.82719    0 -0.0113137  -0.00239144 0.999826    -0.0146114     uwb: 0.0            1202.25  498.153  
imu_odom_:  1691062472.955402095  0.148441   -0.150835  9.9503     -0.0585895  -0.0138484  0.0447411   0.17       0             pose: 0.0           4.81873    -3.82719    0 -0.0113137  -0.00239144 0.999826    -0.0146114     uwb: 0.49991918     1204.22  499.584  
imu_odom_:  1691062472.972517909  0.687136   -0.203507  10.058     -0.0692422  0.0127832   0.0490022   0.17       0             pose: 0.41892900    4.80887    -3.82885    0 -0.0118604  -2.65303e-050.999823    -0.0145761     uwb: 0.0            1204.22  499.584  
imu_odom_:  1691062472.996387717  0.54109    -0.335188  9.73243    -0.0745685  -0.00958738 0.04048     0.18       0.02          pose: 0.0           4.80887    -3.82885    0 -0.0118604  -2.65303e-050.999823    -0.0145761     uwb: 0.50216770     1206.14  501.11   
imu_odom_:  1691062473.19512402   0.0454898  -0.356736  9.74201    -0.0490022  0.0383495   0.0330232   0.18       0.02          pose: 0.41123273    4.79901    -3.83052    0 -0.00999009 0.00090943  0.999841    -0.0147222     uwb: 0.0            1206.14  501.11   
imu_odom_:  1691062473.37393766   0.560243   -0.25618   10.2017    -0.0660464  -0.0308927  0.0458064   0.24       0             pose: 0.38973925    4.79901    -3.83052    0 -0.0107957  -0.00120635 0.999834    -0.0146375     uwb: 0.49907357     1208.48  502.846  
imu_odom_:  1691062473.61377613   0.720655   -0.196325  10.0269    -0.0447411  0.00958738  0.0319579   0.24       0             pose: 0.7882627     4.79901    -3.83052    0 -0.0099021  -0.00127794 0.999843    -0.0146615     uwb: 0.0            1208.48  502.846  
imu_odom_:  1691062473.87571476   0.59855    -0.234632  9.9934     -0.0596548  -0.00745685 0.0607201   0.21       0.02          pose: 0.33982584    4.78915    -3.83219    0 -0.00655061 -0.00100111 0.999871    -0.0145982     uwb: 0.0            1208.48  502.846  
imu_odom_:  1691062473.111368967  0.464475   0.107739   10.0389    -0.0436758  0.00532632  0.0319579   0.21       0.02          pose: 0.0           4.78915    -3.83219    0 -0.00655061 -0.00100111 0.999871    -0.0145982     uwb: 0.0            1208.48  502.846  
imu_odom_:  1691062473.129395858  0.471658   -0.68953   9.39245    -0.0745685  0.00213053  0.0553937   0.21       -0.02         pose: 0.49991354    4.77929    -3.83386    0 -0.0031381  0.00132334  0.999885    -0.0147896     uwb: 0.0            1208.48  502.846  
imu_odom_:  1691062473.153377662  0.349553   -0.42138   9.55287    -0.0479369  0.0575243   0.0330232   0.21       -0.02         pose: 0.0           4.77929    -3.83386    0 -0.0031381  0.00132334  0.999885    -0.0147896     uwb: 0.99989999     1207.24  503.372  
imu_odom_:  1691062473.176436440  0.126893   -0.174777  9.30147    -0.0788296  0.0117179   0.0426106   0.23       0             pose: 0.42008695    4.76832    -3.82898    0 -0.00345522 -0.00291399 0.99988     -0.014842      uwb: 0.0            1207.24  503.372  
imu_odom_:  1691062473.194396254  0.725443   -0.0335188 10.4411    -0.0543285  -0.00745685 0.0319579   0.23       0             pose: 0.0           4.76832    -3.82898    0 -0.00345522 -0.00291399 0.99988     -0.014842      uwb: 0.50051431     1206.07  503.727  
imu_odom_:  1691062473.218380392  0.979228   -0.392649  9.51216    -0.0543285  0.0138484   0.0351537   0.18       0.02          pose: 0.41018592    4.76233    -3.8266     0 -0.0041475  -0.00144362 0.999881    -0.0148194     uwb: 0.0            1206.07  503.727  
imu_odom_:  1691062473.241369468  0.995988   -0.349553  9.74919    -0.0490022  -0.0117179  0.036219    0.18       0.02          pose: 0.0           4.76233    -3.8266     0 -0.0041475  -0.00144362 0.999881    -0.0148194     uwb: 0.49730923     1203.48  503.877  
imu_odom_:  1691062473.259373028  0.311246   -0.146046  9.97424    -0.056459   -0.0276969  0.0468716   0.25       0             pose: 0.46973214    4.75148    -3.82844    0 0.000347499 -0.00218808 0.999889    -0.0147169     uwb: 0.0            1203.48  503.877  
imu_odom_:  1691062473.276362279  0.790087   -0.110133  10.0963    -0.0479369  -0.0873517  0.0916127   0.25       0             pose: 0.0           4.75148    -3.82844    0 0.000347499 -0.00218808 0.999889    -0.0147169     uwb: 0.0            1203.48  503.877  
imu_odom_:  1691062473.293481890  1.45567    -0.557849  9.086      -0.0490022  -0.0266316  0.113983    0.15       0.14          pose: 0.0           4.75148    -3.82844    0 0.000347499 -0.00218808 0.999889    -0.0147169     uwb: 0.49990771     1204.82  505.545  
imu_odom_:  1691062473.310473182  1.29287    -0.220267  10.8481    -0.0458064  -0.0490022  0.157659    0.15       0.14          pose: 0.42001697    4.74804    -3.82902    0 0.00242175  -0.0004539760.999877    -0.0154875     uwb: 0.0            1204.82  505.545  
imu_odom_:  1691062473.328531570  1.66636    -0.418985  9.10275    -0.0500674  -0.0415453  0.270577    0.15       0.14          pose: 0.0           4.74804    -3.82902    0 0.00242175  -0.0004539760.999877    -0.0154875     uwb: 0.0            1204.82  505.545  
imu_odom_:  1691062473.341362092  1.96803    -0.701501  10.1011    -0.0447411  0.0223706   0.343015    0.13       0.35          pose: 0.45160405    4.73813    -3.83067    0 0.00770029  -0.0008120570.99979     -0.0189519     uwb: 0.50021976     1204.57  506.153  
imu_odom_:  1691062473.359364194  1.02472    -0.605733  9.83299    -0.0170442  -0.02024    0.372843    0.13       0.35          pose: 0.5854882     4.73818    -3.83071    0 0.00818066  -0.0009629840.999769    -0.0198409     uwb: 0.0            1204.57  506.153  
imu_odom_:  1691062473.373351052  0.600945   -0.124498  8.83939    -0.015979   0.00106526  0.445281    0.13       0.35          pose: 0.0           4.73818    -3.83071    0 0.00818066  -0.0009629840.999769    -0.0198409     uwb: 0.0            1204.57  506.153  
imu_odom_:  1691062473.390418170  0.361524   -0.289698  9.89045    -0.0308927  -0.036219   0.553937    0.09       0.38          pose: 0.38964600    4.73812    -3.83067    0 0.0104308   -0.0002888440.999588    -0.026734      uwb: 0.49971814     1204.8   506.809  
imu_odom_:  1691062473.407412669  0.641646   -0.220267  9.57202    -0.0447411  -0.0255663  0.572047    0.09       0.41          pose: 0.0           4.73812    -3.83067    0 0.0104308   -0.0002888440.999588    -0.026734      uwb: 0.0            1204.8   506.809  
imu_odom_:  1691062473.424402795  0.995988   -0.198719  10.0652    -0.0394148  0.0138484   0.570982    0.09       0.41          pose: 0.0           4.73812    -3.83067    0 0.0104308   -0.0002888440.999588    -0.026734      uwb: 0.0            1204.8   506.809  
imu_odom_:  1691062473.441357632  0.852336   0.0526724  9.68455    -0.0436758  -0.0106526  0.58483     0.08       0.5           pose: 0.24072212    4.7283     -3.83225    0 0.00981867  -0.0004375710.999407    -0.0329919     uwb: 0.50126673     1205     507.53   
imu_odom_:  1691062473.458403460  0.591368   -0.203507  9.77553    -0.0532632  0.0319579   0.618919    0.08       0.5           pose: 0.0           4.7283     -3.83225    0 0.00981867  -0.0004375710.999407    -0.0329919     uwb: 0.0            1205     507.53   
imu_odom_:  1691062473.475551068  0.579397   -0.497994  9.84975    -0.0575243  0.00745685  0.64555     0.08       0.5           pose: 0.34008540    4.72831    -3.83225    0 0.0128595   0.00064488  0.999032    -0.0420641     uwb: 0.0            1205     507.53   
imu_odom_:  1691062473.493375564  0.557849   -0.260968  9.6199     -0.0468716  0.0170442   0.630637    0.07       0.53          pose: 0.35067469    4.72831    -3.83225    0 0.0113348   0.000363873 0.998575    -0.0521502     uwb: 0.50054639     1202.43  507.661  
imu_odom_:  1691062473.508618498  0.454898   -0.136469  10.2568    -0.0415453  0.02024     0.646616    0.07       0.53          pose: 0.0           4.72831    -3.83225    0 0.0113348   0.000363873 0.998575    -0.0521502     uwb: 0.0            1202.43  507.661  
imu_odom_:  1691062473.525461348  0.696713   -0.301669  10.0149    -0.0436758  0.00106526  0.658333    0.07       0.53          pose: 0.0           4.72831    -3.83225    0 0.0113348   0.000363873 0.998575    -0.0521502     uwb: 0.0            1202.43  507.661  
imu_odom_:  1691062473.550332350  0.658405   -0.141258  10.1418    -0.0490022  0.0181095   0.596548    0.06       0.58          pose: 0.49988437    4.72831    -3.83225    0 0.00866524  -0.0006599290.997701    -0.0672117     uwb: 0.50134547     1202.93  508.883  
imu_odom_:  1691062473.567387510  0.380678   -0.181959  9.91439    -0.0553937  0.0245011   0.530502    0.06       0.58          pose: 0.0           4.72831    -3.83225    0 0.00866524  -0.0006599290.997701    -0.0672117     uwb: 0.0            1202.93  508.883  
imu_odom_:  1691062473.584340015  -0.672771  -0.0790087 9.68933    -0.0617853  0.100135    0.435693    0.07       0.35          pose: 0.40851485    4.71844    -3.83387    0 0.00955368  0.00119454  0.996861    -0.0785825     uwb: 0.0            1202.93  508.883  
imu_odom_:  1691062473.598444986  -1.1971    0.169988   9.85214    -0.0617853  0.015979    0.403735    0.08       0.38          pose: 0.0           4.71844    -3.83387    0 0.00955368  0.00119454  0.996861    -0.0785825     uwb: 0.0            1202.93  508.883  
imu_odom_:  1691062473.616329558  -0.785298  -0.0837971 9.9503     -0.0575243  -0.0713727  0.371777    0.08       0.38          pose: 0.34117903    4.71844    -3.83387    0 0.0050628   0.00112662  0.99631     -0.0856757     uwb: 0.0            1202.93  508.883  
imu_odom_:  1691062473.631443590  -0.0790087 -0.110133  10.0963    -0.0575243  -0.0969391  0.350472    0.08       0.38          pose: 0.0           4.71844    -3.83387    0 0.0050628   0.00112662  0.99631     -0.0856757     uwb: 0.0            1202.93  508.883  
imu_odom_:  1691062473.649331954  0.483629   -0.229843  10.0389    -0.0468716  -0.0255663  0.32171     0.09       0.29          pose: 0.0           4.71844    -3.83387    0 0.0050628   0.00112662  0.99631     -0.0856757     uwb: 0.99980084     1201.45  508.831  
imu_odom_:  1691062473.666381281  0.423774   -0.122104  9.67257    -0.0585895  -0.0127832  0.324906    0.09       0.29          pose: 0.31992460    4.71844    -3.83387    0 0.00273421  0.00127302  0.995846    -0.0909999     uwb: 0.0            1201.45  508.831  
imu_odom_:  1691062473.682321225  0.107739   -0.143652  9.87848    -0.0649811  0.0127832   0.314253    0.17       0.32          pose: 0.42931723    4.70852    -3.83553    0 0.00290744  0.00158213  0.995262    -0.097168      uwb: 0.0            1201.45  508.831  
imu_odom_:  1691062473.699432963  0.0143652  -0.232238  9.7851     -0.0671117  -0.0149137  0.292948    0.17       0.32          pose: 0.0           4.70852    -3.83553    0 0.00290744  0.00158213  0.995262    -0.097168      uwb: 0.49806165     1202.76  510.513  
imu_odom_:  1691062473.716363303  0.00957681 -0.222661  9.74201    -0.0468716  -0.02024    0.279099    0.17       0.32          pose: 0.0           4.70852    -3.83553    0 0.00290744  0.00158213  0.995262    -0.097168      uwb: 0.0            1202.76  510.513  
imu_odom_:  1691062473.732313746  0.0981623  -0.114922  9.43794    -0.0628506  -0.0319579  0.289752    0.12       0.23          pose: 0.6949976     4.70858    -3.83557    0 0.00215795  0.00156185  0.995171    -0.098117      uwb: 0.0            1202.76  510.513  
imu_odom_:  1691062473.750319639  0.363919   -0.328006  9.84496    -0.092678   -0.00319579 0.30147     0.18       0.26          pose: 0.0           4.70858    -3.83557    0 0.00215795  0.00156185  0.995171    -0.098117      uwb: 0.50192291     1203.3   511.606  
imu_odom_:  1691062473.766377404  -0.0167594 -0.366313  10.0006    -0.0703074  -0.0117179  0.251402    0.18       0.26          pose: 0.67006560    4.69872    -3.83721    0 -0.00304471 0.000209866 0.994304    -0.106539      uwb: 0.0            1203.3   511.606  
imu_odom_:  1691062473.783373362  0.481235   -0.100556  9.67976    -0.0703074  0.0117179   0.238619    0.2        0.26          pose: 0.0           4.69872    -3.83721    0 -0.00304471 0.000209866 0.994304    -0.106539      uwb: 0.0            1203.3   511.606  
imu_odom_:  1691062473.799370759  -0.220267  -0.105345  9.81862    -0.0745685  0.0585895   0.236489    0.2        0.26          pose: 0.0           4.69872    -3.83721    0 -0.00304471 0.000209866 0.994304    -0.106539      uwb: 0.49885490     1203.89  512.612  
imu_odom_:  1691062473.816300807  0.114922   -0.402226  9.60075    -0.0585895  -0.0245011  0.215183    0.2        0.26          pose: 0.34041785    4.69872    -3.83721    0 -0.00364766 -0.0012539  0.993889    -0.11032       uwb: 0.0            1203.89  512.612  
imu_odom_:  1691062473.832297329  0.634463   -0.296881  9.88805    -0.0468716  -0.0575243  0.209857    0.14       0.2           pose: 0.41921205    4.68886    -3.8389     0 -0.00607778 -0.00203647 0.993432    -0.114248      uwb: 0.0            1203.89  512.612  
imu_odom_:  1691062473.850301181  1.11091    -0.316035  10.0149    -0.0575243  -0.0276969  0.250337    0.14       0.2           pose: 0.8004531     4.68886    -3.8389     0 -0.0050708  -0.00200881 0.993359    -0.114923      uwb: 0.50173627     1205.14  514.388  
imu_odom_:  1691062473.867356924  1.3216     -0.371101  9.85693    -0.056459   -0.0191748  0.30147     0.14       0.2           pose: 0.0           4.68886    -3.8389     0 -0.0050708  -0.00200881 0.993359    -0.114923      uwb: 0.0            1205.14  514.388  
imu_odom_:  1691062473.883291036  1.95127    -0.301669  10.1011    -0.0308927  -0.0447411  0.270577    0.1        0.11          pose: 0.43051586    4.68886    -3.8389     0 -0.000228669-0.00192954 0.992809    -0.119695      uwb: 0.0            1205.14  514.388  
imu_odom_:  1691062473.901415333  1.35033    0.342371   9.52653    -0.0436758  0.0330232   0.207727    0.09       0.14          pose: 0.0           4.68886    -3.8389     0 -0.000228669-0.00192954 0.992809    -0.119695      uwb: 0.49760670     1207.07  515.719  
imu_odom_:  1691062473.918289387  0.682347   0.186748   9.75158    -0.0543285  0.036219    0.174703    0.09       0.14          pose: 0.0           4.68886    -3.8389     0 -0.000228669-0.00192954 0.992809    -0.119695      uwb: 0.0            1207.07  515.719  
imu_odom_:  1691062473.935292344  0.397437   -0.368707  9.93594    -0.0596548  0.0213053   0.134223    0.09       0.14          pose: 0.24138122    4.67902    -3.84067    0 0.00212649  -0.00100392 0.992502    -0.122202      uwb: 0.49944401     1208.4   517.286  
imu_odom_:  1691062473.952408165  0.797269   -0.289698  10.0317    -0.0543285  -0.0383495  0.0937433   0.09       0.14          pose: 0.0           4.67902    -3.84067    0 0.00212649  -0.00100392 0.992502    -0.122202      uwb: 0.0            1208.4   517.286  
imu_odom_:  1691062473.969412289  0.837971   -0.117316  9.64863    -0.0490022  -0.00426106 0.108657    0.09       0.14          pose: 0.33929506    4.67902    -3.84067    0 0.00272173  0.000475116 0.992217    -0.124491      uwb: 0.0            1208.4   517.286  
imu_odom_:  1691062473.985298572  0.787692   -0.19393   10.0054    -0.0596548  0.00958738  0.147006    0.06       0.11          pose: 0.43987737    4.67902    -3.84067    0 0.00588218  0.000240026 0.992014    -0.125993      uwb: 0.50076803     1209.33  518.609  
imu_odom_:  1691062474.2401852    0.663194   -0.426168  9.72764    -0.0479369  0.00213053  0.137419    0.06       0.11          pose: 0.7005386     4.67902    -3.84067    0 0.00651709  0.000383432 0.991962    -0.126365      uwb: 0.0            1209.33  518.609  
imu_odom_:  1691062474.18292224   0.723049   -0.138864  10.0485    -0.0490022  -0.00639159 0.125701    0.06       0.11          pose: 0.0           4.67902    -3.84067    0 0.00651709  0.000383432 0.991962    -0.126365      uwb: 0.0            1209.33  518.609  
imu_odom_:  1691062474.35300437   0.658405   -0.0407014 9.81383    -0.0500674  -0.00106526 0.120375    0.06       0.11          pose: 0.41874549    4.66917    -3.84238    0 0.00948317  0.000378502 0.991684    -0.128344      uwb: 0.49821926     1210.38  519.632  
imu_odom_:  1691062474.60293061   0.653617   -0.222661  9.90002    -0.0575243  -0.00532632 0.116114    0.04       0.08          pose: 0.0           4.66917    -3.84238    0 0.00948317  0.000378502 0.991684    -0.128344      uwb: 0.0            1210.38  519.632  
imu_odom_:  1691062474.86299121   -0.0694318 -0.320823  9.62948    -0.0585895  0.0735032   0.123571    0.05       0.11          pose: 0.26175500    4.66917    -3.84238    0 0.0107317   0.00180551  0.991538    -0.12936       uwb: 0.49999247     1208.37  519.654  
imu_odom_:  1691062474.109279748  -1.50116   -0.129287  10.0006    -0.0447411  0.015979    0.12144     0.05       0.11          pose: 0.0           4.66917    -3.84238    0 0.0107317   0.00180551  0.991538    -0.12936       uwb: 0.0            1208.37  519.654  
imu_odom_:  1691062474.133279644  -0.201113  -0.105345  9.62948    -0.0415453  -0.0798948  0.1012      0.08       0.05          pose: 0.64812024    4.66917    -3.84238    0 0.00622911  0.000354055 0.991231    -0.131994      uwb: 0.0            1208.37  519.654  
imu_odom_:  1691062474.151274753  0.720655   -0.237026  10.1059    -0.0394148  -0.0980043  0.0969391   0.08       0.05          pose: 0.8026990     4.66917    -3.84238    0 0.00572027  0.000471569 0.991201    -0.13224       uwb: 0.50034535     1208.99  520.514  
imu_odom_:  1691062474.168334878  0.890643   -0.158017  9.91918    -0.0575243  -0.0308927  0.135289    0.08       0.05          pose: 0.0           4.66917    -3.84238    0 0.00572027  0.000471569 0.991201    -0.13224       uwb: 0.0            1208.99  520.514  
imu_odom_:  1691062474.185265807  1.44849    -0.490811  9.85932    -0.072438   -0.0745685  0.0916127   0.08       -0.05         pose: 0.41971383    4.65932    -3.84411    0 0.00819997  0.00124121  0.990998    -0.133617      uwb: 0.49979416     1209.96  521.708  
imu_odom_:  1691062474.202267313  1.39343    0.172383   9.75158    -0.0468716  0.00426106  -0.0937433  0.08       -0.05         pose: 0.0           4.65932    -3.84411    0 0.00819997  0.00124121  0.990998    -0.133617      uwb: 0.0            1209.96  521.708  
imu_odom_:  1691062474.217271403  1.47722    0.586579   9.89284    -0.0692422  0.0127832   -0.169377   0.05       -0.26         pose: 0.0           4.65932    -3.84411    0 0.00819997  0.00124121  0.990998    -0.133617      uwb: 0.0            1209.96  521.708  
imu_odom_:  1691062474.235268554  1.06303    -0.0694318 9.90481    -0.0596548  0.015979    -0.270577   0.05       -0.26         pose: 0.49998956    4.65932    -3.84411    0 0.0131588   0.00269159  0.991077    -0.132614      uwb: 0.49935963     1211.05  522.647  
imu_odom_:  1691062474.252321971  0.397437   -0.11971   9.77074    -0.0660464  0.0213053   -0.352603   0.05       -0.26         pose: 0.0           4.65932    -3.84411    0 0.0131588   0.00269159  0.991077    -0.132614      uwb: 0.0            1211.05  522.647  
imu_odom_:  1691062474.268333081  0.411803   -0.201113  10.0341    -0.0649811  -0.0426106  -0.361125   0.04       -0.35         pose: 0.0           4.65932    -3.84411    0 0.0131588   0.00269159  0.991077    -0.132614      uwb: 0.0            1211.05  522.647  
imu_odom_:  1691062474.286262281  0.363919   -0.316035  9.76116    -0.0628506  -0.0149137  -0.352603   0.04       -0.35         pose: 0.50047658    4.65932    -3.84411    0 0.0125808   0.00383488  0.992159    -0.124289      uwb: 0.50125234     1213.35  524.162  
imu_odom_:  1691062474.303263203  0.85473    -0.19393   10.2352    -0.0671117  -0.0276969  -0.354733   0.03       -0.41         pose: 0.0           4.65932    -3.84411    0 0.0125808   0.00383488  0.992159    -0.124289      uwb: 0.0            1213.35  524.162  
imu_odom_:  1691062474.319261772  0.612916   -0.059855  9.82341    -0.0543285  0.00532632  -0.399474   0.04       -0.41         pose: 0.43938468    4.65932    -3.84411    0 0.0123831   0.00270533  0.993205    -0.115686      uwb: 0.0            1213.35  524.162  
imu_odom_:  1691062474.336258028  0.577003   0.0694318  10.0197    -0.0607201  -0.0170442  -0.412257   0.03       -0.44         pose: 0.0           4.65932    -3.84411    0 0.0123831   0.00270533  0.993205    -0.115686      uwb: 0.50070989     1214.87  525.208  
imu_odom_:  1691062474.352242307  0.423774   -0.189142  9.73482    -0.0639159  0.00106526  -0.415453   0.03       -0.44         pose: 0.0           4.65932    -3.84411    0 0.0123831   0.00270533  0.993205    -0.115686      uwb: 0.0            1214.87  525.208  
imu_odom_:  1691062474.368366280  0.390255   -0.304064  10.2448    -0.0628506  -0.00426106 -0.414388   0.03       -0.44         pose: 0.24029642    4.65932    -3.84411    0 0.01144     0.0049834   0.993813    -0.110364      uwb: 0.0            1214.87  525.208  
imu_odom_:  1691062474.384423760  0.337582   -0.205901  9.59357    -0.0617853  -0.0191748  -0.429302   0.04       -0.61         pose: 0.0           4.65932    -3.84411    0 0.01144     0.0049834   0.993813    -0.110364      uwb: 0.0            1214.87  525.208  
imu_odom_:  1691062474.401360814  0.557849   -0.105345  9.85453    -0.0639159  -0.0330232  -0.418649   0.04       -0.61         pose: 0.32078797    4.64948    -3.8459     0 0.00910451  0.00464377  0.994617    -0.103117      uwb: 0.50073323     1215.99  526.05   
imu_odom_:  1691062474.417295515  0.701501   -0.260968  9.991      -0.0671117  -0.0234358  -0.405866   0.03       -0.47         pose: 0.41989172    4.64942    -3.84586    0 0.00746352  0.00515824  0.995581    -0.0934658     uwb: 0.0            1215.99  526.05   
imu_odom_:  1691062474.435391239  0.88346    -0.244209  9.93833    -0.0681769  0.00426106  -0.370712   0.03       -0.47         pose: 0.0           4.64942    -3.84586    0 0.00746352  0.00515824  0.995581    -0.0934658     uwb: 0.49742608     1217.56  526.978  
imu_odom_:  1691062474.450378123  0.445322   -0.363919  9.78031    -0.0607201  0.0117179   -0.327036   0.03       -0.47         pose: 0.0           4.64942    -3.84586    0 0.00746352  0.00515824  0.995581    -0.0934658     uwb: 0.0            1217.56  526.978  
imu_odom_:  1691062474.467248100  0.426168   -0.21069   9.90242    -0.0628506  -0.015979   -0.280165   0.04       -0.47         pose: 0.7928709     4.64948    -3.8459     0 0.0081596   0.00464448  0.995741    -0.0917134     uwb: 0.0            1217.56  526.978  
imu_odom_:  1691062474.482358055  0.531513   -0.23942   9.7851     -0.0553937  -0.0170442  -0.251402   0.02       -0.29         pose: 0.0           4.64948    -3.8459     0 0.0081596   0.00464448  0.995741    -0.0917134     uwb: 0.0            1217.56  526.978  
imu_odom_:  1691062474.499236490  0.670376   -0.208296  9.9527     -0.0660464  -0.0138484  -0.223706   0.02       -0.29         pose: 0.0           4.64948    -3.8459     0 0.0081596   0.00464448  0.995741    -0.0917134     uwb: 0.50052908     1216.11  526.879  
imu_odom_:  1691062474.515242933  0.627281   -0.237026  9.76834    -0.0553937  -0.00745685 -0.201335   0.02       -0.29         pose: 0.65078579    4.64948    -3.8459     0 0.00776183  0.00132754  0.996779    -0.0798131     uwb: 0.0            1216.11  526.879  
imu_odom_:  1691062474.531303038  0.596156   -0.299275  9.95748    -0.0575243  -0.00106526 -0.18003    0.02       -0.26         pose: 0.0           4.64948    -3.8459     0 0.00776183  0.00132754  0.996779    -0.0798131     uwb: 0.0            1216.11  526.879  
imu_odom_:  1691062474.544292798  0.474052   -0.201113  9.84496    -0.0553937  0.00532632  -0.175769   0.02       -0.26         pose: 0.32945831    4.64948    -3.8459     0 0.00997865  0.000460969 0.997098    -0.0754749     uwb: 0.49934504     1218.24  527.678  
imu_odom_:  1691062474.559229229  0.418985   -0.112527  9.92397    -0.0553937  -0.00426106 -0.170442   0.02       -0.26         pose: 0.0           4.64948    -3.8459     0 0.00997865  0.000460969 0.997098    -0.0754749     uwb: 0.0            1218.24  527.678  
imu_odom_:  1691062474.576505456  0.445322   -0.184354  9.88087    -0.0628506  -0.015979   -0.149137   0.01       -0.17         pose: 0.44983107    4.64948    -3.8459     0 0.00849269  -0.0005130070.997472    -0.0705452     uwb: 0.0            1218.24  527.678  
imu_odom_:  1691062474.592448614  0.593762   -0.335188  9.92397    -0.056459   -0.0127832  -0.142745   0.01       -0.17         pose: 0.0           4.64948    -3.8459     0 0.00849269  -0.0005130070.997472    -0.0705452     uwb: 0.50221766     1218.13  527.912  
imu_odom_:  1691062474.609302552  0.586579   -0.222661  9.85932    -0.0543285  -0.00958738 -0.131028   0.02       -0.23         pose: 0.40151574    4.64948    -3.8459     0 0.00731179  -0.0009805030.997743    -0.0667448     uwb: 0.0            1218.13  527.912  
imu_odom_:  1691062474.625302871  0.533907   -0.241814  9.88087    -0.0585895  -0.00745685 -0.105461   0.02       -0.23         pose: 0.0           4.64948    -3.8459     0 0.00731179  -0.0009805030.997743    -0.0667448     uwb: 0.0            1218.13  527.912  
imu_odom_:  1691062474.641302898  0.447716   -0.225055  9.86172    -0.0553937  -0.00213053 -0.0969391  0.02       -0.23         pose: 0.0           4.64948    -3.8459     0 0.00731179  -0.0009805030.997743    -0.0667448     uwb: 0.49872386     1218.69  528.869  
imu_odom_:  1691062474.656298240  0.519542   -0.201113  9.90002    -0.0511327  -0.00745685 -0.092678   0.01       -0.11         pose: 0.7839176     4.64948    -3.8459     0 0.00801498  -0.0005832540.997782    -0.0660738     uwb: 0.0            1218.69  528.869  
imu_odom_:  1691062474.674462498  0.600945   -0.215478  9.87129    -0.0585895  -0.015979   -0.0607201  0          -0.08         pose: 0.0           4.64948    -3.8459     0 0.00801498  -0.0005832540.997782    -0.0660738     uwb: 0.0            1218.69  528.869  
imu_odom_:  1691062474.690307667  0.687136   -0.339977  9.90481    -0.0553937  -0.00745685 -0.0330232  0          -0.08         pose: 0.64087893    4.64948    -3.8459     0 0.00675525  0.000842598 0.998074    -0.0616595     uwb: 0.49935087     1214.95  527.23   
imu_odom_:  1691062474.706362522  0.648829   -0.308852  9.89524    -0.0532632  -0.00106526 -0.00106526 0          -0.08         pose: 0.0           4.64948    -3.8459     0 0.00675525  0.000842598 0.998074    -0.0616595     uwb: 0.0            1214.95  527.23   
imu_odom_:  1691062474.722291973  0.567426   -0.251391  9.89524    -0.0553937  -0.00213053 0.0372843   0          -0.08         pose: 0.0           4.64948    -3.8459     0 0.00675525  0.000842598 0.998074    -0.0616595     uwb: 0.0            1214.95  527.23   
imu_odom_:  1691062474.736240925  0.560243   -0.263362  9.87129    -0.0543285  0.00426106  0.0553937   0          -0.08         pose: 0.32893627    4.64948    -3.8459     0 0.00951608  -0.0007737580.998125    -0.0604526     uwb: 0.49931296     1212.85  526.383  
imu_odom_:  1691062474.750224581  0.423774   -0.177171  9.84975    -0.0500674  0.0117179   0.0458064   0          0             pose: 0.0           4.64948    -3.8459     0 0.00951608  -0.0007737580.998125    -0.0604526     uwb: 0.0            1212.85  526.383  
imu_odom_:  1691062474.765429608  0.275333   -0.0837971 9.93354    -0.0532632  0.00213053  0.04048     0          0             pose: 0.38971615    4.64948    -3.8459     0 0.00780609  -0.00259356 0.998142    -0.0603795     uwb: 0.0            1212.85  526.383  
imu_odom_:  1691062474.780266008  0.349553   -0.169988  9.91678    -0.056459   -0.0117179  0.0383495   0          0             pose: 0.0           4.64948    -3.8459     0 0.00780609  -0.00259356 0.998142    -0.0603795     uwb: 0.0            1212.85  526.383  
imu_odom_:  1691062474.794263662  0.45011    -0.248997  9.9096     -0.056459   -0.0149137  0.0308927   0          0             pose: 0.6184725     4.64948    -3.8459     0 0.00724055  -0.00223668 0.998146    -0.0603977     uwb: 0.50142441     1211.45  526.191  
imu_odom_:  1691062474.808258984  0.526724   -0.196325  9.87369    -0.056459   -0.00852212 0.036219    0          0             pose: 0.0           4.64948    -3.8459     0 0.00724055  -0.00223668 0.998146    -0.0603977     uwb: 0.0            1211.45  526.191  
imu_odom_:  1691062474.823366313  0.505177   -0.246603  9.92636    -0.056459   -0.00319579 0.0426106   0          0             pose: 0.0           4.64948    -3.8459     0 0.00724055  -0.00223668 0.998146    -0.0603977     uwb: 0.0            1211.45  526.191  
imu_odom_:  1691062474.838279413  0.445322   -0.21069   9.90002    -0.0532632  0.00213053  0.0415453   0          0             pose: 0.43797899    4.64948    -3.8459     0 0.0034211   -0.0008507350.998169    -0.060391      uwb: 0.50054950     1208.87  525.306  
imu_odom_:  1691062474.852320813  0.390255   -0.155623  9.89524    -0.0553937  -0.00426106 0.0415453   0          0             pose: 0.0           4.64948    -3.8459     0 0.0034211   -0.0008507350.998169    -0.060391      uwb: 0.0            1208.87  525.306  
imu_odom_:  1691062474.866191023  0.416591   -0.19393   9.87608    -0.0553937  -0.00745685 0.04048     0          0             pose: 0.0           4.64948    -3.8459     0 0.0034211   -0.0008507350.998169    -0.060391      uwb: 0.0            1208.87  525.306  
imu_odom_:  1691062474.880184886  0.45011    -0.205901  9.89524    -0.0543285  -0.00745685 0.0372843   0          0             pose: 0.44068537    4.64948    -3.8459     0 0.00462683  -0.0009823360.998165    -0.0603619     uwb: 0.0            1208.87  525.306  
imu_odom_:  1691062474.894281405  0.464475   -0.21069   9.86172    -0.0553937  -0.00639159 0.0383495   0          0             pose: 0.0           4.64948    -3.8459     0 0.00462683  -0.0009823360.998165    -0.0603619     uwb: 0.49822515     1209.51  526.102  
imu_odom_:  1691062474.909255457  0.428562   -0.23942   9.90002    -0.0532632  -0.00532632 0.04048     0          0             pose: 0.0           4.64948    -3.8459     0 0.00462683  -0.0009823360.998165    -0.0603619     uwb: 0.0            1209.51  526.102  
imu_odom_:  1691062474.931256479  0.438139   -0.198719  9.95988    -0.056459   -0.00532632 0.0394148   0          0             pose: 0.41942510    4.64948    -3.8459     0 0.00210815  0.000646145 0.998173    -0.0603786     uwb: 0.0            1209.51  526.102  
imu_odom_:  1691062474.947257090  0.0909797  -0.248997  9.81623    -0.0617853  0.0276969   0.0191748   0          0             pose: 0.0           4.64948    -3.8459     0 0.00210815  0.000646145 0.998173    -0.0603786     uwb: 0.50018496     1208.29  525.489  
imu_odom_:  1691062474.964251013  -0.270545  -0.0814029 10.003     -0.0479369  0.0276969   -0.0639159  0          0             pose: 0.0           4.64948    -3.8459     0 0.00210815  0.000646145 0.998173    -0.0603786     uwb: 0.0            1208.29  525.489  
imu_odom_:  1691062474.981193608  -1.34315   0.31364    9.56484    -0.0351537  0.0649811   -0.0745685  0.04       0.05          pose: 0.44006127    4.64948    -3.8459     0 0.00240452  -5.66753e-050.998173    -0.0603712     uwb: 0.0            1208.29  525.489  
imu_odom_:  1691062474.997245838  -1.17316   -0.596156  10.2256    -0.0649811  -0.0245011  0.0426106   0.06       0.08          pose: 0.0           4.64948    -3.8459     0 0.00240452  -5.66753e-050.998173    -0.0603712     uwb: 0.50172187     1206.25  524.497  
imu_odom_:  1691062475.13184042   -0.306458  -0.902614  9.76116    -0.0660464  -0.103331   0.0649811   0.06       0.08          pose: 0.72013393    4.63963    -3.84764    0 -0.00507125 0.00125377  0.998282    -0.0583664     uwb: 0.0            1206.25  524.497  
imu_odom_:  1691062475.30196928   0.4956     -0.0454898 9.85453    -0.036219   -0.0351537  0.0703074   0.08       0.05          pose: 0.0           4.63963    -3.84764    0 -0.00507125 0.00125377  0.998282    -0.0583664     uwb: 0.0            1206.25  524.497  
imu_odom_:  1691062475.46182671   0.708684   0.131681   9.9096     -0.0500674  -0.00213053 0.0948085   0.08       0.05          pose: 0.0           4.63963    -3.84764    0 -0.00507125 0.00125377  0.998282    -0.0583664     uwb: 0.49900395     1203.14  523.721  
imu_odom_:  1691062475.62270196   -0.131681  -0.25618   9.66539    -0.0617853  0.0287621   0.0671117   0.08       0.05          pose: 0.33004456    4.63963    -3.84764    0 -0.00527065 0.000237522 0.998262    -0.0586971     uwb: 0.0            1203.14  523.721  
imu_odom_:  1691062475.79238461   -0.502782  -0.129287  10.1227    -0.0447411  0.00213053  0.0181095   0.08       0.05          pose: 0.41011624    4.63963    -3.84764    0 -0.00514964 0.00162317  0.998214    -0.0595007     uwb: 0.0            1203.14  523.721  
imu_odom_:  1691062475.95440890   -0.0047884 -0.114922  9.85214    -0.0617853  -0.0383495  0.0500674   0.08       0.05          pose: 0.8050032     4.63963    -3.84764    0 -0.00598295 0.00166273  0.998214    -0.0594127     uwb: 0.49840324     1204.48  524.039  
imu_odom_:  1691062475.111373556  0.342371   -0.349553  9.91439    -0.0553937  -0.0245011  0.0703074   0.08       0.05          pose: 0.0           4.63963    -3.84764    0 -0.00598295 0.00166273  0.998214    -0.0594127     uwb: 0.0            1204.48  524.039  
imu_odom_:  1691062475.128380026  0.323217   -0.234632  10.0078    -0.0383495  -0.0223706  0.0447411   0.12       0             pose: 0.41053328    4.63476    -3.84852    0 -0.00723218 0.000569719 0.998194    -0.059633      uwb: 0.0            1204.48  524.039  
imu_odom_:  1691062475.145251176  0.0742203  -0.112527  9.72525    -0.0426106  -0.0330232  0.0543285   0.1        0             pose: 0.0           4.63476    -3.84852    0 -0.00723218 0.000569719 0.998194    -0.059633      uwb: 0.49998683     1203.13  523.743  
imu_odom_:  1691062475.161379821  0.387861   -0.215478  10.1849    -0.0543285  -0.00958738 0.0511327   0.1        0             pose: 0.0           4.63476    -3.84852    0 -0.00723218 0.000569719 0.998194    -0.059633      uwb: 0.0            1203.13  523.743  
imu_odom_:  1691062475.178367043  0.191536   -0.186748  9.95988    -0.0383495  0.00958738  0.0394148   0.11       0.02          pose: 0.25082749    4.62979    -3.84941    0 -0.0062449  0.000233805 0.998195    -0.0597317     uwb: 0.0            1203.13  523.743  
imu_odom_:  1691062475.194166139  0.414197   -0.287304  9.64863    -0.0671117  -0.0223706  0.0628506   0.11       0.02          pose: 0.0           4.62979    -3.84941    0 -0.0062449  0.000233805 0.998195    -0.0597317     uwb: 0.50002766     1203.5   524.029  
imu_odom_:  1691062475.211163860  0.289698   -0.299275  9.51456    -0.0543285  -0.00532632 0.0447411   0.11       0.02          pose: 0.31925117    4.62979    -3.84941    0 -0.00605264 0.00053539  0.998187    -0.0598896     uwb: 0.0            1203.5   524.029  
imu_odom_:  1691062475.227223096  1.1971     -0.169988  10.4148    -0.0394148  -0.0617853  0.0511327   0.1        0             pose: 0.42782438    4.62458    -3.85035    0 -0.00564461 -0.00186996 0.998175    -0.0601019     uwb: 0.0            1203.5   524.029  
imu_odom_:  1691062475.244163073  1.22823    0.114922   9.73961    -0.0607201  -0.0255663  0.112918    0.1        0             pose: 0.8001913     4.61995    -3.85119    0 -0.00462571 -0.00167764 0.998177    -0.0601476     uwb: 0.49928107     1203     524.045  
imu_odom_:  1691062475.260163106  1.21865    -0.608127  9.64863    -0.04048    -0.0372843  0.136354    0.1        0             pose: 0.0           4.61995    -3.85119    0 -0.00462571 -0.00167764 0.998177    -0.0601476     uwb: 0.0            1203     524.045  
imu_odom_:  1691062475.276155265  1.35512    -0.349553  9.50977    -0.0575243  -0.0330232  0.0990696   0.1        0             pose: 0.40997333    4.61995    -3.85119    0 -0.00012844 -0.00122576 0.998101    -0.061585      uwb: 0.0            1203     524.045  
imu_odom_:  1691062475.290155842  1.15161    -0.0023942 9.73961    -0.0394148  0.0383495   0.0681769   0.07       0             pose: 0.0           4.61995    -3.85119    0 -0.00012844 -0.00122576 0.998101    -0.061585      uwb: 0.50053803     1202.98  524.089  
imu_odom_:  1691062475.307219764  0.823605   -0.0550666 9.96227    -0.0553937  0.015979    0.0639159   0.07       0             pose: 0.0           4.61995    -3.85119    0 -0.00012844 -0.00122576 0.998101    -0.061585      uwb: 0.0            1202.98  524.089  
imu_odom_:  1691062475.323155637  0.411803   -0.124498  9.61272    -0.0575243  0.00213053  0.0106526   0.05       0             pose: 0.23001342    4.61995    -3.85119    0 0.00219568  -0.00100745 0.998063    -0.0621566     uwb: 0.0            1202.98  524.089  
imu_odom_:  1691062475.339151005  0.61531    -0.203507  9.94073    -0.0511327  -0.0255663  -0.0170442  0.05       0             pose: 0.0           4.61995    -3.85119    0 0.00219568  -0.00100745 0.998063    -0.0621566     uwb: 0.50121753     1198.71  522.618  
imu_odom_:  1691062475.356147559  0.744597   -0.198719  9.97424    -0.0607201  -0.0138484  -0.0127832  0.05       0             pose: 0.0           4.61995    -3.85119    0 0.00219568  -0.00100745 0.998063    -0.0621566     uwb: 0.0            1198.71  522.618  
imu_odom_:  1691062475.372144093  0.909797   -0.275333  9.78989    -0.0607201  -0.00639159 0.015979    0.06       0.02          pose: 0.72983111    4.61012    -3.85301    0 0.00649077  0.00138804  0.998095    -0.06133       uwb: 0.0            1198.71  522.618  
imu_odom_:  1691062475.387145564  0.768539   -0.260968  9.89045    -0.0511327  0.0149137   0.0287621   0.06       0.02          pose: 0.0           4.61012    -3.85301    0 0.00649077  0.00138804  0.998095    -0.06133       uwb: 0.49983518     1194.84  521.356  
imu_odom_:  1691062475.403143556  0.593762   -0.150835  10.0509    -0.0447411  0.02024     0.0276969   0.06       0.02          pose: 0.0           4.61012    -3.85301    0 0.00649077  0.00138804  0.998095    -0.06133       uwb: 0.0            1194.84  521.356  
imu_odom_:  1691062475.428204724  0.339977   -0.270545  9.9527     -0.0607201  -0.00639159 0.0809601   0.03       0.02          pose: 0.7008016     4.61012    -3.85301    0 0.00719263  0.0012685   0.998096    -0.0612487     uwb: 0.0            1194.84  521.356  
imu_odom_:  1691062475.445215860  0.426168   -0.318429  9.93354    -0.0532632  0.00639159  0.0735032   0.03       0.02          pose: 0.0           4.61012    -3.85301    0 0.00719263  0.0012685   0.998096    -0.0612487     uwb: 0.49827784     1194.37  521.317  
imu_odom_:  1691062475.469139065  -0.976834  -0.0981623 10.1897    -0.052198   0.0820254   0.0703074   0.03       0.02          pose: 0.72997984    4.61012    -3.85301    0 0.00639364  0.000780939 0.998079    -0.0616184     uwb: 0.0            1194.37  521.317  
imu_odom_:  1691062475.486202695  -1.13485   -0.136469  9.98382    -0.0628506  -0.0458064  0.0575243   0.05       0.02          pose: 0.0           4.61012    -3.85301    0 0.00639364  0.000780939 0.998079    -0.0616184     uwb: 0.50002183     1197.28  522.511  
imu_odom_:  1691062475.502252015  0.0454898  -0.124498  10.1323    -0.0532632  -0.0862864  0.0447411   0.05       0.02          pose: 0.17014052    4.61012    -3.85301    0 0.0046284   9.282e-05   0.998072    -0.0618984     uwb: 0.0            1197.28  522.511  
imu_odom_:  1691062475.528223380  0.567426   -0.162806  10.0533    -0.0596548  -0.0181095  0.0468716   0.12       0.02          pose: 0.49084404    4.61012    -3.85301    0 6.71558e-05 0.000376513 0.998055    -0.0623371     uwb: 0.0            1197.28  522.511  
imu_odom_:  1691062475.543123654  0.21069    -0.241814  9.69652    -0.0436758  0.00852212  0.0436758   0.12       0.02          pose: 0.0           4.61012    -3.85301    0 6.71558e-05 0.000376513 0.998055    -0.0623371     uwb: 0.50018806     1196.69  522.773  
imu_odom_:  1691062475.559213803  -0.251391  -0.215478  9.60314    -0.0617853  0.00426106  0.0553937   0.12       0.02          pose: 0.0           4.61012    -3.85301    0 6.71558e-05 0.000376513 0.998055    -0.0623371     uwb: 0.0            1196.69  522.773  
imu_odom_:  1691062475.584118071  0.208296   -0.440533  9.54568    -0.0500674  -0.0351537  0.0436758   0.11       0             pose: 0.8033701     4.61012    -3.85301    0 0.000885327 0.000622998 0.998053    -0.0623666     uwb: 0.50090840     1197.98  523.182  
imu_odom_:  1691062475.607127579  0.402226   0.047884   9.64384    -0.0479369  -0.0479369  0.0553937   0.13       0             pose: 0.73832355    4.60027    -3.85473    0 -0.00152605 -0.00127781 0.998034    -0.0626367     uwb: 0.0            1197.98  523.182  
imu_odom_:  1691062475.633105360  0.225055   -0.354342  10.307     -0.0703074  -0.0234358  0.0447411   0.16       0.02          pose: 0.0           4.60027    -3.85473    0 -0.00152605 -0.00127781 0.998034    -0.0626367     uwb: 0.0            1197.98  523.182  
imu_odom_:  1691062475.646160743  0.102951   -0.0430956 9.55047    -0.052198   -0.00213053 0.0298274   0.16       0.02          pose: 0.0           4.60027    -3.85473    0 -0.00152605 -0.00127781 0.998034    -0.0626367     uwb: 0.0            1197.98  523.182  
imu_odom_:  1691062475.661102429  0.54109    -0.19393   9.92875    -0.0607201  0.00532632  0.0394148   0.16       0.02          pose: 0.31038251    4.59042    -3.85646    0 -0.00137984 0.000476168 0.998022    -0.0628416     uwb: 0.0            1197.98  523.182  
imu_odom_:  1691062475.678387411  0.577003   -0.153229  9.89524    -0.0735032  0.00852212  0.0426106   0.17       0             pose: 0.45946107    4.59042    -3.85646    0 -0.00208176 -7.33571e-050.998022    -0.0628236     uwb: 0.0            1197.98  523.182  
imu_odom_:  1691062475.694264666  0.445322   -0.423774  9.75398    -0.0660464  0.0319579   0.0394148   0.17       0             pose: 0.7058761     4.59042    -3.85646    0 -0.00145572 9.33864e-05 0.998023    -0.0628349     uwb: 0.100059484    1200.05  524.072  
imu_odom_:  1691062475.710155336  0.471658   -0.342371  9.91439    -0.0490022  0.0127832   0.02024     0.17       0             pose: 0.0           4.59042    -3.85646    0 -0.00145572 9.33864e-05 0.998023    -0.0628349     uwb: 0.0            1200.05  524.072  
imu_odom_:  1691062475.727381991  0.45011    -0.222661  9.84975    -0.052198   0.0245011   0.0298274   0.13       0             pose: 0.41994146    4.58057    -3.85819    0 0.000532401 -0.00245351 0.99803     -0.0626939     uwb: 0.0            1200.05  524.072  
imu_odom_:  1691062475.744222228  0.213084   -0.0885855 10.1179    -0.0490022  -0.00106526 0.0639159   0.13       0             pose: 0.0           4.58057    -3.85819    0 0.000532401 -0.00245351 0.99803     -0.0626939     uwb: 0.50109213     1201.17  524.9    
imu_odom_:  1691062475.760112607  0.222661   -0.227449  10.0748    -0.0607201  -0.0415453  0.0479369   0.13       0             pose: 0.0           4.58057    -3.85819    0 0.000532401 -0.00245351 0.99803     -0.0626939     uwb: 0.0            1201.17  524.9    
imu_odom_:  1691062475.776262833  0.706289   -0.201113  10.3525    -0.0500674  -0.0117179  0.0149137   0.18       0             pose: 0.42081053    4.57072    -3.85992    0 -0.000704547-0.00031669 0.998023    -0.0628448     uwb: 0.0            1201.17  524.9    
imu_odom_:  1691062475.793220599  0.545878   -0.0263362 9.96227    -0.0500674  -0.0383495  0.0383495   0.14       0             pose: 0.0           4.57072    -3.85992    0 -0.000704547-0.00031669 0.998023    -0.0628448     uwb: 0.49905943     1200.67  524.92   
imu_odom_:  1691062475.809215967  0.373495   -0.299275  9.55047    -0.0553937  0.0426106   0.0532632   0.14       0             pose: 0.0           4.57072    -3.85992    0 -0.000704547-0.00031669 0.998023    -0.0628448     uwb: 0.0            1200.67  524.92   
imu_odom_:  1691062475.825098179  0.392649   -0.325611  9.86411    -0.0426106  0.00639159  0.0383495   0.14       0             pose: 0.32947010    4.57072    -3.85992    0 0.00094269  0.000621848 0.998033    -0.0626728     uwb: 0.0            1200.67  524.92   
imu_odom_:  1691062475.842097650  -0.0191536 -0.100556  9.56244    -0.0426106  0.0511327   0.0223706   0.14       0             pose: 0.0           4.57072    -3.85992    0 0.00094269  0.000621848 0.998033    -0.0626728     uwb: 0.0            1200.67  524.92   
imu_odom_:  1691062475.858088059  0.0143652  0.143652   9.79707    -0.0575243  -0.00106526 0.0692422   0.14       0             pose: 0.32042646    4.56087    -3.86165    0 0.000311029 -0.0008845560.998027    -0.062774      uwb: 0.0            1200.67  524.92   
imu_odom_:  1691062475.885109606  0.332794   -0.0167594 10.6111    -0.052198   -0.00106526 0.0127832   0.21       0             pose: 0.40862014    4.56087    -3.86165    0 -0.00312279 -9.87487e-060.998017    -0.0628652     uwb: 0.99876629     1202.28  525.754  
imu_odom_:  1691062475.901099140  0.418985   -0.009576819.4954     -0.0607201  -0.0308927  0.036219    0.21       0             pose: 0.0           4.56087    -3.86165    0 -0.00312279 -9.87487e-060.998017    -0.0628652     uwb: 0.0            1202.28  525.754  
imu_odom_:  1691062475.928275254  0.842759   -0.395043  10.0509    -0.0745685  -0.0639159  0.0511327   0.21       0.02          pose: 0.7025807     4.56087    -3.86165    0 -0.00319664 0.000700736 0.998022    -0.0627733     uwb: 0.0            1202.28  525.754  
imu_odom_:  1691062475.953144234  0.301669   0.150835   9.95988    -0.036219   -0.00745685 0.0340885   0.16       0             pose: 0.0           4.56087    -3.86165    0 -0.00319664 0.000700736 0.998022    -0.0627733     uwb: 0.0            1202.28  525.754  
imu_odom_:  1691062475.979130472  0.577003   -0.466869  9.87608    -0.0873517  0.0181095   0.052198    0.2        -0.02         pose: 0.71076101    4.55102    -3.86338    0 0.000411816 0.00359433  0.99803     -0.0626294     uwb: 0.0            1202.28  525.754  
imu_odom_:  1691062476.5332230    0.304064   -0.0047884 10.3022    -0.0287621  0.0234358   0.0234358   0.18       0             pose: 0.42940505    4.54117    -3.86511    0 0.000738985 0.00260794  0.998026    -0.0627513     uwb: 0.99846298     1205.07  527.236  
imu_odom_:  1691062476.22228176   0.282516   -0.347159  9.34696    -0.0660464  -0.00745685 0.0575243   0.18       0             pose: 0.8024369     4.54117    -3.86511    0 0.000102546 0.00332014  0.998028    -0.0626851     uwb: 0.0            1205.07  527.236  
imu_odom_:  1691062476.48243005   0.114922   -0.150835  9.67976    -0.0415453  0.0234358   0.0213053   0.16       0.02          pose: 0.0           4.54117    -3.86511    0 0.000102546 0.00332014  0.998028    -0.0626851     uwb: 0.50031066     1204.03  527.374  
imu_odom_:  1691062476.65225567   0.672771   -0.134075  9.53132    -0.0532632  0.0106526   0.0500674   0.16       0.02          pose: 0.42962679    4.53132    -3.86684    0 -0.00280403 0.0032599   0.998029    -0.0626071     uwb: 0.0            1204.03  527.374  
imu_odom_:  1691062476.81187985   0.289698   -0.533907  9.48822    -0.0628506  -0.0213053  0.0490022   0.16       0.02          pose: 0.0           4.53132    -3.86684    0 -0.00280403 0.0032599   0.998029    -0.0626071     uwb: 0.0            1204.03  527.374  
imu_odom_:  1691062476.98060892   0.248997   -0.198719  10.5584    -0.04048    0.0287621   0.0181095   0.23       0             pose: 0.51070465    4.52147    -3.86857    0 -0.00329648 0.0017887   0.998032    -0.062601      uwb: 0.50055280     1205.44  528.628  
imu_odom_:  1691062476.114054807  -0.0215478 0.011971   10.4052    -0.0660464  0.0213053   0.0585895   0.23       0             pose: 0.7007436     4.52147    -3.86857    0 -0.00407519 0.00159436  0.998034    -0.0625239     uwb: 0.0            1205.44  528.628  
imu_odom_:  1691062476.130245577  0.500388   -0.411803  9.80904    -0.0692422  0.00426106  0.0532632   0.23       0             pose: 0.0           4.52147    -3.86857    0 -0.00407519 0.00159436  0.998034    -0.0625239     uwb: 0.0            1205.44  528.628  
imu_odom_:  1691062476.147147064  0.438139   -0.311246  9.61511    -0.0415453  0.0245011   0.0138484   0.16       -0.02         pose: 0.42050156    4.5099     -3.86045    0 -0.00567561 0.00073053  0.998018    -0.0626757     uwb: 0.50020283     1206.76  530.102  
imu_odom_:  1691062476.163133980  0.0430956  0.136469   10.0987    -0.0607201  0.0234358   0.0553937   0.23       0.02          pose: 0.0           4.5099     -3.86045    0 -0.00567561 0.00073053  0.998018    -0.0626757     uwb: 0.0            1206.76  530.102  
imu_odom_:  1691062476.179068401  0.258574   -0.287304  9.72525    -0.072438   0.02024     0.056459    0.23       0.02          pose: 0.0           4.5099     -3.86045    0 -0.00567561 0.00073053  0.998018    -0.0626757     uwb: 0.0            1206.76  530.102  
imu_odom_:  1691062476.195104604  0.414197   -0.280122  9.61511    -0.0585895  0.015979    0.0394148   0.2        0             pose: 0.22954981    4.5099     -3.86045    0 -0.00504011 0.000271759 0.998032    -0.0625039     uwb: 0.50155893     1209.5   531.653  
imu_odom_:  1691062476.211131182  0.383072   -0.150835  9.97185    -0.0617853  0.00745685  0.0458064   0.2        0             pose: 0.0           4.5099     -3.86045    0 -0.00504011 0.000271759 0.998032    -0.0625039     uwb: 0.0            1209.5   531.653  
imu_odom_:  1691062476.228119285  0.531513   -0.241814  9.93354    -0.076699   0.0181095   0.0468716   0.2        0             pose: 0.0           4.5099     -3.86045    0 -0.00504011 0.000271759 0.998032    -0.0625039     uwb: 0.0            1209.5   531.653  
imu_odom_:  1691062476.244273309  0.328006   -0.237026  9.39724    -0.0511327  0.0703074   0.0181095   0.17       0             pose: 0.74918727    4.49484    -3.86309    0 -0.00261978 -0.0004670410.998021    -0.0628231     uwb: 0.49872715     1209.65  532.415  
imu_odom_:  1691062476.271212041  0.610521   -0.320823  10.1418    -0.0884169  -0.00639159 0.0798948   0.17       0             pose: 0.7998999     4.4902     -3.86391    0 -0.00356192 -0.0009447160.998023    -0.0627361     uwb: 0.0            1209.65  532.415  
imu_odom_:  1691062476.296208475  0.52433    -0.191536  9.69652    -0.0500674  -0.0149137  0.0436758   0.19       -0.02         pose: 0.35093757    4.4902     -3.86391    0 -0.00183088 -0.00242856 0.997997    -0.0631855     uwb: 0.50006868     1209.9   532.963  
imu_odom_:  1691062476.323206993  0.430956   -0.308852  9.59117    -0.0681769  -0.00106526 0.0458064   0.21       -0.02         pose: 0.0           4.4902     -3.86391    0 -0.00183088 -0.00242856 0.997997    -0.0631855     uwb: 0.0            1209.9   532.963  
imu_odom_:  1691062476.339048090  0.849942   -0.304064  10.4052    -0.0415453  -0.00532632 0.0308927   0.19       0             pose: 0.51994952    4.48035    -3.86565    0 0.00137842  -0.00396504 0.997985    -0.0633171     uwb: 0.49932500     1208.45  532.908  
imu_odom_:  1691062476.366030276  0.641646   -0.244209  10.422     -0.0575243  -0.0255663  0.0639159   0.19       0             pose: 0.0           4.48035    -3.86565    0 0.00137842  -0.00396504 0.997985    -0.0633171     uwb: 0.0            1208.45  532.908  
imu_odom_:  1691062476.382040815  0.713472   0          10.0269    -0.0532632  0.00106526  0.0458064   0.18       0             pose: 0.42823283    4.4705     -3.86739    0 0.00579587  -0.00288737 0.997957    -0.0635579     uwb: 0.0            1208.45  532.908  
imu_odom_:  1691062476.407184817  0.272939   -0.265756  9.4547     -0.0607201  -0.00106526 0.052198    0.18       0             pose: 0.7027267     4.4705     -3.86739    0 0.00614865  -0.00228367 0.997956    -0.0635751     uwb: 0.50159394     1208.56  533.755  
imu_odom_:  1691062476.429032455  0.253785   -0.294487  9.96946    -0.04048    -0.036219   0.0436758   0.19       0             pose: 0.34127274    4.46308    -3.86871    0 0.00406715  -0.00189303 0.997955    -0.0637615     uwb: 0.0            1208.56  533.755  
imu_odom_:  1691062476.454069719  0.296881   -0.155623  10.3022    -0.0628506  -0.0330232  0.0585895   0.19       0             pose: 0.0           4.46308    -3.86871    0 0.00406715  -0.00189303 0.997955    -0.0637615     uwb: 0.49956414     1209.17  534.592  
imu_odom_:  1691062476.478027345  0.54109    -0.0454898 10.6279    -0.0500674  -0.0319579  0.0394148   0.18       0             pose: 0.5881137     4.46066    -3.86914    0 0.00358484  -0.00197624 0.997956    -0.0637757     uwb: 0.0            1209.17  534.592  
imu_odom_:  1691062476.502019676  0.629675   -0.294487  9.88087    -0.0607201  -0.0447411  0.0447411   0.18       0             pose: 0.0           4.46066    -3.86914    0 0.00358484  -0.00197624 0.997956    -0.0637757     uwb: 0.49925793     1210.47  536.031  
imu_odom_:  1691062476.518021174  0.481235   -0.418985  9.4164     -0.0692422  0.0308927   0.0447411   0.22       0             pose: 0.48107149    4.45081    -3.87089    0 0.000967963 -0.0003125990.997946    -0.0640529     uwb: 0.0            1210.47  536.031  
imu_odom_:  1691062476.535016859  0.225055   -0.129287  10.2855    -0.0500674  0           0.0436758   0.22       0             pose: 0.0           4.45081    -3.87089    0 0.000967963 -0.0003125990.997946    -0.0640529     uwb: 0.49922876     1211.47  537.053  
imu_odom_:  1691062476.551128887  0.612916   -0.399832  9.91918    -0.0756338  -0.0511327  0.0543285   0.17       0             pose: 0.73843756    4.44097    -3.87265    0 0.00284507  -0.0009172610.997933    -0.0641985     uwb: 0.0            1211.47  537.053  
imu_odom_:  1691062476.567009647  0.476446   -0.11971   10.0317    -0.0575243  -0.00426106 0.036219    0.17       0             pose: 0.0           4.44097    -3.87265    0 0.00284507  -0.0009172610.997933    -0.0641985     uwb: 0.0            1211.47  537.053  
imu_odom_:  1691062476.583042350  0.519542   -0.172383  10.0197    -0.0394148  -0.0330232  0.0340885   0.17       0             pose: 0.0           4.44097    -3.87265    0 0.00284507  -0.0009172610.997933    -0.0641985     uwb: 0.0            1211.47  537.053  
imu_odom_:  1691062476.609179374  0.663194   -0.342371  10.1227    -0.0490022  0.00213053  0.0319579   0.23       0             pose: 0.8006290     4.44097    -3.87265    0 0.0036252   -0.00153107 0.997926    -0.0642582     uwb: 0.49954082     1211.49  538.071  
imu_odom_:  1691062476.633162664  0.782904   -0.275333  10.2232    -0.0372843  -0.0330232  0.0479369   0.19       0             pose: 0.66156225    4.43112    -3.87441    0 0.00708809  -0.0005572430.997915    -0.0641463     uwb: 0.0            1211.49  538.071  
imu_odom_:  1691062476.649083379  0.258574   -0.19393   10.0293    -0.056459   -0.0117179  0.052198    0.19       0             pose: 0.0           4.43112    -3.87441    0 0.00708809  -0.0005572430.997915    -0.0641463     uwb: 0.49979745     1207.98  537.227  
imu_odom_:  1691062476.675087708  0.632069   -0.0287304 10.0293    -0.0490022  -0.04048    0.056459    0.24       0             pose: 0.0           4.43112    -3.87441    0 0.00708809  -0.0005572430.997915    -0.0641463     uwb: 0.0            1207.98  537.227  
imu_odom_:  1691062476.701013587  0.646434   -0.229843  9.93833    -0.0596548  0.00958738  0.0426106   0.18       0.02          pose: 0.46909399    4.42128    -3.87617    0 0.00856891  0.000242348 0.997868    -0.0645464     uwb: 0.49953790     1209.26  538.705  
imu_odom_:  1691062476.727026958  0.603339   -0.227449  10.1658    -0.0756338  0.0117179   0.0703074   0.22       0.02          pose: 0.0           4.41438    -3.87741    0 0.00937048  0.0021685   0.997868    -0.0645464     uwb: 0.0            1209.26  538.705  
imu_odom_:  1691062476.744093219  0.536301   -0.502782  9.4954     -0.0585895  -0.0245011  0.0426106   0.22       0.02          pose: 0.33101006    4.41144    -3.87794    0 0.0106088   0.000233657 0.997847    -0.0647154     uwb: 0.49991994     1209.61  540.055  
imu_odom_:  1691062476.770308110  0.6608     -0.0766145 10.0604    -0.0394148  -0.0138484  0.0436758   0.25       -0.02         pose: 0.0           4.41144    -3.87794    0 0.0106088   0.000233657 0.997847    -0.0647154     uwb: 0.0            1209.61  540.055  
imu_odom_:  1691062476.796023428  0.45011    -0.179565  10.0413    -0.0479369  -0.00852212 0.0330232   0.25       -0.02         pose: 0.42930314    4.40159    -3.87971    0 0.00911053  -0.00174498 0.997838    -0.0650598     uwb: 0.50090567     1206.76  539.948  
imu_odom_:  1691062476.811998970  0.335188   0.0191536  9.78031    -0.072438   -0.0106526  0.0479369   0.22       0.02          pose: 0.44904400    4.39175    -3.88148    0 0.00737395  0.000883241 0.997858    -0.0649948     uwb: 0.0            1206.76  539.948  
imu_odom_:  1691062476.828055587  0.4956     -0.287304  10.1035    -0.0745685  -0.00106526 0.056459    0.22       0.02          pose: 0.0           4.39175    -3.88148    0 0.00737395  0.000883241 0.997858    -0.0649948     uwb: 0.0            1206.76  539.948  
imu_odom_:  1691062476.844055627  0.73502    -0.0574608 9.98143    -0.0617853  -0.00639159 0.0298274   0.21       0             pose: 0.0           4.39175    -3.88148    0 0.00737395  0.000883241 0.997858    -0.0649948     uwb: 0.50044489     1206.42  540.698  
imu_odom_:  1691062476.861052770  0.263362   -0.251391  10.137     -0.0596548  0.052198    0.0340885   0.21       0             pose: 0.38996724    4.38191    -3.88326    0 0.00636974  0.000569031 0.997854    -0.0651584     uwb: 0.0            1206.42  540.698  
imu_odom_:  1691062476.877046394  0.78051    -0.402226  10.2232    -0.056459   -0.0319579  0.0415453   0.21       0             pose: 0.0           4.38191    -3.88326    0 0.00636974  0.000569031 0.997854    -0.0651584     uwb: 0.0            1206.42  540.698  
imu_odom_:  1691062476.892995689  0.19393    -0.208296  9.56723    -0.0245011  0.0980043   0.0276969   0.18       -0.02         pose: 0.42026242    4.37636    -3.88427    0 0.00652942  -0.0001720170.997858    -0.0650859     uwb: 0.49931042     1207.97  542.586  
imu_odom_:  1691062476.919030348  0.387861   -0.344765  9.19852    -0.0841559  0.0117179   0.0543285   0.18       -0.02         pose: 0.6978564     4.37207    -3.88504    0 0.00546758  -9.59881e-050.997867    -0.0650456     uwb: 0.0            1207.97  542.586  
imu_odom_:  1691062476.944272341  0.59855    -0.306458  9.74919    -0.0543285  -0.04048    0.0426106   0.2        -0.02         pose: 0.35005390    4.37207    -3.88504    0 0.00254363  -0.00260158 0.997866    -0.0651929     uwb: 0.50049447     1207.63  543.334  
imu_odom_:  1691062476.970134351  0.521936   -0.232238  9.83299    -0.0617853  0.0191748   0.0500674   0.19       -0.02         pose: 0.0           4.37207    -3.88504    0 0.00254363  -0.00260158 0.997866    -0.0651929     uwb: 0.0            1207.63  543.334  
imu_odom_:  1691062476.986985969  0.442927   0.0311246  10.2831    -0.0330232  -0.0106526  0.0330232   0.18       -0.02         pose: 0.33119088    4.36223    -3.88682    0 0.00559523  -0.00229927 0.99785     -0.0652623     uwb: 0.49958747     1206.5   543.7    
imu_odom_:  1691062477.3035878    0.0622492  -0.0263362 9.4547     -0.0830906  0.0245011   0.0500674   0.18       -0.02         pose: 0.0           4.36223    -3.88682    0 0.00559523  -0.00229927 0.99785     -0.0652623     uwb: 0.0            1206.5   543.7    
imu_odom_:  1691062477.19014634   0.493206   -0.11971   10.3166    -0.056459   -0.02024    0.0308927   0.18       -0.02         pose: 0.0           4.36223    -3.88682    0 0.00559523  -0.00229927 0.99785     -0.0652623     uwb: 0.0            1206.5   543.7    
imu_odom_:  1691062477.45030930   0.811634   -0.471658  9.58878    -0.0639159  -0.00319579 0.036219    0.18       0.02          pose: 0.58846073    4.35239    -3.8886     0 0.00375541  0.00218146  0.997855    -0.0653236     uwb: 0.49884976     1207.86  544.937  
imu_odom_:  1691062477.70188941   1.12288    -0.378284  9.5816     -0.0511327  0           0.0298274   0.2        0.02          pose: 0.34035421    4.34546    -3.88986    0 0.00594608  0.00121626  0.99785     -0.0652539     uwb: 0.0            1207.86  544.937  
imu_odom_:  1691062477.96125912   0.823605   -0.105345  10.0844    -0.0735032  -0.0149137  0.0660464   0.2        0.02          pose: 0.7990253     4.34255    -3.89038    0 0.00670847  0.0010558   0.997848    -0.0652168     uwb: 0.50053839     1207.15  545.44   
imu_odom_:  1691062477.121117106  0.804452   -0.270545  10.0748    -0.0383495  0.0298274   0.0213053   0.2        0             pose: 0.43104729    4.33559    -3.89164    0 0.0108248   0.00163772  0.997795    -0.0654679     uwb: 0.0            1207.15  545.44   
imu_odom_:  1691062477.147094031  0.292093   -0.227449  9.87369    -0.056459   -0.0415453  0.0436758   0.2        0             pose: 0.0           4.33559    -3.89164    0 0.0108248   0.00163772  0.997795    -0.0654679     uwb: 0.49928436     1206.83  546.145  
imu_odom_:  1691062477.172024566  0.308852   0          10.0054    -0.0490022  -0.04048    0.0532632   0.17       -0.02         pose: 0.50968119    4.32382    -3.88361    0 0.0106602   0.000768302 0.997808    -0.0653091     uwb: 0.0            1206.83  546.145  
imu_odom_:  1691062477.187968034  0.574608   -0.586579  9.56962    -0.0681769  0           0.0532632   0.17       -0.02         pose: 0.0           4.32382    -3.88361    0 0.0106602   0.000768302 0.997808    -0.0653091     uwb: 0.50192076     1205.29  546.376  
imu_odom_:  1691062477.214022534  0.438139   -0.0933739 10.3789    -0.036219   -0.0617853  0.0511327   0.18       0             pose: 0.40874003    4.32109    -3.8841     0 0.00904721  0.000468904 0.997806    -0.0655882     uwb: 0.0            1205.29  546.376  
imu_odom_:  1691062477.239960089  0.407014   -0.126893  10.1514    -0.0575243  -0.00852212 0.0447411   0.23       0             pose: 0.8019125     4.32109    -3.8841     0 0.00862023  0.0010274   0.997806    -0.0656309     uwb: 0.50069880     1204.56  546.946  
imu_odom_:  1691062477.265071437  0.138864   -0.0383072 10.2855    -0.0671117  0.0138484   0.056459    0.19       0             pose: 0.18035375    4.31427    -3.88534    0 0.00765993  0.00228348  0.997806    -0.0657267     uwb: 0.0            1204.56  546.946  
imu_odom_:  1691062477.281059817  0.349553   -0.179565  9.8689     -0.0681769  -0.0553937  0.0543285   0.19       0             pose: 0.0           4.31427    -3.88534    0 0.00765993  0.00228348  0.997806    -0.0657267     uwb: 0.0            1204.56  546.946  
imu_odom_:  1691062477.306956543  0.639252   -0.232238  10.3262    -0.0543285  -0.00319579 0.0340885   0.18       0.02          pose: 0.34025214    4.31125    -3.88589    0 0.00435835  0.00308522  0.997815    -0.0658481     uwb: 0.49831029     1203.34  547.554  
imu_odom_:  1691062477.333009585  0.94571    -0.208296  9.62948    -0.0415453  -0.0383495  0.0351537   0.18       0.02          pose: 0.41013113    4.30141    -3.88769    0 0.00222343  0.00260715  0.997809    -0.0660776     uwb: 0.0            1203.34  547.554  
imu_odom_:  1691062477.359103456  0.373495   -0.138864  9.88566    -0.076699   0.0127832   0.0681769   0.19       0             pose: 0.43948724    4.29157    -3.88948    0 0.00697022  0.0023395   0.997794    -0.0659806     uwb: 0.50011844     1206.14  549.754  
imu_odom_:  1691062477.384283048  0.0526724  -0.035913  9.62708    -0.0479369  0.04048     0.0468716   0.23       0.02          pose: 0.26093871    4.28435    -3.8908     0 0.00418899  0.00246633  0.997785    -0.0663434     uwb: 0.50011261     1205.4   550.322  
imu_odom_:  1691062477.399104299  0.23942    -0.466869  9.94551    -0.056459   -0.00745685 0.04048     0.23       0.02          pose: 0.0           4.28435    -3.8908     0 0.00418899  0.00246633  0.997785    -0.0663434     uwb: 0.0            1205.4   550.322  
imu_odom_:  1691062477.425939510  0.878672   -0.445322  10.07      -0.04048    0.0191748   0.0351537   0.23       0.02          pose: 0.0           4.28435    -3.8908     0 0.00418899  0.00246633  0.997785    -0.0663434     uwb: 0.0            1205.4   550.322  
imu_odom_:  1691062477.451932767  0.737414   -0.0814029 9.86172    -0.0532632  -0.0191748  0.0490022   0.19       0.02          pose: 0.40000843    4.28174    -3.89128    0 0.000510763 0.00180147  0.997789    -0.0664347     uwb: 0.49848236     1208.22  552.425  
imu_odom_:  1691062477.468990578  0.253785   -0.397437  9.99579    -0.0543285  0.0585895   0.0436758   0.19       0.02          pose: 0.0           4.28174    -3.89128    0 0.000510763 0.00180147  0.997789    -0.0664347     uwb: 0.0            1208.22  552.425  
imu_odom_:  1691062477.494945047  0.466869   -0.213084  10.2783    -0.0500674  -0.0447411  0.056459    0.21       0.02          pose: 0.52828468    4.2719     -3.89308    0 0.00510456  0.00202008  0.997771    -0.0665011     uwb: 0.50131124     1209.15  553.504  
imu_odom_:  1691062477.519931575  0.543484   -0.0143652 10.0149    -0.0234358  -0.04048    0.0372843   0.25       0             pose: 0.43012280    4.26207    -3.89489    0 0.0028385   -0.00148416 0.997763    -0.0667668     uwb: 0.0            1209.15  553.504  
imu_odom_:  1691062477.542049277  0.667982   -0.294487  9.83538    -0.0777643  -0.0500674  0.052198    0.25       0             pose: 0.0           4.26207    -3.89489    0 0.0028385   -0.00148416 0.997763    -0.0667668     uwb: 0.49844736     1208.02  553.885  
imu_odom_:  1691062477.567039013  0.337582   -0.263362  9.90481    -0.0468716  -0.0511327  0.0330232   0.18       -0.02         pose: 0.47104230    4.25223    -3.8967     0 0.00650686  0.000205118 0.99774     -0.0668751     uwb: 0.0            1208.02  553.885  
imu_odom_:  1691062477.582919779  0.651223   -0.143652  9.66779    -0.0639159  -0.0298274  0.0500674   0.18       -0.02         pose: 0.0           4.25223    -3.8967     0 0.00650686  0.000205118 0.99774     -0.0668751     uwb: 0.0            1208.02  553.885  
imu_odom_:  1691062477.609092976  0.131681   -0.107739  9.98861    -0.0479369  0.0628506   0.0394148   0.19       0             pose: 0.40870502    4.2424     -3.89851    0 0.00625099  0.000409953 0.997742    -0.066877      uwb: 0.50113334     1205.63  553.942  
imu_odom_:  1691062477.634921167  0.222661   -0.474052  9.94791    -0.072438   0.0106526   0.0500674   0.19       0             pose: 0.0           4.2424     -3.89851    0 0.00625099  0.000409953 0.997742    -0.066877      uwb: 0.49906271     1206.79  555.515  
imu_odom_:  1691062477.659917610  0.828394   -0.162806  10.24      -0.0340885  -0.0415453  0.0372843   0.19       0             pose: 0.33101893    4.2424     -3.89851    0 0.00233735  0.000345614 0.997756    -0.0669095     uwb: 0.0            1206.79  555.515  
imu_odom_:  1691062477.675914448  0.622492   -0.071826  9.70849    -0.0553937  -0.0426106  0.0458064   0.19       0             pose: 0.0           4.2424     -3.89851    0 0.00233735  0.000345614 0.997756    -0.0669095     uwb: 0.0            1206.79  555.515  
imu_odom_:  1691062477.701914412  0.409408   -0.363919  9.66539    -0.0490022  -0.0340885  0.0436758   0.19       0             pose: 0.50917084    4.23256    -3.90032    0 0.00451092  0.000162826 0.997743    -0.0669987     uwb: 0.49973932     1204.19  555.014  
imu_odom_:  1691062477.727970954  0.191536   -0.155623  9.7851     -0.0500674  -0.0223706  0.052198    0.19       0             pose: 0.0           4.23256    -3.90032    0 0.00451092  0.000162826 0.997743    -0.0669987     uwb: 0.0            1204.19  555.014  
imu_odom_:  1691062477.753906467  0.0909797  -0.287304  9.82341    -0.056459   -0.0117179  0.0511327   0.21       0             pose: 0.42038506    4.22273    -3.90214    0 0.0038271   -0.00115409 0.997736    -0.0671332     uwb: 0.50006303     1202.28  555.095  
imu_odom_:  1691062477.779931804  0.543484   -0.141258  9.96946    -0.0436758  0.00745685  0.04048     0.21       0.02          pose: 0.44929205    4.21289    -3.90396    0 -0.000286597-0.00125339 0.997725    -0.0674067     uwb: 0.0            1202.28  555.095  
imu_odom_:  1691062477.796039464  0.328006   -0.143652  10.1131    -0.0735032  0.0138484   0.072438    0.21       0.02          pose: 0.0           4.21289    -3.90396    0 -0.000286597-0.00125339 0.997725    -0.0674067     uwb: 0.50181576     1205.56  557.144  
imu_odom_:  1691062477.812881463  0.430956   -0.500388  9.58399    -0.0607201  -0.0276969  0.0500674   0.21       0.02          pose: 0.0           4.21289    -3.90396    0 -0.000286597-0.00125339 0.997725    -0.0674067     uwb: 0.0            1205.56  557.144  
imu_odom_:  1691062477.838888719  0.919373   -0.0885855 10.0556    -0.036219   -0.0276969  0.0436758   0.18       0             pose: 0.50002221    4.20306    -3.90578    0 0.00026078  0.000242381 0.997704    -0.0677192     uwb: 0.49916771     1206.24  558.706  
imu_odom_:  1691062477.863897120  0.347159   -0.143652  10.0269    -0.0468716  0.0276969   0.036219    0.18       0             pose: 0.34980031    4.19601    -3.90709    0 0.00324538  0.000466772 0.997692    -0.0678173     uwb: 0.0            1206.24  558.706  
imu_odom_:  1691062477.887886252  0.371101   -0.232238  9.9527     -0.0788296  -0.0276969  0.0681769   0.2        0             pose: 0.7063724     4.19323    -3.90761    0 0.00248877  0.000785792 0.997695    -0.0678044     uwb: 0.50075129     1208.99  560.836  
imu_odom_:  1691062477.911889382  0.78051    -0.0981623 9.87129    -0.0649811  0.00106526  0.0340885   0.2        0             pose: 0.41933809    4.18617    -3.90893    0 -0.000653963-0.0005224260.997677    -0.0681119     uwb: 0.0            1208.99  560.836  
imu_odom_:  1691062477.937886722  0.328006   -0.110133  9.42837    -0.0628506  0.0276969   0.052198    0.18       -0.02         pose: 0.0           4.18617    -3.90893    0 -0.000653963-0.0005224260.997677    -0.0681119     uwb: 0.50040716     1209.05  561.697  
imu_odom_:  1691062477.953876560  0.114922   -0.361524  9.93594    -0.0490022  -0.00745685 0.036219    0.18       -0.02         pose: 0.50000470    4.17622    -3.91078    0 -0.0008616190.00181319  0.997669    -0.068206      uwb: 0.0            1209.05  561.697  
imu_odom_:  1691062477.979877983  0.325611   -0.320823  10.0413    -0.0596548  -0.0181095  0.056459    0.2        -0.02         pose: 0.0           4.17622    -3.91078    0 -0.0008616190.00181319  0.997669    -0.068206      uwb: 0.0            1209.05  561.697  
imu_odom_:  1691062478.5896613    0.553061   0.181959   10.0724    -0.0308927  -0.0223706  0.04048     0.2        0.02          pose: 0.23092933    4.17357    -3.91128    0 -0.00220799 0.000179431 0.997667    -0.0682341     uwb: 0.0            1209.05  561.697  
imu_odom_:  1691062478.29870005   0.620098   -0.0263362 10.1562    -0.0713727  -0.0266316  0.056459    0.2        0.02          pose: 0.0           4.17357    -3.91128    0 -0.00220799 0.000179431 0.997667    -0.0682341     uwb: 0.0            1209.05  561.697  
imu_odom_:  1691062478.45931592   0.483629   -0.356736  9.45949    -0.0468716  0.0170442   0.0330232   0.19       0             pose: 0.51958812    4.16374    -3.91312    0 -0.0006826210.00144654  0.997652    -0.068465      uwb: 0.99622116     1210.64  563.292  
imu_odom_:  1691062478.72868011   0.248997   -0.201113  9.68215    -0.0905475  -0.00213053 0.0607201   0.19       0             pose: 0.0           4.16374    -3.91312    0 -0.0006826210.00144654  0.997652    -0.068465      uwb: 0.0            1210.64  563.292  
imu_odom_:  1691062478.98872651   0.521936   -0.378284  10.0197    -0.0458064  -0.052198   0.0319579   0.19       0.02          pose: 0.32993125    4.15852    -3.9141     0 0.00128292  0.000944937 0.997646    -0.0685609     uwb: 0.50045693     1209.89  563.87   
imu_odom_:  1691062478.124870293  0.517148   -0.0143652 9.78989    -0.0607201  0           0.0415453   0.19       0.02          pose: 0.7950594     4.15391    -3.91496    0 0.000491496 0.000737633 0.997641    -0.068644      uwb: 0.0            1209.89  563.87   
imu_odom_:  1691062478.149865871  0          -0.172383  10.0533    -0.0703074  0.0266316   0.0617853   0.19       0.02          pose: 0.0           4.15391    -3.91496    0 0.000491496 0.000737633 0.997641    -0.068644      uwb: 0.50062024     1208.75  564.288  
imu_odom_:  1691062478.165874380  0.201113   -0.0502782 9.7875     -0.0649811  -0.0607201  0.0617853   0.19       0.02          pose: 0.52052734    4.14224    -3.90698    0 0.00125485  -0.0007963620.997633    -0.0687466     uwb: 0.0            1208.75  564.288  
imu_odom_:  1691062478.191944347  0.610521   -0.294487  10.1035    -0.0543285  -0.0191748  0.0340885   0.21       -0.02         pose: 0.0           4.14224    -3.90698    0 0.00125485  -0.0007963620.997633    -0.0687466     uwb: 0.50130267     1210.72  566.021  
imu_odom_:  1691062478.217994774  0.694318   -0.105345  10.0389    -0.0415453  -0.0266316  0.0298274   0.24       0             pose: 0.50932851    4.13241    -3.90883    0 -0.00142087 0.00109083  0.997607    -0.0691142     uwb: 0.0            1210.72  566.021  
imu_odom_:  1691062478.242863199  0.663194   -0.198719  10.4315    -0.0596548  0.0223706   0.0511327   0.24       0             pose: 0.0           4.13241    -3.90883    0 -0.00142087 0.00109083  0.997607    -0.0691142     uwb: 0.49865169     1211.93  567.393  
imu_odom_:  1691062478.268845675  0.225055   -0.0957681 9.20092    -0.0319579  0.0490022   0.0298274   0.22       0             pose: 0.42013732    4.12258    -3.91069    0 0.00143804  0.000998888 0.997607    -0.0691106     uwb: 0.0            1211.93  567.393  
imu_odom_:  1691062478.284850976  0.134075   -0.270545  9.99579    -0.0713727  -0.036219   0.0628506   0.22       0             pose: 0.0           4.12258    -3.91069    0 0.00143804  0.000998888 0.997607    -0.0691106     uwb: 0.0            1211.93  567.393  
imu_odom_:  1691062478.311128296  0.567426   -0.344765  9.7875     -0.0458064  0.0106526   0.0276969   0.24       0             pose: 0.51991783    4.11276    -3.91255    0 0.00456623  0.00203535  0.997595    -0.0691255     uwb: 0.0            1211.93  567.393  
imu_odom_:  1691062478.335980972  0.821211   -0.11971   9.4571     -0.0798948  -0.0213053  0.0607201   0.24       0             pose: 0.42107639    4.11276    -3.91255    0 0.00161635  0.00139715  0.997603    -0.069171      uwb: 0.100134839    1213.02  568.979  
imu_odom_:  1691062478.352835519  0.636858   -0.117316  9.91918    -0.0660464  0.00745685  0.04048     0.21       0.02          pose: 0.43000047    4.10293    -3.91441    0 0.00532944  0.000669599 0.99758     -0.0693264     uwb: 0.0            1213.02  568.979  
imu_odom_:  1691062478.378826744  0.287304   -0.100556  10.0724    -0.0692422  -0.0234358  0.0511327   0.21       0.02          pose: 0.0           4.10293    -3.91441    0 0.00532944  0.000669599 0.99758     -0.0693264     uwb: 0.0            1213.02  568.979  
imu_odom_:  1691062478.403854110  0.385466   -0.0622492 10.228     -0.0458064  0.00106526  0.0383495   0.25       0             pose: 0.8008921     4.10293    -3.91441    0 0.00590509  0.00113242  0.997576    -0.0693272     uwb: 0.49869252     1214.48  570.755  
imu_odom_:  1691062478.425830085  0.40462    -0.416591  9.81144    -0.0969391  -0.0117179  0.0692422   0.25       0             pose: 0.0           4.10293    -3.91441    0 0.00590509  0.00113242  0.997576    -0.0693272     uwb: 0.0            1214.48  570.755  
imu_odom_:  1691062478.442841531  0.56982    -0.275333  9.34217    -0.0532632  0.0575243   0.0415453   0.19       0             pose: 0.41843708    4.09311    -3.91627    0 0.00376807  0.0027067   0.997574    -0.0694611     uwb: 0.49968409     1213.1   570.72   
imu_odom_:  1691062478.467831568  0.0263362  -0.0861913 9.60075    -0.0575243  0.0234358   0.052198    0.19       0             pose: 0.0           4.09311    -3.91627    0 0.00376807  0.0027067   0.997574    -0.0694611     uwb: 0.0            1213.1   570.72   
imu_odom_:  1691062478.491833833  -0.339977  -0.0933739 9.74679    -0.0127832  0.0308927   0.0308927   0.19       0             pose: 0.47024048    4.08328    -3.91813    0 0.00265533  0.00101355  0.997558    -0.0697795     uwb: 0.50001947     1215.06  572.41   
imu_odom_:  1691062478.515828515  -0.225055  -0.0622492 9.74679    -0.0458064  -0.0106526  0.0543285   0.19       0             pose: 0.0           4.08328    -3.91813    0 0.00265533  0.00101355  0.997558    -0.0697795     uwb: 0.0            1215.06  572.41   
imu_odom_:  1691062478.532879041  0.54109    -0.289698  9.19134    -0.0458064  0.118244    0.0553937   0.21       0.02          pose: 0.41028876    4.07346    -3.92       0 -0.0002978180.00111999  0.997552    -0.0699199     uwb: 0.0            1215.06  572.41   
imu_odom_:  1691062478.558851309  0.328006   -0.251391  10.0652    -0.0511327  0.0234358   0.0468716   0.21       0.02          pose: 0.0           4.07346    -3.92       0 -0.0002978180.00111999  0.997552    -0.0699199     uwb: 0.49883251     1210.48  571.314  
imu_odom_:  1691062478.583888883  0.627281   0.0143652  9.88087    -0.0276969  -0.0276969  0.0426106   0.18       0             pose: 0.24942500    4.07346    -3.92       0 -0.00310367 0.00172457  0.997548    -0.069891      uwb: 0.50114227     1209.43  571.559  
imu_odom_:  1691062478.608833425  0.986411   -0.191536  9.58399    -0.0607201  -0.0149137  0.0426106   0.18       0             pose: 0.41073788    4.06363    -3.92187    0 -0.00420785 0.000659222 0.997526    -0.0701727     uwb: 0.0            1209.43  571.559  
imu_odom_:  1691062478.623820331  0.488417   -0.533907  9.50737    -0.0553937  0.0553937   0.0383495   0.18       0             pose: 0.0           4.06363    -3.92187    0 -0.00420785 0.000659222 0.997526    -0.0701727     uwb: 0.0            1209.43  571.559  
imu_odom_:  1691062478.647934001  0.560243   -0.215478  9.70131    -0.0649811  -0.0181095  0.0500674   0.18       0             pose: 0.49931955    4.05381    -3.92375    0 -0.00142001 0.000911235 0.997525    -0.070286      uwb: 0.50002822     1212.07  573.726  
imu_odom_:  1691062478.673986178  0.148441   -0.184354  10.4004    -0.0458064  0.0287621   0.0415453   0.19       0             pose: 0.0           4.05381    -3.92375    0 -0.00142001 0.000911235 0.997525    -0.070286      uwb: 0.0            1212.07  573.726  
imu_odom_:  1691062478.699827502  0.497994   -0.347159  9.81862    -0.0671117  -0.0106526  0.0543285   0.25       0.02          pose: 0.40983964    4.04399    -3.92563    0 0.00130005  -0.0003987430.997522    -0.0703455     uwb: 0.0            1212.07  573.726  
imu_odom_:  1691062478.725913801  0.440533   -0.102951  10.1394    -0.0383495  -0.0298274  0.0383495   0.25       0.02          pose: 0.0           4.04399    -3.92563    0 0.00130005  -0.0003987430.997522    -0.0703455     uwb: 0.0            1212.07  573.726  
imu_odom_:  1691062478.742890251  0.435745   -0.141258  9.79228    -0.052198   -0.0553937  0.0458064   0.23       0             pose: 0.50205509    4.03417    -3.92751    0 0.000553871 -0.0006018690.997511    -0.0705119     uwb: 0.99974147     1212.31  575.106  
imu_odom_:  1691062478.758808061  0.766145   -0.411803  9.50498    -0.0330232  0.02024     0.0319579   0.23       0             pose: 0.0           4.03417    -3.92751    0 0.000553871 -0.0006018690.997511    -0.0705119     uwb: 0.0            1212.31  575.106  
imu_odom_:  1691062478.784869279  0.469264   -0.172383  9.79947    -0.0543285  -0.0170442  0.0575243   0.25       0.02          pose: 0.51801344    4.02435    -3.9294     0 0.00206436  0.00138855  0.997498    -0.0706507     uwb: 0.49947119     1211.55  575.699  
imu_odom_:  1691062478.810803051  0.804452   -0.059855  10.4076    -0.0500674  -0.0479369  0.0511327   0.25       0.02          pose: 0.0           4.02435    -3.9294     0 0.00206436  0.00138855  0.997498    -0.0706507     uwb: 0.0            1211.55  575.699  
imu_odom_:  1691062478.827948651  0.225055   -0.308852  9.82102    -0.0575243  0.0351537   0.052198    0.23       0             pose: 0.34052932    4.02435    -3.9294     0 0.00330181  0.00252916  0.997489    -0.0706942     uwb: 0.0            1211.55  575.699  
imu_odom_:  1691062478.853800765  0.45011    -0.0957681 10.1442    -0.0436758  -0.0287621  0.052198    0.23       0             pose: 0.0           4.02435    -3.9294     0 0.00330181  0.00252916  0.997489    -0.0706942     uwb: 0.50072815     1212.26  577.052  
imu_odom_:  1691062478.870790631  0.624887   -0.299275  9.47625    -0.0777643  0.0106526   0.0585895   0.25       0.02          pose: 0.50928767    4.01453    -3.93128    0 0.00572231  0.00476312  0.997445    -0.0710478     uwb: 0.0            1212.26  577.052  
imu_odom_:  1691062478.896783606  0.0383072  -0.117316  9.49062    -0.0319579  0.0436758   0.0394148   0.25       0.02          pose: 0.0           4.01453    -3.93128    0 0.00572231  0.00476312  0.997445    -0.0710478     uwb: 0.49842130     1214.85  579.235  
imu_odom_:  1691062478.921850635  0.222661   -0.19393   9.87848    -0.0671117  -0.0181095  0.0490022   0.24       0             pose: 0.43002381    4.00471    -3.93318    0 0.00331609  0.00521693  0.997434    -0.0713298     uwb: 0.0            1214.85  579.235  
imu_odom_:  1691062478.936773090  0.31364    -0.134075  9.88326    -0.0468716  -0.015979   0.0298274   0.24       0             pose: 0.0           4.00471    -3.93318    0 0.00331609  0.00521693  0.997434    -0.0713298     uwb: 0.50185387     1212.24  578.913  
imu_odom_:  1691062478.963894115  0.490811   -0.241814  10.1969    -0.0703074  -0.0191748  0.0585895   0.18       0             pose: 0.42986923    3.99489    -3.93508    0 0.000110148 0.00427138  0.997435    -0.0714517     uwb: 0.0            1212.24  578.913  
imu_odom_:  1691062478.989799890  0.696713   -0.0861913 10.0126    -0.0490022  -0.0276969  0.0330232   0.18       0             pose: 0.0           3.99489    -3.93508    0 0.000110148 0.00427138  0.997435    -0.0714517     uwb: 0.49936328     1212.71  579.808  
imu_odom_:  1691062479.14927584   0.773327   -0.277727  9.88805    -0.0575243  0.0266316   0.0383495   0.23       0             pose: 0.41062123    3.98507    -3.93698    0 -0.00208557 0.00318305  0.997431    -0.0715288     uwb: 0.0            1212.71  579.808  
imu_odom_:  1691062479.29919162   -0.351948  -0.141258  9.60314    -0.0149137  0.0798948   0.0308927   0.23       0             pose: 0.0           3.98507    -3.93698    0 -0.00208557 0.00318305  0.997431    -0.0715288     uwb: 0.0            1212.71  579.808  
imu_odom_:  1691062479.56923834   0.102951   -0.438139  9.2895     -0.0713727  0.0149137   0.0447411   0.18       0.02          pose: 0.51966993    3.97526    -3.93889    0 0.00295528  0.00281827  0.997423    -0.0716302     uwb: 0.49981544     1209.07  578.824  
imu_odom_:  1691062479.81908922   0.186748   -0.179565  10.0963    -0.0458064  -0.0117179  0.0458064   0.18       0.02          pose: 0.40995059    3.96544    -3.94079    0 0.00160578  0.0018901   0.997432    -0.0715812     uwb: 0.0            1209.07  578.824  
imu_odom_:  1691062479.107964317  0.222661   -0.19393   9.90721    -0.0468716  -0.00319579 0.0383495   0.21       0             pose: 0.44088159    3.95729    -3.93529    0 -0.00240567 0.000697327 0.997423    -0.0717062     uwb: 0.50069333     1210.9   580.681  
imu_odom_:  1691062479.133755489  0.208296   -0.105345  9.95509    -0.0841559  0.015979    0.056459    0.19       -0.02         pose: 0.7928724     3.95372    -3.93288    0 -0.0032051  0.000695421 0.997421    -0.0717004     uwb: 0.49946846     1210.15  581.253  
imu_odom_:  1691062479.159768596  -0.141258  -0.25618   9.59117    -0.0372843  -0.00213053 0.00958738  0.19       -0.02         pose: 0.0           3.95372    -3.93288    0 -0.0032051  0.000695421 0.997421    -0.0717004     uwb: 0.0            1210.15  581.253  
imu_odom_:  1691062479.176752052  0.452504   -0.332794  9.89045    -0.072438   -0.0447411  0.0426106   0.19       0             pose: 0.25158320    3.95372    -3.93288    0 -0.0056485  0.00102122  0.997406    -0.0717485     uwb: 0.0            1210.15  581.253  
imu_odom_:  1691062479.202918852  0.890643   -0.328006  9.51695    -0.04048    0.0266316   0.0308927   0.19       0             pose: 0.0           3.95372    -3.93288    0 -0.0056485  0.00102122  0.997406    -0.0717485     uwb: 0.49897560     1211.25  582.703  
imu_odom_:  1691062479.228850009  1.08697    -0.100556  9.55047    -0.0777643  -0.0191748  0.0575243   0.19       0             pose: 0.52784762    3.9439     -3.93479    0 -0.0089728  0.000953381 0.997398    -0.0715198     uwb: 0.0            1211.25  582.703  
imu_odom_:  1691062479.254792832  0.25618    -0.134075  10.1945    -0.0426106  0.0245011   0.0255663   0.19       0             pose: 0.0           3.9439     -3.93479    0 -0.0089728  0.000953381 0.997398    -0.0715198     uwb: 0.49961428     1212.72  584.32   
imu_odom_:  1691062479.271743625  0.562637   -0.174777  9.55047    -0.0660464  -0.0266316  0.052198    0.19       0             pose: 0.43047016    3.93408    -3.9367     0 -0.00498343 0.000334987 0.997429    -0.0714887     uwb: 0.0            1212.72  584.32   
imu_odom_:  1691062479.297787937  0.0287304  0.011971   9.95748    -0.0468716  0.0245011   0.0298274   0.19       0             pose: 0.0           3.93408    -3.9367     0 -0.00498343 0.000334987 0.997429    -0.0714887     uwb: 0.50018005     1210.83  584.439  
imu_odom_:  1691062479.322718198  0.395043   -0.373495  9.43076    -0.0553937  -0.0170442  0.0276969   0.17       0             pose: 0.51920059    3.92427    -3.9386     0 -0.00473072 0.00206867  0.997425    -0.0715271     uwb: 0.0            1210.83  584.439  
imu_odom_:  1691062479.348726056  0.191536   -0.0814029 9.93115    -0.052198   0.0639159   0.0468716   0.17       0             pose: 0.0           3.92427    -3.9386     0 -0.00473072 0.00206867  0.997425    -0.0715271     uwb: 0.49965219     1211.14  585.624  
imu_odom_:  1691062479.365849498  0.557849   -0.395043  9.96946    -0.0532632  -0.0330232  0.0511327   0.2        -0.02         pose: 0.42087532    3.91445    -3.9405     0 -0.00605156 0.00270818  0.997425    -0.0714138     uwb: 0.0            1211.14  585.624  
imu_odom_:  1691062479.391730494  0.565032   0.117316   10.24      -0.0543285  -0.0106526  0.0426106   0.2        -0.02         pose: 0.0           3.91445    -3.9405     0 -0.00605156 0.00270818  0.997425    -0.0714138     uwb: 0.50116287     1211.15  586.499  
imu_odom_:  1691062479.417746809  0.632069   -0.143652  10.3621    -0.0532632  0.00745685  0.036219    0.21       0             pose: 0.51921226    3.90463    -3.9424     0 -0.00722085 0.00230077  0.997416    -0.0714452     uwb: 0.0            1211.15  586.499  
imu_odom_:  1691062479.443810370  0.361524   -0.328006  9.42118    -0.0777643  0.0276969   0.0458064   0.21       0.02          pose: 0.41988667    3.89482    -3.94431    0 -0.0039016  0.00380474  0.997423    -0.0715414     uwb: 0.50008673     1210.92  586.938  
imu_odom_:  1691062479.469893470  0.244209   -0.304064  9.50498    -0.036219   0.056459    0.02024     0.19       -0.02         pose: 0.26002609    3.89482    -3.94431    0 -0.00219849 0.00308925  0.997431    -0.0715388     uwb: 0.0            1210.92  586.938  
imu_odom_:  1691062479.486753855  0.440533   -0.198719  10.1682    -0.0703074  0.0181095   0.0532632   0.19       -0.02         pose: 0.26048978    3.885      -3.94621    0 -0.0031106  0.000480543 0.997434    -0.071527      uwb: 0.50023547     1212.29  588.699  
imu_odom_:  1691062479.511789980  0.45011    -0.316035  9.47146    -0.0500674  0.0543285   0.0415453   0.23       0             pose: 0.0           3.885      -3.94621    0 -0.0031106  0.000480543 0.997434    -0.071527      uwb: 0.0            1212.29  588.699  
imu_odom_:  1691062479.537969028  -0.191536  -0.0335188 9.81623    -0.0585895  0.0191748   0.052198    0.23       0.02          pose: 0.60993165    3.87824    -3.94752    0 -0.00224011 -0.00199075 0.997438    -0.0714726     uwb: 0.49808318     1211.25  588.955  
imu_odom_:  1691062479.563713538  0.00957681 -0.189142  9.60793    -0.0298274  -0.00426106 0.0298274   0.23       0.02          pose: 0.0           3.87824    -3.94752    0 -0.00224011 -0.00199075 0.997438    -0.0714726     uwb: 0.0            1211.25  588.955  
imu_odom_:  1691062479.589712647  0.0933739  -0.227449  9.29908    -0.0490022  0.00426106  0.0426106   0.23       0             pose: 0.8089123     3.87518    -3.94811    0 -0.0031055  -0.00176791 0.997432    -0.0715253     uwb: 0.50009548     1213.51  590.732  
imu_odom_:  1691062479.606701061  0.366313   0.102951   10.2568    -0.0255663  -0.0245011  0.0447411   0.23       0             pose: 0.0           3.87518    -3.94811    0 -0.0031055  -0.00176791 0.997432    -0.0715253     uwb: 0.0            1213.51  590.732  
imu_odom_:  1691062479.623778715  0.531513   -0.445322  9.62948    -0.0660464  -0.0223706  0.0607201   0.23       0             pose: 0.50844795    3.86536    -3.95002    0 -0.0083594  -0.00082578 0.997403    -0.0715289     uwb: 0.0            1213.51  590.732  
imu_odom_:  1691062479.639775856  0.21069    -0.337582  10.4052    -0.0458064  -0.00106526 0.0426106   0.23       0             pose: 0.0           3.86536    -3.95002    0 -0.0083594  -0.00082578 0.997403    -0.0715289     uwb: 0.50061168     1213.68  592.146  
imu_odom_:  1691062479.656768645  0.270545   0.0454898  10.2232    -0.0468716  -0.0106526  0.0383495   0.23       0             pose: 0.0           3.86536    -3.95002    0 -0.0083594  -0.00082578 0.997403    -0.0715289     uwb: 0.0            1213.68  592.146  
imu_odom_:  1691062479.673756183  0.378284   -0.146046  9.53132    -0.0692422  -0.0394148  0.052198    0.18       0.02          pose: 0.42986940    3.85555    -3.95192    0 -0.00884726 0.000365606 0.997388    -0.0716836     uwb: 0.0            1213.68  592.146  
imu_odom_:  1691062479.689698205  0.864307   -0.160412  10.2687    -0.0671117  -0.0426106  0.0340885   0.18       0.02          pose: 0.0           3.85555    -3.95192    0 -0.00884726 0.000365606 0.997388    -0.0716836     uwb: 0.50095289     1213.61  593.144  
imu_odom_:  1691062479.705697387  0.512359   -0.201113  9.64624    -0.0660464  0.0106526   0.0351537   0.18       0.02          pose: 0.0           3.85555    -3.95192    0 -0.00884726 0.000365606 0.997388    -0.0716836     uwb: 0.0            1213.61  593.144  
imu_odom_:  1691062479.721697153  0.490811   -0.146046  10.0269    -0.0628506  -0.076699   0.0447411   0.18       0.02          pose: 0.51006361    3.84573    -3.95383    0 -0.00722766 0.000332323 0.997389    -0.0718535     uwb: 0.0            1213.61  593.144  
imu_odom_:  1691062479.737709459  1.09176    -0.160412  9.41161    -0.0511327  0.0191748   0.0276969   0.21       0             pose: 0.0           3.84573    -3.95383    0 -0.00722766 0.000332323 0.997389    -0.0718535     uwb: 0.50003132     1214.06  593.996  
imu_odom_:  1691062479.753759678  0.471658   -0.31364   9.34936    -0.0777643  0.00639159  0.0553937   0.21       0             pose: 0.63984773    3.83592    -3.95574    0 -0.0002171750.00148208  0.997415    -0.071845      uwb: 0.0            1214.06  593.996  
imu_odom_:  1691062479.770748966  0.440533   -0.248997  10.1562    -0.0596548  -0.0649811  0.0468716   0.22       0             pose: 0.0           3.83592    -3.95574    0 -0.0002171750.00148208  0.997415    -0.071845      uwb: 0.0            1214.06  593.996  
imu_odom_:  1691062479.786690988  0.294487   0.00718261 10.1155    -0.0276969  -0.00213053 0.0308927   0.22       0             pose: 0.0           3.83592    -3.95574    0 -0.0002171750.00148208  0.997415    -0.071845      uwb: 0.49989716     1214.7   595.368  
imu_odom_:  1691062479.803686401  0.42138    -0.399832  9.79468    -0.0532632  -0.0319579  0.0468716   0.22       0             pose: 0.32052609    3.83592    -3.95574    0 0.00175852  -0.0006464490.997407    -0.0719479     uwb: 0.0            1214.7   595.368  
imu_odom_:  1691062479.819721163  0.349553   -0.289698  10.003     -0.0255663  0.00213053  0.0287621   0.18       0             pose: 0.42931820    3.8261     -3.95765    0 0.0017814   -0.00169839 0.997403    -0.0719793     uwb: 0.0            1214.7   595.368  
imu_odom_:  1691062479.836697328  0.519542   -0.342371  9.75637    -0.0490022  -0.0479369  0.0447411   0.18       0             pose: 0.7068396     3.8261     -3.95765    0 0.00112993  -0.00193209 0.997406    -0.071943      uwb: 0.49817651     1216.1   596.992  
imu_odom_:  1691062479.853682242  0.486023   -0.19393   9.69652    -0.0543285  -0.0255663  0.0511327   0.18       0             pose: 0.0           3.8261     -3.95765    0 0.00112993  -0.00193209 0.997406    -0.071943      uwb: 0.0            1216.1   596.992  
imu_odom_:  1691062479.870904548  1.35033    -0.114922  10.1227    -0.0447411  -0.0340885  0.0468716   0.18       0             pose: 0.42927445    3.81628    -3.95957    0 0.00301771  -0.00150808 0.997397    -0.0720313     uwb: 0.0            1216.1   596.992  
imu_odom_:  1691062479.887740727  0.962469   -0.28491   9.79228    -0.0500674  0.0266316   0.0948085   0.16       -0.02         pose: 0.0           3.81628    -3.95957    0 0.00301771  -0.00150808 0.997397    -0.0720313     uwb: 0.50037254     1216.33  598.239  
imu_odom_:  1691062479.904712809  1.12049    -0.339977  10.07      -0.0628506  -0.0553937  0.143811    0.16       -0.02         pose: 0.0           3.81628    -3.95957    0 0.00301771  -0.00150808 0.997397    -0.0720313     uwb: 0.0            1216.33  598.239  
imu_odom_:  1691062479.929659402  1.59933    -0.28491   9.85214    -0.0447411  0.0330232   0.0703074   0.14       -0.05         pose: 0.24075474    3.80647    -3.96148    0 0.00552783  -0.00102409 0.997369    -0.0722783     uwb: 0.0            1216.33  598.239  
imu_odom_:  1691062479.946679896  1.075      0.234632   10.0652    -0.0511327  0.0340885   0.0458064   0.14       -0.05         pose: 0.0           3.80647    -3.96148    0 0.00552783  -0.00102409 0.997369    -0.0722783     uwb: 0.49977467     1218.35  600.352  
imu_odom_:  1691062479.963712638  0.725443   -0.289698  9.67736    -0.0713727  0.0479369   0.0798948   0.11       0.08          pose: 0.33960496    3.80647    -3.96148    0 0.00906524  -0.00116262 0.997251    -0.0735382     uwb: 0.0            1218.35  600.352  
imu_odom_:  1691062479.980659639  0.94571    -0.507571  9.88805    -0.0532632  -0.0106526  0.115049    0.11       0.08          pose: 0.42018414    3.79666    -3.96343    0 0.0117231   -8.87869e-050.99719     -0.0739911     uwb: 0.0            1218.35  600.352  
imu_odom_:  1691062479.996658822  1.13485    -0.37589   9.80904    -0.0394148  -0.00426106 0.14168     0.11       0.08          pose: 0.0           3.79666    -3.96343    0 0.0117231   -8.87869e-050.99719     -0.0739911     uwb: 0.49962595     1219.36  601.817  
imu_odom_:  1691062480.13662404   0.383072   -0.0622492 9.68933    -0.0479369  0.0777643   0.237554    0.11       0.32          pose: 0.42922196    3.79666    -3.96343    0 0.0153378   -0.00177295 0.997014    -0.0756586     uwb: 0.0            1219.36  601.817  
imu_odom_:  1691062480.30656948   0.1652     -0.632069  9.8689     -0.0671117  -0.0298274  0.396278    0.11       0.32          pose: 0.0           3.79666    -3.96343    0 0.0153378   -0.00177295 0.997014    -0.0756586     uwb: 0.0            1219.36  601.817  
imu_odom_:  1691062480.47708070   0.509965   -0.696713  9.87129    -0.0447411  -0.0266316  0.412257    0.11       0.32          pose: 0.0           3.79666    -3.96343    0 0.0153378   -0.00177295 0.997014    -0.0756586     uwb: 0.50130588     1222.19  604.062  
imu_odom_:  1691062480.63692968   1.1564     -0.153229  10.3166    -0.0170442  -0.0223706  0.415453    0.07       0.35          pose: 0.7018234     3.79666    -3.96343    0 0.0144373   -0.00143327 0.996976    -0.0763476     uwb: 0.0            1222.19  604.062  
imu_odom_:  1691062480.80731549   0.85473    0.0981623  9.77553    -0.0585895  0.0276969   0.487891    0.09       0.55          pose: 0.0           3.79666    -3.96343    0 0.0144373   -0.00143327 0.996976    -0.0763476     uwb: 0.0            1222.19  604.062  
imu_odom_:  1691062480.97657851   0.718261   -0.531513  9.91439    -0.072438   0.0117179   0.502805    0.09       0.55          pose: 0.67122806    3.78684    -3.96533    0 0.0136713   -0.00231639 0.996014    -0.0881134     uwb: 0.50054478     1220.82  604.076  
imu_odom_:  1691062480.112660516  0.483629   -0.356736  9.81144    -0.04048    0.00213053  0.488956    0.09       0.55          pose: 0.0           3.78684    -3.96533    0 0.0136713   -0.00231639 0.996014    -0.0881134     uwb: 0.0            1220.82  604.076  
imu_odom_:  1691062480.128717157  0.526724   -0.241814  10.1347    -0.0458064  0.00213053  0.534763    0.06       0.44          pose: 0.0           3.78684    -3.96533    0 0.0136713   -0.00231639 0.996014    -0.0881134     uwb: 0.0            1220.82  604.076  
imu_odom_:  1691062480.143708740  0.720655   -0.294487  9.79947    -0.0628506  -0.015979   0.586961    0.06       0.44          pose: 0.34053249    3.78684    -3.96533    0 0.0134879   -0.00352665 0.995298    -0.0958546     uwb: 0.49812128     1221.14  605.119  
imu_odom_:  1691062480.159654559  0.76375    -0.301669  9.68455    -0.0436758  0           0.588026    0.04       0.5           pose: 0.38855629    3.78679    -3.96529    0 0.0127659   -0.00299411 0.994318    -0.105635      uwb: 0.0            1221.14  605.119  
imu_odom_:  1691062480.175764861  0.584185   -0.112527  9.7875     -0.0532632  0.0266316   0.604005    0.04       0.5           pose: 0.0           3.78679    -3.96529    0 0.0127659   -0.00299411 0.994318    -0.105635      uwb: 0.0            1221.14  605.119  
imu_odom_:  1691062480.193648897  0.600945   -0.263362  10.0126    -0.052198   0.0181095   0.632767    0.04       0.5           pose: 0.0           3.78679    -3.96529    0 0.0127659   -0.00299411 0.994318    -0.105635      uwb: 0.50097349     1219.75  605.178  
imu_odom_:  1691062480.209698830  0.325611   -0.40462   9.93354    -0.0660464  0.00532632  0.627441    0.04       0.55          pose: 0.7065191     3.78684    -3.96533    0 0.0134452   -0.00292884 0.994104    -0.107558      uwb: 0.0            1219.75  605.178  
imu_odom_:  1691062480.226640880  0.447716   -0.0742203 9.5792     -0.0458064  -0.00426106 0.576308    0.06       0.67          pose: 0.0           3.78684    -3.96533    0 0.0134452   -0.00292884 0.994104    -0.107558      uwb: 0.0            1219.75  605.178  
imu_odom_:  1691062480.242754973  0.584185   0.071826   9.93115    -0.0511327  0.015979    0.525175    0.06       0.67          pose: 0.0           3.78684    -3.96533    0 0.0134452   -0.00292884 0.994104    -0.116835      uwb: 0.0            1219.75  605.178  
imu_odom_:  1691062480.259697606  0.816423   -0.0766145 9.93354    -0.056459   -0.0127832  0.491087    0.05       0.61          pose: 0.32883203    3.77703    -3.96724    0 0.00931174  -0.00190585 0.991948    -0.126288      uwb: 0.0            1219.75  605.178  
imu_odom_:  1691062480.275692419  0.684742   -0.337582  9.85693    -0.052198   -0.00426106 0.439954    0.05       0.61          pose: 0.0           3.77703    -3.96724    0 0.00931174  -0.00190585 0.991948    -0.126288      uwb: 0.0            1219.75  605.178  
imu_odom_:  1691062480.293754062  0.634463   -0.0790087 9.90481    -0.0479369  0.0170442   0.398409    0.05       0.61          pose: 0.34054998    3.77703    -3.96724    0 0.0090142   0.000956916 0.990861    -0.134582      uwb: 0.99998426     1220.41  606.431  
imu_odom_:  1691062480.308621700  0.466869   -0.0454898 9.83059    -0.0607201  0.015979    0.398409    0.05       0.53          pose: 0.33052060    3.77703    -3.96724    0 0.0107512   0.00114046  0.989923    -0.141195      uwb: 0.0            1220.41  606.431  
imu_odom_:  1691062480.325731732  0.447716   -0.21069   9.94312    -0.0628506  0.00852212  0.381365    0.05       0.53          pose: 0.0           3.77703    -3.96724    0 0.0107512   0.00114046  0.989923    -0.141195      uwb: 0.0            1220.41  606.431  
imu_odom_:  1691062480.341670552  0.493206   -0.181959  9.81862    -0.0468716  -0.00319579 0.343015    0.05       0.53          pose: 0.0           3.77703    -3.96724    0 0.0107512   0.00114046  0.989923    -0.141195      uwb: 0.49984777     1221.97  607.663  
imu_odom_:  1691062480.358612601  0.588974   -0.158017  9.83777    -0.0447411  -0.0106526  0.320645    0.02       0.29          pose: 0.49974278    3.77703    -3.96724    0 0.00681526  0.00235341  0.988708    -0.149682      uwb: 0.0            1221.97  607.663  
imu_odom_:  1691062480.374725528  0.565032   -0.146046  9.90002    -0.052198   -0.00319579 0.313188    0.02       0.29          pose: 0.0           3.77703    -3.96724    0 0.00681526  0.00235341  0.988708    -0.149682      uwb: 0.0            1221.97  607.663  
imu_odom_:  1691062480.391613916  0.562637   -0.220267  9.92397    -0.052198   0           0.300405    0.03       0.32          pose: 0.40994493    3.77698    -3.9672     0 0.00766425  0.00499787  0.987811    -0.155387      uwb: 0.49957072     1222.06  608.306  
imu_odom_:  1691062480.407665307  0.562637   -0.186748  9.84256    -0.052198   -0.00532632 0.280165    0.03       0.32          pose: 0.0           3.77698    -3.9672     0 0.00766425  0.00499787  0.987811    -0.155387      uwb: 0.0            1222.06  608.306  
imu_odom_:  1691062480.424623980  0.529119   -0.124498  9.83538    -0.052198   0.00319579  0.264186    0.03       0.32          pose: 0.0           3.77698    -3.9672     0 0.00766425  0.00499787  0.987811    -0.155387      uwb: 0.0            1222.06  608.306  
imu_odom_:  1691062480.449619577  0.521936   -0.234632  9.92875    -0.056459   -0.00213053 0.254598    0.01       0.2           pose: 0.7947391     3.77703    -3.96724    0 0.00773223  0.00420851  0.987652    -0.156418      uwb: 0.50056519     1221.78  608.797  
imu_odom_:  1691062480.466611496  0.296881   -0.196325  9.97664    -0.0543285  0.0340885   0.235423    0.02       0.23          pose: 0.0           3.77703    -3.96724    0 0.00773223  0.00420851  0.987652    -0.156418      uwb: 0.0            1221.78  608.797  
imu_odom_:  1691062480.482686218  -0.723049  -0.148441  9.79468    -0.0660464  0.1012      0.218379    0.02       0.23          pose: 0.73952354    3.77703    -3.96724    0 0.00552146  0.000683634 0.986327    -0.164709      uwb: 0.0            1221.78  608.797  
imu_odom_:  1691062480.499610187  -1.49638   -0.0622492 10.0724    -0.0703074  0.0181095   0.223706    0.02       0.23          pose: 0.0           3.77703    -3.96724    0 0.00552146  0.000683634 0.986327    -0.164709      uwb: 0.50062644     1221.56  609.186  
imu_odom_:  1691062480.516612022  -0.739808  -0.45011   9.84256    -0.0532632  -0.0830906  0.207727    0.06       0.2           pose: 0.34000171    3.77703    -3.96724    0 0.00104819  3.90936e-05 0.985818    -0.167812      uwb: 0.0            1221.56  609.186  
imu_odom_:  1691062480.533726137  0.220267   -0.189142  9.88087    -0.0500674  -0.0681769  0.183225    0.06       0.2           pose: 0.0           3.77703    -3.96724    0 0.00104819  3.90936e-05 0.985818    -0.167812      uwb: 0.49796380     1221.75  609.645  
imu_odom_:  1691062480.549761780  0.555455   0.0694318  10.0413    -0.0479369  -0.0415453  0.20027     0.09       0.14          pose: 0.43100693    3.76717    -3.96915    0 -0.00204665 -0.0004104160.985226    -0.171249      uwb: 0.0            1221.75  609.645  
imu_odom_:  1691062480.567682854  0.272939   -0.371101  9.8258     -0.0745685  -0.00106526 0.186421    0.09       0.14          pose: 0.0           3.76717    -3.96915    0 -0.00204665 -0.0004104160.985226    -0.171249      uwb: 0.0            1221.75  609.645  
imu_odom_:  1691062480.583677084  -0.0766145 -0.237026  10.0461    -0.0628506  0.0181095   0.154463    0.09       0.14          pose: 0.0           3.76717    -3.96915    0 -0.00204665 -0.0004104160.985226    -0.171249      uwb: 0.50105515     1224.31  611.487  
imu_odom_:  1691062480.598751201  -0.174777  -0.100556  9.77074    -0.0660464  0.00639159  0.150202    0.1        0.11          pose: 0.8046256     3.76722    -3.96919    0 -0.00157207 0.000380443 0.985115    -0.171887      uwb: 0.0            1224.31  611.487  
imu_odom_:  1691062480.615877565  0.138864   -0.263362  10.1299    -0.0671117  -0.0213053  0.173638    0.1        0.08          pose: 0.0           3.76722    -3.96919    0 -0.00157207 0.000380443 0.985115    -0.171887      uwb: 0.0            1224.31  611.487  
imu_odom_:  1691062480.629662356  0.471658   -0.471658  9.81862    -0.0532632  -0.0138484  0.158724    0.1        0.08          pose: 0.56978808    3.76722    -3.96919    0 -0.00506956 -0.00109042 0.984459    -0.17554       uwb: 0.0            1224.31  611.487  
imu_odom_:  1691062480.645586593  0.488417   -0.301669  9.96227    -0.0553937  0.0213053   0.144876    0.1        0.08          pose: 0.0           3.76722    -3.96919    0 -0.00563749 -0.00142442 0.984372    -0.176003      uwb: 0.50050395     1224.26  612.354  
imu_odom_:  1691062480.660644378  0.42138    -0.428562  10.1634    -0.0639159  -0.0181095  0.160855    0.1        0.11          pose: 0.0           3.76722    -3.96919    0 -0.00563749 -0.00142442 0.984372    -0.176003      uwb: 0.0            1224.26  612.354  
imu_odom_:  1691062480.676716184  0.3304     -0.179565  9.91439    -0.0490022  -0.0319579  0.142745    0.1        0.11          pose: 0.30853702    3.75742    -3.9712     0 -0.00473822 -0.00283883 0.984046    -0.177828      uwb: 0.0            1224.26  612.354  
imu_odom_:  1691062480.691598987  0.179565   -0.117316  9.63187    -0.0532632  -0.0106526  0.144876    0.12       0.05          pose: 0.0           3.75742    -3.9712     0 -0.00473822 -0.00283883 0.984046    -0.177828      uwb: 0.49828751     1225.41  613.485  
imu_odom_:  1691062480.706589112  0.167594   -0.385466  9.52653    -0.0788296  0.0127832   0.152333    0.12       0.05          pose: 0.40083420    3.75742    -3.9712     0 -0.00297149 -0.00241608 0.983659    -0.180004      uwb: 0.0            1225.41  613.485  
imu_odom_:  1691062480.723670273  0.548272   -0.280122  9.84975    -0.0458064  -0.0298274  0.143811    0.12       0.05          pose: 0.0           3.75742    -3.9712     0 -0.00297149 -0.00241608 0.983659    -0.180004      uwb: 0.0            1225.41  613.485  
imu_odom_:  1691062480.741710918  0.859518   -0.232238  9.59596    -0.0649811  -0.0500674  0.18216     0.11       0.08          pose: 0.7070148     3.75742    -3.9712     0 -0.00356877 -0.0020573  0.98359     -0.180372      uwb: 0.50109598     1225.96  614.082  
imu_odom_:  1691062480.757585285  0.701501   -0.289698  9.64624    -0.0607201  0.00745685  0.227967    0.11       0.08          pose: 0.0           3.75742    -3.9712     0 -0.00356877 -0.0020573  0.98359     -0.180372      uwb: 0.0            1225.96  614.082  
imu_odom_:  1691062480.774639907  1.42934    -0.526724  10.1418    -0.0511327  -0.0575243  0.234358    0.11       0.08          pose: 0.0           3.75742    -3.9712     0 -0.00356877 -0.0020573  0.98359     -0.180372      uwb: 0.0            1225.96  614.082  
imu_odom_:  1691062480.791610537  1.53229    -0.158017  9.75877    -0.0415453  -0.0245011  0.15979     0.08       0.02          pose: 0.47871869    3.74762    -3.97319    0 -0.00230029 -0.00264493 0.9831      -0.183037      uwb: 0.50047479     1226.53  614.659  
imu_odom_:  1691062480.808696947  1.44849    0.28491    9.91678    -0.0500674  0.0255663   0.112918    0.11       0.08          pose: 0.0           3.74762    -3.97319    0 -0.00230029 -0.00264493 0.9831      -0.183037      uwb: 0.0            1226.53  614.659  
imu_odom_:  1691062480.826637269  0.80924    -0.0407014 9.9503     -0.0692422  0.0340885   0.0905475   0.11       0.08          pose: 0.66998570    3.73783    -3.97524    0 0.00475313  -0.00125577 0.982141    -0.188083      uwb: 0.0            1226.53  614.659  
imu_odom_:  1691062480.840586543  0.368707   -0.361524  9.84256    -0.0713727  0.00745685  0.0585895   0.07       0.05          pose: 0.0           3.73783    -3.97524    0 0.00475313  -0.00125577 0.982141    -0.188083      uwb: 0.49756425     1227.07  615.278  
imu_odom_:  1691062480.857633581  0.826      -0.418985  9.88326    -0.0468716  -0.0308927  0.0255663   0.07       0.05          pose: 0.0           3.73783    -3.97524    0 0.00475313  -0.00125577 0.982141    -0.188083      uwb: 0.0            1227.07  615.278  
imu_odom_:  1691062480.871847370  0.78051    -0.158017  9.80186    -0.0543285  -0.0127832  0.036219    0.07       0.05          pose: 0.34046540    3.73783    -3.97524    0 0.00591776  -5.81459e-050.981971    -0.188938      uwb: 0.0            1227.07  615.278  
imu_odom_:  1691062480.887645329  0.936133   -0.1652    10.0556    -0.0553937  0           0.0809601   0.05       0.05          pose: 0.39144059    3.73778    -3.9752     0 0.0084666   -0.0003095050.981966    -0.188866      uwb: 0.50256874     1227.25  615.74   
imu_odom_:  1691062480.904629957  0.529119   -0.373495  9.84017    -0.0532632  0.0149137   0.0713727   0.05       0.05          pose: 0.6867460     3.73783    -3.97524    0 0.00907882  -3.19659e-050.981935    -0.189002      uwb: 0.0            1227.25  615.74   
imu_odom_:  1691062480.921648707  0.679953   -0.0742203 10.058     -0.0468716  -0.00639159 0.0607201   0.05       0.05          pose: 0.0           3.73783    -3.97524    0 0.00907882  -3.19659e-050.981935    -0.189002      uwb: 0.0            1227.25  615.74   
imu_odom_:  1691062480.948825455  0.612916   -0.198719  9.9096     -0.0596548  0.00958738  0.0958738   0.06       0.11          pose: 0.42933877    3.73783    -3.97524    0 0.00972549  0.000386641 0.981809    -0.189622      uwb: 0.49822044     1224.91  614.338  
imu_odom_:  1691062480.974600596  -0.85473   -0.304064  9.61272    -0.0553937  0.110787    0.0830906   0.04       0.05          pose: 0.0           3.73783    -3.97524    0 0.00972549  0.000386641 0.981809    -0.189622      uwb: 0.0            1224.91  614.338  
imu_odom_:  1691062480.991586391  -1.39821   -0.0430956 10.173     -0.0532632  0.0213053   0.1012      0.04       0.05          pose: 0.35014192    3.73783    -3.97524    0 0.00903929  0.00262378  0.981639    -0.190515      uwb: 0.50078101     1223.34  613.942  
imu_odom_:  1691062481.17572682   0.0742203  -0.1652    9.75398    -0.0596548  -0.0948085  0.0617853   0.09       0.02          pose: 0.24968474    3.72804    -3.97724    0 0.00550771  0.00186504  0.98155     -0.191116      uwb: 0.0            1223.34  613.942  
imu_odom_:  1691062481.44564250   0.837971   -0.246603  9.80426    -0.0660464  -0.00532632 0.0745685   0.13       0.02          pose: 0.35941309    3.72804    -3.97724    0 0.00297352  0.00161101  0.981448    -0.191697      uwb: 0.49927044     1224.05  614.271  
imu_odom_:  1691062481.60556153   0.699107   -0.280122  9.65582    -0.0628506  0.0351537   0.0660464   0.13       0.02          pose: 0.0           3.72804    -3.97724    0 0.00297352  0.00161101  0.981448    -0.191697      uwb: 0.0            1224.05  614.271  
imu_odom_:  1691062481.77615447   0.677559   -0.0502782 9.97664    -0.0553937  -0.0415453  0.0479369   0.13       0.02          pose: 0.0           3.72804    -3.97724    0 0.00297352  0.00161101  0.981448    -0.191697      uwb: 0.0            1224.05  614.271  
imu_odom_:  1691062481.95598646   0.823605   -0.248997  9.70609    -0.0756338  -0.0351537  0.0649811   0.12       -0.05         pose: 0.7028155     3.72804    -3.97724    0 0.0036865   0.00161338  0.981422    -0.191818      uwb: 0.50096783     1223.52  614.401  
imu_odom_:  1691062481.109594587  1.86508    -0.64404   10.1945    -0.0500674  -0.0234358  -0.0351537  0.12       -0.05         pose: 0.0           3.72804    -3.97724    0 0.0036865   0.00161338  0.981422    -0.191818      uwb: 0.0            1223.52  614.401  
imu_odom_:  1691062481.126714833  1.37188    0.215478   9.67497    -0.036219   0.0127832   -0.198139   0.05       -0.26         pose: 0.44019657    3.72804    -3.97724    0 0.00750612  0.00193335  0.981286    -0.192399      uwb: 0.0            1223.52  614.401  
imu_odom_:  1691062481.140714857  1.37906    0.557849   9.94312    -0.0713727  0.0266316   -0.259925   0.05       -0.26         pose: 0.0           3.72804    -3.97724    0 0.00750612  0.00193335  0.981286    -0.192399      uwb: 0.49842185     1223.37  614.666  
imu_odom_:  1691062481.157557464  0.847547   0.196325   10.0221    -0.0671117  0.0351537   -0.337689   0.05       -0.26         pose: 0.0           3.72804    -3.97724    0 0.00750612  0.00193335  0.981286    -0.192399      uwb: 0.0            1223.37  614.666  
imu_odom_:  1691062481.171713514  0.414197   -0.311246  9.77553    -0.072438   0.0223706   -0.426106   0.04       -0.38         pose: 0.47965793    3.72029    -3.98907    0 0.0121604   0.00298439  0.981447    -0.191324      uwb: 0.0            1223.37  614.666  
imu_odom_:  1691062481.187555224  0.3304     -0.23942   9.92875    -0.0703074  -0.00745685 -0.44315    0.04       -0.38         pose: 0.0           3.72029    -3.98907    0 0.0121604   0.00298439  0.981447    -0.191324      uwb: 0.49998793     1224.97  615.786  
imu_odom_:  1691062481.204543067  0.292093   -0.251391  10.1131    -0.0649811  -0.0149137  -0.417584   0.04       -0.38         pose: 0.0           3.72029    -3.98907    0 0.0121604   0.00298439  0.981447    -0.191324      uwb: 0.0            1224.97  615.786  
imu_odom_:  1691062481.222680541  0.701501   -0.25618   10.3118    -0.0585895  -0.0426106  -0.415453   0.03       -0.44         pose: 0.47248951    3.72029    -3.98907    0 0.0129051   0.00584109  0.98292     -0.183486      uwb: 0.0            1224.97  615.786  
imu_odom_:  1691062481.238823512  0.531513   -0.275333  9.43794    -0.0553937  0.00426106  -0.421845   0.03       -0.44         pose: 0.0           3.72029    -3.98907    0 0.0129051   0.00584109  0.98292     -0.183486      uwb: 0.50116907     1225.62  616.199  
imu_odom_:  1691062481.255815730  0.289698   0.0263362  9.91199    -0.0649811  -0.0266316  -0.427171   0.03       -0.44         pose: 0.0           3.72029    -3.98907    0 0.0129051   0.00584109  0.98292     -0.183486      uwb: 0.0            1225.62  616.199  
imu_odom_:  1691062481.273755183  0.325611   -0.0790087 9.79707    -0.0681769  -0.00213053 -0.450607   0.03       -0.47         pose: 0.48873658    3.72029    -3.98907    0 0.0101995   0.00339844  0.984989    -0.172284      uwb: 0.0            1225.62  616.199  
imu_odom_:  1691062481.290697531  0.560243   -0.311246  10.0078    -0.0692422  -0.0245011  -0.462325   0.03       -0.5          pose: 0.0           3.72029    -3.98907    0 0.0101995   0.00339844  0.984989    -0.172284      uwb: 0.50000252     1225.86  616.558  
imu_odom_:  1691062481.305524053  0.746991   -0.205901  9.91439    -0.056459   0.00852212  -0.484695   0.03       -0.5          pose: 0.67951663    3.72029    -3.98907    0 0.0073381   0.00216893  0.987661    -0.156423      uwb: 0.0            1225.86  616.558  
imu_odom_:  1691062481.321527330  0.665588   -0.265756  9.82102    -0.0596548  -0.00532632 -0.479369   0.03       -0.5          pose: 0.0           3.72029    -3.98907    0 0.0073381   0.00216893  0.987661    -0.156423      uwb: 0.0            1225.86  616.558  
imu_odom_:  1691062481.338528005  0.205901   -0.325611  9.97185    -0.0660464  -0.0276969  -0.416518   0.03       -0.47         pose: 0.0           3.72029    -3.98907    0 0.0073381   0.00216893  0.987661    -0.156423      uwb: 0.49904595     1224.33  616.096  
imu_odom_:  1691062481.356595778  0.454898   -0.464475  9.94312    -0.072438   -0.00639159 -0.348341   0.03       -0.47         pose: 0.30893376    3.71051    -3.99118    0 0.00958275  0.00122746  0.988857    -0.148553      uwb: 0.0            1224.33  616.096  
imu_odom_:  1691062481.373530252  0.737414   -0.361524  9.75877    -0.0394148  -0.00852212 -0.318514   0.02       -0.38         pose: 0.45041843    3.71047    -3.99114    0 0.0085301   -0.0016247  0.990295    -0.138712      uwb: 0.0            1224.33  616.096  
imu_odom_:  1691062481.389652808  0.521936   -0.100556  9.89763    -0.0628506  -0.00852212 -0.268447   0.02       -0.38         pose: 0.0           3.71047    -3.99114    0 0.0085301   -0.0016247  0.990295    -0.138712      uwb: 0.50104658     1223.84  616.165  
imu_odom_:  1691062481.406642109  0.703895   -0.296881  9.79228    -0.0543285  0.00106526  -0.235423   0.02       -0.38         pose: 0.0           3.71047    -3.99114    0 0.0085301   -0.0016247  0.990295    -0.138712      uwb: 0.0            1223.84  616.165  
imu_odom_:  1691062481.422520857  0.459687   -0.347159  9.91678    -0.0532632  -0.00319579 -0.24075    0.02       -0.26         pose: 0.7029613     3.71052    -3.99118    0 0.00920006  -0.00179599 0.990462    -0.137466      uwb: 0.0            1223.84  616.165  
imu_odom_:  1691062481.448591144  0.59855    -0.296881  9.97424    -0.0543285  -0.0213053  -0.20027    0.03       -0.35         pose: 0.0           3.71052    -3.99118    0 0.00920006  -0.00179599 0.990462    -0.137466      uwb: 0.49795814     1223.34  616.254  
imu_odom_:  1691062481.464576339  0.517148   -0.316035  9.78989    -0.0639159  -0.00213053 -0.194943   0.03       -0.35         pose: 0.65998280    3.71052    -3.99118    0 0.0101788   -0.00247919 0.991733    -0.127889      uwb: 0.0            1223.34  616.254  
imu_odom_:  1691062481.482515501  0.471658   -0.203507  9.87608    -0.0479369  -0.00532632 -0.246076   0.02       -0.23         pose: 0.0           3.71052    -3.99118    0 0.0101788   -0.00247919 0.991733    -0.127889      uwb: 0.0            1223.34  616.254  
imu_odom_:  1691062481.499520551  0.387861   0.158017   9.88326    -0.0532632  -0.00958738 -0.308927   0.02       -0.23         pose: 0.25965589    3.71052    -3.99118    0 0.0107168   -0.00408057 0.992111    -0.124834      uwb: 0.49926468     1222.86  616.323  
imu_odom_:  1691062481.513510076  0.466869   0.0837971  9.94551    -0.0649811  -0.0223706  -0.339819   0.02       -0.35         pose: 0.0           3.71052    -3.99118    0 0.0107168   -0.00408057 0.992111    -0.124834      uwb: 0.0            1222.86  616.323  
imu_odom_:  1691062481.530507834  0.426168   -0.275333  9.82102    -0.056459   -0.00745685 -0.401605   0.02       -0.35         pose: 0.43931291    3.71047    -3.99114    0 0.00769552  -0.00141778 0.992947    -0.118297      uwb: 0.0            1222.86  616.323  
imu_odom_:  1691062481.547509092  0.521936   -0.0837971 9.90242    -0.0511327  -0.0138484  -0.441019   0.02       -0.35         pose: 0.0           3.71047    -3.99114    0 0.00769552  -0.00141778 0.992947    -0.118297      uwb: 0.50052455     1221.63  616.127  
imu_odom_:  1691062481.564556720  0.263362   -0.227449  9.81623    -0.0628506  0.00426106  -0.435693   0.02       -0.58         pose: 0.47988541    3.71047    -3.99114    0 0.00581034  0.000906951 0.994148    -0.107864      uwb: 0.0            1221.63  616.127  
imu_odom_:  1691062481.582609620  0.457293   -0.28491   9.96946    -0.0596548  -0.0266316  -0.477238   0.02       -0.58         pose: 0.0           3.71047    -3.99114    0 0.00581034  0.000906951 0.994148    -0.107864      uwb: 0.0            1221.63  616.127  
imu_odom_:  1691062481.596625101  0.54109    -0.0430956 9.8689     -0.0543285  0.00319579  -0.509196   0.02       -0.58         pose: 0.0           3.71047    -3.99114    0 0.00581034  0.000906951 0.994148    -0.107864      uwb: 0.50119239     1220.68  616.231  
imu_odom_:  1691062481.613516120  0.663194   -0.1652    10.0389    -0.0585895  -0.00958738 -0.527306   0.01       -0.53         pose: 0.41079666    3.71052    -3.99118    0 0.00393424  -0.0006026830.995221    -0.0975676     uwb: 0.0            1220.68  616.231  
imu_odom_:  1691062481.639507374  0.553061   -0.373495  9.83059    -0.0617853  -0.0106526  -0.552872   0.01       -0.55         pose: 0.0           3.71052    -3.99118    0 0.00393424  -0.0006026830.995221    -0.0975676     uwb: 0.50141113     1219.61  615.757  
imu_odom_:  1691062481.656608663  0.347159   -0.203507  9.92636    -0.0500674  0.0287621   -0.5827     0.01       -0.55         pose: 0.32043883    3.71052    -3.99118    0 0.00593901  0.000138701 0.996058    -0.0885039     uwb: 0.0            1219.61  615.757  
imu_odom_:  1691062481.672557404  -0.299275  -0.129287  9.81144    -0.0490022  0.0468716   -0.56246    0.03       -0.58         pose: 0.0           3.71052    -3.99118    0 0.00593901  0.000138701 0.996058    -0.0885039     uwb: 0.0            1219.61  615.757  
imu_odom_:  1691062481.690674464  -0.47884   -0.237026  9.89524    -0.0617853  -0.0223706  -0.578439   0.03       -0.58         pose: 0.43982619    3.71052    -3.99118    0 0.00364194  -0.00119202 0.997158    -0.0752385     uwb: 0.49849475     1219.6   615.777  
imu_odom_:  1691062481.707530779  -0.85473   -0.0335188 9.68215    -0.0436758  0.0213053   -0.577373   0.03       -0.58         pose: 0.0           3.71052    -3.99118    0 0.00364194  -0.00119202 0.997158    -0.0752385     uwb: 0.0            1219.6   615.777  
imu_odom_:  1691062481.721516804  -0.682347  -0.172383  10.1514    -0.0575243  -0.0138484  -0.450607   0.05       -0.41         pose: 0.33031365    3.70073    -3.99326    0 0.000230035 -0.00117162 0.997876    -0.065128      uwb: 0.0            1219.6   615.777  
imu_odom_:  1691062481.738608178  -0.134075  -0.830788  9.80186    -0.0862864  -0.0852212  -0.356864   0.05       -0.41         pose: 0.0           3.70073    -3.99326    0 0.000230035 -0.00117162 0.997876    -0.065128      uwb: 0.50013084     1220.11  616.446  
imu_odom_:  1691062481.752608493  0.275333   -0.392649  9.88805    -0.0607201  -0.0415453  -0.383495   0.05       -0.41         pose: 0.0           3.70073    -3.99326    0 0.000230035 -0.00117162 0.997876    -0.065128      uwb: 0.0            1220.11  616.446  
imu_odom_:  1691062481.769533634  0.474052   0.205901   10.228     -0.0383495  0.00213053  -0.380299   0.08       -0.47         pose: 0.46970146    3.70073    -3.99326    0 -0.00266719 -0.00320444 0.998532    -0.0540131     uwb: 0.0            1220.11  616.446  
imu_odom_:  1691062481.783605692  0.162806   0.0383072  9.92636    -0.0820254  -0.0191748  -0.330232   0.08       -0.47         pose: 0.0           3.70073    -3.99326    0 -0.00266719 -0.00320444 0.998532    -0.0540131     uwb: 0.49851225     1222.15  617.542  
imu_odom_:  1691062481.799489690  0.172383   -0.31364   9.9096     -0.0511327  -0.015979   -0.347276   0.09       -0.35         pose: 0.38988921    3.70068    -3.99322    0 -0.00327388 -0.00118674 0.998927    -0.0461852     uwb: 0.0            1222.15  617.542  
imu_odom_:  1691062481.814595309  0.100556   -0.428562  9.78989    -0.0255663  0.00532632  -0.354733   0.09       -0.35         pose: 0.0           3.70068    -3.99322    0 -0.00327388 -0.00118674 0.998927    -0.0461852     uwb: 0.0            1222.15  617.542  
imu_odom_:  1691062481.830591878  0.0981623  -0.169988  9.70609    -0.0490022  -0.0234358  -0.298274   0.09       -0.35         pose: 0.0           3.70068    -3.99322    0 -0.00327388 -0.00118674 0.998927    -0.0461852     uwb: 0.0            1222.15  617.542  
imu_odom_:  1691062481.847594886  0.0933739  -0.392649  10.0389    -0.0532632  -0.0479369  -0.268447   0.1        -0.32         pose: 0.6942706     3.70073    -3.99326    0 -0.00384517 -0.00150158 0.998986    -0.0448432     uwb: 0.50159486     1222.42  617.838  
imu_odom_:  1691062481.865590334  0.402226   -0.21069   9.85693    -0.052198   0.0138484   -0.26099    0.1        -0.32         pose: 0.0           3.70073    -3.99326    0 -0.00384517 -0.00150158 0.998986    -0.0448432     uwb: 0.0            1222.42  617.838  
imu_odom_:  1691062481.882590717  0.337582   -0.21069   9.93833    -0.0553937  0.0266316   -0.257794   0.11       -0.32         pose: 0.47053845    3.69095    -3.99532    0 -0.00743985 -0.00252008 0.999308    -0.0363614     uwb: 0.0            1222.42  617.838  
imu_odom_:  1691062481.897477900  -0.155623  -0.153229  9.52174    -0.052198   0.0415453   -0.237554   0.11       -0.29         pose: 0.0           3.69095    -3.99532    0 -0.00743985 -0.00252008 0.999308    -0.0363614     uwb: 0.50041956     1221.64  617.653  
imu_odom_:  1691062481.913605122  0.699107   -0.363919  10.0437    -0.0575243  -0.036219   -0.229032   0.11       -0.23         pose: 0.0           3.69095    -3.99532    0 -0.00743985 -0.00252008 0.999308    -0.0363614     uwb: 0.0            1221.64  617.653  
imu_odom_:  1691062481.930587716  1.08457    0.0694318  9.94073    -0.0607201  -0.0394148  -0.209857   0.11       -0.23         pose: 0.65875500    3.67916    -3.98756    0 -0.00653053 -0.00135047 0.999621    -0.0267278     uwb: 0.0            1221.64  617.653  
imu_odom_:  1691062481.947579058  1.37188    -0.0861913 10.1203    -0.0596548  0.0607201   -0.152333   0.12       -0.32         pose: 0.0           3.67916    -3.98756    0 -0.00653053 -0.00135047 0.999621    -0.0267278     uwb: 0.50060621     1223.21  618.787  
imu_odom_:  1691062481.964523738  1.33357    -0.47884   10.1251    -0.0756338  0.0127832   -0.1012     0.12       -0.32         pose: 0.0           3.67916    -3.98756    0 -0.00653053 -0.00135047 0.999621    -0.0267278     uwb: 0.0            1223.21  618.787  
imu_odom_:  1691062481.981634652  1.11091    -0.40462   9.73004    -0.0532632  0.0234358   -0.164051   0.12       -0.32         pose: 0.33998433    3.67916    -3.98756    0 -0.00306403 -0.0009179350.99974     -0.0225888     uwb: 0.0            1223.21  618.787  
imu_odom_:  1691062481.999481656  0.916979   0.148441   10.0293    -0.0468716  0.036219    -0.204531   0.07       -0.23         pose: 0.44158476    3.67916    -3.98756    0 0.000558923 -0.00167906 0.999824    -0.0186799     uwb: 0.49983336     1224.18  619.413  
imu_odom_:  1691062482.17589389   0.426168   0.035913   9.71328    -0.0830906  0.00852212  -0.156594   0.07       -0.23         pose: 0.8135791     3.67916    -3.98756    0 0.00102555  -0.00113118 0.999842    -0.0176855     uwb: 0.0            1224.18  619.413  
imu_odom_:  1691062482.33754531   0.68953    -0.543484  9.98861    -0.0532632  -0.00958738 -0.166181   0.06       -0.17         pose: 0.0           3.67916    -3.98756    0 0.00102555  -0.00113118 0.999842    -0.0176855     uwb: 0.49988598     1224     619.717  
imu_odom_:  1691062482.51460973   0.723049   -0.248997  9.90002    -0.0585895  -0.0181095  -0.170442   0.06       -0.26         pose: 0.43984088    3.66937    -3.9896     0 0.00241433  -0.00018396 0.999912    -0.0130591     uwb: 0.0            1224     619.717  
imu_odom_:  1691062482.68455821   0.773327   -0.124498  9.93833    -0.0543285  -0.00958738 -0.133158   0.05       -0.17         pose: 0.0           3.66937    -3.9896     0 0.00241433  -0.00018396 0.999912    -0.0130591     uwb: 0.0            1224     619.717  
imu_odom_:  1691062482.82459058   0.658405   -0.23942   9.85214    -0.0671117  -0.0127832  -0.0969391  0.05       -0.17         pose: 0.0           3.66937    -3.9896     0 0.00241433  -0.00018396 0.999912    -0.0130591     uwb: 0.0            1224     619.717  
imu_odom_:  1691062482.99568811   0.588974   -0.428562  9.82341    -0.052198   0.00852212  -0.100135   0.04       -0.14         pose: 0.24712143    3.66937    -3.9896     0 0.00498103  -0.0001360420.999931    -0.0105936     uwb: 0.49734005     1225.23  620.663  
imu_odom_:  1691062482.116519330  0.744597   -0.162806  10.0389    -0.0575243  -0.02024    -0.0937433  0.04       -0.14         pose: 0.0           3.66937    -3.9896     0 0.00498103  -0.0001360420.999931    -0.0105936     uwb: 0.0            1225.23  620.663  
imu_odom_:  1691062482.142582627  0.59855    -0.160412  10.1921    -0.056459   0.00426106  -0.0884169  0.04       -0.14         pose: 0.31164318    3.66937    -3.9896     0 0.0074895   -0.0008150420.999937    -0.00827876    uwb: 0.49999978     1227     621.469  
imu_odom_:  1691062482.158445049  0.124498   -0.466869  9.56723    -0.0735032  0.0213053   -0.120375   0.04       -0.14         pose: 0.33834545    3.66937    -3.9896     0 0.00934223  -0.0003615920.999938    -0.00600265    uwb: 0.0            1227     621.469  
imu_odom_:  1691062482.184508638  -1.25696   0.222661   9.58878    -0.0394148  0.0820254   -0.2024     0.04       -0.14         pose: 0.0           3.66937    -3.9896     0 0.00934223  -0.0003615920.999938    -0.00600265    uwb: 0.50149005     1224.88  620.507  
imu_odom_:  1691062482.210505442  -0.948104  -1.01993   9.60075    -0.0798948  -0.0617853  -0.0458064  0.06       -0.14         pose: 0.43059895    3.66937    -3.9896     0 0.00676061  0.000825422 0.999974    -0.00251859    uwb: 0.0            1224.88  620.507  
imu_odom_:  1691062482.234451455  0.488417   0.011971   9.93115    -0.0394148  -0.0830906  -0.0585895  0.11       -0.11         pose: 0.43980010    3.6623     -3.99104    0 0.00272842  -0.0002310620.999996    0.000769697    uwb: 0.49992687     1225.75  621.3    
imu_odom_:  1691062482.251445720  0.632069   -0.0694318 9.75158    -0.056459   0.0308927   -0.00639159 0.11       -0.11         pose: 0.0           3.6623     -3.99104    0 0.00272842  -0.0002310620.999996    0.000769697    uwb: 0.0            1225.75  621.3    
imu_odom_:  1691062482.278624820  -0.270545  -0.258574  9.8258     -0.052198   0.015979    -0.100135   0.11       -0.08         pose: 0.40940278    3.65958    -3.99162    0 0.00512307  0.0032608   0.999979    0.00234123     uwb: 0.0            1225.75  621.3    
imu_odom_:  1691062482.302421224  0.258574   -0.672771  9.70849    -0.0639159  -0.0330232  -0.0415453  0.11       -0.08         pose: 0.0           3.65958    -3.99162    0 0.00512307  0.0032608   0.999979    0.00234123     uwb: 0.49914820     1223.94  620.581  
imu_odom_:  1691062482.328418319  0.641646   0.0622492  9.96946    -0.0490022  -0.0223706  -0.0340885  0.13       -0.11         pose: 0.50975504    3.65261    -3.99303    0 0.0016707   0.000606652 0.999985    0.0052098      uwb: 0.0            1223.94  620.581  
imu_odom_:  1691062482.344472930  0.756568   -0.220267  10.0509    -0.0532632  0.00639159  -0.0298274  0.13       -0.11         pose: 0.0           3.65261    -3.99303    0 0.0016707   0.000606652 0.999985    0.0052098      uwb: 0.50006394     1225.49  621.744  
imu_odom_:  1691062482.370423655  -0.349553  -0.162806  9.90242    -0.0585895  -0.00958738 -0.0415453  0.16       -0.08         pose: 0.42051706    3.64978    -3.99364    0 0.00499821  0.0024128   0.999962    0.00672107     uwb: 0.0            1225.49  621.744  
imu_odom_:  1691062482.395429477  0.323217   -0.162806  9.8665     -0.0490022  -0.0415453  -0.0266316  0.16       -0.08         pose: 0.0           3.64978    -3.99364    0 0.00499821  0.0024128   0.999962    0.00672107     uwb: 0.49889740     1223.28  620.954  
imu_odom_:  1691062482.421502398  0.258574   -0.251391  10.1131    -0.0490022  0.0777643   -0.0223706  0.16       -0.08         pose: 0.50956547    3.63999    -3.99567    0 0.000433692 0.00259164  0.999959    0.0086156      uwb: 0.0            1223.28  620.954  
imu_odom_:  1691062482.446421312  0.634463   -0.174777  10.2017    -0.0436758  -0.0276969  -0.0340885  0.16       -0.08         pose: 0.0           3.63999    -3.99567    0 0.000433692 0.00259164  0.999959    0.0086156      uwb: 0.50009018     1223.28  620.954  
imu_odom_:  1691062482.472474985  0.328006   -0.320823  9.41161    -0.076699   0.0106526   -0.00852212 0.14       -0.02         pose: 0.34077479    3.638      -3.98587    0 -0.00201107 0.00146468  0.99995     0.00971961     uwb: 0.0            1223.28  620.954  
imu_odom_:  1691062482.497624584  0.47884    0.0167594  10.1778    -0.0479369  -0.0447411  -0.0106526  0.15       -0.08         pose: 0.42968029    3.62816    -3.98781    0 -0.0015681  -0.0009500530.999938    0.0109692      uwb: 0.49974898     1224.77  622.195  
imu_odom_:  1691062482.514418786  0.68953    -0.19393   9.71806    -0.0532632  0.00106526  -0.0117179  0.15       -0.08         pose: 0.6963998     3.6282     -3.98784    0 -0.00114608 -0.0002880210.999937    0.0111433      uwb: 0.0            1224.77  622.195  
imu_odom_:  1691062482.538614441  0.318429   -0.268151  9.98622    -0.052198   -0.0223706  -0.00319579 0.15       -0.02         pose: 0.0           3.6282     -3.98784    0 -0.00114608 -0.0002880210.999937    0.0111433      uwb: 0.50004644     1225.3   622.81   
imu_odom_:  1691062482.564399225  0.799663   -0.203507  9.56484    -0.0628506  -0.0287621  0.00213053  0.15       -0.02         pose: 0.42044415    3.61841    -3.98988    0 0.0010713   0.00100905  0.999925    0.0121774      uwb: 0.0            1225.3   622.81   
imu_odom_:  1691062482.589534825  0.488417   -0.122104  9.84975    -0.0543285  0.00958738  0           0.16       -0.02         pose: 0.42915827    3.61841    -3.98988    0 0.00270615  -4.72017e-060.999911    0.013027       uwb: 0.50142589     1223.56  621.992  
imu_odom_:  1691062482.606466971  0.275333   -0.21069   9.80665    -0.0319579  0.0308927   -0.00213053 0.16       -0.02         pose: 0.7025532     3.61841    -3.98988    0 0.0029012   0.000659029 0.999909    0.0131678      uwb: 0.0            1223.56  621.992  
imu_odom_:  1691062482.631508081  0.196325   -0.232238  9.50498    -0.0628506  0.0191748   0.00745685  0.16       -0.02         pose: 0.0           3.61841    -3.98988    0 0.0029012   0.000659029 0.999909    0.0131678      uwb: 0.0            1223.56  621.992  
imu_odom_:  1691062482.657393479  0.497994   -0.395043  9.48343    -0.0607201  -0.00852212 0.015979    0.16       -0.02         pose: 0.43097808    3.60861    -3.99189    0 0.000572376 0.00201093  0.9999      0.0140159      uwb: 0.50002311     1225.37  623.43   
imu_odom_:  1691062482.674393577  0.778116   -0.31364   9.72285    -0.0703074  -0.0436758  0.00532632  0.18       -0.05         pose: 0.0           3.60861    -3.99189    0 0.000572376 0.00201093  0.9999      0.0140159      uwb: 0.0            1225.37  623.43   
imu_odom_:  1691062482.700488954  0.548272   -0.105345  9.97185    -0.0511327  -0.04048    0.0181095   0.18       -0.05         pose: 0.49892073    3.59881    -3.99388    0 0.000845154 -0.00100345 0.999891    0.0147185      uwb: 0.49946609     1226.14  624.384  
imu_odom_:  1691062482.725398828  0.627281   -0.169988  10.1562    -0.0511327  -0.0255663  0.00639159  0.21       -0.05         pose: 0.17268695    3.59881    -3.99388    0 0.00260183  -0.0007310580.999884    0.0149698      uwb: 0.0            1226.14  624.384  
imu_odom_:  1691062482.751396506  0.869095   -0.464475  9.97664    -0.0553937  -0.02024    0.036219    0.2        -0.05         pose: 0.43715495    3.58704    -3.98605    0 0.00684598  0.00126659  0.999854    0.0155886      uwb: 0.49854743     1225.95  624.706  
imu_odom_:  1691062482.775554831  0.311246   -0.275333  9.91439    -0.0628506  -0.00852212 0.0170442   0.2        -0.05         pose: 0.0           3.58704    -3.98605    0 0.00684598  0.00126659  0.999854    0.0155886      uwb: 0.0            1225.95  624.706  
imu_odom_:  1691062482.792498060  0.636858   -0.186748  10.0916    -0.0532632  -0.0468716  0.0276969   0.2        -0.05         pose: 0.0           3.58704    -3.98605    0 0.00684598  0.00126659  0.999854    0.0155886      uwb: 0.50072012     1224.78  624.419  
imu_odom_:  1691062482.817606246  0.976834   -0.363919  10.1993    -0.0585895  -0.0383495  0.0245011   0.18       -0.02         pose: 0.8000766     3.58704    -3.98605    0 0.00751637  0.00074248  0.99985     0.0155977      uwb: 0.0            1224.78  624.419  
imu_odom_:  1691062482.843386947  0.593762   -0.141258  10.386     -0.0639159  -0.0394148  0.0500674   0.2        -0.02         pose: 0.49054491    3.57723    -3.98801    0 0.00747859  -0.0006925130.999845    0.0159295      uwb: 0.50053056     1224.47  624.943  
imu_odom_:  1691062482.859430184  0.423774   -0.258574  9.44034    -0.0830906  0.02024     0.0458064   0.2        -0.02         pose: 0.0           3.57723    -3.98801    0 0.00747859  -0.0006925130.999845    0.0159295      uwb: 0.0            1224.47  624.943  
imu_odom_:  1691062482.885379743  0.746991   -0.0215478 9.68933    -0.0660464  -0.0149137  0.0213053   0.17       -0.02         pose: 0.41958383    3.56744    -3.99006    0 0.0112322   -0.0006399450.999806    0.0161457      uwb: 0.49857951     1224.85  625.8    
imu_odom_:  1691062482.910388189  0.442927   -0.217872  10.0604    -0.0639159  0.0117179   0.0234358   0.17       -0.02         pose: 0.0           3.56744    -3.99006    0 0.0112322   -0.0006399450.999806    0.0161457      uwb: 0.0            1224.85  625.8    
imu_odom_:  1691062482.936377119  0.610521   -0.251391  9.88805    -0.0703074  0.00532632  0.0426106   0.2        0             pose: 0.43026065    3.56744    -3.99006    0 0.00967731  0.000801177 0.999823    0.0160926      uwb: 0.50068804     1224.31  625.946  
imu_odom_:  1691062482.953437002  0.675165   -0.277727  9.63187    -0.0820254  0.0117179   0.0266316   0.2        0             pose: 0.0           3.56744    -3.99006    0 0.00967731  0.000801177 0.999823    0.0160926      uwb: 0.0            1224.31  625.946  
imu_odom_:  1691062482.977387973  0.287304   -0.454898  10.1658    -0.0458064  0.0191748   0.0170442   0.24       0             pose: 0.50954214    3.55766    -3.99211    0 0.0087728   0.000582305 0.999826    0.0164522      uwb: 0.0            1224.31  625.946  
imu_odom_:  1691062483.2365215    0.418985   -0.186748  9.84017    -0.0426106  -0.0745685  0.0266316   0.24       0             pose: 0.0           3.55766    -3.99211    0 0.0087728   0.000582305 0.999826    0.0164522      uwb: 0.50252536     1223.32  626.12   
imu_odom_:  1691062483.26357898   0.411803   0.0670376  10.1754    -0.0607201  -0.0649811  0.04048     0.18       -0.02         pose: 0.41993087    3.54583    -3.98436    0 0.0103448   -0.00240922 0.999806    0.0165911      uwb: 0.0            1223.32  626.12   
imu_odom_:  1691062483.52419163   0.387861   -0.126893  10.2424    -0.0383495  -0.0298274  0.0117179   0.18       -0.02         pose: 0.0           3.54583    -3.98436    0 0.0103448   -0.00240922 0.999806    0.0165911      uwb: 0.49864961     1222.96  626.725  
imu_odom_:  1691062483.78413060   0.35913    -0.225055  9.67497    -0.0788296  -0.0500674  0.0500674   0.21       -0.02         pose: 0.49986274    3.53603    -3.98639    0 0.007325    -0.00104786 0.999829    0.016933       uwb: 0.0            1222.96  626.725  
imu_odom_:  1691062483.95344921   0.129287   -0.260968  10.0628    -0.0607201  0.00426106  0.0266316   0.21       -0.02         pose: 0.0           3.53603    -3.98639    0 0.007325    -0.00104786 0.999829    0.016933       uwb: 0.49799933     1222.42  626.895  
imu_odom_:  1691062483.120354251  -0.035913  -0.416591  10.1945    -0.0788296  0.0117179   0.0511327   0.22       -0.05         pose: 0.74999994    3.52624    -3.98842    0 0.00257324  0.000568295 0.999848    0.0172186      uwb: 0.0            1222.42  626.895  
imu_odom_:  1691062483.137377394  0.402226   -0.160412  10.1969    -0.0628506  -0.0671117  0.04048     0.22       -0.05         pose: 0.0           3.52624    -3.98842    0 0.00257324  0.000568295 0.999848    0.0172186      uwb: 0.49989497     1222.2   627.997  
imu_odom_:  1691062483.161446486  0.526724   -0.112527  9.97185    -0.0617853  0.00532632  0.0287621   0.21       -0.05         pose: 0.41985520    3.51645    -3.99044    0 -0.000558689-0.0002423750.999853    0.0171348      uwb: 0.0            1222.2   627.997  
imu_odom_:  1691062483.187366891  0.311246   -0.260968  9.55287    -0.0447411  -0.0319579  0.0298274   0.23       0.02          pose: 0.34088864    3.50463    -3.98268    0 0.00187891  0.00197789  0.999847    0.017258       uwb: 0.50032951     1223.61  629.333  
imu_odom_:  1691062483.209344946  0.529119   -0.179565  10.3094    -0.0543285  0.0181095   0.0436758   0.23       0.02          pose: 0.0           3.50463    -3.98268    0 0.00187891  0.00197789  0.999847    0.017258       uwb: 0.0            1223.61  629.333  
imu_odom_:  1691062483.234347569  0.658405   -0.0407014 10.0197    -0.0447411  0.0234358   0.036219    0.17       0             pose: 0.8026725     3.50463    -3.98268    0 0.00131431  0.00158529  0.999848    0.0172978      uwb: 0.49967624     1223.83  630.427  
imu_odom_:  1691062483.258394789  0.756568   -0.19393   10.0078    -0.0511327  -0.0234358  0.0532632   0.17       0             pose: 0.0           3.50463    -3.98268    0 0.00131431  0.00158529  0.999848    0.0172978      uwb: 0.0            1223.83  630.427  
imu_odom_:  1691062483.273331561  0.225055   -0.136469  9.68694    -0.0468716  0.0351537   0.0319579   0.19       0             pose: 0.47993242    3.49484    -3.9847     0 0.00254518  0.00154618  0.999845    0.0173535      uwb: 0.0            1223.83  630.427  
imu_odom_:  1691062483.290392616  0.383072   -0.158017  10.0173    -0.0436758  -0.0319579  0.0458064   0.19       0             pose: 0.0           3.49484    -3.9847     0 0.00254518  0.00154618  0.999845    0.0173535      uwb: 0.50001163     1224.1   631.421  
imu_odom_:  1691062483.303323217  0.543484   -0.213084  10.3094    -0.0660464  -0.02024    0.0543285   0.19       0             pose: 0.0           3.49484    -3.9847     0 0.00254518  0.00154618  0.999845    0.0173535      uwb: 0.0            1224.1   631.421  
imu_odom_:  1691062483.319338755  0.186748   -0.0837971 9.78031    -0.0553937  0.0106526   0.0447411   0.17       -0.02         pose: 0.47871921    3.48504    -3.98673    0 0.00550471  0.00244016  0.999833    0.0172383      uwb: 0.0            1224.1   631.421  
imu_odom_:  1691062483.345389812  0.138864   -0.407014  9.42597    -0.072438   0.00319579  0.0607201   0.17       -0.02         pose: 0.0           3.48504    -3.98673    0 0.00550471  0.00244016  0.999833    0.0172383      uwb: 0.50006995     1221.91  630.696  
imu_odom_:  1691062483.370328275  0.213084   -0.143652  9.49062    -0.0596548  0.00426106  0.036219    0.19       0             pose: 0.46027900    3.47525    -3.98875    0 0.00340533  0.00217584  0.999846    0.0171043      uwb: 0.0            1221.91  630.696  
imu_odom_:  1691062483.395346063  0.177171   -0.588974  9.14346    -0.100135   0.00958738  0.072438    0.21       0             pose: 0.0           3.47525    -3.98875    0 0.00340533  0.00217584  0.999846    0.0171043      uwb: 0.50167687     1224.22  632.674  
imu_odom_:  1691062483.418405216  0.344765   -0.56982   9.91918    -0.0607201  0.0436758   0.0351537   0.2        0             pose: 0.66020491    3.46343    -3.98099    0 -0.00246037 0.000565835 0.999857    0.0167414      uwb: 0.0            1224.22  632.674  
imu_odom_:  1691062483.434342012  0.339977   -0.260968  10.5249    -0.0628506  0.0191748   0.036219    0.2        0             pose: 0.0           3.46343    -3.98099    0 -0.00246037 0.000565835 0.999857    0.0167414      uwb: 0.49667530     1224.75  633.964  
imu_odom_:  1691062483.460487560  0.651223   -0.270545  10.0149    -0.0319579  -0.04048    0.0351537   0.25       0             pose: 0.56955247    3.45364    -3.98303    0 -0.00337042 -0.00244875 0.999855    0.0165338      uwb: 0.0            1224.75  633.964  
imu_odom_:  1691062483.486365385  0.316035   -0.153229  9.77313    -0.0639159  0.00106526  0.0415453   0.2        0             pose: 0.8083594     3.45364    -3.98303    0 -0.00241429 -0.00238633 0.999857    0.0165537      uwb: 0.50143481     1223.99  634.49   
imu_odom_:  1691062483.511454624  0.148441   -0.227449  9.38288    -0.0383495  0.0149137   0.0447411   0.23       0.02          pose: 0.43939779    3.44385    -3.98507    0 -0.00191581 -0.0002933180.999861    0.0165689      uwb: 0.0            1223.99  634.49   
imu_odom_:  1691062483.524358686  0.071826   -0.416591  9.97185    -0.0596548  0.00745685  0.0415453   0.23       0.02          pose: 0.0           3.44385    -3.98507    0 -0.00191581 -0.0002933180.999861    0.0165689      uwb: 0.0            1223.99  634.49   
imu_odom_:  1691062483.540313271  0.462081   -0.263362  9.98622    -0.0596548  -0.0660464  0.0458064   0.18       0             pose: 0.0           3.44385    -3.98507    0 -0.00191581 -0.0002933180.999861    0.0165689      uwb: 0.50141440     1223.9   635.346  
imu_odom_:  1691062483.565480085  0.933739   -0.208296  10.3573    -0.0436758  -0.0479369  0.0415453   0.18       0             pose: 0.46073104    3.43406    -3.98711    0 -0.00470029 -0.00111021 0.999853    0.0164708      uwb: 0.0            1223.9   635.346  
imu_odom_:  1691062483.590306559  0.459687   -0.0981623 10.0509    -0.0415453  -0.0181095  0.0447411   0.18       0.02          pose: 0.0           3.43406    -3.98711    0 -0.00470029 -0.00111021 0.999853    0.0164708      uwb: 0.49838429     1224.36  636.734  
imu_odom_:  1691062483.616349451  0.162806   -0.196325  9.64145    -0.0532632  -0.0117179  0.0479369   0.18       0.02          pose: 0.40915212    3.43406    -3.98711    0 -0.000192899-0.0002825110.999865    0.0164052      uwb: 0.0            1224.36  636.734  
imu_odom_:  1691062483.641298412  0.229843   -0.0957681 9.68215    -0.0468716  -0.00639159 0.0394148   0.19       0.02          pose: 0.42995750    3.42223    -3.97936    0 -0.00179987 0.00132994  0.999865    0.016256       uwb: 0.50017786     1223.99  637.334  
imu_odom_:  1691062483.666405150  -0.0766145 -0.565032  9.23204    -0.0575243  0.00106526  0.0511327   0.22       0             pose: 0.8079511     3.42223    -3.97936    0 -0.00245274 0.00182942  0.999863    0.0162568      uwb: 0.0            1223.99  637.334  
imu_odom_:  1691062483.687288108  -0.0263362 -0.186748  9.74679    -0.0255663  0.0617853   0.0308927   0.22       0             pose: 0.0           3.42223    -3.97936    0 -0.00245274 0.00182942  0.999863    0.0162568      uwb: 0.50108485     1224.13  638.524  
imu_odom_:  1691062483.701436877  0.371101   -0.289698  10.0102    -0.0415453  0.00319579  0.036219    0.22       0             pose: 0.0           3.42223    -3.97936    0 -0.00245274 0.00182942  0.999863    0.0162568      uwb: 0.0            1224.13  638.524  
imu_odom_:  1691062483.724333589  -0.0430956 -0.263362  9.47386    -0.0426106  0.0127832   0.0415453   0.18       -0.02         pose: 0.24002600    3.41244    -3.98141    0 -0.004352   0.00237387  0.999856    0.0162204      uwb: 0.0            1224.13  638.524  
imu_odom_:  1691062483.751616521  0.337582   -0.335188  9.68694    -0.0681769  -0.0543285  0.052198    0.18       -0.02         pose: 0.0           3.41244    -3.98141    0 -0.004352   0.00237387  0.999856    0.0162204      uwb: 0.49820056     1224.11  639.259  
imu_odom_:  1691062483.767488573  0.565032   -0.0167594 10.4196    -0.056459   -0.0415453  0.0372843   0.19       0             pose: 0.59877449    3.40265    -3.98345    0 -0.00814497 0.000676847 0.999835    0.0162433      uwb: 0.0            1224.11  639.259  
imu_odom_:  1691062483.792297840  0.380678   -0.244209  10.4483    -0.0532632  -0.02024    0.0415453   0.19       0             pose: 0.0           3.40265    -3.98345    0 -0.00814497 0.000676847 0.999835    0.0162433      uwb: 0.50174686     1223.81  640.433  
imu_odom_:  1691062483.815283793  0.0263362  -0.110133  10.2161    -0.0415453  0.015979    0.0436758   0.18       0             pose: 0.51140297    3.39286    -3.9855     0 -0.00652945 -0.00122249 0.999849    0.0160832      uwb: 0.0            1223.81  640.433  
imu_odom_:  1691062483.839302433  0.361524   -0.136469  9.73004    -0.0735032  0.0287621   0.0596548   0.18       0             pose: 0.39846654    3.38103    -3.97776    0 -0.00378852 -0.0007608270.999864    0.0160538      uwb: 0.49999121     1223.86  641.047  
imu_odom_:  1691062483.857280103  0.251391   -0.208296  10.0772    -0.0607201  0.00106526  0.0340885   0.19       -0.05         pose: 0.40006471    3.3745     -3.97913    0 -0.0043142  0.00163684  0.999865    0.0157658      uwb: 0.0            1223.86  641.047  
imu_odom_:  1691062483.881279203  -0.00718261-0.42138   9.61511    -0.0681769  -0.0340885  0.0628506   0.19       -0.05         pose: 0.0           3.3745     -3.97913    0 -0.0043142  0.00163684  0.999865    0.0157658      uwb: 0.0            1223.86  641.047  
imu_odom_:  1691062483.907270767  0.672771   -0.217872  10.0245    -0.0319579  0.0106526   0.0340885   0.22       0             pose: 0.8013601     3.37124    -3.97981    0 -0.00508988 0.00134122  0.999861    0.01579        uwb: 0.0            1223.86  641.047  
imu_odom_:  1691062483.931306905  0.205901   -0.349553  9.81623    -0.0798948  0.00852212  0.0639159   0.22       0             pose: 0.0           3.37124    -3.97981    0 -0.00508988 0.00134122  0.999861    0.01579        uwb: 0.0            1223.86  641.047  
imu_odom_:  1691062483.949287492  0.328006   -0.301669  9.87369    -0.0820254  0.0308927   0.0319579   0.21       0             pose: 0.41973563    3.37124    -3.97981    0 -0.00689121 -0.0004995520.999855    0.0155739      uwb: 0.99840467     1224.69  642.508  
imu_odom_:  1691062483.973259761  0.260968   -0.318429  10.2999    -0.0639159  0.0117179   0.0468716   0.21       0             pose: 0.0           3.37124    -3.97981    0 -0.00689121 -0.0004995520.999855    0.0155739      uwb: 0.0            1224.69  642.508  
imu_odom_:  1691062483.999339982  0.0574608  -0.213084  9.75398    -0.0415453  0.04048     0.0383495   0.18       -0.02         pose: 0.50032076    3.36145    -3.98187    0 -0.0063265  -0.00300962 0.999857    0.0153764      uwb: 0.50003787     1225.9   644.721  
imu_odom_:  1691062484.24343487   0.227449   -0.0335188 10.0724    -0.056459   -0.00852212 0.0436758   0.17       0             pose: 0.17961047    3.35167    -3.98393    0 -0.00631856 -0.00426945 0.999852    0.0153916      uwb: 0.0            1225.9   644.721  
imu_odom_:  1691062484.41271271   0.562637   -0.167594  9.36372    -0.0468716  -0.00319579 0.036219    0.17       0             pose: 0.42057262    3.34346    -3.97858    0 -0.0104691  -0.00396236 0.99982     0.0153334      uwb: 0.49913973     1227.32  646.601  
imu_odom_:  1691062484.66250863   0.371101   -0.23942   10.1634    -0.056459   0.0426106   0.0298274   0.19       -0.02         pose: 0.8001354     3.33982    -3.97621    0 -0.0103448  -0.00317361 0.999824    0.0153091      uwb: 0.0            1227.32  646.601  
imu_odom_:  1691062484.83326798   0.814029   -0.409408  9.32302    -0.0330232  -0.0245011  0.0287621   0.19       -0.02         pose: 0.0           3.33982    -3.97621    0 -0.0103448  -0.00317361 0.999824    0.0153091      uwb: 0.49950727     1226.88  647.274  
imu_odom_:  1691062484.107244832  0.749385   -0.217872  10.07      -0.0713727  -0.0298274  0.0490022   0.19       -0.02         pose: 0.0           3.33982    -3.97621    0 -0.0103448  -0.00317361 0.999824    0.0153091      uwb: 0.0            1226.88  647.274  
imu_odom_:  1691062484.133355976  0.624887   -0.280122  10.3932    -0.0479369  -0.0181095  0.0330232   0.19       0             pose: 0.41932165    3.33982    -3.97621    0 -0.00781767 -0.00109726 0.999851    0.0153261      uwb: 0.50230116     1226.64  648.322  
imu_odom_:  1691062484.158259451  0.818817   -0.172383  9.74201    -0.0532632  -0.00213053 0.0511327   0.19       0             pose: 0.84082475    3.32025    -3.98033    0 0.000739137 -0.00184354 0.999878    0.01549        uwb: 0.0            1226.64  648.322  
imu_odom_:  1691062484.184310809  0.464475   -0.0885855 10.0533    -0.0809601  0.0191748   0.0585895   0.19       0             pose: 0.0           3.32025    -3.98033    0 0.000739137 -0.00184354 0.999878    0.01549        uwb: 0.49895315     1226.19  649.033  
imu_odom_:  1691062484.209248989  0.399832   -0.25618   10.3406    -0.0532632  0.00319579  0.0351537   0.21       0             pose: 0.7960818     3.32025    -3.98033    0 0.00151507  -0.00169597 0.999878    0.0154455      uwb: 0.0            1226.19  649.033  
imu_odom_:  1691062484.227229874  0.579397   -0.0933739 10.0676    -0.0543285  -0.0138484  0.0266316   0.21       0             pose: 0.0           3.32025    -3.98033    0 0.00151507  -0.00169597 0.999878    0.0154455      uwb: 0.0            1226.19  649.033  
imu_odom_:  1691062484.251236273  0.0861913  -0.25618   9.3326     -0.0436758  -0.0181095  0.0415453   0.2        0             pose: 0.51960106    3.31046    -3.98239    0 0.00218015  0.000282832 0.999883    0.0151317      uwb: 0.50030636     1224.33  649.236  
imu_odom_:  1691062484.274377385  0.646434   -0.208296  10.331     -0.052198   -0.00426106 0.0458064   0.2        0             pose: 0.0           3.31046    -3.98239    0 0.00218015  0.000282832 0.999883    0.0151317      uwb: 0.0            1224.33  649.236  
imu_odom_:  1691062484.300212641  0.435745   -0.179565  9.63666    -0.0532632  0.0649811   0.0479369   0.25       0.02          pose: 0.41987576    3.29862    -3.97467    0 0.00168321  0.000315526 0.999882    0.0152755      uwb: 0.49834072     1224.12  650.224  
imu_odom_:  1691062484.313294314  0.514753   -0.347159  9.90721    -0.0436758  0.0351537   0.0532632   0.25       0.02          pose: 0.0           3.29862    -3.97467    0 0.00168321  0.000315526 0.999882    0.0152755      uwb: 0.0            1224.12  650.224  
imu_odom_:  1691062484.338370147  0.47884    -0.237026  9.71806    -0.0426106  0.0287621   0.0383495   0.17       0.02          pose: 0.47068769    3.28883    -3.97674    0 0.00189559  0.000961962 0.999883    0.0151557      uwb: 0.50107044     1224.72  651.306  
imu_odom_:  1691062484.364303976  -0.409408  -0.213084  10.1418    -0.0511327  -0.123571   0.0617853   0.17       0.02          pose: 0.0           3.28883    -3.97674    0 0.00189559  0.000961962 0.999883    0.0151557      uwb: 0.0            1224.72  651.306  
imu_odom_:  1691062484.390590102  2.58574    -0.0933739 9.90002    -0.072438   -0.0649811  0.0330232   0.19       0             pose: 0.39067414    3.28883    -3.97674    0 0.00131932  0.00103554  0.999886    0.0149961      uwb: 0.0            1224.72  651.306  
imu_odom_:  1691062484.407495138  0.45011    -0.155623  11.0061    -0.0745685  0.0298274   0.0671117   0.19       0             pose: 0.0           3.28883    -3.97674    0 0.00131932  0.00103554  0.999886    0.0149961      uwb: 0.0            1224.72  651.306  
imu_odom_:  1691062484.431272602  -0.711078  -0.0622492 9.81383    -0.0596548  0.0255663   0.0276969   0.23       0             pose: 0.52007643    3.27905    -3.9788     0 0.00244692  4.29259e-05 0.999888    0.0147452      uwb: 0.0            1224.72  651.306  
imu_odom_:  1691062484.457330376  -0.011971  -0.251391  9.98143    -0.112918   0.0149137   0.0660464   0.22       0             pose: 0.57864300    3.26278    -3.98225    0 0.000536862 0.00130117  0.999891    0.0147201      uwb: 0.99973489     1225.85  653.55   
imu_odom_:  1691062484.482355756  0.19393    -0.462081  9.86172    -0.0415453  0.0351537   0.0330232   0.22       0             pose: 0.0           3.26278    -3.98225    0 0.000536862 0.00130117  0.999891    0.0147201      uwb: 0.50005263     1225.66  654.495  
imu_odom_:  1691062484.499220546  0.794875   -0.126893  9.96467    -0.0639159  -0.0106526  0.0394148   0.22       0             pose: 0.0           3.26278    -3.98225    0 0.000536862 0.00130117  0.999891    0.0147201      uwb: 0.0            1225.66  654.495  
imu_odom_:  1691062484.523282064  0.579397   -0.318429  9.58878    -0.0340885  -0.0543285  0.04048     0.19       0             pose: 0.8106345     3.25948    -3.98295    0 -0.0003485740.000962737 0.999893    0.0146139      uwb: 0.0            1225.66  654.495  
imu_odom_:  1691062484.548366063  0.325611   -0.260968  9.24162    -0.0639159  -0.0138484  0.0372843   0.19       0             pose: 0.50888631    3.24762    -3.97525    0 -0.00340564 -0.00152917 0.999888    0.0144669      uwb: 0.49875484     1224.17  654.813  
imu_odom_:  1691062484.573343613  0.390255   -0.260968  9.38527    -0.0351537  0.00745685  0.0458064   0.19       0             pose: 0.0           3.24762    -3.97525    0 -0.00340564 -0.00152917 0.999888    0.0144669      uwb: 0.0            1224.17  654.813  
imu_odom_:  1691062484.590213944  0.301669   -0.289698  9.74679    -0.056459   -0.0106526  0.0426106   0.18       0             pose: 0.41168951    3.24762    -3.97525    0 -0.000411218-0.00206138 0.999893    0.0144699      uwb: 0.49989515     1224.24  656.013  
imu_odom_:  1691062484.615186829  0.85473    -0.40462   9.82102    -0.0372843  0.0298274   0.0351537   0.18       0             pose: 0.0           3.24762    -3.97525    0 -0.000411218-0.00206138 0.999893    0.0144699      uwb: 0.0            1224.24  656.013  
imu_odom_:  1691062484.636214155  0.656011   -0.3304    9.9527     -0.0681769  -0.0287621  0.0436758   0.19       0             pose: 0.83750300    3.22806    -3.97941    0 0.000711595 -0.00329478 0.99989     0.01445        uwb: 0.50120168     1224.34  657.172  
imu_odom_:  1691062484.661192873  0.543484   0.0550666  10.3597    -0.0266316  -0.00745685 0.0415453   0.19       0             pose: 0.6019973     3.22806    -3.97941    0 0.00137141  -0.00346946 0.999889    0.0144393      uwb: 0.0            1224.34  657.172  
imu_odom_:  1691062484.678180733  0.251391   -0.201113  9.61751    -0.0639159  -0.015979   0.0511327   0.21       0             pose: 0.0           3.22806    -3.97941    0 0.00137141  -0.00346946 0.999889    0.0144393      uwb: 0.0            1224.34  657.172  
imu_odom_:  1691062484.702381363  0.514753   -0.21069   9.51456    -0.056459   -0.00106526 0.0372843   0.21       0             pose: 0.39986071    3.21681    -3.97459    0 0.00363888  -0.00111218 0.999889    0.0143964      uwb: 0.0            1224.34  657.172  
imu_odom_:  1691062484.727243425  0.0766145  -0.639252  9.06684    -0.0596548  0.00639159  0.0479369   0.22       0             pose: 0.41188490    3.20939    -3.97316    0 0.00436307  -0.0002976820.999888    0.0143288      uwb: 0.0            1224.34  657.172  
imu_odom_:  1691062484.751170208  0.134075   -0.201113  9.54808    -0.0266316  -0.00213053 0.0287621   0.22       0             pose: 0.0           3.20939    -3.97316    0 0.00436307  -0.0002976820.999888    0.0143288      uwb: 0.100077311    1224.49  658.252  
imu_odom_:  1691062484.768177025  0.711078   -0.430956  9.92636    -0.0660464  -0.0127832  0.0447411   0.19       0             pose: 0.48788845    3.1998     -3.9752     0 9.99835e-05 -0.00134522 0.999896    0.0143418      uwb: 0.0            1224.49  658.252  
imu_odom_:  1691062484.792162135  0.794875   -0.248997  9.3709     -0.0458064  0.0276969   0.0490022   0.19       0             pose: 0.0           3.1998     -3.9752     0 9.99835e-05 -0.00134522 0.999896    0.0143418      uwb: 0.50065632     1224.88  659.606  
imu_odom_:  1691062484.809227571  0.373495   -0.323217  9.79228    -0.0671117  -0.0245011  0.0532632   0.19       0             pose: 0.40991927    3.19664    -3.97587    0 0.00362101  -0.00221209 0.99989     0.0141929      uwb: 0.0            1224.88  659.606  
imu_odom_:  1691062484.833158728  0.387861   -0.490811  9.28471    -0.0617853  0.0490022   0.0319579   0.19       0             pose: 0.0           3.19664    -3.97587    0 0.00362101  -0.00221209 0.99989     0.0141929      uwb: 0.49746581     1224.13  660.098  
imu_odom_:  1691062484.851299138  0.442927   -0.241814  10.4531    -0.0479369  -0.00106526 0.0372843   0.18       -0.02         pose: 0.0           3.19664    -3.97587    0 0.00362101  -0.00221209 0.99989     0.0141929      uwb: 0.0            1224.13  660.098  
imu_odom_:  1691062484.875181300  0.804452   -0.0909797 10.0173    -0.0490022  -0.0138484  0.04048     0.18       -0.02         pose: 0.40996593    3.18686    -3.97796    0 0.00105792  -0.00560762 0.999884    0.0141554      uwb: 0.0            1224.13  660.098  
imu_odom_:  1691062484.893256676  0.64404    -0.263362  10.1921    -0.0500674  -0.02024    0.0596548   0.2        -0.02         pose: 0.0           3.18686    -3.97796    0 0.00105792  -0.00560762 0.999884    0.0141554      uwb: 0.49954227     1223.87  661.137  
imu_odom_:  1691062484.908281236  0.517148   -0.531513  9.42118    -0.0756338  -0.02024    0.0458064   0.2        -0.02         pose: 0.50078172    3.17499    -3.97026    0 0.00449895  -0.00257332 0.999887    0.0140995      uwb: 0.0            1223.87  661.137  
imu_odom_:  1691062484.934157612  0.754174   -0.0694318 9.98622    -0.0575243  0.00213053  0.0511327   0.25       0             pose: 0.0           3.17499    -3.97026    0 0.00449895  -0.00257332 0.999887    0.0140995      uwb: 0.49976974     1223.75  661.96   
imu_odom_:  1691062484.956158131  0.505177   -0.304064  10.1323    -0.0468716  0.0340885   0.0340885   0.25       0             pose: 0.32959075    3.16521    -3.97235    0 0.00628656  -0.00367449 0.999877    0.0139065      uwb: 0.0            1223.75  661.96   
imu_odom_:  1691062484.980157240  0.560243   -0.0933739 10.1993    -0.072438   -0.0223706  0.0703074   0.17       -0.02         pose: 0.39962156    3.16521    -3.97235    0 0.00542639  -0.00376622 0.999882    0.0138617      uwb: 0.0            1223.75  661.96   
imu_odom_:  1691062485.6164853    0.952892   -0.107739  10.3238    -0.0639159  -0.00319579 0.0330232   0.17       -0.02         pose: 0.7043619     3.16521    -3.97235    0 0.00566187  -0.00314489 0.999884    0.013758       uwb: 0.50153706     1223.74  663.252  
imu_odom_:  1691062485.31217655   0.596156   -0.344765  9.71088    -0.036219   0.0830906   0.015979    0.2        -0.02         pose: 0.42963103    3.15543    -3.97444    0 0.00869733  -0.0009797170.999869    0.0136029      uwb: 0.0            1223.74  663.252  
imu_odom_:  1691062485.47288031   0.0957681  -0.0981623 9.83299    -0.0894822  0.0170442   0.0468716   0.2        -0.02         pose: 0.0           3.15543    -3.97444    0 0.00869733  -0.0009797170.999869    0.0136029      uwb: 0.49981359     1223.33  663.859  
imu_odom_:  1691062485.72201431   0.550666   -0.318429  10.331     -0.127832   0.056459    0.0873517   0.25       -0.02         pose: 0.41123178    3.14566    -3.97654    0 0.00645959  -0.00285658 0.99988     0.013821       uwb: 0.0            1223.33  663.859  
imu_odom_:  1691062485.97211945   -0.114922  -0.565032  9.69173    -0.0340885  0.0351537   -0.0308927  0.25       -0.02         pose: 0.0           3.14566    -3.97654    0 0.00645959  -0.00285658 0.99988     0.013821       uwb: 0.49995365     1223.22  664.661  
imu_odom_:  1691062485.122200879  0.653617   -0.476446  10.0245    -0.0500674  -0.0298274  0.0639159   0.21       -0.02         pose: 0.49923914    3.13442    -3.97183    0 0.00355282  -0.00668975 0.999872    0.0140831      uwb: 0.0            1223.22  664.661  
imu_odom_:  1691062485.138197471  0.296881   -0.464475  9.97903    -0.0458064  0.0127832   0.0276969   0.21       -0.02         pose: 0.0           3.13442    -3.97183    0 0.00355282  -0.00668975 0.999872    0.0140831      uwb: 0.49869961     1222.7   665.444  
imu_odom_:  1691062485.164350911  0.047884   -0.21069   9.74679    -0.0628506  -0.00319579 0.0490022   0.18       -0.02         pose: 0.40985526    3.12859    -3.96997    0 0.00424558  -0.00863589 0.999858    0.0138647      uwb: 0.0            1222.7   665.444  
imu_odom_:  1691062485.189150864  0.471658   -0.100556  10.4986    -0.04048    0.0181095   0.0191748   0.18       -0.02         pose: 0.7970153     3.124      -3.97095    0 0.00350087  -0.0083692  0.999863    0.0138222      uwb: 0.50014905     1221.19  665.823  
imu_odom_:  1691062485.212291692  0.548272   -0.368707  10.1059    -0.0639159  -0.036219   0.0415453   0.21       0             pose: 0.26094238    3.124      -3.97095    0 0.00180856  -0.00691467 0.999879    0.0138089      uwb: 0.0            1221.19  665.823  
imu_odom_:  1691062485.238180910  0.471658   -0.0957681 10.2208    -0.0468716  -0.0511327  0.0426106   0.21       0             pose: 0.0           3.124      -3.97095    0 0.00180856  -0.00691467 0.999879    0.0138089      uwb: 0.50170930     1221.57  667.147  
imu_odom_:  1691062485.252204867  0.397437   -0.215478  9.35893    -0.0735032  0.015979    0.0575243   0.19       0.02          pose: 0.40029830    3.11423    -3.97304    0 0.00425548  -0.0062596  0.999874    0.0139711      uwb: 0.0            1221.57  667.147  
imu_odom_:  1691062485.275170130  0.533907   -0.158017  9.663      -0.0543285  -0.00213053 0.0234358   0.19       0.02          pose: 0.0           3.11423    -3.97304    0 0.00425548  -0.0062596  0.999874    0.0139711      uwb: 0.0            1221.57  667.147  
imu_odom_:  1691062485.299173622  0.90022    -0.35913   10.1442    -0.076699   -0.04048    0.0447411   0.24       0             pose: 0.46963505    3.10445    -3.97513    0 0.00376445  -0.00228372 0.999894    0.0138729      uwb: 0.49783637     1221.64  668.297  
imu_odom_:  1691062485.316108994  0.627281   -0.354342  9.31823    -0.0266316  0.02024     0.0223706   0.24       0             pose: 0.0           3.10445    -3.97513    0 0.00376445  -0.00228372 0.999894    0.0138729      uwb: 0.0            1221.64  668.297  
imu_odom_:  1691062485.340169937  0.651223   -0.316035  9.73243    -0.0596548  -0.0415453  0.0490022   0.19       0             pose: 0.48011065    3.09258    -3.96744    0 0.00769967  -0.0024347  0.999869    0.014011       uwb: 0.50128060     1223.21  670.319  
imu_odom_:  1691062485.363115077  0.519542   -0.268151  10.2448    -0.0479369  -0.0543285  0.0500674   0.19       0             pose: 0.0           3.09258    -3.96744    0 0.00769967  -0.0024347  0.999869    0.014011       uwb: 0.0            1223.21  670.319  
imu_odom_:  1691062485.380117234  0.562637   -0.172383  9.37569    -0.0596548  -0.0106526  0.0617853   0.25       0.02          pose: 0.40871787    3.0828     -3.96953    0 0.0101642   -0.00392449 0.999844    0.0139214      uwb: 0.0            1223.21  670.319  
imu_odom_:  1691062485.405140872  0.222661   -0.229843  9.54568    -0.0287621  0.0735032   0.04048     0.25       0.02          pose: 0.0           3.0828     -3.96953    0 0.0101642   -0.00392449 0.999844    0.0139214      uwb: 0.50038235     1223.56  671.04   
imu_odom_:  1691062485.430122223  0.464475   -0.371101  9.74919    -0.0788296  0.00213053  0.056459    0.23       0.05          pose: 0.41003315    3.0828     -3.96953    0 0.00776505  -0.00162247 0.999875    0.0136603      uwb: 0.0            1223.56  671.04   
imu_odom_:  1691062485.453120441  0.105345   -0.0047884 9.84735    -0.052198   -0.0181095  0.0511327   0.23       0.05          pose: 0.0           3.0828     -3.96953    0 0.00776505  -0.00162247 0.999875    0.0136603      uwb: 0.49941121     1223.67  672.111  
imu_odom_:  1691062485.468319697  0.426168   -0.31364   9.68455    -0.0756338  -0.0553937  0.0628506   0.2        0.02          pose: 0.40980859    3.07302    -3.97163    0 0.00461507  -0.00395107 0.999891    0.0134271      uwb: 0.0            1223.67  672.111  
imu_odom_:  1691062485.495259975  0.347159   -0.253785  9.73482    -0.0490022  0.0245011   0.0415453   0.2        0.02          pose: 0.0           3.07302    -3.97163    0 0.00461507  -0.00395107 0.999891    0.0134271      uwb: 0.50024820     1224.35  673.573  
imu_odom_:  1691062485.521276638  0.454898   -0.272939  9.78271    -0.0852212  -0.0308927  0.0607201   0.22       0             pose: 0.7067536     3.07302    -3.97163    0 0.00410018  -0.00351465 0.999896    0.0133858      uwb: 0.0            1224.35  673.573  
imu_odom_:  1691062485.544231402  0.260968   -0.184354  9.91678    -0.0649811  -0.0245011  0.0308927   0.22       0             pose: 0.38973229    3.06324    -3.97373    0 0.00162147  -0.0036555  0.999906    0.0131         uwb: 0.50056025     1224.89  674.626  
imu_odom_:  1691062485.561211686  0.723049   -0.476446  9.53371    -0.076699   -0.0191748  0.0553937   0.25       0             pose: 0.0           3.06324    -3.97373    0 0.00162147  -0.0036555  0.999906    0.0131         uwb: 0.0            1224.89  674.626  
imu_odom_:  1691062485.586088630  0.418985   -0.347159  9.83059    -0.0340885  0.0735032   0.0340885   0.25       0             pose: 0.52068905    3.05136    -3.96606    0 0.00194274  -0.00314    0.999911    0.012837       uwb: 0.49808134     1227.25  677.253  
imu_odom_:  1691062485.609091514  0.409408   -0.268151  9.55047    -0.0596548  -0.015979   0.0415453   0.18       0             pose: 0.0           3.05136    -3.96606    0 0.00194274  -0.00314    0.999911    0.012837       uwb: 0.0            1227.25  677.253  
imu_odom_:  1691062485.632137269  0.445322   -0.160412  9.63906    -0.0351537  -0.00852212 0.0458064   0.18       0             pose: 0.42010630    3.04158    -3.96817    0 0.00145786  -0.00437702 0.999908    0.012794       uwb: 0.0            1227.25  677.253  
imu_odom_:  1691062485.649141759  0.76375    -0.318429  9.67736    -0.0607201  -0.0319579  0.0436758   0.24       0             pose: 0.0           3.04158    -3.96817    0 0.00145786  -0.00437702 0.999908    0.012794       uwb: 0.50011405     1228.03  678.547  
imu_odom_:  1691062485.673100630  0.608127   -0.399832  9.7444     -0.0468716  -0.0383495  0.0447411   0.24       0             pose: 0.45866366    3.03181    -3.97028    0 0.000625822 -0.00264879 0.999914    0.0127906      uwb: 0.0            1228.03  678.547  
imu_odom_:  1691062485.690092871  0.684742   -0.162806  10.1275    -0.0468716  0.00745685  0.0426106   0.19       0.02          pose: 0.0           3.03181    -3.97028    0 0.000625822 -0.00264879 0.999914    0.0127906      uwb: 0.50016071     1228.12  679.597  
imu_odom_:  1691062485.715093762  0.713472   -0.167594  9.96227    -0.0468716  -0.0127832  0.0394148   0.19       0.02          pose: 0.41010897    3.03181    -3.97028    0 0.00366964  -0.00199808 0.999911    0.0126868      uwb: 0.0            1228.12  679.597  
imu_odom_:  1691062485.741085636  0.493206   -0.227449  9.62708    -0.0628506  -0.0191748  0.0511327   0.18       0             pose: 0.0           3.03181    -3.97028    0 0.00366964  -0.00199808 0.999911    0.0126868      uwb: 0.50075274     1227.75  680.114  
imu_odom_:  1691062485.766093817  0.701501   -0.445322  9.37569    -0.0532632  0.0394148   0.0383495   0.2        -0.02         pose: 0.41977092    3.02204    -3.9724     0 0.00722665  -0.0017469  0.999893    0.0126305      uwb: 0.0            1227.75  680.114  
imu_odom_:  1691062485.789079786  -0.131681  -0.545878  9.48104    -0.0649811  0.0223706   0.052198    0.2        -0.02         pose: 0.0           3.02204    -3.9724     0 0.00722665  -0.0017469  0.999893    0.0126305      uwb: 0.50002656     1226.66  680.465  
imu_odom_:  1691062485.806080485  0.890643   -0.0574608 10.6997    -0.04048    -0.0436758  0.0298274   0.18       0             pose: 0.49992449    3.01015    -3.96474    0 0.00667824  -0.00154133 0.999899    0.0124897      uwb: 0.0            1226.66  680.465  
imu_odom_:  1691062485.830082810  0.938527   -0.205901  10.0509    -0.0543285  -0.0245011  0.0458064   0.2        0             pose: 0.0           3.01015    -3.96474    0 0.00667824  -0.00154133 0.999899    0.0124897      uwb: 0.0            1226.66  680.465  
imu_odom_:  1691062485.853073153  0.237026   -0.059855  9.82341    -0.0426106  -0.0287621  0.0383495   0.21       0             pose: 0.48017773    3.00037    -3.96686    0 0.00579088  -0.00332486 0.999901    0.0123803      uwb: 0.50038818     1226.38  680.868  
imu_odom_:  1691062485.878076085  0.782904   -0.452504  9.7037     -0.0639159  -0.052198   0.0500674   0.21       0             pose: 0.0           3.00037    -3.96686    0 0.00579088  -0.00332486 0.999901    0.0123803      uwb: 0.0            1226.38  680.868  
imu_odom_:  1691062485.893204473  0.658405   -0.0263362 10.228     -0.052198   -0.02024    0.0308927   0.19       0.02          pose: 0.39982002    2.9906     -3.96898    0 0.00884012  -0.00204686 0.999882    0.0123671      uwb: 0.50065942     1226.61  681.724  
imu_odom_:  1691062485.917060104  0.577003   -0.258574  10.1203    -0.056459   -0.0266316  0.0458064   0.19       0.02          pose: 0.0           2.9906     -3.96898    0 0.00884012  -0.00204686 0.999882    0.0123671      uwb: 0.0            1226.61  681.724  
imu_odom_:  1691062485.943084350  0.775721   -0.160412  9.89524    -0.0458064  0.0149137   0.0426106   0.23       0             pose: 0.48130928    2.9906     -3.96898    0 0.0102753   -0.00227506 0.999869    0.0122757      uwb: 0.49651524     1226.45  682.535  
imu_odom_:  1691062485.956057830  0.519542   -0.196325  9.90242    -0.0532632  -0.0319579  0.0671117   0.23       0             pose: 0.0           2.9906     -3.96898    0 0.0102753   -0.00227506 0.999869    0.0122757      uwb: 0.0            1226.45  682.535  
imu_odom_:  1691062485.980061322  0.268151   -0.134075  9.81623    -0.0660464  0.0213053   0.0340885   0.17       0             pose: 0.39857181    2.98083    -3.9711     0 0.00924349  -0.00208472 0.99988     0.0122231      uwb: 0.0            1226.45  682.535  
imu_odom_:  1691062486.6113857    0.318429   -0.462081  9.5816     -0.072438   -0.0287621  0.0607201   0.17       0             pose: 0.0           2.98083    -3.9711     0 0.00924349  -0.00208472 0.99988     0.0122231      uwb: 0.50108229     1227.41  684.118  
imu_odom_:  1691062486.31122922   0.490811   -0.253785  9.73243    -0.0383495  -0.00958738 0.0298274   0.2        0.02          pose: 0.39031848    2.96893    -3.96345    0 0.00881337  -0.0005008780.999888    0.0120557      uwb: 0.0            1227.41  684.118  
imu_odom_:  1691062486.48055383   0.418985   -0.131681  10.2185    -0.072438   -0.0223706  0.072438    0.2        0.02          pose: 0.0           2.96893    -3.96345    0 0.00881337  -0.0005008780.999888    0.0120557      uwb: 0.49963878     1228     685.618  
imu_odom_:  1691062486.73171188   0.581791   -0.107739  10.8002    -0.0553937  -0.0234358  0.0340885   0.19       0             pose: 0.49962996    2.95916    -3.96558    0 0.00487677  -0.00208033 0.999916    0.0118538      uwb: 0.0            1228     685.618  
imu_odom_:  1691062486.98128341   0.502782   -0.268151  10.0676    -0.0777643  -0.0340885  0.0394148   0.19       0             pose: 0.0           2.95916    -3.96558    0 0.00487677  -0.00208033 0.999916    0.0118538      uwb: 0.49996841     1228.06  686.682  
imu_odom_:  1691062486.122053390  0.933739   -0.395043  9.54089    -0.056459   0.0213053   0.0351537   0.18       0             pose: 0.42988505    2.94939    -3.96771    0 0.00349356  0.000380509 0.999926    0.0116865      uwb: 0.0            1228.06  686.682  
imu_odom_:  1691062486.139051470  0.481235   -0.4956    9.88326    -0.0735032  0.0511327   0.0458064   0.18       0             pose: 0.0           2.94939    -3.96771    0 0.00349356  0.000380509 0.999926    0.0116865      uwb: 0.49991882     1228.72  688.069  
imu_odom_:  1691062486.164107489  0.562637   -0.265756  10.0652    -0.0617853  -0.00213053 0.0287621   0.18       0             pose: 0.48149610    2.94939    -3.96771    0 0.0058636   -0.00157697 0.999913    0.0117409      uwb: 0.0            1228.72  688.069  
imu_odom_:  1691062486.188040704  0.186748   -0.433351  10.0006    -0.0713727  -0.015979   0.04048     0.18       0             pose: 0.0           2.94939    -3.96771    0 0.0058636   -0.00157697 0.999913    0.0117409      uwb: 0.50002965     1230.78  689.822  
imu_odom_:  1691062486.211034847  0.497994   -0.35913   9.87608    -0.0511327  0.00639159  0.0276969   0.24       0             pose: 0.82830534    2.92834    -3.96507    0 0.00620264  -0.00366166 0.999904    0.0118445      uwb: 0.0            1230.78  689.822  
imu_odom_:  1691062486.228092129  0.603339   -0.232238  10.5345    -0.0458064  0.0543285   0.04048     0.24       0             pose: 0.0           2.92834    -3.96507    0 0.00620264  -0.00366166 0.999904    0.0118445      uwb: 0.0            1230.78  689.822  
imu_odom_:  1691062486.244092810  0.141258   -0.383072  9.62948    -0.0532632  0.0213053   0.0340885   0.18       0.02          pose: 0.7027001     2.92772    -3.96221    0 0.00591769  -0.00430436 0.999903    0.0118813      uwb: 0.49990425     1230.5   690.759  
imu_odom_:  1691062486.270085567  0.23942    -0.198719  9.64145    -0.052198   0.0255663   0.0436758   0.18       0.02          pose: 0.0           2.92772    -3.96221    0 0.00591769  -0.00430436 0.999903    0.0118813      uwb: 0.0            1230.5   690.759  
imu_odom_:  1691062486.293063670  0.181959   -0.311246  9.87848    -0.0617853  -0.00213053 0.0415453   0.19       -0.02         pose: 0.41075364    2.91795    -3.96434    0 0.00502409  -0.00457044 0.999905    0.011991       uwb: 0.50143534     1230.62  691.727  
imu_odom_:  1691062486.317029840  0.248997   -0.122104  10.1131    -0.0777643  0.04048     0.0553937   0.19       -0.02         pose: 0.0           2.91795    -3.96434    0 0.00502409  -0.00457044 0.999905    0.011991       uwb: 0.0            1230.62  691.727  
imu_odom_:  1691062486.343026389  0.347159   -0.253785  10.2376    -0.0532632  0.00852212  0.0308927   0.25       -0.02         pose: 0.40997205    2.90818    -3.96647    0 0.000670764 -0.00371258 0.999922    0.011941       uwb: 0.0            1230.62  691.727  
imu_odom_:  1691062486.368039829  0.45011    -0.418985  9.81623    -0.0607201  -0.0117179  0.0415453   0.25       -0.02         pose: 0.47953921    2.89841    -3.9686     0 -0.00268449 -0.00152758 0.999926    0.0117581      uwb: 0.0            1230.62  691.727  
imu_odom_:  1691062486.385035867  0.232238   -0.323217  9.49062    -0.04048    -0.0458064  0.036219    0.21       -0.02         pose: 0.0           2.89841    -3.9686     0 -0.00268449 -0.00152758 0.999926    0.0117581      uwb: 0.99956351     1231.17  693.229  
imu_odom_:  1691062486.410016352  0.610521   -0.215478  10.1778    -0.0532632  0.00745685  0.0500674   0.21       -0.02         pose: 0.25993632    2.89841    -3.9686     0 -0.00176547 -0.0006229920.999928    0.0118267      uwb: 0.0            1231.17  693.229  
imu_odom_:  1691062486.436139180  0.191536   -0.289698  9.22007    -0.0426106  0.0788296   0.0426106   0.18       0.02          pose: 0.42981506    2.88651    -3.96096    0 -0.00143869 -0.00258638 0.999926    0.0117931      uwb: 0.49751574     1229.23  693.036  
imu_odom_:  1691062486.451181248  0.047884   -0.380678  10.1873    -0.0553937  0.00639159  0.0585895   0.18       0.02          pose: 0.0           2.88651    -3.96096    0 -0.00143869 -0.00258638 0.999926    0.0117931      uwb: 0.0            1229.23  693.036  
imu_odom_:  1691062486.468060924  0.775721   -0.203507  10.149     -0.04048    0           0.0426106   0.18       0             pose: 0.48116363    2.87674    -3.96309    0 -0.00423328 -0.00267176 0.99992     0.0116124      uwb: 0.0            1229.23  693.036  
imu_odom_:  1691062486.482118425  0.706289   -0.438139  9.60554    -0.0436758  0.0607201   0.0383495   0.18       0             pose: 0.0           2.87674    -3.96309    0 -0.00423328 -0.00267176 0.99992     0.0116124      uwb: 0.49996257     1229.98  694.809  
imu_odom_:  1691062486.499127587  0.217872   -0.251391  10.2304    -0.0532632  -0.00106526 0.0553937   0.18       0             pose: 0.39932729    2.87217    -3.96409    0 -0.00266871 -0.00316434 0.999925    0.0115208      uwb: 0.0            1229.98  694.809  
imu_odom_:  1691062486.515048942  0.25618    -0.246603  9.68933    -0.0575243  0.00213053  0.0490022   0.18       0             pose: 0.0           2.87217    -3.96409    0 -0.00266871 -0.00316434 0.999925    0.0115208      uwb: 0.0            1229.98  694.809  
imu_odom_:  1691062486.532140929  0.37589    -0.294487  10.0006    -0.0628506  -0.04048    0.0553937   0.25       0.02          pose: 0.0           2.87217    -3.96409    0 -0.00266871 -0.00316434 0.999925    0.0115208      uwb: 0.0            1229.98  694.809  
imu_odom_:  1691062486.557005926  0.737414   -0.198719  9.91199    -0.0692422  0.00426106  0.0511327   0.25       0.02          pose: 0.8021192     2.86697    -3.96523    0 -0.00346479 -0.00298096 0.999924    0.0114545      uwb: 0.0            1229.98  694.809  
imu_odom_:  1691062486.584006290  0.694318   -0.0023942 10.422     -0.0798948  -0.0106526  0.0692422   0.18       0             pose: 0.66866309    2.8572     -3.96737    0 -0.00166554 -0.00270445 0.999934    0.0110315      uwb: 0.100132500    1230.76  696.546  
imu_odom_:  1691062486.609003398  0.459687   -0.232238  10.5129    -0.0735032  0.0106526   0.0372843   0.18       -0.02         pose: 0.0           2.8572     -3.96737    0 -0.00166554 -0.00270445 0.999934    0.0110315      uwb: 0.0            1230.76  696.546  
imu_odom_:  1691062486.625994770  0.237026   -0.244209  9.27514    -0.0660464  -0.0149137  0.0351537   0.18       -0.02         pose: 0.0           2.8572     -3.96737    0 -0.00166554 -0.00270445 0.999934    0.0110315      uwb: 0.0            1230.76  696.546  
imu_odom_:  1691062486.641998075  0.407014   -0.306458  10.3789    -0.056459   -0.0458064  0.0500674   0.18       -0.02         pose: 0.35018932    2.84743    -3.96952    0 0.0012424   -0.00124575 0.999942    0.0106437      uwb: 0.0            1230.76  696.546  
imu_odom_:  1691062486.668024955  0.35913    -0.270545  10.3406    -0.0351537  0.00319579  0.0372843   0.25       0.02          pose: 0.49973217    2.8404     -3.96083    0 0.00102133  -0.00274738 0.999939    0.0106149      uwb: 0.0            1230.76  696.546  
imu_odom_:  1691062486.681984466  0.442927   -0.208296  9.8258     -0.056459   -0.0266316  0.0415453   0.25       0.02          pose: 0.8014777     2.83551    -3.96191    0 0.00019099  -0.00265746 0.99994     0.0106219      uwb: 0.99977349     1230.52  697.959  
imu_odom_:  1691062486.705999631  0.349553   -0.323217  9.74201    -0.0553937  0.0308927   0.0479369   0.18       0             pose: 0.0           2.83551    -3.96191    0 0.00019099  -0.00265746 0.99994     0.0106219      uwb: 0.0            1230.52  697.959  
imu_odom_:  1691062486.731982181  0.258574   -0.213084  9.87608    -0.0543285  -0.00106526 0.0532632   0.25       -0.02         pose: 0.40013804    2.83551    -3.96191    0 -0.000958829-0.00231759 0.999941    0.0105912      uwb: 0.49998591     1230.38  698.684  
imu_odom_:  1691062486.747049622  0.150835   -0.332794  9.84496    -0.0479369  -0.0298274  0.0479369   0.18       0             pose: 0.0           2.83551    -3.96191    0 -0.000958829-0.00231759 0.999941    0.0105912      uwb: 0.0            1230.38  698.684  
imu_odom_:  1691062486.772108557  0.318429   -0.196325  10.1538    -0.0553937  -0.0149137  0.0500674   0.18       0             pose: 0.48034996    2.82575    -3.96406    0 -0.00470887 -0.00236314 0.999933    0.0103098      uwb: 0.0            1230.38  698.684  
imu_odom_:  1691062486.797138620  0.497994   -0.459687  9.8689     -0.0298274  0.0234358   0.036219    0.18       -0.02         pose: 0.0           2.82575    -3.96406    0 -0.00470887 -0.00236314 0.999933    0.0103098      uwb: 0.50110579     1229.73  698.988  
imu_odom_:  1691062486.821093416  0.562637   -0.392649  9.83777    -0.0511327  0.00213053  0.0479369   0.18       -0.02         pose: 0.40921671    2.81598    -3.96622    0 -0.00417777 -0.0007706150.99994     0.010144       uwb: 0.0            1229.73  698.988  
imu_odom_:  1691062486.837029062  0.0263362  -0.150835  9.81862    -0.036219   0.00213053  0.0394148   0.22       0             pose: 0.0           2.81598    -3.96622    0 -0.00417777 -0.0007706150.99994     0.010144       uwb: 0.49828566     1229.57  699.749  
imu_odom_:  1691062486.861958801  0.399832   -0.248997  10.4459    -0.0532632  -0.0117179  0.0596548   0.22       0             pose: 0.49174132    2.80406    -3.95863    0 -0.00207221 -0.00290474 0.999943    0.0100894      uwb: 0.0            1229.57  699.749  
imu_odom_:  1691062486.885032561  0.842759   -0.186748  10.1778    -0.0436758  -0.00106526 0.0330232   0.2        -0.02         pose: 0.0           2.80406    -3.95863    0 -0.00207221 -0.00290474 0.999943    0.0100894      uwb: 0.50054293     1230.3   701.499  
imu_odom_:  1691062486.902967380  0.232238   -0.31364   10.0556    -0.036219   0.0287621   0.036219    0.2        -0.02         pose: 0.40828347    2.79429    -3.96079    0 0.000233648 -0.00161833 0.99995     0.00986499     uwb: 0.0            1230.3   701.499  
imu_odom_:  1691062486.926964464  -0.148441  -0.337582  9.35893    -0.0340885  0.0255663   0.0372843   0.18       0             pose: 0.0           2.79429    -3.96079    0 0.000233648 -0.00161833 0.99995     0.00986499     uwb: 0.0            1230.3   701.499  
imu_odom_:  1691062486.954076817  0.335188   -0.258574  9.56005    -0.0660464  -0.0543285  0.052198    0.18       0             pose: 0.41995188    2.79429    -3.96079    0 -0.0011017  -0.00176015 0.999948    0.00995538     uwb: 0.49930638     1230.44  702.384  
imu_odom_:  1691062486.969996422  0.632069   -0.167594  10.3693    -0.052198   -0.0426106  0.0372843   0.19       0             pose: 0.0           2.79429    -3.96079    0 -0.0011017  -0.00176015 0.999948    0.00995538     uwb: 0.0            1230.44  702.384  
imu_odom_:  1691062486.997105276  0.509965   -0.134075  9.94791    -0.0639159  -0.0319579  0.0468716   0.19       0             pose: 0.51154057    2.78453    -3.96296    0 -0.00359847 -0.00318337 0.99994     0.00980902     uwb: 0.50184364     1231.03  704.302  
imu_odom_:  1691062487.21971736   0.873884   -0.225055  9.61511    -0.052198   0.0276969   0.0426106   0.25       0             pose: 0.14873211    2.77477    -3.96513    0 -0.00207507 -0.00248226 0.999947    0.0097934      uwb: 0.0            1231.03  704.302  
imu_odom_:  1691062487.45011091   0.237026   -0.481235  9.75158    -0.0735032  0.0383495   0.0585895   0.25       0             pose: 0.0           2.77477    -3.96513    0 -0.00207507 -0.00248226 0.999947    0.0097934      uwb: 0.49932982     1232.1   706.64   
imu_odom_:  1691062487.69945214   0.268151   0.0766145  10.0221    -0.0372843  -0.0245011  0.0415453   0.21       0             pose: 0.51949069    2.76501    -3.9673     0 0.00122481  -0.00177488 0.999951    0.00961843     uwb: 0.0            1232.1   706.64   
imu_odom_:  1691062487.84954333   0.0885855  -0.514753  9.24401    -0.072438   -0.0308927  0.0596548   0.21       0             pose: 0.0           2.76501    -3.9673     0 0.00122481  -0.00177488 0.999951    0.00961843     uwb: 0.50064226     1232.21  708.078  
imu_odom_:  1691062487.109022584  0.287304   -0.277727  10.082     -0.0287621  -0.00639159 0.0266316   0.18       -0.02         pose: 0.48083425    2.76284    -3.95754    0 -0.0011749  -0.00112912 0.999955    0.00936351     uwb: 0.0            1232.21  708.078  
imu_odom_:  1691062487.133947083  0.105345   -0.134075  9.87848    -0.0798948  0.00639159  0.0649811   0.25       0             pose: 0.0           2.76284    -3.95754    0 -0.0011749  -0.00112912 0.999955    0.00936351     uwb: 0.49837040     1232.19  709.146  
imu_odom_:  1691062487.148950661  0.888249   -0.071826  10.3621    -0.0639159  -0.0426106  0.0340885   0.25       0             pose: 0.31981832    2.75308    -3.95972    0 -0.00390809 -0.00217076 0.999945    0.00943751     uwb: 0.0            1232.19  709.146  
imu_odom_:  1691062487.172939003  0.632069   -0.25618   10.3477    -0.072438   -0.00426106 0.036219    0.25       0             pose: 0.0           2.75308    -3.95972    0 -0.00390809 -0.00217076 0.999945    0.00943751     uwb: 0.0            1232.19  709.146  
imu_odom_:  1691062487.198996222  0.840365   -0.414197  9.663      -0.052198   0.04048     0.0340885   0.18       0             pose: 0.7979783     2.75308    -3.95972    0 -0.00464509 -0.00187276 0.999944    0.00933281     uwb: 0.50084058     1231.75  709.697  
imu_odom_:  1691062487.224001796  0.543484   -0.189142  10.0245    -0.0692422  0.0127832   0.0479369   0.2        -0.02         pose: 0.38945841    2.74332    -3.9619     0 -0.00377612 -0.0010339  0.99995     0.00916279     uwb: 0.0            1231.75  709.697  
imu_odom_:  1691062487.239923740  0.371101   -0.117316  10.3214    -0.0511327  0.015979    0.0330232   0.2        -0.02         pose: 0.0           2.74332    -3.9619     0 -0.00377612 -0.0010339  0.99995     0.00916279     uwb: 0.49913449     1231.7   710.8    
imu_odom_:  1691062487.265029345  0.122104   -0.464475  9.91439    -0.0745685  -0.0255663  0.0426106   0.2        -0.02         pose: 0.49996275    2.73356    -3.96408    0 0.000345544 -0.00193536 0.999955    0.00924282     uwb: 0.0            1231.7   710.8    
imu_odom_:  1691062487.292217825  0.344765   -0.294487  9.67018    -0.0223706  0.00745685  0.0266316   0.2        -0.02         pose: 0.0           2.73356    -3.96408    0 0.000345544 -0.00193536 0.999955    0.00924282     uwb: 0.50136261     1231.2   711.425  
imu_odom_:  1691062487.316974341  0.744597   -0.335188  10.1059    -0.0617853  -0.00426106 0.0394148   0.19       -0.02         pose: 0.42015617    2.7238     -3.96626    0 0.000365486 -0.0004579360.999957    0.00921253     uwb: 0.0            1231.2   711.425  
imu_odom_:  1691062487.343082013  0.100556   -0.203507  10.1969    -0.0468716  -0.015979   0.0426106   0.19       -0.02         pose: 0.0           2.7238     -3.96626    0 0.000365486 -0.0004579360.999957    0.00921253     uwb: 0.49870287     1230.12  712.252  
imu_odom_:  1691062487.358125253  0.438139   -0.339977  9.60793    -0.0543285  -0.00426106 0.0543285   0.17       0.02          pose: 0.52057567    2.71186    -3.95868    0 -0.00202812 -0.00337288 0.999948    0.00936429     uwb: 0.0            1230.12  712.252  
imu_odom_:  1691062487.384059984  0.416591   -0.0502782 10.1849    -0.0415453  -0.0298274  0.0287621   0.17       0.02          pose: 0.0           2.71186    -3.95868    0 -0.00202812 -0.00337288 0.999948    0.00936429     uwb: 0.50031562     1231.33  713.827  
imu_odom_:  1691062487.406975101  0.023942   -0.565032  9.38766    -0.0756338  -0.00745685 0.056459    0.19       0             pose: 0.50086683    2.7021     -3.96086    0 -0.00216318 -0.00327256 0.999949    0.0092731      uwb: 0.0            1231.33  713.827  
imu_odom_:  1691062487.432948036  0.191536   -0.191536  9.93115    -0.04048    -0.00532632 0.0308927   0.19       0             pose: 0.0           2.7021     -3.96086    0 -0.00216318 -0.00327256 0.999949    0.0092731      uwb: 0.49827708     1230.68  714.632  
imu_odom_:  1691062487.447049288  0.392649   -0.169988  10.4363    -0.0639159  -0.0170442  0.056459    0.19       0             pose: 0.40880564    2.7021     -3.96086    0 -0.00123557 -0.00159347 0.999955    0.00929563     uwb: 0.0            1230.68  714.632  
imu_odom_:  1691062487.470979011  0.23942    -0.0335188 9.97185    -0.0255663  0.0447411   0.0415453   0.19       0             pose: 0.0           2.7021     -3.96086    0 -0.00123557 -0.00159347 0.999955    0.00929563     uwb: 0.0            1230.68  714.632  
imu_odom_:  1691062487.493890045  0.847547   -0.349553  9.63427    -0.0596548  -0.0117179  0.0543285   0.22       0.02          pose: 0.48070301    2.69234    -3.96304    0 -0.00422469 -0.00110846 0.999948    0.00921097     uwb: 0.50004732     1229.33  714.268  
imu_odom_:  1691062487.511135440  0.248997   -0.378284  9.01896    -0.0468716  0.0585895   0.0490022   0.22       0.02          pose: 0.0           2.69234    -3.96304    0 -0.00422469 -0.00110846 0.999948    0.00921097     uwb: 0.0            1229.33  714.268  
imu_odom_:  1691062487.536038941  -0.141258  -0.416591  9.62469    -0.0490022  0           0.0628506   0.18       0             pose: 0.72080225    2.67512    -3.95665    0 -0.0042967  -0.0002679310.999951    0.00886565     uwb: 0.49977027     1230.58  716.273  
imu_odom_:  1691062487.561894929  0.162806   -0.0263362 9.72764    -0.0308927  -0.02024    0.0468716   0.18       0             pose: 0.7775053     2.67064    -3.95766    0 -0.00503164 -0.0005397650.999949    0.00877636     uwb: 0.0            1230.58  716.273  
imu_odom_:  1691062487.577006121  0.560243   -0.198719  9.98861    -0.0628506  -0.00319579 0.0585895   0.2        0             pose: 0.0           2.67064    -3.95766    0 -0.00503164 -0.0005397650.999949    0.00877636     uwb: 0.0            1230.58  716.273  
imu_odom_:  1691062487.602981973  0.586579   -0.306458  9.79228    -0.0553937  0.0415453   0.0447411   0.2        0             pose: 0.49023664    2.67064    -3.95766    0 -0.00703835 0.00141815  0.999939    0.00841236     uwb: 0.50175631     1230.2   717.241  
imu_odom_:  1691062487.626015203  0.792481   -0.361524  9.71088    -0.0798948  -0.0298274  0.0617853   0.18       0             pose: 0.35047816    2.66088    -3.95985    0 -0.00431289 0.000389969 0.999957    0.00825985     uwb: 0.0            1230.2   717.241  
imu_odom_:  1691062487.651035067  0.107739   -0.129287  9.63666    -0.0490022  0.036219    0.0458064   0.18       0             pose: 0.6920555     2.66088    -3.95985    0 -0.00356878 8.5089e-05  0.99996     0.0081834      uwb: 0.50034187     1229.46  717.643  
imu_odom_:  1691062487.667957911  0.287304   -0.287304  10.0245    -0.0990696  -0.00213053 0.0703074   0.23       0             pose: 0.0           2.66088    -3.95985    0 -0.00356878 8.5089e-05  0.99996     0.0081834      uwb: 0.0            1229.46  717.643  
imu_odom_:  1691062487.692912157  0.641646   -0.553061  9.71567    -0.0660464  0.0255663   0.0383495   0.23       0             pose: 0.41132539    2.65113    -3.96206    0 -0.00468184 0.000356388 0.999958    0.00792479     uwb: 0.49930365     1229.94  719.065  
imu_odom_:  1691062487.716940454  0.632069   -0.275333  10.1586    -0.0543285  -0.036219   0.0479369   0.2        0             pose: 0.24907001    2.64137    -3.96427    0 -0.00472071 -0.00221808 0.999957    0.00767949     uwb: 0.0            1229.94  719.065  
imu_odom_:  1691062487.742043143  0.629675   -0.42138   10.3717    -0.0415453  0.00106526  0.0394148   0.2        0             pose: 0.0           2.64137    -3.96427    0 -0.00472071 -0.00221808 0.999957    0.00767949     uwb: 0.49838790     1229.53  720.067  
imu_odom_:  1691062487.757913175  0.481235   0          9.66539    -0.0575243  -0.015979   0.0415453   0.18       0             pose: 0.48162750    2.63916    -3.95451    0 -0.000333722-0.00369647 0.999964    0.00760752     uwb: 0.0            1229.53  720.067  
imu_odom_:  1691062487.783034238  0.155623   -0.387861  9.47146    -0.056459   0.0319579   0.0458064   0.18       0             pose: 0.0           2.63916    -3.95451    0 -0.000333722-0.00369647 0.999964    0.00760752     uwb: 0.50009690     1231.31  722.856  
imu_odom_:  1691062487.807905075  0.0742203  -0.383072  9.56005    -0.0585895  -0.00213053 0.0479369   0.18       0.02          pose: 0.40875898    2.62941    -3.95673    0 0.000790945 -0.00319456 0.999966    0.00757865     uwb: 0.0            1231.31  722.856  
imu_odom_:  1691062487.824889162  0.634463   -0.177171  10.0389    -0.04048    -0.072438   0.0426106   0.18       0.02          pose: 0.0           2.62941    -3.95673    0 0.000790945 -0.00319456 0.999966    0.00757865     uwb: 0.0            1231.31  722.856  
imu_odom_:  1691062487.849074069  0.639252   -0.332794  10.1538    -0.0660464  -0.0245011  0.0426106   0.25       0             pose: 0.49925115    2.61966    -3.95894    0 -0.00273044 -0.00433375 0.99996     0.00739559     uwb: 0.50103597     1232.67  725.161  
imu_odom_:  1691062487.876095732  0.493206   0.00957681 10.0844    -0.0266316  0.0127832   0.0426106   0.2        0             pose: 0.34168238    2.61316    -3.96042    0 0.00116464  -0.00438433 0.999963    0.00735408     uwb: 0.0            1232.67  725.161  
imu_odom_:  1691062487.901933056  0.344765   -0.0981623 10.1035    -0.0543285  -0.0298274  0.0447411   0.2        0             pose: 0.0           2.61316    -3.96042    0 0.00116464  -0.00438433 0.999963    0.00735408     uwb: 0.50035354     1232.87  726.381  
imu_odom_:  1691062487.929012464  0.581791   -0.407014  10.2999    -0.0660464  -0.092678   0.0671117   0.25       0             pose: 0.8039276     2.60991    -3.96116    0 0.0012701   -0.00348271 0.999966    0.00734376     uwb: 0.0            1232.87  726.381  
imu_odom_:  1691062487.945014024  0.964863   -0.301669  9.65103    -0.0596548  -0.0276969  0.0383495   0.25       0             pose: 0.0           2.60991    -3.96116    0 0.0012701   -0.00348271 0.999966    0.00734376     uwb: 0.49998024     1234.35  728.984  
imu_odom_:  1691062487.971990484  0.40462    -0.28491   9.72764    -0.0351537  -0.0213053  0.0383495   0.25       -0.02         pose: 0.51774680    2.60016    -3.96338    0 0.00123981  0.000281189 0.999974    0.00715768     uwb: 0.0            1234.35  728.984  
imu_odom_:  1691062487.996859280  0.378284   -0.25618   9.5385     -0.0490022  0.0319579   0.0394148   0.25       -0.02         pose: 0.0           2.60016    -3.96338    0 0.00123981  0.000281189 0.999974    0.00715768     uwb: 0.49959528     1234.45  729.82   
imu_odom_:  1691062488.23869868   0.246603   -0.311246  9.88326    -0.0628506  -0.0213053  0.0500674   0.23       -0.02         pose: 0.44201439    2.58818    -3.95585    0 0.0044691   -0.00186656 0.999965    0.00689247     uwb: 0.0            1234.45  729.82   
imu_odom_:  1691062488.39850437   0.490811   -0.143652  10.2831    -0.0511327  -0.0543285  0.0436758   0.23       -0.02         pose: 0.0           2.58818    -3.95585    0 0.0044691   -0.00186656 0.999965    0.00689247     uwb: 0.50004742     1234     730.336  
imu_odom_:  1691062488.64961300   0.699107   -0.225055  10.2496    -0.052198   0.00532632  0.0383495   0.19       0             pose: 0.50788362    2.57844    -3.95808    0 -0.000673938-0.0024373  0.999973    0.00685535     uwb: 0.0            1234     730.336  
imu_odom_:  1691062488.86896523   0.363919   -0.186748  9.92875    -0.0394148  0.052198    0.0330232   0.19       0             pose: 0.0           2.57844    -3.95808    0 -0.000673938-0.0024373  0.999973    0.00685535     uwb: 0.50046745     1234.54  731.616  
imu_odom_:  1691062488.112858968  0.586579   -0.158017  10.2065    -0.0543285  0.0149137   0.0532632   0.18       -0.02         pose: 0.67031713    2.56869    -3.96031    0 0.000912546 -0.00129133 0.999976    0.00675318     uwb: 0.0            1234.54  731.616  
imu_odom_:  1691062488.139915054  -0.0311246 -0.0957681 9.75637    -0.0308927  0.0181095   0.036219    0.23       0             pose: 0.41949429    2.56169    -3.96191    0 0.0015223   0.000645569 0.999977    0.00662787     uwb: 0.49943214     1234.44  732.681  
imu_odom_:  1691062488.165836670  0.373495   -0.263362  10.094     -0.0628506  -0.0447411  0.0479369   0.23       0             pose: 0.0           2.56169    -3.96191    0 0.0015223   0.000645569 0.999977    0.00662787     uwb: 0.0            1234.44  732.681  
imu_odom_:  1691062488.181901230  0.943315   -0.198719  9.89045    -0.0372843  0.00745685  0.0276969   0.23       0             pose: 0.7070168     2.55894    -3.96254    0 0.000755718 0.000895153 0.999977    0.00664027     uwb: 0.49856305     1233.81  733.388  
imu_odom_:  1691062488.206881149  0.237026   -0.280122  9.7444     -0.0756338  0           0.0596548   0.23       0             pose: 0.0           2.55894    -3.96254    0 0.000755718 0.000895153 0.999977    0.00664027     uwb: 0.0            1233.81  733.388  
imu_odom_:  1691062488.229814647  0.466869   -0.129287  10.2711    -0.0532632  -0.0245011  0.0245011   0.21       0             pose: 0.52923749    2.54696    -3.95503    0 -0.000283929-0.0009873990.999978    0.00661397     uwb: 0.0            1233.81  733.388  
imu_odom_:  1691062488.246829653  0.737414   -0.253785  9.56723    -0.0905475  0.0149137   0.04048     0.21       0             pose: 0.0           2.54696    -3.95503    0 -0.000283929-0.0009873990.999978    0.00661397     uwb: 0.50015832     1233.53  734.176  
imu_odom_:  1691062488.273001786  0.191536   -0.497994  9.31105    -0.0394148  0.0735032   0.0340885   0.18       0             pose: 0.40983235    2.54696    -3.95503    0 -0.0013768  -0.00122015 0.999977    0.00646796     uwb: 0.0            1233.53  734.176  
imu_odom_:  1691062488.299990504  0.45011    -0.270545  9.87129    -0.0756338  0.0181095   0.0372843   0.18       0             pose: 0.0           2.54696    -3.95503    0 -0.0013768  -0.00122015 0.999977    0.00646796     uwb: 0.49980834     1234.04  735.469  
imu_odom_:  1691062488.325883831  0.131681   -0.177171  10.2592    -0.0372843  -0.0447411  0.0415453   0.2        0             pose: 0.41008315    2.53721    -3.95726    0 0.00050987  -0.00103307 0.999978    0.006601       uwb: 0.0            1234.04  735.469  
imu_odom_:  1691062488.342890671  0.505177   -0.280122  9.63187    -0.052198   0.0340885   0.0266316   0.2        0             pose: 0.0           2.53721    -3.95726    0 0.00050987  -0.00103307 0.999978    0.006601       uwb: 0.50095449     1235.42  737.167  
imu_odom_:  1691062488.368930692  0.100556   -0.213084  9.80665    -0.0415453  -0.00852212 0.036219    0.23       0             pose: 0.52994325    2.52746    -3.95949    0 0.000385712 -0.00264402 0.999974    0.00667625     uwb: 0.0            1235.42  737.167  
imu_odom_:  1691062488.392934500  0.155623   -0.433351  9.44752    -0.0490022  0.00426106  0.0287621   0.23       0             pose: 0.25075867    2.51772    -3.96173    0 -0.000408205-0.00205831 0.999975    0.00670004     uwb: 0.49948171     1234.99  738.109  
imu_odom_:  1691062488.419827852  0.153229   -0.0670376 10.1897    -0.0532632  -0.00319579 0.04048     0.23       0             pose: 0.36016065    2.5161     -3.95467    0 -0.00215058 -0.00170626 0.999973    0.0068049      uwb: 0.0            1234.99  738.109  
imu_odom_:  1691062488.435811045  0.926556   -0.172383  9.97424    -0.052198   -0.0149137  0.0490022   0.19       0             pose: 0.6900727     2.51549    -3.95198    0 -0.00269649 -0.0021424  0.999971    0.00684241     uwb: 0.50058702     1235.85  739.901  
imu_odom_:  1691062488.462811720  0.691924   0.0407014  10.2759    -0.0681769  -0.0127832  0.0532632   0.19       0             pose: 0.0           2.51549    -3.95198    0 -0.00269649 -0.0021424  0.999971    0.00684241     uwb: 0.0            1235.85  739.901  
imu_odom_:  1691062488.487978870  0.270545   -0.354342  10.1251    -0.0532632  -0.0106526  0.0330232   0.2        0             pose: 0.52064584    2.50574    -3.95421    0 -0.00487253 -0.0009854850.999964    0.00687197     uwb: 0.49999208     1236.83  742.004  
imu_odom_:  1691062488.514821185  0.390255   -0.328006  9.62708    -0.0639159  -0.036219   0.0383495   0.2        0             pose: 0.0           2.50574    -3.95421    0 -0.00487253 -0.0009854850.999964    0.00687197     uwb: 0.0            1236.83  742.004  
imu_odom_:  1691062488.540804045  0.454898   -0.225055  10.1059    -0.0351537  0.0106526   0.0170442   0.18       -0.02         pose: 0.42925541    2.49599    -3.95643    0 -0.00215941 -0.0001403470.999975    0.0066729      uwb: 0.49929798     1237.44  744.04   
imu_odom_:  1691062488.557798637  0.282516   -0.253785  10.2304    -0.0479369  0.00958738  0.0468716   0.18       -0.02         pose: 0.0           2.49599    -3.95643    0 -0.00215941 -0.0001403470.999975    0.0066729      uwb: 0.0            1237.44  744.04   
imu_odom_:  1691062488.583803953  0.306458   -0.172383  9.7875     -0.0511327  0.0660464   0.0447411   0.18       0.02          pose: 0.51992258    2.48624    -3.95867    0 -0.000825244-0.0034333  0.99997     0.00684897     uwb: 0.49935340     1237.34  744.593  
imu_odom_:  1691062488.610802003  0.442927   -0.433351  9.44752    -0.0575243  0.0117179   0.0532632   0.25       0.02          pose: 0.42992326    2.47649    -3.96089    0 -0.00222809 -0.00132068 0.999972    0.00696913     uwb: 0.0            1237.34  744.593  
imu_odom_:  1691062488.636853689  -0.241814  -0.114922  9.94073    -0.0234358  0.0543285   0.0415453   0.18       0.02          pose: 0.0           2.47649    -3.96089    0 -0.00222809 -0.00132068 0.999972    0.00696913     uwb: 0.50060451     1237.56  745.697  
imu_odom_:  1691062488.663795745  0.440533   -0.268151  9.77074    -0.0575243  0.0213053   0.0479369   0.25       0             pose: 0.53077733    2.46452    -3.95337    0 -0.00402949 -0.00200449 0.999967    0.00673502     uwb: 0.0            1237.56  745.697  
imu_odom_:  1691062488.679790020  0.0670376  -0.126893  9.85932    -0.0426106  0.0511327   0.0468716   0.25       0             pose: 0.0           2.46452    -3.95337    0 -0.00402949 -0.00200449 0.999967    0.00673502     uwb: 0.0            1237.56  745.697  
imu_odom_:  1691062488.706783987  0.414197   -0.325611  9.96227    -0.0596548  -0.0245011  0.052198    0.23       0.02          pose: 0.60906159    2.45477    -3.9556     0 -0.00586995 -0.00098143 0.999961    0.00654571     uwb: 0.49925132     1237.88  746.68   
imu_odom_:  1691062488.731861021  0.28491    0.0215478  10.489     -0.0681769  -0.00852212 0.052198    0.23       0.02          pose: 0.7035755     2.45477    -3.9556     0 -0.00523008 -0.00141109 0.999964    0.00650418     uwb: 0.0            1237.88  746.68   
imu_odom_:  1691062488.757925539  0.385466   -0.251391  9.89284    -0.0777643  -0.0181095  0.0394148   0.22       0.02          pose: 0.45035246    2.44502    -3.95784    0 -0.00375337 -0.0003089750.999974    0.00621796     uwb: 0.50022539     1237.94  747.507  
imu_odom_:  1691062488.783774246  0.438139   -0.323217  10.1538    -0.0660464  0.0127832   0.0351537   0.22       0.02          pose: 0.0           2.44502    -3.95784    0 -0.00375337 -0.0003089750.999974    0.00621796     uwb: 0.50095449     1236.37  746.97   
imu_odom_:  1691062488.800888701  0.263362   -0.1652    9.94791    -0.0660464  -0.02024    0.0394148   0.21       -0.02         pose: 0.51913225    2.43528    -3.96008    0 0.000154392 -0.00397528 0.999972    0.00628751     uwb: 0.0            1236.37  746.97   
imu_odom_:  1691062488.825824582  0.433351   -0.124498  10.0724    -0.0671117  -0.036219   0.0372843   0.21       -0.02         pose: 0.0           2.43528    -3.96008    0 0.000154392 -0.00397528 0.999972    0.00628751     uwb: 0.0            1236.37  746.97   
imu_odom_:  1691062488.852780053  0.497994   -0.100556  10.082     -0.0585895  -0.0138484  0.0468716   0.21       0.02          pose: 0.42050336    2.42612    -3.95192    0 0.000219298 -0.0007090370.99998     0.00631092     uwb: 0.49800311     1235.26  746.834  
imu_odom_:  1691062488.878775161  0.294487   -0.229843  9.90481    -0.0596548  -0.00319579 0.04048     0.18       0.02          pose: 0.26955471    2.42329    -3.95257    0 0.00191616  0.00143971  0.999978    0.00621415     uwb: 0.0            1235.26  746.834  
imu_odom_:  1691062488.895770920  0.280122   -0.215478  9.76834    -0.0415453  0.04048     0.0394148   0.23       0             pose: 0.0           2.42329    -3.95257    0 0.00191616  0.00143971  0.999978    0.00621415     uwb: 0.50064826     1234.74  747.386  
imu_odom_:  1691062488.920747339  0.833182   -0.268151  10.2017    -0.0607201  0.0458064   0.0415453   0.23       0             pose: 0.33032030    2.41355    -3.95481    0 -0.00144968 0.000624608 0.999979    0.00620577     uwb: 0.0            1234.74  747.386  
imu_odom_:  1691062488.947883042  0.486023   -0.363919  10.0293    -0.052198   0.015979    0.0372843   0.21       0.02          pose: 0.0           2.41355    -3.95481    0 -0.00144968 0.000624608 0.999979    0.00620577     uwb: 0.50005041     1233.63  747.256  
imu_odom_:  1691062488.973827405  0.581791   -0.433351  9.79947    -0.0585895  -0.0127832  0.0426106   0.19       0             pose: 0.42009215    2.4038     -3.95705    0 -0.000503441-0.0004133120.999981    0.00619017     uwb: 0.0            1233.63  747.256  
imu_odom_:  1691062489.804457     0.54109    -0.169988  10.477     -0.0287621  0.00426106  0.0479369   0.23       0.02          pose: 0.28079150    2.4038     -3.95705    0 0.000961686 -0.00266676 0.999977    0.00620308     uwb: 0.0            1233.63  747.256  
imu_odom_:  1691062489.26773326   0.751779   -0.361524  9.77074    -0.052198   0.00745685  0.036219    0.18       0.02          pose: 0.24894760    2.39405    -3.9593     0 0.00264813  -0.00333979 0.999972    0.00615151     uwb: 0.0            1233.63  747.256  
imu_odom_:  1691062489.42739902   -0.131681  -0.282516  9.37809    -0.02024    0.0490022   0.0319579   0.18       0.02          pose: 0.0           2.39405    -3.9593     0 0.00264813  -0.00333979 0.999972    0.00615151     uwb: 0.100175450    1233.33  748.03   
imu_odom_:  1691062489.68903002   0.181959   -0.201113  9.7444     -0.04048    -0.0149137  0.0458064   0.18       0             pose: 0.28165769    2.39405    -3.9593     0 0.00443382  -0.00176346 0.99997     0.00608957     uwb: 0.0            1233.33  748.03   
imu_odom_:  1691062489.95974554   0.756568   -0.0981623 10.5153    -0.0681769  -0.0511327  0.0500674   0.18       0             pose: 0.0           2.39405    -3.9593     0 0.00443382  -0.00176346 0.99997     0.00608957     uwb: 0.49934773     1232.33  748.229  
imu_odom_:  1691062489.120887696  0.588974   -0.146046  9.95748    -0.0532632  -0.0585895  0.0458064   0.18       0.02          pose: 0.41976858    2.38207    -3.95179    0 0.00317818  -0.00199814 0.999974    0.00614825     uwb: 0.0            1232.33  748.229  
imu_odom_:  1691062489.147916377  0.339977   -0.124498  10.1011    -0.0500674  -0.00426106 0.04048     0.18       0.02          pose: 0.0           2.38207    -3.95179    0 0.00317818  -0.00199814 0.999974    0.00614825     uwb: 0.50143877     1232.24  749.205  
imu_odom_:  1691062489.163860788  0.603339   -0.3304    9.5816     -0.0500674  0.0138484   0.0383495   0.2        0             pose: 0.52901310    2.37232    -3.95404    0 0.00543471  -7.50704e-050.999968    0.00592982     uwb: 0.0            1232.24  749.205  
imu_odom_:  1691062489.188728143  0.737414   -0.208296  9.65821    -0.0585895  -0.0245011  0.0617853   0.2        0             pose: 0.0           2.37232    -3.95404    0 0.00543471  -7.50704e-050.999968    0.00592982     uwb: 0.0            1232.24  749.205  
imu_odom_:  1691062489.211740099  0.347159   0.0790087  9.51935    -0.13955    0.0543285   0.0788296   0.2        0             pose: 0.51030456    2.36258    -3.95628    0 0.00499407  0.00142172  0.999969    0.00587906     uwb: 0.0            1232.24  749.205  
imu_odom_:  1691062489.236716527  0.373495   -0.861913  9.88566    -0.0745685  -0.0170442  0.0383495   0.2        0             pose: 0.39903314    2.36258    -3.95628    0 0.00763987  0.00080686  0.999955    0.00548935     uwb: 0.99728394     1231.45  749.18   
imu_odom_:  1691062489.253733872  0.545878   -0.253785  10.0916    -0.0308927  0.0181095   -0.036219   0.22       0             pose: 0.41943612    2.35124    -3.95166    0 0.0057405   -0.00121896 0.999969    0.00517667     uwb: 0.0            1231.45  749.18   
imu_odom_:  1691062489.278739755  0.378284   -0.409408  9.97903    -0.0884169  -0.0308927  0.106526    0.22       0             pose: 0.0           2.35124    -3.95166    0 0.0057405   -0.00121896 0.999969    0.00517667     uwb: 0.0            1231.45  749.18   
imu_odom_:  1691062489.305749479  0.687136   -0.150835  10.3765    -0.0607201  0.0213053   0.0106526   0.23       0             pose: 0.7042756     2.35057    -3.9488     0 0.00627783  -0.00147332 0.999964    0.00544194     uwb: 0.49986976     1232.41  751.201  
imu_odom_:  1691062489.321839709  0.292093   0.100556   9.73961    -0.0745685  -0.0127832  0.0458064   0.23       0             pose: 0.0           2.35057    -3.9488     0 0.00627783  -0.00147332 0.999964    0.00544194     uwb: 0.0            1232.41  751.201  
imu_odom_:  1691062489.345716663  -0.011971  -0.45011   10.0149    -0.0671117  -0.00639159 0.0308927   0.25       0.02          pose: 0.41993773    2.34083    -3.95105    0 0.00601052  -0.00355288 0.999963    0.005074       uwb: 0.50183248     1232.01  751.631  
imu_odom_:  1691062489.369724561  -0.0454898 -0.447716  10.0413    -0.0575243  0.0149137   0.0394148   0.25       0.02          pose: 0.0           2.34083    -3.95105    0 0.00601052  -0.00355288 0.999963    0.005074       uwb: 0.0            1232.01  751.631  
imu_odom_:  1691062489.394901635  0.474052   -0.277727  10.1059    -0.056459   -0.0266316  0.036219    0.19       0             pose: 0.42965801    2.33109    -3.95332    0 0.00579838  -0.00142935 0.999968    0.00536406     uwb: 0.0            1232.01  751.631  
imu_odom_:  1691062489.411835864  0.430956   -0.452504  9.88087    -0.0649811  0.015979    0.0372843   0.19       0             pose: 0.0           2.33109    -3.95332    0 0.00579838  -0.00142935 0.999968    0.00536406     uwb: 0.0            1232.01  751.631  
imu_odom_:  1691062489.437748448  0.481235   -0.304064  9.71806    -0.0490022  -0.0138484  0.0276969   0.2        0.02          pose: 0.49035654    2.32135    -3.95557    0 0.00261965  -0.00306607 0.999977    0.0054426      uwb: 0.99672107     1232.64  753.125  
imu_odom_:  1691062489.464804251  0.184354   -0.253785  9.84017    -0.0628506  -0.0117179  0.0479369   0.23       -0.02         pose: 0.41960818    2.31161    -3.95783    0 0.00436332  -0.00435963 0.999966    0.00553821     uwb: 0.0            1232.64  753.125  
imu_odom_:  1691062489.490802869  0.538695   -0.186748  9.93594    -0.0330232  0.00106526  0.0181095   0.18       -0.02         pose: 0.25024547    2.31161    -3.95783    0 0.00502578  -0.00298331 0.999967    0.00562484     uwb: 0.49998059     1231.8   754.016  
imu_odom_:  1691062489.517698854  0.811634   -0.208296  10.0293    -0.0511327  -0.00958738 0.0468716   0.25       -0.02         pose: 0.28159360    2.29961    -3.95034    0 0.00361023  -0.00223729 0.999975    0.00562608     uwb: 0.0            1231.8   754.016  
imu_odom_:  1691062489.533804833  0.155623   -0.160412  9.23444    -0.0383495  0.0298274   0.0266316   0.25       -0.02         pose: 0.0           2.29961    -3.95034    0 0.00361023  -0.00223729 0.999975    0.00562608     uwb: 0.49995433     1231.22  754.633  
imu_odom_:  1691062489.560847221  0.222661   -0.622492  9.55765    -0.0830906  -0.0340885  0.052198    0.23       -0.02         pose: 0.24819527    2.29961    -3.95034    0 0.00546083  -0.00064064 0.999968    0.00580077     uwb: 0.0            1231.22  754.633  
imu_odom_:  1691062489.585721283  0.462081   -0.21069   9.64863    -0.0426106  -0.02024    0.0245011   0.23       -0.02         pose: 0.0           2.29961    -3.95034    0 0.00546083  -0.00064064 0.999968    0.00580077     uwb: 0.49990476     1231.75  755.782  
imu_odom_:  1691062489.612789918  0.105345   -0.387861  9.77313    -0.0479369  -0.00106526 0.0383495   0.21       0.02          pose: 0.44142267    2.28987    -3.95259    0 0.00529815  -0.00084853 0.999969    0.00578028     uwb: 0.0            1231.75  755.782  
imu_odom_:  1691062489.628722664  0.289698   -0.316035  10.058     -0.0543285  0           0.04048     0.21       0.02          pose: 0.0           2.28987    -3.95259    0 0.00529815  -0.00084853 0.999969    0.00578028     uwb: 0.0            1231.75  755.782  
imu_odom_:  1691062489.655687185  0.409408   -0.306458  10.1107    -0.0468716  -0.0287621  0.0458064   0.25       0.02          pose: 0.51003624    2.28012    -3.95483    0 0.00292747  -0.0005311320.999978    0.00584973     uwb: 0.50104506     1232.18  757.036  
imu_odom_:  1691062489.680747312  0.0670376  -0.308852  10.1682    -0.0543285  0.036219    0.056459    0.25       0.02          pose: 0.0           2.28012    -3.95483    0 0.00292747  -0.0005311320.999978    0.00584973     uwb: 0.0            1232.18  757.036  
imu_odom_:  1691062489.705018559  0.0430956  -0.435745  9.75158    -0.0308927  0.0245011   0.0287621   0.2        0             pose: 0.43858504    2.27038    -3.95708    0 -5.5286e-05 -0.00278705 0.999979    0.00582413     uwb: 0.49996017     1232.02  757.63   
imu_odom_:  1691062489.728743278  0.651223   -0.306458  9.96706    -0.0628506  -0.0319579  0.0585895   0.2        0             pose: 0.50991376    2.25838    -3.94959    0 -0.0031269  -0.0047223  0.999968    0.00558161     uwb: 0.0            1232.02  757.63   
imu_odom_:  1691062489.744682148  0.342371   -0.280122  9.72046    -0.052198   0.0138484   0.0458064   0.19       0             pose: 0.0           2.25838    -3.94959    0 -0.0031269  -0.0047223  0.999968    0.00558161     uwb: 0.50012932     1232.29  759.035  
imu_odom_:  1691062489.771793654  -0.0981623 -0.217872  9.75158    -0.0660464  0.036219    0.0575243   0.19       0             pose: 0.24003524    2.25838    -3.94959    0 -0.00420992 -0.00518518 0.999962    0.00561025     uwb: 0.0            1232.29  759.035  
imu_odom_:  1691062489.796670633  0.0550666  -0.150835  9.47146    -0.0553937  0.00213053  0.0330232   0.25       0             pose: 0.39974183    2.24864    -3.95184    0 -0.00396611 -0.00367786 0.999971    0.00533435     uwb: 0.50001267     1231.36  759.156  
imu_odom_:  1691062489.823823552  0.474052   -0.397437  9.51216    -0.108657   0.0106526   0.0649811   0.23       0             pose: 0.44978392    2.2418     -3.95343    0 -0.00860313 -0.00222604 0.999947    0.00521312     uwb: 0.0            1231.36  759.156  
imu_odom_:  1691062489.839742007  0.584185   -0.251391  10.4339    -0.076699   0.00106526  0.0330232   0.23       0             pose: 0.0           2.2418     -3.95343    0 -0.00860313 -0.00222604 0.999947    0.00521312     uwb: 0.50031596     1230.44  759.279  
imu_odom_:  1691062489.866724901  0.646434   -0.179565  9.84017    -0.0745685  0.00213053  0.0447411   0.23       0.02          pose: 0.7133164     2.2389     -3.9541     0 -0.0080476  -0.00278718 0.999951    0.00512559     uwb: 0.0            1230.44  759.279  
imu_odom_:  1691062489.891677122  0.773327   -0.253785  9.99819    -0.036219   -0.015979   0.0287621   0.23       0.02          pose: 0.0           2.2389     -3.9541     0 -0.0080476  -0.00278718 0.999951    0.00512559     uwb: 0.49998642     1231.03  760.762  
imu_odom_:  1691062489.918660308  0.45011    -0.158017  9.63427    -0.0553937  -0.00852212 0.04048     0.22       0.02          pose: 0.43964660    2.2389     -3.9541     0 -0.0042276  -0.00408642 0.999971    0.0049174      uwb: 0.0            1231.03  760.762  
imu_odom_:  1691062489.944773830  0.533907   -0.368707  10.0245    -0.0500674  -0.02024    0.0415453   0.22       0.02          pose: 0.0           2.2389     -3.9541     0 -0.0042276  -0.00408642 0.999971    0.0049174      uwb: 0.50059302     1231.53  762.329  
imu_odom_:  1691062489.961771927  0.320823   -0.3304    9.56244    -0.056459   -0.0106526  0.0458064   0.25       0             pose: 0.50930715    2.22689    -3.94663    0 0.000406314 -0.00257089 0.999984    0.00501386     uwb: 0.0            1231.53  762.329  
imu_odom_:  1691062489.986643365  0.124498   -0.0861913 9.73961    -0.0266316  0.0340885   0.0372843   0.25       0             pose: 0.0           2.22689    -3.94663    0 0.000406314 -0.00257089 0.999984    0.00501386     uwb: 0.49944106     1231.62  763.475  
imu_odom_:  1691062490.12769722   0.452504   -0.234632  9.50259    -0.0692422  0.00639159  0.0383495   0.2        0             pose: 0.53099624    2.21715    -3.94889    0 0.00233163  -0.00301543 0.99998     0.00495559     uwb: 0.0            1231.62  763.475  
imu_odom_:  1691062490.38664525   0.292093   -0.457293  9.57441    -0.0532632  -0.00426106 0.0500674   0.19       0             pose: 0.17890509    2.20741    -3.95115    0 0.000639048 -0.00289819 0.999983    0.00492856     uwb: 0.49970654     1231.25  764.265  
imu_odom_:  1691062490.64779223   0.366313   -0.349553  9.55526    -0.0351537  0.0117179   0.0319579   0.19       0             pose: 0.43080417    2.20053    -3.95276    0 0.0013199   -0.00146534 0.999986    0.00496531     uwb: 0.0            1231.25  764.265  
imu_odom_:  1691062490.89632587   0.612916   -0.423774  10.0293    -0.0596548  -0.0245011  0.0596548   0.2        0             pose: 0.7914173     2.19767    -3.95342    0 0.00089312  -0.00212399 0.999985    0.00492229     uwb: 0.49887836     1232.15  765.814  
imu_odom_:  1691062490.105662745  0.732626   -0.337582  9.78031    -0.0426106  -0.02024    0.0330232   0.2        0             pose: 0.0           2.19767    -3.95342    0 0.00089312  -0.00212399 0.999985    0.00492229     uwb: 0.0            1232.15  765.814  
imu_odom_:  1691062490.130991479  0.337582   -0.23942   9.98622    -0.036219   0.00958738  0.0351537   0.19       0             pose: 0.51017932    2.19767    -3.95342    0 -0.000819027-0.00593035 0.99997     0.00485458     uwb: 0.0            1232.15  765.814  
imu_odom_:  1691062490.156790042  0.23942    -0.19393   9.6223     -0.0340885  -0.00852212 0.036219    0.19       0             pose: 0.0           2.19767    -3.95342    0 -0.000819027-0.00593035 0.99997     0.00485458     uwb: 0.49930415     1232.67  767.329  
imu_odom_:  1691062490.173844139  0.684742   -0.234632  9.89763    -0.0703074  -0.0596548  0.0532632   0.19       0             pose: 0.41023508    2.18793    -3.95569    0 0.00217129  -0.00599576 0.999968    0.00475978     uwb: 0.0            1232.67  767.329  
imu_odom_:  1691062490.197747348  0.751779   -0.174777  10.1179    -0.052198   -0.0809601  0.0372843   0.19       0             pose: 0.0           2.18793    -3.95569    0 0.00217129  -0.00599576 0.999968    0.00475978     uwb: 0.50271923     1233.1   768.525  
imu_odom_:  1691062490.221656098  0.304064   -0.335188  10.5058    -0.0458064  -0.00958738 0.04048     0.18       0             pose: 0.51087051    2.17593    -3.94822    0 -0.00058002 -0.00295509 0.999984    0.00478186     uwb: 0.0            1233.1   768.525  
imu_odom_:  1691062490.246651199  0.0454898  -0.184354  10.3094    -0.04048    -0.00532632 0.036219    0.18       0             pose: 0.0           2.17593    -3.94822    0 -0.00058002 -0.00295509 0.999984    0.00478186     uwb: 0.49769140     1232.56  769.056  
imu_odom_:  1691062490.263659218  0.725443   -0.138864  9.9503     -0.0500674  -0.00532632 0.0607201   0.21       0             pose: 0.41205490    2.16619    -3.95049    0 0.00325822  -0.00245714 0.99998     0.00474097     uwb: 0.0            1232.56  769.056  
imu_odom_:  1691062490.288815594  0.469264   -0.141258  10.0652    -0.0596548  0.0213053   0.0287621   0.21       0             pose: 0.0           2.16619    -3.95049    0 0.00325822  -0.00245714 0.99998     0.00474097     uwb: 0.49940331     1233.5   770.942  
imu_odom_:  1691062490.315686216  0.651223   -0.509965  9.77553    -0.0617853  -0.00319579 0.0596548   0.22       0             pose: 0.48664999    2.15645    -3.95276    0 1.21756e-05 -0.00199279 0.999987    0.00468958     uwb: 0.0            1233.5   770.942  
imu_odom_:  1691062490.332646698  0.227449   -0.237026  9.89763    -0.0340885  0.0234358   0.0276969   0.22       0             pose: 0.0           2.15645    -3.95276    0 1.21756e-05 -0.00199279 0.999987    0.00468958     uwb: 0.50111814     1233.41  771.426  
imu_odom_:  1691062490.349627012  0.505177   -0.0742203 10.0676    -0.0596548  -0.0458064  0.0607201   0.27       -0.02         pose: 0.41957041    2.14671    -3.95503    0 0.00205517  2.83891e-05 0.999987    0.00465694     uwb: 0.0            1233.41  771.426  
imu_odom_:  1691062490.374734976  0.751779   -0.270545  10.1706    -0.0660464  -0.0692422  0.0372843   0.27       -0.02         pose: 0.0           2.14671    -3.95503    0 0.00205517  2.83891e-05 0.999987    0.00465694     uwb: 0.0            1233.41  771.426  
imu_odom_:  1691062490.401609098  1.09415    -0.277727  9.83538    -0.0756338  -0.02024    0.0394148   0.23       0             pose: 0.44225399    2.1347     -3.94756    0 0.00171367  -0.0007802410.999988    0.00447516     uwb: 0.50018782     1233.5   772.531  
imu_odom_:  1691062490.426595449  0.897826   -0.392649  9.97664    -0.0575243  0.00426106  0.0298274   0.19       0             pose: 0.41748519    2.1347     -3.94756    0 0.00634446  -0.0006712660.99997     0.00440215     uwb: 0.0            1233.5   772.531  
imu_odom_:  1691062490.443596469  0.146046   -0.483629  10.1754    -0.0692422  0.00532632  0.0458064   0.22       0             pose: 0.0           2.1347     -3.94756    0 0.00634446  -0.0006712660.99997     0.00440215     uwb: 0.49997491     1232.99  773.424  
imu_odom_:  1691062490.468595361  0.572214   -0.275333  9.98382    -0.0628506  0.00639159  0.0340885   0.22       0             pose: 0.0           2.1347     -3.94756    0 0.00634446  -0.0006712660.99997     0.00440215     uwb: 0.0            1232.99  773.424  
imu_odom_:  1691062490.495588471  0.675165   -0.418985  9.63906    -0.0426106  -0.0255663  0.0372843   0.23       -0.02         pose: 0.52016792    2.12496    -3.94983    0 0.0099666   -0.00253705 0.999937    0.00449407     uwb: 0.50100441     1233.25  773.962  
imu_odom_:  1691062490.520596112  0.390255   -0.110133  9.56723    -0.0234358  -0.00639159 0.0255663   0.19       0             pose: 0.42041032    2.11522    -3.95211    0 0.00701777  -0.00399749 0.999957    0.00452228     uwb: 0.0            1233.25  773.962  
imu_odom_:  1691062490.537647293  0.268151   -0.232238  9.5792     -0.0639159  -0.00106526 0.0500674   0.23       -0.02         pose: 0.27974471    2.10548    -3.95438    0 0.00817284  -0.00448683 0.999946    0.00459786     uwb: 0.49950829     1233.62  775.187  
imu_odom_:  1691062490.562602440  0.428562   -0.244209  9.03093    -0.036219   0.00213053  0.0213053   0.23       -0.02         pose: 0.16949983    2.10548    -3.95438    0 0.00636618  -0.00286391 0.999965    0.00468138     uwb: 0.0            1233.62  775.187  
imu_odom_:  1691062490.589612173  0.691924   -0.411803  10.3477    -0.0607201  -0.0383495  0.0511327   0.23       0             pose: 0.0           2.10548    -3.95438    0 0.00636618  -0.00286391 0.999965    0.00468138     uwb: 0.49798887     1233.13  775.66   
imu_odom_:  1691062490.614592400  0.73502    0.0574608  10.2352    -0.052198   -0.0553937  0.0394148   0.18       0.02          pose: 0.42050073    2.09347    -3.94691    0 0.00358075  -0.00228275 0.999979    0.00481011     uwb: 0.0            1233.13  775.66   
imu_odom_:  1691062490.631591087  0.476446   -0.347159  9.38288    -0.0905475  0.015979    0.0596548   0.23       0             pose: 0.0           2.09347    -3.94691    0 0.00358075  -0.00228275 0.999979    0.00481011     uwb: 0.49979994     1232.39  775.98   
imu_odom_:  1691062490.656804332  0.339977   -0.45011   9.50259    -0.0596548  -0.00106526 0.0213053   0.23       0             pose: 0.51905386    2.08374    -3.94918    0 0.00710217  -0.00206937 0.999962    0.00463581     uwb: 0.0            1232.39  775.98   
imu_odom_:  1691062490.683700327  0.351948   -0.296881  9.7444     -0.0596548  -0.0149137  0.0394148   0.2        0             pose: 0.0           2.08374    -3.94918    0 0.00710217  -0.00206937 0.999962    0.00463581     uwb: 0.50070401     1232.42  776.729  
imu_odom_:  1691062490.708602979  0.792481   -0.225055  10.2232    -0.0500674  -0.0223706  0.0415453   0.19       0             pose: 0.62072167    2.074      -3.95146    0 0.00206699  -0.00471313 0.999976    0.00473392     uwb: 0.0            1232.42  776.729  
imu_odom_:  1691062490.725645702  0.37589    -0.203507  9.83538    -0.0575243  0.0276969   0.0479369   0.19       0             pose: 0.0           2.074      -3.95146    0 0.00206699  -0.00471313 0.999976    0.00473392     uwb: 0.0            1232.42  776.729  
imu_odom_:  1691062490.750737627  0.35913    -0.169988  10.319     -0.04048    0.0532632   0.0553937   0.18       0.02          pose: 0.8055617     2.074      -3.95146    0 0.00292473  -0.00450474 0.999974    0.0047297      uwb: 0.50109481     1232.28  777.258  
imu_odom_:  1691062490.777591917  0.208296   -0.131681  10.1275    -0.0223706  -0.0383495  0.0372843   0.18       0.02          pose: 0.0           2.074      -3.95146    0 0.00292473  -0.00450474 0.999974    0.0047297      uwb: 0.0            1232.28  777.258  
imu_odom_:  1691062490.802706298  0.723049   -0.3304    9.91199    -0.0649811  -0.00639159 0.0575243   0.18       0.02          pose: 0.41843885    2.06426    -3.95373    0 0.00229805  -0.00243121 0.999984    0.00458789     uwb: 0.49884045     1232.9   778.598  
imu_odom_:  1691062490.829561172  0.222661   -0.0335188 9.98143    -0.0351537  0.0255663   0.0426106   0.18       0.02          pose: 0.0           2.06426    -3.95373    0 0.00229805  -0.00243121 0.999984    0.00458789     uwb: 0.0            1232.9   778.598  
imu_odom_:  1691062490.845555167  0.0526724  -0.349553  9.27753    -0.0692422  0.00426106  0.0639159   0.19       0             pose: 0.52005417    2.05225    -3.94626    0 -0.0005790230.00026087  0.99999     0.00440977     uwb: 0.50017323     1233.27  780.181  
imu_odom_:  1691062490.872558484  0.737414   -0.251391  9.43076    -0.0639159  0.0106526   0.0308927   0.19       0             pose: 0.0           2.05225    -3.94626    0 -0.0005790230.00026087  0.99999     0.00440977     uwb: 0.0            1233.27  780.181  
imu_odom_:  1691062490.897686571  0.136469   -0.430956  9.43794    -0.0777643  0.00319579  0.0671117   0.25       0             pose: 0.51975963    2.04251    -3.94854    0 -0.00205728 0.00129085  0.999989    0.0041204      uwb: 0.50040363     1232.23  780.009  
imu_odom_:  1691062490.924588399  0.172383   -0.162806  10.0844    -0.0596548  -0.0106526  0.0308927   0.23       0             pose: 0.14994552    2.04251    -3.94854    0 -0.00216046 0.000749249 0.999989    0.00405497     uwb: 0.0            1232.23  780.009  
imu_odom_:  1691062490.940694966  0.526724   -0.344765  9.80665    -0.0830906  -0.00426106 0.0543285   0.23       0             pose: 0.45110810    2.03277    -3.95082    0 -0.00234026 -0.00152533 0.999989    0.00379569     uwb: 0.50011491     1231.23  779.808  
imu_odom_:  1691062490.967584837  0.304064   -0.31364   10.4052    -0.0330232  0.00426106  0.036219    0.25       0             pose: 0.7208701     2.03277    -3.95082    0 -0.00297417 -0.00124407 0.999987    0.00382523     uwb: 0.0            1231.23  779.808  
imu_odom_:  1691062490.992537941  0.73502    -0.100556  9.88087    -0.0671117  -0.00532632 0.0479369   0.25       0             pose: 0.0           2.03277    -3.95082    0 -0.00297417 -0.00124407 0.999987    0.00382523     uwb: 0.49980868     1231.65  781.32   
imu_odom_:  1691062491.9589416    0.184354   -0.217872  9.57202    -0.0330232  0.00106526  0.0447411   0.23       0.02          pose: 0.43711241    2.02304    -3.95311    0 -0.00367148 -0.00212295 0.999984    0.00380604     uwb: 0.0            1231.65  781.32   
imu_odom_:  1691062491.34557403   0.0646434  -0.107739  9.991      -0.0511327  -0.0223706  0.0553937   0.23       0.02          pose: 0.0           2.02304    -3.95311    0 -0.00367148 -0.00212295 0.999984    0.00380604     uwb: 0.50039498     1232.52  783.173  
imu_odom_:  1691062491.51549387   1.11091    -0.416591  9.84735    -0.036219   -0.0308927  0.04048     0.23       0.02          pose: 0.0           2.02304    -3.95311    0 -0.00367148 -0.00212295 0.999984    0.00380604     uwb: 0.0            1232.52  783.173  
imu_odom_:  1691062491.76543913   0.399832   -0.440533  9.75877    -0.0553937  -0.00852212 0.0479369   0.23       0             pose: 0.51021432    2.01102    -3.94566    0 -0.00294904 -0.00250972 0.999986    0.00372169     uwb: 0.0            1232.52  783.173  
imu_odom_:  1691062491.103539949  0.617704   -0.102951  10.3932    -0.0553937  -0.0213053  0.0511327   0.21       0             pose: 0.76915968    2.00128    -3.94795    0 -0.00309812 -0.00340283 0.999984    0.00338835     uwb: 0.49822817     1232.45  784.375  
imu_odom_:  1691062491.119582652  0.821211   -0.397437  9.38766    -0.0649811  -0.0127832  0.0511327   0.21       0             pose: 0.0           2.00128    -3.94795    0 -0.00309812 -0.00340283 0.999984    0.00338835     uwb: 0.0            1232.45  784.375  
imu_odom_:  1691062491.145536083  0.241814   -0.354342  10.003     -0.036219   0.0255663   0.0479369   0.23       0.02          pose: 0.7010389     2.00128    -3.94795    0 -0.00244987 -0.00302089 0.999987    0.00334848     uwb: 0.50059336     1231.96  784.823  
imu_odom_:  1691062491.167529364  0.213084   -0.553061  9.29429    -0.0532632  0.00319579  0.052198    0.23       0.02          pose: 0.0           2.00128    -3.94795    0 -0.00244987 -0.00302089 0.999987    0.00334848     uwb: 0.0            1231.96  784.823  
imu_odom_:  1691062491.192527681  -0.0766145 -0.215478  9.57681    -0.0266316  -0.00532632 0.0308927   0.2        0             pose: 0.43039031    1.99155    -3.95025    0 0.000248927 -0.00277593 0.999991    0.00311422     uwb: 0.0            1231.96  784.823  
imu_odom_:  1691062491.209597824  0.699107   -0.543484  9.8689     -0.0628506  -0.036219   0.0500674   0.2        0             pose: 0.0           1.99155    -3.95025    0 0.000248927 -0.00277593 0.999991    0.00311422     uwb: 0.0            1231.96  784.823  
imu_odom_:  1691062491.234575726  0.739808   -0.112527  9.57441    -0.036219   0.0149137   0.052198    0.19       0             pose: 0.48008539    1.98182    -3.95255    0 -0.00360381 -0.00504668 0.999977    0.00291839     uwb: 0.99974020     1232.35  786.348  
imu_odom_:  1691062491.251647036  0.512359   -0.347159  9.67018    -0.0660464  -0.0287621  0.056459    0.19       0             pose: 0.0           1.98182    -3.95255    0 -0.00360381 -0.00504668 0.999977    0.00291839     uwb: 0.0            1232.35  786.348  
imu_odom_:  1691062491.276529281  0.0814029  -0.526724  9.4978     -0.052198   0.0479369   0.0319579   0.18       0             pose: 0.42929375    1.96978    -3.94513    0 -0.00297574 -0.00489937 0.999979    0.00285971     uwb: 0.0            1232.35  786.348  
imu_odom_:  1691062491.303532025  0.457293   -0.277727  9.88566    -0.0415453  -0.0458064  0.0500674   0.18       0             pose: 0.0           1.96978    -3.94513    0 -0.00297574 -0.00489937 0.999979    0.00285971     uwb: 0.50000425     1233.01  787.98   
imu_odom_:  1691062491.328540549  0.31364    -0.160412  10.2879    -0.0340885  0           0.0511327   0.2        0             pose: 0.42016549    1.96005    -3.94743    0 -0.000681759-0.00514344 0.999983    0.00264924     uwb: 0.0            1233.01  787.98   
imu_odom_:  1691062491.355544459  0.397437   -0.0407014 9.92875    -0.0532632  0.00745685  0.0383495   0.2        0             pose: 0.0           1.96005    -3.94743    0 -0.000681759-0.00514344 0.999983    0.00264924     uwb: 0.49940347     1232.54  789.146  
imu_odom_:  1691062491.380534902  0.0502782  -0.320823  9.67257    -0.0671117  0.00852212  0.0585895   0.19       0             pose: 0.0           1.95032    -3.94974    0 -5.28371e-05-0.00384319 0.999989    0.0025271      uwb: 0.0            1232.54  789.146  
imu_odom_:  1691062491.397522512  0.699107   -0.380678  10.1011    -0.056459   -0.0266316  0.0426106   0.19       0             pose: 0.0           1.95032    -3.94974    0 -5.28371e-05-0.00384319 0.999989    0.0025271      uwb: 0.50121747     1232.81  790.746  
imu_odom_:  1691062491.422516746  0.588974   -0.0885855 10.2544    -0.0681769  -0.0266316  0.0649811   0.18       -0.02         pose: 0.51901904    1.95032    -3.94974    0 -0.00180763 0.000163868 0.999996    0.0023649      uwb: 0.0            1232.81  790.746  
imu_odom_:  1691062491.449745508  1.00078    -0.0933739 10.2232    -0.0681769  0.00745685  0.0319579   0.23       -0.02         pose: 0.41933432    1.9406     -3.95206    0 -0.00101462 -0.00076817 0.999997    0.00208041     uwb: 0.50005091     1233.61  792.594  
imu_odom_:  1691062491.475526581  0.517148   -0.385466  9.6223     -0.0798948  0.0394148   0.0490022   0.2        0             pose: 0.24065367    1.92855    -3.94466    0 0.00123843  0.00016654  0.999997    0.00189125     uwb: 0.0            1233.61  792.594  
imu_odom_:  1691062491.502514743  0.0933739  -0.215478  9.92157    -0.04048    0.00532632  0.0394148   0.26       -0.02         pose: 0.28022893    1.92855    -3.94466    0 0.00315595  -0.0004107580.999993    0.00192891     uwb: 0.49878812     1233.3   793.236  
imu_odom_:  1691062491.518563279  0.840365   -0.385466  9.68215    -0.076699   -0.0223706  0.0447411   0.26       -0.02         pose: 0.0           1.92855    -3.94466    0 0.00315595  -0.0004107580.999993    0.00192891     uwb: 0.0            1233.3   793.236  
imu_odom_:  1691062491.545664596  0.675165   -0.268151  9.22965    -0.0436758  0.00106526  0.0340885   0.23       0.02          pose: 0.24955446    1.91882    -3.94698    0 0.0025543   -0.00220488 0.999993    0.00183864     uwb: 0.50045921     1233.11  794.487  
imu_odom_:  1691062491.570719782  0.253785   -0.215478  10.3837    -0.052198   0.0330232   0.036219    0.23       0.02          pose: 0.0           1.91882    -3.94698    0 0.0025543   -0.00220488 0.999993    0.00183864     uwb: 0.0            1233.11  794.487  
imu_odom_:  1691062491.597650491  0.402226   -0.0167594 9.72285    -0.0511327  -0.0330232  0.0415453   0.2        0             pose: 0.43949524    1.91882    -3.94698    0 0.00292769  -0.00245932 0.999991    0.00182084     uwb: 0.49915266     1232.94  795.36   
imu_odom_:  1691062491.622513196  0.45011    -0.296881  9.9503     -0.0468716  -0.0181095  0.0234358   0.2        0             pose: 0.0           1.91882    -3.94698    0 0.00292769  -0.00245932 0.999991    0.00182084     uwb: 0.0            1232.94  795.36   
imu_odom_:  1691062491.649571643  0.320823   -0.244209  10.1849    -0.0639159  -0.04048    0.0511327   0.22       0             pose: 0.51151228    1.9091     -3.94931    0 0.0018588   -0.00119036 0.999996    0.00191134     uwb: 0.50007425     1233.24  796.531  
imu_odom_:  1691062491.666493926  0.215478   -0.368707  9.81383    -0.0660464  -0.00213053 0.0436758   0.22       0             pose: 0.0           1.9091     -3.94931    0 0.0018588   -0.00119036 0.999996    0.00191134     uwb: 0.0            1233.24  796.531  
imu_odom_:  1691062491.691502450  0.320823   -0.304064  10.0748    -0.0745685  0.0181095   0.0511327   0.27       0             pose: 0.51862824    1.89705    -3.9419     0 0.00170393  -0.00156229 0.999995    0.00204833     uwb: 0.49996050     1233.29  797.918  
imu_odom_:  1691062491.705601387  0.304064   -0.397437  9.67736    -0.072438   -0.0276969  0.0458064   0.27       0             pose: 0.0           1.89705    -3.9419     0 0.00170393  -0.00156229 0.999995    0.00204833     uwb: 0.0            1233.29  797.918  
imu_odom_:  1691062491.730544585  0.265756   -0.323217  9.67497    -0.0426106  -0.00213053 0.0308927   0.17       0             pose: 0.43961773    1.88732    -3.94423    0 -0.00203799 -0.0030902  0.999991    0.00185088     uwb: 0.0            1233.29  797.918  
imu_odom_:  1691062491.757544412  0.222661   -0.35913   9.81144    -0.036219   -0.04048    0.0394148   0.17       0             pose: 0.39054383    1.87759    -3.94655    0 -0.00464924 -0.00568465 0.999972    0.00172938     uwb: 0.50121747     1233.5   798.807  
imu_odom_:  1691062491.782730252  0.629675   -0.138864  10.3765    -0.0500674  0.0149137   0.0447411   0.19       0             pose: 0.0           1.87759    -3.94655    0 -0.00464924 -0.00568465 0.999972    0.00172938     uwb: 0.49995759     1232.9   799.33   
imu_odom_:  1691062491.809609632  0.0407014  -0.306458  9.18895    -0.0415453  0.0649811   0.0426106   0.23       0             pose: 0.52962007    1.86787    -3.94888    0 -0.00759762 -0.00637041 0.999949    0.00177781     uwb: 0.0            1232.9   799.33   
imu_odom_:  1691062491.834481670  0.459687   -0.339977  9.50259    -0.0596548  0.00532632  0.0575243   0.23       0             pose: 0.0           1.86787    -3.94888    0 -0.00759762 -0.00637041 0.999949    0.00177781     uwb: 0.49861605     1232.18  799.945  
imu_odom_:  1691062491.851714256  0.68953    -0.0957681 10.2711    -0.0340885  -0.056459   0.0383495   0.21       -0.02         pose: 0.68967089    1.85814    -3.9512     0 -0.00751578 -0.00555289 0.999955    0.00148122     uwb: 0.0            1232.18  799.945  
imu_odom_:  1691062491.877704724  0.766145   -0.347159  10.2807    -0.0692422  -0.0117179  0.0585895   0.21       -0.02         pose: 0.6999891     1.85814    -3.9512     0 -0.00671352 -0.00515266 0.999963    0.00148608     uwb: 0.0            1232.18  799.945  
imu_odom_:  1691062491.904632809  0.332794   0.0287304  9.85693    -0.04048    0.02024     0.0500674   0.23       -0.02         pose: 0.36223163    1.84609    -3.94381    0 -0.00285375 -0.00496596 0.999983    0.00125777     uwb: 0.50236652     1231.88  800.206  
imu_odom_:  1691062491.920455326  0.0981623  -0.354342  9.27274    -0.0745685  0.00852212  0.0617853   0.23       -0.02         pose: 0.0           1.84609    -3.94381    0 -0.00285375 -0.00496596 0.999983    0.00125777     uwb: 0.0            1231.88  800.206  
imu_odom_:  1691062491.947484316  0.629675   -0.299275  9.43076    -0.0575243  0.0308927   0.036219    0.25       0.02          pose: 0.42750602    1.83636    -3.94615    0 -0.00486376 -0.0028281  0.999984    0.000933548    uwb: 0.49764198     1231.79  801.335  
imu_odom_:  1691062491.973526113  0.246603   -0.287304  9.71567    -0.0788296  -0.02024    0.0607201   0.25       0.02          pose: 0.0           1.83636    -3.94615    0 -0.00486376 -0.0028281  0.999984    0.000933548    uwb: 0.0            1231.79  801.335  
imu_odom_:  1691062492.576102     0.306458   -0.169988  9.66539    -0.0703074  -0.0255663  0.0372843   0.25       0             pose: 0.53070787    1.82937    -3.94783    0 -0.00502782 -0.00373966 0.99998     0.000705121    uwb: 0.50064294     1232.1   802.819  
imu_odom_:  1691062492.25462437   0.253785   -0.40462   9.3733     -0.0671117  0           0.0394148   0.19       0             pose: 0.0           1.82937    -3.94783    0 -0.00502782 -0.00373966 0.99998     0.000705121    uwb: 0.0            1232.1   802.819  
imu_odom_:  1691062492.52454691   0.500388   -0.454898  9.79468    -0.0681769  -0.0255663  0.0415453   0.19       0             pose: 0.35072072    1.82664    -3.94849    0 -0.00504791 -0.00203666 0.999985    0.000724134    uwb: 0.50184166     1231.97  803.62   
imu_odom_:  1691062492.69524548   0.56982    -0.328006  9.93833    -0.0692422  -0.0245011  0.0511327   0.19       0             pose: 0.43856506    1.81692    -3.95084    0 -0.00328363 -0.00559756 0.999979    0.000720804    uwb: 0.0            1231.97  803.62   
imu_odom_:  1691062492.96514760   0.502782   -0.263362  10.0772    -0.0585895  0.00745685  0.0479369   0.19       0             pose: 0.0           1.81692    -3.95084    0 -0.00328363 -0.00559756 0.999979    0.000720804    uwb: 0.49604689     1231.6   803.586  
imu_odom_:  1691062492.113488377  0.656011   -0.205901  9.92636    -0.0543285  -0.0447411  0.0436758   0.18       0             pose: 0.8006626     1.81692    -3.95084    0 -0.00240183 -0.00566532 0.999981    0.000678448    uwb: 0.0            1231.6   803.586  
imu_odom_:  1691062492.140646573  0.995988   -0.356736  10.1921    -0.0479369  -0.0490022  0.0468716   0.18       0             pose: 0.0           1.81692    -3.95084    0 -0.00240183 -0.00566532 0.999981    0.000678448    uwb: 0.50046812     1231.24  803.551  
imu_odom_:  1691062492.156535005  0.533907   -0.0287304 9.77313    -0.056459   0.00852212  0.0447411   0.18       0             pose: 0.44088650    1.80485    -3.94347    0 0.00174752  -0.00423802 0.999989    0.000517099    uwb: 0.0            1231.24  803.551  
imu_odom_:  1691062492.173467209  0.474052   -0.442927  9.86172    -0.0351537  0.0255663   0.0351537   0.18       0             pose: 0.0           1.80485    -3.94347    0 0.00174752  -0.00423802 0.999989    0.000517099    uwb: 0.0            1231.24  803.551  
imu_odom_:  1691062492.189444300  0.100556   -0.304064  9.83299    -0.0458064  0           0.0479369   0.18       0             pose: 0.0           1.80485    -3.94347    0 0.00174752  -0.00423802 0.999989    0.000517099    uwb: 0.50065769     1231.42  804.785  
imu_odom_:  1691062492.206497242  0.332794   -0.304064  9.91918    -0.0585895  -0.0255663  0.04048     0.25       0             pose: 0.43983077    1.79513    -3.94582    0 0.00605039  -0.00332838 0.999976    0.000394808    uwb: 0.0            1231.42  804.785  
imu_odom_:  1691062492.222487164  0.517148   -0.363919  10.0652    -0.0447411  0.0170442   0.0415453   0.25       0             pose: 0.0           1.79513    -3.94582    0 0.00605039  -0.00332838 0.999976    0.000394808    uwb: 0.0            1231.42  804.785  
imu_odom_:  1691062492.239431326  0.653617   -0.299275  9.51695    -0.0681769  0.0138484   0.0532632   0.18       0             pose: 0.0           1.79513    -3.94582    0 0.00605039  -0.00332838 0.999976    0.000394808    uwb: 0.50094932     1231.94  806.404  
imu_odom_:  1691062492.256488060  0.656011   -0.25618   10.07      -0.04048    0.0127832   0.0255663   0.18       -0.02         pose: 0.90898282    1.78033    -3.94941    0 0.00472887  -0.00515593 0.999976    0.000197717    uwb: 0.0            1231.94  806.404  
imu_odom_:  1691062492.273483258  0.505177   -0.241814  9.94073    -0.0308927  -0.015979   0.036219    0.26       0.02          pose: 0.0           1.78033    -3.94941    0 0.00472887  -0.00515593 0.999976    0.000197717    uwb: 0.0            1231.94  806.404  
imu_odom_:  1691062492.289426226  0.363919   -0.407014  10.1323    -0.04048    0.0117179   0.0490022   0.26       0.02          pose: 0.24063042    1.7757     -3.95053    0 0.0060034   -0.00366324 0.999975    0.000342725    uwb: 0.49873579     1231.85  807.171  
imu_odom_:  1691062492.306485002  0.237026   -0.146046  9.62469    -0.0330232  -0.0127832  0.036219    0.24       0             pose: 0.0           1.7757     -3.95053    0 0.0060034   -0.00366324 0.999975    0.000342725    uwb: 0.0            1231.85  807.171  
imu_odom_:  1691062492.323452202  0.749385   -0.356736  10.1466    -0.0703074  -0.02024    0.0553937   0.24       0             pose: 0.0           1.7757     -3.95053    0 0.0060034   -0.00366324 0.999975    0.000342725    uwb: 0.0            1231.85  807.171  
imu_odom_:  1691062492.338448223  0.471658   -0.047884  9.83777    -0.0575243  0.0255663   0.0330232   0.24       0             pose: 0.32995036    1.76362    -3.94317    0 0.00385469  -0.00312941 0.999988    0.000289031    uwb: 0.50212463     1231.86  807.847  
imu_odom_:  1691062492.363491752  0.538695   -0.0263362 10.0293    -0.0479369  -0.00639159 0.0426106   0.17       0             pose: 0.41958819    1.76362    -3.94317    0 0.00439001  -0.00170814 0.999989    0.000229198    uwb: 0.0            1231.86  807.847  
imu_odom_:  1691062492.390556040  0.804452   -0.351948  9.63666    -0.052198   0.0213053   0.0340885   0.17       0             pose: 0.6999309     1.76362    -3.94317    0 0.00454722  -0.0009976820.999989    0.000221727    uwb: 0.49797170     1230.49  807.276  
imu_odom_:  1691062492.415545324  0.938527   -0.232238  9.69173    -0.0553937  -0.0117179  0.0649811   0.2        0             pose: 0.45108508    1.7539     -3.94553    0 0.00703079  -0.0003331630.999975    0.000268265    uwb: 0.0            1230.49  807.276  
imu_odom_:  1691062492.432523316  0.328006   -0.514753  9.65582    -0.0628506  0.00852212  0.0468716   0.2        0             pose: 0.0           1.7539     -3.94553    0 0.00703079  -0.0003331630.999975    0.000268265    uwb: 0.50189131     1229.67  807.282  
imu_odom_:  1691062492.458457507  0.390255   0.00718261 9.94312    -0.0479369  0.00639159  0.0511327   0.23       0             pose: 0.32015133    1.74419    -3.94789    0 0.00911202  -0.0009593  0.999958    -7.93831e-05   uwb: 0.0            1229.67  807.282  
imu_odom_:  1691062492.485410973  0.311246   -0.23942   9.99819    -0.0351537  0.0138484   0.0351537   0.25       -0.02         pose: 0.0           1.74419    -3.94789    0 0.00911202  -0.0009593  0.999958    -7.93831e-05   uwb: 0.49780255     1229.91  807.759  
imu_odom_:  1691062492.510610528  0.0933739  -0.102951  9.71806    -0.0692422  0.0127832   0.0649811   0.25       -0.02         pose: 0.42970218    1.73447    -3.95025    0 0.00600636  0.000448889 0.999982    -0.00024301    uwb: 0.0            1229.91  807.759  
imu_odom_:  1691062492.537403009  0.148441   -0.296881  9.67497    -0.0607201  0.0319579   0.0330232   0.23       -0.02         pose: 0.45069137    1.72589    -3.94503    0 0.00121472  0.000838715 0.999999    -0.000517586   uwb: 0.50012982     1230.31  809.126  
imu_odom_:  1691062492.563420026  0.0407014  -0.423774  10.2568    -0.0671117  0.00426106  0.0500674   0.23       -0.02         pose: 0.6955855     1.72239    -3.9429     0 0.000433138 0.000587835 1           -0.000494595   uwb: 0.0            1230.31  809.126  
imu_odom_:  1691062492.580400934  1.075      -0.332794  9.60793    -0.0553937  0.0149137   0.0287621   0.23       0             pose: 0.0           1.72239    -3.9429     0 0.000433138 0.000587835 1           -0.000494595   uwb: 0.0            1230.31  809.126  
imu_odom_:  1691062492.606384703  0.174777   -0.1652    9.89045    -0.0735032  0.02024     0.0532632   0.23       0             pose: 0.45853643    1.7154     -3.94461    0 -0.00410431 -0.00167416 0.99999     -0.000563477   uwb: 0.50122055     1230.19  809.567  
imu_odom_:  1691062492.623378443  0.339977   -0.102951  10.4842    -0.0511327  -0.00426106 0.0308927   0.25       -0.02         pose: 0.0           1.7154     -3.94461    0 -0.00410431 -0.00167416 0.99999     -0.000563477   uwb: 0.0            1230.19  809.567  
imu_odom_:  1691062492.649382627  0.325611   -0.442927  9.46907    -0.0745685  -0.0436758  0.0436758   0.25       -0.02         pose: 0.25000366    1.71267    -3.94527    0 -0.00340033 -0.00159246 0.999993    -0.000524849   uwb: 0.49926074     1230.14  810.284  
imu_odom_:  1691062492.676381589  1.91057    -0.0981623 8.73884    -0.0308927  0.0916127   0.02024     0.25       0.02          pose: 0.60962235    1.70296    -3.94765    0 -0.00406146 -0.00217804 0.999989    -0.000628636   uwb: 0.0            1230.14  810.284  
imu_odom_:  1691062492.701534190  0.605733   -0.328006  9.42597    -0.0553937  -0.0308927  0.0468716   0.18       0.02          pose: 0.7067553     1.70296    -3.94765    0 -0.00369592 -0.00202281 0.999991    -0.000557949   uwb: 0.50001317     1230.76  811.119  
imu_odom_:  1691062492.728386749  0.909797   -0.122104  9.23922    -0.0372843  -0.0458064  0.0426106   0.23       -0.02         pose: 0.45084010    1.69324    -3.95002    0 6.07627e-05 -0.00237913 0.999997    -0.000444922   uwb: 0.0            1230.76  811.119  
imu_odom_:  1691062492.753448068  0.557849   -0.251391  9.69652    -0.0671117  0.0191748   0.0426106   0.19       0             pose: 0.0           1.69324    -3.95002    0 6.07627e-05 -0.00237913 0.999997    -0.000444922   uwb: 0.50116805     1230.66  811.88   
imu_odom_:  1691062492.770497511  0.366313   0.0790087  10.4962    -0.0458064  -0.0436758  0.0298274   0.19       0             pose: 0.34879017    1.68116    -3.94267    0 0.00392061  -0.0015624  0.999991    -0.0004917     uwb: 0.0            1230.66  811.88   
imu_odom_:  1691062492.795553580  0.225055   -0.246603  10.0317    -0.0639159  -0.0276969  0.0426106   0.18       0             pose: 0.0           1.68116    -3.94267    0 0.00392061  -0.0015624  0.999991    -0.0004917     uwb: 0.49814085     1231.49  813.544  
imu_odom_:  1691062492.822527752  0.416591   -0.179565  10.094     -0.056459   -0.00639159 0.0340885   0.18       0             pose: 0.42065850    1.68116    -3.94267    0 0.00434983  -0.0003055820.99999     -0.000438264   uwb: 0.0            1231.49  813.544  
imu_odom_:  1691062492.847379675  0.059855   -0.301669  9.30626    -0.036219   -0.0447411  0.0372843   0.19       0             pose: 0.44048695    1.67144    -3.94504    0 0.00102801  0.00139719  0.999998    -0.000386333   uwb: 0.49916450     1231.79  814.633  
imu_odom_:  1691062492.864371082  0.713472   -0.268151  10.2831    -0.0468716  -0.052198   0.04048     0.19       0             pose: 0.7913886     1.67144    -3.94504    0 0.000432495 0.00123754  0.999999    -0.000376287   uwb: 0.0            1231.79  814.633  
imu_odom_:  1691062492.889381073  0.418985   -0.378284  10.0604    -0.0436758  -0.0223706  0.0426106   0.2        0.02          pose: 0.0           1.67144    -3.94504    0 0.000432495 0.00123754  0.999999    -0.000376287   uwb: 0.50009774     1231.92  815.52   
imu_odom_:  1691062492.906368105  0.821211   -0.237026  10.0149    -0.0447411  0.0127832   0.0511327   0.2        0.02          pose: 0.41946861    1.66173    -3.94741    0 0.00126142  -0.0001503930.999999    -0.000376303   uwb: 0.0            1231.92  815.52   
imu_odom_:  1691062492.931382470  0.672771   -0.186748  9.92875    -0.0415453  0.0255663   0.0351537   0.18       0             pose: 0.0           1.66173    -3.94741    0 0.00126142  -0.0001503930.999999    -0.000376303   uwb: 0.49940072     1232.5   817.044  
imu_odom_:  1691062492.958531333  0.332794   -0.172383  10.137     -0.0585895  0.0191748   0.0617853   0.18       0             pose: 0.42076349    1.65201    -3.94978    0 0.00354646  -0.00133246 0.999993    -0.000479211   uwb: 0.0            1232.5   817.044  
imu_odom_:  1691062492.983366633  0.397437   -0.234632  10.0628    -0.0575243  0.00532632  0.0394148   0.2        0             pose: 0.44066485    1.64335    -3.94452    0 0.00203332  6.95369e-05 0.999998    -0.000736374   uwb: 0.50106306     1232.37  817.799  
imu_odom_:  1691062493.10486334   0.691924   -0.356736  9.75637    -0.0841559  -0.0308927  0.0692422   0.21       0             pose: 0.7965798     1.63992    -3.94244    0 0.00127261  -0.0002745630.999999    -0.000736332   uwb: 0.0            1232.37  817.799  
imu_odom_:  1691062493.35482043   0.500388   -0.270545  9.64863    -0.0596548  0.0340885   0.0319579   0.2        0             pose: 0.43989203    1.63298    -3.94414    0 0.00253152  -0.0024339  0.999993    -0.00113607    uwb: 0.49949123     1232.59  818.611  
imu_odom_:  1691062493.60470169   0.718261   -0.213084  9.64145    -0.0894822  -0.0213053  0.0649811   0.21       0             pose: 0.0           1.63298    -3.94414    0 0.00253152  -0.0024339  0.999993    -0.00113607    uwb: 0.0            1232.59  818.611  
imu_odom_:  1691062493.83354419   0.311246   -0.153229  9.93594    -0.0671117  0.0127832   0.0308927   0.21       0             pose: 0.32001437    1.63021    -3.94482    0 0.00524685  -0.00290674 0.999981    -0.00112053    uwb: 0.50103115     1232.86  820.35   
imu_odom_:  1691062493.99360970   0.411803   -0.258574  10.003     -0.0862864  0.00958738  0.0479369   0.21       0             pose: 0.0           1.63021    -3.94482    0 0.00524685  -0.00290674 0.999981    -0.00112053    uwb: 0.0            1232.86  820.35   
imu_odom_:  1691062493.126422350  0.656011   -0.28491   9.97664    -0.036219   0.052198    0.0266316   0.19       0             pose: 0.47863918    1.6205     -3.9472     0 0.00415254  -0.00204608 0.999988    -0.0012685     uwb: 0.0            1232.86  820.35   
imu_odom_:  1691062493.151356232  0.651223   0.00718261 9.76355    -0.0681769  0.0149137   0.04048     0.18       -0.02         pose: 0.36070661    1.61356    -3.94891    0 0.00510964  -0.00235533 0.999984    -0.00112637    uwb: 0.49873304     1233.06  821.812  
imu_odom_:  1691062493.178381449  0.634463   -0.342371  10.2185    -0.0500674  -0.0117179  0.0458064   0.18       -0.02         pose: 0.8023544     1.61079    -3.94959    0 0.0054239   -0.00170582 0.999983    -0.00112503    uwb: 0.0            1233.06  821.812  
imu_odom_:  1691062493.194326464  0.0383072  -0.181959  9.84735    -0.056459   0.0255663   0.0553937   0.19       0             pose: 0.0           1.61079    -3.94959    0 0.0054239   -0.00170582 0.999983    -0.00112503    uwb: 0.49999875     1232.35  822.038  
imu_odom_:  1691062493.221341766  0.217872   -0.289698  9.80665    -0.052198   -0.0490022  0.036219    0.19       0             pose: 0.51908938    1.59869    -3.94226    0 0.00708696  -0.00216556 0.999972    -0.00128203    uwb: 0.0            1232.35  822.038  
imu_odom_:  1691062493.246351182  0.253785   -0.342371  9.4571     -0.0628506  0.0106526   0.0447411   0.18       0             pose: 0.34986934    1.59187    -3.94394    0 0.00409944  -0.00232317 0.999988    -0.00130919    uwb: 0.50159984     1231.33  821.531  
imu_odom_:  1691062493.263449334  0.605733   -0.0909797 10.2639    -0.0490022  -0.0127832  0.0372843   0.18       0             pose: 0.8006629     1.58898    -3.94465    0 0.00328999  -0.00263406 0.99999     -0.00133249    uwb: 0.0            1231.33  821.531  
imu_odom_:  1691062493.288328095  0.45011    0.0383072  10.1418    -0.0447411  -0.0383495  0.0479369   0.18       -0.02         pose: 0.0           1.58898    -3.94465    0 0.00328999  -0.00263406 0.99999     -0.00133249    uwb: 0.50071034     1231.58  822.626  
imu_odom_:  1691062493.315447220  0.517148   -0.174777  9.86411    -0.0713727  -0.0351537  0.0649811   0.18       -0.02         pose: 0.34100939    1.58898    -3.94465    0 0.00278361  -0.00196504 0.999993    -0.00135689    uwb: 0.0            1231.58  822.626  
imu_odom_:  1691062493.341489326  0.308852   -0.189142  10.5082    -0.0319579  0.0287621   0.0298274   0.19       0             pose: 0.51997886    1.57927    -3.94704    0 0.00596222  0.0016787   0.999979    -0.00179641    uwb: 0.0            1231.58  822.626  
imu_odom_:  1691062493.366480660  0.328006   -0.0861913 10.1227    -0.0692422  -0.0255663  0.0532632   0.23       0             pose: 0.0           1.57927    -3.94704    0 0.00596222  0.0016787   0.999979    -0.00179641    uwb: 0.0            1231.58  822.626  
imu_odom_:  1691062493.389379200  0.311246   -0.292093  9.62708    -0.0639159  -0.0138484  0.052198    0.23       0             pose: 0.32939636    1.56956    -3.94943    0 0.00243126  0.00220924  0.999993    -0.00171299    uwb: 0.99918383     1231.49  823.014  
imu_odom_:  1691062493.414467358  0.462081   -0.385466  9.75637    -0.0745685  -0.0575243  0.04048     0.2        0             pose: 0.40992344    1.56138    -3.94449    0 -0.0002251680.00123827  0.999997    -0.00197174    uwb: 0.0            1231.49  823.014  
imu_odom_:  1691062493.431534013  0.497994   -0.225055  10.1107    -0.0511327  -0.00958738 0.0436758   0.2        0             pose: 0.8107828     1.55746    -3.94212    0 0.000243091 0.000389817 0.999998    -0.00197528    uwb: 0.50061410     1231.96  824.253  
imu_odom_:  1691062493.456463228  0.588974   -0.0861913 10.003     -0.0532632  -0.0138484  0.0436758   0.2        0             pose: 0.0           1.55746    -3.94212    0 0.000243091 0.000389817 0.999998    -0.00197528    uwb: 0.0            1231.96  824.253  
imu_odom_:  1691062493.481467394  0.770933   -0.160412  9.87608    -0.0479369  0.00213053  0.0458064   0.2        0             pose: 0.41868424    1.54775    -3.94452    0 0.00347827  -0.0003399350.999992    -0.00202878    uwb: 0.49754608     1232.67  826.256  
imu_odom_:  1691062493.495344113  0.902614   -0.186748  9.7444     -0.052198   -0.0245011  0.0671117   0.2        0             pose: 0.0           1.54775    -3.94452    0 0.00347827  -0.0003399350.999992    -0.00202878    uwb: 0.0            1232.67  826.256  
imu_odom_:  1691062493.520387942  0.418985   -0.179565  10.1275    -0.056459   0.02024     0.0340885   0.18       0             pose: 0.48118810    1.54775    -3.94452    0 0.00774606  0.00140011  0.999967    -0.00222177    uwb: 0.0            1232.67  826.256  
imu_odom_:  1691062493.544318005  0.275333   -0.380678  9.58878    -0.0660464  -0.00106526 0.0617853   0.25       0.02          pose: 0.32913680    1.53804    -3.94692    0 0.00580472  0.00151042  0.999979    -0.00225823    uwb: 0.49981210     1232.16  826.953  
imu_odom_:  1691062493.568345184  0.397437   -0.248997  9.74201    -0.0351537  0.00852212  0.0245011   0.25       0.02          pose: 0.0           1.53804    -3.94692    0 0.00580472  0.00151042  0.999979    -0.00225823    uwb: 0.0            1232.16  826.953  
imu_odom_:  1691062493.584422603  0.47884    -0.107739  10.3238    -0.0703074  -0.0234358  0.0713727   0.18       -0.02         pose: 0.6988230     1.53804    -3.94692    0 0.00525323  0.00102868  0.999983    -0.00233739    uwb: 0.49954379     1231.74  827.263  
imu_odom_:  1691062493.611295002  0.993594   -0.110133  10.3142    -0.0681769  -0.00426106 0.0351537   0.18       -0.02         pose: 0.0           1.53804    -3.94692    0 0.00525323  0.00102868  0.999983    -0.00233739    uwb: 0.0            1231.74  827.263  
imu_odom_:  1691062493.636315209  0.608127   -0.332794  9.54089    -0.0852212  0.0234358   0.0468716   0.19       0             pose: 0.48946478    1.52834    -3.94933    0 0.00187014  -8.25656e-050.999995    -0.00247824    uwb: 0.49987626     1230.99  827.827  
imu_odom_:  1691062493.663298430  0.105345   -0.241814  9.54808    -0.0340885  0.036219    0.036219    0.19       0             pose: 0.0           1.52834    -3.94933    0 0.00187014  -8.25656e-050.999995    -0.00247824    uwb: 0.0            1230.99  827.827  
imu_odom_:  1691062493.679300023  0.323217   -0.203507  10.2951    -0.0617853  -0.0415453  0.0479369   0.2        0.02          pose: 0.43036726    1.51622    -3.94204    0 0.00528269  0.000163332 0.999983    -0.00257872    uwb: 0.0            1230.99  827.827  
imu_odom_:  1691062493.706347405  0.916979   -0.244209  9.18655    -0.0426106  0.00213053  0.0383495   0.2        0.02          pose: 0.0           1.51622    -3.94204    0 0.00528269  0.000163332 0.999983    -0.00257872    uwb: 0.50062285     1230.93  828.811  
imu_odom_:  1691062493.731341073  0.622492   -0.21069   9.55047    -0.0511327  0.0426106   0.0319579   0.23       -0.02         pose: 0.52150413    1.50652    -3.94445    0 0.00224759  -0.0009467160.999994    -0.00264104    uwb: 0.0            1230.93  828.811  
imu_odom_:  1691062493.758273841  0.371101   -0.0670376 9.72525    -0.0543285  -0.036219   0.0458064   0.21       -0.02         pose: 0.15824278    1.50652    -3.94445    0 0.00241229  -0.0007599280.999993    -0.00266852    uwb: 0.49929299     1230.13  829.401  
imu_odom_:  1691062493.774403463  0.708684   -0.241814  10.24      -0.0649811  -0.0106526  0.052198    0.21       -0.02         pose: 0.44007006    1.49681    -3.94686    0 0.00614954  -0.0003276040.999978    -0.00255702    uwb: 0.0            1230.13  829.401  
imu_odom_:  1691062493.801404183  0.88346    -0.186748  10.0844    -0.0500674  -0.0340885  0.036219    0.25       -0.02         pose: 0.6949441     1.49681    -3.94686    0 0.00577377  0.00017341  0.99998     -0.00257582    uwb: 0.50098740     1230.13  830.951  
imu_odom_:  1691062493.817401401  0.363919   -0.296881  9.26317    -0.056459   0.00745685  0.0553937   0.25       -0.02         pose: 0.0           1.49681    -3.94686    0 0.00577377  0.00017341  0.99998     -0.00257582    uwb: 0.0            1230.13  830.951  
imu_odom_:  1691062493.844560481  0.423774   0.0191536  10.24      -0.0426106  -0.0575243  0.0298274   0.25       -0.02         pose: 0.44173240    1.48711    -3.94927    0 0.00722664  0.00113858  0.99997     -0.00272294    uwb: 0.50034580     1230.3   832.061  
imu_odom_:  1691062493.869439534  0.679953   -0.531513  9.73722    -0.0798948  -0.02024    0.0458064   0.25       -0.02         pose: 0.0           1.48711    -3.94927    0 0.00722664  0.00113858  0.99997     -0.00272294    uwb: 0.0            1230.3   832.061  
imu_odom_:  1691062493.893473129  0.373495   -0.323217  9.5816     -0.0351537  -0.00852212 0.0266316   0.23       0.02          pose: 0.42837829    1.47499    -3.94198    0 0.00767124  0.00122845  0.999966    -0.00278067    uwb: 0.50038079     1231     833.705  
imu_odom_:  1691062493.917345448  0.244209   -0.227449  9.73961    -0.0575243  -0.00319579 0.0383495   0.23       0.02          pose: 0.0           1.47499    -3.94198    0 0.00767124  0.00122845  0.999966    -0.00278067    uwb: 0.0            1231     833.705  
imu_odom_:  1691062493.942414066  0.687136   -0.21069   10.3334    -0.052198   -0.0138484  0.0415453   0.18       0             pose: 0.51198215    1.46528    -3.9444     0 0.00765126  5.02753e-05 0.999967    -0.0027258     uwb: 0.49984126     1230.87  835.02   
imu_odom_:  1691062493.959481013  0.354342   -0.268151  9.74201    -0.0575243  0.0106526   0.0458064   0.18       0             pose: 0.0           1.46528    -3.9444     0 0.00765126  5.02753e-05 0.999967    -0.0027258     uwb: 0.0            1230.87  835.02   
imu_odom_:  1691062493.984408478  0.457293   -0.31364   9.98622    -0.04048    0.0426106   0.0468716   0.18       0.02          pose: 0.48807659    1.45558    -3.94681    0 0.00467253  -0.0006166920.999985    -0.00261807    uwb: 0.49940673     1231.3   836.234  
imu_odom_:  1691062494.9271202    0.222661   -0.454898  9.62469    -0.036219   0.02024     0.0394148   0.18       0.02          pose: 0.0           1.45558    -3.94681    0 0.00467253  -0.0006166920.999985    -0.00261807    uwb: 0.0            1231.3   836.234  
imu_odom_:  1691062494.32327817   0.536301   -0.191536  9.92875    -0.056459   0.00958738  0.0553937   0.18       0             pose: 0.42163562    1.45558    -3.94681    0 0.00415389  -0.00155011 0.999986    -0.00272263    uwb: 0.49971887     1232.12  838.068  
imu_odom_:  1691062494.48369953   0.603339   -0.299275  9.4164     -0.0692422  -0.0138484  0.0532632   0.18       0             pose: 0.0           1.45558    -3.94681    0 0.00415389  -0.00155011 0.999986    -0.00272263    uwb: 0.0            1232.12  838.068  
imu_odom_:  1691062494.74393111   0.557849   -0.232238  10.2855    -0.052198   -0.00319579 0.0585895   0.23       0.02          pose: 0.47822509    1.44588    -3.94923    0 0.00117649  -0.00384855 0.999988    -0.00284587    uwb: 0.0            1232.12  838.068  
imu_odom_:  1691062494.99368413   0.514753   -0.328006  10.1059    -0.0692422  0.00958738  0.0479369   0.23       0.02          pose: 0.0           1.44588    -3.94923    0 0.00117649  -0.00384855 0.999988    -0.00284587    uwb: 0.50398268     1231.67  838.985  
imu_odom_:  1691062494.116268548  0.222661   -0.0407014 10.0461    -0.0660464  0.00319579  0.0479369   0.19       0             pose: 0.40988566    1.43375    -3.94194    0 0.0046347   -0.00272256 0.999981    -0.00315142    uwb: 0.0            1231.67  838.985  
imu_odom_:  1691062494.141387045  0.483629   -0.320823  9.63666    -0.0873517  -0.00532632 0.0500674   0.19       0             pose: 0.0           1.43375    -3.94194    0 0.0046347   -0.00272256 0.999981    -0.00315142    uwb: 0.49553102     1231.33  839.524  
imu_odom_:  1691062494.166317726  0.452504   -0.344765  9.75158    -0.072438   -0.0213053  0.036219    0.18       0.02          pose: 0.50001933    1.42405    -3.94437    0 0.00509479  -0.00394753 0.999973    -0.00346196    uwb: 0.0            1231.33  839.524  
imu_odom_:  1691062494.180272025  0.47884    -0.325611  10.0365    -0.0596548  -0.0330232  0.0479369   0.18       0.02          pose: 0.0           1.42405    -3.94437    0 0.00509479  -0.00394753 0.999973    -0.00346196    uwb: 0.0            1231.33  839.524  
imu_odom_:  1691062494.205324028  0.237026   -0.332794  10.4579    -0.0415453  -0.0319579  0.0340885   0.17       0             pose: 0.73987998    1.41435    -3.9468     0 0.00331011  -0.00626537 0.999968    -0.00367064    uwb: 0.50065801     1231.48  840.909  
imu_odom_:  1691062494.229245642  0.68953    -0.440533  9.92875    -0.072438   -0.0213053  0.0500674   0.17       0             pose: 0.0           1.41435    -3.9468     0 0.00331011  -0.00626537 0.999968    -0.00367064    uwb: 0.0            1231.48  840.909  
imu_odom_:  1691062494.244248672  0.282516   -0.3304    9.48822    -0.0479369  0.0298274   0.0479369   0.18       0             pose: 0.7054142     1.41435    -3.9468     0 0.00270231  -0.00618373 0.999971    -0.00365636    uwb: 0.49868071     1232.51  842.877  
imu_odom_:  1691062494.269275594  0.246603   -0.198719  9.71088    -0.0500674  0.0106526   0.0458064   0.18       0             pose: 0.0           1.41435    -3.9468     0 0.00270231  -0.00618373 0.999971    -0.00365636    uwb: 0.0            1232.51  842.877  
imu_odom_:  1691062494.294272769  -0.047884  -0.112527  9.7444     -0.04048    -0.0149137  0.0436758   0.25       -0.02         pose: 0.48943870    1.40465    -3.94923    0 0.00275533  -0.00699411 0.999965    -0.00376742    uwb: 0.50005141     1232.68  843.94   
imu_odom_:  1691062494.315218507  0.672771   -0.0191536 9.92397    -0.0468716  -0.00852212 0.0468716   0.25       -0.02         pose: 0.0           1.40465    -3.94923    0 0.00275533  -0.00699411 0.999965    -0.00376742    uwb: 0.0            1232.68  843.94   
imu_odom_:  1691062494.336210617  0.347159   -0.0407014 10.1251    -0.0181095  0.0181095   0.0426106   0.17       0             pose: 0.78948470    1.38563    -3.9437     0 -0.000862898-0.00261409 0.999988    -0.00403052    uwb: 0.49974810     1231.84  844.21   
imu_odom_:  1691062494.350206620  0.0526724  -0.356736  9.93115    -0.0468716  0.0266316   0.0468716   0.17       0             pose: 0.0           1.38563    -3.9437     0 -0.000862898-0.00261409 0.999988    -0.00403052    uwb: 0.0            1231.84  844.21   
imu_odom_:  1691062494.366248173  0.280122   -0.215478  10.1538    -0.0660464  -0.00106526 0.0458064   0.17       0.02          pose: 0.6098736     1.38282    -3.94441    0 -0.0010364  -0.00189928 0.999989    -0.00404028    uwb: 0.0            1231.84  844.21   
imu_odom_:  1691062494.388315260  0.481235   0.143652   10.4914    -0.056459   -0.0106526  0.0585895   0.17       0.02          pose: 0.0           1.38282    -3.94441    0 -0.0010364  -0.00189928 0.999989    -0.00404028    uwb: 0.50067551     1232.36  845.916  
imu_odom_:  1691062494.411211183  0.581791   -0.253785  9.72525    -0.0468716  -0.0138484  0.0372843   0.19       0             pose: 0.36086713    1.38282    -3.94441    0 -0.00367933 -0.0005636790.999985    -0.00413773    uwb: 0.0            1232.36  845.916  
imu_odom_:  1691062494.427199949  0.023942   -0.258574  9.4954     -0.0245011  0.00958738  0.0298274   0.19       0             pose: 0.0           1.38282    -3.94441    0 -0.00367933 -0.0005636790.999985    -0.00413773    uwb: 0.0            1232.36  845.916  
imu_odom_:  1691062494.453335679  0.251391   -0.158017  10.1035    -0.052198   -0.056459   0.04048     0.24       0             pose: 0.37035120    1.37312    -3.94685    0 -0.00294071 0.00140457  0.999985    -0.00437813    uwb: 0.49931356     1233.3   848.206  
imu_odom_:  1691062494.474382908  0.213084   -0.222661  9.84975    -0.0490022  -0.0234358  0.0500674   0.24       0             pose: 0.0           1.37312    -3.94685    0 -0.00294071 0.00140457  0.999985    -0.00437813    uwb: 0.0            1233.3   848.206  
imu_odom_:  1691062494.499207725  0.160412   -0.497994  9.35893    -0.0820254  0.00639159  0.04048     0.18       -0.02         pose: 0.39911839    1.36343    -3.9493     0 -0.00340811 0.00126033  0.999984    -0.00428235    uwb: 0.50115672     1232.61  848.364  
imu_odom_:  1691062494.524256520  0.45011    -0.126893  9.93115    -0.0468716  -0.0308927  0.0468716   0.18       -0.02         pose: 0.0           1.36343    -3.9493     0 -0.00340811 0.00126033  0.999984    -0.00428235    uwb: 0.0            1232.61  848.364  
imu_odom_:  1691062494.538210819  0.428562   -0.411803  9.54329    -0.0415453  -0.015979   0.0490022   0.18       -0.02         pose: 0.47911762    1.35129    -3.94205    0 -0.00671897 0.000298616 0.999968    -0.00439135    uwb: 0.49934272     1233.23  850.272  
imu_odom_:  1691062494.562221382  0.107739   -0.172383  9.73722    -0.0255663  0.0330232   0.0436758   0.18       -0.02         pose: 0.0           1.35129    -3.94205    0 -0.00671897 0.000298616 0.999968    -0.00439135    uwb: 0.0            1233.23  850.272  
imu_odom_:  1691062494.579316915  0.299275   -0.399832  9.85453    -0.0756338  0.0340885   0.0628506   0.18       -0.02         pose: 0.0           1.35129    -3.94205    0 -0.00671897 0.000298616 0.999968    -0.00439135    uwb: 0.0            1233.23  850.272  
imu_odom_:  1691062494.604319339  -0.0694318 0.0790087  9.90002    -0.0319579  0.0394148   0.0394148   0.24       0             pose: 0.47934510    1.34159    -3.94449    0 -0.00462409 -0.0005525390.999979    -0.00451255    uwb: 0.49950313     1233.94  852.397  
imu_odom_:  1691062494.630206594  0.533907   -0.265756  9.93354    -0.0703074  -0.0308927  0.0532632   0.23       -0.02         pose: 0.74122152    1.3319     -3.94695    0 -0.0092821  3.63295e-05 0.999945    -0.00479805    uwb: 0.0            1233.94  852.397  
imu_odom_:  1691062494.652195230  0.220267   -0.148441  9.96946    -0.0511327  -0.00426106 0.0436758   0.23       -0.02         pose: 0.0           1.3319     -3.94695    0 -0.0092821  3.63295e-05 0.999945    -0.00479805    uwb: 0.49979185     1234.74  854.17   
imu_odom_:  1691062494.676182463  0.136469   -0.373495  9.47386    -0.0671117  -0.015979   0.056459    0.19       0             pose: 0.7069891     1.3319     -3.94695    0 -0.00848935 -0.0001297490.999952    -0.0048459     uwb: 0.0            1234.74  854.17   
imu_odom_:  1691062494.701172347  0.538695   0.0311246  9.51935    -0.0575243  0.00745685  0.0308927   0.19       0             pose: 0.0           1.3319     -3.94695    0 -0.00848935 -0.0001297490.999952    -0.0048459     uwb: 0.50056177     1234.61  855.387  
imu_odom_:  1691062494.715199847  0.423774   -0.349553  10.3262    -0.0703074  -0.0127832  0.0479369   0.18       0             pose: 0.47808814    1.3222     -3.9494     0 -0.00804634 0.000609574 0.999955    -0.00508426    uwb: 0.0            1234.61  855.387  
imu_odom_:  1691062494.732344958  1.17555    -0.272939  9.96946    -0.0617853  -0.0436758  0.0351537   0.18       0             pose: 0.0           1.3222     -3.9494     0 -0.00804634 0.000609574 0.999955    -0.00508426    uwb: 0.49962853     1235.37  857.175  
imu_odom_:  1691062494.746371000  1.75016    -0.493206  9.97903    -0.0798948  -0.120375   0.0276969   0.18       0             pose: 0.0           1.3222     -3.9494     0 -0.00804634 0.000609574 0.999955    -0.00508426    uwb: 0.0            1235.37  857.175  
imu_odom_:  1691062494.763514361  1.9824     -0.248997  9.19852    -0.0639159  -0.0639159  -0.102265   0.14       -0.26         pose: 0.48039791    1.31005    -3.94217    0 -0.00667031 0.000263503 0.999964    -0.00514377    uwb: 0.0            1235.37  857.175  
imu_odom_:  1691062494.778385279  1.61369    0.440533   9.81862    -0.0532632  0.00213053  -0.20027    0.14       -0.26         pose: 0.0           1.31005    -3.94217    0 -0.00667031 0.000263503 0.999964    -0.00514377    uwb: 0.0            1235.37  857.175  
imu_odom_:  1691062494.794216852  1.075      0.469264   10.477     -0.0596548  0.0298274   -0.253533   0.14       -0.26         pose: 0.0           1.31005    -3.94217    0 -0.00667031 0.000263503 0.999964    -0.00514377    uwb: 0.50069885     1234.78  857.53   
imu_odom_:  1691062494.809357535  1.06063    -0.280122  9.37809    -0.0713727  0.015979    -0.348341   0.12       -0.41         pose: 0.46072110    1.30036    -3.94465    0 -0.000890568-0.0009276290.999989    -0.00455907    uwb: 0.0            1234.78  857.53   
imu_odom_:  1691062494.825302264  0.950498   -0.131681  9.74679    -0.0649811  0.00745685  -0.432497   0.1        -0.35         pose: 0.0           1.30036    -3.94465    0 -0.000890568-0.0009276290.999989    -0.00455907    uwb: 0.0            1234.78  857.53   
imu_odom_:  1691062494.840206720  0.991199   -0.248997  9.50977    -0.0735032  0.0234358   -0.437824   0.1        -0.35         pose: 0.62944831    1.30036    -3.94465    0 0.00447944  0.000665191 0.999978    0.00483577     uwb: 0.49932814     1234.92  858.847  
imu_odom_:  1691062494.856245939  0.790087   -0.311246  9.6199     -0.0703074  0.00852212  -0.420779   0.1        -0.35         pose: 0.0           1.30036    -3.94465    0 0.00447944  0.000665191 0.999978    0.00483577     uwb: 0.0            1234.92  858.847  
imu_odom_:  1691062494.871238762  0.986411   -0.502782  9.663      -0.0500674  -0.0255663  -0.439954   0.1        -0.47         pose: 0.0           1.30036    -3.94465    0 0.00447944  0.000665191 0.999978    0.00483577     uwb: 0.0            1234.92  858.847  
imu_odom_:  1691062494.887228694  0.550666   -0.251391  9.8665     -0.036219   -0.00426106 -0.495348   0.1        -0.47         pose: 0.30955924    1.2907     -3.94721    0 0.00719186  0.000173146 0.9999      0.0121375      uwb: 0.50108381     1234.74  859.79   
imu_odom_:  1691062494.902219767  0.675165   0.0335188  9.89763    -0.0660464  0.00213053  -0.493217   0.08       -0.53         pose: 0.40017994    1.29067    -3.94717    0 0.00796896  -0.00159058 0.999723    0.0220676      uwb: 0.0            1234.74  859.79   
imu_odom_:  1691062494.918328688  0.648829   -0.227449  9.84975    -0.0660464  0.00852212  -0.486826   0.08       -0.53         pose: 0.0           1.29067    -3.94717    0 0.00796896  -0.00159058 0.999723    0.0220676      uwb: 0.0            1234.74  859.79   
imu_odom_:  1691062494.933208355  0.531513   -0.215478  9.84017    -0.0617853  0.00852212  -0.531567   0.08       -0.53         pose: 0.0           1.29067    -3.94717    0 0.00796896  -0.00159058 0.999723    0.0220676      uwb: 0.49866904     1234.92  860.791  
imu_odom_:  1691062494.948348746  0.605733   -0.122104  9.663      -0.0532632  -0.00319579 -0.576308   0.06       -0.53         pose: 0.6992607     1.2907     -3.94721    0 0.00823302  -0.0009736760.999679    0.0239357      uwb: 0.0            1234.92  860.791  
imu_odom_:  1691062494.966252408  0.354342   -0.11971   9.92157    -0.0575243  0.00426106  -0.586961   0.06       -0.53         pose: 0.0           1.2907     -3.94721    0 0.00823302  -0.0009736760.999679    0.0239357      uwb: 0.0            1234.92  860.791  
imu_odom_:  1691062494.982235924  0.555455   0.0143652  10.1131    -0.0553937  -0.02024    -0.576308   0.06       -0.53         pose: 0.0           1.2907     -3.94721    0 0.00823302  -0.0009736760.999679    0.0239357      uwb: 0.50038679     1234.62  861.525  
imu_odom_:  1691062494.999233758  0.811634   -0.397437  9.96227    -0.0639159  -0.0287621  -0.516653   0.07       -0.67         pose: 0.45999491    1.2907     -3.94721    0 0.00874141  0.000213775 0.999287    0.0367205      uwb: 0.0            1234.62  861.525  
imu_odom_:  1691062495.15277940   0.624887   -0.584185  9.63906    -0.0585895  -0.00106526 -0.4815     0.05       -0.47         pose: 0.0           1.2907     -3.94721    0 0.00874141  0.000213775 0.999287    0.0367205      uwb: 0.0            1234.62  861.525  
imu_odom_:  1691062495.32178372   0.579397   -0.287304  9.90002    -0.0436758  -0.0170442  -0.453803   0.05       -0.47         pose: 0.66969729    1.28104    -3.94983    0 0.00896332  0.00114901  0.99836     0.0565377      uwb: 0.49906284     1233.93  861.657  
imu_odom_:  1691062495.48270967   0.663194   -0.146046  9.91439    -0.0713727  -0.015979   -0.410127   0.05       -0.47         pose: 0.0           1.28104    -3.94983    0 0.00896332  0.00114901  0.99836     0.0565377      uwb: 0.0            1233.93  861.657  
imu_odom_:  1691062495.66315204   0.505177   -0.380678  9.87369    -0.0639159  -0.00319579 -0.365386   0.05       -0.41         pose: 0.0           1.28104    -3.94983    0 0.00896332  0.00114901  0.99836     0.0565377      uwb: 0.0            1233.93  861.657  
imu_odom_:  1691062495.82216192   0.507571   -0.342371  9.83299    -0.0500674  -0.00532632 -0.360059   0.05       -0.41         pose: 0.33114057    1.28104    -3.94983    0 0.0096911   -0.0007278180.997863    0.0646085      uwb: 0.50266173     1234.89  863.293  
imu_odom_:  1691062495.99213157   0.577003   -0.184354  9.93594    -0.0585895  -0.015979   -0.333428   0.05       -0.41         pose: 0.41911614    1.27848    -3.94016    0 0.00830498  -0.00293132 0.997279    0.073188       uwb: 0.0            1234.89  863.293  
imu_odom_:  1691062495.116211580  0.464475   -0.306458  9.76355    -0.0639159  -0.00532632 -0.28123    0.05       -0.41         pose: 0.0           1.27848    -3.94016    0 0.00830498  -0.00293132 0.997279    0.073188       uwb: 0.0            1234.89  863.293  
imu_odom_:  1691062495.133152550  0.56982    -0.426168  10.0269    -0.0575243  -0.0181095  -0.245011   0.05       -0.41         pose: 0.0           1.27848    -3.94016    0 0.00830498  -0.00293132 0.997279    0.073188       uwb: 0.49837465     1235.11  864.531  
imu_odom_:  1691062495.149152404  0.481235   -0.411803  9.78271    -0.056459   0.00106526  -0.227967   0.03       -0.26         pose: 0.7939267     1.27848    -3.94016    0 0.00848548  -0.00215203 0.99717     0.0746715      uwb: 0.0            1235.11  864.531  
imu_odom_:  1691062495.167206848  0.555455   -0.177171  10.0604    -0.0500674  -0.0149137  -0.199204   0.04       -0.29         pose: 0.0           1.27848    -3.94016    0 0.00848548  -0.00215203 0.99717     0.0746715      uwb: 0.0            1235.11  864.531  
imu_odom_:  1691062495.184156568  0.562637   -0.287304  9.9096     -0.0639159  -0.015979   -0.172573   0.04       -0.29         pose: 0.67058699    1.27848    -3.94016    0 0.00673448  -0.00444546 0.996387    0.0845485      uwb: 0.49929914     1235.04  865.118  
imu_odom_:  1691062495.198202445  0.658405   -0.339977  9.88326    -0.052198   0           -0.168312   0.04       -0.29         pose: 0.0           1.27848    -3.94016    0 0.00673448  -0.00444546 0.996387    0.0845485      uwb: 0.0            1235.04  865.118  
imu_odom_:  1691062495.214154762  0.636858   -0.246603  9.97903    -0.0543285  -0.0106526  -0.154463   0.02       -0.2          pose: 0.0           1.27848    -3.94016    0 0.00673448  -0.00444546 0.996387    0.0845485      uwb: 0.0            1235.04  865.118  
imu_odom_:  1691062495.228207348  0.634463   -0.213084  9.84496    -0.0532632  -0.0106526  -0.129962   0.02       -0.2          pose: 0.32933824    1.27848    -3.94016    0 0.00867199  -0.00510649 0.996056    0.0881487      uwb: 0.0            1235.04  865.118  
imu_odom_:  1691062495.244249781  0.667982   -0.31364   9.87608    -0.056459   -0.00532632 -0.105461   0.02       -0.11         pose: 0.38059366    1.2688     -3.94266    0 0.0110261   -0.00295086 0.995718    0.0917408      uwb: 0.50014781     1235.04  866.208  
imu_odom_:  1691062495.261190751  0.581791   -0.3304    9.80665    -0.056459   0           -0.0905475  0.02       -0.11         pose: 0.0           1.2688     -3.94266    0 0.0110261   -0.00295086 0.995718    0.0917408      uwb: 0.0            1235.04  866.208  
imu_odom_:  1691062495.277132277  0.572214   -0.277727  9.991      -0.0500674  0.00106526  -0.0916127  0.02       -0.11         pose: 0.0           1.2688     -3.94266    0 0.0110261   -0.00295086 0.995718    0.0917408      uwb: 0.0            1235.04  866.208  
imu_odom_:  1691062495.294157530  0.581791   -0.215478  9.88805    -0.0575243  -0.0149137  -0.0735032  0.01       -0.17         pose: 0.7996427     1.2688     -3.94266    0 0.0114445   -0.00363375 0.995658    0.0923113      uwb: 0.50058235     1234.85  866.588  
imu_odom_:  1691062495.310138136  0.634463   -0.28491   9.86172    -0.0553937  -0.00426106 -0.0543285  0.01       -0.17         pose: 0.0           1.2688     -3.94266    0 0.0114445   -0.00363375 0.995658    0.0923113      uwb: 0.0            1234.85  866.588  
imu_odom_:  1691062495.327199261  0.627281   -0.387861  9.93115    -0.0543285  -0.00106526 -0.0330232  0.01       -0.17         pose: 0.0           1.2688     -3.94266    0 0.0114445   -0.00363375 0.995658    0.0923113      uwb: 0.0            1234.85  866.588  
imu_odom_:  1691062495.343134663  0.519542   -0.287304  9.97424    -0.0532632  0.00106526  -0.00532632 0          -0.02         pose: 0.47937150    1.2688     -3.94266    0 0.00912717  -0.00377278 0.995389    0.0954105      uwb: 0.49887044     1235.03  867.296  
imu_odom_:  1691062495.360132210  0.490811   -0.337582  9.88087    -0.056459   -0.00426106 0.0276969   0          -0.05         pose: 0.0           1.2688     -3.94266    0 0.00912717  -0.00377278 0.995389    0.0954105      uwb: 0.0            1235.03  867.296  
imu_odom_:  1691062495.375185990  0.512359   -0.282516  9.91918    -0.0543285  -0.00639159 0.0447411   0          -0.05         pose: 0.66001511    1.2688     -3.94266    0 0.00816029  -0.00529992 0.995167    0.0977108      uwb: 0.0            1235.03  867.296  
imu_odom_:  1691062495.389125128  0.490811   -0.304064  9.83777    -0.052198   0.00213053  0.0479369   0          -0.05         pose: 0.0           1.2688     -3.94266    0 0.00816029  -0.00529992 0.995167    0.0977108      uwb: 0.49842422     1234.17  866.972  
imu_odom_:  1691062495.403118220  0.411803   -0.232238  9.90721    -0.0532632  0.00319579  0.0426106   0          0             pose: 0.0           1.2688     -3.94266    0 0.00816029  -0.00529992 0.995167    0.0977108      uwb: 0.0            1234.17  866.972  
imu_odom_:  1691062495.417169639  0.361524   -0.181959  9.88326    -0.0532632  -0.00213053 0.04048     0          0             pose: 0.30988015    1.2688     -3.94266    0 0.00545306  -0.00475465 0.99519     0.0976979      uwb: 0.0            1234.17  866.972  
imu_odom_:  1691062495.431119276  0.378284   -0.227449  9.88326    -0.056459   -0.00852212 0.0394148   0          0             pose: 0.0           1.2688     -3.94266    0 0.00545306  -0.00475465 0.99519     0.0976979      uwb: 0.50004866     1233.4   866.331  
imu_odom_:  1691062495.446124644  0.464475   -0.280122  9.92397    -0.0575243  -0.0106526  0.0340885   0          0             pose: 0.41997064    1.2688     -3.94266    0 0.00207659  -0.00257564 0.995217    0.0976339      uwb: 0.0            1233.4   866.331  
imu_odom_:  1691062495.460111902  0.4956     -0.277727  9.90721    -0.0543285  -0.00745685 0.036219    0          0             pose: 0.0           1.2688     -3.94266    0 0.00207659  -0.00257564 0.995217    0.0976339      uwb: 0.0            1233.4   866.331  
imu_odom_:  1691062495.474178195  0.497994   -0.292093  9.89284    -0.0543285  -0.00213053 0.0426106   0          0             pose: 0.0           1.2688     -3.94266    0 0.00207659  -0.00257564 0.995217    0.0976339      uwb: 0.0            1233.4   866.331  
imu_odom_:  1691062495.488176827  0.371101   -0.265756  9.92875    -0.0532632  0.00106526  0.0436758   0          0             pose: 0.51050680    1.2688     -3.94266    0 0.00463454  -0.00472683 0.995196    0.0976778      uwb: 0.0            1233.4   866.331  
imu_odom_:  1691062495.503115118  0.402226   -0.232238  9.90721    -0.0532632  -0.00213053 0.04048     0          0             pose: 0.0           1.2688     -3.94266    0 0.00463454  -0.00472683 0.995196    0.0976778      uwb: 0.0            1233.4   866.331  
imu_odom_:  1691062495.517112001  0.423774   -0.232238  9.88805    -0.0543285  -0.00639159 0.04048     0          0             pose: 0.0           1.2688     -3.94266    0 0.00463454  -0.00472683 0.995196    0.0976778      uwb: 0.0            1233.4   866.331  
imu_odom_:  1691062495.531108592  0.464475   -0.23942   9.91678    -0.0553937  -0.00745685 0.0372843   0          0             pose: 0.42933806    1.2688     -3.94266    0 0.00152263  -0.00195498 0.995219    0.0976335      uwb: 0.100125510    1233.39  866.605  
imu_odom_:  1691062495.545116557  0.47884    -0.277727  9.91199    -0.0575243  -0.00532632 0.0383495   0          0             pose: 0.0           1.2688     -3.94266    0 0.00152263  -0.00195498 0.995219    0.0976335      uwb: 0.0            1233.39  866.605  
imu_odom_:  1691062495.567168777  0.476446   -0.28491   9.91918    -0.0575243  -0.00319579 0.04048     0          0             pose: 0.0           1.2688     -3.94266    0 0.00152263  -0.00195498 0.995219    0.0976335      uwb: 0.0            1233.39  866.605  
imu_odom_:  1691062495.584165742  -0.244209  -0.227449  9.84256    -0.0479369  0.0884169   0.0308927   0          0             pose: 0.35080573    1.2688     -3.94266    0 0.00335575  -0.00366504 0.995208    0.0976517      uwb: 0.49984451     1232.64  865.682  
imu_odom_:  1691062495.600103768  -1.09176   -0.146046  10.1107    -0.0394148  0.0852212   0.0266316   0.02       0.02          pose: 0.0           1.2688     -3.94266    0 0.00335575  -0.00366504 0.995208    0.0976517      uwb: 0.0            1232.64  865.682  
imu_odom_:  1691062495.618212749  -1.1564    -0.225055  9.84017    -0.0596548  -0.0468716  0.0319579   0.02       0.02          pose: 0.38916490    1.2688     -3.94266    0 -1.61259e-05-0.00445805 0.995201    0.0977533      uwb: 0.0            1232.64  865.682  
imu_odom_:  1691062495.635099183  -0.0670376 -0.198719  9.84256    -0.0543285  -0.0745685  0.0426106   0.02       0.02          pose: 0.0           1.2688     -3.94266    0 -1.61259e-05-0.00445805 0.995201    0.0977533      uwb: 0.50130269     1232.03  864.954  
imu_odom_:  1691062495.652097023  0.519542   -0.311246  9.79468    -0.0575243  -0.0426106  0.0511327   0.04       0.02          pose: 0.35110903    1.2688     -3.94266    0 -0.00318169 -0.00374842 0.995189    0.0978511      uwb: 0.0            1232.03  864.954  
imu_odom_:  1691062495.669214142  0.205901   -0.172383  9.67497    -0.0553937  0.015979    0.0671117   0.04       0.02          pose: 0.0           1.2688     -3.94266    0 -0.00318169 -0.00374842 0.995189    0.0978511      uwb: 0.0            1232.03  864.954  
imu_odom_:  1691062495.686102909  -0.476446  -0.241814  9.70609    -0.0415453  0.0149137   0.0415453   0.07       0.02          pose: 0.42994175    1.2688     -3.94266    0 -0.00320675 -0.00278125 0.995226    0.0974999      uwb: 0.49919707     1232.24  865.644  
imu_odom_:  1691062495.703094333  -0.117316  -0.186748  10.1011    -0.0479369  -0.0276969  0.0543285   0.07       0.02          pose: 0.0           1.2688     -3.94266    0 -0.00320675 -0.00278125 0.995226    0.0974999      uwb: 0.0            1232.24  865.644  
imu_odom_:  1691062495.720095380  0.474052   -0.409408  9.81383    -0.0596548  -0.0447411  0.0553937   0.07       0.02          pose: 0.0           1.2688     -3.94266    0 -0.00320675 -0.00278125 0.995226    0.0974999      uwb: 0.0            1232.24  865.644  
imu_odom_:  1691062495.736206640  0.323217   -0.282516  9.69891    -0.0468716  0.00532632  0.0394148   0.09       0             pose: 0.8004593     1.2688     -3.94266    0 -0.00407127 -0.00260973 0.995225    0.0974897      uwb: 0.49948288     1232.55  866.276  
imu_odom_:  1691062495.753200396  0.00957681 -0.306458  9.89284    -0.052198   -0.00532632 0.0490022   0.14       0.02          pose: 0.0           1.2688     -3.94266    0 -0.00407127 -0.00260973 0.995225    0.0974897      uwb: 0.0            1232.55  866.276  
imu_odom_:  1691062495.769208416  -0.0287304 -0.0885855 9.88805    -0.0394148  -0.0223706  0.0447411   0.14       0.02          pose: 0.67000955    1.25912    -3.94517    0 -0.00412648 -0.00307068 0.995253    0.0971892      uwb: 0.0            1232.55  866.276  
imu_odom_:  1691062495.787075921  0.208296   -0.0814029 9.96467    -0.0383495  -0.0149137  0.0298274   0.13       0.02          pose: 0.0           1.25912    -3.94517    0 -0.00412648 -0.00307068 0.995253    0.0971892      uwb: 0.49995532     1232.5   866.038  
imu_odom_:  1691062495.804140254  0.37589    -0.138864  9.92636    -0.052198   -0.0245011  0.0649811   0.13       0.02          pose: 0.0           1.25912    -3.94517    0 -0.00412648 -0.00307068 0.995253    0.0971892      uwb: 0.0            1232.5   866.038  
imu_odom_:  1691062495.818194297  0.25618    -0.557849  9.88326    -0.0703074  -0.00852212 0.0692422   0.13       0.02          pose: 0.32980779    1.25912    -3.94517    0 -0.00635729 -0.00117039 0.995251    0.0971278      uwb: 0.0            1232.5   866.038  
imu_odom_:  1691062495.834115409  -0.107739  -0.148441  9.74919    -0.0415453  0.00745685  0.0340885   0.11       0             pose: 0.40993828    1.25139    -3.93684    0 -0.00534422 -0.0005980170.995294    0.0967475      uwb: 0.50052694     1232.9   866.886  
imu_odom_:  1691062495.848221656  0.311246   -0.280122  10.2232    -0.0447411  -0.015979   0.0436758   0.11       0             pose: 0.6922907     1.24693    -3.938      0 -0.00604029 -0.00033669 0.995289    0.0967648      uwb: 0.0            1232.9   866.886  
imu_odom_:  1691062495.864207802  1.17795    -0.186748  10.252     -0.0735032  -0.0660464  0.0745685   0.11       0             pose: 0.0           1.24693    -3.938      0 -0.00604029 -0.00033669 0.995289    0.0967648      uwb: 0.0            1232.9   866.886  
imu_odom_:  1691062495.882231042  1.04627    -0.42138   9.96467    -0.0617853  0.02024     0.092678    0.13       0             pose: 0.39090598    1.24693    -3.938      0 -0.00392695 -0.00129367 0.995325    0.0964902      uwb: 0.49985617     1232.09  866      
imu_odom_:  1691062495.899349620  1.35033    -0.265756  10.1011    -0.0543285  -0.04048    0.113983    0.13       0             pose: 0.0           1.24693    -3.938      0 -0.00392695 -0.00129367 0.995325    0.0964902      uwb: 0.0            1232.09  866      
imu_odom_:  1691062495.916220305  1.31442    -0.136469  9.47625    -0.0394148  -0.015979   0.137419    0.13       0             pose: 0.0           1.24693    -3.938      0 -0.00392695 -0.00129367 0.995325    0.0964902      uwb: 0.0            1232.09  866      
imu_odom_:  1691062495.933109655  1.27372    -0.217872  10.0245    -0.0490022  0.0330232   0.109722    0.09       0.02          pose: 0.42167965    1.24693    -3.938      0 0.000309582 -0.00204249 0.995471    0.0950476      uwb: 0.49999616     1231.85  865.868  
imu_odom_:  1691062495.950127909  0.653617   -0.0215478 9.9934     -0.052198   0.0340885   0.0340885   0.06       0.02          pose: 0.0           1.24693    -3.938      0 0.000309582 -0.00204249 0.995471    0.0950476      uwb: 0.0            1231.85  865.868  
imu_odom_:  1691062495.965324008  0.521936   -0.0550666 10.0365    -0.0532632  -0.0138484  0.00639159  0.06       0.02          pose: 0.34810224    1.23726    -3.94057    0 0.00316237  -0.00135908 0.995565    0.0940087      uwb: 0.0            1231.85  865.868  
imu_odom_:  1691062495.983085648  0.821211   -0.220267  9.73482    -0.072438   -0.015979   -0.0117179  0.05       0.02          pose: 0.0           1.23726    -3.94057    0 0.00316237  -0.00135908 0.995565    0.0940087      uwb: 0.49957328     1231.88  866.664  
imu_odom_:  1691062495.999132747  1.04148    -0.435745  10.0389    -0.0575243  -0.0138484  0           0.05       0.02          pose: 0.0           1.23726    -3.94057    0 0.00316237  -0.00135908 0.995565    0.0940087      uwb: 0.0            1231.88  866.664  
imu_odom_:  1691062496.16337654   0.814029   -0.335188  9.79228    -0.0596548  0.0149137   0           0.05       0.02          pose: 0.31970252    1.23726    -3.94057    0 0.00505985  0.000521415 0.995513    0.0944913      uwb: 0.0            1231.88  866.664  
imu_odom_:  1691062496.33165765   0.646434   -0.143652  9.85693    -0.0500674  0.0170442   0.00319579  0.04       0.02          pose: 0.43181411    1.23726    -3.94057    0 0.0088703   -0.00146024 0.9954      0.0953857      uwb: 0.49969878     1232.15  867.046  
imu_odom_:  1691062496.50055704   0.201113   -0.246603  9.991      -0.0607201  0.0127832   0.0575243   0.04       0.02          pose: 0.8850930     1.23726    -3.94057    0 0.00940671  -0.0008009190.99538     0.0955519      uwb: 0.0            1232.15  867.046  
imu_odom_:  1691062496.75058437   0.608127   -0.390255  9.77553    -0.0458064  -0.0266316  0.0585895   0.03       0.02          pose: 0.0           1.23726    -3.94057    0 0.00940671  -0.0008009190.99538     0.0955519      uwb: 0.0            1232.15  867.046  
imu_odom_:  1691062496.92050449   0.754174   -0.0574608 9.9934     -0.0553937  0.0276969   0.0735032   0.04       0.02          pose: 0.24867120    1.23726    -3.94057    0 0.00805422  -0.0002749350.995392    0.095552       uwb: 0.49950637     1232.78  867.764  
imu_odom_:  1691062496.117054348  -0.995988  -0.3304    10.3286    -0.0585895  0.0745685   0.0745685   0.04       0.02          pose: 0.0           1.23726    -3.94057    0 0.00805422  -0.0002749350.995392    0.095552       uwb: 0.0            1232.78  867.764  
imu_odom_:  1691062496.142191233  -1.01754   -0.203507  9.81144    -0.0532632  -0.0426106  0.0351537   0.04       0.02          pose: 0.41994745    1.23726    -3.94057    0 0.00973921  -0.00147933 0.995427    0.0950203      uwb: 0.50010130     1232     867.401  
imu_odom_:  1691062496.168048466  0.54109    -0.215478  9.75398    -0.0692422  -0.0660464  0.0490022   0.09       0.02          pose: 0.32177908    1.23481    -3.93088    0 0.00567925  -0.00128077 0.995498    0.094601       uwb: 0.0            1232     867.401  
imu_odom_:  1691062496.193145106  0.126893   -0.354342  9.80665    -0.052198   0.04048     0.0234358   0.11       0             pose: 0.43820109    1.22511    -3.93334    0 0.00758342  -0.00101777 0.995493    0.0945211      uwb: 0.49900767     1231.86  867.483  
imu_odom_:  1691062496.206064389  -0.335188  -0.0933739 9.92397    -0.0468716  0.00745685  0.015979    0.11       0             pose: 0.7021191     1.22511    -3.93334    0 0.00674109  -0.00113866 0.995494    0.0945762      uwb: 0.0            1231.86  867.483  
imu_odom_:  1691062496.231060122  0.107739   -0.169988  10.3741    -0.0735032  -0.0340885  0.0585895   0.1        0             pose: 0.0           1.22511    -3.93334    0 0.00674109  -0.00113866 0.995494    0.0945762      uwb: 0.50014505     1231.71  867.565  
imu_odom_:  1691062496.256032816  0.512359   -0.452504  9.75398    -0.0511327  -0.0298274  0.0234358   0.1        0             pose: 0.38973956    1.22511    -3.93334    0 0.00259345  -0.0009308720.995493    0.0947944      uwb: 0.0            1231.71  867.565  
imu_odom_:  1691062496.277036604  -0.0311246 -0.0574608 9.69173    -0.0553937  0.0447411   0.0468716   0.12       0             pose: 0.0           1.22511    -3.93334    0 0.00259345  -0.0009308720.995493    0.0947944      uwb: 0.0            1231.71  867.565  
imu_odom_:  1691062496.290054753  0.00957681 -0.174777  10.5417    -0.0639159  -0.00319579 0.0468716   0.12       0             pose: 0.47993743    1.21542    -3.9358     0 0.00148851  -0.00275511 0.995491    0.094809       uwb: 0.50265606     1231.11  866.84   
imu_odom_:  1691062496.305115245  0.339977   -0.196325  10.1203    -0.0649811  -0.0372843  0.0394148   0.12       0             pose: 0.0           1.21542    -3.9358     0 0.00148851  -0.00275511 0.995491    0.094809       uwb: 0.0            1231.11  866.84   
imu_odom_:  1691062496.331025848  0.356736   -0.476446  9.88087    -0.0639159  0.00319579  0.0394148   0.17       0             pose: 0.43077889    1.21542    -3.9358     0 -0.00194173 -0.0004415730.995504    0.0947013      uwb: 0.49850605     1231.31  867.528  
imu_odom_:  1691062496.353033746  0.304064   -0.124498  9.72046    -0.0426106  -0.0127832  0.0415453   0.17       0             pose: 0.0           1.21542    -3.9358     0 -0.00194173 -0.0004415730.995504    0.0947013      uwb: 0.0            1231.31  867.528  
imu_odom_:  1691062496.366057728  -0.244209  -0.129287  9.91199    -0.072438   0.02024     0.0596548   0.14       -0.02         pose: 0.47918501    1.20327    -3.92857    0 -0.00287474 -0.0008556150.995503    0.0946794      uwb: 0.0            1231.31  867.528  
imu_odom_:  1691062496.390028644  0.23942    -0.366313  9.83538    -0.0671117  -0.0106526  0.0351537   0.15       0.02          pose: 0.0           1.20327    -3.92857    0 -0.00287474 -0.0008556150.995503    0.0946794      uwb: 0.50097039     1231.34  867.776  
imu_odom_:  1691062496.415092037  0.960075   -0.131681  9.98861    -0.072438   -0.0884169  0.0585895   0.2        0.02          pose: 0.36994898    1.20327    -3.92857    0 -0.00568204 -0.00265845 0.995495    0.0946051      uwb: 0.0            1231.34  867.776  
imu_odom_:  1691062496.430027125  1.1133     -0.486023  9.85932    -0.056459   -0.0245011  0.0543285   0.2        0.02          pose: 0.0           1.20327    -3.92857    0 -0.00568204 -0.00265845 0.995495    0.0946051      uwb: 0.0            1231.34  867.776  
imu_odom_:  1691062496.454171566  -0.385466  -0.229843  9.28471    -0.0330232  0.0372843   0.0191748   0.14       0             pose: 0.39998481    1.19358    -3.93103    0 -0.000621866-0.00323538 0.995542    0.0942645      uwb: 0.49901933     1231.83  868.301  
imu_odom_:  1691062496.480001676  -0.0191536 -0.426168  10.2592    -0.0585895  -0.0468716  0.072438    0.14       0             pose: 0.7110141     1.19358    -3.93103    0 -0.00146444 -0.00303484 0.995535    0.0943348      uwb: 0.0            1231.83  868.301  
imu_odom_:  1691062496.504061250  0.447716   -0.177171  10.3022    -0.0351537  0.0213053   0.0319579   0.15       0             pose: 0.25044145    1.19358    -3.93103    0 -0.00407741 -0.00282811 0.995525    0.0943703      uwb: 0.49949761     1232.23  869.146  
imu_odom_:  1691062496.527051387  0.502782   -0.186748  9.69412    -0.0553937  0.0287621   0.0479369   0.15       0             pose: 0.24852830    1.18142    -3.92381    0 -0.00489311 -0.00297325 0.995546    0.0941022      uwb: 0.0            1232.23  869.146  
imu_odom_:  1691062496.544995014  0.0287304  -0.399832  10.2424    -0.0490022  -0.0170442  0.052198    0.16       0             pose: 0.0           1.18142    -3.92381    0 -0.00489311 -0.00297325 0.995546    0.0941022      uwb: 0.50028504     1232.06  869.511  
imu_odom_:  1691062496.568061269  0.213084   -0.299275  9.75398    -0.0553937  0.0149137   0.0447411   0.16       0             pose: 0.0           1.18142    -3.92381    0 -0.00489311 -0.00297325 0.995546    0.0941022      uwb: 0.0            1232.06  869.511  
imu_odom_:  1691062496.585076029  0.351948   -0.246603  9.52174    -0.0596548  -0.0213053  0.0617853   0.15       0             pose: 0.66033612    1.17173    -3.92628    0 -0.0042796  -0.00188204 0.995567    0.0939409      uwb: 0.50044253     1232.95  871.405  
imu_odom_:  1691062496.610001768  -0.011971  -0.299275  9.91678    -0.052198   0.00958738  0.0255663   0.15       0             pose: 0.0           1.17173    -3.92628    0 -0.0042796  -0.00188204 0.995567    0.0939409      uwb: 0.0            1232.95  871.405  
imu_odom_:  1691062496.636043316  0.0047884  -0.287304  9.92397    -0.0500674  -0.0106526  0.0479369   0.15       0             pose: 0.40980719    1.17173    -3.92628    0 -0.00505101 -0.00185661 0.995579    0.0937748      uwb: 0.50067875     1233.13  872.366  
imu_odom_:  1691062496.659013913  0.0670376  -0.339977  9.56962    -0.0308927  0.0213053   0.0266316   0.17       0             pose: 0.0           1.17173    -3.92628    0 -0.00505101 -0.00185661 0.995579    0.0937748      uwb: 0.0            1233.13  872.366  
imu_odom_:  1691062496.683005827  0.143652   -0.0023942 9.991      -0.04048    0.056459    0.0649811   0.17       0             pose: 0.49012436    1.15956    -3.91908    0 -0.0100166  -0.00192401 0.995537    0.0938143      uwb: 0.49970176     1232.79  872.288  
imu_odom_:  1691062496.701004866  0.148441   -0.577003  9.22725    -0.0681769  -0.00106526 0.0490022   0.17       0             pose: 0.0           1.15956    -3.91908    0 -0.0100166  -0.00192401 0.995537    0.0938143      uwb: 0.0            1232.79  872.288  
imu_odom_:  1691062496.725063565  0.560243   -0.126893  9.71806    -0.0479369  -0.0138484  0.0426106   0.23       0             pose: 0.48002201    1.14987    -3.92155    0 -0.0126339  -0.0004275050.995533    0.0935635      uwb: 0.0            1232.79  872.288  
imu_odom_:  1691062496.750996915  0.572214   -0.445322  10.0269    -0.0553937  -0.0106526  0.0415453   0.2        0             pose: 0.34000356    1.14987    -3.92155    0 -0.0103641  -0.0008156450.995566    0.0934913      uwb: 0.49897850     1232.15  872.109  
imu_odom_:  1691062496.776105512  0.383072   -0.217872  9.92636    -0.056459   -0.00745685 0.0639159   0.2        0             pose: 0.0           1.14987    -3.92155    0 -0.0103641  -0.0008156450.995566    0.0934913      uwb: 0.0            1232.15  872.109  
imu_odom_:  1691062496.800976133  0.227449   -0.215478  9.88326    -0.0628506  -0.0479369  0.0319579   0.18       0             pose: 0.7939852     1.14987    -3.92155    0 -0.00967317 -0.00125149 0.995573    0.0934891      uwb: 0.50095289     1231.37  872.542  
imu_odom_:  1691062496.813977075  -0.0957681 -0.138864  9.52892    -0.0511327  -0.0106526  0.0351537   0.18       0             pose: 0.0           1.14987    -3.92155    0 -0.00967317 -0.00125149 0.995573    0.0934891      uwb: 0.0            1231.37  872.542  
imu_odom_:  1691062496.838109559  0.0814029  -0.169988  10.2448    -0.0575243  -0.00852212 0.052198    0.17       0             pose: 0.51037864    1.1377     -3.91435    0 -0.00614593 -0.00110664 0.995627    0.0932065      uwb: 0.49863437     1230.88  872.545  
imu_odom_:  1691062496.863974665  0.0909797  0.11971    10.0556    -0.0458064  0.00639159  0.0447411   0.17       0             pose: 0.0           1.1377     -3.91435    0 -0.00614593 -0.00110664 0.995627    0.0932065      uwb: 0.0            1230.88  872.545  
imu_odom_:  1691062496.876993106  0.392649   -0.172383  9.65821    -0.0756338  -0.0127832  0.0713727   0.17       -0.02         pose: 0.37939515    1.12801    -3.91684    0 -0.00905859 0.000562526 0.995603    0.0932324      uwb: 0.0            1230.88  872.545  
imu_odom_:  1691062496.892961468  0.0909797  -0.335188  9.67736    -0.0649811  -0.02024    0.0543285   0.17       -0.02         pose: 0.0           1.12801    -3.91684    0 -0.00905859 0.000562526 0.995603    0.0932324      uwb: 0.50017422     1231.04  873.769  
imu_odom_:  1691062496.917987240  0.794875   -0.205901  9.76834    -0.0617853  -0.052198   0.0479369   0.17       -0.02         pose: 0.0           1.12801    -3.91684    0 -0.00905859 0.000562526 0.995603    0.0932324      uwb: 0.0            1231.04  873.769  
imu_odom_:  1691062496.943038092  0.354342   -0.500388  9.54089    -0.0628506  0.00106526  0.0330232   0.24       0             pose: 0.48058196    1.11833    -3.91933    0 -0.0105237  0.00375254  0.99561     0.0929346      uwb: 0.50014797     1231.21  874.465  
imu_odom_:  1691062496.968023910  0.251391   -0.320823  10.1754    -0.0468716  0.0245011   0.0585895   0.19       0             pose: 0.72999100    1.10615    -3.91215    0 -0.00718364 -0.0007032550.995666    0.0927157      uwb: 0.0            1231.21  874.465  
imu_odom_:  1691062496.981084055  0.428562   -0.612916  9.91918    -0.0692422  -0.00426106 0.0649811   0.19       0             pose: 0.0           1.10615    -3.91215    0 -0.00718364 -0.0007032550.995666    0.0927157      uwb: 0.0            1231.21  874.465  
imu_odom_:  1691062497.5193791    0.768539   -0.148441  9.91918    -0.0532632  -0.0308927  0.0415453   0.19       0             pose: 0.0           1.10615    -3.91215    0 -0.00718364 -0.0007032550.995666    0.0927157      uwb: 0.49992049     1231.31  875.45   
imu_odom_:  1691062497.29030270   0.787692   -0.454898  10.0916    -0.0649811  -0.0255663  0.0553937   0.17       0             pose: 0.8119793     1.10615    -3.91215    0 -0.00746489 -0.00145186 0.99567     0.0926445      uwb: 0.0            1231.31  875.45   
imu_odom_:  1691062497.54191953   0.773327   -0.167594  10.3621    -0.0585895  -0.0585895  0.0500674   0.24       0             pose: 0.37849398    1.09647    -3.91465    0 -0.00666207 -0.00412343 0.995697    0.0923363      uwb: 0.50043678     1230.94  876.166  
imu_odom_:  1691062497.79163779   0.562637   -0.244209  10.2017    -0.0735032  -0.02024    0.036219    0.24       0             pose: 0.0           1.09647    -3.91465    0 -0.00666207 -0.00412343 0.995697    0.0923363      uwb: 0.0            1230.94  876.166  
imu_odom_:  1691062497.95972356   0.447716   -0.318429  9.3302     -0.0468716  0.0106526   0.0319579   0.19       0.02          pose: 0.48037209    1.09396    -3.90497    0 -0.00144844 -0.00468696 0.995737    0.0921092      uwb: 0.49918281     1230.93  876.692  
imu_odom_:  1691062497.122074865  0.148441   -0.205901  9.8282     -0.0617853  0.0490022   0.0436758   0.19       0.02          pose: 0.0           1.09396    -3.90497    0 -0.00144844 -0.00468696 0.995737    0.0921092      uwb: 0.0            1230.93  876.692  
imu_odom_:  1691062497.146976407  0.220267   -0.277727  9.6223     -0.052198   -0.00852212 0.0479369   0.23       0.02          pose: 0.49995273    1.08428    -3.90748    0 0.0027459   -0.00445259 0.995736    0.0921022      uwb: 0.50029395     1231.22  878.09   
imu_odom_:  1691062497.171019948  0.272939   -0.320823  10.0317    -0.0500674  -0.00958738 0.0458064   0.23       0.02          pose: 0.0           1.08428    -3.90748    0 0.0027459   -0.00445259 0.995736    0.0921022      uwb: 0.0            1231.22  878.09   
imu_odom_:  1691062497.188004092  0.823605   -0.335188  9.94551    -0.0340885  -0.0607201  0.0383495   0.18       0.02          pose: 0.42959206    1.0746     -3.91       0 -0.00166686 -0.003942   0.995746    0.0920364      uwb: 0.49988857     1230.72  878.354  
imu_odom_:  1691062497.209993624  0.603339   -0.296881  9.95748    -0.0543285  -0.0458064  0.0436758   0.18       0.02          pose: 0.0           1.0746     -3.91       0 -0.00166686 -0.003942   0.995746    0.0920364      uwb: 0.0            1230.72  878.354  
imu_odom_:  1691062497.230937925  0.0335188  -0.0215478 9.39006    -0.0426106  -0.00745685 0.0383495   0.17       0.02          pose: 0.49005744    1.06241    -3.90283    0 -0.00450882 -0.004293   0.99575     0.0918853      uwb: 0.50003439     1230.64  878.911  
imu_odom_:  1691062497.243942080  0.426168   -0.263362  10.1131    -0.0735032  -0.00745685 0.0649811   0.17       0.02          pose: 0.0           1.06241    -3.90283    0 -0.00450882 -0.004293   0.99575     0.0918853      uwb: 0.0            1230.64  878.911  
imu_odom_:  1691062497.267967832  0.363919   -0.335188  10.1203    -0.0575243  0.0181095   0.036219    0.17       0             pose: 0.36938040    1.06241    -3.90283    0 -0.00112969 -0.00406699 0.995763    0.0918599      uwb: 0.0            1230.64  878.911  
imu_odom_:  1691062497.285103627  0.21069    -0.215478  9.74679    -0.0490022  0.00319579  0.0500674   0.17       0             pose: 0.0           1.06241    -3.90283    0 -0.00112969 -0.00406699 0.995763    0.0918599      uwb: 0.49785293     1230.26  879.62   
imu_odom_:  1691062497.310085953  0.0885855  -0.167594  9.52653    -0.036219   -0.00958738 0.0383495   0.18       -0.02         pose: 0.36091706    1.05273    -3.90535    0 -0.00138339 -0.00361326 0.995778    0.0917155      uwb: 0.0            1230.26  879.62   
imu_odom_:  1691062497.337084957  0.457293   -0.497994  9.20092    -0.0905475  -0.0191748  0.0628506   0.18       -0.02         pose: 0.0           1.05273    -3.90535    0 -0.00138339 -0.00361326 0.995778    0.0917155      uwb: 0.0            1230.26  879.62   
imu_odom_:  1691062497.362100530  0.272939   -0.459687  9.35654    -0.056459   0.0447411   0.0458064   0.18       -0.02         pose: 0.41959762    1.04054    -3.89819    0 -0.00446771 -0.00334929 0.995776    0.0916437      uwb: 0.0            1230.26  879.62   
imu_odom_:  1691062497.388082592  0.047884   -0.40462   10.2065    -0.0639159  -0.0234358  0.0585895   0.18       -0.02         pose: 0.0           1.04054    -3.89819    0 -0.00446771 -0.00334929 0.995776    0.0916437      uwb: 0.100068414    1230.3   880.365  
imu_odom_:  1691062497.410058417  0.37589    -0.318429  10.0173    -0.0511327  0.0468716   0.0394148   0.19       0             pose: 0.52151938    1.03086    -3.90071    0 -0.00497668 -0.00599317 0.995791    0.0913191      uwb: 0.0            1230.3   880.365  
imu_odom_:  1691062497.427058018  0.512359   -0.42138   9.85453    -0.0735032  -0.0234358  0.056459    0.19       0             pose: 0.0           1.03086    -3.90071    0 -0.00497668 -0.00599317 0.995791    0.0913191      uwb: 0.0            1230.3   880.365  
imu_odom_:  1691062497.450908495  0.761356   -0.423774  9.68933    -0.0575243  0.00639159  0.0447411   0.18       0             pose: 0.48800723    1.01866    -3.89357    0 -0.00800503 -0.00731936 0.995791    0.0910093      uwb: 0.49995273     1230.15  881.717  
imu_odom_:  1691062497.474962827  0.715866   -0.397437  9.31584    -0.0692422  -0.0319579  0.056459    0.18       0             pose: 0.0           1.01866    -3.89357    0 -0.00800503 -0.00731936 0.995791    0.0910093      uwb: 0.0            1230.15  881.717  
imu_odom_:  1691062497.493033032  0.268151   -0.0502782 9.89524    -0.052198   0.00639159  0.0394148   0.23       0.02          pose: 0.38995840    1.01866    -3.89357    0 -0.00459727 -0.00763899 0.995822    0.0908801      uwb: 0.50109887     1229.7   883.215  
imu_odom_:  1691062497.517050034  0.385466   -0.225055  9.87608    -0.0884169  0.00639159  0.0660464   0.23       0.02          pose: 0.0           1.01866    -3.89357    0 -0.00459727 -0.00763899 0.995822    0.0908801      uwb: 0.0            1229.7   883.215  
imu_odom_:  1691062497.540031429  0.514753   -0.205901  10.1562    -0.0671117  0.0340885   0.036219    0.23       0             pose: 0.48976581    1.00898    -3.8961     0 -0.00063723 -0.00786524 0.99585     0.0906657      uwb: 0.49882118     1229.48  884.832  
imu_odom_:  1691062497.566029823  0.37589    -0.651223  9.55047    -0.0607201  0.0191748   0.0575243   0.23       0             pose: 0.0           1.00898    -3.8961     0 -0.00063723 -0.00786524 0.99585     0.0906657      uwb: 0.0            1229.48  884.832  
imu_odom_:  1691062497.578898949  -0.035913  -0.591368  9.44273    -0.0394148  0.0298274   0.0340885   0.18       0             pose: 0.42002049    0.99677    -3.88897    0 -0.000661379-0.00443891 0.995899    0.0903643      uwb: 0.0            1229.48  884.832  
imu_odom_:  1691062497.593896160  0.368707   -0.155623  10.0628    -0.0298274  -0.0287621  0.0415453   0.18       0             pose: 0.0           0.99677    -3.88897    0 -0.000661379-0.00443891 0.995899    0.0903643      uwb: 0.49969025     1229.72  886.213  
imu_odom_:  1691062497.618949645  0.768539   -0.282516  10.1275    -0.0415453  -0.0383495  0.0447411   0.25       0             pose: 0.46991689    0.99677    -3.88897    0 -0.00116586 -0.0064127  0.995905    0.0901748      uwb: 0.0            1229.72  886.213  
imu_odom_:  1691062497.642071901  0.445322   -0.349553  9.73722    -0.0351537  -0.0149137  0.0436758   0.25       0             pose: 0.0           0.99677    -3.88897    0 -0.00116586 -0.0064127  0.995905    0.0901748      uwb: 0.50004314     1229.34  887.148  
imu_odom_:  1691062497.659972373  0.0454898  -0.0550666 10.2759    -0.0490022  0.0245011   0.0585895   0.18       0.02          pose: 0.70158858    0.979278   -3.88697    0 0.00169182  -0.00692568 0.99591     0.0900686      uwb: 0.0            1229.34  887.148  
imu_odom_:  1691062497.675904576  0.665588   -0.244209  9.98143    -0.0447411  -0.0585895  0.0458064   0.18       0.02          pose: 0.9057121     0.97488    -3.8844     0 0.000884934 -0.00628625 0.995923    0.0899805      uwb: 0.0            1229.34  887.148  
imu_odom_:  1691062497.701958965  0.754174   -0.438139  9.90481    -0.0692422  -0.00426106 0.0458064   0.18       0             pose: 0.0           0.97488    -3.8844     0 0.000884934 -0.00628625 0.995923    0.0899805      uwb: 0.49997607     1228.92  887.85   
imu_odom_:  1691062497.725952636  0.500388   -0.0574608 10.4052    -0.0266316  -0.0415453  0.0319579   0.18       0             pose: 0.24775554    0.97488    -3.8844     0 0.0020895   -0.00526168 0.995939    0.0898512      uwb: 0.0            1228.92  887.85   
imu_odom_:  1691062497.751081656  0.438139   -0.208296  10.1299    -0.0511327  -0.0575243  0.0490022   0.18       0             pose: 0.50048060    0.965212   -3.88696    0 0.00503666  -0.00395272 0.995932    0.0898783      uwb: 0.50019770     1228.74  888.437  
imu_odom_:  1691062497.774020471  0.483629   -0.0957681 10.0437    -0.0319579  -0.036219   0.0436758   0.18       0             pose: 0.0           0.965212   -3.88696    0 0.00503666  -0.00395272 0.995932    0.0898783      uwb: 0.0            1228.74  888.437  
imu_odom_:  1691062497.798893432  0.505177   -0.258574  9.663      -0.0436758  -0.0415453  0.0490022   0.19       0             pose: 0.48067835    0.953839   -3.88307    0 0.00466307  0.000531987 0.995956    0.0897236      uwb: 0.50158883     1228.36  889.115  
imu_odom_:  1691062497.815929779  0.318429   0.179565   10.2304    -0.0287621  -0.00532632 0.0372843   0.19       0             pose: 0.0           0.953839   -3.88307    0 0.00466307  0.000531987 0.995956    0.0897236      uwb: 0.0            1228.36  889.115  
imu_odom_:  1691062497.840957309  0.600945   -0.25618   9.84496    -0.0500674  -0.0426106  0.0511327   0.18       -0.02         pose: 0.41909308    0.947931   -3.88119    0 0.00492042  -3.66996e-060.995964    0.0896208      uwb: 0.50015688     1228.28  890.138  
imu_odom_:  1691062497.865946634  0.658405   -0.265756  10.0197    -0.0607201  -0.0543285  0.0617853   0.18       -0.02         pose: 0.0           0.947931   -3.88119    0 0.00492042  -3.66996e-060.995964    0.0896208      uwb: 0.0            1228.28  890.138  
imu_odom_:  1691062497.889049058  0.208296   -0.153229  9.51695    -0.052198   -0.00852212 0.0500674   0.18       0.02          pose: 0.50016855    0.936379   -3.88425    0 0.0104155   -0.00249208 0.995958    0.0891848      uwb: 0.50032311     1228.57  891.467  
imu_odom_:  1691062497.913876815  0.0933739  -0.143652  10.2208    -0.0607201  0.00106526  0.04048     0.18       0.02          pose: 0.0           0.936379   -3.88425    0 0.0104155   -0.00249208 0.995958    0.0891848      uwb: 0.0            1228.57  891.467  
imu_odom_:  1691062497.929990710  0.727837   -0.301669  9.85453    -0.0639159  -0.0181095  0.0447411   0.21       -0.02         pose: 0.30967036    0.931085   -3.87531    0 0.00749077  -0.00154819 0.995996    0.0890653      uwb: 0.0            1228.57  891.467  
imu_odom_:  1691062497.955019406  0.574608   -0.246603  10.4315    -0.0660464  -0.0266316  0.0639159   0.21       -0.02         pose: 0.0           0.931085   -3.87531    0 0.00749077  -0.00154819 0.995996    0.0890653      uwb: 0.49658139     1228.25  892.108  
imu_odom_:  1691062497.979894700  0.126893   -0.0454898 10.4986    -0.0681769  -0.052198   0.0553937   0.2        0             pose: 0.24060457    0.931085   -3.87531    0 0.00650105  -0.00145814 0.996006    0.0890407      uwb: 0.0            1228.25  892.108  
imu_odom_:  1691062498.2869679    0.711078   -0.277727  9.94073    -0.0660464  0.00958738  0.04048     0.2        0             pose: 0.0           0.931085   -3.87531    0 0.00650105  -0.00145814 0.996006    0.0890407      uwb: 0.49938695     1228.07  893.166  
imu_odom_:  1691062498.27870969   0.59855    -0.122104  9.96227    -0.0383495  -0.036219   0.0276969   0.19       0             pose: 0.40985106    0.921422   -3.87788    0 0.00941548  -0.0029343  0.996014    0.0886537      uwb: 0.0            1228.07  893.166  
imu_odom_:  1691062498.43905834   0.059855   -0.110133  9.05727    -0.0532632  -0.1012     0.0553937   0.19       0             pose: 0.0           0.921422   -3.87788    0 0.00941548  -0.0029343  0.996014    0.0886537      uwb: 0.50144018     1227.36  892.771  
imu_odom_:  1691062498.68852588   1.82917    -0.186748  9.59357    -0.0788296  -0.0980043  0.0319579   0.18       0             pose: 0.48946252    0.909178   -3.8708     0 0.010415    -0.00219299 0.996014    0.0885601      uwb: 0.0            1227.36  892.771  
imu_odom_:  1691062498.84865872   0.328006   0.160412   11.3916    -0.052198   -0.0245011  0.0671117   0.18       0             pose: 0.0           0.909178   -3.8708     0 0.010415    -0.00219299 0.996014    0.0885601      uwb: 0.49917421     1227.15  893.835  
imu_odom_:  1691062498.109868037  0.23942    -0.23942   9.97903    -0.0703074  0.02024     0.0383495   0.19       0             pose: 0.73960387    0.89445    -3.87473    0 0.0126631   0.000607443 0.996       0.088444       uwb: 0.0            1227.15  893.835  
imu_odom_:  1691062498.134862911  0.567426   0.114922   10.568     -0.0703074  0.0213053   0.0308927   0.19       0             pose: 0.8140796     0.889856   -3.87596    0 0.0117454   0.00051229  0.996011    0.0884505      uwb: 0.50068199     1226.78  895.214  
imu_odom_:  1691062498.157876977  0.993594   -0.220267  10.2615    -0.072438   -0.015979   0.0383495   0.19       0             pose: 0.41856243    0.88803    -3.86913    0 0.00940452  0.00265974  0.99602     0.088598       uwb: 0.0            1226.78  895.214  
imu_odom_:  1691062498.173914175  0.519542   -0.670376  9.19613    -0.0468716  -0.0308927  0.0234358   0.19       0             pose: 0.0           0.88803    -3.86913    0 0.00940452  0.00265974  0.99602     0.088598       uwb: 0.0            1226.78  895.214  
imu_odom_:  1691062498.198968544  0.150835   -0.174777  9.65342    -0.0585895  -0.00745685 0.0500674   0.25       0.02          pose: 0.39051264    0.877613   -3.86888    0 0.0115267   0.000330223 0.995991    0.0887124      uwb: 0.50056533     1226.36  895.649  
imu_odom_:  1691062498.222922852  0.217872   -0.308852  10.1442    -0.052198   -0.0127832  0.0394148   0.25       0.02          pose: 0.0           0.877613   -3.86888    0 0.0115267   0.000330223 0.995991    0.0887124      uwb: 0.0            1226.36  895.649  
imu_odom_:  1691062498.245848842  0.292093   -0.265756  10.331     -0.0458064  0.00426106  0.0468716   0.18       0.02          pose: 0.49008677    0.870661   -3.87074    0 0.00685044  5.65006e-05 0.996045    0.0885882      uwb: 0.49930837     1227.17  897.192  
imu_odom_:  1691062498.271853369  0.213084   -0.459687  10.0149    -0.0628506  -0.0127832  0.0490022   0.22       0             pose: 0.0           0.870661   -3.87074    0 0.00685044  5.65006e-05 0.996045    0.0885882      uwb: 0.0            1227.17  897.192  
imu_odom_:  1691062498.285864555  0.790087   -0.258574  10.1347    -0.0479369  -0.0255663  0.0415453   0.22       0             pose: 0.30951881    0.86537    -3.8618     0 0.00388887  -0.0007133220.996072    0.0884633      uwb: 0.50027661     1226.92  898.493  
imu_odom_:  1691062498.301835260  0.241814   -0.19393   9.7851     -0.0255663  0.0894822   0.036219    0.22       0             pose: 0.0           0.86537    -3.8618     0 0.00388887  -0.0007133220.996072    0.0884633      uwb: 0.0            1226.92  898.493  
imu_odom_:  1691062498.326923750  0.220267   -0.237026  9.79468    -0.076699   0.0319579   0.0660464   0.18       -0.02         pose: 0.47960527    0.85571    -3.86438    0 0.00181224  -0.00121859 0.996084    0.0883885      uwb: 0.0            1226.92  898.493  
imu_odom_:  1691062498.350834312  0.517148   -0.107739  9.84256    -0.0532632  -0.00319579 0.04048     0.18       -0.02         pose: 0.7098188     0.85571    -3.86438    0 0.000969053 -0.00122647 0.996093    0.0882946      uwb: 0.49977791     1226.91  899.921  
imu_odom_:  1691062498.375906470  0.581791   -0.191536  9.90242    -0.0639159  -0.00958738 0.056459    0.23       0.02          pose: 0.41900864    0.84605    -3.86697    0 0.000663716 0.000305226 0.996116    0.0880462      uwb: 0.0            1226.91  899.921  
imu_odom_:  1691062498.398831878  0.126893   0.011971   10.2208    -0.0543285  -0.00852212 0.0415453   0.23       0.02          pose: 0.0           0.84605    -3.86697    0 0.000663716 0.000305226 0.996116    0.0880462      uwb: 0.50153648     1226.09  900.283  
imu_odom_:  1691062498.414829414  0.287304   -0.632069  8.99262    -0.0777643  -0.0213053  0.0543285   0.18       0             pose: 0.32080230    0.843458   -3.85731    0 0.00269138  0.000640481 0.996132    0.0878291      uwb: 0.0            1226.09  900.283  
imu_odom_:  1691062498.430837448  0.646434   -0.186748  10.635     -0.0458064  -0.00106526 0.0340885   0.18       0             pose: 0.0           0.843458   -3.85731    0 0.00269138  0.000640481 0.996132    0.0878291      uwb: 0.0            1226.09  900.283  
imu_odom_:  1691062498.454830544  0.612916   -0.25618   10.1897    -0.0607201  -0.04048    0.0490022   0.18       0             pose: 0.0           0.843458   -3.85731    0 0.00269138  0.000640481 0.996132    0.0878291      uwb: 0.49836638     1225.94  900.82   
imu_odom_:  1691062498.471886436  0.344765   -0.380678  9.33499    -0.0575243  0.0223706   0.0394148   0.18       0             pose: 0.55925757    0.8338     -3.85991    0 0.00344531  -0.0002550750.996141    0.0877041      uwb: 0.0            1225.94  900.82   
imu_odom_:  1691062498.495822662  0.567426   -0.260968  9.38527    -0.0809601  -0.0234358  0.056459    0.18       0             pose: 0.0           0.8338     -3.85991    0 0.00344531  -0.0002550750.996141    0.0877041      uwb: 0.50049242     1226.2   901.647  
imu_odom_:  1691062498.521829230  0.64404    -0.246603  10.0509    -0.0553937  -0.00213053 0.04048     0.21       0             pose: 0.41018074    0.824143   -3.8625     0 0.00452908  -0.00232366 0.996147    0.0875557      uwb: 0.0            1226.2   901.647  
imu_odom_:  1691062498.546845685  0.519542   -0.320823  9.91678    -0.0756338  -0.0340885  0.0532632   0.2        0             pose: 0.41970857    0.811886   -3.85545    0 0.00878351  -0.00280916 0.996129    0.0874179      uwb: 0.49942794     1226.07  901.939  
imu_odom_:  1691062498.563813502  0.263362   -0.107739  9.64863    -0.0447411  0.0298274   0.0383495   0.2        0             pose: 0.0           0.811886   -3.85545    0 0.00878351  -0.00280916 0.996129    0.0874179      uwb: 0.0            1226.07  901.939  
imu_odom_:  1691062498.589822403  0.612916   -0.229843  9.87369    -0.0862864  -0.0127832  0.0639159   0.2        0.02          pose: 0.33035930    0.811886   -3.85545    0 0.00653435  -0.00425261 0.996157    0.0872357      uwb: 0.50046909     1225.89  902.718  
imu_odom_:  1691062498.612810221  0.725443   -0.174777  10.2855    -0.0543285  0.02024     0.0383495   0.25       0.02          pose: 0.0           0.811886   -3.85545    0 0.00653435  -0.00425261 0.996157    0.0872357      uwb: 0.0            1225.89  902.718  
imu_odom_:  1691062498.629807202  0.466869   -0.37589   9.92636    -0.0426106  0.00106526  0.0436758   0.25       0.02          pose: 0.41967357    0.802232   -3.85806    0 0.00873048  -0.002799   0.99617     0.0869508      uwb: 0.0            1225.89  902.718  
imu_odom_:  1691062498.653998321  0.148441   -0.191536  10.3573    -0.02024    -0.0106526  0.0340885   0.25       0.02          pose: 0.0           0.802232   -3.85806    0 0.00873048  -0.002799   0.99617     0.0869508      uwb: 0.49802516     1225.75  903.71   
imu_odom_:  1691062498.681149861  0.385466   -0.208296  9.79468    -0.052198   -0.036219   0.0447411   0.2        0             pose: 0.41022157    0.789967   -3.85102    0 0.00791258  -0.00274596 0.996178    0.0869423      uwb: 0.50134692     1225.76  904.403  
imu_odom_:  1691062498.704801448  0.426168   -0.323217  9.71088    -0.0458064  0.0213053   0.0468716   0.19       0             pose: 0.43295187    0.783084   -3.85288    0 0.00428724  -0.00119554 0.996206    0.0869142      uwb: 0.0            1225.76  904.403  
imu_odom_:  1691062498.731832250  0.220267   -0.0311246 9.72764    -0.0575243  -0.0149137  0.056459    0.19       0             pose: 0.0           0.783084   -3.85288    0 0.00428724  -0.00119554 0.996206    0.0869142      uwb: 0.49981290     1225.48  905.681  
imu_odom_:  1691062498.747910570  0.80924    -0.203507  9.76355    -0.0436758  -0.0340885  0.0458064   0.19       0             pose: 0.50682389    0.771687   -3.84868    0 0.00092558  -0.0008886260.996243    0.0865917      uwb: 0.0            1225.48  905.681  
imu_odom_:  1691062498.764877220  0.687136   -0.138864  10.07      -0.0713727  -0.0213053  0.0532632   0.19       0             pose: 0.0           0.771687   -3.84868    0 0.00092558  -0.0008886260.996243    0.0865917      uwb: 0.0            1225.48  905.681  
imu_odom_:  1691062498.790954656  0.641646   -0.155623  9.46428    -0.0788296  0.04048     0.0383495   0.19       0             pose: 0.33044970    0.768046   -3.84659    0 0.00454274  -0.0005213120.996247    0.0864295      uwb: 0.50017454     1225.49  906.828  
imu_odom_:  1691062498.816792365  0.459687   -0.567426  9.31584    -0.0884169  0.04048     0.0681769   0.19       0             pose: 0.8223621     0.768046   -3.84659    0 0.00513922  -0.0003622290.996244    0.0864362      uwb: 0.0            1225.49  906.828  
imu_odom_:  1691062498.841797738  0.215478   -0.380678  9.91678    -0.0117179  0.0106526   0.0127832   0.19       0             pose: 0.43691524    0.758396   -3.84922    0 0.00517161  -0.00289524 0.996272    0.0860694      uwb: 0.49838096     1225.96  908.475  
imu_odom_:  1691062498.867843385  0.433351   -0.354342  9.64624    -0.052198   -0.0447411  0.0553937   0.19       0             pose: 0.0           0.758396   -3.84922    0 0.00517161  -0.00289524 0.996272    0.0860694      uwb: 0.0            1225.96  908.475  
imu_odom_:  1691062498.891799152  0.593762   -0.246603  10.1323    -0.0276969  -0.0479369  0.0394148   0.2        0             pose: 0.8030848     0.758396   -3.84922    0 0.00435874  -0.00294998 0.996266    0.0861727      uwb: 0.50147524     1225.63  909.297  
imu_odom_:  1691062498.916848562  0.289698   -0.294487  10.1682    -0.0340885  0.0383495   0.0383495   0.19       0             pose: 0.50099988    0.746121   -3.84219    0 0.00303976  -0.00513447 0.996262    0.0861776      uwb: 0.0            1225.63  909.297  
imu_odom_:  1691062498.932818100  0.148441   -0.237026  10.0844    -0.0596548  -0.02024    0.0543285   0.19       0             pose: 0.0           0.746121   -3.84219    0 0.00303976  -0.00513447 0.996262    0.0861776      uwb: 0.50105237     1226.05  911.183  
imu_odom_:  1691062498.958987694  0.287304   -0.248997  9.68215    -0.0511327  -0.0266316  0.0383495   0.19       0             pose: 0.0           0.746121   -3.84219    0 0.00303976  -0.00513447 0.996262    0.0861776      uwb: 0.0            1226.05  911.183  
imu_odom_:  1691062498.984864774  0.227449   -0.122104  10.1801    -0.0585895  -0.00745685 0.04048     0.19       0             pose: 0.67201374    0.736472   -3.84482    0 -0.000240861-0.00312753 0.996284    0.0860735      uwb: 0.49929670     1225.75  911.982  
imu_odom_:  1691062499.785318     0.562637   -0.28491   9.47386    -0.0575243  0.00213053  0.0394148   0.19       0             pose: 0.0           0.736472   -3.84482    0 -0.000240861-0.00312753 0.996284    0.0860735      uwb: 0.0            1225.75  911.982  
imu_odom_:  1691062499.26942670   0.596156   -0.203507  9.93594    -0.0777643  0.00426106  0.0681769   0.21       0             pose: 0.23765035    0.726824   -3.84745    0 -0.00209169 -0.00207637 0.996284    0.0860729      uwb: 0.0            1225.75  911.982  
imu_odom_:  1691062499.51870475   0.380678   -0.227449  10.1921    -0.0639159  0.00532632  0.0287621   0.19       0             pose: 0.26931936    0.724195   -3.8378     0 -0.00255443 -0.0009130230.996286    0.0860607      uwb: 0.49968175     1225.93  913.497  
imu_odom_:  1691062499.75934446   0.253785   -0.332794  9.94312    -0.076699   0.00532632  0.0511327   0.19       0             pose: 0.0           0.724195   -3.8378     0 -0.00255443 -0.0009130230.996286    0.0860607      uwb: 0.0            1225.93  913.497  
imu_odom_:  1691062499.99762774   0.538695   -0.543484  9.69173    -0.0394148  0.0298274   0.0255663   0.18       0             pose: 0.42014321    0.714548   -3.84043    0 -0.000126285-0.0009950510.996318    0.0857346      uwb: 0.50151040     1225.81  913.77   
imu_odom_:  1691062499.116764426  0.670376   -0.229843  10.2783    -0.0490022  0.0117179   0.056459    0.18       0             pose: 0.0           0.714548   -3.84043    0 -0.000126285-0.0009950510.996318    0.0857346      uwb: 0.0            1225.81  913.77   
imu_odom_:  1691062499.141825802  0.924162   -0.186748  10.7141    -0.0436758  0.00213053  0.0319579   0.27       0.02          pose: 0.48024412    0.714548   -3.84043    0 -0.00358779 -0.00269007 0.996308    0.085739       uwb: 0.49757911     1225.51  914.563  
imu_odom_:  1691062499.164806628  0.828394   -0.409408  9.31584    -0.0809601  -0.0117179  0.0585895   0.27       0.02          pose: 0.0           0.714548   -3.84043    0 -0.00358779 -0.00269007 0.996308    0.085739       uwb: 0.0            1225.51  914.563  
imu_odom_:  1691062499.190905070  0.277727   -0.296881  9.83538    -0.0340885  0.0607201   0.0266316   0.19       0             pose: 0.40915721    0.702266   -3.83342    0 -0.000752074-0.00357125 0.996309    0.0857589      uwb: 0.49977223     1225.15  915.149  
imu_odom_:  1691062499.216894731  0.457293   -0.414197  9.24401    -0.0830906  0.0234358   0.0447411   0.19       0             pose: 0.0           0.702266   -3.83342    0 -0.000752074-0.00357125 0.996309    0.0857589      uwb: 0.0            1225.15  915.149  
imu_odom_:  1691062499.232810321  0.373495   -0.301669  10.0509    -0.0426106  0.0149137   0.0383495   0.19       0             pose: 0.93118731    0.681072   -3.83173    0 0.000131186 -0.00672806 0.996297    0.0857194      uwb: 0.49991805     1224.41  915.874  
imu_odom_:  1691062499.258751278  0.430956   0.023942   10.4387    -0.0628506  -0.0255663  0.0490022   0.19       0             pose: 0.0           0.681072   -3.83173    0 0.000131186 -0.00672806 0.996297    0.0857194      uwb: 0.0            1224.41  915.874  
imu_odom_:  1691062499.283813529  0.672771   -0.0622492 10.058     -0.0372843  -0.00958738 0.0308927   0.19       0.02          pose: 0.6933123     0.680338   -3.82905    0 -0.000364374-0.00613704 0.9963      0.0857216      uwb: 0.49945435     1224.63  917.352  
imu_odom_:  1691062499.309821271  0.596156   -0.325611  9.93594    -0.0479369  0.0255663   0.0447411   0.21       0             pose: 0.41940539    0.670691   -3.83168    0 0.000380216 -0.00249671 0.996323    0.0856341      uwb: 0.0            1224.63  917.352  
imu_odom_:  1691062499.325747069  -0.0742203 -0.158017  9.89524    -0.0276969  -0.00106526 0.0372843   0.19       0             pose: 0.0           0.670691   -3.83168    0 0.000380216 -0.00249671 0.996323    0.0856341      uwb: 0.0            1224.63  917.352  
imu_odom_:  1691062499.342742597  0.531513   -0.162806  9.64145    -0.0607201  -0.00532632 0.0532632   0.19       0             pose: 0.0           0.670691   -3.83168    0 0.000380216 -0.00249671 0.996323    0.0856341      uwb: 0.49993263     1224.4   918.103  
imu_odom_:  1691062499.367903129  1.15879    -0.265756  9.68933    -0.0468716  0.0181095   0.0340885   0.18       0.02          pose: 0.51006124    0.661045   -3.83432    0 0.00303949  -0.00242592 0.996317    0.0856557      uwb: 0.0            1224.4   918.103  
imu_odom_:  1691062499.394853448  0.342371   -0.440533  9.63427    -0.0692422  0.0234358   0.0617853   0.18       0.02          pose: 0.0           0.661045   -3.83432    0 0.00303949  -0.00242592 0.996317    0.0856557      uwb: 0.50171454     1224.54  919.381  
imu_odom_:  1691062499.410749207  0.536301   -0.363919  10.0868    -0.0436758  0.0106526   0.0298274   0.19       0             pose: 0.78078931    0.648761   -3.82731    0 0.00342345  -0.00331765 0.996343    0.0853129      uwb: 0.0            1224.54  919.381  
imu_odom_:  1691062499.435788709  0.684742   -0.414197  9.67257    -0.0692422  -0.0340885  0.0703074   0.19       0             pose: 0.6939830     0.648761   -3.82731    0 0.00371021  -0.00388119 0.996337    0.0853454      uwb: 0.49947476     1224.46  920.292  
imu_odom_:  1691062499.458800157  0.699107   -0.260968  9.69412    -0.0351537  0.0266316   0.0287621   0.19       0             pose: 0.33995431    0.641836   -3.82921    0 0.00646195  -0.00628686 0.99634     0.0850047      uwb: 0.0            1224.46  920.292  
imu_odom_:  1691062499.474790115  0.304064   -0.280122  10.2927    -0.0617853  0.0234358   0.0575243   0.19       0             pose: 0.0           0.641836   -3.82921    0 0.00646195  -0.00628686 0.99634     0.0850047      uwb: 0.0            1224.46  920.292  
imu_odom_:  1691062499.490782699  0.514753   -0.344765  10.0126    -0.052198   -0.0181095  0.036219    0.25       0             pose: 0.0           0.641836   -3.82921    0 0.00646195  -0.00628686 0.99634     0.0850047      uwb: 0.49914229     1223.7   920.561  
imu_odom_:  1691062499.515776997  0.562637   -0.282516  9.94551    -0.0649811  0.00426106  0.0532632   0.25       0             pose: 0.45941237    0.636468   -3.82032    0 0.00616708  -0.00565003 0.996345    0.0850058      uwb: 0.0            1223.7   920.561  
imu_odom_:  1691062499.539719355  0.337582   -0.397437  9.34696    -0.0383495  0.0234358   0.0266316   0.2        0             pose: 0.0           0.636468   -3.82032    0 0.00616708  -0.00565003 0.996345    0.0850058      uwb: 0.49940477     1223.69  921.445  
imu_odom_:  1691062499.564767024  0.533907   -0.308852  9.95509    -0.0617853  -0.0138484  0.0490022   0.2        0             pose: 0.41012838    0.626825   -3.82297    0 0.00654898  -0.00485914 0.996356    0.0849053      uwb: 0.0            1223.69  921.445  
imu_odom_:  1691062499.587717519  0.395043   0.0047884  10.1323    -0.0490022  -0.0234358  0.036219    0.18       0.02          pose: 0.42024240    0.617183   -3.82562    0 0.00738191  -0.00541653 0.996348    0.0848977      uwb: 0.50000554     1223.92  922.679  
imu_odom_:  1691062499.612845680  0.672771   -0.234632  9.92636    -0.0777643  -0.0468716  0.0479369   0.18       0.02          pose: 0.7020614     0.617183   -3.82562    0 0.00717945  -0.00475142 0.996351    0.0849126      uwb: 0.0            1223.92  922.679  
imu_odom_:  1691062499.628713442  0.447716   -0.0095768110.0054    -0.0500674  0.0426106   0.0319579   0.22       0             pose: 0.0           0.617183   -3.82562    0 0.00717945  -0.00475142 0.996351    0.0849126      uwb: 0.0            1223.92  922.679  
imu_odom_:  1691062499.643901394  0.380678   -0.047884  9.55047    -0.0607201  0.00745685  0.0479369   0.22       0             pose: 0.47930504    0.604889   -3.81863    0 0.0092521   -0.00253775 0.996345    0.0848827      uwb: 0.49986847     1223.27  922.684  
imu_odom_:  1691062499.667847252  0.438139   -0.383072  9.40442    -0.0756338  -0.00852212 0.0372843   0.21       0             pose: 0.0           0.604889   -3.81863    0 0.0092521   -0.00253775 0.996345    0.0848827      uwb: 0.0            1223.27  922.684  
imu_odom_:  1691062499.692696314  0.399832   -0.318429  9.63187    -0.0500674  -0.0223706  0.0532632   0.21       0             pose: 0.30999136    0.604889   -3.81863    0 0.00716341  -0.00118345 0.996365    0.0848748      uwb: 0.50247864     1223.05  923.85   
imu_odom_:  1691062499.714820598  0.486023   -0.368707  9.72046    -0.0490022  -0.00426106 0.0394148   0.18       0             pose: 0.0           0.604889   -3.81863    0 0.00716341  -0.00118345 0.996365    0.0848748      uwb: 0.0            1223.05  923.85   
imu_odom_:  1691062499.737702558  0.42138    -0.229843  9.76355    -0.0628506  -0.0117179  0.0436758   0.18       0             pose: 0.47995831    0.595248   -3.82128    0 0.00401808  -0.0041823  0.99639     0.0847012      uwb: 0.49931144     1222.98  924.526  
imu_odom_:  1691062499.753768343  0.505177   -0.100556  9.65582    -0.0500674  -0.0127832  0.0287621   0.19       0             pose: 0.0           0.595248   -3.82128    0 0.00401808  -0.0041823  0.99639     0.0847012      uwb: 0.0            1222.98  924.526  
imu_odom_:  1691062499.775696645  0.251391   -0.124498  9.44991    -0.0394148  -0.00852212 0.0340885   0.19       0             pose: 0.45994316    0.582951   -3.8143     0 0.00299806  -0.00319514 0.996398    0.08469        uwb: 0.0            1222.98  924.526  
imu_odom_:  1691062499.801720428  0.158017   -0.28491   10.0365    -0.0575243  -0.0340885  0.0447411   0.18       0.02          pose: 0.0           0.582951   -3.8143     0 0.00299806  -0.00319514 0.996398    0.08469        uwb: 0.49999096     1223.08  925.791  
imu_odom_:  1691062499.818733162  0.440533   -0.0502782 9.93354    -0.0426106  0.0330232   0.0436758   0.18       0.02          pose: 0.39010447    0.57331    -3.81695    0 0.000914408 -0.0009825240.996399    0.0847806      uwb: 0.0            1223.08  925.791  
imu_odom_:  1691062499.843732127  0.761356   0.00957681 9.87369    -0.0692422  0.00958738  0.0351537   0.18       0.02          pose: 0.0           0.57331    -3.81695    0 0.000914408 -0.0009825240.996399    0.0847806      uwb: 0.49815072     1222.54  925.537  
imu_odom_:  1691062499.870814558  0.557849   -0.304064  9.73961    -0.0479369  -0.00745685 0.0372843   0.18       0.02          pose: 0.43042641    0.57331    -3.81695    0 0.000297907 0.000812824 0.996405    0.084715       uwb: 0.0            1222.54  925.537  
imu_odom_:  1691062499.895697742  0.28491    -0.332794  9.84017    -0.036219   0.0255663   0.0276969   0.18       0.02          pose: 0.44054045    0.561013   -3.80997    0 0.00354245  -0.0005054130.996394    0.0847756      uwb: 0.50025635     1222.4   926.664  
imu_odom_:  1691062499.922858040  0.861913   -0.105345  10.2304    -0.0575243  -0.00213053 0.056459    0.18       0.02          pose: 0.7923527     0.561013   -3.80997    0 0.00272103  -0.0007731050.996392    0.0848208      uwb: 0.0            1222.4   926.664  
imu_odom_:  1691062499.938698388  0.311246   -0.1652    9.8689     -0.0511327  0.0255663   0.0276969   0.19       -0.02         pose: 0.0           0.561013   -3.80997    0 0.00272103  -0.0007731050.996392    0.0848208      uwb: 0.49959725     1221.77  926.656  
imu_odom_:  1691062499.964662968  0.490811   -0.407014  9.55047    -0.0585895  -0.02024    0.0479369   0.19       -0.02         pose: 0.44119955    0.551372   -3.81262    0 0.00358878  -0.0007952940.9964      0.0846929      uwb: 0.0            1221.77  926.656  
imu_odom_:  1691062499.987677332  0.316035   -0.227449  9.74679    -0.0234358  0.00745685  0.0351537   0.19       -0.02         pose: 0.41804928    0.542405   -3.80753    0 0.00257087  -0.00269529 0.996402    0.084675       uwb: 0.0            1221.77  926.656  
imu_odom_:  1691062500.11724974   -0.0167594 -0.134075  9.33739    -0.0671117  -0.00532632 0.056459    0.19       -0.02         pose: 0.7039571     0.539075   -3.80563    0 0.00187222  -0.00235396 0.996403    0.0846893      uwb: 0.0            1221.77  926.656  
imu_odom_:  1691062500.27664484   1.01275    0.0526724  10.6015    -0.0426106  -0.092678   0.0383495   0.25       0             pose: 0.23042945    0.539075   -3.80563    0 -0.000380866-0.0013888  0.996409    0.0846612      uwb: 0.0            1221.77  926.656  
imu_odom_:  1691062500.43701110   1.36948    -0.28491   9.31823    -0.0479369  -0.0745685  0.0756338   0.25       0             pose: 0.0           0.539075   -3.80563    0 -0.000380866-0.0013888  0.996409    0.0846612      uwb: 0.99986535     1221.64  927.556  
imu_odom_:  1691062500.59710321   0.988805   -0.445322  9.07881    -0.0511327  0.0575243   0.113983    0.18       0.2           pose: 0.23930406    0.529435   -3.80829    0 -0.00101731 -0.00068337 0.996421    0.0845203      uwb: 0.0            1221.64  927.556  
imu_odom_:  1691062500.75709617   1.36469    -0.258574  10.3573    -0.0458064  -0.015979   0.171508    0.18       0.2           pose: 0.0           0.529435   -3.80829    0 -0.00101731 -0.00068337 0.996421    0.0845203      uwb: 0.0            1221.64  927.556  
imu_odom_:  1691062500.91728452   1.23541    -0.588974  9.50019    -0.0735032  -0.00745685 0.298274    0.18       0.2           pose: 0.0           0.529435   -3.80829    0 -0.00101731 -0.00068337 0.996421    0.0845203      uwb: 0.50042274     1221.53  928.661  
imu_odom_:  1691062500.107712291  1.86508    -0.577003  9.97424    -0.0628506  0.056459    0.379234    0.13       0.32          pose: 0.73052562    0.518419   -3.8057     0 0.00640219  -0.00233749 0.996729    0.0805247      uwb: 0.0            1221.53  928.661  
imu_odom_:  1691062500.123701963  1.2378     -0.675165  9.94791    -0.0468716  0.0149137   0.428236    0.13       0.32          pose: 0.0           0.518419   -3.8057     0 0.00640219  -0.00233749 0.996729    0.0805247      uwb: 0.0            1221.53  928.661  
imu_odom_:  1691062500.140648209  1.08457    -0.102951  9.57441    -0.0436758  -0.00532632 0.432497    0.13       0.32          pose: 0.0           0.518419   -3.8057     0 0.00640219  -0.00233749 0.996729    0.0805247      uwb: 0.50002320     1221.34  929.786  
imu_odom_:  1691062500.156646630  1.04387    -0.047884  9.85693    -0.0458064  0.00426106  0.448476    0.14       0.55          pose: 0.7987399     0.517191   -3.8012     0 0.00691407  -0.00260877 0.996833    0.079173       uwb: 0.0            1221.34  929.786  
imu_odom_:  1691062500.173692617  0.452504   -0.11971   9.61272    -0.0671117  0.0255663   0.52198     0.09       0.47          pose: 0.0           0.517191   -3.8012     0 0.00691407  -0.00260877 0.996833    0.079173       uwb: 0.0            1221.34  929.786  
imu_odom_:  1691062500.190717022  0.773327   -0.641646  10.3645    -0.0585895  0           0.591222    0.09       0.47          pose: 0.64996046    0.507521   -3.80375    0 0.0108845   -0.00216025 0.997744    0.066217       uwb: 0.49960907     1220.88  930.357  
imu_odom_:  1691062500.206650116  0.663194   -0.368707  9.72285    -0.0319579  -0.00319579 0.609331    0.09       0.53          pose: 0.0           0.507521   -3.80375    0 0.0108845   -0.00216025 0.997744    0.066217       uwb: 0.0            1220.88  930.357  
imu_odom_:  1691062500.223712726  0.960075   -0.31364   10.2615    -0.0490022  0.00745685  0.621049    0.09       0.53          pose: 0.0           0.507521   -3.80375    0 0.0108845   -0.00216025 0.997744    0.066217       uwb: 0.0            1220.88  930.357  
imu_odom_:  1691062500.239772683  0.682347   0.124498   9.97185    -0.052198   0.00426106  0.629571    0.09       0.53          pose: 0.33949070    0.507521   -3.80375    0 0.0108644   -0.00398994 0.998302    0.0570932      uwb: 0.50289875     1220.87  931.206  
imu_odom_:  1691062500.265704024  0.684742   -0.306458  10.137     -0.0500674  0.00958738  0.607201    0.1        0.73          pose: 0.41111716    0.507509   -3.80372    0 0.0128442   -0.00326026 0.998892    0.0451539      uwb: 0.0            1220.87  931.206  
imu_odom_:  1691062500.282712681  0.00718261 -0.114922  9.88805    -0.0575243  0.0756338   0.600809    0.1        0.73          pose: 0.7948611     0.507521   -3.80375    0 0.0131411   -0.00397632 0.998985    0.0428922      uwb: 0.50050440     1220.66  932.117  
imu_odom_:  1691062500.298636443  -0.59855   -0.354342  10.3166    -0.0681769  0.0884169   0.558199    0.11       0.64          pose: 0.0           0.507521   -3.80375    0 0.0131411   -0.00397632 0.998985    0.0428922      uwb: 0.0            1220.66  932.117  
imu_odom_:  1691062500.314636030  -0.88346   0.0143652  10.2185    -0.0394148  -0.0106526  0.462325    0.1        0.38          pose: 0.50915149    0.502167   -3.80514    0 0.00913942  -0.00523707 0.999527    0.0288786      uwb: 0.0            1220.66  932.117  
imu_odom_:  1691062500.330646408  -0.332794  -0.0981623 9.92875    -0.0585895  -0.0468716  0.393083    0.11       0.41          pose: 0.0           0.502167   -3.80514    0 0.00913942  -0.00523707 0.999527    0.0288786      uwb: 0.0            1220.66  932.117  
imu_odom_:  1691062500.347709602  0.581791   -0.222661  10.4004    -0.0511327  -0.0884169  0.354733    0.11       0.41          pose: 0.0           0.502167   -3.80514    0 0.00913942  -0.00523707 0.999527    0.0288786      uwb: 0.49862625     1220.23  932.668  
imu_odom_:  1691062500.364650890  0.442927   -0.134075  9.79228    -0.056459   0.00958738  0.328101    0.15       0.44          pose: 0.23069491    0.497871   -3.80637    0 0.00708441  -0.00459522 0.99967     0.024241       uwb: 0.0            1220.23  932.668  
imu_odom_:  1691062500.380707347  0.610521   -0.268151  10.2065    -0.052198   0.0447411   0.329167    0.15       0.44          pose: 0.0           0.497871   -3.80637    0 0.00708441  -0.00459522 0.99967     0.024241       uwb: 0.49791756     1220.07  932.929  
imu_odom_:  1691062500.396688561  0.0502782  -0.308852  9.77074    -0.0426106  0.0127832   0.316384    0.15       0.44          pose: 0.33064239    0.497871   -3.80637    0 0.00748046  -0.00239904 0.999789    0.0189649      uwb: 0.0            1220.07  932.929  
imu_odom_:  1691062500.413701009  0.227449   -0.280122  10.1634    -0.056459   -0.0276969  0.317449    0.12       0.23          pose: 0.41918388    0.486854   -3.80378    0 0.00617104  -0.00221814 0.999894    0.0130026      uwb: 0.0            1220.07  932.929  
imu_odom_:  1691062500.430626258  0.296881   -0.158017  9.86411    -0.0649811  -0.0245011  0.295078    0.12       0.23          pose: 0.7945403     0.485603   -3.7993     0 0.00546805  -0.00227974 0.999912    0.0118967      uwb: 0.49942826     1219.88  934.45   
imu_odom_:  1691062500.446645968  0.562637   -0.241814  10.1155    -0.0330232  -0.015979   0.264186    0.12       0.23          pose: 0.0           0.485603   -3.7993     0 0.00546805  -0.00227974 0.999912    0.0118967      uwb: 0.0            1219.88  934.45   
imu_odom_:  1691062500.462635057  0.481235   -0.0383072 9.79468    -0.0490022  -0.0319579  0.273773    0.18       0.29          pose: 0.42012004    0.485603   -3.7993     0 0.00502589  -0.0014035  0.999964    0.00667579     uwb: 0.0            1219.88  934.45   
imu_odom_:  1691062500.478627353  0.19393    -0.19393   10.2089    -0.0543285  -0.0181095  0.264186    0.13       0.17          pose: 0.0           0.485603   -3.7993     0 0.00502589  -0.0014035  0.999964    0.00667579     uwb: 0.0            1219.88  934.45   
imu_odom_:  1691062500.494631315  0.474052   -0.136469  10.1418    -0.0394148  0.00319579  0.245011    0.13       0.17          pose: 0.0           0.485603   -3.7993     0 0.00502589  -0.0014035  0.999964    0.00667579     uwb: 0.50067646     1219.59  935.372  
imu_odom_:  1691062500.510627111  0.423774   -0.349553  9.8258     -0.0639159  -0.00426106 0.247141    0.13       0.17          pose: 0.24004485    0.475959   -3.80194    0 0.00435927  0.000273083 0.999983    0.0039111      uwb: 0.0            1219.59  935.372  
imu_odom_:  1691062500.526625532  0.0957681  -0.509965  9.39245    -0.0639159  0.00106526  0.238619    0.14       0.17          pose: 0.0           0.475959   -3.80194    0 0.00435927  0.000273083 0.999983    0.0039111      uwb: 0.0            1219.59  935.372  
imu_odom_:  1691062500.542621328  0.723049   -0.203507  9.77074    -0.0319579  -0.0511327  0.239684    0.14       0.17          pose: 0.0           0.475959   -3.80194    0 0.00435927  0.000273083 0.999983    0.0039111      uwb: 0.49995612     1219.87  936.952  
imu_odom_:  1691062500.558627915  0.653617   -0.220267  9.40921    -0.0756338  -0.0255663  0.28123     0.16       0.2           pose: 0.71970875    0.466314   -3.80458    0 0.00380458  -0.0003488760.999987    -0.00348145    uwb: 0.0            1219.87  936.952  
imu_odom_:  1691062500.574619920  0.749385   -0.0742203 10.0006    -0.0777643  -0.0223706  0.340885    0.16       0.2           pose: 0.0           0.466314   -3.80458    0 0.00380458  -0.0003488760.999987    -0.00348145    uwb: 0.0            1219.87  936.952  
imu_odom_:  1691062500.590616299  1.39821    -0.658405  9.77313    -0.0383495  -0.0649811  0.315318    0.16       0.2           pose: 0.0           0.466314   -3.80458    0 0.00380458  -0.0003488760.999987    -0.00348145    uwb: 0.49927660     1219.8   939.038  
imu_odom_:  1691062500.606611803  1.34075    0.0407014  9.60075    -0.036219   0           0.232228    0.1        0.14          pose: 0.7011576     0.466314   -3.80458    0 0.00458054  -0.0004162170.99998     -0.00432807    uwb: 0.0            1219.8   939.038  
imu_odom_:  1691062500.622668844  1.49877    0.215478   10.3382    -0.0607201  0           0.218379    0.1        0.14          pose: 0.0           0.466314   -3.80458    0 0.00458054  -0.0004162170.99998     -0.00432807    uwb: 0.0            1219.8   939.038  
imu_odom_:  1691062500.639613632  0.842759   -0.373495  9.56484    -0.0713727  0.0106526   0.18003     0.1        0.14          pose: 0.0           0.466314   -3.80458    0 0.00458054  -0.0004162170.99998     -0.00432807    uwb: 0.49999987     1219.22  938.992  
imu_odom_:  1691062500.656737778  0.737414   -0.342371  9.991      -0.0511327  -0.00319579 0.131028    0.11       0.17          pose: 0.48988876    0.466314   -3.80458    0 0.00971153  -8.74587e-050.999895    -0.010797      uwb: 0.0            1219.22  938.992  
imu_odom_:  1691062500.672728324  0.565032   -0.289698  9.72764    -0.0500674  -0.00958738 0.132093    0.07       0.11          pose: 0.0           0.466314   -3.80458    0 0.00971153  -8.74587e-050.999895    -0.010797      uwb: 0.0            1219.22  938.992  
imu_odom_:  1691062500.688736078  0.818817   -0.0430956 10.1849    -0.056459   -0.00213053 0.143811    0.07       0.11          pose: 0.66110688    0.456677   -3.80725    0 0.013275    -0.00195606 0.999792    -0.0153704     uwb: 0.50254878     1219.59  940.333  
imu_odom_:  1691062500.706779760  0.675165   -0.229843  9.76834    -0.0585895  -0.0149137  0.174703    0.06       0.14          pose: 0.0           0.456677   -3.80725    0 0.013275    -0.00195606 0.999792    -0.0153704     uwb: 0.0            1219.59  940.333  
imu_odom_:  1691062500.723666512  0.665588   -0.28491   9.88326    -0.0500674  0.00426106  0.165116    0.06       0.14          pose: 0.0           0.456677   -3.80725    0 0.013275    -0.00195606 0.999792    -0.0153704     uwb: 0.0            1219.59  940.333  
imu_odom_:  1691062500.748649153  0.792481   -0.117316  9.85693    -0.0490022  -0.00958738 0.164051    0.06       0.14          pose: 0.32995995    0.456677   -3.80725    0 0.0142804   -0.00049688 0.999751    -0.0171613     uwb: 0.49883331     1219.63  940.94   
imu_odom_:  1691062500.775616103  0.136469   -0.222661  9.76834    -0.0596548  0.0490022   0.105461    0.05       0.08          pose: 0.33930406    0.453983   -3.79762    0 0.0148142   -0.0009019020.999703    -0.0193367     uwb: 0.0            1219.63  940.94   
imu_odom_:  1691062500.791685392  -0.181959  0.00718261 10.1179    -0.0500674  0.0245011   -0.0191748  0.05       0.08          pose: 0.0           0.453983   -3.79762    0 0.0148142   -0.0009019020.999703    -0.0193367     uwb: 0.49778050     1219.12  941.691  
imu_odom_:  1691062500.818626386  -1.04387   -0.189142  10.2065    -0.072438   0.00426106  0.0841559   0.07       0.11          pose: 0.52097160    0.444364   -3.80036    0 0.011605    0.000483375 0.999712    -0.0210212     uwb: 0.0            1219.12  941.691  
imu_odom_:  1691062500.843730349  0.234632   -0.907402  9.85214    -0.036219   -0.0745685  0.107592    0.09       0.05          pose: 0.34870357    0.444364   -3.80036    0 0.00791645  0.000423607 0.99974     -0.0213831     uwb: 0.50010194     1218.97  942.141  
imu_odom_:  1691062500.870710714  0.632069   0.174777   9.65103    -0.0500674  -0.0330232  0.152333    0.09       0.05          pose: 0.0           0.444364   -3.80036    0 0.00791645  0.000423607 0.99974     -0.0213831     uwb: 0.0            1218.97  942.141  
imu_odom_:  1691062500.886776212  0.0957681  0.0287304  9.44991    -0.0745685  0.0191748   0.134223    0.12       0.02          pose: 0.8041061     0.444364   -3.80036    0 0.00787565  -0.0002324020.999734    -0.0216627     uwb: 0.50112267     1218.7   943.234  
imu_odom_:  1691062500.913613966  0.047884   -0.21069   9.63187    -0.036219   -0.0298274  0.0639159   0.12       0.02          pose: 0.0           0.444364   -3.80036    0 0.00787565  -0.0002324020.999734    -0.0216627     uwb: 0.0            1218.7   943.234  
imu_odom_:  1691062500.939696376  0.61531    -0.40462   10.2376    -0.0607201  0.0106526   0.110787    0.12       0.02          pose: 0.52062163    0.434734   -3.80305    0 0.00779931  0.0013574   0.999677    -0.0241315     uwb: 0.49832586     1218.64  944.062  
imu_odom_:  1691062500.966926676  0.229843   -0.237026  9.78031    -0.0553937  0.0127832   0.103331    0.18       0.05          pose: 0.42985494    0.434734   -3.80305    0 0.00497274  0.000946588 0.999671    -0.0251254     uwb: 0.0            1218.64  944.062  
imu_odom_:  1691062500.982585046  0.124498   -0.107739  10.1562    -0.0596548  0.0149137   0.0948085   0.13       0.02          pose: 0.0           0.434734   -3.80305    0 0.00497274  0.000946588 0.999671    -0.0251254     uwb: 0.50116059     1218.62  944.473  
imu_odom_:  1691062501.9574746    0.608127   -0.21069   9.96946    -0.0575243  -0.0351537  0.0905475   0.13       0.02          pose: 0.52918706    0.425099   -3.80573    0 0.00196316  -0.0005869140.999637    -0.026857      uwb: 0.0            1218.62  944.473  
imu_odom_:  1691062501.35580171   0.19393    -0.25618   9.75398    -0.0820254  0.0308927   0.113983    0.19       0.08          pose: 0.0           0.425099   -3.80573    0 0.00196316  -0.0005869140.999637    -0.026857      uwb: 0.50037616     1218.12  944.803  
imu_odom_:  1691062501.62584751   0.560243   -0.059855  9.86172    -0.0735032  -0.00639159 0.0873517   0.19       0.02          pose: 0.60946361    0.418193   -3.80766    0 0.00122518  -0.0008871910.999586    -0.0287303     uwb: 0.0            1218.12  944.803  
imu_odom_:  1691062501.87580815   0.553061   -0.280122  10.3908    -0.0841559  0.00852212  0.092678    0.19       0.02          pose: 0.0           0.418193   -3.80766    0 0.00122518  -0.0008871910.999586    -0.0287303     uwb: 0.49938174     1218.04  945.432  
imu_odom_:  1691062501.114691551  0.189142   -0.117316  10.0221    -0.0553937  0           0.0692422   0.18       0.05          pose: 0.7003996     0.415471   -3.80843    0 0.00164765  -0.0003839730.999581    -0.0288964     uwb: 0.0            1218.04  945.432  
imu_odom_:  1691062501.130679186  0.687136   -0.0622492 10.1945    -0.0532632  -0.0223706  0.0905475   0.18       0.05          pose: 0.0           0.415471   -3.80843    0 0.00164765  -0.0003839730.999581    -0.0288964     uwb: 0.50008168     1218.11  946.021  
imu_odom_:  1691062501.157566236  0.656011   -0.158017  10.2065    -0.04048    -0.015979   0.0468716   0.21       0.02          pose: 0.52022808    0.412737   -3.79881    0 0.00389773  -0.0007366980.999538    -0.0301433     uwb: 0.0            1218.11  946.021  
imu_odom_:  1691062501.183585076  0.373495   0.0047884  9.73482    -0.0671117  -0.0287621  0.0884169   0.21       0.02          pose: 0.0           0.412737   -3.79881    0 0.00389773  -0.0007366980.999538    -0.0301433     uwb: 0.49981046     1218.34  947.578  
imu_odom_:  1691062501.210649734  0.124498   -0.387861  9.44513    -0.0575243  0.0308927   0.0575243   0.2        0.05          pose: 0.42971217    0.403123   -3.80156    0 0.00413917  0.00108214  0.999514    -0.0308704     uwb: 0.0            1218.34  947.578  
imu_odom_:  1691062501.235569388  0.691924   -0.186748  10.0126    -0.0500674  -0.0127832  0.076699    0.16       0             pose: 0.53078540    0.393486   -3.80423    0 0.00413145  0.00316957  0.999486    -0.0316254     uwb: 0.50095951     1218.66  949.114  
imu_odom_:  1691062501.262893312  0.926556   -0.23942   10.3046    -0.0447411  -0.0490022  0.0479369   0.16       0             pose: 0.0           0.393486   -3.80423    0 0.00413145  0.00316957  0.999486    -0.0316254     uwb: 0.0            1218.66  949.114  
imu_odom_:  1691062501.278723754  0.711078   -0.071826  9.89524    -0.0415453  0.0394148   0.056459    0.17       0             pose: 0.72236580    0.383855   -3.80692    0 0.00805002  0.00189688  0.999441    -0.0323926     uwb: 0.0            1218.66  949.114  
imu_odom_:  1691062501.295722501  0.169988   -0.347159  9.56244    -0.0553937  0.0170442   0.0703074   0.17       0             pose: 0.8037564     0.383855   -3.80692    0 0.00850286  0.00244588  0.999434    -0.0324582     uwb: 0.49915718     1219.15  950.41   
imu_odom_:  1691062501.321604563  0.433351   -0.117316  9.65582    -0.0415453  -0.0458064  0.0543285   0.16       0.02          pose: 0.0           0.383855   -3.80692    0 0.00850286  0.00244588  0.999434    -0.0324582     uwb: 0.0            1219.15  950.41   
imu_odom_:  1691062501.348539733  0.502782   -0.363919  10.489     -0.0681769  -0.0692422  0.0756338   0.16       0.02          pose: 0.24791625    0.374226   -3.80962    0 0.00723695  0.00221694  0.999434    -0.0327859     uwb: 0.50024500     1219.28  950.984  
imu_odom_:  1691062501.374695644  0.605733   0.0861913  10.6781    -0.0415453  -0.0426106  0.0500674   0.17       0.02          pose: 0.52817232    0.367371   -3.81155    0 0.00623358  0.000737371 0.99942     -0.0334593     uwb: 0.0            1219.28  950.984  
imu_odom_:  1691062501.401600775  0.555455   -0.31364   10.1227    -0.0426106  -0.0308927  0.0458064   0.17       0.02          pose: 0.0           0.367371   -3.81155    0 0.00623358  0.000737371 0.99942     -0.0334593     uwb: 0.49955964     1219.73  952.491  
imu_odom_:  1691062501.426693371  0.42138    -0.0383072 10.0892    -0.0287621  0.0223706   0.0500674   0.19       0             pose: 0.33038877    0.361881   -3.80271    0 0.00739626  0.00285754  0.999404    -0.0336078     uwb: 0.0            1219.73  952.491  
imu_odom_:  1691062501.453621250  0.344765   -0.42138   9.72285    -0.0458064  0.00852212  0.0500674   0.19       0             pose: 0.45114761    0.352258   -3.80543    0 0.0057486   0.00317113  0.999407    -0.0338037     uwb: 0.49978421     1219.91  952.856  
imu_odom_:  1691062501.479626092  0.442927   -0.0790087 9.77074    -0.056459   -0.0223706  0.0596548   0.19       0             pose: 0.0           0.352258   -3.80543    0 0.0057486   0.00317113  0.999407    -0.0338037     uwb: 0.0            1219.91  952.856  
imu_odom_:  1691062501.506519266  0.665588   -0.390255  9.54329    -0.0639159  0.0191748   0.0319579   0.21       0             pose: 0.52932721    0.342637   -3.80815    0 0.00348279  0.0034001   0.999403    -0.0342049     uwb: 0.50067954     1219.97  953.244  
imu_odom_:  1691062501.522512151  0.275333   -0.0981623 9.84496    -0.056459   0.0340885   0.0543285   0.21       0             pose: 0.6920004     0.342637   -3.80815    0 0.00385997  0.00284741  0.999404    -0.034182      uwb: 0.0            1219.97  953.244  
imu_odom_:  1691062501.548600693  0.222661   -0.493206  9.95988    -0.056459   0.0106526   0.0490022   0.22       0             pose: 0.35966055    0.333017   -3.81089    0 0.00315005  0.00180647  0.999407    -0.0342297     uwb: 0.49931466     1219.99  953.84   
imu_odom_:  1691062501.571589408  -0.0023942 0.0454898  9.90721    -0.0340885  0.0543285   0.052198    0.22       0             pose: 0.0           0.333017   -3.81089    0 0.00315005  0.00180647  0.999407    -0.0342297     uwb: 0.0            1219.99  953.84   
imu_odom_:  1691062501.588610319  0.100556   -0.493206  9.43076    -0.0681769  0.00745685  0.0660464   0.18       0.02          pose: 0.7066114     0.333017   -3.81089    0 0.00268202  0.00122925  0.999408    -0.0342642     uwb: 0.50061830     1219.75  952.891  
imu_odom_:  1691062501.614528253  0.102951   -0.023942  9.90481    -0.036219   0.00639159  0.036219    0.18       0.02          pose: 0.0           0.333017   -3.81089    0 0.00268202  0.00122925  0.999408    -0.0342642     uwb: 0.0            1219.75  952.891  
imu_odom_:  1691062501.641576578  0.253785   -0.395043  10.0628    -0.0436758  -0.0394148  0.0596548   0.22       0.02          pose: 0.48970518    0.333017   -3.81089    0 -0.00175351 0.000466038 0.9994      -0.034592      uwb: 0.49930300     1220.23  954.992  
imu_odom_:  1691062501.666585183  0.270545   0.0790087  10.0868    -0.0553937  -0.00106526 0.0532632   0.18       -0.02         pose: 0.42992798    0.333017   -3.81089    0 -0.00475579 0.000768789 0.999384    -0.03475       uwb: 0.0            1220.23  954.992  
imu_odom_:  1691062501.693623884  0.035913   -0.134075  9.85932    -0.0639159  0.02024     0.0372843   0.23       0             pose: 0.0           0.333017   -3.81089    0 -0.00475579 0.000768789 0.999384    -0.03475       uwb: 0.50006710     1220.12  955.016  
imu_odom_:  1691062501.718669235  0.536301   -0.0407014 10.0293    -0.0468716  -0.00852212 0.0490022   0.18       0.02          pose: 0.52014934    0.320657   -3.80401    0 -0.00603804 0.00148779  0.999364    -0.035115      uwb: 0.0            1220.12  955.016  
imu_odom_:  1691062501.735579323  0.833182   -0.347159  9.73961    -0.0692422  -0.0276969  0.0351537   0.18       0.02          pose: 0.0           0.320657   -3.80401    0 -0.00603804 0.00148779  0.999364    -0.035115      uwb: 0.50039956     1220.06  955.826  
imu_odom_:  1691062501.760570138  0.454898   -0.409408  9.40921    -0.0756338  -0.00745685 0.0500674   0.18       0             pose: 0.27991777    0.311043   -3.80677    0 -0.00754141 0.00207908  0.999352    -0.0351322     uwb: 0.0            1220.06  955.826  
imu_odom_:  1691062501.787525722  0.897826   -0.45011   9.74679    -0.036219   -0.0319579  0.0308927   0.18       0             pose: 0.42140921    0.301429   -3.80952    0 -0.00373513 0.00151345  0.999371    -0.035227      uwb: 0.49965005     1220.18  956.403  
imu_odom_:  1691062501.812576031  0.770933   -0.289698  10.094     -0.0458064  0.02024     0.0426106   0.18       0             pose: 0.43836509    0.294667   -3.81145    0 2.12714e-05 -0.00082148 0.99938     -0.0351914     uwb: 0.0            1220.18  956.403  
imu_odom_:  1691062501.829506534  0.471658   -0.490811  9.49301    -0.0458064  0.0479369   0.0266316   0.18       0             pose: 0.0           0.294667   -3.81145    0 2.12714e-05 -0.00082148 0.99938     -0.0351914     uwb: 0.49848059     1220.36  957.962  
imu_odom_:  1691062501.845508751  0.232238   -0.263362  10.2496    -0.0308927  0.04048     0.0319579   0.18       0             pose: 0.0           0.294667   -3.81145    0 2.12714e-05 -0.00082148 0.99938     -0.0351914     uwb: 0.0            1220.36  957.962  
imu_odom_:  1691062501.862512455  0.536301   -0.138864  9.50498    -0.0660464  -0.0117179  0.0436758   0.18       0             pose: 0.49990670    0.291815   -3.81227    0 0.00101435  -0.00254485 0.99938     -0.0350918     uwb: 0.0            1220.36  957.962  
imu_odom_:  1691062501.887537392  0.306458   -0.0407014 9.42837    -0.0372843  0.0575243   0.0330232   0.18       0             pose: 0.0           0.291815   -3.81227    0 0.00101435  -0.00254485 0.99938     -0.0350918     uwb: 0.50114907     1221.02  959.035  
imu_odom_:  1691062501.914569969  0.0407014  -0.323217  9.76834    -0.0671117  -0.00213053 0.0436758   0.19       0             pose: 0.33014379    0.2822     -3.81502    0 0.000630474 -0.0006237770.999385    -0.0350684     uwb: 0.0            1221.02  959.035  
imu_odom_:  1691062501.939502455  0.105345   -0.213084  9.61511    -0.0692422  0.0255663   0.0351537   0.18       0             pose: 0.44039198    0.272582   -3.80737    0 -0.00335453 -0.0002411020.999379    -0.0350636     uwb: 0.49885680     1221.2   960.001  
imu_odom_:  1691062501.966492453  0.213084   -0.464475  9.98382    -0.0468716  -0.015979   0.0394148   0.18       0             pose: 0.0           0.272582   -3.80737    0 -0.00335453 -0.0002411020.999379    -0.0350636     uwb: 0.0            1221.2   960.001  
imu_odom_:  1691062501.982523251  0.442927   -0.0622492 9.92397    -0.0415453  0.00958738  0.0394148   0.18       0             pose: 0.8007816     0.269836   -3.80815    0 -0.0042725  -0.0003156570.999377    -0.0350461     uwb: 0.50064162     1221.46  961.349  
imu_odom_:  1691062502.9633114    0.730232   -0.332794  9.67018    -0.0500674  0.0383495   0.0234358   0.18       0             pose: 0.0           0.269836   -3.80815    0 -0.0042725  -0.0003156570.999377    -0.0350461     uwb: 0.0            1221.46  961.349  
imu_odom_:  1691062502.35560097   0.25618    -0.299275  9.85214    -0.0649811  0.0340885   0.0585895   0.18       0.02          pose: 0.52024558    0.260221   -3.8109     0 -0.00623975 -0.00228489 0.999366    -0.0349915     uwb: 0.49937891     1221.97  962.655  
imu_odom_:  1691062502.62563518   0.35913    -0.339977  10.0102    -0.04048    -0.0532632  0.0415453   0.23       0.02          pose: 0.42940599    0.250606   -3.81365    0 -0.00451212 -0.0025152  0.99938     -0.0348411     uwb: 0.0            1221.97  962.655  
imu_odom_:  1691062502.87623458   0.818817   -0.253785  10.1083    -0.0575243  -0.00319579 0.0532632   0.18       -0.02         pose: 0.0           0.250606   -3.81365    0 -0.00451212 -0.0025152  0.99938     -0.0348411     uwb: 0.50006725     1222.01  962.848  
imu_odom_:  1691062502.103613140  0.296881   -0.150835  9.81623    -0.0266316  0.0553937   0.036219    0.18       -0.02         pose: 0.0           0.250606   -3.81365    0 -0.00451212 -0.0025152  0.99938     -0.0348411     uwb: 0.0            1222.01  962.848  
imu_odom_:  1691062502.129482670  0.071826   -0.265756  9.39006    -0.0809601  0.0319579   0.0628506   0.18       0.02          pose: 0.52993106    0.240991   -3.8164     0 -0.00261253 -0.00476914 0.99937     -0.035072      uwb: 0.0            1222.01  962.848  
imu_odom_:  1691062502.156472968  0.545878   -0.174777  9.67736    -0.0607201  -0.0106526  0.0500674   0.21       -0.02         pose: 0.40942883    0.240991   -3.8164     0 -0.00317594 -0.00308102 0.999369    -0.035251      uwb: 0.50142629     1222.27  964.596  
imu_odom_:  1691062502.182552186  0.227449   -0.483629  10.1849    -0.0905475  0.0351537   0.0681769   0.18       -0.02         pose: 0.25180387    0.231378   -3.81915    0 -0.00461527 -0.00309471 0.999354    -0.0355021     uwb: 0.49978144     1222.67  964.731  
imu_odom_:  1691062502.209502237  0.234632   -0.0885855 10.1825    -0.0617853  -0.0181095  0.0458064   0.23       0.02          pose: 0.27844216    0.22862    -3.80954    0 -0.00324594 -0.00319805 0.999352    -0.0357184     uwb: 0.0            1222.67  964.731  
imu_odom_:  1691062502.234477894  0.620098   -0.0646434 10.5991    -0.0660464  -0.0255663  0.0436758   0.23       0.02          pose: 0.0           0.22862    -3.80954    0 -0.00324594 -0.00319805 0.999352    -0.0357184     uwb: 0.50007017     1222.68  964.929  
imu_odom_:  1691062502.251518642  0.0311246  -0.287304  9.92636    -0.0436758  0.0266316   0.0351537   0.21       0             pose: 0.25003946    0.219009   -3.8123     0 -0.0045765  -0.0045204  0.999331    -0.0359995     uwb: 0.0            1222.68  964.929  
imu_odom_:  1691062502.276613579  0.225055   -0.325611  9.21289    -0.0479369  0.00213053  0.0415453   0.21       0             pose: 0.0           0.219009   -3.8123     0 -0.0045765  -0.0045204  0.999331    -0.0359995     uwb: 0.0            1222.68  964.929  
imu_odom_:  1691062502.293502675  0.864307   -0.011971  10.4124    -0.0585895  -0.0585895  0.0479369   0.21       0.02          pose: 0.51966538    0.2094     -3.81507    0 -0.0035977  -0.00152787 0.99934     -0.036114      uwb: 0.50124547     1222.53  964.753  
imu_odom_:  1691062502.309454151  1.13485    -0.189142  9.63187    -0.0649811  -0.015979   0.056459    0.21       0.02          pose: 0.0           0.2094     -3.81507    0 -0.0035977  -0.00152787 0.99934     -0.036114      uwb: 0.0            1222.53  964.753  
imu_odom_:  1691062502.325439167  1.39343    -0.361524  9.61033    -0.0745685  -0.0532632  0.0330232   0.21       0.02          pose: 0.0           0.2094     -3.81507    0 -0.0035977  -0.00152787 0.99934     -0.036114      uwb: 0.0            1222.53  964.753  
imu_odom_:  1691062502.341452471  1.84593    -0.205901  9.84496    -0.0330232  -0.0298274  -0.0777643  0.14       -0.26         pose: 0.42025737    0.199791   -3.81784    0 -0.00580068 -0.00303969 0.999325    -0.0361397     uwb: 0.49816577     1222.68  965.527  
imu_odom_:  1691062502.358651287  1.47243    0.270545   10.2328    -0.052198   -0.0372843  -0.160855   0.14       -0.26         pose: 0.0           0.199791   -3.81784    0 -0.00580068 -0.00303969 0.999325    -0.0361397     uwb: 0.0            1222.68  965.527  
imu_odom_:  1691062502.374474734  0.981623   0.0837971  9.62469    -0.0500674  -0.04048    -0.251402   0.14       -0.26         pose: 0.49946355    0.199791   -3.81784    0 -5.53681e-05-0.00256348 0.999356    -0.0357883     uwb: 0.0            1222.68  965.527  
imu_odom_:  1691062502.391677050  1.24259    0.0814029  9.71567    -0.0628506  -0.0468716  -0.361125   0.15       -0.55         pose: 0.0           0.199791   -3.81784    0 -5.53681e-05-0.00256348 0.999356    -0.0357883     uwb: 0.49966478     1222.5   965.754  
imu_odom_:  1691062502.408565854  1.40061    0.071826   9.83059    -0.0617853  -0.00319579 -0.401605   0.1        -0.41         pose: 0.0           0.199791   -3.81784    0 -5.53681e-05-0.00256348 0.999356    -0.0357883     uwb: 0.0            1222.5   965.754  
imu_odom_:  1691062502.423454016  0.952892   -0.332794  9.8665     -0.0777643  0.00745685  -0.419714   0.1        -0.41         pose: 0.66173723    0.19018    -3.82061    0 0.00693053  0.000319989 0.999636    -0.0260833     uwb: 0.0            1222.5   965.754  
imu_odom_:  1691062502.439447780  0.837971   -0.292093  9.8689     -0.0585895  0.0319579   -0.435693   0.1        -0.41         pose: 0.0           0.19018    -3.82061    0 0.00693053  0.000319989 0.999636    -0.0260833     uwb: 0.49998851     1222.3   966.379  
imu_odom_:  1691062502.455504830  0.948104   -0.241814  9.79947    -0.0820254  0.0106526   -0.42291    0.08       -0.44         pose: 0.0           0.19018    -3.82061    0 0.00693053  0.000319989 0.999636    -0.0260833     uwb: 0.0            1222.3   966.379  
imu_odom_:  1691062502.471441142  0.967257   -0.268151  9.94791    -0.0532632  0.0255663   -0.44315    0.08       -0.44         pose: 0.30886593    0.19018    -3.82061    0 0.00966769  -0.0001335840.999772    -0.019019      uwb: 0.0            1222.3   966.379  
imu_odom_:  1691062502.487442197  0.955286   -0.0407014 9.63666    -0.052198   -0.00639159 -0.454868   0.07       -0.53         pose: 0.0           0.19018    -3.82061    0 0.00966769  -0.0001335840.999772    -0.019019      uwb: 0.49890944     1222.85  968.48   
imu_odom_:  1691062502.503434212  0.696713   0.047884   9.96227    -0.0511327  0.00213053  -0.48363    0.07       -0.53         pose: 0.40934716    0.177754   -3.8138     0 0.0132137   -0.00069791 0.999869    -0.00933663    uwb: 0.0            1222.85  968.48   
imu_odom_:  1691062502.520525997  0.672771   -0.0023942 10.1011    -0.0543285  -0.0308927  -0.499609   0.07       -0.53         pose: 0.0           0.177754   -3.8138     0 0.0132137   -0.00069791 0.999869    -0.00933663    uwb: 0.0            1222.85  968.48   
imu_odom_:  1691062502.536462891  0.725443   -0.282516  9.94791    -0.0703074  -0.0330232  -0.50174    0.08       -0.73         pose: 0.7006914     0.177763   -3.81384    0 0.0138117   -0.0002843240.999876    -0.00759929    uwb: 0.49991560     1223.03  969.447  
imu_odom_:  1691062502.553432479  0.761356   -0.186748  9.96227    -0.0490022  -0.02024    -0.541154   0.08       -0.73         pose: 0.0           0.177763   -3.81384    0 0.0138117   -0.0002843240.999876    -0.00759929    uwb: 0.0            1223.03  969.447  
imu_odom_:  1691062502.570427732  0.840365   -0.011971  9.88805    -0.0553937  -0.0383495  -0.509196   0.08       -0.73         pose: 0.0           0.177763   -3.81384    0 0.0138117   -0.0002843240.999876    -0.00759929    uwb: 0.0            1223.03  969.447  
imu_odom_:  1691062502.586438994  0.816423   -0.351948  9.99819    -0.0692422  -0.00745685 -0.437824   0.05       -0.5          pose: 0.49010195    0.177762   -3.81384    0 0.0148284   0.00301762  0.999871    0.00533621     uwb: 0.49993018     1223.15  971.018  
imu_odom_:  1691062502.603439204  0.696713   -0.416591  10.07      -0.0436758  0.00639159  -0.418649   0.07       -0.58         pose: 0.0           0.177762   -3.81384    0 0.0148284   0.00301762  0.999871    0.00533621     uwb: 0.0            1223.15  971.018  
imu_odom_:  1691062502.619433844  0.691924   -0.158017  9.92157    -0.0596548  -0.0298274  -0.377104   0.07       -0.58         pose: 0.65979492    0.168182   -3.81671    0 0.0182923   0.00108258  0.999573    0.0227438      uwb: 0.0            1223.15  971.018  
imu_odom_:  1691062502.636489173  0.775721   -0.143652  9.88566    -0.0585895  -0.0106526  -0.316384   0.06       -0.53         pose: 0.0           0.168182   -3.81671    0 0.0182923   0.00108258  0.999573    0.0227438      uwb: 0.0            1223.15  971.018  
imu_odom_:  1691062502.653487050  0.519542   -0.464475  9.8258     -0.0553937  0.0106526   -0.295078   0.06       -0.53         pose: 0.0           0.168182   -3.81671    0 0.0182923   0.00108258  0.999573    0.0227438      uwb: 0.0            1223.15  971.018  
imu_odom_:  1691062502.668549029  0.627281   -0.196325  10.0221    -0.0575243  -0.0234358  -0.286556   0.06       -0.53         pose: 0.33058718    0.168182   -3.81671    0 0.0174003   0.00165176  0.999408    0.0296283      uwb: 0.0            1223.15  971.018  
imu_odom_:  1691062502.693479482  0.617704   -0.270545  9.81144    -0.0596548  -0.00319579 -0.229032   0.03       -0.26         pose: 0.42052568    0.168174   -3.81667    0 0.0156328   0.000925261 0.999204    0.0366915      uwb: 0.100171518    1222.91  970.85   
imu_odom_:  1691062502.710426030  0.629675   -0.392649  9.96946    -0.0639159  -0.0117179  -0.203466   0.03       -0.26         pose: 0.0           0.168174   -3.81667    0 0.0156328   0.000925261 0.999204    0.0366915      uwb: 0.0            1222.91  970.85   
imu_odom_:  1691062502.726424169  -0.100556  -0.440533  9.5816     -0.0500674  0.0607201   -0.26099    0.05       -0.23         pose: 0.6937796     0.168182   -3.81671    0 0.0151123   0.000461228 0.999178    0.0376163      uwb: 0.0            1222.91  970.85   
imu_odom_:  1691062502.743467250  -1.29766   0.25618    10.094     -0.0287621  0.0958738   -0.286556   0.09       -0.26         pose: 0.0           0.168182   -3.81671    0 0.0151123   0.000461228 0.999178    0.0376163      uwb: 0.49938482     1223.01  971.826  
imu_odom_:  1691062502.760408549  -1.45089   -0.196325  10.1299    -0.0671117  -0.0394148  -0.171508   0.08       -0.17         pose: 0.0           0.168182   -3.81671    0 0.0151123   0.000461228 0.999178    0.0376163      uwb: 0.0            1223.01  971.826  
imu_odom_:  1691062502.776465307  -0.351948  -0.591368  9.85214    -0.0692422  -0.120375   -0.133158   0.08       -0.17         pose: 0.76053571    0.168182   -3.81671    0 0.00813207  -0.00182411 0.998809    0.0480744      uwb: 0.0            1223.01  971.826  
imu_odom_:  1691062502.792467238  0.811634   -0.512359  9.53132    -0.04048    -0.0490022  -0.143811   0.08       -0.17         pose: 0.0           0.168182   -3.81671    0 0.00813207  -0.00182411 0.998809    0.0480744      uwb: 0.50099174     1223.02  972.419  
imu_odom_:  1691062502.808463627  0.483629   -0.124498  9.8282     -0.0490022  0.0319579   -0.12144    0.09       -0.17         pose: 0.0           0.168182   -3.81671    0 0.00813207  -0.00182411 0.998809    0.0480744      uwb: 0.0            1223.02  972.419  
imu_odom_:  1691062502.825411342  -0.0766145 -0.158017  9.87608    -0.0628506  0.0585895   -0.107592   0.09       -0.17         pose: 0.31937658    0.158578   -3.81949    0 0.00745745  -0.00291837 0.998665    0.0510259      uwb: 0.0            1223.02  972.419  
imu_odom_:  1691062502.841462268  0.122104   -0.459687  10.0916    -0.0458064  0.0436758   -0.134223   0.11       -0.2          pose: 0.41933288    0.15857    -3.81946    0 0.00510238  -0.00168747 0.998505    0.0543879      uwb: 0.0            1223.02  972.419  
imu_odom_:  1691062502.857404704  0.122104   -0.184354  10.1059    -0.0468716  0.00213053  -0.125701   0.11       -0.2          pose: 0.0           0.15857    -3.81946    0 0.00510238  -0.00168747 0.998505    0.0543879      uwb: 0.0            1223.02  972.419  
imu_odom_:  1691062502.873453880  0.538695   -0.114922  9.76116    -0.0415453  0.0149137   -0.104396   0.11       -0.2          pose: 0.0           0.15857    -3.81946    0 0.00510238  -0.00168747 0.998505    0.0543879      uwb: 0.0            1223.02  972.419  
imu_odom_:  1691062502.890491711  0.263362   -0.277727  9.84256    -0.0426106  0.0436758   -0.0948085  0.14       -0.17         pose: 0.7062617     0.158578   -3.81949    0 0.00430242  -0.00195496 0.998475    0.0549983      uwb: 0.100019283    1223.34  974.157  
imu_odom_:  1691062502.907437968  -0.071826  -0.169988  10.0461    -0.0436758  -0.0138484  -0.106526   0.13       -0.14         pose: 0.0           0.158578   -3.81949    0 0.00430242  -0.00195496 0.998475    0.0549983      uwb: 0.0            1223.34  974.157  
imu_odom_:  1691062502.924600621  -0.0933739 -0.138864  10.0126    -0.036219   -0.0735032  -0.0884169  0.13       -0.14         pose: 0.65088535    0.146131   -3.81269    0 -0.000120903-0.0005575890.998204    0.0599021      uwb: 0.0            1223.34  974.157  
imu_odom_:  1691062502.940448566  0.402226   -0.23942   9.76116    -0.0511327  -0.0511327  -0.0735032  0.13       -0.14         pose: 0.0           0.146131   -3.81269    0 -0.000120903-0.0005575890.998204    0.0599021      uwb: 0.0            1223.34  974.157  
imu_odom_:  1691062502.957544142  0.565032   -0.258574  10.2735    -0.0394148  0.00213053  -0.0649811  0.13       -0.14         pose: 0.0           0.146131   -3.81269    0 -0.000120903-0.0005575890.998204    0.0599021      uwb: 0.0            1223.34  974.157  
imu_odom_:  1691062502.973625398  0.751779   -0.399832  10.2041    -0.04048    -0.0191748  -0.0852212  0.13       -0.14         pose: 0.33882015    0.146131   -3.81269    0 -0.00139816 -0.0002073350.998069    0.0621038      uwb: 0.0            1223.34  974.157  
imu_odom_:  1691062502.990446833  1.45328    -0.0263362 9.89284    -0.0628506  -0.0660464  -0.072438   0.17       -0.14         pose: 0.42180889    0.136532   -3.8155     0 0.00266845  -0.00170138 0.997912    0.0645078      uwb: 0.99883087     1223.25  973.773  
imu_odom_:  1691062503.7536286    1.07739    -0.162806  9.79947    -0.0788296  0.0596548   -0.00532632 0.17       -0.14         pose: 0.7936075     0.136532   -3.8155     0 0.0036966   -0.00162616 0.99788     0.0649525      uwb: 0.0            1223.25  973.773  
imu_odom_:  1691062503.22560356   1.39103    -0.435745  9.87129    -0.0479369  -0.00745685 0.00852212  0.17       -0.14         pose: 0.0           0.136532   -3.8155     0 0.0036966   -0.00162616 0.99788     0.0649525      uwb: 0.0            1223.25  973.773  
imu_odom_:  1691062503.38381475   1.15401    -0.289698  9.85453    -0.0436758  -0.0426106  -0.02024    0.09       -0.11         pose: 0.40998883    0.136532   -3.8155     0 0.00746622  -0.00196849 0.997785    0.066069       uwb: 0.49840791     1222.87  973.817  
imu_odom_:  1691062503.55381690   1.2378     0.217872   10.0389    -0.052198   -0.00106526 -0.0500674  0.12       -0.14         pose: 0.0           0.136532   -3.8155     0 0.00746622  -0.00196849 0.997785    0.066069       uwb: 0.0            1222.87  973.817  
imu_odom_:  1691062503.72377239   1.14682    -0.0502782 10.0963    -0.0575243  -0.0181095  -0.0500674  0.12       -0.14         pose: 0.0           0.136532   -3.8155     0 0.00746622  -0.00196849 0.997785    0.066069       uwb: 0.0            1222.87  973.817  
imu_odom_:  1691062503.89408368   0.699107   -0.277727  9.54568    -0.0681769  0.0149137   -0.056459   0.11       -0.14         pose: 0.22832993    0.136532   -3.8155     0 0.00992841  -0.0017344  0.997712    0.0668582      uwb: 0.50045820     1222.54  974.25   
imu_odom_:  1691062503.106378253  0.804452   -0.390255  9.98861    -0.0511327  -0.00852212 -0.056459   0.11       -0.14         pose: 0.0           0.136532   -3.8155     0 0.00992841  -0.0017344  0.997712    0.0668582      uwb: 0.0            1222.54  974.25   
imu_odom_:  1691062503.121434986  0.596156   -0.275333  9.56244    -0.0575243  0.00639159  -0.0649811  0.11       -0.14         pose: 0.33996639    0.124094   -3.80872    0 0.0128976   -0.00136844 0.997573    0.0684058      uwb: 0.0            1222.54  974.25   
imu_odom_:  1691062503.138578688  0.656011   0.00718261 10.2185    -0.0575243  0.00319579  -0.0500674  0.05       -0.05         pose: 0.42044998    0.124094   -3.80872    0 0.0129229   -0.00363787 0.997425    0.0704518      uwb: 0.49944621     1222.38  974.859  
imu_odom_:  1691062503.152584063  0.612916   -0.351948  9.663      -0.0681769  -0.00213053 -0.0372843  0.05       -0.05         pose: 0.7006917     0.124094   -3.80872    0 0.0129147   -0.00293838 0.997404    0.0707745      uwb: 0.0            1222.38  974.859  
imu_odom_:  1691062503.169584861  0.629675   -0.258574  9.8282     -0.052198   0.00426106  -0.036219   0.05       -0.05         pose: 0.0           0.124094   -3.80872    0 0.0129147   -0.00293838 0.997404    0.0707745      uwb: 0.0            1222.38  974.859  
imu_odom_:  1691062503.192493389  0.847547   -0.241814  9.98143    -0.0596548  -0.00319579 -0.0138484  0.05       -0.05         pose: 0.41142958    0.124094   -3.80872    0 0.0106297   -0.00287111 0.997315    0.0724052      uwb: 0.50186390     1222.23  975.465  
imu_odom_:  1691062503.208448954  0.167594   -0.23942   9.68694    -0.0607201  0.0543285   -0.0170442  0.05       -0.02         pose: 0.0           0.124094   -3.80872    0 0.0106297   -0.00287111 0.997315    0.0724052      uwb: 0.0            1222.23  975.465  
imu_odom_:  1691062503.235396097  -1.1971    -0.0957681 10.386     -0.0713727  0.0266316   0.00213053  0.05       -0.02         pose: 0.30882811    0.124094   -3.80872    0 0.0118804   -0.00286019 0.997239    0.0732459      uwb: 0.49880460     1222.38  976.234  
imu_odom_:  1691062503.260432131  -0.0909797 -0.392649  10.1179    -0.0607201  -0.0862864  -0.00532632 0.08       -0.05         pose: 0.0           0.124094   -3.80872    0 0.0118804   -0.00286019 0.997239    0.0732459      uwb: 0.0            1222.38  976.234  
imu_odom_:  1691062503.287395023  0.423774   0.174777   10.2328    -0.0607201  0.00852212  -0.00106526 0.11       -0.02         pose: 0.15963439    0.124094   -3.80872    0 0.00993666  -0.00270675 0.997233    0.0736215      uwb: 0.50020739     1222.04  975.682  
imu_odom_:  1691062503.313503996  -0.244209  -0.260968  9.67976    -0.0660464  0.0298274   -0.00106526 0.11       -0.02         pose: 0.44001020    0.114515   -3.81158    0 0.0062969   -0.00300708 0.997194    0.0745283      uwb: 0.0            1222.04  975.682  
imu_odom_:  1691062503.330384348  -0.129287  -0.308852  9.69412    -0.0553937  -0.00958738 -0.0106526  0.15       -0.05         pose: 0.8089480     0.114515   -3.81158    0 0.00610564  -0.00222568 0.997185    0.0746974      uwb: 0.50020156     1221.82  976.49   
imu_odom_:  1691062503.356503237  0.47884    -0.0814029 9.0022     -0.0415453  -0.015979   0.00213053  0.15       -0.05         pose: 0.0           0.114515   -3.81158    0 0.00610564  -0.00222568 0.997185    0.0746974      uwb: 0.0            1221.82  976.49   
imu_odom_:  1691062503.383357930  0.19393    -0.306458  9.70609    -0.0585895  0.015979    0.0213053   0.17       -0.05         pose: 0.51874687    0.114515   -3.81158    0 0.00192595  -0.0005234870.997122    0.0757939      uwb: 0.50066817     1221.59  977.101  
imu_odom_:  1691062503.409372996  0.490811   -0.177171  10.1921    -0.0607201  0           0.00106526  0.17       -0.05         pose: 0.0           0.114515   -3.81158    0 0.00192595  -0.0005234870.997122    0.0757939      uwb: 0.0            1221.59  977.101  
imu_odom_:  1691062503.436348720  0.402226   -0.0742203 10.1155    -0.056459   0.00852212  0.0170442   0.17       0             pose: 0.43011198    0.1021     -3.80482    0 0.00158487  0.00163013  0.99706     0.076597       uwb: 0.49925665     1221.62  978.27   
imu_odom_:  1691062503.452517473  0.311246   -0.253785  10.422     -0.0585895  0.00852212  0.00319579  0.17       0             pose: 0.0           0.1021     -3.80482    0 0.00158487  0.00163013  0.99706     0.076597       uwb: 0.0            1221.62  978.27   
imu_odom_:  1691062503.479558524  0.373495   0.0981623  10.3932    -0.0479369  -0.0245011  0.00319579  0.18       -0.02         pose: 0.53014121    0.1021     -3.80482    0 0.00183592  0.00180104  0.997       0.0773579      uwb: 0.0            1221.62  978.27   
imu_odom_:  1691062503.505373817  -0.0742203 -0.469264  9.61272    -0.072438   -0.04048    0.0191748   0.15       -0.05         pose: 0.44030184    0.0924988  -3.80762    0 -3.24021e-050.00343649  0.996945    0.078026       uwb: 0.49885710     1221.29  978.303  
imu_odom_:  1691062503.532502359  0.143652   -0.167594  9.92875    -0.0490022  -0.00319579 0.00532632  0.15       -0.05         pose: 0.0           0.0924988  -3.80762    0 -3.24021e-050.00343649  0.996945    0.078026       uwb: 0.50140894     1221.35  978.686  
imu_odom_:  1691062503.557337745  0.237026   -0.306458  9.85932    -0.0649811  0.00106526  0.0308927   0.16       0             pose: 0.72050558    0.0808665  -3.80364    0 -0.00430754 0.0037639   0.996849    0.0791223      uwb: 0.0            1221.35  978.686  
imu_odom_:  1691062503.584333009  0.521936   -0.35913   10.1011    -0.036219   0.0276969   -0.00958738 0.16       0             pose: 0.8003447     0.0800516  -3.80091    0 -0.00473695 0.00303577  0.996846    0.0791612      uwb: 0.50090441     1221.56  979.446  
imu_odom_:  1691062503.600416020  0.117316   0.0335188  9.79707    -0.04048    0.0138484   0.0266316   0.15       0             pose: 0.0           0.0800516  -3.80091    0 -0.00473695 0.00303577  0.996846    0.0791612      uwb: 0.0            1221.56  979.446  
imu_odom_:  1691062503.627519190  0.366313   -0.289698  10.0485    -0.0500674  -0.0255663  0.015979    0.15       0             pose: 0.52045879    0.0704678  -3.80376    0 -0.00451655 0.000800245 0.996787    0.0799633      uwb: 0.0            1221.56  979.446  
imu_odom_:  1691062503.652443818  0.150835   -0.148441  10.1179    -0.0532632  -0.02024    0.0287621   0.21       0             pose: 0.34967505    0.0704678  -3.80376    0 -0.00341194 -0.0008070410.996761    0.0803415      uwb: 0.49755347     1221.15  979.095  
imu_odom_:  1691062503.669318920  0.464475   -0.265756  10.1323    -0.0660464  -0.00532632 0.036219    0.21       0             pose: 0.7911581     0.0704678  -3.80376    0 -0.00403403 -0.0004093080.996756    0.080382       uwb: 0.0            1221.15  979.095  
imu_odom_:  1691062503.695317654  0.248997   -0.071826  9.81623    -0.0319579  -0.0117179  0.0191748   0.18       -0.02         pose: 0.0           0.0704678  -3.80376    0 -0.00403403 -0.0004093080.996756    0.080382       uwb: 0.49859463     1221.23  979.477  
imu_odom_:  1691062503.722444447  0.790087   -0.339977  9.663      -0.076699   -0.0245011  0.0628506   0.2        -0.02         pose: 0.33888149    0.0593172  -3.80132    0 -0.00379763 -0.0002640260.996747    0.0805001      uwb: 0.0            1221.23  979.477  
imu_odom_:  1691062503.748461262  0.940921   -0.251391  9.93354    -0.0543285  -0.0234358  0.0330232   0.2        -0.02         pose: 0.53125527    0.0512288  -3.79902    0 -0.00196173 0.00103207  0.996757    0.0804403      uwb: 0.49993033     1221.17  979.872  
imu_odom_:  1691062503.765524180  0.227449   -0.174777  9.80665    -0.0585895  -0.00639159 0.0607201   0.21       -0.02         pose: 0.0           0.0512288  -3.79902    0 -0.00196173 0.00103207  0.996757    0.0804403      uwb: 0.0            1221.17  979.872  
imu_odom_:  1691062503.791459044  0.35913    -0.0550666 9.93115    -0.0255663  -0.00213053 0.0170442   0.21       -0.02         pose: 0.32972403    0.048453   -3.79984    0 0.000182554 0.000717597 0.996758    0.0804512      uwb: 0.50000907     1221.24  980.644  
imu_odom_:  1691062503.818517302  0.442927   -0.205901  10.161     -0.0713727  -0.0106526  0.0649811   0.21       0             pose: 0.36042194    0.0368139  -3.79574    0 -0.00106665 0.00389342  0.996736    0.0806347      uwb: 0.0            1221.24  980.644  
imu_odom_:  1691062503.843518047  -0.035913  -0.0430956 10.0126    -0.0394148  0.015979    0.0223706   0.21       0             pose: 0.6880929     0.03603    -3.79308    0 -0.0006030670.00331229  0.996745    0.0805466      uwb: 0.50045820     1221.14  981.625  
imu_odom_:  1691062503.870379157  0.505177   -0.0574608 9.71567    -0.0788296  -0.0575243  0.0575243   0.21       0             pose: 0.45178074    0.0292136  -3.7951     0 -0.00180429 0.00275123  0.996749    0.0805061      uwb: 0.0            1221.14  981.625  
imu_odom_:  1691062503.895305826  0.292093   -0.105345  10.343     -0.0436758  -0.0298274  0.0308927   0.19       0             pose: 0.0           0.0292136  -3.7951     0 -0.00180429 0.00275123  0.996749    0.0805061      uwb: 0.49933247     1221.19  982.592  
imu_odom_:  1691062503.912297001  0.61531    -0.500388  9.35415    -0.0884169  -0.0149137  0.0617853   0.19       0             pose: 0.51787779    0.0196535  -3.79792    0 -0.0009014650.00470022  0.996753    0.0803768      uwb: 0.0            1221.19  982.592  
imu_odom_:  1691062503.938463135  0.0861913  -0.378284  9.31584    -0.0287621  0.00213053  0.0319579   0.17       0             pose: 0.0           0.0196535  -3.79792    0 -0.0009014650.00470022  0.996753    0.0803768      uwb: 0.50063610     1221.1   982.6    
imu_odom_:  1691062503.965632216  0.287304   -0.174777  10.094     -0.0468716  -0.0383495  0.0415453   0.17       0             pose: 0.43157309    0.0148007  -3.79183    0 -0.0023563  0.00194645  0.996767    0.0802929      uwb: 0.0            1221.1   982.6    
imu_odom_:  1691062503.990414815  0.0694318  0.138864   9.67497    -0.0543285  0.0181095   0.0394148   0.18       0             pose: 0.0           0.0148007  -3.79183    0 -0.0023563  0.00194645  0.996767    0.0802929      uwb: 0.50066526     1220.94  983      
imu_odom_:  1691062504.16291356   -0.047884  -0.227449  9.4978     -0.0884169  0           0.0628506   0.18       0             pose: 0.35013876    0.00442257 -3.792      0 -0.00508623 0.00311109  0.996755    0.0802691      uwb: 0.0            1220.94  983      
imu_odom_:  1691062504.41348104   0.555455   -0.320823  9.74679    -0.0671117  0.00958738  0.0426106   0.19       0             pose: 0.23858979    0.00442257 -3.792      0 -0.00690449 0.00431529  0.996747    0.0801875      uwb: 0.49882802     1221.08  984.346  
imu_odom_:  1691062504.66284988   0.325611   -0.538695  9.84496    -0.0617853  0.0191748   0.0415453   0.18       0.02          pose: 0.25966076    0.00442257 -3.792      0 -0.00828498 0.0032628   0.996758    0.0799654      uwb: 0.0            1221.08  984.346  
imu_odom_:  1691062504.83295124   0.371101   -0.0047884 10.386     -0.0181095  -0.0213053  0.0319579   0.24       0.02          pose: 0.0           0.00442257 -3.792      0 -0.00828498 0.0032628   0.996758    0.0799654      uwb: 0.50088706     1221.3   984.331  
imu_odom_:  1691062504.109355401  0.474052   -0.148441  9.99579    -0.0149137  -0.0106526  0.02024     0.24       0.02          pose: 0.50995995    -0.00800827-3.78526    0 -0.00647268 0.000528929 0.996777    0.0799587      uwb: 0.0            1221.3   984.331  
imu_odom_:  1691062504.135270151  0.167594   -0.110133  10.0628    -0.0415453  0.0276969   0.052198    0.24       0.02          pose: 0.35057340    -0.0175955 -3.7881     0 -0.00323033 0.00240065  0.996768    0.080238       uwb: 0.49999172     1221.15  984.924  
imu_odom_:  1691062504.151489362  0.114922   -0.0167594 9.96467    -0.0660464  -0.0532632  0.0649811   0.24       0.02          pose: 0.7057372     -0.0175955 -3.7881     0 -0.00397953 0.00275607  0.996768    0.0801938      uwb: 0.0            1221.15  984.924  
imu_odom_:  1691062504.177311078  0.632069   -0.0574608 10.0149    -0.0692422  -0.0553937  0.036219    0.23       0             pose: 0.0           -0.0175955 -3.7881     0 -0.00397953 0.00275607  0.996768    0.0801938      uwb: 0.0            1221.15  984.924  
imu_odom_:  1691062504.202284417  0.339977   -0.301669  10.0796    -0.0628506  -0.0511327  0.0532632   0.23       0             pose: 0.43079746    -0.027184  -3.79094    0 -0.00576857 0.00473631  0.996777    0.0798778      uwb: 0.50039419     1221.21  985.114  
imu_odom_:  1691062504.228418188  0.318429   -0.0981623 10.4986    -0.0383495  0.00426106  0.0308927   0.21       -0.02         pose: 0.42791898    -0.0366323 -3.78331    0 -0.00296475 0.0021498   0.996809    0.0797414      uwb: 0.0            1221.21  985.114  
imu_odom_:  1691062504.253294119  0.380678   -0.143652  10.2137    -0.0415453  -0.0287621  0.0372843   0.19       0             pose: 0.8090066     -0.0396159 -3.7842     0 -0.0031322  0.00301813  0.996803    0.0797743      uwb: 0.49838188     1221.2   985.696  
imu_odom_:  1691062504.270275674  0.426168   -0.0790087 9.65342    -0.036219   0.00319579  0.0458064   0.19       0             pose: 0.0           -0.0396159 -3.7842     0 -0.0031322  0.00301813  0.996803    0.0797743      uwb: 0.0            1221.2   985.696  
imu_odom_:  1691062504.295336505  0.0215478  -0.28491   10.07      -0.0575243  -0.00958738 0.0479369   0.19       0             pose: 0.51038574    -0.0396159 -3.7842     0 -0.0004476920.00465447  0.996796    0.0798436      uwb: 0.50118745     1221.32  986.464  
imu_odom_:  1691062504.321393283  0.699107   -0.253785  9.43555    -0.0511327  -0.0245011  0.0447411   0.18       -0.02         pose: 0.33923448    -0.051139  -3.78052    0 -0.00215603 0.00447848  0.996805    0.0797215      uwb: 0.0            1221.32  986.464  
imu_odom_:  1691062504.346252299  0.981623   -0.323217  10.0126    -0.036219   -0.0330232  0.0255663   0.19       0             pose: 0.7953870     -0.052049  -3.77746    0 -0.00134613 0.00416857  0.996809    0.0796991      uwb: 0.50047585     1221.2   987.246  
imu_odom_:  1691062504.363312597  -0.167594  -0.0526724 9.90481    -0.0511327  0.00745685  0.0607201   0.19       0             pose: 0.0           -0.052049  -3.77746    0 -0.00134613 0.00416857  0.996809    0.0796991      uwb: 0.0            1221.2   987.246  
imu_odom_:  1691062504.389318629  0.296881   -0.368707  9.43315    -0.0681769  0.0308927   0.0308927   0.19       0             pose: 0.51067447    -0.0616347 -3.78031    0 0.00234762  0.0029661   0.996809    0.0797314      uwb: 0.50009380     1221.28  987.823  
imu_odom_:  1691062504.414255513  0.392649   -0.316035  9.68694    -0.0500674  0.0372843   0.0490022   0.19       0             pose: 0.34960807    -0.0685491 -3.78236    0 -0.0005438060.000950164 0.996814    0.0797535      uwb: 0.0            1221.28  987.823  
imu_odom_:  1691062504.437367904  0.442927   -0.251391  9.34936    -0.0415453  0.0426106   0.0372843   0.18       -0.02         pose: 0.6966964     -0.0712204 -3.78315    0 -0.00073418 0.000285134 0.996817    0.0797211      uwb: 0.50066833     1221     988.805  
imu_odom_:  1691062504.462396071  0.890643   -0.356736  9.37809    -0.0862864  0.0138484   0.0671117   0.18       -0.02         pose: 0.24076549    -0.0712204 -3.78315    0 -0.00076868 -0.00151142 0.996822    0.0796456      uwb: 0.0            1221     988.805  
imu_odom_:  1691062504.480407112  0.371101   -0.248997  9.54329    -0.056459   -0.0234358  0.0330232   0.23       -0.02         pose: 0.0           -0.0712204 -3.78315    0 -0.00076868 -0.00151142 0.996822    0.0796456      uwb: 0.49932095     1220.8   989.588  
imu_odom_:  1691062504.504238392  0.816423   -0.241814  9.60075    -0.0458064  -0.0245011  0.0479369   0.23       -0.02         pose: 0.23994599    -0.0836552 -3.77642    0 0.0010969   -0.00205259 0.996826    0.0795739      uwb: 0.0            1220.8   989.588  
imu_odom_:  1691062504.530255215  0.861913   -0.107739  9.5816     -0.0234358  0.0127832   0.0170442   0.23       0             pose: 0.42928385    -0.0836552 -3.77642    0 0.00181914  -0.00242501 0.996842    0.0793568      uwb: 0.49925680     1220.71  990.749  
imu_odom_:  1691062504.555282799  0.263362   -0.438139  9.84735    -0.0735032  0.0245011   0.0596548   0.23       0             pose: 0.0           -0.0836552 -3.77642    0 0.00181914  -0.00242501 0.996842    0.0793568      uwb: 0.0            1220.71  990.749  
imu_odom_:  1691062504.572263771  0.715866   -0.126893  9.97664    -0.0458064  -0.015979   0.0298274   0.21       0.02          pose: 0.49991882    -0.0960927 -3.76969    0 0.00531696  -0.00170609 0.996818    0.0795158      uwb: 0.0            1220.71  990.749  
imu_odom_:  1691062504.598244140  0.723049   -0.146046  10.0844    -0.0745685  -0.0255663  0.0543285   0.21       0.02          pose: 0.0           -0.0960927 -3.76969    0 0.00531696  -0.00170609 0.996818    0.0795158      uwb: 0.49916055     1220.3   991.152  
imu_odom_:  1691062504.624249880  0.766145   0.0191536  10.1514    -0.0447411  -0.04048    0.0330232   0.18       0             pose: 0.25134323    -0.105677  -3.77254    0 0.0042451   -0.00252778 0.996833    0.0793665      uwb: 0.0            1220.3   991.152  
imu_odom_:  1691062504.650259121  0.529119   -0.143652  10.1275    -0.0777643  0           0.0415453   0.19       0             pose: 0.35832809    -0.105677  -3.77254    0 0.00788132  -0.001406   0.996824    0.0792362      uwb: 0.50098039     1220.05  991.931  
imu_odom_:  1691062504.676308899  0.54109    -0.277727  9.67018    -0.0543285  0.00106526  0.0319579   0.19       0             pose: 0.7032874     -0.105677  -3.77254    0 0.00849756  -0.0008698870.996817    0.0792631      uwb: 0.0            1220.05  991.931  
imu_odom_:  1691062504.693241168  0.452504   -0.138864  9.69891    -0.0607201  -0.0319579  0.0490022   0.19       0             pose: 0.0           -0.105677  -3.77254    0 0.00849756  -0.0008698870.996817    0.0792631      uwb: 0.49865893     1219.87  992.898  
imu_odom_:  1691062504.710321589  0.811634   -0.208296  10.2017    -0.0394148  -0.0415453  0.0830906   0.19       0             pose: 0.51984068    -0.115261  -3.7754     0 0.00778897  0.0010723   0.996816    0.0793519      uwb: 0.0            1219.87  992.898  
imu_odom_:  1691062504.726282991  1.29766    -0.35913   9.77553    -0.0500674  0.0149137   0.125701    0.19       0             pose: 0.0           -0.115261  -3.7754     0 0.00778897  0.0010723   0.996816    0.0793519      uwb: 0.0            1219.87  992.898  
imu_odom_:  1691062504.744337778  1.51074    -0.100556  10.477     -0.0500674  -0.0617853  0.191748    0.17       0.2           pose: 0.0           -0.115261  -3.7754     0 0.00778897  0.0010723   0.996816    0.0793519      uwb: 0.50080249     1219.67  993.48   
imu_odom_:  1691062504.760218688  1.38145    -0.320823  9.07163    -0.0170442  -0.0330232  0.28336     0.17       0.2           pose: 0.43007711    -0.127699  -3.76867    0 0.00727394  0.000303801 0.996833    0.0791854      uwb: 0.0            1219.67  993.48   
imu_odom_:  1691062504.776330576  1.50835    -0.45011   10.2232    -0.052198   0.0596548   0.360059    0.13       0.38          pose: 0.0           -0.127699  -3.76867    0 0.00727394  0.000303801 0.996833    0.0791854      uwb: 0.0            1219.67  993.48   
imu_odom_:  1691062504.794280373  1.26414    -0.428562  9.76355    -0.0511327  -0.00319579 0.421845    0.13       0.38          pose: 0.0           -0.127699  -3.76867    0 0.00727394  0.000303801 0.996833    0.0791854      uwb: 0.49893016     1219.51  993.677  
imu_odom_:  1691062504.812245043  0.823605   -0.325611  9.57202    -0.0319579  0.0617853   0.452737    0.13       0.38          pose: 0.51078820    -0.137303  -3.77145    0 0.0129639   -0.0001631620.99702     0.0760476      uwb: 0.0            1219.51  993.677  
imu_odom_:  1691062504.828218403  0.52433    -0.0885855 10.1801    -0.076699   0.0234358   0.579504    0.11       0.5           pose: 0.0           -0.137303  -3.77145    0 0.0129639   -0.0001631620.99702     0.0760476      uwb: 0.0            1219.51  993.677  
imu_odom_:  1691062504.845216290  0.893037   -0.732626  9.88326    -0.0692422  -0.0340885  0.648746    0.11       0.5           pose: 0.67016600    -0.137303  -3.77145    0 0.0166097   -0.00241529 0.997836    0.0635781      uwb: 0.50123994     1219.66  994.056  
imu_odom_:  1691062504.863221498  1.19471    -0.560243  9.58878    -0.036219   -0.00426106 0.647681    0.11       0.5           pose: 0.0           -0.137303  -3.77145    0 0.0166097   -0.00241529 0.997836    0.0635781      uwb: 0.0            1219.66  994.056  
imu_odom_:  1691062504.877284330  0.792481   0.169988   10.0078    -0.036219   0.0266316   0.678573    0.08       0.5           pose: 0.0           -0.137303  -3.77145    0 0.0166097   -0.00241529 0.997836    0.0635781      uwb: 0.0            1219.66  994.056  
imu_odom_:  1691062504.894225348  0.35913    -0.146046  9.76834    -0.0479369  0.0500674   0.659399    0.07       0.53          pose: 0.34979181    -0.149686  -3.76462    0 0.017071    -0.00421259 0.998425    0.0532693      uwb: 0.50009088     1219.74  994.246  
imu_odom_:  1691062504.910309239  0.438139   -0.146046  10.1801    -0.0415453  -0.00639159 0.62531     0.07       0.53          pose: 0.40881954    -0.149686  -3.76462    0 0.0157389   -0.00272025 0.999049    0.040561       uwb: 0.0            1219.74  994.246  
imu_odom_:  1691062504.928284116  0.617704   -0.248997  9.81623    -0.0436758  -0.0127832  0.632767    0.06       0.58          pose: 0.7016543     -0.149686  -3.76462    0 0.0150999   -0.00242366 0.999141    0.0385102      uwb: 0.0            1219.74  994.246  
imu_odom_:  1691062504.945204428  0.94571    -0.287304  9.93594    -0.0468716  0.00958738  0.648746    0.06       0.58          pose: 0.0           -0.149686  -3.76462    0 0.0150999   -0.00242366 0.999141    0.0385102      uwb: 0.49849271     1219.62  995.017  
imu_odom_:  1691062504.962320137  0.682347   -0.227449  10.0724    -0.0426106  0.0276969   0.632767    0.06       0.58          pose: 0.34976556    -0.149686  -3.76462    0 0.0132716   -0.00220745 0.999514    0.0281104      uwb: 0.0            1219.62  995.017  
imu_odom_:  1691062504.979272820  0.526724   -0.117316  10.1227    -0.0543285  0.0138484   0.573112    0.05       0.5           pose: 0.0           -0.149686  -3.76462    0 0.0132716   -0.00220745 0.999514    0.0281104      uwb: 0.0            1219.62  995.017  
imu_odom_:  1691062504.996205380  0.577003   -0.0311246 9.64145    -0.0447411  -0.0106526  0.512392    0.05       0.5           pose: 0.33105109    -0.149686  -3.76462    0 0.0130584   -0.0002055290.999744    0.0184601      uwb: 0.49976716     1219.58  995.592  
imu_odom_:  1691062505.11206418   0.646434   0.00957681 10.082     -0.0458064  -0.00106526 0.468716    0.05       0.5           pose: 0.0           -0.149686  -3.76462    0 0.0130584   -0.0002055290.999744    0.0184601      uwb: 0.0            1219.58  995.592  
imu_odom_:  1691062505.27211279   0.76375    -0.186748  9.93354    -0.0543285  -0.00106526 0.441019    0.04       0.35          pose: 0.0           -0.149686  -3.76462    0 0.0130584   -0.0002055290.999744    0.0184601      uwb: 0.0            1219.58  995.592  
imu_odom_:  1691062505.42262772   0.751779   -0.189142  9.83299    -0.0511327  -0.00745685 0.412257    0.04       0.38          pose: 0.33891659    -0.159264  -3.7675     0 0.0117467   0.00271801  0.999874    0.0103345      uwb: 0.50011721     1219.47  997.313  
imu_odom_:  1691062505.59254831   0.706289   -0.0861913 10.0197    -0.0543285  0.00213053  0.374973    0.04       0.38          pose: 0.39047557    -0.159268  -3.76746    0 0.0147321   0.00244109  0.999885    0.00258884     uwb: 0.0            1219.47  997.313  
imu_odom_:  1691062505.73186430   0.679953   -0.155623  9.8689     -0.0511327  -0.00532632 0.34408     0.04       0.38          pose: 0.6999338     -0.159264  -3.7675     0 0.0148143   0.00312067  0.999884    0.00142508     uwb: 0.0            1219.47  997.313  
imu_odom_:  1691062505.90213778   0.54109    -0.0981623 9.96467    -0.052198   0.00639159  0.305731    0.04       0.35          pose: 0.0           -0.159264  -3.7675     0 0.0148143   0.00312067  0.999884    0.00142508     uwb: 0.49989855     1219.13  998.656  
imu_odom_:  1691062505.104189123  0.581791   -0.146046  9.93833    -0.0511327  0.00852212  0.291882    0.04       0.35          pose: 0.40951668    -0.159264  -3.7675     0 0.0124946   0.00359593  0.999905    -0.00462404    uwb: 0.0            1219.13  998.656  
imu_odom_:  1691062505.121253801  0.428562   -0.253785  9.88326    -0.0585895  0.00852212  0.294013    0.03       0.23          pose: 0.0           -0.159264  -3.7675     0 0.0124946   0.00359593  0.999905    -0.00462404    uwb: 0.0            1219.13  998.656  
imu_odom_:  1691062505.135195316  0.442927   -0.25618   9.99819    -0.0553937  -0.00745685 0.294013    0.03       0.23          pose: 0.0           -0.159264  -3.7675     0 0.0124946   0.00359593  0.999905    -0.00462404    uwb: 0.50034476     1218.91  999.231  
imu_odom_:  1691062505.150192564  0.557849   -0.191536  9.79228    -0.0458064  -0.0181095  0.270577    0.03       0.23          pose: 0.44981538    -0.159264  -3.7675     0 0.00828447  0.00190174  0.99991     -0.0103355     uwb: 0.0            1218.91  999.231  
imu_odom_:  1691062505.167254033  0.6608     -0.0670376 9.97664    -0.0543285  -0.00745685 0.257794    0.04       0.29          pose: 0.0           -0.159264  -3.7675     0 0.00828447  0.00190174  0.99991     -0.0103355     uwb: 0.0            1218.91  999.231  
imu_odom_:  1691062505.185430148  0.646434   -0.100556  9.83299    -0.0532632  0           0.245011    0.04       0.29          pose: 0.0           -0.159264  -3.7675     0 0.00828447  0.00190174  0.99991     -0.0103355     uwb: 0.50272746     1218.99  999.804  
imu_odom_:  1691062505.199364663  0.667982   -0.260968  9.91918    -0.052198   -0.00532632 0.233293    0.04       0.29          pose: 0.23062818    -0.159264  -3.7675     0 0.00823428  0.00125319  0.999881    -0.0129531     uwb: 0.0            1218.99  999.804  
imu_odom_:  1691062505.215457599  0.667982   -0.208296  9.93354    -0.0490022  0.00106526  0.237554    0.01       0.2           pose: 0.0           -0.159264  -3.7675     0 0.00823428  0.00125319  0.999881    -0.0129531     uwb: 0.0            1218.99  999.804  
imu_odom_:  1691062505.232338253  0.567426   -0.294487  9.93354    -0.0553937  0.00106526  0.26312     0.01       0.2           pose: 0.0           -0.159264  -3.7675     0 0.00823428  0.00125319  0.999881    -0.0129531     uwb: 0.49922194     1218.73  1000.38  
imu_odom_:  1691062505.248162298  0.543484   -0.251391  9.90002    -0.0543285  -0.00106526 0.262055    0.01       0.2           pose: 0.74080119    -0.159264  -3.7675     0 0.0110862   -2.77327e-050.999725    -0.0206569     uwb: 0.0            1218.73  1000.38  
imu_odom_:  1691062505.265247098  0.486023   -0.071826  9.87848    -0.0511327  -0.00213053 0.236489    0.02       0.26          pose: 0.0           -0.159264  -3.7675     0 0.0110862   -2.77327e-050.999725    -0.0206569     uwb: 0.0            1218.73  1000.38  
imu_odom_:  1691062505.281312912  0.538695   -0.0263362 9.87608    -0.0543285  -0.00426106 0.214118    0.01       0.17          pose: 0.0           -0.159264  -3.7675     0 0.0110862   -2.77327e-050.999725    -0.0206569     uwb: 0.0            1218.73  1000.38  
imu_odom_:  1691062505.306227056  0.560243   -0.21069   9.8258     -0.0543285  -0.00213053 0.18216     0.01       0.17          pose: 0.7963205     -0.159264  -3.7675     0 0.0103434   -0.0003545  0.999714    -0.0215462     uwb: 0.0            1218.73  1000.38  
imu_odom_:  1691062505.320165071  0.136469   -0.1652    9.85932    -0.0575243  0.052198    0.166181    0.01       0.14          pose: 0.0           -0.159264  -3.7675     0 0.0103434   -0.0003545  0.999714    -0.0215462     uwb: 0.0            1218.73  1000.38  
imu_odom_:  1691062505.337182211  -0.943315  -0.122104  9.95988    -0.0703074  0.107592    0.166181    0.01       0.14          pose: 0.71875910    -0.168851  -3.77034    0 0.00723813  -0.0001070060.999591    -0.0276529     uwb: 0.99730068     1218.58  1000.76  
imu_odom_:  1691062505.351286752  -1.4054    -0.0981623 9.98861    -0.0703074  0.0213053   0.164051    0.01       0.14          pose: 0.0           -0.168851  -3.77034    0 0.00723813  -0.0001070060.999591    -0.0276529     uwb: 0.0            1218.58  1000.76  
imu_odom_:  1691062505.368226025  -1.01993   -0.383072  9.71088    -0.0596548  -0.052198   0.148072    0.04       0.08          pose: 0.0           -0.168851  -3.77034    0 0.00723813  -0.0001070060.999591    -0.0276529     uwb: 0.0            1218.58  1000.76  
imu_odom_:  1691062505.382278946  -0.0885855 -0.241814  10.0437    -0.0532632  -0.0916127  0.122505    0.04       0.08          pose: 0.30991902    -0.168851  -3.77034    0 0.00289447  -0.0001645160.999557    -0.029606      uwb: 0.49986647     1218.63  1000.76  
imu_odom_:  1691062505.399220843  0.418985   -0.21069   9.76595    -0.0479369  -0.0458064  0.134223    0.04       0.08          pose: 0.39109676    -0.168851  -3.77034    0 -7.95442e-05-0.0005248380.9995      -0.0316135     uwb: 0.0            1218.63  1000.76  
imu_odom_:  1691062505.413214562  0.471658   -0.150835  9.8282     -0.0703074  0.0266316   0.127832    0.08       0.05          pose: 0.0           -0.168851  -3.77034    0 -7.95442e-05-0.0005248380.9995      -0.0316135     uwb: 0.0            1218.63  1000.76  
imu_odom_:  1691062505.430277489  0.105345   -0.248997  10.0269    -0.0639159  0.00532632  0.120375    0.08       0.05          pose: 0.0           -0.168851  -3.77034    0 -7.95442e-05-0.0005248380.9995      -0.0316135     uwb: 0.50006770     1218.51  1001.14  
imu_odom_:  1691062505.444152219  -0.143652  -0.107739  9.56005    -0.0553937  0.00852212  0.0916127   0.11       0.08          pose: 0.7010420     -0.168851  -3.77034    0 0.000601577 -4.21579e-050.999489    -0.0319449     uwb: 0.0            1218.51  1001.14  
imu_odom_:  1691062505.461142820  0.0287304  -0.100556  10.0604    -0.0660464  -0.0255663  0.109722    0.11       0.08          pose: 0.0           -0.168851  -3.77034    0 0.000601577 -4.21579e-050.999489    -0.0319449     uwb: 0.0            1218.51  1001.14  
imu_odom_:  1691062505.475147037  0.172383   -0.292093  10.1083    -0.0735032  -0.00213053 0.135289    0.11       0.08          pose: 0.0           -0.168851  -3.77034    0 0.000601577 -4.21579e-050.999489    -0.0319449     uwb: 0.0            1218.51  1001.14  
imu_odom_:  1691062505.491150149  0.514753   -0.486023  10.0604    -0.0671117  0.00213053  0.0990696   0.1        0.05          pose: 0.46905772    -0.168851  -3.77034    0 -0.0002338870.00129904  0.999425    -0.0338702     uwb: 0.49968274     1218.7   1000.95  
imu_odom_:  1691062505.508155040  0.438139   -0.0167594 9.76834    -0.0649811  -0.00852212 0.102265    0.1        0.05          pose: 0.0           -0.168851  -3.77034    0 -0.0002338870.00129904  0.999425    -0.0338702     uwb: 0.0            1218.7   1000.95  
imu_odom_:  1691062505.526207791  0.316035   -0.23942   10.2185    -0.0841559  0.0436758   0.12144     0.1        0.05          pose: 0.0           -0.168851  -3.77034    0 -0.0002338870.00129904  0.999425    -0.0338702     uwb: 0.0            1218.7   1000.95  
imu_odom_:  1691062505.544147386  0.220267   -0.244209  10.4962    -0.0649811  0.04048     0.0798948   0.12       0.02          pose: 0.45964361    -0.181334  -3.76369    0 -0.00335109 0.000125733 0.999363    -0.0355424     uwb: 0.49899739     1219.05  1001.72  
imu_odom_:  1691062505.561258726  0.19393    -0.471658  10.0413    -0.0788296  0.015979    0.0830906   0.13       0.02          pose: 0.0           -0.181334  -3.76369    0 -0.00335109 0.000125733 0.999363    -0.0355424     uwb: 0.0            1219.05  1001.72  
imu_odom_:  1691062505.578191291  0.289698   -0.191536  9.97903    -0.0628506  0.0170442   0.0873517   0.13       0.02          pose: 0.68991600    -0.19091   -3.76657    0 -0.00629927 -0.00196404 0.999271    -0.0375896     uwb: 0.0            1219.05  1001.72  
imu_odom_:  1691062505.594136366  1.02472    -0.383072  10.1275    -0.0479369  -0.0426106  0.1012      0.12       0.05          pose: 0.0           -0.19091   -3.76657    0 -0.00629927 -0.00196404 0.999271    -0.0375896     uwb: 0.50053724     1219.29  1001.91  
imu_odom_:  1691062505.612188242  1.10852    -0.282516  9.74679    -0.0607201  0.00319579  0.164051    0.12       0.05          pose: 0.0           -0.19091   -3.76657    0 -0.00629927 -0.00196404 0.999271    -0.0375896     uwb: 0.0            1219.29  1001.91  
imu_odom_:  1691062505.629190801  1.34075    -0.548272  10.1873    -0.056459   -0.0532632  0.198139    0.12       0.05          pose: 0.33991993    -0.19091   -3.76657    0 -0.00569336 -0.0015317  0.999244    -0.0384311     uwb: 0.49934152     1219.65  1003.06  
imu_odom_:  1691062505.646148447  1.34794    -0.205901  9.26077    -0.036219   -0.00852212 0.11931     0.09       -0.02         pose: 0.44047709    -0.200477  -3.76948    0 -0.0008349  -0.00210789 0.99915     -0.0411696     uwb: 0.0            1219.65  1003.06  
imu_odom_:  1691062505.663202626  1.03669    0.320823   9.8689     -0.0543285  0.0383495   0.092678    0.09       -0.02         pose: 0.6949468     -0.200477  -3.76948    0 -0.00013111 -0.00197832 0.999139    -0.0414449     uwb: 0.0            1219.65  1003.06  
imu_odom_:  1691062505.679191447  0.61531    -0.047884  9.92157    -0.0671117  0.0234358   0.0607201   0.09       -0.02         pose: 0.0           -0.200477  -3.76948    0 -0.00013111 -0.00197832 0.999139    -0.0414449     uwb: 0.0            1219.65  1003.06  
imu_odom_:  1691062505.696132178  0.634463   -0.270545  9.91678    -0.0639159  -0.02024    0.0266316   0.1        0.08          pose: 0.43051178    -0.200477  -3.76948    0 0.00258428  0.000487989 0.999095    -0.0424558     uwb: 0.50072972     1219.91  1003.26  
imu_odom_:  1691062505.714182595  0.653617   -0.40462   9.84256    -0.0532632  -0.00958738 0.0223706   0.06       0.02          pose: 0.0           -0.200477  -3.76948    0 0.00258428  0.000487989 0.999095    -0.0424558     uwb: 0.0            1219.91  1003.26  
imu_odom_:  1691062505.728126735  0.924162   -0.100556  9.94791    -0.056459   0.00639159  0.0500674   0.06       0.02          pose: 0.0           -0.200477  -3.76948    0 0.00258428  0.000487989 0.999095    -0.0424558     uwb: 0.0            1219.91  1003.26  
imu_odom_:  1691062505.745189371  0.517148   -0.268151  9.86172    -0.0543285  0.0255663   0.0660464   0.06       0.02          pose: 0.24948848    -0.200477  -3.76948    0 0.00492431  -0.0006343620.999093    -0.0422813     uwb: 0.50184379     1220.34  1002.88  
imu_odom_:  1691062505.762184055  0.502782   -0.136469  9.8282     -0.0553937  -0.0106526  0.0532632   0.05       -0.02         pose: 0.0           -0.200477  -3.76948    0 0.00492431  -0.0006343620.999093    -0.0422813     uwb: 0.0            1220.34  1002.88  
imu_odom_:  1691062505.779190114  0.656011   -0.158017  9.76834    -0.0458064  -0.00852212 0.0479369   0.05       -0.02         pose: 0.32061343    -0.200477  -3.76948    0 0.00636569  -0.00154109 0.99908     -0.0423778     uwb: 0.49871158     1220.5   1003.27  
imu_odom_:  1691062505.804215955  0.706289   -0.215478  9.81383    -0.0596548  -0.00745685 0.0660464   0.04       0.02          pose: 0.42988476    -0.210051  -3.77238    0 0.00715332  0.000275824 0.999063    -0.0426749     uwb: 0.0            1220.5   1003.27  
imu_odom_:  1691062505.821125189  0.538695   -0.227449  9.99819    -0.0532632  0.0266316   0.0511327   0.04       0.02          pose: 0.0           -0.210051  -3.77238    0 0.00715332  0.000275824 0.999063    -0.0426749     uwb: 0.0            1220.5   1003.27  
imu_odom_:  1691062505.846136740  -1.37667   -0.124498  9.91678    -0.0553937  0.0948085   0.0436758   0.05       0             pose: 0.7965829     -0.210051  -3.77238    0 0.00796397  0.000291222 0.999053    -0.0427798     uwb: 0.49984897     1220.56  1003.85  
imu_odom_:  1691062505.871177163  -0.624887  -0.584185  9.95988    -0.0553937  -0.0873517  0.0543285   0.09       0.05          pose: 0.0           -0.210051  -3.77238    0 0.00796397  0.000291222 0.999053    -0.0427798     uwb: 0.0            1220.56  1003.85  
imu_odom_:  1691062505.892190342  0.672771   -0.0454898 9.95509    -0.0426106  -0.0649811  0.0596548   0.09       0.02          pose: 0.66113414    -0.210051  -3.77238    0 0.00368245  -0.0003407210.999059    -0.0432116     uwb: 0.50047308     1220.18  1004.03  
imu_odom_:  1691062505.905171490  0.227449   -0.146046  9.33739    -0.0543285  0.00213053  0.0756338   0.09       0.02          pose: 0.0           -0.210051  -3.77238    0 0.00368245  -0.0003407210.999059    -0.0432116     uwb: 0.0            1220.18  1004.03  
imu_odom_:  1691062505.930253326  0.126893   -0.203507  9.90002    -0.0468716  -0.0127832  0.0490022   0.11       0             pose: 0.51902133    -0.214533  -3.77374    0 0.00357873  0.00090871  0.999034    -0.0437846     uwb: 0.49966524     1220.13  1004.42  
imu_odom_:  1691062505.955116724  -0.0909797 -0.390255  10.0054    -0.0500674  -0.00532632 0.0479369   0.11       0             pose: 0.7956789     -0.219617  -3.77529    0 0.00281557  0.000900756 0.999035    -0.0438217     uwb: 0.0            1220.13  1004.42  
imu_odom_:  1691062505.969127649  0.328006   -0.445322  10.1778    -0.0490022  -0.0223706  0.0490022   0.11       0.02          pose: 0.0           -0.219617  -3.77529    0 0.00281557  0.000900756 0.999035    -0.0438217     uwb: 0.0            1220.13  1004.42  
imu_odom_:  1691062505.994221151  -0.0335188 -0.19393   9.9527     -0.0426106  0.0351537   0.0617853   0.11       0.02          pose: 0.48071161    -0.222535  -3.76572    0 -0.00116529 -0.0005939180.999029    -0.0440323     uwb: 0.49998022     1220.42  1005.96  
imu_odom_:  1691062506.19223375   0.572214   -0.354342  9.82102    -0.0628506  -0.0479369  0.0649811   0.17       -0.02         pose: 0.33021711    -0.22946   -3.76784    0 -0.00424288 -0.00103795 0.999007    -0.0443494     uwb: 0.0            1220.42  1005.96  
imu_odom_:  1691062506.33102483   -0.0526724 -0.270545  9.83538    -0.0372843  -0.0308927  0.0468716   0.17       -0.02         pose: 0.6887348     -0.232099  -3.76865    0 -0.00345887 -0.00133171 0.999005    -0.0444353     uwb: 0.50136558     1220.6   1007.12  
imu_odom_:  1691062506.49210589   0.531513   -0.191536  10.0724    -0.0415453  -0.0340885  0.0532632   0.17       -0.02         pose: 0.0           -0.232099  -3.76865    0 -0.00345887 -0.00133171 0.999005    -0.0444353     uwb: 0.0            1220.6   1007.12  
imu_odom_:  1691062506.74092660   0.107739   -0.457293  10.058     -0.0394148  0.0138484   0.0436758   0.12       0             pose: 0.39112896    -0.232099  -3.76865    0 -0.00183596 -0.00177111 0.998994    -0.0447627     uwb: 0.0            1220.6   1007.12  
imu_odom_:  1691062506.98370162   0.31364    -0.172383  9.66539    -0.0490022  0.0117179   0.052198    0.14       0.02          pose: 0.0           -0.232099  -3.76865    0 -0.00183596 -0.00177111 0.998994    -0.0447627     uwb: 0.49851342     1220.85  1005.78  
imu_odom_:  1691062506.124279095  0.203507   -0.0814029 10.0533    -0.0426106  -0.0149137  0.0628506   0.14       0.02          pose: 0.41920506    -0.241658  -3.77158    0 -0.0033412  -0.00202795 0.998983    -0.0449282     uwb: 0.0            1220.85  1005.78  
imu_odom_:  1691062506.150089744  0.466869   -0.208296  10.0628    -0.0511327  -0.0319579  0.0372843   0.13       0             pose: 0.42137194    -0.24859   -3.77372    0 -0.0056836  0.00160249  0.998954    -0.0453447     uwb: 0.50182352     1221.81  1006.97  
imu_odom_:  1691062506.175217667  -0.110133  -0.184354  9.54808    -0.0585895  -0.0394148  0.0660464   0.13       0             pose: 0.6819398     -0.251215  -3.77453    0 -0.00491265 0.00153415  0.998958    -0.0453374     uwb: 0.0            1221.81  1006.97  
imu_odom_:  1691062506.200084572  0.323217   -0.289698  9.84975    -0.0585895  0           0.0415453   0.15       0             pose: 0.44119174    -0.251215  -3.77453    0 -0.00483285 0.00122456  0.998945    -0.0456445     uwb: 0.49785139     1222.05  1008.33  
imu_odom_:  1691062506.217118341  0.318429   0.0287304  10.1323    -0.0479369  -0.00639159 0.0436758   0.15       0             pose: 0.0           -0.251215  -3.77453    0 -0.00483285 0.00122456  0.998945    -0.0456445     uwb: 0.0            1222.05  1008.33  
imu_odom_:  1691062506.242086445  0.380678   -0.31364   9.6199     -0.0639159  -0.056459   0.0681769   0.15       -0.02         pose: 0.32884941    -0.26077   -3.77748    0 -0.00447291 -0.0004376890.998946    -0.0456778     uwb: 0.50119649     1221.96  1008.71  
imu_odom_:  1691062506.266142302  -0.0502782 -0.148441  9.53132    -0.0287621  0.0809601   0.0266316   0.15       0             pose: 0.0           -0.26077   -3.77748    0 -0.00447291 -0.0004376890.998946    -0.0456778     uwb: 0.0            1221.96  1008.71  
imu_odom_:  1691062506.283094412  -0.0383072 0.059855   10.0628    -0.0511327  -0.0170442  0.0639159   0.15       0             pose: 0.41055796    -0.26077   -3.77748    0 -0.00352127 -0.00149283 0.998934    -0.0460031     uwb: 0.49876131     1222.2   1009.31  
imu_odom_:  1691062506.308139218  0.35913    -0.189142  10.3956    -0.0575243  -0.0191748  0.0394148   0.15       0             pose: 0.0           -0.26077   -3.77748    0 -0.00352127 -0.00149283 0.998934    -0.0460031     uwb: 0.0            1222.2   1009.31  
imu_odom_:  1691062506.333083699  0.4956     -0.0861913 9.67976    -0.0575243  -0.0426106  0.0617853   0.16       0             pose: 0.41952586    -0.273281  -3.77089    0 -0.00628855 0.000284316 0.998917    -0.0461088     uwb: 0.50054323     1222.4   1009.7   
imu_odom_:  1691062506.356090238  0.213084   -0.390255  9.8258     -0.0426106  -0.0170442  0.0532632   0.16       0             pose: 0.41972709    -0.280411  -3.7731     0 -0.00196775 0.00204298  0.998919    -0.0463949     uwb: 0.0            1222.4   1009.7   
imu_odom_:  1691062506.372116977  0.656011   0.0215478  10.7763    -0.0553937  -0.0511327  0.0394148   0.16       0             pose: 0.0           -0.280411  -3.7731     0 -0.00196775 0.00204298  0.998919    -0.0463949     uwb: 0.0            1222.4   1009.7   
imu_odom_:  1691062506.397092081  0.608127   -0.220267  10.1993    -0.0617853  -0.0245011  0.0617853   0.21       0             pose: 0.6066970     -0.282832  -3.77385    0 -0.00225828 0.00157226  0.998918    -0.0464345     uwb: 0.49948457     1222.37  1010.87  
imu_odom_:  1691062506.422077975  0.634463   -0.0957681 9.4954     -0.0468716  -0.00319579 0.0287621   0.21       0             pose: 0.0           -0.282832  -3.77385    0 -0.00225828 0.00157226  0.998918    -0.0464345     uwb: 0.0            1222.37  1010.87  
imu_odom_:  1691062506.446095627  0.538695   -0.440533  9.91678    -0.0788296  -0.00319579 0.052198    0.17       0             pose: 0.39976439    -0.292381  -3.77682    0 -0.0006639540.00118505  0.998912    -0.0466257     uwb: 0.50033324     1222.86  1011.87  
imu_odom_:  1691062506.470125237  0.665588   -0.117316  10.5872    -0.0585895  -0.02024    0.0436758   0.17       0             pose: 0.0           -0.292381  -3.77682    0 -0.0006639540.00118505  0.998912    -0.0466257     uwb: 0.0            1222.86  1011.87  
imu_odom_:  1691062506.485165360  0.533907   -0.462081  9.69412    -0.0703074  0.0106526   0.0575243   0.17       0             pose: 0.50015534    -0.292381  -3.77682    0 0.00367839  0.00152552  0.998899    -0.0467392     uwb: 0.50006785     1222.77  1012.26  
imu_odom_:  1691062506.509081522  -0.124498  -0.505177  9.94791    -0.0500674  0.00213053  0.0394148   0.17       0             pose: 0.0           -0.292381  -3.77682    0 0.00367839  0.00152552  0.998899    -0.0467392     uwb: 0.0            1222.77  1012.26  
imu_odom_:  1691062506.534074999  0.550666   -0.342371  9.42837    -0.0490022  -0.0170442  0.0458064   0.2        0             pose: 0.47932064    -0.301929  -3.77979    0 0.0063465   0.000270105 0.998877    -0.0469608     uwb: 0.0            1222.77  1012.26  
imu_odom_:  1691062506.556260282  0.349553   -0.299275  9.64624    -0.0479369  0.0287621   0.0255663   0.2        0             pose: 0.0           -0.301929  -3.77979    0 0.0063465   0.000270105 0.998877    -0.0469608     uwb: 0.0            1222.77  1012.26  
imu_odom_:  1691062506.572327850  0.526724   -0.42138   9.67976    -0.0383495  0.0458064   0.0245011   0.18       0             pose: 0.39001490    -0.311475  -3.78277    0 0.0046049   -0.00207971 0.998879    -0.0470681     uwb: 0.0            1222.77  1012.26  
imu_odom_:  1691062506.590199790  0.373495   -0.258574  9.51695    -0.0575243  0           0.0479369   0.18       0             pose: 0.0           -0.311475  -3.78277    0 0.0046049   -0.00207971 0.998879    -0.0470681     uwb: 0.99990531     1222.6   1012.64  
imu_odom_:  1691062506.614041293  0.497994   -0.0550666 9.67736    -0.036219   -0.0340885  0.0394148   0.18       0             pose: 0.47264502    -0.324     -3.7762     0 0.00345766  -0.00420704 0.998883    -0.0469284     uwb: 0.0            1222.6   1012.64  
imu_odom_:  1691062506.639048185  0.452504   -0.23942   10.3597    -0.072438   -0.00319579 0.056459    0.18       0             pose: 0.0           -0.324     -3.7762     0 0.00345766  -0.00420704 0.998883    -0.0469284     uwb: 0.50157854     1222.41  1013.21  
imu_odom_:  1691062506.660087909  0.80924    -0.0957681 9.85693    -0.0426106  -0.0138484  0.0276969   0.17       -0.02         pose: 0.33801563    -0.324     -3.7762     0 0.00224756  -0.00341159 0.998889    -0.0469389     uwb: 0.0            1222.41  1013.21  
imu_odom_:  1691062506.686157243  0.407014   -0.316035  10.2352    -0.0735032  -0.015979   0.052198    0.17       -0.02         pose: 0.0           -0.324     -3.7762     0 0.00224756  -0.00341159 0.998889    -0.0469389     uwb: 0.49782223     1222.51  1013.02  
imu_odom_:  1691062506.703036443  0.603339   -0.155623  9.33978    -0.0426106  -0.00958738 0.0245011   0.19       -0.02         pose: 0.47967644    -0.333547  -3.77918    0 0.00192758  0.000457128 0.998888    -0.0471052     uwb: 0.0            1222.51  1013.02  
imu_odom_:  1691062506.728040128  0.40462    -0.0981623 10.0389    -0.0639159  0.0468716   0.0543285   0.19       -0.02         pose: 0.0           -0.333547  -3.77918    0 0.00192758  0.000457128 0.998888    -0.0471052     uwb: 0.0            1222.51  1013.02  
imu_odom_:  1691062506.754038593  0.469264   -0.0430956 9.97664    -0.0436758  0.0213053   0.0383495   0.22       0             pose: 0.47927398    -0.343092  -3.78216    0 0.00301725  -0.00109816 0.998883    -0.0471325     uwb: 0.50035366     1222.53  1014.58  
imu_odom_:  1691062506.779255465  0.433351   -0.198719  10.1466    -0.0703074  0.015979    0.0660464   0.22       0             pose: 0.0           -0.343092  -3.78216    0 0.00301725  -0.00109816 0.998883    -0.0471325     uwb: 0.49942624     1221.97  1016.49  
imu_odom_:  1691062506.804049169  0.258574   -0.268151  9.52413    -0.0458064  -0.00745685 0.0479369   0.21       0.02          pose: 0.42071575    -0.352638  -3.78514    0 0.00190828  0.00220539  0.99888     -0.0472254     uwb: 0.0            1221.97  1016.49  
imu_odom_:  1691062506.817030320  0.526724   -0.138864  9.67018    -0.0692422  -0.0223706  0.0607201   0.21       0.02          pose: 0.0           -0.352638  -3.78514    0 0.00190828  0.00220539  0.99888     -0.0472254     uwb: 0.0            1221.97  1016.49  
imu_odom_:  1691062506.842030797  0.318429   -0.241814  9.72525    -0.0383495  -0.0191748  0.04048     0.17       0             pose: 0.81921442    -0.363573  -3.78369    0 0.000443808 0.000975771 0.998857    -0.0477886     uwb: 0.49998036     1222.33  1016.52  
imu_odom_:  1691062506.859159348  0.481235   -0.196325  10.1394    -0.0639159  0.00958738  0.0639159   0.17       0             pose: 0.8006079     -0.365174  -3.77858    0 -0.0002036990.000663608 0.998857    -0.0477917     uwb: 0.0            1222.33  1016.52  
imu_odom_:  1691062506.884102955  0.605733   0.023942   10.058     -0.0458064  -0.0458064  0.0553937   0.18       0.02          pose: 0.0           -0.365174  -3.77858    0 -0.0002036990.000663608 0.998857    -0.0477917     uwb: 0.50060447     1222.28  1017.49  
imu_odom_:  1691062506.909026147  0.782904   0.023942   10.094     -0.0958738  -0.0106526  0.072438    0.18       0.02          pose: 0.34122949    -0.374715  -3.78158    0 -1.17602e-050.000262258 0.998847    -0.048007      uwb: 0.0            1222.28  1017.49  
imu_odom_:  1691062506.935154683  0.608127   0.0287304  10.3741    -0.0607201  -0.0213053  0.0500674   0.18       0.02          pose: 0.49866799    -0.384255  -3.78458    0 0.00424783  0.00320923  0.998803    -0.0486135     uwb: 0.50128399     1222.46  1019.07  
imu_odom_:  1691062506.960028588  0.347159   -0.100556  10.0437    -0.072438   0.00852212  0.0511327   0.21       0             pose: 0.0           -0.384255  -3.78458    0 0.00424783  0.00320923  0.998803    -0.0486135     uwb: 0.0            1222.46  1019.07  
imu_odom_:  1691062506.974014436  -0.0814029 -0.335188  9.70609    -0.0468716  -0.00532632 0.036219    0.19       0.02          pose: 0.51002441    -0.393791  -3.78759    0 0.00312239  0.00525412  0.998786    -0.0488729     uwb: 0.0            1222.46  1019.07  
imu_odom_:  1691062506.991084951  0.723049   -0.351948  10.1778    -0.0575243  -0.0511327  0.0511327   0.19       0.02          pose: 0.0           -0.393791  -3.78759    0 0.00312239  0.00525412  0.998786    -0.0488729     uwb: 0.49827427     1222.53  1020.64  
imu_odom_:  1691062507.14179570   0.811634   -0.100556  9.85214    -0.0415453  -0.0596548  0.0287621   0.17       0             pose: 0.0           -0.393791  -3.78759    0 0.00312239  0.00525412  0.998786    -0.0488729     uwb: 0.0            1222.53  1020.64  
imu_odom_:  1691062507.31146558   0.442927   -0.0526724 9.68215    -0.0596548  0.0266316   0.0500674   0.17       0             pose: 0.37995626    -0.403326  -3.7906     0 0.00449511  0.00389434  0.998785    -0.0489138     uwb: 0.49993378     1222.92  1019.5   
imu_odom_:  1691062507.45189863   0.73502    -0.392649  9.68455    -0.0788296  0.00426106  0.0628506   0.17       0             pose: 0.0           -0.403326  -3.7906     0 0.00449511  0.00389434  0.998785    -0.0489138     uwb: 0.0            1222.92  1019.5   
imu_odom_:  1691062507.69178359   0.577003   -0.196325  9.81144    -0.0500674  -0.0106526  0.0458064   0.18       0.02          pose: 0.39273891    -0.403326  -3.7906     0 0.00538333  0.00486232  0.998773    -0.0489824     uwb: 0.0            1222.92  1019.5   
imu_odom_:  1691062507.87218580   0.351948   -0.0335188 9.98143    -0.0468716  -0.0500674  0.0607201   0.18       0.02          pose: 0.0           -0.403326  -3.7906     0 0.00538333  0.00486232  0.998773    -0.0489824     uwb: 0.49981719     1223.1   1019.32  
imu_odom_:  1691062507.110996220  0.311246   0.0311246  9.93594    -0.04048    0           0.0330232   0.21       0.02          pose: 0.39822757    -0.415876  -3.78408    0 0.00722235  0.00306829  0.998756    -0.0492498     uwb: 0.0            1223.1   1019.32  
imu_odom_:  1691062507.129129474  0.153229   -0.47884   9.56244    -0.0628506  0.00958738  0.056459    0.21       0.02          pose: 0.0           -0.415876  -3.78408    0 0.00722235  0.00306829  0.998756    -0.0492498     uwb: 0.0            1223.1   1019.32  
imu_odom_:  1691062507.153041268  0.488417   -0.169988  9.99819    -0.0340885  -0.0308927  0.0500674   0.25       0.02          pose: 0.41917019    -0.425409  -3.7871     0 0.00401918  0.00457188  0.998764    -0.0493258     uwb: 0.49992510     1223.33  1019.93  
imu_odom_:  1691062507.171107737  0.730232   -0.0837971 10.0102    -0.0617853  -0.0255663  0.0692422   0.25       0.02          pose: 0.0           -0.425409  -3.7871     0 0.00401918  0.00457188  0.998764    -0.0493258     uwb: 0.0            1223.33  1019.93  
imu_odom_:  1691062507.195055986  0.893037   -0.296881  9.55526    -0.0415453  0.0436758   0.0255663   0.18       0             pose: 0.52069856    -0.434941  -3.79013    0 0.00679371  0.0028034   0.998731    -0.0498137     uwb: 0.49872354     1223     1019.31  
imu_odom_:  1691062507.219062854  0.565032   -0.414197  9.29669    -0.04048    -0.0255663  0.0532632   0.18       0             pose: 0.0           -0.434941  -3.79013    0 0.00679371  0.0028034   0.998731    -0.0498137     uwb: 0.0            1223     1019.31  
imu_odom_:  1691062507.245144736  0.172383   0.0670376  9.81144    -0.02024    0.0117179   0.0351537   0.25       0.05          pose: 0.47955117    -0.441249  -3.79213    0 0.00890977  4.13447e-05 0.998717    -0.049845      uwb: 0.49979969     1223.59  1019.17  
imu_odom_:  1691062507.271144084  0.155623   -0.0670376 9.83538    -0.0660464  -0.0308927  0.0639159   0.18       0.02          pose: 0.0           -0.441249  -3.79213    0 0.00890977  4.13447e-05 0.998717    -0.049845      uwb: 0.0            1223.59  1019.17  
imu_odom_:  1691062507.295988249  0.265756   -0.222661  9.84496    -0.0681769  -0.04048    0.0532632   0.18       0.02          pose: 0.35096160    -0.44447   -3.79316    0 0.00573681  0.00208458  0.998736    -0.0498856     uwb: 0.50143870     1223.56  1020.54  
imu_odom_:  1691062507.320981442  0.387861   -0.289698  9.97664    -0.0692422  -0.0127832  0.0490022   0.2        0             pose: 0.41829235    -0.453999  -3.79619    0 0.00238804  0.00161771  0.998732    -0.0502511     uwb: 0.0            1223.56  1020.54  
imu_odom_:  1691062507.338037964  0.859518   -0.0215478 9.86411    -0.0426106  -0.0255663  0.0458064   0.2        0             pose: 0.0           -0.453999  -3.79619    0 0.00238804  0.00161771  0.998732    -0.0502511     uwb: 0.49956930     1224.02  1020.98  
imu_odom_:  1691062507.360999306  0.715866   -0.318429  9.95748    -0.0596548  -0.0287621  0.0585895   0.2        -0.02         pose: 0.7007217     -0.453999  -3.79619    0 0.0020856   0.000955109 0.998732    -0.0502849     uwb: 0.0            1224.02  1020.98  
imu_odom_:  1691062507.377126081  -0.059855  -0.0957681 9.53371    -0.0298274  0.04048     0.0298274   0.2        -0.02         pose: 0.0           -0.453999  -3.79619    0 0.0020856   0.000955109 0.998732    -0.0502849     uwb: 0.0            1224.02  1020.98  
imu_odom_:  1691062507.394991027  0.553061   -0.270545  10.137     -0.0511327  0.00958738  0.0585895   0.2        -0.02         pose: 0.0           -0.453999  -3.79619    0 0.0020856   0.000955109 0.998732    -0.0502849     uwb: 0.50136871     1224.25  1021.79  
imu_odom_:  1691062507.418964649  0.553061   -0.363919  9.93115    -0.0351537  0.0245011   0.0372843   0.21       -0.02         pose: 0.41991970    -0.466567  -3.78971    0 0.00372314  -5.14135e-050.998718    -0.0504891     uwb: 0.0            1224.25  1021.79  
imu_odom_:  1691062507.436950625  0.28491    -0.213084  9.36372    -0.0543285  0.0138484   0.0553937   0.21       -0.02         pose: 0.0           -0.466567  -3.78971    0 0.00372314  -5.14135e-050.998718    -0.0504891     uwb: 0.49950222     1224.6   1021.63  
imu_odom_:  1691062507.453951444  0.189142   -0.387861  9.92875    -0.0596548  0.00958738  0.0628506   0.23       0             pose: 0.81997584    -0.485616  -3.7958     0 0.00476953  -0.00271256 0.998695    -0.0507838     uwb: 0.0            1224.6   1021.63  
imu_odom_:  1691062507.467020966  0.275333   -0.0861913 10.2975    -0.0276969  -0.00106526 0.0426106   0.23       0             pose: 0.0           -0.485616  -3.7958     0 0.00476953  -0.00271256 0.998695    -0.0507838     uwb: 0.0            1224.6   1021.63  
imu_odom_:  1691062507.483029919  0.232238   0.146046   9.58878    -0.0820254  0.0308927   0.0607201   0.23       0             pose: 0.0           -0.485616  -3.7958     0 0.00476953  -0.00271256 0.998695    -0.0507838     uwb: 0.49924557     1224.86  1021.85  
imu_odom_:  1691062507.507153444  0.706289   -0.21069   10.0126    -0.0681769  0.0415453   0.0372843   0.17       0.02          pose: 0.48014904    -0.485616  -3.7958     0 0.00062589  -0.00155959 0.998688    -0.051173      uwb: 0.0            1224.86  1021.85  
imu_odom_:  1691062507.533001139  0.459687   -0.0861913 10.0341    -0.0703074  -0.00852212 0.0490022   0.25       0.02          pose: 0.32153520    -0.495137  -3.79886    0 0.00195903  -0.0008411180.998685    -0.0512268     uwb: 0.49990177     1225.29  1023.08  
imu_odom_:  1691062507.557949128  0.31364    0.0191536  10.2328    -0.0500674  0.0117179   0.0415453   0.18       -0.02         pose: 0.0           -0.495137  -3.79886    0 0.00195903  -0.0008411180.998685    -0.0512268     uwb: 0.0            1225.29  1023.08  
imu_odom_:  1691062507.582968568  0.0933739  -0.294487  9.79947    -0.0777643  0.0319579   0.0511327   0.23       0.02          pose: 0.50795684    -0.504657  -3.80192    0 0.000530071 0.00361041  0.998673    -0.0513608     uwb: 0.49996009     1226.16  1023.57  
imu_odom_:  1691062507.598028236  -0.0167594 -0.509965  9.91439    -0.0607201  0.00213053  0.04048     0.23       0.02          pose: 0.0           -0.504657  -3.80192    0 0.000530071 0.00361041  0.998673    -0.0513608     uwb: 0.0            1226.16  1023.57  
imu_odom_:  1691062507.621955778  0.299275   -0.517148  9.27753    -0.0490022  -0.0436758  0.0479369   0.18       0             pose: 0.40079108    -0.512755  -3.79402    0 -0.00324125 0.00104185  0.998667    -0.0515016     uwb: 0.0            1226.16  1023.57  
imu_odom_:  1691062507.647937336  0.490811   -0.105345  9.58399    -0.02024    -0.00319579 0.0191748   0.18       0             pose: 0.7151869     -0.517239  -3.79546    0 -0.00316435 0.000358633 0.998666    -0.0515289     uwb: 0.50133080     1226.78  1023.83  
imu_odom_:  1691062507.671928748  0.100556   -0.356736  9.73722    -0.0607201  -0.02024    0.0468716   0.2        -0.02         pose: 0.24850581    -0.517239  -3.79546    0 -0.00242177 -0.0005341920.998669    -0.0515111     uwb: 0.0            1226.78  1023.83  
imu_odom_:  1691062507.697937428  0.454898   -0.0430956 9.85693    -0.0308927  -0.0479369  0.0426106   0.19       0.02          pose: 0.25053854    -0.526758  -3.79853    0 -0.00171668 0.00063272  0.998679    -0.0513548     uwb: 0.49847856     1226.96  1025.46  
imu_odom_:  1691062507.720041934  0.395043   -0.263362  10.4435    -0.0681769  -0.00745685 0.0628506   0.19       0.02          pose: 0.0           -0.526758  -3.79853    0 -0.00171668 0.00063272  0.998679    -0.0513548     uwb: 0.0            1226.96  1025.46  
imu_odom_:  1691062507.732933848  0.634463   -0.220267  9.53132    -0.036219   -0.0308927  0.0330232   0.19       0.02          pose: 0.0           -0.526758  -3.79853    0 -0.00171668 0.00063272  0.998679    -0.0513548     uwb: 0.50083793     1227.36  1025.7   
imu_odom_:  1691062507.756925843  0.727837   -0.0622492 9.71088    -0.056459   -0.02024    0.0458064   0.19       -0.02         pose: 0.24926698    -0.526758  -3.79853    0 -0.00242617 0.000486666 0.998674    -0.0514274     uwb: 0.0            1227.36  1025.7   
imu_odom_:  1691062507.781979404  0.560243   -0.107739  9.85693    -0.0436758  -0.0458064  0.0308927   0.19       -0.02         pose: 0.0           -0.526758  -3.79853    0 -0.00242617 0.000486666 0.998674    -0.0514274     uwb: 0.49928349     1227.87  1025.36  
imu_odom_:  1691062507.805014823  0.897826   -0.28491   10.4483    -0.0692422  -0.0213053  0.0532632   0.18       -0.02         pose: 0.59991362    -0.536277  -3.80159    0 0.00142377  0.000487318 0.998662    -0.0516932     uwb: 0.0            1227.87  1025.36  
imu_odom_:  1691062507.820926952  0.577003   -0.308852  9.64145    -0.0447411  0.0330232   0.0181095   0.18       -0.02         pose: 0.0           -0.536277  -3.80159    0 0.00142377  0.000487318 0.998662    -0.0516932     uwb: 0.0            1227.87  1025.36  
imu_odom_:  1691062507.837923105  0.593762   -0.169988  9.98622    -0.0436758  -0.0276969  0.0447411   0.25       0             pose: 0.48304210    -0.545795  -3.80466    0 0.00601773  0.00300594  0.998641    -0.0516782     uwb: 0.50148245     1228.18  1027.01  
imu_odom_:  1691062507.861969345  0.663194   -0.272939  10.0963    -0.0458064  0.00639159  0.0468716   0.25       0             pose: 0.0           -0.545795  -3.80466    0 0.00601773  0.00300594  0.998641    -0.0516782     uwb: 0.0            1228.18  1027.01  
imu_odom_:  1691062507.884972682  0.696713   -0.136469  9.78271    -0.0479369  0           0.0553937   0.23       0             pose: 0.73662535    -0.564974  -3.80033    0 0.0106388   0.000597012 0.998601    -0.0517858     uwb: 0.49839107     1228.7   1027.07  
imu_odom_:  1691062507.902954576  0.402226   -0.328006  9.56962    -0.0596548  0.0372843   0.0553937   0.23       0             pose: 0.7080417     -0.567898  -3.80127    0 0.0111283   0.00111735  0.998593    -0.0518367     uwb: 0.0            1228.7   1027.07  
imu_odom_:  1691062507.927057685  0.229843   0.00718261 10.0365    -0.052198   0.0106526   0.0468716   0.18       0.02          pose: 0.0           -0.567898  -3.80127    0 0.0111283   0.00111735  0.998593    -0.0518367     uwb: 0.0            1228.7   1027.07  
imu_odom_:  1691062507.944920298  0.232238   -0.296881  9.57441    -0.0788296  -0.036219   0.0553937   0.18       0.02          pose: 0.33904814    -0.573171  -3.80298    0 0.0103779   0.00120338  0.998587    -0.0521035     uwb: 0.49993968     1229.48  1026.75  
imu_odom_:  1691062507.960061042  0.775721   0.0383072  9.57202    -0.0372843  -0.0617853  0.0532632   0.18       0.02          pose: 0.0           -0.573171  -3.80298    0 0.0103779   0.00120338  0.998587    -0.0521035     uwb: 0.0            1229.48  1026.75  
imu_odom_:  1691062507.977937361  1.52989    -0.37589   9.86172    -0.0820254  -0.108657   0.056459    0.16       -0.08         pose: 0.49968595    -0.577414  -3.80435    0 0.0074504   0.00205642  0.998598    -0.052372      uwb: 0.0            1229.48  1026.75  
imu_odom_:  1691062507.993937566  1.85072    -0.416591  9.92636    -0.0788296  -0.0276969  -0.0628506  0.16       -0.08         pose: 0.0           -0.577414  -3.80435    0 0.0074504   0.00205642  0.998598    -0.052372      uwb: 0.49986677     1229.78  1026.99  
imu_odom_:  1691062508.11969623   1.68073    0.347159   10.1682    -0.0490022  -0.0181095  -0.178964   0.18       -0.44         pose: 0.0           -0.577414  -3.80435    0 0.0074504   0.00205642  0.998598    -0.052372      uwb: 0.0            1229.78  1026.99  
imu_odom_:  1691062508.28968989   1.05584    0.280122   9.70131    -0.0841559  -0.0330232  -0.232228   0.18       -0.44         pose: 0.48984604    -0.586928  -3.80743    0 0.0133722   0.00224603  0.998613    -0.0508804     uwb: 0.0            1229.78  1026.99  
imu_odom_:  1691062508.41906693   1.05584    0.0909797  9.9934     -0.0745685  -0.0106526  -0.334493   0.18       -0.44         pose: 0.0           -0.586928  -3.80743    0 0.0133722   0.00224603  0.998613    -0.0508804     uwb: 0.50000391     1229.77  1028.62  
imu_odom_:  1691062508.58025891   1.1157     0.0766145  10.0461    -0.0660464  -0.0372843  -0.390952   0.1        -0.38         pose: 0.0           -0.586928  -3.80743    0 0.0133722   0.00224603  0.998613    -0.0508804     uwb: 0.0            1229.77  1028.62  
imu_odom_:  1691062508.76020039   0.967257   -0.203507  9.84256    -0.0745685  -0.0149137  -0.414388   0.13       -0.58         pose: 0.48060705    -0.596415  -3.81059    0 0.0174378   0.00510506  0.998898    -0.0432806     uwb: 0.0            1229.77  1028.62  
imu_odom_:  1691062508.92936579   1.01514    -0.351948  10.0269    -0.076699   -0.00958738 -0.431432   0.13       -0.58         pose: 0.0           -0.596415  -3.81059    0 0.0174378   0.00510506  0.998898    -0.0432806     uwb: 0.50026063     1230.2   1030.31  
imu_odom_:  1691062508.106955390  0.658405   -0.110133  9.66539    -0.0735032  -0.00319579 -0.44315    0.08       -0.5          pose: 0.16070786    -0.596415  -3.81059    0 0.0190404   0.00521631  0.999015    -0.0397321     uwb: 0.0            1230.2   1030.31  
imu_odom_:  1691062508.124050413  0.88346    0.071826   10.2376    -0.0543285  -0.0234358  -0.461259   0.08       -0.5          pose: 0.0           -0.596415  -3.81059    0 0.0190404   0.00521631  0.999015    -0.0397321     uwb: 0.0            1230.2   1030.31  
imu_odom_:  1691062508.137911740  0.756568   -0.0981623 9.63427    -0.0681769  -0.00745685 -0.462325   0.08       -0.5          pose: 0.0           -0.596415  -3.81059    0 0.0190404   0.00521631  0.999015    -0.0397321     uwb: 0.49822790     1230.61  1032.2   
imu_odom_:  1691062508.156062789  0.687136   -0.0790087 9.68933    -0.0607201  0           -0.486826   0.06       -0.5          pose: 0.33081525    -0.596415  -3.81059    0 0.0206793   0.00371286  0.999266    -0.0320235     uwb: 0.0            1230.61  1032.2   
imu_odom_:  1691062508.172103536  0.948104   -0.289698  9.61033    -0.072438   -0.0245011  -0.52198    0.06       -0.5          pose: 0.0           -0.596415  -3.81059    0 0.0206793   0.00371286  0.999266    -0.0320235     uwb: 0.0            1230.61  1032.2   
imu_odom_:  1691062508.188916252  0.608127   0.059855   10.2065    -0.0703074  -0.0149137  -0.52198    0.06       -0.5          pose: 0.0           -0.596415  -3.81059    0 0.0206793   0.00371286  0.999266    -0.0320235     uwb: 0.50182965     1230.5   1033.01  
imu_odom_:  1691062508.205314258  0.646434   -0.347159  9.83777    -0.056459   0.00958738  -0.525175   0.06       -0.53         pose: 0.46878108    -0.599609  -3.80111    0 0.018491    0.00640231  0.999605    -0.0201821     uwb: 0.0            1230.5   1033.01  
imu_odom_:  1691062508.222097810  0.605733   -0.23942   9.51456    -0.0628506  -0.0276969  -0.486826   0.07       -0.7          pose: 0.0           -0.599609  -3.80111    0 0.018491    0.00640231  0.999605    -0.0201821     uwb: 0.0            1230.5   1033.01  
imu_odom_:  1691062508.237964740  0.543484   -0.3304    9.84975    -0.0681769  0.00426106  -0.445281   0.07       -0.7          pose: 0.66116388    -0.609073  -3.80434    0 0.0165156   0.00471051  0.999851    -0.00190263    uwb: 0.49809374     1230.72  1033.45  
imu_odom_:  1691062508.256047837  0.744597   -0.275333  10.058     -0.0532632  -0.0149137  -0.40267    0.07       -0.58         pose: 0.0           -0.609073  -3.80434    0 0.0165156   0.00471051  0.999851    -0.00190263    uwb: 0.0            1230.72  1033.45  
imu_odom_:  1691062508.274013112  0.663194   -0.275333  9.74919    -0.052198   -0.00745685 -0.360059   0.07       -0.58         pose: 0.0           -0.609073  -3.80434    0 0.0165156   0.00471051  0.999851    -0.00190263    uwb: 0.0            1230.72  1033.45  
imu_odom_:  1691062508.286944401  0.636858   -0.191536  9.91199    -0.056459   -0.00213053 -0.320645   0.07       -0.58         pose: 0.33995523    -0.609073  -3.80434    0 0.0151434   0.0020385   0.999863    0.00633875     uwb: 0.50076517     1230.68  1034.89  
imu_odom_:  1691062508.311955391  0.581791   -0.232238  9.88087    -0.0511327  -0.0106526  -0.295078   0.04       -0.29         pose: 0.40833591    -0.609073  -3.80431    0 0.0136433   0.000216991 0.999803    0.0144226      uwb: 0.0            1230.68  1034.89  
imu_odom_:  1691062508.328948632  0.665588   -0.268151  9.76355    -0.0607201  -0.00106526 -0.268447   0.04       -0.29         pose: 0.8062078     -0.609073  -3.80434    0 0.0128921   3.64719e-05 0.999793    0.0157686      uwb: 0.0            1230.68  1034.89  
imu_odom_:  1691062508.345891711  -0.488417  -0.234632  9.92157    -0.0308927  0.106526    -0.282295   0.05       -0.23         pose: 0.0           -0.609073  -3.80434    0 0.0128921   3.64719e-05 0.999793    0.0157686      uwb: 0.49925155     1230.36  1035.87  
imu_odom_:  1691062508.359886608  -1.34315   -0.131681  10.1969    -0.04048    0.0735032   -0.245011   0.07       -0.23         pose: 0.50885232    -0.609073  -3.80434    0 0.0097484   -0.00135775 0.999665    0.0239235      uwb: 0.0            1230.36  1035.87  
imu_odom_:  1691062508.376947801  -1.16598   -0.268151  9.67497    -0.0500674  -0.0596548  -0.192813   0.07       -0.2          pose: 0.0           -0.609073  -3.80434    0 0.0097484   -0.00135775 0.999665    0.0239235      uwb: 0.0            1230.36  1035.87  
imu_odom_:  1691062508.390935699  -0.251391  -0.380678  10.058     -0.056459   -0.100135   -0.154463   0.07       -0.2          pose: 0.0           -0.609073  -3.80434    0 0.0097484   -0.00135775 0.999665    0.0239235      uwb: 0.50049686     1230.21  1036.05  
imu_odom_:  1691062508.407933606  0.737414   -0.23942   10.3334    -0.056459   -0.0713727  -0.142745   0.07       -0.2          pose: 0.22005646    -0.618565  -3.80749    0 0.00723552  -0.001085   0.999613    0.0268428      uwb: 0.0            1230.21  1036.05  
imu_odom_:  1691062508.421992955  0.814029   -0.0287304 9.75398    -0.0415453  -0.0106526  -0.153398   0.09       -0.23         pose: 0.0           -0.618565  -3.80749    0 0.00723552  -0.001085   0.999613    0.0268428      uwb: 0.0            1230.21  1036.05  
imu_odom_:  1691062508.436973010  0.244209   -0.0383072 9.94791    -0.0458064  -0.0138484  -0.132093   0.09       -0.23         pose: 0.0           -0.618565  -3.80749    0 0.00723552  -0.001085   0.999613    0.0268428      uwb: 0.50143301     1230.56  1037.14  
imu_odom_:  1691062508.454929244  0.0861913  -0.105345  9.86172    -0.04048    -0.00958738 -0.149137   0.16       -0.26         pose: 0.69075653    -0.618565  -3.80749    0 0.00807853  0.000406908 0.999408    0.0334499      uwb: 0.0            1230.56  1037.14  
imu_odom_:  1691062508.470987198  0.371101   0.0215478  10.2328    -0.0340885  -0.0351537  -0.137419   0.16       -0.26         pose: 0.0           -0.618565  -3.80749    0 0.00807853  0.000406908 0.999408    0.0334499      uwb: 0.0            1230.56  1037.14  
imu_odom_:  1691062508.487928236  0.428562   -0.289698  9.91199    -0.0628506  0.02024     -0.111853   0.16       -0.26         pose: 0.0           -0.618565  -3.80749    0 0.00807853  0.000406908 0.999408    0.0334499      uwb: 0.49912324     1230.39  1037.93  
imu_odom_:  1691062508.503923487  0.557849   -0.301669  10.3166    -0.0458064  -0.00426106 -0.11931    0.12       -0.17         pose: 0.7984794     -0.618565  -3.80749    0 0.0073248   0.000656431 0.999388    0.0342044      uwb: 0.0            1230.39  1037.93  
imu_odom_:  1691062508.520923436  0.337582   -0.251391  9.62469    -0.0500674  0.0138484   -0.111853   0.12       -0.17         pose: 0.0           -0.618565  -3.80749    0 0.0073248   0.000656431 0.999388    0.0342044      uwb: 0.0            1230.39  1037.93  
imu_odom_:  1691062508.535861786  0.316035   0.0287304  9.86172    -0.052198   0.0234358   -0.0969391  0.12       -0.17         pose: 0.0           -0.618565  -3.80749    0 0.0073248   0.000656431 0.999388    0.0342044      uwb: 0.49933321     1230.18  1038.31  
imu_odom_:  1691062508.553858558  0.306458   -0.387861  9.26556    -0.0575243  -0.00426106 -0.0820254  0.15       -0.14         pose: 0.49972692    -0.628058  -3.81063    0 0.00483497  0.000445067 0.99925     0.0384044      uwb: 0.0            1230.18  1038.31  
imu_odom_:  1691062508.571017159  0.280122   0.0550666  10.0628    -0.0479369  -0.0127832  -0.0969391  0.13       -0.14         pose: 0.0           -0.628058  -3.81063    0 0.00483497  0.000445067 0.99925     0.0384044      uwb: 0.0            1230.18  1038.31  
imu_odom_:  1691062508.584957519  0.37589    0.0622492  10.1131    -0.0511327  -0.076699   -0.0798948  0.13       -0.14         pose: 0.66941437    -0.640722  -3.80426    0 0.00103814  0.000143483 0.999072    0.0430594      uwb: 0.49918739     1229.68  1039.26  
imu_odom_:  1691062508.603004745  1.13246    0.0861913  10.0221    -0.0671117  -0.0894822  -0.056459   0.13       -0.14         pose: 0.0           -0.640722  -3.80426    0 0.00103814  0.000143483 0.999072    0.0430594      uwb: 0.0            1229.68  1039.26  
imu_odom_:  1691062508.617015974  1.31442    -0.248997  9.91678    -0.0585895  -0.0532632  -0.0245011  0.12       -0.14         pose: 0.0           -0.640722  -3.80426    0 0.00103814  0.000143483 0.999072    0.0430594      uwb: 0.0            1229.68  1039.26  
imu_odom_:  1691062508.635136110  1.4461     -0.579397  10.07      -0.0500674  -0.0117179  -0.0106526  0.12       -0.14         pose: 0.31168662    -0.640722  -3.80426    0 0.00214637  0.00256876  0.998986    0.0449042      uwb: 0.50402278     1229.24  1040.42  
imu_odom_:  1691062508.652005696  1.31681    0.0502782  10.1873    -0.0468716  -0.0394148  -0.036219   0.1        -0.11         pose: 0.42095515    -0.645732  -3.80591    0 0.00693433  0.00176589  0.998903    0.0462715      uwb: 0.0            1229.24  1040.42  
imu_odom_:  1691062508.669036558  1.48441    0.177171   9.91678    -0.0436758  -0.0181095  -0.0543285  0.1        -0.11         pose: 0.0           -0.645732  -3.80591    0 0.00693433  0.00176589  0.998903    0.0462715      uwb: 0.0            1229.24  1040.42  
imu_odom_:  1691062508.684968232  1.01514    -0.059855  9.62708    -0.0585895  0.0298274   -0.0639159  0.1        -0.11         pose: 0.0           -0.645732  -3.80591    0 0.00693433  0.00176589  0.998903    0.0462715      uwb: 0.49710217     1229.36  1040.44  
imu_odom_:  1691062508.702026509  0.725443   -0.342371  9.83538    -0.0511327  0.0117179   -0.092678   0.09       -0.14         pose: 0.8890917     -0.650208  -3.80742    0 0.00795656  0.00200448  0.99888     0.0466077      uwb: 0.0            1229.36  1040.44  
imu_odom_:  1691062508.717965765  0.713472   -0.225055  9.88566    -0.052198   -0.0170442  -0.100135   0.06       -0.08         pose: 0.0           -0.650208  -3.80742    0 0.00795656  0.00200448  0.99888     0.0466077      uwb: 0.0            1229.36  1040.44  
imu_odom_:  1691062508.734975630  0.861913   -0.143652  10.1131    -0.0490022  -0.0170442  -0.0798948  0.06       -0.08         pose: 0.65948987    -0.650208  -3.80742    0 0.0130832   0.00108439  0.998654    0.0501796      uwb: 0.50154968     1229.55  1040.06  
imu_odom_:  1691062508.750972631  0.703895   -0.160412  9.71088    -0.0585895  -0.0138484  -0.0543285  0.05       -0.08         pose: 0.0           -0.650208  -3.80742    0 0.0130832   0.00108439  0.998654    0.0501796      uwb: 0.0            1229.55  1040.06  
imu_odom_:  1691062508.768966195  0.78051    -0.363919  9.78031    -0.0490022  0.00532632  -0.0468716  0.05       -0.08         pose: 0.0           -0.650208  -3.80742    0 0.0130832   0.00108439  0.998654    0.0501796      uwb: 0.0            1229.55  1040.06  
imu_odom_:  1691062508.784852957  0.691924   -0.141258  9.97185    -0.0458064  0.00213053  -0.0447411  0.05       -0.08         pose: 0.32998116    -0.653364  -3.79793    0 0.0157615   0.00173267  0.998514    0.0521321      uwb: 0.49971817     1229.8   1041.76  
imu_odom_:  1691062508.811059376  0.553061   -0.136469  10.0078    -0.0532632  -0.00106526 -0.0255663  0.06       -0.08         pose: 0.41878827    -0.658089  -3.79951    0 0.0153934   0.00220003  0.998422    0.053955       uwb: 0.0            1229.8   1041.76  
imu_odom_:  1691062508.827959001  -0.572214  -0.263362  9.51695    -0.0553937  0.0575243   -0.0266316  0.06       -0.08         pose: 0.0           -0.658089  -3.79951    0 0.0153934   0.00220003  0.998422    0.053955       uwb: 0.0            1229.8   1041.76  
imu_odom_:  1691062508.854110301  -1.403     -0.153229  10.0437    -0.0468716  -0.0436758  -0.02024    0.08       -0.05         pose: 0.8040788     -0.662852  -3.80109    0 0.0145889   0.00235206  0.99842     0.0542209      uwb: 0.49933905     1229.7   1041.74  
imu_odom_:  1691062508.870159505  -1.13725   -0.153229  9.5792     -0.0500674  -0.150202   -0.0181095  0.09       -0.08         pose: 0.0           -0.662852  -3.80109    0 0.0145889   0.00235206  0.99842     0.0542209      uwb: 0.0            1229.7   1041.74  
imu_odom_:  1691062508.886872481  -0.213084  -0.37589   9.81623    -0.0468716  -0.1012     -0.0149137  0.11       -0.05         pose: 0.77265760    -0.662852  -3.80109    0 0.00803309  0.00296813  0.998358    0.0566457      uwb: 0.49928072     1229.85  1042.39  
imu_odom_:  1691062508.911834767  0.914585   -0.172383  10.5967    -0.0468716  0.0170442   -0.00745685 0.11       -0.05         pose: 0.0           -0.662852  -3.80109    0 0.00803309  0.00296813  0.998358    0.0566457      uwb: 0.0            1229.85  1042.39  
imu_odom_:  1691062508.934852402  -0.232238  -0.246603  9.67497    -0.036219   0.0426106   -0.015979   0.14       -0.02         pose: 0.41675262    -0.662852  -3.80109    0 0.0094403   0.00245208  0.998287    0.0576796      uwb: 0.50012647     1229.46  1042.94  
imu_odom_:  1691062508.960834551  -0.205901  -0.198719  9.61511    -0.0639159  -0.0245011  0.0234358   0.14       -0.02         pose: 0.7017718     -0.662852  -3.80109    0 0.00857836  0.00249435  0.998284    0.057875       uwb: 0.0            1229.46  1042.94  
imu_odom_:  1691062508.976820761  0.023942   -0.371101  9.56962    -0.052198   -0.00213053 -0.00852212 0.12       -0.05         pose: 0.24009792    -0.672336  -3.80426    0 0.00589084  0.00255469  0.998273    0.0583875      uwb: 0.0            1229.46  1042.94  
imu_odom_:  1691062509.1832043    0.672771   -0.0023942 9.83777    -0.0639159  -0.015979   0.00852212  0.12       -0.05         pose: 0.0           -0.672336  -3.80426    0 0.00589084  0.00255469  0.998273    0.0583875      uwb: 0.49733840     1229.62  1042.97  
imu_odom_:  1691062509.25031959   0.0311246  -0.129287  10.2735    -0.0426106  -0.0181095  0.00958738  0.14       -0.02         pose: 0.25000782    -0.672336  -3.80426    0 0.00360697  0.00223303  0.998266    0.0587079      uwb: 0.0            1229.62  1042.97  
imu_odom_:  1691062509.41029839   0.363919   -0.225055  10.0317    -0.0468716  -0.0628506  0.00426106  0.14       -0.02         pose: 0.0           -0.672336  -3.80426    0 0.00360697  0.00223303  0.998266    0.0587079      uwb: 0.50132811     1229.57  1043.38  
imu_odom_:  1691062509.66820972   0.514753   -0.308852  9.78031    -0.0607201  0.052198    0.0149137   0.18       -0.05         pose: 0.41049697    -0.675487  -3.79477    0 0.00430354  0.00334737  0.998218    0.0594201      uwb: 0.0            1229.57  1043.38  
imu_odom_:  1691062509.91848009   0.507571   -0.213084  10.0461    -0.0532632  0           0.0372843   0.18       -0.05         pose: 0.0           -0.675487  -3.79477    0 0.00430354  0.00334737  0.998218    0.0594201      uwb: 0.0            1229.57  1043.38  
imu_odom_:  1691062509.116812927  0.411803   0.0023942  9.68215    -0.0671117  -0.0415453  0.0106526   0.16       -0.05         pose: 0.40927802    -0.684981  -3.79791    0 0.00215662  0.00178999  0.998191    0.0600583      uwb: 0.0            1229.57  1043.38  
imu_odom_:  1691062509.139817154  0.553061   -0.203507  9.31344    -0.056459   -0.0106526  0.0255663   0.16       -0.05         pose: 0.48992216    -0.694481  -3.80104    0 0.00469434  0.000473457 0.998164    0.0603921      uwb: 0.99981577     1229.28  1043.11  
imu_odom_:  1691062509.155803077  0.442927   -0.3304    9.76595    -0.0553937  0.00639159  0.0149137   0.14       -0.02         pose: 0.0           -0.694481  -3.80104    0 0.00469434  0.000473457 0.998164    0.0603921      uwb: 0.0            1229.28  1043.11  
imu_odom_:  1691062509.172874774  0.167594   -0.0383072 10.1754    -0.0394148  -0.0170442  0.00532632  0.14       -0.02         pose: 0.0           -0.694481  -3.80104    0 0.00469434  0.000473457 0.998164    0.0603921      uwb: 0.0            1229.28  1043.11  
imu_odom_:  1691062509.197861565  0.059855   0.00718261 10.1562    -0.0436758  0.0639159   0.0351537   0.15       0             pose: 0.74042000    -0.707099  -3.79465    0 0.00423481  0.000651763 0.99811     0.0612968      uwb: 0.50000122     1228.65  1042.79  
imu_odom_:  1691062509.222809860  0.588974   -0.143652  10.0341    -0.0447411  -0.0106526  0.0170442   0.15       0             pose: 0.7956799     -0.707099  -3.79465    0 0.00327055  0.00110069  0.998112    0.0613162      uwb: 0.0            1228.65  1042.79  
imu_odom_:  1691062509.246804494  0.225055   0.102951   9.92636    -0.0585895  0.0458064   0.0234358   0.16       -0.02         pose: 0.41978287    -0.713612  -3.79685    0 0.00377753  0.00246678  0.998089    0.061633       uwb: 0.49876466     1228.87  1043.24  
imu_odom_:  1691062509.272979132  0.0407014  -0.579397  10.1155    -0.0575243  -0.015979   0.0266316   0.16       -0.02         pose: 0.0           -0.713612  -3.79685    0 0.00377753  0.00246678  0.998089    0.061633       uwb: 0.0            1228.87  1043.24  
imu_odom_:  1691062509.296796157  0.366313   0.0933739  9.59835    -0.0458064  0.0276969   0.0330232   0.17       0             pose: 0.32075962    -0.716574  -3.79785    0 0.00112248  0.00372236  0.998075    0.0618896      uwb: 0.50278054     1228.9   1043.46  
imu_odom_:  1691062509.321908937  -0.0311246 -0.201113  9.97185    -0.0713727  0.00426106  0.0255663   0.17       -0.02         pose: 0.0           -0.716574  -3.79785    0 0.00112248  0.00372236  0.998075    0.0618896      uwb: 0.0            1228.9   1043.46  
imu_odom_:  1691062509.335947292  -0.208296  -0.181959  9.91678    -0.0479369  0.00426106  0.0138484   0.17       -0.02         pose: 0.50250056    -0.72924   -3.79156    0 -0.00142995 0.0047417   0.998055    0.0621496      uwb: 0.49695941     1229.59  1042.76  
imu_odom_:  1691062509.360947207  0.00718261 -0.160412  10.1131    -0.0756338  -0.0436758  0.0479369   0.16       -0.02         pose: 0.0           -0.72924   -3.79156    0 -0.00142995 0.0047417   0.998055    0.0621496      uwb: 0.0            1229.59  1042.76  
imu_odom_:  1691062509.377936078  0.955286   -0.275333  9.72764    -0.0426106  -0.0479369  0.0170442   0.16       -0.02         pose: 0.7890013     -0.72924   -3.79156    0 -0.00527492 0.00429124  0.998026    0.0624315      uwb: 0.0            1229.59  1042.76  
imu_odom_:  1691062509.401788975  0.138864   -0.0574608 9.36612    -0.0532632  0.015979    0.0394148   0.16       -0.02         pose: 0.0           -0.72924   -3.79156    0 -0.00527492 0.00429124  0.998026    0.0624315      uwb: 0.49996913     1229.68  1042.78  
imu_odom_:  1691062509.427916952  0.52433    -0.294487  9.45949    -0.0639159  0.0458064   0.0276969   0.17       0             pose: 0.42159395    -0.738721  -3.79473    0 -0.00540177 0.0041472   0.998018    0.0625587      uwb: 0.0            1229.68  1042.78  
imu_odom_:  1691062509.452769880  0.282516   -0.19393   9.73004    -0.0490022  0.0255663   0.0436758   0.17       0             pose: 0.41920252    -0.747512  -3.79036    0 -0.00545769 0.00338417  0.998011    0.0627122      uwb: 0.50132234     1230.06  1044.09  
imu_odom_:  1691062509.475781397  0.811634   -0.0622492 10.3932    -0.0394148  -0.0596548  0.0372843   0.17       0             pose: 0.0           -0.747512  -3.79036    0 -0.00545769 0.00338417  0.998011    0.0627122      uwb: 0.0            1230.06  1044.09  
imu_odom_:  1691062509.492777851  0.457293   0.129287   9.95748    -0.0298274  0.0138484   0.0372843   0.23       -0.02         pose: 0.7956215     -0.751379  -3.78843    0 -0.00585956 0.00267311  0.998012    0.0627007      uwb: 0.49931295     1229.9   1044.9   
imu_odom_:  1691062509.516778901  0.0622492  -0.237026  9.65103    -0.0703074  0.0213053   0.0553937   0.23       -0.02         pose: 0.0           -0.751379  -3.78843    0 -0.00585956 0.00267311  0.998012    0.0627007      uwb: 0.0            1229.9   1044.9   
imu_odom_:  1691062509.542775056  -0.0311246 -0.181959  9.60314    -0.0458064  0.0213053   0.0351537   0.18       0.02          pose: 0.47912274    -0.751379  -3.78843    0 -0.00351242 0.00255069  0.998023    0.0627059      uwb: 0.50049700     1229.69  1045.48  
imu_odom_:  1691062509.566756858  -0.071826  -0.308852  9.88087    -0.0511327  -0.0181095  0.0511327   0.18       0.02          pose: 0.0           -0.751379  -3.78843    0 -0.00351242 0.00255069  0.998023    0.0627059      uwb: 0.0            1229.69  1045.48  
imu_odom_:  1691062509.584815171  0.366313   -0.0622492 10.0748    -0.04048    -0.0426106  0.0308927   0.17       0.02          pose: 0.41119118    -0.760863  -3.7916     0 -0.00675465 0.00282384  0.998015    0.0625506      uwb: 0.50038034     1230.26  1045.8   
imu_odom_:  1691062509.608764892  0.407014   -0.213084  9.98143    -0.0607201  -0.0319579  0.0468716   0.17       0.02          pose: 0.0           -0.760863  -3.7916     0 -0.00675465 0.00282384  0.998015    0.0625506      uwb: 0.0            1230.26  1045.8   
imu_odom_:  1691062509.631837071  0.320823   -0.270545  8.97107    0.00426106  0.0223706   0.0149137   0.17       0.02          pose: 0.49869175    -0.773521  -3.7853     0 -0.00998322 0.00258162  0.997992    0.0624998      uwb: 0.49955209     1230.71  1046.52  
imu_odom_:  1691062509.648774030  0.457293   -0.0766145 11.0708    0.00958738  -0.00319579 0.0276969   0.17       0.02          pose: 0.0           -0.773521  -3.7853     0 -0.00998322 0.00258162  0.997992    0.0624998      uwb: 0.0            1230.71  1046.52  
imu_odom_:  1691062509.672768372  0.047884   0.208296   10.0652    -0.0511327  0.0383495   0.0639159   0.18       0             pose: 0.41008878    -0.783003  -3.78847    0 -0.00621195 0.00184434  0.998021    0.0625432      uwb: 0.0            1230.71  1046.52  
imu_odom_:  1691062509.698823147  0.440533   -0.435745  10.0772    -0.0862864  -0.0127832  0.0543285   0.18       0             pose: 0.0           -0.783003  -3.78847    0 -0.00621195 0.00184434  0.998021    0.0625432      uwb: 0.0            1230.71  1046.52  
imu_odom_:  1691062509.722821864  0.995988   -0.023942  10.4674    -0.0543285  0.00639159  0.0500674   0.18       0.02          pose: 0.41053790    -0.783003  -3.78847    0 -0.00505919 0.00293892  0.998012    0.0627495      uwb: 0.0            1230.71  1046.52  
imu_odom_:  1691062509.740817474  0.0311246  -0.160412  9.40921    -0.105461   0.052198    0.0894822   0.18       0.02          pose: 0.0           -0.783003  -3.78847    0 -0.00505919 0.00293892  0.998012    0.0627495      uwb: 0.99990327     1230.83  1047.38  
imu_odom_:  1691062509.756867850  0.45011    -0.153229  10.1969    -0.11931    0.0319579   0.0980043   0.18       0.02          pose: 0.49947335    -0.795661  -3.78216    0 -0.00426183 0.00173971  0.998045    0.0623239      uwb: 0.0            1230.83  1047.38  
imu_odom_:  1691062509.781761608  0.337582   -0.476446  10.2735    -0.0916127  -0.00106526 0.0681769   0.18       0.02          pose: 0.0           -0.795661  -3.78216    0 -0.00426183 0.00173971  0.998045    0.0623239      uwb: 0.49984664     1231.29  1047.27  
imu_odom_:  1691062509.805759742  0.490811   -0.217872  9.56723    -0.0639159  0.0511327   0.00639159  0.18       0.02          pose: 0.41976829    -0.805141  -3.78535    0 -0.00445738 0.00169708  0.998092    0.0615535      uwb: 0.0            1231.29  1047.27  
imu_odom_:  1691062509.830864355  0.198719   -0.42138   10.094     -0.0617853  0.0170442   0.0830906   0.18       0.02          pose: 0.0           -0.805141  -3.78535    0 -0.00445738 0.00169708  0.998092    0.0615535      uwb: 0.50021120     1231.65  1047.97  
imu_odom_:  1691062509.855866020  0.500388   -0.304064  10.1993    -0.0149137  -0.00532632 0.0266316   0.18       0             pose: 0.41005378    -0.805141  -3.78535    0 -0.00334336 -0.00131312 0.998125    0.0610998      uwb: 0.0            1231.65  1047.97  
imu_odom_:  1691062509.878781004  0.893037   -0.155623  9.87608    -0.0553937  -0.0266316  0.0692422   0.18       0             pose: 0.0           -0.805141  -3.78535    0 -0.00334336 -0.00131312 0.998125    0.0610998      uwb: 0.50026660     1231.6   1047.75  
imu_odom_:  1691062509.895773376  0.833182   -0.31364   9.67497    -0.0628506  0.0298274   0.0532632   0.18       0             pose: 0.48145003    -0.817817  -3.77908    0 -0.00355263 -0.00300031 0.998135    0.060872       uwb: 0.0            1231.6   1047.75  
imu_odom_:  1691062509.920803329  0.25618    -0.299275  10.1083    -0.0607201  0.0351537   0.0681769   0.18       0             pose: 0.0           -0.817817  -3.77908    0 -0.00355263 -0.00300031 0.998135    0.060872       uwb: 0.0            1231.6   1047.75  
imu_odom_:  1691062509.936752215  0.102951   -0.289698  9.81383    -0.0575243  -0.0330232  0.0585895   0.18       0             pose: 0.66012584    -0.827289  -3.78229    0 0.00116758  -0.00305493 0.998167    0.0604332      uwb: 0.49989914     1231.46  1048.99  
imu_odom_:  1691062509.962899439  0.608127   -0.282516  9.60793    -0.0756338  -0.0575243  0.0575243   0.18       0             pose: 0.0           -0.827289  -3.78229    0 0.00116758  -0.00305493 0.998167    0.0604332      uwb: 0.0            1231.46  1048.99  
imu_odom_:  1691062509.988751232  0.294487   -0.371101  9.89524    -0.0266316  0.0170442   0.0351537   0.18       0             pose: 0.41999285    -0.839974  -3.77604    0 -0.00106709 -0.00339854 0.998195    0.0599507      uwb: 0.49986123     1231.52  1049.84  
imu_odom_:  1691062510.13743276   0.191536   -0.196325  10.0987    -0.0276969  -0.0149137  0.056459    0.2        0             pose: 0.42828416    -0.849439  -3.77926    0 -0.00145021 -0.00459548 0.998196    0.0598501      uwb: 0.0            1231.52  1049.84  
imu_odom_:  1691062510.38753697   0.565032   0.122104   9.80426    -0.0298274  -0.0138484  0.0415453   0.2        0             pose: 0.0           -0.849439  -3.77926    0 -0.00145021 -0.00459548 0.998196    0.0598501      uwb: 0.50100161     1231.85  1051.19  
imu_odom_:  1691062510.62714799   0.622492   -0.296881  9.48822    -0.0692422  -0.00319579 0.0660464   0.2        0             pose: 0.8000253     -0.849439  -3.77926    0 -0.00206456 -0.00403837 0.998201    0.0597791      uwb: 0.0            1231.85  1051.19  
imu_odom_:  1691062510.79800208   0          -0.0861913 9.97424    -0.0245011  0.0394148   0.0319579   0.2        0             pose: 0.0           -0.849439  -3.77926    0 -0.00206456 -0.00403837 0.998201    0.0597791      uwb: 0.49878522     1231.68  1052.85  
imu_odom_:  1691062510.93793363   0.521936   -0.143652  9.76355    -0.0426106  -0.0308927  0.0458064   0.2        0             pose: 0.0           -0.849439  -3.77926    0 -0.00206456 -0.00403837 0.998201    0.0597791      uwb: 0.0            1231.68  1052.85  
imu_odom_:  1691062510.118842573  0.593762   -0.205901  10.0987    -0.0319579  -0.0255663  0.0340885   0.18       0             pose: 0.49176252    -0.858903  -3.78249    0 -0.00119965 -0.0007277730.998227    0.0595073      uwb: 0.0            1231.68  1052.85  
imu_odom_:  1691062510.134842791  0.385466   0.141258   9.96227    -0.0468716  -0.015979   0.0639159   0.18       0             pose: 0.0           -0.858903  -3.78249    0 -0.00119965 -0.0007277730.998227    0.0595073      uwb: 0.50041549     1231.86  1053.53  
imu_odom_:  1691062510.151747092  0.0646434  -0.457293  9.60314    -0.0585895  -0.0266316  0.0617853   0.25       -0.02         pose: 0.79829317    -0.871599  -3.77627    0 0.00264469  0.0011484   0.998236    0.0592925      uwb: 0.0            1231.86  1053.53  
imu_odom_:  1691062510.177923779  0.248997   0          9.82102    -0.0426106  -0.0170442  0.0415453   0.25       -0.02         pose: 0.0           -0.871599  -3.77627    0 0.00264469  0.0011484   0.998236    0.0592925      uwb: 0.0            1231.86  1053.53  
imu_odom_:  1691062510.202870623  0.213084   -0.246603  10.1227    -0.0660464  -0.0255663  0.0468716   0.25       0.02          pose: 0.33992626    -0.88106   -3.7795     0 0.000886513 0.00178577  0.998256    0.0589919      uwb: 0.49937433     1231.67  1056.25  
imu_odom_:  1691062510.225821778  0.296881   -0.395043  9.86411    -0.0649811  0.04048     0.0596548   0.25       0.02          pose: 0.0           -0.88106   -3.7795     0 0.000886513 0.00178577  0.998256    0.0589919      uwb: 0.0            1231.67  1056.25  
imu_odom_:  1691062510.251831939  0.737414   -0.100556  10.0509    -0.0692422  -0.00852212 0.0415453   0.21       0             pose: 0.49975638    -0.893763  -3.77329    0 -0.00254109 0.00143202  0.998264    0.0588276      uwb: 0.50098126     1231.99  1056.55  
imu_odom_:  1691062510.267693920  0.560243   0.162806   9.84735    -0.056459   -0.036219   0.0500674   0.21       0             pose: 0.0           -0.893763  -3.77329    0 -0.00254109 0.00143202  0.998264    0.0588276      uwb: 0.0            1231.99  1056.55  
imu_odom_:  1691062510.293702040  0.0790087  -0.244209  10.2615    -0.0639159  0.036219    0.0394148   0.18       -0.02         pose: 0.49136591    -0.903221  -3.77654    0 -0.0004096740.000881952 0.998281    0.0586048      uwb: 0.50000136     1232.19  1057.24  
imu_odom_:  1691062510.306761657  0.134075   -0.150835  9.93833    -0.0308927  0.0468716   0.0245011   0.18       -0.02         pose: 0.0           -0.903221  -3.77654    0 -0.0004096740.000881952 0.998281    0.0586048      uwb: 0.0            1232.19  1057.24  
imu_odom_:  1691062510.323848233  0.85473    -0.1652    9.83059    -0.0553937  -0.0383495  0.0671117   0.18       -0.02         pose: 0.40837114    -0.906472  -3.76708    0 -0.00369045 0.00145856  0.998273    0.0586083      uwb: 0.0            1232.19  1057.24  
imu_odom_:  1691062510.346836134  0.124498   -0.265756  9.6199     -0.0479369  0.00106526  0.0436758   0.18       -0.02         pose: 0.0           -0.906472  -3.76708    0 -0.00369045 0.00145856  0.998273    0.0586083      uwb: 0.49886688     1232.18  1058.53  
imu_odom_:  1691062510.371855596  0.445322   -0.0909797 10.1227    -0.0649811  -0.00958738 0.052198    0.18       -0.02         pose: 0.47137111    -0.915929  -3.77033    0 -0.0048119  0.00114219  0.998282    0.0583829      uwb: 0.0            1232.18  1058.53  
imu_odom_:  1691062510.396841227  0.203507   -0.100556  10.137     -0.0372843  -0.0308927  0.0191748   0.18       -0.02         pose: 0.0           -0.915929  -3.77033    0 -0.0048119  0.00114219  0.998282    0.0583829      uwb: 0.49991095     1231.93  1059.33  
imu_odom_:  1691062510.419896206  0.646434   -0.584185  9.60314    -0.0798948  -0.0372843  0.0511327   0.2        -0.02         pose: 0.8032918     -0.915929  -3.77033    0 -0.00412543 0.00155218  0.998288    0.0583294      uwb: 0.0            1231.93  1059.33  
imu_odom_:  1691062510.435675653  0.565032   -0.23942   9.84496    -0.0575243  0.0213053   0.0351537   0.2        -0.02         pose: 0.0           -0.915929  -3.77033    0 -0.00412543 0.00155218  0.998288    0.0583294      uwb: 0.49870648     1232.13  1060.25  
imu_odom_:  1691062510.452839513  0.531513   -0.385466  9.83059    -0.0553937  -0.00745685 0.0372843   0.25       -0.02         pose: 0.49056391    -0.925384  -3.77359    0 -0.00400729 0.00315351  0.998278    0.0584339      uwb: 0.0            1232.13  1060.25  
imu_odom_:  1691062510.477831852  0.785298   -0.275333  10.0389    -0.04048    -0.036219   0.0298274   0.25       -0.02         pose: 0.0           -0.925384  -3.77359    0 -0.00400729 0.00315351  0.998278    0.0584339      uwb: 0.0            1232.13  1060.25  
imu_odom_:  1691062510.503676362  0.629675   -0.126893  9.88087    -0.052198   -0.0117179  0.0500674   0.21       0.02          pose: 0.73906409    -0.938094  -3.76739    0 0.00235524  -0.0005623350.998283    0.0585215      uwb: 0.50130498     1232.47  1061.2   
imu_odom_:  1691062510.528665785  0.392649   -0.071826  10.2089    -0.0436758  -0.0394148  0.0415453   0.21       0.02          pose: 0.7872517     -0.938094  -3.76739    0 0.00310069  -0.0002223730.998284    0.0584813      uwb: 0.0            1232.47  1061.2   
imu_odom_:  1691062510.552669759  0.529119   -0.0766145 9.61751    -0.0585895  -0.0372843  0.0543285   0.21       0             pose: 0.42961416    -0.94755   -3.77064    0 0.00374775  0.0026752   0.998284    0.0583751      uwb: 0.49876189     1232.52  1061.86  
imu_odom_:  1691062510.568848460  0.88346    -0.347159  9.90002    -0.0532632  0.0117179   0.0436758   0.21       0             pose: 0.0           -0.94755   -3.77064    0 0.00374775  0.0026752   0.998284    0.0583751      uwb: 0.0            1232.52  1061.86  
imu_odom_:  1691062510.592671617  0.35913    -0.220267  9.71806    -0.076699   0.02024     0.0681769   0.18       -0.02         pose: 0.0           -0.94755   -3.77064    0 0.00374775  0.0026752   0.998284    0.0583751      uwb: 0.50052048     1232.75  1062.8   
imu_odom_:  1691062510.609786482  0.466869   -0.184354  10.0748    -0.0681769  -0.0351537  0.0585895   0.18       -0.02         pose: 0.40182675    -0.960261  -3.76444    0 0.00683482  0.00360789  0.998278    0.0581567      uwb: 0.0            1232.75  1062.8   
imu_odom_:  1691062510.635733065  0.430956   -0.0909797 10.1778    -0.0532632  -0.02024    0.0532632   0.18       0.02          pose: 0.0           -0.960261  -3.76444    0 0.00683482  0.00360789  0.998278    0.0581567      uwb: 0.50179494     1232.69  1063.65  
imu_odom_:  1691062510.651742908  -0.0023942 -0.301669  10.0006    -0.0607201  0.00319579  0.0543285   0.18       0.02          pose: 0.40938022    -0.964951  -3.76606    0 0.00342382  0.00107897  0.99833     0.0576565      uwb: 0.0            1232.69  1063.65  
imu_odom_:  1691062510.677681909  0.263362   -0.371101  9.9096     -0.0649811  -0.0213053  0.056459    0.19       0.02          pose: 0.0           -0.964951  -3.76606    0 0.00342382  0.00107897  0.99833     0.0576565      uwb: 0.0            1232.69  1063.65  
imu_odom_:  1691062510.702940516  0.627281   -0.438139  10.0724    -0.072438   -0.0127832  0.0383495   0.19       0.02          pose: 0.41956426    -0.971443  -3.76271    0 0.00119824  0.00306977  0.998347    0.057375       uwb: 0.49717245     1232.39  1064.66  
imu_odom_:  1691062510.717658687  0.586579   -0.167594  10.1299    -0.0532632  0.0138484   0.0436758   0.19       0             pose: 0.0           -0.971443  -3.76271    0 0.00119824  0.00306977  0.998347    0.057375       uwb: 0.0            1232.39  1064.66  
imu_odom_:  1691062510.741725946  0.251391   -0.232238  9.73482    -0.04048    -0.0191748  0.0447411   0.19       0             pose: 0.57972393    -0.982434  -3.76153    0 0.00206243  -0.00096338 0.998362    0.057162       uwb: 0.50056422     1232.71  1065.63  
imu_odom_:  1691062510.767720358  0.347159   -0.181959  9.90242    -0.0777643  -0.00106526 0.0639159   0.25       0             pose: 0.32010645    -0.988726  -3.76371    0 0.00051391  -0.0004484120.998369    0.0570832      uwb: 0.0            1232.71  1065.63  
imu_odom_:  1691062510.792710656  0.169988   -0.371101  9.5792     -0.0543285  0.0479369   0.052198    0.19       0             pose: 0.7946010     -0.991881  -3.76481    0 -0.000156547-8.25449e-050.998375    0.0569867      uwb: 0.50090544     1232.16  1067.45  
imu_odom_:  1691062510.809670660  0.28491    -0.409408  10.1275    -0.052198   -0.00106526 0.0553937   0.2        0.02          pose: 0.0           -0.991881  -3.76481    0 -0.000156547-8.25449e-050.998375    0.0569867      uwb: 0.0            1232.16  1067.45  
imu_odom_:  1691062510.825656005  0.620098   -0.1652    9.73722    -0.0798948  0.0106526   0.052198    0.2        0.02          pose: 0.50033674    -1.00461   -3.75865    0 -0.0045083  -0.00136941 0.998388    0.0565607      uwb: 0.0            1232.16  1067.45  
imu_odom_:  1691062510.851638752  0.64404    -0.0790087 9.94073    -0.0660464  0.0149137   0.0639159   0.25       0             pose: 0.0           -1.00461   -3.75865    0 -0.0045083  -0.00136941 0.998388    0.0565607      uwb: 0.49987012     1231.82  1069.11  
imu_odom_:  1691062510.876696419  0.636858   -0.11971   10.1634    -0.0735032  0.0117179   0.0607201   0.25       0             pose: 0.33056755    -1.00461   -3.75865    0 -0.00278016 -0.00180874 0.998408    0.0563008      uwb: 0.0            1231.82  1069.11  
imu_odom_:  1691062510.900646730  0.181959   -0.122104  9.89284    -0.0660464  0.0468716   0.052198    0.2        0             pose: 0.43934034    -1.01405   -3.76195    0 0.000838168 -0.0003370170.998441    0.0558092      uwb: 0.49993720     1231.68  1070.17  
imu_odom_:  1691062510.926642018  0.639252   -0.318429  9.81383    -0.0351537  -0.0213053  0.0298274   0.26       -0.05         pose: 0.6987974     -1.01405   -3.76195    0 2.75231e-05 -6.20328e-050.998444    0.0557653      uwb: 0.0            1231.68  1070.17  
imu_odom_:  1691062510.941639580  0.517148   -0.289698  10.0533    -0.0490022  -0.0308927  0.0585895   0.26       -0.05         pose: 0.0           -1.01405   -3.76195    0 2.75231e-05 -6.20328e-050.998444    0.0557653      uwb: 0.49868315     1231.96  1070.47  
imu_odom_:  1691062510.967636326  0.416591   -0.0933739 10.1801    -0.0458064  -0.0106526  0.0426106   0.26       -0.05         pose: 0.23997557    -1.02679   -3.75581    0 -0.00124221 0.000368486 0.998447    0.0556933      uwb: 0.0            1231.96  1070.47  
imu_odom_:  1691062510.990651933  0.526724   0.047884   10.2615    -0.0490022  -0.0234358  0.0575243   0.18       0.02          pose: 0.41998714    -1.02679   -3.75581    0 0.00193558  -0.0003241970.998449    0.0556332      uwb: 0.50024050     1232.05  1071.39  
imu_odom_:  1691062511.15646317   0.715866   -0.0454898 10.3597    -0.0426106  -0.0340885  0.0383495   0.2        0.02          pose: 0.40971269    -1.03623   -3.75912    0 0.00292739  0.00369234  0.998453    0.0554048      uwb: 0.0            1232.05  1071.39  
imu_odom_:  1691062511.42702597   0.574608   -0.189142  10.0509    -0.0745685  0.00319579  0.052198    0.2        0.02          pose: 0.0           -1.03623   -3.75912    0 0.00292739  0.00369234  0.998453    0.0554048      uwb: 0.50226455     1231.78  1072.64  
imu_odom_:  1691062511.67693485   0.548272   -0.0933739 10.0269    -0.0383495  -0.00639159 0.0351537   0.19       0             pose: 0.8034960     -1.03623   -3.75912    0 0.00382185  0.00396083  0.998449    0.0554076      uwb: 0.0            1231.78  1072.64  
imu_odom_:  1691062511.84744777   0.371101   -0.418985  9.71806    -0.0372843  0.00319579  0.0543285   0.19       0             pose: 0.0           -1.03623   -3.75912    0 0.00382185  0.00396083  0.998449    0.0554076      uwb: 0.49777338     1231.82  1073.31  
imu_odom_:  1691062511.110747363  0.471658   0.117316   9.86172    -0.0138484  0.015979    0.0394148   0.2        0             pose: 0.51972215    -1.04898   -3.753      0 0.00737928  0.00301892  0.998441    0.0552467      uwb: 0.0            1231.82  1073.31  
imu_odom_:  1691062511.126616057  0.318429   -0.399832  9.64863    -0.0735032  0.0213053   0.0703074   0.2        0             pose: 0.0           -1.04898   -3.753      0 0.00737928  0.00301892  0.998441    0.0552467      uwb: 0.0            1231.82  1073.31  
imu_odom_:  1691062511.152734424  0.179565   -0.0311246 10.0844    -0.0255663  -0.00532632 0.0372843   0.2        -0.02         pose: 0.42095551    -1.05841   -3.75631    0 0.00640609  0.00454001  0.998446    0.0551669      uwb: 0.49971569     1231.7   1074.39  
imu_odom_:  1691062511.176732279  0.196325   -0.184354  10.0197    -0.0415453  -0.0511327  0.0607201   0.2        -0.02         pose: 0.0           -1.05841   -3.75631    0 0.00640609  0.00454001  0.998446    0.0551669      uwb: 0.0            1231.7   1074.39  
imu_odom_:  1691062511.192752917  0.739808   -0.1652    10.0173    -0.0255663  -0.0308927  0.0319579   0.18       0.02          pose: 0.42022932    -1.07116   -3.7502     0 0.00408453  0.00560245  0.998465    0.0549466      uwb: 0.50113014     1231.81  1074.43  
imu_odom_:  1691062511.218671220  0.627281   -0.162806  9.6606     -0.072438   0.00106526  0.0585895   0.18       0.02          pose: 0.0           -1.07116   -3.7502     0 0.00408453  0.00560245  0.998465    0.0549466      uwb: 0.0            1231.81  1074.43  
imu_odom_:  1691062511.244747590  0.407014   -0.0670376 9.89284    -0.056459   -0.0149137  0.04048     0.2        -0.02         pose: 0.48989619    -1.07116   -3.7502     0 0.00146232  0.0056701   0.998482    0.0547638      uwb: 0.49941239     1231.76  1076.42  
imu_odom_:  1691062511.270805296  0.502782   -0.191536  9.7037     -0.0735032  0.0170442   0.0490022   0.2        -0.02         pose: 0.0           -1.07116   -3.7502     0 0.00146232  0.0056701   0.998482    0.0547638      uwb: 0.0            1231.76  1076.42  
imu_odom_:  1691062511.295614202  0.433351   -0.205901  9.71567    -0.0692422  0.0127832   0.0585895   0.2        -0.02         pose: 0.41919983    -1.08059   -3.75352    0 0.00428116  0.00486073  0.998491    0.0545332      uwb: 0.49926365     1232.05  1076.74  
imu_odom_:  1691062511.321668700  0.603339   -0.294487  10.1011    -0.0660464  -0.00852212 0.0447411   0.2        0             pose: 0.51992340    -1.09335   -3.74742    0 0.00322727  0.002783    0.998514    0.054335       uwb: 0.0            1232.05  1076.74  
imu_odom_:  1691062511.346621092  0.493206   -0.071826  10.1778    -0.0553937  -0.00745685 0.0383495   0.2        0             pose: 0.0           -1.09335   -3.74742    0 0.00322727  0.002783    0.998514    0.054335       uwb: 0.49970112     1231.73  1077.99  
imu_odom_:  1691062511.372667424  0.897826   -0.428562  10.0365    -0.04048    0.00106526  0.0287621   0.2        0             pose: 0.68941559    -1.10278   -3.75075    0 0.00445836  0.00198208  0.998523    0.0541159      uwb: 0.0            1231.73  1077.99  
imu_odom_:  1691062511.388696227  0.306458   -0.160412  9.91199    -0.0372843  0.052198    0.0436758   0.2        0             pose: 0.8099414     -1.10278   -3.75075    0 0.00510051  0.00157472  0.998518    0.0541559      uwb: 0.50026106     1232.22  1078.38  
imu_odom_:  1691062511.414871756  0.509965   -0.323217  9.47146    -0.0703074  0.0117179   0.0426106   0.22       0             pose: 0.0           -1.10278   -3.75075    0 0.00510051  0.00157472  0.998518    0.0541559      uwb: 0.0            1232.22  1078.38  
imu_odom_:  1691062511.430752990  0.347159   0.0215478  10.0293    -0.0468716  0.0223706   0.0340885   0.22       0             pose: 0.33975721    -1.11554   -3.74466    0 0.00450919  0.0011689   0.998518    0.0542138      uwb: 0.50101640     1231.98  1080.11  
imu_odom_:  1691062511.456612089  0.344765   -0.122104  10.1299    -0.056459   -0.0245011  0.0330232   0.23       0             pose: 0.0           -1.11554   -3.74466    0 0.00450919  0.0011689   0.998518    0.0542138      uwb: 0.0            1231.98  1080.11  
imu_odom_:  1691062511.482659296  0.560243   -0.131681  9.63666    -0.0777643  -0.0149137  0.0490022   0.23       0             pose: 0.50027856    -1.12497   -3.748      0 0.00313916  0.000361955 0.998523    0.0542397      uwb: 0.49884952     1231.52  1080.85  
imu_odom_:  1691062511.508605887  0.155623   -0.143652  9.66779    -0.056459   0.0117179   0.0383495   0.23       0.02          pose: 0.43935213    -1.13187   -3.75044    0 0.00446607  0.00205155  0.998519    0.0541783      uwb: 0.0            1231.52  1080.85  
imu_odom_:  1691062511.533589193  0.407014   -0.40462   9.97424    -0.072438   -0.0276969  0.0511327   0.23       0.02          pose: 0.6946564     -1.1344    -3.75133    0 0.00372117  0.00214539  0.998522    0.0541844      uwb: 0.50110974     1231.31  1082.59  
imu_odom_:  1691062511.549580084  0.984017   -0.277727  10.2328    -0.0298274  0           0.0287621   0.21       0             pose: 0.0           -1.1344    -3.75133    0 0.00372117  0.00214539  0.998522    0.0541844      uwb: 0.0            1231.31  1082.59  
imu_odom_:  1691062511.566577422  0.134075   -0.0885855 9.7875     -0.0415453  0.0181095   0.0500674   0.21       0             pose: 0.51022055    -1.13773   -3.7419     0 0.00223897  -0.00031351 0.998533    0.0540929      uwb: 0.0            1231.31  1082.59  
imu_odom_:  1691062511.582572104  0.316035   -0.19393   10.2424    -0.0617853  -0.0191748  0.0639159   0.21       0             pose: 0.0           -1.13773   -3.7419     0 0.00223897  -0.00031351 0.998533    0.0540929      uwb: 0.49846455     1231.27  1083.26  
imu_odom_:  1691062511.598702107  0.320823   0.0670376  10.1155    -0.0330232  -0.0298274  0.0436758   0.25       0             pose: 0.32967523    -1.14716   -3.74524    0 0.000734264 0.000561059 0.998542    0.0539688      uwb: 0.0            1231.27  1083.26  
imu_odom_:  1691062511.624640824  0.447716   -0.169988  9.58399    -0.0681769  -0.00639159 0.0543285   0.25       0             pose: 0.0           -1.14716   -3.74524    0 0.000734264 0.000561059 0.998542    0.0539688      uwb: 0.0            1231.27  1083.26  
imu_odom_:  1691062511.640585344  0.658405   -0.402226  9.81383    -0.0330232  0.0340885   0.0394148   0.21       0             pose: 0.32074814    -1.15659   -3.74858    0 0.00045076  0.00230242  0.99855     0.0537747      uwb: 0.50150637     1230.79  1085.14  
imu_odom_:  1691062511.666575389  0.469264   -0.3304    9.9934     -0.072438   -0.00745685 0.0703074   0.21       0             pose: 0.0           -1.15659   -3.74858    0 0.00045076  0.00230242  0.99855     0.0537747      uwb: 0.0            1230.79  1085.14  
imu_odom_:  1691062511.692714754  0.620098   -0.184354  10.2041    -0.0447411  -0.0500674  0.052198    0.23       0.02          pose: 0.42045096    -1.15993   -3.73915    0 0.00308415  0.0002549   0.998562    0.0535142      uwb: 0.49984693     1230.96  1085.9   
imu_odom_:  1691062511.716577581  0.531513   -0.0191536 10.2376    -0.0713727  -0.00745685 0.0585895   0.23       0.02          pose: 0.44999406    -1.16935   -3.7425     0 0.00616587  -0.0008209170.998572    0.0530599      uwb: 0.0            1230.96  1085.9   
imu_odom_:  1691062511.732566138  -0.0047884 -0.0311246 9.64624    -0.0298274  0.0308927   0.0319579   0.23       0.02          pose: 0.0           -1.16935   -3.7425     0 0.00616587  -0.0008209170.998572    0.0530599      uwb: 0.49994608     1230.7   1086.72  
imu_odom_:  1691062511.759574881  0.426168   -0.438139  9.75637    -0.0788296  -0.0213053  0.0532632   0.18       -0.02         pose: 0.7039889     -1.16935   -3.7425     0 0.00622134  -0.0001756550.998575    0.0529978      uwb: 0.0            1230.7   1086.72  
imu_odom_:  1691062511.784563144  0.244209   -0.304064  9.69652    -0.0479369  -0.0671117  0.0394148   0.18       -0.02         pose: 0.0           -1.16935   -3.7425     0 0.00622134  -0.0001756550.998575    0.0529978      uwb: 0.49870663     1230.33  1088.19  
imu_odom_:  1691062511.810674512  0.462081   -0.301669  9.59357    -0.0596548  -0.0117179  0.0468716   0.21       0             pose: 0.40852582    -1.17877   -3.74586    0 0.00440912  0.00123577  0.998592    0.0528569      uwb: 0.0            1230.33  1088.19  
imu_odom_:  1691062511.826553413  0.275333   -0.0311246 10.2472    -0.04048    0.0181095   0.036219    0.21       0             pose: 0.0           -1.17877   -3.74586    0 0.00440912  0.00123577  0.998592    0.0528569      uwb: 0.0            1230.33  1088.19  
imu_odom_:  1691062511.851569966  0.205901   -0.354342  9.96706    -0.0841559  -0.00213053 0.0660464   0.23       0.02          pose: 0.51089132    -1.19155   -3.7398     0 0.0025298   -0.00214626 0.998605    0.0526908      uwb: 0.50003358     1229.99  1089.9   
imu_odom_:  1691062511.874596953  0.397437   -0.110133  10.0173    -0.0479369  0           0.0511327   0.23       0.02          pose: 0.0           -1.19155   -3.7398     0 0.0025298   -0.00214626 0.998605    0.0526908      uwb: 0.0            1229.99  1089.9   
imu_odom_:  1691062511.900558710  0.361524   -0.189142  9.99579    -0.0575243  0.0511327   0.052198    0.19       0             pose: 0.41856698    -1.19155   -3.7398     0 0.00114505  -0.00292511 0.998613    0.0525505      uwb: 0.50048270     1230.11  1090.88  
imu_odom_:  1691062511.926550797  0.529119   -0.0095768110.1083    -0.0692422  0.0170442   0.0607201   0.19       0             pose: 0.0           -1.19155   -3.7398     0 0.00114505  -0.00292511 0.998613    0.0525505      uwb: 0.0            1230.11  1090.88  
imu_odom_:  1691062511.951579015  0.658405   -0.196325  10.2663    -0.0628506  0.0127832   0.04048     0.19       0             pose: 0.48017584    -1.20434   -3.73375    0 -0.00103061 -0.0007385040.99864     0.0521298      uwb: 0.50078601     1229.96  1091.98  
imu_odom_:  1691062511.977670259  0.40462    -0.54109   9.95748    -0.0639159  0.0319579   0.0543285   0.21       0.02          pose: 0.52025879    -1.21375   -3.73712    0 -0.0002668220.00242327  0.998659    0.0517225      uwb: 0.0            1229.96  1091.98  
imu_odom_:  1691062511.993535453  -0.320823  -0.275333  9.69173    -0.0426106  0.0298274   0.0298274   0.21       0.02          pose: 0.0           -1.21375   -3.73712    0 -0.0002668220.00242327  0.998659    0.0517225      uwb: 0.49961945     1229.76  1093.3   
imu_odom_:  1691062512.19540085   -0.059855  -0.500388  9.33499    -0.0681769  0.0149137   0.0511327   0.23       0.02          pose: 0.26166196    -1.22316   -3.74051    0 0.00110807  0.00121902  0.998664    0.0516483      uwb: 0.0            1229.76  1093.3   
imu_odom_:  1691062512.35551395   0.593762   -0.0430956 10.2568    -0.0490022  -0.0170442  0.0340885   0.23       0.02          pose: 0.40826626    -1.22655   -3.7311     0 -0.00196215 -0.0009147510.998668    0.0515496      uwb: 0.49889043     1229.87  1094.28  
imu_odom_:  1691062512.61546114   0.826      0.0311246  10.0461    -0.0639159  -0.00106526 0.0543285   0.23       0.02          pose: 0.0           -1.22655   -3.7311     0 -0.00196215 -0.0009147510.998668    0.0515496      uwb: 0.0            1229.87  1094.28  
imu_odom_:  1691062512.86569090   0.553061   -0.0766145 9.76595    -0.0543285  0.0138484   0.0468716   0.23       0             pose: 0.41975406    -1.23599   -3.73439    0 -0.00179249 -0.0006725310.998675    0.0514315      uwb: 0.49996373     1230.29  1094.69  
imu_odom_:  1691062512.112532896  0.586579   -0.11971   10.0509    -0.0756338  0.0191748   0.0500674   0.22       0             pose: 0.44004344    -1.2454    -3.73777    0 0.00159576  0.00169576  0.998686    0.0511996      uwb: 0.0            1230.29  1094.69  
imu_odom_:  1691062512.128533415  0.641646   -0.282516  9.59357    -0.0490022  0.0138484   0.0276969   0.22       0             pose: 0.0           -1.2454    -3.73777    0 0.00159576  0.00169576  0.998686    0.0511996      uwb: 0.50166690     1230.41  1095.68  
imu_odom_:  1691062512.154537175  0.308852   -0.174777  9.84735    -0.0287621  -0.00745685 0.0490022   0.22       0             pose: 0.7981595     -1.2454    -3.73777    0 0.00225731  0.00187065  0.998686    0.0511568      uwb: 0.0            1230.41  1095.68  
imu_odom_:  1691062512.170539444  0.490811   -0.294487  9.84017    -0.0447411  -0.015979   0.0351537   0.22       0             pose: 0.0           -1.2454    -3.73777    0 0.00225731  0.00187065  0.998686    0.0511568      uwb: 0.0            1230.41  1095.68  
imu_odom_:  1691062512.196551078  0.198719   -0.555455  9.65342    -0.0617853  0.00639159  0.0713727   0.23       -0.02         pose: 0.41054409    -1.2582    -3.73176    0 0.00419829  0.00152303  0.998683    0.0511157      uwb: 0.49833638     1231.17  1096     
imu_odom_:  1691062512.221538182  0.0454898  -0.0023942 10.2927    -0.0223706  -0.0191748  0.0319579   0.23       -0.02         pose: 0.0           -1.2582    -3.73176    0 0.00419829  0.00152303  0.998683    0.0511157      uwb: 0.0            1231.17  1096     
imu_odom_:  1691062512.237520328  0.68953    -0.258574  9.6199     -0.0500674  -0.0319579  0.0500674   0.21       0             pose: 0.42057357    -1.2582    -3.73176    0 0.00243604  -6.77605e-050.998698    0.0509457      uwb: 0.50106030     1231.01  1097.12  
imu_odom_:  1691062512.264574866  0.409408   -0.158017  9.80665    -0.0181095  0.0426106   0.0383495   0.21       0             pose: 0.0           -1.2582    -3.73176    0 0.00243604  -6.77605e-050.998698    0.0509457      uwb: 0.0            1231.01  1097.12  
imu_odom_:  1691062512.290632579  0.244209   -0.40462   9.56484    -0.0788296  0.00106526  0.0628506   0.25       -0.02         pose: 0.50881791    -1.271     -3.72575    0 8.72407e-05 0.000130155 0.998714    0.0506984      uwb: 0.50130819     1230.38  1099.46  
imu_odom_:  1691062512.306504777  0.158017   -0.0430956 9.98622    -0.0394148  -0.036219   0.0415453   0.25       -0.02         pose: 0.0           -1.271     -3.72575    0 8.72407e-05 0.000130155 0.998714    0.0506984      uwb: 0.0            1230.38  1099.46  
imu_odom_:  1691062512.323502412  1.09654    -0.11971   10.3406    -0.072438   -0.0511327  0.0916127   0.22       0.05          pose: 0.43158298    -1.2804    -3.72915    0 -0.0005030690.00247535  0.998716    0.0505886      uwb: 0.0            1230.38  1099.46  
imu_odom_:  1691062512.339681415  1.37427    -0.31364   9.52413    -0.0681769  0.00106526  0.136354    0.22       0.05          pose: 0.0           -1.2804    -3.72915    0 -0.0005030690.00247535  0.998716    0.0505886      uwb: 0.50058492     1230.15  1101.51  
imu_odom_:  1691062512.356679925  1.33596    -0.349553  9.8258     -0.0468716  0.00213053  0.20027     0.22       0.05          pose: 0.0           -1.2804    -3.72915    0 -0.0005030690.00247535  0.998716    0.0505886      uwb: 0.0            1230.15  1101.51  
imu_odom_:  1691062512.372686277  1.6927     -0.186748  9.83299    -0.0703074  0.0213053   0.319579    0.13       0.29          pose: 0.41933410    -1.28981   -3.73255    0 -0.00172373 0.00178309  0.998738    0.0501693      uwb: 0.0            1230.15  1101.51  
imu_odom_:  1691062512.388531061  1.26893    -0.54109   10.1466    -0.0671117  0.0394148   0.395213    0.13       0.29          pose: 0.0           -1.28981   -3.73255    0 -0.00172373 0.00178309  0.998738    0.0501693      uwb: 0.49663320     1229.96  1102.86  
imu_odom_:  1691062512.405503906  1.08697    -0.548272  10.137     -0.036219   0.0511327   0.407996    0.13       0.29          pose: 0.0           -1.28981   -3.73255    0 -0.00172373 0.00178309  0.998738    0.0501693      uwb: 0.0            1229.96  1102.86  
imu_odom_:  1691062512.421501218  1.08218    -0.0407014 9.75158    -0.036219   0.0266316   0.426106    0.14       0.53          pose: 0.50048577    -1.29317   -3.72313    0 0.00325358  0.000938088 0.9989      0.0467794      uwb: 0.0            1229.96  1102.86  
imu_odom_:  1691062512.438520434  0.984017   -0.0766145 10.1227    -0.0639159  0.0170442   0.486826    0.1        0.41          pose: 0.0           -1.29317   -3.72313    0 0.00325358  0.000938088 0.9989      0.0467794      uwb: 0.49865718     1230.27  1103.73  
imu_odom_:  1691062512.454498789  0.328006   -0.457293  9.90242    -0.0713727  0.0543285   0.543285    0.1        0.41          pose: 0.65823366    -1.30262   -3.72642    0 0.00805991  3.46401e-05 0.999365    0.0346965      uwb: 0.0            1230.27  1103.73  
imu_odom_:  1691062512.470496975  0.636858   -0.497994  10.1634    -0.0468716  0.0223706   0.573112    0.08       0.47          pose: 0.0           -1.30262   -3.72642    0 0.00805991  3.46401e-05 0.999365    0.0346965      uwb: 0.0            1230.27  1103.73  
imu_odom_:  1691062512.486509159  0.445322   -0.294487  9.70849    -0.0479369  -0.02024    0.621049    0.08       0.47          pose: 0.0           -1.30262   -3.72642    0 0.00805991  3.46401e-05 0.999365    0.0346965      uwb: 0.50064909     1230.34  1104.73  
imu_odom_:  1691062512.503553457  0.866701   -0.275333  10.2137    -0.0596548  0.00106526  0.622114    0.08       0.47          pose: 0.32015037    -1.30262   -3.72642    0 0.00731262  -0.00168542 0.999613    0.0267761      uwb: 0.0            1230.34  1104.73  
imu_odom_:  1691062512.520556050  0.6608     -0.105345  10.1035    -0.0372843  0.00532632  0.591222    0.1        0.67          pose: 0.42030527    -1.31206   -3.72967    0 0.0076846   -0.00309731 0.999857    0.0147562      uwb: 0.0            1230.34  1104.73  
imu_odom_:  1691062512.536554819  0.725443   -0.134075  10.0628    -0.0532632  0.00745685  0.590156    0.1        0.67          pose: 0.7014518     -1.31206   -3.72971    0 0.00802078  -0.00245525 0.999883    0.0128271      uwb: 0.50113612     1230.46  1105.27  
imu_odom_:  1691062512.552544840  0.778116   -0.3304    9.94791    -0.0596548  0.00106526  0.597613    0.1        0.67          pose: 0.0           -1.31206   -3.72971    0 0.00802078  -0.00245525 0.999883    0.0128271      uwb: 0.0            1230.46  1105.27  
imu_odom_:  1691062512.569606636  0.581791   -0.399832  9.64863    -0.0681769  0           0.607201    0.06       0.55          pose: 0.41976865    -1.31206   -3.72967    0 0.0110516   -0.00151597 0.999937    0.00121825     uwb: 0.0            1230.46  1105.27  
imu_odom_:  1691062512.585492249  0.622492   -0.131681  9.73243    -0.0543285  -0.00213053 0.588026    0.08       0.73          pose: 0.0           -1.31206   -3.72967    0 0.0110516   -0.00151597 0.999937    0.00121825     uwb: 0.50005122     1230.44  1106.72  
imu_odom_:  1691062512.602563085  0.4956     0.0454898  10.0245    -0.0447411  0.0127832   0.54222     0.08       0.73          pose: 0.0           -1.31206   -3.72967    0 0.0110516   -0.00151597 0.999937    0.00121825     uwb: 0.0            1230.44  1106.72  
imu_odom_:  1691062512.619559846  0.553061   0.011971   10.161     -0.056459   0.00532632  0.50387     0.06       0.5           pose: 0.23949450    -1.31206   -3.72971    0 0.0107134   -0.00268296 0.999924    -0.00552258    uwb: 0.0            1230.44  1106.72  
imu_odom_:  1691062512.635490080  0.612916   -0.124498  9.80426    -0.0500674  -0.00319579 0.453803    0.06       0.5           pose: 0.0           -1.31206   -3.72971    0 0.0107134   -0.00268296 0.999924    -0.00552258    uwb: 0.49920546     1230.45  1107.7   
imu_odom_:  1691062512.651486224  0.596156   -0.141258  9.94312    -0.0500674  -0.00639159 0.397344    0.06       0.5           pose: 0.33074272    -1.31206   -3.72971    0 0.00978048  0.000475523 0.999856    -0.013874      uwb: 0.0            1230.45  1107.7   
imu_odom_:  1691062512.668556478  0.830788   -0.035913  9.81623    -0.052198   0.00426106  0.358994    0.04       0.32          pose: 0.0           -1.31206   -3.72971    0 0.00978048  0.000475523 0.999856    -0.013874      uwb: 0.0            1230.45  1107.7   
imu_odom_:  1691062512.685543906  0.711078   -0.126893  9.92157    -0.0596548  0.00532632  0.336624    0.04       0.32          pose: 0.0           -1.31206   -3.72971    0 0.00978048  0.000475523 0.999856    -0.013874      uwb: 0.49989665     1230.18  1109.05  
imu_odom_:  1691062512.701482889  0.560243   -0.0694318 9.87848    -0.0596548  0.015979    0.304666    0.04       0.32          pose: 0.49925796    -1.32147   -3.7331     0 0.0103128   0.00479045  0.999657    -0.0235918     uwb: 0.0            1230.18  1109.05  
imu_odom_:  1691062512.718535352  0.316035   -0.129287  9.77792    -0.056459   0.02024     0.282295    0.04       0.35          pose: 0.41988531    -1.32485   -3.72366    0 0.0111934   0.00567233  0.999481    -0.0296658     uwb: 0.0            1230.18  1109.05  
imu_odom_:  1691062512.735539695  0.318429   -0.217872  9.95748    -0.0543285  -0.00106526 0.286556    0.03       0.26          pose: 0.0           -1.32485   -3.72366    0 0.0111934   0.00567233  0.999481    -0.0296658     uwb: 0.50069575     1230.32  1109.86  
imu_odom_:  1691062512.751534090  0.471658   -0.263362  9.89524    -0.0479369  -0.0149137  0.282295    0.03       0.26          pose: 0.0           -1.32485   -3.72366    0 0.0111934   0.00567233  0.999481    -0.0296658     uwb: 0.0            1230.32  1109.86  
imu_odom_:  1691062512.768528517  0.651223   -0.126893  9.83299    -0.0490022  -0.015979   0.265251    0.03       0.23          pose: 0.25056223    -1.32486   -3.72369    0 0.00855306  0.00516517  0.999415    -0.0327149     uwb: 0.0            1230.32  1109.86  
imu_odom_:  1691062512.784524953  0.64404    -0.0143652 9.87369    -0.0511327  0.00106526  0.247141    0.03       0.23          pose: 0.0           -1.32486   -3.72369    0 0.00855306  0.00516517  0.999415    -0.0327149     uwb: 0.50048868     1231.15  1109.76  
imu_odom_:  1691062512.801671908  0.507571   -0.0933739 9.90242    -0.0553937  0.00852212  0.230097    0.03       0.23          pose: 0.32938659    -1.32486   -3.72369    0 0.00782608  0.00369228  0.99929     -0.0366686     uwb: 0.0            1231.15  1109.76  
imu_odom_:  1691062512.818479103  0.493206   -0.215478  9.98143    -0.0532632  -0.00426106 0.219444    0.02       0.2           pose: 0.42194137    -1.32485   -3.72366    0 0.00762734  0.0057781   0.999115    -0.0409594     uwb: 0.0            1231.15  1109.76  
imu_odom_:  1691062512.834753471  0.581791   -0.268151  9.90242    -0.0532632  -0.0117179  0.223706    0.02       0.2           pose: 0.7955930     -1.32486   -3.72369    0 0.00725127  0.00508222  0.999092    -0.0416778     uwb: 0.50013288     1231.91  1108.88  
imu_odom_:  1691062512.852575864  0.629675   -0.215478  9.91918    -0.0543285  -0.00213053 0.232228    0.01       0.2           pose: 0.0           -1.32486   -3.72369    0 0.00725127  0.00508222  0.999092    -0.0416778     uwb: 0.0            1231.91  1108.88  
imu_odom_:  1691062512.876515398  0.471658   -0.150835  9.93354    -0.0543285  0.00426106  0.233293    0.01       0.17          pose: 0.42948026    -1.32485   -3.72366    0 0.00898955  0.00190076  0.998912    -0.0457119     uwb: 0.0            1231.91  1108.88  
imu_odom_:  1691062512.893504867  0.275333   -0.100556  10.0149    -0.0575243  0.0394148   0.210922    0.01       0.17          pose: 0.0           -1.32485   -3.72366    0 0.00898955  0.00190076  0.998912    -0.0457119     uwb: 0.49888758     1232.33  1109.32  
imu_odom_:  1691062512.909447350  -1.01514   -0.0790087 9.70849    -0.0628506  0.108657    0.18216     0.01       0.17          pose: 0.30893974    -1.32486   -3.72369    0 0.00574752  0.00263528  0.998798    -0.0486121     uwb: 0.0            1232.33  1109.32  
imu_odom_:  1691062512.925444953  -1.64721   -0.0407014 10.0461    -0.0585895  0.0213053   0.168312    0.01       0.17          pose: 0.0           -1.32486   -3.72369    0 0.00574752  0.00263528  0.998798    -0.0486121     uwb: 0.0            1232.33  1109.32  
imu_odom_:  1691062512.942573243  -0.730232  -0.328006  9.79707    -0.0585895  -0.076699   0.155529    0.06       0.17          pose: 0.0           -1.32486   -3.72369    0 0.00574752  0.00263528  0.998798    -0.0486121     uwb: 0.50094072     1232.73  1109.51  
imu_odom_:  1691062512.959574961  0.181959   -0.215478  9.66779    -0.0426106  -0.0788296  0.14168     0.06       0.17          pose: 0.32989697    -1.32486   -3.72369    0 0.00127472  0.00271638  0.998692    -0.0510497     uwb: 0.0            1232.73  1109.51  
imu_odom_:  1691062512.975439284  0.526724   -0.181959  10.082     -0.0490022  -0.0213053  0.145941    0.08       0.11          pose: 0.43115426    -1.33428   -3.72703    0 -0.00180431 0.00205434  0.998566    -0.0534715     uwb: 0.0            1232.73  1109.51  
imu_odom_:  1691062512.991570750  0.342371   -0.138864  9.68933    -0.0639159  0.0191748   0.13955     0.08       0.11          pose: 0.0           -1.33428   -3.72703    0 -0.00180431 0.00205434  0.998566    -0.0534715     uwb: 0.50116528     1232.57  1109.69  
imu_odom_:  1691062513.9569294    -0.172383  -0.158017  9.94791    -0.0660464  0.0351537   0.12144     0.08       0.11          pose: 0.0           -1.33428   -3.72703    0 -0.00180431 0.00205434  0.998566    -0.0534715     uwb: 0.0            1232.57  1109.69  
imu_odom_:  1691062513.26571309   -0.19393   -0.167594  9.95748    -0.0553937  -0.00426106 0.118244    0.14       0.11          pose: 0.7885937     -1.33428   -3.72703    0 -0.0009488840.00207514  0.998544    -0.0538917     uwb: 0.0            1232.57  1109.69  
imu_odom_:  1691062513.43442377   0.107739   -0.0790087 9.73004    -0.0532632  -0.0298274  0.125701    0.1        0.05          pose: 0.0           -1.33428   -3.72703    0 -0.0009488840.00207514  0.998544    -0.0538917     uwb: 0.49620457     1232.42  1109.62  
imu_odom_:  1691062513.59447275   0.349553   -0.251391  9.91678    -0.056459   -0.0127832  0.129962    0.1        0.05          pose: 0.67008015    -1.33428   -3.72703    0 -0.00618729 0.00271286  0.99836     -0.0568516     uwb: 0.0            1232.42  1109.62  
imu_odom_:  1691062513.75439633   0.390255   -0.411803  10.2448    -0.0447411  -0.0319579  0.128897    0.1        0.05          pose: 0.0           -1.33428   -3.72703    0 -0.00618729 0.00271286  0.99836     -0.0568516     uwb: 0.0            1232.42  1109.62  
imu_odom_:  1691062513.92605257   0.0047884  -0.237026  9.7444     -0.0543285  0.0426106   0.109722    0.11       0.05          pose: 0.0           -1.33428   -3.72703    0 -0.00618729 0.00271286  0.99836     -0.0568516     uwb: 0.49999595     1232.25  1110.03  
imu_odom_:  1691062513.108507499  0.011971   -0.059855  10.1083    -0.0607201  0.0394148   0.112918    0.11       0.05          pose: 0.31979466    -1.3437    -3.73039    0 -0.00540365 0.00123697  0.998286    -0.0582624     uwb: 0.0            1232.25  1110.03  
imu_odom_:  1691062513.125433395  0.260968   -0.0263362 10.3118    -0.0607201  -0.0490022  0.109722    0.12       0.08          pose: 0.42059120    -1.3437    -3.73039    0 -0.00874645 0.000812539 0.998169    -0.0598434     uwb: 0.0            1232.25  1110.03  
imu_odom_:  1691062513.141448209  0.826      -0.282516  9.90002    -0.0596548  -0.0415453  0.118244    0.12       0.08          pose: 0.0           -1.3437    -3.73039    0 -0.00874645 0.000812539 0.998169    -0.0598434     uwb: 0.50053840     1232.49  1110.14  
imu_odom_:  1691062513.157552265  0.677559   -0.31364   9.93115    -0.0585895  -0.052198   0.110787    0.12       0.08          pose: 0.0           -1.3437    -3.73039    0 -0.00874645 0.000812539 0.998169    -0.0598434     uwb: 0.0            1232.49  1110.14  
imu_odom_:  1691062513.174437915  1.22104    -0.110133  10.1682    -0.0575243  -0.0788296  0.128897    0.15       0.02          pose: 0.7953016     -1.3437    -3.73039    0 -0.00844576 0.00159118  0.998154    -0.0601289     uwb: 0.0            1232.49  1110.14  
imu_odom_:  1691062513.190464103  1.03669    -0.251391  9.6223     -0.0639159  -0.00958738 0.188552    0.1        0.02          pose: 0.0           -1.3437    -3.73039    0 -0.00844576 0.00159118  0.998154    -0.0601289     uwb: 0.49930476     1232.29  1110.55  
imu_odom_:  1691062513.206429922  0.924162   -0.385466  9.79947    -0.0479369  -0.0415453  0.217314    0.1        0.02          pose: 0.64988420    -1.3531    -3.7338     0 -0.00126573 0.0019189   0.998015    -0.0629326     uwb: 0.0            1232.29  1110.55  
imu_odom_:  1691062513.223488514  1.29287    -0.248997  9.8665     -0.0479369  -0.0330232  0.183225    0.08       0.02          pose: 0.0           -1.3531    -3.7338     0 -0.00126573 0.0019189   0.998015    -0.0629326     uwb: 0.0            1232.29  1110.55  
imu_odom_:  1691062513.239488455  1.47004    0.162806   10.1131    -0.0553937  0.0436758   0.131028    0.08       0.02          pose: 0.0           -1.3531    -3.7338     0 -0.00126573 0.0019189   0.998015    -0.0629326     uwb: 0.0            1232.29  1110.55  
imu_odom_:  1691062513.255426276  0.584185   0.0837971  9.62469    -0.0628506  0.0490022   0.092678    0.08       0.02          pose: 0.32994956    -1.3531    -3.7338     0 0.00239829  0.00145785  0.997842    -0.0655977     uwb: 0.0            1232.29  1110.55  
imu_odom_:  1691062513.271485711  0.610521   -0.011971  10.0054    -0.0575243  0.00958738  0.0287621   0.08       0.05          pose: 0.40982385    -1.36592   -3.72783    0 0.0045282   0.0035471   0.99771     -0.0673933     uwb: 0.0            1232.29  1110.55  
imu_odom_:  1691062513.288434647  0.708684   -0.294487  9.87129    -0.0532632  -0.0468716  0.0223706   0.08       0.05          pose: 0.7061765     -1.36592   -3.72783    0 0.00488923  0.00411277  0.997709    -0.0673539     uwb: 0.100110305    1232.3   1110.8   
imu_odom_:  1691062513.304416506  0.873884   -0.177171  9.84735    -0.0575243  -0.00319579 0.0468716   0.08       0.05          pose: 0.0           -1.36592   -3.72783    0 0.00488923  0.00411277  0.997709    -0.0673539     uwb: 0.0            1232.3   1110.8   
imu_odom_:  1691062513.320483815  0.991199   -0.342371  9.93115    -0.052198   -0.00106526 0.0958738   0.05       0.02          pose: 0.41928465    -1.36592   -3.72783    0 0.00866021  0.00381513  0.997693    -0.0672317     uwb: 0.0            1232.3   1110.8   
imu_odom_:  1691062513.337430710  0.509965   -0.325611  9.77553    -0.0543285  0.0223706   0.0916127   0.06       0.05          pose: 0.0           -1.36592   -3.72783    0 0.00866021  0.00381513  0.997693    -0.0672317     uwb: 0.0            1232.3   1110.8   
imu_odom_:  1691062513.363430394  0.490811   0.023942   9.89045    -0.0426106  -0.0276969  0.0671117   0.06       0.05          pose: 0.24034324    -1.36592   -3.72783    0 0.00967976  0.0025396   0.997641    -0.0679067     uwb: 0.0            1232.3   1110.8   
imu_odom_:  1691062513.389416663  -0.105345  -0.0981623 9.88805    -0.0617853  0.0969391   0.0149137   0.05       0.08          pose: 0.0           -1.36592   -3.72783    0 0.00967976  0.0025396   0.997641    -0.0679067     uwb: 0.100131011    1232.54  1110.91  
imu_odom_:  1691062513.406442884  -1.47722   0.0742203  9.90242    -0.0543285  0.0607201   0.00213053  0.05       0.08          pose: 0.42038413    -1.36592   -3.72783    0 0.00720871  0.00417646  0.997624    -0.0683944     uwb: 0.0            1232.54  1110.91  
imu_odom_:  1691062513.432435860  -0.612916  -0.701501  9.93354    -0.0639159  -0.0937433  0.0820254   0.11       0.05          pose: 0.35953641    -1.3753    -3.73131    0 0.0021061   0.00409115  0.997686    -0.067835      uwb: 0.49999303     1232.74  1110.27  
imu_odom_:  1691062513.458495623  0.833182   -0.059855  9.88566    -0.0372843  -0.0181095  0.0809601   0.11       0.05          pose: 0.7001395     -1.3753    -3.73131    0 0.00182665  0.00371283  0.997678    -0.0679804     uwb: 0.0            1232.74  1110.27  
imu_odom_:  1691062513.482552111  -0.100556  0.011971   9.63906    -0.0628506  0.036219    0.0948085   0.13       0             pose: 0.45051344    -1.3753    -3.73131    0 0.0037105   0.00375143  0.997608    -0.0689176     uwb: 0.49864274     1232.68  1111.48  
imu_odom_:  1691062513.498552927  -0.100556  -0.354342  9.96227    -0.0458064  0.0170442   0.0255663   0.13       0             pose: 0.0           -1.3753    -3.73131    0 0.0037105   0.00375143  0.997608    -0.0689176     uwb: 0.0            1232.68  1111.48  
imu_odom_:  1691062513.525476234  0.00957681 -0.258574  9.76355    -0.0607201  0.0447411   0.0639159   0.12       0.02          pose: 0.40057304    -1.3803    -3.73312    0 -0.0007327490.00345312  0.997579    -0.0694553     uwb: 0.0            1232.68  1111.48  
imu_odom_:  1691062513.551407091  0.399832   -0.356736  9.78271    -0.0511327  -0.00106526 0.0735032   0.13       0.02          pose: 0.0           -1.3803    -3.73312    0 -0.0007327490.00345312  0.997579    -0.0694553     uwb: 0.49996971     1232.08  1112.19  
imu_odom_:  1691062513.577460146  0.533907   0.023942   10.4579    -0.0607201  -0.0426106  0.0671117   0.16       0.02          pose: 0.52854164    -1.3847    -3.73471    0 -0.00291888 8.33955e-05 0.997528    -0.070207      uwb: 0.0            1232.08  1112.19  
imu_odom_:  1691062513.603401794  -0.155623  -0.035913  9.38048    -0.0639159  0.0223706   0.0692422   0.13       0             pose: 0.0           -1.3847    -3.73471    0 -0.00291888 8.33955e-05 0.997528    -0.070207      uwb: 0.50013593     1232.17  1112.23  
imu_odom_:  1691062513.620413433  0.0383072  -0.275333  10.2328    -0.0745685  -0.0127832  0.0777643   0.13       0             pose: 0.34024153    -1.3941    -3.73814    0 -0.00179377 0.00227717  0.997494    -0.0706878     uwb: 0.0            1232.17  1112.23  
imu_odom_:  1691062513.645433499  0.483629   -0.110133  10.0269    -0.0681769  0.0308927   0.0394148   0.14       0.02          pose: 0.34982189    -1.3941    -3.73814    0 -0.00524196 0.00160082  0.997442    -0.0712676     uwb: 0.50059381     1232.73  1112.26  
imu_odom_:  1691062513.671464097  0.416591   -0.275333  9.81623    -0.0798948  -0.00426106 0.0756338   0.14       0.02          pose: 0.7039309     -1.3941    -3.73814    0 -0.0047183  0.00183202  0.997444    -0.0712702     uwb: 0.0            1232.73  1112.26  
imu_odom_:  1691062513.696506620  -0.0047884 -0.174777  9.9503     -0.0553937  -0.0713727  0.0447411   0.16       0.02          pose: 0.44011355    -1.40349   -3.74158    0 -0.00175142 5.25356e-05 0.997422    -0.0717431     uwb: 0.49891980     1233.09  1112.18  
imu_odom_:  1691062513.713438641  0.3304     -0.035913  9.5816     -0.0596548  -0.0575243  0.0511327   0.16       0.02          pose: 0.0           -1.40349   -3.74158    0 -0.00175142 5.25356e-05 0.997422    -0.0717431     uwb: 0.0            1233.09  1112.18  
imu_odom_:  1691062513.729375296  0.847547   -0.138864  10.0844    -0.0607201  -0.0500674  0.0639159   0.16       0.02          pose: 0.0           -1.40349   -3.74158    0 -0.00175142 5.25356e-05 0.997422    -0.0717431     uwb: 0.49953808     1233.99  1111.61  
imu_odom_:  1691062513.746463344  0.502782   -0.37589   9.56484    -0.0490022  0.00639159  0.0319579   0.15       0             pose: 0.48927819    -1.41632   -3.73564    0 -0.00232115 0.00194532  0.9974      -0.0719961     uwb: 0.0            1233.99  1111.61  
imu_odom_:  1691062513.772517857  0.447716   -0.0167594 9.97424    -0.0585895  -0.0117179  0.0585895   0.15       0             pose: 0.0           -1.41632   -3.73564    0 -0.00232115 0.00194532  0.9974      -0.0719961     uwb: 0.0            1233.99  1111.61  
imu_odom_:  1691062513.798497710  0.727837   -0.25618   10.1658    -0.0649811  -0.0735032  0.0543285   0.15       0             pose: 0.33066991    -1.41632   -3.73564    0 -0.0001796810.00138447  0.997396    -0.0721091     uwb: 0.50010094     1233.81  1112.02  
imu_odom_:  1691062513.824501769  0.136469   -0.167594  9.90721    -0.0543285  -0.0255663  0.0532632   0.16       0             pose: 0.45038803    -1.42571   -3.73909    0 0.00369052  0.00252047  0.997359    -0.0724864     uwb: 0.0            1233.81  1112.02  
imu_odom_:  1691062513.840488877  0.37589    -0.299275  9.52174    -0.0575243  -0.04048    0.0628506   0.16       0             pose: 0.0           -1.42571   -3.73909    0 0.00369052  0.00252047  0.997359    -0.0724864     uwb: 0.50190036     1233.59  1112.92  
imu_odom_:  1691062513.866379780  0.0215478  -0.213084  9.68455    -0.0287621  0.0298274   0.02024     0.16       0             pose: 0.6964065     -1.42571   -3.73909    0 0.00306833  0.00248494  0.997358    -0.0725324     uwb: 0.0            1233.59  1112.92  
imu_odom_:  1691062513.891364849  0.378284   -0.440533  9.84017    -0.0681769  0.0245011   0.0628506   0.16       0             pose: 0.0           -1.42571   -3.73909    0 0.00306833  0.00248494  0.997358    -0.0725324     uwb: 0.49757534     1233.75  1113.5   
imu_odom_:  1691062513.915368843  0.215478   -0.339977  9.34457    -0.04048    0.00106526  0.0298274   0.18       -0.02         pose: 0.42950662    -1.43509   -3.74256    0 0.000190582 0.000894191 0.997349    -0.0727669     uwb: 0.0            1233.75  1113.5   
imu_odom_:  1691062513.940362370  0.225055   -0.426168  10.003     -0.0585895  0.0117179   0.0703074   0.18       -0.02         pose: 0.0           -1.43509   -3.74256    0 0.000190582 0.000894191 0.997349    -0.0727669     uwb: 0.50072504     1233.5   1114.89  
imu_odom_:  1691062513.955346238  -0.25618   -0.246603  9.33978    -0.0415453  0.00213053  0.0308927   0.22       0             pose: 0.48962233    -1.43509   -3.74256    0 -0.00247241 -0.00206513 0.997338    -0.0728493     uwb: 0.0            1233.5   1114.89  
imu_odom_:  1691062513.981345630  -0.617704  -0.213084  10.2089    -0.036219   0.0170442   0.0511327   0.22       0             pose: 0.0           -1.43509   -3.74256    0 -0.00247241 -0.00206513 0.997338    -0.0728493     uwb: 0.50079505     1233.89  1114.84  
imu_odom_:  1691062514.7355232    0.464475   0.00957681 11.0373    -0.0319579  0.00319579  0.0287621   0.2        0             pose: 0.48983230    -1.44447   -3.74603    0 -0.00592257 -0.0052391  0.997292    -0.0731141     uwb: 0.0            1233.89  1114.84  
imu_odom_:  1691062514.32402136   0.395043   -0.162806  10.1993    -0.0681769  -0.0138484  0.0575243   0.2        0             pose: 0.0           -1.44447   -3.74603    0 -0.00592257 -0.0052391  0.997292    -0.0731141     uwb: 0.50028183     1233.97  1115.64  
imu_odom_:  1691062514.58405036   0.61531    -0.272939  9.80426    -0.0617853  -0.0106526  0.0351537   0.2        0             pose: 0.43012782    -1.45732   -3.74012    0 -0.00929551 -0.00410387 0.997266    -0.0731982     uwb: 0.0            1233.97  1115.64  
imu_odom_:  1691062514.74343153   0.730232   -0.0454898 9.69173    -0.0500674  -0.015979   0.0479369   0.2        0             pose: 0.0           -1.45732   -3.74012    0 -0.00929551 -0.00410387 0.997266    -0.0731982     uwb: 0.0            1233.97  1115.64  
imu_odom_:  1691062514.100410213  0.426168   -0.205901  10.1849    -0.056459   -0.0149137  0.0319579   0.22       0             pose: 0.51001971    -1.46669   -3.7436     0 -0.00522171 -0.00132449 0.997294    -0.0733231     uwb: 0.49954404     1234.44  1116.12  
imu_odom_:  1691062514.126344286  0.790087   -0.308852  9.91439    -0.0692422  -0.0287621  0.0628506   0.18       -0.02         pose: 0.41028767    -1.47607   -3.74707    0 -0.00119102 -0.0003734260.997308    -0.0733222     uwb: 0.0            1234.44  1116.12  
imu_odom_:  1691062514.152555416  0.847547   -0.323217  9.65582    -0.0394148  0.0607201   0.0213053   0.22       0.02          pose: 0.27043471    -1.47607   -3.74707    0 0.00158008  0.000100847 0.997305    -0.0733436     uwb: 0.49816168     1234.77  1117.31  
imu_odom_:  1691062514.177469041  0.4956     -0.0885855 9.96467    -0.0532632  0.00106526  0.0617853   0.2        0             pose: 0.24943664    -1.48545   -3.75055    0 0.00402819  -0.00042412 0.997288    -0.0734875     uwb: 0.0            1234.77  1117.31  
imu_odom_:  1691062514.194513640  0.610521   -0.248997  9.85693    -0.0703074  0.015979    0.0372843   0.2        0             pose: 0.0           -1.48545   -3.75055    0 0.00402819  -0.00042412 0.997288    -0.0734875     uwb: 0.50239628     1235.43  1118.15  
imu_odom_:  1691062514.219353188  0.691924   -0.423774  9.35893    -0.0660464  0.0170442   0.0617853   0.2        0             pose: 0.26138803    -1.48545   -3.75055    0 0.00516336  3.91085e-05 0.99729     -0.0733868     uwb: 0.0            1235.43  1118.15  
imu_odom_:  1691062514.245617106  0.445322   -0.45011   9.58878    -0.0479369  0.0426106   0.0394148   0.18       0             pose: 0.0           -1.48545   -3.75055    0 0.00516336  3.91085e-05 0.99729     -0.0733868     uwb: 0.49900743     1234.9   1119.68  
imu_odom_:  1691062514.271610090  0.553061   -0.335188  9.58878    -0.0852212  -0.00106526 0.0543285   0.18       0             pose: 0.86089748    -1.50413   -3.74977    0 0.0060557   -0.00341046 0.997244    -0.0738665     uwb: 0.0            1234.9   1119.68  
imu_odom_:  1691062514.288610651  -0.0861913 -0.158017  9.90002    -0.0681769  0.0490022   0.0351537   0.18       0             pose: 0.0           -1.50413   -3.74977    0 0.0060557   -0.00341046 0.997244    -0.0738665     uwb: 0.49970737     1234.65  1121.11  
imu_odom_:  1691062514.304339079  0.0191536  -0.280122  9.84256    -0.0660464  -0.00319579 0.0372843   0.18       0             pose: 0.0           -1.50413   -3.74977    0 0.0060557   -0.00341046 0.997244    -0.0738665     uwb: 0.0            1234.65  1121.11  
imu_odom_:  1691062514.330329147  0.897826   -0.332794  9.64624    -0.0745685  -0.00532632 0.0308927   0.18       0             pose: 0.6894074     -1.50768   -3.74814    0 0.00653488  -0.00400646 0.997235    -0.0739175     uwb: 0.49862247     1234.66  1122.41  
imu_odom_:  1691062514.356396207  0.263362   -0.433351  10.2424    -0.0639159  0.0117179   0.0490022   0.17       0             pose: 0.42986546    -1.51705   -3.75163    0 0.0050613   -0.00548054 0.997229    -0.0740212     uwb: 0.0            1234.66  1122.41  
imu_odom_:  1691062514.382328238  0.76375    -0.440533  9.54089    -0.04048    -0.0394148  0.0276969   0.17       0             pose: 0.0           -1.51705   -3.75163    0 0.0050613   -0.00548054 0.997229    -0.0740212     uwb: 0.49998442     1234.92  1123.6   
imu_odom_:  1691062514.408383341  0.591368   -0.0526724 10.7045    -0.0490022  -0.00213053 0.0340885   0.18       0             pose: 0.41866648    -1.51705   -3.75163    0 0.00610913  -0.00592482 0.997228    -0.0739246     uwb: 0.0            1234.92  1123.6   
imu_odom_:  1691062514.424377454  0.268151   -0.191536  9.60793    -0.0426106  0.0543285   0.0298274   0.18       0             pose: 0.0           -1.51705   -3.75163    0 0.00610913  -0.00592482 0.997228    -0.0739246     uwb: 0.0            1234.92  1123.6   
imu_odom_:  1691062514.449321409  0.514753   -0.208296  9.63427    -0.0607201  0.0372843   0.0415453   0.18       -0.02         pose: 0.51971970    -1.52642   -3.75512    0 0.00722691  -0.0064388  0.997223    -0.073838      uwb: 0.50119473     1235.76  1123.77  
imu_odom_:  1691062514.475314685  0.59855    -0.198719  10.3693    -0.0479369  -0.0415453  0.0351537   0.18       -0.02         pose: 0.0           -1.52642   -3.75512    0 0.00722691  -0.0064388  0.997223    -0.073838      uwb: 0.0            1235.76  1123.77  
imu_odom_:  1691062514.500444123  0.593762   -0.430956  9.8689     -0.0809601  -0.00426106 0.0596548   0.18       -0.02         pose: 0.43003752    -1.53579   -3.75861    0 0.00527515  -0.00311628 0.997262    -0.0736994     uwb: 0.49883245     1236.15  1124.24  
imu_odom_:  1691062514.526325700  0.715866   -0.136469  10.1825    -0.04048    -0.0383495  0.0255663   0.18       -0.02         pose: 0.50996726    -1.54517   -3.7621     0 0.00793841  -0.0007754280.997247    -0.0737225     uwb: 0.0            1236.15  1124.24  
imu_odom_:  1691062514.551374938  0.512359   -0.11971   10.4244    -0.0745685  -0.0255663  0.0511327   0.21       0             pose: 0.0           -1.54517   -3.7621     0 0.00793841  -0.0007754280.997247    -0.0737225     uwb: 0.49985027     1237.2   1124.27  
imu_odom_:  1691062514.568322712  0.258574   -0.007182619.3709     -0.0426106  -0.00426106 0.0298274   0.21       0             pose: 0.68038116    -1.55803   -3.75621    0 0.00903954  0.00104331  0.997229    -0.0738301     uwb: 0.0            1237.2   1124.27  
imu_odom_:  1691062514.593306331  0.263362   -0.160412  9.46667    -0.0841559  0.0287621   0.0543285   0.21       -0.02         pose: 0.8000556     -1.55803   -3.75621    0 0.00833221  0.00147544  0.997238    -0.0737879     uwb: 0.50134929     1237.72  1124.81  
imu_odom_:  1691062514.610311266  0.646434   -0.117316  10.7978    -0.0479369  -0.0149137  0.0415453   0.21       -0.02         pose: 0.0           -1.55803   -3.75621    0 0.00833221  0.00147544  0.997238    -0.0737879     uwb: 0.0            1237.72  1124.81  
imu_odom_:  1691062514.635379752  0.529119   -0.294487  10.24      -0.0490022  -0.0213053  0.0553937   0.22       0             pose: 0.42220699    -1.5674    -3.7597     0 0.00541642  0.00208663  0.997247    -0.0739252     uwb: 0.49985902     1237.66  1125.83  
imu_odom_:  1691062514.652360482  0.397437   -0.289698  9.8258     -0.0426106  -0.0276969  0.0458064   0.22       0             pose: 0.0           -1.5674    -3.7597     0 0.00541642  0.00208663  0.997247    -0.0739252     uwb: 0.0            1237.66  1125.83  
imu_odom_:  1691062514.677437717  0.59855    -0.241814  9.57681    -0.0671117  -0.0287621  0.0607201   0.21       0.02          pose: 0.41721704    -1.57677   -3.76319    0 0.00595187  -0.0002036430.997228    -0.0741741     uwb: 0.0            1237.66  1125.83  
imu_odom_:  1691062514.704501310  1.08697    -0.153229  9.69412    -0.0351537  -0.0117179  0.0458064   0.23       0.02          pose: 0.34119820    -1.58316   -3.76557    0 0.00810863  -0.0007649060.99719     -0.0744669     uwb: 0.50054437     1238.05  1126.57  
imu_odom_:  1691062514.729503885  0.59855    -0.1652    10.0772    -0.0639159  -0.0319579  0.0585895   0.23       0.02          pose: 0.0           -1.58316   -3.76557    0 0.00810863  -0.0007649060.99719     -0.0744669     uwb: 0.49976278     1237.86  1127.81  
imu_odom_:  1691062514.746288925  0.562637   -0.0550666 9.55287    -0.0511327  -0.00319579 0.0468716   0.23       -0.02         pose: 0.7894982     -1.58614   -3.76668    0 0.00890014  -0.0004967030.997182    -0.0744895     uwb: 0.0            1237.86  1127.81  
imu_odom_:  1691062514.772269660  0.35913    -0.428562  9.83777    -0.105461   0.0276969   0.0809601   0.23       -0.02         pose: 0.0           -1.58614   -3.76668    0 0.00890014  -0.0004967030.997182    -0.0744895     uwb: 0.0            1237.86  1127.81  
imu_odom_:  1691062514.798273726  0.459687   -0.263362  10.3597    -0.0649811  0.02024     0.0436758   0.25       0.02          pose: 0.52046337    -1.59551   -3.77018    0 0.0099662   0.00314833  0.997146    -0.0747759     uwb: 0.49835708     1238.92  1127.84  
imu_odom_:  1691062514.824406989  0.653617   -0.0981623 10.477     -0.0649811  -0.0340885  0.0436758   0.25       0.02          pose: 0.0           -1.59551   -3.77018    0 0.0099662   0.00314833  0.997146    -0.0747759     uwb: 0.0            1238.92  1127.84  
imu_odom_:  1691062514.850271359  1.01275    -0.280122  9.6199     -0.0628506  -0.04048    0.0532632   0.23       0.05          pose: 0.41900771    -1.59901   -3.76082    0 0.00709761  0.000778371 0.997131    -0.0753629     uwb: 0.49999317     1239.89  1127.82  
imu_odom_:  1691062514.867271921  -0.0407014 -0.275333  9.47386    -0.0426106  0.00532632  0.0372843   0.23       0.05          pose: 0.0           -1.59901   -3.76082    0 0.00709761  0.000778371 0.997131    -0.0753629     uwb: 0.0            1239.89  1127.82  
imu_odom_:  1691062514.884282106  0.610521   0.105345   10.2639    -0.0500674  -0.0490022  0.0468716   0.2        0             pose: 0.52030005    -1.60837   -3.76433    0 0.00828937  0.0013312   0.997111    -0.0754972     uwb: 0.50124722     1239.93  1129.46  
imu_odom_:  1691062514.900385583  0.675165   -0.19393   9.85932    -0.072438   0.0106526   0.0596548   0.2        0             pose: 0.0           -1.60837   -3.76433    0 0.00828937  0.0013312   0.997111    -0.0754972     uwb: 0.0            1239.93  1129.46  
imu_odom_:  1691062514.926273576  0.447716   -0.169988  9.75877    -0.0500674  -0.0181095  0.0458064   0.25       0.02          pose: 0.69075771    -1.62709   -3.77137    0 0.0106522   0.00233487  0.997062    -0.0758244     uwb: 0.0            1239.93  1129.46  
imu_odom_:  1691062514.952314681  0.397437   -0.411803  9.83777    -0.0585895  0.00745685  0.0490022   0.25       0.02          pose: 0.0           -1.62709   -3.77137    0 0.0106522   0.00233487  0.997062    -0.0758244     uwb: 0.49856122     1239.45  1130.82  
imu_odom_:  1691062514.969254289  0.354342   -0.0215478 10.0078    -0.0276969  -0.0340885  0.0287621   0.21       0.02          pose: 0.7954185     -1.62709   -3.77137    0 0.00990916  0.00237364  0.997067    -0.0758478     uwb: 0.0            1239.45  1130.82  
imu_odom_:  1691062514.985250735  0.469264   -0.179565  10.0149    -0.0703074  -0.0191748  0.052198    0.18       0             pose: 0.0           -1.62709   -3.77137    0 0.00990916  0.00237364  0.997067    -0.0758478     uwb: 0.49986486     1239.34  1131.57  
imu_odom_:  1691062515.2303791    0.663194   -0.198719  10.3645    -0.0490022  -0.0223706  0.0468716   0.25       0             pose: 0.0           -1.62709   -3.77137    0 0.00990916  0.00237364  0.997067    -0.0758478     uwb: 0.0            1239.34  1131.57  
imu_odom_:  1691062515.19343728   0.517148   0.011971   9.37809    -0.0479369  -0.0106526  0.052198    0.25       0             pose: 0.76910967    -1.63645   -3.7749     0 0.0042691   0.00175271  0.997094    -0.0760376     uwb: 0.0            1239.34  1131.57  
imu_odom_:  1691062515.44264359   0.0670376  -0.435745  9.41161    -0.0617853  0.0575243   0.052198    0.18       0             pose: 0.0           -1.63645   -3.7749     0 0.0042691   0.00175271  0.997094    -0.0760376     uwb: 0.50062901     1239.91  1131.89  
imu_odom_:  1691062515.61391788   0.373495   -0.11971   10.2687    -0.0276969  -0.0340885  0.0308927   0.18       0             pose: 0.41098767    -1.64934   -3.76907    0 0.00525085  0.00313027  0.99707     -0.0762439     uwb: 0.0            1239.91  1131.89  
imu_odom_:  1691062515.77386780   0.282516   -0.337582  9.45231    -0.0426106  -0.0255663  0.0468716   0.18       0             pose: 0.0           -1.64934   -3.76907    0 0.00525085  0.00313027  0.99707     -0.0762439     uwb: 0.0            1239.91  1131.89  
imu_odom_:  1691062515.95330801   0.639252   -0.0454898 10.3238    -0.0479369  -0.015979   0.0383495   0.18       0             pose: 0.35042286    -1.65869   -3.7726     0 0.00196019  0.00300858  0.99708     -0.0762807     uwb: 0.49947128     1239.61  1133.91  
imu_odom_:  1691062515.112267206  0.28491    -0.059855  10.173     -0.0245011  0.0340885   0.0447411   0.18       0             pose: 0.0           -1.65869   -3.7726     0 0.00196019  0.00300858  0.99708     -0.0762807     uwb: 0.0            1239.61  1133.91  
imu_odom_:  1691062515.126371204  0.25618    -0.0790087 10.4746    -0.0447411  0.0138484   0.0671117   0.18       0.02          pose: 0.6999650     -1.65869   -3.7726     0 0.00159924  0.0025081   0.99708     -0.076306      uwb: 0.0            1239.61  1133.91  
imu_odom_:  1691062515.143311109  0.663194   -0.251391  9.56484    -0.0596548  -0.0181095  0.0436758   0.18       0.02          pose: 0.0           -1.65869   -3.7726     0 0.00159924  0.0025081   0.99708     -0.076306      uwb: 0.50175482     1240.44  1133.82  
imu_odom_:  1691062515.157238373  0.19393    -0.205901  9.64863    -0.0756338  -0.02024    0.0553937   0.18       0.02          pose: 0.0           -1.65869   -3.7726     0 0.00159924  0.0025081   0.99708     -0.076306      uwb: 0.0            1240.44  1133.82  
imu_odom_:  1691062515.172280285  0.684742   -0.282516  10.2544    -0.0745685  -0.0213053  0.0553937   0.18       0             pose: 0.49884425    -1.66805   -3.77614    0 0.000151578 0.00412731  0.997065    -0.0764473     uwb: 0.0            1240.44  1133.82  
imu_odom_:  1691062515.199292266  0.818817   0.0885855  9.87608    -0.0447411  -0.0340885  0.0447411   0.25       0.02          pose: 0.0           -1.66805   -3.77614    0 0.000151578 0.00412731  0.997065    -0.0764473     uwb: 0.49825805     1240.23  1134.53  
imu_odom_:  1691062515.215248761  0.270545   -0.217872  9.71806    -0.0490022  0.00532632  0.0703074   0.25       0.02          pose: 0.62026270    -1.6774    -3.77968    0 0.00210104  0.00304548  0.997036    -0.0768448     uwb: 0.0            1240.23  1134.53  
imu_odom_:  1691062515.242398396  0.682347   -0.167594  10.1993    -0.0330232  -0.036219   0.0298274   0.25       -0.02         pose: 0.0           -1.6774    -3.77968    0 0.00210104  0.00304548  0.997036    -0.0768448     uwb: 0.50034328     1240.82  1135.41  
imu_odom_:  1691062515.268308853  0.459687   -0.107739  9.9096     -0.0596548  -0.0266316  0.0532632   0.18       -0.02         pose: 0.43111088    -1.68675   -3.78322    0 0.00328797  0.00378335  0.997011    -0.0770993     uwb: 0.0            1240.82  1135.41  
imu_odom_:  1691062515.295368371  0.318429   -0.0502782 9.91918    -0.0415453  -0.0213053  0.0426106   0.25       -0.02         pose: 0.26884242    -1.68675   -3.78322    0 0.0048744   0.00434344  0.997005    -0.0770615     uwb: 0.50018579     1241.52  1135.81  
imu_odom_:  1691062515.321224000  0.842759   -0.0885855 9.72285    -0.052198   -0.00852212 0.0500674   0.2        -0.02         pose: 0.25022705    -1.69965   -3.77742    0 0.0028972   0.00547899  0.996998    -0.0771788     uwb: 0.0            1241.52  1135.81  
imu_odom_:  1691062515.338228357  0.383072   -0.186748  10.1825    -0.0607201  0           0.0447411   0.2        -0.02         pose: 0.0           -1.69965   -3.77742    0 0.0028972   0.00547899  0.996998    -0.0771788     uwb: 0.49813557     1242.41  1135.75  
imu_odom_:  1691062515.364281426  0.754174   -0.373495  10.2376    -0.0788296  0.00319579  0.0426106   0.18       0             pose: 0.28050220    -1.69965   -3.77742    0 0.00196583  0.00635581  0.99699     -0.0772431     uwb: 0.0            1242.41  1135.75  
imu_odom_:  1691062515.391218164  0.758962   -0.306458  10.3094    -0.0415453  -0.0117179  0.0426106   0.18       0             pose: 0.0           -1.69965   -3.77742    0 0.00196583  0.00635581  0.99699     -0.0772431     uwb: 0.50028787     1242.66  1135.89  
imu_odom_:  1691062515.417300689  0.54109    0.0742203  9.78989    -0.04048    0.0298274   0.036219    0.19       0             pose: 0.42925896    -1.70899   -3.78097    0 0.00320701  0.00467443  0.996984    -0.0774052     uwb: 0.0            1242.66  1135.89  
imu_odom_:  1691062515.444231594  -0.0167594 -0.270545  9.63187    -0.072438   -0.0287621  0.0575243   0.19       0             pose: 0.52988640    -1.71834   -3.78453    0 0.0068772   0.00321572  0.996965    -0.0774776     uwb: 0.49956751     1242.99  1136.36  
imu_odom_:  1691062515.469218719  0.134075   0.0454898  9.79947    -0.0490022  -0.0298274  0.0415453   0.18       -0.02         pose: 0.0           -1.71834   -3.78453    0 0.0068772   0.00321572  0.996965    -0.0774776     uwb: 0.0            1242.99  1136.36  
imu_odom_:  1691062515.486253115  0.548272   -0.102951  10.7188    -0.0543285  -0.00213053 0.04048     0.18       -0.02         pose: 0.53038219    -1.72769   -3.78809    0 0.00356397  0.00438933  0.996963    -0.0776707     uwb: 0.50340550     1243.09  1137.53  
imu_odom_:  1691062515.511383727  0.426168   0.169988   10.5656    -0.02024    -0.04048    0.0213053   0.23       -0.02         pose: 0.0           -1.72769   -3.78809    0 0.00356397  0.00438933  0.996963    -0.0776707     uwb: 0.0            1243.09  1137.53  
imu_odom_:  1691062515.535229082  0.366313   -0.244209  9.60793    -0.0575243  -0.0298274  0.0447411   0.23       -0.02         pose: 0.23987676    -1.72769   -3.78809    0 0.00291881  0.00524395  0.99696     -0.077684      uwb: 0.0            1243.09  1137.53  
imu_odom_:  1691062515.559275376  0.588974   0.0191536  9.38527    -0.0383495  -0.00319579 0.0330232   0.23       0             pose: 0.18133295    -1.73703   -3.79164    0 0.00377569  0.00633631  0.996956    -0.0776134     uwb: 0.0            1243.09  1137.53  
imu_odom_:  1691062515.575274451  0.361524   -0.155623  9.96227    -0.0830906  0.0117179   0.0628506   0.23       0             pose: 0.0           -1.73703   -3.79164    0 0.00377569  0.00633631  0.996956    -0.0776134     uwb: 0.0            1243.09  1137.53  
imu_odom_:  1691062515.593220513  0.656011   -0.347159  9.70849    -0.0447411  0           0.0298274   0.19       0             pose: 0.23924972    -1.74059   -3.7823     0 0.00329454  0.00765349  0.99696     -0.0774658     uwb: 0.99800056     1242.63  1139.52  
imu_odom_:  1691062515.618216971  0.490811   -0.234632  9.8689     -0.052198   -0.015979   0.0468716   0.19       0             pose: 0.0           -1.74059   -3.7823     0 0.00329454  0.00765349  0.99696     -0.0774658     uwb: 0.0            1242.63  1139.52  
imu_odom_:  1691062515.635210246  0.577003   -0.42138   9.8665     -0.0671117  0.00213053  0.0394148   0.18       0             pose: 0.48882934    -1.74994   -3.78585    0 0.00359637  0.0075575   0.996955    -0.0775226     uwb: 0.0            1242.63  1139.52  
imu_odom_:  1691062515.661244941  0.3304     -0.215478  10.1993    -0.0607201  -0.0181095  0.056459    0.18       0             pose: 0.0           -1.74994   -3.78585    0 0.00359637  0.0075575   0.996955    -0.0775226     uwb: 0.0            1242.63  1139.52  
imu_odom_:  1691062515.688218426  0.447716   -0.306458  10.3645    -0.0372843  -0.0415453  0.0213053   0.18       0.02          pose: 0.32969018    -1.75928   -3.78941    0 0.00412713  0.00496903  0.996966    -0.0775675     uwb: 0.99955791     1242.9   1141.37  
imu_odom_:  1691062515.713281669  0.663194   -0.397437  9.99579    -0.0553937  -0.0106526  0.0671117   0.18       -0.02         pose: 0.43016888    -1.75928   -3.78941    0 0.0042488   0.00134523  0.996966    -0.0777156     uwb: 0.0            1242.9   1141.37  
imu_odom_:  1691062515.730209616  0.189142   0.0023942  9.70609    -0.0298274  0.0394148   0.04048     0.18       -0.02         pose: 0.0           -1.75928   -3.78941    0 0.0042488   0.00134523  0.996966    -0.0777156     uwb: 0.50114821     1243.72  1141.56  
imu_odom_:  1691062515.755206657  0.143652   -0.138864  9.71806    -0.0660464  -0.0181095  0.0671117   0.18       0             pose: 0.52984849    -1.76863   -3.79297    0 0.00375219  -0.00191123 0.996965    -0.0777377     uwb: 0.0            1243.72  1141.56  
imu_odom_:  1691062515.772200224  0.823605   -0.368707  10.1897    -0.0575243  -0.00958738 0.0372843   0.18       0             pose: 0.0           -1.76863   -3.79297    0 0.00375219  -0.00191123 0.996965    -0.0777377     uwb: 0.0            1243.72  1141.56  
imu_odom_:  1691062515.797325294  0.627281   -0.275333  9.79947    -0.0596548  -0.0234358  0.0628506   0.2        0.02          pose: 0.42006939    -1.77797   -3.79653    0 0.00280518  -0.00142941 0.996941    -0.0780892     uwb: 0.50043368     1243.96  1142.27  
imu_odom_:  1691062515.824271365  0.641646   -0.023942  10.1658    -0.0479369  -0.0532632  0.0479369   0.2        0.02          pose: 0.0           -1.77797   -3.79653    0 0.00280518  -0.00142941 0.996941    -0.0780892     uwb: 0.0            1243.96  1142.27  
imu_odom_:  1691062515.849330817  0.761356   -0.035913  10.0413    -0.0916127  0.00426106  0.0692422   0.2        0             pose: 0.41978359    -1.79088   -3.79076    0 0.00385845  -0.00157953 0.996914    -0.0783942     uwb: 0.49839221     1244.01  1143.16  
imu_odom_:  1691062515.876192020  0.76375    -0.0287304 9.97664    -0.0756338  -0.015979   0.0447411   0.2        0             pose: 0.0           -1.79088   -3.79076    0 0.00385845  -0.00157953 0.996914    -0.0783942     uwb: 0.0            1244.01  1143.16  
imu_odom_:  1691062515.901243597  0.543484   -0.220267  10.2568    -0.0756338  0.0127832   0.0468716   0.18       0.02          pose: 0.52071432    -1.80022   -3.79433    0 0.00802414  0.00128452  0.996857    -0.0788008     uwb: 0.49982416     1243.81  1144.48  
imu_odom_:  1691062515.918247663  0.308852   -0.189142  9.72285    -0.0394148  -0.0511327  0.036219    0.18       0.02          pose: 0.0           -1.80022   -3.79433    0 0.00802414  0.00128452  0.996857    -0.0788008     uwb: 0.0            1243.81  1144.48  
imu_odom_:  1691062515.935187859  0.23942    -0.225055  10.2017    -0.0628506  -0.0149137  0.0490022   0.18       0.02          pose: 0.51931738    -1.80956   -3.79792    0 0.010554    0.00324324  0.996804    -0.0791249     uwb: 0.50027037     1243.45  1146.28  
imu_odom_:  1691062515.952198924  0.301669   -0.141258  9.6199     -0.0383495  -0.0532632  0.0340885   0.18       0.02          pose: 0.0           -1.80956   -3.79792    0 0.010554    0.00324324  0.996804    -0.0791249     uwb: 0.0            1243.45  1146.28  
imu_odom_:  1691062515.978186082  0.4956     -0.351948  9.52413    -0.0713727  -0.0234358  0.0500674   0.18       0             pose: 0.67987681    -1.81889   -3.8015     0 0.00495332  0.00205717  0.996845    -0.0791938     uwb: 0.50098489     1243.56  1146.92  
imu_odom_:  1691062516.3195664    0.76375    -0.169988  10.228     -0.0340885  -0.0330232  0.0436758   0.18       0             pose: 0.7018898     -1.81889   -3.8015     0 0.00506604  0.0013048   0.996842    -0.0792337     uwb: 0.0            1243.56  1146.92  
imu_odom_:  1691062516.29183996   0.610521   -0.0861913 10.0461    -0.0639159  -0.0276969  0.0500674   0.21       -0.02         pose: 0.43977842    -1.83071   -3.79864    0 0.00806489  0.000402063 0.996811    -0.0793866     uwb: 0.50033168     1245.03  1146.94  
imu_odom_:  1691062516.55440928   0.620098   -0.0407014 9.92875    -0.0500674  -0.0213053  0.0340885   0.21       -0.02         pose: 0.0           -1.83071   -3.79864    0 0.00806489  0.000402063 0.996811    -0.0793866     uwb: 0.0            1245.03  1146.94  
imu_odom_:  1691062516.81311146   0.407014   -0.138864  9.77792    -0.0628506  -0.0138484  0.0479369   0.23       0.02          pose: 0.52245264    -1.84115   -3.79935    0 0.00974144  0.00550317  0.99678     -0.0794056     uwb: 0.49672708     1245.01  1148.39  
imu_odom_:  1691062516.98433039   0.318429   -0.215478  10.3262    -0.0500674  -0.0330232  0.0500674   0.23       0.02          pose: 0.0           -1.84115   -3.79935    0 0.00974144  0.00550317  0.99678     -0.0794056     uwb: 0.0            1245.01  1148.39  
imu_odom_:  1691062516.115383447  0.335188   -0.308852  9.85932    -0.0660464  -0.00426106 0.072438    0.18       -0.02         pose: 0.32837789    -1.85048   -3.80294    0 0.00678758  0.00473619  0.996797    -0.0795391     uwb: 0.0            1245.01  1148.39  
imu_odom_:  1691062516.132195618  0.395043   -0.335188  9.66539    -0.0415453  -0.0426106  0.0308927   0.18       -0.02         pose: 0.0           -1.85048   -3.80294    0 0.00678758  0.00473619  0.996797    -0.0795391     uwb: 0.50167038     1244.95  1149.81  
imu_odom_:  1691062516.158309064  0.124498   -0.512359  9.36612    -0.0511327  -0.00319579 0.0383495   0.19       0             pose: 0.43916901    -1.85048   -3.80294    0 0.00439361  0.00167374  0.9968      -0.0798033     uwb: 0.0            1244.95  1149.81  
imu_odom_:  1691062516.184227986  0.294487   0.0167594  9.58399    -0.00745685 0.00639159  0.0276969   0.19       0             pose: 0.7088894     -1.85048   -3.80294    0 0.00389827  0.00117649  0.996803    -0.0798006     uwb: 0.0            1244.95  1149.81  
imu_odom_:  1691062516.209310192  -0.0167594 -0.0742203 10.1394    -0.0671117  -0.0351537  0.0639159   0.19       0             pose: 0.44943474    -1.85981   -3.80654    0 0.000787326 0.00249561  0.996821    -0.0796364     uwb: 0.0            1244.95  1149.81  
imu_odom_:  1691062516.233152054  0.3304     0.201113   10.3741    -0.0660464  -0.00319579 0.0447411   0.19       0             pose: 0.0           -1.85981   -3.80654    0 0.000787326 0.00249561  0.996821    -0.0796364     uwb: 0.99919947     1245.39  1150.67  
imu_odom_:  1691062516.259292330  0.323217   -0.172383  9.80426    -0.0703074  -0.0213053  0.0426106   0.18       0             pose: 0.32082149    -1.86914   -3.81014    0 -0.00145902 0.00334219  0.996792    -0.0799514     uwb: 0.0            1245.39  1150.67  
imu_odom_:  1691062516.276436388  0.533907   -0.0909797 10.3837    -0.0511327  -0.0330232  0.036219    0.18       0             pose: 0.0           -1.86914   -3.81014    0 -0.00145902 0.00334219  0.996792    -0.0799514     uwb: 0.0            1245.39  1150.67  
imu_odom_:  1691062516.302259943  0.869095   -0.31364   9.87129    -0.0607201  -0.0170442  0.0575243   0.17       0.02          pose: 0.49967848    -1.88207   -3.80441    0 -0.00248531 0.00297817  0.996786    -0.0800134     uwb: 0.0            1245.39  1150.67  
imu_odom_:  1691062516.328434050  0.574608   0.0861913  10.1801    -0.0426106  0.0213053   0.0458064   0.19       0             pose: 0.35981960    -1.8889    -3.80705    0 0.00126848  0.00271003  0.996771    -0.0802379     uwb: 0.0            1245.39  1150.67  
imu_odom_:  1691062516.354149990  0.603339   -0.117316  10.1347    -0.0713727  -0.00532632 0.0415453   0.19       0             pose: 0.6969321     -1.8914    -3.80802    0 0.00147215  0.00337939  0.996767    -0.0802596     uwb: 0.0            1245.39  1150.67  
imu_odom_:  1691062516.380188776  0.268151   -0.47884   9.47386    -0.0617853  0.0266316   0.0628506   0.17       -0.02         pose: 0.44920726    -1.89819   -3.81064    0 0.00463243  0.00516277  0.996742    -0.0803564     uwb: 0.150159020    1245.93  1151.59  
imu_odom_:  1691062516.406342176  0.545878   -0.272939  9.81383    -0.0383495  -0.00745685 0.04048     0.23       0.02          pose: 0.0           -1.89819   -3.81064    0 0.00463243  0.00516277  0.996742    -0.0803564     uwb: 0.0            1245.93  1151.59  
imu_odom_:  1691062516.423292585  0.138864   0.0670376  9.62469    -0.0809601  0.0319579   0.0490022   0.19       0             pose: 0.52192186    -1.90756   -3.81427    0 0.00476441  0.00101878  0.996728    -0.080688      uwb: 0.0            1245.93  1151.59  
imu_odom_:  1691062516.440306279  0.462081   -0.337582  10.5082    -0.0809601  -0.0351537  0.0436758   0.19       0             pose: 0.0           -1.90756   -3.81427    0 0.00476441  0.00101878  0.996728    -0.080688      uwb: 0.49917686     1245.78  1153.88  
imu_odom_:  1691062516.465292828  0.723049   -0.383072  9.94073    -0.0649811  -0.0340885  0.0436758   0.19       0             pose: 0.33964103    -1.91005   -3.81524    0 0.00338566  -0.0002095930.996725    -0.0808004     uwb: 0.0            1245.78  1153.88  
imu_odom_:  1691062516.492139165  0.665588   -0.263362  9.77553    -0.0436758  0.0287621   0.0340885   0.19       0             pose: 0.6878621     -1.91005   -3.81524    0 0.00410118  -0.0005509290.996721    -0.0808151     uwb: 0.49945391     1246.48  1154.32  
imu_odom_:  1691062516.508135327  0.248997   -0.124498  9.8258     -0.052198   0.0276969   0.0447411   0.19       -0.02         pose: 0.25126827    -1.91937   -3.81886    0 0.00656782  -0.00141485 0.996705    -0.080833      uwb: 0.0            1246.48  1154.32  
imu_odom_:  1691062516.535154315  0.0550666  -0.476446  9.9934     -0.052198   0.0138484   0.0308927   0.19       -0.02         pose: 0.0           -1.91937   -3.81886    0 0.00656782  -0.00141485 0.996705    -0.080833      uwb: 0.50116293     1247.36  1154.87  
imu_odom_:  1691062516.560151654  0.656011   -0.500388  9.165      -0.0458064  -0.0266316  0.0458064   0.19       -0.02         pose: 0.27855703    -1.91937   -3.81886    0 0.00732049  -0.00106885 0.996703    -0.0807949     uwb: 0.0            1247.36  1154.87  
imu_odom_:  1691062516.587154602  0.507571   0.220267   10.1658    -0.0276969  -0.036219   0.0234358   0.22       -0.02         pose: 0.43000569    -1.93231   -3.81315    0 0.0044979   -0.00274134 0.996722    -0.0807355     uwb: 0.49861399     1247.73  1155.4   
imu_odom_:  1691062516.604296326  0.586579   -0.248997  9.46667    -0.0553937  0.0213053   0.0479369   0.19       -0.02         pose: 0.0           -1.93231   -3.81315    0 0.0044979   -0.00274134 0.996722    -0.0807355     uwb: 0.0            1247.73  1155.4   
imu_odom_:  1691062516.631263110  0.694318   -0.19393   9.82341    -0.0426106  -0.056459   0.0372843   0.19       -0.02         pose: 0.52006119    -1.94164   -3.81677    0 0.00667789  -0.0008609470.996724    -0.0805955     uwb: 0.50048049     1247.77  1157.24  
imu_odom_:  1691062516.647130659  0.486023   0.126893   9.73482    -0.0532632  0.0266316   0.0596548   0.27       -0.02         pose: 0.0           -1.94164   -3.81677    0 0.00667789  -0.0008609470.996724    -0.0805955     uwb: 0.0            1247.77  1157.24  
imu_odom_:  1691062516.674240639  0.373495   -0.107739  10.252     -0.04048    -0.00106526 0.0245011   0.27       -0.02         pose: 0.15989163    -1.94164   -3.81677    0 0.00827826  -0.0005946660.99671     -0.0806221     uwb: 0.0            1247.77  1157.24  
imu_odom_:  1691062516.690278214  0.203507   -0.351948  9.25359    -0.072438   0.0127832   0.0426106   0.25       -0.02         pose: 0.43159804    -1.95096   -3.82039    0 0.00904489  0.00207247  0.996697    -0.080679      uwb: 0.50125625     1247.85  1159.12  
imu_odom_:  1691062516.717123384  0.433351   -0.296881  9.991      -0.0447411  -0.0287621  0.0276969   0.25       -0.02         pose: 0.0           -1.95096   -3.82039    0 0.00904489  0.00207247  0.996697    -0.080679      uwb: 0.0            1247.85  1159.12  
imu_odom_:  1691062516.742122765  0.816423   -0.162806  10.4866    -0.0703074  -0.00532632 0.0511327   0.25       0             pose: 0.42800503    -1.96028   -3.824      0 0.00531798  0.00122029  0.996739    -0.0805123     uwb: 0.49820861     1247.27  1160.88  
imu_odom_:  1691062516.767291880  0.761356   0.0646434  10.1107    -0.0340885  0.00745685  0.0340885   0.21       0             pose: 0.0           -1.96028   -3.824      0 0.00531798  0.00122029  0.996739    -0.0805123     uwb: 0.0            1247.27  1160.88  
imu_odom_:  1691062516.781103368  0.462081   -0.177171  9.80426    -0.0532632  0.0276969   0.0617853   0.21       0             pose: 0.44999177    -1.96961   -3.82761    0 0.00689345  0.00018045  0.996728    -0.0805402     uwb: 0.50045716     1247.86  1161.58  
imu_odom_:  1691062516.806099832  0.246603   -0.107739  9.69652    -0.0383495  -0.00106526 0.0372843   0.21       0             pose: 0.0           -1.96961   -3.82761    0 0.00689345  0.00018045  0.996728    -0.0805402     uwb: 0.0            1247.86  1161.58  
imu_odom_:  1691062516.833089947  0.610521   -0.361524  10.0437    -0.0671117  -0.0223706  0.0607201   0.17       0.02          pose: 0.7006068     -1.96961   -3.82761    0 0.00722806  0.000840199 0.996727    -0.0805173     uwb: 0.49880064     1248.07  1162.02  
imu_odom_:  1691062516.849083193  0.632069   -0.380678  9.82341    -0.0340885  0.0383495   0.0340885   0.17       0.02          pose: 0.0           -1.96961   -3.82761    0 0.00722806  0.000840199 0.996727    -0.0805173     uwb: 0.0            1248.07  1162.02  
imu_odom_:  1691062516.876105098  0.272939   -0.201113  9.51935    -0.0777643  0.0319579   0.0671117   0.19       0             pose: 0.39151212    -1.98254   -3.8219     0 0.00577239  0.00262113  0.996726    -0.0805995     uwb: 0.0            1248.07  1162.02  
imu_odom_:  1691062516.901101270  0.442927   -0.071826  9.92875    -0.0543285  0.0138484   0.0426106   0.19       0             pose: 0.52884539    -1.99187   -3.82552    0 0.00615244  0.000179933 0.996707    -0.0808531     uwb: 0.50060006     1247.72  1164.27  
imu_odom_:  1691062516.926113192  0.402226   -0.351948  9.8689     -0.1012     0.0298274   0.0681769   0.19       0             pose: 0.0           -1.99187   -3.82552    0 0.00615244  0.000179933 0.996707    -0.0808531     uwb: 0.0            1247.72  1164.27  
imu_odom_:  1691062516.947114188  0.948104   0.035913   10.2687    -0.0660464  -0.0181095  0.04048     0.2        0             pose: 0.43003193    -1.99187   -3.82552    0 0.00304939  0.000177334 0.996692    -0.0812154     uwb: 0.49859357     1247.38  1166.23  
imu_odom_:  1691062516.961098909  0.435745   -0.35913   9.18895    -0.092678   0.0287621   0.0511327   0.2        0             pose: 0.0           -1.99187   -3.82552    0 0.00304939  0.000177334 0.996692    -0.0812154     uwb: 0.0            1247.38  1166.23  
imu_odom_:  1691062516.986106164  -0.143652  -0.332794  9.40442    -0.0436758  0.0383495   0.0308927   0.17       0             pose: 0.47943575    -2.00119   -3.82914    0 0.00213226  -0.0009258820.996663    -0.0815981     uwb: 0.49998762     1247.93  1167.23  
imu_odom_:  1691062517.11154834   0.189142   -0.232238  10.2592    -0.0639159  -0.036219   0.0543285   0.17       0             pose: 0.0           -2.00119   -3.82914    0 0.00213226  -0.0009258820.996663    -0.0815981     uwb: 0.0            1247.93  1167.23  
imu_odom_:  1691062517.32069803   0.818817   -0.143652  9.77553    -0.0500674  0.0596548   0.0276969   0.18       0             pose: 0.79043482    -2.02021   -3.82852    0 -0.00198488 -0.00221399 0.996646    -0.0817741     uwb: 0.50037265     1248.47  1167.91  
imu_odom_:  1691062517.46131521   0.529119   -0.0790087 9.80904    -0.0628506  0.0181095   0.0511327   0.18       0             pose: 0.6018577     -2.02346   -3.82709    0 -0.00160615 -0.00202519 0.996651    -0.0817372     uwb: 0.0            1248.47  1167.91  
imu_odom_:  1691062517.71094453   0.253785   -0.311246  9.62469    -0.0628506  0.0287621   0.0436758   0.17       0             pose: 0.0           -2.02346   -3.82709    0 -0.00160615 -0.00202519 0.996651    -0.0817372     uwb: 0.0            1248.47  1167.91  
imu_odom_:  1691062517.88365671   0.531513   -0.184354  10.1011    -0.0426106  -0.0287621  0.0436758   0.17       0             pose: 0.35903518    -2.03277   -3.83073    0 -0.000674843-0.00091895 0.996653    -0.0817406     uwb: 0.49962029     1248.72  1168.71  
imu_odom_:  1691062517.104097611  0.512359   -0.129287  10.1466    -0.0692422  -0.02024    0.0532632   0.17       0             pose: 0.0           -2.03277   -3.83073    0 -0.000674843-0.00091895 0.996653    -0.0817406     uwb: 0.0            1248.72  1168.71  
imu_odom_:  1691062517.130217189  0.751779   -0.248997  9.97424    -0.0458064  -0.0170442  0.04048     0.23       0             pose: 0.51020682    -2.03766   -3.83263    0 0.0005626   -0.0001618720.996639    -0.0819189     uwb: 0.49978068     1249.48  1169.23  
imu_odom_:  1691062517.156227692  0.280122   -0.201113  10.1347    -0.0490022  -0.00639159 0.0468716   0.23       0             pose: 0.7140516     -2.04209   -3.83436    0 0.00132056  -0.0001293740.996638    -0.0819219     uwb: 0.0            1249.48  1169.23  
imu_odom_:  1691062517.181188583  -0.11971   -0.311246  9.85693    -0.0543285  -0.00319579 0.0575243   0.21       -0.02         pose: 0.44989565    -2.0488    -3.83699    0 0.000754622 9.94443e-05 0.99663     -0.082025      uwb: 0.50193300     1248.95  1171.1   
imu_odom_:  1691062517.204066873  -0.0646434 -0.37589   9.85453    -0.04048    0.0213053   0.0394148   0.18       0             pose: 0.0           -2.0488    -3.83699    0 0.000754622 9.94443e-05 0.99663     -0.082025      uwb: 0.0            1248.95  1171.1   
imu_odom_:  1691062517.220057790  0.675165   0.162806   10.8002    -0.036219   -0.0468716  0.0383495   0.18       0             pose: 0.30911224    -2.0514    -3.838      0 -0.00229664 -0.0007403150.996609    -0.0822475     uwb: 0.0            1248.95  1171.1   
imu_odom_:  1691062517.238118768  0.56982    -0.3304    9.61511    -0.052198   -0.00852212 0.0447411   0.18       0             pose: 0.0           -2.0514    -3.838      0 -0.00229664 -0.0007403150.996609    -0.0822475     uwb: 0.49828165     1249.09  1172.8   
imu_odom_:  1691062517.263067411  0.339977   -0.136469  9.42118    -0.0308927  -0.0191748  0.0340885   0.18       -0.02         pose: 0.50979852    -2.06071   -3.84165    0 -0.00108816 -0.0005936670.996608    -0.0822839     uwb: 0.0            1249.09  1172.8   
imu_odom_:  1691062517.288060966  0.509965   -0.0622492 9.95988    -0.072438   -0.0681769  0.0596548   0.18       -0.02         pose: 0.7977232     -2.06071   -3.84165    0 -0.00144062 0.000196878 0.99661     -0.0822629     uwb: 0.50030273     1248.47  1174.96  
imu_odom_:  1691062517.302061148  0.88346    -0.344765  9.48822    -0.0532632  -0.0149137  0.04048     0.18       0             pose: 0.0           -2.06071   -3.84165    0 -0.00144062 0.000196878 0.99661     -0.0822629     uwb: 0.0            1248.47  1174.96  
imu_odom_:  1691062517.327113905  0.497994   -0.260968  9.87129    -0.0596548  -0.00852212 0.0543285   0.18       0             pose: 0.48006581    -2.07367   -3.83598    0 0.00108807  0.00323222  0.996587    -0.0824786     uwb: 0.0            1248.47  1174.96  
imu_odom_:  1691062517.352066922  0.751779   -0.114922  10.3382    -0.0511327  -0.02024    0.0394148   0.23       0             pose: 0.33011324    -2.08036   -3.83861    0 0.00328984  0.000835573 0.996571    -0.0826765     uwb: 0.50018315     1248.49  1175.95  
imu_odom_:  1691062517.366052231  0.605733   -0.196325  9.96706    -0.0713727  -0.0298274  0.0649811   0.23       0             pose: 0.7021235     -2.08298   -3.83963    0 0.00399561  0.00112102  0.996568    -0.0826754     uwb: 0.0            1248.49  1175.95  
imu_odom_:  1691062517.391059784  0.933739   -0.325611  9.55765    -0.0394148  0.0617853   0.0276969   0.17       0             pose: 0.0           -2.08298   -3.83963    0 0.00399561  0.00112102  0.996568    -0.0826754     uwb: 0.49971653     1247.89  1177.8   
imu_odom_:  1691062517.416062963  0.545878   -0.181959  9.83777    -0.052198   0.0170442   0.0660464   0.17       0             pose: 0.38988196    -2.08298   -3.83963    0 0.00783561  0.00159434  0.996533    -0.0828113     uwb: 0.0            1247.89  1177.8   
imu_odom_:  1691062517.439066366  0.383072   0          10.3382    -0.0191748  -0.036219   0.0308927   0.18       -0.02         pose: 0.0           -2.08298   -3.83963    0 0.00783561  0.00159434  0.996533    -0.0828113     uwb: 0.50118931     1248.53  1177.6   
imu_odom_:  1691062517.464052921  0.624887   -0.143652  10.1586    -0.072438   -0.0394148  0.0703074   0.18       -0.02         pose: 0.48936330    -2.09229   -3.84329    0 0.00618141  0.00303745  0.996526    -0.0830009     uwb: 0.0            1248.53  1177.6   
imu_odom_:  1691062517.481052038  0.814029   -0.435745  9.4164     -0.0532632  -0.0149137  0.0351537   0.23       -0.02         pose: 0.0           -2.09229   -3.84329    0 0.00618141  0.00303745  0.996526    -0.0830009     uwb: 0.49941030     1249.03  1177.96  
imu_odom_:  1691062517.498041531  0.88346    0.148441   9.44752    -0.0671117  -0.0415453  0.0575243   0.23       -0.02         pose: 0.49060569    -2.10159   -3.84695    0 0.00869006  0.00383127  0.996479    -0.0832979     uwb: 0.0            1249.03  1177.96  
imu_odom_:  1691062517.513031248  1.69988    -0.318429  9.97903    -0.0809601  -0.0948085  0.0458064   0.23       -0.02         pose: 0.0           -2.10159   -3.84695    0 0.00869006  0.00383127  0.996479    -0.0832979     uwb: 0.0            1249.03  1177.96  
imu_odom_:  1691062517.529097408  1.29766    -0.342371  9.35654    -0.0553937  -0.0298274  -0.0830906  0.15       -0.17         pose: 0.33986569    -2.1109    -3.85061    0 0.0118689   0.00429753  0.996432    -0.0834461     uwb: 0.50064103     1249.35  1178.52  
imu_odom_:  1691062517.546092151  1.70467    0.114922   10.3406    -0.072438   -0.0415453  -0.166181   0.15       -0.17         pose: 0.0           -2.1109    -3.85061    0 0.0118689   0.00429753  0.996432    -0.0834461     uwb: 0.0            1249.35  1178.52  
imu_odom_:  1691062517.562101441  1.55623    0.169988   9.88326    -0.0713727  -0.0127832  -0.241815   0.12       -0.41         pose: 0.40985347    -2.1197    -3.84337    0 0.0167184   0.00438129  0.996585    -0.0807469     uwb: 0.0            1249.35  1178.52  
imu_odom_:  1691062517.580033223  1.32878    0.0407014  9.81383    -0.0607201  0.0692422   -0.367516   0.12       -0.41         pose: 0.0           -2.1197    -3.84337    0 0.0167184   0.00438129  0.996585    -0.0807469     uwb: 0.49817375     1248.75  1180.73  
imu_odom_:  1691062517.597087752  0.550666   0.124498   9.69412    -0.0596548  0.015979    -0.425041   0.12       -0.41         pose: 0.0           -2.1197    -3.84337    0 0.0167184   0.00438129  0.996585    -0.0807469     uwb: 0.0            1248.75  1180.73  
imu_odom_:  1691062517.611026981  0.52433    -0.225055  9.62708    -0.0884169  0.052198    -0.448476   0.1        -0.44         pose: 0.8004353     -2.12384   -3.84505    0 0.0174707   0.00469377  0.996661    -0.0796195     uwb: 0.0            1248.75  1180.73  
imu_odom_:  1691062517.627085267  0.694318   -0.289698  10.1251    -0.0681769  -0.00745685 -0.46339    0.08       -0.47         pose: 0.0           -2.12384   -3.84505    0 0.0174707   0.00469377  0.996661    -0.0796195     uwb: 0.0            1248.75  1180.73  
imu_odom_:  1691062517.642084900  0.397437   -0.397437  9.65582    -0.0745685  0.00319579  -0.475108   0.08       -0.47         pose: 0.0           -2.12384   -3.84505    0 0.0174707   0.00469377  0.996661    -0.0796195     uwb: 0.50172301     1249.66  1180.72  
imu_odom_:  1691062517.658076983  0.821211   -0.21069   9.73482    -0.0543285  -0.00426106 -0.470847   0.08       -0.47         pose: 0.63998083    -2.12384   -3.84505    0 0.0160921   0.00524696  0.997695    -0.0657189     uwb: 0.0            1249.66  1180.72  
imu_odom_:  1691062517.673078657  0.557849   -0.129287  9.663      -0.0692422  -0.00213053 -0.487891   0.07       -0.47         pose: 0.0           -2.12384   -3.84505    0 0.0160921   0.00524696  0.997695    -0.0657189     uwb: 0.0            1249.66  1180.72  
imu_odom_:  1691062517.689020871  0.699107   -0.0502782 9.88087    -0.0596548  -0.0138484  -0.514523   0.07       -0.47         pose: 0.30933971    -2.12384   -3.84505    0 0.0154343   0.00311453  0.9982      -0.0578692     uwb: 0.50049229     1249.86  1181.2   
imu_odom_:  1691062517.704329350  0.80924    -0.110133  9.8665     -0.0671117  -0.0255663  -0.515588   0.07       -0.53         pose: 0.0           -2.12384   -3.84505    0 0.0154343   0.00311453  0.9982      -0.0578692     uwb: 0.0            1249.86  1181.2   
imu_odom_:  1691062517.720046126  0.672771   -0.0885855 9.98382    -0.0500674  0.00532632  -0.531567   0.07       -0.53         pose: 0.47057877    -2.13311   -3.8488     0 0.0156026   0.00502966  0.998843    -0.0452134     uwb: 0.0            1249.86  1181.2   
imu_odom_:  1691062517.737228976  0.723049   -0.155623  9.92875    -0.0543285  -0.0106526  -0.548611   0.07       -0.53         pose: 0.0           -2.13311   -3.8488     0 0.0156026   0.00502966  0.998843    -0.0452134     uwb: 0.49852663     1250.43  1181.62  
imu_odom_:  1691062517.755289663  0.746991   -0.0670376 9.78031    -0.0607201  0.00639159  -0.525175   0.05       -0.47         pose: 0.41142541    -2.13309   -3.84876    0 0.0157603   0.00463649  0.999307    -0.033403      uwb: 0.0            1250.43  1181.62  
imu_odom_:  1691062517.772353232  0.682347   -0.368707  9.98143    -0.0575243  -0.0298274  -0.486826   0.05       -0.47         pose: 0.0           -2.13309   -3.84876    0 0.0157603   0.00463649  0.999307    -0.033403      uwb: 0.0            1250.43  1181.62  
imu_odom_:  1691062517.786344373  0.816423   -0.40462   9.63427    -0.0745685  -0.0234358  -0.451672   0.05       -0.47         pose: 0.0           -2.13309   -3.84876    0 0.0157603   0.00463649  0.999307    -0.033403      uwb: 0.0            1250.43  1181.62  
imu_odom_:  1691062517.803132051  0.670376   -0.217872  9.91439    -0.0575243  -0.00426106 -0.4048     0.04       -0.38         pose: 0.8122759     -2.13311   -3.8488     0 0.0160648   0.005379    0.999373    -0.0311007     uwb: 0.0            1250.43  1181.62  
imu_odom_:  1691062517.820092672  0.509965   -0.169988  9.83299    -0.0639159  -0.00852212 -0.34195    0.04       -0.38         pose: 0.0           -2.13311   -3.8488     0 0.0160648   0.005379    0.999373    -0.0311007     uwb: 0.0            1250.43  1181.62  
imu_odom_:  1691062517.837097913  0.440533   -0.217872  9.87129    -0.0543285  -0.00958738 -0.325971   0.04       -0.38         pose: 0.64794260    -2.13311   -3.8488     0 0.0150828   0.00218428  0.999766    -0.0153518     uwb: 0.99992301     1250.77  1182.19  
imu_odom_:  1691062517.854008371  0.548272   -0.253785  9.87608    -0.0585895  -0.0181095  -0.3036     0.04       -0.32         pose: 0.0           -2.13311   -3.8488     0 0.0150828   0.00218428  0.999766    -0.0153518     uwb: 0.0            1250.77  1182.19  
imu_odom_:  1691062517.871004864  0.620098   -0.258574  9.84017    -0.0617853  -0.0117179  -0.267381   0.04       -0.32         pose: 0.0           -2.13311   -3.8488     0 0.0150828   0.00218428  0.999766    -0.0153518     uwb: 0.0            1250.77  1182.19  
imu_odom_:  1691062517.889123879  0.593762   -0.361524  9.70131    -0.0543285  -0.00639159 -0.233293   0.04       -0.32         pose: 0.33951572    -2.14239   -3.85253    0 0.0119668   0.00150393  0.999885    -0.00914828    uwb: 0.49936656     1250.44  1183.29  
imu_odom_:  1691062517.905013305  0.560243   -0.23942   10.1586    -0.0553937  -0.015979   -0.213053   0.03       -0.29         pose: 0.45026312    -2.14237   -3.8525     0 0.0109508   -0.00256189 0.999934    -0.00241215    uwb: 0.0            1250.44  1183.29  
imu_odom_:  1691062517.921987633  0.730232   -0.203507  9.74679    -0.0596548  -0.0276969  -0.175769   0.03       -0.29         pose: 0.6995570     -2.14239   -3.85253    0 0.0103512   -0.00227541 0.999943    -0.00152726    uwb: 0.0            1250.44  1183.29  
imu_odom_:  1691062517.939997282  0.632069   -0.248997  10.0628    -0.0543285  -0.00532632 -0.148072   0.03       -0.23         pose: 0.0           -2.14239   -3.85253    0 0.0103512   -0.00227541 0.999943    -0.00152726    uwb: 0.49935490     1250.32  1183.88  
imu_odom_:  1691062517.957003107  0.526724   -0.292093  9.79707    -0.0543285  -0.00532632 -0.134223   0.02       -0.2          pose: 0.43877833    -2.14239   -3.85253    0 0.0119225   -0.00308569 0.999919    0.00310407     uwb: 0.0            1250.32  1183.88  
imu_odom_:  1691062517.971005039  0.675165   -0.208296  9.97903    -0.0532632  -0.00319579 -0.126766   0.03       -0.17         pose: 0.0           -2.14239   -3.85253    0 0.0119225   -0.00308569 0.999919    0.00310407     uwb: 0.0            1250.32  1183.88  
imu_odom_:  1691062517.988012322  0.536301   -0.19393   9.90002    -0.0585895  -0.00852212 -0.116114   0.03       -0.17         pose: 0.0           -2.14239   -3.85253    0 0.0119225   -0.00308569 0.999919    0.00310407     uwb: 0.50046312     1250.98  1184.03  
imu_odom_:  1691062518.3997406    0.653617   -0.153229  9.99819    -0.056459   -0.0213053  -0.108657   0.03       -0.17         pose: 0.23004861    -2.14239   -3.85253    0 0.0106765   -0.00290257 0.999926    0.00507786     uwb: 0.0            1250.98  1184.03  
imu_odom_:  1691062518.29997126   0.768539   -0.287304  9.96946    -0.0607201  -0.0106526  -0.0745685  0.02       -0.14         pose: 0.0           -2.14239   -3.85253    0 0.0106765   -0.00290257 0.999926    0.00507786     uwb: 0.49960286     1250.85  1185.28  
imu_odom_:  1691062518.46996540   0.213084   -0.371101  9.74919    -0.0660464  0.0436758   -0.0916127  0.02       -0.14         pose: 0.32061453    -2.14239   -3.85253    0 0.0103571   -0.0007100740.999917    0.00761254     uwb: 0.0            1250.85  1185.28  
imu_odom_:  1691062518.64046407   -0.54109   -0.215478  10.2999    -0.0308927  0.0990696   -0.203466   0.02       -0.14         pose: 0.41934061    -2.14239   -3.85253    0 0.0124788   -0.00142433 0.999869    0.0102103      uwb: 0.0            1250.85  1185.28  
imu_odom_:  1691062518.79990374   -1.53468   0.399832   9.78989    -0.0436758  0.0308927   -0.197074   0.02       -0.14         pose: 0.0           -2.14239   -3.85253    0 0.0124788   -0.00142433 0.999869    0.0102103      uwb: 0.50105820     1250.93  1186.36  
imu_odom_:  1691062518.98103853   -1.18513   -0.500388  9.6223     -0.0713727  -0.0660464  -0.0894822  0.09       -0.14         pose: 0.42992717    -2.14422   -3.84791    0 0.00690209  -0.00084395 0.999866    0.0148194      uwb: 0.0            1250.93  1186.36  
imu_odom_:  1691062518.115256669  0.37589    -0.562637  10.1347    -0.0596548  -0.110787   -0.0820254  0.09       -0.14         pose: 0.0           -2.14422   -3.84791    0 0.00690209  -0.00084395 0.999866    0.0148194      uwb: 0.0            1250.93  1186.36  
imu_odom_:  1691062518.131987190  0.565032   -0.148441  9.29908    -0.0500674  -0.0319579  -0.0649811  0.09       -0.14         pose: 0.0           -2.14422   -3.84791    0 0.00690209  -0.00084395 0.999866    0.0148194      uwb: 0.50024162     1251.11  1187.17  
imu_odom_:  1691062518.149039390  0.201113   -0.141258  9.81144    -0.056459   0.0490022   -0.0394148  0.09       -0.11         pose: 0.8058018     -2.14608   -3.84324    0 0.00635191  -0.00102254 0.999862    0.0153381      uwb: 0.0            1251.11  1187.17  
imu_odom_:  1691062518.165979017  -0.0885855 0.0407014  10.2663    -0.0426106  0.0308927   -0.0905475  0.1        -0.08         pose: 0.0           -2.14608   -3.84324    0 0.00635191  -0.00102254 0.999862    0.0153381      uwb: 0.0            1251.11  1187.17  
imu_odom_:  1691062518.181032607  -0.0454898 -0.114922  9.66779    -0.0340885  -0.0426106  -0.1012     0.1        -0.08         pose: 0.68940233    -2.15538   -3.84693    0 0.00388516  -0.0003924340.99981     0.0190958      uwb: 0.49832845     1251.36  1187.7   
imu_odom_:  1691062518.197973692  0.459687   -0.292093  9.88566    -0.056459   -0.0340885  -0.0490022  0.1        -0.08         pose: 0.0           -2.15538   -3.84693    0 0.00388516  -0.0003924340.99981     0.0190958      uwb: 0.0            1251.36  1187.7   
imu_odom_:  1691062518.212033372  0.268151   -0.56982   9.96467    -0.04048    -0.0298274  -0.0468716  0.1        -0.05         pose: 0.0           -2.15538   -3.84693    0 0.00388516  -0.0003924340.99981     0.0190958      uwb: 0.0            1251.36  1187.7   
imu_odom_:  1691062518.227973840  0.110133   -0.131681  10.0916    -0.0543285  -0.0372843  -0.0426106  0.1        -0.05         pose: 0.31073384    -2.15538   -3.84693    0 0.00200315  -0.0001570140.999776    0.0210518      uwb: 0.0            1251.36  1187.7   
imu_odom_:  1691062518.244968295  0.122104   -0.114922  10.1227    -0.0426106  -0.0383495  -0.036219   0.12       -0.08         pose: 0.39911831    -2.16468   -3.8506     0 0.000648259 -0.00163935 0.99974     0.0227446      uwb: 0.50125069     1251.5   1188.15  
imu_odom_:  1691062518.262970367  0.778116   -0.409408  9.9096     -0.0553937  -0.056459   -0.0436758  0.12       -0.08         pose: 0.0           -2.16468   -3.8506     0 0.000648259 -0.00163935 0.99974     0.0227446      uwb: 0.0            1251.5   1188.15  
imu_odom_:  1691062518.279968906  0.727837   -0.0574608 9.70609    -0.0490022  -0.0181095  -0.056459   0.12       -0.08         pose: 0.0           -2.16468   -3.8506     0 0.000648259 -0.00163935 0.99974     0.0227446      uwb: 0.50102030     1251.74  1187.99  
imu_odom_:  1691062518.296964527  0.409408   -0.0383072 9.84496    -0.0617853  -0.00106526 -0.0298274  0.13       -0.02         pose: 0.7001697     -2.16468   -3.8506     0 0.000136284 -0.00129593 0.999734    0.0230089      uwb: 0.0            1251.74  1187.99  
imu_odom_:  1691062518.314017894  0.976834   -0.167594  9.91199    -0.0479369  -0.0756338  -0.0234358  0.13       -0.08         pose: 0.0           -2.16468   -3.8506     0 0.000136284 -0.00129593 0.999734    0.0230089      uwb: 0.0            1251.74  1187.99  
imu_odom_:  1691062518.331972137  1.37188    -0.141258  9.67976    -0.0596548  -0.0127832  -0.00639159 0.13       -0.08         pose: 0.68995645    -2.17766   -3.845      0 0.00356878  0.000950174 0.999661    0.0257707      uwb: 0.50091530     1252.45  1187.83  
imu_odom_:  1691062518.346072647  1.24738    -0.213084  10.161     -0.0607201  0.0319579   0.036219    0.13       -0.08         pose: 0.0           -2.17766   -3.845      0 0.00356878  0.000950174 0.999661    0.0257707      uwb: 0.0            1252.45  1187.83  
imu_odom_:  1691062518.362949280  1.5682     -0.47884   10.2783    -0.0543285  -0.0458064  0.0777643   0.1        -0.11         pose: 0.0           -2.17766   -3.845      0 0.00356878  0.000950174 0.999661    0.0257707      uwb: 0.0            1252.45  1187.83  
imu_odom_:  1691062518.380084889  1.43413    -0.100556  9.50019    -0.0383495  -0.0181095  0.0319579   0.1        -0.11         pose: 0.34117233    -2.17766   -3.845      0 0.00730438  0.000978608 0.999621    0.0265067      uwb: 0.49737771     1252.08  1189.26  
imu_odom_:  1691062518.397957181  1.10852    0.100556   9.82341    -0.0511327  0.0266316   -0.00639159 0.1        -0.08         pose: 0.41996474    -2.17764   -3.84496    0 0.0117482   0.000708039 0.999586    0.0262554      uwb: 0.0            1252.08  1189.26  
imu_odom_:  1691062518.414956594  0.608127   -0.169988  9.70609    -0.0660464  0.0223706   -0.0287621  0.1        -0.08         pose: 0.0           -2.17764   -3.84496    0 0.0117482   0.000708039 0.999586    0.0262554      uwb: 0.0            1252.08  1189.26  
imu_odom_:  1691062518.429001401  0.746991   -0.265756  10.1778    -0.0617853  -0.0276969  -0.0532632  0.1        -0.08         pose: 0.0           -2.17764   -3.84496    0 0.0117482   0.000708039 0.999586    0.0262554      uwb: 0.49994997     1252.88  1188.83  
imu_odom_:  1691062518.445940153  0.68953    -0.277727  9.63906    -0.0532632  -0.00532632 -0.0713727  0.06       -0.02         pose: 0.7897616     -2.17766   -3.845      0 0.0123099   0.00112838  0.999574    0.0264405      uwb: 0.0            1252.88  1188.83  
imu_odom_:  1691062518.462942483  0.847547   -0.0837971 9.91678    -0.0639159  0.00426106  -0.0308927  0.06       0             pose: 0.0           -2.17766   -3.845      0 0.0123099   0.00112838  0.999574    0.0264405      uwb: 0.0            1252.88  1188.83  
imu_odom_:  1691062518.479976018  0.483629   -0.368707  9.87848    -0.052198   0.0170442   -0.0330232  0.06       0             pose: 0.64968678    -2.18692   -3.84876    0 0.0137367   -0.0001593080.999483    0.0290752      uwb: 0.49980416     1253.29  1189.14  
imu_odom_:  1691062518.496943351  0.682347   -0.148441  9.97424    -0.0532632  -0.0106526  -0.0372843  0.05       -0.05         pose: 0.0           -2.18692   -3.84876    0 0.0137367   -0.0001593080.999483    0.0290752      uwb: 0.0            1253.29  1189.14  
imu_odom_:  1691062518.514096750  0.78051    -0.222661  9.72525    -0.052198   -0.00745685 -0.0127832  0.05       -0.05         pose: 0.0           -2.18692   -3.84876    0 0.0137367   -0.0001593080.999483    0.0290752      uwb: 0.0            1253.29  1189.14  
imu_odom_:  1691062518.539963482  0.543484   -0.378284  10.0245    -0.0553937  -0.0117179  0.0255663   0.04       0             pose: 0.61145567    -2.18692   -3.84876    0 0.0152717   0.00046724  0.999398    0.0311496      uwb: 0.50012787     1253.35  1189.53  
imu_odom_:  1691062518.564938670  -0.387861  -0.0646434 9.59596    -0.056459   0.0894822   0.0351537   0.04       0             pose: 0.7904031     -2.18692   -3.84876    0 0.0147585   -0.0001072790.999404    0.0311967      uwb: 0.0            1253.35  1189.53  
imu_odom_:  1691062518.581954999  -1.07739   -0.184354  10.2855    -0.0585895  0.0649811   0.0191748   0.06       0.02          pose: 0.0           -2.18692   -3.84876    0 0.0147585   -0.0001072790.999404    0.0311967      uwb: 0.49932003     1252.8   1190.15  
imu_odom_:  1691062518.598935455  -1.07739   -0.220267  9.87608    -0.0511327  -0.0596548  0           0.06       0.02          pose: 0.42937889    -2.18692   -3.84876    0 0.00996748  -0.0009150960.999458    0.0313647      uwb: 0.0            1252.8   1190.15  
imu_odom_:  1691062518.623925517  0.622492   -0.280122  10.5584    -0.0649811  -0.0660464  0.0383495   0.08       -0.02         pose: 0.0           -2.18692   -3.84876    0 0.00996748  -0.0009150960.999458    0.0313647      uwb: 0.0            1252.8   1190.15  
imu_odom_:  1691062518.642063494  0.636858   -0.296881  10.0556    -0.0585895  0.0191748   0.0149137   0.08       -0.02         pose: 0.41062643    -2.19623   -3.85242    0 0.00725212  -0.00118528 0.999465    0.0318756      uwb: 0.49991498     1254.39  1188.58  
imu_odom_:  1691062518.665049988  -0.191536  -0.201113  9.73722    -0.0649811  -0.00213053 0.0213053   0.08       -0.02         pose: 0.0           -2.19623   -3.85242    0 0.00725212  -0.00118528 0.999465    0.0318756      uwb: 0.0            1254.39  1188.58  
imu_odom_:  1691062518.690101586  0.402226   -0.31364   10.0892    -0.0394148  -0.0191748  0           0.1        0             pose: 0.42940222    -2.19989   -3.84311    0 0.00969518  -0.00351623 0.99943     0.032158       uwb: 0.0            1254.39  1188.58  
imu_odom_:  1691062518.712959175  0.464475   0.124498   9.89284    -0.0617853  -0.0468716  0.0372843   0.11       0             pose: 0.41160051    -2.19989   -3.84311    0 0.00580829  -0.00365814 0.999439    0.0327845      uwb: 0.0            1254.39  1188.58  
imu_odom_:  1691062518.738920398  0.174777   -0.294487  10.1179    -0.0703074  0.00532632  0.00426106  0.11       0             pose: 0.0           -2.19989   -3.84311    0 0.00580829  -0.00365814 0.999439    0.0327845      uwb: 0.0            1254.39  1188.58  
imu_odom_:  1691062518.755952183  -0.0622492 0.0215478  10.082     -0.056459   -0.00426106 0.015979    0.15       -0.02         pose: 0.6945410     -2.19989   -3.84311    0 0.00588594  -0.00299385 0.99944     0.032796       uwb: 0.0            1254.39  1188.58  
imu_odom_:  1691062518.780934079  -0.117316  -0.181959  10.0245    -0.0617853  0.00532632  0.036219    0.15       -0.02         pose: 0.0           -2.19989   -3.84311    0 0.00588594  -0.00299385 0.99944     0.032796       uwb: 0.150067235    1254.34  1189.23  
imu_odom_:  1691062518.797984821  0.0047884  -0.402226  9.46428    -0.0660464  0.00745685  0.0266316   0.17       -0.02         pose: 0.48896972    -2.2092    -3.84675    0 0.00273883  -0.00163561 0.999438    0.0333591      uwb: 0.0            1254.34  1189.23  
imu_odom_:  1691062518.821976599  0.890643   -0.110133  10.2424    -0.0543285  -0.0426106  0.0255663   0.17       -0.02         pose: 0.0           -2.2092    -3.84675    0 0.00273883  -0.00163561 0.999438    0.0333591      uwb: 0.0            1254.34  1189.23  
imu_odom_:  1691062518.847914783  -0.124498  -0.1652    10.0844    -0.072438   -0.0170442  0.0553937   0.15       -0.02         pose: 0.42111089    -2.21852   -3.85038    0 -0.00144392 -0.00120791 0.999435    0.0335629      uwb: 0.49972833     1254.07  1190.07  
imu_odom_:  1691062518.871910352  0.373495   -0.208296  9.93833    -0.052198   0.0213053   0.02024     0.15       -0.02         pose: 0.0           -2.21852   -3.85038    0 -0.00144392 -0.00120791 0.999435    0.0335629      uwb: 0.0            1254.07  1190.07  
imu_odom_:  1691062518.896922578  0.696713   -0.179565  9.56962    -0.0735032  0.00106526  0.0372843   0.17       0             pose: 0.41873111    -2.22215   -3.84107    0 -0.00035859 -0.00104627 0.99943     0.0337328      uwb: 0.49943085     1253.67  1191.15  
imu_odom_:  1691062518.910978176  0.912191   -0.366313  10.0604    -0.0649811  0.0245011   0.0319579   0.17       0             pose: 0.0           -2.22215   -3.84107    0 -0.00035859 -0.00104627 0.99943     0.0337328      uwb: 0.0            1253.67  1191.15  
imu_odom_:  1691062518.934906959  0.253785   -0.234632  9.55287    -0.0447411  -0.02024    0.00745685  0.14       0             pose: 0.49995581    -2.23143   -3.84478    0 -0.0006336110.00128948  0.999427    0.0338253      uwb: 0.50118362     1245.93  1201.31  
imu_odom_:  1691062518.961027127  0.545878   -0.505177  9.95748    -0.076699   -0.0745685  0.0447411   0.14       0             pose: 0.0           -2.23143   -3.84478    0 -0.0006336110.00128948  0.999427    0.0338253      uwb: 0.0            1245.93  1201.31  
imu_odom_:  1691062518.985913948  1.06303    -0.0526724 10.0963    -0.0553937  -0.0308927  0.0170442   0.16       0             pose: 0.39054116    -2.23143   -3.84478    0 0.00139385  0.000489921 0.99942     0.0340222      uwb: 0.49870175     1245.7   1202.22  
imu_odom_:  1691062519.11905505   0.754174   -0.368707  10.1873    -0.052198   0.00106526  0.0351537   0.16       0             pose: 0.0           -2.23143   -3.84478    0 0.00139385  0.000489921 0.99942     0.0340222      uwb: 0.0            1245.7   1202.22  
imu_odom_:  1691062519.25902778   0.107739   -0.172383  10.2687    -0.0681769  0.00426106  0.0298274   0.18       0             pose: 0.49941628    -2.24443   -3.83921    0 0.00277475  -0.00212144 0.999405    0.0343016      uwb: 0.0            1245.7   1202.22  
imu_odom_:  1691062519.42888780   0.169988   -0.134075  10.003     -0.0447411  0.0308927   0.0319579   0.18       0             pose: 0.0           -2.24443   -3.83921    0 0.00277475  -0.00212144 0.999405    0.0343016      uwb: 0.0            1245.7   1202.22  
imu_odom_:  1691062519.64021323   0.826      -0.35913   10.0652    -0.072438   -0.0117179  0.0351537   0.16       0             pose: 0.49057961    -2.25372   -3.84291    0 0.00625127  -0.00270356 0.999379    0.0345814      uwb: 0.0            1245.7   1202.22  
imu_odom_:  1691062519.87893826   0.265756   -0.497994  9.58878    -0.0617853  0.0255663   0.0138484   0.16       0             pose: 0.0           -2.25372   -3.84291    0 0.00625127  -0.00270356 0.999379    0.0345814      uwb: 0.100196788    1246.1   1202.18  
imu_odom_:  1691062519.104949239  0.234632   -0.253785  9.99819    -0.0479369  0           0.0319579   0.17       0             pose: 0.69916372    -2.26551   -3.84034    0 0.00350649  -0.00435663 0.999371    0.0350272      uwb: 0.0            1246.1   1202.18  
imu_odom_:  1691062519.129889729  0.19393    -0.289698  10.1778    -0.0276969  0.02024     0.0234358   0.17       0             pose: 0.8090101     -2.26671   -3.83732    0 0.0027006   -0.00415123 0.999373    0.0350553      uwb: 0.49942807     1246.19  1202.62  
imu_odom_:  1691062519.146886230  0.438139   -0.0814029 9.991      -0.04048    0.00106526  0.0468716   0.17       0             pose: 0.0           -2.26671   -3.83732    0 0.0027006   -0.00415123 0.999373    0.0350553      uwb: 0.0            1246.19  1202.62  
imu_odom_:  1691062519.170904262  0.447716   -0.162806  9.72764    -0.052198   0.0234358   0.0383495   0.17       0             pose: 0.41937574    -2.276     -3.84102    0 -0.000768415-0.00262325 0.999375    0.0352496      uwb: 0.0            1246.19  1202.62  
imu_odom_:  1691062519.193925176  0.577003   -0.009576819.95988    -0.0383495  -0.00745685 0.0340885   0.18       0             pose: 0.32982761    -2.276     -3.84102    0 0.00049038  0.000336994 0.999379    0.0352338      uwb: 0.49855607     1246.52  1202.89  
imu_odom_:  1691062519.211946501  0.0742203  -0.28491   9.84256    -0.0479369  -0.0436758  0.0458064   0.18       0             pose: 0.7996775     -2.276     -3.84102    0 0.0010379   0.00100154  0.999377    0.0352558      uwb: 0.0            1246.52  1202.89  
imu_odom_:  1691062519.236046775  0.265756   0.0670376  9.90481    -0.0319579  -0.0213053  0.0276969   0.17       0             pose: 0.0           -2.276     -3.84102    0 0.0010379   0.00100154  0.999377    0.0352558      uwb: 0.50112542     1246.5   1203.61  
imu_odom_:  1691062519.259887198  0.591368   -0.414197  9.79707    -0.072438   0.0127832   0.0553937   0.17       0             pose: 0.33045464    -2.28733   -3.83957    0 0.000686672 0.00182535  0.999377    0.0352447      uwb: 0.0            1246.5   1203.61  
imu_odom_:  1691062519.284878725  0.773327   -0.11971   9.70609    -0.0490022  0.0106526   0.0308927   0.23       0             pose: 0.47940697    -2.29544   -3.83797    0 0.000809258 0.00200566  0.999378    0.0351974      uwb: 0.49868731     1246.56  1204.03  
imu_odom_:  1691062519.298869873  0.993594   -0.153229  9.82341    -0.0639159  0.0127832   0.0458064   0.23       0             pose: 0.0           -2.29544   -3.83797    0 0.000809258 0.00200566  0.999378    0.0351974      uwb: 0.0            1246.56  1204.03  
imu_odom_:  1691062519.322228215  1.10373    -0.227449  9.87848    -0.056459   0.0149137   0.0245011   0.17       0             pose: 0.0           -2.29544   -3.83797    0 0.000809258 0.00200566  0.999378    0.0351974      uwb: 0.0            1246.56  1204.03  
imu_odom_:  1691062519.348014461  0.476446   -0.306458  10.2065    -0.0841559  0.0330232   0.0681769   0.17       0             pose: 0.38982675    -2.29828   -3.8391     0 0.00438748  0.0023214   0.999366    0.0352533      uwb: 0.50006093     1245.83  1205.64  
imu_odom_:  1691062519.360892419  0.306458   -0.124498  10.1155    -0.0798948  -0.0276969  0.056459    0.17       0             pose: 0.0           -2.29828   -3.8391     0 0.00438748  0.0023214   0.999366    0.0352533      uwb: 0.0            1245.83  1205.64  
imu_odom_:  1691062519.384885661  0.768539   -0.143652  9.69173    -0.0575243  0.00213053  0.0394148   0.17       -0.02         pose: 0.55097257    -2.31126   -3.83349    0 0.00447295  -0.0004903480.999377    0.0349931      uwb: 0.50245821     1245.74  1206.69  
imu_odom_:  1691062519.409901103  0.514753   -0.328006  9.90481    -0.0617853  0.00319579  0.0372843   0.22       0             pose: 0.30918531    -2.31743   -3.83595    0 0.00621458  0.000241438 0.99937     0.0349406      uwb: 0.0            1245.74  1206.69  
imu_odom_:  1691062519.432929016  0.517148   -0.0981623 10.0772    -0.0372843  0.0468716   0.0394148   0.22       0             pose: 0.8013983     -2.32055   -3.83719    0 0.00609208  -0.0005791560.99937     0.034945       uwb: 0.49861440     1245.6   1208.07  
imu_odom_:  1691062519.445859177  0.675165   -0.433351  9.98382    -0.0788296  -0.00319579 0.0628506   0.22       0             pose: 0.0           -2.32055   -3.83719    0 0.00609208  -0.0005791560.99937     0.034945       uwb: 0.0            1245.6   1208.07  
imu_odom_:  1691062519.462856845  0.117316   -0.232238  9.49062    -0.0500674  -0.00319579 0.0340885   0.18       0             pose: 0.46039494    -2.32985   -3.84088    0 0.00561398  -0.0003537680.999375    0.0348977      uwb: 0.0            1245.6   1208.07  
imu_odom_:  1691062519.488974103  0.0837971  -0.114922  9.77074    -0.0660464  0.0287621   0.0543285   0.18       0             pose: 0.0           -2.32985   -3.84088    0 0.00561398  -0.0003537680.999375    0.0348977      uwb: 0.49864356     1246.09  1208.48  
imu_odom_:  1691062519.513935008  0.0909797  -0.134075  9.91439    -0.036219   -0.0245011  0.0149137   0.19       -0.02         pose: 0.32961179    -2.33354   -3.83159    0 0.00328085  -0.0006782040.999389    0.034794       uwb: 0.0            1246.09  1208.48  
imu_odom_:  1691062519.536873971  0.349553   -0.4956    9.79947    -0.0937433  -0.0106526  0.0490022   0.18       -0.02         pose: 0.0           -2.33354   -3.83159    0 0.00328085  -0.0006782040.999389    0.034794       uwb: 0.49865523     1247.46  1207.76  
imu_odom_:  1691062519.560998743  0.385466   -0.383072  9.81623    -0.0490022  -0.015979   0.0223706   0.18       -0.02         pose: 0.49099676    -2.34283   -3.83529    0 -0.000870835-0.0001521990.999389    0.0349447      uwb: 0.0            1247.46  1207.76  
imu_odom_:  1691062519.586875398  0.42138    -0.368707  9.6606     -0.0671117  -0.00852212 0.0436758   0.25       0             pose: 0.39998750    -2.34903   -3.83775    0 -0.000990153-0.00436517 0.999374    0.0350806      uwb: 0.50009009     1246.69  1209.36  
imu_odom_:  1691062519.599860679  1.07978    -0.42138   9.62948    -0.0276969  0.00639159  0.0191748   0.25       0             pose: 0.8022440     -2.35213   -3.83898    0 -0.000648165-0.00514662 0.999372    0.0350661      uwb: 0.0            1246.69  1209.36  
imu_odom_:  1691062519.616043504  0.481235   0.0167594  9.74679    -0.0372843  0.00852212  0.0394148   0.25       0             pose: 0.0           -2.35213   -3.83898    0 -0.000648165-0.00514662 0.999372    0.0350661      uwb: 0.0            1246.69  1209.36  
imu_odom_:  1691062519.639860304  0.529119   -0.167594  10.556     -0.0671117  -0.0245011  0.0500674   0.17       0.02          pose: 0.38860769    -2.35582   -3.82969    0 0.00142114  -0.00602945 0.999362    0.0351784      uwb: 0.50121875     1246.4   1210.62  
imu_odom_:  1691062519.664840749  0.445322   -0.25618   9.5792     -0.0862864  -0.0426106  0.0596548   0.17       0.02          pose: 0.0           -2.35582   -3.82969    0 0.00142114  -0.00602945 0.999362    0.0351784      uwb: 0.0            1246.4   1210.62  
imu_odom_:  1691062519.687925823  0.969652   -0.308852  10.5393    -0.0436758  -0.0490022  0.0287621   0.24       0             pose: 0.40038414    -2.36511   -3.83338    0 0.002651    -0.00280828 0.99938     0.0349847      uwb: 0.49873980     1245.72  1212.7   
imu_odom_:  1691062519.712844149  0.756568   0.0191536  9.95748    -0.0873517  0.052198    0.0852212   0.18       0.02          pose: 0.0           -2.36511   -3.83338    0 0.002651    -0.00280828 0.99938     0.0349847      uwb: 0.0            1245.72  1212.7   
imu_odom_:  1691062519.735830357  0.682347   -0.565032  10.082     -0.092678   0.0255663   0.0575243   0.18       0.02          pose: 0.47958487    -2.3744    -3.83708    0 0.00500548  -0.00158322 0.999382    0.0347653      uwb: 0.50020383     1245.06  1215.19  
imu_odom_:  1691062519.753902136  0.318429   -0.296881  9.48822    -0.0383495  0.0266316   0.0191748   0.24       0             pose: 0.0           -2.3744    -3.83708    0 0.00500548  -0.00158322 0.999382    0.0347653      uwb: 0.0            1245.06  1215.19  
imu_odom_:  1691062519.777899170  0.0790087  -0.275333  9.56723    -0.0511327  -0.0308927  0.0585895   0.24       0             pose: 0.47969277    -2.38739   -3.83149    0 0.00538548  -0.00318479 0.999394    0.034252       uwb: 0.50136457     1243.13  1218.11  
imu_odom_:  1691062519.801965905  -0.0957681 -0.306458  9.81623    -0.0713727  -0.0117179  0.0639159   0.23       0             pose: 0.0           -2.38739   -3.83149    0 0.00538548  -0.00318479 0.999394    0.034252       uwb: 0.0            1243.13  1218.11  
imu_odom_:  1691062519.818920994  0.679953   -0.172383  9.94312    -0.0607201  -0.0479369  0.04048     0.23       0             pose: 0.42121017    -2.38739   -3.83149    0 0.00137121  -0.0031747  0.999415    0.034014       uwb: 0.0            1243.13  1218.11  
imu_odom_:  1691062519.842845992  0.916979   -0.28491   9.8258     -0.0617853  -0.0266316  0.0468716   0.18       0.05          pose: 0.0           -2.38739   -3.83149    0 0.00137121  -0.0031747  0.999415    0.034014       uwb: 0.49827901     1242.38  1219.78  
imu_odom_:  1691062519.867856476  0.3304     -0.610521  9.34696    -0.0532632  -0.00213053 0.0426106   0.18       0.05          pose: 0.40976619    -2.39668   -3.8352     0 0.00268295  -0.0029291  0.999421    0.0337836      uwb: 0.0            1242.38  1219.78  
imu_odom_:  1691062519.881855207  0.0766145  -0.0095768110.3789    -0.04048    -0.00958738 0.0383495   0.18       0.05          pose: 0.0           -2.39668   -3.8352     0 0.00268295  -0.0029291  0.999421    0.0337836      uwb: 0.50060630     1243.15  1220.09  
imu_odom_:  1691062519.905842616  0.579397   -0.378284  10.1921    -0.0841559  0.015979    0.0681769   0.18       0.02          pose: 0.47963737    -2.40968   -3.82963    0 0.00278092  -0.00479852 0.999417    0.0336807      uwb: 0.0            1243.15  1220.09  
imu_odom_:  1691062519.931862175  0.940921   -0.186748  10.398     -0.0458064  -0.0234358  0.0468716   0.21       0             pose: 0.30933113    -2.41582   -3.83209    0 0.00401482  -0.00596579 0.999418    0.0333477      uwb: 0.49980720     1244.44  1219.68  
imu_odom_:  1691062519.955016660  0.684742   -0.248997  10.1682    -0.076699   -0.0106526  0.0490022   0.21       0             pose: 0.0           -2.41582   -3.83209    0 0.00401482  -0.00596579 0.999418    0.0333477      uwb: 0.0            1244.44  1219.68  
imu_odom_:  1691062519.970867598  -0.0742203 -0.0909797 9.79228    -0.036219   0.0607201   0.0319579   0.18       0             pose: 0.0           -2.41582   -3.83209    0 0.00401482  -0.00596579 0.999418    0.0333477      uwb: 0.0            1244.44  1219.68  
imu_odom_:  1691062519.995802255  0.304064   -0.217872  10.1801    -0.0905475  0.015979    0.0713727   0.18       0             pose: 0.57139614    -2.42269   -3.82408    0 0.00796676  -0.00414428 0.999408    0.0332072      uwb: 0.50162996     1253.15  1210.91  
imu_odom_:  1691062520.19816208   0.447716   -0.244209  10.2208    -0.0660464  0           0.0490022   0.18       0.02          pose: 0.32820025    -2.43197   -3.8278     0 0.00432529  -0.00347287 0.999445    0.0328416      uwb: 0.0            1253.15  1210.91  
imu_odom_:  1691062520.36859668   0.73502    -0.440533  9.60554    -0.0692422  -0.015979   0.0543285   0.18       0.02          pose: 0.7124771     -2.43197   -3.8278     0 0.003777    -0.00303556 0.99945     0.0328086      uwb: 0.49892068     1252.91  1212.22  
imu_odom_:  1691062520.60856125   0.730232   -0.325611  9.67736    -0.0330232  -0.00958738 0.0213053   0.18       0             pose: 0.0           -2.43197   -3.8278     0 0.003777    -0.00303556 0.99945     0.0328086      uwb: 0.0            1252.91  1212.22  
imu_odom_:  1691062520.83856630   0.25618    -0.608127  9.47386    -0.0511327  -0.00852212 0.0511327   0.18       0             pose: 0.40994129    -2.44124   -3.83154    0 0.00466694  -0.00320773 0.99945     0.0326703      uwb: 0.50002899     1252.97  1213.02  
imu_odom_:  1691062520.109820201  0.37589    -0.148441  9.88805    -0.0330232  -0.0138484  0.0351537   0.25       0.02          pose: 0.39935475    -2.4497    -3.82794    0 0.00491107  -0.00513045 0.999441    0.0326778      uwb: 0.0            1252.97  1213.02  
imu_odom_:  1691062520.123803771  0.442927   -0.114922  9.97424    -0.0468716  -0.0234358  0.0447411   0.25       0.02          pose: 0.8027692     -2.45425   -3.826      0 0.00448183  -0.00439125 0.999446    0.0326958      uwb: 0.0            1252.97  1213.02  
imu_odom_:  1691062520.147919800  0.481235   -0.272939  9.89045    -0.0490022  -0.0372843  0.0394148   0.18       0             pose: 0.0           -2.45425   -3.826      0 0.00448183  -0.00439125 0.999446    0.0326958      uwb: 0.49851245     1252.73  1214.33  
imu_odom_:  1691062520.173938782  0.826      -0.299275  9.80186    -0.0703074  -0.0266316  0.0436758   0.18       0             pose: 0.39927892    -2.45425   -3.826      0 0.00375726  -0.00206082 0.999456    0.0327018      uwb: 0.0            1252.73  1214.33  
imu_odom_:  1691062520.198779829  0.447716   -0.035913  9.89763    -0.0266316  -0.00639159 0.0308927   0.18       0.02          pose: 0.42126568    -2.46353   -3.82974    0 0.00731637  -0.00400755 0.999432    0.0326519      uwb: 0.50141136     1253.32  1214.83  
imu_odom_:  1691062520.216970894  0.481235   -0.718261  9.54089    -0.0575243  -0.00319579 0.0447411   0.18       0.02          pose: 0.8912237     -2.46353   -3.82974    0 0.00702595  -0.00304078 0.999436    0.0326947      uwb: 0.0            1253.32  1214.83  
imu_odom_:  1691062520.232795881  0.268151   -0.225055  10.1323    -0.0351537  0.0138484   0.0351537   0.2        0             pose: 0.0           -2.46353   -3.82974    0 0.00702595  -0.00304078 0.999436    0.0326947      uwb: 0.50074934     1252.95  1216.04  
imu_odom_:  1691062520.259135376  0.766145   -0.0790087 10.1323    -0.056459   0.0117179   0.0596548   0.2        0             pose: 0.42076406    -2.47654   -3.8242     0 0.00542052  -0.00288458 0.999445    0.0327283      uwb: 0.0            1252.95  1216.04  
imu_odom_:  1691062520.283782482  0.280122   -0.275333  10.003     -0.0319579  0.0681769   0.0276969   0.19       0             pose: 0.0           -2.47654   -3.8242     0 0.00542052  -0.00288458 0.999445    0.0327283      uwb: 0.49982483     1253.03  1217.25  
imu_odom_:  1691062520.309907330  0.0814029  -0.272939  9.9503     -0.0372843  -0.00319579 0.0553937   0.19       0             pose: 0.42932954    -2.48582   -3.82794    0 0.00541446  -0.00121893 0.999455    0.0325426      uwb: 0.0            1253.03  1217.25  
imu_odom_:  1691062520.334984605  0.287304   -0.167594  10.0389    -0.0287621  -0.00639159 0.0351537   0.18       -0.02         pose: 0.42046951    -2.48582   -3.82794    0 0.000650849 -0.00113945 0.999473    0.0324228      uwb: 0.50004649     1253.98  1217.3   
imu_odom_:  1691062520.360791857  0.191536   -0.222661  9.95509    -0.0479369  -0.0372843  0.0532632   0.21       0             pose: 0.0           -2.48582   -3.82794    0 0.000650849 -0.00113945 0.999473    0.0324228      uwb: 0.0            1253.98  1217.3   
imu_odom_:  1691062520.385846968  0.442927   0.0622492  10.2951    -0.0479369  -0.0213053  0.0340885   0.21       0             pose: 0.33039639    -2.49883   -3.82241    0 -0.00214979 0.000429988 0.999472    0.0324224      uwb: 0.50122471     1254.35  1217.62  
imu_odom_:  1691062520.411842910  0.493206   -0.368707  10.0844    -0.0553937  -0.0532632  0.04048     0.21       -0.02         pose: 0.0           -2.49883   -3.82241    0 -0.00214979 0.000429988 0.999472    0.0324224      uwb: 0.0            1254.35  1217.62  
imu_odom_:  1691062520.424840736  0.632069   0.0622492  10.0389    -0.0617853  -0.04048    0.0543285   0.21       -0.02         pose: 0.50938189    -2.50811   -3.82615    0 -0.00175025 0.0020684   0.999473    0.0323593      uwb: 0.0            1254.35  1217.62  
imu_odom_:  1691062520.439840381  0.344765   -0.390255  10.0149    -0.0841559  0.0213053   0.0692422   0.21       -0.02         pose: 0.0           -2.50811   -3.82615    0 -0.00175025 0.0020684   0.999473    0.0323593      uwb: 0.49876910     1254.63  1218.24  
imu_odom_:  1691062520.457887375  0.76375    -0.107739  9.7851     -0.0671117  -0.0149137  0.0383495   0.18       0             pose: 0.38884403    -2.50811   -3.82615    0 0.000374888 0.000577395 0.999483    0.0321393      uwb: 0.0            1254.63  1218.24  
imu_odom_:  1691062520.476039360  0.395043   -0.347159  9.87129    -0.0553937  0.0308927   0.0394148   0.18       0             pose: 0.0           -2.50811   -3.82615    0 0.000374888 0.000577395 0.999483    0.0321393      uwb: 0.0            1254.63  1218.24  
imu_odom_:  1691062520.491039004  0.129287   -0.275333  10.1442    -0.0543285  -0.0255663  0.0468716   0.19       -0.05         pose: 0.0           -2.50811   -3.82615    0 0.000374888 0.000577395 0.999483    0.0321393      uwb: 0.50092723     1254.4   1219.59  
imu_odom_:  1691062520.507814739  0.457293   -0.292093  10.094     -0.0255663  0.015979    0.0266316   0.19       -0.05         pose: 0.43269799    -2.52113   -3.82063    0 0.00092682  -0.00151741 0.999485    0.032044       uwb: 0.0            1254.4   1219.59  
imu_odom_:  1691062520.532748819  0.672771   -0.402226  9.90002    -0.0777643  0.0170442   0.0617853   0.18       0             pose: 0.6896418     -2.52113   -3.82063    0 0.00031152  -0.00156647 0.999486    0.0320177      uwb: 0.49757046     1252.37  1222.49  
imu_odom_:  1691062520.555802111  0.964863   -0.0694318 10.0652    -0.0585895  -0.00319579 0.0447411   0.21       -0.02         pose: 0.0           -2.52113   -3.82063    0 0.00031152  -0.00156647 0.999486    0.0320177      uwb: 0.0            1252.37  1222.49  
imu_odom_:  1691062520.581880588  0.418985   -0.356736  9.7851     -0.0798948  0.0330232   0.0511327   0.25       -0.02         pose: 0.72866333    -2.53644   -3.82682    0 0.00474437  -0.00313426 0.999479    0.0317775      uwb: 0.50072017     1252.66  1223.13  
imu_odom_:  1691062520.605795677  0.318429   -0.177171  9.71088    -0.0543285  0.0170442   0.0458064   0.25       -0.02         pose: 0.0           -2.53644   -3.82682    0 0.00474437  -0.00313426 0.999479    0.0317775      uwb: 0.0            1252.66  1223.13  
imu_odom_:  1691062520.631799785  0.435745   -0.227449  9.94551    -0.072438   -0.0106526  0.04048     0.19       0             pose: 0.32966146    -2.54342   -3.81886    0 0.00188224  -0.00478744 0.999488    0.0315932      uwb: 0.49911032     1252.47  1224.54  
imu_odom_:  1691062520.652781265  0.342371   -0.248997  9.83059    -0.056459   -0.0127832  0.0319579   0.2        0             pose: 0.43031528    -2.55037   -3.82168    0 0.00156499  -0.00131556 0.999501    0.0315312      uwb: 0.0            1252.47  1224.54  
imu_odom_:  1691062520.667032560  0.481235   -0.363919  9.72764    -0.0777643  -0.0372843  0.0511327   0.2        0             pose: 0.0           -2.55037   -3.82168    0 0.00156499  -0.00131556 0.999501    0.0315312      uwb: 0.0            1252.47  1224.54  
imu_odom_:  1691062520.692889390  0.59855    -0.220267  10.2185    -0.0245011  -0.0255663  0.0308927   0.18       0             pose: 0.6001375     -2.55269   -3.82262    0 0.000991802 -0.00136437 0.999501    0.0315532      uwb: 0.49985400     1253.06  1224.66  
imu_odom_:  1691062520.717897547  0.663194   -0.282516  10.5536    -0.0585895  -0.0372843  0.0607201   0.18       0             pose: 0.0           -2.55269   -3.82262    0 0.000991802 -0.00136437 0.999501    0.0315532      uwb: 0.0            1253.06  1224.66  
imu_odom_:  1691062520.734909802  0.785298   -0.220267  9.6223     -0.04048    -0.0149137  0.0394148   0.18       0             pose: 0.0           -2.55269   -3.82262    0 0.000991802 -0.00136437 0.999501    0.0315532      uwb: 0.50000274     1253.71  1224.85  
imu_odom_:  1691062520.759801886  0.471658   -0.308852  9.88087    -0.0617853  0.0276969   0.0458064   0.18       0             pose: 0.36993407    -2.56195   -3.82638    0 0.00142005  -0.00253573 0.999498    0.0315627      uwb: 0.0            1253.71  1224.85  
imu_odom_:  1691062520.782744938  0.531513   -0.0047884 9.8282     -0.0383495  0.00319579  0.0447411   0.2        0             pose: 0.51121922    -2.56571   -3.81711    0 0.00708653  -0.00223583 0.99948     0.0313856      uwb: 0.49944570     1254.04  1225.93  
imu_odom_:  1691062520.800847344  0.672771   -0.430956  9.68933    -0.0756338  -0.0298274  0.072438    0.2        0             pose: 0.0           -2.56571   -3.81711    0 0.00708653  -0.00223583 0.99948     0.0313856      uwb: 0.0            1254.04  1225.93  
imu_odom_:  1691062520.816735325  0.519542   -0.373495  10.0293    -0.0617853  0.0223706   0.0394148   0.2        0             pose: 0.0           -2.56571   -3.81711    0 0.00708653  -0.00223583 0.99948     0.0313856      uwb: 0.0            1254.04  1225.93  
imu_odom_:  1691062520.841797435  0.550666   -0.335188  9.78989    -0.0617853  -0.0106526  0.0671117   0.18       0             pose: 0.40834894    -2.57498   -3.82088    0 0.00555252  -0.00269147 0.999491    0.0312838      uwb: 0.0            1254.04  1225.93  
imu_odom_:  1691062520.866854879  0.169988   -0.0622492 9.92636    -0.0287621  0.02024     0.0308927   0.19       0             pose: 0.41013377    -2.588     -3.81537    0 0.0067158   -0.00329487 0.999493    0.0309433      uwb: 0.0            1254.04  1225.93  
imu_odom_:  1691062520.883737062  0.56982    -0.205901  9.75158    -0.0745685  -0.0479369  0.056459    0.19       0             pose: 0.34032675    -2.59432   -3.81794    0 0.00750725  -0.00655473 0.999483    0.0305825      uwb: 0.100174657    1254.12  1226.8   
imu_odom_:  1691062520.908772050  0.61531    -0.462081  9.50019    -0.0436758  0.00852212  0.0319579   0.19       0             pose: 0.0           -2.59432   -3.81794    0 0.00750725  -0.00655473 0.999483    0.0305825      uwb: 0.0            1254.12  1226.8   
imu_odom_:  1691062520.935748488  0.730232   -0.0885855 9.991      -0.0713727  -0.0479369  0.0553937   0.18       0.02          pose: 0.7957115     -2.59727   -3.81915    0 0.00678183  -0.00596146 0.99949     0.0306166      uwb: 0.50068226     1253.32  1228.88  
imu_odom_:  1691062520.950740841  0.670376   -0.181959  9.65342    -0.0415453  -0.0138484  0.0287621   0.18       0.02          pose: 0.0           -2.59727   -3.81915    0 0.00678183  -0.00596146 0.99949     0.0306166      uwb: 0.0            1253.32  1228.88  
imu_odom_:  1691062520.967780802  0.557849   -0.134075  9.93594    -0.0543285  0.0181095   0.0543285   0.2        0             pose: 0.43121937    -2.59727   -3.81915    0 0.0068653   -0.00426476 0.999499    0.0305886      uwb: 0.0            1253.32  1228.88  
imu_odom_:  1691062520.992713424  0.536301   -0.117316  10.1442    -0.0585895  0.0319579   0.0426106   0.2        0             pose: 0.0           -2.59727   -3.81915    0 0.0068653   -0.00426476 0.999499    0.0305886      uwb: 0.49766961     1253.56  1229.5   
imu_odom_:  1691062521.17834158   0.6608     -0.191536  10.1538    -0.0617853  0.00319579  0.0553937   0.18       0.02          pose: 0.48889707    -2.6103    -3.81366    0 0.0101072   -0.00327236 0.999479    0.030489       uwb: 0.0            1253.56  1229.5   
imu_odom_:  1691062521.40715971   1.04627    -0.208296  9.5792     -0.0458064  0.00852212  0.0340885   0.18       0.02          pose: 0.35047000    -2.61956   -3.81744    0 0.00927641  -0.00016989 0.999494    0.0304298      uwb: 0.50065025     1254.46  1229.51  
imu_odom_:  1691062521.53721383   0.893037   -0.136469  9.93115    -0.0649811  0.0149137   0.0575243   0.18       0.02          pose: 0.0           -2.61956   -3.81744    0 0.00927641  -0.00016989 0.999494    0.0304298      uwb: 0.0            1254.46  1229.51  
imu_odom_:  1691062521.80706868   0.550666   -0.21069   10.0987    -0.0745685  0.0191748   0.0500674   0.18       0.02          pose: 0.0           -2.61956   -3.81744    0 0.00927641  -0.00016989 0.999494    0.0304298      uwb: 0.50132400     1254.42  1230.69  
imu_odom_:  1691062521.104909813  0.141258   -0.227449  9.62469    -0.0713727  0.00532632  0.0511327   0.19       0.02          pose: 0.48033165    -2.61956   -3.81744    0 0.0112815   0.000872809 0.999479    0.0302332      uwb: 0.0            1254.42  1230.69  
imu_odom_:  1691062521.122763162  0.308852   -0.186748  9.72525    -0.0394148  0.00639159  0.0351537   0.19       0.02          pose: 0.0           -2.61956   -3.81744    0 0.0112815   0.000872809 0.999479    0.0302332      uwb: 0.0            1254.42  1230.69  
imu_odom_:  1691062521.146707130  0.416591   -0.23942   10.1658    -0.0479369  -0.0245011  0.0490022   0.22       0             pose: 0.87920829    -2.64186   -3.81575    0 0.00756798  0.000249676 0.999524    0.0298991      uwb: 0.49946625     1254.59  1231.65  
imu_odom_:  1691062521.164769586  0.385466   -0.196325  9.72285    -0.0383495  -0.0245011  0.0394148   0.22       0             pose: 0.0           -2.64186   -3.81575    0 0.00756798  0.000249676 0.999524    0.0298991      uwb: 0.0            1254.59  1231.65  
imu_odom_:  1691062521.188706555  0.402226   -0.277727  10.0102    -0.04048    0.0255663   0.0383495   0.23       0.02          pose: 0.42014298    -2.65111   -3.81954    0 0.00376048  9.27889e-05 0.999549    0.0298067      uwb: 0.49994162     1254.06  1233.21  
imu_odom_:  1691062521.205763435  0.533907   0.011971   9.68215    -0.072438   -0.0415453  0.0511327   0.23       0.02          pose: 0.0           -2.65111   -3.81954    0 0.00376048  9.27889e-05 0.999549    0.0298067      uwb: 0.0            1254.06  1233.21  
imu_odom_:  1691062521.221757869  0.122104   -0.148441  9.89763    -0.04048    0.00639159  0.0468716   0.23       0             pose: 0.41996508    -2.6549    -3.81029    0 0.00148306  -0.0006034380.999555    0.0297719      uwb: 0.0            1254.06  1233.21  
imu_odom_:  1691062521.246740951  0.52433    -0.356736  9.89763    -0.0788296  0.00639159  0.0458064   0.23       0             pose: 0.0           -2.6549    -3.81029    0 0.00148306  -0.0006034380.999555    0.0297719      uwb: 0.50064740     1253.87  1234.26  
imu_odom_:  1691062521.269779667  0.584185   -0.263362  9.8689     -0.0511327  -0.02024    0.0330232   0.19       0             pose: 0.49962957    -2.66416   -3.81408    0 0.0016772   -0.00174117 0.999559    0.0295842      uwb: 0.0            1253.87  1234.26  
imu_odom_:  1691062521.285705857  0.457293   -0.565032  9.37569    -0.0383495  0.00213053  0.0468716   0.19       0             pose: 0.0           -2.66416   -3.81408    0 0.0016772   -0.00174117 0.999559    0.0295842      uwb: 0.49629612     1255.38  1234     
imu_odom_:  1691062521.309685405  0.294487   -0.148441  9.7444     -0.0117179  0.0330232   0.0276969   0.25       -0.02         pose: 0.7089195     -2.66416   -3.81408    0 0.00243664  -0.00182404 0.999557    0.0296083      uwb: 0.0            1255.38  1234     
imu_odom_:  1691062521.332676584  0.876278   -0.225055  10.0245    -0.0617853  -0.036219   0.0617853   0.26       0             pose: 0.0           -2.66416   -3.81408    0 0.00243664  -0.00182404 0.999557    0.0296083      uwb: 0.0            1255.38  1234     
imu_odom_:  1691062521.349680968  0.905008   -0.349553  9.42597    -0.0575243  0.0394148   0.0255663   0.25       0.02          pose: 0.78846438    -2.68645   -3.81241    0 0.00424494  -0.00154774 0.999555    0.0294858      uwb: 0.0            1255.38  1234     
imu_odom_:  1691062521.374713046  0.0167594  -0.337582  9.80426    -0.0340885  0.0351537   0.0532632   0.25       0.02          pose: 0.0           -2.68645   -3.81241    0 0.00424494  -0.00154774 0.999555    0.0294858      uwb: 0.0            1255.38  1234     
imu_odom_:  1691062521.397684685  0.663194   -0.220267  9.7851     -0.0181095  0.0447411   0.0298274   0.22       -0.02         pose: 0.42036462    -2.693     -3.8151     0 0.00254575  -0.00210669 0.999561    0.0294274      uwb: 0.0            1255.38  1234     
imu_odom_:  1691062521.422680891  0.703895   -0.177171  9.92397    -0.0681769  -0.00852212 0.056459    0.22       -0.02         pose: 0.7021826     -2.69571   -3.81621    0 0.00307489  -0.00187993 0.999559    0.0294633      uwb: 0.0            1255.38  1234     
imu_odom_:  1691062521.445744105  0.675165   -0.162806  9.663      -0.056459   -0.036219   0.0351537   0.18       -0.02         pose: 0.23983339    -2.6995    -3.80696    0 0.00507176  -0.00121914 0.999552    0.0294791      uwb: 0.150117225    1254.99  1235.29  
imu_odom_:  1691062521.461728623  0.61531    -0.435745  9.63666    -0.0649811  0.02024     0.0479369   0.18       -0.02         pose: 0.0           -2.6995    -3.80696    0 0.00507176  -0.00121914 0.999552    0.0294791      uwb: 0.0            1254.99  1235.29  
imu_odom_:  1691062521.487733906  0.737414   -0.383072  9.5792     -0.0511327  0.0351537   0.0266316   0.25       -0.02         pose: 0.23994714    -2.6995    -3.80696    0 0.00751092  -0.00064392 0.999541    0.0293579      uwb: 0.50104986     1254.84  1236.39  
imu_odom_:  1691062521.500675448  0.308852   -0.244209  10.0149    -0.0607201  0.0191748   0.0596548   0.25       -0.02         pose: 0.0           -2.6995    -3.80696    0 0.00751092  -0.00064392 0.999541    0.0293579      uwb: 0.0            1254.84  1236.39  
imu_odom_:  1691062521.517676041  0.462081   -0.23942   10.0389    -0.0713727  -0.0106526  0.0596548   0.17       -0.02         pose: 0.39982731    -2.70875   -3.81076    0 0.00967582  -0.00221798 0.999519    0.029365       uwb: 0.0            1254.84  1236.39  
imu_odom_:  1691062521.540668970  0.383072   0.153229   10.2687    -0.0394148  -0.0287621  0.0415453   0.17       -0.02         pose: 0.0           -2.70875   -3.81076    0 0.00967582  -0.00221798 0.999519    0.029365       uwb: 0.49844551     1253.7   1238.65  
imu_odom_:  1691062521.565726712  0.723049   -0.246603  9.68694    -0.0649811  -0.0287621  0.04048     0.18       0             pose: 0.39001361    -2.718     -3.81456    0 0.0084534   -0.00310078 0.999531    0.029261       uwb: 0.0            1253.7   1238.65  
imu_odom_:  1691062521.591720329  0.90022    -0.155623  9.88326    -0.0436758  0.0447411   0.0426106   0.18       0             pose: 0.0           -2.718     -3.81456    0 0.0084534   -0.00310078 0.999531    0.029261       uwb: 0.50002328     1252.68  1240.62  
imu_odom_:  1691062521.616814818  0.73502    -0.270545  10.2472    -0.0532632  0.0117179   0.0436758   0.2        -0.02         pose: 0.40985099    -2.73105   -3.80911    0 0.00808249  -0.0007775790.999542    0.0291563      uwb: 0.0            1252.68  1240.62  
imu_odom_:  1691062521.643793595  0.502782   -0.320823  9.16979    -0.0607201  0.0330232   0.0585895   0.21       0             pose: 0.50170897    -2.73105   -3.80911    0 0.012394    -0.0008211290.9995      0.0290938      uwb: 0.50174396     1251.91  1242.41  
imu_odom_:  1691062521.668669646  0.162806   -0.459687  9.47146    -0.0500674  0.0447411   0.02024     0.2        0             pose: 0.0           -2.73105   -3.80911    0 0.012394    -0.0008211290.9995      0.0290938      uwb: 0.0            1251.91  1242.41  
imu_odom_:  1691062521.685781646  0.126893   -0.0861913 10.094     -0.0617853  -0.0308927  0.0468716   0.2        0             pose: 0.0           -2.73105   -3.80911    0 0.012394    -0.0008211290.9995      0.0290938      uwb: 0.50087779     1253.24  1242     
imu_odom_:  1691062521.709659120  0.706289   -0.31364   9.84017    -0.0671117  0.0191748   0.0276969   0.23       -0.02         pose: 0.51858327    -2.74411   -3.80367    0 0.00986672  -0.00327029 0.99953     0.0288452      uwb: 0.0            1253.24  1242     
imu_odom_:  1691062521.735701148  0.457293   -0.260968  10.1442    -0.0585895  0.0138484   0.0511327   0.23       -0.02         pose: 0.24080456    -2.75336   -3.80748    0 0.00733768  -0.00355721 0.999547    0.0289727      uwb: 0.50002037     1252.86  1243.76  
imu_odom_:  1691062521.758635749  0.454898   -0.0263362 10.0963    -0.0181095  0.0276969   0.0213053   0.2        0.02          pose: 0.41989509    -2.75336   -3.80748    0 0.00773737  -0.00371463 0.999542    0.0290349      uwb: 0.0            1252.86  1243.76  
imu_odom_:  1691062521.775705461  0.416591   -0.292093  9.31105    -0.0607201  0.0138484   0.0490022   0.2        0.02          pose: 0.0           -2.75336   -3.80748    0 0.00773737  -0.00371463 0.999542    0.0290349      uwb: 0.0            1252.86  1243.76  
imu_odom_:  1691062521.800757954  0.136469   -0.325611  9.74919    -0.0170442  0.0458064   0.0340885   0.18       -0.02         pose: 0.48893511    -2.76641   -3.80203    0 0.00426685  -0.0011601  0.999566    0.0291088      uwb: 0.49859716     1252.5   1245.12  
imu_odom_:  1691062521.824650593  0.071826   -0.189142  9.51935    -0.0479369  0.00532632  0.0543285   0.21       0             pose: 0.0           -2.76641   -3.80203    0 0.00426685  -0.0011601  0.999566    0.0291088      uwb: 0.0            1252.5   1245.12  
imu_odom_:  1691062521.848698093  0.0837971  -0.134075  9.61751    -0.0213053  0           0.0266316   0.21       0             pose: 0.41115754    -2.77566   -3.80584    0 -0.000304482-0.00159945 0.999576    0.0290725      uwb: 0.49737228     1252.63  1246.1   
imu_odom_:  1691062521.864639740  0.6608     0.131681   10.1011    -0.0660464  0.0138484   0.0585895   0.21       0             pose: 0.0           -2.77566   -3.80584    0 -0.000304482-0.00159945 0.999576    0.0290725      uwb: 0.0            1252.63  1246.1   
imu_odom_:  1691062521.889791391  0.648829   -0.447716  9.73004    -0.0575243  0.0255663   0.04048     0.18       0             pose: 0.48874264    -2.78491   -3.80964    0 -0.00380226 0.000621697 0.999571    0.0290191      uwb: 0.50068239     1251.83  1247.48  
imu_odom_:  1691062521.915739220  0.277727   -0.301669  9.91918    -0.0575243  0.00639159  0.0671117   0.18       0.02          pose: 0.33126557    -2.79379   -3.80594    0 -0.00177181 -0.0005321270.99958     0.0289323      uwb: 0.0            1251.83  1247.48  
imu_odom_:  1691062521.940759049  0.347159   -0.0861913 9.62469    -0.0340885  -0.00106526 0.0298274   0.18       0.02          pose: 0.0           -2.79379   -3.80594    0 -0.00177181 -0.0005321270.99958     0.0289323      uwb: 0.50056865     1252.61  1247.81  
imu_odom_:  1691062521.956635660  0.45011    -0.241814  9.79468    -0.0681769  -0.0458064  0.0553937   0.18       0             pose: 0.8027110     -2.79796   -3.8042     0 -0.00244678 -0.00103446 0.999581    0.0288224      uwb: 0.0            1252.61  1247.81  
imu_odom_:  1691062521.982807469  0.181959   -0.0407014 9.90242    -0.0287621  0.0287621   0.0330232   0.18       0             pose: 0.0           -2.79796   -3.8042     0 -0.00244678 -0.00103446 0.999581    0.0288224      uwb: 0.0            1252.61  1247.81  
imu_odom_:  1691062522.7660772    0.335188   -0.0670376 10.4627    -0.0617853  -0.0490022  0.0628506   0.19       0.02          pose: 0.48825268    -2.79796   -3.8042     0 -0.00297499 0.000361983 0.999585    0.0286448      uwb: 0.0            1252.61  1247.81  
imu_odom_:  1691062522.31689614   0.351948   -0.071826  10.5345    -0.0383495  -0.00532632 0.0340885   0.19       0.02          pose: 0.0           -2.79796   -3.8042     0 -0.00297499 0.000361983 0.999585    0.0286448      uwb: 0.100056575    1253.09  1248.72  
imu_odom_:  1691062522.55665085   0.766145   -0.337582  9.85693    -0.0873517  0.0181095   0.0617853   0.18       0             pose: 0.44005910    -2.8072    -3.80801    0 -0.0037649  0.00292083  0.999581    0.0285547      uwb: 0.0            1253.09  1248.72  
imu_odom_:  1691062522.71692187   0.0143652  -0.292093  9.27274    -0.04048    0.0191748   0.04048     0.18       0             pose: 0.0           -2.8072    -3.80801    0 -0.0037649  0.00292083  0.999581    0.0285547      uwb: 0.0            1253.09  1248.72  
imu_odom_:  1691062522.88628624   0.488417   -0.177171  10.0389    -0.0628506  -0.00852212 0.0553937   0.25       0             pose: 0.47991185    -2.82026   -3.80258    0 -0.00178271 0.00651615  0.999576    0.0283247      uwb: 0.49941389     1253.09  1249.59  
imu_odom_:  1691062522.113742368  1.04866    -0.268151  10.3142    -0.0458064  -0.036219   0.0415453   0.25       0             pose: 0.0           -2.82026   -3.80258    0 -0.00178271 0.00651615  0.999576    0.0283247      uwb: 0.0            1253.09  1249.59  
imu_odom_:  1691062522.138616967  0.679953   -0.40462   9.51456    -0.0873517  0.02024     0.0671117   0.21       0.02          pose: 0.41003775    -2.8295    -3.8064     0 -0.00148234 0.00443131  0.999595    0.0280608      uwb: 0.49979302     1251.94  1251.95  
imu_odom_:  1691062522.163676466  0.289698   -0.0861913 9.91918    -0.0543285  0.015979    0.0436758   0.21       0.02          pose: 0.0           -2.8295    -3.8064     0 -0.00148234 0.00443131  0.999595    0.0280608      uwb: 0.0            1251.94  1251.95  
imu_odom_:  1691062522.187609649  0.35913    -0.0215478 10.1682    -0.0436758  0.00532632  0.0553937   0.2        0.02          pose: 0.42046390    -2.8295    -3.8064     0 0.00262858  0.00283224  0.999605    0.0278418      uwb: 0.50046671     1251.56  1253.33  
imu_odom_:  1691062522.210699408  0.466869   -0.124498  9.92397    -0.0181095  0.0117179   0.0330232   0.2        0.02          pose: 0.0           -2.8295    -3.8064     0 0.00262858  0.00283224  0.999605    0.0278418      uwb: 0.0            1251.56  1253.33  
imu_odom_:  1691062522.237619573  0.213084   -0.246603  9.83299    -0.0468716  -0.00852212 0.0436758   0.23       0             pose: 0.48999098    -2.84257   -3.80099    0 0.000807465 0.00327485  0.999616    0.0275035      uwb: 0.50073793     1252.57  1253.46  
imu_odom_:  1691062522.253744958  0.011971   -0.102951  9.62948    -0.0181095  -0.015979   0.0351537   0.23       0             pose: 0.0           -2.84257   -3.80099    0 0.000807465 0.00327485  0.999616    0.0275035      uwb: 0.0            1252.57  1253.46  
imu_odom_:  1691062522.270667396  0.754174   -0.270545  9.85693    -0.076699   -0.02024    0.0575243   0.17       0.02          pose: 0.47088562    -2.8518    -3.80482    0 0.00157154  0.00476445  0.999611    0.0274241      uwb: 0.0            1252.57  1253.46  
imu_odom_:  1691062522.294607579  0.835576   -0.146046  9.72046    -0.0479369  0.0117179   0.0458064   0.17       0.02          pose: 0.0           -2.8518    -3.80482    0 0.00157154  0.00476445  0.999611    0.0274241      uwb: 0.0            1252.57  1253.46  
imu_odom_:  1691062522.320659822  0.464475   -0.272939  9.84496    -0.076699   0.00852212  0.0458064   0.18       0             pose: 0.76828890    -2.86487   -3.79942    0 0.00228175  0.00362225  0.999621    0.0271916      uwb: 0.0            1252.57  1253.46  
imu_odom_:  1691062522.346670360  0.481235   -0.280122  10.2711    -0.0351537  -0.0319579  0.0372843   0.2        -0.02         pose: 0.8018654     -2.86487   -3.79942    0 0.00232208  0.00274128  0.999625    0.0271646      uwb: 0.99847197     1252.44  1255.11  
imu_odom_:  1691062522.372744476  0.746991   -0.21069   10.2615    -0.0383495  0.0149137   0.0276969   0.2        -0.02         pose: 0.0           -2.86487   -3.79942    0 0.00232208  0.00274128  0.999625    0.0271646      uwb: 0.0            1252.44  1255.11  
imu_odom_:  1691062522.398593154  0.718261   0.0335188  10.2376    -0.0511327  0.02024     0.0596548   0.2        0             pose: 0.51192527    -2.87411   -3.80326    0 0.00423961  -0.00133504 0.999621    0.0271701      uwb: 0.49934681     1251.73  1257.06  
imu_odom_:  1691062522.415602793  0.198719   -0.445322  9.51935    -0.0511327  0.00852212  0.0468716   0.2        0             pose: 0.0           -2.87411   -3.80326    0 0.00423961  -0.00133504 0.999621    0.0271701      uwb: 0.0            1251.73  1257.06  
imu_odom_:  1691062522.440588507  0.181959   -0.179565  9.95988    -0.0468716  -0.0266316  0.0426106   0.19       0             pose: 0.26957495    -2.88718   -3.79787    0 0.0063436   -0.0003452160.99961     0.0272089      uwb: 0.50136788     1250.6   1259.51  
imu_odom_:  1691062522.467604038  0.940921   -0.162806  10.1155    -0.0276969  -0.036219   0.0276969   0.19       0             pose: 0.42899146    -2.89641   -3.80171    0 0.00501125  0.000282867 0.999624    0.0269601      uwb: 0.0            1250.6   1259.51  
imu_odom_:  1691062522.492632040  0.667982   -0.232238  9.93354    -0.0703074  0.00426106  0.056459    0.19       0             pose: 0.43928637    -2.89641   -3.80171    0 0.00665972  0.00105627  0.99961     0.0270937      uwb: 0.0            1250.6   1259.51  
imu_odom_:  1691062522.515618850  0.299275   -0.124498  9.96467    -0.0383495  -0.0266316  0.0308927   0.19       0             pose: 0.0           -2.89641   -3.80171    0 0.00665972  0.00105627  0.99961     0.0270937      uwb: 0.0            1250.6   1259.51  
imu_odom_:  1691062522.541739628  0.852336   -0.203507  9.84017    -0.0660464  -0.0458064  0.0479369   0.23       0             pose: 0.48014812    -2.90949   -3.79632    0 0.00699835  0.000974199 0.999611    0.0269804      uwb: 0.100049887    1249.01  1261.94  
imu_odom_:  1691062522.558605197  0.464475   -0.177171  9.58638    -0.0319579  0.04048     0.0372843   0.23       0             pose: 0.0           -2.90949   -3.79632    0 0.00699835  0.000974199 0.999611    0.0269804      uwb: 0.0            1249.01  1261.94  
imu_odom_:  1691062522.574728540  0.25618    -0.0909797 10.4531    -0.0607201  0.00745685  0.0628506   0.18       -0.02         pose: 0.42986347    -2.91872   -3.80016    0 0.00811267  0.00116042  0.999605    0.0268901      uwb: 0.0            1249.01  1261.94  
imu_odom_:  1691062522.599735252  0.500388   -0.102951  9.65103    -0.0703074  0.0106526   0.0287621   0.18       -0.02         pose: 0.0           -2.91872   -3.80016    0 0.00811267  0.00116042  0.999605    0.0268901      uwb: 0.49878686     1249.48  1262.89  
imu_odom_:  1691062522.625646049  0.428562   -0.462081  9.26795    -0.056459   0.00532632  0.0532632   0.2        0             pose: 0.41130055    -2.92762   -3.7965     0 0.00557269  0.00384515  0.999616    0.0268618      uwb: 0.0            1249.48  1262.89  
imu_odom_:  1691062522.650640220  0.428562   -0.143652  9.48822    -0.0255663  0.0298274   0.0223706   0.18       -0.02         pose: 0.0           -2.92762   -3.7965     0 0.00557269  0.00384515  0.999616    0.0268618      uwb: 0.49983093     1248.42  1265     
imu_odom_:  1691062522.676577265  0.0550666  -0.371101  9.81144    -0.0575243  0           0.0607201   0.18       -0.02         pose: 0.33880456    -2.9318    -3.79478    0 0.00401475  0.00191555  0.999632    0.026744       uwb: 0.0            1248.42  1265     
imu_odom_:  1691062522.702637966  0.366313   -0.0407014 9.68215    -0.0468716  0.0127832   0.0330232   0.19       0             pose: 0.42961557    -2.94103   -3.79862    0 -1.3924e-06 0.00194672  0.999644    0.026626       uwb: 0.50162744     1249.37  1265.55  
imu_odom_:  1691062522.719819089  0.737414   -0.0215478 10.0963    -0.072438   -0.0127832  0.0500674   0.19       0             pose: 0.0           -2.94103   -3.79862    0 -1.3924e-06 0.00194672  0.999644    0.026626       uwb: 0.0            1249.37  1265.55  
imu_odom_:  1691062522.744644109  0.56982    -0.0287304 10.0987    -0.0617853  -0.00958738 0.0394148   0.18       0             pose: 0.0           -2.94103   -3.79862    0 -1.3924e-06 0.00194672  0.999644    0.026626       uwb: 0.49926807     1250.09  1265.85  
imu_odom_:  1691062522.769707691  0.440533   -0.129287  10.003     -0.0788296  -0.0117179  0.0426106   0.18       0             pose: 0.51190485    -2.95411   -3.79324    0 0.0016393   0.00524387  0.999631    0.0266116      uwb: 0.0            1250.09  1265.85  
imu_odom_:  1691062522.783693601  0.0861913  -0.277727  9.89284    -0.0543285  -0.00426106 0.0298274   0.19       0             pose: 0.0           -2.95411   -3.79324    0 0.0016393   0.00524387  0.999631    0.0266116      uwb: 0.49963845     1251.09  1266.45  
imu_odom_:  1691062522.807682488  0.189142   -0.462081  9.82102    -0.072438   -0.0245011  0.0468716   0.19       0             pose: 0.47810664    -2.95411   -3.79324    0 0.00130401  0.00342344  0.999639    0.0266025      uwb: 0.0            1251.09  1266.45  
imu_odom_:  1691062522.831570175  0.395043   -0.371101  10.1921    -0.0308927  -0.02024    0.0287621   0.23       0             pose: 0.32104074    -2.96334   -3.79709    0 -0.0006781990.00103834  0.999646    0.0265615      uwb: 0.49891809     1249.9   1268.92  
imu_odom_:  1691062522.855701091  0.632069   -0.205901  10.1227    -0.0596548  0.00106526  0.0628506   0.23       0             pose: 0.0           -2.96334   -3.79709    0 -0.0006781990.00103834  0.999646    0.0265615      uwb: 0.0            1249.9   1268.92  
imu_odom_:  1691062522.871544751  0.277727   -0.141258  9.77792    -0.02024    0.0117179   0.0394148   0.26       0             pose: 0.0           -2.96334   -3.79709    0 -0.0006781990.00103834  0.999646    0.0265615      uwb: 0.0            1249.9   1268.92  
imu_odom_:  1691062522.886557527  0.464475   -0.155623  10.003     -0.0458064  0.00639159  0.0436758   0.26       0             pose: 0.6865800     -2.96334   -3.79709    0 -0.0006155820.000433296 0.999646    0.0265992      uwb: 0.50042005     1249.77  1270.2   
imu_odom_:  1691062522.913620305  0.835576   -0.416591  9.9934     -0.0511327  0.00958738  0.0394148   0.21       0.02          pose: 0.0           -2.96334   -3.79709    0 -0.0006155820.000433296 0.999646    0.0265992      uwb: 0.0            1249.77  1270.2   
imu_odom_:  1691062522.937620274  0.366313   -0.184354  10.1179    -0.0809601  0.015979    0.0671117   0.21       0.02          pose: 0.47124725    -2.97641   -3.79171    0 0.00131542  -0.0004670240.99965     0.0264149      uwb: 0.50036464     1250.3   1270.77  
imu_odom_:  1691062522.953543552  0.579397   -0.186748  10.0844    -0.0607201  -0.0447411  0.0511327   0.21       0             pose: 0.0           -2.97641   -3.79171    0 0.00131542  -0.0004670240.99965     0.0264149      uwb: 0.0            1250.3   1270.77  
imu_odom_:  1691062522.979547966  0.483629   -0.282516  9.73004    -0.0500674  -0.0106526  0.0500674   0.21       0             pose: 0.82930300    -2.98564   -3.79557    0 0.00180806  0.00041799  0.99966     0.0260147      uwb: 0.50004966     1250.42  1271.84  
imu_odom_:  1691062522.995656144  0.316035   -0.454898  9.98622    -0.0628506  0.0287621   0.052198    0.21       -0.02         pose: 0.0           -2.98564   -3.79557    0 0.00180806  0.00041799  0.99966     0.0260147      uwb: 0.0            1250.42  1271.84  
imu_odom_:  1691062523.11812444   0.328006   -0.0742203 10.0676    -0.0319579  0           0.0298274   0.21       -0.02         pose: 0.41956856    -2.99873   -3.7902     0 0.00313499  -0.00251467 0.99966     0.025772       uwb: 0.0            1250.42  1271.84  
imu_odom_:  1691062523.28759676   0.627281   -0.373495  9.72046    -0.0841559  -0.00639159 0.056459    0.21       -0.02         pose: 0.0           -2.99873   -3.7902     0 0.00313499  -0.00251467 0.99966     0.025772       uwb: 0.50170916     1251.34  1272.37  
imu_odom_:  1691062523.44592841   0.155623   -0.19393   10.0102    -0.0681769  0.00852212  0.0351537   0.18       0             pose: 0.0           -2.99873   -3.7902     0 0.00313499  -0.00251467 0.99966     0.025772       uwb: 0.0            1251.34  1272.37  
imu_odom_:  1691062523.70602803   0.390255   -0.304064  10.0389    -0.072438   -0.0245011  0.0596548   0.18       0             pose: 0.50038222    -3.00795   -3.79407    0 0.00215757  -0.00271081 0.999665    0.0256647      uwb: 0.0            1251.34  1272.37  
imu_odom_:  1691062523.93691694   0.706289   -0.213084  9.75637    -0.0383495  -0.0213053  0.0234358   0.18       0.02          pose: 0.34004412    -3.0147    -3.7969     0 -0.000320388-0.00454611 0.999667    0.0254125      uwb: 0.49779249     1252.09  1272.7   
imu_odom_:  1691062523.118588172  0.229843   -0.402226  9.27274    -0.0852212  -0.0372843  0.0607201   0.18       0.02          pose: 0.0           -3.0147    -3.7969     0 -0.000320388-0.00454611 0.999667    0.0254125      uwb: 0.0            1252.09  1272.7   
imu_odom_:  1691062523.132551338  0.373495   -0.0407014 9.8258     -0.0660464  -0.052198   0.0490022   0.19       0             pose: 0.0           -3.0147    -3.7969     0 -0.000320388-0.00454611 0.999667    0.0254125      uwb: 0.50027728     1251.93  1273.97  
imu_odom_:  1691062523.147581325  0.720655   -0.162806  10.2807    -0.0458064  -0.0287621  0.0383495   0.19       0             pose: 0.47985369    -3.02104   -3.78872    0 0.000314996 -0.00530828 0.999665    0.0253333      uwb: 0.0            1251.93  1273.97  
imu_odom_:  1691062523.173589829  1.37667    -0.208296  11.1402    -0.076699   -0.138484   0.0511327   0.25       -0.02         pose: 0.0           -3.02104   -3.78872    0 0.000314996 -0.00530828 0.999665    0.0253333      uwb: 0.0            1251.93  1273.97  
imu_odom_:  1691062523.196540190  2.44209    -0.122104  9.46907    -0.0692422  0.0191748   0.0500674   0.25       -0.02         pose: 0.36980896    -3.03026   -3.79259    0 0.00340278  -0.00341966 0.99967     0.0252349      uwb: 0.49965024     1252.3   1274.85  
imu_odom_:  1691062523.213641408  0.337582   -0.397437  10.3525    -0.0905475  0.0266316   0.0809601   0.18       -0.02         pose: 0.40971122    -3.03948   -3.79647    0 0.00842414  -0.0035587  0.999645    0.0250233      uwb: 0.0            1252.3   1274.85  
imu_odom_:  1691062523.228570779  0.577003   -0.368707  9.55526    -0.0628506  0.0617853   0.0372843   0.18       -0.02         pose: 0.7159775     -3.03948   -3.79647    0 0.00765623  -0.00397494 0.999653    0.024872       uwb: 0.49896198     1251.11  1276.92  
imu_odom_:  1691062523.245512178  0.823605   0.131681   9.60314    -0.052198   0.02024     0.00745685  0.18       -0.02         pose: 0.0           -3.03948   -3.79647    0 0.00765623  -0.00397494 0.999653    0.024872       uwb: 0.0            1251.11  1276.92  
imu_odom_:  1691062523.261513620  -0.0430956 -0.272939  10.2807    -0.0681769  0.00319579  0.0383495   0.18       0.02          pose: 0.41812213    -3.04873   -3.78951    0 0.00762867  -0.00441525 0.999649    0.0249649      uwb: 0.0            1251.11  1276.92  
imu_odom_:  1691062523.286509256  0.205901   -0.411803  10.2376    -0.0500674  -0.0713727  0.0532632   0.18       0.02          pose: 0.0           -3.04873   -3.78951    0 0.00762867  -0.00441525 0.999649    0.0249649      uwb: 0.49946651     1250.7   1278.42  
imu_odom_:  1691062523.309533402  0.706289   0.131681   10.1299    -0.0351537  -0.0255663  0.0426106   0.18       0             pose: 0.40997078    -3.05258   -3.79113    0 0.00442336  -0.00512027 0.99967     0.0247801      uwb: 0.0            1250.7   1278.42  
imu_odom_:  1691062523.334571034  0.509965   -0.282516  10.0772    -0.0490022  0.0266316   0.0490022   0.18       0.02          pose: 0.0           -3.05258   -3.79113    0 0.00442336  -0.00512027 0.99967     0.0247801      uwb: 0.50042601     1250.81  1279.53  
imu_odom_:  1691062523.361583073  0.799663   0.0167594  10.2592    -0.0351537  -0.0234358  0.0351537   0.22       0.02          pose: 0.31098214    -3.06179   -3.79502    0 0.00516301  -0.0034964  0.999675    0.0247144      uwb: 0.0            1250.81  1279.53  
imu_odom_:  1691062523.386525339  0.773327   -0.179565  9.62469    -0.072438   -0.0426106  0.0447411   0.19       0.02          pose: 0.43975603    -3.07218   -3.78854    0 0.00618689  -0.00269909 0.999672    0.0246985      uwb: 0.49979315     1250.04  1281.13  
imu_odom_:  1691062523.410694466  0.560243   -0.112527  9.61033    -0.0234358  -0.00426106 0.0276969   0.19       0.02          pose: 0.0           -3.07218   -3.78854    0 0.00618689  -0.00269909 0.999672    0.0246985      uwb: 0.0            1250.04  1281.13  
imu_odom_:  1691062523.434566702  0.715866   0.059855   9.94312    -0.0340885  -0.015979   0.052198    0.26       0             pose: 0.49111393    -3.08175   -3.79258    0 0.00884715  0.000602561 0.999653    0.0248062      uwb: 0.49971732     1251.13  1281.36  
imu_odom_:  1691062523.451648672  0.792481   -0.567426  9.39245    -0.0266316  0.0426106   0.0340885   0.26       0             pose: 0.5873349     -3.08411   -3.79357    0 0.00917478  0.00117437  0.99965     0.0247729      uwb: 0.0            1251.13  1281.36  
imu_odom_:  1691062523.467642240  0.47884    -0.0814029 10.5728    -0.0372843  0.015979    0.0532632   0.26       0             pose: 0.0           -3.08411   -3.79357    0 0.00917478  0.00117437  0.99965     0.0247729      uwb: 0.0            1251.13  1281.36  
imu_odom_:  1691062523.494773268  0.969652   -0.0335188 9.98622    -0.0585895  -0.0191748  0.04048     0.18       0.02          pose: 0.42978483    -3.08799   -3.78436    0 0.00977012  0.0021533   0.999646    0.024647       uwb: 0.50115511     1251.34  1282.09  
imu_odom_:  1691062523.519523926  0.756568   -0.454898  9.49301    -0.056459   0.0127832   0.0479369   0.18       0             pose: 0.35226970    -3.09458   -3.78714    0 0.0118304   0.00339696  0.999622    0.0245846      uwb: 0.0            1251.34  1282.09  
imu_odom_:  1691062523.546609166  0.201113   -0.129287  9.72285    -0.0245011  0.0191748   0.04048     0.18       0             pose: 0.0           -3.09458   -3.78714    0 0.0118304   0.00339696  0.999622    0.0245846      uwb: 0.50011979     1252.44  1282.33  
imu_odom_:  1691062523.571488146  0.416591   -0.356736  9.66539    -0.0660464  -0.0127832  0.0458064   0.18       -0.02         pose: 0.7936122     -3.0972    -3.78824    0 0.0120588   0.0026566   0.999623    0.0245415      uwb: 0.0            1252.44  1282.33  
imu_odom_:  1691062523.598651547  0.471658   -0.117316  9.7037     -0.0394148  -0.00852212 0.0415453   0.18       -0.02         pose: 0.0           -3.0972    -3.78824    0 0.0120588   0.0026566   0.999623    0.0245415      uwb: 0.49982523     1252.43  1283.32  
imu_odom_:  1691062523.614600493  0.521936   -0.047884  10.3741    -0.0575243  -0.0490022  0.0500674   0.18       0.02          pose: 0.51913767    -3.10642   -3.79213    0 0.00903655  0.00131346  0.99966     0.0244126      uwb: 0.0            1252.43  1283.32  
imu_odom_:  1691062523.641606699  0.545878   0.0311246  10.0197    -0.0681769  -0.04048    0.0607201   0.18       0.02          pose: 0.0           -3.10642   -3.79213    0 0.00903655  0.00131346  0.99966     0.0244126      uwb: 0.50007020     1252.13  1284.47  
imu_odom_:  1691062523.657486235  0.430956   -0.335188  9.94312    -0.0735032  -0.0287621  0.0617853   0.19       0             pose: 0.52163994    -3.11952   -3.78681    0 0.00638504  0.00308955  0.999679    0.0243032      uwb: 0.0            1252.13  1284.47  
imu_odom_:  1691062523.683478115  0.711078   -0.0646434 10.0868    -0.0458064  0.00532632  0.0308927   0.19       0             pose: 0.0           -3.11952   -3.78681    0 0.00638504  0.00308955  0.999679    0.0243032      uwb: 0.50001480     1252.86  1284.79  
imu_odom_:  1691062523.709548738  0.459687   -0.19393   10.2927    -0.0596548  -0.0500674  0.0468716   0.2        0.02          pose: 0.76690964    -3.13146   -3.78425    0 0.00921589  0.0055832   0.999656    0.0239249      uwb: 0.0            1252.86  1284.79  
imu_odom_:  1691062523.736474160  0.806846   -0.0861913 9.96227    -0.0479369  -0.0553937  0.0458064   0.21       0             pose: 0.8081651     -3.13263   -3.7815     0 0.00874568  0.00508789  0.999663    0.0238962      uwb: 0.50036768     1252.27  1286.64  
imu_odom_:  1691062523.752470935  0.354342   -0.481235  9.54568    -0.0735032  0.0117179   0.052198    0.2        0             pose: 0.0           -3.13263   -3.7815     0 0.00874568  0.00508789  0.999663    0.0238962      uwb: 0.0            1252.27  1286.64  
imu_odom_:  1691062523.777461030  0.435745   -0.169988  9.74201    -0.0585895  -0.0170442  0.0500674   0.2        0             pose: 0.44914394    -3.14184   -3.7854     0 0.0110495   0.00448832  0.999647    0.0237423      uwb: 0.49822704     1253.02  1286.98  
imu_odom_:  1691062523.791594806  0.560243   -0.248997  9.57202    -0.0490022  0.0127832   0.0543285   0.18       0             pose: 0.0           -3.14184   -3.7854     0 0.0110495   0.00448832  0.999647    0.0237423      uwb: 0.0            1253.02  1286.98  
imu_odom_:  1691062523.816477285  0.45011    -0.102951  9.92157    -0.0340885  -0.0170442  0.0234358   0.18       0             pose: 0.47013330    -3.15104   -3.7893     0 0.0076537   0.00220435  0.999693    0.0234592      uwb: 0.0            1253.02  1286.98  
imu_odom_:  1691062523.843524321  0.663194   -0.318429  10.1347    -0.0671117  -0.0234358  0.0415453   0.25       0             pose: 0.32989795    -3.15384   -3.78271    0 0.00592784  0.0032628   0.999698    0.0236067      uwb: 0.49984564     1254.87  1286.56  
imu_odom_:  1691062523.868473878  0.672771   0.0502782  9.63666    -0.0660464  0.0383495   0.0298274   0.25       0             pose: 0.7006373     -3.15495   -3.7801     0 0.00642956  0.00267     0.999697    0.0235955      uwb: 0.0            1254.87  1286.56  
imu_odom_:  1691062523.894612453  -0.0191536 -0.426168  9.60075    -0.0916127  0.00639159  0.0660464   0.23       0             pose: 0.44990220    -3.16415   -3.784      0 0.00849221  0.00306695  0.999678    0.0237017      uwb: 0.50070307     1253.59  1288.64  
imu_odom_:  1691062523.911790373  0.507571   -0.462081  10.2304    -0.0266316  -0.0383495  0.0149137   0.23       0             pose: 0.0           -3.16415   -3.784      0 0.00849221  0.00306695  0.999678    0.0237017      uwb: 0.0            1253.59  1288.64  
imu_odom_:  1691062523.938536727  0.744597   0.112527   10.5177    -0.0543285  -0.0340885  0.0543285   0.18       0.02          pose: 0.34152274    -3.17336   -3.78791    0 0.0060256   0.000849375 0.999706    0.0234521      uwb: 0.49931778     1251.95  1290.85  
imu_odom_:  1691062523.963498241  0.462081   -0.208296  10.2544    -0.0458064  0.0191748   0.0490022   0.18       0             pose: 0.0           -3.17336   -3.78791    0 0.0060256   0.000849375 0.999706    0.0234521      uwb: 0.0            1251.95  1290.85  
imu_odom_:  1691062523.990458368  0.708684   -0.189142  9.84256    -0.0553937  -0.0117179  0.0447411   0.18       0             pose: 0.44011766    -3.18647   -3.78261    0 0.00719743  0.00200485  0.9997      0.0233358      uwb: 0.50107053     1251.84  1291.75  
imu_odom_:  1691062524.15442050   0.363919   -0.215478  9.92875    -0.0830906  0.0330232   0.0596548   0.18       0             pose: 0.0           -3.18647   -3.78261    0 0.00719743  0.00200485  0.9997      0.0233358      uwb: 0.0            1251.84  1291.75  
imu_odom_:  1691062524.32496319   0.746991   -0.229843  10.2592    -0.0607201  -0.0234358  0.0447411   0.18       0             pose: 0.51814609    -3.18647   -3.78261    0 0.00728051  0.00111979  0.999706    0.0231004      uwb: 0.0            1251.84  1291.75  
imu_odom_:  1691062524.57447632   0.526724   -0.28491   9.93594    -0.052198   -0.0213053  0.0596548   0.18       0             pose: 0.0           -3.18647   -3.78261    0 0.00728051  0.00111979  0.999706    0.0231004      uwb: 0.0            1251.84  1291.75  
imu_odom_:  1691062524.84444804   0.507571   -0.181959  9.65103    -0.0447411  0.04048     0.0351537   0.18       0             pose: 0.42096281    -3.19568   -3.78652    0 0.00701546  -0.0004164970.999715    0.0227993      uwb: 0.100129842    1251.64  1293.07  
imu_odom_:  1691062524.110453606  0.373495   -0.25618   9.83059    -0.0713727  -0.0191748  0.0553937   0.19       0             pose: 0.43895996    -3.2088    -3.78125    0 0.00529564  0.000658669 0.999728    0.0226936      uwb: 0.0            1251.64  1293.07  
imu_odom_:  1691062524.137466818  0.306458   -0.296881  9.53371    -0.0596548  -0.0436758  0.0479369   0.23       0             pose: 0.0           -3.2088    -3.78125    0 0.00529564  0.000658669 0.999728    0.0226936      uwb: 0.49856547     1249.41  1296.17  
imu_odom_:  1691062524.153553423  0.823605   -0.457293  10.0149    -0.072438   -0.0266316  0.0681769   0.23       0             pose: 0.33045507    -3.2088    -3.78125    0 0.00256478  -0.0008334430.999744    0.0224553      uwb: 0.0            1249.41  1296.17  
imu_odom_:  1691062524.180450854  0.21069    -0.0407014 10.1227    -0.0490022  -0.0117179  0.0436758   0.23       0             pose: 0.0           -3.2088    -3.78125    0 0.00256478  -0.0008334430.999744    0.0224553      uwb: 0.49992452     1248.46  1297.68  
imu_odom_:  1691062524.206435450  0.289698   -0.399832  9.78031    -0.0777643  0.00319579  0.0596548   0.23       0             pose: 0.43009700    -3.21799   -3.78517    0 0.00223904  -0.00212765 0.99975     0.0221254      uwb: 0.0            1248.46  1297.68  
imu_odom_:  1691062524.231431676  0.584185   -0.234632  9.89045    -0.0585895  0.0117179   0.056459    0.25       0             pose: 0.45935439    -3.23112   -3.77991    0 -0.00085358 -0.00301754 0.999757    0.0218208      uwb: 0.0            1248.46  1297.68  
imu_odom_:  1691062524.254423747  0.581791   -0.383072  9.93833    -0.0756338  0.0245011   0.0468716   0.25       0             pose: 0.0           -3.23112   -3.77991    0 -0.00085358 -0.00301754 0.999757    0.0218208      uwb: 0.0            1248.46  1297.68  
imu_odom_:  1691062524.270474772  -0.131681  -0.11971   9.76595    -0.0351537  0.0191748   0.0394148   0.18       0             pose: 0.7053037     -3.23112   -3.77991    0 -0.000215724-0.00290429 0.999759    0.0217635      uwb: 0.0            1248.46  1297.68  
imu_odom_:  1691062524.297424990  0.409408   -0.31364   10.0413    -0.0777643  -0.0117179  0.0532632   0.18       0             pose: 0.0           -3.23112   -3.77991    0 -0.000215724-0.00290429 0.999759    0.0217635      uwb: 0.99992486     1248.56  1298.85  
imu_odom_:  1691062524.323481621  0.792481   0.0622492  9.83538    -0.0532632  0.0138484   0.0479369   0.18       0             pose: 0.48963543    -3.24031   -3.78385    0 0.0019923   -0.003971   0.999758    0.0215357      uwb: 0.0            1248.56  1298.85  
imu_odom_:  1691062524.339470818  0.426168   -0.316035  9.94551    -0.0671117  -0.0245011  0.0511327   0.18       0             pose: 0.0           -3.24031   -3.78385    0 0.0019923   -0.003971   0.999758    0.0215357      uwb: 0.49864713     1250.02  1299.01  
imu_odom_:  1691062524.365417501  0.0311246  0.143652   10.5536    -0.036219   -0.00426106 0.0447411   0.19       0.02          pose: 0.43047031    -3.25344   -3.77861    0 0.000214355 -0.00559653 0.999757    0.0213115      uwb: 0.0            1250.02  1299.01  
imu_odom_:  1691062524.392428088  0.711078   0.059855   9.98143    -0.0351537  -0.0543285  0.0245011   0.19       0.02          pose: 0.0           -3.25344   -3.77861    0 0.000214355 -0.00559653 0.999757    0.0213115      uwb: 0.50076444     1250.04  1300.1   
imu_odom_:  1691062524.418559671  0.40462    -0.143652  10.5058    -0.0479369  0.0117179   0.0447411   0.2        0             pose: 0.42043495    -3.25344   -3.77861    0 0.000507784 -0.00522726 0.999763    0.0211247      uwb: 0.0            1250.04  1300.1   
imu_odom_:  1691062524.445420939  0.691924   0.0047884  10.0963    -0.0575243  -0.00319579 0.0330232   0.23       0             pose: 0.52965727    -3.26263   -3.78256    0 0.00160985  -0.0006503110.999772    0.0212607      uwb: 0.49983411     1249.32  1301.91  
imu_odom_:  1691062524.461413635  0.0694318  -0.320823  9.57681    -0.0671117  -0.00319579 0.0468716   0.23       0             pose: 0.0           -3.26263   -3.78256    0 0.00160985  -0.0006503110.999772    0.0212607      uwb: 0.0            1249.32  1301.91  
imu_odom_:  1691062524.478458280  0.332794   -0.229843  10.3597    -0.0543285  -0.036219   0.0372843   0.23       0             pose: 0.0           -3.26263   -3.78256    0 0.00160985  -0.0006503110.999772    0.0212607      uwb: 0.49930915     1250.48  1302.24  
imu_odom_:  1691062524.504518994  0.912191   -0.0023942 9.80904    -0.0468716  0.0138484   0.0308927   0.18       0             pose: 0.77949997    -3.28088   -3.77951    0 0.000289193 0.00115945  0.999773    0.0212695      uwb: 0.0            1250.48  1302.24  
imu_odom_:  1691062524.531530748  0.52433    -0.344765  9.89524    -0.0394148  -0.0287621  0.0266316   0.25       0             pose: 0.7983953     -3.28495   -3.78127    0 0.0009716   0.0014605   0.999772    0.0213033      uwb: 0.50137689     1250.37  1303.18  
imu_odom_:  1691062524.556583260  0.483629   -0.282516  9.62948    -0.0681769  0.0117179   0.0575243   0.18       -0.02         pose: 0.45088515    -3.29437   -3.77751    0 0.00384711  -0.0001610010.99976     0.0215462      uwb: 0.0            1250.37  1303.18  
imu_odom_:  1691062524.583420613  0.667982   0.0526724  10.2137    -0.036219   -0.0553937  0.0255663   0.23       0.02          pose: 0.0           -3.29437   -3.77751    0 0.00384711  -0.0001610010.99976     0.0215462      uwb: 0.49870546     1250.26  1304.13  
imu_odom_:  1691062524.608562076  0.509965   -0.222661  9.94551    -0.0479369  -0.0372843  0.0468716   0.23       0.02          pose: 0.32009599    -3.29809   -3.77602    0 0.00440185  -0.00215804 0.99976     0.0213638      uwb: 0.0            1250.26  1304.13  
imu_odom_:  1691062524.635408470  0.481235   0.0861913  9.78271    -0.0585895  -0.0170442  0.0500674   0.22       0             pose: 0.0           -3.29809   -3.77602    0 0.00440185  -0.00215804 0.99976     0.0213638      uwb: 0.49987785     1248.34  1306.67  
imu_odom_:  1691062524.660393905  0.703895   0.11971    10.3046    -0.0511327  -0.0468716  0.0266316   0.22       0             pose: 0.52079432    -3.30728   -3.77997    0 0.00415357  -0.0005943620.999763    0.021377       uwb: 0.0            1248.34  1306.67  
imu_odom_:  1691062524.685402380  0.454898   -0.114922  10.1203    -0.0692422  -0.00958738 0.0436758   0.21       0             pose: 0.44774126    -3.31672   -3.7762     0 0.0063231   0.00341269  0.999744    0.02145        uwb: 0.49982536     1248.6   1307.55  
imu_odom_:  1691062524.708398826  0.826      -0.124498  9.99819    -0.0596548  -0.0340885  0.0351537   0.21       0             pose: 0.0           -3.31672   -3.7762     0 0.0063231   0.00341269  0.999744    0.02145        uwb: 0.0            1248.6   1307.55  
imu_odom_:  1691062524.724450726  0.620098   -0.0981623 9.67257    -0.0735032  -0.0138484  0.0511327   0.18       0             pose: 0.31003440    -3.32041   -3.77473    0 0.00476772  0.004182    0.99975     0.0214253      uwb: 0.0            1248.6   1307.55  
imu_odom_:  1691062524.741496828  1.01275    -0.28491   9.76595    -0.0788296  0.0170442   0.0436758   0.18       0             pose: 0.0           -3.32041   -3.77473    0 0.00476772  0.004182    0.99975     0.0214253      uwb: 0.50131564     1249.19  1308.28  
imu_odom_:  1691062524.766385147  0.723049   0          10.0724    -0.0383495  -0.0298274  0.0308927   0.18       0             pose: 0.50099483    -3.3296    -3.77867    0 0.00971413  0.00372407  0.999719    0.0213159      uwb: 0.0            1249.19  1308.28  
imu_odom_:  1691062524.793378236  0.794875   -0.335188  9.33739    -0.0639159  -0.0170442  0.04048     0.18       0             pose: 0.7903169     -3.3296    -3.77867    0 0.01037     0.00435406  0.999709    0.0213532      uwb: 0.49861214     1247.71  1310.31  
imu_odom_:  1691062524.818375629  0.234632   -0.251391  9.99819    -0.0447411  0.0777643   0.0394148   0.2        -0.02         pose: 0.43978239    -3.34159   -3.77609    0 0.0135454   0.00341214  0.999674    0.0213886      uwb: 0.0            1247.71  1310.31  
imu_odom_:  1691062524.834403031  0.11971    -0.215478  9.7875     -0.0532632  -0.0340885  0.0479369   0.2        -0.02         pose: 0.0           -3.34159   -3.77609    0 0.0135454   0.00341214  0.999674    0.0213886      uwb: 0.50022782     1248.84  1310.61  
imu_odom_:  1691062524.860534905  0.4956     0.00957681 10.4698    -0.0490022  0.0447411   0.0298274   0.18       -0.02         pose: 0.41024795    -3.34779   -3.7756     0 0.00873267  0.00284076  0.99973     0.0213236      uwb: 0.0            1248.84  1310.61  
imu_odom_:  1691062524.887409005  0.574608   -0.143652  9.9503     -0.0532632  0.00426106  0.0340885   0.22       0             pose: 0.0           -3.34779   -3.7756     0 0.00873267  0.00284076  0.99973     0.0213236      uwb: 0.50055446     1247.13  1312.36  
imu_odom_:  1691062524.912395898  0.423774   -0.158017  9.48104    -0.0777643  -0.00319579 0.0447411   0.18       0             pose: 0.33022175    -3.35192   -3.77737    0 0.00736597  0.00479471  0.999731    0.0214849      uwb: 0.0            1247.13  1312.36  
imu_odom_:  1691062524.939385196  0.251391   -0.217872  9.56962    -0.0628506  -0.0266316  0.0372843   0.23       0.02          pose: 0.0           -3.35192   -3.77737    0 0.00736597  0.00479471  0.999731    0.0214849      uwb: 0.49931499     1247.36  1313.21  
imu_odom_:  1691062524.964363923  0.572214   -0.40462   9.95988    -0.0703074  -0.0330232  0.0479369   0.23       0.02          pose: 0.44970692    -3.36388   -3.77486    0 0.00619687  0.00300043  0.999746    0.0214676      uwb: 0.0            1247.36  1313.21  
imu_odom_:  1691062524.981439481  1.14682    -0.265756  10.2544    -0.0330232  0.00426106  0.0276969   0.23       -0.02         pose: 0.0           -3.36388   -3.77486    0 0.00619687  0.00300043  0.999746    0.0214676      uwb: 0.49990410     1249.45  1312.48  
imu_odom_:  1691062525.6417335    0.667982   -0.009576819.88566    -0.0617853  -0.00213053 0.0436758   0.23       -0.02         pose: 0.58979941    -3.37424   -3.77607    0 0.00574801  -0.0001897990.999754    0.021432       uwb: 0.0            1249.45  1312.48  
imu_odom_:  1691062525.33416263   0.608127   -0.184354  9.68455    -0.0490022  -0.0181095  0.0458064   0.23       0             pose: 0.35041496    -3.38076   -3.77887    0 0.00808727  0.00180955  0.999735    0.021454       uwb: 0.50233061     1250.96  1312.68  
imu_odom_:  1691062525.49474000   0.354342   -0.47884   9.61272    -0.0500674  0.015979    0.052198    0.23       0             pose: 0.0           -3.38076   -3.77887    0 0.00808727  0.00180955  0.999735    0.021454       uwb: 0.0            1250.96  1312.68  
imu_odom_:  1691062525.76419850   0.399832   -0.0550666 9.94312    -0.036219   0.00639159  0.04048     0.25       0             pose: 0.6962338     -3.38343   -3.78002    0 0.00882255  0.00171181  0.99973     0.0214299      uwb: 0.0            1250.96  1312.68  
imu_odom_:  1691062525.101556945  0.430956   -0.229843  10.0748    -0.0713727  -0.00319579 0.0575243   0.25       0             pose: 0.0           -3.38343   -3.78002    0 0.00882255  0.00171181  0.99973     0.0214299      uwb: 0.49689742     1249.92  1314.75  
imu_odom_:  1691062525.128357267  0.514753   -0.131681  9.8665     -0.0532632  0.0223706   0.0490022   0.21       0             pose: 0.43003587    -3.38738   -3.77083    0 0.00912838  0.000784927 0.999732    0.0212481      uwb: 0.50095997     1249.83  1315.77  
imu_odom_:  1691062525.153349124  0.253785   -0.320823  10.0724    -0.0500674  0.0106526   0.0500674   0.19       0             pose: 0.52020534    -3.39656   -3.77477    0 0.00523669  0.00159581  0.999765    0.020994       uwb: 0.0            1249.83  1315.77  
imu_odom_:  1691062525.180374884  0.533907   -0.201113  9.84256    -0.0649811  -0.04048    0.052198    0.23       0             pose: 0.0           -3.39656   -3.77477    0 0.00523669  0.00159581  0.999765    0.020994       uwb: 0.49961259     1250.84  1315.91  
imu_odom_:  1691062525.196459743  0.723049   -0.0095768110.1227    -0.0607201  -0.0213053  0.0372843   0.23       0             pose: 0.51966872    -3.40971   -3.76954    0 0.0038543   0.00191904  0.999776    0.0207313      uwb: 0.0            1250.84  1315.91  
imu_odom_:  1691062525.223328309  0.610521   -0.220267  10.3669    -0.0532632  0.04048     0.0479369   0.18       -0.02         pose: 0.0           -3.40971   -3.76954    0 0.0038543   0.00191904  0.999776    0.0207313      uwb: 0.0            1250.84  1315.91  
imu_odom_:  1691062525.248471528  0.596156   -0.184354  9.73004    -0.0479369  -0.0372843  0.0372843   0.2        0             pose: 0.62957643    -3.41889   -3.7735     0 0.00877036  0.000223171 0.999752    0.020492       uwb: 0.50064791     1252.92  1315.69  
imu_odom_:  1691062525.275454416  0.342371   -0.433351  9.73961    -0.0713727  -0.0245011  0.0468716   0.2        0             pose: 0.0           -3.41889   -3.7735     0 0.00877036  0.000223171 0.999752    0.020492       uwb: 0.0            1252.92  1315.69  
imu_odom_:  1691062525.300364031  0.677559   -0.011971  9.46428    -0.0447411  -0.04048    0.0543285   0.2        0             pose: 0.8027410     -3.41889   -3.7735     0 0.00950634  0.000781725 0.999744    0.0205054      uwb: 0.49912555     1252.47  1316.83  
imu_odom_:  1691062525.317397014  0.639252   -0.306458  9.90721    -0.0735032  0.0170442   0.0585895   0.2        0             pose: 0.0           -3.41889   -3.7735     0 0.00950634  0.000781725 0.999744    0.0205054      uwb: 0.0            1252.47  1316.83  
imu_odom_:  1691062525.342390622  0.531513   -0.160412  9.21528    -0.052198   0.0671117   0.0319579   0.18       0.02          pose: 0.52116483    -3.43203   -3.76828    0 0.00987354  0.000676222 0.999744    0.0203698      uwb: 0.50051959     1253.01  1317.51  
imu_odom_:  1691062525.368511129  0.316035   -0.19393   9.81623    -0.0894822  0.00532632  0.0617853   0.18       0.02          pose: 0.0           -3.43203   -3.76828    0 0.00987354  0.000676222 0.999744    0.0203698      uwb: 0.0            1253.01  1317.51  
imu_odom_:  1691062525.393336168  0.531513   -0.270545  10.0748    -0.0671117  -0.015979   0.0490022   0.19       0             pose: 0.41930641    -3.44121   -3.77225    0 0.0100471   0.000855437 0.999747    0.0201139      uwb: 0.50048751     1253.26  1318.4   
imu_odom_:  1691062525.420398675  0.52433    -0.277727  9.93594    -0.0500674  0.00745685  0.0308927   0.2        0             pose: 0.50051376    -3.45039   -3.77622    0 0.00547846  0.000501047 0.999787    0.0198699      uwb: 0.0            1253.26  1318.4   
imu_odom_:  1691062525.445365743  0.335188   -0.260968  10.0724    -0.0500674  -0.0532632  0.056459    0.19       0             pose: 0.0           -3.45039   -3.77622    0 0.00547846  0.000501047 0.999787    0.0198699      uwb: 0.49848686     1252.5   1319.72  
imu_odom_:  1691062525.462304818  0.246603   -0.332794  9.7444     -0.0436758  -0.0181095  0.0340885   0.19       0             pose: 0.0           -3.45039   -3.77622    0 0.00547846  0.000501047 0.999787    0.0198699      uwb: 0.0            1252.5   1319.72  
imu_odom_:  1691062525.487370460  0.629675   -0.100556  9.73243    -0.0415453  -0.00532632 0.0458064   0.23       0             pose: 0.52896914    -3.46354   -3.77102    0 0.00538109  -0.00380705 0.999782    0.0198074      uwb: 0.50146742     1251.52  1321.36  
imu_odom_:  1691062525.514309603  0.47884    -0.301669  10.173     -0.0426106  -0.0351537  0.0319579   0.23       -0.02         pose: 0.24023611    -3.46354   -3.77102    0 0.00348616  -0.00356723 0.999794    0.0196732      uwb: 0.0            1251.52  1321.36  
imu_odom_:  1691062525.539493652  0.354342   -0.220267  9.73482    -0.0639159  -0.0394148  0.0447411   0.23       -0.02         pose: 0.34995716    -3.47272   -3.77499    0 0.00436379  -0.00175298 0.999796    0.0196285      uwb: 0.49928303     1250.05  1323.52  
imu_odom_:  1691062525.556465973  0.612916   -0.222661  9.94551    -0.0671117  -0.02024    0.0266316   0.23       0             pose: 0.6946007     -3.47272   -3.77499    0 0.00429804  -0.00238389 0.999795    0.0196513      uwb: 0.0            1250.05  1323.52  
imu_odom_:  1691062525.582310005  0.397437   -0.562637  9.80186    -0.0713727  -0.00319579 0.0447411   0.23       0             pose: 0.0           -3.47272   -3.77499    0 0.00429804  -0.00238389 0.999795    0.0196513      uwb: 0.49952802     1248.62  1325.18  
imu_odom_:  1691062525.609328474  0.634463   -0.21069   9.64624    -0.0191748  0.052198    0.0223706   0.23       -0.02         pose: 0.52064863    -3.48587   -3.7698     0 0.00310155  -0.00287744 0.999797    0.019694       uwb: 0.0            1248.62  1325.18  
imu_odom_:  1691062525.635316285  0.682347   -0.0550666 9.98382    -0.0660464  -0.0170442  0.052198    0.23       -0.02         pose: 0.0           -3.48587   -3.7698     0 0.00310155  -0.00287744 0.999797    0.019694       uwb: 0.50056334     1249.86  1325.03  
imu_odom_:  1691062525.652448134  0.1652     -0.181959  9.93115    -0.0234358  0.0372843   0.0138484   0.25       0             pose: 0.43099537    -3.49505   -3.77377    0 0.00377378  -0.00482544 0.999786    0.0197514      uwb: 0.0            1249.86  1325.03  
imu_odom_:  1691062525.678493398  0.265756   -0.222661  9.83777    -0.0436758  -0.04048    0.056459    0.25       0             pose: 0.0           -3.49505   -3.77377    0 0.00377378  -0.00482544 0.999786    0.0197514      uwb: 0.50129243     1248.2   1326.98  
imu_odom_:  1691062525.705314134  0.533907   0.131681   10.4076    -0.0415453  -0.0383495  0.0340885   0.23       0             pose: 0.52893706    -3.49902   -3.7646     0 0.00591515  -0.0013302  0.999784    0.0198781      uwb: 0.0            1248.2   1326.98  
imu_odom_:  1691062525.721294586  0.320823   -0.167594  9.73961    -0.0692422  0.0308927   0.0468716   0.23       0             pose: 0.0           -3.49902   -3.7646     0 0.00591515  -0.0013302  0.999784    0.0198781      uwb: 0.0            1248.2   1326.98  
imu_odom_:  1691062525.748297306  0.56982    -0.356736  9.62708    -0.0511327  -0.0213053  0.0319579   0.23       0             pose: 0.42924843    -3.5082    -3.76857    0 0.00286523  2.50328e-05 0.9998      0.0198045      uwb: 0.49801732     1247.98  1327.88  
imu_odom_:  1691062525.773290039  0.579397   -0.411803  9.32063    -0.0703074  0.0223706   0.04048     0.2        0             pose: 0.44038620    -3.51737   -3.77255    0 0.0023207   0.00144404  0.999799    0.0198381      uwb: 0.0            1247.98  1327.88  
imu_odom_:  1691062525.800290717  0.0909797  -0.268151  9.80665    -0.0649811  0.0426106   0.0543285   0.21       0.02          pose: 0.0           -3.51737   -3.77255    0 0.0023207   0.00144404  0.999799    0.0198381      uwb: 0.50057792     1249.69  1327.76  
imu_odom_:  1691062525.816347579  0.035913   -0.167594  9.93115    -0.0735032  0.0276969   0.0458064   0.21       0.02          pose: 0.50995709    -3.53052   -3.76734    0 0.0035435   -0.00248614 0.999794    0.0198339      uwb: 0.0            1249.69  1327.76  
imu_odom_:  1691062525.843306845  0.579397   -0.0023942 9.48822    -0.0628506  -0.0276969  0.0383495   0.24       0             pose: 0.0           -3.53052   -3.76734    0 0.0035435   -0.00248614 0.999794    0.0198339      uwb: 0.49943469     1248.63  1329.34  
imu_odom_:  1691062525.869293197  0.0215478  -0.292093  10.1562    -0.052198   0.0340885   0.0276969   0.18       -0.05         pose: 0.62973100    -3.5397    -3.77132    0 0.00123138  -0.0002617860.999806    0.0196489      uwb: 0.0            1248.63  1329.34  
imu_odom_:  1691062525.896342871  0.296881   -0.371101  9.9527     -0.0628506  -0.0308927  0.0681769   0.24       0             pose: 0.8002912     -3.5397    -3.77132    0 0.000287731 -0.0003714440.999806    0.0196962      uwb: 0.49879016     1248.33  1330.74  
imu_odom_:  1691062525.922416424  0.912191   0.131681   9.91678    -0.0426106  0.00745685  0.02024     0.18       0             pose: 0.25072059    -3.54368   -3.76215    0 -0.00206395 -0.00127686 0.999803    0.0197017      uwb: 0.0            1248.33  1330.74  
imu_odom_:  1691062525.949332236  0.814029   -0.107739  10.0437    -0.0809601  0.0149137   0.056459    0.18       0             pose: 0.0           -3.54368   -3.76215    0 -0.00206395 -0.00127686 0.999803    0.0197017      uwb: 0.49991589     1245.36  1334     
imu_odom_:  1691062525.974269848  0.454898   -0.110133  9.991      -0.0596548  -0.00319579 0.0383495   0.18       0             pose: 0.27942386    -3.55285   -3.76612    0 -0.00210538 -0.00262291 0.999804    0.0194969      uwb: 0.0            1245.36  1334     
imu_odom_:  1691062526.1269069    0.529119   -0.241814  10.0437    -0.0692422  -0.0106526  0.0255663   0.18       0             pose: 0.53132560    -3.56202   -3.7701     0 0.00173308  -0.0002514240.999809    0.0194571      uwb: 0.50085790     1243.43  1336.28  
imu_odom_:  1691062526.26265890   0.694318   -0.220267  9.84975    -0.0585895  -0.0234358  0.0383495   0.18       -0.02         pose: 0.0           -3.56202   -3.7701     0 0.00173308  -0.0002514240.999809    0.0194571      uwb: 0.49912561     1241.94  1337.93  
imu_odom_:  1691062526.43308793   0.512359   -0.0790087 9.75398    -0.0671117  0.0245011   0.0319579   0.18       -0.02         pose: 0.51863924    -3.57518   -3.76491    0 0.00523432  -0.0003524670.999793    0.019659       uwb: 0.0            1241.94  1337.93  
imu_odom_:  1691062526.68309989   0.129287   -0.0981623 9.52413    -0.0511327  0           0.0415453   0.21       0             pose: 0.0           -3.57518   -3.76491    0 0.00523432  -0.0003524670.999793    0.019659       uwb: 0.0            1241.94  1337.93  
imu_odom_:  1691062526.95395834   0.555455   -0.316035  9.96467    -0.052198   0.0181095   0.0213053   0.23       0             pose: 0.58989303    -3.58169   -3.76773    0 0.00407218  0.00182892  0.999795    0.0197293      uwb: 0.49982853     1242.28  1338.41  
imu_odom_:  1691062526.120276875  0.112527   -0.296881  9.45231    -0.0532632  0.0127832   0.0447411   0.23       0             pose: 0.0           -3.58169   -3.76773    0 0.00407218  0.00182892  0.999795    0.0197293      uwb: 0.0            1242.28  1338.41  
imu_odom_:  1691062526.147348721  0.172383   -0.0646434 9.71088    -0.0223706  -0.00745685 0.0234358   0.23       0             pose: 0.6958841     -3.58435   -3.76889    0 0.00430544  0.00121883  0.999794    0.0197895      uwb: 0.50253496     1242.93  1338.69  
imu_odom_:  1691062526.163261807  0.550666   -0.0287304 9.94073    -0.0713727  0.0287621   0.0585895   0.23       0             pose: 0.0           -3.58435   -3.76889    0 0.00430544  0.00121883  0.999794    0.0197895      uwb: 0.0            1242.93  1338.69  
imu_odom_:  1691062526.190271242  0.0814029  -0.0143652 9.98622    -0.0287621  -0.00319579 0.0351537   0.23       -0.02         pose: 0.52028130    -3.5975    -3.76369    0 0.00173553  -0.0004452610.999799    0.0199531      uwb: 0.49993352     1242.36  1339.77  
imu_odom_:  1691062526.215321143  0.282516   -0.268151  10.003     -0.052198   -0.00213053 0.0585895   0.23       -0.02         pose: 0.0           -3.5975    -3.76369    0 0.00173553  -0.0004452610.999799    0.0199531      uwb: 0.0            1242.36  1339.77  
imu_odom_:  1691062526.242320078  0.572214   0.299275   10.4004    -0.0383495  -0.0181095  0.0447411   0.23       0.02          pose: 0.43977094    -3.60668   -3.76766    0 0.00016756  0.00247938  0.999797    0.019982       uwb: 0.49991019     1240.94  1341.55  
imu_odom_:  1691062526.258255913  0.220267   -0.244209  9.84017    -0.0628506  0.0255663   0.052198    0.23       0.02          pose: 0.0           -3.60668   -3.76766    0 0.00016756  0.00247938  0.999797    0.019982       uwb: 0.0            1240.94  1341.55  
imu_odom_:  1691062526.275266736  0.248997   -0.277727  10.4387    -0.0617853  -0.0394148  0.0223706   0.25       0.02          pose: 0.51062799    -3.60668   -3.76766    0 -0.00269741 0.00229922  0.999798    0.019778       uwb: 0.0            1240.94  1341.55  
imu_odom_:  1691062526.301316089  0.627281   -0.418985  9.73961    -0.072438   -0.0394148  0.0607201   0.25       0.02          pose: 0.0           -3.60668   -3.76766    0 -0.00269741 0.00229922  0.999798    0.019778       uwb: 0.49850448     1239.27  1343.62  
imu_odom_:  1691062526.318536893  0.131681   -0.237026  9.80186    -0.0383495  -0.0308927  0.0351537   0.25       0.02          pose: 0.42923397    -3.61983   -3.76246    0 -0.00346461 0.00266628  0.999797    0.0196894      uwb: 0.0            1239.27  1343.62  
imu_odom_:  1691062526.343304777  0.349553   -0.0143652 9.78271    -0.0713727  0.0245011   0.056459    0.25       0.02          pose: 0.0           -3.61983   -3.76246    0 -0.00346461 0.00266628  0.999797    0.0196894      uwb: 0.50125173     1240.76  1343.2   
imu_odom_:  1691062526.360279728  0.548272   -0.0646434 9.78271    -0.0628506  -0.0330232  0.04048     0.23       0             pose: 0.43254408    -3.62901   -3.76644    0 -0.00202539 -6.5563e-05 0.999807    0.019524       uwb: 0.0            1240.76  1343.2   
imu_odom_:  1691062526.376271558  0.76375    -0.0957681 10.1778    -0.0372843  -0.0223706  0.0351537   0.23       0             pose: 0.0           -3.62901   -3.76644    0 -0.00202539 -6.5563e-05 0.999807    0.019524       uwb: 0.0            1240.76  1343.2   
imu_odom_:  1691062526.393380664  0.368707   -0.409408  9.27993    -0.0671117  0.0138484   0.0671117   0.23       0             pose: 0.0           -3.62901   -3.76644    0 -0.00202539 -6.5563e-05 0.999807    0.019524       uwb: 0.50022808     1239.02  1345.19  
imu_odom_:  1691062526.419379855  -0.0981623 -0.184354  9.55765    -0.0319579  0.0553937   0.036219    0.25       0.02          pose: 0.41887781    -3.64216   -3.76124    0 -0.00243626 0.00252652  0.999807    0.0193241      uwb: 0.0            1239.02  1345.19  
imu_odom_:  1691062526.443251235  0.287304   -0.241814  9.8258     -0.0852212  0.0245011   0.0660464   0.24       0             pose: 0.68977416    -3.64876   -3.76411    0 -0.00349521 0.00187638  0.999809    0.0191584      uwb: 0.49725626     1239.86  1345.76  
imu_odom_:  1691062526.467308682  0.416591   -0.268151  10.2639    -0.0575243  -0.00958738 0.0543285   0.24       0             pose: 0.0           -3.64876   -3.76411    0 -0.00349521 0.00187638  0.999809    0.0191584      uwb: 0.0            1239.86  1345.76  
imu_odom_:  1691062526.492364415  0.172383   -0.349553  10.0868    -0.0617853  -0.0298274  0.0500674   0.19       0             pose: 0.7029417     -3.65133   -3.76523    0 -0.0040338  0.00122138  0.999809    0.0190676      uwb: 0.50178836     1239.6   1346.68  
imu_odom_:  1691062526.519423429  0.608127   -0.347159  10.0317    -0.0553937  -0.0490022  0.0639159   0.19       0             pose: 0.0           -3.65133   -3.76523    0 -0.0040338  0.00122138  0.999809    0.0190676      uwb: 0.0            1239.6   1346.68  
imu_odom_:  1691062526.535307060  0.423774   -0.344765  9.67736    -0.0585895  0.0117179   0.0511327   0.18       -0.02         pose: 0.48964444    -3.66449   -3.76005    0 -0.00360327 -0.00169218 0.999818    0.0186358      uwb: 0.49821575     1238.38  1348.14  
imu_odom_:  1691062526.562224336  0.68953    -0.208296  9.76595    -0.04048    -0.00745685 0.0458064   0.18       -0.02         pose: 0.0           -3.66449   -3.76005    0 -0.00360327 -0.00169218 0.999818    0.0186358      uwb: 0.0            1238.38  1348.14  
imu_odom_:  1691062526.587259946  0.3304     -0.378284  9.95988    -0.056459   0.0149137   0.0500674   0.25       0.02          pose: 0.51917306    -3.67366   -3.76405    0 -0.00121812 -0.00402203 0.999826    0.0181841      uwb: 0.49988978     1239.96  1348.48  
imu_odom_:  1691062526.614550815  0.505177   -0.222661  9.84256    -0.0660464  -0.0553937  0.0596548   0.22       0             pose: 0.16062407    -3.67366   -3.76405    0 -1.57893e-05-0.00438296 0.999826    0.0181191      uwb: 0.0            1239.96  1348.48  
imu_odom_:  1691062526.630353953  0.512359   0.0790087  9.92397    -0.0543285  -0.0394148  0.0500674   0.22       0             pose: 0.43906517    -3.68289   -3.76044    0 -0.00037085 -0.00527478 0.999825    0.0179278      uwb: 0.50117007     1238.01  1350.87  
imu_odom_:  1691062526.657212318  0.213084   -0.134075  9.95748    -0.0511327  -0.0117179  0.0415453   0.25       0.02          pose: 0.7138783     -3.68683   -3.7589     0 0.000355413 -0.00485311 0.999829    0.0178579      uwb: 0.0            1238.01  1350.87  
imu_odom_:  1691062526.682385874  0.620098   -0.344765  9.84017    -0.0426106  0           0.0415453   0.25       0.02          pose: 0.0           -3.68683   -3.7589     0 0.000355413 -0.00485311 0.999829    0.0178579      uwb: 0.50131007     1239.72  1350.76  
imu_odom_:  1691062526.709279527  0.54109    -0.390255  10.1251    -0.0490022  -0.0181095  0.0692422   0.23       -0.02         pose: 0.42953144    -3.68683   -3.7589     0 0.00237217  -0.00177337 0.999841    0.0175743      uwb: 0.0            1239.72  1350.76  
imu_odom_:  1691062526.734277224  0.581791   0.229843   10.4531    -0.0319579  -0.0415453  0.0372843   0.23       -0.02         pose: 0.0           -3.68683   -3.7589     0 0.00237217  -0.00177337 0.999841    0.0175743      uwb: 0.49977603     1240.61  1351.4   
imu_odom_:  1691062526.751269090  0.339977   -0.445322  9.66779    -0.052198   0.0181095   0.0532632   0.23       0             pose: 0.51865686    -3.69599   -3.76291    0 0.00318137  -0.00251556 0.99984     0.017427       uwb: 0.0            1240.61  1351.4   
imu_odom_:  1691062526.776207875  0.476446   -0.229843  9.67497    -0.0266316  0.0447411   0.0372843   0.23       0             pose: 0.0           -3.69599   -3.76291    0 0.00318137  -0.00251556 0.99984     0.017427       uwb: 0.0            1240.61  1351.4   
imu_odom_:  1691062526.803219935  0.292093   -0.42138   9.41161    -0.0607201  -0.0372843  0.0639159   0.21       0             pose: 0.52014422    -3.70916   -3.75777    0 0.00471266  -0.00198167 0.99984     0.0171131      uwb: 0.0            1240.61  1351.4   
imu_odom_:  1691062526.828265753  0.536301   -0.141258  9.68694    -0.0351537  -0.0319579  0.0394148   0.21       0             pose: 0.0           -3.70916   -3.75777    0 0.00471266  -0.00198167 0.99984     0.0171131      uwb: 0.99921669     1240.22  1352.81  
imu_odom_:  1691062526.845316822  0.620098   -0.110133  9.89045    -0.0735032  -0.0351537  0.0532632   0.23       0             pose: 0.41992771    -3.71832   -3.7618     0 0.00283516  -0.0004400250.999852    0.0169909      uwb: 0.0            1240.22  1352.81  
imu_odom_:  1691062526.870196696  0.275333   0.107739   10.1466    -0.0607201  -0.00319579 0.056459    0.23       0             pose: 0.0           -3.71832   -3.7618     0 0.00283516  -0.0004400250.999852    0.0169909      uwb: 0.0            1240.22  1352.81  
imu_odom_:  1691062526.897199423  0.296881   -0.335188  9.97185    -0.0820254  -0.0692422  0.0575243   0.19       0             pose: 0.52125246    -3.7315    -3.75668    0 0.00458952  0.000418774 0.99985     0.0167042      uwb: 0.49814284     1240.53  1353.93  
imu_odom_:  1691062526.922373270  0.186748   -0.483629  10.2352    -0.056459   0.0245011   0.0383495   0.19       0             pose: 0.61849425    -3.74065   -3.76071    0 0.00292896  0.000595798 0.999864    0.0162013      uwb: 0.0            1240.53  1353.93  
imu_odom_:  1691062526.939368636  0.859518   -0.0574608 9.7444     -0.0660464  -0.0692422  0.0532632   0.19       0             pose: 0.0           -3.74065   -3.76071    0 0.00292896  0.000595798 0.999864    0.0162013      uwb: 0.50186710     1241.78  1354.42  
imu_odom_:  1691062526.955191898  0.931344   -0.0742203 9.07163    -0.0479369  -0.0426106  0.0788296   0.19       0             pose: 0.0           -3.74065   -3.76071    0 0.00292896  0.000595798 0.999864    0.0162013      uwb: 0.0            1241.78  1354.42  
imu_odom_:  1691062526.972353207  0.80924    -0.361524  10.1801    -0.0468716  0.00213053  0.111853    0.22       0.23          pose: 0.8150193     -3.74065   -3.76071    0 0.00223282  1.94351e-05 0.999866    0.0162049      uwb: 0.0            1241.78  1354.42  
imu_odom_:  1691062526.989238333  1.56581    -0.272939  10.7141    -0.0500674  -0.04048    0.183225    0.22       0.23          pose: 0.0           -3.74065   -3.76071    0 0.00223282  1.94351e-05 0.999866    0.0162049      uwb: 0.0            1241.78  1354.42  
imu_odom_:  1691062527.5187583    1.72383    -0.342371  9.18655    -0.0479369  0.00958738  0.271642    0.22       0.23          pose: 0.0           -3.74065   -3.76071    0 0.00223282  1.94351e-05 0.999866    0.0162049      uwb: 0.0            1241.78  1354.42  
imu_odom_:  1691062527.22164872   1.69509    -0.366313  10.3884    -0.0585895  0.0287621   0.361125    0.12       0.29          pose: 0.56960066    -3.75382   -3.7556     0 0.00535364  -0.0004414510.999865    0.0155306      uwb: 0.0            1241.78  1354.42  
imu_odom_:  1691062527.39247151   1.38385    -0.490811  9.44991    -0.0660464  0           0.415453    0.11       0.38          pose: 0.0           -3.75382   -3.7556     0 0.00535364  -0.0004414510.999865    0.0155306      uwb: 0.99996043     1245.02  1353.19  
imu_odom_:  1691062527.57187145   1.14443    -0.248997  9.84496    -0.0458064  0.0340885   0.425041    0.11       0.38          pose: 0.67893686    -3.76299   -3.75959    0 0.0118352   -0.001626   0.999898    0.00786099     uwb: 0.0            1245.02  1353.19  
imu_odom_:  1691062527.74241135   1.00317    0.0143652  10.0197    -0.0447411  0.0181095   0.471912    0.1        0.44          pose: 0.0           -3.76299   -3.75959    0 0.0118352   -0.001626   0.999898    0.00786099     uwb: 0.0            1245.02  1353.19  
imu_odom_:  1691062527.90445867   0.351948   -0.328006  9.50259    -0.0681769  0.0394148   0.552872    0.1        0.44          pose: 0.0           -3.76299   -3.75959    0 0.0118352   -0.001626   0.999898    0.00786099     uwb: 0.49921621     1247.29  1352.49  
imu_odom_:  1691062527.108457314  0.895431   -0.830788  9.98622    -0.0607201  -0.015979   0.599744    0.1        0.44          pose: 0.34045860    -3.76299   -3.75959    0 0.0145754   -0.00147333 0.999892    0.00118648     uwb: 0.0            1247.29  1352.49  
imu_odom_:  1691062527.125372191  0.821211   -0.505177  9.77553    -0.0383495  -0.00639159 0.635963    0.08       0.5           pose: 0.44208086    -3.76844   -3.76189    0 0.0140795   -0.00322281 0.999844    -0.0101928     uwb: 0.0            1247.29  1352.49  
imu_odom_:  1691062527.142196368  0.833182   -0.265756  9.99819    -0.0607201  0.0181095   0.678573    0.08       0.5           pose: 0.6762567     -3.77218   -3.76353    0 0.0144543   -0.00375723 0.999814    -0.0122163     uwb: 0.50103313     1249.42  1352.26  
imu_odom_:  1691062527.159312769  0.603339   -0.158017  9.80665    -0.0511327  0.0191748   0.66366     0.09       0.67          pose: 0.0           -3.77218   -3.76353    0 0.0144543   -0.00375723 0.999814    -0.0122163     uwb: 0.0            1249.42  1352.26  
imu_odom_:  1691062527.176311638  0.416591   -0.160412  9.75637    -0.0308927  -0.00426106 0.639159    0.06       0.55          pose: 0.44092888    -3.77214   -3.76349    0 0.0150727   -0.00289164 0.999546    -0.0259326     uwb: 0.0            1249.42  1352.26  
imu_odom_:  1691062527.192447543  0.517148   -0.0335188 9.93354    -0.0468716  -0.00213053 0.647681    0.06       0.58          pose: 0.0           -3.77214   -3.76349    0 0.0150727   -0.00289164 0.999546    -0.0259326     uwb: 0.49883708     1249.04  1353.68  
imu_odom_:  1691062527.210446741  0.751779   -0.320823  10.1466    -0.052198   0.00745685  0.638093    0.06       0.58          pose: 0.0           -3.77214   -3.76349    0 0.0150727   -0.00289164 0.999546    -0.0259326     uwb: 0.0            1249.04  1353.68  
imu_odom_:  1691062527.227163885  0.672771   -0.325611  10.1514    -0.0490022  0.00426106  0.585895    0.05       0.5           pose: 0.23900841    -3.77218   -3.76353    0 0.0130678   -0.00156521 0.999365    -0.0331162     uwb: 0.49876708     1249.89  1354.23  
imu_odom_:  1691062527.243222213  0.622492   -0.0622492 9.69412    -0.0490022  -0.00745685 0.548611    0.05       0.5           pose: 0.0           -3.77218   -3.76353    0 0.0130678   -0.00156521 0.999365    -0.0331162     uwb: 0.0            1249.89  1354.23  
imu_odom_:  1691062527.260161297  0.56982    -0.0526724 9.71567    -0.0543285  -0.00106526 0.52411     0.05       0.5           pose: 0.35132806    -3.77621   -3.75438    0 0.0137531   -0.00273612 0.998956    -0.0434742     uwb: 0.0            1249.89  1354.23  
imu_odom_:  1691062527.277218786  0.708684   -0.1652    10.003     -0.0511327  -0.00213053 0.499609    0.04       0.35          pose: 0.0           -3.77621   -3.75438    0 0.0137531   -0.00273612 0.998956    -0.0434742     uwb: 0.50069192     1249.81  1355.43  
imu_odom_:  1691062527.294273359  0.737414   -0.342371  9.9096     -0.0490022  -0.0127832  0.46339     0.04       0.35          pose: 0.0           -3.77621   -3.75438    0 0.0137531   -0.00273612 0.998956    -0.0434742     uwb: 0.0            1249.81  1355.43  
imu_odom_:  1691062527.312163192  0.723049   -0.196325  9.84017    -0.056459   -0.00852212 0.430367    0.04       0.35          pose: 0.75926943    -3.78534   -3.75834    0 0.0144937   -0.0006279610.997998    -0.0615611     uwb: 0.0            1249.81  1355.43  
imu_odom_:  1691062527.329376126  0.68953    -0.0430956 9.87129    -0.056459   0.00213053  0.394148    0.04       0.29          pose: 0.0           -3.78534   -3.75834    0 0.0144937   -0.0006279610.997998    -0.0615611     uwb: 0.50117603     1250.81  1355.53  
imu_odom_:  1691062527.355307080  0.521936   -0.172383  9.94551    -0.0543285  0           0.340885    0.03       0.26          pose: 0.8004083     -3.78538   -3.75838    0 0.0149786   -5.24196e-060.997894    -0.0631116     uwb: 0.0            1250.81  1355.53  
imu_odom_:  1691062527.372428147  0.531513   -0.208296  9.88087    -0.0511327  0.00639159  0.30147     0.03       0.26          pose: 0.0           -3.78538   -3.75838    0 0.0149786   -5.24196e-060.997894    -0.0631116     uwb: 0.0            1250.81  1355.53  
imu_odom_:  1691062527.389172997  0.071826   -0.201113  9.83059    -0.0639159  0.0436758   0.213053    0.03       0.23          pose: 0.0           -3.78538   -3.75838    0 0.0149786   -5.24196e-060.997894    -0.0631116     uwb: 0.49937370     1252.92  1355.22  
imu_odom_:  1691062527.406288523  -0.471658  0.253785   10.2089    -0.0458064  0.0649811   0.0980043   0.03       0.23          pose: 0.77172833    -3.78538   -3.75838    0 0.00999302  0.00184765  0.997148    -0.0747837     uwb: 0.0            1252.92  1355.22  
imu_odom_:  1691062527.423141281  -1.35751   0.251391   10.1107    -0.0756338  0.0330232   0.140615    0.11       0.29          pose: 0.0           -3.78538   -3.75838    0 0.00999302  0.00184765  0.997148    -0.0747837     uwb: 0.0            1252.92  1355.22  
imu_odom_:  1691062527.439262895  -0.739808  -0.830788  9.8282     -0.0862864  -0.110787   0.219444    0.11       0.29          pose: 0.26838248    -3.78538   -3.75838    0 0.0065763   0.00227325  0.997075    -0.0761178     uwb: 0.49856002     1250.6   1357.87  
imu_odom_:  1691062527.456132568  0.234632   -0.938527  9.75637    -0.0436758  -0.0862864  0.192813    0.11       0.29          pose: 0.7006672     -3.78538   -3.75838    0 0.00575905  0.00229313  0.997053    -0.0764686     uwb: 0.0            1250.6   1357.87  
imu_odom_:  1691062527.482255421  0.641646   0.299275   9.70849    -0.0575243  0.015979    0.22264     0.1        0.14          pose: 0.33986073    -3.78538   -3.75838    0 0.00425475  0.000561499 0.996864    -0.0790205     uwb: 0.50114979     1251.11  1358.6   
imu_odom_:  1691062527.499143468  0.292093   0.0742203  9.90242    -0.0649811  0.0181095   0.217314    0.14       0.14          pose: 0.0           -3.78538   -3.75838    0 0.00425475  0.000561499 0.996864    -0.0790205     uwb: 0.0            1251.11  1358.6   
imu_odom_:  1691062527.516130380  0.56982    -0.277727  10.2137    -0.0479369  -0.0553937  0.185356    0.14       0.14          pose: 0.41881667    -3.79452   -3.76243    0 0.00412068  0.00273711  0.996564    -0.0826793     uwb: 0.0            1251.11  1358.6   
imu_odom_:  1691062527.532193083  1.05105    -0.366313  9.64863    -0.0607201  -0.0756338  0.154463    0.08       0             pose: 0.0           -3.79452   -3.76243    0 0.00412068  0.00273711  0.996564    -0.0826793     uwb: 0.49880208     1252.4   1358.44  
imu_odom_:  1691062527.548127463  1.69749    -0.126893  9.93594    -0.0394148  -0.0351537  0.0639159   0.08       0             pose: 0.0           -3.79452   -3.76243    0 0.00412068  0.00273711  0.996564    -0.0826793     uwb: 0.0            1252.4   1358.44  
imu_odom_:  1691062527.563123344  1.5275     0.237026   9.65821    -0.0639159  0.0149137   -0.0191748  0.08       0             pose: 0.49970325    -3.79452   -3.76243    0 0.00780811  0.0020007   0.996279    -0.0858054     uwb: 0.0            1252.4   1358.44  
imu_odom_:  1691062527.581193119  1.04387    0.0622492  9.68933    -0.0553937  0.0234358   -0.142745   0.06       -0.23         pose: 0.0           -3.79452   -3.76243    0 0.00780811  0.0020007   0.996279    -0.0858054     uwb: 0.50054317     1252.23  1359.54  
imu_odom_:  1691062527.598252066  0.730232   0.213084   10.0078    -0.0468716  0.04048     -0.290817   0.06       -0.23         pose: 0.42059859    -3.80358   -3.76656    0 0.0112668   0.00384503  0.99641     -0.0838232     uwb: 0.0            1252.23  1359.54  
imu_odom_:  1691062527.612183749  0.586579   0.0694318  10.058     -0.0553937  0.00639159  -0.295078   0.06       -0.23         pose: 0.0           -3.80358   -3.76656    0 0.0112668   0.00384503  0.99641     -0.0838232     uwb: 0.0            1252.23  1359.54  
imu_odom_:  1691062527.630129869  0.562637   -0.512359  9.70849    -0.0756338  0.00639159  -0.278034   0.04       -0.26         pose: 0.0           -3.80358   -3.76656    0 0.0112668   0.00384503  0.99641     -0.0838232     uwb: 0.49981116     1254.46  1359.38  
imu_odom_:  1691062527.646132202  0.579397   -0.47884   10.0078    -0.0511327  0.00319579  -0.30147    0.04       -0.29         pose: 0.48936750    -3.80361   -3.7666     0 0.0104468   0.00498626  0.997053    -0.0758347     uwb: 0.0            1254.46  1359.38  
imu_odom_:  1691062527.663123197  0.445322   0.00957681 9.9503     -0.0596548  -0.0127832  -0.319579   0.04       -0.29         pose: 0.0           -3.80361   -3.7666     0 0.0104468   0.00498626  0.997053    -0.0758347     uwb: 0.0            1254.46  1359.38  
imu_odom_:  1691062527.681118312  0.770933   0.0861913  9.85932    -0.0607201  -0.0340885  -0.353668   0.04       -0.41         pose: 0.0           -3.80361   -3.7666     0 0.0104468   0.00498626  0.997053    -0.0758347     uwb: 0.50009405     1255.82  1359.3   
imu_odom_:  1691062527.696124691  0.732626   -0.0814029 9.81144    -0.0671117  -0.0127832  -0.406931   0.04       -0.41         pose: 0.23074915    -3.80361   -3.7666     0 0.00982154  0.00391489  0.997359    -0.0718579     uwb: 0.0            1255.82  1359.3   
imu_odom_:  1691062527.713131435  0.653617   -0.234632  9.94791    -0.0628506  0.00106526  -0.428236   0.04       -0.41         pose: 0.0           -3.80361   -3.7666     0 0.00982154  0.00391489  0.997359    -0.0718579     uwb: 0.0            1255.82  1359.3   
imu_odom_:  1691062527.731123342  0.509965   -0.311246  9.94312    -0.072438   0.00106526  -0.421845   0.03       -0.44         pose: 0.33921329    -3.80361   -3.7666     0 0.0110105   0.0062117   0.997793    -0.0651931     uwb: 0.49956035     1258.38  1358.25  
imu_odom_:  1691062527.747123050  0.205901   -0.366313  9.76834    -0.0617853  -0.00106526 -0.420779   0.03       -0.44         pose: 0.34065400    -3.80361   -3.7666     0 0.0115737   0.00403444  0.998277    -0.0573898     uwb: 0.0            1258.38  1358.25  
imu_odom_:  1691062527.764120754  0.409408   -0.110133  9.78271    -0.0585895  -0.02024    -0.405866   0.03       -0.44         pose: 0.0           -3.80361   -3.7666     0 0.0115737   0.00403444  0.998277    -0.0573898     uwb: 0.0            1258.38  1358.25  
imu_odom_:  1691062527.781116415  0.684742   -0.292093  9.94791    -0.0660464  -0.02024    -0.337689   0.04       -0.53         pose: 0.42929241    -3.80358   -3.76656    0 0.00806095  0.00289766  0.998828    -0.0476464     uwb: 0.49953701     1258.17  1359.27  
imu_odom_:  1691062527.797114665  0.749385   -0.373495  9.85932    -0.056459   -0.0170442  -0.304666   0.03       -0.35         pose: 0.0           -3.80358   -3.76656    0 0.00806095  0.00289766  0.998828    -0.0476464     uwb: 0.0            1258.17  1359.27  
imu_odom_:  1691062527.814222317  0.782904   -0.318429  10.0006    -0.0447411  -0.00852212 -0.279099   0.03       -0.35         pose: 0.0           -3.80358   -3.76656    0 0.00806095  0.00289766  0.998828    -0.0476464     uwb: 0.0            1258.17  1359.27  
imu_odom_:  1691062527.830114118  0.665588   -0.138864  9.85932    -0.0649811  0.00319579  -0.236489   0.02       -0.29         pose: 0.7002879     -3.80361   -3.7666     0 0.00862155  0.00238901  0.998886    -0.0463317     uwb: 0.50146476     1258.3   1359.46  
imu_odom_:  1691062527.847178607  0.4956     -0.301669  9.98382    -0.056459   0.00639159  -0.215183   0.02       -0.29         pose: 0.0           -3.80361   -3.7666     0 0.00862155  0.00238901  0.998886    -0.0463317     uwb: 0.0            1258.3   1359.46  
imu_odom_:  1691062527.863168691  0.438139   -0.258574  9.87608    -0.0553937  -0.00532632 -0.217314   0.02       -0.29         pose: 0.0           -3.80361   -3.7666     0 0.00862155  0.00238901  0.998886    -0.0463317     uwb: 0.0            1258.3   1359.46  
imu_odom_:  1691062527.880105150  0.557849   -0.105345  9.91199    -0.0553937  -0.0213053  -0.183225   0.02       -0.32         pose: 0.51068645    -3.80361   -3.7666     0 0.0123151   0.000558221 0.999206    -0.037894      uwb: 0.49868834     1259.76  1358.85  
imu_odom_:  1691062527.896378125  0.612916   -0.356736  9.84496    -0.0639159  -0.0127832  -0.162985   0.02       -0.32         pose: 0.0           -3.80361   -3.7666     0 0.0123151   0.000558221 0.999206    -0.037894      uwb: 0.0            1259.76  1358.85  
imu_odom_:  1691062527.914283415  0.605733   -0.217872  9.95509    -0.0490022  -0.00319579 -0.15979    0.02       -0.32         pose: 0.65995989    -3.81684   -3.7616     0 0.00934016  0.000742707 0.99951     -0.0298704     uwb: 0.0            1259.76  1358.85  
imu_odom_:  1691062527.930137011  0.605733   -0.153229  9.87848    -0.0607201  -0.00532632 -0.135289   0.01       -0.17         pose: 0.0           -3.81684   -3.7616     0 0.00934016  0.000742707 0.99951     -0.0298704     uwb: 0.50247967     1261.76  1357.65  
imu_odom_:  1691062527.947271785  0.56982    -0.260968  9.91199    -0.056459   -0.00319579 -0.11931    0.01       -0.17         pose: 0.0           -3.81684   -3.7616     0 0.00934016  0.000742707 0.99951     -0.0298704     uwb: 0.0            1261.76  1357.65  
imu_odom_:  1691062527.972214660  0.514753   -0.217872  9.88805    -0.0553937  -0.00745685 -0.109722   0.01       -0.17         pose: 0.33103277    -3.81684   -3.7616     0 0.0110414   0.00114447  0.999583    -0.0266393     uwb: 0.0            1261.76  1357.65  
imu_odom_:  1691062527.986116304  0.493206   -0.191536  9.90721    -0.0575243  -0.0117179  -0.100135   0.01       -0.14         pose: 0.32872298    -3.81684   -3.7616     0 0.00927328  0.000388953 0.999669    -0.0239967     uwb: 0.49752470     1259.9   1359.04  
imu_odom_:  1691062528.11209375   0.349553   -0.0670376 9.94312    -0.0543285  0.00213053  -0.184291   0.01       -0.14         pose: 0.0           -3.81684   -3.7616     0 0.00927328  0.000388953 0.999669    -0.0239967     uwb: 0.0            1259.9   1359.04  
imu_odom_:  1691062528.38091668   0.486023   0.105345   9.991      -0.0617853  -0.0340885  -0.276969   0.02       -0.35         pose: 0.38979548    -3.81684   -3.7616     0 0.00566635  0.00109861  0.999765    -0.0208872     uwb: 0.50114110     1259.78  1359.53  
imu_odom_:  1691062528.54307778   0.454898   -0.275333  9.67018    -0.0660464  -0.0234358  -0.331297   0.02       -0.35         pose: 0.0           -3.81684   -3.7616     0 0.00566635  0.00109861  0.999765    -0.0208872     uwb: 0.0            1259.78  1359.53  
imu_odom_:  1691062528.81235275   0.512359   -0.222661  9.88087    -0.0575243  -0.0245011  -0.383495   0.02       -0.47         pose: 0.53248670    -3.81684   -3.7616     0 0.00439253  0.00397924  0.999897    -0.0130543     uwb: 0.50122865     1258.44  1360.99  
imu_odom_:  1691062528.106181656  0.526724   -0.177171  9.91439    -0.0649811  -0.0213053  -0.406931   0.02       -0.47         pose: 0.34843215    -3.81681   -3.76157    0 0.0054848   0.00064283  0.999967    -0.0059057     uwb: 0.0            1258.44  1360.99  
imu_odom_:  1691062528.133205103  0.663194   -0.1652    10.0509    -0.0660464  -0.0127832  -0.421845   0.02       -0.58         pose: 0.0           -3.81681   -3.76157    0 0.0054848   0.00064283  0.999967    -0.0059057     uwb: 0.0            1258.44  1360.99  
imu_odom_:  1691062528.158139526  0.42138    -0.162806  9.96467    -0.0575243  0.0191748   -0.471912   0.02       -0.55         pose: 0.8046081     -3.81684   -3.7616     0 0.00597733  0.00129776  0.999973    -0.00410572    uwb: 0.0            1258.44  1360.99  
imu_odom_:  1691062528.185092688  0.505177   -0.102951  9.83538    -0.0617853  -0.00958738 -0.490022   0.02       -0.55         pose: 0.0           -3.81684   -3.7616     0 0.00597733  0.00129776  0.999973    -0.00410572    uwb: 0.99869515     1255.64  1363.06  
imu_odom_:  1691062528.210087481  0.720655   -0.143652  9.95748    -0.0585895  -0.0340885  -0.533697   0.01       -0.61         pose: 0.51819050    -3.81684   -3.7616     0 0.0089234   0.0025155   0.999926    0.0079238      uwb: 0.0            1255.64  1363.06  
imu_odom_:  1691062528.227240049  0.672771   -0.217872  9.80426    -0.0607201  0.00532632  -0.560329   0.01       -0.61         pose: 0.0           -3.81684   -3.7616     0 0.0089234   0.0025155   0.999926    0.0079238      uwb: 0.49859222     1256.37  1362.75  
imu_odom_:  1691062528.253337537  0.509965   -0.196325  9.85214    -0.0607201  -0.00852212 -0.596548   0.01       -0.58         pose: 0.52027864    -3.81684   -3.7616     0 0.00667569  0.00477783  0.99973     0.0217408      uwb: 0.0            1256.37  1362.75  
imu_odom_:  1691062528.270224421  0.543484   -0.155623  10.0006    -0.0607201  -0.00639159 -0.615723   0.01       -0.58         pose: 0.0           -3.81684   -3.7616     0 0.00667569  0.00477783  0.99973     0.0217408      uwb: 0.0            1256.37  1362.75  
imu_odom_:  1691062528.286054689  0.612916   -0.227449  9.94551    -0.0617853  -0.0223706  -0.619984   0.01       -0.64         pose: 0.66979711    -3.81684   -3.7616     0 0.0072553   0.00260298  0.999078    0.0422308      uwb: 0.50119658     1255.49  1363.51  
imu_odom_:  1691062528.303062896  0.371101   -0.138864  9.79468    -0.0649811  -0.0127832  -0.638093   0.01       -0.64         pose: 0.0           -3.81684   -3.7616     0 0.0072553   0.00260298  0.999078    0.0422308      uwb: 0.0            1255.49  1363.51  
imu_odom_:  1691062528.320066144  0.497994   -0.234632  9.76834    -0.0553937  -0.0191748  -0.650877   0.01       -0.64         pose: 0.0           -3.81684   -3.7616     0 0.0072553   0.00260298  0.999078    0.0422308      uwb: 0.0            1255.49  1363.51  
imu_odom_:  1691062528.335160312  0.596156   -0.1652    9.89524    -0.0649811  -0.0213053  -0.66579    0.01       -0.64         pose: 0.50960458    -3.81684   -3.7616     0 0.00612005  0.00181031  0.998222    0.0592707      uwb: 0.49871471     1256.51  1362.94  
imu_odom_:  1691062528.351288346  0.684742   -0.11971   9.75877    -0.0511327  -0.0191748  -0.696683   0.01       -0.64         pose: 0.0           -3.81684   -3.7616     0 0.00612005  0.00181031  0.998222    0.0592707      uwb: 0.0            1256.51  1362.94  
imu_odom_:  1691062528.377118982  0.531513   -0.19393   9.94791    -0.0607201  0.0138484   -0.709466   0.01       -0.7          pose: 0.40219907    -3.8168    -3.76156    0 0.00907913  0.00187575  0.997245    0.0736025      uwb: 0.50076204     1255.59  1363.67  
imu_odom_:  1691062528.394054278  -0.071826  -0.248997  9.77074    -0.0532632  0.04048     -0.716923   0.01       -0.7          pose: 0.0           -3.8168    -3.76156    0 0.00907913  0.00187575  0.997245    0.0736025      uwb: 0.0            1255.59  1363.67  
imu_odom_:  1691062528.410053407  -0.21069   -0.162806  10.1131    -0.0458064  0.0426106   -0.719054   0.01       -0.7          pose: 0.6927930     -3.81684   -3.7616     0 0.00839635  0.00156299  0.997057    0.0761885      uwb: 0.0            1255.59  1363.67  
imu_odom_:  1691062528.428055525  -0.28491   -0.124498  10.173     -0.0628506  -0.0575243  -0.72438    0.04       -0.79         pose: 0.0           -3.81684   -3.7616     0 0.00839635  0.00156299  0.997057    0.0761885      uwb: 0.50103325     1255.65  1363.74  
imu_odom_:  1691062528.445055274  -0.158017  0.00718261 10.1825    -0.0553937  -0.00213053 -0.677508   0.05       -0.53         pose: 0.0           -3.81684   -3.7616     0 0.00839635  0.00156299  0.997057    0.0761885      uwb: 0.0            1255.65  1363.74  
imu_odom_:  1691062528.459107700  -0.533907  -0.512359  9.63187    -0.0713727  -0.0138484  -0.557133   0.05       -0.53         pose: 0.76892002    -3.81684   -3.7616     0 0.000535598 0.00164322  0.994467    0.105032       uwb: 0.0            1255.65  1363.74  
imu_odom_:  1691062528.476198441  -0.162806  -0.706289  9.98143    -0.076699   -0.04048    -0.461259   0.06       -0.5          pose: 0.0           -3.81684   -3.7616     0 0.000535598 0.00164322  0.994467    0.105032       uwb: 0.0            1255.65  1363.74  
imu_odom_:  1691062528.492166656  0.347159   -0.435745  9.84017    -0.0479369  -0.0319579  -0.466586   0.06       -0.5          pose: 0.0           -3.81684   -3.7616     0 0.000535598 0.00164322  0.994467    0.105032       uwb: 0.49989878     1257.69  1362.59  
imu_odom_:  1691062528.509126159  0.464475   0.160412   9.84496    -0.0500674  -0.0298274  -0.451672   0.06       -0.5          pose: 0.31053633    -3.82598   -3.76566    0 -0.00214667 0.00107515  0.99342     0.114506       uwb: 0.0            1257.69  1362.59  
imu_odom_:  1691062528.526080703  0.246603   0.047884   9.91918    -0.0553937  -0.0234358  -0.432497   0.09       -0.44         pose: 0.42964248    -3.82594   -3.76562    0 -0.00187622 0.000338831 0.992136    0.125152       uwb: 0.0            1257.69  1362.59  
imu_odom_:  1691062528.541061422  -0.023942  -0.260968  9.84017    -0.0532632  0.015979    -0.442085   0.09       -0.44         pose: 0.0           -3.82594   -3.76562    0 -0.00187622 0.000338831 0.992136    0.125152       uwb: 0.49701445     1256.99  1362.94  
imu_odom_:  1691062528.557132003  -0.265756  -0.270545  9.72525    -0.0468716  0.00852212  -0.430367   0.09       -0.44         pose: 0.0           -3.82594   -3.76562    0 -0.00187622 0.000338831 0.992136    0.125152       uwb: 0.0            1256.99  1362.94  
imu_odom_:  1691062528.572201089  0.129287   -0.222661  10.1466    -0.0511327  0.00213053  -0.387756   0.1        -0.44         pose: 0.7957422     -3.82598   -3.76566    0 -0.00203943 0.00108628  0.991898    0.127014       uwb: 0.0            1256.99  1362.94  
imu_odom_:  1691062528.588035732  0.059855   -0.476446  9.71567    -0.0703074  -0.00745685 -0.340885   0.09       -0.41         pose: 0.0           -3.82598   -3.76566    0 -0.00203943 0.00108628  0.991898    0.127014       uwb: 0.50105367     1256.16  1363.79  
imu_odom_:  1691062528.605219507  0.0957681  -0.0383072 10.0772    -0.0490022  -0.0351537  -0.333428   0.09       -0.41         pose: 0.0           -3.82598   -3.76566    0 -0.00203943 0.00108628  0.991898    0.127014       uwb: 0.0            1256.16  1363.79  
imu_odom_:  1691062528.623098261  0.629675   -0.0167594 10.0006    -0.0607201  -0.0351537  -0.313188   0.11       -0.35         pose: 0.62196216    -3.83      -3.7565     0 -0.00762676 0.001274    0.989984    0.140969       uwb: 0.0            1256.16  1363.79  
imu_odom_:  1691062528.640116675  0.68953    -0.138864  9.83777    -0.0436758  0.00852212  -0.309992   0.11       -0.35         pose: 0.0           -3.83      -3.7565     0 -0.00762676 0.001274    0.989984    0.140969       uwb: 0.49932716     1256.53  1363.64  
imu_odom_:  1691062528.654111356  0.299275   0.0263362  10.1634    -0.0479369  -0.0511327  -0.296144   0.11       -0.35         pose: 0.33945836    -3.83916   -3.76052    0 -0.00791416 0.00222771  0.989076    0.147175       uwb: 0.0            1256.53  1363.64  
imu_odom_:  1691062528.671238844  1.2402     -0.294487  10.4914    -0.0628506  -0.0713727  -0.282295   0.1        -0.29         pose: 0.40885723    -3.83912   -3.76049    0 -0.00462998 0.00383459  0.98803     0.154148       uwb: 0.0            1256.53  1363.64  
imu_odom_:  1691062528.688092481  1.42455    0.0861913  9.67018    -0.0596548  -0.0639159  -0.230097   0.1        -0.29         pose: 0.6962635     -3.83916   -3.76052    0 -0.0037428  0.00355793  0.987861    0.155254       uwb: 0.50065704     1256.86  1363.44  
imu_odom_:  1691062528.706084975  1.1971     -0.426168  10.0293    -0.0671117  0.0415453   -0.194943   0.1        -0.29         pose: 0.0           -3.83916   -3.76052    0 -0.0037428  0.00355793  0.987861    0.155254       uwb: 0.0            1256.86  1363.44  
imu_odom_:  1691062528.722037150  1.22583    -0.529119  9.72285    -0.0511327  0.0170442   -0.193878   0.07       -0.26         pose: 0.35021991    -3.8432    -3.75138    0 0.000237837 0.00276057  0.987108    0.160034       uwb: 0.0            1256.86  1363.44  
imu_odom_:  1691062528.739085311  1.03669    -0.0550666 9.8665     -0.0415453  0.0191748   -0.199204   0.07       -0.29         pose: 0.0           -3.8432    -3.75138    0 0.000237837 0.00276057  0.987108    0.160034       uwb: 0.50103909     1254.67  1365.06  
imu_odom_:  1691062528.757043100  0.696713   0.0981623  9.91439    -0.0553937  -0.0106526  -0.211988   0.07       -0.29         pose: 0.32940841    -3.85236   -3.75541    0 0.00267883  0.00155412  0.986482    0.163843       uwb: 0.0            1254.67  1365.06  
imu_odom_:  1691062528.774020101  0.560243   -0.134075  9.88566    -0.0500674  0.0127832   -0.221575   0.06       -0.26         pose: 0.0           -3.85236   -3.75541    0 0.00267883  0.00155412  0.986482    0.163843       uwb: 0.0            1254.67  1365.06  
imu_odom_:  1691062528.788017699  0.634463   -0.316035  9.84256    -0.0649811  -0.0298274  -0.213053   0.06       -0.26         pose: 0.0           -3.85236   -3.75541    0 0.00267883  0.00155412  0.986482    0.163843       uwb: 0.49950798     1254.39  1365.34  
imu_odom_:  1691062528.805166184  0.924162   -0.222661  9.97664    -0.0660464  -0.0170442  -0.203466   0.06       -0.26         pose: 0.35046781    -3.85236   -3.75541    0 0.00565384  0.00284863  0.98574     0.168155       uwb: 0.0            1254.39  1365.34  
imu_odom_:  1691062528.822080774  0.727837   -0.311246  9.77553    -0.0596548  0.00426106  -0.178964   0.04       -0.2          pose: 0.41082580    -3.85232   -3.75537    0 0.00898668  0.000837774 0.984844    0.173208       uwb: 0.0            1254.39  1365.34  
imu_odom_:  1691062528.839172098  0.679953   -0.184354  9.7875     -0.0628506  0           -0.170442   0.04       -0.2          pose: 0.6918306     -3.85236   -3.75541    0 0.00937777  0.000286933 0.98471     0.173947       uwb: 0.49989585     1254.05  1365.52  
imu_odom_:  1691062528.855111149  0.574608   -0.21069   9.90002    -0.0511327  0.0106526   -0.15979    0.04       -0.2          pose: 0.0           -3.85236   -3.75541    0 0.00937777  0.000286933 0.98471     0.173947       uwb: 0.0            1254.05  1365.52  
imu_odom_:  1691062528.882057311  0.708684   -0.225055  9.79947    -0.056459   -0.0149137  -0.128897   0.05       -0.2          pose: 0.43026659    -3.85232   -3.75537    0 0.00993053  -0.0009841560.983919    0.178338       uwb: 0.50035082     1253.92  1366.01  
imu_odom_:  1691062528.898129934  0.287304   -0.37589   9.75158    -0.0617853  0.0372843   -0.135289   0.03       -0.14         pose: 0.0           -3.85232   -3.75537    0 0.00993053  -0.0009841560.983919    0.178338       uwb: 0.0            1253.92  1366.01  
imu_odom_:  1691062528.925014852  -1.40061   0.167594   9.79947    -0.0394148  0.0756338   -0.166181   0.03       -0.14         pose: 0.35044739    -3.85236   -3.75541    0 0.0115942   -0.00225098 0.983366    0.181252       uwb: 0.0            1253.92  1366.01  
imu_odom_:  1691062528.942020725  -1.25456   -0.294487  10.1131    -0.0777643  -0.0692422  -0.0735032  0.07       -0.11         pose: 0.0           -3.85236   -3.75541    0 0.0115942   -0.00225098 0.983366    0.181252       uwb: 0.49891595     1252.14  1367.55  
imu_odom_:  1691062528.964069945  0.342371   -0.387861  9.90481    -0.0617853  -0.0862864  -0.0958738  0.07       -0.11         pose: 0.42880255    -3.85638   -3.74625    0 0.00658813  -0.00103718 0.982695    0.185111       uwb: 0.0            1252.14  1367.55  
imu_odom_:  1691062528.987117451  0.732626   0.11971    9.89524    -0.056459   -0.0266316  -0.0862864  0.09       -0.08         pose: 0.31033802    -3.86287   -3.74912    0 0.00500492  -0.00250828 0.982331    0.187071       uwb: 0.49896260     1251.23  1368.29  
imu_odom_:  1691062529.12172324   0.0383072  -0.442927  9.62469    -0.0628506  0.0245011   -0.0596548  0.09       -0.08         pose: 0.6131750     -3.86553   -3.75028    0 0.00548656  -0.00206908 0.982256    0.187453       uwb: 0.0            1251.23  1368.29  
imu_odom_:  1691062529.37061549   0.169988   -0.265756  9.80426    -0.036219   -0.0266316  -0.0894822  0.14       -0.11         pose: 0.41970629    -3.8655    -3.75025    0 0.00401745  -0.00150924 0.981828    0.189723       uwb: 0.50042379     1252.42  1367.96  
imu_odom_:  1691062529.51074607   0.294487   -0.0215478 9.66779    -0.0372843  -0.0181095  -0.0649811  0.14       -0.11         pose: 0.0           -3.8655    -3.75025    0 0.00401745  -0.00150924 0.981828    0.189723       uwb: 0.0            1252.42  1367.96  
imu_odom_:  1691062529.76186938   0.418985   -0.325611  9.96467    -0.0553937  0.0479369   -0.04048    0.11       -0.08         pose: 0.38902283    -3.86553   -3.75028    0 0.00139519  0.000245385 0.98139     0.192018       uwb: 0.0            1252.42  1367.96  
imu_odom_:  1691062529.99991550   0.323217   -0.23942   10.2352    -0.0479369  -0.0138484  -0.052198   0.11       -0.08         pose: 0.0           -3.86553   -3.75028    0 0.00139519  0.000245385 0.98139     0.192018       uwb: 0.50056676     1250.57  1369.39  
imu_odom_:  1691062529.124107926  -0.0215478 -0.162806  9.58878    -0.072438   -0.0255663  -0.0276969  0.13       -0.08         pose: 0.48916943    -3.87866   -3.74508    0 -0.00202929 -0.00112444 0.980985    0.194068       uwb: 0.0            1250.57  1369.39  
imu_odom_:  1691062529.140007318  0.272939   -0.25618   9.89045    -0.0543285  -0.00852212 -0.0255663  0.13       -0.08         pose: 0.0           -3.87866   -3.74508    0 -0.00202929 -0.00112444 0.980985    0.194068       uwb: 0.50140085     1251.04  1369.39  
imu_odom_:  1691062529.164058658  0.304064   -0.196325  10.1754    -0.0639159  0.0436758   -0.0319579  0.2        -0.11         pose: 0.40015768    -3.87869   -3.74512    0 -0.00558538 -0.0006315960.980715    0.195364       uwb: 0.0            1251.04  1369.39  
imu_odom_:  1691062529.191048574  0.679953   -0.217872  9.60075    -0.0798948  -0.0138484  -0.00639159 0.2        -0.11         pose: 0.0           -3.87869   -3.74512    0 -0.00558538 -0.0006315960.980715    0.195364       uwb: 0.49879941     1253.5   1368.16  
imu_odom_:  1691062529.207054123  0.988805   0.0454898  10.1011    -0.0649811  -0.0330232  -0.00958738 0.13       -0.05         pose: 0.51041256    -3.88916   -3.73878    0 -0.00263701 0.000651044 0.980439    0.196804       uwb: 0.0            1253.5   1368.16  
imu_odom_:  1691062529.224970503  0.730232   -0.306458  9.1267     -0.0788296  -0.0106526  0.0415453   0.13       -0.05         pose: 0.0           -3.88916   -3.73878    0 -0.00263701 0.000651044 0.980439    0.196804       uwb: 0.0            1253.5   1368.16  
imu_odom_:  1691062529.242098287  0.799663   -0.447716  9.90242    -0.0479369  0.00639159  0.0543285   0.11       0.14          pose: 0.0           -3.88916   -3.73878    0 -0.00263701 0.000651044 0.980439    0.196804       uwb: 0.50050260     1252.43  1369.35  
imu_odom_:  1691062529.256099971  1.30005    -0.306458  10.3406    -0.036219   -0.0149137  0.0894822   0.11       0.14          pose: 0.41045260    -3.89188   -3.73997    0 0.00123824  -0.0006853960.980379    0.197119       uwb: 0.0            1252.43  1369.35  
imu_odom_:  1691062529.273065602  1.28569    -0.308852  9.61751    -0.0553937  0.00319579  0.24288     0.11       0.14          pose: 0.0           -3.89188   -3.73997    0 0.00123824  -0.0006853960.980379    0.197119       uwb: 0.0            1252.43  1369.35  
imu_odom_:  1691062529.286977168  1.43413    -0.629675  10.1873    -0.0511327  0.00426106  0.334493    0.09       0.32          pose: 0.0           -3.89188   -3.73997    0 0.00123824  -0.0006853960.980379    0.197119       uwb: 0.49977057     1251.62  1370.24  
imu_odom_:  1691062529.302981843  0.785298   -0.694318  9.63906    -0.0479369  0.0117179   0.395213    0.09       0.32          pose: 0.46914828    -3.89188   -3.73997    0 0.00540182  -0.00239783 0.980954    0.19415        uwb: 0.0            1251.62  1370.24  
imu_odom_:  1691062529.320132082  0.842759   -0.342371  10.0341    -0.0383495  0.00852212  0.464455    0.09       0.32          pose: 0.0           -3.89188   -3.73997    0 0.00540182  -0.00239783 0.980954    0.19415        uwb: 0.0            1251.62  1370.24  
imu_odom_:  1691062529.338032131  0.952892   -0.110133  9.79228    -0.0532632  -0.00852212 0.531567    0.07       0.41          pose: 0.41123420    -3.90097   -3.73297    0 0.00789559  -0.00483328 0.98239     0.186615       uwb: 0.0            1251.62  1370.24  
imu_odom_:  1691062529.355143000  0.842759   -0.325611  9.81144    -0.052198   0.0181095   0.549676    0.06       0.38          pose: 0.0           -3.90097   -3.73297    0 0.00789559  -0.00483328 0.98239     0.186615       uwb: 0.0            1251.62  1370.24  
imu_odom_:  1691062529.372149169  0.577003   -0.246603  10.0269    -0.0458064  0.0223706   0.552872    0.06       0.38          pose: 0.25851641    -3.90502   -3.73476    0 0.0102895   -0.00477668 0.983546    0.1803         uwb: 0.0            1251.62  1370.24  
imu_odom_:  1691062529.389977766  0.368707   -0.124498  9.96706    -0.0490022  0.0127832   0.556068    0.07       0.58          pose: 0.0           -3.90502   -3.73476    0 0.0102895   -0.00477668 0.983546    0.1803         uwb: 0.99910078     1250.82  1371.16  
imu_odom_:  1691062529.407093009  0.411803   -0.0981623 9.87608    -0.0490022  -0.0234358  0.56459     0.07       0.58          pose: 0.0           -3.90502   -3.73476    0 0.0102895   -0.00477668 0.983546    0.1803         uwb: 0.0            1250.82  1371.16  
imu_odom_:  1691062529.422030860  0.742203   -0.248997  9.84975    -0.0468716  -0.00958738 0.565655    0.07       0.58          pose: 0.34109746    -3.90502   -3.73476    0 0.00874672  -0.00352144 0.985105    0.171695       uwb: 0.0            1250.82  1371.16  
imu_odom_:  1691062529.438080738  0.80924    -0.311246  9.92157    -0.0553937  0.00426106  0.566721    0.04       0.53          pose: 0.41937391    -3.90499   -3.73473    0 0.00850983  -0.00191548 0.986935    0.160883       uwb: 0.0            1250.82  1371.16  
imu_odom_:  1691062529.455138236  0.565032   -0.280122  9.77792    -0.0500674  0.00745685  0.575243    0.04       0.53          pose: 0.6107254     -3.90502   -3.73476    0 0.00901291  -0.00222497 0.987188    0.159292       uwb: 0.0            1250.82  1371.16  
imu_odom_:  1691062529.472022791  0.407014   -0.191536  9.97185    -0.0436758  0.00852212  0.580569    0.04       0.53          pose: 0.0           -3.90502   -3.73476    0 0.00901291  -0.00222497 0.987188    0.159292       uwb: 0.0            1250.82  1371.16  
imu_odom_:  1691062529.487967096  0.581791   -0.287304  10.0078    -0.0447411  -0.00426106 0.548611    0.04       0.47          pose: 0.43884677    -3.90499   -3.73473    0 0.00692801  -0.00291048 0.989009    0.147662       uwb: 0.99893454     1249.15  1372.87  
imu_odom_:  1691062529.505045592  0.641646   0.0215478  9.76116    -0.0500674  0.00106526  0.502805    0.05       0.61          pose: 0.0           -3.90499   -3.73473    0 0.00692801  -0.00291048 0.989009    0.147662       uwb: 0.0            1249.15  1372.87  
imu_odom_:  1691062529.521191128  0.675165   -0.0167594 10.0173    -0.0532632  0.00958738  0.468716    0.05       0.61          pose: 0.0           -3.90499   -3.73473    0 0.00692801  -0.00291048 0.989009    0.147662       uwb: 0.0            1249.15  1372.87  
imu_odom_:  1691062529.537965151  0.696713   -0.220267  9.77792    -0.0532632  0.00106526  0.416518    0.04       0.55          pose: 0.22944855    -3.90502   -3.73476    0 0.00810267  -0.00350163 0.989822    0.14204        uwb: 0.50178873     1249.16  1372.89  
imu_odom_:  1691062529.554070442  0.632069   -0.126893  9.98622    -0.0458064  0.00852212  0.369647    0.04       0.55          pose: 0.0           -3.90502   -3.73476    0 0.00810267  -0.00350163 0.989822    0.14204        uwb: 0.0            1249.16  1372.89  
imu_odom_:  1691062529.571074569  0.428562   -0.189142  9.90481    -0.0553937  0.00852212  0.367516    0.04       0.55          pose: 0.32991303    -3.90502   -3.73476    0 0.00984261  -0.0013228  0.990788    0.135055       uwb: 0.0            1249.16  1372.89  
imu_odom_:  1691062529.587141363  0.414197   -0.270545  9.95988    -0.0553937  0.00106526  0.366451    0.02       0.29          pose: 0.43115620    -3.90899   -3.72558    0 0.00935742  0.000247368 0.991755    0.127806       uwb: 0.50185581     1247.67  1374.19  
imu_odom_:  1691062529.604010753  0.531513   -0.272939  9.8258     -0.0490022  -0.0170442  0.34408     0.02       0.29          pose: 0.7032339     -3.90899   -3.72558    0 0.00867382  1.11195e-05 0.991908    0.126665       uwb: 0.0            1247.67  1374.19  
imu_odom_:  1691062529.620007552  0.667982   -0.124498  9.8689     -0.0479369  -0.00426106 0.316384    0.02       0.29          pose: 0.0           -3.90899   -3.72558    0 0.00867382  1.11195e-05 0.991908    0.126665       uwb: 0.0            1247.67  1374.19  
imu_odom_:  1691062529.636976100  0.641646   -0.059855  9.94791    -0.0575243  0.00213053  0.299339    0.03       0.35          pose: 0.41900644    -3.90895   -3.72554    0 0.00852661  -0.0008517810.992683    0.120447       uwb: 0.49695916     1247.93  1374.58  
imu_odom_:  1691062529.652967067  0.536301   -0.177171  9.94551    -0.056459   0.00852212  0.282295    0.02       0.23          pose: 0.0           -3.90895   -3.72554    0 0.00852661  -0.0008517810.992683    0.120447       uwb: 0.0            1247.93  1374.58  
imu_odom_:  1691062529.669943197  0.54109    -0.23942   9.90721    -0.0575243  -0.00319579 0.26312     0.02       0.23          pose: 0.0           -3.90895   -3.72554    0 0.00852661  -0.0008517810.992683    0.120447       uwb: 0.0            1247.93  1374.58  
imu_odom_:  1691062529.685999492  0.466869   -0.0957681 9.80426    -0.052198   0.00426106  0.245011    0.01       0.2           pose: 0.23960349    -3.90899   -3.72558    0 0.00863654  0.000705511 0.993043    0.117432       uwb: 0.50101297     1246.32  1375.7   
imu_odom_:  1691062529.702996328  0.507571   -0.148441  9.92636    -0.0553937  0.00106526  0.246076    0.01       0.2           pose: 0.0           -3.90899   -3.72558    0 0.00863654  0.000705511 0.993043    0.117432       uwb: 0.0            1246.32  1375.7   
imu_odom_:  1691062529.718992253  0.493206   -0.205901  9.84496    -0.056459   -0.00532632 0.229032    0.01       0.2           pose: 0.33022509    -3.91815   -3.72959    0 0.00687819  -0.0001338370.993487    0.113739       uwb: 0.0            1246.32  1375.7   
imu_odom_:  1691062529.736004547  0.593762   -0.141258  9.87129    -0.0511327  -0.00106526 0.208792    0.02       0.23          pose: 0.42001843    -3.91815   -3.72959    0 0.00510694  0.000819471 0.993964    0.109581       uwb: 0.49787782     1245.76  1376.27  
imu_odom_:  1691062529.751991431  0.560243   -0.0933739 9.88326    -0.0543285  -0.00106526 0.198139    0.02       0.23          pose: 0.0           -3.91815   -3.72959    0 0.00510694  0.000819471 0.993964    0.109581       uwb: 0.0            1245.76  1376.27  
imu_odom_:  1691062529.768987684  0.536301   -0.181959  9.93354    -0.0553937  0.00213053  0.18003     0.02       0.23          pose: 0.0           -3.91815   -3.72959    0 0.00510694  0.000819471 0.993964    0.109581       uwb: 0.0            1245.76  1376.27  
imu_odom_:  1691062529.785006065  0.526724   -0.158017  9.85214    -0.0543285  -0.00213053 0.156594    0.01       0.14          pose: 0.7005217     -3.91815   -3.72959    0 0.00575581  0.00107457  0.994025    0.108992       uwb: 0.49999515     1245.81  1376.35  
imu_odom_:  1691062529.802009027  0.500388   -0.162806  9.8665     -0.0553937  0.00106526  0.147006    0.01       0.14          pose: 0.0           -3.91815   -3.72959    0 0.00575581  0.00107457  0.994025    0.108992       uwb: 0.0            1245.81  1376.35  
imu_odom_:  1691062529.818058905  0.54109    -0.174777  9.87129    -0.0553937  -0.00639159 0.138484    0.01       0.14          pose: 0.66016437    -3.91815   -3.72959    0 0.00579868  0.00241867  0.994515    0.104405       uwb: 0.0            1245.81  1376.35  
imu_odom_:  1691062529.834089827  0.533907   -0.179565  9.8665     -0.0543285  -0.00426106 0.11931     0          0.08          pose: 0.0           -3.91815   -3.72959    0 0.00579868  0.00241867  0.994515    0.104405       uwb: 0.50025470     1248.23  1375.03  
imu_odom_:  1691062529.851141784  0.553061   -0.162806  9.8665     -0.0553937  -0.00426106 0.104396    0          0.08          pose: 0.0           -3.91815   -3.72959    0 0.00579868  0.00241867  0.994515    0.104405       uwb: 0.0            1248.23  1375.03  
imu_odom_:  1691062529.866935018  0.54109    -0.146046  9.93833    -0.056459   -0.00319579 0.0905475   0          0.08          pose: 0.33101543    -3.91815   -3.72959    0 0.0069405   0.00101068  0.994678    0.102792       uwb: 0.0            1248.23  1375.03  
imu_odom_:  1691062529.883041183  0.555455   -0.196325  9.91439    -0.0553937  -0.00319579 0.0735032   0          0.05          pose: 0.41819568    -3.91815   -3.72959    0 0.00693657  0.00321792  0.994806    0.101504       uwb: 0.49973558     1248.71  1375.05  
imu_odom_:  1691062529.899943236  0.550666   -0.146046  9.90002    -0.0543285  0           0.0585895   0          0.05          pose: 0.7088334     -3.91815   -3.72959    0 0.00713033  0.00253659  0.994819    0.101379       uwb: 0.0            1248.71  1375.05  
imu_odom_:  1691062529.915980574  0.521936   -0.179565  9.87369    -0.056459   -0.00319579 0.0543285   0          0.05          pose: 0.0           -3.91815   -3.72959    0 0.00713033  0.00253659  0.994819    0.101379       uwb: 0.0            1248.71  1375.05  
imu_odom_:  1691062529.930917551  0.47884    -0.21069   9.87369    -0.0553937  -0.00745685 0.0415453   0          0.02          pose: 0.41957222    -3.91815   -3.72959    0 0.00697324  0.00200706  0.994865    0.100947       uwb: 0.50086131     1250.17  1374.4   
imu_odom_:  1691062529.944912235  0.466869   -0.148441  9.85453    -0.0553937  -0.00426106 0.0340885   0          0             pose: 0.0           -3.91815   -3.72959    0 0.00697324  0.00200706  0.994865    0.100947       uwb: 0.0            1250.17  1374.4   
imu_odom_:  1691062529.959907248  0.466869   -0.160412  9.9096     -0.0575243  -0.00106526 0.0383495   0          0             pose: 0.0           -3.91815   -3.72959    0 0.00697324  0.00200706  0.994865    0.100947       uwb: 0.0            1250.17  1374.4   
imu_odom_:  1691062529.974932592  0.447716   -0.229843  9.92875    -0.056459   -0.00213053 0.0383495   0          0             pose: 0.20955280    -3.91815   -3.72959    0 0.00532693  0.00153593  0.994876    0.100949       uwb: 0.0            1250.17  1374.4   
imu_odom_:  1691062529.988915610  0.416591   -0.217872  9.89045    -0.0553937  -0.00532632 0.0383495   0          0             pose: 0.0           -3.91815   -3.72959    0 0.00532693  0.00153593  0.994876    0.100949       uwb: 0.49906481     1248.83  1375.23  
imu_odom_:  1691062530.10921091   0.497994   -0.189142  9.93833    -0.0553937  -0.00745685 0.0426106   0          0             pose: 0.0           -3.91815   -3.72959    0 0.00532693  0.00153593  0.994876    0.100949       uwb: 0.0            1248.83  1375.23  
imu_odom_:  1691062530.28914761   -0.292093  -0.160412  9.6606     -0.0607201  0.0681769   0.0500674   0          -0.02         pose: 0.73985237    -3.91815   -3.72959    0 0.00382136  0.000631093 0.994882    0.10097        uwb: 0.49996020     1246.75  1376.35  
imu_odom_:  1691062530.45968181   -0.902614  -0.205901  10.0341    -0.0649811  0.0500674   0.0788296   0          -0.02         pose: 0.0           -3.91815   -3.72959    0 0.00382136  0.000631093 0.994882    0.10097        uwb: 0.0            1246.75  1376.35  
imu_odom_:  1691062530.61908698   -1.06063   -0.356736  9.84735    -0.0660464  -0.0276969  0.100135    0          -0.02         pose: 0.0           -3.91815   -3.72959    0 0.00382136  0.000631093 0.994882    0.10097        uwb: 0.0            1246.75  1376.35  
imu_odom_:  1691062530.80024857   -0.222661  -0.275333  9.96467    -0.0543285  -0.0543285  0.0862864   0.04       0.02          pose: 0.8003506     -3.91815   -3.72959    0 0.00273907  0.000755851 0.99489     0.100929       uwb: 0.50188510     1244.23  1378.24  
imu_odom_:  1691062530.97018781   0.260968   0.035913   9.80904    -0.0553937  -0.0426106  0.0660464   0.05       0.02          pose: 0.0           -3.91815   -3.72959    0 0.00273907  0.000755851 0.99489     0.100929       uwb: 0.0            1244.23  1378.24  
imu_odom_:  1691062530.111030676  0.277727   0.0287304  9.72285    -0.0735032  0.00745685  0.0692422   0.05       0.02          pose: 0.68070189    -3.91815   -3.72959    0 -0.0035576  0.0015022   0.995025    0.0995547      uwb: 0.0            1244.23  1378.24  
imu_odom_:  1691062530.127967439  0.0742203  -0.500388  9.79228    -0.0617853  0.00426106  0.0543285   0.05       0.02          pose: 0.0           -3.91815   -3.72959    0 -0.0035576  0.0015022   0.995025    0.0995547      uwb: 0.49983194     1243.97  1378.57  
imu_odom_:  1691062530.144958447  -0.129287  -0.277727  9.84496    -0.0553937  -0.00958738 0.0585895   0.06       0.02          pose: 0.0           -3.91815   -3.72959    0 -0.0035576  0.0015022   0.995025    0.0995547      uwb: 0.0            1243.97  1378.57  
imu_odom_:  1691062530.161905125  0.0287304  -0.323217  10.1442    -0.0607201  -0.0223706  0.0713727   0.06       0.02          pose: 0.30974906    -3.91815   -3.72959    0 -0.00435125 0.00319244  0.995057    0.0991596      uwb: 0.0            1243.97  1378.57  
imu_odom_:  1691062530.177954716  0.237026   -0.158017  9.76595    -0.0490022  -0.0191748  0.0745685   0.09       0.02          pose: 0.43935433    -3.92353   -3.73193    0 -0.00808451 0.00141672  0.995086    0.0986739      uwb: 0.50007984     1244.58  1378.07  
imu_odom_:  1691062530.195954802  0.462081   -0.122104  10.1921    -0.0543285  -0.0181095  0.0660464   0.09       0.02          pose: 0.0           -3.92353   -3.73193    0 -0.00808451 0.00141672  0.995086    0.0986739      uwb: 0.0            1244.58  1378.07  
imu_odom_:  1691062530.212009934  0.129287   -0.169988  9.91439    -0.0426106  0.0213053   0.0628506   0.09       0.02          pose: 0.0           -3.92353   -3.73193    0 -0.00808451 0.00141672  0.995086    0.0986739      uwb: 0.0            1244.58  1378.07  
imu_odom_:  1691062530.228903534  0.184354   -0.519542  9.62708    -0.0426106  -0.0106526  0.0703074   0.1        0.05          pose: 0.7004635     -3.92732   -3.73358    0 -0.0080866  0.00213334  0.995097    0.0985465      uwb: 0.50111516     1244.66  1378.19  
imu_odom_:  1691062530.246997820  0.342371   -0.474052  9.46907    -0.04048    0.02024     0.0426106   0.11       0.02          pose: 0.0           -3.92732   -3.73358    0 -0.0080866  0.00213334  0.995097    0.0985465      uwb: 0.0            1244.66  1378.19  
imu_odom_:  1691062530.263891129  0.325611   -0.0814029 9.94791    -0.0458064  0.0426106   0.072438    0.11       0.02          pose: 0.68093521    -3.93131   -3.72441    0 -0.00825458 0.00121286  0.99518     0.097709       uwb: 0.0            1244.66  1378.19  
imu_odom_:  1691062530.279956760  0.100556   -0.141258  9.98622    -0.0340885  0.0223706   0.0756338   0.11       0.02          pose: 0.0           -3.93131   -3.72441    0 -0.00825458 0.00121286  0.99518     0.097709       uwb: 0.49818418     1244.43  1378.56  
imu_odom_:  1691062530.298070294  0.579397   -0.263362  10.24      -0.04048    -0.015979   0.0553937   0.11       0             pose: 0.0           -3.93131   -3.72441    0 -0.00825458 0.00121286  0.99518     0.097709       uwb: 0.0            1244.43  1378.56  
imu_odom_:  1691062530.315070343  1.00796    -0.373495  9.76116    -0.0660464  -0.0394148  0.0916127   0.11       0             pose: 0.32891279    -3.93131   -3.72441    0 -0.00815191 0.00214694  0.995219    0.097307       uwb: 0.0            1244.43  1378.56  
imu_odom_:  1691062530.329992741  1.12288    -0.208296  9.65821    -0.0735032  0.00319579  0.149137    0.1        0.02          pose: 0.45175783    -3.94047   -3.72843    0 -0.00546242 0.00154696  0.995312    0.0965473      uwb: 0.49863330     1242.55  1379.99  
imu_odom_:  1691062530.347138611  1.69031    -0.244209  10.2328    -0.0649811  -0.052198   0.158724    0.1        0.02          pose: 0.6147794     -3.94047   -3.72843    0 -0.00487863 0.00142654  0.995348    0.0962116      uwb: 0.0            1242.55  1379.99  
imu_odom_:  1691062530.363070962  1.61848    -0.035913  9.4978     -0.0543285  0.00426106  0.113983    0.1        0.02          pose: 0.0           -3.94047   -3.72843    0 -0.00487863 0.00142654  0.995348    0.0962116      uwb: 0.0            1242.55  1379.99  
imu_odom_:  1691062530.379882611  1.42216    -0.0742203 9.86411    -0.052198   0.0415453   0.0788296   0.09       0             pose: 0.41852825    -3.94451   -3.71928    0 -0.0004113410.000988182 0.99556     0.0941234      uwb: 0.50052605     1243.12  1380.15  
imu_odom_:  1691062530.397996437  0.550666   0.0550666  9.91199    -0.0596548  0.0351537   0.0340885   0.06       0.05          pose: 0.0           -3.94451   -3.71928    0 -0.0004113410.000988182 0.99556     0.0941234      uwb: 0.0            1243.12  1380.15  
imu_odom_:  1691062530.414213721  0.306458   -0.275333  9.85453    -0.0585895  -0.0106526  0.0191748   0.06       0.05          pose: 0.0           -3.94451   -3.71928    0 -0.0004113410.000988182 0.99556     0.0941234      uwb: 0.0            1243.12  1380.15  
imu_odom_:  1691062530.431192772  0.799663   -0.129287  10.1011    -0.0596548  -0.0255663  0.0181095   0.05       0.05          pose: 0.24933269    -3.94451   -3.71928    0 0.00117824  0.00176675  0.995587    0.0938149      uwb: 0.50064854     1240.96  1381.89  
imu_odom_:  1691062530.448867678  0.955286   -0.294487  9.68694    -0.0628506  -0.00639159 0.0617853   0.05       0.05          pose: 0.0           -3.94451   -3.71928    0 0.00117824  0.00176675  0.995587    0.0938149      uwb: 0.0            1240.96  1381.89  
imu_odom_:  1691062530.463154299  0.768539   -0.366313  9.87848    -0.0596548  0.0117179   0.0788296   0.05       0.05          pose: 0.33224624    -3.94451   -3.71928    0 0.00107153  0.00158019  0.995563    0.0940829      uwb: 0.0            1240.96  1381.89  
imu_odom_:  1691062530.479891287  0.555455   -0.215478  9.82341    -0.0500674  0.00319579  0.0681769   0.04       0.02          pose: 0.41925444    -3.95364   -3.72336    0 0.00489768  0.000100902 0.995588    0.0937044      uwb: 0.49919616     1242.64  1380.85  
imu_odom_:  1691062530.495861552  0.588974   -0.114922  9.92636    -0.052198   -0.00213053 0.0617853   0.04       0.02          pose: 0.6951556     -3.95364   -3.72336    0 0.00553904  -8.02295e-050.995594    0.093604       uwb: 0.0            1242.64  1380.85  
imu_odom_:  1691062530.519941771  0.490811   -0.215478  9.78031    -0.0585895  0.00639159  0.0692422   0.04       0.02          pose: 0.0           -3.95364   -3.72336    0 0.00553904  -8.02295e-050.995594    0.093604       uwb: 0.0            1242.64  1380.85  
imu_odom_:  1691062530.545874202  0.363919   -0.277727  9.80904    -0.0649811  0.0351537   0.0266316   0.04       0.02          pose: 0.33768243    -3.95364   -3.72336    0 0.00663949  0.000593885 0.995628    0.093174       uwb: 0.49961905     1241.41  1381.86  
imu_odom_:  1691062530.571035826  -1.37667   -0.011971  10.0078    -0.0553937  0.0660464   0.015979    0.06       0             pose: 0.42000104    -3.95364   -3.72336    0 0.00217632  -0.00116107 0.995654    0.0930972      uwb: 0.0            1241.41  1381.86  
imu_odom_:  1691062530.587873722  -1.13964   -0.579397  9.91439    -0.0735032  -0.0788296  0.0660464   0.06       0             pose: 0.0           -3.95364   -3.72336    0 0.00217632  -0.00116107 0.995654    0.0930972      uwb: 0.49998651     1240.39  1382.47  
imu_odom_:  1691062530.612869694  0.445322   -0.237026  9.80186    -0.0479369  -0.0607201  0.0383495   0.08       0.02          pose: 0.41999520    -3.9536    -3.72332    0 -0.00222331 -0.0009783510.995647    0.0931689      uwb: 0.0            1240.39  1382.47  
imu_odom_:  1691062530.637979698  0.399832   -0.023942  9.83777    -0.0735032  0.015979    0.0735032   0.08       0.02          pose: 0.8182865     -3.95364   -3.72336    0 -0.00117391 -0.00104143 0.995649    0.0931748      uwb: 0.50014984     1241.84  1381.81  
imu_odom_:  1691062530.662931049  -0.361524  -0.277727  9.76834    -0.0596548  0.0415453   0.0287621   0.11       0             pose: 0.23933232    -3.95364   -3.72336    0 0.000888975 -0.0005159810.995659    0.0930673      uwb: 0.0            1241.84  1381.81  
imu_odom_:  1691062530.688869604  0.162806   -0.0909797 9.65821    -0.0553937  -0.0607201  0.0617853   0.12       0             pose: 0.25979969    -3.96681   -3.7182     0 -0.0003294360.00112486  0.995683    0.0928093      uwb: 0.50036273     1242.46  1382.05  
imu_odom_:  1691062530.703855288  0.28491    -0.299275  9.64384    -0.0596548  -0.00532632 0.0649811   0.12       0             pose: 0.0           -3.96681   -3.7182     0 -0.0003294360.00112486  0.995683    0.0928093      uwb: 0.0            1242.46  1382.05  
imu_odom_:  1691062530.729878128  0.143652   0.0766145  9.32302    -0.0735032  0.036219    0.0468716   0.15       0             pose: 0.25024844    -3.96681   -3.7182     0 -0.00285449 0.00152992  0.995678    0.0928124      uwb: 0.49932741     1243.77  1381.89  
imu_odom_:  1691062530.754841436  0.162806   -0.3304    10.5225    -0.0500674  -0.0319579  0.0330232   0.15       0             pose: 0.0           -3.96681   -3.7182     0 -0.00285449 0.00152992  0.995678    0.0928124      uwb: 0.0            1243.77  1381.89  
imu_odom_:  1691062530.772844439  0.610521   -0.31364   10.0173    -0.052198   -0.0234358  0.0511327   0.14       0             pose: 0.40937656    -3.96681   -3.7182     0 -0.00495767 0.00174998  0.995708    0.0923982      uwb: 0.0            1243.77  1381.89  
imu_odom_:  1691062530.796017071  0.0335188  -0.351948  9.93594    -0.0543285  0.00958738  0.0447411   0.14       0             pose: 0.0           -3.96681   -3.7182     0 -0.00495767 0.00174998  0.995708    0.0923982      uwb: 0.50232255     1241.51  1383.49  
imu_odom_:  1691062530.818860149  0.715866   -0.0814029 10.082     -0.04048    -0.0255663  0.0330232   0.18       0.02          pose: 0.50931611    -3.97597   -3.72222    0 -0.00649509 0.000966228 0.995702    0.0923804      uwb: 0.0            1241.51  1383.49  
imu_odom_:  1691062530.844964648  -0.0311246 -0.447716  9.63666    -0.0649811  -0.0330232  0.0681769   0.18       0.02          pose: 0.0           -3.97597   -3.72222    0 -0.00649509 0.000966228 0.995702    0.0923804      uwb: 0.49680180     1241.04  1384.23  
imu_odom_:  1691062530.865886103  0.411803   -0.28491   10.1945    -0.0479369  0.0255663   0.0436758   0.14       0             pose: 0.40991609    -3.97998   -3.71306    0 -0.00692134 -5.34139e-050.995708    0.092296       uwb: 0.0            1241.04  1384.23  
imu_odom_:  1691062530.878840798  0.507571   -0.217872  9.83777    -0.0479369  0.0234358   0.052198    0.14       0             pose: 0.0           -3.97998   -3.71306    0 -0.00692134 -5.34139e-050.995708    0.092296       uwb: 0.50056979     1237.51  1386.81  
imu_odom_:  1691062530.902977887  0.0790087  -0.191536  10.07      -0.0628506  -0.0479369  0.0607201   0.14       0             pose: 0.46985707    -3.98914   -3.71708    0 -0.00672959 -0.00122041 0.995738    0.0919691      uwb: 0.0            1237.51  1386.81  
imu_odom_:  1691062530.920898356  0.395043   -0.411803  9.88326    -0.0660464  -0.00426106 0.0191748   0.14       0             pose: 0.0           -3.98914   -3.71708    0 -0.00672959 -0.00122041 0.995738    0.0919691      uwb: 0.0            1237.51  1386.81  
imu_odom_:  1691062530.943862464  0.158017   -0.234632  9.80426    -0.0692422  -0.0426106  0.0617853   0.14       0             pose: 0.36020879    -3.99317   -3.70793    0 -0.00498941 -0.00122338 0.995766    0.0917787      uwb: 0.50082353     1237.73  1387.17  
imu_odom_:  1691062530.967877355  0.110133   -0.153229  10.1825    -0.0553937  -0.0383495  0.0468716   0.15       0.02          pose: 0.41068019    -4.00232   -3.71196    0 -0.00587666 -0.0022936  0.995765    0.0917137      uwb: 0.0            1237.73  1387.17  
imu_odom_:  1691062530.994836655  0.234632   0.0646434  9.79468    -0.0553937  0.015979    0.036219    0.21       0             pose: 0.39947242    -4.00841   -3.71464    0 -0.00848152 -0.0003499240.995776    0.0914253      uwb: 0.49938573     1237.32  1388.02  
imu_odom_:  1691062531.10850667   0.100556   -0.172383  9.88326    -0.0788296  -0.00852212 0.0692422   0.21       0             pose: 0.0           -4.00841   -3.71464    0 -0.00848152 -0.0003499240.995776    0.0914253      uwb: 0.0            1237.32  1388.02  
imu_odom_:  1691062531.28899753   0.591368   -0.442927  10.0221    -0.0596548  0           0.015979    0.21       0             pose: 0.0           -4.00841   -3.71464    0 -0.00848152 -0.0003499240.995776    0.0914253      uwb: 0.50021989     1239.13  1387.93  
imu_odom_:  1691062531.52886653   0.61531    -0.25618   9.68215    -0.0713727  -0.0266316  0.0532632   0.22       0.02          pose: 0.8018088     -4.01147   -3.71599    0 -0.00850387 0.000457004 0.995775    0.091432       uwb: 0.0            1239.13  1387.93  
imu_odom_:  1691062531.78833964   0.071826   -0.560243  9.58638    -0.0511327  -0.00745685 0.0330232   0.2        -0.02         pose: 0.43017643    -4.0155    -3.70684    0 -0.00950465 0.00194012  0.995775    0.0913083      uwb: 0.49988456     1241.75  1386.86  
imu_odom_:  1691062531.100823414  0.368707   0.0694318  9.7875     -0.052198   0.00426106  0.052198    0.2        -0.02         pose: 0.0           -4.0155    -3.70684    0 -0.00950465 0.00194012  0.995775    0.0913083      uwb: 0.0            1241.75  1386.86  
imu_odom_:  1691062531.124012967  0.555455   -0.356736  9.93354    -0.0553937  -0.0415453  0.0308927   0.16       0.02          pose: 0.41917580    -4.02465   -3.71087    0 -0.00662389 -7.10886e-050.995801    0.0912989      uwb: 0.0            1241.75  1386.86  
imu_odom_:  1691062531.141890568  0.964863   0.0335188  10.0748    -0.0308927  -0.0127832  0.0255663   0.16       0.02          pose: 0.0           -4.02465   -3.71087    0 -0.00662389 -7.10886e-050.995801    0.0912989      uwb: 0.49939169     1240.32  1388.33  
imu_odom_:  1691062531.165831388  0.756568   -0.270545  9.61511    -0.0575243  -0.0255663  0.0511327   0.17       0             pose: 0.0           -4.02465   -3.71087    0 -0.00662389 -7.10886e-050.995801    0.0912989      uwb: 0.0            1240.32  1388.33  
imu_odom_:  1691062531.191872608  0.497994   -0.160412  9.87848    -0.0436758  -0.0106526  0.036219    0.17       0             pose: 0.81059902    -4.03784   -3.70576    0 -0.00265262 7.59268e-05 0.995806    0.0914491      uwb: 0.0            1240.32  1388.33  
imu_odom_:  1691062531.213862058  1.02711    -0.414197  10.0245    -0.0628506  -0.0276969  0.0553937   0.19       0             pose: 0.49982040    -4.04472   -3.7088     0 0.00231972  0.000895395 0.995815    0.0913572      uwb: 0.0            1240.32  1388.33  
imu_odom_:  1691062531.237830292  0.739808   0.0167594  10.1634    -0.0553937  -0.0479369  0.0426106   0.19       0             pose: 0.5933147     -4.04699   -3.7098     0 0.00291961  0.000605432 0.995818    0.0913094      uwb: 0.99907210     1240.98  1388.64  
imu_odom_:  1691062531.255870338  0.514753   -0.260968  10.137     -0.0649811  0.0213053   0.0511327   0.18       -0.02         pose: 0.40024537    -4.05102   -3.70065    0 0.00696912  0.0012335   0.995812    0.0911494      uwb: 0.0            1240.98  1388.64  
imu_odom_:  1691062531.279809700  0.342371   -0.241814  9.80665    -0.0372843  -0.0245011  0.0234358   0.18       -0.02         pose: 0.0           -4.05102   -3.70065    0 0.00696912  0.0012335   0.995812    0.0911494      uwb: 0.49985831     1241.26  1389.1   
imu_odom_:  1691062531.304990287  0.248997   -0.0047884 10.2041    -0.0873517  -0.0394148  0.072438    0.22       0             pose: 0.8006716     -4.05102   -3.70065    0 0.00656366  0.000460624 0.99582     0.0910989      uwb: 0.0            1241.26  1389.1   
imu_odom_:  1691062531.329806030  0.677559   -0.035913  10.4818    -0.0852212  -0.0511327  0.0415453   0.22       0             pose: 0.0           -4.05102   -3.70065    0 0.00656366  0.000460624 0.99582     0.0910989      uwb: 0.50103072     1240.86  1389.96  
imu_odom_:  1691062531.346806375  0.572214   -0.124498  9.89045    -0.0735032  0.0255663   0.0415453   0.17       -0.02         pose: 0.42116770    -4.06017   -3.70469    0 0.00350606  -1.19195e-050.995836    0.0910951      uwb: 0.0            1240.86  1389.96  
imu_odom_:  1691062531.367846241  0.289698   -0.237026  10.094     -0.0287621  0.00639159  0.02024     0.17       -0.02         pose: 0.0           -4.06017   -3.70469    0 0.00350606  -1.19195e-050.995836    0.0910951      uwb: 0.0            1240.86  1389.96  
imu_odom_:  1691062531.384848044  -0.035913  -0.131681  10.0317    -0.04048    -0.0394148  0.0383495   0.18       0             pose: 0.49877633    -4.07336   -3.69959    0 0.00590752  0.0020759   0.99585     0.0907922      uwb: 0.50028119     1242.46  1389.52  
imu_odom_:  1691062531.409800567  0.790087   -0.246603  9.58878    -0.0372843  0.00532632  0.0245011   0.18       0             pose: 0.0           -4.07336   -3.69959    0 0.00590752  0.0020759   0.99585     0.0907922      uwb: 0.0            1242.46  1389.52  
imu_odom_:  1691062531.434791004  0.433351   -0.138864  9.91439    -0.0617853  0.0127832   0.0543285   0.18       0             pose: 0.71969156    -4.08541   -3.69705    0 0.00530512  0.0019783   0.995818    0.0911803      uwb: 0.49959875     1241.3   1390.68  
imu_odom_:  1691062531.459902764  0.0287304  -0.0694318 9.85214    -0.0330232  0.00426106  0.0330232   0.18       0             pose: 0.6998804     -4.08655   -3.69448    0 0.00461947  0.00227732  0.995826    0.091132       uwb: 0.0            1241.3   1390.68  
imu_odom_:  1691062531.484805125  0.143652   -0.169988  9.77792    -0.0543285  -0.00426106 0.0532632   0.16       -0.02         pose: 0.43103393    -4.09288   -3.69728    0 0.000358983 0.00403012  0.995834    0.0910979      uwb: 0.50074782     1244.68  1389.29  
imu_odom_:  1691062531.502049865  1.02472    -0.227449  10.1155    -0.0490022  -0.0213053  0.0287621   0.16       -0.02         pose: 0.0           -4.09288   -3.69728    0 0.000358983 0.00403012  0.995834    0.0910979      uwb: 0.0            1244.68  1389.29  
imu_odom_:  1691062531.526813988  0.512359   -0.141258  9.52653    -0.056459   -0.00106526 0.0458064   0.19       0             pose: 0.32050485    -4.09973   -3.68938    0 -0.00136787 0.0038099   0.995845    0.0909746      uwb: 0.49831262     1243.6   1390.58  
imu_odom_:  1691062531.549799684  0.201113   -0.275333  10.003     -0.0500674  -0.0415453  0.0298274   0.19       0             pose: 0.0           -4.09973   -3.68938    0 -0.00136787 0.0038099   0.995845    0.0909746      uwb: 0.0            1243.6   1390.58  
imu_odom_:  1691062531.575802115  0.648829   -0.114922  10.4267    -0.0500674  -0.04048    0.0500674   0.24       0             pose: 0.43011525    -4.10888   -3.69342    0 0.00154992  0.00317746  0.995846    0.0909824      uwb: 0.0            1243.6   1390.58  
imu_odom_:  1691062531.591782299  0.948104   -0.390255  9.73722    -0.0671117  0.0213053   0.04048     0.24       0             pose: 0.0           -4.10888   -3.69342    0 0.00154992  0.00317746  0.995846    0.0909824      uwb: 0.49964250     1244.39  1391.09  
imu_odom_:  1691062531.615818778  0.603339   0.0383072  10.3022    -0.0479369  -0.0138484  0.0340885   0.18       0             pose: 0.47840811    -4.10888   -3.69342    0 0.00404404  0.00246402  0.995848    0.090911       uwb: 0.0            1244.39  1391.09  
imu_odom_:  1691062531.641784171  0.191536   -0.402226  9.66539    -0.0426106  -0.0266316  0.0351537   0.24       -0.02         pose: 0.0           -4.10888   -3.69342    0 0.00404404  0.00246402  0.995848    0.090911       uwb: 0.50052909     1244.25  1392.39  
imu_odom_:  1691062531.663798702  0.402226   -0.349553  9.44991    -0.0436758  -0.00745685 0.0426106   0.24       -0.02         pose: 0.33013193    -4.12203   -3.68829    0 0.0061325   0.00404698  0.995826    0.0909739      uwb: 0.0            1244.25  1392.39  
imu_odom_:  1691062531.679769262  0.138864   -0.270545  10.3046    -0.0458064  0.0191748   0.0394148   0.24       -0.02         pose: 0.0           -4.12203   -3.68829    0 0.0061325   0.00404698  0.995826    0.0909739      uwb: 0.49980873     1241.52  1394.9   
imu_odom_:  1691062531.703831405  0.0167594  -0.105345  10.4651    -0.0351537  0.0628506   0.0372843   0.18       0             pose: 0.8010215     -4.12207   -3.68832    0 0.0055724   0.00362556  0.995829    0.090992       uwb: 0.0            1241.52  1394.9   
imu_odom_:  1691062531.727767850  0.720655   -0.169988  10.1251    -0.0585895  0.00532632  0.0394148   0.26       0             pose: 0.46957138    -4.13118   -3.69245    0 0.00259345  0.000781459 0.995848    0.0909942      uwb: 0.49997789     1240.81  1396.05  
imu_odom_:  1691062531.744772861  0.572214   -0.0646434 9.32063    -0.0500674  0.00426106  0.036219    0.26       0             pose: 0.0           -4.13118   -3.69245    0 0.00259345  0.000781459 0.995848    0.0909942      uwb: 0.0            1240.81  1396.05  
imu_odom_:  1691062531.769769423  0.134075   -0.521936  9.76595    -0.0713727  -0.02024    0.0490022   0.18       0.02          pose: 0.40109405    -4.13531   -3.68335    0 -0.0008020690.0017008   0.995847    0.0910238      uwb: 0.0            1240.81  1396.05  
imu_odom_:  1691062531.794811771  0.227449   -0.0191536 10.0149    -0.0479369  -0.0149137  0.0340885   0.18       0.02          pose: 0.0           -4.13531   -3.68335    0 -0.0008020690.0017008   0.995847    0.0910238      uwb: 0.50086156     1240.73  1396.71  
imu_odom_:  1691062531.807820424  0.45011    -0.0742203 10.094     -0.052198   -0.0138484  0.0532632   0.18       0.02          pose: 0.0           -4.13531   -3.68335    0 -0.0008020690.0017008   0.995847    0.0910238      uwb: 0.0            1240.73  1396.71  
imu_odom_:  1691062531.831875568  0.548272   -0.131681  9.95748    -0.0447411  -0.0234358  0.0234358   0.18       -0.02         pose: 0.41942661    -4.14442   -3.68748    0 0.00165869  0.0019078   0.995847    0.0910115      uwb: 0.50020537     1244.24  1395.46  
imu_odom_:  1691062531.857833086  0.371101   -0.347159  9.94551    -0.072438   0.00319579  0.0585895   0.23       0             pose: 0.47993339    -4.15766   -3.68251    0 -0.0004669670.00301976  0.99585     0.0909613      uwb: 0.0            1244.24  1395.46  
imu_odom_:  1691062531.880868069  0.658405   -0.0957681 9.96467    -0.0426106  -0.00319579 0.0330232   0.23       0             pose: 0.31044032    -4.15766   -3.68251    0 0.00268786  0.00364354  0.995832    0.0910973      uwb: 0.50082656     1242.13  1397.45  
imu_odom_:  1691062531.897742134  0.481235   -0.181959  9.80426    -0.0671117  0.0394148   0.0628506   0.23       0             pose: 0.0           -4.15766   -3.68251    0 0.00268786  0.00364354  0.995832    0.0910973      uwb: 0.0            1242.13  1397.45  
imu_odom_:  1691062531.919805660  0.574608   -0.229843  9.94551    -0.0511327  0.015979    0.036219    0.18       0             pose: 0.7954803     -4.15766   -3.68251    0 0.00230651  0.00286116  0.995842    0.0910217      uwb: 0.0            1242.13  1397.45  
imu_odom_:  1691062531.944765766  0.634463   -0.172383  9.93115    -0.0585895  0.0287621   0.0458064   0.18       0             pose: 0.48939715    -4.17089   -3.67754    0 0.00398196  0.00129204  0.995858    0.0908284      uwb: 0.49875008     1243.82  1397.1   
imu_odom_:  1691062531.960803403  -0.11971   -0.227449  9.44273    -0.0447411  0.0500674   0.0340885   0.18       0             pose: 0.0           -4.17089   -3.67754    0 0.00398196  0.00129204  0.995858    0.0908284      uwb: 0.0            1243.82  1397.1   
imu_odom_:  1691062531.985869084  0.304064   -0.344765  9.44991    -0.0639159  -0.0149137  0.0553937   0.18       0             pose: 0.0           -4.17089   -3.67754    0 0.00398196  0.00129204  0.995858    0.0908284      uwb: 0.50102488     1239.74  1400.57  
imu_odom_:  1691062532.8878987    0.301669   -0.196325  9.8258     -0.0585895  -0.0479369  0.052198    0.18       0             pose: 0.39052205    -4.18      -3.68167    0 0.00676548  -0.0001597950.995853    0.090727       uwb: 0.0            1239.74  1400.57  
imu_odom_:  1691062532.26734719   0.864307   -0.146046  9.79707    -0.0500674  -0.0383495  0.052198    0.18       0             pose: 0.0           -4.18      -3.68167    0 0.00676548  -0.0001597950.995853    0.090727       uwb: 0.49881138     1239.38  1401.55  
imu_odom_:  1691062532.50860446   0.78051    -0.397437  9.93594    -0.0607201  0.0276969   0.0308927   0.24       0             pose: 0.64957229    -4.19324   -3.67671    0 0.00352753  -0.0007854020.995892    0.0904762      uwb: 0.0            1239.38  1401.55  
imu_odom_:  1691062532.73796276   0.452504   -0.299275  9.52892    -0.0479369  -0.00426106 0.0415453   0.23       0             pose: 0.23976696    -4.19324   -3.67671    0 0.0032362   -0.0003702230.995907    0.0903261      uwb: 0.0            1239.38  1401.55  
imu_odom_:  1691062532.99854418   0.179565   0.0215478  10.1227    -0.0490022  -0.00532632 0.04048     0.23       0             pose: 0.0           -4.19324   -3.67671    0 0.0032362   -0.0003702230.995907    0.0903261      uwb: 0.50195242     1240.7   1401.39  
imu_odom_:  1691062532.122808913  0.507571   0.0766145  10.058     -0.072438   -0.0181095  0.0543285   0.2        0             pose: 0.41996041    -4.20649   -3.67176    0 0.00530891  -0.00224145 0.995893    0.0903497      uwb: 0.0            1240.7   1401.39  
imu_odom_:  1691062532.146771321  0.45011    -0.25618   10.0078    -0.0490022  0.00106526  0.0308927   0.2        0             pose: 0.0           -4.20649   -3.67176    0 0.00530891  -0.00224145 0.995893    0.0903497      uwb: 0.49940347     1241.8   1401.63  
imu_odom_:  1691062532.163738714  0.28491    -0.308852  9.71567    -0.0575243  -0.00745685 0.0394148   0.21       -0.02         pose: 0.48149962    -4.20649   -3.67176    0 0.0026445   -0.0004764640.995914    0.0902689      uwb: 0.0            1241.8   1401.63  
imu_odom_:  1691062532.179715403  0.610521   -0.153229  9.991      -0.0703074  -0.0245011  0.056459    0.21       -0.02         pose: 0.0           -4.20649   -3.67176    0 0.0026445   -0.0004764640.995914    0.0902689      uwb: 0.49880561     1242.43  1401.88  
imu_odom_:  1691062532.202742517  0.538695   -0.126893  9.72764    -0.0500674  -0.0117179  0.0394148   0.21       -0.02         pose: 0.0           -4.20649   -3.67176    0 0.0026445   -0.0004764640.995914    0.0902689      uwb: 0.0            1242.43  1401.88  
imu_odom_:  1691062532.228849362  1.00317    -0.361524  9.78271    -0.056459   -0.0298274  0.0468716   0.23       0.02          pose: 0.48010266    -4.21973   -3.6668     0 0.00164334  -0.00156845 0.995916    0.0902525      uwb: 0.50029299     1239.98  1404.17  
imu_odom_:  1691062532.251891642  0.837971   -0.268151  10.1969    -0.0596548  -0.0276969  0.0500674   0.18       0.02          pose: 0.32943498    -4.22883   -3.67095    0 0.003043    -0.0007830970.995926    0.0901228      uwb: 0.0            1239.98  1404.17  
imu_odom_:  1691062532.267846457  0.675165   -0.102951  10.058     -0.0585895  -0.0319579  0.0596548   0.18       0.02          pose: 0.0           -4.22883   -3.67095    0 0.003043    -0.0007830970.995926    0.0901228      uwb: 0.0            1239.98  1404.17  
imu_odom_:  1691062532.292715869  0.397437   -0.201113  9.80904    -0.0468716  0.0138484   0.0458064   0.18       0             pose: 0.47993351    -4.24207   -3.66598    0 0.00762967  -0.0009037520.995913    0.0899891      uwb: 0.0            1239.98  1404.17  
imu_odom_:  1691062532.315719068  0.203507   -0.275333  9.77792    -0.056459   0.02024     0.0458064   0.18       0             pose: 0.0           -4.24207   -3.66598    0 0.00762967  -0.0009037520.995913    0.0899891      uwb: 0.0            1239.98  1404.17  
imu_odom_:  1691062532.341781876  -0.071826  -0.272939  9.25359    -0.0692422  0.036219    0.0511327   0.23       0.02          pose: 0.39002636    -4.24207   -3.66598    0 0.00984299  -9.92636e-050.995917    0.089734       uwb: 0.99972562     1240.73  1404.63  
imu_odom_:  1691062532.364769327  0.169988   -0.593762  9.8258     -0.0671117  0.0479369   0.0458064   0.23       0.02          pose: 0.0           -4.24207   -3.66598    0 0.00984299  -9.92636e-050.995917    0.089734       uwb: 0.0            1240.73  1404.63  
imu_odom_:  1691062532.381712806  0.0526724  -0.0957681 10.0963    -0.04048    0.0149137   0.0308927   0.18       0.02          pose: 0.48884315    -4.25121   -3.67004    0 0.00437415  -0.0001959970.995972    0.0895629      uwb: 0.50060795     1241.21  1405.44  
imu_odom_:  1691062532.405709627  0.337582   -0.337582  10.1203    -0.0852212  0.00106526  0.0660464   0.18       0.02          pose: 0.0           -4.25121   -3.67004    0 0.00437415  -0.0001959970.995972    0.0895629      uwb: 0.0            1241.21  1405.44  
imu_odom_:  1691062532.430709402  0.826      -0.251391  10.0149    -0.0756338  -0.0170442  0.0447411   0.18       -0.02         pose: 0.49082047    -4.26441   -3.66498    0 -0.000706462-0.00167197 0.995993    0.0894182      uwb: 0.49779653     1241.31  1406.42  
imu_odom_:  1691062532.453882046  0.366313   -0.572214  9.38288    -0.056459   0.0351537   0.0213053   0.18       -0.02         pose: 0.0           -4.26441   -3.66498    0 -0.000706462-0.00167197 0.995993    0.0894182      uwb: 0.0            1241.31  1406.42  
imu_odom_:  1691062532.469697165  0.177171   -0.1652    10.0365    -0.0330232  0.0298274   0.0255663   0.18       0             pose: 0.40916678    -4.26441   -3.66498    0 -0.00185197 -0.00376043 0.996012    0.089122       uwb: 0.0            1241.31  1406.42  
imu_odom_:  1691062532.493878011  0.335188   -0.411803  10.2927    -0.0415453  -0.00852212 0.0340885   0.18       0             pose: 0.0           -4.26441   -3.66498    0 -0.00185197 -0.00376043 0.996012    0.089122       uwb: 0.50087043     1242.07  1406.89  
imu_odom_:  1691062532.519044314  0.761356   0.0694318  10.094     -0.0426106  0.00958738  0.0500674   0.25       0             pose: 0.48074135    -4.27767   -3.66005    0 -0.00175739 -0.00552137 0.995984    0.0893458      uwb: 0.0            1242.07  1406.89  
imu_odom_:  1691062532.534698447  0.203507   -0.246603  9.62948    -0.0607201  0.00426106  0.0575243   0.25       0             pose: 0.0           -4.27767   -3.66005    0 -0.00175739 -0.00552137 0.995984    0.0893458      uwb: 0.49994593     1239.95  1408.99  
imu_odom_:  1691062532.559749551  0.0909797  -0.1652    9.68215    -0.0468716  0.00532632  0.0436758   0.23       0             pose: 0.40172701    -4.28679   -3.66415    0 -0.00270103 -0.00637738 0.995969    0.0894252      uwb: 0.0            1239.95  1408.99  
imu_odom_:  1691062532.576748734  0.68953    -0.19393   10.0533    -0.0617853  0.00213053  0.0553937   0.23       0             pose: 0.0           -4.28679   -3.66415    0 -0.00270103 -0.00637738 0.995969    0.0894252      uwb: 0.49995759     1239.67  1410.16  
imu_odom_:  1691062532.593754332  0.294487   -0.0814029 9.95748    -0.0543285  -0.0138484  0.0340885   0.18       -0.02         pose: 0.40776397    -4.29095   -3.65505    0 -0.0037113  -0.00400959 0.996001    0.089175       uwb: 0.0            1239.67  1410.16  
imu_odom_:  1691062532.618842475  0.198719   -0.392649  9.53611    -0.0607201  -0.00745685 0.0532632   0.18       -0.02         pose: 0.0           -4.29095   -3.65505    0 -0.0037113  -0.00400959 0.996001    0.089175       uwb: 0.0            1239.67  1410.16  
imu_odom_:  1691062532.635708377  0.220267   -0.0861913 10.0413    -0.0628506  -0.0628506  0.0351537   0.18       -0.02         pose: 0.0           -4.29095   -3.65505    0 -0.0037113  -0.00400959 0.996001    0.089175       uwb: 0.50122332     1238.54  1411.53  
imu_odom_:  1691062532.660959547  0.837971   -0.203507  10.1131    -0.0681769  -0.0319579  0.0543285   0.26       -0.02         pose: 0.41966877    -4.30004   -3.65922    0 -0.00364835 -0.00202136 0.996021    0.0890208      uwb: 0.0            1238.54  1411.53  
imu_odom_:  1691062532.687829326  0.629675   -0.179565  9.64863    -0.0596548  -0.00745685 0.0372843   0.23       -0.02         pose: 0.76234427    -4.3133    -3.6543     0 -0.00267241 -0.00158002 0.996052    0.0887166      uwb: 0.0            1238.54  1411.53  
imu_odom_:  1691062532.712682697  0.395043   -0.351948  9.60314    -0.0681769  -0.0266316  0.0458064   0.23       -0.02         pose: 0.0           -4.3133    -3.6543     0 -0.00267241 -0.00158002 0.996052    0.0887166      uwb: 0.0            1238.54  1411.53  
imu_odom_:  1691062532.737818086  0.335188   -0.0574608 9.80426    -0.0394148  -0.0319579  0.0340885   0.22       0.02          pose: 0.7876645     -4.3133    -3.6543     0 -0.00188265 -0.00147286 0.996053    0.0887266      uwb: 0.100143172    1240.22  1411.1   
imu_odom_:  1691062532.760736126  0.500388   -0.263362  10.2161    -0.0532632  -0.0266316  0.0468716   0.22       0.02          pose: 0.0           -4.3133    -3.6543     0 -0.00188265 -0.00147286 0.996053    0.0887266      uwb: 0.0            1240.22  1411.1   
imu_odom_:  1691062532.775704902  0.718261   -0.102951  10.319     -0.0458064  -0.0585895  0.0468716   0.19       0             pose: 0.51913301    -4.32657   -3.64939    0 -0.000213456-0.00299967 0.996054    0.0886931      uwb: 0.0            1240.22  1411.1   
imu_odom_:  1691062532.801818747  0.804452   -0.244209  10.4004    -0.0532632  -0.0255663  0.0426106   0.19       0             pose: 0.0           -4.32657   -3.64939    0 -0.000213456-0.00299967 0.996054    0.0886931      uwb: 0.49611085     1243.87  1409.92  
imu_odom_:  1691062532.817705901  0.390255   -0.0454898 9.56484    -0.0468716  -0.0340885  0.0468716   0.2        -0.02         pose: 0.46995354    -4.33565   -3.65357    0 0.00294805  -0.00163435 0.996059    0.0886324      uwb: 0.0            1243.87  1409.92  
imu_odom_:  1691062532.842819708  0.213084   -0.328006  10.0173    -0.0713727  0.0223706   0.0639159   0.2        -0.02         pose: 0.0           -4.33565   -3.65357    0 0.00294805  -0.00163435 0.996059    0.0886324      uwb: 0.50004508     1246.04  1409.48  
imu_odom_:  1691062532.867790320  0.464475   -0.186748  10.1011    -0.0585895  0.02024     0.0340885   0.17       0.02          pose: 0.75074861    -4.34891   -3.64866    0 0.00339567  -0.00108037 0.996096    0.0882087      uwb: 0.0            1246.04  1409.48  
imu_odom_:  1691062532.884783669  0.435745   -0.189142  10.0844    -0.0543285  -0.00958738 0.0553937   0.17       0.02          pose: 0.7882187     -4.34891   -3.64866    0 0.00322265  -0.0002986360.996095    0.0882331      uwb: 0.50236947     1245     1411     
imu_odom_:  1691062532.909649873  0.751779   -0.162806  10.07      -0.0394148  -0.00745685 0.0213053   0.18       0             pose: 0.0           -4.34891   -3.64866    0 0.00322265  -0.0002986360.996095    0.0882331      uwb: 0.0            1245     1411     
imu_odom_:  1691062532.932651614  0.292093   -0.416591  9.69652    -0.0713727  0.00852212  0.0575243   0.18       0             pose: 0.42043287    -4.36218   -3.64376    0 0.00205609  0.00106387  0.996098    0.0882249      uwb: 0.49749031     1244.33  1412.33  
imu_odom_:  1691062532.957709426  0.648829   -0.0383072 9.8665     -0.0415453  -0.0170442  0.0340885   0.25       0             pose: 0.39906432    -4.36822   -3.64654    0 0.00205211  -0.0006477410.996103    0.0881674      uwb: 0.0            1244.33  1412.33  
imu_odom_:  1691062532.982661081  0.885855   -0.0574608 10.0365    -0.0671117  -0.00958738 0.0575243   0.25       0             pose: 0.8063588     -4.37126   -3.64794    0 0.00275258  -0.0001095450.9961      0.0881906      uwb: 0.50058754     1245.15  1412.88  
imu_odom_:  1691062533.6769310    0.241814   -0.213084  9.75398    -0.0500674  0.036219    0.0415453   0.2        -0.02         pose: 0.23951908    -4.37126   -3.64794    0 0.00492253  0.00113683  0.996092    0.088177       uwb: 0.0            1245.15  1412.88  
imu_odom_:  1691062533.23823908   0.141258   -0.464475  10.0389    -0.0617853  0.00958738  0.0468716   0.2        -0.02         pose: 0.0           -4.37126   -3.64794    0 0.00492253  0.00113683  0.996092    0.088177       uwb: 0.0            1245.15  1412.88  
imu_odom_:  1691062533.48697117   0.521936   0.0574608  10.4148    -0.0298274  -0.015979   0.0394148   0.25       0.02          pose: 0.50130209    -4.38453   -3.64305    0 0.00311303  0.000949699 0.996118    0.087965       uwb: 0.50059342     1245.58  1413.61  
imu_odom_:  1691062533.73652569   0.531513   -0.21069   10.5129    -0.0756338  -0.00213053 0.0468716   0.22       0             pose: 0.0           -4.38453   -3.64305    0 0.00311303  0.000949699 0.996118    0.087965       uwb: 0.0            1245.58  1413.61  
imu_odom_:  1691062533.87925493   0.68953    -0.0430956 9.97903    -0.0351537  -0.0106526  0.0394148   0.22       0             pose: 0.41861313    -4.38453   -3.64305    0 0.00385172  0.00234266  0.996119    0.087905       uwb: 0.50004229     1249.61  1412.15  
imu_odom_:  1691062533.105805436  0.567426   -0.071826  9.8665     -0.0596548  -0.0170442  0.0543285   0.22       0             pose: 0.0           -4.38453   -3.64305    0 0.00385172  0.00234266  0.996119    0.087905       uwb: 0.0            1249.61  1412.15  
imu_odom_:  1691062533.128827014  0.253785   -0.181959  10.3214    -0.0479369  -0.00426106 0.0276969   0.19       0.02          pose: 0.0           -4.38453   -3.64305    0 0.00385172  0.00234266  0.996119    0.087905       uwb: 0.49828953     1250.09  1412.96  
imu_odom_:  1691062533.146639880  0.605733   -0.0766145 9.76355    -0.0596548  -0.00532632 0.0383495   0.19       0.02          pose: 0.56158152    -4.3978    -3.63816    0 0.00650143  0.00322844  0.996115    0.0877581      uwb: 0.0            1250.09  1412.96  
imu_odom_:  1691062533.170646331  0.280122   -0.114922  9.91439    -0.0617853  -0.0127832  0.0458064   0.19       0             pose: 0.0           -4.3978    -3.63816    0 0.00650143  0.00322844  0.996115    0.0877581      uwb: 0.0            1250.09  1412.96  
imu_odom_:  1691062533.195798349  0.392649   0.110133   10.0724    -0.0852212  0.00213053  0.0575243   0.2        0             pose: 0.33823096    -4.40919   -3.63735    0 0.00651445  0.00392051  0.996103    0.0878665      uwb: 0.50100471     1249.4   1414.26  
imu_odom_:  1691062533.209627395  1.06063    -0.294487  9.75398    -0.0692422  -0.00745685 0.0447411   0.18       0.02          pose: 0.0           -4.40919   -3.63735    0 0.00651445  0.00392051  0.996103    0.0878665      uwb: 0.0            1249.4   1414.26  
imu_odom_:  1691062533.226751404  0.56982    -0.306458  9.92875    -0.0468716  -0.0149137  0.0372843   0.18       0.02          pose: 0.56005915    -4.42015   -3.63746    0 0.0040895   0.00589457  0.996132    0.0875717      uwb: 0.49924610     1243.2   1418.66  
imu_odom_:  1691062533.251656110  0.773327   -0.435745  9.97424    -0.072438   -0.00958738 0.0490022   0.18       -0.02         pose: 0.0           -4.42015   -3.63746    0 0.0040895   0.00589457  0.996132    0.0875717      uwb: 0.0            1243.2   1418.66  
imu_odom_:  1691062533.275625523  0.509965   -0.268151  9.16261    -0.0628506  0.0191748   0.056459    0.18       -0.02         pose: 0.31000300    -4.42015   -3.63746    0 0.00575191  0.00337119  0.99614     0.0875222      uwb: 0.0            1243.2   1418.66  
imu_odom_:  1691062533.301802368  -0.248997  -0.138864  9.55047    -0.0340885  0.0426106   0.0298274   0.25       0             pose: 0.41979428    -4.43342   -3.63258    0 0.00601792  -0.0006370250.996172    0.0872105      uwb: 0.49994897     1242.49  1419.97  
imu_odom_:  1691062533.318628028  0.497994   -0.296881  10.0556    -0.056459   -0.0575243  0.04048     0.25       0             pose: 0.8023051     -4.43342   -3.63258    0 0.00505     -0.00038492 0.996174    0.0872498      uwb: 0.0            1242.49  1419.97  
imu_odom_:  1691062533.334755499  1.15161    -0.0526724 9.53611    -0.0575243  -0.0596548  0.0543285   0.23       -0.14         pose: 0.0           -4.43342   -3.63258    0 0.00505     -0.00038492 0.996174    0.0872498      uwb: 0.49964274     1244.25  1420.47  
imu_odom_:  1691062533.350736274  1.86269    -0.287304  10.1514    -0.0532632  -0.122505   0.0340885   0.23       -0.14         pose: 0.42097834    -4.4425    -3.63679    0 0.0047217   -0.00136229 0.996172    0.0872749      uwb: 0.0            1244.25  1420.47  
imu_odom_:  1691062533.368620008  1.91297    -0.0766145 9.47625    -0.0490022  -0.0191748  -0.0830906  0.23       -0.14         pose: 0.0           -4.4425    -3.63679    0 0.0047217   -0.00136229 0.996172    0.0872749      uwb: 0.0            1244.25  1420.47  
imu_odom_:  1691062533.385628235  1.75734    0.0909797  9.90481    -0.0596548  0.0479369   -0.162985   0.18       -0.35         pose: 0.0           -4.4425    -3.63679    0 0.0047217   -0.00136229 0.996172    0.0872749      uwb: 0.50020269     1241.39  1423.17  
imu_odom_:  1691062533.400613931  1.09415    0.0191536  10.1706    -0.0415453  0.00639159  -0.267381   0.18       -0.35         pose: 0.32884012    -4.4467    -3.62771    0 0.00923788  -0.00146467 0.9961      0.0877347      uwb: 0.0            1241.39  1423.17  
imu_odom_:  1691062533.416732069  0.73502    0.0814029  9.53371    -0.0617853  -0.00745685 -0.361125   0.1        -0.41         pose: 0.0           -4.4467    -3.62771    0 0.00923788  -0.00146467 0.9961      0.0877347      uwb: 0.0            1241.39  1423.17  
imu_odom_:  1691062533.429629321  0.873884   0.227449   10.1682    -0.052198   0.0149137   -0.414388   0.1        -0.41         pose: 0.34136902    -4.4467    -3.62771    0 0.0121763   -0.0007533260.995762    0.0911597      uwb: 0.0            1241.39  1423.17  
imu_odom_:  1691062533.445619136  1.00078    0.0957681  10.0389    -0.0596548  -0.0308927  -0.434628   0.1        -0.41         pose: 0.0           -4.4467    -3.62771    0 0.0121763   -0.0007533260.995762    0.0911597      uwb: 0.0            1241.39  1423.17  
imu_odom_:  1691062533.462685984  0.699107   -0.0622492 10.0245    -0.0607201  -0.00745685 -0.461259   0.11       -0.58         pose: 0.14902577    -4.4467    -3.62771    0 0.013154    0.000255827 0.995506    0.0937773      uwb: 0.0            1241.39  1423.17  
imu_odom_:  1691062533.478728587  0.907402   -0.356736  10.0485    -0.0543285  -0.0479369  -0.459129   0.11       -0.58         pose: 0.0           -4.4467    -3.62771    0 0.013154    0.000255827 0.995506    0.0937773      uwb: 0.100098575    1240.73  1424.6   
imu_odom_:  1691062533.494880555  0.64404    -0.225055  9.76834    -0.0649811  -0.0287621  -0.467651   0.11       -0.58         pose: 0.0           -4.4467    -3.62771    0 0.013154    0.000255827 0.995506    0.0937773      uwb: 0.0            1240.73  1424.6   
imu_odom_:  1691062533.511725463  0.981623   -0.146046  10.1562    -0.0617853  -0.0394148  -0.48363    0.07       -0.5          pose: 0.44955044    -4.45575   -3.63198    0 0.0156641   0.00376576  0.994441    0.104055       uwb: 0.0            1240.73  1424.6   
imu_odom_:  1691062533.528737190  0.885855   0.0023942  10.0533    -0.0703074  -0.036219   -0.48363    0.1        -0.73         pose: 0.0           -4.45575   -3.63198    0 0.0156641   0.00376576  0.994441    0.104055       uwb: 0.49858409     1242.15  1424.5   
imu_odom_:  1691062533.544604225  0.905008   -0.373495  9.92397    -0.0607201  -0.0340885  -0.502805   0.1        -0.73         pose: 0.0           -4.45575   -3.63198    0 0.0156641   0.00376576  0.994441    0.104055       uwb: 0.0            1242.15  1424.5   
imu_odom_:  1691062533.561606620  0.802058   -0.220267  9.70849    -0.0671117  -0.0149137  -0.526241   0.09       -0.73         pose: 0.67281350    -4.46      -3.62293    0 0.0186535   0.00236403  0.992464    0.121083       uwb: 0.0            1242.15  1424.5   
imu_odom_:  1691062533.577600227  0.629675   -0.122104  10.1299    -0.0681769  -0.0138484  -0.523045   0.09       -0.73         pose: 0.0           -4.46      -3.62293    0 0.0186535   0.00236403  0.992464    0.121083       uwb: 0.50068973     1239.88  1426.57  
imu_odom_:  1691062533.594599997  0.663194   -0.181959  9.97185    -0.0639159  -0.00213053 -0.484695   0.09       -0.73         pose: 0.32697652    -4.46      -3.62293    0 0.0203088   0.000586393 0.991325    0.12985        uwb: 0.0            1239.88  1426.57  
imu_odom_:  1691062533.610660681  0.730232   -0.521936  9.72525    -0.0671117  0.015979    -0.447411   0.05       -0.44         pose: 0.41996052    -4.46901   -3.62713    0 0.0172733   0.000141399 0.989823    0.141249       uwb: 0.0            1239.88  1426.57  
imu_odom_:  1691062533.627649660  0.658405   -0.328006  10.0006    -0.0543285  0.0138484   -0.395213   0.05       -0.44         pose: 0.8065922     -4.46906   -3.62717    0 0.0170687   -0.0006585670.989549    0.14318        uwb: 0.49999563     1240.69  1427.13  
imu_odom_:  1691062533.643600980  0.610521   -0.380678  9.88087    -0.0575243  -0.00319579 -0.358994   0.05       -0.44         pose: 0.0           -4.46906   -3.62717    0 0.0170687   -0.0006585670.989549    0.14318        uwb: 0.0            1240.69  1427.13  
imu_odom_:  1691062533.661595246  0.507571   -0.184354  9.78989    -0.056459   0.00213053  -0.322775   0.06       -0.5          pose: 0.40935061    -4.46901   -3.62713    0 0.0145984   -0.00384366 0.988289    0.151848       uwb: 0.0            1240.69  1427.13  
imu_odom_:  1691062533.678606390  0.579397   -0.260968  9.88566    -0.0490022  0.00745685  -0.292948   0.04       -0.32         pose: 0.0           -4.46901   -3.62713    0 0.0145984   -0.00384366 0.988289    0.151848       uwb: 0.50007437     1242.61  1427.05  
imu_odom_:  1691062533.693653038  0.593762   -0.328006  9.86411    -0.0649811  0.00532632  -0.270577   0.04       -0.32         pose: 0.0           -4.46901   -3.62713    0 0.0145984   -0.00384366 0.988289    0.151848       uwb: 0.0            1242.61  1427.05  
imu_odom_:  1691062533.710801836  0.632069   -0.21069   9.96946    -0.0479369  0           -0.251402   0.03       -0.26         pose: 0.26005068    -4.46906   -3.62717    0 0.0121193   -0.00307079 0.987616    0.156392       uwb: 0.0            1242.61  1427.05  
imu_odom_:  1691062533.725795405  0.636858   -0.354342  9.73243    -0.0532632  0.00213053  -0.219444   0.03       -0.26         pose: 0.0           -4.46906   -3.62717    0 0.0121193   -0.00307079 0.987616    0.156392       uwb: 0.0            1242.61  1427.05  
imu_odom_:  1691062533.742738013  0.572214   -0.265756  9.89284    -0.0543285  0.00958738  -0.194943   0.03       -0.26         pose: 0.31047838    -4.46906   -3.62717    0 0.0106019   -0.00380803 0.986863    0.161168       uwb: 0.49931027     1242.94  1427.62  
imu_odom_:  1691062533.758735412  0.567426   -0.328006  9.96946    -0.0500674  0.00958738  -0.183225   0.03       -0.23         pose: 0.42084127    -4.46901   -3.62713    0 0.00910328  -0.00405771 0.985993    0.166491       uwb: 0.0            1242.94  1427.62  
imu_odom_:  1691062533.775737807  0.596156   -0.129287  10.0149    -0.0585895  -0.0213053  -0.168312   0.03       -0.23         pose: 0.7890355     -4.46906   -3.62717    0 0.00864373  -0.00469369 0.985848    0.16735        uwb: 0.0            1242.94  1427.62  
imu_odom_:  1691062533.791625256  0.555455   -0.203507  9.84256    -0.0532632  0.0106526   -0.157659   0.03       -0.23         pose: 0.0           -4.46906   -3.62717    0 0.00864373  -0.00469369 0.985848    0.16735        uwb: 0.50054683     1238.03  1431.14  
imu_odom_:  1691062533.817582204  0.641646   -0.253785  9.83299    -0.056459   -0.015979   -0.131028   0.03       -0.23         pose: 0.40996888    -4.47329   -3.61809    0 0.00817345  -0.00217798 0.98514     0.171547       uwb: 0.0            1238.03  1431.14  
imu_odom_:  1691062533.840585701  0.380678   -0.373495  9.7851     -0.0596548  0.0149137   -0.118244   0.02       -0.17         pose: 0.0           -4.47329   -3.61809    0 0.00817345  -0.00217798 0.98514     0.171547       uwb: 0.49945901     1234.54  1433.72  
imu_odom_:  1691062533.856600890  0.150835   -0.213084  9.92636    -0.0500674  0.0170442   -0.15979    0.02       -0.17         pose: 0.33047623    -4.47334   -3.61813    0 0.00987576  -0.00365152 0.984642    0.174266       uwb: 0.0            1234.54  1433.72  
imu_odom_:  1691062533.880654295  0.529119   0.0646434  10.0341    -0.0575243  -0.0415453  -0.235423   0.03       -0.44         pose: 0.0           -4.47334   -3.61813    0 0.00987576  -0.00365152 0.984642    0.174266       uwb: 0.49982939     1231.78  1435.87  
imu_odom_:  1691062533.905573000  0.775721   -0.0814029 9.8258     -0.0575243  -0.00532632 -0.313188   0.03       -0.44         pose: 0.38979314    -4.47334   -3.61813    0 0.00675715  -0.00291956 0.983998    0.178025       uwb: 0.0            1231.78  1435.87  
imu_odom_:  1691062533.928692862  0.45011    -0.351948  9.81144    -0.0660464  -0.00532632 -0.34195    0.03       -0.35         pose: 0.41920807    -4.4733    -3.6181     0 0.00966505  -0.0004483050.982754    0.184663       uwb: 0.50001312     1232.05  1436.39  
imu_odom_:  1691062533.944675970  0.418985   -0.311246  9.85932    -0.056459   -0.0170442  -0.352603   0.03       -0.35         pose: 0.0           -4.4733    -3.6181     0 0.00966505  -0.0004483050.982754    0.184663       uwb: 0.0            1232.05  1436.39  
imu_odom_:  1691062533.968586180  0.603339   -0.0383072 9.97424    -0.0585895  -0.0181095  -0.394148   0.03       -0.53         pose: 0.39102970    -4.48237   -3.62243    0 0.00646637  -0.002558   0.981359    0.192056       uwb: 0.0            1232.05  1436.39  
imu_odom_:  1691062533.994567626  0.577003   -0.179565  10.0078    -0.0511327  -0.00213053 -0.449542   0.03       -0.53         pose: 0.0           -4.48237   -3.62243    0 0.00646637  -0.002558   0.981359    0.192056       uwb: 0.49918487     1231.96  1437.13  
imu_odom_:  1691062534.20629860   0.509965   -0.208296  9.82102    -0.0660464  -0.00106526 -0.46339    0.02       -0.5          pose: 0.32005880    -4.48237   -3.62243    0 0.00853637  -0.0001468160.979942    0.199099       uwb: 0.0            1231.96  1437.13  
imu_odom_:  1691062534.46583315   0.387861   -0.31364   9.85453    -0.056459   -0.0245011  -0.504935   0.02       -0.61         pose: 0.25992528    -4.48237   -3.62243    0 0.00937058  0.000383207 0.978637    0.205382       uwb: 0.50265545     1230.62  1438.32  
imu_odom_:  1691062534.72620179   0.519542   -0.0335188 10.0317    -0.0575243  -0.0138484  -0.552872   0.02       -0.61         pose: 0.0           -4.48237   -3.62243    0 0.00937058  0.000383207 0.978637    0.205382       uwb: 0.0            1230.62  1438.32  
imu_odom_:  1691062534.89690530   0.579397   -0.227449  9.71567    -0.0681769  -0.0213053  -0.551807   0.02       -0.67         pose: 0.24970040    -4.48237   -3.62243    0 0.00704197  -0.0004964030.977317    0.211664       uwb: 0.49812924     1232.71  1437.64  
imu_odom_:  1691062534.113557874  0.737414   -0.272939  10.0197    -0.0660464  -0.0213053  -0.573112   0.02       -0.67         pose: 0.0           -4.48237   -3.62243    0 0.00704197  -0.0004964030.977317    0.211664       uwb: 0.0            1232.71  1437.64  
imu_odom_:  1691062534.139617194  0.454898   -0.126893  9.991      -0.0575243  0.00106526  -0.615723   0.01       -0.73         pose: 0.51943072    -4.48237   -3.62243    0 0.00669385  0.000550964 0.974049    0.226236       uwb: 0.50012115     1231.76  1438.62  
imu_odom_:  1691062534.154614267  0.517148   -0.191536  9.79228    -0.0735032  -0.0181095  -0.632767   0.01       -0.73         pose: 0.0           -4.48237   -3.62243    0 0.00669385  0.000550964 0.974049    0.226236       uwb: 0.0            1231.76  1438.62  
imu_odom_:  1691062534.179582848  0.766145   -0.248997  10.1035    -0.0532632  -0.0170442  -0.66579    0.01       -0.79         pose: 0.42099011    -4.48237   -3.62243    0 0.00878551  -0.00132821 0.971021    0.238829       uwb: 0.49986159     1232.68  1438.5   
imu_odom_:  1691062534.203548476  0.699107   -0.169988  9.85453    -0.0649811  -0.00745685 -0.688161   0.01       -0.79         pose: 0.0           -4.48237   -3.62243    0 0.00878551  -0.00132821 0.971021    0.238829       uwb: 0.0            1232.68  1438.5   
imu_odom_:  1691062534.229550343  0.565032   -0.258574  9.84256    -0.0660464  -0.02024    -0.688161   0.01       -0.7          pose: 0.39938824    -4.48237   -3.62243    0 0.00671475  -0.0007218260.967751    0.251819       uwb: 0.50043905     1230.96  1439.89  
imu_odom_:  1691062534.252614215  0.402226   -0.110133  9.991      -0.0543285  0.00106526  -0.713727   0.01       -0.7          pose: 0.0           -4.48237   -3.62243    0 0.00671475  -0.0007218260.967751    0.251819       uwb: 0.0            1230.96  1439.89  
imu_odom_:  1691062534.277543425  0.471658   -0.205901  9.82341    -0.056459   -0.00852212 -0.716923   0.01       -0.7          pose: 0.49966619    -4.48237   -3.62243    0 0.0102716   -0.00216697 0.963038    0.269163       uwb: 0.49989950     1234.68  1438.58  
imu_odom_:  1691062534.294612318  0.605733   -0.263362  10.1682    -0.0553937  0.0308927   -0.737163   0.01       -0.7          pose: 0.0           -4.48237   -3.62243    0 0.0102716   -0.00216697 0.963038    0.269163       uwb: 0.0            1234.68  1438.58  
imu_odom_:  1691062534.319606272  0.497994   -0.143652  9.82102    -0.0649811  -0.0298274  -0.727576   0.01       -0.7          pose: 0.49040074    -4.48237   -3.62243    0 0.00666728  -0.0013256  0.957995    0.286703       uwb: 0.0            1234.68  1438.58  
imu_odom_:  1691062534.344535190  0.6608     -0.105345  9.85453    -0.0607201  -0.00852212 -0.752077   0.01       -0.7          pose: 0.0           -4.48237   -3.62243    0 0.00666728  -0.0013256  0.957995    0.286703       uwb: 0.49948246     1233.34  1439.75  
imu_odom_:  1691062534.360652458  0.553061   -0.0742203 9.7875     -0.0639159  -0.00958738 -0.761664   0          -0.79         pose: 0.41991979    -4.48237   -3.62243    0 0.00597587  -0.00130164 0.95326     0.302089       uwb: 0.0            1233.34  1439.75  
imu_odom_:  1691062534.386528335  0.416591   -0.241814  9.79228    -0.0585895  -0.0191748  -0.800014   0          -0.79         pose: 0.0           -4.48237   -3.62243    0 0.00597587  -0.00130164 0.95326     0.302089       uwb: 0.50000449     1234.46  1439.07  
imu_odom_:  1691062534.399532331  0.371101   -0.186748  9.88326    -0.056459   0.0127832   -0.819188   0          -0.79         pose: 0.48066867    -4.48237   -3.62243    0 0.00877926  0.00115074  0.947373    0.32001        uwb: 0.0            1234.46  1439.07  
imu_odom_:  1691062534.424521328  0.507571   -0.184354  9.83059    -0.0628506  -0.0213053  -0.815993   0          -0.79         pose: 0.0           -4.48237   -3.62243    0 0.00877926  0.00115074  0.947373    0.32001        uwb: 0.0            1234.46  1439.07  
imu_odom_:  1691062534.449520240  0.553061   -0.335188  9.70131    -0.0607201  -0.0127832  -0.810666   0.01       -1.06         pose: 0.73830464    -4.48222   -3.62231    0 0.00583315  -0.00128212 0.936977    0.349341       uwb: 0.49978285     1233.79  1439.67  
imu_odom_:  1691062534.464528103  0.502782   -0.277727  9.94551    -0.0479369  -0.00852212 -0.833037   0.01       -1.06         pose: 0.7014557     -4.48237   -3.62243    0 0.00579157  -0.00199194 0.935931    0.35213        uwb: 0.0            1233.79  1439.67  
imu_odom_:  1691062534.488526103  0.629675   -0.248997  10.0102    -0.0596548  -0.0255663  -0.833037   0          -0.85         pose: 0.0           -4.48237   -3.62243    0 0.00579157  -0.00199194 0.935931    0.35213        uwb: 0.49998700     1233.84  1439.77  
imu_odom_:  1691062534.514524470  0.514753   -0.198719  9.89284    -0.0585895  0.00426106  -0.869256   0          -0.85         pose: 0.40030982    -4.4866    -3.61337    0 0.00516511  -0.0045814  0.929714    0.368216       uwb: 0.0            1233.84  1439.77  
imu_odom_:  1691062534.539581419  0.311246   -0.306458  9.96706    -0.0671117  -0.015979   -0.834102   0          -0.82         pose: 0.42957603    -4.48628   -3.61311    0 0.00601315  -0.00254927 0.922464    0.386027       uwb: 0.50002783     1235.18  1439.51  
imu_odom_:  1691062534.565670487  0.555455   -0.272939  10.0604    -0.0532632  -0.00958738 -0.84582    0          -1.03         pose: 0.7043430     -4.4866    -3.61337    0 0.00533875  -0.00258199 0.921276    0.388864       uwb: 0.0            1235.18  1439.51  
imu_odom_:  1691062534.590498497  0.35913    -0.0742203 9.91439    -0.0649811  0.00745685  -0.861799   0          -0.91         pose: 0.44102587    -4.48626   -3.6131     0 0.00526709  -0.00472531 0.913548    0.406669       uwb: 0.49878835     1237.25  1438.75  
imu_odom_:  1691062534.606552770  0.533907   -0.272939  9.63187    -0.0649811  0.00319579  -0.853277   0          -0.91         pose: 0.0           -4.48626   -3.6131     0 0.00526709  -0.00472531 0.913548    0.406669       uwb: 0.0            1237.25  1438.75  
imu_odom_:  1691062534.623496548  0.54109    -0.263362  9.91678    -0.0607201  -0.0372843  -0.854342   0          -0.91         pose: 0.0           -4.48626   -3.6131     0 0.00526709  -0.00472531 0.913548    0.406669       uwb: 0.0            1237.25  1438.75  
imu_odom_:  1691062534.639548488  0.464475   -0.237026  9.72285    -0.0596548  -0.0234358  -0.870321   0          -0.91         pose: 0.48892504    -4.4866    -3.61337    0 0.00509231  -0.00471088 0.904408    0.426612       uwb: 0.49981784     1236.84  1438.92  
imu_odom_:  1691062534.655490770  0.428562   -0.169988  9.96467    -0.0575243  0.0149137   -0.888431   0          -0.91         pose: 0.0           -4.4866    -3.61337    0 0.00509231  -0.00471088 0.904408    0.426612       uwb: 0.0            1236.84  1438.92  
imu_odom_:  1691062534.672681569  0.560243   -0.122104  10.0676    -0.0543285  0           -0.887365   0          -0.91         pose: 0.31951642    -4.4866    -3.61337    0 0.00436927  -0.00381661 0.898122    0.439709       uwb: 0.0            1236.84  1438.92  
imu_odom_:  1691062534.688619768  0.47884    -0.213084  9.83538    -0.0660464  -0.0319579  -0.8863     0          -0.91         pose: 0.0           -4.4866    -3.61337    0 0.00436927  -0.00381661 0.898122    0.439709       uwb: 0.50007449     1236.92  1439.06  
imu_odom_:  1691062534.705526508  0.550666   -0.217872  9.83777    -0.0500674  -0.0127832  -0.909736   0          -1.2          pose: 0.0           -4.4866    -3.61337    0 0.00436927  -0.00381661 0.898122    0.439709       uwb: 0.0            1236.92  1439.06  
imu_odom_:  1691062534.721504954  0.632069   -0.107739  9.81862    -0.0553937  0.0117179   -0.909736   0          -1.2          pose: 0.42105135    -4.48655   -3.61333    0 0.00394868  -0.00185231 0.889375    0.457158       uwb: 0.0            1236.92  1439.06  
imu_odom_:  1691062534.737498857  0.500388   -0.169988  10.0269    -0.0639159  0.00213053  -0.884169   0          -1.2          pose: 0.0           -4.48655   -3.61333    0 0.00394868  -0.00185231 0.889375    0.457158       uwb: 0.50232013     1238.22  1438.73  
imu_odom_:  1691062534.751501724  0.234632   -0.260968  9.79707    -0.0585895  -0.0127832  -0.868191   0          -0.88         pose: 0.8001764     -4.4866    -3.61337    0 0.0046671   -0.00226941 0.887629    0.46053        uwb: 0.0            1238.22  1438.73  
imu_odom_:  1691062534.767494460  0.260968   -0.339977  9.82102    -0.0639159  -0.0351537  -0.878843   0          -0.88         pose: 0.0           -4.4866    -3.61337    0 0.0046671   -0.00226941 0.887629    0.46053        uwb: 0.0            1238.22  1438.73  
imu_odom_:  1691062534.784496275  0.557849   -0.107739  9.9527     -0.0500674  -0.00106526 -0.902279   0          -0.88         pose: 0.0           -4.4866    -3.61337    0 0.0046671   -0.00226941 0.887629    0.46053        uwb: 0.49855795     1243.66  1435.97  
imu_odom_:  1691062534.800498052  0.538695   -0.227449  9.97185    -0.0692422  -0.0127832  -0.902279   0          -1.11         pose: 0.46937923    -4.4866    -3.61337    0 0.00526749  -0.0008249540.877301    0.479911       uwb: 0.0            1243.66  1435.97  
imu_odom_:  1691062534.816503621  0.632069   -0.131681  9.83538    -0.0649811  -0.0138484  -0.888431   0          -0.91         pose: 0.0           -4.4866    -3.61337    0 0.00526749  -0.0008249540.877301    0.479911       uwb: 0.0            1243.66  1435.97  
imu_odom_:  1691062534.832496940  0.469264   -0.354342  9.72525    -0.0681769  -0.0149137  -0.8863     0          -0.91         pose: 0.31943185    -4.4866    -3.61337    0 0.00388282  -0.00072092 0.870147    0.492776       uwb: 0.50026989     1246.61  1434.1   
imu_odom_:  1691062534.848489093  0.529119   -0.167594  9.79228    -0.0532632  -0.0138484  -0.898018   0          -0.91         pose: 0.32036218    -4.4866    -3.61337    0 0.00587356  -0.00212127 0.86263     0.505796       uwb: 0.0            1246.61  1434.1   
imu_odom_:  1691062534.864493203  0.694318   -0.1652    10.0772    -0.052198   0.0149137   -0.912932   0          -0.91         pose: 0.0           -4.4866    -3.61337    0 0.00587356  -0.00212127 0.86263     0.505796       uwb: 0.0            1246.61  1434.1   
imu_odom_:  1691062534.880511896  0.653617   -0.0430956 9.81383    -0.0585895  -0.0319579  -0.875647   0          -0.91         pose: 0.31995680    -4.4866    -3.61337    0 0.00599178  -0.00263935 0.855017    0.518558       uwb: 0.50012991     1246.06  1434     
imu_odom_:  1691062534.895523259  0.517148   -0.426168  9.63906    -0.0575243  -0.0117179  -0.836233   0          -0.94         pose: 0.0           -4.4866    -3.61337    0 0.00599178  -0.00263935 0.855017    0.518558       uwb: 0.0            1246.06  1434     
imu_odom_:  1691062534.912553946  0.579397   -0.471658  9.86411    -0.052198   -0.00426106 -0.790426   0          -0.94         pose: 0.40977358    -4.48656   -3.61334    0 0.00954038  -0.00192882 0.844902    0.534832       uwb: 0.0            1246.06  1434     
imu_odom_:  1691062534.928562723  0.651223   -0.392649  10.0006    -0.0639159  -0.0117179  -0.723315   0          -0.94         pose: 0.0           -4.48656   -3.61334    0 0.00954038  -0.00192882 0.844902    0.534832       uwb: 0.0            1246.06  1434     
imu_odom_:  1691062534.944507047  0.533907   -0.356736  9.77074    -0.0585895  0.00213053  -0.657268   0          -0.67         pose: 0.6024726     -4.4866    -3.61337    0 0.00913937  -0.0023523  0.843493    0.537057       uwb: 0.0            1246.06  1434     
imu_odom_:  1691062534.970486749  0.378284   -0.397437  9.90481    -0.0553937  -0.0127832  -0.566721   0          -0.67         pose: 0.0           -4.4866    -3.61337    0 0.00913937  -0.0023523  0.843493    0.537057       uwb: 0.0            1246.06  1434     
imu_odom_:  1691062534.986491734  0.37589    -0.280122  9.9527     -0.0543285  0.00532632  -0.537959   0          -0.61         pose: 0.49090237    -4.4866    -3.61337    0 0.00679616  -0.00633298 0.832846    0.553427       uwb: 0.99898824     1246.89  1433.7   
imu_odom_:  1691062535.2593544    0.311246   -0.272939  9.90481    -0.0511327  -0.00106526 -0.486826   0          -0.61         pose: 0.0           -4.4866    -3.61337    0 0.00679616  -0.00633298 0.832846    0.553427       uwb: 0.0            1246.89  1433.7   
imu_odom_:  1691062535.17536083   0.411803   -0.248997  9.9503     -0.0607201  -0.02024    -0.42291    0          -0.41         pose: 0.0           -4.4866    -3.61337    0 0.00679616  -0.00633298 0.832846    0.553427       uwb: 0.0            1246.89  1433.7   
imu_odom_:  1691062535.34649893   0.59855    -0.423774  9.87129    -0.0628506  -0.0266316  -0.335558   0          -0.41         pose: 0.72956708    -4.4866    -3.61337    0 0.000783509 -0.00432342 0.820968    0.570958       uwb: 0.49985873     1246.13  1434.13  
imu_odom_:  1691062535.51481976   0.656011   -0.521936  9.88805    -0.0575243  -0.00958738 -0.254598   0          -0.2          pose: 0.0           -4.4866    -3.61337    0 0.000783509 -0.00432342 0.820968    0.570958       uwb: 0.0            1246.13  1434.13  
imu_odom_:  1691062535.67531878   0.624887   -0.45011   9.87848    -0.0543285  -0.00319579 -0.175769   0          -0.2          pose: 0.34017054    -4.4866    -3.61337    0 0.000863905 -0.00625831 0.817261    0.576233       uwb: 0.0            1246.13  1434.13  
imu_odom_:  1691062535.84586776   0.577003   -0.342371  9.97185    -0.0532632  -0.00958738 -0.0745685  0          -0.2          pose: 0.0           -4.4866    -3.61337    0 0.000863905 -0.00625831 0.817261    0.576233       uwb: 0.50035459     1245.63  1434.14  
imu_odom_:  1691062535.100589724  0.189142   -0.35913   9.69412    -0.0543285  0.0213053   0.0213053   0          -0.02         pose: 0.41986155    -4.4866    -3.61337    0 0.00261324  -0.00975677 0.814914    0.579494       uwb: 0.0            1245.63  1434.14  
imu_odom_:  1691062535.115466643  0.131681   -0.42138   10.0245    -0.0511327  0.0255663   0.0820254   0          -0.02         pose: 0.7953645     -4.4866    -3.61337    0 0.00185935  -0.00927184 0.814879    0.579553       uwb: 0.0            1245.63  1434.14  
imu_odom_:  1691062535.130468386  0.0766145  -0.287304  9.95509    -0.0553937  0.00106526  0.109722    0          -0.02         pose: 0.0           -4.4866    -3.61337    0 0.00185935  -0.00927184 0.814879    0.579553       uwb: 0.50106327     1244.13  1435.01  
imu_odom_:  1691062535.147473413  0.244209   -0.100556  9.90002    -0.0543285  -0.0266316  0.118244    0          0.05          pose: 0.37927965    -4.4866    -3.61337    0 -0.00154583 -0.00695568 0.815354    0.578919       uwb: 0.0            1244.13  1435.01  
imu_odom_:  1691062535.163486860  0.610521   -0.0383072 9.8282     -0.0585895  -0.0223706  0.116114    0          0.05          pose: 0.0           -4.4866    -3.61337    0 -0.00154583 -0.00695568 0.815354    0.578919       uwb: 0.0            1244.13  1435.01  
imu_odom_:  1691062535.178481019  0.596156   -0.296881  9.87369    -0.056459   0.0117179   0.120375    0          0.05          pose: 0.0           -4.4866    -3.61337    0 -0.00154583 -0.00695568 0.815354    0.578919       uwb: 0.49936300     1242.88  1435.47  
imu_odom_:  1691062535.192469308  0.378284   -0.332794  9.92875    -0.0479369  0.0223706   0.125701    0          0.05          pose: 0.24070624    -4.4866    -3.61337    0 -0.000870146-0.00513306 0.815908    0.578158       uwb: 0.0            1242.88  1435.47  
imu_odom_:  1691062535.207514213  0.275333   -0.270545  9.91199    -0.052198   -0.00532632 0.157659    0          0.08          pose: 0.0           -4.4866    -3.61337    0 -0.000870146-0.00513306 0.815908    0.578158       uwb: 0.0            1242.88  1435.47  
imu_odom_:  1691062535.224576986  0.368707   -0.237026  9.85932    -0.0585895  -0.0170442  0.189617    0          0.08          pose: 0.0           -4.4866    -3.61337    0 -0.000870146-0.00513306 0.815908    0.578158       uwb: 0.0            1242.88  1435.47  
imu_odom_:  1691062535.240560393  0.490811   -0.220267  9.90481    -0.052198   -0.00426106 0.198139    0          0.14          pose: 0.29962363    -4.4866    -3.61337    0 0.000461148 -0.00547186 0.816601    0.577177       uwb: 0.50104286     1241.65  1435.94  
imu_odom_:  1691062535.257594001  0.574608   -0.186748  9.91918    -0.056459   -0.00958738 0.196009    0          0.14          pose: 0.40075613    -4.4866    -3.61337    0 -0.00163388 -0.00249544 0.818064    0.575119       uwb: 0.0            1241.65  1435.94  
imu_odom_:  1691062535.273610947  0.629675   -0.160412  9.86172    -0.0543285  -0.0106526  0.177899    0          0.14          pose: 0.0           -4.4866    -3.61337    0 -0.00163388 -0.00249544 0.818064    0.575119       uwb: 0.0            1241.65  1435.94  
imu_odom_:  1691062535.290525566  0.553061   -0.162806  9.95509    -0.0543285  -0.00106526 0.157659    0          0.14          pose: 0.7892691     -4.4866    -3.61337    0 -0.000840247-0.00253289 0.818423    0.574609       uwb: 0.50050624     1243.86  1434.54  
imu_odom_:  1691062535.307601754  0.466869   -0.189142  9.9096     -0.0532632  0.00106526  0.135289    0          0.14          pose: 0.0           -4.4866    -3.61337    0 -0.000840247-0.00253289 0.818423    0.574609       uwb: 0.0            1243.86  1434.54  
imu_odom_:  1691062535.323455089  0.371101   -0.213084  9.92397    -0.0585895  0.00106526  0.120375    0          0.14          pose: 0.0           -4.4866    -3.61337    0 -0.000840247-0.00253289 0.818423    0.574609       uwb: 0.0            1243.86  1434.54  
imu_odom_:  1691062535.348506794  0.35913    -0.134075  9.90242    -0.052198   -0.00319579 0.0649811   0          0.02          pose: 0.49264942    -4.4866    -3.61337    0 0.00409693  -0.00297272 0.820449    0.571697       uwb: 0.49687821     1244.24  1434.33  
imu_odom_:  1691062535.363507370  0.392649   -0.0287304 10.0197    -0.0532632  0.0127832   0.04048     0          0             pose: 0.0           -4.4866    -3.61337    0 0.00409693  -0.00297272 0.820449    0.571697       uwb: 0.0            1244.24  1434.33  
imu_odom_:  1691062535.380616805  -0.505177  -0.136469  9.70609    -0.0532632  0.0884169   0.076699    0          0             pose: 0.72896353    -4.4866    -3.61337    0 0.00181426  0.00225972  0.82176     0.569826       uwb: 0.50163198     1246.46  1432.96  
imu_odom_:  1691062535.397504593  -1.06542   -0.59855   9.991      -0.0543285  0.00958738  0.11931     0.03       0.05          pose: 0.0           -4.4866    -3.61337    0 0.00181426  0.00225972  0.82176     0.569826       uwb: 0.0            1246.46  1432.96  
imu_odom_:  1691062535.414636484  -0.672771  -0.282516  9.83777    -0.0500674  -0.0500674  0.147006    0.03       0.05          pose: 0.33883191    -4.4866    -3.61337    0 -0.0006655160.0048094   0.822112    0.569304       uwb: 0.0            1246.46  1432.96  
imu_odom_:  1691062535.430637682  0.296881   -0.0766145 9.9096     -0.0511327  -0.0585895  0.164051    0.03       0.05          pose: 0.0           -4.4866    -3.61337    0 -0.0006655160.0048094   0.822112    0.569304       uwb: 0.49989379     1246.86  1432.79  
imu_odom_:  1691062535.447639792  0.378284   -0.0622492 9.84496    -0.0543285  -0.00745685 0.171508    0.07       0.17          pose: 0.42123519    -4.4866    -3.61337    0 -0.00142759 0.006787    0.823393    0.56743        uwb: 0.0            1246.86  1432.79  
imu_odom_:  1691062535.464566660  -0.0023942 -0.318429  9.86172    -0.0479369  0.0298274   0.172573    0.07       0.17          pose: 0.7936729     -4.4866    -3.61337    0 -0.0006198230.00684716  0.823693    0.566994       uwb: 0.0            1246.86  1432.79  
imu_odom_:  1691062535.481715758  -0.0885855 -0.418985  10.1299    -0.0490022  -0.00319579 0.173638    0.07       0.17          pose: 0.0           -4.4866    -3.61337    0 -0.0006198230.00684716  0.823693    0.566994       uwb: 0.49934259     1247.56  1432.26  
imu_odom_:  1691062535.497606715  0.0430956  -0.148441  9.85693    -0.0617853  -0.0383495  0.191748    0.07       0.17          pose: 0.33059303    -4.4866    -3.61337    0 -0.00227572 0.00714301  0.824928    0.565188       uwb: 0.0            1247.56  1432.26  
imu_odom_:  1691062535.513423595  0.351948   -0.299275  9.93115    -0.0532632  -0.0287621  0.2024      0.11       0.17          pose: 0.0           -4.4866    -3.61337    0 -0.00227572 0.00714301  0.824928    0.565188       uwb: 0.0            1247.56  1432.26  
imu_odom_:  1691062535.529444624  0.474052   -0.158017  10.2663    -0.0436758  -0.0106526  0.185356    0.11       0.17          pose: 0.0           -4.4866    -3.61337    0 -0.00227572 0.00714301  0.824928    0.565188       uwb: 0.49998420     1248.95  1431.19  
imu_odom_:  1691062535.545501817  0.143652   0.0454898  9.81623    -0.0394148  0.0138484   0.160855    0.11       0.17          pose: 0.32859530    -4.4866    -3.61337    0 -0.00435077 0.00701184  0.826292    0.563181       uwb: 0.0            1248.95  1431.19  
imu_odom_:  1691062535.562491679  0.184354   -0.181959  9.94073    -0.0553937  -0.0106526  0.172573    0.11       0.14          pose: 0.0           -4.4866    -3.61337    0 -0.00435077 0.00701184  0.826292    0.563181       uwb: 0.0            1248.95  1431.19  
imu_odom_:  1691062535.578486461  -0.0407014 -0.316035  9.77553    -0.0660464  0.00426106  0.164051    0.11       0.14          pose: 0.31954274    -4.49069   -3.60425    0 -0.0028791  0.00602472  0.827606    0.561269       uwb: 0.50003961     1245.41  1432.86  
imu_odom_:  1691062535.595420911  0.00957681 -0.342371  9.79707    -0.0585895  0.0149137   0.142745    0.1        0.08          pose: 0.42038943    -4.49069   -3.60425    0 -0.00628308 0.00728701  0.829073    0.559057       uwb: 0.0            1245.41  1432.86  
imu_odom_:  1691062535.611473729  0.373495   -0.122104  10.3573    -0.0532632  0.0117179   0.132093    0.1        0.08          pose: 0.0           -4.49069   -3.60425    0 -0.00628308 0.00728701  0.829073    0.559057       uwb: 0.0            1245.41  1432.86  
imu_odom_:  1691062535.628421011  0.639252   -0.177171  10.0078    -0.0617853  -0.0798948  0.137419    0.1        0.08          pose: 0.0           -4.49069   -3.60425    0 -0.00628308 0.00728701  0.829073    0.559057       uwb: 0.50008919     1244.48  1432.98  
imu_odom_:  1691062535.644421334  1.01993    -0.241814  9.56244    -0.0490022  -0.0436758  0.128897    0.13       0.08          pose: 0.7945770     -4.49069   -3.60425    0 -0.00714232 0.00724403  0.829295    0.558719       uwb: 0.0            1244.48  1432.98  
imu_odom_:  1691062535.660473277  0.964863   -0.246603  9.79468    -0.0447411  0.0170442   0.134223    0.08       0.05          pose: 0.0           -4.49069   -3.60425    0 -0.00714232 0.00724403  0.829295    0.558719       uwb: 0.0            1244.48  1432.98  
imu_odom_:  1691062535.676472433  1.21386    -0.253785  10.0533    -0.052198   -0.02024    0.152333    0.08       0.05          pose: 0.66051529    -4.4948    -3.59513    0 -0.00263009 0.00394511  0.831077    0.556137       uwb: 0.49856682     1245.55  1432.24  
imu_odom_:  1691062535.692471589  0.837971   -0.244209  9.45949    -0.0500674  0.0191748   0.156594    0.08       0.05          pose: 0.0           -4.4948    -3.59513    0 -0.00263009 0.00394511  0.831077    0.556137       uwb: 0.0            1245.55  1432.24  
imu_odom_:  1691062535.709415955  0.804452   -0.102951  10.1059    -0.0628506  0.0170442   0.148072    0.07       0.02          pose: 0.0           -4.4948    -3.59513    0 -0.00263009 0.00394511  0.831077    0.556137       uwb: 0.0            1245.55  1432.24  
imu_odom_:  1691062535.725465857  0.486023   -0.0215478 9.70131    -0.0415453  0.0127832   0.0916127   0.07       0.02          pose: 0.31957191    -4.4948    -3.59513    0 -0.0001476160.00201675  0.832057    0.554687       uwb: 0.0            1245.55  1432.24  
imu_odom_:  1691062535.741469387  0.773327   0.00718261 10.0461    -0.0575243  -0.0234358  0.056459    0.07       0.02          pose: 0.41024906    -4.4948    -3.59513    0 0.00305165  0.00202931  0.833056    0.553177       uwb: 0.50011252     1243.56  1433.12  
imu_odom_:  1691062535.758459249  0.92895    -0.205901  9.72525    -0.0617853  -0.0170442  0.0553937   0.07       0.02          pose: 0.0           -4.4948    -3.59513    0 0.00305165  0.00202931  0.833056    0.553177       uwb: 0.0            1243.56  1433.12  
imu_odom_:  1691062535.775476817  0.950498   -0.342371  9.93115    -0.0575243  0.00213053  0.0394148   0.07       0.02          pose: 0.0           -4.4948    -3.59513    0 0.00305165  0.00202931  0.833056    0.553177       uwb: 0.49998420     1242.9   1432.84  
imu_odom_:  1691062535.800580726  0.799663   -0.0933739 9.77553    -0.052198   0           0.0287621   0.05       0.05          pose: 0.6971396     -4.4948    -3.59513    0 0.0037918   0.00187381  0.833087    0.553125       uwb: 0.0            1242.9   1432.84  
imu_odom_:  1691062535.816397898  0.3304     -0.0622492 9.84735    -0.0543285  0.0788296   0.0308927   0.04       0.08          pose: 0.0           -4.4948    -3.59513    0 0.0037918   0.00187381  0.833087    0.553125       uwb: 0.0            1242.9   1432.84  
imu_odom_:  1691062535.842408229  -1.43173   -0.35913   10.0485    -0.0500674  0.0479369   0.0788296   0.04       0.08          pose: 0.75026502    -4.49893   -3.58602    0 0.00860827  -0.00110495 0.833098    0.553057       uwb: 0.50000753     1241.75  1433.44  
imu_odom_:  1691062535.869471968  -0.294487  -0.114922  9.83299    -0.0596548  -0.0873517  0.092678    0.09       0.05          pose: 0.34944474    -4.49889   -3.58599    0 0.00491024  0.00142128  0.833374    0.552686       uwb: 0.0            1241.75  1433.44  
imu_odom_:  1691062535.895405306  0.423774   -0.227449  9.55526    -0.0628506  -0.0234358  0.0916127   0.09       0.05          pose: 0.7010184     -4.49893   -3.58602    0 0.00457314  0.00165257  0.833476    0.552535       uwb: 0.50112452     1241.85  1433.62  
imu_odom_:  1691062535.922456213  0.047884   -0.0383072 10.161     -0.0511327  0.00639159  0.0447411   0.13       0.05          pose: 0.45986893    -4.50186   -3.57945    0 0.00204817  0.000146921 0.834145    0.551541       uwb: 0.0            1241.85  1433.62  
imu_odom_:  1691062535.938447786  0.474052   -0.3304    10.0461    -0.0703074  -0.0628506  0.0575243   0.13       0.05          pose: 0.0           -4.50186   -3.57945    0 0.00204817  0.000146921 0.834145    0.551541       uwb: 0.50005711     1244.83  1432.73  
imu_odom_:  1691062535.955389236  0.885855   -0.244209  9.59357    -0.0500674  -0.0575243  0.02024     0.1        0             pose: 0.0           -4.50186   -3.57945    0 0.00204817  0.000146921 0.834145    0.551541       uwb: 0.0            1244.83  1432.73  
imu_odom_:  1691062535.971419889  1.19231    -0.263362  9.73961    -0.0745685  -0.0276969  0.0245011   0.1        0             pose: 0.35028174    -4.503     -3.57689    0 0.000506678 0.00150902  0.834221    0.551428       uwb: 0.0            1244.83  1432.73  
imu_odom_:  1691062535.987436835  1.90818    -0.150835  10.4339    -0.0511327  -0.0713727  -0.076699   0.1        -0.32         pose: 0.0           -4.503     -3.57689    0 0.000506678 0.00150902  0.834221    0.551428       uwb: 0.50144240     1245.41  1432     
imu_odom_:  1691062536.4451487    1.42216    0.184354   9.47146    -0.052198   -0.0117179  -0.209857   0.1        -0.32         pose: 0.47983470    -4.503     -3.57689    0 0.00447362  -0.00244469 0.83387     0.551937       uwb: 0.0            1245.41  1432     
imu_odom_:  1691062536.21451852   1.13485    0.160412   9.75398    -0.072438   0.0106526   -0.287621   0.1        -0.32         pose: 0.0           -4.503     -3.57689    0 0.00447362  -0.00244469 0.83387     0.551937       uwb: 0.0            1245.41  1432     
imu_odom_:  1691062536.37388601   0.612916   -0.102951  9.6199     -0.0617853  0.0372843   -0.360059   0.05       -0.35         pose: 0.43034902    -4.50712   -3.56776    0 0.00878408  -0.00346443 0.830831    0.556445       uwb: 0.49833940     1245.72  1431.66  
imu_odom_:  1691062536.54387507   0.442927   -0.141258  10.0293    -0.0671117  0.0127832   -0.380299   0.05       -0.35         pose: 0.0           -4.50712   -3.56776    0 0.00878408  -0.00346443 0.830831    0.556445       uwb: 0.0            1245.72  1431.66  
imu_odom_:  1691062536.70495741   0.3304     -0.356736  9.96706    -0.0617853  -0.0149137  -0.383495   0.05       -0.35         pose: 0.0           -4.50712   -3.56776    0 0.00878408  -0.00346443 0.830831    0.556445       uwb: 0.0            1245.72  1431.66  
imu_odom_:  1691062536.87542769   0.608127   -0.265756  9.90481    -0.0553937  -0.02024    -0.38456    0.05       -0.55         pose: 0.6943692     -4.50716   -3.56779    0 0.00925221  -0.00303124 0.830053    0.5576         uwb: 0.49981808     1247.23  1430.82  
imu_odom_:  1691062536.103535804  0.651223   -0.047884  9.67976    -0.0628506  -0.0319579  -0.401605   0.03       -0.44         pose: 0.0           -4.50716   -3.56779    0 0.00925221  -0.00303124 0.830053    0.5576         uwb: 0.0            1247.23  1430.82  
imu_odom_:  1691062536.120664200  0.435745   0.0023942  9.69652    -0.0511327  0.00532632  -0.431432   0.03       -0.44         pose: 0.67226860    -4.50716   -3.56779    0 0.00782985  -0.00329718 0.822075    0.569315       uwb: 0.0            1247.23  1430.82  
imu_odom_:  1691062536.136548745  0.428562   -0.0646434 9.86411    -0.056459   -0.00852212 -0.435693   0.03       -0.44         pose: 0.0           -4.50716   -3.56779    0 0.00782985  -0.00329718 0.822075    0.569315       uwb: 0.50011264     1244.89  1431.96  
imu_odom_:  1691062536.153530736  0.457293   -0.234632  9.89284    -0.056459   -0.00639159 -0.434628   0.03       -0.44         pose: 0.0           -4.50716   -3.56779    0 0.00782985  -0.00329718 0.822075    0.569315       uwb: 0.0            1244.89  1431.96  
imu_odom_:  1691062536.169536604  0.500388   -0.241814  9.94312    -0.0553937  -0.0106526  -0.430367   0.03       -0.44         pose: 0.33050854    -4.50716   -3.56779    0 0.00818622  -0.00052896 0.817665    0.575636       uwb: 0.0            1244.89  1431.96  
imu_odom_:  1691062536.186422645  0.35913    -0.150835  9.65821    -0.056459   -0.0138484  -0.435693   0.05       -0.58         pose: 0.40863346    -4.50712   -3.56776    0 0.00531495  -0.00166588 0.812086    0.583512       uwb: 0.49879442     1244.13  1432.37  
imu_odom_:  1691062536.203400262  0.648829   -0.114922  9.93354    -0.052198   -0.0276969  -0.429302   0.05       -0.58         pose: 0.6905778     -4.50716   -3.56779    0 0.00487631  -0.00117001 0.811128    0.584847       uwb: 0.0            1244.13  1432.37  
imu_odom_:  1691062536.219527161  0.548272   -0.23942   9.94551    -0.0607201  -0.0170442  -0.381365   0.05       -0.58         pose: 0.0           -4.50716   -3.56779    0 0.00487631  -0.00117001 0.811128    0.584847       uwb: 0.0            1244.13  1432.37  
imu_odom_:  1691062536.236400954  0.761356   -0.488417  9.9096     -0.0596548  -0.00106526 -0.335558   0.03       -0.38         pose: 0.43084779    -4.50712   -3.56776    0 0.00580176  -0.00270089 0.805388    0.592714       uwb: 0.49968392     1241.91  1433.72  
imu_odom_:  1691062536.253497852  0.490811   -0.316035  9.75398    -0.056459   0.00319579  -0.297209   0.02       -0.32         pose: 0.0           -4.50712   -3.56776    0 0.00580176  -0.00270089 0.805388    0.592714       uwb: 0.0            1241.91  1433.72  
imu_odom_:  1691062536.270387393  0.61531    -0.148441  10.0078    -0.0511327  -0.00532632 -0.273773   0.02       -0.32         pose: 0.0           -4.50712   -3.56776    0 0.00580176  -0.00270089 0.805388    0.592714       uwb: 0.0            1241.91  1433.72  
imu_odom_:  1691062536.286371388  0.545878   -0.124498  9.84735    -0.0585895  -0.02024    -0.249272   0.02       -0.32         pose: 0.24982884    -4.50716   -3.56779    0 0.00507134  -0.00471213 0.8027      0.596343       uwb: 0.50068134     1241.64  1434.12  
imu_odom_:  1691062536.303412583  0.641646   -0.316035  9.93354    -0.0553937  -0.00958738 -0.232228   0.02       -0.26         pose: 0.0           -4.50716   -3.56779    0 0.00507134  -0.00471213 0.8027      0.596343       uwb: 0.0            1241.64  1434.12  
imu_odom_:  1691062536.319475320  0.59855    -0.28491   9.81623    -0.0553937  -0.00852212 -0.213053   0.02       -0.26         pose: 0.33927236    -4.51133   -3.55871    0 0.00643378  -0.0040681  0.799505    0.600611       uwb: 0.0            1241.64  1434.12  
imu_odom_:  1691062536.336396942  0.581791   -0.234632  9.96467    -0.052198   -0.00639159 -0.184291   0.02       -0.32         pose: 0.41038039    -4.51133   -3.55871    0 0.00650917  -0.00672231 0.796195    0.604968       uwb: 0.50074550     1242.01  1433.88  
imu_odom_:  1691062536.352404851  0.622492   -0.260968  9.84256    -0.0553937  -0.00958738 -0.16192    0.02       -0.32         pose: 0.0           -4.51133   -3.55871    0 0.00650917  -0.00672231 0.796195    0.604968       uwb: 0.0            1242.01  1433.88  
imu_odom_:  1691062536.367345352  0.483629   -0.246603  9.87608    -0.0596548  0.00532632  -0.149137   0.02       -0.32         pose: 0.0           -4.51133   -3.55871    0 0.00650917  -0.00672231 0.796195    0.604968       uwb: 0.0            1242.01  1433.88  
imu_odom_:  1691062536.381361059  0.423774   -0.25618   9.88805    -0.0511327  0.00106526  -0.151268   0.01       -0.17         pose: 0.7112844     -4.51133   -3.55871    0 0.00668712  -0.00601869 0.795712    0.605608       uwb: 0.50097882     1244.24  1432.55  
imu_odom_:  1691062536.405362861  0.52433    -0.21069   9.93594    -0.056459   -0.015979   -0.133158   0.01       -0.17         pose: 0.0           -4.51133   -3.55871    0 0.00668712  -0.00601869 0.795712    0.605608       uwb: 0.0            1244.24  1432.55  
imu_odom_:  1691062536.422369350  0.440533   -0.306458  9.96467    -0.0596548  0.0245011   -0.116114   0.01       -0.2          pose: 0.46797958    -4.51133   -3.55871    0 0.00533327  -0.00555417 0.792871    0.609341       uwb: 0.0            1244.24  1432.55  
imu_odom_:  1691062536.438422755  -0.246603  -0.289698  9.77553    -0.0500674  0.0628506   -0.167247   0.03       -0.14         pose: 0.0           -4.51133   -3.55871    0 0.00533327  -0.00555417 0.792871    0.609341       uwb: 0.49771534     1240.65  1434.13  
imu_odom_:  1691062536.454420165  -0.505177  0.134075   9.97424    -0.0383495  0.00745685  -0.282295   0.06       -0.23         pose: 0.0           -4.51133   -3.55871    0 0.00533327  -0.00555417 0.792871    0.609341       uwb: 0.0            1240.65  1434.13  
imu_odom_:  1691062536.471446486  -0.926556  0.433351   9.77074    -0.0447411  0.0298274   -0.285491   0.06       -0.23         pose: 0.72047403    -4.51133   -3.55871    0 0.00137242  -0.00133516 0.788639    0.614853       uwb: 0.0            1240.65  1434.13  
imu_odom_:  1691062536.488385315  -0.804452  -0.462081  9.93833    -0.0596548  -0.0234358  -0.18216    0.09       -0.17         pose: 0.0           -4.51133   -3.55871    0 0.00137242  -0.00133516 0.788639    0.614853       uwb: 0.50108673     1241.65  1433.25  
imu_odom_:  1691062536.505446050  -0.146046  -0.739808  9.90002    -0.056459   -0.0798948  -0.137419   0.09       -0.17         pose: 0.33138638    -4.51133   -3.55871    0 -0.0006199  0.00155589  0.785552    0.618793       uwb: 0.0            1241.65  1433.25  
imu_odom_:  1691062536.522443498  0.629675   -0.299275  9.71567    -0.0468716  -0.0458064  -0.102265   0.09       -0.17         pose: 0.0           -4.51133   -3.55871    0 -0.0006199  0.00155589  0.785552    0.618793       uwb: 0.0            1241.65  1433.25  
imu_odom_:  1691062536.538395121  0.368707   -0.124498  9.663      -0.0479369  0.0234358   -0.102265   0.12       -0.26         pose: 0.33995188    -4.51133   -3.55871    0 -0.00207052 0.00060544  0.783624    0.621232       uwb: 0.49922313     1237.01  1435.59  
imu_odom_:  1691062536.554386115  -0.0287304 0.071826   9.85932    -0.0468716  0.0213053   -0.112918   0.12       -0.26         pose: 0.0           -4.51133   -3.55871    0 -0.00207052 0.00060544  0.783624    0.621232       uwb: 0.0            1237.01  1435.59  
imu_odom_:  1691062536.571388229  0.0263362  -0.191536  10.0149    -0.0532632  0           -0.111853   0.12       -0.26         pose: 0.0           -4.51133   -3.55871    0 -0.00207052 0.00060544  0.783624    0.621232       uwb: 0.0            1237.01  1435.59  
imu_odom_:  1691062536.588342807  0.0742203  -0.0837971 9.92397    -0.0479369  0.0138484   -0.134223   0.1        -0.14         pose: 0.49832488    -4.51539   -3.54957    0 -0.00189863 0.00350917  0.781341    0.624092       uwb: 0.50055010     1239.65  1434.09  
imu_odom_:  1691062536.604400295  0.203507   -0.225055  9.81862    -0.0479369  0.00639159  -0.103331   0.1        -0.14         pose: 0.0           -4.51539   -3.54957    0 -0.00189863 0.00350917  0.781341    0.624092       uwb: 0.0            1239.65  1434.09  
imu_odom_:  1691062536.620340543  -0.124498  -0.272939  9.84256    -0.0809601  0.00426106  -0.0713727  0.15       -0.17         pose: 0.42000456    -4.50622   -3.54545    0 -0.00516056 0.00590271  0.779253    0.626661       uwb: 0.0            1239.65  1434.09  
imu_odom_:  1691062536.636359243  0.292093   -0.208296  10.4627    -0.056459   -0.04048    -0.0852212  0.15       -0.17         pose: 0.0           -4.50622   -3.54545    0 -0.00516056 0.00590271  0.779253    0.626661       uwb: 0.49988516     1241.84  1432.68  
imu_odom_:  1691062536.653333943  0.464475   -0.124498  9.72764    -0.0692422  -0.0298274  -0.0894822  0.15       -0.17         pose: 0.0           -4.50622   -3.54545    0 -0.00516056 0.00590271  0.779253    0.626661       uwb: 0.0            1241.84  1432.68  
imu_odom_:  1691062536.669359351  0.814029   -0.191536  9.9096     -0.0788296  -0.015979   -0.0639159  0.12       -0.11         pose: 0.6949233     -4.50626   -3.54548    0 -0.00586544 0.00615598  0.779006    0.626959       uwb: 0.0            1241.84  1432.68  
imu_odom_:  1691062536.685337513  0.746991   -0.368707  9.72764    -0.0713727  -0.0394148  -0.072438   0.17       -0.17         pose: 0.0           -4.50626   -3.54548    0 -0.00586544 0.00615598  0.779006    0.626959       uwb: 0.50003681     1238.23  1434.2   
imu_odom_:  1691062536.702331753  0.912191   -0.155623  10.2017    -0.0532632  -0.0223706  -0.0852212  0.17       -0.17         pose: 0.64994053    -4.51037   -3.53637    0 -0.00214246 0.00243883  0.776637    0.629941       uwb: 0.0            1238.23  1434.2   
imu_odom_:  1691062536.718379909  1.33118    -0.134075  10.1466    -0.0596548  -0.0213053  -0.056459   0.13       -0.17         pose: 0.0           -4.51037   -3.53637    0 -0.00214246 0.00243883  0.776637    0.629941       uwb: 0.0            1238.23  1434.2   
imu_odom_:  1691062536.735346735  1.25935    -0.47884   9.99819    -0.0532632  -0.015979   -0.0330232  0.13       -0.17         pose: 0.0           -4.51037   -3.53637    0 -0.00214246 0.00243883  0.776637    0.629941       uwb: 0.49936312     1237.82  1434.35  
imu_odom_:  1691062536.752327852  1.26653    -0.323217  9.67976    -0.0415453  -0.036219   -0.0340885  0.13       -0.17         pose: 0.33002441    -4.51447   -3.52725    0 0.000534246 2.80544e-05 0.775442    0.631419       uwb: 0.0            1237.82  1434.35  
imu_odom_:  1691062536.768330511  1.38385    -0.265756  9.58878    -0.0458064  -0.0106526  -0.04048    0.11       -0.17         pose: 0.32988151    -4.51447   -3.52725    0 0.00292712  -0.00256967 0.774611    0.632426       uwb: 0.0            1237.82  1434.35  
imu_odom_:  1691062536.784437287  0.936133   -0.138864  10.0916    -0.0426106  0.0415453   -0.0490022  0.11       -0.17         pose: 0.0           -4.51447   -3.52725    0 0.00292712  -0.00256967 0.774611    0.632426       uwb: 0.50063176     1234.99  1436.39  
imu_odom_:  1691062536.801378740  0.407014   -0.272939  9.78989    -0.052198   0.0319579   -0.0671117  0.11       -0.17         pose: 0.0           -4.51447   -3.52725    0 0.00292712  -0.00256967 0.774611    0.632426       uwb: 0.0            1234.99  1436.39  
imu_odom_:  1691062536.818383480  0.47884    -0.122104  10.0293    -0.0468716  -0.00852212 -0.103331   0.06       -0.11         pose: 0.50109839    -4.51447   -3.52725    0 0.00538874  -0.00450087 0.773238    0.634077       uwb: 0.0            1234.99  1436.39  
imu_odom_:  1691062536.834443010  0.682347   -0.0574608 9.79707    -0.056459   -0.0181095  -0.0948085  0.06       -0.11         pose: 0.0           -4.51447   -3.52725    0 0.00538874  -0.00450087 0.773238    0.634077       uwb: 0.49879150     1232.47  1437.2   
imu_odom_:  1691062536.850320555  0.797269   -0.320823  9.89284    -0.0553937  0.0117179   -0.076699   0.07       -0.08         pose: 0.41998998    -4.51447   -3.52725    0 0.00664685  -0.00258788 0.771471    0.636224       uwb: 0.0            1232.47  1437.2   
imu_odom_:  1691062536.866379501  0.761356   -0.347159  10.0269    -0.0575243  -0.0127832  -0.0639159  0.07       -0.08         pose: 0.0           -4.51447   -3.52725    0 0.00664685  -0.00258788 0.771471    0.636224       uwb: 0.0            1232.47  1437.2   
imu_odom_:  1691062536.883365867  0.56982    -0.174777  9.76116    -0.0458064  0.0255663   -0.0639159  0.07       -0.08         pose: 0.0           -4.51447   -3.52725    0 0.00664685  -0.00258788 0.771471    0.636224       uwb: 0.50000474     1229.57  1438.2   
imu_odom_:  1691062536.909320792  0.349553   -0.0861913 9.75637    -0.0585895  0.00106526  -0.0245011  0.04       -0.02         pose: 0.7015727     -4.51447   -3.52725    0 0.00685246  -0.00320586 0.771212    0.636534       uwb: 0.0            1229.57  1438.2   
imu_odom_:  1691062536.926315908  0.368707   -0.289698  10.0365    -0.0596548  0.02024     0.00426106  0.04       -0.05         pose: 0.0           -4.51447   -3.52725    0 0.00685246  -0.00320586 0.771212    0.636534       uwb: 0.49987641     1228.53  1438.06  
imu_odom_:  1691062536.952309621  -0.991199  -0.196325  10.0772    -0.0447411  0.0692422   -0.00106526 0.04       -0.05         pose: 0.74880116    -4.51854   -3.51811    0 0.00573766  -0.00142259 0.769184    0.639          uwb: 0.0            1228.53  1438.06  
imu_odom_:  1691062536.969422268  -1.03908   -0.248997  10.0245    -0.0585895  -0.0266316  0.0213053   0.05       -0.02         pose: 0.0           -4.51854   -3.51811    0 0.00573766  -0.00142259 0.769184    0.639          uwb: 0.0            1228.53  1438.06  
imu_odom_:  1691062536.986324933  -0.335188  -0.23942   9.93115    -0.052198   -0.0553937  0.00852212  0.05       -0.02         pose: 0.18037150    -4.51854   -3.51811    0 0.00380592  -0.0006643690.768976    0.639267       uwb: 0.49882358     1225.42  1439.59  
imu_odom_:  1691062537.11391812   0.785298   -0.311246  9.8282     -0.0553937  -0.0138484  0.00106526  0.13       -0.02         pose: 0.51948930    -4.51854   -3.51811    0 -0.0003140240.00255776  0.768472    0.639879       uwb: 0.0            1225.42  1439.59  
imu_odom_:  1691062537.34311338   0.217872   -0.215478  9.81862    -0.0468716  0.0266316   0.00213053  0.13       -0.02         pose: 0.0           -4.51854   -3.51811    0 -0.0003140240.00255776  0.768472    0.639879       uwb: 0.50165839     1226.16  1439.13  
imu_odom_:  1691062537.60373301   -0.0335188 -0.287304  9.63427    -0.0585895  -0.0415453  0.0308927   0.11       -0.05         pose: 0.7125968     -4.51854   -3.51811    0 9.894e-05   0.00193642  0.768385    0.639984       uwb: 0.0            1226.16  1439.13  
imu_odom_:  1691062537.77314175   0.299275   -0.512359  9.7851     -0.0617853  -0.0543285  0.00745685  0.14       -0.02         pose: 0.0           -4.51854   -3.51811    0 9.894e-05   0.00193642  0.768385    0.639984       uwb: 0.50005151     1224.56  1439.79  
imu_odom_:  1691062537.103294771  0.462081   -0.0023942 9.83299    -0.0543285  0.00319579  -0.00106526 0.12       -0.02         pose: 0.73865219    -4.52261   -3.50898    0 -0.00331655 0.00217744  0.767737    0.640753       uwb: 0.0            1224.56  1439.79  
imu_odom_:  1691062537.120363384  0.265756   -0.387861  10.003     -0.0511327  0.0351537   0.0106526   0.12       -0.02         pose: 0.0           -4.52261   -3.50898    0 -0.00331655 0.00217744  0.767737    0.640753       uwb: 0.0            1224.56  1439.79  
imu_odom_:  1691062537.146357686  0.169988   -0.0023942 9.83299    -0.0575243  -0.0213053  0.00426106  0.17       -0.05         pose: 0.43033168    -4.51751   -3.49578    0 -0.00222366 0.00209319  0.767233    0.641361       uwb: 0.49957905     1225.66  1439.1   
imu_odom_:  1691062537.173423480  0.146046   -0.117316  9.65821    -0.036219   -0.0266316  0.0117179   0.18       -0.05         pose: 0.36008398    -4.51748   -3.49575    0 -0.00291861 0.00423157  0.766843    0.641814       uwb: 0.0            1225.66  1439.1   
imu_odom_:  1691062537.199272545  0.459687   -0.225055  10.0796    -0.076699   0.0383495   0.0287621   0.18       -0.05         pose: 0.6956234     -4.51751   -3.49578    0 -0.00312651 0.0048557   0.766778    0.641886       uwb: 0.49983862     1228.28  1437.6   
imu_odom_:  1691062537.226334839  -0.0335188 -0.268151  9.74201    -0.0543285  0.00213053  0.0106526   0.18       -0.05         pose: 0.45958625    -4.52163   -3.48667    0 -0.00295448 0.00461063  0.766513    0.642206       uwb: 0.50320707     1228.9   1436.94  
imu_odom_:  1691062537.251281274  0.31364    -0.203507  10.3286    -0.0500674  -0.0255663  0.015979    0.18       -0.05         pose: 0.0           -4.52163   -3.48667    0 -0.00295448 0.00461063  0.766513    0.642206       uwb: 0.0            1228.9   1436.94  
imu_odom_:  1691062537.278452350  0.0885855  -0.320823  10.1035    -0.0276969  -0.00319579 0.00426106  0.18       -0.05         pose: 0.52008729    -4.52452   -3.48025    0 -0.00350465 0.00390424  0.766068    0.642739       uwb: 0.49525692     1228.4   1436.91  
imu_odom_:  1691062537.304425071  0.186748   0.00957681 9.44991    -0.0308927  0.0276969   0.0276969   0.15       -0.02         pose: 0.27171076    -4.52573   -3.47755    0 -0.00595048 0.00467855  0.765741    0.643105       uwb: 0.0            1228.4   1436.91  
imu_odom_:  1691062537.321300034  0.37589    -0.555455  9.98143    -0.0628506  -0.0383495  0.0394148   0.15       -0.02         pose: 0.8004685     -4.52573   -3.47755    0 -0.00568772 0.00557851  0.765711    0.643135       uwb: 0.0            1228.4   1436.91  
imu_odom_:  1691062537.338313819  0.560243   -0.316035  9.56962    -0.0575243  0.00532632  0.00639159  0.15       -0.02         pose: 0.0           -4.52573   -3.47755    0 -0.00568772 0.00557851  0.765711    0.643135       uwb: 0.50204342     1228.59  1436.33  
imu_odom_:  1691062537.364330869  0.806846   -0.311246  9.52653    -0.056459   -0.0276969  0.0500674   0.15       0             pose: 0.43020336    -4.52982   -3.46842    0 -0.00512354 0.00507472  0.765557    0.643328       uwb: 0.0            1228.59  1436.33  
imu_odom_:  1691062537.381281951  0.0263362  -0.509965  9.94791    -0.0500674  0.0138484   0.0276969   0.15       0             pose: 0.0           -4.52982   -3.46842    0 -0.00512354 0.00507472  0.765557    0.643328       uwb: 0.49921742     1227.37  1436.78  
imu_odom_:  1691062537.407341581  0.227449   0.0933739  9.74201    -0.0500674  0.00426106  0.0394148   0.15       0             pose: 0.41844729    -4.52069   -3.46434    0 -0.0036061  0.00210117  0.765533    0.643383       uwb: 0.0            1227.37  1436.78  
imu_odom_:  1691062537.433275514  0.311246   -0.378284  10.4938    -0.072438   -0.00958738 0.0351537   0.19       -0.02         pose: 0.36019481    -4.52478   -3.45521    0 -0.00353085 0.00458135  0.765494    0.643417       uwb: 0.49983861     1227.77  1436.63  
imu_odom_:  1691062537.450291632  0.687136   -0.126893  9.49301    -0.0575243  -0.0340885  0.00958738  0.19       -0.02         pose: 0.0           -4.52478   -3.45521    0 -0.00353085 0.00458135  0.765494    0.643417       uwb: 0.0            1227.77  1436.63  
imu_odom_:  1691062537.476403466  0.699107   -0.31364   9.68455    -0.0660464  -0.036219   0.0447411   0.22       -0.02         pose: 0.7006105     -4.52478   -3.45521    0 -0.00393093 0.00393155  0.765483    0.643432       uwb: 0.0            1227.77  1436.63  
imu_odom_:  1691062537.502379687  0.672771   -0.251391  10.4818    -0.0468716  -0.0575243  0.0223706   0.22       -0.02         pose: 0.0           -4.52478   -3.45521    0 -0.00393093 0.00393155  0.765483    0.643432       uwb: 0.0            1227.77  1436.63  
imu_odom_:  1691062537.528343075  0.25618    -0.155623  9.92875    -0.0543285  0.02024     0.0607201   0.2        0.02          pose: 0.43107828    -4.52886   -3.44608    0 -0.00276192 0.000660945 0.765306    0.64366        uwb: 0.100067756    1227.48  1436.99  
imu_odom_:  1691062537.553320715  0.442927   -0.229843  9.90721    -0.0553937  -0.00852212 0.0266316   0.2        0.02          pose: 0.0           -4.52886   -3.44608    0 -0.00276192 0.000660945 0.765306    0.64366        uwb: 0.0            1227.48  1436.99  
imu_odom_:  1691062537.570353748  0.426168   -0.0814029 9.73243    -0.0458064  -0.0127832  0.0426106   0.18       0             pose: 0.51844535    -4.53293   -3.43695    0 0.000789607 -0.00246393 0.765237    0.643743       uwb: 0.0            1227.48  1436.99  
imu_odom_:  1691062537.596346009  0.270545   -0.385466  9.86172    -0.0351537  0.0308927   0.0245011   0.18       0             pose: 0.0           -4.53293   -3.43695    0 0.000789607 -0.00246393 0.765237    0.643743       uwb: 0.49946531     1228.99  1436.17  
imu_odom_:  1691062537.621410850  0.363919   -0.225055  10.094     -0.0575243  -0.0138484  0.0671117   0.17       0             pose: 0.52102928    -4.53293   -3.43695    0 0.00200482  -0.00170966 0.765269    0.643706       uwb: 0.0            1228.99  1436.17  
imu_odom_:  1691062537.636292443  0.471658   -0.217872  10.6279    -0.0639159  -0.0245011  0.0458064   0.17       0             pose: 0.0           -4.53293   -3.43695    0 0.00200482  -0.00170966 0.765269    0.643706       uwb: 0.49930491     1227.04  1437.09  
imu_odom_:  1691062537.661304497  0.646434   0.0430956  9.69891    -0.0500674  -0.0223706  0.0415453   0.17       0             pose: 0.65856745    -4.53195   -3.41461    0 -0.00147695 0.000575624 0.765389    0.643566       uwb: 0.0            1227.04  1437.09  
imu_odom_:  1691062537.687280427  0.94571    -0.21069   9.98382    -0.0628506  0.00639159  0.0340885   0.17       0             pose: 0.0           -4.53195   -3.41461    0 -0.00147695 0.000575624 0.765389    0.643566       uwb: 0.50057646     1224.45  1438.63  
imu_odom_:  1691062537.713273854  0.229843   -0.138864  9.29908    -0.0511327  0.0340885   0.0479369   0.18       0             pose: 0.16001788    -4.53195   -3.41461    0 5.13205e-05 6.24915e-06 0.765412    0.64354        uwb: 0.0            1224.45  1438.63  
imu_odom_:  1691062537.736405112  0.699107   -0.497994  9.92875    -0.0639159  0.02024     0.0415453   0.18       0             pose: 0.51176383    -4.53603   -3.40548    0 0.00321085  -0.0009366110.765395    0.643552       uwb: 0.49962572     1225.23  1438.26  
imu_odom_:  1691062537.761295260  0.766145   -0.289698  10.2185    -0.056459   -0.0127832  0.0458064   0.18       0             pose: 0.0           -4.53603   -3.40548    0 0.00321085  -0.0009366110.765395    0.643552       uwb: 0.0            1225.23  1438.26  
imu_odom_:  1691062537.777285674  -0.0885855 -0.426168  9.66779    -0.0617853  0.0127832   0.052198    0.18       0             pose: 0.24869150    -4.53603   -3.40548    0 0.00175198  0.000246061 0.765451    0.643492       uwb: 0.50017108     1222.29  1439.1   
imu_odom_:  1691062537.803280268  -0.225055  0.0837971  9.69652    -0.0511327  0.0191748   0.0415453   0.22       0             pose: 0.48102482    -4.54011   -3.39635    0 0.00252542  -0.00321884 0.765535    0.643381       uwb: 0.0            1222.29  1439.1   
imu_odom_:  1691062537.829235491  0.0861913  -0.483629  9.6223     -0.0820254  0.0213053   0.052198    0.22       0             pose: 0.35870743    -4.54305   -3.38978    0 0.000228223 -0.0002367950.765599    0.643319       uwb: 0.49872454     1223.12  1437.89  
imu_odom_:  1691062537.855221919  0.270545   -0.395043  9.6199     -0.0436758  0.0170442   0.0490022   0.22       0             pose: 0.0           -4.54305   -3.38978    0 0.000228223 -0.0002367950.765599    0.643319       uwb: 0.0            1223.12  1437.89  
imu_odom_:  1691062537.880213850  -0.0574608 -0.138864  10.0437    -0.0234358  0.00532632  0.0340885   0.22       -0.02         pose: 0.6972566     -4.54419   -3.38722    0 -0.000597899-0.0002465690.765627    0.643285       uwb: 0.50051814     1225.43  1436.76  
imu_odom_:  1691062537.895214141  0.280122   0.0335188  9.99819    -0.04048    -0.0106526  0.0458064   0.22       -0.02         pose: 0.0           -4.54419   -3.38722    0 -0.000597899-0.0002465690.765627    0.643285       uwb: 0.0            1225.43  1436.76  
imu_odom_:  1691062537.920276649  0.497994   -0.225055  9.85932    -0.056459   0.015979    0.0340885   0.18       0             pose: 0.51981606    -4.53915   -3.37401    0 -0.00574151 1.95621e-05 0.765758    0.643103       uwb: 0.0            1225.43  1436.76  
imu_odom_:  1691062537.946377109  0.629675   -0.263362  9.87129    -0.0490022  0.0415453   0.0575243   0.18       0             pose: 0.0           -4.53915   -3.37401    0 -0.00574151 1.95621e-05 0.765758    0.643103       uwb: 0.50001360     1227.69  1435.5   
imu_odom_:  1691062537.972422449  0.138864   -0.0742203 10.0173    -0.0298274  0.0181095   0.0372843   0.18       -0.02         pose: 0.39993388    -4.53915   -3.37401    0 -0.00489411 0.00270986  0.765755    0.643108       uwb: 0.0            1227.69  1435.5   
imu_odom_:  1691062537.987261754  -0.0861913 -0.28491   9.54808    -0.0479369  0.02024     0.052198    0.18       -0.02         pose: 0.0           -4.53915   -3.37401    0 -0.00489411 0.00270986  0.765755    0.643108       uwb: 0.50108684     1224.57  1436.96  
imu_odom_:  1691062538.11208735   0.270545   -0.399832  9.50498    -0.0596548  0.0319579   0.0479369   0.17       0.02          pose: 0.51151011    -4.54324   -3.36488    0 -0.00235119 0.00111299  0.765875    0.642984       uwb: 0.0            1224.57  1436.96  
imu_odom_:  1691062538.37231916   0.387861   -0.237026  9.99579    -0.0426106  0.0149137   0.0596548   0.17       0.02          pose: 0.0           -4.54324   -3.36488    0 -0.00235119 0.00111299  0.765875    0.642984       uwb: 0.50003698     1224.93  1436.72  
imu_odom_:  1691062538.53220876   0.727837   -0.0981623 10.07      -0.0756338  -0.00745685 0.0468716   0.19       0             pose: 0.40072423    -4.54733   -3.35576    0 -0.00477982 0.00378677  0.765924    0.642902       uwb: 0.0            1224.93  1436.72  
imu_odom_:  1691062538.80258970   0.445322   -0.25618   9.3733     -0.0884169  0.00958738  0.0596548   0.19       0             pose: 0.0           -4.54733   -3.35576    0 -0.00477982 0.00378677  0.765924    0.642902       uwb: 0.49941876     1221.32  1438.14  
imu_odom_:  1691062538.105221450  0.45011    -0.131681  9.98622    -0.0649811  -0.0181095  0.0436758   0.23       0             pose: 0.50917707    -4.54231   -3.34254    0 -0.0035747  0.00134194  0.766156    0.642643       uwb: 0.0            1221.32  1438.14  
imu_odom_:  1691062538.132249920  0.531513   -0.517148  9.82102    -0.0649811  -0.0213053  0.0447411   0.23       0             pose: 0.60852481    -4.54641   -3.33342    0 0.000679651 -0.0005010150.766387    0.642379       uwb: 0.50046284     1223.7   1437.14  
imu_odom_:  1691062538.157228149  0.617704   -0.0430956 10.3884    -0.0127832  -0.0245011  0.0436758   0.23       0             pose: 0.0           -4.54641   -3.33342    0 0.000679651 -0.0005010150.766387    0.642379       uwb: 0.0            1223.7   1437.14  
imu_odom_:  1691062538.184202665  0.672771   0.0263362  10.2472    -0.0553937  -0.0319579  0.0426106   0.23       0.02          pose: 0.7069393     -4.54641   -3.33342    0 0.000465232 -0.00123231 0.766399    0.642364       uwb: 0.50192980     1221.32  1438.14  
imu_odom_:  1691062538.200205624  0.466869   -0.105345  9.68694    -0.0383495  -0.0127832  0.0490022   0.23       0.02          pose: 0.0           -4.54641   -3.33342    0 0.000465232 -0.00123231 0.766399    0.642364       uwb: 0.0            1221.32  1438.14  
imu_odom_:  1691062538.227234094  0.430956   -0.25618   9.86172    -0.04048    -0.0436758  0.0479369   0.24       0             pose: 0.51997950    -4.55052   -3.3243     0 0.00360355  -0.0024329  0.766461    0.642277       uwb: 0.49749976     1217.71  1439.53  
imu_odom_:  1691062538.252263943  0.380678   -0.0574608 9.73243    -0.0436758  -0.0191748  0.056459    0.24       0             pose: 0.0           -4.55052   -3.3243     0 0.00360355  -0.0024329  0.766461    0.642277       uwb: 0.0            1217.71  1439.53  
imu_odom_:  1691062538.269256442  0.574608   -0.0790087 10.2615    -0.0735032  -0.0330232  0.0490022   0.23       0.02          pose: 0.42919438    -4.55463   -3.31518    0 0.00553871  -0.0008147920.766534    0.64218        uwb: 0.0            1217.71  1439.53  
imu_odom_:  1691062538.295258333  0.672771   -0.287304  9.87848    -0.0543285  -0.0191748  0.0383495   0.23       0.02          pose: 0.0           -4.55463   -3.31518    0 0.00553871  -0.0008147920.766534    0.64218        uwb: 0.49903380     1218.46  1439.11  
imu_odom_:  1691062538.321271307  0.770933   -0.426168  9.6199     -0.0436758  0.00745685  0.04048     0.23       0             pose: 0.52067652    -4.54962   -3.30195    0 0.00508351  0.000693949 0.766743    0.641934       uwb: 0.0            1218.46  1439.11  
imu_odom_:  1691062538.344365823  0.316035   -0.373495  9.89524    -0.0671117  0.02024     0.056459    0.23       0             pose: 0.0           -4.54962   -3.30195    0 0.00508351  0.000693949 0.766743    0.641934       uwb: 0.49989414     1215.17  1440.2   
imu_odom_:  1691062538.360249792  0.35913    -0.277727  10.3501    -0.0607201  -0.0266316  0.0511327   0.18       -0.02         pose: 0.42985057    -4.55374   -3.29284    0 0.00674735  -0.00297603 0.766768    0.641882       uwb: 0.0            1215.17  1440.2   
imu_odom_:  1691062538.387247348  0.610521   -0.179565  9.85932    -0.0532632  -0.00958738 0.0330232   0.18       -0.02         pose: 0.0           -4.55374   -3.29284    0 0.00674735  -0.00297603 0.766768    0.641882       uwb: 0.50251891     1214.77  1440.34  
imu_odom_:  1691062538.412332026  0.248997   -0.270545  9.70609    -0.0394148  0.0298274   0.0319579   0.23       0             pose: 0.50023536    -4.55786   -3.28373    0 0.00355603  -0.00419619 0.766952    0.641681       uwb: 0.0            1214.77  1440.34  
imu_odom_:  1691062538.439304792  0.442927   -0.469264  9.64384    -0.0628506  -0.0106526  0.0575243   0.23       -0.02         pose: 0.60047550    -4.56198   -3.27462    0 0.00318852  -0.00294694 0.766867    0.641792       uwb: 0.0            1214.77  1440.34  
imu_odom_:  1691062538.465298809  0.304064   -0.299275  10.0868    -0.0447411  -0.0383495  0.0490022   0.23       -0.02         pose: 0.0           -4.56198   -3.27462    0 0.00318852  -0.00294694 0.766867    0.641792       uwb: 0.0            1214.77  1440.34  
imu_odom_:  1691062538.482190400  0.912191   0.0885855  9.93354    -0.0500674  -0.0234358  0.0596548   0.25       -0.02         pose: 0.6874576     -4.56198   -3.27462    0 0.00266481  -0.00342645 0.766908    0.641742       uwb: 0.99758056     1213.21  1441.05  
imu_odom_:  1691062538.498174402  1.24977    -0.174777  10.24      -0.0735032  -0.0468716  0.0937433   0.25       -0.02         pose: 0.0           -4.56198   -3.27462    0 0.00266481  -0.00342645 0.766908    0.641742       uwb: 0.0            1213.21  1441.05  
imu_odom_:  1691062538.515297556  1.38145    -0.277727  9.37809    -0.0532632  0.0191748   0.129962    0.25       -0.02         pose: 0.0           -4.56198   -3.27462    0 0.00266481  -0.00342645 0.766908    0.641742       uwb: 0.0            1213.21  1441.05  
imu_odom_:  1691062538.533240223  1.15401    -0.325611  9.67497    -0.0639159  -0.0213053  0.172573    0.14       0.23          pose: 0.53051360    -4.55699   -3.26139    0 0.000108655 -0.00368952 0.76716     0.641445       uwb: 0.49977456     1214.32  1440.38  
imu_odom_:  1691062538.547230271  1.35991    -0.287304  9.9096     -0.0671117  -0.0500674  0.226901    0.14       0.23          pose: 0.0           -4.55699   -3.26139    0 0.000108655 -0.00368952 0.76716     0.641445       uwb: 0.0            1214.32  1440.38  
imu_odom_:  1691062538.563234980  1.53947    -0.361524  9.70849    -0.0447411  0.0511327   0.298274    0.14       0.23          pose: 0.0           -4.55699   -3.26139    0 0.000108655 -0.00368952 0.76716     0.641445       uwb: 0.0            1214.32  1440.38  
imu_odom_:  1691062538.579287809  1.25217    -0.411803  10.2424    -0.052198   0.0532632   0.36219     0.11       0.35          pose: 0.50979537    -4.56112   -3.25228    0 0.00440082  -0.0066267  0.768309    0.64003        uwb: 0.49956167     1211.35  1441.13  
imu_odom_:  1691062538.596287307  0.794875   -0.332794  9.65582    -0.0575243  0.0777643   0.411192    0.1        0.38          pose: 0.0           -4.56112   -3.25228    0 0.00440082  -0.0066267  0.768309    0.64003        uwb: 0.0            1211.35  1441.13  
imu_odom_:  1691062538.612226104  0.497994   -0.536301  9.99579    -0.0490022  0.0372843   0.4815      0.1        0.38          pose: 0.63082664    -4.56519   -3.24314    0 0.0078873   -0.0108772  0.773317    0.633877       uwb: 0.0            1211.35  1441.13  
imu_odom_:  1691062538.629231143  0.505177   -0.3304    9.86172    -0.0490022  -0.0106526  0.54222     0.12       0.55          pose: 0.0           -4.56519   -3.24314    0 0.0078873   -0.0108772  0.773317    0.633877       uwb: 0.50057658     1212.43  1440.41  
imu_odom_:  1691062538.646221601  0.933739   -0.23942   9.69173    -0.0426106  0           0.60294     0.12       0.55          pose: 0.0           -4.56519   -3.24314    0 0.0078873   -0.0108772  0.773317    0.633877       uwb: 0.0            1212.43  1440.41  
imu_odom_:  1691062538.662225726  1.05345    -0.567426  9.75158    -0.052198   0.0138484   0.604005    0.12       0.55          pose: 0.33924919    -4.56519   -3.24314    0 0.00557312  -0.0112979  0.778005    0.628132       uwb: 0.0            1212.43  1440.41  
imu_odom_:  1691062538.679224349  0.648829   -0.184354  9.77792    -0.0490022  0.0149137   0.634898    0.07       0.5           pose: 0.41980644    -4.56501   -3.24302    0 0.0067524   -0.0128854  0.785192    0.619082       uwb: 0.50054742     1210.38  1441.08  
imu_odom_:  1691062538.697363874  0.306458   -0.196325  9.8665     -0.0607201  0.036219    0.656203    0.07       0.5           pose: 0.6997357     -4.56519   -3.24314    0 0.00707746  -0.0122595  0.786478    0.617456       uwb: 0.0            1210.38  1441.08  
imu_odom_:  1691062538.713167350  0.407014   -0.215478  10.2496    -0.0447411  0.0330232   0.616788    0.06       0.55          pose: 0.0           -4.56519   -3.24314    0 0.00707746  -0.0122595  0.786478    0.617456       uwb: 0.0            1210.38  1441.08  
imu_odom_:  1691062538.730153432  0.54109    -0.251391  10.1658    -0.0458064  -0.00852212 0.62318     0.06       0.55          pose: 0.43944267    -4.56922   -3.23398    0 0.00503874  -0.00818375 0.794552    0.60712        uwb: 0.50058825     1210.31  1440.93  
imu_odom_:  1691062538.747167512  0.878672   -0.40462   9.9503     -0.0660464  -0.00958738 0.633832    0.05       0.55          pose: 0.0           -4.56922   -3.23398    0 0.00503874  -0.00818375 0.794552    0.60712        uwb: 0.0            1210.31  1440.93  
imu_odom_:  1691062538.764207840  0.837971   -0.335188  9.64624    -0.0490022  0.00958738  0.586961    0.05       0.55          pose: 0.0           -4.56922   -3.23398    0 0.00503874  -0.00818375 0.794552    0.60712        uwb: 0.0            1210.31  1440.93  
imu_odom_:  1691062538.781153384  0.612916   0.0407014  9.78271    -0.052198   0.0127832   0.549676    0.05       0.47          pose: 0.24999519    -4.56927   -3.23401    0 0.00499863  -0.00728402 0.798989    0.601281       uwb: 0.49803930     1212.63  1439.84  
imu_odom_:  1691062538.797146719  0.627281   -0.0311246 9.95988    -0.0543285  0.00852212  0.518784    0.05       0.47          pose: 0.0           -4.56927   -3.23401    0 0.00499863  -0.00728402 0.798989    0.601281       uwb: 0.0            1212.63  1439.84  
imu_odom_:  1691062538.813144719  0.665588   -0.189142  9.93354    -0.0596548  0.00213053  0.469782    0.05       0.47          pose: 0.34049158    -4.56927   -3.23401    0 0.00683654  -0.00866412 0.80457     0.593755       uwb: 0.0            1212.63  1439.84  
imu_odom_:  1691062538.829212131  0.627281   -0.136469  9.85214    -0.0511327  -0.0127832  0.426106    0.04       0.38          pose: 0.40928692    -4.56927   -3.23401    0 0.0097452   -0.00675801 0.810176    0.586067       uwb: 0.49991164     1212.48  1440.51  
imu_odom_:  1691062538.846196463  0.648829   -0.124498  9.7851     -0.056459   0.00745685  0.392017    0.04       0.38          pose: 0.8062724     -4.56927   -3.23401    0 0.0101834   -0.00608575 0.811082    0.584812       uwb: 0.0            1212.48  1440.51  
imu_odom_:  1691062538.863272955  0.639252   -0.112527  9.88566    -0.0532632  -0.00106526 0.356864    0.04       0.38          pose: 0.0           -4.56927   -3.23401    0 0.0101834   -0.00608575 0.811082    0.584812       uwb: 0.0            1212.48  1440.51  
imu_odom_:  1691062538.888265183  0.610521   -0.138864  9.9096     -0.0479369  0.00639159  0.315318    0.04       0.29          pose: 0.42065512    -4.56922   -3.23398    0 0.0127475   -0.00293293 0.81526     0.578947       uwb: 0.50047742     1212.11  1440.72  
imu_odom_:  1691062538.906147772  0.486023   -0.201113  9.90721    -0.0585895  -0.00106526 0.307861    0.03       0.23          pose: 0.0           -4.56922   -3.23398    0 0.0127475   -0.00293293 0.81526     0.578947       uwb: 0.0            1212.11  1440.72  
imu_odom_:  1691062538.923136770  0.342371   -0.184354  9.89284    -0.0511327  0.0138484   0.235423    0.03       0.23          pose: 0.32883467    -4.57339   -3.2249     0 0.00938366  -0.00277327 0.817897    0.575282       uwb: 0.0            1212.11  1440.72  
imu_odom_:  1691062538.938188394  0.225055   0.0742203  9.97185    -0.0532632  0.0138484   0.167247    0.04       0.08          pose: 0.0           -4.57339   -3.2249     0 0.00938366  -0.00277327 0.817897    0.575282       uwb: 0.50050659     1210.67  1441.67  
imu_odom_:  1691062538.956230219  0.251391   0.148441   9.99819    -0.056459   -0.00958738 0.0916127   0.04       0.08          pose: 0.0           -4.57339   -3.2249     0 0.00938366  -0.00277327 0.817897    0.575282       uwb: 0.0            1210.67  1441.67  
imu_odom_:  1691062538.973229426  0.56982    -0.0670376 9.93115    -0.0639159  -0.0287621  0.0266316   0.04       0.08          pose: 0.32997207    -4.57339   -3.2249     0 0.00656446  -0.00108223 0.819859    0.572526       uwb: 0.0            1210.67  1441.67  
imu_odom_:  1691062538.989419618  1.00078    -0.208296  9.89045    -0.0553937  -0.0266316  -0.0681769  0.04       -0.11         pose: 0.34024660    -4.57339   -3.2249     0 0.00683239  0.00147906  0.820421    0.571717       uwb: 0.49924086     1205.57  1443.86  
imu_odom_:  1691062539.7436655    1.02951    0.225055   9.88326    -0.0468716  0.00213053  -0.184291   0.04       -0.11         pose: 0.0           -4.57339   -3.2249     0 0.00683239  0.00147906  0.820421    0.571717       uwb: 0.0            1205.57  1443.86  
imu_odom_:  1691062539.24410200   0.6608     0.122104   9.7444     -0.0713727  0.0223706   -0.24075    0.02       -0.23         pose: 0.0           -4.57339   -3.2249     0 0.00683239  0.00147906  0.820421    0.571717       uwb: 0.0            1205.57  1443.86  
imu_odom_:  1691062539.39252137   0.328006   -0.059855  9.85693    -0.0703074  0.0298274   -0.282295   0.02       -0.23         pose: 0.18006537    -4.57339   -3.2249     0 0.00852874  0.000692149 0.820132    0.57211        uwb: 0.49972212     1207.87  1442.74  
imu_odom_:  1691062539.55243434   0.306458   -0.440533  10.0461    -0.0607201  -0.0106526  -0.297209   0.02       -0.23         pose: 0.0           -4.57339   -3.2249     0 0.00852874  0.000692149 0.820132    0.57211        uwb: 0.0            1207.87  1442.74  
imu_odom_:  1691062539.72123071   0.277727   -0.203507  9.93354    -0.0543285  -0.0117179  -0.3036     0.02       -0.32         pose: 0.34236395    -4.57339   -3.2249     0 0.011513    0.000613607 0.818055    0.575024       uwb: 0.0            1207.87  1442.74  
imu_odom_:  1691062539.89246520   0.237026   -0.117316  9.86411    -0.056459   0.00106526  -0.267381   0.02       -0.32         pose: 0.0           -4.57339   -3.2249     0 0.011513    0.000613607 0.818055    0.575024       uwb: 0.50109874     1207.56  1443.09  
imu_odom_:  1691062539.106244273  0.191536   -0.153229  9.8689     -0.0596548  -0.00639159 -0.255663   0.02       -0.32         pose: 0.0           -4.57339   -3.2249     0 0.011513    0.000613607 0.818055    0.575024       uwb: 0.0            1207.56  1443.09  
imu_odom_:  1691062539.122304397  0.629675   -0.246603  9.97903    -0.052198   -0.0468716  -0.312122   0.02       -0.35         pose: 0.46828029    -4.57339   -3.2249     0 0.00850498  0.00156662  0.813709    0.581208       uwb: 0.0            1207.56  1443.09  
imu_odom_:  1691062539.140260192  0.706289   0.253785   9.8282     -0.0490022  -0.00426106 -0.365386   0.02       -0.35         pose: 0.0           -4.57339   -3.2249     0 0.00850498  0.00156662  0.813709    0.581208       uwb: 0.50186575     1208.9   1442.92  
imu_odom_:  1691062539.158236985  0.505177   -0.131681  9.85693    -0.0713727  0.00532632  -0.376038   0.02       -0.35         pose: 0.68028338    -4.57339   -3.2249     0 0.00606081  0.0020434   0.807112    0.590364       uwb: 0.0            1208.9   1442.92  
imu_odom_:  1691062539.172291489  0.526724   -0.143652  9.99579    -0.0585895  -0.00532632 -0.395213   0.02       -0.35         pose: 0.0           -4.57339   -3.2249     0 0.00606081  0.0020434   0.807112    0.590364       uwb: 0.0            1208.9   1442.92  
imu_odom_:  1691062539.189131463  0.308852   -0.399832  9.93354    -0.052198   -0.0138484  -0.363255   0.02       -0.41         pose: 0.0           -4.57339   -3.2249     0 0.00606081  0.0020434   0.807112    0.590364       uwb: 0.49871310     1207.31  1443.54  
imu_odom_:  1691062539.214239770  0.459687   -0.344765  9.9096     -0.0585895  -0.0106526  -0.266316   0.02       -0.41         pose: 0.34017961    -4.57339   -3.2249     0 0.00682713  5.54206e-05 0.802922    0.596044       uwb: 0.0            1207.31  1443.54  
imu_odom_:  1691062539.231285351  0.361524   -0.368707  9.89763    -0.0543285  0           -0.204531   0.01       -0.32         pose: 0.31906475    -4.57339   -3.2249     0 0.00501166  -0.00155997 0.799219    0.601017       uwb: 0.49940138     1210.1   1442.44  
imu_odom_:  1691062539.248287478  0.612916   -0.292093  9.9934     -0.0575243  -0.0255663  -0.215183   0.01       -0.32         pose: 0.0           -4.57339   -3.2249     0 0.00501166  -0.00155997 0.799219    0.601017       uwb: 0.0            1210.1   1442.44  
imu_odom_:  1691062539.265118703  0.387861   0.189142   9.64624    -0.0511327  0.015979    -0.316384   0.02       -0.41         pose: 0.52085454    -4.57339   -3.2249     0 0.00302216  -0.00463865 0.794997    0.606588       uwb: 0.0            1210.1   1442.44  
imu_odom_:  1691062539.283112119  0.361524   0.342371   9.95509    -0.0585895  -0.00213053 -0.377104   0.02       -0.41         pose: 0.0           -4.57339   -3.2249     0 0.00302216  -0.00463865 0.794997    0.606588       uwb: 0.49854688     1209.71  1442.62  
imu_odom_:  1691062539.297112378  0.385466   -0.110133  9.86411    -0.0692422  -0.00852212 -0.407996   0.02       -0.41         pose: 0.0           -4.57339   -3.2249     0 0.00302216  -0.00463865 0.794997    0.606588       uwb: 0.0            1209.71  1442.62  
imu_odom_:  1691062539.314185665  0.586579   -0.378284  9.94073    -0.056459   -0.0181095  -0.454868   0.01       -0.47         pose: 0.6913658     -4.57339   -3.2249     0 0.00324817  -0.00394279 0.79425     0.60757        uwb: 0.0            1209.71  1442.62  
imu_odom_:  1691062539.331232705  0.497994   -0.3304    9.9096     -0.056459   -0.0106526  -0.467651   0.01       -0.47         pose: 0.0           -4.57339   -3.2249     0 0.00324817  -0.00394279 0.79425     0.60757        uwb: 0.50134079     1210.97  1442.28  
imu_odom_:  1691062539.348105634  0.565032   0.0430956  9.99579    -0.0713727  -0.00213053 -0.459129   0.01       -0.47         pose: 0.65991512    -4.57757   -3.21582    0 0.00339165  -0.00239763 0.785264    0.619147       uwb: 0.0            1210.97  1442.28  
imu_odom_:  1691062539.365105428  0.509965   -0.0790087 9.77553    -0.0500674  0.00319579  -0.487891   0.01       -0.47         pose: 0.0           -4.57757   -3.21582    0 0.00339165  -0.00239763 0.785264    0.619147       uwb: 0.0            1210.97  1442.28  
imu_odom_:  1691062539.382158592  0.469264   0.00957681 10.0461    -0.0468716  -0.0170442  -0.529436   0.01       -0.47         pose: 0.0           -4.57757   -3.21582    0 0.00339165  -0.00239763 0.785264    0.619147       uwb: 0.49744738     1212.23  1441.94  
imu_odom_:  1691062539.398162429  0.517148   -0.1652    9.7851     -0.0660464  -0.00426106 -0.532632   0.01       -0.47         pose: 0.34919134    -4.57757   -3.21582    0 0.00474878  -0.00176039 0.779737    0.626087       uwb: 0.0            1212.23  1441.94  
imu_odom_:  1691062539.415154348  0.519542   -0.296881  9.90002    -0.0660464  -0.00426106 -0.545415   0.01       -0.73         pose: 0.42050647    -4.56851   -3.2116     0 0.00617202  -0.00121066 0.772286    0.635244       uwb: 0.0            1212.23  1441.94  
imu_odom_:  1691062539.431249761  0.59855    -0.131681  9.87848    -0.0553937  -0.0127832  -0.574178   0.01       -0.73         pose: 0.8004398     -4.56851   -3.2116     0 0.00567488  -0.00187664 0.770801    0.637048       uwb: 0.50168202     1208.73  1443.55  
imu_odom_:  1691062539.449244636  0.517148   -0.0407014 9.89045    -0.0585895  -0.0117179  -0.600809   0.01       -0.73         pose: 0.0           -4.56851   -3.2116     0 0.00567488  -0.00187664 0.770801    0.637048       uwb: 0.0            1208.73  1443.55  
imu_odom_:  1691062539.466439246  0.292093   -0.205901  9.8665     -0.0543285  -0.0138484  -0.62531    0.01       -0.61         pose: 0.43077809    -4.56833   -3.21148    0 0.00773822  -0.00126484 0.762223    0.647267       uwb: 0.0            1208.73  1443.55  
imu_odom_:  1691062539.493381688  0.519542   -0.184354  9.90002    -0.0479369  -0.0298274  -0.618919   0.01       -0.64         pose: 0.0           -4.56833   -3.21148    0 0.00773822  -0.00126484 0.762223    0.647267       uwb: 0.49970177     1204.13  1445.79  
imu_odom_:  1691062539.510309737  0.445322   -0.136469  9.9527     -0.0660464  0.0138484   -0.580569   0.01       -0.64         pose: 0.25083809    -4.56851   -3.2116     0 0.00608929  -0.00133845 0.756825    0.653588       uwb: 0.0            1204.13  1445.79  
imu_odom_:  1691062539.526150255  -0.220267  -0.306458  9.87129    -0.0596548  0.0500674   -0.545415   0.01       -0.7          pose: 0.0           -4.56851   -3.2116     0 0.00608929  -0.00133845 0.756825    0.653588       uwb: 0.50117748     1204.76  1445.12  
imu_odom_:  1691062539.543154423  -0.677559  -0.28491   9.85693    -0.0447411  -0.00213053 -0.593352   0.01       -0.7          pose: 0.0           -4.56851   -3.2116     0 0.00608929  -0.00133845 0.756825    0.653588       uwb: 0.0            1204.76  1445.12  
imu_odom_:  1691062539.560096180  -0.610521  0.124498   9.61511    -0.0490022  -0.00852212 -0.58483    0.05       -0.47         pose: 0.26114763    -4.56851   -3.2116     0 0.00543702  -0.00251001 0.751273    0.659964       uwb: 0.0            1204.76  1445.12  
imu_odom_:  1691062539.577082558  -0.634463  -0.351948  9.8689     -0.0756338  0.0298274   -0.487891   0.05       -0.47         pose: 0.42711215    -4.56846   -3.21157    0 0.00203141  0.000671164 0.742587    0.669747       uwb: 0.49864603     1206.36  1444.5   
imu_odom_:  1691062539.594135431  -0.268151  -0.73502   10.1275    -0.0671117  -0.0298274  -0.431432   0.05       -0.47         pose: 0.0           -4.56846   -3.21157    0 0.00203141  0.000671164 0.742587    0.669747       uwb: 0.0            1206.36  1444.5   
imu_odom_:  1691062539.611183053  0.229843   -0.301669  9.74919    -0.0575243  -0.0298274  -0.393083   0.07       -0.44         pose: 0.8009356     -4.56851   -3.2116     0 0.00163955  0.0013671   0.740909    0.671603       uwb: 0.0            1206.36  1444.5   
imu_odom_:  1691062539.628067357  0.208296   0.0383072  10.0197    -0.0628506  -0.0308927  -0.376038   0.07       -0.44         pose: 0.0           -4.56851   -3.2116     0 0.00163955  0.0013671   0.740909    0.671603       uwb: 0.50160911     1206.3   1444.38  
imu_odom_:  1691062539.645068317  0.155623   0.105345   9.5816     -0.0639159  -0.0127832  -0.390952   0.07       -0.44         pose: 0.0           -4.56851   -3.2116     0 0.00163955  0.0013671   0.740909    0.671603       uwb: 0.0            1206.3   1444.38  
imu_odom_:  1691062539.662124106  -0.0143652 -0.114922  9.9096     -0.0660464  -0.00852212 -0.377104   0.09       -0.41         pose: 0.50908388    -4.56851   -3.2116     0 -0.00293092 0.00282507  0.732101    0.681184       uwb: 0.0            1206.3   1444.38  
imu_odom_:  1691062539.678064948  0.23942    -0.45011   10.0748    -0.0479369  -0.0351537  -0.36432    0.09       -0.35         pose: 0.0           -4.56851   -3.2116     0 -0.00293092 0.00282507  0.732101    0.681184       uwb: 0.49689034     1205.15  1444.94  
imu_odom_:  1691062539.695120445  0.11971    -0.258574  10.0245    -0.0447411  -0.0298274  -0.32171    0.09       -0.35         pose: 0.66999135    -4.57262   -3.20249    0 -0.00405351 0.00633572  0.722416    0.691418       uwb: 0.0            1205.15  1444.94  
imu_odom_:  1691062539.712066577  0.363919   -0.311246  9.7037     -0.0585895  -0.0649811  -0.282295   0.1        -0.32         pose: 0.0           -4.57262   -3.20249    0 -0.00405351 0.00633572  0.722416    0.691418       uwb: 0.0            1205.15  1444.94  
imu_odom_:  1691062539.729077453  0.514753   -0.0694318 9.97424    -0.0681769  -0.0468716  -0.274838   0.1        -0.32         pose: 0.0           -4.57262   -3.20249    0 -0.00405351 0.00633572  0.722416    0.691418       uwb: 0.50245487     1205.33  1444.31  
imu_odom_:  1691062539.747089243  0.292093   -0.248997  9.84975    -0.052198   -0.0287621  -0.278034   0.1        -0.32         pose: 0.33992296    -4.57262   -3.20249    0 -0.00574576 0.00515805  0.718118    0.695878       uwb: 0.0            1205.33  1444.31  
imu_odom_:  1691062539.762189866  -0.0263362 0.117316   9.49301    -0.0479369  -0.0969391  -0.279099   0.12       -0.32         pose: 0.44025645    -4.57511   -3.19682    0 -0.00511892 0.00258909  0.713246    0.700891       uwb: 0.0            1205.33  1444.31  
imu_odom_:  1691062539.779198409  0.888249   -0.232238  10.4507    -0.0585895  -0.0894822  -0.275903   0.12       -0.32         pose: 0.6104643     -4.57669   -3.19336    0 -0.00487585 0.0030119   0.712566    0.701581       uwb: 0.50074877     1205.3   1444.24  
imu_odom_:  1691062539.797088876  1.24498    -0.0215478 9.21528    -0.0671117  -0.00319579 -0.223706   0.09       -0.29         pose: 0.0           -4.57669   -3.19336    0 -0.00487585 0.0030119   0.712566    0.701581       uwb: 0.0            1205.3   1444.24  
imu_odom_:  1691062539.814263071  1.01035    -0.778116  9.69652    -0.0490022  0.0181095   -0.178964   0.09       -0.26         pose: 0.43894990    -4.57669   -3.19336    0 -0.00139734 0.000863884 0.708025    0.706185       uwb: 0.0            1205.3   1444.24  
imu_odom_:  1691062539.831060465  1.07978    -0.35913   9.96946    -0.072438   -0.0372843  -0.149137   0.07       -0.26         pose: 0.0           -4.57669   -3.19336    0 -0.00139734 0.000863884 0.708025    0.706185       uwb: 0.49813565     1207.94  1442.83  
imu_odom_:  1691062539.848069300  1.2809     -0.153229  9.95988    -0.0340885  0.0330232   -0.192813   0.07       -0.26         pose: 0.0           -4.57669   -3.19336    0 -0.00139734 0.000863884 0.708025    0.706185       uwb: 0.0            1207.94  1442.83  
imu_odom_:  1691062539.863114219  0.701501   0.0670376  10.0341    -0.0511327  0.0181095   -0.215183   0.06       -0.2          pose: 0.24224341    -4.56756   -3.18928    0 -0.000927702-0.00138124 0.706226    0.707985       uwb: 0.0            1207.94  1442.83  
imu_odom_:  1691062539.880055393  0.497994   0.124498   9.91678    -0.056459   -0.00639159 -0.218379   0.06       -0.2          pose: 0.0           -4.56756   -3.18928    0 -0.000927702-0.00138124 0.706226    0.707985       uwb: 0.50168202     1206.01  1443.76  
imu_odom_:  1691062539.894059734  0.634463   -0.411803  9.991      -0.0628506  -0.0191748  -0.214118   0.06       -0.2          pose: 0.33754025    -4.56756   -3.18928    0 0.00158756  -0.00290899 0.703531    0.710657       uwb: 0.0            1206.01  1443.76  
imu_odom_:  1691062539.911100066  0.797269   -0.25618   9.7875     -0.0671117  0           -0.206661   0.05       -0.17         pose: 0.38992492    -4.57157   -3.18011    0 0.0034225   -0.00312976 0.699972    0.714155       uwb: 0.0            1206.01  1443.76  
imu_odom_:  1691062539.925135030  0.818817   -0.277727  10.1897    -0.0511327  0.00213053  -0.178964   0.05       -0.17         pose: 0.0           -4.57157   -3.18011    0 0.0034225   -0.00312976 0.699972    0.714155       uwb: 0.49820565     1205.41  1443.47  
imu_odom_:  1691062539.941050792  0.588974   -0.146046  9.80186    -0.0639159  -0.00106526 -0.154463   0.05       -0.17         pose: 0.0           -4.57157   -3.18011    0 0.0034225   -0.00312976 0.699972    0.714155       uwb: 0.0            1205.41  1443.47  
imu_odom_:  1691062539.957064836  0.646434   -0.222661  9.83059    -0.0426106  0.00106526  -0.152333   0.04       -0.17         pose: 0.7105850     -4.57162   -3.18014    0 0.00380024  -0.00372211 0.699345    0.714764       uwb: 0.0            1205.41  1443.47  
imu_odom_:  1691062539.975069919  0.677559   -0.112527  9.93115    -0.0553937  -0.00958738 -0.132093   0.04       -0.17         pose: 0.0           -4.57162   -3.18014    0 0.00380024  -0.00372211 0.699345    0.714764       uwb: 0.0            1205.41  1443.47  
imu_odom_:  1691062540.346795     0.500388   -0.272939  9.90002    -0.0500674  0.0170442   -0.106526   0.03       -0.14         pose: 0.46890149    -4.57162   -3.18014    0 0.00686114  -0.00582044 0.695759    0.718219       uwb: 0.50002257     1208.94  1441.95  
imu_odom_:  1691062540.27068469   -0.897826  -0.148441  9.63906    -0.04048    0.102265    -0.125701   0.04       -0.17         pose: 0.0           -4.57162   -3.18014    0 0.00686114  -0.00582044 0.695759    0.718219       uwb: 0.49850610     1206.67  1443.16  
imu_odom_:  1691062540.52054584   -1.17316   -0.196325  9.98382    -0.0553937  -0.0351537  -0.0980043  0.06       -0.11         pose: 0.59075231    -4.57162   -3.18014    0 0.00581558  -0.00520175 0.692303    0.721564       uwb: 0.0            1206.67  1443.16  
imu_odom_:  1691062540.77114484   0.440533   -0.538695  10.1586    -0.0585895  -0.0735032  -0.0468716  0.1        -0.14         pose: 0.0           -4.57162   -3.18014    0 0.00581558  -0.00520175 0.692303    0.721564       uwb: 0.0            1206.67  1443.16  
imu_odom_:  1691062540.100037817  0.430956   0.0047884  9.86172    -0.0351537  -0.00319579 -0.0788296  0.1        -0.14         pose: 0.52104715    -4.57162   -3.18014    0 0.00203964  -0.00195663 0.689663    0.724125       uwb: 0.0            1206.67  1443.16  
imu_odom_:  1691062540.116041367  0.577003   0.114922   10.4483    -0.0479369  -0.0234358  -0.0308927  0.1        -0.14         pose: 0.0           -4.57162   -3.18014    0 0.00203964  -0.00195663 0.689663    0.724125       uwb: 0.0            1206.67  1443.16  
imu_odom_:  1691062540.134109156  0.878672   -0.282516  9.35893    -0.0692422  -0.0245011  0.0511327   0.1        -0.08         pose: 0.48812954    -4.57568   -3.171      0 0.0034799   -0.0013324  0.687909    0.725787       uwb: 0.0            1206.67  1443.16  
imu_odom_:  1691062540.151038085  0.804452   -0.732626  9.56005    -0.0490022  0.0447411   0.052198    0.1        -0.08         pose: 0.0           -4.57568   -3.171      0 0.0034799   -0.0013324  0.687909    0.725787       uwb: 0.0            1206.67  1443.16  
imu_odom_:  1691062540.165092592  1.07978    -0.316035  10.556     -0.0479369  0.00639159  0.0713727   0.07       0.17          pose: 0.42989452    -4.57      -3.1685     0 0.00438947  -0.00413018 0.687861    0.725818       uwb: 0.0            1206.67  1443.16  
imu_odom_:  1691062540.181035480  0.897826   -0.0407014 9.66779    -0.0511327  0.00213053  0.18003     0.07       0.17          pose: 0.0           -4.57      -3.1685     0 0.00438947  -0.00413018 0.687861    0.725818       uwb: 0.150101299    1204.92  1443.44  
imu_odom_:  1691062540.196030240  1.1157     -0.464475  9.8282     -0.0639159  -0.00319579 0.309992    0.07       0.17          pose: 0.0           -4.57      -3.1685     0 0.00438947  -0.00413018 0.687861    0.725818       uwb: 0.0            1204.92  1443.44  
imu_odom_:  1691062540.212034081  0.909797   -0.696713  9.95988    -0.0479369  0.00745685  0.360059    0.05       0.29          pose: 0.6062648     -4.56653   -3.16698    0 0.00470745  -0.00460429 0.687929    0.725748       uwb: 0.0            1204.92  1443.44  
imu_odom_:  1691062540.229034753  0.878672   -0.282516  10.082     -0.0383495  0.00426106  0.406931    0.05       0.29          pose: 0.0           -4.56653   -3.16698    0 0.00470745  -0.00460429 0.687929    0.725748       uwb: 0.50059139     1203.13  1443.64  
imu_odom_:  1691062540.247088544  0.68953    -0.155623  9.79468    -0.0596548  0.0170442   0.50387     0.05       0.29          pose: 0.0           -4.56653   -3.16698    0 0.00470745  -0.00460429 0.687929    0.725748       uwb: 0.0            1203.13  1443.64  
imu_odom_:  1691062540.264091258  0.6608     -0.335188  9.8258     -0.0553937  0.015979    0.539024    0.04       0.38          pose: 0.45995112    -4.56653   -3.16698    0 0.00680157  -0.00786788 0.691104    0.72268        uwb: 0.0            1203.13  1443.64  
imu_odom_:  1691062540.279038189  0.428562   -0.349553  9.9096     -0.0426106  0.0149137   0.539024    0.04       0.35          pose: 0.0           -4.56653   -3.16698    0 0.00680157  -0.00786788 0.691104    0.72268        uwb: 0.49958814     1202.58  1443.45  
imu_odom_:  1691062540.295179685  0.356736   -0.0814029 9.96706    -0.0500674  0.00745685  0.545415    0.04       0.35          pose: 0.66943154    -4.57054   -3.15782    0 0.00717076  -0.0102347  0.701488    0.712572       uwb: 0.0            1202.58  1443.45  
imu_odom_:  1691062540.309151949  0.208296   -0.126893  9.79228    -0.056459   0.0213053   0.528371    0.04       0.35          pose: 0.0           -4.57054   -3.15782    0 0.00717076  -0.0102347  0.701488    0.712572       uwb: 0.0            1202.58  1443.45  
imu_odom_:  1691062540.326090502  0.275333   -0.0814029 9.85214    -0.0553937  0.00106526  0.486826    0.03       0.41          pose: 0.0           -4.57054   -3.15782    0 0.00717076  -0.0102347  0.701488    0.712572       uwb: 0.49983021     1202.5   1443.28  
imu_odom_:  1691062540.342185043  0.433351   -0.169988  9.99819    -0.0575243  -0.00426106 0.466586    0.03       0.41          pose: 0.31157546    -4.57054   -3.15782    0 0.0055603   -0.00757919 0.707048    0.707103       uwb: 0.0            1202.5   1443.28  
imu_odom_:  1691062540.359140803  0.438139   -0.0814029 9.75398    -0.0617853  0.00319579  0.474043    0.04       0.5           pose: 0.40988498    -4.57054   -3.15782    0 0.00401716  -0.00368062 0.713514    0.700619       uwb: 0.0            1202.5   1443.28  
imu_odom_:  1691062540.375130645  0.663194   -0.361524  10.058     -0.0447411  0.00213053  0.455933    0.04       0.5           pose: 0.0           -4.57054   -3.15782    0 0.00401716  -0.00368062 0.713514    0.700619       uwb: 0.0            1202.5   1443.28  
imu_odom_:  1691062540.393131940  0.617704   -0.0790087 9.84735    -0.052198   0.0106526   0.437824    0.04       0.5           pose: 0.0           -4.57054   -3.15782    0 0.00401716  -0.00368062 0.713514    0.700619       uwb: 0.0            1202.5   1443.28  
imu_odom_:  1691062540.408015293  0.59855    -0.011971  9.94551    -0.0628506  0.00319579  0.429302    0.02       0.32          pose: 0.7010484     -4.57054   -3.15782    0 0.00417182  -0.003011   0.714579    0.699536       uwb: 0.0            1202.5   1443.28  
imu_odom_:  1691062540.426086291  0.493206   -0.102951  9.86411    -0.0479369  0.0149137   0.378169    0.04       0.47          pose: 0.0           -4.57054   -3.15782    0 0.00417182  -0.003011   0.714579    0.699536       uwb: 0.100102822    1203.68  1442.79  
imu_odom_:  1691062540.441234746  0.490811   -0.071826  9.93833    -0.0543285  0.00319579  0.34408     0.04       0.47          pose: 0.66970278    -4.57054   -3.15782    0 0.00729862  -0.00179301 0.723833    0.689934       uwb: 0.0            1203.68  1442.79  
imu_odom_:  1691062540.459129884  0.509965   -0.0909797 9.78271    -0.0458064  0.00745685  0.316384    0.03       0.38          pose: 0.0           -4.57054   -3.15782    0 0.00729862  -0.00179301 0.723833    0.689934       uwb: 0.0            1203.68  1442.79  
imu_odom_:  1691062540.474015278  0.497994   -0.25618   9.95748    -0.0596548  0.00319579  0.309992    0.03       0.38          pose: 0.0           -4.57054   -3.15782    0 0.00729862  -0.00179301 0.723833    0.689934       uwb: 0.0            1203.68  1442.79  
imu_odom_:  1691062540.492125356  0.442927   -0.179565  9.92636    -0.052198   -0.00532632 0.294013    0.03       0.38          pose: 0.32976807    -4.57054   -3.15782    0 0.00846907  0.000910284 0.727311    0.686255       uwb: 0.49882404     1199.64  1444.19  
imu_odom_:  1691062540.507104368  0.54109    -0.201113  9.90481    -0.0500674  -0.00106526 0.272708    0.02       0.23          pose: 0.42982744    -4.57054   -3.15782    0 0.00644656  9.20931e-05 0.731227    0.682104       uwb: 0.0            1199.64  1444.19  
imu_odom_:  1691062540.525077374  0.497994   -0.105345  9.80904    -0.0575243  0           0.265251    0.02       0.23          pose: 0.7003193     -4.57054   -3.15782    0 0.0063221   -0.0005812050.731787    0.681504       uwb: 0.0            1199.64  1444.19  
imu_odom_:  1691062540.540061343  0.512359   -0.244209  9.93115    -0.0553937  -0.00213053 0.257794    0.02       0.23          pose: 0.0           -4.57054   -3.15782    0 0.0063221   -0.0005812050.731787    0.681504       uwb: 0.50098511     1197.97  1444.63  
imu_odom_:  1691062540.558053598  0.445322   -0.158017  9.90481    -0.052198   0           0.229032    0.02       0.26          pose: 0.40932794    -4.57256   -3.15325    0 0.00610338  -0.0009747480.734912    0.678135       uwb: 0.0            1197.97  1444.63  
imu_odom_:  1691062540.574048398  0.471658   -0.141258  9.91439    -0.052198   -0.00319579 0.213053    0.01       0.17          pose: 0.0           -4.57256   -3.15325    0 0.00610338  -0.0009747480.734912    0.678135       uwb: 0.0            1197.97  1444.63  
imu_odom_:  1691062540.591002407  0.47884    -0.0957681 9.95748    -0.056459   0           0.196009    0.01       0.17          pose: 0.0           -4.57256   -3.15325    0 0.00610338  -0.0009747480.734912    0.678135       uwb: 0.49868697     1195.88  1445.14  
imu_odom_:  1691062540.606996624  0.500388   -0.148441  9.86411    -0.056459   -0.00319579 0.184291    0.01       0.14          pose: 0.24941786    -4.57459   -3.14867    0 0.00515924  0.000426914 0.736475    0.676445       uwb: 0.0            1195.88  1445.14  
imu_odom_:  1691062540.624054458  0.505177   -0.205901  9.88566    -0.0553937  -0.00639159 0.175769    0.01       0.14          pose: 0.0           -4.57459   -3.14867    0 0.00515924  0.000426914 0.736475    0.676445       uwb: 0.0            1195.88  1445.14  
imu_odom_:  1691062540.640017469  0.531513   -0.172383  9.89763    -0.0532632  -0.00745685 0.164051    0.01       0.14          pose: 0.34001344    -4.57459   -3.14867    0 0.00684161  0.00134403  0.738281    0.674457       uwb: 0.50063514     1200.68  1442.38  
imu_odom_:  1691062540.657149088  0.54109    -0.117316  9.85932    -0.0532632  -0.00319579 0.147006    0.01       0.14          pose: 0.41012996    -4.57459   -3.14867    0 0.0061876   -0.00239399 0.740138    0.672422       uwb: 0.0            1200.68  1442.38  
imu_odom_:  1691062540.673138347  0.486023   -0.0909797 9.90721    -0.0553937  0           0.134223    0.01       0.14          pose: 0.7146973     -4.57459   -3.14867    0 0.00681563  -0.00204278 0.740391    0.672138       uwb: 0.0            1200.68  1442.38  
imu_odom_:  1691062540.690063193  0.464475   -0.160412  9.89284    -0.0553937  -0.00426106 0.112918    0.01       0.14          pose: 0.0           -4.57459   -3.14867    0 0.00681563  -0.00204278 0.740391    0.672138       uwb: 0.49948315     1196.86  1444.22  
imu_odom_:  1691062540.706197106  0.47884    -0.155623  9.88805    -0.0543285  -0.00532632 0.0969391   0          0.05          pose: 0.42898751    -4.57459   -3.14867    0 0.00582579  -2.41443e-060.741671    0.670738       uwb: 0.0            1196.86  1444.22  
imu_odom_:  1691062540.723265731  0.502782   -0.196325  9.9096     -0.056459   -0.00745685 0.0841559   0          0.08          pose: 0.0           -4.57459   -3.14867    0 0.00582579  -2.41443e-060.741671    0.670738       uwb: 0.0            1196.86  1444.22  
imu_odom_:  1691062540.738990470  0.517148   -0.143652  9.89763    -0.0543285  -0.00319579 0.072438    0          0.08          pose: 0.0           -4.57459   -3.14867    0 0.00582579  -2.41443e-060.741671    0.670738       uwb: 0.50020351     1194.07  1445.27  
imu_odom_:  1691062540.756043638  0.526724   -0.1652    9.94791    -0.056459   -0.00532632 0.0607201   0          0.02          pose: 0.22967079    -4.57459   -3.14867    0 0.00435968  -0.00128016 0.742093    0.670282       uwb: 0.0            1194.07  1445.27  
imu_odom_:  1691062540.770986195  0.529119   -0.196325  9.90242    -0.0543285  -0.00532632 0.0447411   0          0.02          pose: 0.0           -4.57459   -3.14867    0 0.00435968  -0.00128016 0.742093    0.670282       uwb: 0.0            1194.07  1445.27  
imu_odom_:  1691062540.785994954  0.469264   -0.141258  9.8689     -0.0532632  -0.00106526 0.0319579   0          0.02          pose: 0.0           -4.57459   -3.14867    0 0.00435968  -0.00128016 0.742093    0.670282       uwb: 0.49887071     1192.13  1446.13  
imu_odom_:  1691062540.799987633  0.390255   -0.169988  9.92636    -0.056459   0.00213053  0.036219    0          0             pose: 0.32957559    -4.57459   -3.14867    0 0.00624316  -0.00220831 0.74246     0.669857       uwb: 0.0            1192.13  1446.13  
imu_odom_:  1691062540.814992018  0.35913    -0.246603  9.90481    -0.056459   -0.00426106 0.0383495   0          0             pose: 0.40007123    -4.57459   -3.14867    0 0.00530972  -0.00207066 0.742526    0.669793       uwb: 0.0            1192.13  1446.13  
imu_odom_:  1691062540.830109268  0.380678   -0.222661  9.8665     -0.0532632  -0.00745685 0.0394148   0          0             pose: 0.0           -4.57459   -3.14867    0 0.00530972  -0.00207066 0.742526    0.669793       uwb: 0.50154506     1190.91  1446.5   
imu_odom_:  1691062540.845148358  0.438139   -0.155623  9.89045    -0.0543285  -0.00852212 0.0436758   0          0             pose: 0.6003445     -4.57459   -3.14867    0 0.00486501  -0.00163933 0.742521    0.669804       uwb: 0.0            1190.91  1446.5   
imu_odom_:  1691062540.859199365  0.464475   -0.148441  9.86411    -0.0553937  -0.00639159 0.0426106   0          0             pose: 0.0           -4.57459   -3.14867    0 0.00486501  -0.00163933 0.742521    0.669804       uwb: 0.0            1190.91  1446.5   
imu_odom_:  1691062540.874127048  0.457293   -0.150835  9.87129    -0.0543285  -0.00213053 0.036219    0          0             pose: 0.0           -4.57459   -3.14867    0 0.00486501  -0.00163933 0.742521    0.669804       uwb: 0.0            1190.91  1446.5   
imu_odom_:  1691062540.889002527  0.428562   -0.172383  9.86411    -0.056459   -0.00213053 0.0372843   0          0             pose: 0.44052778    -4.57459   -3.14867    0 0.00187812  1.94872e-06 0.74252     0.669822       uwb: 0.49931691     1186.66  1448.45  
imu_odom_:  1691062540.903074241  0.392649   -0.205901  9.92397    -0.0575243  -0.00532632 0.0394148   0          0             pose: 0.0           -4.57459   -3.14867    0 0.00187812  1.94872e-06 0.74252     0.669822       uwb: 0.0            1186.66  1448.45  
imu_odom_:  1691062540.918201115  0.416591   -0.172383  9.91439    -0.0553937  -0.00639159 0.0415453   0          0             pose: 0.0           -4.57459   -3.14867    0 0.00187812  1.94872e-06 0.74252     0.669822       uwb: 0.0            1186.66  1448.45  
imu_odom_:  1691062540.933023807  0.428562   -0.1652    9.85932    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.44036445    -4.57459   -3.14867    0 0.00467816  0.00119301  0.742516    0.669811       uwb: 0.49996437     1184.64  1449.08  
imu_odom_:  1691062540.947984446  0.414197   -0.191536  9.88326    -0.0553937  -0.00426106 0.04048     0          0             pose: 0.0           -4.57459   -3.14867    0 0.00467816  0.00119301  0.742516    0.669811       uwb: 0.0            1184.64  1449.08  
imu_odom_:  1691062540.961987041  0.430956   -0.189142  9.8665     -0.056459   -0.00532632 0.0372843   0          0             pose: 0.0           -4.57459   -3.14867    0 0.00467816  0.00119301  0.742516    0.669811       uwb: 0.0            1184.64  1449.08  
imu_odom_:  1691062540.977200241  0.40462    -0.203507  9.90721    -0.0553937  -0.00532632 0.0383495   0          0             pose: 0.43973159    -4.57459   -3.14867    0 0.00164147  0.0014211   0.742522    0.669818       uwb: 0.50004894     1183.73  1449.12  
imu_odom_:  1691062540.991983269  0.433351   -0.169988  9.90002    -0.0553937  -0.00745685 0.04048     0          0             pose: 0.0           -4.57459   -3.14867    0 0.00164147  0.0014211   0.742522    0.669818       uwb: 0.0            1183.73  1449.12  
imu_odom_:  1691062541.14031388   0.486023   -0.181959  9.91439    -0.0553937  -0.00426106 0.04048     0          0             pose: 0.0           -4.57459   -3.14867    0 0.00164147  0.0014211   0.742522    0.669818       uwb: 0.0            1183.73  1449.12  
imu_odom_:  1691062541.31125972   -0.287304  -0.201113  9.6606     -0.0575243  0.0703074   0.0415453   0          0             pose: 0.89970607    -4.57459   -3.14867    0 0.00381682  -0.00109661 0.742521    0.669811       uwb: 0.50173176     1184.03  1448.72  
imu_odom_:  1691062541.48119649   -1.13246   -0.191536  10.0916    -0.0607201  0.0500674   0.0607201   0.03       0.02          pose: 0.0           -4.57459   -3.14867    0 0.00381682  -0.00109661 0.742521    0.669811       uwb: 0.0            1184.03  1448.72  
imu_odom_:  1691062541.65132283   -1.12288   -0.316035  9.84496    -0.0607201  -0.0394148  0.0820254   0.03       0.02          pose: 0.24177398    -4.57459   -3.14867    0 0.0013479   0.00101392  0.742586    0.669749       uwb: 0.0            1184.03  1448.72  
imu_odom_:  1691062541.81953308   -0.071826  -0.299275  10.0245    -0.0532632  -0.0852212  0.0958738   0.04       0.02          pose: 0.0           -4.57459   -3.14867    0 0.0013479   0.00101392  0.742586    0.669749       uwb: 0.49934328     1181.65  1449.64  
imu_odom_:  1691062541.98939985   0.201113   -0.248997  9.65821    -0.0532632  -0.04048    0.092678    0.04       0.02          pose: 0.0           -4.57459   -3.14867    0 0.0013479   0.00101392  0.742586    0.669749       uwb: 0.0            1181.65  1449.64  
imu_odom_:  1691062541.116952950  0.28491    -0.11971   9.90002    -0.0617853  -0.00852212 0.092678    0.04       0.02          pose: 0.33866322    -4.57459   -3.14867    0 -0.00118059 0.00275929  0.743022    0.669261       uwb: 0.0            1181.65  1449.64  
imu_odom_:  1691062541.134018079  -0.181959  -0.323217  9.59835    -0.0649811  0.0117179   0.0798948   0.06       0             pose: 0.34951229    -4.57459   -3.14867    0 -0.00278262 0.00407859  0.743645    0.668556       uwb: 0.49896414     1180.79  1449.76  
imu_odom_:  1691062541.151008256  -0.117316  -0.0861913 10.0987    -0.0617853  -0.00958738 0.0660464   0.06       0             pose: 0.0           -4.57459   -3.14867    0 -0.00278262 0.00407859  0.743645    0.668556       uwb: 0.0            1180.79  1449.76  
imu_odom_:  1691062541.168952393  -0.0215478 -0.196325  9.72046    -0.0628506  -0.0372843  0.0884169   0.09       0.02          pose: 0.43981919    -4.57459   -3.14867    0 -0.00503792 0.00705107  0.744182    0.66792        uwb: 0.0            1180.79  1449.76  
imu_odom_:  1691062541.182947117  0.275333   -0.292093  9.93115    -0.0596548  -0.0255663  0.0969391   0.09       0.02          pose: 0.0           -4.57459   -3.14867    0 -0.00503792 0.00705107  0.744182    0.66792        uwb: 0.49929953     1182.98  1448.39  
imu_odom_:  1691062541.200946083  0.507571   -0.368707  9.9096     -0.0532632  -0.0298274  0.0820254   0.09       0.02          pose: 0.0           -4.57459   -3.14867    0 -0.00503792 0.00705107  0.744182    0.66792        uwb: 0.0            1182.98  1448.39  
imu_odom_:  1691062541.216949636  0.294487   -0.0790087 9.77074    -0.0585895  -0.0319579  0.0873517   0.11       0.02          pose: 0.7950739     -4.57459   -3.14867    0 -0.00558555 0.00743212  0.744307    0.667773       uwb: 0.0            1182.98  1448.39  
imu_odom_:  1691062541.234027597  0.354342   -0.110133  10.161     -0.056459   -0.0415453  0.0884169   0.11       0.02          pose: 0.0           -4.57459   -3.14867    0 -0.00558555 0.00743212  0.744307    0.667773       uwb: 0.49939286     1186.4   1446.72  
imu_odom_:  1691062541.252220505  0.246603   0.0622492  10.1059    -0.04048    -0.0234358  0.0639159   0.11       0.02          pose: 0.0           -4.57459   -3.14867    0 -0.00558555 0.00743212  0.744307    0.667773       uwb: 0.0            1186.4   1446.72  
imu_odom_:  1691062541.266222229  0.0933739  -0.222661  9.94073    -0.0468716  0.0170442   0.0777643   0.11       0.02          pose: 0.48991158    -4.56962   -3.13544    0 -0.00505531 0.00489984  0.745107    0.666908       uwb: 0.0            1186.4   1446.72  
imu_odom_:  1691062541.283098374  0.287304   -0.397437  9.87369    -0.0692422  0.0138484   0.0852212   0.11       0.02          pose: 0.0           -4.56962   -3.13544    0 -0.00505531 0.00489984  0.745107    0.666908       uwb: 0.50073149     1188.76  1445.78  
imu_odom_:  1691062541.300118882  0.758962   -0.342371  10.2424    -0.0500674  -0.0223706  0.0735032   0.11       0.02          pose: 0.65289853    -4.5737    -3.12631    0 -0.0031165  0.00676534  0.745965    0.665943       uwb: 0.0            1188.76  1445.78  
imu_odom_:  1691062541.316995318  0.995988   -0.047884  9.70609    -0.0692422  -0.00213053 0.145941    0.13       0.02          pose: 0.0           -4.5737    -3.12631    0 -0.0031165  0.00676534  0.745965    0.665943       uwb: 0.0            1188.76  1445.78  
imu_odom_:  1691062541.332938501  1.18513    -0.287304  9.92875    -0.0713727  -0.00639159 0.203466    0.13       0.02          pose: 0.0           -4.5737    -3.12631    0 -0.0031165  0.00676534  0.745965    0.665943       uwb: 0.49887957     1187.54  1446.15  
imu_odom_:  1691062541.351064332  1.75734    -0.464475  10.0245    -0.0394148  -0.0287621  0.140615    0.13       0.02          pose: 0.33910068    -4.5737    -3.12631    0 -0.00227322 0.00406386  0.746565    0.665296       uwb: 0.0            1187.54  1446.15  
imu_odom_:  1691062541.367131171  1.403      0.174777   9.82102    -0.0426106  0.0500674   0.0884169   0.11       0.02          pose: 0.33915318    -4.5737    -3.12631    0 0.000122093 0.00155381  0.748065    0.663624       uwb: 0.0            1187.54  1446.15  
imu_odom_:  1691062541.383989817  0.792481   0.11971    9.77792    -0.0511327  0.0245011   0.0777643   0.11       0.02          pose: 0.0           -4.5737    -3.12631    0 0.000122093 0.00155381  0.748065    0.663624       uwb: 0.50128853     1185.13  1446.95  
imu_odom_:  1691062541.402254469  0.433351   -0.143652  9.66539    -0.0660464  0.00532632  0.0383495   0.06       0.02          pose: 0.42924425    -4.57784   -3.11721    0 0.00363988  0.000639206 0.748872    0.662704       uwb: 0.0            1185.13  1446.95  
imu_odom_:  1691062541.417991461  0.586579   -0.260968  9.991      -0.04048    -0.0298274  -0.00213053 0.06       0.02          pose: 0.0           -4.57784   -3.11721    0 0.00363988  0.000639206 0.748872    0.662704       uwb: 0.0            1185.13  1446.95  
imu_odom_:  1691062541.435105586  0.770933   -0.203507  9.81144    -0.0596548  -0.0394148  0.00958738  0.06       0.02          pose: 0.0           -4.57784   -3.11721    0 0.00363988  0.000639206 0.748872    0.662704       uwb: 0.50159475     1183.11  1447.6   
imu_odom_:  1691062541.452923443  0.94571    -0.306458  9.98382    -0.0532632  -0.00852212 0.0490022   0.04       0.02          pose: 0.8027441     -4.57784   -3.11721    0 0.00358797  0.00143662  0.748867    0.66271        uwb: 0.0            1183.11  1447.6   
imu_odom_:  1691062541.469921494  0.699107   -0.464475  9.75637    -0.0500674  0.00106526  0.0458064   0.04       0.02          pose: 0.0           -4.57784   -3.11721    0 0.00358797  0.00143662  0.748867    0.66271        uwb: 0.0            1183.11  1447.6   
imu_odom_:  1691062541.485929130  0.586579   -0.0167594 9.97424    -0.0415453  -0.00639159 0.0319579   0.04       0.02          pose: 0.50917161    -4.57784   -3.11721    0 0.00572142  -0.00137972 0.748498    0.66311        uwb: 0.49800173     1186.68  1446.28  
imu_odom_:  1691062541.503924888  0.533907   -0.0383072 9.75877    -0.056459   -0.00319579 0.0351537   0.04       0.05          pose: 0.0           -4.57784   -3.11721    0 0.00572142  -0.00137972 0.748498    0.66311        uwb: 0.0            1186.68  1446.28  
imu_odom_:  1691062541.527977172  0.579397   -0.28491   9.991      -0.0532632  -0.00639159 0.0383495   0.03       0.02          pose: 0.0           -4.57784   -3.11721    0 0.00572142  -0.00137972 0.748498    0.66311        uwb: 0.49925870     1187.47  1445.97  
imu_odom_:  1691062541.554032743  -0.670376  -0.282516  9.74919    -0.0511327  0.0916127   0.0607201   0.04       0.05          pose: 0.60990469    -4.57784   -3.11721    0 0.00838095  -0.00143429 0.748479    0.663104       uwb: 0.0            1187.47  1445.97  
imu_odom_:  1691062541.569914681  -1.38145   -0.263362  10.2232    -0.0532632  0.0138484   0.0649811   0.04       0.05          pose: 0.0           -4.57784   -3.11721    0 0.00838095  -0.00143429 0.748479    0.663104       uwb: 0.0            1187.47  1445.97  
imu_odom_:  1691062541.595080161  -0.213084  -0.117316  10.2185    -0.0553937  -0.0820254  0.0607201   0.04       0.05          pose: 0.31078518    -4.57784   -3.11721    0 0.0064198   -0.00287513 0.748539    0.663053       uwb: 0.50013363     1191.03  1444.64  
imu_odom_:  1691062541.619998329  0.332794   -0.0383072 9.89284    -0.056459   -0.0415453  0.04048     0.09       0             pose: 0.41963757    -4.582     -3.10811    0 0.00261609  0.000322976 0.748868    0.662713       uwb: 0.0            1191.03  1444.64  
imu_odom_:  1691062541.645008948  -0.0143652 -0.294487  9.87369    -0.0703074  -0.0106526  0.0713727   0.09       0             pose: 0.43031166    -4.57291   -3.10395    0 0.00266302  0.00331256  0.748992    0.662566       uwb: 0.49931411     1188.37  1445.95  
imu_odom_:  1691062541.669082521  0.263362   -0.0814029 10.1754    -0.052198   -0.0532632  0.0394148   0.09       0             pose: 0.0           -4.57291   -3.10395    0 0.00266302  0.00331256  0.748992    0.662566       uwb: 0.0            1188.37  1445.95  
imu_odom_:  1691062541.686191105  0.438139   -0.225055  9.75637    -0.056459   -0.052198   0.0575243   0.11       0             pose: 0.7012819     -4.57291   -3.10395    0 0.0019859   0.00349853  0.749064    0.662485       uwb: 0.50266217     1190.61  1444.72  
imu_odom_:  1691062541.711059402  0.574608   -0.45011   10.4028    -0.0543285  0.0266316   0.0308927   0.11       0             pose: 0.0           -4.57291   -3.10395    0 0.0019859   0.00349853  0.749064    0.662485       uwb: 0.0            1190.61  1444.72  
imu_odom_:  1691062541.727912508  0.383072   -0.280122  10.3477    -0.0639159  0.00532632  0.0468716   0.12       -0.02         pose: 0.49122397    -4.57708   -3.09486    0 0.000455695 0.00516429  0.749283    0.66223        uwb: 0.49854709     1193.39  1443.69  
imu_odom_:  1691062541.751896255  -0.00957681-0.294487  10.2639    -0.0692422  -0.0213053  0.0532632   0.12       -0.02         pose: 0.0           -4.57708   -3.09486    0 0.000455695 0.00516429  0.749283    0.66223        uwb: 0.0            1193.39  1443.69  
imu_odom_:  1691062541.777958534  0.481235   -0.304064  9.91678    -0.0671117  -0.00532632 0.036219    0.16       -0.02         pose: 0.41933427    -4.57708   -3.09486    0 -0.0003312410.00125693  0.749298    0.662232       uwb: 0.50004905     1189.39  1445.06  
imu_odom_:  1691062541.801020111  0.296881   -0.301669  10.161     -0.056459   0           0.0330232   0.16       -0.02         pose: 0.0           -4.57708   -3.09486    0 -0.0003312410.00125693  0.749298    0.662232       uwb: 0.0            1189.39  1445.06  
imu_odom_:  1691062541.825950528  0.1652     -0.213084  9.77792    -0.0607201  0.00852212  0.0500674   0.13       0             pose: 0.41913011    -4.58125   -3.08577    0 -0.0027793  0.000685171 0.749417    0.662092       uwb: 0.49922371     1192.9   1443.6   
imu_odom_:  1691062541.850900193  0.45011    0.124498   9.82341    -0.056459   -0.0692422  0.0415453   0.13       0             pose: 0.0           -4.58125   -3.08577    0 -0.0027793  0.000685171 0.749417    0.662092       uwb: 0.0            1192.9   1443.6   
imu_odom_:  1691062541.868017526  0.603339   0.0023942  9.89045    -0.0639159  -0.00213053 0.0553937   0.14       0             pose: 0.48994950    -4.58125   -3.08577    0 -0.00487142 0.000297814 0.749371    0.662132       uwb: 0.0            1192.9   1443.6   
imu_odom_:  1691062541.893004813  0.3304     -0.366313  10.2304    -0.0820254  0.0319579   0.04048     0.14       0             pose: 0.0           -4.58125   -3.08577    0 -0.00487142 0.000297814 0.749371    0.662132       uwb: 0.50063525     1195.54  1442.24  
imu_odom_:  1691062541.917885359  0.167594   -0.409408  9.97664    -0.0394148  -0.0330232  0.0213053   0.18       -0.02         pose: 0.49053278    -4.57635   -3.07251    0 -0.00228394 0.00234942  0.749502    0.661993       uwb: 0.0            1195.54  1442.24  
imu_odom_:  1691062541.933877538  0.407014   -0.227449  10.2783    -0.0415453  -0.0138484  0.0447411   0.18       -0.02         pose: 0.0           -4.57635   -3.07251    0 -0.00228394 0.00234942  0.749502    0.661993       uwb: 0.50006072     1196.71  1441.77  
imu_odom_:  1691062541.958878533  0.794875   -0.0095768110.4603    -0.0415453  -0.0458064  0.0330232   0.22       0             pose: 0.75849327    -4.58053   -3.06342    0 -0.00415904 0.0002635   0.749433    0.662068       uwb: 0.0            1196.71  1441.77  
imu_odom_:  1691062541.980942694  0.335188   -0.0814029 9.23204    -0.0575243  -0.02024    0.056459    0.22       0             pose: 0.0           -4.58053   -3.06342    0 -0.00415904 0.0002635   0.749433    0.662068       uwb: 0.49991198     1197.5   1441.44  
imu_odom_:  1691062542.5927649    0.129287   -0.337582  9.6223     -0.0426106  -0.00106526 0.0308927   0.16       0             pose: 0.7002903     -4.58053   -3.06342    0 -0.00333341 5.57288e-05 0.74942     0.662087       uwb: 0.0            1197.5   1441.44  
imu_odom_:  1691062542.30870320   0.00957681 -0.148441  9.95509    -0.0266316  -0.0117179  0.0468716   0.19       0             pose: 0.48056155    -4.58471   -3.05434    0 -0.00105494 0.00166562  0.749484    0.66202        uwb: 0.49913334     1197.98  1441.48  
imu_odom_:  1691062542.44877005   0.237026   -0.414197  9.65103    -0.0223706  -0.00213053 0.0458064   0.19       0             pose: 0.0           -4.58471   -3.05434    0 -0.00105494 0.00166562  0.749484    0.66202        uwb: 0.0            1197.98  1441.48  
imu_odom_:  1691062542.68874756   0.608127   -0.009576819.71088    -0.0458064  0.0191748   0.0468716   0.19       0             pose: 0.0           -4.58471   -3.05434    0 -0.00105494 0.00166562  0.749484    0.66202        uwb: 0.0            1197.98  1441.48  
imu_odom_:  1691062542.92874842   0.347159   -0.272939  10.1538    -0.0628506  -0.0436758  0.072438    0.15       -0.02         pose: 0.63946853    -4.58889   -3.04525    0 -0.00411874 0.00372722  0.749528    0.66195        uwb: 0.49956796     1198.83  1441.33  
imu_odom_:  1691062542.106882693  0.184354   -0.270545  9.68455    -0.0479369  -0.0543285  0.0436758   0.15       -0.02         pose: 0.0           -4.58889   -3.04525    0 -0.00411874 0.00372722  0.749528    0.66195        uwb: 0.0            1198.83  1441.33  
imu_odom_:  1691062542.122971700  0.636858   -0.117316  10.0126    -0.0596548  -0.0543285  0.0383495   0.17       0             pose: 0.53999244    -4.58399   -3.03199    0 -0.00402587 0.00155143  0.749848    0.661596       uwb: 0.0            1198.83  1441.33  
imu_odom_:  1691062542.147863334  0.536301   -0.138864  10.0604    -0.052198   -0.0351537  0.0692422   0.17       0             pose: 0.0           -4.58399   -3.03199    0 -0.00402587 0.00155143  0.749848    0.661596       uwb: 0.50062953     1198.38  1441.35  
imu_odom_:  1691062542.170024617  0.131681   -0.105345  9.94791    -0.04048    0.0223706   0.0447411   0.17       0             pose: 0.8066814     -4.58399   -3.03199    0 -0.00312361 0.00113657  0.749848    0.661601       uwb: 0.0            1198.38  1441.35  
imu_odom_:  1691062542.197013448  0.277727   -0.0430956 10.0652    -0.0713727  -0.0117179  0.0607201   0.17       0             pose: 0.0           -4.58399   -3.03199    0 -0.00312361 0.00113657  0.749848    0.661601       uwb: 0.50117198     1193.63  1443.13  
imu_odom_:  1691062542.221007701  -0.0550666 -0.316035  9.38766    -0.0617853  0.00745685  0.04048     0.23       0.02          pose: 0.64216625    -4.58819   -3.02291    0 -0.0004997070.00302215  0.750193    0.661212       uwb: 0.0            1193.63  1443.13  
imu_odom_:  1691062542.235018176  0.134075   0.105345   10.0796    -0.0639159  -0.00213053 0.0553937   0.23       0.02          pose: 0.0           -4.58819   -3.02291    0 -0.0004997070.00302215  0.750193    0.661212       uwb: 0.49868137     1192.43  1443.54  
imu_odom_:  1691062542.251024941  0.715866   -0.416591  9.74679    -0.0713727  -0.0138484  0.0394148   0.18       0             pose: 0.55852044    -4.59239   -3.01384    0 -0.00240532 0.00678694  0.75038     0.660967       uwb: 0.0            1192.43  1443.54  
imu_odom_:  1691062542.277874367  0.56982    -0.383072  9.60793    -0.0511327  0.0319579   0.0436758   0.18       0             pose: 0.7901162     -4.59239   -3.01384    0 -0.0021904  0.00595785  0.750384    0.660971       uwb: 0.49915382     1189.29  1444.79  
imu_odom_:  1691062542.301848204  0.347159   -0.378284  9.64384    -0.056459   0.0213053   0.0426106   0.17       -0.02         pose: 0.34955029    -4.58628   -3.00326    0 -0.00188929 0.00281394  0.750429    0.660942       uwb: 0.0            1189.29  1444.79  
imu_odom_:  1691062542.319850674  0.0909797  0.0023942  10.0245    -0.0447411  -0.00639159 0.0319579   0.17       -0.02         pose: 0.0           -4.58628   -3.00326    0 -0.00188929 0.00281394  0.750429    0.660942       uwb: 0.0            1189.29  1444.79  
imu_odom_:  1691062542.343927169  0.411803   -0.25618   9.87369    -0.0479369  -0.0308927  0.0468716   0.19       0             pose: 0.41976307    -4.58983   -2.99559    0 -0.00366582 0.00301024  0.750403    0.660963       uwb: 0.50013374     1190.25  1444.87  
imu_odom_:  1691062542.369855882  0.371101   -0.0981623 9.84496    -0.0500674  -0.0138484  0.0319579   0.19       0             pose: 0.0           -4.58983   -2.99559    0 -0.00366582 0.00301024  0.750403    0.660963       uwb: 0.0            1190.25  1444.87  
imu_odom_:  1691062542.395011744  0.354342   -0.342371  9.75637    -0.0703074  0.0372843   0.0490022   0.18       -0.02         pose: 0.50005208    -4.59174   -2.99149    0 -0.0002433150.00251757  0.750402    0.660977       uwb: 0.50106699     1187.45  1445.85  
imu_odom_:  1691062542.412004550  0.316035   -0.304064  10.1849    -0.0383495  -0.015979   0.0372843   0.18       -0.02         pose: 0.0           -4.59174   -2.99149    0 -0.0002433150.00251757  0.750402    0.660977       uwb: 0.0            1187.45  1445.85  
imu_odom_:  1691062542.428845701  0.684742   0.0574608  10.2615    -0.0585895  -0.0149137  0.0500674   0.18       0             pose: 0.42148668    -4.59594   -2.98242    0 -0.00397966 0.000382958 0.750459    0.660905       uwb: 0.50144321     1189.42  1445.07  
imu_odom_:  1691062542.453844660  1.0343     -0.318429  10.2041    -0.0426106  -0.0394148  0.0415453   0.18       0             pose: 0.8058356     -4.59594   -2.98242    0 -0.00314966 0.000362604 0.75049     0.660874       uwb: 0.0            1189.42  1445.07  
imu_odom_:  1691062542.477846495  0.452504   -0.102951  9.9503     -0.0340885  0.00852212  0.0500674   0.18       0             pose: 0.33781754    -4.59258   -2.97323    0 -0.000137332-0.00169373 0.750537    0.660826       uwb: 0.49773353     1186.15  1446.02  
imu_odom_:  1691062542.503843743  0.19393    -0.136469  9.5792     -0.0372843  0.0138484   0.0372843   0.18       0             pose: 0.0           -4.59258   -2.97323    0 -0.000137332-0.00169373 0.750537    0.660826       uwb: 0.0            1186.15  1446.02  
imu_odom_:  1691062542.528847660  0.122104   -0.208296  10.2208    -0.0426106  0.0255663   0.0436758   0.17       0.02          pose: 0.8002945     -4.59108   -2.96914    0 0.000523718 -0.00111748 0.750565    0.660796       uwb: 0.49946297     1185.68  1446.01  
imu_odom_:  1691062542.546838756  0.469264   -0.268151  10.0054    -0.0628506  -0.036219   0.0426106   0.17       0.02          pose: 0.0           -4.59108   -2.96914    0 0.000523718 -0.00111748 0.750565    0.660796       uwb: 0.0            1185.68  1446.01  
imu_odom_:  1691062542.570977954  0.253785   -0.208296  10.3046    -0.0468716  -0.00852212 0.056459    0.2        0.02          pose: 0.51027704    -4.59529   -2.96007    0 -0.0005052150.00310999  0.750605    0.660744       uwb: 0.0            1185.68  1446.01  
imu_odom_:  1691062542.595969330  0.462081   0.0335188  10.2448    -0.0298274  -0.0223706  0.0319579   0.2        0.02          pose: 0.24016125    -4.59529   -2.96007    0 -0.00163118 0.00334653  0.750631    0.660712       uwb: 0.50053037     1182.07  1447.21  
imu_odom_:  1691062542.618827637  0.28491    -0.3304    9.87848    -0.0713727  -0.00639159 0.0532632   0.23       -0.02         pose: 0.40977434    -4.59951   -2.951      0 -0.00234296 0.00388474  0.750754    0.660566       uwb: 0.0            1182.07  1447.21  
imu_odom_:  1691062542.635824525  0.268151   -0.0981623 9.92875    -0.076699   -0.0234358  0.0447411   0.23       -0.02         pose: 0.0           -4.59951   -2.951      0 -0.00234296 0.00388474  0.750754    0.660566       uwb: 0.49943380     1183.51  1446.27  
imu_odom_:  1691062542.657839987  0.344765   -0.100556  10.2759    -0.0639159  -0.0436758  0.0543285   0.18       0             pose: 0.48976296    -4.59466   -2.93771    0 -0.00222845 0.00376506  0.750827    0.660485       uwb: 0.0            1183.51  1446.27  
imu_odom_:  1691062542.682812990  0.818817   -0.294487  9.94073    -0.0553937  -0.00532632 0.036219    0.18       0             pose: 0.0           -4.59466   -2.93771    0 -0.00222845 0.00376506  0.750827    0.660485       uwb: 0.50132947     1182.35  1446.77  
imu_odom_:  1691062542.707828572  0.682347   -0.229843  10.41      -0.0681769  0.0138484   0.0543285   0.2        0             pose: 0.37998311    -4.59887   -2.92865    0 0.000579179 0.00444513  0.750951    0.660342       uwb: 0.0            1182.35  1446.77  
imu_odom_:  1691062542.720930000  0.687136   -0.126893  9.83538    -0.0639159  -0.02024    0.0543285   0.2        0             pose: 0.0           -4.59887   -2.92865    0 0.000579179 0.00444513  0.750951    0.660342       uwb: 0.0            1182.35  1446.77  
imu_odom_:  1691062542.744825386  0.550666   -0.258574  9.58638    -0.0596548  0.0245011   0.0532632   0.18       -0.02         pose: 0.48976588    -4.59887   -2.92865    0 0.00313096  0.000461168 0.751095    0.660186       uwb: 0.49845971     1180.27  1447.26  
imu_odom_:  1691062542.768803014  0.500388   0.0023942  9.99579    -0.0490022  -0.00106526 0.0458064   0.18       -0.02         pose: 0.0           -4.59887   -2.92865    0 0.00313096  0.000461168 0.751095    0.660186       uwb: 0.0            1180.27  1447.26  
imu_odom_:  1691062542.785804861  0.457293   -0.35913   9.87608    -0.056459   -0.0436758  0.0596548   0.23       0.02          pose: 0.39128715    -4.6031    -2.91958    0 0.00424538  -0.00157484 0.751256    0.659996       uwb: 0.50050413     1181.8   1446.56  
imu_odom_:  1691062542.810805861  0.6608     0.0311246  9.87848    -0.0532632  -0.0490022  0.04048     0.23       0.02          pose: 0.0           -4.6031    -2.91958    0 0.00424538  -0.00157484 0.751256    0.659996       uwb: 0.0            1181.8   1446.56  
imu_odom_:  1691062542.835817651  0.548272   -0.148441  10.4339    -0.052198   -0.0394148  0.0511327   0.18       0             pose: 0.40923772    -4.59827   -2.90629    0 0.00527727  -0.00171122 0.751397    0.659827       uwb: 0.49831098     1177.41  1448.07  
imu_odom_:  1691062542.860828276  0.306458   -0.0742203 10.3837    -0.0468716  -0.0340885  0.0319579   0.19       0             pose: 0.41945101    -4.60126   -2.89988    0 0.00825731  -0.00432317 0.751483    0.659686       uwb: 0.0            1177.41  1448.07  
imu_odom_:  1691062542.885867481  1.09654    -0.153229  9.96946    -0.0671117  -0.0234358  0.0458064   0.19       0             pose: 0.0           -4.60126   -2.89988    0 0.00825731  -0.00432317 0.751483    0.659686       uwb: 0.50232980     1172.65  1449.75  
imu_odom_:  1691062542.901865496  0.6608     0.0646434  9.94791    -0.056459   -0.0234358  0.0479369   0.18       0.02          pose: 0.6996489     -4.6025    -2.89723    0 0.00800415  -0.00376317 0.751467    0.659712       uwb: 0.0            1172.65  1449.75  
imu_odom_:  1691062542.927814332  0.550666   -0.28491   9.37809    -0.0703074  -0.0383495  0.052198    0.18       0.02          pose: 0.0           -4.6025    -2.89723    0 0.00800415  -0.00376317 0.751467    0.659712       uwb: 0.49975461     1171.3   1449.74  
imu_odom_:  1691062542.952925281  0.332794   -0.198719  10.1394    -0.0468716  -0.0266316  0.0351537   0.19       0             pose: 0.49032582    -4.6025    -2.89723    0 0.00986618  -0.00396456 0.751471    0.65968        uwb: 0.0            1171.3   1449.74  
imu_odom_:  1691062542.976839331  0.383072   -0.414197  10.3884    -0.0596548  -0.0127832  0.052198    0.19       0             pose: 0.0           -4.6025    -2.89723    0 0.00986618  -0.00396456 0.751471    0.65968        uwb: 0.50005791     1168.87  1450.46  
imu_odom_:  1691062542.993909714  1.03908    -0.222661  9.58878    -0.0426106  -0.00426106 0.0340885   0.25       0             pose: 0.44026841    -4.60674   -2.88817    0 0.00823506  -0.00487004 0.751609    0.65954        uwb: 0.0            1168.87  1450.46  
imu_odom_:  1691062543.17837476   0.667982   -0.253785  10.4124    -0.0436758  -0.00106526 0.04048     0.25       0             pose: 0.0           -4.60674   -2.88817    0 0.00823506  -0.00487004 0.751609    0.65954        uwb: 0.0            1168.87  1450.46  
imu_odom_:  1691062543.42853355   0.536301   -0.0981623 9.8665     -0.0436758  -0.0149137  0.0468716   0.23       0             pose: 0.48931091    -4.60192   -2.87488    0 0.00538451  -0.00496592 0.75169     0.659476       uwb: 0.50008130     1166.85  1451.06  
imu_odom_:  1691062543.56904955   0.45011    -0.366313  9.76116    -0.0575243  -0.00213053 0.0585895   0.23       0             pose: 0.0           -4.60192   -2.87488    0 0.00538451  -0.00496592 0.75169     0.659476       uwb: 0.0            1166.85  1451.06  
imu_odom_:  1691062543.81775889   0.572214   -0.215478  9.80186    -0.0596548  -0.00532632 0.0426106   0.18       0             pose: 0.41162049    -4.60617   -2.86582    0 0.00753465  -0.00671669 0.751683    0.659447       uwb: 0.49871647     1168.33  1450.21  
imu_odom_:  1691062543.106791185  0.514753   -0.122104  10.2161    -0.0596548  0.00426106  0.0553937   0.18       0             pose: 0.0           -4.60617   -2.86582    0 0.00753465  -0.00671669 0.751683    0.659447       uwb: 0.0            1168.33  1450.21  
imu_odom_:  1691062543.119910114  0.612916   -0.447716  9.4164     -0.0553937  -0.0308927  0.0383495   0.18       0             pose: 0.38840582    -4.61041   -2.85677    0 0.00642542  -0.00613159 0.751829    0.659298       uwb: 0.0            1168.33  1450.21  
imu_odom_:  1691062543.135910466  0.529119   -0.21069   9.96467    -0.0553937  0.0213053   0.0490022   0.18       0             pose: 0.0           -4.61041   -2.85677    0 0.00642542  -0.00613159 0.751829    0.659298       uwb: 0.50139958     1165.95  1451.04  
imu_odom_:  1691062543.161957008  0.361524   -0.373495  9.9527     -0.0617853  0.00426106  0.0468716   0.25       -0.02         pose: 0.48115671    -4.61041   -2.85677    0 0.00598778  -0.00589366 0.751977    0.659136       uwb: 0.0            1165.95  1451.04  
imu_odom_:  1691062543.185768989  0.6608     -0.323217  9.4164     -0.0660464  0.0191748   0.0607201   0.25       -0.02         pose: 0.0           -4.61041   -2.85677    0 0.00598778  -0.00589366 0.751977    0.659136       uwb: 0.49892353     1169.6   1450.01  
imu_odom_:  1691062543.211806782  0.701501   -0.390255  9.71567    -0.0532632  -0.00639159 0.0415453   0.21       0             pose: 0.30856301    -4.60561   -2.84347    0 0.00426968  -0.00489711 0.752056    0.659067       uwb: 0.0            1169.6   1450.01  
imu_odom_:  1691062543.224897422  -0.0335188 -0.201113  9.53132    -0.0298274  0.00639159  0.0415453   0.21       0             pose: 0.0           -4.60561   -2.84347    0 0.00426968  -0.00489711 0.752056    0.659067       uwb: 0.0            1169.6   1450.01  
imu_odom_:  1691062543.248782022  0.129287   -0.270545  9.87369    -0.0426106  0.052198    0.0511327   0.18       0             pose: 0.50004928    -4.60986   -2.83442    0 0.00330926  -0.00768566 0.752265    0.658807       uwb: 0.50085129     1169.2   1450.16  
imu_odom_:  1691062543.271780906  0.529119   -0.1652    9.84256    -0.0543285  0.0276969   0.0532632   0.18       0             pose: 0.0           -4.60986   -2.83442    0 0.00330926  -0.00768566 0.752265    0.658807       uwb: 0.0            1169.2   1450.16  
imu_odom_:  1691062543.295778080  0.517148   -0.0742203 9.75158    -0.0649811  -0.00639159 0.0628506   0.25       0.02          pose: 0.38997485    -4.61412   -2.82537    0 0.00230584  -0.00750824 0.752325    0.658745       uwb: 0.49806320     1167.96  1450.42  
imu_odom_:  1691062543.312782847  0.869095   -0.289698  9.64863    -0.0607201  -0.00958738 0.0532632   0.25       0.02          pose: 0.0           -4.61412   -2.82537    0 0.00230584  -0.00750824 0.752325    0.658745       uwb: 0.0            1167.96  1450.42  
imu_odom_:  1691062543.337778019  0.85473    -0.347159  9.69173    -0.0553937  0.0191748   0.0372843   0.18       -0.02         pose: 0.47013848    -4.61838   -2.81632    0 0.00313377  -0.00400069 0.752556    0.658509       uwb: 0.50077546     1167.02  1450.3   
imu_odom_:  1691062543.362761235  0.328006   -0.114922  9.45231    -0.0458064  -0.00852212 0.0468716   0.18       -0.02         pose: 0.0           -4.61838   -2.81632    0 0.00313377  -0.00400069 0.752556    0.658509       uwb: 0.0            1167.02  1450.3   
imu_odom_:  1691062543.385888149  0.289698   -0.0981623 9.90242    -0.0532632  0.00106526  0.0383495   0.19       0             pose: 0.41004274    -4.60934   -2.81206    0 0.00555391  -0.00509916 0.752735    0.658281       uwb: 0.49978971     1168.55  1449.6   
imu_odom_:  1691062543.409766333  0.301669   0.0909797  10.1275    -0.04048    -0.0351537  0.0458064   0.19       0             pose: 0.0           -4.60934   -2.81206    0 0.00555391  -0.00509916 0.752735    0.658281       uwb: 0.0            1168.55  1449.6   
imu_odom_:  1691062543.433990988  0.407014   -0.215478  10.556     -0.0532632  0.00213053  0.0319579   0.23       -0.02         pose: 0.48979223    -4.61361   -2.80301    0 0.00497435  -0.00348788 0.752784    0.658239       uwb: 0.50120710     1164.07  1450.78  
imu_odom_:  1691062543.450784022  0.248997   -0.177171  9.37809    -0.0596548  0.00106526  0.0340885   0.23       -0.02         pose: 0.0           -4.61361   -2.80301    0 0.00497435  -0.00348788 0.752784    0.658239       uwb: 0.0            1164.07  1450.78  
imu_odom_:  1691062543.475766946  0.0790087  -0.37589   9.59117    -0.0713727  0.0170442   0.0543285   0.18       0.02          pose: 0.48057342    -4.61788   -2.79397    0 0.00413271  0.000235079 0.752804    0.658232       uwb: 0.50008719     1166.14  1450.34  
imu_odom_:  1691062543.500820156  0.296881   -0.0263362 9.63187    -0.0372843  -0.0117179  0.0468716   0.18       0.02          pose: 0.0           -4.61788   -2.79397    0 0.00413271  0.000235079 0.752804    0.658232       uwb: 0.0            1166.14  1450.34  
imu_odom_:  1691062543.516819633  0.964863   -0.232238  10.386     -0.0617853  -0.0308927  0.056459    0.18       0.02          pose: 0.40990275    -4.62215   -2.78493    0 0.000307036 0.00142995  0.752775    0.658276       uwb: 0.0            1166.14  1450.34  
imu_odom_:  1691062543.540757312  0.476446   -0.292093  10.0509    -0.0468716  -0.0106526  0.036219    0.18       0.02          pose: 0.0           -4.62215   -2.78493    0 0.000307036 0.00142995  0.752775    0.658276       uwb: 0.49936391     1164.46  1450.61  
imu_odom_:  1691062543.564747194  0.457293   -0.174777  10.137     -0.052198   0.0117179   0.056459    0.25       0             pose: 0.49032302    -4.61739   -2.77162    0 0.000121864 0.00356949  0.752956    0.658062       uwb: 0.0            1164.46  1450.61  
imu_odom_:  1691062543.589834526  0.289698   -0.0622492 10.0796    -0.0308927  0.015979    0.0532632   0.25       0             pose: 0.0           -4.61739   -2.77162    0 0.000121864 0.00356949  0.752956    0.658062       uwb: 0.50051299     1164.46  1450.61  
imu_odom_:  1691062543.605900206  0.567426   -0.246603  9.6199     -0.0511327  -0.0223706  0.0447411   0.19       0             pose: 0.81975592    -4.62167   -2.76258    0 0.00238965  0.00279386  0.753224    0.657754       uwb: 0.0            1164.46  1450.61  
imu_odom_:  1691062543.628758226  0.0861913  -0.325611  8.98065    -0.0596548  0.0319579   0.0458064   0.19       0             pose: 0.0           -4.62167   -2.76258    0 0.00238965  0.00279386  0.753224    0.657754       uwb: 0.49891770     1162.12  1451.56  
imu_odom_:  1691062543.645886941  0.373495   -0.217872  10.2544    -0.0543285  -0.00958738 0.0553937   0.19       -0.02         pose: 0.7022155     -4.62167   -2.76258    0 0.00265491  0.00209223  0.753238    0.65774        uwb: 0.0            1162.12  1451.56  
imu_odom_:  1691062543.670905153  0.672771   0.0981623  10.1682    -0.0447411  -0.0170442  0.0447411   0.19       -0.02         pose: 0.0           -4.62167   -2.76258    0 0.00265491  0.00209223  0.753238    0.65774        uwb: 0.0            1162.12  1451.56  
imu_odom_:  1691062543.687769932  0.512359   -0.275333  9.37809    -0.0894822  0.0138484   0.0639159   0.19       0             pose: 0.39920240    -4.62595   -2.75354    0 -0.0001772840.00156563  0.753344    0.657625       uwb: 0.49899353     1164.45  1450.61  
imu_odom_:  1691062543.703790407  0.143652   0.0502782  10.319     -0.052198   -0.0191748  0.0511327   0.19       0             pose: 0.0           -4.62595   -2.75354    0 -0.0001772840.00156563  0.753344    0.657625       uwb: 0.0            1164.45  1450.61  
imu_odom_:  1691062543.728890862  0.342371   -0.263362  10.1754    -0.0671117  -0.0372843  0.0607201   0.18       0             pose: 0.40966653    -4.6212    -2.74022    0 0.00172887  0.000502724 0.75349     0.657457       uwb: 0.50125667     1162.82  1451.03  
imu_odom_:  1691062543.752729675  0.624887   -0.229843  10.0796    -0.0511327  -0.0351537  0.0447411   0.18       0             pose: 0.0           -4.6212    -2.74022    0 0.00172887  0.000502724 0.75349     0.657457       uwb: 0.0            1162.82  1451.03  
imu_odom_:  1691062543.769730359  0.45011    0.0167594  9.97664    -0.056459   -0.00319579 0.056459    0.18       0             pose: 0.0           -4.6212    -2.74022    0 0.00172887  0.000502724 0.75349     0.657457       uwb: 0.0            1162.82  1451.03  
imu_odom_:  1691062543.793733365  0.447716   -0.0646434 10.0078    -0.0585895  -0.0181095  0.052198    0.25       0             pose: 0.34181310    -4.6212    -2.74022    0 0.000757268 0.000715409 0.753687    0.657233       uwb: 0.49923560     1160     1451.84  
imu_odom_:  1691062543.816745956  0.407014   -0.248997  9.37569    -0.0713727  0.0117179   0.0553937   0.23       0             pose: 0.81808481    -4.62971   -2.72212    0 0.00414674  0.00124505  0.754025    0.656831       uwb: 0.0            1160     1451.84  
imu_odom_:  1691062543.839802002  0.605733   -0.177171  10.0102    -0.0436758  -0.0426106  0.0500674   0.23       0             pose: 0.0           -4.62971   -2.72212    0 0.00414674  0.00124505  0.754025    0.656831       uwb: 0.50260114     1158     1452.42  
imu_odom_:  1691062543.866885039  0.229843   -0.416591  9.96706    -0.0500674  0.015979    0.0447411   0.25       0             pose: 0.7129771     -4.62971   -2.72212    0 0.00343733  0.000903024 0.754065    0.65679        uwb: 0.0            1158     1452.42  
imu_odom_:  1691062543.882873142  0.663194   0.0790087  9.81862    -0.0511327  -0.0511327  0.0415453   0.25       0             pose: 0.0           -4.62971   -2.72212    0 0.00343733  0.000903024 0.754065    0.65679        uwb: 0.49792612     1161.56  1451.16  
imu_odom_:  1691062543.907937434  0.440533   -0.146046  10.1945    -0.0511327  -0.0181095  0.0532632   0.23       -0.02         pose: 0.47106881    -4.62486   -2.70884    0 0.0032468   -0.00140389 0.754244    0.656585       uwb: 0.0            1161.56  1451.16  
imu_odom_:  1691062543.930723710  0.385466   -0.0335188 9.63427    -0.0426106  -0.0298274  0.0330232   0.23       -0.02         pose: 0.0           -4.62486   -2.70884    0 0.0032468   -0.00140389 0.754244    0.656585       uwb: 0.50114585     1160.41  1451.69  
imu_odom_:  1691062543.943761563  0.390255   -0.177171  10.2328    -0.0308927  -0.0149137  0.0426106   0.18       -0.02         pose: 0.42868158    -4.62911   -2.69979    0 0.00332552  -0.0004335830.754322    0.656496       uwb: 0.0            1160.41  1451.69  
imu_odom_:  1691062543.967772736  0.351948   -0.129287  9.94073    -0.0447411  -0.00426106 0.0458064   0.18       -0.02         pose: 0.45888985    -4.63342   -2.69077    0 0.00419662  0.0031342   0.75434     0.656464       uwb: 0.0            1160.41  1451.69  
imu_odom_:  1691062543.984865870  0.457293   -0.260968  9.74919    -0.0660464  0.00532632  0.0490022   0.18       -0.02         pose: 0.0           -4.63342   -2.69077    0 0.00419662  0.0031342   0.75434     0.656464       uwb: 0.49890604     1159.63  1452     
imu_odom_:  1691062544.9731265    0.0933739  -0.21069   9.68694    -0.0596548  0.015979    0.0458064   0.27       0.02          pose: 0.39001277    -4.63342   -2.69077    0 0.00160998  0.0036717   0.754417    0.656383       uwb: 0.0            1159.63  1452     
imu_odom_:  1691062544.33710070   0.545878   -0.167594  9.4571     -0.0490022  0.00319579  0.0479369   0.21       -0.02         pose: 0.34002828    -4.62872   -2.67743    0 -0.00095499 0.0041549   0.754492    0.656295       uwb: 0.50063261     1158.81  1452.21  
imu_odom_:  1691062544.56769912   0.366313   -0.311246  9.52892    -0.0468716  0.0181095   0.0458064   0.21       -0.02         pose: 0.0           -4.62872   -2.67743    0 -0.00095499 0.0041549   0.754492    0.656295       uwb: 0.0            1158.81  1452.21  
imu_odom_:  1691062544.82849415   0.31364    -0.380678  9.51695    -0.0532632  0.0287621   0.0447411   0.24       0             pose: 0.8157810     -4.62872   -2.67743    0 -0.0003439160.00365881  0.754518    0.65627        uwb: 0.49865826     1157.61  1452.56  
imu_odom_:  1691062544.97742114   -0.035913  -0.299275  10.0149    -0.0383495  0.0330232   0.0372843   0.24       0             pose: 0.0           -4.62872   -2.67743    0 -0.0003439160.00365881  0.754518    0.65627        uwb: 0.0            1157.61  1452.56  
imu_odom_:  1691062544.123741416  0.258574   -0.0047884 9.9527     -0.0330232  -0.00852212 0.0532632   0.21       0             pose: 0.46837123    -4.63304   -2.66841    0 -0.00175807 0.00106072  0.754625    0.656153       uwb: 0.0            1157.61  1452.56  
imu_odom_:  1691062544.146850837  0.0885855  -0.232238  9.75637    -0.036219   0.00639159  0.0319579   0.21       0             pose: 0.0           -4.63304   -2.66841    0 -0.00175807 0.00106072  0.754625    0.656153       uwb: 0.49989481     1155.24  1453.4   
imu_odom_:  1691062544.171973463  0.433351   -0.114922  9.75158    -0.0585895  -0.0276969  0.0532632   0.18       0             pose: 0.41297675    -4.63736   -2.65939    0 -0.00441424 0.00225915  0.754675    0.656079       uwb: 0.0            1155.24  1453.4   
imu_odom_:  1691062544.189708505  0.553061   -0.282516  9.79468    -0.0607201  0.0234358   0.0447411   0.18       0             pose: 0.0           -4.63736   -2.65939    0 -0.00441424 0.00225915  0.754675    0.656079       uwb: 0.50011063     1154.03  1453.74  
imu_odom_:  1691062544.213677687  0.402226   -0.0191536 9.92157    -0.0575243  0.02024     0.0543285   0.18       0             pose: 0.49911613    -4.63736   -2.65939    0 -0.00434046 0.00511726  0.754735    0.655996       uwb: 0.0            1154.03  1453.74  
imu_odom_:  1691062544.239711985  0.246603   -0.289698  10.0485    -0.0639159  0.0234358   0.0394148   0.18       0             pose: 0.0           -4.63736   -2.65939    0 -0.00434046 0.00511726  0.754735    0.655996       uwb: 0.49926195     1150.88  1454.89  
imu_odom_:  1691062544.262848529  0.521936   -0.102951  9.89524    -0.056459   0.0372843   0.0575243   0.19       0             pose: 0.41766926    -4.63267   -2.64605    0 -0.00144745 0.00353957  0.754893    0.655836       uwb: 0.0            1150.88  1454.89  
imu_odom_:  1691062544.279696688  0.280122   -0.213084  9.5816     -0.04048    0.00639159  0.0532632   0.19       0             pose: 0.0           -4.63267   -2.64605    0 -0.00144745 0.00353957  0.754893    0.655836       uwb: 0.50006689     1151.25  1454.67  
imu_odom_:  1691062544.292747959  0.620098   -0.160412  10.4459    -0.0436758  -0.00852212 0.0330232   0.18       0             pose: 0.49005190    -4.637     -2.63704    0 -0.00250461 0.00378778  0.755007    0.655701       uwb: 0.0            1151.25  1454.67  
imu_odom_:  1691062544.316745138  0.497994   -0.146046  10.3549    -0.0458064  -0.00213053 0.0607201   0.18       0             pose: 0.0           -4.637     -2.63704    0 -0.00250461 0.00378778  0.755007    0.655701       uwb: 0.0            1151.25  1454.67  
imu_odom_:  1691062544.341829559  0.502782   -0.0383072 10.5082    -0.0372843  -0.0138484  0.0415453   0.23       0             pose: 0.39031325    -4.64134   -2.62802    0 -0.00232988 0.00370213  0.755165    0.65552        uwb: 0.50043435     1148.81  1455.3   
imu_odom_:  1691062544.364804533  0.648829   -0.035913  10.3022    -0.0692422  -0.00532632 0.0575243   0.23       0             pose: 0.0           -4.64134   -2.62802    0 -0.00232988 0.00370213  0.755165    0.65552        uwb: 0.0            1148.81  1455.3   
imu_odom_:  1691062544.388670473  0.246603   -0.268151  9.50498    -0.0532632  -0.02024    0.0415453   0.19       0             pose: 0.39043573    -4.64134   -2.62802    0 0.00134872  0.0024346   0.755331    0.655338       uwb: 0.50018354     1146.03  1456.22  
imu_odom_:  1691062544.415880089  0.955286   -0.208296  9.64624    -0.0671117  -0.0117179  0.0372843   0.19       0             pose: 0.0           -4.64134   -2.62802    0 0.00134872  0.0024346   0.755331    0.655338       uwb: 0.0            1146.03  1456.22  
imu_odom_:  1691062544.433808782  0.31364    -0.0742203 9.71088    -0.0585895  -0.0170442  0.0415453   0.2        0.02          pose: 0.48078644    -4.63667   -2.61467    0 0.0045429   0.00186676  0.755482    0.655151       uwb: 0.50096806     1142.85  1457.23  
imu_odom_:  1691062544.456797171  0.502782   -0.316035  10.307     -0.0777643  -0.0330232  0.0500674   0.2        0.02          pose: 0.0           -4.63667   -2.61467    0 0.0045429   0.00186676  0.755482    0.655151       uwb: 0.0            1142.85  1457.23  
imu_odom_:  1691062544.482668442  0.773327   -0.265756  9.76595    -0.0479369  -0.036219   0.0447411   0.19       0             pose: 0.52128383    -4.64102   -2.60567    0 0.00458079  0.000571347 0.755479    0.655157       uwb: 0.49944277     1142.4   1457.2   
imu_odom_:  1691062544.505669372  1.26414    -0.0694318 10.2185    -0.0649811  -0.0117179  0.0351537   0.19       0             pose: 0.0           -4.64102   -2.60567    0 0.00458079  0.000571347 0.755479    0.655157       uwb: 0.0            1142.4   1457.2   
imu_odom_:  1691062544.523713847  0.366313   -0.153229  9.60554    -0.0511327  -0.00213053 0.036219    0.25       0             pose: 0.40811216    -4.64536   -2.59666    0 0.00403995  -0.00196826 0.755582    0.655039       uwb: 0.0            1142.4   1457.2   
imu_odom_:  1691062544.538706579  -0.0454898 -0.251391  9.97185    -0.0596548  -0.0138484  0.0575243   0.25       0             pose: 0.0           -4.64536   -2.59666    0 0.00403995  -0.00196826 0.755582    0.655039       uwb: 0.49933194     1139.65  1458.22  
imu_odom_:  1691062544.564651052  0.538695   -0.208296  10.1323    -0.0383495  -0.0117179  0.0383495   0.25       -0.02         pose: 0.47883243    -4.64969   -2.58765    0 0.00673349  -0.00415247 0.755552    0.655041       uwb: 0.0            1139.65  1458.22  
imu_odom_:  1691062544.586648733  0.380678   -0.126893  9.92875    -0.0649811  0.0319579   0.0575243   0.25       -0.02         pose: 0.0           -4.64969   -2.58765    0 0.00673349  -0.00415247 0.755552    0.655041       uwb: 0.50075516     1138.43  1458.54  
imu_odom_:  1691062544.599655967  -0.378284  -0.253785  9.73961    -0.0340885  0.0234358   0.0436758   0.18       0.02          pose: 0.33119450    -4.6449    -2.57434    0 0.00518169  -0.00331232 0.755635    0.654964       uwb: 0.0            1138.43  1458.54  
imu_odom_:  1691062544.622656605  -0.047884  -0.174777  9.78031    -0.0447411  0.00852212  0.0351537   0.18       0.02          pose: 0.45860705    -4.6449    -2.57434    0 0.00405604  -0.00229023 0.755771    0.654819       uwb: 0.0            1138.43  1458.54  
imu_odom_:  1691062544.647654408  0.445322   -0.31364   10.2568    -0.0511327  -0.0468716  0.0575243   0.25       0.02          pose: 0.29992464    -4.64917   -2.5653     0 0.00176706  1.86061e-05 0.755753    0.654855       uwb: 0.49962650     1136.03  1459.28  
imu_odom_:  1691062544.670707543  0.486023   -0.169988  10.0173    -0.0585895  -0.0351537  0.0575243   0.25       0.02          pose: 0.0           -4.64917   -2.5653     0 0.00176706  1.86061e-05 0.755753    0.654855       uwb: 0.0            1136.03  1459.28  
imu_odom_:  1691062544.696748257  0.112527   0.071826   10.659     -0.0500674  -0.0426106  0.0340885   0.18       -0.02         pose: 0.8129813     -4.64917   -2.5653     0 0.00145729  -0.0007577520.755801    0.654799       uwb: 0.49987440     1129.96  1460.82  
imu_odom_:  1691062544.722721311  0.577003   -0.181959  10.6805    -0.0628506  -0.0181095  0.0543285   0.18       -0.02         pose: 0.0           -4.64917   -2.5653     0 0.00145729  -0.0007577520.755801    0.654799       uwb: 0.0            1129.96  1460.82  
imu_odom_:  1691062544.738741498  0.682347   -0.167594  9.69891    -0.0458064  -0.00958738 0.04048     0.19       0.02          pose: 0.48878617    -4.65343   -2.55625    0 0.00318734  -0.00109123 0.756013    0.654548       uwb: 0.49938153     1129.66  1461.29  
imu_odom_:  1691062544.763648017  0.452504   -0.172383  9.42118    -0.0948085  -0.02024    0.0639159   0.19       0.02          pose: 0.0           -4.65343   -2.55625    0 0.00318734  -0.00109123 0.756013    0.654548       uwb: 0.0            1129.66  1461.29  
imu_odom_:  1691062544.786670529  0.0550666  -0.0383072 9.81383    -0.0809601  -0.0234358  0.0479369   0.18       0             pose: 0.50018354    -4.64866   -2.54294    0 0.00548441  -0.0021393  0.756102    0.654427       uwb: 0.50010480     1131.71  1460.86  
imu_odom_:  1691062544.802759835  0.526724   -0.225055  10.082     -0.0756338  -0.0127832  0.0468716   0.18       0             pose: 0.0           -4.64866   -2.54294    0 0.00548441  -0.0021393  0.756102    0.654427       uwb: 0.0            1131.71  1460.86  
imu_odom_:  1691062544.826688187  0.52433    -0.196325  10.2376    -0.0649811  -0.0383495  0.0383495   0.25       0             pose: 0.41083901    -4.64866   -2.54294    0 0.00391115  -0.0009528680.756323    0.654186       uwb: 0.49903738     1134.93  1459.95  
imu_odom_:  1691062544.851766191  0.651223   -0.251391  9.89524    -0.0692422  -0.00532632 0.0585895   0.25       0             pose: 0.0           -4.64866   -2.54294    0 0.00391115  -0.0009528680.756323    0.654186       uwb: 0.0            1134.93  1459.95  
imu_odom_:  1691062544.874642007  0.667982   -0.126893  9.80904    -0.0671117  -0.0117179  0.0479369   0.18       0             pose: 0.39927833    -4.65294   -2.5339     0 0.00409013  -0.00223851 0.756399    0.654094       uwb: 0.50043144     1132.84  1460.24  
imu_odom_:  1691062544.890696900  0.435745   -0.158017  9.90721    -0.0458064  0.0138484   0.0447411   0.18       0             pose: 0.0           -4.65294   -2.5339     0 0.00409013  -0.00223851 0.756399    0.654094       uwb: 0.0            1132.84  1460.24  
imu_odom_:  1691062544.906661675  0.536301   -0.0622492 10.0772    -0.076699   0.0181095   0.0415453   0.25       0             pose: 0.47968110    -4.65722   -2.52486    0 0.00705502  -0.00600306 0.756545    0.653876       uwb: 0.0            1132.84  1460.24  
imu_odom_:  1691062544.931633813  0.457293   -0.462081  9.52653    -0.0479369  0.052198    0.0543285   0.25       0             pose: 0.0           -4.65722   -2.52486    0 0.00705502  -0.00600306 0.756545    0.653876       uwb: 0.49920362     1128.88  1461.63  
imu_odom_:  1691062544.948619919  -0.186748  -0.536301  10.1083    -0.0468716  0.00745685  0.0351537   0.21       -0.02         pose: 0.39180937    -4.65247   -2.51154    0 0.00775328  -0.00391942 0.75661     0.653808       uwb: 0.0            1128.88  1461.63  
imu_odom_:  1691062544.972627889  -0.117316  -0.0550666 9.96467    -0.0543285  0.00958738  0.052198    0.21       -0.02         pose: 0.0           -4.65247   -2.51154    0 0.00775328  -0.00391942 0.75661     0.653808       uwb: 0.0            1128.88  1461.63  
imu_odom_:  1691062544.997646107  0.502782   -0.387861  9.61033    -0.0649811  0           0.036219    0.21       0             pose: 0.41795800    -4.65676   -2.50251    0 0.00455906  -0.00360064 0.756749    0.65368        uwb: 0.50064725     1128.39  1461.43  
imu_odom_:  1691062545.12662756   0.588974   -0.0287304 10.2424    -0.0458064  0.00426106  0.0213053   0.21       0             pose: 0.0           -4.65676   -2.50251    0 0.00455906  -0.00360064 0.756749    0.65368        uwb: 0.0            1128.39  1461.43  
imu_odom_:  1691062545.29643032   0.371101   -0.23942   9.77313    -0.0671117  -0.00745685 0.0436758   0.21       0             pose: 0.0           -4.65676   -2.50251    0 0.00455906  -0.00360064 0.756749    0.65368        uwb: 0.49984820     1130.82  1460.77  
imu_odom_:  1691062545.55634756   0.462081   -0.25618   9.43076    -0.0617853  -0.00213053 0.04048     0.18       -0.02         pose: 0.41141063    -4.65676   -2.50251    0 0.00182194  -0.0019516  0.756837    0.653598       uwb: 0.0            1130.82  1460.77  
imu_odom_:  1691062545.78639191   0.0933739  -0.220267  10.0748    -0.0735032  -0.0500674  0.0468716   0.23       0             pose: 0.74853723    -4.65772   -2.48411    0 0.000835912 -0.00469756 0.756755    0.653681       uwb: 0.50184310     1129.98  1460.88  
imu_odom_:  1691062545.102602837  0.325611   -0.411803  10.1394    -0.0511327  0.02024     0.0330232   0.23       0             pose: 0.0           -4.65772   -2.48411    0 0.000835912 -0.00469756 0.756755    0.653681       uwb: 0.0            1129.98  1460.88  
imu_odom_:  1691062545.125606397  0.486023   -0.316035  9.94312    -0.0639159  0.0245011   0.052198    0.26       -0.02         pose: 0.7139107     -4.65631   -2.48015    0 0.000447622 -0.0043156  0.756775    0.653661       uwb: 0.49866711     1132.35  1460.04  
imu_odom_:  1691062545.151671907  0.126893   -0.208296  10.2137    -0.036219   0.0500674   0.0308927   0.26       -0.02         pose: 0.0           -4.65631   -2.48015    0 0.000447622 -0.0043156  0.756775    0.653661       uwb: 0.0            1132.35  1460.04  
imu_odom_:  1691062545.165674226  0.304064   -0.225055  9.43794    -0.0426106  -0.0106526  0.0330232   0.18       -0.02         pose: 0.46912668    -4.66061   -2.47112    0 -0.00258933 -0.00409981 0.756794    0.653635       uwb: 0.0            1132.35  1460.04  
imu_odom_:  1691062545.189594709  0.605733   -0.0766145 9.50737    -0.036219   -0.0458064  0.0426106   0.18       -0.02         pose: 0.0           -4.66061   -2.47112    0 -0.00258933 -0.00409981 0.756794    0.653635       uwb: 0.50255762     1131.95  1460.15  
imu_odom_:  1691062545.206627189  0.512359   -0.0383072 9.8665     -0.052198   -0.0319579  0.0543285   0.25       0             pose: 0.48028783    -4.66061   -2.47112    0 -0.0034905  -0.00166139 0.756777    0.653662       uwb: 0.0            1131.95  1460.15  
imu_odom_:  1691062545.232895099  0.603339   0.117316   9.87608    -0.0585895  -0.0298274  0.0351537   0.25       0             pose: 0.0           -4.66061   -2.47112    0 -0.0034905  -0.00166139 0.756777    0.653662       uwb: 0.49720890     1133.13  1459.71  
imu_odom_:  1691062545.259767291  0.356736   -0.201113  9.98861    -0.0703074  -0.0181095  0.0511327   0.25       0             pose: 0.39910926    -4.66061   -2.47112    0 0.000179658 -0.0008662440.756829    0.653613       uwb: 0.0            1133.13  1459.71  
imu_odom_:  1691062545.275748401  0.979228   -0.23942   9.80426    -0.0585895  -0.0905475  0.0532632   0.25       0             pose: 0.0           -4.66061   -2.47112    0 0.000179658 -0.0008662440.756829    0.653613       uwb: 0.49979285     1134.42  1459.66  
imu_odom_:  1691062545.292744718  1.22104    -0.189142  9.72046    -0.0617853  0.00639159  0.106526    0.19       0.11          pose: 0.43153985    -4.65588   -2.45778    0 0.00306913  0.000282604 0.756857    0.653573       uwb: 0.0            1134.42  1459.66  
imu_odom_:  1691062545.310649500  0.751779   -0.428562  9.75637    -0.0660464  0.0170442   0.164051    0.19       0.11          pose: 0.0           -4.65588   -2.45778    0 0.00306913  0.000282604 0.756857    0.653573       uwb: 0.0            1134.42  1459.66  
imu_odom_:  1691062545.324578033  1.0343     -0.553061  9.39964    -0.0543285  0.00319579  0.204531    0.19       0.11          pose: 0.0           -4.65588   -2.45778    0 0.00306913  0.000282604 0.756857    0.653573       uwb: 0.49875168     1131.97  1460.24  
imu_odom_:  1691062545.341583682  1.18274    -0.19393   9.84975    -0.0607201  0.015979    0.308927    0.12       0.29          pose: 0.83797808    -4.66021   -2.44877    0 0.00448505  -0.00497572 0.758841    0.651241       uwb: 0.0            1131.97  1460.24  
imu_odom_:  1691062545.354578378  1.64482    -0.553061  9.75158    -0.0585895  0.0490022   0.373908    0.12       0.29          pose: 0.0           -4.66021   -2.44877    0 0.00448505  -0.00497572 0.758841    0.651241       uwb: 0.0            1131.97  1460.24  
imu_odom_:  1691062545.370633274  1.25217    -0.557849  9.92636    -0.0596548  -0.00106526 0.419714    0.12       0.29          pose: 0.0           -4.66021   -2.44877    0 0.00448505  -0.00497572 0.758841    0.651241       uwb: 0.0            1131.97  1460.24  
imu_odom_:  1691062545.387582345  0.991199   -0.174777  9.58399    -0.0319579  0.0181095   0.418649    0.14       0.55          pose: 0.8074986     -4.66026   -2.44879    0 0.00504648  -0.00543438 0.759544    0.650413       uwb: 0.50022448     1133.19  1459.92  
imu_odom_:  1691062545.403584745  0.677559   -0.0167594 9.84975    -0.0490022  0.015979    0.50387     0.14       0.55          pose: 0.0           -4.66026   -2.44879    0 0.00504648  -0.00543438 0.759544    0.650413       uwb: 0.0            1133.19  1459.92  
imu_odom_:  1691062545.419575188  0.847547   -0.687136  9.92875    -0.0735032  -0.00426106 0.619984    0.14       0.55          pose: 0.0           -4.66026   -2.44879    0 0.00504648  -0.00543438 0.759544    0.650413       uwb: 0.0            1133.19  1459.92  
imu_odom_:  1691062545.436577046  0.842759   -0.555455  9.98622    -0.0415453  0.00319579  0.624245    0.08       0.44          pose: 0.44989289    -4.66454   -2.43975    0 0.00727863  -0.00856304 0.764539    0.644479       uwb: 0.49993284     1138.06  1458.72  
imu_odom_:  1691062545.452568072  0.727837   0.117316   9.63666    -0.0308927  0.02024     0.638093    0.11       0.67          pose: 0.0           -4.66454   -2.43975    0 0.00727863  -0.00856304 0.764539    0.644479       uwb: 0.0            1138.06  1458.72  
imu_odom_:  1691062545.468570473  0.6608     -0.0909797 9.5792     -0.0607201  0.0191748   0.653007    0.11       0.67          pose: 0.65968562    -4.66882   -2.43072    0 0.00890524  -0.0104839  0.775561    0.631123       uwb: 0.0            1138.06  1458.72  
imu_odom_:  1691062545.485600037  0.447716   -0.225055  9.8282     -0.0458064  0.00745685  0.609331    0.11       0.67          pose: 0.0           -4.66882   -2.43072    0 0.00890524  -0.0104839  0.775561    0.631123       uwb: 0.49992992     1136.41  1459.04  
imu_odom_:  1691062545.501742134  0.519542   -0.203507  10.149     -0.0500674  0.00639159  0.588026    0.09       0.67          pose: 0.0           -4.66882   -2.43072    0 0.00890524  -0.0104839  0.775561    0.631123       uwb: 0.0            1136.41  1459.04  
imu_odom_:  1691062545.518707536  0.782904   -0.31364   10.2161    -0.0436758  0.015979    0.614658    0.09       0.67          pose: 0.32983260    -4.66882   -2.43072    0 0.00965644  -0.00797139 0.781747    0.62347        uwb: 0.0            1136.41  1459.04  
imu_odom_:  1691062545.534704687  0.785298   -0.418985  9.92397    -0.056459   0.00319579  0.631702    0.05       0.55          pose: 0.42113406    -4.65978   -2.42633    0 0.0082841   -0.00758278 0.789109    0.61415        uwb: 0.50008449     1139.34  1458.61  
imu_odom_:  1691062545.551692546  0.766145   -0.222661  9.62708    -0.0575243  0.0117179   0.615723    0.05       0.55          pose: 0.0           -4.65978   -2.42633    0 0.0082841   -0.00758278 0.789109    0.61415        uwb: 0.0            1139.34  1458.61  
imu_odom_:  1691062545.567582956  0.483629   -0.0957681 9.80426    -0.0500674  0.0138484   0.551807    0.05       0.55          pose: 0.0           -4.65978   -2.42633    0 0.0082841   -0.00758278 0.789109    0.61415        uwb: 0.0            1139.34  1458.61  
imu_odom_:  1691062545.584573440  0.553061   0.0909797  10.0341    -0.0585895  -0.00745685 0.504935    0.06       0.58          pose: 0.8046697     -4.65983   -2.42635    0 0.00828365  -0.00839075 0.790569    0.61226        uwb: 0.50218140     1139.36  1458.65  
imu_odom_:  1691062545.600568257  0.715866   -0.0814029 9.80426    -0.0607201  -0.00532632 0.4815      0.04       0.41          pose: 0.0           -4.65983   -2.42635    0 0.00828365  -0.00839075 0.790569    0.61226        uwb: 0.0            1139.36  1458.65  
imu_odom_:  1691062545.617625527  0.773327   -0.270545  9.98622    -0.0511327  -0.00426106 0.445281    0.04       0.41          pose: 0.65833531    -4.65983   -2.42635    0 0.0105359   -0.00645476 0.800856    0.598729       uwb: 0.0            1139.36  1458.65  
imu_odom_:  1691062545.633581557  0.61531    -0.19393   9.75398    -0.0490022  -0.00213053 0.415453    0.04       0.29          pose: 0.0           -4.65983   -2.42635    0 0.0105359   -0.00645476 0.800856    0.598729       uwb: 0.49934664     1140.58  1458.35  
imu_odom_:  1691062545.650623953  0.699107   -0.0861913 9.94312    -0.052198   0.00426106  0.386691    0.04       0.29          pose: 0.0           -4.65983   -2.42635    0 0.0105359   -0.00645476 0.800856    0.598729       uwb: 0.0            1140.58  1458.35  
imu_odom_:  1691062545.666718804  0.584185   -0.117316  9.84975    -0.0575243  -0.00106526 0.357929    0.04       0.29          pose: 0.32988509    -4.6642    -2.41735    0 0.0111672   -0.00731874 0.804854    0.593323       uwb: 0.0            1140.58  1458.35  
imu_odom_:  1691062545.683729702  0.6608     -0.181959  9.96946    -0.0500674  -0.00106526 0.316384    0.04       0.38          pose: 0.41142531    -4.6642    -2.41735    0 0.0114287   -0.00438118 0.808992    0.587692       uwb: 0.49696684     1139.46  1458.96  
imu_odom_:  1691062545.699772058  0.687136   -0.174777  9.86172    -0.0490022  -0.00426106 0.28336     0.04       0.38          pose: 0.8016657     -4.6642    -2.41735    0 0.0114758   -0.00516913 0.809646    0.586784       uwb: 0.0            1139.46  1458.96  
imu_odom_:  1691062545.716604180  0.670376   -0.0574608 9.9503     -0.0553937  0.00106526  0.258859    0.04       0.38          pose: 0.0           -4.6642    -2.41735    0 0.0114758   -0.00516913 0.809646    0.586784       uwb: 0.0            1139.46  1458.96  
imu_odom_:  1691062545.732559334  0.670376   -0.126893  9.82102    -0.056459   -0.00319579 0.230097    0.02       0.2           pose: 0.41868719    -4.6642    -2.41735    0 0.013665    -0.00531713 0.812566    0.582685       uwb: 0.50006699     1138.6   1459.03  
imu_odom_:  1691062545.758555142  0.672771   -0.155623  9.93115    -0.0553937  -0.00319579 0.18003     0.03       0.32          pose: 0.0           -4.6642    -2.41735    0 0.013665    -0.00531713 0.812566    0.582685       uwb: 0.0            1138.6   1459.03  
imu_odom_:  1691062545.771601750  0.646434   -0.19393   9.92157    -0.052198   0.00745685  0.154463    0.03       0.32          pose: 0.23974436    -4.6642    -2.41735    0 0.0135042   -0.0044735  0.813776    0.581005       uwb: 0.0            1138.6   1459.03  
imu_odom_:  1691062545.788603899  0.344765   -0.158017  9.87608    -0.0607201  0.015979    0.108657    0.02       0.05          pose: 0.0           -4.6642    -2.41735    0 0.0135042   -0.0044735  0.813776    0.581005       uwb: 0.50398083     1139.47  1459.01  
imu_odom_:  1691062545.802540307  0.232238   -0.009576819.93833    -0.0543285  0.00213053  0.0447411   0.02       0.05          pose: 0.0           -4.6642    -2.41735    0 0.0135042   -0.0044735  0.813776    0.581005       uwb: 0.0            1139.47  1459.01  
imu_odom_:  1691062545.819538082  0.280122   0.0790087  9.88326    -0.056459   -0.00958738 -0.0223706  0.02       0.05          pose: 0.38975338    -4.6642    -2.41735    0 0.0105957   -0.00565312 0.815145    0.579132       uwb: 0.0            1139.47  1459.01  
imu_odom_:  1691062545.832536861  0.409408   -0.0311246 9.89284    -0.0596548  -0.0149137  -0.0479369  0.02       -0.11         pose: 0.39984128    -4.6642    -2.41735    0 0.00865687  -0.00219197 0.815055    0.579315       uwb: 0.49825590     1136.28  1460.04  
imu_odom_:  1691062545.847535721  0.490811   -0.229843  9.8258     -0.0617853  -0.0117179  -0.0798948  0.02       -0.11         pose: 0.6004910     -4.6642    -2.41735    0 0.00850018  -0.00164455 0.814902    0.579535       uwb: 0.0            1136.28  1460.04  
imu_odom_:  1691062545.864594741  0.560243   -0.220267  9.84017    -0.0585895  -0.0266316  -0.117179   0.02       -0.11         pose: 0.0           -4.6642    -2.41735    0 0.00850018  -0.00164455 0.814902    0.579535       uwb: 0.0            1136.28  1460.04  
imu_odom_:  1691062545.880669760  0.840365   -0.112527  9.8282     -0.052198   -0.0255663  -0.177899   0.02       -0.26         pose: 0.39051749    -4.6642    -2.41735    0 0.00681779  -0.00348385 0.813441    0.581597       uwb: 0.49899375     1134.4   1461.06  
imu_odom_:  1691062545.897549420  0.679953   0.134075   9.74919    -0.0596548  0.0266316   -0.241815   0.02       -0.35         pose: 0.0           -4.6642    -2.41735    0 0.00681779  -0.00348385 0.813441    0.581597       uwb: 0.0            1134.4   1461.06  
imu_odom_:  1691062545.913692391  0.31364    0.0430956  9.90721    -0.0575243  0.0127832   -0.278034   0.02       -0.35         pose: 0.0           -4.6642    -2.41735    0 0.00681779  -0.00348385 0.813441    0.581597       uwb: 0.0            1134.4   1461.06  
imu_odom_:  1691062545.930553095  0.23942    -0.339977  9.83059    -0.0671117  -0.0149137  -0.280165   0.02       -0.35         pose: 0.23089011    -4.6642    -2.41735    0 0.00895401  -0.00361969 0.811829    0.583815       uwb: 0.50095066     1137.17  1460.07  
imu_odom_:  1691062545.946567161  0.31364    -0.387861  9.85214    -0.0607201  -0.0181095  -0.274838   0.02       -0.35         pose: 0.0           -4.6642    -2.41735    0 0.00895401  -0.00361969 0.811829    0.583815       uwb: 0.0            1137.17  1460.07  
imu_odom_:  1691062545.972554219  0.639252   0          9.95509    -0.0553937  -0.00745685 -0.306796   0.02       -0.35         pose: 0.34004590    -4.6642    -2.41735    0 0.0081795   -0.00132817 0.808762    0.588078       uwb: 0.0            1137.17  1460.07  
imu_odom_:  1691062545.987561828  0.73502    0.1652     9.95988    -0.0596548  -0.0117179  -0.320645   0.02       -0.44         pose: 0.32999884    -4.6642    -2.41735    0 0.00658173  -0.00146786 0.805619    0.592395       uwb: 0.50001742     1137.15  1460.03  
imu_odom_:  1691062546.4744796    0.466869   -0.179565  9.75398    -0.0607201  0.00213053  -0.372843   0.02       -0.44         pose: 0.0           -4.6642    -2.41735    0 0.00658173  -0.00146786 0.805619    0.592395       uwb: 0.0            1137.15  1460.03  
imu_odom_:  1691062546.21615710   0.474052   -0.201113  9.9503     -0.0639159  -0.0127832  -0.394148   0.02       -0.35         pose: 0.50056570    -4.6685    -2.40833    0 0.00795149  -0.0004063340.800037    0.599898       uwb: 0.0            1137.15  1460.03  
imu_odom_:  1691062546.38681150   0.428562   -0.248997  9.90481    -0.0681769  -0.00958738 -0.380299   0.02       -0.35         pose: 0.0           -4.6685    -2.40833    0 0.00795149  -0.0004063340.800037    0.599898       uwb: 0.50124819     1133.93  1460.95  
imu_odom_:  1691062546.54706010   0.610521   -0.208296  10.0413    -0.072438   -0.0181095  -0.387756   0.02       -0.35         pose: 0.0           -4.6685    -2.40833    0 0.00795149  -0.0004063340.800037    0.599898       uwb: 0.0            1133.93  1460.95  
imu_odom_:  1691062546.71651293   0.572214   -0.0694318 9.83299    -0.056459   -0.0181095  -0.419714   0.02       -0.61         pose: 0.8807301     -4.66855   -2.40835    0 0.00710716  -0.0006651020.798896    0.601427       uwb: 0.0            1133.93  1460.95  
imu_odom_:  1691062546.87527708   0.519542   -0.126893  10.0054    -0.0735032  -0.00958738 -0.432497   0.01       -0.44         pose: 0.0           -4.66855   -2.40835    0 0.00710716  -0.0006651020.798896    0.601427       uwb: 0.49974338     1130.32  1462.08  
imu_odom_:  1691062546.104947784  0.517148   -0.122104  9.97424    -0.056459   -0.00639159 -0.471912   0.01       -0.44         pose: 0.65993365    -4.66855   -2.40835    0 0.00726143  -0.00120568 0.790079    0.61296        uwb: 0.0            1130.32  1462.08  
imu_odom_:  1691062546.120543347  0.588974   -0.134075  9.91199    -0.0553937  -0.015979   -0.497478   0.01       -0.53         pose: 0.0           -4.66855   -2.40835    0 0.00726143  -0.00120568 0.790079    0.61296        uwb: 0.0            1130.32  1462.08  
imu_odom_:  1691062546.137586038  0.474052   -0.186748  9.74679    -0.0681769  -0.00958738 -0.495348   0.01       -0.53         pose: 0.0           -4.66855   -2.40835    0 0.00726143  -0.00120568 0.790079    0.61296        uwb: 0.49892678     1129.61  1462.65  
imu_odom_:  1691062546.153538863  0.42138    -0.407014  9.71088    -0.0617853  -0.00106526 -0.506001   0.01       -0.53         pose: 0.33058219    -4.66855   -2.40835    0 0.00813347  0.000571795 0.784892    0.619578       uwb: 0.0            1129.61  1462.65  
imu_odom_:  1691062546.170673130  0.387861   -0.19393   9.8689     -0.0788296  -0.02024    -0.517718   0.01       -0.73         pose: 0.40935182    -4.6685    -2.40833    0 0.00547521  -0.00140805 0.778026    0.628207       uwb: 0.0            1129.61  1462.65  
imu_odom_:  1691062546.188662783  0.423774   -0.155623  9.80186    -0.0500674  -0.00745685 -0.556068   0.01       -0.73         pose: 0.8025408     -4.66855   -2.40835    0 0.0047521   -0.00114876 0.776621    0.629949       uwb: 0.49747732     1128.38  1462.92  
imu_odom_:  1691062546.203568030  0.383072   0.0981623  9.81862    -0.0585895  -0.00852212 -0.5827     0.01       -0.73         pose: 0.0           -4.66855   -2.40835    0 0.0047521   -0.00114876 0.776621    0.629949       uwb: 0.0            1128.38  1462.92  
imu_odom_:  1691062546.220638719  0.605733   -0.160412  9.75637    -0.0585895  -0.0117179  -0.592287   0.01       -0.61         pose: 0.42003759    -4.6685    -2.40833    0 0.00390949  0.00212582  0.768659    0.639643       uwb: 0.0            1128.38  1462.92  
imu_odom_:  1691062546.237673827  0.699107   -0.023942  10.0509    -0.0585895  -0.0287621  -0.615723   0.01       -0.64         pose: 0.0           -4.6685    -2.40833    0 0.00390949  0.00212582  0.768659    0.639643       uwb: 0.50131241     1127.98  1463.03  
imu_odom_:  1691062546.253669232  0.342371   -0.292093  9.84735    -0.052198   -0.02024    -0.621049   0.01       -0.64         pose: 0.0           -4.6685    -2.40833    0 0.00390949  0.00212582  0.768659    0.639643       uwb: 0.0            1127.98  1463.03  
imu_odom_:  1691062546.270633472  0.457293   -0.177171  9.9096     -0.0692422  -0.0308927  -0.570982   0          -0.55         pose: 0.25130802    -4.66855   -2.40835    0 0.00591538  0.000558189 0.763495    0.645787       uwb: 0.0            1127.98  1463.03  
imu_odom_:  1691062546.286519802  0.603339   -0.464475  9.87369    -0.0681769  -0.0223706  -0.491087   0          -0.55         pose: 0.0           -4.66855   -2.40835    0 0.00591538  0.000558189 0.763495    0.645787       uwb: 0.49846599     1125.51  1463.56  
imu_odom_:  1691062546.302793433  0.696713   -0.445322  9.96706    -0.0543285  -0.00958738 -0.429302   0          -0.55         pose: 0.32947104    -4.66855   -2.40835    0 0.00464415  -0.00018605 0.756574    0.653891       uwb: 0.0            1125.51  1463.56  
imu_odom_:  1691062546.319673971  0.651223   -0.23942   9.91918    -0.0532632  0.00319579  -0.38243    0.01       -0.58         pose: 0.41147497    -4.66855   -2.40835    0 0.00347986  -0.00380855 0.749491    0.661994       uwb: 0.0            1125.51  1463.56  
imu_odom_:  1691062546.337670916  0.505177   -0.0550666 10.0006    -0.0585895  -0.00426106 -0.343015   0.01       -0.58         pose: 0.7821550     -4.66855   -2.40835    0 0.00400456  -0.00434836 0.748394    0.663228       uwb: 0.50081954     1122.25  1464.21  
imu_odom_:  1691062546.354783310  0.380678   -0.225055  9.80426    -0.0607201  0           -0.330232   0.01       -0.58         pose: 0.0           -4.66855   -2.40835    0 0.00400456  -0.00434836 0.748394    0.663228       uwb: 0.0            1122.25  1464.21  
imu_odom_:  1691062546.371527943  0.378284   -0.229843  9.84017    -0.056459   -0.0170442  -0.32384    0          -0.41         pose: 0.44168327    -4.66855   -2.40835    0 0.00400959  -0.00259264 0.742714    0.669592       uwb: 0.0            1122.25  1464.21  
imu_odom_:  1691062546.387520431  0.418985   -0.265756  9.81144    -0.0617853  -0.0181095  -0.286556   0          -0.29         pose: 0.0           -4.66855   -2.40835    0 0.00400959  -0.00259264 0.742714    0.669592       uwb: 0.50057456     1119.83  1464.91  
imu_odom_:  1691062546.403585829  0.648829   -0.318429  9.92397    -0.0596548  -0.0106526  -0.248207   0          -0.29         pose: 0.0           -4.66855   -2.40835    0 0.00400959  -0.00259264 0.742714    0.669592       uwb: 0.0            1119.83  1464.91  
imu_odom_:  1691062546.420520905  0.565032   -0.339977  9.92397    -0.052198   0           -0.225836   0          -0.26         pose: 0.24779374    -4.66855   -2.40835    0 0.00184074  -0.0020666  0.7398      0.672822       uwb: 0.0            1119.83  1464.91  
imu_odom_:  1691062546.436689253  0.52433    -0.244209  10.0006    -0.0553937  -0.00106526 -0.198139   0          -0.26         pose: 0.0           -4.66855   -2.40835    0 0.00184074  -0.0020666  0.7398      0.672822       uwb: 0.49960922     1118.22  1465.4   
imu_odom_:  1691062546.452501506  0.433351   -0.241814  9.87608    -0.056459   -0.00958738 -0.175769   0          -0.26         pose: 0.32115340    -4.66855   -2.40835    0 0.00176941  -0.00455567 0.736637    0.676271       uwb: 0.0            1118.22  1465.4   
imu_odom_:  1691062546.469651522  0.529119   -0.181959  9.94551    -0.056459   -0.00852212 -0.169377   0          -0.29         pose: 0.40823482    -4.66855   -2.40835    0 0.00228525  -0.00415582 0.733381    0.679802       uwb: 0.0            1118.22  1465.4   
imu_odom_:  1691062546.487771540  0.474052   -0.19393   9.85453    -0.0543285  -0.00319579 -0.154463   0          -0.29         pose: 0.8164522     -4.66855   -2.40835    0 0.00308454  -0.00394352 0.732797    0.680429       uwb: 0.49994170     1116.16  1465.79  
imu_odom_:  1691062546.502774486  0.459687   -0.23942   9.87848    -0.0585895  -0.00532632 -0.120375   0          -0.29         pose: 0.0           -4.66855   -2.40835    0 0.00308454  -0.00394352 0.732797    0.680429       uwb: 0.0            1116.16  1465.79  
imu_odom_:  1691062546.518653525  0.486023   -0.3304    9.9096     -0.0596548  -0.00958738 -0.0745685  0          -0.08         pose: 0.42108458    -4.66855   -2.40835    0 0.00208515  -0.00256    0.730142    0.683288       uwb: 0.0            1116.16  1465.79  
imu_odom_:  1691062546.532617934  0.4956     -0.37589   9.89045    -0.0553937  -0.0117179  -0.036219   0          -0.08         pose: 0.0           -4.66855   -2.40835    0 0.00208515  -0.00256    0.730142    0.683288       uwb: 0.50254606     1112.83  1466.3   
imu_odom_:  1691062546.547620880  0.612916   -0.296881  9.88805    -0.0543285  -0.0106526  0.00852212  0          -0.08         pose: 0.0           -4.66855   -2.40835    0 0.00208515  -0.00256    0.730142    0.683288       uwb: 0.0            1112.83  1466.3   
imu_odom_:  1691062546.563613951  0.634463   -0.220267  9.85693    -0.0532632  -0.00426106 0.0394148   0          -0.08         pose: 0.21959778    -4.66855   -2.40835    0 0.000914485 -0.00446993 0.729366    0.684109       uwb: 0.0            1112.83  1466.3   
imu_odom_:  1691062546.585485070  0.533907   -0.213084  9.91678    -0.0553937  0.00426106  0.0511327   0          -0.05         pose: 0.0           -4.66855   -2.40835    0 0.000914485 -0.00446993 0.729366    0.684109       uwb: 0.49885970     1113.19  1466.02  
imu_odom_:  1691062546.602554301  0.0047884  -0.215478  9.7851     -0.0575243  0.0394148   0.0298274   0          -0.05         pose: 0.29876403    -4.66855   -2.40835    0 0.00219751  -0.00651754 0.728988    0.684492       uwb: 0.0            1113.19  1466.02  
imu_odom_:  1691062546.616485462  -0.426168  -0.105345  9.94551    -0.0436758  0.0266316   -0.0617853  0.01       0.02          pose: 0.47943634    -4.66855   -2.40835    0 0.00288665  -0.00356813 0.729013    0.684484       uwb: 0.0            1113.19  1466.02  
imu_odom_:  1691062546.631489867  -0.6608    0.241814   9.84496    -0.0383495  0.015979    -0.138484   0.01       0.02          pose: 0.0           -4.66855   -2.40835    0 0.00288665  -0.00356813 0.729013    0.684484       uwb: 0.49918342     1111.5   1466.16  
imu_odom_:  1691062546.647558765  -0.737414  0.0670376  9.89763    -0.0703074  0.00532632  -0.0681769  0.01       0.02          pose: 0.0           -4.66855   -2.40835    0 0.00288665  -0.00356813 0.729013    0.684484       uwb: 0.0            1111.5   1466.16  
imu_odom_:  1691062546.664625954  -0.577003  -0.991199  9.79228    -0.0798948  -0.0372843  0.0447411   0.05       0.02          pose: 0.5940750     -4.66855   -2.40835    0 0.00246843  -0.00301892 0.728809    0.684706       uwb: 0.0            1111.5   1466.16  
imu_odom_:  1691062546.680488662  0.105345   -0.677559  9.82341    -0.0458064  -0.052198   0.052198    0.08       0             pose: 0.0           -4.66855   -2.40835    0 0.00246843  -0.00301892 0.728809    0.684706       uwb: 0.49944591     1111.03  1465.98  
imu_odom_:  1691062546.695548187  0.648829   -0.023942  9.84496    -0.0394148  -0.0117179  0.0692422   0.08       0             pose: 0.0           -4.66855   -2.40835    0 0.00246843  -0.00301892 0.728809    0.684706       uwb: 0.0            1111.03  1465.98  
imu_odom_:  1691062546.711541258  0.237026   0.0335188  9.56484    -0.0575243  0.0394148   0.0884169   0.08       0             pose: 0.63012200    -4.66855   -2.40835    0 -0.00191809 0.000108408 0.727084    0.686546       uwb: 0.0            1111.03  1465.98  
imu_odom_:  1691062546.728600573  -0.162806  -0.141258  10.07      -0.052198   0.00958738  0.0330232   0.08       0             pose: 0.0           -4.66855   -2.40835    0 -0.00191809 0.000108408 0.727084    0.686546       uwb: 0.50052789     1109.73  1465.93  
imu_odom_:  1691062546.745622558  -0.126893  -0.0837971 9.81862    -0.0639159  -0.0287621  0.036219    0.08       0             pose: 0.31097217    -4.67285   -2.39932    0 -0.0009331570.000487029 0.727395    0.686218       uwb: 0.0            1109.73  1465.93  
imu_odom_:  1691062546.761621462  0.414197   -0.423774  10.1682    -0.0660464  -0.0447411  0.0596548   0.09       0.02          pose: 0.43018090    -4.67285   -2.39932    0 -0.00285718 0.00413825  0.727478    0.686112       uwb: 0.0            1109.73  1465.93  
imu_odom_:  1691062546.778623323  0.488417   -0.339977  9.63906    -0.0543285  -0.0117179  0.0511327   0.09       0.02          pose: 0.0           -4.67285   -2.39932    0 -0.00285718 0.00413825  0.727478    0.686112       uwb: 0.49947216     1108.01  1465.92  
imu_odom_:  1691062546.794492155  0.268151   0.0622492  9.8665     -0.0458064  0.00106526  0.0458064   0.09       0.02          pose: 0.0           -4.67285   -2.39932    0 -0.00285718 0.00413825  0.727478    0.686112       uwb: 0.0            1108.01  1465.92  
imu_odom_:  1691062546.811745121  0.19393    -0.0191536 10.1754    -0.0660464  -0.00426106 0.0639159   0.14       0             pose: 0.7898544     -4.67285   -2.39932    0 -0.00301093 0.00324616  0.727532    0.686059       uwb: 0.0            1108.01  1465.92  
imu_odom_:  1691062546.827684238  0.474052   -0.335188  10.1993    -0.0415453  -0.02024    0.0383495   0.1        0             pose: 0.0           -4.67285   -2.39932    0 -0.00301093 0.00324616  0.727532    0.686059       uwb: 0.0            1108.01  1465.92  
imu_odom_:  1691062546.844733637  0.311246   -0.126893  9.54329    -0.0458064  0.015979    0.0191748   0.1        0             pose: 0.65994823    -4.66816   -2.38598    0 -0.00183664 0.00298841  0.727832    0.685747       uwb: 0.0            1108.01  1465.92  
imu_odom_:  1691062546.860559889  0.344765   -0.23942   9.74679    -0.0532632  0.0213053   0.0426106   0.11       0             pose: 0.0           -4.66816   -2.38598    0 -0.00183664 0.00298841  0.727832    0.685747       uwb: 0.0            1108.01  1465.92  
imu_odom_:  1691062546.877596456  1.12527    -0.258574  10.3214    -0.0553937  -0.0426106  0.0447411   0.11       0             pose: 0.0           -4.66816   -2.38598    0 -0.00183664 0.00298841  0.727832    0.685747       uwb: 0.99843684     1109.58  1465.29  
imu_odom_:  1691062546.893597402  1.31921    -0.0814029 9.69891    -0.0628506  -0.0287621  0.0745685   0.11       0             pose: 0.33171960    -4.66816   -2.38598    0 -0.00179266 0.00338226  0.727716    0.685868       uwb: 0.0            1109.58  1465.29  
imu_odom_:  1691062546.909467984  1.07021    -0.220267  9.69891    -0.0436758  0.0245011   0.1012      0.11       0             pose: 0.40909517    -4.66816   -2.38598    0 0.000518559 0.000206363 0.727951    0.685629       uwb: 0.0            1109.58  1465.29  
imu_odom_:  1691062546.926463721  1.04866    -0.493206  9.65342    -0.0479369  -0.0106526  0.112918    0.11       0             pose: 0.6893254     -4.66816   -2.38598    0 0.000965671 -0.0001813620.728097    0.685474       uwb: 0.50131242     1108.73  1465.34  
imu_odom_:  1691062546.942605530  0.849942   -0.160412  9.7444     -0.0479369  0.0213053   0.118244    0.11       0             pose: 0.0           -4.66816   -2.38598    0 0.000965671 -0.0001813620.728097    0.685474       uwb: 0.0            1108.73  1465.34  
imu_odom_:  1691062546.958607350  0.761356   0.00718261 9.96227    -0.0490022  0.0234358   0.0958738   0.07       0             pose: 0.42114874    -4.67249   -2.37697    0 0.00346874  -0.00300205 0.729142    0.684347       uwb: 0.0            1108.73  1465.34  
imu_odom_:  1691062546.974663999  0.811634   0.0023942  9.84017    -0.052198   -0.00532632 0.0532632   0.07       0.02          pose: 0.0           -4.67249   -2.37697    0 0.00346874  -0.00300205 0.729142    0.684347       uwb: 0.49932924     1108.27  1465.18  
imu_odom_:  1691062546.991613074  0.742203   -0.191536  9.67736    -0.0660464  0.00852212  0.0372843   0.07       0.02          pose: 0.0           -4.67249   -2.37697    0 0.00346874  -0.00300205 0.729142    0.684347       uwb: 0.0            1108.27  1465.18  
imu_odom_:  1691062547.8607645    0.715866   -0.306458  10.0173    -0.0553937  -0.0117179  0.0181095   0.07       0.05          pose: 0.23008814    -4.67249   -2.37697    0 0.00563956  -0.00304869 0.729472    0.683981       uwb: 0.0            1108.27  1465.18  
imu_odom_:  1691062547.25670172   0.806846   -0.246603  9.80186    -0.056459   -0.00958738 0.0138484   0.07       0.05          pose: 0.0           -4.67249   -2.37697    0 0.00563956  -0.00304869 0.729472    0.683981       uwb: 0.50051045     1109.9   1464.87  
imu_odom_:  1691062547.42500843   0.85473    -0.126893  9.98143    -0.056459   0.00958738  0.0245011   0.07       0.05          pose: 0.33059677    -4.67249   -2.37697    0 0.0076142   -0.00518054 0.729438    0.683985       uwb: 0.0            1109.9   1464.87  
imu_odom_:  1691062547.58493043   0.684742   -0.217872  9.77553    -0.0543285  0.00319579  0.0234358   0.06       0             pose: 0.34008688    -4.67249   -2.37697    0 0.00932355  -0.00788868 0.729162    0.684233       uwb: 0.0            1109.9   1464.87  
imu_odom_:  1691062547.74432747   0.553061   -0.153229  9.92397    -0.0468716  0.00106526  0           0.06       0             pose: 0.0           -4.67249   -2.37697    0 0.00932355  -0.00788868 0.729162    0.684233       uwb: 0.50023928     1106.17  1465.35  
imu_odom_:  1691062547.100570888  0.414197   -0.205901  9.80904    -0.0639159  -0.00106526 0.0649811   0.03       0             pose: 0.41750038    -4.67249   -2.37697    0 0.00985089  -0.00819631 0.728802    0.684604       uwb: 0.0            1106.17  1465.35  
imu_odom_:  1691062547.126450341  -0.311246  -0.395043  9.45949    -0.0458064  0.0756338   0.0607201   0.03       0             pose: 0.0           -4.67249   -2.37697    0 0.00985089  -0.00819631 0.728802    0.684604       uwb: 0.50048425     1106.93  1464.91  
imu_odom_:  1691062547.142456248  -1.00317   0.0502782  10.1538    -0.0351537  0.076699    0.0490022   0.06       0.02          pose: 0.8141776     -4.67249   -2.37697    0 0.00920909  -0.00767228 0.72888     0.684537       uwb: 0.0            1106.93  1464.91  
imu_odom_:  1691062547.169456483  -0.380678  -0.0933739 9.86172    -0.0543285  -0.0532632  0.0511327   0.08       0             pose: 0.0           -4.67249   -2.37697    0 0.00920909  -0.00767228 0.72888     0.684537       uwb: 0.0            1106.93  1464.91  
imu_odom_:  1691062547.194596624  0.294487   -0.198719  9.7444     -0.0617853  -0.0234358  0.0340885   0.08       0             pose: 0.86881960    -4.67676   -2.36793    0 0.00234543  -0.0009006870.729432    0.684049       uwb: 0.49935561     1104.41  1465.15  
imu_odom_:  1691062547.221590734  0.35913    -0.126893  9.87369    -0.0436758  -0.0255663  0.04048     0.12       -0.02         pose: 0.0           -4.67676   -2.36793    0 0.00234543  -0.0009006870.729432    0.684049       uwb: 0.0            1104.41  1465.15  
imu_odom_:  1691062547.246442440  -0.184354  -0.1652    9.91199    -0.0479369  0.00106526  0.036219    0.12       -0.02         pose: 0.32149469    -4.66772   -2.36365    0 0.000821629 0.0012361   0.729386    0.684101       uwb: 0.49980181     1102.33  1465.37  
imu_odom_:  1691062547.263435264  0.502782   -0.220267  10.0293    -0.0543285  -0.0703074  0.0351537   0.12       -0.02         pose: 0.0           -4.66772   -2.36365    0 0.000821629 0.0012361   0.729386    0.684101       uwb: 0.0            1102.33  1465.37  
imu_odom_:  1691062547.288456707  0.229843   -0.0933739 9.81862    -0.0607201  0.0138484   0.0276969   0.12       -0.02         pose: 0.51872356    -4.67199   -2.35461    0 5.64096e-05 0.00411104  0.729342    0.684137       uwb: 0.50024220     1099.85  1465.69  
imu_odom_:  1691062547.315510895  0.114922   -0.011971  9.47146    -0.0532632  -0.0511327  0.0617853   0.14       0.02          pose: 0.34978399    -4.67199   -2.35461    0 -0.00039822 0.00542785  0.729218    0.68426        uwb: 0.0            1099.85  1465.69  
imu_odom_:  1691062547.340487425  0.553061   -0.383072  9.97664    -0.0713727  -0.00319579 0.036219    0.14       0.02          pose: 0.0           -4.67199   -2.35461    0 -0.00039822 0.00542785  0.729218    0.68426        uwb: 0.49874898     1099.84  1465.67  
imu_odom_:  1691062547.357445835  0.265756   -0.148441  9.79707    -0.0532632  -0.00106526 0.0234358   0.15       0             pose: 0.6991246     -4.67199   -2.35461    0 -0.0004512420.00599757  0.729268    0.684202       uwb: 0.0            1099.84  1465.67  
imu_odom_:  1691062547.382446571  0.586579   0.0335188  10.0724    -0.0479369  -0.0117179  0.0490022   0.15       0             pose: 0.0           -4.67199   -2.35461    0 -0.0004512420.00599757  0.729268    0.684202       uwb: 0.50108213     1104.74  1464.74  
imu_odom_:  1691062547.409486177  0.339977   -0.25618   10.1131    -0.0575243  -0.0308927  0.0372843   0.17       -0.02         pose: 0.52056674    -4.67626   -2.34557    0 -0.00118429 0.00553065  0.72935     0.684117       uwb: 0.0            1104.74  1464.74  
imu_odom_:  1691062547.434495954  0.177171   -0.153229  9.30866    -0.04048    0.0340885   0.0426106   0.17       -0.02         pose: 0.0           -4.67626   -2.34557    0 -0.00118429 0.00553065  0.72935     0.684117       uwb: 0.49927977     1106.72  1464.07  
imu_odom_:  1691062547.461480731  -0.112527  -0.517148  9.64624    -0.0639159  0.00958738  0.056459    0.17       0             pose: 0.41996477    -4.67626   -2.34557    0 0.00033036  0.0051844   0.729378    0.684091       uwb: 0.0            1106.72  1464.07  
imu_odom_:  1691062547.477510261  0.318429   -0.0407014 9.8665     -0.0468716  -0.0458064  0.0245011   0.17       0             pose: 0.0           -4.67626   -2.34557    0 0.00033036  0.0051844   0.729378    0.684091       uwb: 0.49934686     1106.64  1463.73  
imu_odom_:  1691062547.504412504  0.105345   -0.0454898 9.92636    -0.092678   -0.0276969  0.0809601   0.15       -0.02         pose: 0.52194912    -4.6715    -2.33225    0 -0.00336018 0.00593299  0.729412    0.68404        uwb: 0.0            1106.64  1463.73  
imu_odom_:  1691062547.529427239  -0.186748  -0.361524  9.95988    -0.056459   0.0490022   0.036219    0.15       0             pose: 0.62716488    -4.67578   -2.32322    0 -0.00421053 0.00854988  0.729816    0.683577       uwb: 0.49993013     1108.29  1463.47  
imu_odom_:  1691062547.556458096  -0.169988  0.153229   9.95988    -0.0735032  0.0479369   0.0649811   0.15       0             pose: 0.0           -4.67578   -2.32322    0 -0.00421053 0.00854988  0.729816    0.683577       uwb: 0.0            1108.29  1463.47  
imu_odom_:  1691062547.581466414  0.349553   -0.237026  10.4531    -0.0479369  -0.0181095  0.0245011   0.17       0             pose: 0.8074698     -4.67578   -2.32322    0 -0.00514736 0.00891491  0.729798    0.683586       uwb: 0.50067966     1112.7   1462.31  
imu_odom_:  1691062547.597449281  0.258574   -0.0287304 9.71088    -0.0532632  -0.0138484  0.036219    0.17       0             pose: 0.0           -4.67578   -2.32322    0 -0.00514736 0.00891491  0.729798    0.683586       uwb: 0.0            1112.7   1462.31  
imu_odom_:  1691062547.623411853  0.727837   -0.0622492 9.80426    -0.0639159  -0.0596548  0.0447411   0.17       0             pose: 0.52019635    -4.68006   -2.31418    0 -0.00755195 0.011936    0.729944    0.683361       uwb: 0.0            1112.7   1462.31  
imu_odom_:  1691062547.647504707  0.349553   0.124498   10.8146    -0.0468716  -0.0276969  0.0447411   0.17       0             pose: 0.0           -4.68006   -2.31418    0 -0.00755195 0.011936    0.729944    0.683361       uwb: 0.49921562     1111.55  1462.86  
imu_odom_:  1691062547.663405331  0.395043   -0.25618   9.76595    -0.072438   -0.00958738 0.056459    0.16       -0.02         pose: 0.40931399    -4.67532   -2.30086    0 -0.00431353 0.0100416   0.729893    0.683474       uwb: 0.0            1111.55  1462.86  
imu_odom_:  1691062547.691402107  0.0742203  -0.316035  9.74919    -0.0490022  0.0394148   0.036219    0.16       -0.02         pose: 0.0           -4.67532   -2.30086    0 -0.00431353 0.0100416   0.729893    0.683474       uwb: 0.50126294     1110.67  1462.73  
imu_odom_:  1691062547.716402551  0.533907   -0.268151  9.69652    -0.0703074  -0.0106526  0.052198    0.17       0             pose: 0.48986265    -4.67532   -2.30086    0 -0.0001723890.00864135  0.730042    0.683347       uwb: 0.0            1110.67  1462.73  
imu_odom_:  1691062547.743403369  0.0407014  -0.0502782 9.70131    -0.0841559  0.0319579   0.0468716   0.2        0             pose: 0.44986975    -4.67962   -2.29183    0 -0.00323296 0.00739579  0.730087    0.683307       uwb: 0.49997972     1113.51  1462.12  
imu_odom_:  1691062547.769380522  0.378284   -0.670376  10.0604    -0.0585895  0.0276969   0.0287621   0.17       -0.02         pose: 0.24054065    -4.67962   -2.29183    0 -0.00301322 0.0063822   0.730185    0.683213       uwb: 0.0            1113.51  1462.12  
imu_odom_:  1691062547.796381632  0.162806   0.122104   10.2951    -0.0340885  0           0.0468716   0.23       0             pose: 0.28072895    -4.67488   -2.2785     0 -0.00468562 0.00762925  0.730192    0.683184       uwb: 0.49910770     1113.97  1462.22  
imu_odom_:  1691062547.813480322  0.711078   -0.584185  9.72764    -0.0266316  -0.0298274  0.0617853   0.23       0             pose: 0.0           -4.67488   -2.2785     0 -0.00468562 0.00762925  0.730192    0.683184       uwb: 0.0            1113.97  1462.22  
imu_odom_:  1691062547.838405814  0.59855    -0.222661  9.90721    -0.00319579 0.0351537   0.00852212  0.17       0             pose: 0.24864831    -4.67488   -2.2785     0 -0.00532355 0.00688005  0.73014     0.683242       uwb: 0.50012554     1114.03  1462.47  
imu_odom_:  1691062547.863387302  0.268151   -0.181959  9.55287    -0.0511327  0.00532632  0.0511327   0.17       0             pose: 0.0           -4.67488   -2.2785     0 -0.00532355 0.00688005  0.73014     0.683242       uwb: 0.0            1114.03  1462.47  
imu_odom_:  1691062547.890477070  0.241814   -0.148441  9.46667    -0.0458064  -0.0639159  0.0298274   0.24       -0.02         pose: 0.43996850    -4.67918   -2.26947    0 -0.00326738 0.00677227  0.730257    0.683132       uwb: 0.49934102     1115.7   1462.3   
imu_odom_:  1691062547.915524469  0.725443   -0.371101  9.59117    -0.0511327  -0.0181095  0.04048     0.24       -0.02         pose: 0.0           -4.67918   -2.26947    0 -0.00326738 0.00677227  0.730257    0.683132       uwb: 0.0            1115.7   1462.3   
imu_odom_:  1691062547.932522543  0.814029   -0.0885855 9.74919    -0.0340885  0.0436758   0.0234358   0.21       0             pose: 0.50046384    -4.68348   -2.26044    0 -0.00423571 0.0068835   0.730131    0.68326        uwb: 0.49979598     1117.69  1461.68  
imu_odom_:  1691062547.957522695  0.61531    -0.260968  10.0604    -0.0628506  0.0223706   0.0585895   0.21       0             pose: 0.0           -4.68348   -2.26044    0 -0.00423571 0.0068835   0.730131    0.68326        uwb: 0.0            1117.69  1461.68  
imu_odom_:  1691062547.974376989  0.526724   -0.213084  9.67736    -0.0511327  0.036219    0.04048     0.22       0             pose: 0.52085547    -4.67874   -2.24711    0 -0.0015078  0.00576493  0.730053    0.683365       uwb: 0.0            1117.69  1461.68  
imu_odom_:  1691062547.999490299  0.40462    -0.363919  9.60075    -0.0735032  -0.0149137  0.0692422   0.22       0             pose: 0.0           -4.67874   -2.24711    0 -0.0015078  0.00576493  0.730053    0.683365       uwb: 0.50024220     1116.49  1462.03  
imu_odom_:  1691062548.26360758   0.459687   -0.0837971 9.7851     -0.036219   0.0330232   0.0319579   0.22       0             pose: 0.42037597    -4.67874   -2.24711    0 0.000267536 0.00284154  0.73018     0.683249       uwb: 0.50179377     1114.55  1462.85  
imu_odom_:  1691062548.51489238   0.574608   -0.268151  9.96706    -0.0713727  0.00745685  0.0649811   0.22       0             pose: 0.41816534    -4.68304   -2.23808    0 -0.0003162380.000283719 0.730422    0.682996       uwb: 0.0            1114.55  1462.85  
imu_odom_:  1691062548.78409860   0.713472   -0.011971  9.76355    -0.0575243  -0.0149137  0.0585895   0.23       0             pose: 0.0           -4.68304   -2.23808    0 -0.0003162380.000283719 0.730422    0.682996       uwb: 0.49927697     1118.6   1461.93  
imu_odom_:  1691062548.103400685  0.339977   -0.222661  10.0485    -0.0841559  0.0287621   0.0553937   0.18       0             pose: 0.52180633    -4.67831   -2.22475    0 0.00267289  -0.00114117 0.730634    0.682763       uwb: 0.0            1118.6   1461.93  
imu_odom_:  1691062548.130512916  0.531513   -0.0814029 9.97424    -0.0798948  0.0117179   0.0607201   0.18       0             pose: 0.0           -4.67831   -2.22475    0 0.00267289  -0.00114117 0.730634    0.682763       uwb: 0.49987775     1118.19  1462.03  
imu_odom_:  1691062548.147476871  0.553061   -0.244209  10.3046    -0.0660464  -0.02024    0.0500674   0.18       0.02          pose: 0.71946104    -4.68262   -2.21573    0 0.0041938   -0.0001935180.731086    0.682273       uwb: 0.0            1118.19  1462.03  
imu_odom_:  1691062548.173356622  0.885855   -0.071826  10.0365    -0.0596548  -0.0490022  0.0458064   0.18       0.02          pose: 0.7931795     -4.68262   -2.21573    0 0.00423759  -0.00106106 0.731116    0.68224        uwb: 0.0            1118.19  1462.03  
imu_odom_:  1691062548.199640298  0.6608     -0.294487  9.54808    -0.056459   0.0458064   0.0383495   0.18       0.02          pose: 0.34911911    -4.68039   -2.20358    0 0.00698388  -0.00365053 0.731189    0.682129       uwb: 0.0            1118.19  1462.03  
imu_odom_:  1691062548.224483260  0.150835   -0.277727  9.6199     -0.0639159  0.00319579  0.052198    0.18       0.02          pose: 0.0           -4.68039   -2.20358    0 0.00698388  -0.00365053 0.731189    0.682129       uwb: 0.99946969     1116.57  1462.37  
imu_odom_:  1691062548.250413465  0.205901   -0.232238  9.91199    -0.0479369  0.0394148   0.0394148   0.18       0             pose: 0.32176016    -4.67792   -2.20239    0 0.006005    -0.00551796 0.731215    0.682098       uwb: 0.0            1116.57  1462.37  
imu_odom_:  1691062548.265383171  0.323217   -0.234632  9.9503     -0.0532632  -0.0149137  0.0543285   0.18       0             pose: 0.0           -4.67792   -2.20239    0 0.006005    -0.00551796 0.731215    0.682098       uwb: 0.0            1116.57  1462.37  
imu_odom_:  1691062548.289363747  0.390255   -0.318429  9.72046    -0.0479369  0.0234358   0.0266316   0.17       0             pose: 0.59850533    -4.68481   -2.18804    0 0.000892773 -0.00144402 0.731397    0.68195        uwb: 0.49910490     1118.66  1462.13  
imu_odom_:  1691062548.315534265  0.134075   -0.35913   10.1562    -0.0500674  0.0245011   0.0468716   0.17       0             pose: 0.0           -4.68481   -2.18804    0 0.000892773 -0.00144402 0.731397    0.68195        uwb: 0.0            1118.66  1462.13  
imu_odom_:  1691062548.331557091  0.328006   -0.122104  9.53611    -0.0479369  -0.0191748  0.0500674   0.17       0.02          pose: 0.50151094    -4.68314   -2.17459    0 -0.00413317 -0.0006712060.731357    0.681982       uwb: 0.50067976     1117.05  1462.57  
imu_odom_:  1691062548.358541874  0.296881   -0.131681  9.40442    -0.0809601  0.0372843   0.0639159   0.17       0.02          pose: 0.6985124     -4.68188   -2.17102    0 -0.00369442 -0.0001020580.731385    0.681954       uwb: 0.0            1117.05  1462.57  
imu_odom_:  1691062548.383361505  0.0502782  -0.294487  9.67736    -0.0415453  0.0532632   0.0319579   0.23       -0.02         pose: 0.16996619    -4.68188   -2.17102    0 -0.003085   0.00143496  0.731488    0.681846       uwb: 0.49932071     1115.34  1462.61  
imu_odom_:  1691062548.408348831  -0.0143652 -0.296881  9.55526    -0.0681769  -0.00426106 0.0553937   0.23       0             pose: 0.0           -4.68188   -2.17102    0 -0.003085   0.00143496  0.731488    0.681846       uwb: 0.0            1115.34  1462.61  
imu_odom_:  1691062548.431420358  0.536301   -0.296881  9.87608    -0.056459   0.00426106  0.0383495   0.23       0             pose: 0.50848411    -4.68622   -2.16201    0 -0.00630114 0.00528861  0.731599    0.681686       uwb: 0.50063019     1112.12  1463.47  
imu_odom_:  1691062548.457348522  0.620098   -0.557849  9.59117    -0.0617853  0.00319579  0.0553937   0.19       0             pose: 0.0           -4.68622   -2.16201    0 -0.00630114 0.00528861  0.731599    0.681686       uwb: 0.0            1112.12  1463.47  
imu_odom_:  1691062548.474339600  0.481235   -0.160412  10.0963    -0.0479369  -0.0106526  0.0308927   0.19       0             pose: 0.49023898    -4.69055   -2.15299    0 -0.00664726 0.003427    0.731724    0.68156        uwb: 0.0            1112.12  1463.47  
imu_odom_:  1691062548.491341177  0.639252   -0.378284  9.69412    -0.0777643  -0.0458064  0.0468716   0.19       0             pose: 0.0           -4.69055   -2.15299    0 -0.00664726 0.003427    0.731724    0.68156        uwb: 0.50044353     1112.62  1463.76  
imu_odom_:  1691062548.508353837  1.09415    -0.280122  9.69173    -0.0841559  -0.0596548  0.04048     0.16       -0.08         pose: 0.42988069    -4.68154   -2.14866    0 -0.00437286 0.000411464 0.731795    0.681511       uwb: 0.0            1112.62  1463.76  
imu_odom_:  1691062548.525406159  1.68552    -0.579397  9.67497    -0.0394148  0.00106526  -0.0990696  0.16       -0.08         pose: 0.0           -4.68154   -2.14866    0 -0.00437286 0.000411464 0.731795    0.681511       uwb: 0.49798208     1109.81  1464.56  
imu_odom_:  1691062548.542483855  1.75734    -0.0335188 10.1035    -0.0607201  0.0319579   -0.185356   0.19       -0.44         pose: 0.43029773    -4.68588   -2.13965    0 -0.00147456 -0.00355234 0.73101     0.682356       uwb: 0.0            1109.81  1464.56  
imu_odom_:  1691062548.558531762  1.21147    0.148441   9.62708    -0.0511327  -0.0415453  -0.255663   0.19       -0.44         pose: 0.0           -4.68588   -2.13965    0 -0.00147456 -0.00355234 0.73101     0.682356       uwb: 0.0            1109.81  1464.56  
imu_odom_:  1691062548.575522549  1.35512    0.141258   9.94791    -0.0490022  -0.0138484  -0.378169   0.19       -0.44         pose: 0.0           -4.68588   -2.13965    0 -0.00147456 -0.00355234 0.73101     0.682356       uwb: 0.50099474     1108.57  1464.75  
imu_odom_:  1691062548.592476880  1.34554    0.344765   10.1011    -0.0596548  -0.0170442  -0.427171   0.1        -0.44         pose: 0.7017788     -4.68588   -2.13965    0 -0.000982825-0.00385542 0.730469    0.682934       uwb: 0.0            1108.57  1464.75  
imu_odom_:  1691062548.607471083  0.948104   0.059855   10.0102    -0.0798948  0.0255663   -0.420779   0.1        -0.44         pose: 0.0           -4.68588   -2.13965    0 -0.000982825-0.00385542 0.730469    0.682934       uwb: 0.0            1108.57  1464.75  
imu_odom_:  1691062548.623469119  0.852336   -0.466869  9.72285    -0.0628506  0.0170442   -0.46339    0.1        -0.44         pose: 0.67057305    -4.69028   -2.13067    0 0.00558651  -0.00578232 0.721755    0.692101       uwb: 0.0            1108.57  1464.75  
imu_odom_:  1691062548.638529526  0.751779   -0.141258  10.0556    -0.0543285  0.00106526  -0.477238   0.1        -0.44         pose: 0.0           -4.69028   -2.13067    0 0.00558651  -0.00578232 0.721755    0.692101       uwb: 0.49965026     1102.85  1465.83  
imu_odom_:  1691062548.655494064  0.651223   -0.21069   10.0628    -0.0628506  0.0298274   -0.441019   0.08       -0.47         pose: 0.0           -4.69028   -2.13067    0 0.00558651  -0.00578232 0.721755    0.692101       uwb: 0.0            1102.85  1465.83  
imu_odom_:  1691062548.671499100  0.608127   -0.189142  9.77553    -0.0575243  0.0138484   -0.456998   0.08       -0.47         pose: 0.31008280    -4.69028   -2.13067    0 0.00690028  -0.00750406 0.716407    0.697608       uwb: 0.0            1102.85  1465.83  
imu_odom_:  1691062548.687311943  0.972046   -0.071826  9.79707    -0.0543285  0.00745685  -0.498544   0.07       -0.55         pose: 0.41009568    -4.68125   -2.12626    0 0.00846971  -0.00672628 0.709287    0.704837       uwb: 0.50117848     1101.93  1465.55  
imu_odom_:  1691062548.703307063  0.713472   0.023942   9.90721    -0.0692422  0.00426106  -0.527306   0.07       -0.55         pose: 0.0           -4.68125   -2.12626    0 0.00846971  -0.00672628 0.709287    0.704837       uwb: 0.0            1101.93  1465.55  
imu_odom_:  1691062548.720301349  0.610521   0.220267   10.1131    -0.0660464  -0.0319579  -0.543285   0.07       -0.55         pose: 0.0           -4.68125   -2.12626    0 0.00846971  -0.00672628 0.709287    0.704837       uwb: 0.0            1101.93  1465.55  
imu_odom_:  1691062548.736311926  0.933739   -0.241814  9.95988    -0.0660464  -0.0234358  -0.539024   0.06       -0.58         pose: 0.6822679     -4.68129   -2.12628    0 0.00906685  -0.00698421 0.707985    0.706134       uwb: 0.50001190     1103.2   1465.51  
imu_odom_:  1691062548.752309087  0.718261   -0.354342  9.82341    -0.0671117  -0.0181095  -0.514523   0.08       -0.7          pose: 0.0           -4.68129   -2.12628    0 0.00906685  -0.00698421 0.707985    0.706134       uwb: 0.0            1103.2   1465.51  
imu_odom_:  1691062548.768310623  0.873884   -0.380678  9.84017    -0.0692422  -0.0415453  -0.455933   0.08       -0.7          pose: 0.0           -4.68129   -2.12628    0 0.00906685  -0.00698421 0.707985    0.706134       uwb: 0.0            1103.2   1465.51  
imu_odom_:  1691062548.785313366  0.857124   -0.385466  9.90002    -0.0692422  0.00852212  -0.388822   0.06       -0.5          pose: 0.64996560    -4.68573   -2.11732    0 0.012635    -0.00768866 0.694772    0.719078       uwb: 0.49868493     1102.33  1465.42  
imu_odom_:  1691062548.801364773  0.531513   -0.342371  9.79228    -0.056459   0.00958738  -0.343015   0.06       -0.5          pose: 0.0           -4.68573   -2.11732    0 0.012635    -0.00768866 0.694772    0.719078       uwb: 0.0            1102.33  1465.42  
imu_odom_:  1691062548.818305689  0.509965   -0.105345  9.88326    -0.0596548  -0.0127832  -0.314253   0.06       -0.5          pose: 0.31994031    -4.68573   -2.11732    0 0.0119461   -0.0109743  0.689043    0.724539       uwb: 0.0            1102.33  1465.42  
imu_odom_:  1691062548.834389176  0.483629   -0.0885855 9.83777    -0.0607201  -0.0127832  -0.28123    0.04       -0.32         pose: 0.42993319    -4.68569   -2.1173     0 0.00979598  -0.00986624 0.683105    0.730188       uwb: 0.49988067     1099.47  1465.94  
imu_odom_:  1691062548.851482912  0.641646   -0.356736  10.0197    -0.0585895  -0.0117179  -0.245011   0.04       -0.32         pose: 0.8002080     -4.68573   -2.11732    0 0.00966069  -0.00910774 0.682168    0.731074       uwb: 0.0            1099.47  1465.94  
imu_odom_:  1691062548.868421786  0.663194   -0.347159  9.76595    -0.0585895  -0.00426106 -0.225836   0.04       -0.32         pose: 0.0           -4.68573   -2.11732    0 0.00966069  -0.00910774 0.682168    0.731074       uwb: 0.0            1099.47  1465.94  
imu_odom_:  1691062548.884289458  0.584185   -0.217872  9.95509    -0.056459   -0.00532632 -0.201335   0.03       -0.26         pose: 0.42114017    -4.68573   -2.11732    0 0.00717518  -0.0107815  0.677816    0.735118       uwb: 0.50077309     1100.63  1465.38  
imu_odom_:  1691062548.900441190  0.577003   -0.191536  9.87608    -0.0617853  0.00426106  -0.175769   0.03       -0.2          pose: 0.0           -4.68573   -2.11732    0 0.00717518  -0.0107815  0.677816    0.735118       uwb: 0.0            1100.63  1465.38  
imu_odom_:  1691062548.917471348  0.636858   -0.244209  9.83538    -0.0553937  -0.00532632 -0.162985   0.03       -0.2          pose: 0.0           -4.68573   -2.11732    0 0.00717518  -0.0107815  0.677816    0.735118       uwb: 0.0            1100.63  1465.38  
imu_odom_:  1691062548.934317188  0.656011   -0.208296  9.84496    -0.052198   -0.00319579 -0.160855   0.04       -0.23         pose: 0.22884585    -4.68573   -2.11732    0 0.00677285  -0.00853349 0.67586     0.736949       uwb: 0.50057186     1097.72  1465.71  
imu_odom_:  1691062548.950419632  0.586579   -0.21069   9.82102    -0.0628506  -0.00106526 -0.140615   0.04       -0.23         pose: 0.0           -4.68573   -2.11732    0 0.00677285  -0.00853349 0.67586     0.736949       uwb: 0.0            1097.72  1465.71  
imu_odom_:  1691062548.967354715  0.447716   -0.203507  9.97185    -0.0543285  -0.00319579 -0.135289   0.04       -0.23         pose: 0.34123311    -4.68573   -2.11732    0 0.00776341  -0.00931168 0.67326     0.739306       uwb: 0.0            1097.72  1465.71  
imu_odom_:  1691062548.984312837  0.624887   -0.244209  9.94073    -0.0585895  -0.0234358  -0.122505   0.02       -0.14         pose: 0.41925033    -4.69021   -2.10838    0 0.00649494  -0.00679458 0.670442    0.741903       uwb: 0.49863827     1096.45  1465.69  
imu_odom_:  1691062549.322539     0.787692   -0.25618   9.8665     -0.0607201  -0.0106526  -0.0990696  0.02       -0.14         pose: 0.8002372     -4.69021   -2.10838    0 0.00652698  -0.00765612 0.66996     0.742329       uwb: 0.0            1096.45  1465.69  
imu_odom_:  1691062549.27296537   0.68953    -0.208296  10.0102    -0.0511327  0.036219    -0.0841559  0.01       -0.14         pose: 0.24965452    -4.69021   -2.10838    0 0.00747421  -0.010006   0.668582    0.743533       uwb: 0.50055732     1094.78  1465.84  
imu_odom_:  1691062549.43343572   0.600945   -0.237026  9.84017    -0.0511327  0.015979    -0.0713727  0.01       -0.14         pose: 0.0           -4.69021   -2.10838    0 0.00747421  -0.010006   0.668582    0.743533       uwb: 0.0            1094.78  1465.84  
imu_odom_:  1691062549.60292366   0.663194   -0.23942   10.0556    -0.0628506  -0.0149137  -0.0447411  0.01       -0.02         pose: 0.0           -4.69021   -2.10838    0 0.00747421  -0.010006   0.668582    0.743533       uwb: 0.0            1094.78  1465.84  
imu_odom_:  1691062549.76402104   0.711078   -0.253785  9.85453    -0.0575243  -0.0106526  -0.0255663  0.01       -0.02         pose: 0.50090151    -4.69021   -2.10838    0 0.00802879  -0.0100131  0.666448    0.745441       uwb: 0.0            1094.78  1465.84  
imu_odom_:  1691062549.93435474   0.246603   -0.189142  9.68694    -0.0415453  0.0436758   0.0500674   0.02       0.14          pose: 0.0           -4.69021   -2.10838    0 0.00802879  -0.0100131  0.666448    0.745441       uwb: 0.0            1094.78  1465.84  
imu_odom_:  1691062549.110335855  -0.110133  -0.61531   10.0389    -0.056459   0.0234358   0.207727    0.02       0.14          pose: 0.0           -4.69021   -2.10838    0 0.00802879  -0.0100131  0.666448    0.745441       uwb: 0.0            1094.78  1465.84  
imu_odom_:  1691062549.126333603  0.146046   -0.842759  9.92636    -0.0617853  -0.0415453  0.285491    0.02       0.14          pose: 0.34035534    -4.69021   -2.10838    0 0.00804094  -0.0115602  0.665775    0.746019       uwb: 0.100046148    1094.71  1465.52  
imu_odom_:  1691062549.143334892  0.624887   -0.0981623 9.87369    -0.0340885  -0.02024    0.28336     0.01       0.2           pose: 0.41885379    -4.69016   -2.10836    0 0.0042454   -0.0101494  0.668381    0.743738       uwb: 0.0            1094.71  1465.52  
imu_odom_:  1691062549.159396509  0.61531    0.225055   9.97185    -0.0553937  0.00532632  0.315318    0.01       0.2           pose: 0.7074951     -4.69021   -2.10838    0 0.00490202  -0.00972753 0.669018    0.743167       uwb: 0.0            1094.71  1465.52  
imu_odom_:  1691062549.176333637  0.454898   -0.260968  9.83777    -0.0628506  0           0.309992    0.01       0.2           pose: 0.0           -4.69021   -2.10838    0 0.00490202  -0.00972753 0.669018    0.743167       uwb: 0.49853047     1092.65  1465.79  
imu_odom_:  1691062549.193283306  0.320823   -0.222661  9.89763    -0.0447411  0.00106526  0.287621    0.02       0.29          pose: 0.42925083    -4.69021   -2.10838    0 0.00543119  -0.00713505 0.67325     0.739361       uwb: 0.0            1092.65  1465.79  
imu_odom_:  1691062549.218388751  0.371101   -0.248997  9.91918    -0.0628506  -0.00426106 0.339819    0.02       0.29          pose: 0.0           -4.69021   -2.10838    0 0.00543119  -0.00713505 0.67325     0.739361       uwb: 0.0            1092.65  1465.79  
imu_odom_:  1691062549.233254927  0.287304   -0.222661  9.68455    -0.0490022  0.0181095   0.356864    0.02       0.29          pose: 0.23975624    -4.68124   -2.10397    0 0.00378839  -0.00533114 0.675595    0.737244       uwb: 0.49905251     1089.77  1466.18  
imu_odom_:  1691062549.249252383  -0.469264  -0.232238  9.67976    -0.0660464  0.0884169   0.376038    0.05       0.41          pose: 0.0           -4.68124   -2.10397    0 0.00378839  -0.00533114 0.675595    0.737244       uwb: 0.0            1089.77  1466.18  
imu_odom_:  1691062549.264322417  -0.952892  -0.301669  10.3262    -0.0458064  0.0490022   0.329167    0.05       0.41          pose: 0.0           -4.68124   -2.10397    0 0.00378839  -0.00533114 0.675595    0.737244       uwb: 0.0            1089.77  1466.18  
imu_odom_:  1691062549.281266544  -0.916979  0.117316   9.67736    -0.0575243  -0.0372843  0.273773    0.05       0.41          pose: 0.39952373    -4.68124   -2.10396    0 0.000600471 -0.00217669 0.680206    0.733017       uwb: 0.50122816     1089.31  1465.96  
imu_odom_:  1691062549.297482441  -0.158017  0.248997   9.94791    -0.0681769  -0.0585895  0.257794    0.06       0.26          pose: 0.31096654    -4.68124   -2.10396    0 -0.00188981 0.000688265 0.683514    0.729935       uwb: 0.0            1089.31  1465.96  
imu_odom_:  1691062549.314479355  0.316035   -0.292093  10.1083    -0.0490022  -0.0149137  0.231162    0.06       0.26          pose: 0.0           -4.68124   -2.10396    0 -0.00188981 0.000688265 0.683514    0.729935       uwb: 0.0            1089.31  1465.96  
imu_odom_:  1691062549.331422607  0.438139   -0.512359  10.0772    -0.0553937  0.0106526   0.206661    0.08       0.2           pose: 0.0           -4.68124   -2.10396    0 -0.00188981 0.000688265 0.683514    0.729935       uwb: 0.50089277     1086.37  1465.99  
imu_odom_:  1691062549.348342528  0.141258   -0.378284  10.0628    -0.0500674  -0.0266316  0.224771    0.08       0.2           pose: 0.43121067    -4.68349   -2.09915    0 -0.00339716 0.00180664  0.68683     0.726808       uwb: 0.0            1086.37  1465.99  
imu_odom_:  1691062549.364590214  0.0574608  -0.208296  9.52413    -0.0585895  -0.00532632 0.223706    0.08       0.2           pose: 0.0           -4.68349   -2.09915    0 -0.00339716 0.00180664  0.68683     0.726808       uwb: 0.0            1086.37  1465.99  
imu_odom_:  1691062549.381382979  0.426168   -0.263362  9.66779    -0.0330232  -0.015979   0.197074    0.12       0.17          pose: 0.7955128     -4.68562   -2.09498    0 -0.0037749  0.00113062  0.68731     0.726354       uwb: 0.50011991     1085.93  1465.88  
imu_odom_:  1691062549.398369977  0.402226   -0.117316  10.1011    -0.052198   -0.0213053  0.170442    0.12       0.17          pose: 0.0           -4.68562   -2.09498    0 -0.0037749  0.00113062  0.68731     0.726354       uwb: 0.0            1085.93  1465.88  
imu_odom_:  1691062549.413248693  0.292093   0.0143652  9.39724    -0.0468716  0.00213053  0.171508    0.12       0.17          pose: 0.0           -4.68562   -2.09498    0 -0.0037749  0.00113062  0.68731     0.726354       uwb: 0.0            1085.93  1465.88  
imu_odom_:  1691062549.428378222  0.169988   -0.229843  10.082     -0.052198   0.02024     0.178964    0.11       0.14          pose: 0.49115775    -4.68562   -2.09498    0 -0.00581803 0.00177597  0.690467    0.723339       uwb: 0.50126316     1082.62  1466.14  
imu_odom_:  1691062549.445258480  -0.0167594 -0.301669  9.91199    -0.0479369  0           0.171508    0.15       0.17          pose: 0.0           -4.68562   -2.09498    0 -0.00581803 0.00177597  0.690467    0.723339       uwb: 0.0            1082.62  1466.14  
imu_odom_:  1691062549.462276976  0.110133   -0.366313  9.96946    -0.0479369  0           0.151268    0.15       0.17          pose: 0.63832629    -4.69004   -2.08601    0 -0.0042102  0.00430082  0.693634    0.720302       uwb: 0.0            1082.62  1466.14  
imu_odom_:  1691062549.478253142  0.220267   -0.129287  10.2735    -0.0490022  -0.00426106 0.145941    0.12       0.14          pose: 0.0           -4.69004   -2.08601    0 -0.0042102  0.00430082  0.693634    0.720302       uwb: 0.49725307     1083.03  1466.1   
imu_odom_:  1691062549.494338966  0.703895   0.0143652  10.0437    -0.0436758  -0.076699   0.154463    0.12       0.14          pose: 0.0           -4.69004   -2.08601    0 -0.0042102  0.00430082  0.693634    0.720302       uwb: 0.0            1083.03  1466.1   
imu_odom_:  1691062549.511255970  1.25456    -0.071826  9.70131    -0.0607201  -0.0351537  0.169377    0.12       0.14          pose: 0.33887963    -4.68108   -2.08157    0 -0.00627206 0.00556519  0.695039    0.718923       uwb: 0.0            1083.03  1466.1   
imu_odom_:  1691062549.528250260  1.29526    -0.21069   9.76355    -0.0532632  0           0.185356    0.12       0.08          pose: 0.41985120    -4.68108   -2.08157    0 -0.00222926 0.00410749  0.696862    0.71719        uwb: 0.50091027     1080.91  1465.97  
imu_odom_:  1691062549.545369956  1.21147    -0.399832  9.52892    -0.052198   -0.0575243  0.176834    0.12       0.08          pose: 0.7059786     -4.68108   -2.08157    0 -0.00175098 0.00360817  0.697234    0.716832       uwb: 0.0            1080.91  1465.97  
imu_odom_:  1691062549.562362787  1.69988    -0.0981623 10.0963    -0.0447411  -0.0266316  0.153398    0.12       0.08          pose: 0.0           -4.68108   -2.08157    0 -0.00175098 0.00360817  0.697234    0.716832       uwb: 0.0            1080.91  1465.97  
imu_odom_:  1691062549.578287042  1.13485    -0.0023942 9.71328    -0.0607201  0.052198    0.148072    0.07       0.05          pose: 0.44047031    -4.68552   -2.07261    0 0.00161124  -7.26298e-050.699292    0.714834       uwb: 0.50027741     1081.69  1465.64  
imu_odom_:  1691062549.595356575  0.59855    -0.124498  9.95509    -0.0500674  0.0308927   0.109722    0.09       0.05          pose: 0.0           -4.68552   -2.07261    0 0.00161124  -7.26298e-050.699292    0.714834       uwb: 0.0            1081.69  1465.64  
imu_odom_:  1691062549.612358156  0.392649   -0.143652  9.81383    -0.0500674  -0.00958738 0.052198    0.09       0.05          pose: 0.0           -4.68552   -2.07261    0 0.00161124  -7.26298e-050.699292    0.714834       uwb: 0.0            1081.69  1465.64  
imu_odom_:  1691062549.627371902  0.766145   0.153229   9.9934     -0.0511327  -0.0223706  0.0426106   0.06       0.11          pose: 0.22931836    -4.68552   -2.07261    0 0.00320907  -0.0007716040.700084    0.714053       uwb: 0.50010825     1080.85  1465.6   
imu_odom_:  1691062549.643294990  0.672771   -0.337582  9.73243    -0.0671117  0.00532632  0.0681769   0.06       0.11          pose: 0.0           -4.68552   -2.07261    0 0.00320907  -0.0007716040.700084    0.714053       uwb: 0.0            1080.85  1465.6   
imu_odom_:  1691062549.659255408  0.612916   -0.435745  9.90242    -0.0553937  0.00745685  0.0585895   0.06       0.11          pose: 0.0           -4.68552   -2.07261    0 0.00320907  -0.0007716040.700084    0.714053       uwb: 0.0            1080.85  1465.6   
imu_odom_:  1691062549.676515675  0.536301   -0.11971   9.73004    -0.0490022  0.00745685  0.0809601   0.04       0.05          pose: 0.73960785    -4.68548   -2.07259    0 0.00428475  -0.00262423 0.700703    0.713436       uwb: 0.50009659     1082.48  1465.31  
imu_odom_:  1691062549.693390100  0.533907   -0.25618   10.0748    -0.0596548  0.00426106  0.122505    0.04       0.05          pose: 0.7139404     -4.68552   -2.07261    0 0.00496014  -0.00238689 0.700805    0.713332       uwb: 0.0            1082.48  1465.31  
imu_odom_:  1691062549.720386263  0.701501   -0.0885855 9.85453    -0.0511327  -0.0106526  0.103331    0.05       0.05          pose: 0.26995288    -4.68782   -2.06784    0 0.00488704  -0.0034213  0.701456    0.712688       uwb: 0.0            1082.48  1465.31  
imu_odom_:  1691062549.745340346  -0.102951  -0.215478  9.56962    -0.0639159  0.076699    0.117179    0.03       0.08          pose: 0.0           -4.68782   -2.06784    0 0.00488704  -0.0034213  0.701456    0.712688       uwb: 0.49866462     1083.7   1465.14  
imu_odom_:  1691062549.762341927  -1.06063   -0.337582  10.2615    -0.0639159  0.0735032   0.118244    0.06       0.05          pose: 0.0           -4.68782   -2.06784    0 0.00488704  -0.0034213  0.701456    0.712688       uwb: 0.0            1083.7   1465.14  
imu_odom_:  1691062549.788342132  -0.718261  -0.222661  9.69173    -0.0575243  -0.0713727  0.0958738   0.06       0.05          pose: 0.51950246    -4.68089   -2.05924    0 0.00491996  -0.00189477 0.702755    0.711413       uwb: 0.50007034     1082.94  1465.56  
imu_odom_:  1691062549.814288966  0.543484   -0.215478  9.25359    -0.0553937  -0.0458064  0.0948085   0.11       0.05          pose: 0.24925211    -4.68089   -2.05924    0 0.00268811  -5.68813e-050.703394    0.710796       uwb: 0.0            1082.94  1465.56  
imu_odom_:  1691062549.840250090  0.11971    -0.31364   9.75158    -0.0490022  0.00852212  0.0830906   0.1        0.02          pose: 0.44023409    -4.68085   -2.05922    0 0.0034599   -0.00190337 0.704261    0.70993        uwb: 0.49881628     1080.53  1466.15  
imu_odom_:  1691062549.866288208  -0.332794  -0.167594  10.0078    -0.0351537  -0.0351537  0.0873517   0.13       0.05          pose: 0.7004957     -4.68089   -2.05924    0 0.00281722  -0.00154331 0.704371    0.709825       uwb: 0.0            1080.53  1466.15  
imu_odom_:  1691062549.891330660  0.744597   -0.280122  10.1323    -0.0372843  -0.0127832  0.0788296   0.11       0.05          pose: 0.44994285    -4.68407   -2.05265    0 -0.0001880020.00127226  0.705108    0.709099       uwb: 0.49995368     1082.51  1465.5   
imu_odom_:  1691062549.909349489  0.399832   0          9.5792     -0.0372843  0.0276969   0.0798948   0.11       0.05          pose: 0.0           -4.68407   -2.05265    0 -0.0001880020.00127226  0.705108    0.709099       uwb: 0.0            1082.51  1465.5   
imu_odom_:  1691062549.926277576  0.0287304  -0.268151  9.50498    -0.052198   -0.00319579 0.106526    0.11       0.05          pose: 0.43061281    -4.68524   -2.05023    0 0.00236688  0.00100952  0.705711    0.708496       uwb: 0.50113775     1079.64  1465.88  
imu_odom_:  1691062549.949251991  0.464475   -0.0957681 9.56962    -0.0372843  -0.0372843  0.0798948   0.12       0.05          pose: 0.0           -4.68524   -2.05023    0 0.00236688  0.00100952  0.705711    0.708496       uwb: 0.0            1079.64  1465.88  
imu_odom_:  1691062549.974249529  0.361524   -0.167594  9.99819    -0.0436758  0.0340885   0.0916127   0.12       0.05          pose: 0.39902502    -4.68197   -2.04074    0 0.0036419   0.00187683  0.706436    0.707765       uwb: 0.50040572     1077.62  1466.29  
imu_odom_:  1691062550.247984     -0.0981623 -0.399832  10.1011    -0.0436758  0.0266316   0.0692422   0.17       0.02          pose: 0.0           -4.68197   -2.04074    0 0.0036419   0.00187683  0.706436    0.707765       uwb: 0.0            1077.62  1466.29  
imu_odom_:  1691062550.26212905   0.52433    -0.158017  9.93354    -0.0607201  0.0213053   0.104396    0.14       0.02          pose: 0.50995993    -4.68065   -2.03686    0 -0.00159066 0.00437033  0.707158    0.707041       uwb: 0.50055743     1075.64  1467.02  
imu_odom_:  1691062550.52474426   0.562637   -0.272939  9.97664    -0.0671117  0.00106526  0.0852212   0.14       0.02          pose: 0.0           -4.68065   -2.03686    0 -0.00159066 0.00437033  0.707158    0.707041       uwb: 0.0            1075.64  1467.02  
imu_odom_:  1691062550.77210950   0.442927   -0.124498  10.0628    -0.0543285  0.00319579  0.0820254   0.15       0.05          pose: 0.33022083    -4.68507   -2.02789    0 0.000298999 0.00220193  0.707878    0.706332       uwb: 0.49865890     1074.85  1467.27  
imu_odom_:  1691062550.103349690  -0.0670376 -0.162806  9.68455    -0.0575243  0.00426106  0.0745685   0.15       0.05          pose: 0.26120950    -4.68507   -2.02789    0 0.00141619  0.000599311 0.708293    0.705917       uwb: 0.0            1074.85  1467.27  
imu_odom_:  1691062550.120262324  0.433351   -0.0311246 10.3358    -0.0479369  -0.0255663  0.0681769   0.15       0.05          pose: 0.0           -4.68507   -2.02789    0 0.00141619  0.000599311 0.708293    0.705917       uwb: 0.0            1074.85  1467.27  
imu_odom_:  1691062550.146249701  0.538695   0          9.87848    -0.0617853  -0.0287621  0.0745685   0.15       0.05          pose: 0.25829891    -4.68507   -2.02789    0 0.00243752  0.00186446  0.708655    0.705548       uwb: 0.49953674     1072.78  1467.4   
imu_odom_:  1691062550.172192749  -0.00718261-0.184354  9.80186    -0.0671117  -0.0330232  0.072438    0.16       0.02          pose: 0.0           -4.68507   -2.02789    0 0.00243752  0.00186446  0.708655    0.705548       uwb: 0.0            1072.78  1467.4   
imu_odom_:  1691062550.189208333  0.610521   -0.0263362 10.3597    -0.0649811  0.00213053  0.0703074   0.16       0.02          pose: 0.42019251    -4.68044   -2.01453    0 0.00358306  0.00350131  0.70913     0.70506        uwb: 0.49916635     1071.16  1467.75  
imu_odom_:  1691062550.215188419  0.663194   -0.0191536 10.2975    -0.0639159  0.00213053  0.0500674   0.16       0.02          pose: 0.0           -4.68044   -2.01453    0 0.00358306  0.00350131  0.70913     0.70506        uwb: 0.0            1071.16  1467.75  
imu_odom_:  1691062550.241196212  0.622492   -0.0670376 9.94551    -0.0713727  -0.0181095  0.0617853   0.21       0.02          pose: 0.52150033    -4.68483   -2.00554    0 0.0042045   0.00388819  0.709735    0.704445       uwb: 0.50000628     1072.79  1467.47  
imu_odom_:  1691062550.267184173  0.533907   -0.23942   9.34217    -0.0639159  -0.00958738 0.052198    0.17       0.02          pose: 0.0           -4.68483   -2.00554    0 0.0042045   0.00388819  0.709735    0.704445       uwb: 0.0            1072.79  1467.47  
imu_odom_:  1691062550.284198007  0.234632   -0.0885855 10.2951    -0.056459   -0.00319579 0.052198    0.17       0.02          pose: 0.42807852    -4.68483   -2.00554    0 0.00774791  0.00171844  0.709998    0.704159       uwb: 0.50135950     1073.21  1467.5   
imu_odom_:  1691062550.310257420  0.110133   -0.296881  9.80665    -0.0543285  0.0308927   0.052198    0.2        0.02          pose: 0.0           -4.68483   -2.00554    0 0.00774791  0.00171844  0.709998    0.704159       uwb: 0.0            1073.21  1467.5   
imu_odom_:  1691062550.336333749  -0.205901  -0.102951  10.0628    -0.0383495  0.0585895   0.0458064   0.21       0             pose: 0.52019377    -4.68025   -1.99216    0 0.00711898  -0.00124452 0.710314    0.703848       uwb: 0.50129243     1071.62  1467.99  
imu_odom_:  1691062550.361274422  0.418985   -0.143652  10.6398    -0.0543285  0.00213053  0.0532632   0.21       0             pose: 0.62116328    -4.68466   -1.98318    0 0.00162777  0.00354963  0.710534    0.703652       uwb: 0.0            1071.62  1467.99  
imu_odom_:  1691062550.387286589  0.153229   0.011971   9.61272    -0.0468716  0.00852212  0.0490022   0.2        0             pose: 0.0           -4.68466   -1.98318    0 0.00162777  0.00354963  0.710534    0.703652       uwb: 0.49959215     1069.59  1468.43  
imu_odom_:  1691062550.404226929  0.318429   -0.390255  10.1083    -0.0617853  -0.0170442  0.0553937   0.2        0             pose: 0.8003250     -4.68466   -1.98318    0 0.00209803  0.00293237  0.710576    0.703611       uwb: 0.0            1069.59  1468.43  
imu_odom_:  1691062550.429230888  0.76375    -0.114922  9.73722    -0.052198   -0.0330232  0.052198    0.23       0             pose: 0.0           -4.68466   -1.98318    0 0.00209803  0.00293237  0.710576    0.703611       uwb: 0.49986630     1070.08  1468.88  
imu_odom_:  1691062550.451159188  0.363919   -0.155623  10.2807    -0.0681769  0.0223706   0.0703074   0.23       0             pose: 0.49860932    -4.6801    -1.96979    0 0.00185532  0.00392136  0.710777    0.703404       uwb: 0.0            1070.08  1468.88  
imu_odom_:  1691062550.477162022  0.486023   -0.198719  9.89763    -0.04048    0.0319579   0.0319579   0.18       0.02          pose: 0.0           -4.6801    -1.96979    0 0.00185532  0.00392136  0.710777    0.703404       uwb: 0.49960964     1069.24  1468.89  
imu_odom_:  1691062550.494164482  0.177171   -0.0454898 9.991      -0.0596548  -0.0234358  0.0585895   0.18       0.02          pose: 0.41051581    -4.68453   -1.96082    0 0.00270311  0.00189566  0.711013    0.703171       uwb: 0.0            1069.24  1468.89  
imu_odom_:  1691062550.520158276  0.411803   0.0263362  10.5082    -0.0585895  -0.0553937  0.0394148   0.19       0             pose: 0.0           -4.68453   -1.96082    0 0.00270311  0.00189566  0.711013    0.703171       uwb: 0.0            1069.24  1468.89  
imu_odom_:  1691062550.546167818  0.464475   -0.131681  10.4674    -0.0617853  -0.0308927  0.0585895   0.19       0             pose: 0.48918635    -4.68896   -1.95186    0 0.00189004  0.00161737  0.711165    0.703021       uwb: 0.49932968     1068.84  1469.04  
imu_odom_:  1691062550.571157779  0.713472   -0.1652    10.0365    -0.0426106  0.0127832   0.0340885   0.18       0.02          pose: 0.0           -4.68896   -1.95186    0 0.00189004  0.00161737  0.711165    0.703021       uwb: 0.0            1068.84  1469.04  
imu_odom_:  1691062550.588154697  0.354342   -0.237026  9.96706    -0.0543285  -0.0255663  0.0617853   0.18       0.02          pose: 0.43049041    -4.67999   -1.94743    0 0.00435755  0.0028591   0.71127     0.702899       uwb: 0.49980505     1069.26  1469.05  
imu_odom_:  1691062550.606170614  0.260968   -0.402226  9.84017    -0.0170442  0.0276969   0.0330232   0.19       0             pose: 0.0           -4.67999   -1.94743    0 0.00435755  0.0028591   0.71127     0.702899       uwb: 0.0            1069.26  1469.05  
imu_odom_:  1691062550.630159949  0.47884    0.035913   9.9503     -0.0490022  0.00639159  0.0639159   0.19       0             pose: 0.51962215    -4.68443   -1.93846    0 0.00579193  -0.0007891610.711423    0.70274        uwb: 0.50130992     1068.46  1469.26  
imu_odom_:  1691062550.656218488  0.509965   -0.241814  10.1131    -0.056459   -0.0223706  0.0468716   0.18       0             pose: 0.0           -4.68443   -1.93846    0 0.00579193  -0.0007891610.711423    0.70274        uwb: 0.0            1068.46  1469.26  
imu_odom_:  1691062550.672218281  0.158017   -0.272939  9.56244    -0.0532632  0.0468716   0.0628506   0.18       0             pose: 0.77039085    -4.6799    -1.92506    0 0.00432237  -0.00132913 0.711734    0.702435       uwb: 0.0            1068.46  1469.26  
imu_odom_:  1691062550.699148247  0.162806   -0.263362  9.85214    -0.0511327  0.0340885   0.0394148   0.18       -0.02         pose: 0.6943130     -4.6799    -1.92506    0 0.00358536  -0.0008767330.711793    0.70238        uwb: 0.49993046     1069.7   1469.22  
imu_odom_:  1691062550.724144915  0.270545   -0.323217  9.71806    -0.0830906  0.0319579   0.0607201   0.2        0             pose: 0.35986629    -4.68435   -1.91611    0 -7.0166e-05 0.00140578  0.711868    0.702312       uwb: 0.49742233     1066.42  1469.65  
imu_odom_:  1691062550.741208328  -0.0981623 -0.371101  9.83299    -0.0745685  0.0223706   0.0532632   0.2        0             pose: 0.0           -4.68435   -1.91611    0 -7.0166e-05 0.00140578  0.711868    0.702312       uwb: 0.0            1066.42  1469.65  
imu_odom_:  1691062550.766143168  0.342371   -0.0047884 10.5896    -0.0511327  -0.0138484  0.0372843   0.18       0             pose: 0.42060081    -4.68382   -1.90467    0 -0.00491802 0.00215425  0.712125    0.702032       uwb: 0.0            1066.42  1469.65  
imu_odom_:  1691062550.793167626  0.507571   -0.0622492 10.137     -0.0639159  -0.00745685 0.04048     0.18       0             pose: 0.0           -4.68382   -1.90467    0 -0.00491802 0.00215425  0.712125    0.702032       uwb: 0.50005003     1067.61  1469.22  
imu_odom_:  1691062550.818161087  0.107739   -0.122104  10.2927    -0.0575243  -0.0213053  0.0490022   0.2        0             pose: 0.51959298    -4.68303   -1.8963     0 -0.0001393450.00303249  0.712134    0.702037       uwb: 0.0            1067.61  1469.22  
imu_odom_:  1691062550.845315034  0.486023   -0.294487  9.83299    -0.0543285  0.0245011   0.0351537   0.2        0             pose: 0.0           -4.68303   -1.8963     0 -0.0001393450.00303249  0.712134    0.702037       uwb: 0.0            1067.61  1469.22  
imu_odom_:  1691062550.861459190  0.500388   -0.102951  9.95748    -0.0511327  -0.0117179  0.0383495   0.2        -0.02         pose: 0.32038666    -4.68431   -1.89375    0 -0.00137236 0.00431162  0.712199    0.701963       uwb: 0.0            1067.61  1469.22  
imu_odom_:  1691062550.888150009  1.02951    -0.205901  10.1418    -0.0415453  -0.0234358  0.04048     0.2        -0.02         pose: 0.36252898    -4.68876   -1.88479    0 0.000359212 0.00215968  0.712168    0.702006       uwb: 0.100115580    1067.59  1469.06  
imu_odom_:  1691062550.913152802  0.881066   -0.138864  10.058     -0.056459   -0.00958738 0.04048     0.19       0             pose: 0.0           -4.68876   -1.88479    0 0.000359212 0.00215968  0.712168    0.702006       uwb: 0.0            1067.59  1469.06  
imu_odom_:  1691062550.940220715  0.395043   -0.407014  9.31105    -0.0607201  0.00639159  0.052198    0.23       -0.02         pose: 0.6688526     -4.68876   -1.88479    0 0.000894274 0.00165806  0.712171    0.702003       uwb: 0.49901470     1067.19  1469.23  
imu_odom_:  1691062550.956138848  -0.172383  -0.356736  9.98382    -0.0479369  -0.00106526 0.04048     0.19       0             pose: 0.0           -4.68876   -1.88479    0 0.000894274 0.00165806  0.712171    0.702003       uwb: 0.0            1067.19  1469.23  
imu_odom_:  1691062550.983123059  0.203507   -0.0263362 10.1562    -0.0479369  0.00639159  0.04048     0.19       0             pose: 0.52124952    -4.68427   -1.87138    0 0.00377506  -0.00178295 0.712219    0.701945       uwb: 0.50012586     1064.33  1469.71  
imu_odom_:  1691062551.8244552    0.842759   -0.23942   10.0293    -0.0671117  0.0127832   0.0436758   0.23       0             pose: 0.0           -4.68427   -1.87138    0 0.00377506  -0.00178295 0.712219    0.701945       uwb: 0.0            1064.33  1469.71  
imu_odom_:  1691062551.35129611   0.395043   -0.0550666 10.252     -0.036219   0.0298274   0.04048     0.23       0             pose: 0.42899719    -4.68873   -1.86243    0 0.000482727 -0.0009167990.712326    0.701848       uwb: 0.50013465     1063.92  1469.69  
imu_odom_:  1691062551.61196904   0.21069    -0.320823  9.85932    -0.0372843  -0.0245011  0.0266316   0.23       0             pose: 0.51947344    -4.67978   -1.85797    0 0.00196157  4.19056e-05 0.71237     0.701801       uwb: 0.0            1063.92  1469.69  
imu_odom_:  1691062551.87117501   0.634463   -0.462081  10.0604    -0.0458064  -0.0287621  0.0628506   0.25       0.02          pose: 0.0           -4.67978   -1.85797    0 0.00196157  4.19056e-05 0.71237     0.701801       uwb: 0.50000638     1065.55  1469.4   
imu_odom_:  1691062551.112390069  0.543484   -0.126893  9.98861    -0.036219   -0.015979   0.0394148   0.25       0.02          pose: 0.53139878    -4.68424   -1.84902    0 0.000606627 0.00158487  0.712309    0.701864       uwb: 0.0            1065.55  1469.4   
imu_odom_:  1691062551.129279082  0.586579   0.023942   9.82341    -0.0426106  -0.0383495  0.0500674   0.19       0             pose: 0.0           -4.68424   -1.84902    0 0.000606627 0.00158487  0.712309    0.701864       uwb: 0.50112046     1067.6   1469.15  
imu_odom_:  1691062551.155179265  0.509965   -0.0383072 9.77792    -0.0426106  -0.0308927  0.0340885   0.19       0             pose: 0.61019473    -4.68223   -1.83066    0 0.00541559  -0.0005247180.712512    0.701639       uwb: 0.0            1067.6   1469.15  
imu_odom_:  1691062551.182114194  0.579397   -0.263362  9.77313    -0.0703074  -0.0191748  0.0681769   0.25       0             pose: 0.8053998     -4.68422   -1.82666    0 0.00620731  -0.0001293990.712491    0.701653       uwb: 0.49995973     1065.99  1469.62  
imu_odom_:  1691062551.207186112  0.263362   -0.366313  9.77553    -0.0596548  0.0127832   0.04048     0.18       0             pose: 0.44781114    -4.68422   -1.82666    0 0.00704914  -0.00207524 0.712729    0.701401       uwb: 0.0            1065.99  1469.62  
imu_odom_:  1691062551.234109667  0.919373   -0.131681  9.89045    -0.0596548  -0.0468716  0.0394148   0.23       0             pose: 0.0           -4.68422   -1.82666    0 0.00704914  -0.00207524 0.712729    0.701401       uwb: 0.49678665     1065.18  1469.76  
imu_odom_:  1691062551.250173333  0.76375    -0.011971  10.1394    -0.0553937  0.0170442   0.0426106   0.23       0             pose: 0.32075419    -4.68869   -1.81772    0 0.00500501  -0.00229421 0.712748    0.701398       uwb: 0.0            1065.18  1469.76  
imu_odom_:  1691062551.277168049  0.56982    -0.205901  10.422     -0.0713727  0.00532632  0.0607201   0.19       0             pose: 0.0           -4.68869   -1.81772    0 0.00500501  -0.00229421 0.712748    0.701398       uwb: 0.50134211     1065.2   1469.94  
imu_odom_:  1691062551.302330084  0.536301   -0.0837971 10.0006    -0.0692422  0.00213053  0.0436758   0.19       0             pose: 0.42948141    -4.68422   -1.8043     0 0.00766706  -0.00432045 0.712801    0.701311       uwb: 0.0            1065.2   1469.94  
imu_odom_:  1691062551.319257012  0.430956   -0.287304  9.68215    -0.0692422  0.00958738  0.0447411   0.19       0             pose: 0.0           -4.68422   -1.8043     0 0.00766706  -0.00432045 0.712801    0.701311       uwb: 0.0            1065.2   1469.94  
imu_odom_:  1691062551.344095615  0.440533   -0.158017  9.81862    -0.0585895  -0.00958738 0.0436758   0.18       0.02          pose: 0.52168709    -4.68422   -1.8043     0 0.00625141  -0.00345255 0.713004    0.701123       uwb: 0.0            1065.2   1469.94  
imu_odom_:  1691062551.370098164  0.565032   -0.268151  9.84496    -0.072438   0.0276969   0.0436758   0.18       0.02          pose: 0.0           -4.68422   -1.8043     0 0.00625141  -0.00345255 0.713004    0.701123       uwb: 0.0            1065.2   1469.94  
imu_odom_:  1691062551.395081714  0.553061   -0.280122  9.44273    -0.0596548  0.0138484   0.0436758   0.19       0             pose: 0.34789152    -4.6887    -1.79536    0 0.0042292   -0.00126501 0.713065    0.701084       uwb: 0.100139808    1065.62  1469.93  
imu_odom_:  1691062551.419135799  0.40462    -0.497994  9.59835    -0.0500674  0.04048     0.0330232   0.19       0             pose: 0.7030625     -4.6887    -1.79536    0 0.00408286  -0.00193182 0.713077    0.701071       uwb: 0.0            1065.62  1469.93  
imu_odom_:  1691062551.434078100  0.0430956  -0.325611  9.97424    -0.0340885  0.0149137   0.0372843   0.18       0             pose: 0.0           -4.6887    -1.79536    0 0.00408286  -0.00193182 0.713077    0.701071       uwb: 0.49823028     1068.12  1469.79  
imu_odom_:  1691062551.458143268  0.344765   -0.191536  10.3142    -0.0532632  0.0138484   0.0458064   0.18       0             pose: 0.50978807    -4.68424   -1.78194    0 0.0024871   -0.00620283 0.713131    0.700999       uwb: 0.0            1068.12  1469.79  
imu_odom_:  1691062551.485079364  0.703895   -0.474052  9.91199    -0.0511327  0.00639159  0.0436758   0.23       0             pose: 0.0           -4.68424   -1.78194    0 0.0024871   -0.00620283 0.713131    0.700999       uwb: 0.50123421     1072.26  1469.46  
imu_odom_:  1691062551.501079743  -0.047884  -0.306458  9.81862    -0.056459   0.0276969   0.04048     0.23       0             pose: 0.39040133    -4.68872   -1.773      0 -0.000596583-0.00450151 0.713117    0.70103        uwb: 0.0            1072.26  1469.46  
imu_odom_:  1691062551.518148409  0.687136   0.011971   10.5919    -0.0532632  -0.0553937  0.0415453   0.25       0             pose: 0.0           -4.68872   -1.773      0 -0.000596583-0.00450151 0.713117    0.70103        uwb: 0.0            1072.26  1469.46  
imu_odom_:  1691062551.544089421  0.893037   -0.155623  10.3669    -0.0617853  -0.0234358  0.056459    0.25       0             pose: 0.51942102    -4.68427   -1.75958    0 -0.00121039 -0.0045813  0.713195    0.70095        uwb: 0.49950476     1074.72  1469.09  
imu_odom_:  1691062551.571140716  0.826      -0.213084  10.0389    -0.0671117  -0.0117179  0.0426106   0.25       0             pose: 0.0           -4.68427   -1.75958    0 -0.00121039 -0.0045813  0.713195    0.70095        uwb: 0.0            1074.72  1469.09  
imu_odom_:  1691062551.596063312  0.885855   -0.260968  9.89524    -0.0628506  -0.015979   0.0447411   0.25       0             pose: 0.33101417    -4.68427   -1.75958    0 0.000870639 -0.00451717 0.713254    0.70089        uwb: 0.50004138     1075.53  1468.92  
imu_odom_:  1691062551.623061820  0.73502    -0.25618   9.93354    -0.0735032  -0.0149137  0.0458064   0.23       -0.02         pose: 0.0           -4.68427   -1.75958    0 0.000870639 -0.00451717 0.713254    0.70089        uwb: 0.0            1075.53  1468.92  
imu_odom_:  1691062551.648115947  0.521936   -0.423774  9.93833    -0.056459   -0.0383495  0.0276969   0.18       -0.02         pose: 0.53097007    -4.68875   -1.75064    0 0.00523788  -0.00797897 0.713367    0.700725       uwb: 0.49934728     1068.61  1469.81  
imu_odom_:  1691062551.675074792  0.804452   -0.258574  10.1011    -0.0500674  -0.00958738 0.0458064   0.18       -0.02         pose: 0.51787532    -4.6843    -1.73722    0 0.0075867   -0.0115884  0.713386    0.700635       uwb: 0.49974974     1066.51  1469.81  
imu_odom_:  1691062551.700191914  0.56982    0.0287304  10.4986    -0.0330232  0.0117179   0.036219    0.19       0             pose: 0.0           -4.6843    -1.73722    0 0.0075867   -0.0115884  0.713386    0.700635       uwb: 0.0            1066.51  1469.81  
imu_odom_:  1691062551.727071431  0.442927   -0.418985  9.4954     -0.0735032  0.052198    0.0436758   0.19       0             pose: 0.69118676    -4.68879   -1.72828    0 0.00939364  -0.0104577  0.713324    0.700693       uwb: 0.50007638     1064.42  1469.91  
imu_odom_:  1691062551.752117393  0.493206   -0.418985  9.67736    -0.056459   0.0372843   0.056459    0.2        0             pose: 0.7891261     -4.68879   -1.72828    0 0.00839791  -0.010292   0.713348    0.700684       uwb: 0.0            1064.42  1469.91  
imu_odom_:  1691062551.769056569  0.847547   -0.217872  9.86172    -0.0639159  -0.0447411  0.0394148   0.2        0             pose: 0.0           -4.68879   -1.72828    0 0.00839791  -0.010292   0.713348    0.700684       uwb: 0.0            1064.42  1469.91  
imu_odom_:  1691062551.794061409  0.191536   0.0335188  9.30866    -0.0713727  -0.00532632 0.0436758   0.22       0             pose: 0.44034218    -4.68435   -1.71486    0 0.00312755  -0.00979355 0.713576    0.700502       uwb: 0.50054593     1061.95  1470.12  
imu_odom_:  1691062551.821057875  0.380678   -0.0742203 9.73243    -0.0798948  -0.0426106  0.0490022   0.23       0             pose: 0.41944016    -4.68884   -1.70592    0 0.00440394  -0.00849176 0.713601    0.700488       uwb: 0.0            1061.95  1470.12  
imu_odom_:  1691062551.838050713  0.794875   -0.483629  9.48343    -0.0777643  0.0191748   0.0372843   0.23       0             pose: 0.0           -4.68884   -1.70592    0 0.00440394  -0.00849176 0.713601    0.700488       uwb: 0.50109713     1063.99  1469.78  
imu_odom_:  1691062551.863115632  0.481235   -0.143652  9.72285    -0.0372843  -0.00852212 0.036219    0.23       0             pose: 0.43989304    -4.68636   -1.69841    0 0.00427447  -0.00808389 0.713674    0.700419       uwb: 0.0            1063.99  1469.78  
imu_odom_:  1691062551.886058851  0.126893   -0.25618   9.95748    -0.0447411  -0.02024    0.0500674   0.27       0             pose: 0.0           -4.68636   -1.69841    0 0.00427447  -0.00808389 0.713674    0.700419       uwb: 0.49971183     1059.44  1470.14  
imu_odom_:  1691062551.911063399  0.215478   -0.143652  9.64624    -0.0426106  -0.00852212 0.0266316   0.19       0             pose: 0.48008138    -4.68744   -1.68647    0 0.00331565  -0.00404194 0.713743    0.700389       uwb: 0.0            1059.44  1470.14  
imu_odom_:  1691062551.928050405  0.61531    -0.311246  9.69652    -0.052198   -0.0117179  0.0468716   0.19       0             pose: 0.0           -4.68744   -1.68647    0 0.00331565  -0.00404194 0.713743    0.700389       uwb: 0.49877273     1060.71  1470.24  
imu_odom_:  1691062551.954037205  0.263362   -0.215478  9.40203    -0.0394148  0.02024     0.0340885   0.18       -0.02         pose: 0.41991554    -4.6889    -1.68356    0 0.00266475  -0.00347486 0.713677    0.700461       uwb: 0.0            1060.71  1470.24  
imu_odom_:  1691062551.981049420  0.229843   -0.521936  9.28232    -0.0585895  0.0266316   0.0532632   0.18       -0.02         pose: 0.8069746     -4.6889    -1.68356    0 0.00209091  -0.00276728 0.713664    0.700479       uwb: 0.49980516     1059.46  1470.25  
imu_odom_:  1691062552.6046386    0.385466   -0.167594  9.75398    -0.0436758  -0.0266316  0.0383495   0.2        0             pose: 0.17917054    -4.68572   -1.67394    0 0.000816821 -0.00119625 0.713634    0.700517       uwb: 0.0            1059.46  1470.25  
imu_odom_:  1691062552.32057106   0.0143652  -0.378284  9.87608    -0.0479369  -0.0127832  0.0394148   0.2        0             pose: 0.35054838    -4.68446   -1.67014    0 -0.00154337 -0.0009114810.713763    0.700385       uwb: 0.50296952     1062.76  1469.9   
imu_odom_:  1691062552.57121154   0.280122   -0.023942  9.99579    -0.0468716  0.0170442   0.0394148   0.17       -0.02         pose: 0.0           -4.68446   -1.67014    0 -0.00154337 -0.0009114810.713763    0.700385       uwb: 0.0            1062.76  1469.9   
imu_odom_:  1691062552.74044002   0.325611   -0.0861913 10.228     -0.072438   -0.00426106 0.0575243   0.17       -0.02         pose: 0.23994593    -4.68896   -1.6612     0 -0.0008766260.000584713 0.713757    0.700393       uwb: 0.49693549     1063.56  1469.67  
imu_odom_:  1691062552.99039223   0.277727   -0.186748  9.84256    -0.056459   0.0340885   0.0213053   0.21       0.02          pose: 0.51033355    -4.68896   -1.6612     0 -0.001118   0.00424511  0.713798    0.700338       uwb: 0.0            1063.56  1469.67  
imu_odom_:  1691062552.126031903  0.667982   -0.320823  9.73482    -0.0319579  -0.0394148  0.0245011   0.23       0             pose: 0.34919232    -4.68453   -1.64777    0 -0.00329404 0.00572844  0.713687    0.700433       uwb: 0.50138888     1062.75  1469.85  
imu_odom_:  1691062552.142194731  0.565032   -0.0383072 10.07      -0.0298274  -0.00852212 0.0330232   0.23       0             pose: 0.0           -4.68453   -1.64777    0 -0.00329404 0.00572844  0.713687    0.700433       uwb: 0.0            1062.75  1469.85  
imu_odom_:  1691062552.169043923  0.385466   -0.229843  10.0269    -0.0511327  -0.00426106 0.0585895   0.26       -0.02         pose: 0.7065914     -4.68453   -1.64777    0 -0.0028422  0.00506264  0.713653    0.700476       uwb: 0.0            1062.75  1469.85  
imu_odom_:  1691062552.194076474  0.452504   -0.124498  9.38288    -0.0543285  0.0149137   0.052198    0.26       -0.02         pose: 0.0           -4.68453   -1.64777    0 -0.0028422  0.00506264  0.713653    0.700476       uwb: 0.49830621     1058.61  1470.12  
imu_odom_:  1691062552.221019867  0.392649   -0.395043  9.76595    -0.0479369  0.0585895   0.0351537   0.23       -0.02         pose: 0.43942943    -4.68903   -1.63884    0 -0.0001284350.00230781  0.713573    0.700577       uwb: 0.0            1058.61  1470.12  
imu_odom_:  1691062552.237101326  0.126893   0.153229   10.2831    -0.0479369  0.00745685  0.0553937   0.23       -0.02         pose: 0.0           -4.68903   -1.63884    0 -0.0001284350.00230781  0.713573    0.700577       uwb: 0.50012898     1057.8   1470.36  
imu_odom_:  1691062552.264019054  0.00957681 -0.320823  9.79468    -0.0607201  0.0490022   0.052198    0.23       0.02          pose: 0.51081185    -4.68459   -1.62541    0 0.000742885 0.000888422 0.7138      0.700348       uwb: 0.0            1057.8   1470.36  
imu_odom_:  1691062552.290174137  0.0694318  -0.222661  10.2185    -0.0500674  0.0170442   0.0617853   0.23       0.02          pose: 0.44108595    -4.68459   -1.62541    0 -0.0017694  0.00223656  0.713894    0.700248       uwb: 0.50184384     1058.26  1470.66  
imu_odom_:  1691062552.315091489  0.143652   -0.0885855 9.83538    -0.0468716  -0.0138484  0.0340885   0.24       0             pose: 0.0           -4.68459   -1.62541    0 -0.0017694  0.00223656  0.713894    0.700248       uwb: 0.0            1058.26  1470.66  
imu_odom_:  1691062552.338030047  0.373495   -0.232238  9.56723    -0.0660464  0.0138484   0.0585895   0.24       0             pose: 0.51823707    -4.68909   -1.61648    0 -0.00576919 0.00612172  0.714146    0.699946       uwb: 0.49996275     1057.44  1470.81  
imu_odom_:  1691062552.363016519  0.222661   -0.272939  9.37809    -0.0585895  -0.0319579  0.0426106   0.18       0.02          pose: 0.0           -4.68909   -1.61648    0 -0.00576919 0.00612172  0.714146    0.699946       uwb: 0.0            1057.44  1470.81  
imu_odom_:  1691062552.380065648  0.684742   -0.160412  10.2376    -0.0628506  -0.00639159 0.0458064   0.18       0.02          pose: 0.24124084    -4.6936    -1.60756    0 -0.00525807 0.00738025  0.714155    0.699929       uwb: 0.49864160     1057.43  1470.74  
imu_odom_:  1691062552.405045120  0.414197   -0.19393   10.343     -0.0575243  0.02024     0.036219    0.21       0.02          pose: 0.48911948    -4.68918   -1.59412    0 -0.00628438 0.00449845  0.714304    0.699793       uwb: 0.0            1057.43  1470.74  
imu_odom_:  1691062552.430001552  1.0343     -0.131681  10.0533    -0.0798948  0.0191748   0.0532632   0.23       0             pose: 0.0           -4.68918   -1.59412    0 -0.00628438 0.00449845  0.714304    0.699793       uwb: 0.49812540     1054.11  1470.85  
imu_odom_:  1691062552.444007100  0.260968   -0.433351  9.39964    -0.0745685  0.0607201   0.0447411   0.23       0             pose: 0.34947521    -4.68918   -1.59412    0 -0.00351721 0.00290624  0.714312    0.699812       uwb: 0.0            1054.11  1470.85  
imu_odom_:  1691062552.468017736  0.521936   -0.474052  9.03093    -0.0585895  0.0213053   0.0458064   0.23       0             pose: 0.0           -4.68918   -1.59412    0 -0.00351721 0.00290624  0.714312    0.699812       uwb: 0.0            1054.11  1470.85  
imu_odom_:  1691062552.493009165  0.521936   -0.42138   9.53611    -0.0479369  0.0511327   0.0372843   0.18       0             pose: 0.6975214     -4.68918   -1.59412    0 -0.00307951 0.00247982  0.714348    0.69978        uwb: 0.50174760     1048.71  1470.94  
imu_odom_:  1691062552.514052630  0.78051    -0.0814029 9.67976    -0.0585895  0.0149137   0.0436758   0.18       0.02          pose: 0.0           -4.68918   -1.59412    0 -0.00307951 0.00247982  0.714348    0.69978        uwb: 0.0            1048.71  1470.94  
imu_odom_:  1691062552.527998683  0.612916   -0.0837971 10.0844    -0.0692422  0.0319579   0.0500674   0.18       0.02          pose: 0.38994061    -4.68477   -1.58069    0 -0.00382714 0.00046549  0.714472    0.699654       uwb: 0.50023397     1047.06  1471.14  
imu_odom_:  1691062552.552995071  0.0814029  -0.213084  9.6223     -0.0436758  0.0500674   0.0351537   0.18       0.02          pose: 0.0           -4.68477   -1.58069    0 -0.00382714 0.00046549  0.714472    0.699654       uwb: 0.0            1047.06  1471.14  
imu_odom_:  1691062552.569995787  0.253785   -0.102951  10.0485    -0.056459   -0.0127832  0.0458064   0.17       0.02          pose: 0.48053935    -4.68929   -1.57176    0 -0.003847   -0.00314825 0.714478    0.69964        uwb: 0.0            1047.06  1471.14  
imu_odom_:  1691062552.595116123  0.651223   -0.0670376 9.81623    -0.0532632  -0.04048    0.0490022   0.17       0.02          pose: 0.0           -4.68929   -1.57176    0 -0.003847   -0.00314825 0.714478    0.69964        uwb: 0.49903532     1044.61  1471.56  
imu_odom_:  1691062552.619137549  0.799663   -0.169988  10.6566    -0.0660464  -0.00532632 0.0543285   0.18       0             pose: 0.35954563    -4.68929   -1.57176    0 -0.00187742 -0.0025088  0.714537    0.69959        uwb: 0.0            1044.61  1471.56  
imu_odom_:  1691062552.634132057  0.519542   -0.126893  9.76595    -0.0511327  0.00213053  0.0340885   0.18       0             pose: 0.0           -4.68929   -1.57176    0 -0.00187742 -0.0025088  0.714537    0.69959        uwb: 0.50137429     1048.68  1471.07  
imu_odom_:  1691062552.658248850  0.287304   0.0263362  9.97185    -0.0681769  -0.0330232  0.052198    0.18       0             pose: 0.67306424    -4.6894    -1.5494     0 0.000475499 -0.0004119820.714677    0.699454       uwb: 0.0            1048.68  1471.07  
imu_odom_:  1691062552.683133539  0.308852   -0.0981623 9.63427    -0.0596548  -0.0319579  0.0383495   0.18       0             pose: 0.0           -4.6894    -1.5494     0 0.000475499 -0.0004119820.714677    0.699454       uwb: 0.49987234     1046.26  1471.81  
imu_odom_:  1691062552.708093179  0.423774   -0.217872  9.77074    -0.076699   -0.0106526  0.0468716   0.17       0             pose: 0.62815420    -4.69393   -1.54049    0 0.00336107  0.00129927  0.714824    0.699295       uwb: 0.0            1046.26  1471.81  
imu_odom_:  1691062552.734984951  0.646434   -0.339977  9.56484    -0.0596548  -0.0383495  0.0372843   0.2        0             pose: 0.42948442    -4.68827   -1.52953    0 0.00142495  0.000384208 0.71488     0.699245       uwb: 0.49858619     1045.45  1472.03  
imu_odom_:  1691062552.759986588  0.761356   -0.562637  9.46428    -0.0372843  0.0255663   0.0298274   0.2        0             pose: 0.6953632     -4.68953   -1.52704    0 0.00165044  -0.0003892490.714875    0.69925        uwb: 0.0            1045.45  1472.03  
imu_odom_:  1691062552.784969268  0.37589    0.0814029  10.0676    -0.0426106  0.015979    0.056459    0.22       -0.02         pose: 0.44939777    -4.68953   -1.52704    0 0.00202164  -0.00467939 0.714772    0.699339       uwb: 0.49949028     1042.13  1472.14  
imu_odom_:  1691062552.799062309  0.567426   0.0622492  10.6398    -0.0607201  -0.00319579 0.0479369   0.22       -0.02         pose: 0.0           -4.68953   -1.52704    0 0.00202164  -0.00467939 0.714772    0.699339       uwb: 0.0            1042.13  1472.14  
imu_odom_:  1691062552.822997409  0.54109    -0.1652    9.74919    -0.0649811  0.00852212  0.0532632   0.18       0             pose: 0.39075721    -4.68929   -1.51571    0 0.00420998  -0.00148981 0.714953    0.699158       uwb: 0.0            1042.13  1472.14  
imu_odom_:  1691062552.847024668  1.08218    -0.277727  9.88326    -0.0660464  0.0138484   0.0383495   0.18       0             pose: 0.0           -4.68929   -1.51571    0 0.00420998  -0.00148981 0.714953    0.699158       uwb: 0.49943488     1038.45  1472.77  
imu_odom_:  1691062552.863988055  0.0933739  -0.169988  9.45231    -0.0543285  0.0191748   0.0383495   0.18       -0.02         pose: 0.0           -4.68929   -1.51571    0 0.00420998  -0.00148981 0.714953    0.699158       uwb: 0.0            1038.45  1472.77  
imu_odom_:  1691062552.889991775  0.167594   -0.35913   9.74201    -0.0745685  0.0585895   0.0468716   0.18       -0.02         pose: 0.55038773    -4.68967   -1.50468    0 0.00662859  -0.00407962 0.715046    0.699034       uwb: 0.50098349     1039.72  1473.11  
imu_odom_:  1691062552.915092571  0.390255   -0.215478  9.98622    -0.0426106  0.0319579   0.0287621   0.19       -0.02         pose: 0.35890693    -4.69293   -1.49828    0 0.00263007  -0.0020866  0.715127    0.698987       uwb: 0.0            1039.72  1473.11  
imu_odom_:  1691062552.931962048  0.646434   -0.225055  10.0173    -0.0777643  0.0266316   0.0383495   0.19       -0.02         pose: 0.7004378     -4.6942    -1.49577    0 0.00202413  -0.00152705 0.715102    0.699016       uwb: 0.49964485     1036.43  1473.47  
imu_odom_:  1691062552.956169834  0.553061   -0.304064  9.75877    -0.0703074  0.00106526  0.04048     0.18       0             pose: 0.34965895    -4.68897   -1.49311    0 0.00126631  -0.00129141 0.715028    0.699093       uwb: 0.0            1036.43  1473.47  
imu_odom_:  1691062552.981175846  -0.296881  -0.220267  9.6223     -0.0788296  -0.00319579 0.0447411   0.18       0             pose: 0.0           -4.68897   -1.49311    0 0.00126631  -0.00129141 0.715028    0.699093       uwb: 0.50079976     1035.2   1473.7   
imu_odom_:  1691062552.998036574  0.497994   -0.160412  10.2592    -0.0596548  -0.0617853  0.0245011   0.18       0             pose: 0.7019543     -4.68529   -1.49124    0 0.00131421  -0.00201128 0.71503     0.69909        uwb: 0.0            1035.2   1473.7   
imu_odom_:  1691062553.22016007   0.881066   -0.318429  10.1538    -0.056459   -0.0191748  0.0319579   0.18       0             pose: 0.0           -4.68529   -1.49124    0 0.00131421  -0.00201128 0.71503     0.69909        uwb: 0.0            1035.2   1473.7   
imu_odom_:  1691062553.46974778   0.560243   -0.332794  9.46428    -0.0436758  -0.0490022  0.0511327   0.18       0             pose: 0.48986025    -4.68982   -1.48232    0 0.000293075 -0.00221759 0.715047    0.699073       uwb: 0.50145891     1031.07  1474.01  
imu_odom_:  1691062553.71090993   0.577003   -0.0885855 9.63666    -0.0426106  -0.0394148  0.0319579   0.18       0             pose: 0.0           -4.68982   -1.48232    0 0.000293075 -0.00221759 0.715047    0.699073       uwb: 0.0            1031.07  1474.01  
imu_odom_:  1691062553.97091511   0.751779   -0.124498  10.1442    -0.0553937  -0.0234358  0.0394148   0.23       -0.02         pose: 0.41010483    -4.69435   -1.47341    0 0.00291269  -0.0051908  0.714948    0.699152       uwb: 0.49914917     1030.67  1474.28  
imu_odom_:  1691062553.113074690  0.672771   -0.347159  9.4571     -0.0617853  0.0138484   0.02024     0.23       -0.02         pose: 0.0           -4.69435   -1.47341    0 0.00291269  -0.0051908  0.714948    0.699152       uwb: 0.0            1030.67  1474.28  
imu_odom_:  1691062553.139090082  0.126893   -0.203507  9.63427    -0.0628506  0.00958738  0.0553937   0.23       -0.05         pose: 0.49007616    -4.68996   -1.45996    0 0.00601026  -0.00624011 0.714935    0.699138       uwb: 0.49927165     1026.94  1474.38  
imu_odom_:  1691062553.164092307  0.548272   -0.373495  9.4547     -0.0553937  -0.0649811  0.0255663   0.23       -0.05         pose: 0.0           -4.68996   -1.45996    0 0.00601026  -0.00624011 0.714935    0.699138       uwb: 0.0            1026.94  1474.38  
imu_odom_:  1691062553.189979668  0.258574   -0.189142  9.8689     -0.0458064  0.00639159  0.0330232   0.23       0             pose: 0.41998571    -4.68996   -1.45996    0 0.00683781  -0.00782999 0.714857    0.699194       uwb: 0.50070946     1028.19  1474.55  
imu_odom_:  1691062553.214948938  0.483629   -0.0933739 10.2879    -0.0266316  -0.036219   0.0287621   0.2        -0.02         pose: 0.51124066    -4.68557   -1.44652    0 0.00372102  -0.00790977 0.71485     0.699223       uwb: 0.0            1028.19  1474.55  
imu_odom_:  1691062553.230970322  0.428562   -0.440533  9.43315    -0.0628506  0.00532632  0.0639159   0.2        -0.02         pose: 0.0           -4.68557   -1.44652    0 0.00372102  -0.00790977 0.71485     0.699223       uwb: 0.49796218     1025.27  1474.22  
imu_odom_:  1691062553.256076372  0.538695   -0.213084  9.92157    -0.036219   -0.00213053 0.0383495   0.19       0.02          pose: 0.25898152    -4.6901    -1.4376     0 0.00326174  -0.00552772 0.714792    0.699307       uwb: 0.0            1025.27  1474.22  
imu_odom_:  1691062553.280074764  0.270545   -0.208296  9.73961    -0.04048    0.0553937   0.0458064   0.19       0.02          pose: 0.40947782    -4.6901    -1.4376     0 0.00370986  -0.00463685 0.714859    0.699244       uwb: 0.49937956     1024.01  1473.95  
imu_odom_:  1691062553.297997366  0.299275   -0.169988  9.50259    -0.0394148  -0.036219   0.036219    0.19       0.02          pose: 0.0           -4.6901    -1.4376     0 0.00370986  -0.00463685 0.714859    0.699244       uwb: 0.0            1024.01  1473.95  
imu_odom_:  1691062553.321941512  0.584185   -0.162806  9.80904    -0.0596548  -0.00319579 0.0703074   0.23       -0.02         pose: 0.50026033    -4.68571   -1.42416    0 0.00315534  -0.00175393 0.714897    0.699221       uwb: 0.0            1024.01  1473.95  
imu_odom_:  1691062553.347027730  0.402226   -0.0646434 9.56723    -0.0553937  0.0181095   0.0447411   0.23       0             pose: 0.33961193    -4.69023   -1.41524    0 0.00472378  -0.00229587 0.715137    0.698965       uwb: 0.50051697     1020.7   1474.13  
imu_odom_:  1691062553.372136405  -0.35913   -0.296881  9.93594    -0.0617853  0.0447411   0.0553937   0.23       0             pose: 0.0           -4.69023   -1.41524    0 0.00472378  -0.00229587 0.715137    0.698965       uwb: 0.0            1020.7   1474.13  
imu_odom_:  1691062553.387944015  0.622492   0.0167594  10.4244    -0.0490022  -0.0553937  0.0298274   0.18       0             pose: 0.7011670     -4.69023   -1.41524    0 0.00473637  -0.0015428  0.715148    0.698955       uwb: 0.50175936     1014.51  1474.41  
imu_odom_:  1691062553.413056773  0.445322   -0.160412  10.1347    -0.0617853  -0.0426106  0.0639159   0.18       0             pose: 0.0           -4.69023   -1.41524    0 0.00473637  -0.0015428  0.715148    0.698955       uwb: 0.0            1014.51  1474.41  
imu_odom_:  1691062553.438051999  0.596156   -0.0837971 10.1754    -0.056459   -0.0213053  0.0330232   0.19       0             pose: 0.49976745    -4.69477   -1.40633    0 0.00299932  0.00198156  0.715291    0.698817       uwb: 0.49927749     1012.02  1474.53  
imu_odom_:  1691062553.462915111  0.440533   -0.237026  9.75637    -0.0681769  0.00319579  0.0458064   0.19       0             pose: 0.0           -4.69477   -1.40633    0 0.00299932  0.00198156  0.715291    0.698817       uwb: 0.0            1012.02  1474.53  
imu_odom_:  1691062553.476925620  0.351948   -0.0981623 10.1514    -0.056459   0.00852212  0.0351537   0.19       0             pose: 0.42014319    -4.6904    -1.39288    0 0.00400686  -0.00103673 0.715459    0.698643       uwb: 0.0            1012.02  1474.53  
imu_odom_:  1691062553.501062542  0.555455   -0.356736  9.99579    -0.076699   0.00745685  0.0607201   0.19       0             pose: 0.0           -4.6904    -1.39288    0 0.00400686  -0.00103673 0.715459    0.698643       uwb: 0.0            1012.02  1474.53  
imu_odom_:  1691062553.526923071  0.45011    -0.172383  10.0173    -0.0500674  0.00958738  0.0426106   0.22       0             pose: 0.47987160    -4.6904    -1.39288    0 0.00306284  -0.00119176 0.715468    0.698637       uwb: 0.100009193    1011.6   1474.47  
imu_odom_:  1691062553.542909750  0.42138    -0.292093  9.90721    -0.0553937  -0.0372843  0.0458064   0.22       0             pose: 0.0           -4.6904    -1.39288    0 0.00306284  -0.00119176 0.715468    0.698637       uwb: 0.0            1011.6   1474.47  
imu_odom_:  1691062553.569902144  0.787692   -0.0143652 10.343     -0.04048    -0.0703074  0.0351537   0.22       0             pose: 0.73978344    -4.69058   -1.37052    0 0.00183421  -0.00127885 0.715698    0.698407       uwb: 0.0            1011.6   1474.47  
imu_odom_:  1691062553.594901453  0.708684   -0.112527  10.2544    -0.0681769  -0.00106526 0.0500674   0.22       0             pose: 0.8126037     -4.69058   -1.37052    0 0.0028549   -0.00162934 0.715683    0.698418       uwb: 0.49998909     1008.29  1474.61  
imu_odom_:  1691062553.612025829  0.186748   -0.332794  10.1538    -0.0458064  -0.0340885  0.04048     0.23       0.02          pose: 0.0           -4.69058   -1.37052    0 0.0028549   -0.00162934 0.715683    0.698418       uwb: 0.0            1008.29  1474.61  
imu_odom_:  1691062553.636902649  0.407014   -0.184354  9.85453    -0.0553937  -0.0255663  0.0468716   0.23       0.02          pose: 0.43865666    -4.69377   -1.36426    0 0.00732589  -0.00363681 0.715724    0.698336       uwb: 0.49946123     1008.29  1474.44  
imu_odom_:  1691062553.662961203  0.411803   0          9.83538    -0.0479369  -0.00532632 0.0447411   0.23       0             pose: 0.42001196    -4.69205   -1.35211    0 0.00427522  -0.00171876 0.715807    0.698283       uwb: 0.0            1008.29  1474.44  
imu_odom_:  1691062553.688110125  0.720655   0.0215478  10.5225    -0.0596548  0.0308927   0.0511327   0.23       0             pose: 0.0           -4.69205   -1.35211    0 0.00427522  -0.00171876 0.715807    0.698283       uwb: 0.49998034     1008.3   1474.98  
imu_odom_:  1691062553.713028357  0.574608   -0.280122  9.84017    -0.0681769  0.02024     0.0426106   0.22       0             pose: 0.51207476    -4.69077   -1.34816    0 0.00742019  0.000431822 0.71594     0.698123       uwb: 0.0            1008.3   1474.98  
imu_odom_:  1691062553.738985420  0.366313   -0.363919  9.74201    -0.0500674  0.00106526  0.0447411   0.19       -0.02         pose: 0.0           -4.69077   -1.34816    0 0.00742019  0.000431822 0.71594     0.698123       uwb: 0.50027491     1007.46  1474.67  
imu_odom_:  1691062553.764907778  0.723049   -0.31364   9.9934     -0.0703074  -0.0255663  0.0436758   0.19       -0.02         pose: 0.32826995    -4.69532   -1.33926    0 0.00541829  -0.00191165 0.716002    0.698074       uwb: 0.0            1007.46  1474.67  
imu_odom_:  1691062553.780914872  0.248997   -0.222661  9.38527    -0.0340885  0.00852212  0.0234358   0.19       0.02          pose: 0.0           -4.69532   -1.33926    0 0.00541829  -0.00191165 0.716002    0.698074       uwb: 0.49848130     1007.47  1475.02  
imu_odom_:  1691062553.806896433  0.296881   -0.148441  10.2759    -0.0500674  -0.00106526 0.0511327   0.19       0.02          pose: 0.51080904    -4.69098   -1.3258     0 0.00407158  -0.00437449 0.716039    0.698034       uwb: 0.0            1007.47  1475.02  
imu_odom_:  1691062553.829049894  0.471658   0.126893   9.9096     -0.015979   -0.0245011  0.0319579   0.19       0             pose: 0.34878409    -4.69439   -1.31912    0 0.00229056  -0.00125553 0.716103    0.69799        uwb: 0.50031865     1006.23  1475.37  
imu_odom_:  1691062553.844931289  0.299275   -0.342371  9.38527    -0.0543285  0.0191748   0.0468716   0.19       0             pose: 0.6006962     -4.69553   -1.3169     0 0.00286125  -0.0008076730.716085    0.698007       uwb: 0.0            1006.23  1475.37  
imu_odom_:  1691062553.870035590  0.490811   0.136469   10.1442    -0.0458064  -0.0543285  0.0447411   0.19       -0.02         pose: 0.0           -4.69553   -1.3169     0 0.00286125  -0.0008076730.716085    0.698007       uwb: 0.0            1006.23  1475.37  
imu_odom_:  1691062553.886935401  0.842759   -0.344765  9.56005    -0.0628506  0.00319579  0.052198    0.19       -0.02         pose: 0.39037232    -4.69553   -1.3169     0 0.00340617  0.000673125 0.716092    0.697998       uwb: 0.49943498     1006.22  1475.18  
imu_odom_:  1691062553.912017828  0.667982   -0.316035  10.1227    -0.0575243  0.0458064   0.0394148   0.19       0             pose: 0.0           -4.69553   -1.3169     0 0.00340617  0.000673125 0.716092    0.697998       uwb: 0.0            1006.22  1475.18  
imu_odom_:  1691062553.935881773  0.454898   -0.134075  9.57441    -0.0788296  0.0372843   0.0511327   0.19       0             pose: 0.41974072    -4.69119   -1.30344    0 0.00552927  -0.0007299590.716199    0.697874       uwb: 0.50002409     1003.73  1474.69  
imu_odom_:  1691062553.962000698  0.395043   -0.337582  9.07881    -0.0862864  -0.0287621  0.0426106   0.23       0             pose: 0.41967074    -4.69441   -1.29715    0 0.00446982  0.000285981 0.716298    0.697781       uwb: 0.0            1003.73  1474.69  
imu_odom_:  1691062553.986877808  0.342371   -0.366313  9.34457    -0.0713727  0.00745685  0.0394148   0.23       0             pose: 0.7064749     -4.69575   -1.29454    0 0.0038258   -0.0001738890.716307    0.697774       uwb: 0.50115858     999.59   1474.68  
imu_odom_:  1691062554.11920282   0.37589    -0.328006  9.84735    -0.0500674  -0.00319579 0.036219    0.22       -0.02         pose: 0.43931286    -4.6989    -1.28839    0 -0.000587751-0.00197532 0.716334    0.697755       uwb: 0.0            999.59   1474.68  
imu_odom_:  1691062554.37935096   0.629675   -0.112527  10.5441    -0.0511327  -0.0223706  0.0287621   0.22       -0.02         pose: 0.0           -4.6989    -1.28839    0 -0.000587751-0.00197532 0.716334    0.697755       uwb: 0.49890131     997.516  1474.62  
imu_odom_:  1691062554.54934361   0.837971   -0.143652  9.56244    -0.0607201  0.00958738  0.0319579   0.22       0.02          pose: 0.51057288    -4.6947    -1.27466    0 -0.00016939 -0.00297712 0.716203    0.697885       uwb: 0.0            997.516  1474.62  
imu_odom_:  1691062554.79860473   0.234632   -0.392649  9.79947    -0.0500674  -0.0191748  0.0372843   0.22       0.02          pose: 0.0           -4.6947    -1.27466    0 -0.00016939 -0.00297712 0.716203    0.697885       uwb: 0.0            997.516  1474.62  
imu_odom_:  1691062554.105139472  0.342371   -0.169988  9.92875    -0.0511327  -0.0223706  0.0490022   0.19       0             pose: 0.25014187    -4.69598   -1.27218    0 0.000488691 -0.00358007 0.716149    0.697939       uwb: 0.0            997.516  1474.62  
imu_odom_:  1691062554.129922970  0.52433    -0.189142  9.50019    -0.036219   -0.00639159 0.0330232   0.19       0             pose: 0.0           -4.69598   -1.27218    0 0.000488691 -0.00358007 0.716149    0.697939       uwb: 0.99985299     997.516  1474.53  
imu_odom_:  1691062554.146860116  0.414197   -0.296881  9.48583    -0.0681769  0.0138484   0.0490022   0.19       0             pose: 0.49950216    -4.70054   -1.26328    0 8.02183e-05 -0.00110509 0.71621     0.697884       uwb: 0.0            997.516  1474.53  
imu_odom_:  1691062554.171878678  0.701501   -0.37589   9.4164     -0.0607201  -0.00958738 0.0276969   0.19       0             pose: 0.0           -4.70054   -1.26328    0 8.02183e-05 -0.00110509 0.71621     0.697884       uwb: 0.0            997.516  1474.53  
imu_odom_:  1691062554.195858701  0.277727   -0.174777  9.32302    -0.0639159  -0.00213053 0.0553937   0.19       0             pose: 0.41980497    -4.69164   -1.25872    0 0.000300209 -0.00309466 0.716192    0.697897       uwb: 0.50028667     994.619  1474.48  
imu_odom_:  1691062554.217852055  -0.0383072 -0.263362  9.84496    -0.0607201  0.0447411   0.0468716   0.19       0             pose: 0.40978705    -4.6962    -1.24982    0 -7.43706e-05-0.00257594 0.716255    0.697834       uwb: 0.0            994.619  1474.48  
imu_odom_:  1691062554.231858775  0.299275   -0.294487  9.96946    -0.0532632  -0.00852212 0.0223706   0.19       0             pose: 0.0           -4.6962    -1.24982    0 -7.43706e-05-0.00257594 0.716255    0.697834       uwb: 0.49931259     995.036  1474.25  
imu_odom_:  1691062554.254918374  0.203507   -0.385466  9.67018    -0.0330232  -0.0500674  0.0330232   0.19       0             pose: 0.0           -4.6962    -1.24982    0 -7.43706e-05-0.00257594 0.716255    0.697834       uwb: 0.0            995.036  1474.25  
imu_odom_:  1691062554.272850021  0.586579   -0.0574608 10.3262    -0.0330232  -0.015979   0.0330232   0.18       -0.02         pose: 0.7018672     -4.6962    -1.24982    0 -0.00072546 -0.00199223 0.716274    0.697816       uwb: 0.0            995.036  1474.25  
imu_odom_:  1691062554.296847251  0.548272   -0.246603  10.0149    -0.0596548  0.0106526   0.0617853   0.18       -0.02         pose: 0.0           -4.6962    -1.24982    0 -0.00072546 -0.00199223 0.716274    0.697816       uwb: 0.49999503     993.382  1474.35  
imu_odom_:  1691062554.322911060  0.430956   -0.0287304 9.85214    -0.0490022  0.00639159  0.052198    0.19       0             pose: 0.36993991    -4.69186   -1.23636    0 -0.00401209 -0.0002797090.716209    0.697874       uwb: 0.0            993.382  1474.35  
imu_odom_:  1691062554.348012741  0.861913   -0.390255  9.75637    -0.0628506  0.0149137   0.0426106   0.19       0.02          pose: 0.41026827    -4.69642   -1.22746    0 -0.00256937 -0.0006998340.716198    0.697892       uwb: 0.49909093     994.206  1474.74  
imu_odom_:  1691062554.373883483  0.227449   -0.201113  9.84975    -0.0628506  0.0298274   0.0681769   0.19       0.02          pose: 0.0           -4.69642   -1.22746    0 -0.00256937 -0.0006998340.716198    0.697892       uwb: 0.50112078     989.664  1474.4   
imu_odom_:  1691062554.386868579  0.584185   -0.213084  10.5153    -0.0756338  -0.0340885  0.0585895   0.19       0.02          pose: 0.0           -4.69642   -1.22746    0 -0.00256937 -0.0006998340.716198    0.697892       uwb: 0.0            989.664  1474.4   
imu_odom_:  1691062554.410847727  0.567426   -0.102951  9.80904    -0.0553937  -0.0287621  0.0436758   0.2        -0.02         pose: 0.49994253    -4.70098   -1.21856    0 0.000764029 -0.0005517040.716444    0.697644       uwb: 0.0            989.664  1474.4   
imu_odom_:  1691062554.428902739  -0.225055  -0.299275  9.88566    -0.0660464  0.04048     0.052198    0.2        -0.02         pose: 0.0           -4.70098   -1.21856    0 0.000764029 -0.0005517040.716444    0.697644       uwb: 0.49970922     989.662  1474.5   
imu_odom_:  1691062554.452840765  -0.0287304 -0.0670376 9.95748    -0.0596548  0.04048     0.0340885   0.22       -0.02         pose: 0.87972831    -4.69666   -1.2051     0 0.00206748  -0.0007611250.716873    0.6972         uwb: 0.0            989.662  1474.5   
imu_odom_:  1691062554.476837412  0.610521   -0.306458  10.3765    -0.0777643  -0.0106526  0.0553937   0.23       0.02          pose: 0.0           -4.69666   -1.2051     0 0.00206748  -0.0007611250.716873    0.6972         uwb: 0.50044124     992.974  1474.65  
imu_odom_:  1691062554.500841933  0.775721   -0.114922  9.81862    -0.0660464  0.00319579  0.0372843   0.23       0.02          pose: 0.33975490    -4.69969   -1.19922    0 -0.0005346770.00236886  0.71687     0.697203       uwb: 0.0            992.974  1474.65  
imu_odom_:  1691062554.525847372  0.572214   -0.294487  9.69412    -0.0607201  -0.0255663  0.0372843   0.25       0             pose: 0.8136246     -4.70124   -1.19621    0 -0.00029745 0.00152172  0.716916    0.697158       uwb: 0.49950799     991.732  1474.58  
imu_odom_:  1691062554.547894387  0.023942   -0.148441  9.49301    -0.0639159  0.00852212  0.0415453   0.25       0             pose: 0.0           -4.70124   -1.19621    0 -0.00029745 0.00152172  0.716916    0.697158       uwb: 0.0            991.732  1474.58  
imu_odom_:  1691062554.562877527  0.258574   -0.196325  9.87129    -0.076699   -0.0532632  0.0511327   0.18       0             pose: 0.46934923    -4.69692   -1.18274    0 0.00226712  -0.00209092 0.716977    0.69709        uwb: 0.0            991.732  1474.58  
imu_odom_:  1691062554.588985958  0.304064   -0.19393   10.0916    -0.0436758  -0.0149137  0.0372843   0.18       0             pose: 0.0           -4.69692   -1.18274    0 0.00226712  -0.00209092 0.716977    0.69709        uwb: 0.49987545     992.14   1474.99  
imu_odom_:  1691062554.610841073  0.155623   -0.349553  10.2927    -0.0532632  -0.00213053 0.0436758   0.19       0.05          pose: 0.45993791    -4.69692   -1.18274    0 0.000928668 -0.00186489 0.717006    0.697063       uwb: 0.0            992.14   1474.99  
imu_odom_:  1691062554.626823380  0.555455   -0.0263362 10.5848    -0.0330232  -0.0628506  0.0287621   0.19       0.05          pose: 0.0           -4.69692   -1.18274    0 0.000928668 -0.00186489 0.717006    0.697063       uwb: 0.50003003     993.796  1475.37  
imu_odom_:  1691062554.651968224  0.761356   0.0694318  10.0892    -0.0543285  -0.0479369  0.0532632   0.25       0             pose: 0.41933251    -4.69262   -1.16927    0 -0.00131268 0.00105037  0.717032    0.697038       uwb: 0.0            993.796  1475.37  
imu_odom_:  1691062554.676818800  0.723049   -0.0814029 9.28232    -0.0490022  0.0234358   0.0330232   0.25       0             pose: 0.0           -4.69262   -1.16927    0 -0.00131268 0.00105037  0.717032    0.697038       uwb: 0.50003003     994.207  1475.65  
imu_odom_:  1691062554.693943180  0.059855   -0.23942   10.0341    -0.0607201  0.0149137   0.0458064   0.21       0             pose: 0.38988828    -4.6972    -1.16038    0 0.000204179 0.000961438 0.717034    0.697038       uwb: 0.0            994.207  1475.65  
imu_odom_:  1691062554.717963450  0.608127   0.0694318  10.5201    -0.0607201  -0.0511327  0.0447411   0.21       0             pose: 0.0           -4.6972    -1.16038    0 0.000204179 0.000961438 0.717034    0.697038       uwb: 0.0            994.207  1475.65  
imu_odom_:  1691062554.741915184  0.770933   -0.1652    10.5991    -0.0649811  -0.0394148  0.056459    0.2        0             pose: 0.49146157    -4.70178   -1.15149    0 0.00356623  9.89515e-05 0.717073    0.696989       uwb: 0.49984629     992.549  1475.4   
imu_odom_:  1691062554.765905123  0.363919   -0.237026  9.69652    -0.036219   0.00852212  0.0330232   0.2        0             pose: 0.0           -4.70178   -1.15149    0 0.00356623  9.89515e-05 0.717073    0.696989       uwb: 0.0            992.549  1475.4   
imu_odom_:  1691062554.790812569  0.371101   -0.169988  9.97664    -0.0639159  -0.0117179  0.0479369   0.25       0             pose: 0.42003245    -4.69289   -1.14691    0 0.00595249  -0.0001204990.717177    0.696866       uwb: 0.50249149     992.131  1475.53  
imu_odom_:  1691062554.803867951  0.35913    -0.0071826110.1251    -0.0458064  -0.0266316  0.0351537   0.25       0             pose: 0.0           -4.69289   -1.14691    0 0.00595249  -0.0001204990.717177    0.696866       uwb: 0.0            992.131  1475.53  
imu_odom_:  1691062554.818805303  0.521936   -0.153229  9.47386    -0.072438   -0.00213053 0.0458064   0.25       0             pose: 0.0           -4.69289   -1.14691    0 0.00595249  -0.0001204990.717177    0.696866       uwb: 0.0            992.131  1475.53  
imu_odom_:  1691062554.844796202  0.258574   -0.155623  9.56484    -0.0372843  0.0191748   0.0266316   0.17       0             pose: 0.48082828    -4.69748   -1.13802    0 0.00416884  -0.0003331550.71725     0.696803       uwb: 0.49648365     989.647  1475.18  
imu_odom_:  1691062554.868842428  0.19393    -0.172383  10.1634    -0.0479369  0.00745685  0.0553937   0.2        0             pose: 0.70736168    -4.6991    -1.11985    0 0.00233524  0.0027424   0.717189    0.69687        uwb: 0.0            989.647  1475.18  
imu_odom_:  1691062554.894851117  0.459687   0.0263362  9.96227    -0.0340885  -0.0117179  0.0330232   0.2        0             pose: 0.0           -4.6991    -1.11985    0 0.00233524  0.0027424   0.717189    0.69687        uwb: 0.50108869     990.059  1475.35  
imu_odom_:  1691062554.917948630  0.184354   -0.241814  9.54808    -0.0660464  -0.0117179  0.0585895   0.17       0             pose: 0.8082001     -4.69776   -1.11566    0 0.00166711  0.00327001  0.717231    0.696825       uwb: 0.0            990.059  1475.35  
imu_odom_:  1691062554.935818740  0.416591   0.0407014  10.1442    -0.0532632  -0.0245011  0.0415453   0.17       0             pose: 0.0           -4.69776   -1.11566    0 0.00166711  0.00327001  0.717231    0.696825       uwb: 0.49980838     989.223  1475.59  
imu_odom_:  1691062554.960873174  0.658405   -0.282516  10.3525    -0.0639159  -0.00745685 0.0585895   0.19       0             pose: 0.49022791    -4.69776   -1.11566    0 0.00243643  0.00511774  0.7173      0.696741       uwb: 0.0            989.223  1475.59  
imu_odom_:  1691062554.984812951  0.746991   0.0646434  10.2927    -0.0617853  -0.0543285  0.0426106   0.19       0             pose: 0.0           -4.69776   -1.11566    0 0.00243643  0.00511774  0.7173      0.696741       uwb: 0.50065123     987.964  1476.05  
imu_odom_:  1691062555.7835512    0.579397   0.0502782  10.7835    -0.0788296  -0.0266316  0.0585895   0.27       -0.02         pose: 0.42934753    -4.70235   -1.10678    0 0.00283261  0.00490136  0.71748     0.696557       uwb: 0.0            987.964  1476.05  
imu_odom_:  1691062555.24945897   0.538695   -0.244209  9.44752    -0.0905475  -0.036219   0.0468716   0.27       -0.02         pose: 0.0           -4.70235   -1.10678    0 0.00283261  0.00490136  0.71748     0.696557       uwb: 0.50068626     988.794  1476.03  
imu_odom_:  1691062555.40791135   0.665588   -0.593762  9.92636    -0.0639159  0.0436758   0.04048     0.18       0             pose: 0.47110491    -4.69806   -1.0933     0 0.00656567  0.00211716  0.717662    0.696357       uwb: 0.0            988.794  1476.03  
imu_odom_:  1691062555.63960396   0.37589    -0.37589   9.80904    -0.0479369  0.0340885   0.0394148   0.18       0             pose: 0.0           -4.69806   -1.0933     0 0.00656567  0.00211716  0.717662    0.696357       uwb: 0.0            988.794  1476.03  
imu_odom_:  1691062555.80907753   0.122104   -0.146046  10.0796    -0.0383495  -0.00426106 0.0436758   0.18       0             pose: 0.0           -4.69806   -1.0933     0 0.00656567  0.00211716  0.717662    0.696357       uwb: 0.50045301     988.373  1476.23  
imu_odom_:  1691062555.105049059  0.505177   -0.126893  10.3022    -0.0532632  -0.00852212 0.0298274   0.24       0             pose: 0.40890343    -4.70266   -1.08442    0 0.00687624  -0.0005071130.717823    0.696191       uwb: 0.0            988.373  1476.23  
imu_odom_:  1691062555.129837229  0.64404    -0.112527  10.2783    -0.0575243  -0.0149137  0.0426106   0.21       0             pose: 0.72212478    -4.69839   -1.07094    0 0.00534758  -0.0002752330.717782    0.696247       uwb: 0.49770282     987.119  1476.43  
imu_odom_:  1691062555.143782999  0.366313   -0.287304  9.48343    -0.0617853  -0.0117179  0.0415453   0.21       0             pose: 0.0           -4.69839   -1.07094    0 0.00534758  -0.0002752330.717782    0.696247       uwb: 0.0            987.119  1476.43  
imu_odom_:  1691062555.167854311  0.895431   -0.189142  10.1466    -0.04048    -0.036219   0.04048     0.21       0             pose: 0.0           -4.69839   -1.07094    0 0.00534758  -0.0002752330.717782    0.696247       uwb: 0.0            987.119  1476.43  
imu_odom_:  1691062555.191762011  0.948104   -0.21069   10.1394    -0.0607201  -0.0170442  0.036219    0.17       0.02          pose: 0.7833814     -4.69839   -1.07094    0 0.00602681  -0.0007406390.717789    0.696235       uwb: 0.50027803     986.276  1476.76  
imu_odom_:  1691062555.208758363  0.296881   -0.1652    9.50977    -0.0468716  -0.0191748  0.0426106   0.17       0.02          pose: 0.0           -4.69839   -1.07094    0 0.00602681  -0.0007406390.717789    0.696235       uwb: 0.0            986.276  1476.76  
imu_odom_:  1691062555.232776597  0.071826   -0.486023  9.78271    -0.0553937  0.0394148   0.0447411   0.26       -0.02         pose: 0.38960838    -4.70299   -1.06206    0 0.00676849  -0.0024344  0.717819    0.696192       uwb: 0.49999221     983.351  1477     
imu_odom_:  1691062555.249767991  0.354342   0.00718261 10.3693    -0.0340885  -0.0372843  0.0266316   0.26       -0.02         pose: 0.0           -4.70299   -1.06206    0 0.00676849  -0.0024344  0.717819    0.696192       uwb: 0.0            983.351  1477     
imu_odom_:  1691062555.274842845  0.536301   -0.205901  10.2663    -0.0639159  -0.00532632 0.0553937   0.21       0             pose: 0.47924475    -4.70299   -1.06206    0 0.00909781  -0.00524437 0.717792    0.696178       uwb: 0.50153209     982.933  1477.03  
imu_odom_:  1691062555.300842499  0.754174   -0.167594  9.55287    -0.0500674  -0.00852212 0.0223706   0.23       -0.02         pose: 0.40019209    -4.69871   -1.04858    0 0.00594037  -0.00309652 0.717838    0.696177       uwb: 0.0            982.933  1477.03  
imu_odom_:  1691062555.324764490  0.459687   -0.294487  9.56005    -0.0511327  0.0106526   0.036219    0.23       -0.02         pose: 0.0           -4.69871   -1.04858    0 0.00594037  -0.00309652 0.717838    0.696177       uwb: 0.49915811     982.932  1477.05  
imu_odom_:  1691062555.349769933  0.349553   -0.0311246 9.83538    -0.0287621  0.0127832   0.0298274   0.18       0             pose: 0.43011171    -4.70331   -1.03971    0 0.00558566  -0.00487387 0.717887    0.69612        uwb: 0.0            982.932  1477.05  
imu_odom_:  1691062555.372775292  0.349553   -0.158017  10.4244    -0.052198   -0.015979   0.0596548   0.18       0             pose: 0.0           -4.70331   -1.03971    0 0.00558566  -0.00487387 0.717887    0.69612        uwb: 0.0            982.932  1477.05  
imu_odom_:  1691062555.388850636  0.0837971  -0.237026  9.63187    -0.0458064  -0.0298274  0.0394148   0.18       0             pose: 0.50045301    -4.69904   -1.02623    0 0.00469939  -0.00454198 0.717734    0.696287       uwb: 0.49785739     985.829  1477.45  
imu_odom_:  1691062555.414796336  0.493206   -0.304064  9.81383    -0.0479369  0.0308927   0.0479369   0.18       0             pose: 0.0           -4.69904   -1.02623    0 0.00469939  -0.00454198 0.717734    0.696287       uwb: 0.0            985.829  1477.45  
imu_odom_:  1691062555.439798571  0.241814   -0.162806  10.0365    -0.0426106  0.0319579   0.0415453   0.18       -0.02         pose: 0.47071129    -4.69904   -1.02623    0 0.0030062   -0.0004268870.71784     0.696202       uwb: 0.50036552     984.155  1477.61  
imu_odom_:  1691062555.464764643  0.174777   -0.215478  10.1706    -0.0713727  -0.0117179  0.0660464   0.18       -0.02         pose: 0.0           -4.69904   -1.02623    0 0.0030062   -0.0004268870.71784     0.696202       uwb: 0.0            984.155  1477.61  
imu_odom_:  1691062555.480852237  0.486023   -0.153229  10.1801    -0.056459   -0.0298274  0.0436758   0.18       0             pose: 0.42001504    -4.70364   -1.01735    0 0.000877711 -0.00128207 0.717926    0.696118       uwb: 0.49983765     983.719  1478.16  
imu_odom_:  1691062555.506783646  0.538695   -0.318429  9.9934     -0.072438   0.0340885   0.0575243   0.18       0             pose: 0.0           -4.70364   -1.01735    0 0.000877711 -0.00128207 0.717926    0.696118       uwb: 0.0            983.719  1478.16  
imu_odom_:  1691062555.531906038  0.299275   -0.0742203 10.2185    -0.0575243  0.0340885   0.0383495   0.19       0             pose: 0.49857192    -4.69937   -1.00387    0 -0.00135114 0.00174477  0.718177    0.695857       uwb: 0.50029552     985.795  1478.63  
imu_odom_:  1691062555.548761527  0.244209   -0.3304    9.94551    -0.076699   0.00532632  0.0585895   0.19       0             pose: 0.0           -4.69937   -1.00387    0 -0.00135114 0.00174477  0.718177    0.695857       uwb: 0.0            985.795  1478.63  
imu_odom_:  1691062555.573897335  0.737414   -0.191536  9.8258     -0.0607201  -0.0383495  0.0298274   0.18       0             pose: 0.43161659    -4.70398   -0.994993   0 -0.000476874-0.0001268290.718351    0.695681       uwb: 0.50198997     984.955  1478.72  
imu_odom_:  1691062555.596884319  0.0454898  -0.289698  9.59357    -0.0777643  0.00639159  0.0426106   0.18       0             pose: 0.0           -4.70398   -0.994993   0 -0.000476874-0.0001268290.718351    0.695681       uwb: 0.0            984.955  1478.72  
imu_odom_:  1691062555.622950176  0.577003   -0.260968  9.62708    -0.0681769  -0.056459   0.0351537   0.25       0.02          pose: 0.42000337    -4.70398   -0.994993   0 -0.00158922 0.000989675 0.718424    0.695603       uwb: 0.0            984.955  1478.72  
imu_odom_:  1691062555.647911873  0.723049   -0.270545  10.0604    -0.0703074  0.00106526  0.0436758   0.19       0             pose: 0.48273864    -4.69972   -0.981506   0 -0.00165368 -2.52391e-060.718378    0.695651       uwb: 0.49871482     983.293  1478.41  
imu_odom_:  1691062555.673777371  0.574608   -0.320823  9.34217    -0.0660464  0.015979    0.04048     0.19       0             pose: 0.0           -4.69972   -0.981506   0 -0.00165368 -2.52391e-060.718378    0.695651       uwb: 0.49982306     981.21   1478.26  
imu_odom_:  1691062555.687895210  0.0933739  -0.280122  9.59596    -0.0713727  0.0170442   0.0468716   0.19       0             pose: 0.0           -4.69972   -0.981506   0 -0.00165368 -2.52391e-060.718378    0.695651       uwb: 0.0            981.21   1478.26  
imu_odom_:  1691062555.705968015  0.584185   -0.0574608 10.5967    -0.0394148  -0.0596548  0.0351537   0.18       -0.02         pose: 0.74699023    -4.70434   -0.972634   0 0.000918563 -0.00577705 0.718396    0.69561        uwb: 0.0            981.21   1478.26  
imu_odom_:  1691062555.722893207  0.220267   -0.148441  9.26795    -0.0617853  0.0308927   0.0500674   0.18       -0.02         pose: 0.0           -4.70434   -0.972634   0 0.000918563 -0.00577705 0.718396    0.69561        uwb: 0.0            981.21   1478.26  
imu_odom_:  1691062555.746874110  0.543484   -0.292093  9.95509    -0.0532632  -0.00639159 0.04048     0.26       0.02          pose: 0.42984632    -4.70009   -0.959147   0 0.00137298  -0.00307896 0.718455    0.695565       uwb: 0.49935060     980.367  1478.41  
imu_odom_:  1691062555.763793760  0.797269   -0.529119  9.44513    -0.0671117  0           0.0436758   0.26       0.02          pose: 0.0           -4.70009   -0.959147   0 0.00137298  -0.00307896 0.718455    0.695565       uwb: 0.0            980.367  1478.41  
imu_odom_:  1691062555.788846741  0.483629   -0.191536  10.2759    -0.0372843  0.02024     0.0394148   0.18       0             pose: 0.7884851     -4.70009   -0.959147   0 0.00155057  -0.00384991 0.718456    0.69556        uwb: 0.49949934     979.948  1478.44  
imu_odom_:  1691062555.813751860  0.770933   0.0526724  10.2879    -0.0553937  0.0181095   0.052198    0.23       0             pose: 0.0           -4.70009   -0.959147   0 0.00155057  -0.00384991 0.718456    0.69556        uwb: 0.0            979.948  1478.44  
imu_odom_:  1691062555.836723387  0.519542   -0.1652    9.78031    -0.0458064  -0.0330232  0.0415453   0.18       0             pose: 0.66023821    -4.70932   -0.941408   0 0.00338251  -0.0042842  0.718506    0.695499       uwb: 0.50069215     979.517  1478.73  
imu_odom_:  1691062555.861717165  0.263362   0.00957681 9.93594    -0.072438   -0.0426106  0.0500674   0.18       0             pose: 0.0           -4.70932   -0.941408   0 0.00338251  -0.0042842  0.718506    0.695499       uwb: 0.0            979.517  1478.73  
imu_odom_:  1691062555.878825800  0.428562   -0.378284  9.75398    -0.0596548  -0.00213053 0.0500674   0.18       0.02          pose: 0.49004136    -4.70045   -0.936788   0 0.00641643  -0.00159515 0.718605    0.695387       uwb: 0.50098964     979.52   1478.66  
imu_odom_:  1691062555.894763197  0.507571   -0.126893  9.81862    -0.0543285  -0.0234358  0.0394148   0.18       0.02          pose: 0.0           -4.70045   -0.936788   0 0.00641643  -0.00159515 0.718605    0.695387       uwb: 0.0            979.52   1478.66  
imu_odom_:  1691062555.918869215  0.873884   -0.356736  9.52653    -0.0671117  -0.00958738 0.0298274   0.25       0             pose: 0.48957182    -4.70508   -0.92792    0 0.00629384  -0.0008625050.718719    0.695272       uwb: 0.0            979.52   1478.66  
imu_odom_:  1691062555.935764950  0.490811   -0.143652  9.62708    -0.0447411  0.0340885   0.0298274   0.25       0             pose: 0.0           -4.70508   -0.92792    0 0.00629384  -0.0008625050.718719    0.695272       uwb: 0.49953433     979.095  1478.8   
imu_odom_:  1691062555.961740398  0.648829   -0.351948  9.58638    -0.052198   -0.00852212 0.04048     0.18       -0.02         pose: 0.8193118     -4.70508   -0.92792    0 0.00650674  -0.00169905 0.718692    0.695296       uwb: 0.0            979.095  1478.8   
imu_odom_:  1691062555.987787589  0.397437   -0.23942   9.62469    -0.0628506  0.00426106  0.056459    0.25       0             pose: 0.0           -4.70508   -0.92792    0 0.00650674  -0.00169905 0.718692    0.695296       uwb: 0.50109171     976.982  1479.25  
imu_odom_:  1691062556.715526     0.380678   -0.222661  10.0389    -0.0713727  -0.0149137  0.0575243   0.18       -0.02         pose: 0.66968743    -4.70083   -0.914431   0 0.00507541  -0.00367194 0.718652    0.695342       uwb: 0.0            976.982  1479.25  
imu_odom_:  1691062556.25727390   0.150835   -0.201113  9.94551    -0.0500674  0.00745685  0.0447411   0.18       -0.02         pose: 0.0           -4.70083   -0.914431   0 0.00507541  -0.00367194 0.718652    0.695342       uwb: 0.49757746     977.812  1479.43  
imu_odom_:  1691062556.48703297   -0.0215478 -0.361524  9.78031    -0.0575243  -0.0106526  0.052198    0.25       0             pose: 0.55802332    -4.70873   -0.899284   0 0.000525207 -0.0002774380.718897    0.695116       uwb: 0.0            977.812  1479.43  
imu_odom_:  1691062556.65693819   0.823605   0.0191536  10.2975    -0.0660464  -0.056459   0.0458064   0.25       0             pose: 0.6987177     -4.71008   -0.896699   0 -9.72922e-05-2.70674e-060.718928    0.695084       uwb: 0.0            977.812  1479.43  
imu_odom_:  1691062556.89823173   0.459687   -0.0550666 10.2328    -0.0745685  -0.0170442  0.0596548   0.18       0             pose: 0.0           -4.71008   -0.896699   0 -9.72922e-05-2.70674e-060.718928    0.695084       uwb: 0.50051143     978.636  1479.77  
imu_odom_:  1691062556.106722412  0.409408   -0.299275  9.46667    -0.0873517  -0.0223706  0.0415453   0.18       0             pose: 0.41042008    -4.70122   -0.892069   0 0.00106204  9.87824e-05 0.719091    0.694915       uwb: 0.0            978.636  1479.77  
imu_odom_:  1691062556.131845976  0.342371   -0.117316  10.0389    -0.076699   0.0287621   0.0383495   0.2        0.02          pose: 0.0           -4.70122   -0.892069   0 0.00106204  9.87824e-05 0.719091    0.694915       uwb: 0.0            978.636  1479.77  
imu_odom_:  1691062556.157775932  0.270545   -0.414197  9.74919    -0.0543285  -0.00213053 0.0383495   0.2        0.02          pose: 0.42029218    -4.70585   -0.883208   0 0.00087887  0.000290365 0.71921     0.694792       uwb: 0.0            978.636  1479.77  
imu_odom_:  1691062556.181840833  0.177171   -0.23942   9.96467    -0.0660464  -0.052198   0.0426106   0.19       0             pose: 0.41990139    -4.70906   -0.877078   0 -0.00183567 0.00110129  0.719187    0.694813       uwb: 0.99990297     978.636  1479.77  
imu_odom_:  1691062556.207689712  -0.0023942 -0.177171  10.5896    -0.0426106  0.00106526  0.0308927   0.19       0             pose: 0.8032133     -4.71049   -0.874348   0 -0.00234896 0.00144555  0.719195    0.694803       uwb: 0.0            978.636  1479.77  
imu_odom_:  1691062556.231752863  0.28491    -0.342371  10.0126    -0.0490022  -0.02024    0.0340885   0.19       -0.02         pose: 0.41881647    -4.70496   -0.863338   0 -0.00484407 0.0043779   0.719124    0.694851       uwb: 0.49994857     976.549  1479.58  
imu_odom_:  1691062556.256701150  0.320823   -0.332794  9.4978     -0.0468716  -0.0394148  0.0500674   0.19       -0.02         pose: 0.0           -4.70496   -0.863338   0 -0.00484407 0.0043779   0.719124    0.694851       uwb: 0.0            976.549  1479.58  
imu_odom_:  1691062556.281764927  0.61531    -0.153229  9.65342    -0.036219   -0.0245011  0.0330232   0.19       -0.02         pose: 0.32028498    -4.70626   -0.860851   0 -0.00630402 0.00160218  0.719092    0.694884       uwb: 0.50031896     978.201  1480.15  
imu_odom_:  1691062556.297965681  0.706289   0.071826   9.9096     -0.0532632  -0.0138484  0.0426106   0.19       -0.02         pose: 0.0           -4.70626   -0.860851   0 -0.00630402 0.00160218  0.719092    0.694884       uwb: 0.0            978.201  1480.15  
imu_odom_:  1691062556.322773979  0.711078   -0.385466  9.69891    -0.0607201  0.04048     0.0223706   0.18       0             pose: 0.49163675    -4.7109    -0.851989   0 -0.00311312 -0.0009101510.719104    0.694895       uwb: 0.0            978.201  1480.15  
imu_odom_:  1691062556.338768250  0.0861913  -0.136469  9.89524    -0.052198   0.0372843   0.036219    0.18       0             pose: 0.0           -4.7109    -0.851989   0 -0.00311312 -0.0009101510.719104    0.694895       uwb: 0.0            978.201  1480.15  
imu_odom_:  1691062556.363832611  0.402226   -0.519542  10.3501    -0.0703074  -0.0191748  0.0553937   0.18       0.02          pose: 0.40860023    -4.70667   -0.838494   0 -0.00196113 -0.00208567 0.718954    0.695052       uwb: 0.0            978.201  1480.15  
imu_odom_:  1691062556.387756648  0.509965   -0.179565  10.0772    -0.0479369  -0.0181095  0.0276969   0.18       0             pose: 0.34090703    -4.70667   -0.838494   0 -0.00403924 -0.00330689 0.719074    0.694914       uwb: 0.100016836    974.835  1480.27  
imu_odom_:  1691062556.412670521  0.821211   -0.172383  9.43794    -0.0351537  0.0213053   0.02024     0.18       0             pose: 0.0           -4.70667   -0.838494   0 -0.00403924 -0.00330689 0.719074    0.694914       uwb: 0.0            974.835  1480.27  
imu_odom_:  1691062556.436702466  -0.452504  -0.124498  10.2927    -0.0372843  -0.0170442  0.0458064   0.18       0             pose: 0.7939099     -4.70667   -0.838494   0 -0.00318768 -0.00325079 0.719042    0.694952       uwb: 0.49999524     970.614  1480.64  
imu_odom_:  1691062556.453766483  0.263362   -0.186748  9.89284    -0.0532632  0.00213053  0.0660464   0.18       0             pose: 0.0           -4.70667   -0.838494   0 -0.00318768 -0.00325079 0.719042    0.694952       uwb: 0.0            970.614  1480.64  
imu_odom_:  1691062556.476687852  0.790087   -0.179565  9.93354    -0.0415453  -0.00852212 0.0532632   0.18       0             pose: 0.48935027    -4.70244   -0.825001   0 0.000245366 -0.00330607 0.718821    0.695187       uwb: 0.49867117     969.739  1481.15  
imu_odom_:  1691062556.502677304  1.02711    -0.201113  10.0293    -0.0458064  -0.02024    0.056459    0.18       0             pose: 0.0           -4.70244   -0.825001   0 0.000245366 -0.00330607 0.718821    0.695187       uwb: 0.0            969.739  1481.15  
imu_odom_:  1691062556.515671738  0.414197   0.0287304  10.1586    -0.0458064  -0.0191748  0.0415453   0.18       0             pose: 0.0           -4.70244   -0.825001   0 0.000245366 -0.00330607 0.718821    0.695187       uwb: 0.0            969.739  1481.15  
imu_odom_:  1691062556.539728764  0.146046   -0.105345  9.63906    -0.076699   0.0149137   0.0788296   0.17       0             pose: 0.40045464    -4.70707   -0.816136   0 -0.000669543-0.00077509 0.719053    0.694954       uwb: 0.50032187     969.32   1481.1   
imu_odom_:  1691062556.565711508  0.505177   -0.126893  9.84496    -0.0649811  0.00426106  0.04048     0.21       -0.02         pose: 0.78976563    -4.70581   -0.804188   0 0.00203819  -0.0002405040.719607    0.694378       uwb: 0.0            969.32   1481.1   
imu_odom_:  1691062556.578663945  0.222661   -0.292093  9.67497    -0.0649811  0.0191748   0.0607201   0.21       -0.02         pose: 0.0           -4.70581   -0.804188   0 0.00203819  -0.0002405040.719607    0.694378       uwb: 0.49953735     964.308  1480.5   
imu_odom_:  1691062556.602667309  -0.150835  -0.332794  10.0724    -0.052198   0.0149137   0.0394148   0.21       -0.02         pose: 0.0           -4.70581   -0.804188   0 0.00203819  -0.0002405040.719607    0.694378       uwb: 0.0            964.308  1480.5   
imu_odom_:  1691062556.628676592  0.435745   -0.289698  9.90002    -0.0692422  -0.0213053  0.0585895   0.17       0             pose: 0.8008218     -4.70285   -0.802635   0 0.00278754  -0.0002704190.719608    0.694375       uwb: 0.50001565     962.619  1480.51  
imu_odom_:  1691062556.643753063  0.356736   -0.248997  10.2783    -0.076699   -0.0298274  0.0617853   0.17       0             pose: 0.0           -4.70285   -0.802635   0 0.00278754  -0.0002704190.719608    0.694375       uwb: 0.0            962.619  1480.51  
imu_odom_:  1691062556.667759636  0.533907   -0.126893  10.228     -0.0692422  -0.0181095  0.0426106   0.17       0.02          pose: 0.38994676    -4.7075    -0.79378    0 0.00231506  0.000526757 0.719708    0.694273       uwb: 0.0            962.619  1480.51  
imu_odom_:  1691062556.693638263  1.09654    -0.258574  10.3286    -0.0735032  -0.0298274  0.0308927   0.25       0.02          pose: 0.48156633    -4.71214   -0.784927   0 -0.000683922-0.00103547 0.719927    0.694049       uwb: 0.50053769     960.914  1480.71  
imu_odom_:  1691062556.716641876  0          -0.296881  9.90002    -0.0639159  -0.0287621  0.0468716   0.25       0.02          pose: 0.0           -4.71214   -0.784927   0 -0.000683922-0.00103547 0.719927    0.694049       uwb: 0.0            960.914  1480.71  
imu_odom_:  1691062556.739671153  -0.0861913 -0.392649  9.58638    -0.0543285  -0.00213053 0.0394148   0.18       0             pose: 0.40815110    -4.70329   -0.780271   0 0.0015378   -0.00183371 0.719995    0.693976       uwb: 0.50202798     958.793  1480.79  
imu_odom_:  1691062556.756777166  0.35913    -0.0790087 10.0963    -0.0479369  -0.02024    0.0340885   0.18       0             pose: 0.0           -4.70329   -0.780271   0 0.0015378   -0.00183371 0.719995    0.693976       uwb: 0.0            958.793  1480.79  
imu_odom_:  1691062556.772778145  0.306458   -0.361524  9.84017    -0.0660464  -0.0117179  0.0511327   0.18       0             pose: 0.0           -4.70329   -0.780271   0 0.0015378   -0.00183371 0.719995    0.693976       uwb: 0.0            958.793  1480.79  
imu_odom_:  1691062556.789654927  0.560243   -0.0454898 10.0341    -0.0308927  -0.0862864  0.0340885   0.2        0             pose: 0.48128635    -4.70795   -0.771422   0 0.000424372 -0.00202354 0.720001    0.69397        uwb: 0.49841744     956.231  1481.03  
imu_odom_:  1691062556.805824184  0.622492   -0.102951  9.8689     -0.0617853  -0.0394148  0.0511327   0.2        0             pose: 0.0           -4.70795   -0.771422   0 0.000424372 -0.00202354 0.720001    0.69397        uwb: 0.0            956.231  1481.03  
imu_odom_:  1691062556.831701645  0.272939   -0.222661  10.0173    -0.0458064  -0.00319579 0.052198    0.25       0             pose: 0.81992148    -4.70611   -0.753444   0 0.00244124  -0.0011848  0.720065    0.693901       uwb: 0.49927779     955.379  1481.07  
imu_odom_:  1691062556.854650429  0.438139   -0.299275  9.81383    -0.0458064  0.0276969   0.0458064   0.25       0             pose: 0.0           -4.70611   -0.753444   0 0.00244124  -0.0011848  0.720065    0.693901       uwb: 0.0            955.379  1481.07  
imu_odom_:  1691062556.880795617  0.486023   -0.143652  10.173     -0.0468716  0.00426106  0.0372843   0.18       0             pose: 0.7865313     -4.70842   -0.749066   0 0.00182893  -0.0006902430.720101    0.693867       uwb: 0.50179467     956.185  1481.52  
imu_odom_:  1691062556.896640859  0.131681   -0.373495  9.06684    -0.0649811  -0.0319579  0.052198    0.18       -0.02         pose: 0.0           -4.70842   -0.749066   0 0.00182893  -0.0006902430.720101    0.693867       uwb: 0.0            956.185  1481.52  
imu_odom_:  1691062556.922779923  0.25618    -0.332794  9.19373    -0.0415453  -0.0276969  0.0458064   0.18       0.02          pose: 0.82951362    -4.71308   -0.740219   0 0.000452133 -0.0005541270.720277    0.693687       uwb: 0.49893948     953.217  1481.5   
imu_odom_:  1691062556.947721502  0.191536   0.0191536  10.0173    -0.0511327  0.00639159  0.0426106   0.18       -0.02         pose: 0.0           -4.71308   -0.740219   0 0.000452133 -0.0005541270.720277    0.693687       uwb: 0.0            953.217  1481.5   
imu_odom_:  1691062556.971653413  0.217872   -0.246603  10.2017    -0.0500674  -0.015979   0.0394148   0.18       -0.02         pose: 0.34033833    -4.7089    -0.726708   0 -0.00170239 0.000542794 0.720342    0.693616       uwb: 0.0            953.217  1481.5   
imu_odom_:  1691062556.994835220  0.768539   -0.28491   10.1466    -0.0841559  -0.02024    0.0436758   0.26       -0.02         pose: 0.40978721    -4.7089    -0.726708   0 -0.00352866 0.00328529  0.720351    0.693593       uwb: 0.49767376     948.171  1481.06  
imu_odom_:  1691062557.20696060   0.653617   -0.373495  10.0389    -0.0532632  -0.0447411  0.036219    0.26       -0.02         pose: 0.7016633     -4.7089    -0.726708   0 -0.00312949 0.0026176   0.720363    0.693585       uwb: 0.0            948.171  1481.06  
imu_odom_:  1691062557.36635214   0.294487   -0.0861913 9.92157    -0.0447411  -0.00213053 0.0511327   0.17       0             pose: 0.0           -4.7089    -0.726708   0 -0.00312949 0.0026176   0.720363    0.693585       uwb: 0.50143890     946.878  1481.22  
imu_odom_:  1691062557.53642655   0.483629   -0.426168  9.73482    -0.0617853  -0.0149137  0.0383495   0.17       0             pose: 0.48977320    -4.70472   -0.713198   0 -0.000799157-0.0009743630.720387    0.693571       uwb: 0.0            946.878  1481.22  
imu_odom_:  1691062557.79630362   0.378284   -0.732626  9.35415    0.00745685  -0.0298274  0.0181095   0.18       -0.02         pose: 0.0           -4.70472   -0.713198   0 -0.000799157-0.0009743630.720387    0.693571       uwb: 0.50140980     948.152  1481.25  
imu_odom_:  1691062557.102617647  0.234632   0.19393    10.0317    -0.00319579 -0.0862864  0.0596548   0.18       -0.02         pose: 0.35107960    -4.70939   -0.704353   0 -0.0015962  -0.00223199 0.720346    0.69361        uwb: 0.0            948.152  1481.25  
imu_odom_:  1691062557.119622464  1.02951    -0.0814029 9.93833    -0.0777643  -0.0553937  0.0958738   0.25       -0.02         pose: 0.0           -4.70939   -0.704353   0 -0.0015962  -0.00223199 0.720346    0.69361        uwb: 0.0            948.152  1481.25  
imu_odom_:  1691062557.144611877  0.981623   -0.270545  9.51695    -0.105461   -0.0106526  0.0671117   0.25       -0.02         pose: 0.47898830    -4.71405   -0.695509   0 0.000484035 -0.00186043 0.720543    0.693408       uwb: 0.49857503     945.165  1481.32  
imu_odom_:  1691062557.170682410  0.634463   -0.0790087 9.47864    -0.0873517  0.0170442   0.0127832   0.23       0             pose: 0.33957721    -4.71405   -0.695509   0 0.00265143  -0.00490767 0.720944    0.692971       uwb: 0.0            945.165  1481.32  
imu_odom_:  1691062557.185630562  0.603339   -0.282516  10.0868    -0.109722   0.0138484   0.0415453   0.23       0             pose: 0.0           -4.71405   -0.695509   0 0.00265143  -0.00490767 0.720944    0.692971       uwb: 0.49947329     942.232  1480.9   
imu_odom_:  1691062557.212609854  0.414197   -0.493206  9.82102    -0.0447411  0.015979    0.0394148   0.18       -0.02         pose: 0.7085754     -4.71405   -0.695509   0 0.00322161  -0.0048391  0.720874    0.693042       uwb: 0.0            942.232  1480.9   
imu_odom_:  1691062557.236620806  0.45011    -0.124498  9.94073    -0.0415453  -0.00532632 0.0394148   0.18       -0.02         pose: 0.0           -4.71405   -0.695509   0 0.00322161  -0.0048391  0.720874    0.693042       uwb: 0.50063403     939.672  1480.92  
imu_odom_:  1691062557.262657800  0.483629   -0.483629  10.228     -0.076699   -0.00745685 0.0458064   0.19       0             pose: 0.42041476    -4.70989   -0.681992   0 0.0036059   -0.00650507 0.720698    0.693209       uwb: 0.0            939.672  1480.92  
imu_odom_:  1691062557.278638367  -0.107739  -0.342371  9.62469    -0.0628506  0.0298274   0.0255663   0.19       0             pose: 0.0           -4.70989   -0.681992   0 0.0036059   -0.00650507 0.720698    0.693209       uwb: 0.49982910     939.66   1481.01  
imu_odom_:  1691062557.294648099  0.213084   -0.215478  10.5632    -0.0447411  -0.00745685 0.0276969   0.23       0             pose: 0.50942997    -4.71457   -0.673152   0 0.00203796  -0.00510343 0.720729    0.693195       uwb: 0.0            939.66   1481.01  
imu_odom_:  1691062557.320618890  0.775721   -0.3304    10.2687    -0.0500674  0.00213053  0.0298274   0.23       0             pose: 0.0           -4.71457   -0.673152   0 0.00203796  -0.00510343 0.720729    0.693195       uwb: 0.0            939.66   1481.01  
imu_odom_:  1691062557.345600429  0.59855    -0.325611  9.74919    -0.0447411  -0.0436758  0.0511327   0.23       0             pose: 0.40919527    -4.71041   -0.659637   0 -0.00117817 -0.00463431 0.720676    0.693256       uwb: 0.50058153     935.892  1480.45  
imu_odom_:  1691062557.359694359  1.00317    -0.225055  9.90481    -0.0617853  0.00319579  0.0383495   0.23       0             pose: 0.0           -4.71041   -0.659637   0 -0.00117817 -0.00463431 0.720676    0.693256       uwb: 0.0            935.892  1480.45  
imu_odom_:  1691062557.374746335  0.68953    -0.11971   9.81862    -0.0607201  -0.00532632 0.0372843   0.23       0             pose: 0.0           -4.71041   -0.659637   0 -0.00117817 -0.00463431 0.720676    0.693256       uwb: 0.49798300     933.403  1479.93  
imu_odom_:  1691062557.401603721  -0.160412  -0.426168  10.0006    -0.0553937  0.0319579   0.0330232   0.18       0             pose: 0.42015519    -4.71041   -0.659637   0 0.000592665 -0.00636727 0.720567    0.693356       uwb: 0.0            933.403  1479.93  
imu_odom_:  1691062557.425705373  0.234632   -0.220267  9.90481    -0.0447411  0.0106526   0.036219    0.18       0             pose: 0.73986571    -4.71215   -0.641315   0 0.00175961  -0.00684647 0.720546    0.693371       uwb: 0.50144771     935.928  1480.2   
imu_odom_:  1691062557.450584545  0.560243   -0.416591  10.3597    -0.0660464  -0.0415453  0.0500674   0.18       0             pose: 0.0           -4.71215   -0.641315   0 0.00175961  -0.00684647 0.720546    0.693371       uwb: 0.0            935.928  1480.2   
imu_odom_:  1691062557.473652033  0.299275   -0.265756  10.1299    -0.0458064  -0.0213053  0.0213053   0.18       0             pose: 0.8007927     -4.71091   -0.637281   0 0.00131073  -0.00610175 0.720542    0.693383       uwb: 0.50024323     935.515  1480.1   
imu_odom_:  1691062557.489597019  0.471658   -0.28491   9.88566    -0.0468716  0.00319579  0.0266316   0.18       0             pose: 0.0           -4.71091   -0.637281   0 0.00131073  -0.00610175 0.720542    0.693383       uwb: 0.0            935.515  1480.1   
imu_odom_:  1691062557.515600766  0.677559   -0.0909797 9.90002    -0.0191748  -0.00958738 0.0330232   0.25       0.02          pose: 0.47981949    -4.71558   -0.62844    0 -0.000183175-0.00687235 0.720574    0.693344       uwb: 0.0            935.515  1480.1   
imu_odom_:  1691062557.540637426  0.213084   -0.186748  10.0365    -0.0447411  0.0255663   0.056459    0.25       0.02          pose: 0.0           -4.71558   -0.62844    0 -0.000183175-0.00687235 0.720574    0.693344       uwb: 0.49950537     932.958  1480.05  
imu_odom_:  1691062557.567698378  0.296881   -0.0933739 9.50259    -0.0426106  0.0106526   0.0490022   0.21       0.02          pose: 0.40121883    -4.71558   -0.62844    0 0.00145276  -0.00459589 0.720389    0.693553       uwb: 0.0            932.958  1480.05  
imu_odom_:  1691062557.583570162  0.399832   -0.220267  9.98622    -0.0394148  -0.00213053 0.0500674   0.21       0.02          pose: 0.0           -4.71558   -0.62844    0 0.00145276  -0.00459589 0.720389    0.693553       uwb: 0.50129314     934.155  1480.67  
imu_odom_:  1691062557.610654154  0.679953   -0.009576819.84735    -0.0692422  -0.0245011  0.056459    0.23       -0.02         pose: 0.50954955    -4.7114    -0.614929   0 0.00167607  -0.0012564  0.720523    0.693428       uwb: 0.0            934.155  1480.67  
imu_odom_:  1691062557.636568075  0.246603   -0.320823  9.75398    -0.0617853  0.0245011   0.052198    0.23       -0.02         pose: 0.0           -4.7114    -0.614929   0 0.00167607  -0.0012564  0.720523    0.693428       uwb: 0.49877335     931.201  1480.37  
imu_odom_:  1691062557.661588402  0.19393    -0.227449  9.85214    -0.0543285  0.0127832   0.0585895   0.25       0             pose: 0.42918737    -4.71608   -0.606086   0 0.000899156 -2.44966e-050.720689    0.693258       uwb: 0.0            931.201  1480.37  
imu_odom_:  1691062557.684566063  0.25618    -0.232238  9.98143    -0.0490022  0.0117179   0.036219    0.25       0             pose: 0.52083905    -4.71192   -0.592569   0 -0.00062709 0.000624426 0.720961    0.692975       uwb: 0.49819298     931.161  1480.65  
imu_odom_:  1691062557.700635582  -0.0957681 -0.220267  9.64145    -0.0553937  -0.00426106 0.0415453   0.2        0             pose: 0.0           -4.71192   -0.592569   0 -0.00062709 0.000624426 0.720961    0.692975       uwb: 0.0            931.161  1480.65  
imu_odom_:  1691062557.723555789  0.45011    -0.339977  10.398     -0.0756338  -0.0245011  0.0596548   0.2        0             pose: 0.0           -4.71192   -0.592569   0 -0.00062709 0.000624426 0.720961    0.692975       uwb: 0.50044737     929.039  1480.51  
imu_odom_:  1691062557.748728354  0.679953   -0.122104  10.1945    -0.0756338  -0.0106526  0.0490022   0.25       0             pose: 0.63904770    -4.7166    -0.583734   0 -0.00506897 0.00370439  0.721096    0.692807       uwb: 0.0            929.039  1480.51  
imu_odom_:  1691062557.771841338  0.943315   -0.234632  9.74919    -0.056459   -0.0149137  0.0351537   0.25       0             pose: 0.0           -4.7166    -0.583734   0 -0.00506897 0.00370439  0.721096    0.692807       uwb: 0.0            929.039  1480.51  
imu_odom_:  1691062557.787578091  0.605733   -0.248997  9.60793    -0.0617853  -0.0138484  0.0330232   0.18       0             pose: 0.48183765    -4.72129   -0.5749     0 -0.00196235 0.000127246 0.721288    0.692633       uwb: 0.49939455     929.862  1480.75  
imu_odom_:  1691062557.810668618  0.770933   -0.31364   9.96227    -0.0756338  -0.0585895  0.052198    0.18       0             pose: 0.0           -4.72129   -0.5749     0 -0.00196235 0.000127246 0.721288    0.692633       uwb: 0.0            929.862  1480.75  
imu_odom_:  1691062557.827564069  1.01754    -0.167594  9.96227    -0.0479369  -0.0308927  0.0372843   0.25       0             pose: 0.38914773    -4.71245   -0.57021    0 0.00084538  -0.00305566 0.721253    0.692664       uwb: 0.50096067     929.808  1481.12  
imu_odom_:  1691062557.852564856  0.23942    -0.306458  9.74201    -0.0617853  0.015979    0.0532632   0.25       0             pose: 0.0           -4.71245   -0.57021    0 0.00084538  -0.00305566 0.721253    0.692664       uwb: 0.0            929.808  1481.12  
imu_odom_:  1691062557.878550813  0.320823   -0.215478  9.81144    -0.0383495  0.0149137   0.0351537   0.23       0             pose: 0.57888471    -4.71714   -0.561377   0 0.00120169  -0.0043974  0.721425    0.692478       uwb: 0.50059320     926.437  1480.74  
imu_odom_:  1691062557.904654593  0.354342   -0.260968  10.6901    -0.0436758  0.0213053   0.04048     0.18       0             pose: 0.0           -4.71714   -0.561377   0 0.00120169  -0.0043974  0.721425    0.692478       uwb: 0.0            926.437  1480.74  
imu_odom_:  1691062557.930616344  0.703895   -0.347159  9.80665    -0.0607201  -0.0170442  0.04048     0.22       0.02          pose: 0.25985957    -4.71424   -0.551877   0 -0.000143809-0.00182153 0.721394    0.692523       uwb: 0.49992825     926.85   1480.85  
imu_odom_:  1691062557.945609117  0.399832   -0.311246  9.61751    -0.0585895  0.0170442   0.0447411   0.22       0.02          pose: 0.0           -4.71424   -0.551877   0 -0.000143809-0.00182153 0.721394    0.692523       uwb: 0.0            926.85   1480.85  
imu_odom_:  1691062557.961550604  0.454898   -0.0191536 10.2328    -0.04048    -0.0266316  0.0340885   0.18       0             pose: 0.33093583    -4.71301   -0.547854   0 -0.0021469  -0.0007783930.721405    0.69251        uwb: 0.0            926.85   1480.85  
imu_odom_:  1691062557.976571958  0.167594   -0.366313  9.03093    -0.0553937  0.0127832   0.0447411   0.18       0             pose: 0.0           -4.71301   -0.547854   0 -0.0021469  -0.0007783930.721405    0.69251        uwb: 0.49994284     926.808  1481.13  
imu_odom_:  1691062558.3542209    0.596156   -0.196325  9.50737    -0.0372843  -0.0394148  0.0372843   0.18       0             pose: 0.64927562    -4.72018   -0.534357   0 -0.00267705 -0.00150885 0.721434    0.692477       uwb: 0.0            926.808  1481.13  
imu_odom_:  1691062558.28679490   0.217872   -0.105345  10.2831    -0.0607201  -0.02024    0.0458064   0.18       0             pose: 0.7988971     -4.72239   -0.530193   0 -0.00179829 -0.00188543 0.721427    0.692486       uwb: 0.50019952     926.356  1481.27  
imu_odom_:  1691062558.55547380   0.354342   -0.179565  9.57681    -0.0596548  -0.0276969  0.04048     0.21       -0.02         pose: 0.44118561    -4.71356   -0.5255     0 -0.000204176-0.0005236880.721467    0.692449       uwb: 0.0            926.356  1481.27  
imu_odom_:  1691062558.71597944   0.68953    -0.387861  9.90242    -0.0777643  -0.0149137  0.0479369   0.21       -0.02         pose: 0.0           -4.71356   -0.5255     0 -0.000204176-0.0005236880.721467    0.692449       uwb: 0.0            926.356  1481.27  
imu_odom_:  1691062558.97604904   0.814029   -0.347159  9.90481    -0.0383495  -0.0543285  0.0298274   0.25       -0.02         pose: 0.42918454    -4.71826   -0.51667    0 4.50814e-05 0.000149425 0.721522    0.692391       uwb: 0.49829223     925.487  1481.33  
imu_odom_:  1691062558.120543490  0.335188   -0.378284  9.75398    -0.0500674  0.00213053  0.0500674   0.25       -0.02         pose: 0.0           -4.71826   -0.51667    0 4.50814e-05 0.000149425 0.721522    0.692391       uwb: 0.0            925.487  1481.33  
imu_odom_:  1691062558.136703712  0.19393    -0.0670376 9.991      -0.0117179  -0.0149137  0.036219    0.19       0             pose: 0.48945546    -4.71688   -0.504615   0 -0.000397285-0.00262123 0.72152     0.692389       uwb: 0.50068954     925.861  1481.7   
imu_odom_:  1691062558.158592092  0.385466   -0.0574608 9.88566    -0.0490022  0.00745685  0.0553937   0.19       0             pose: 0.0           -4.71688   -0.504615   0 -0.000397285-0.00262123 0.72152     0.692389       uwb: 0.0            925.861  1481.7   
imu_odom_:  1691062558.174597744  0.837971   -0.268151  9.47625    -0.076699   0.0245011   0.0458064   0.2        0             pose: 0.0           -4.71688   -0.504615   0 -0.000397285-0.00262123 0.72152     0.692389       uwb: 0.0            925.861  1481.7   
imu_odom_:  1691062558.200601787  0.196325   -0.217872  10.0006    -0.0426106  0.0415453   0.0575243   0.2        0             pose: 0.46013952    -4.71882   -0.494318   0 0.001254    0.000464133 0.721642    0.692266       uwb: 0.0            925.861  1481.7   
imu_odom_:  1691062558.224520001  0.265756   -0.349553  10.0102    -0.0596548  0.056459    0.04048     0.19       0             pose: 0.34044345    -4.72207   -0.488207   0 -0.0007761930.00197259  0.721819    0.692078       uwb: 0.100125368    925.354  1482.19  
imu_odom_:  1691062558.250568375  0.0383072  -0.306458  9.94312    -0.0809601  0.0138484   0.0639159   0.19       0             pose: 0.8013763     -4.72352   -0.485492   0 -0.00174471 0.00194623  0.72182     0.692076       uwb: 0.0            925.354  1482.19  
imu_odom_:  1691062558.276514965  0.42138    -0.246603  9.64863    -0.0628506  -0.00745685 0.0308927   0.19       0             pose: 0.24038662    -4.72352   -0.485492   0 -0.00449452 0.00228087  0.721885    0.691995       uwb: 0.49886385     922.81   1481.93  
imu_odom_:  1691062558.301643205  0.651223   -0.320823  10.319     -0.0596548  -0.0394148  0.04048     0.2        0             pose: 0.25969047    -4.7147    -0.480786   0 -0.00571709 0.00257835  0.722007    0.691858       uwb: 0.0            922.81   1481.93  
imu_odom_:  1691062558.315503532  0.349553   -0.117316  10.1131    -0.056459   -0.0127832  0.0394148   0.2        0             pose: 0.0           -4.7147    -0.480786   0 -0.00571709 0.00257835  0.722007    0.691858       uwb: 0.0            922.81   1481.93  
imu_odom_:  1691062558.338591438  0.459687   -0.335188  9.89284    -0.0511327  -0.0298274  0.0447411   0.2        0             pose: 0.0           -4.7147    -0.480786   0 -0.00571709 0.00257835  0.722007    0.691858       uwb: 0.49986128     922.754  1482.28  
imu_odom_:  1691062558.364641270  0.696713   -0.131681  9.65342    -0.0575243  -0.00319579 0.036219    0.18       0             pose: 0.24912716    -4.7194    -0.471963   0 -0.00389919 0.000675763 0.721961    0.691923       uwb: 0.0            922.754  1482.28  
imu_odom_:  1691062558.387541942  0.328006   -0.234632  9.91199    -0.0596548  0.00852212  0.0447411   0.19       -0.02         pose: 0.39046895    -4.7194    -0.471963   0 -0.00182586 -0.0006886320.72198     0.691911       uwb: 0.0            922.754  1482.28  
imu_odom_:  1691062558.411574480  0.356736   -0.177171  10.2017    -0.0330232  0.0553937   0.0447411   0.19       -0.02         pose: 0.42058400    -4.71773   -0.459737   0 0.00072368  -0.0032155  0.721969    0.691917       uwb: 0.0            922.754  1482.28  
imu_odom_:  1691062558.428579592  -0.141258  -0.471658  9.52174    -0.0500674  -0.015979   0.0511327   0.19       -0.02         pose: 0.0           -4.71773   -0.459737   0 0.00072368  -0.0032155  0.721969    0.691917       uwb: 0.100071122    924.822  1482.87  
imu_odom_:  1691062558.453580384  0.162806   -0.105345  9.89284    -0.0436758  0.00426106  0.0372843   0.26       0.02          pose: 0.6937600     -4.71529   -0.458433   0 0.000241823 -0.00265854 0.721983    0.691905       uwb: 0.0            924.822  1482.87  
imu_odom_:  1691062558.469562996  0.921768   -0.189142  10.1107    -0.0692422  0.00639159  0.0468716   0.26       0.02          pose: 0.0           -4.71529   -0.458433   0 0.000241823 -0.00265854 0.721983    0.691905       uwb: 0.0            924.822  1482.87  
imu_odom_:  1691062558.495560623  0.591368   -0.260968  9.73243    -0.0639159  -0.0287621  0.0447411   0.23       -0.02         pose: 0.47979042    -4.72      -0.44961    0 -0.00164511 0.00190797  0.722088    0.691797       uwb: 0.49939464     925.139  1483.6   
imu_odom_:  1691062558.522569377  0.387861   -0.426168  10.2975    -0.0745685  -0.036219   0.056459    0.2        0             pose: 0.41017526    -4.72471   -0.440789   0 -0.00258538 0.00425265  0.722118    0.691752       uwb: 0.49863346     922.169  1483.23  
imu_odom_:  1691062558.547743113  1.1157     -0.184354  10.4651    -0.0543285  -0.0276969  0.0319579   0.2        0             pose: 0.0           -4.72471   -0.440789   0 -0.00258538 0.00425265  0.722118    0.691752       uwb: 0.0            922.169  1483.23  
imu_odom_:  1691062558.574520885  1.08457    -0.349553  10.0916    -0.0319579  0.0170442   0.0223706   0.23       0.02          pose: 0.43022571    -4.7206    -0.427258   0 -0.0009998240.000351745 0.722243    0.691638       uwb: 0.50061954     922.09   1483.72  
imu_odom_:  1691062558.590501164  0.301669   -0.0526724 9.7037     -0.0330232  0.015979    0.04048     0.23       0.02          pose: 0.0           -4.7206    -0.427258   0 -0.0009998240.000351745 0.722243    0.691638       uwb: 0.0            922.09   1483.72  
imu_odom_:  1691062558.617515459  0.42138    -0.304064  9.72046    -0.0266316  0.00106526  0.0511327   0.23       0             pose: 0.51075413    -4.7206    -0.427258   0 0.000488141 -0.00356238 0.722236    0.691637       uwb: 0.0            922.09   1483.72  
imu_odom_:  1691062558.642558247  0.416591   -0.0430956 9.84735    -0.0351537  -0.0234358  0.052198    0.23       0             pose: 0.0           -4.7206    -0.427258   0 0.000488141 -0.00356238 0.722236    0.691637       uwb: 0.49943840     922.479  1483.99  
imu_odom_:  1691062558.667491670  0.28491    -0.246603  9.69891    -0.04048    -0.0394148  0.036219    0.21       0             pose: 0.42897457    -4.71649   -0.413726   0 0.00113229  -0.00305126 0.72215     0.691729       uwb: 0.0            922.479  1483.99  
imu_odom_:  1691062558.681487028  0.581791   0.100556   10.1275    -0.0649811  -0.036219   0.0617853   0.21       0             pose: 0.0           -4.71649   -0.413726   0 0.00113229  -0.00305126 0.72215     0.691729       uwb: 0.49981169     921.985  1484.37  
imu_odom_:  1691062558.706553439  0.0933739  -0.328006  9.7851     -0.0671117  0.0308927   0.0532632   0.18       0             pose: 0.51973090    -4.7212    -0.404905   0 0.000787895 -0.0009712820.722337    0.69154        uwb: 0.0            921.985  1484.37  
imu_odom_:  1691062558.732502654  0.320823   -0.248997  9.83777    -0.0543285  -0.0117179  0.0639159   0.18       0             pose: 0.0           -4.7212    -0.404905   0 0.000787895 -0.0009712820.722337    0.69154        uwb: 0.50002460     919.822  1484.35  
imu_odom_:  1691062558.755494027  0.428562   -0.301669  9.80186    -0.0468716  0           0.0340885   0.2        0             pose: 0.82958685    -4.72294   -0.386216   0 -0.00417696 0.00158757  0.722753    0.691092       uwb: 0.0            919.822  1484.35  
imu_odom_:  1691062558.780478488  0.325611   -0.25618   9.52174    -0.0671117  0.00958738  0.0575243   0.2        0             pose: 0.0           -4.72294   -0.386216   0 -0.00417696 0.00158757  0.722753    0.691092       uwb: 0.0            919.822  1484.35  
imu_odom_:  1691062558.796492013  0.557849   -0.497994  9.72285    -0.0788296  -0.0138484  0.0543285   0.2        0             pose: 0.30023466    -4.72183   -0.38255    0 -0.00382947 0.000117018 0.72275     0.691099       uwb: 0.0            919.822  1484.35  
imu_odom_:  1691062558.822497515  0.555455   -0.0143652 10.1347    -0.056459   -0.00958738 0.0500674   0.2        0             pose: 0.0           -4.72183   -0.38255    0 -0.00382947 0.000117018 0.72275     0.691099       uwb: 0.0            919.822  1484.35  
imu_odom_:  1691062558.848541222  0.409408   -0.270545  10.1011    -0.052198   0.0213053   0.0351537   0.19       0             pose: 0.41963907    -4.72656   -0.373738   0 -0.00418436 -7.65562e-050.722971    0.690866       uwb: 0.0            919.822  1484.35  
imu_odom_:  1691062558.864484754  -0.0622492 -0.363919  9.68215    -0.0628506  0.00639159  0.0436758   0.19       0             pose: 0.0           -4.72656   -0.373738   0 -0.00418436 -7.65562e-050.722971    0.690866       uwb: 0.0            919.822  1484.35  
imu_odom_:  1691062558.890591165  0.371101   -0.155623  9.61033    -0.0511327  -0.0490022  0.0383495   0.19       0             pose: 0.51132284    -4.72248   -0.360196   0 -0.00251886 -0.0017609  0.723006    0.690834       uwb: 0.150157866    918.578  1484     
imu_odom_:  1691062558.915536253  0.653617   -0.246603  10.2089    -0.0543285  -0.0223706  0.0511327   0.17       0             pose: 0.34968854    -4.72248   -0.360196   0 -0.00111147 0.000291071 0.723017    0.69083        uwb: 0.0            918.578  1484     
imu_odom_:  1691062558.931534322  0.553061   -0.517148  9.22007    -0.056459   0.0617853   0.0372843   0.17       0             pose: 0.0           -4.72248   -0.360196   0 -0.00111147 0.000291071 0.723017    0.69083        uwb: 0.49792768     918.919  1484.55  
imu_odom_:  1691062558.957543032  0.0909797  -0.225055  9.32302    -0.0575243  0.0213053   0.0553937   0.18       0.02          pose: 0.6889479     -4.72248   -0.360196   0 -0.000603246-0.0002622950.723044    0.690802       uwb: 0.0            918.919  1484.55  
imu_odom_:  1691062558.983467749  0.287304   -0.371101  10.0509    -0.0436758  -0.0191748  0.04048     0.18       0.02          pose: 0.0           -4.72248   -0.360196   0 -0.000603246-0.0002622950.723044    0.690802       uwb: 0.50023458     916.78   1484.33  
imu_odom_:  1691062559.9482001    0.320823   -0.184354  9.92636    -0.052198   -0.00319579 0.0436758   0.19       0             pose: 0.42082022    -4.72722   -0.351388   0 -0.000852636-0.0021778  0.723147    0.69069        uwb: 0.0            916.78   1484.33  
imu_odom_:  1691062559.35590166   0.277727   0.0407014  9.61511    -0.0511327  0.0223706   0.0490022   0.19       0             pose: 0.0           -4.72722   -0.351388   0 -0.000852636-0.0021778  0.723147    0.69069        uwb: 0.49997213     913.337  1484.09  
imu_odom_:  1691062559.60615753   0.679953   -0.0909797 10.3406    -0.0617853  0.0372843   0.056459    0.19       0             pose: 0.50911802    -4.72315   -0.337844   0 -0.00422237 -0.0004110860.723263    0.690559       uwb: 0.0            913.337  1484.09  
imu_odom_:  1691062559.86480105   0.64404    -0.493206  9.68455    -0.0735032  0.0426106   0.0426106   0.2        -0.02         pose: 0.52022969    -4.72789   -0.32904    0 -0.00171704 0.00358031  0.723428    0.690389       uwb: 0.50250949     914.495  1484.94  
imu_odom_:  1691062559.102458345  0          -0.131681  10.0126    -0.0607201  -0.00639159 0.0500674   0.2        -0.02         pose: 0.0           -4.72789   -0.32904    0 -0.00171704 0.00358031  0.723428    0.690389       uwb: 0.0            914.495  1484.94  
imu_odom_:  1691062559.128529764  0.402226   -0.110133  9.92875    -0.0585895  -0.0276969  0.0479369   0.23       0             pose: 0.59960908    -4.72384   -0.315491   0 -0.00198422 0.00188746  0.723626    0.690187       uwb: 0.49922268     909.404  1484.2   
imu_odom_:  1691062559.154573476  0.244209   -0.28491   9.3709     -0.0394148  0.0223706   0.0298274   0.23       0             pose: 0.8070635     -4.72384   -0.315491   0 -0.00116375 0.00208291  0.723651    0.690162       uwb: 0.0            909.404  1484.2   
imu_odom_:  1691062559.179512445  0.234632   -0.198719  10.094     -0.0585895  0.0127832   0.052198    0.23       0             pose: 0.44044496    -4.72859   -0.306691   0 -0.00204065 0.00308836  0.723611    0.690198       uwb: 0.49828941     910.521  1485.27  
imu_odom_:  1691062559.193502847  0.553061   -0.476446  9.79228    -0.052198   -0.00639159 0.0394148   0.23       0             pose: 0.0           -4.72859   -0.306691   0 -0.00204065 0.00308836  0.723611    0.690198       uwb: 0.0            910.521  1485.27  
imu_odom_:  1691062559.218593762  0.368707   -0.280122  9.64624    -0.04048    0.0127832   0.0553937   0.18       -0.02         pose: 0.38929371    -4.72645   -0.299537   0 -0.00398952 0.00352348  0.723708    0.690085       uwb: 0.0            910.521  1485.27  
imu_odom_:  1691062559.235434973  0.732626   -0.0622492 10.2544    -0.076699   -0.00106526 0.0479369   0.18       -0.02         pose: 0.0           -4.72645   -0.299537   0 -0.00398952 0.00352348  0.723708    0.690085       uwb: 0.49991387     907.48   1485.11  
imu_odom_:  1691062559.260509556  0.225055   -0.550666  9.47625    -0.052198   0.0681769   0.0553937   0.2        -0.02         pose: 0.41932126    -4.72454   -0.293141   0 -0.00239806 0.000648126 0.723895    0.689906       uwb: 0.0            907.48   1485.11  
imu_odom_:  1691062559.287508399  0.0454898  -0.294487  10.0126    -0.0468716  0.00106526  0.0415453   0.2        -0.02         pose: 0.0           -4.72454   -0.293141   0 -0.00239806 0.000648126 0.723895    0.689906       uwb: 0.49983513     903.229  1484.37  
imu_odom_:  1691062559.312506571  0.366313   -0.244209  9.97185    -0.0756338  -0.0213053  0.0607201   0.19       0             pose: 0.52073426    -4.7293    -0.284345   0 -0.00734905 0.00224557  0.724033    0.689722       uwb: 0.0            903.229  1484.37  
imu_odom_:  1691062559.339448835  0.28491    -0.126893  10.2089    -0.0692422  0.00532632  0.0287621   0.19       0             pose: 0.0           -4.7293    -0.284345   0 -0.00734905 0.00224557  0.724033    0.689722       uwb: 0.50194370     900.68   1483.91  
imu_odom_:  1691062559.355438158  0.565032   -0.342371  9.64145    -0.0798948  0.0138484   0.04048     0.2        -0.02         pose: 0.31961147    -4.72526   -0.27079    0 -0.00474913 0.00154646  0.724205    0.689567       uwb: 0.0            900.68   1483.91  
imu_odom_:  1691062559.382487455  0.416591   -0.31364   9.96946    -0.0447411  0.02024     0.0383495   0.2        -0.02         pose: 0.0           -4.72526   -0.27079    0 -0.00474913 0.00154646  0.724205    0.689567       uwb: 0.49974180     897.62   1483.77  
imu_odom_:  1691062559.407434007  0.35913    -0.371101  10.3573    -0.0490022  -0.00958738 0.0330232   0.24       0.02          pose: 0.28127209    -4.72526   -0.27079    0 -0.00369657 0.00243629  0.72414     0.689638       uwb: 0.0            897.62   1483.77  
imu_odom_:  1691062559.434555339  0.435745   -0.395043  9.5385     -0.0490022  -0.0149137  0.0458064   0.23       0.02          pose: 0.15846126    -4.72526   -0.27079    0 -0.00349536 0.000984797 0.724139    0.689645       uwb: 0.49937433     901.737  1485.2   
imu_odom_:  1691062559.459503349  0.167594   -0.220267  9.81144    -0.036219   0.0223706   0.0415453   0.23       0.02          pose: 0.43991126    -4.73003   -0.261997   0 -0.00508312 -0.00242052 0.724059    0.689715       uwb: 0.0            901.737  1485.2   
imu_odom_:  1691062559.486482360  -0.122104  -0.42138   9.55287    -0.0490022  -0.00319579 0.0458064   0.23       -0.02         pose: 0.7058925     -4.73003   -0.261997   0 -0.00507343 -0.00313589 0.724071    0.6897         uwb: 0.49862480     900.847  1485.23  
imu_odom_:  1691062559.502532053  0.347159   -0.0574608 10.0149    -0.04048    -0.0245011  0.0351537   0.23       -0.02         pose: 0.0           -4.73003   -0.261997   0 -0.00507343 -0.00313589 0.724071    0.6897         uwb: 0.0            900.847  1485.23  
imu_odom_:  1691062559.529454485  0.897826   -0.184354  10.0772    -0.0649811  -0.00958738 0.0426106   0.23       -0.02         pose: 0.52137878    -4.72599   -0.248442   0 -0.00642317 -0.00197587 0.724148    0.689612       uwb: 0.49997803     897.346  1485.06  
imu_odom_:  1691062559.545562215  0.560243   -0.442927  9.68933    -0.0458064  0.0234358   0.0266316   0.23       -0.02         pose: 0.0           -4.72599   -0.248442   0 -0.00642317 -0.00197587 0.724148    0.689612       uwb: 0.0            897.346  1485.06  
imu_odom_:  1691062559.572559891  0.706289   -0.361524  9.991      -0.0735032  -0.00532632 0.056459    0.26       0.02          pose: 0.78931405    -4.7311    -0.228463   0 -0.00419127 -0.00289409 0.724129    0.689646       uwb: 0.50228493     897.287  1485.33  
imu_odom_:  1691062559.597575562  0.787692   -0.335188  9.60314    -0.0532632  -0.0458064  0.0234358   0.26       0.02          pose: 0.7895357     -4.72673   -0.226094   0 -0.00375216 -0.00357262 0.724172    0.6896         uwb: 0.0            897.287  1485.33  
imu_odom_:  1691062559.624423626  0.114922   -0.507571  9.64384    -0.0500674  0.0127832   0.04048     0.21       -0.02         pose: 0.44117990    -4.73015   -0.21977    0 -0.000549139-0.00734908 0.72412     0.689635       uwb: 0.50039216     897.2    1485.75  
imu_odom_:  1691062559.650450423  0.385466   -0.0885855 9.62469    -0.0308927  -0.00852212 0.04048     0.18       -0.02         pose: 0.0           -4.73015   -0.21977    0 -0.000549139-0.00734908 0.72412     0.689635       uwb: 0.0            897.2    1485.75  
imu_odom_:  1691062559.677399978  0.351948   -0.438139  9.36133    -0.0468716  0.0127832   0.0490022   0.25       0             pose: 0.52874861    -4.73492   -0.210968   0 -0.00161903 -0.00390786 0.724162    0.689617       uwb: 0.49724825     894.617  1485.39  
imu_odom_:  1691062559.702428773  0.474052   -0.0526724 9.95509    -0.0340885  -0.0213053  0.0511327   0.19       0             pose: 0.26949555    -4.73001   -0.205126   0 -0.0042628  -0.00452717 0.724247    0.689512       uwb: 0.0            894.617  1485.39  
imu_odom_:  1691062559.719464510  0.711078   -0.174777  10.1466    -0.0479369  -0.00745685 0.04048     0.19       0             pose: 0.8145295     -4.72746   -0.203744   0 -0.00346536 -0.00407361 0.724283    0.689482       uwb: 0.0            894.617  1485.39  
imu_odom_:  1691062559.745597757  0.486023   -0.177171  9.54808    -0.072438   -0.00532632 0.0639159   0.18       0.02          pose: 0.33919237    -4.73009   -0.198895   0 -0.000178452-0.0037666  0.724355    0.689417       uwb: 0.50141583     893.673  1485.64  
imu_odom_:  1691062559.772594850  0.811634   -0.28491   10.0365    -0.0575243  -0.052198   0.0458064   0.18       0.02          pose: 0.0           -4.73009   -0.198895   0 -0.000178452-0.0037666  0.724355    0.689417       uwb: 0.49864231     892.804  1485.54  
imu_odom_:  1691062559.788467807  0.979228   -0.0383072 9.97185    -0.0639159  0.00106526  0.0575243   0.19       0             pose: 0.8088133     -4.73223   -0.194954   0 0.000511898 -0.00348158 0.724422    0.689348       uwb: 0.0            892.804  1485.54  
imu_odom_:  1691062559.815433694  0.387861   -0.361524  10.1203    -0.0553937  0.0351537   0.0330232   0.19       0             pose: 0.0           -4.73223   -0.194954   0 0.000511898 -0.00348158 0.724422    0.689348       uwb: 0.0            892.804  1485.54  
imu_odom_:  1691062559.840402994  0.466869   -0.318429  9.68694    -0.0639159  0.00852212  0.0543285   0.2        0             pose: 0.52995017    -4.737     -0.186165   0 0.00483328  -0.00575135 0.724658    0.689068       uwb: 0.50005677     894.402  1486.37  
imu_odom_:  1691062559.857394110  0.56982    -0.497994  9.68933    -0.0735032  -0.0287621  0.052198    0.2        0             pose: 0.0           -4.737     -0.186165   0 0.00483328  -0.00575135 0.724658    0.689068       uwb: 0.0            894.402  1486.37  
imu_odom_:  1691062559.882446819  0.514753   -0.0837971 10.1634    -0.0575243  -0.0117179  0.0500674   0.2        0.02          pose: 0.42911172    -4.72821   -0.181389   0 0.00162939  -0.00553029 0.724706    0.689035       uwb: 0.50015301     890.499  1485.9   
imu_odom_:  1691062559.909480951  0.47884    -0.260968  10.2663    -0.0511327  -0.00319579 0.0330232   0.2        0.02          pose: 0.0           -4.72821   -0.181389   0 0.00162939  -0.00553029 0.724706    0.689035       uwb: 0.0            890.499  1485.9   
imu_odom_:  1691062559.934423711  0.409408   -0.323217  10.0197    -0.0735032  0.0127832   0.0607201   0.18       0.02          pose: 0.86022119    -4.73151   -0.160407   0 0.0011264   -0.00335983 0.724901    0.688844       uwb: 0.49987013     888.372  1485.44  
imu_odom_:  1691062559.961524337  0.308852   -0.232238  9.9527     -0.0511327  0           0.036219    0.23       0             pose: 0.8015514     -4.72899   -0.159039   0 0.000237172 -0.00350644 0.724961    0.688781       uwb: 0.0            888.372  1485.44  
imu_odom_:  1691062559.986385438  0.136469   -0.411803  10.1299    -0.0532632  -0.00745685 0.0447411   0.23       0             pose: 0.0           -4.72899   -0.159039   0 0.000237172 -0.00350644 0.724961    0.688781       uwb: 0.50032800     885.313  1485.13  
imu_odom_:  1691062560.13446111   0.565032   -0.174777  10.1538    -0.0458064  -0.0415453  0.0447411   0.21       -0.02         pose: 0.24064915    -4.72899   -0.159039   0 -0.00189452 -0.00312646 0.72508     0.688655       uwb: 0.0            885.313  1485.13  
imu_odom_:  1691062560.29391982   0.830788   -0.0526724 10.0317    -0.0692422  -0.0106526  0.0543285   0.21       -0.02         pose: 0.0           -4.72899   -0.159039   0 -0.00189452 -0.00312646 0.72508     0.688655       uwb: 0.49921396     885.232  1485.47  
imu_odom_:  1691062560.56390830   0.56982    -0.287304  9.98382    -0.0532632  -0.0191748  0.0426106   0.23       0.02          pose: 0.51909522    -4.73378   -0.150259   0 -0.00418165 -0.0009005760.725119    0.688611       uwb: 0.0            885.232  1485.47  
imu_odom_:  1691062560.82442130   1.01754    -0.402226  10.0437    -0.0479369  -0.0149137  0.0372843   0.23       0.02          pose: 0.0           -4.73378   -0.150259   0 -0.00418165 -0.0009005760.725119    0.688611       uwb: 0.50059641     883.059  1485.22  
imu_odom_:  1691062560.99446956   0.225055   -0.0742203 9.48583    -0.0543285  0.0127832   0.0458064   0.25       0             pose: 0.42924011    -4.72979   -0.13669    0 -1.99927e-05-0.00284847 0.725241    0.688489       uwb: 0.0            883.059  1485.22  
imu_odom_:  1691062560.125374308  0.35913    -0.277727  10.0269    -0.0713727  0.0340885   0.056459    0.25       0             pose: 0.0           -4.72979   -0.13669    0 -1.99927e-05-0.00284847 0.725241    0.688489       uwb: 0.49956691     885.908  1486.41  
imu_odom_:  1691062560.152529185  0.129287   -0.107739  10.0628    -0.0436758  0           0.0447411   0.25       0.02          pose: 0.52990361    -4.73458   -0.127913   0 0.00253845  -0.00613495 0.725239    0.688466       uwb: 0.0            885.908  1486.41  
imu_odom_:  1691062560.177517738  0.215478   -0.251391  10.2424    -0.0436758  0.00745685  0.0394148   0.19       0             pose: 0.43006839    -4.73937   -0.119136   0 -0.000587546-0.00269255 0.72544     0.68828        uwb: 0.50217712     884.655  1486.01  
imu_odom_:  1691062560.193473233  0.294487   -0.023942  9.991      -0.0596548  0.00745685  0.0458064   0.23       0.02          pose: 0.0           -4.73937   -0.119136   0 -0.000587546-0.00269255 0.72544     0.68828        uwb: 0.0            884.655  1486.01  
imu_odom_:  1691062560.219357422  0.0766145  -0.253785  9.36851    -0.036219   0.0298274   0.0245011   0.23       0.02          pose: 0.51978068    -4.73539   -0.105565   0 -0.00280928 0.00175479  0.725493    0.688221       uwb: 0.0            884.655  1486.01  
imu_odom_:  1691062560.243356722  0.462081   -0.11971   9.98861    -0.0245011  0           0.0447411   0.23       -0.02         pose: 0.0           -4.73539   -0.105565   0 -0.00280928 0.00175479  0.725493    0.688221       uwb: 0.49633550     883.844  1485.65  
imu_odom_:  1691062560.267351939  0.533907   0.0622492  10.0365    -0.02024    -0.0298274  0.0340885   0.23       -0.02         pose: 0.42004754    -4.73539   -0.105565   0 -0.00395216 0.00438362  0.725384    0.68832        uwb: 0.0            883.844  1485.65  
imu_odom_:  1691062560.284424719  0.526724   -0.428562  9.30387    -0.0511327  0.0138484   0.0500674   0.19       0             pose: 0.40977004    -4.73424   -0.093541   0 0.000735343 0.00441625  0.725381    0.688333       uwb: 0.50151800     884.138  1486.3   
imu_odom_:  1691062560.300417252  0.519542   -0.0311246 10.5752    -0.0639159  -0.0127832  0.0468716   0.19       0             pose: 0.0           -4.73424   -0.093541   0 0.000735343 0.00441625  0.725381    0.688333       uwb: 0.0            884.138  1486.3   
imu_odom_:  1691062560.326375810  1.00796    -0.316035  9.64624    -0.0671117  0.00319579  0.0532632   0.18       0             pose: 0.33065313    -4.73393   -0.0873812  0 0.00188054  0.00272678  0.72549     0.688225       uwb: 0.49955817     884.917  1486.8   
imu_odom_:  1691062560.351633549  0.905008   -0.344765  10.0461    -0.0628506  0.0319579   0.0426106   0.18       0             pose: 0.0           -4.73393   -0.0873812  0 0.00188054  0.00272678  0.72549     0.688225       uwb: 0.0            884.917  1486.8   
imu_odom_:  1691062560.377472533  0.275333   -0.23942   9.54808    -0.0841559  0.0511327   0.056459    0.18       0             pose: 0.51216297    -4.73974   -0.0767566  0 0.00375655  -0.00156677 0.725648    0.688054       uwb: 0.50126718     885.746  1487.09  
imu_odom_:  1691062560.400563657  0.40462    -0.280122  9.60554    -0.0894822  -0.0340885  0.0447411   0.18       0             pose: 0.0           -4.73974   -0.0767566  0 0.00375655  -0.00156677 0.725648    0.688054       uwb: 0.0            885.746  1487.09  
imu_odom_:  1691062560.416360790  0.608127   -0.579397  9.91678    -0.0575243  0.0266316   0.0351537   0.17       0.02          pose: 0.31855579    -4.74101   -0.0744464  0 0.000242704 -0.0006128120.725813    0.687891       uwb: 0.0            885.746  1487.09  
imu_odom_:  1691062560.432367032  1.26174    -0.40462   10.4818    -0.0713727  -0.0948085  0.0905475   0.17       0.02          pose: 0.0           -4.74101   -0.0744464  0 0.000242704 -0.0006128120.725813    0.687891       uwb: 0.49922278     879.78   1485.8   
imu_odom_:  1691062560.448342942  1.27372    -0.225055  9.66539    -0.0543285  -0.0447411  0.108657    0.17       0.02          pose: 0.0           -4.74101   -0.0744464  0 0.000242704 -0.0006128120.725813    0.687891       uwb: 0.0            879.78   1485.8   
imu_odom_:  1691062560.464332268  1.8579     -0.296881  10.1969    -0.0479369  -0.0468716  0.149137    0.15       0.2           pose: 0.23987926    -4.73224   -0.0696409  0 -0.00132984 -0.00268292 0.72583     0.687868       uwb: 0.0            879.78   1485.8   
imu_odom_:  1691062560.480355133  1.53468    -0.363919  9.34936    -0.0575243  -0.0809601  0.209857    0.15       0.2           pose: 0.0           -4.73224   -0.0696409  0 -0.00132984 -0.00268292 0.72583     0.687868       uwb: 0.49961357     878.372  1486.03  
imu_odom_:  1691062560.497465534  1.63763    -0.414197  10.082     -0.0415453  0           0.269512    0.15       0.41          pose: 0.72878079    -4.737     -0.0608772  0 0.0042351   -0.00944391 0.727967    0.685535       uwb: 0.0            878.372  1486.03  
imu_odom_:  1691062560.514517315  0.859518   -0.320823  9.83299    -0.0553937  0.0266316   0.372843    0.15       0.41          pose: 0.0           -4.737     -0.0608772  0 0.0042351   -0.00944391 0.727967    0.685535       uwb: 0.0            878.372  1486.03  
imu_odom_:  1691062560.530389984  0.80924    -0.622492  9.93594    -0.0596548  0.02024     0.46339     0.15       0.41          pose: 0.0           -4.737     -0.0608772  0 0.0042351   -0.00944391 0.727967    0.685535       uwb: 0.50102804     876.184  1485.77  
imu_odom_:  1691062560.546511424  0.806846   -0.560243  10.1849    -0.0415453  -0.0117179  0.488956    0.1        0.41          pose: 0.7153418     -4.73704   -0.0608714  0 0.00471131  -0.00994771 0.728524    0.684932       uwb: 0.0            876.184  1485.77  
imu_odom_:  1691062560.563452089  0.818817   -0.117316  9.69173    -0.0468716  -0.00958738 0.499609    0.09       0.47          pose: 0.0           -4.73704   -0.0608714  0 0.00471131  -0.00994771 0.728524    0.684932       uwb: 0.0            876.184  1485.77  
imu_odom_:  1691062560.580464207  1.06063    -0.0526724 10.2208    -0.036219   -0.0106526  0.515588    0.09       0.47          pose: 0.66995349    -4.73291   -0.047367   0 0.00613743  -0.0145646  0.737196    0.675494       uwb: 0.50015895     872.339  1484.92  
imu_odom_:  1691062560.596452366  0.948104   -0.414197  9.71328    -0.0585895  -0.0117179  0.540089    0.09       0.47          pose: 0.0           -4.73291   -0.047367   0 0.00613743  -0.0145646  0.737196    0.675494       uwb: 0.0            872.339  1484.92  
imu_odom_:  1691062560.613448735  0.758962   -0.572214  9.84496    -0.0617853  0.0149137   0.54435     0.08       0.5           pose: 0.0           -4.73291   -0.047367   0 0.00613743  -0.0145646  0.737196    0.675494       uwb: 0.0            872.339  1484.92  
imu_odom_:  1691062560.631450106  0.667982   -0.294487  9.98861    -0.0511327  -0.0117179  0.558199    0.08       0.5           pose: 0.33954241    -4.73291   -0.0473673  0 0.00910311  -0.0151823  0.742603    0.669498       uwb: 0.49848491     869.72   1484.54  
imu_odom_:  1691062560.645455385  0.761356   -0.0766145 9.68933    -0.0596548  -0.0191748  0.597613    0.07       0.58          pose: 0.42991965    -4.73762   -0.0385498  0 0.00783739  -0.0155263  0.749913    0.661308       uwb: 0.0            869.72   1484.54  
imu_odom_:  1691062560.660316927  0.881066   -0.308852  9.90481    -0.0340885  0.00106526  0.610397    0.07       0.58          pose: 0.5890605     -4.73762   -0.0385498  0 0.0083012   -0.0152146  0.750993    0.660083       uwb: 0.0            869.72   1484.54  
imu_odom_:  1691062560.677450952  0.593762   -0.395043  9.8665     -0.0426106  0.0394148   0.614658    0.07       0.58          pose: 0.0           -4.73762   -0.0385498  0 0.0083012   -0.0152146  0.750993    0.660083       uwb: 0.50004229     869.671  1484.72  
imu_odom_:  1691062560.694664012  0.885855   -0.263362  10.0173    -0.0500674  0.0149137   0.630637    0.05       0.5           pose: 0.40110241    -4.73758   -0.0385558  0 0.00817013  -0.0149003  0.758495    0.651457       uwb: 0.0            869.671  1484.72  
imu_odom_:  1691062560.709604298  1.00078    -0.277727  9.63427    -0.0500674  0.00745685  0.626375    0.05       0.47          pose: 0.0           -4.73758   -0.0385558  0 0.00817013  -0.0149003  0.758495    0.651457       uwb: 0.0            869.671  1484.72  
imu_odom_:  1691062560.724594163  0.395043   -0.160412  9.55047    -0.0607201  0.0596548   0.56246     0.05       0.47          pose: 0.0           -4.73758   -0.0385558  0 0.00817013  -0.0149003  0.758495    0.651457       uwb: 0.50110678     870.021  1485.1   
imu_odom_:  1691062560.741434795  0.0430956  0.0742203  10.2783    -0.0426106  0.00532632  0.465521    0.05       0.47          pose: 0.24225323    -4.73762   -0.0385498  0 0.010182    -0.0156822  0.76309     0.646022       uwb: 0.0            870.021  1485.1   
imu_odom_:  1691062560.758432914  0.481235   -0.0957681 9.84735    -0.0532632  -0.0191748  0.411192    0.06       0.53          pose: 0.0           -4.73762   -0.0385498  0 0.010182    -0.0156822  0.76309     0.646022       uwb: 0.0            870.021  1485.1   
imu_odom_:  1691062560.773420154  0.785298   -0.184354  10.0365    -0.0639159  -0.00532632 0.38243     0.06       0.53          pose: 0.0           -4.73762   -0.0385498  0 0.010182    -0.0156822  0.76309     0.646022       uwb: 0.49911195     868.223  1485.03  
imu_odom_:  1691062560.789325779  0.727837   -0.349553  9.73004    -0.0458064  0.0170442   0.347276    0.03       0.32          pose: 0.71743879    -4.74017   -0.0338793  0 0.0103005   -0.0112828  0.773063    0.634145       uwb: 0.0            868.223  1485.03  
imu_odom_:  1691062560.806431514  0.636858   -0.19393   9.90721    -0.0575243  0.02024     0.331297    0.03       0.32          pose: 0.0           -4.74017   -0.0338793  0 0.0103005   -0.0112828  0.773063    0.634145       uwb: 0.0            868.223  1485.03  
imu_odom_:  1691062560.822582410  0.368707   -0.167594  9.92875    -0.0553937  0.0127832   0.324906    0.03       0.32          pose: 0.0           -4.74017   -0.0338793  0 0.0103005   -0.0112828  0.773063    0.634145       uwb: 0.49979731     866.853  1485.05  
imu_odom_:  1691062560.839319508  0.56982    -0.244209  9.94551    -0.052198   0           0.297209    0.04       0.35          pose: 0.6968809     -4.74239   -0.0297599  0 0.0100218   -0.0118787  0.773746    0.633306       uwb: 0.0            866.853  1485.05  
imu_odom_:  1691062560.865375183  0.620098   -0.186748  9.87129    -0.0490022  0.00213053  0.264186    0.03       0.26          pose: 0.0           -4.74239   -0.0297599  0 0.0100218   -0.0118787  0.773746    0.633306       uwb: 0.0            866.853  1485.05  
imu_odom_:  1691062560.882314390  0.471658   -0.287304  9.95988    -0.0532632  -0.00852212 0.256729    0.03       0.26          pose: 0.66946352    -4.74239   -0.02976    0 0.0078387   -0.00760224 0.779596    0.626188       uwb: 0.50098138     865.509  1484.97  
imu_odom_:  1691062560.898319465  0.452504   -0.220267  9.8665     -0.0500674  0.00958738  0.192813    0.03       0.26          pose: 0.0           -4.74239   -0.02976    0 0.0078387   -0.00760224 0.779596    0.626188       uwb: 0.0            865.509  1484.97  
imu_odom_:  1691062560.915518817  0.356736   0.0670376  9.96706    -0.0500674  0           0.109722    0.03       0.26          pose: 0.0           -4.74239   -0.02976    0 0.0078387   -0.00760224 0.779596    0.626188       uwb: 0.0            865.509  1484.97  
imu_odom_:  1691062560.932309870  0.289698   0.0407014  9.9096     -0.0575243  -0.0127832  0.052198    0.03       0.26          pose: 0.24990012    -4.74239   -0.02976    0 0.00838708  -0.00615344 0.781328    0.624034       uwb: 0.49959316     867.087  1485.87  
imu_odom_:  1691062560.949321404  0.746991   -0.196325  9.97903    -0.0596548  -0.0287621  -0.015979   0.02       -0.05         pose: 0.51112763    -4.74239   -0.02976    0 0.00605998  -0.00244522 0.783194    0.621743       uwb: 0.0            867.087  1485.87  
imu_odom_:  1691062560.965331728  0.919373   -0.234632  9.85932    -0.0532632  -0.0330232  -0.0969391  0.02       -0.05         pose: 0.0           -4.74239   -0.02976    0 0.00605998  -0.00244522 0.783194    0.621743       uwb: 0.0            867.087  1485.87  
imu_odom_:  1691062560.982346762  0.962469   0.0502782  9.89763    -0.052198   0           -0.185356   0.02       -0.26         pose: 0.41893638    -4.74239   -0.02976    0 0.00854054  -0.00428794 0.782239    0.622905       uwb: 0.49936859     868.262  1486.58  
imu_odom_:  1691062560.998292342  0.411803   -0.0191536 9.81383    -0.0596548  0.0223706   -0.221575   0.02       -0.26         pose: 0.0           -4.74239   -0.02976    0 0.00854054  -0.00428794 0.782239    0.622905       uwb: 0.0            868.262  1486.58  
imu_odom_:  1691062561.15284047   0.0933739  -0.397437  10.0006    -0.0692422  0.0106526   -0.264186   0.02       -0.26         pose: 0.0           -4.74239   -0.02976    0 0.00854054  -0.00428794 0.782239    0.622905       uwb: 0.0            868.262  1486.58  
imu_odom_:  1691062561.31336662   0.258574   -0.344765  9.92636    -0.0585895  -0.015979   -0.278034   0.01       -0.26         pose: 0.7208540     -4.74239   -0.02976    0 0.00925467  -0.00435666 0.781727    0.623537       uwb: 0.49831580     866.975  1486.28  
imu_odom_:  1691062561.48564891   0.407014   -0.277727  9.8665     -0.056459   -0.00532632 -0.264186   0.02       -0.41         pose: 0.0           -4.74239   -0.02976    0 0.00925467  -0.00435666 0.781727    0.623537       uwb: 0.0            866.975  1486.28  
imu_odom_:  1691062561.66582014   0.591368   -0.134075  9.97903    -0.0639159  -0.0213053  -0.246076   0.02       -0.41         pose: 0.66047515    -4.74239   -0.0297601  0 0.00550199  -0.00236727 0.77584     0.630901       uwb: 0.0            866.975  1486.28  
imu_odom_:  1691062561.80431850   0.500388   -0.229843  9.86172    -0.0500674  0           -0.275903   0.02       -0.35         pose: 0.0           -4.74239   -0.0297601  0 0.00550199  -0.00236727 0.77584     0.630901       uwb: 0.50133728     866.021  1486.43  
imu_odom_:  1691062561.97415681   0.423774   -0.0454898 9.9527     -0.0500674  -0.0245011  -0.307861   0.02       -0.35         pose: 0.0           -4.74239   -0.0297601  0 0.00550199  -0.00236727 0.77584     0.630901       uwb: 0.0            866.021  1486.43  
imu_odom_:  1691062561.111295264  0.363919   -0.169988  9.74201    -0.0692422  -0.00745685 -0.324906   0.02       -0.35         pose: 0.33849256    -4.74239   -0.02976    0 0.00583297  -0.00286994 0.772667    0.634779       uwb: 0.0            866.021  1486.43  
imu_odom_:  1691062561.127299759  0.555455   -0.229843  10.07      -0.0649811  -0.00532632 -0.36432    0.02       -0.35         pose: 0.38858225    -4.74239   -0.02976    0 0.00435947  -0.0006686470.768373    0.639987       uwb: 0.50113313     865.527  1486.56  
imu_odom_:  1691062561.144283007  0.579397   -0.129287  9.81623    -0.0575243  -0.0191748  -0.38243    0.02       -0.35         pose: 0.7117840     -4.74239   -0.02976    0 0.00449044  -0.00138719 0.767453    0.641088       uwb: 0.0            865.527  1486.56  
imu_odom_:  1691062561.160284877  0.694318   -0.316035  9.88087    -0.056459   -0.00639159 -0.338754   0.02       -0.35         pose: 0.0           -4.74239   -0.02976    0 0.00449044  -0.00138719 0.767453    0.641088       uwb: 0.0            865.527  1486.56  
imu_odom_:  1691062561.177406072  0.529119   -0.550666  9.89524    -0.0628506  -0.00639159 -0.270577   0.02       -0.41         pose: 0.41871773    -4.74239   -0.02976    0 0.00668643  -0.0040076  0.762029    0.647496       uwb: 0.49885831     865.877  1486.95  
imu_odom_:  1691062561.194287246  0.526724   -0.423774  9.96946    -0.0532632  -0.0127832  -0.223706   0.01       -0.26         pose: 0.0           -4.74239   -0.02976    0 0.00668643  -0.0040076  0.762029    0.647496       uwb: 0.0            865.877  1486.95  
imu_odom_:  1691062561.210283283  0.4956     -0.301669  9.97424    -0.0596548  -0.00532632 -0.173638   0.01       -0.26         pose: 0.0           -4.74239   -0.02976    0 0.00668643  -0.0040076  0.762029    0.647496       uwb: 0.0            865.877  1486.95  
imu_odom_:  1691062561.226405309  0.452504   -0.225055  9.96227    -0.0596548  0.00426106  -0.145941   0.01       -0.17         pose: 0.25019764    -4.74717   -0.0209779  0 0.00492496  -0.00581777 0.759644    0.650294       uwb: 0.50036028     864.126  1486.66  
imu_odom_:  1691062561.243407514  0.433351   -0.308852  9.85932    -0.0553937  -0.0106526  -0.128897   0.01       -0.17         pose: 0.0           -4.74717   -0.0209779  0 0.00492496  -0.00581777 0.759644    0.650294       uwb: 0.0            864.126  1486.66  
imu_odom_:  1691062561.260475631  0.543484   -0.232238  9.88805    -0.0628506  -0.00958738 -0.107592   0.01       -0.17         pose: 0.31985074    -4.74717   -0.0209779  0 0.00248929  -0.00575531 0.757357    0.652971       uwb: 0.0            864.126  1486.66  
imu_odom_:  1691062561.276280350  0.548272   -0.311246  9.84496    -0.0575243  -0.00319579 -0.0916127  0.01       -0.14         pose: 0.43185916    -4.74717   -0.0209779  0 0.00226451  -0.00511949 0.755047    0.655647       uwb: 0.49976532     864.126  1486.66  
imu_odom_:  1691062561.293269723  0.47884    -0.227449  9.88566    -0.0543285  -0.00213053 -0.0820254  0.01       -0.14         pose: 0.0           -4.74717   -0.0209779  0 0.00226451  -0.00511949 0.755047    0.655647       uwb: 0.0            864.126  1486.66  
imu_odom_:  1691062561.309280341  0.442927   -0.258574  9.86172    -0.0553937  -0.00319579 -0.0745685  0.01       -0.14         pose: 0.0           -4.74717   -0.0209779  0 0.00226451  -0.00511949 0.755047    0.655647       uwb: 0.0            864.126  1486.66  
imu_odom_:  1691062561.326361582  0.517148   -0.222661  9.88566    -0.0553937  -0.00639159 -0.0671117  0.01       -0.14         pose: 0.6925355     -4.74717   -0.0209779  0 0.00228114  -0.00581481 0.754747    0.655986       uwb: 0.49849085     862.762  1486.62  
imu_odom_:  1691062561.351403802  0.466869   -0.28491   9.87608    -0.0575243  -0.00319579 -0.0532632  0          -0.08         pose: 0.0           -4.74717   -0.0209779  0 0.00228114  -0.00581481 0.754747    0.655986       uwb: 0.0            862.762  1486.62  
imu_odom_:  1691062561.378453110  0.363919   -0.325611  9.79468    -0.0607201  -0.00426106 -0.0841559  0.01       -0.11         pose: 0.66908452    -4.74717   -0.0209779  0 0.00210671  -0.00429491 0.752247    0.658864       uwb: 0.50027570     863.974  1487.2   
imu_odom_:  1691062561.404334970  0.289698   0.213084   9.96227    -0.0511327  -0.00532632 -0.211988   0.01       -0.11         pose: 0.23997555    -4.74717   -0.0209779  0 -0.000225536-0.00457111 0.75145     0.659774       uwb: 0.0            863.974  1487.2   
imu_odom_:  1691062561.431569471  0.462081   -0.23942   9.9934     -0.0585895  -0.0213053  -0.322775   0.01       -0.35         pose: 0.46027977    -4.74717   -0.0209779  0 -0.000950043-0.00167704 0.748485    0.663149       uwb: 0.49939493     866.88   1488.3   
imu_odom_:  1691062561.448417980  0.490811   -0.179565  9.7444     -0.0596548  -0.00639159 -0.357929   0.01       -0.35         pose: 0.6961227     -4.74717   -0.0209779  0 -0.000295072-0.00205149 0.747647    0.664093       uwb: 0.0            866.88   1488.3   
imu_odom_:  1691062561.475271595  0.490811   -0.198719  9.89284    -0.056459   0.00106526  -0.370712   0.01       -0.55         pose: 0.0           -4.74717   -0.0209779  0 -0.000295072-0.00205149 0.747647    0.664093       uwb: 0.50063734     866.392  1488.41  
imu_odom_:  1691062561.501538424  0.430956   -0.141258  9.97664    -0.0639159  -0.0149137  -0.4048     0.01       -0.55         pose: 0.37121783    -4.74713   -0.020984   0 0.00312715  -0.00243609 0.742955    0.66933        uwb: 0.0            866.392  1488.41  
imu_odom_:  1691062561.528336335  0.545878   -0.225055  9.74201    -0.0681769  -0.00213053 -0.452737   0.01       -0.64         pose: 0.53120444    -4.74714   -0.0209829  0 0.00454012  -8.28612e-050.735299    0.677727       uwb: 0.0            866.392  1488.41  
imu_odom_:  1691062561.554269525  0.562637   -0.179565  9.84496    -0.0585895  -0.0117179  -0.500674   0.01       -0.53         pose: 0.0           -4.74714   -0.0209829  0 0.00454012  -8.28612e-050.735299    0.677727       uwb: 0.0            866.392  1488.41  
imu_odom_:  1691062561.581321749  0.45011    -0.241814  9.78989    -0.0639159  -0.0213053  -0.533697   0.01       -0.53         pose: 0.34803804    -4.74717   -0.0209786  0 0.00539032  -0.00324432 0.729336    0.684127       uwb: 0.100242958    868.983  1488.99  
imu_odom_:  1691062561.597458358  0.565032   -0.248997  9.86411    -0.0617853  -0.0149137  -0.553937   0          -0.55         pose: 0.0           -4.74717   -0.0209786  0 0.00539032  -0.00324432 0.729336    0.684127       uwb: 0.0            868.983  1488.99  
imu_odom_:  1691062561.614291410  0.447716   -0.248997  9.81144    -0.0479369  -0.0127832  -0.567786   0          -0.55         pose: 0.53018661    -4.74717   -0.0209785  0 0.00457159  -0.00457309 0.719009    0.69497        uwb: 0.0            868.983  1488.99  
imu_odom_:  1691062561.640432249  0.440533   -0.217872  10.1562    -0.0607201  -0.0255663  -0.583765   0          -0.61         pose: 0.24930521    -4.74713   -0.0209844  0 0.00334091  -0.0045345  0.713775    0.700352       uwb: 0.49879998     870.604  1489.76  
imu_odom_:  1691062561.667314737  0.392649   -0.308852  10.0365    -0.0543285  0.00532632  -0.626375   0          -0.61         pose: 0.8075012     -4.74717   -0.0209785  0 0.00294325  -0.00393451 0.712013    0.702149       uwb: 0.0            870.604  1489.76  
imu_odom_:  1691062561.693364292  0.42138    -0.304064  9.95509    -0.052198   0.0117179   -0.64555    0          -0.67         pose: 0.44948315    -4.73825   -0.0161905  0 -0.000688425-0.00265784 0.70171     0.712458       uwb: 0.50068400     872.303  1490.25  
imu_odom_:  1691062561.720300734  0.366313   -0.136469  9.79468    -0.0490022  -0.0138484  -0.672182   0          -0.67         pose: 0.0           -4.73825   -0.0161905  0 -0.000688425-0.00265784 0.70171     0.712458       uwb: 0.0            872.303  1490.25  
imu_odom_:  1691062561.746308584  0.486023   -0.148441  9.79707    -0.0628506  -0.0138484  -0.687096   0          -0.79         pose: 0.52985997    -4.73825   -0.0161901  0 -0.00146984 -0.00159128 0.688409    0.725319       uwb: 0.49745260     871.013  1489.94  
imu_odom_:  1691062561.773334852  0.47884    -0.248997  9.83059    -0.0553937  -0.00426106 -0.710531   0          -1            pose: 0.26007850    -4.73825   -0.0161909  0 0.00114562  -0.00144829 0.681523    0.731795       uwb: 0.50120604     870.574  1489.87  
imu_odom_:  1691062561.799280874  0.280122   -0.0814029 9.93833    -0.0511327  -0.00745685 -0.739294   0          -1            pose: 0.7969729     -4.73841   -0.0161699  0 0.00121536  -0.00223949 0.679332    0.733827       uwb: 0.0            870.574  1489.87  
imu_odom_:  1691062561.816284829  0.344765   -0.275333  9.80426    -0.0649811  -0.0170442  -0.756338   0          -1.06         pose: 0.45002561    -4.73825   -0.0161899  0 0.00137697  -0.00151769 0.666572    0.745438       uwb: 0.0            870.574  1489.87  
imu_odom_:  1691062561.832393440  0.76375    -0.136469  10.0317    -0.0607201  -0.0276969  -0.765925   0          -1.06         pose: 0.0           -4.73825   -0.0161899  0 0.00137697  -0.00151769 0.666572    0.745438       uwb: 0.49937160     870.164  1489.69  
imu_odom_:  1691062561.858405081  0.675165   -0.328006  9.81383    -0.0553937  -0.0181095  -0.794687   0          -1.06         pose: 0.7063594     -4.73841   -0.0161699  0 0.000707897 -0.00137169 0.664475    0.747309       uwb: 0.0            870.164  1489.69  
imu_odom_:  1691062561.883382557  0.483629   -0.28491   9.8689     -0.0639159  -0.0127832  -0.775513   0          -1.06         pose: 0.0           -4.73841   -0.0161699  0 0.000707897 -0.00137169 0.664475    0.747309       uwb: 0.49996365     868.474  1489.16  
imu_odom_:  1691062561.900287936  0.481235   -0.248997  9.79468    -0.0479369  -0.015979   -0.790426   0          -0.97         pose: 0.33064153    -4.73841   -0.0161701  0 0.00145569  -0.00292116 0.654422    0.756122       uwb: 0.0            868.474  1489.16  
imu_odom_:  1691062561.925271536  0.471658   -0.107739  10.0556    -0.0490022  -0.0223706  -0.80747    0          -0.97         pose: 0.0           -4.73841   -0.0161701  0 0.00145569  -0.00292116 0.654422    0.756122       uwb: 0.50113021     868.413  1489.39  
imu_odom_:  1691062561.949228844  0.536301   -0.141258  9.76116    -0.0639159  -0.0245011  -0.801079   0          -1            pose: 0.50841254    -4.73841   -0.0161698  0 0.000290689 -0.00521419 0.63844     0.769654       uwb: 0.0            868.413  1489.39  
imu_odom_:  1691062561.972266894  0.612916   -0.28491   9.83059    -0.0660464  -0.0234358  -0.812797   0          -1            pose: 0.0           -4.73841   -0.0161698  0 0.000290689 -0.00521419 0.63844     0.769654       uwb: 0.49969241     864.665  1488.03  
imu_odom_:  1691062561.986284716  0.40462    -0.112527  9.7444     -0.0575243  -0.00319579 -0.820254   0          -1            pose: 0.0           -4.73841   -0.0161698  0 0.000290689 -0.00521419 0.63844     0.769654       uwb: 0.0            864.665  1488.03  
imu_odom_:  1691062562.3426326    0.452504   -0.146046  9.87848    -0.0585895  -0.0276969  -0.822384   0          -0.88         pose: 0.41974139    -4.73841   -0.0161697  0 0.00384133  -0.00295668 0.624732    0.780824       uwb: 0.0            864.665  1488.03  
imu_odom_:  1691062562.27216819   0.488417   -0.23942   9.97903    -0.0585895  -0.0276969  -0.84582    0          -0.88         pose: 0.0           -4.73841   -0.0161697  0 0.00384133  -0.00295668 0.624732    0.780824       uwb: 0.49958746     866.893  1488.25  
imu_odom_:  1691062562.51285831   0.610521   -0.208296  9.69173    -0.0617853  -0.0127832  -0.870321   0          -0.88         pose: 0.78042217    -4.73841   -0.0161697  0 0.00431484  -0.00297577 0.598299    0.801256       uwb: 0.0            866.893  1488.25  
imu_odom_:  1691062562.76344971   0.438139   -0.232238  9.72764    -0.0532632  -0.00852212 -0.873517   0          -1.17         pose: 0.41019600    -4.73825   -0.0161887  0 0.00445621  -0.00582223 0.583409    0.812145       uwb: 0.50003373     865.215  1487.69  
imu_odom_:  1691062562.100213916  0.481235   -0.311246  9.9934     -0.0585895  -0.00745685 -0.862864   0          -1.17         pose: 0.0           -4.73825   -0.0161887  0 0.00445621  -0.00582223 0.583409    0.812145       uwb: 0.0            865.215  1487.69  
imu_odom_:  1691062562.117224582  0.349553   -0.153229  9.84496    -0.0553937  -0.00213053 -0.873517   0          -0.91         pose: 0.6955104     -4.73841   -0.0161678  0 0.00397692  -0.00534437 0.580831    0.813997       uwb: 0.0            865.215  1487.69  
imu_odom_:  1691062562.141215434  0.229843   -0.0670376 9.91199    -0.0607201  -0.0276969  -0.859668   0          -0.91         pose: 0.0           -4.73841   -0.0161678  0 0.00397692  -0.00534437 0.580831    0.813997       uwb: 0.49984708     863.244  1486.53  
imu_odom_:  1691062562.164350605  0.612916   -0.205901  9.98622    -0.0639159  -0.0266316  -0.869256   0          -0.88         pose: 0.49084114    -4.73841   -0.016169   0 0.000624295 -0.00435891 0.562569    0.826739       uwb: 0.0            863.244  1486.53  
imu_odom_:  1691062562.190207972  0.332794   -0.0909797 9.97903    -0.0575243  -0.0170442  -0.891626   0          -0.88         pose: 0.0           -4.73841   -0.016169   0 0.000624295 -0.00435891 0.562569    0.826739       uwb: 0.50010956     864.044  1486.95  
imu_odom_:  1691062562.206213344  0.263362   -0.265756  9.56244    -0.0681769  -0.0213053  -0.864995   0          -0.88         pose: 0.39898232    -4.73841   -0.0161696  0 0.00129876  -0.00177742 0.547569    0.836758       uwb: 0.0            864.044  1486.95  
imu_odom_:  1691062562.233195288  0.488417   -0.265756  9.94312    -0.0628506  -0.0223706  -0.878843   0          -0.88         pose: 0.0           -4.73841   -0.0161696  0 0.00129876  -0.00177742 0.547569    0.836758       uwb: 0.49851427     863.308  1486.31  
imu_odom_:  1691062562.258189975  0.371101   -0.227449  9.98622    -0.0543285  -0.0213053  -0.904409   0          -0.94         pose: 0.50168152    -4.73841   -0.0161688  0 0.00210821  -0.0005983910.528114    0.849171       uwb: 0.0            863.308  1486.31  
imu_odom_:  1691062562.275199766  0.447716   -0.225055  9.90481    -0.0671117  -0.0266316  -0.913997   0          -0.94         pose: 0.0           -4.73841   -0.0161688  0 0.00210821  -0.0005983910.528114    0.849171       uwb: 0.50010664     866.197  1487.45  
imu_odom_:  1691062562.300187745  0.462081   -0.306458  9.73243    -0.0543285  -0.0181095  -0.915062   0          -0.94         pose: 0.42878241    -4.73841   -0.0161691  0 0.000431066 -0.0024711  0.51127     0.859416       uwb: 0.0            866.197  1487.45  
imu_odom_:  1691062562.316182910  0.452504   -0.260968  9.84975    -0.0585895  -0.0298274  -0.915062   0          -0.94         pose: 0.0           -4.73841   -0.0161691  0 0.000431066 -0.0024711  0.51127     0.859416       uwb: 0.0            866.197  1487.45  
imu_odom_:  1691062562.340193302  0.349553   -0.282516  9.85214    -0.0468716  -0.0468716  -0.910801   0          -1            pose: 0.42099845    -4.73841   -0.0161688  0 0.000240775 -0.00301798 0.49399     0.869462       uwb: 0.50008915     866.222  1487.36  
imu_odom_:  1691062562.367204992  0.768539   -0.107739  9.57441    -0.0756338  -0.0298274  -0.90654    0          -1            pose: 0.0           -4.73841   -0.0161688  0 0.000240775 -0.00301798 0.49399     0.869462       uwb: 0.0            866.222  1487.36  
imu_odom_:  1691062562.391195844  0.610521   -0.371101  10.0221    -0.0575243  0.02024     -0.902279   0          -0.94         pose: 0.40830907    -4.73841   -0.0161693  0 -0.000901417-0.00248841 0.476972    0.878914       uwb: 0.49989374     864.236  1486.27  
imu_odom_:  1691062562.416203072  0.507571   -0.260968  10.2089    -0.0703074  -0.0191748  -0.871386   0          -0.94         pose: 0.0           -4.73841   -0.0161693  0 -0.000901417-0.00248841 0.476972    0.878914       uwb: 0.0            864.236  1486.27  
imu_odom_:  1691062562.430219147  0.426168   -0.335188  9.73004    -0.056459   0.00106526  -0.896953   0          -1.03         pose: 0.93002646    -4.73826   -0.0161881  0 0.00186683  -0.00555142 0.438247    0.898835       uwb: 0.50003665     862.646  1485.41  
imu_odom_:  1691062562.455325242  0.344765   -0.0383072 9.88566    -0.0628506  -0.0191748  -0.917193   0          -1.03         pose: 0.0           -4.73826   -0.0161881  0 0.00186683  -0.00555142 0.438247    0.898835       uwb: 0.0            862.646  1485.41  
imu_odom_:  1691062562.480203855  0.545878   -0.328006  9.85214    -0.0639159  -0.0308927  -0.927845   0          -1.26         pose: 0.39122170    -4.73825   -0.0161894  0 0.00176542  -0.00316284 0.421482    0.906829       uwb: 0.50093491     861.851  1484.99  
imu_odom_:  1691062562.502337232  0.557849   -0.213084  9.85693    -0.0607201  -0.0266316  -0.942759   0          -1.26         pose: 0.0           -4.73825   -0.0161894  0 0.00176542  -0.00316284 0.421482    0.906829       uwb: 0.0            861.851  1484.99  
imu_odom_:  1691062562.526342665  0.61531    -0.129287  9.83538    -0.0681769  -0.0223706  -0.923584   0          -0.94         pose: 0.30901334    -4.73841   -0.0161696  0 0.00101706  -0.00592748 0.40784     0.913033       uwb: 0.49980333     861.159  1484.21  
imu_odom_:  1691062562.543459490  0.399832   -0.201113  10.0173    -0.052198   0.00532632  -0.92678    0          -0.94         pose: 0.0           -4.73841   -0.0161696  0 0.00101706  -0.00592748 0.40784     0.913033       uwb: 0.0            861.159  1484.21  
imu_odom_:  1691062562.568190240  0.476446   -0.308852  10.094     -0.0596548  -0.00958738 -0.939563   0          -1            pose: 0.47245596    -4.73841   -0.0161714  0 0.00454903  -0.00698712 0.386783    0.922133       uwb: 0.0            861.159  1484.21  
imu_odom_:  1691062562.585195073  0.505177   -0.215478  9.83538    -0.0692422  -0.0181095  -0.931041   0          -1            pose: 0.0           -4.73841   -0.0161714  0 0.00454903  -0.00698712 0.386783    0.922133       uwb: 0.50009789     860.443  1483.51  
imu_odom_:  1691062562.609180675  0.378284   -0.208296  9.75637    -0.0681769  -0.0127832  -0.935302   0          -0.94         pose: 0.51722901    -4.73836   -0.0161773  0 0.00206897  -0.00425292 0.363453    0.9316         uwb: 0.0            860.443  1483.51  
imu_odom_:  1691062562.633170360  0.560243   -0.21069   10.0461    -0.0585895  -0.0106526  -0.920388   0          -0.94         pose: 0.7117841     -4.73841   -0.0161712  0 0.00178757  -0.0036297  0.36022     0.932859       uwb: 0.50071618     860.976  1483.25  
imu_odom_:  1691062562.658179338  0.493206   -0.0837971 10.1011    -0.0575243  -0.0298274  -0.940628   0          -0.94         pose: 0.40857446    -4.73837   -0.0161763  0 0.00194518  -0.00448654 0.341738    0.939782       uwb: 0.0            860.976  1483.25  
imu_odom_:  1691062562.682170189  0.390255   -0.174777  9.78031    -0.0500674  -0.0426106  -0.975782   0          -0.94         pose: 0.0           -4.73837   -0.0161763  0 0.00194518  -0.00448654 0.341738    0.939782       uwb: 0.49861051     860.633  1482.86  
imu_odom_:  1691062562.699279722  0.373495   -0.205901  9.8665     -0.072438   -0.0266316  -0.960868   0          -0.94         pose: 0.32018036    -4.73841   -0.0161708  0 0.00413061  -0.00326345 0.32682     0.945072       uwb: 0.0            860.633  1482.86  
imu_odom_:  1691062562.724174084  0.797269   -0.47884   9.96227    -0.0575243  -0.00213053 -0.949151   0          -0.94         pose: 0.0           -4.73841   -0.0161708  0 0.00413061  -0.00326345 0.32682     0.945072       uwb: 0.49933379     860.659  1482.77  
imu_odom_:  1691062562.748218015  0.500388   -0.198719  10.1179    -0.0511327  0.0127832   -0.94489    0          -0.97         pose: 0.41997187    -4.73841   -0.0161708  0 0.00195974  -0.00171902 0.306818    0.951765       uwb: 0.0            860.659  1482.77  
imu_odom_:  1691062562.764173516  0.23942    -0.306458  9.73004    -0.0671117  -0.015979   -0.916127   0          -0.97         pose: 0.0           -4.73841   -0.0161708  0 0.00195974  -0.00171902 0.306818    0.951765       uwb: 0.0            860.659  1482.77  
imu_odom_:  1691062562.789323649  0.531513   -0.169988  9.68933    -0.056459   -0.00213053 -0.951281   0          -0.94         pose: 0.48012618    -4.73841   -0.0161708  0 0.0023717   -0.00444114 0.284303    0.958721       uwb: 0.49992582     860.322  1482.35  
imu_odom_:  1691062562.812156386  0.476446   -0.047884  9.95748    -0.0671117  -0.00426106 -0.933172   0          -0.94         pose: 0.0           -4.73841   -0.0161708  0 0.0023717   -0.00444114 0.284303    0.958721       uwb: 0.0            860.322  1482.35  
imu_odom_:  1691062562.828155634  -0.0263362 -0.19393   9.8665     -0.0735032  0.0298274   -0.893757   0          -0.94         pose: 0.40020138    -4.73841   -0.0161708  0 0.00418081  -0.00503267 0.265434    0.964107       uwb: 0.50055578     864.18   1483.18  
imu_odom_:  1691062562.845151427  -0.217872  -0.670376  10.0556    -0.0553937  0.0394148   -0.901214   0          -0.94         pose: 0.0           -4.73841   -0.0161708  0 0.00418081  -0.00503267 0.265434    0.964107       uwb: 0.0            864.18   1483.18  
imu_odom_:  1691062562.862220421  -0.0742203 -0.0766145 9.91439    -0.04048    0.0117179   -0.939563   0.03       -0.79         pose: 0.49933088    -4.73816   -0.0162072  0 0.00329269  -0.00082068 0.2425      0.970145       uwb: 0.0            864.18   1483.18  
imu_odom_:  1691062562.877214667  -0.548272  0.0335188  9.97664    -0.0532632  0.0383495   -0.871386   0.03       -0.79         pose: 0.0           -4.73816   -0.0162072  0 0.00329269  -0.00082068 0.2425      0.970145       uwb: 0.49986457     865.094  1483.17  
imu_odom_:  1691062562.893206624  -0.926556  -0.414197  10.0772    -0.076699   -0.0106526  -0.702009   0.03       -0.79         pose: 0.0           -4.73816   -0.0162072  0 0.00329269  -0.00082068 0.2425      0.970145       uwb: 0.0            865.094  1483.17  
imu_odom_:  1691062562.910145254  -0.47884   -0.885855  9.8665     -0.0671117  -0.0916127  -0.608266   0.09       -1            pose: 0.8015226     -4.73841   -0.0161722  0 0.00326605  6.71773e-05 0.238689    0.971091       uwb: 0.0            865.094  1483.17  
imu_odom_:  1691062562.927144546  0.531513   -0.0885855 10.1418    -0.0649811  -0.0990696  -0.570982   0.07       -0.73         pose: 0.0           -4.73841   -0.0161722  0 0.00326605  6.71773e-05 0.238689    0.971091       uwb: 0.50011831     867.298  1483.42  
imu_odom_:  1691062562.944207708  0.73502    0.184354   9.74679    -0.0639159  -0.0415453  -0.534763   0.07       -0.73         pose: 0.65047199    -4.73841   -0.0161726  0 0.00140065  0.00348623  0.214181    0.976787       uwb: 0.0            867.298  1483.42  
imu_odom_:  1691062562.960209872  0.713472   0.122104   10.3453    -0.0596548  -0.0351537  -0.533697   0.08       -0.53         pose: 0.0           -4.73841   -0.0161726  0 0.00140065  0.00348623  0.214181    0.976787       uwb: 0.0            867.298  1483.42  
imu_odom_:  1691062562.977203915  0.0885855  -0.258574  9.78271    -0.0426106  0.00426106  -0.551807   0.08       -0.53         pose: 0.0           -4.73841   -0.0161726  0 0.00140065  0.00348623  0.214181    0.976787       uwb: 0.49922588     871.092  1484.47  
imu_odom_:  1691062562.994143712  0.155623   -0.227449  9.91439    -0.0553937  0.00532632  -0.526241   0.08       -0.53         pose: 0.33935005    -4.73841   -0.0161726  0 0.00398248  0.000456497 0.204507    0.978857       uwb: 0.0            871.092  1484.47  
imu_odom_:  1691062563.9145833    0.289698   -0.308852  9.57202    -0.0543285  0.00532632  -0.480434   0.09       -0.53         pose: 0.41994855    -4.72955   -0.0114559  0 0.00285658  0.00290931  0.19261     0.981267       uwb: 0.0            871.092  1484.47  
imu_odom_:  1691062563.26144836   0.227449   -0.486023  9.90481    -0.0447411  0.0298274   -0.459129   0.09       -0.53         pose: 0.7063303     -4.72959   -0.011449   0 0.00215879  0.00310463  0.190805    0.981621       uwb: 0.50055873     869.408  1483.99  
imu_odom_:  1691062563.40138749   0.430956   -0.169988  9.94791    -0.0436758  0.0149137   -0.445281   0.09       -0.53         pose: 0.0           -4.72959   -0.011449   0 0.00215879  0.00310463  0.190805    0.981621       uwb: 0.0            869.408  1483.99  
imu_odom_:  1691062563.57202206   0.117316   -0.205901  10.1107    -0.0351537  0.0372843   -0.40267    0.1        -0.44         pose: 0.38931734    -4.72955   -0.0114559  0 0.000450267 0.00284734  0.181274    0.983428       uwb: 0.0            869.408  1483.99  
imu_odom_:  1691062563.71134582   0.603339   -0.349553  9.87848    -0.0607201  0.0234358   -0.392017   0.11       -0.41         pose: 0.0           -4.72955   -0.0114559  0 0.000450267 0.00284734  0.181274    0.983428       uwb: 0.0            869.408  1483.99  
imu_odom_:  1691062563.87254281   0.354342   -0.0143652 10.0413    -0.0436758  -0.056459   -0.409062   0.11       -0.41         pose: 0.0           -4.72955   -0.0114559  0 0.000450267 0.00284734  0.181274    0.983428       uwb: 0.50216865     871.128  1484.33  
imu_odom_:  1691062563.102242989  0.926556   0.0143652  10.0269    -0.0479369  -0.0798948  -0.380299   0.11       -0.41         pose: 0.23006852    -4.72959   -0.0114493  0 -5.65203e-050.00440334  0.176296    0.984327       uwb: 0.0            871.128  1484.33  
imu_odom_:  1691062563.118136957  1.30723    -0.0885855 9.86172    -0.0649811  -0.0490022  -0.32171    0.1        -0.41         pose: 0.0           -4.72959   -0.0114493  0 -5.65203e-050.00440334  0.176296    0.984327       uwb: 0.0            871.128  1484.33  
imu_odom_:  1691062563.135254367  1.38145    -0.433351  10.3645    -0.0458064  -0.0575243  -0.287621   0.1        -0.41         pose: 0.0           -4.72959   -0.0114493  0 -5.65203e-050.00440334  0.176296    0.984327       uwb: 0.49975385     872.373  1484.76  
imu_odom_:  1691062563.153187504  1.10852    -0.227449  9.77792    -0.0543285  -0.0223706  -0.259925   0.07       -0.35         pose: 0.72108766    -4.72074   -0.00679207 0 0.00260532  -0.00247989 0.162357    0.986726       uwb: 0.0            872.373  1484.76  
imu_odom_:  1691062563.169186463  1.10373    -0.160412  9.93354    -0.0447411  0.0276969   -0.246076   0.07       -0.35         pose: 0.0           -4.72074   -0.00679207 0 0.00260532  -0.00247989 0.162357    0.986726       uwb: 0.0            872.373  1484.76  
imu_odom_:  1691062563.186128596  0.94571    -0.162806  10.0676    -0.0617853  0.00426106  -0.236489   0.07       -0.35         pose: 0.0           -4.72074   -0.00679207 0 0.00260532  -0.00247989 0.162357    0.986726       uwb: 0.49723114     871.659  1484.03  
imu_odom_:  1691062563.203123809  0.754174   -0.0981623 9.97903    -0.0532632  0.0234358   -0.26312    0.05       -0.32         pose: 0.7999188     -4.72074   -0.00679207 0 0.00268749  -0.00334632 0.161176    0.986916       uwb: 0.0            871.659  1484.03  
imu_odom_:  1691062563.220178808  0.627281   -0.0526724 10.1083    -0.0511327  -0.00213053 -0.279099   0.05       -0.26         pose: 0.0           -4.72074   -0.00679207 0 0.00268749  -0.00334632 0.161176    0.986916       uwb: 0.0            871.659  1484.03  
imu_odom_:  1691062563.238127401  0.672771   -0.174777  9.65821    -0.0671117  -0.0138484  -0.257794   0.05       -0.26         pose: 0.66943183    -4.71193   -0.00206079 0 0.00492351  -0.00870895 0.151485    0.988409       uwb: 0.50080959     871.248  1483.88  
imu_odom_:  1691062563.256177487  0.837971   -0.378284  9.96467    -0.0596548  0.00532632  -0.24288    0.04       -0.26         pose: 0.0           -4.71193   -0.00206079 0 0.00492351  -0.00870895 0.151485    0.988409       uwb: 0.0            871.248  1483.88  
imu_odom_:  1691062563.272170322  0.744597   -0.306458  9.91918    -0.0617853  -0.00958738 -0.223706   0.04       -0.26         pose: 0.0           -4.71193   -0.00206079 0 0.00492351  -0.00870895 0.151485    0.988409       uwb: 0.49932805     870.543  1483.13  
imu_odom_:  1691062563.290174327  0.603339   -0.148441  9.86411    -0.0500674  0.0106526   -0.211988   0.04       -0.26         pose: 0.35991388    -4.71193   -0.00206111 0 0.00471677  -0.0112649  0.146159    0.989186       uwb: 0.0            870.543  1483.13  
imu_odom_:  1691062563.307186163  0.502782   -0.177171  9.9503     -0.0607201  0.00426106  -0.203466   0.04       -0.26         pose: 0.33946970    -4.71193   -0.00206111 0 0.00330624  -0.0123737  0.141709    0.989826       uwb: 0.0            870.543  1483.13  
imu_odom_:  1691062563.324160086  0.512359   -0.105345  9.9096     -0.0585895  -0.00958738 -0.198139   0.04       -0.26         pose: 0.0           -4.71193   -0.00206111 0 0.00330624  -0.0123737  0.141709    0.989826       uwb: 0.50019715     870.984  1483.17  
imu_odom_:  1691062563.351114036  0.687136   -0.301669  9.85693    -0.0660464  -0.0127832  -0.160855   0.03       -0.23         pose: 0.44024990    -4.71193   -0.00206111 0 0.00432921  -0.00823522 0.136394    0.990611       uwb: 0.0            870.984  1483.17  
imu_odom_:  1691062563.367167533  0.557849   -0.392649  9.91199    -0.0543285  0.0340885   -0.135289   0.03       -0.23         pose: 0.0           -4.71193   -0.00206111 0 0.00432921  -0.00823522 0.136394    0.990611       uwb: 0.0            870.984  1483.17  
imu_odom_:  1691062563.385110877  -0.907402  -0.31364   9.64384    -0.0383495  0.118244    -0.106526   0.04       -0.17         pose: 0.7125133     -4.71193   -0.00206111 0 0.00379941  -0.00877312 0.135692    0.990705       uwb: 0.49969844     873.904  1484.06  
imu_odom_:  1691062563.410114026  -1.54187   -0.198719  9.91439    -0.0415453  -0.0276969  -0.100135   0.06       -0.17         pose: 0.0           -4.71193   -0.00206111 0 0.00379941  -0.00877312 0.135692    0.990705       uwb: 0.0            873.904  1484.06  
imu_odom_:  1691062563.437111432  0.486023   0.0766145  10.2448    -0.0681769  -0.0894822  -0.0852212  0.09       -0.14         pose: 0.78828807    -4.7119    -0.0020669  0 0.000315144 -0.00468267 0.129343    0.991589       uwb: 0.50025547     875.607  1484.46  
imu_odom_:  1691062563.462111081  0.349553   -0.260968  10.1801    -0.0511327  0.0340885   -0.0788296  0.09       -0.11         pose: 0.0           -4.7119    -0.0020669  0 0.000315144 -0.00468267 0.129343    0.991589       uwb: 0.0            875.607  1484.46  
imu_odom_:  1691062563.489220186  -0.323217  -0.114922  9.98861    -0.0660464  -0.0266316  -0.0873517  0.09       -0.11         pose: 0.35022550    -4.69841   -0.00620807 0 0.00249514  -0.00458117 0.127189    0.991865       uwb: 0.49986468     874.439  1483.74  
imu_odom_:  1691062563.505256767  0.0383072  -0.232238  9.81144    -0.0585895  -0.0692422  -0.072438   0.11       -0.11         pose: 0.44083610    -4.69837   -0.00621371 0 0.00132314  -0.0004813270.124484    0.992221       uwb: 0.0            874.439  1483.74  
imu_odom_:  1691062563.532212468  0.509965   -0.25618   9.80186    -0.0607201  -0.0298274  -0.0809601  0.11       -0.11         pose: 0.7875240     -4.69841   -0.00620813 0 0.00115892  2.96639e-05 0.124045    0.992276       uwb: 0.49978301     874.011  1483.66  
imu_odom_:  1691062563.558158208  0.241814   -0.351948  10.2592    -0.036219   0.0138484   -0.0692422  0.11       -0.11         pose: 0.35117042    -4.69218   -0.00289579 0 -1.43561e-05-0.00230574 0.121979    0.99253        uwb: 0.0            874.011  1483.66  
imu_odom_:  1691062563.585161738  0.0311246  -0.196325  9.83059    -0.0479369  -0.0138484  -0.0553937  0.11       -0.11         pose: 0.0           -4.69218   -0.00289579 0 -1.43561e-05-0.00230574 0.121979    0.99253        uwb: 0.49997550     873.964  1483.84  
imu_odom_:  1691062563.610084977  0.574608   -0.244209  9.4571     -0.0553937  0.015979    -0.052198   0.13       -0.11         pose: 0.32920094    -4.68958   -0.00152391 0 -0.00140511 0.000632331 0.120255    0.992742       uwb: 0.0            873.964  1483.84  
imu_odom_:  1691062563.637086757  0.550666   -0.179565  9.76116    -0.076699   -0.00639159 -0.0308927  0.17       -0.11         pose: 0.44952415    -4.68334   0.00179207  0 -0.00117081 0.000309627 0.118175    0.992992       uwb: 0.49927555     873.203  1483.3   
imu_odom_:  1691062563.653235912  0.663194   -0.150835  9.78989    -0.072438   0.0170442   -0.0276969  0.17       -0.11         pose: 0.0           -4.68334   0.00179207  0 -0.00117081 0.000309627 0.118175    0.992992       uwb: 0.0            873.203  1483.3   
imu_odom_:  1691062563.680165657  0.380678   -0.153229  10.2161    -0.0532632  0.00532632  -0.0490022  0.19       -0.11         pose: 0.43150935    -4.68074   0.00316449  0 0.000297239 -0.00347621 0.116685    0.993163       uwb: 0.50025839     874.077  1483.41  
imu_odom_:  1691062563.705103186  0.220267   -0.519542  9.72764    -0.0628506  -0.0234358  -0.0245011  0.19       -0.11         pose: 0.8023686     -4.68074   0.00316449  0 0.000675995 -0.00272558 0.116331    0.993207       uwb: 0.0            874.077  1483.41  
imu_odom_:  1691062563.732262454  0.31364    0          10.0844    -0.0479369  -0.0372843  -0.0213053  0.17       -0.11         pose: 0.43843588    -4.67185   0.00780454  0 -0.000756817-0.0001518090.114703    0.9934         uwb: 0.49989384     873.708  1483.09  
imu_odom_:  1691062563.749087638  0.335188   -0.275333  9.76355    -0.0692422  0.00958738  -0.0117179  0.17       -0.11         pose: 0.0           -4.67185   0.00780454  0 -0.000756817-0.0001518090.114703    0.9934         uwb: 0.0            873.708  1483.09  
imu_odom_:  1691062563.773081702  0.6608     -0.347159  9.59835    -0.0543285  -0.00106526 -0.0255663  0.22       -0.08         pose: 0.7061556     -4.67189   0.0078104   0 -9.45245e-056.80638e-05 0.114489    0.993424       uwb: 0.50057045     873.81   1482.7   
imu_odom_:  1691062563.797078100  0.25618    -0.179565  10.2975    -0.0330232  -0.0170442  -0.0149137  0.22       -0.08         pose: 0.0           -4.67189   0.0078104   0 -9.45245e-056.80638e-05 0.114489    0.993424       uwb: 0.0            873.81   1482.7   
imu_odom_:  1691062563.822094665  0.0215478  -0.373495  9.75877    -0.04048    -0.00106526 0.00213053  0.15       -0.02         pose: 0.43966661    -4.65837   0.00368198  0 -9.98258e-050.000846204 0.113223    0.993569       uwb: 0.49874476     870.966  1481.56  
imu_odom_:  1691062563.849070780  0.241814   -0.0909797 10.1873    -0.0500674  -0.02024    0.0170442   0.15       -0.02         pose: 0.0           -4.65837   0.00368198  0 -9.98258e-050.000846204 0.113223    0.993569       uwb: 0.0            870.966  1481.56  
imu_odom_:  1691062563.865131859  0.543484   -0.167594  9.84017    -0.0585895  -0.0191748  0.00958738  0.17       -0.02         pose: 0.49043002    -4.64953   0.00835427  0 -0.0002817280.00222035  0.111874    0.99372        uwb: 0.0            870.966  1481.56  
imu_odom_:  1691062563.892068895  0.816423   -0.232238  10.2831    -0.0490022  0.00106526  -0.00213053 0.17       -0.02         pose: 0.0           -4.64953   0.00835427  0 -0.0002817280.00222035  0.111874    0.99372        uwb: 0.49969552     872.311  1481.58  
imu_odom_:  1691062563.917096542  0.608127   -0.234632  9.75637    -0.0585895  -0.0223706  0.0213053   0.16       0             pose: 0.52017470    -4.64953   0.00835427  0 0.00129991  0.00431144  0.111145    0.993794       uwb: 0.0            872.311  1481.58  
imu_odom_:  1691062563.941243719  0.40462    0.0311246  10.4267    -0.056459   0.0298274   0.0127832   0.16       0             pose: 0.42945619    -4.64067   0.0129966   0 0.00139823  -2.11479e-050.110402    0.993886       uwb: 0.50203159     871.921  1481.36  
imu_odom_:  1691062563.956349959  0.323217   -0.227449  10.1442    -0.0703074  0.0170442   0.0383495   0.16       0             pose: 0.41106225    -4.63441   0.0162632   0 0.00345418  -0.0007786070.109923    0.993934       uwb: 0.0            871.921  1481.36  
imu_odom_:  1691062563.981058840  0.550666   -0.380678  9.88326    -0.0649811  0.0106526   0.0138484   0.16       0             pose: 0.0           -4.63441   0.0162632   0 0.00345418  -0.0007786070.109923    0.993934       uwb: 0.0            871.921  1481.36  
imu_odom_:  1691062563.998339863  0.0622492  0.0909797  10.2711    -0.0319579  0           0.00745685  0.21       0             pose: 0.7114051     -4.6318    0.0176198   0 0.00289775  -0.0001984760.109918    0.993936       uwb: 0.0            871.921  1481.36  
imu_odom_:  1691062564.23078496   0.323217   -0.220267  9.72046    -0.0553937  -0.0255663  0.0138484   0.21       0             pose: 0.0           -4.6318    0.0176198   0 0.00289775  -0.0001984760.109918    0.993936       uwb: 0.99922484     871.616  1480.81  
imu_odom_:  1691062564.47261549   -0.0814029 -0.0263362 9.69652    -0.0468716  -0.0340885  0.0245011   0.21       -0.05         pose: 0.40016647    -4.62716   0.00876386  0 0.000784155 -0.0003934590.109482    0.993988       uwb: 0.0            871.616  1480.81  
imu_odom_:  1691062564.62260759   0.59855    -0.129287  10.0676    -0.0745685  -0.0330232  0.0340885   0.21       -0.05         pose: 0.0           -4.62716   0.00876386  0 0.000784155 -0.0003934590.109482    0.993988       uwb: 0.0            871.616  1480.81  
imu_odom_:  1691062564.78117399   0.445322   -0.342371  9.22246    -0.0681769  0.0138484   0.0138484   0.16       -0.02         pose: 0.41843504    -4.61833   0.0134649   0 0.000432266 0.00291449  0.108948    0.994043       uwb: 0.50030806     870.111  1479.73  
imu_odom_:  1691062564.93057113   0.600945   -0.158017  9.90481    -0.0617853  0.0617853   0.0138484   0.16       -0.02         pose: 0.0           -4.61833   0.0134649   0 0.000432266 0.00291449  0.108948    0.994043       uwb: 0.0            870.111  1479.73  
imu_odom_:  1691062564.117068097  0.727837   -0.335188  9.51695    -0.0735032  0.0181095   0.0276969   0.16       -0.02         pose: 0.0           -4.61833   0.0134649   0 0.000432266 0.00291449  0.108948    0.994043       uwb: 0.0            870.111  1479.73  
imu_odom_:  1691062564.143109210  0.502782   -0.153229  9.96227    -0.0543285  -0.00532632 0.0351537   0.16       0.02          pose: 0.39079313    -4.6095    0.0181551   0 0.000709713 0.00229825  0.108693    0.994072       uwb: 0.49982102     868.128  1478.77  
imu_odom_:  1691062564.157117416  0.31364    -0.186748  9.56005    -0.0830906  -0.02024    0.0490022   0.16       0.02          pose: 0.0           -4.6095    0.0181551   0 0.000709713 0.00229825  0.108693    0.994072       uwb: 0.0            868.128  1478.77  
imu_odom_:  1691062564.181161939  0.172383   -0.280122  9.72285    -0.0585895  -0.0308927  0.0191748   0.16       0             pose: 0.79761497    -4.60067   0.0228359   0 0.00135871  -0.00231099 0.108214    0.994124       uwb: 0.50243998     867.474  1477.88  
imu_odom_:  1691062564.205102929  0.141258   -0.339977  9.82341    -0.0798948  -0.0394148  0.0447411   0.16       0             pose: 0.0           -4.60067   0.0228359   0 0.00135871  -0.00231099 0.108214    0.994124       uwb: 0.0            867.474  1477.88  
imu_odom_:  1691062564.230117457  0.457293   -0.189142  9.44752    -0.052198   0.0532632   0.00639159  0.18       -0.02         pose: 0.39167389    -4.59183   0.0275143   0 -0.0002461280.000752521 0.108023    0.994148       uwb: 0.49732456     868.856  1477.75  
imu_odom_:  1691062564.254124066  0.847547   -0.531513  9.59117    -0.0809601  0.0255663   0.0553937   0.21       0             pose: 0.41891337    -4.58089   0.0219868   0 -6.6382e-06 0.000476166 0.107652    0.994188       uwb: 0.0            868.856  1477.75  
imu_odom_:  1691062564.269036366  0.217872   -0.433351  9.35654    -0.056459   0.04048     0.0234358   0.21       0             pose: 0.0           -4.58089   0.0219868   0 -6.6382e-06 0.000476166 0.107652    0.994188       uwb: 0.0            868.856  1477.75  
imu_odom_:  1691062564.285039411  0.577003   0.222661   10.6829    -0.0394148  -0.036219   0.0234358   0.21       0             pose: 0.0           -4.58089   0.0219868   0 -6.6382e-06 0.000476166 0.107652    0.994188       uwb: 0.49979477     869.36   1477.55  
imu_odom_:  1691062564.302035502  0.397437   -0.186748  9.52892    -0.0735032  0.0223706   0.0436758   0.18       0             pose: 0.6977563     -4.57831   0.0233476   0 -0.00044368 -4.22286e-050.107707    0.994183       uwb: 0.0            869.36   1477.55  
imu_odom_:  1691062564.320092590  0.821211   -0.366313  9.51935    -0.0596548  -0.0181095  0.0213053   0.18       0             pose: 0.0           -4.57831   0.0233476   0 -0.00044368 -4.22286e-050.107707    0.994183       uwb: 0.0            869.36   1477.55  
imu_odom_:  1691062564.337080806  0.663194   -0.0837971 10.1562    -0.0447411  0.0106526   0.0276969   0.18       0.02          pose: 0.54947911    -4.56947   0.0280162   0 -0.000398226-0.0002431810.107608    0.994193       uwb: 0.50009516     866.504  1476.54  
imu_odom_:  1691062564.361367393  0.308852   -0.117316  9.98622    -0.0585895  0.02024     0.0223706   0.2        -0.02         pose: 0.0           -4.56947   0.0280162   0 -0.000398226-0.0002431810.107608    0.994193       uwb: 0.0            866.504  1476.54  
imu_odom_:  1691062564.386106027  0.253785   -0.21069   9.73243    -0.0681769  -0.0117179  0.0436758   0.18       0             pose: 0.69324462    -4.56062   0.0326802   0 0.00189006  -0.0002754220.10715     0.994241       uwb: 0.0            866.504  1476.54  
imu_odom_:  1691062564.410174173  0.701501   -0.0383072 9.64863    -0.0447411  0.0149137   0.0127832   0.18       0             pose: 0.0           -4.56062   0.0326802   0 0.00189006  -0.0002754220.10715     0.994241       uwb: 0.0            866.504  1476.54  
imu_odom_:  1691062564.435045213  1.0343     -0.368707  9.58638    -0.072438   -0.0234358  0.04048     0.24       0             pose: 0.31829646    -4.54711   0.0284921   0 0.00139313  0.00144211  0.107103    0.994246       uwb: 0.100001535    866.329  1475.56  
imu_odom_:  1691062564.452174001  0.387861   -0.416591  9.85453    -0.036219   -0.0234358  0.0117179   0.24       0             pose: 0.0           -4.54711   0.0284921   0 0.00139313  0.00144211  0.107103    0.994246       uwb: 0.0            866.329  1475.56  
imu_odom_:  1691062564.469228420  0.962469   -0.0837971 10.4914    -0.0351537  -0.0585895  0.0245011   0.18       -0.05         pose: 0.49866029    -4.54711   0.0284921   0 0.000955329 -0.00246999 0.106787    0.994278       uwb: 0.0            866.329  1475.56  
imu_odom_:  1691062564.486046608  1.49877    -0.40462   9.79947    -0.0884169  -0.0735032  0.0181095   0.18       -0.05         pose: 0.0           -4.54711   0.0284921   0 0.000955329 -0.00246999 0.106787    0.994278       uwb: 0.49968978     866.972  1474.87  
imu_odom_:  1691062564.503065738  1.82438    -0.105345  9.51695    -0.0479369  -0.00958738 -0.13955    0.13       -0.29         pose: 0.42983540    -4.53826   0.0331451   0 0.000617978 -0.00670369 0.106353    0.994306       uwb: 0.0            866.972  1474.87  
imu_odom_:  1691062564.520164195  1.31921    0.323217   9.91199    -0.0500674  0.0372843   -0.235423   0.13       -0.29         pose: 0.0           -4.53826   0.0331451   0 0.000617978 -0.00670369 0.106353    0.994306       uwb: 0.0            866.972  1474.87  
imu_odom_:  1691062564.538160622  0.94571    0.148441   10.0892    -0.0617853  -0.0213053  -0.311057   0.13       -0.29         pose: 0.0           -4.53826   0.0331451   0 0.000617978 -0.00670369 0.106353    0.994306       uwb: 0.50132299     863.084  1472.83  
imu_odom_:  1691062564.555129006  0.905008   -0.0191536 9.73961    -0.0500674  -0.015979   -0.414388   0.11       -0.38         pose: 0.8065101     -4.53826   0.0331451   0 0.000809254 -0.00751435 0.105634    0.994376       uwb: 0.0            863.084  1472.83  
imu_odom_:  1691062564.568017010  0.833182   0.00957681 10.1897    -0.0543285  -0.0287621  -0.436758   0.1        -0.44         pose: 0.0           -4.53826   0.0331451   0 0.000809254 -0.00751435 0.105634    0.994376       uwb: 0.0            863.084  1472.83  
imu_odom_:  1691062564.586135344  0.799663   -0.220267  9.66539    -0.0798948  -0.0255663  -0.42291    0.1        -0.44         pose: 0.0           -4.53826   0.0331451   0 0.000809254 -0.00751435 0.105634    0.994376       uwb: 0.49874777     863.319  1472.02  
imu_odom_:  1691062564.603159724  1.15401    -0.347159  10.3118    -0.0596548  -0.0138484  -0.466586   0.09       -0.5          pose: 0.66911406    -4.52945   0.0378659   0 0.00501377  -0.0126297  0.0940959   0.99547        uwb: 0.0            863.319  1472.02  
imu_odom_:  1691062564.620131608  0.90022    -0.150835  9.70131    -0.0777643  -0.00213053 -0.478304   0.09       -0.5          pose: 0.0           -4.52945   0.0378659   0 0.00501377  -0.0126297  0.0940959   0.99547        uwb: 0.0            863.319  1472.02  
imu_odom_:  1691062564.638193362  0.964863   -0.0814029 9.99819    -0.056459   0.0532632   -0.4815     0.09       -0.5          pose: 0.32133830    -4.52945   0.0378659   0 0.00434885  -0.0156714  0.08651     0.996118       uwb: 0.49874194     865.162  1471.81  
imu_odom_:  1691062564.652075870  0.823605   -0.282516  9.87608    -0.072438   0.00532632  -0.507066   0.07       -0.5          pose: 0.45036417    -4.5206    0.0425933   0 0.00504397  -0.0193844  0.0749137   0.996989       uwb: 0.0            865.162  1471.81  
imu_odom_:  1691062564.669074585  0.538695   -0.0191536 10.07      -0.0639159  0.00745685  -0.525175   0.07       -0.5          pose: 0.6062971     -4.52064   0.0425999   0 0.00444751  -0.0195464  0.0732726   0.99711        uwb: 0.0            865.162  1471.81  
imu_odom_:  1691062564.686115880  0.804452   -0.282516  9.9503     -0.0596548  -0.0138484  -0.516653   0.07       -0.5          pose: 0.0           -4.52064   0.0425999   0 0.00444751  -0.0195464  0.0732726   0.99711        uwb: 0.50053263     864.938  1471.04  
imu_odom_:  1691062564.702999105  0.622492   -0.0191536 9.63187    -0.0575243  -0.0213053  -0.532632   0.07       -0.67         pose: 0.41859547    -4.51583   0.0338012   0 0.00289171  -0.0187797  0.0616497   0.997917       uwb: 0.0            864.938  1471.04  
imu_odom_:  1691062564.720998156  0.667982   -0.148441  9.71328    -0.0490022  -0.036219   -0.536893   0.05       -0.55         pose: 0.0           -4.51583   0.0338012   0 0.00289171  -0.0187797  0.0616497   0.997917       uwb: 0.0            864.938  1471.04  
imu_odom_:  1691062564.737102693  0.840365   -0.328006  9.91678    -0.0820254  -0.0170442  -0.502805   0.05       -0.55         pose: 0.0           -4.51583   0.0338012   0 0.00289171  -0.0187797  0.0616497   0.997917       uwb: 0.49941856     863.474  1469.96  
imu_odom_:  1691062564.755118951  0.845153   -0.493206  9.94312    -0.0553937  -0.0234358  -0.449542   0.05       -0.44         pose: 0.24904287    -4.51587   0.0338078   0 0.00426194  -0.0170413  0.0544918   0.99836        uwb: 0.0            863.474  1469.96  
imu_odom_:  1691062564.772085877  0.806846   -0.335188  9.89045    -0.0628506  0.00106526  -0.417584   0.05       -0.44         pose: 0.0           -4.51587   0.0338078   0 0.00426194  -0.0170413  0.0544918   0.99836        uwb: 0.50176628     862.838  1469.09  
imu_odom_:  1691062564.788990100  0.646434   -0.189142  9.74919    -0.0553937  0.00639159  -0.378169   0.05       -0.44         pose: 0.34096881    -4.51587   0.0338082   0 0.00219578  -0.0175646  0.045332    0.998815       uwb: 0.0            862.838  1469.09  
imu_odom_:  1691062564.815073792  0.505177   -0.177171  10.0485    -0.056459   -0.00639159 -0.333428   0.05       -0.47         pose: 0.43873052    -4.51587   0.0338082   0 0.000356928 -0.0169472  0.0355217   0.999225       uwb: 0.0            862.838  1469.09  
imu_odom_:  1691062564.832024095  0.0790087  -0.418985  9.4978     -0.0607201  0.015979    -0.34408    0.05       -0.47         pose: 0.7042600     -4.51587   0.0338082   0 0.000475925 -0.0162576  0.0342076   0.999282       uwb: 0.49963728     864.316  1468.59  
imu_odom_:  1691062564.849141217  -0.876278  -0.134075  10.2496    -0.0213053  0.0703074   -0.388822   0.08       -0.41         pose: 0.0           -4.51587   0.0338082   0 0.000475925 -0.0162576  0.0342076   0.999282       uwb: 0.0            864.316  1468.59  
imu_odom_:  1691062564.866143724  -1.16119   0.011971   10.0772    -0.0426106  -0.00213053 -0.305731   0.08       -0.23         pose: 0.53108517    -4.50704   0.0385006   0 0.000544338 -0.010281   0.02375     0.999665       uwb: 0.0            864.316  1468.59  
imu_odom_:  1691062564.883019949  -1.02951   -0.782904  9.64624    -0.0798948  -0.0255663  -0.199204   0.08       -0.23         pose: 0.0           -4.50704   0.0385006   0 0.000544338 -0.010281   0.02375     0.999665       uwb: 0.50053555     863.642  1467.85  
imu_odom_:  1691062564.899983667  0.220267   -0.797269  9.66779    -0.0490022  -0.0511327  -0.162985   0.08       -0.23         pose: 0.0           -4.50704   0.0385006   0 0.000544338 -0.010281   0.02375     0.999665       uwb: 0.0            863.642  1467.85  
imu_odom_:  1691062564.918014799  0.411803   -0.208296  9.94791    -0.0500674  -0.0447411  -0.153398   0.1        -0.2          pose: 0.23916492    -4.50704   0.0385005   0 0.000526704 -0.00799465 0.0199897   0.999768       uwb: 0.0            863.642  1467.85  
imu_odom_:  1691062564.935041803  0.42138    0.277727   10.1586    -0.0319579  -0.0117179  -0.155529   0.1        -0.2          pose: 0.0           -4.50704   0.0385005   0 0.000526704 -0.00799465 0.0199897   0.999768       uwb: 0.49943605     863.424  1467.08  
imu_odom_:  1691062564.952020978  0.0287304  0.201113   10.1586    -0.0490022  -0.00106526 -0.140615   0.1        -0.2          pose: 0.34962769    -4.50704   0.0385005   0 -0.00113568 -0.00616497 0.0163199   0.999847       uwb: 0.0            863.424  1467.08  
imu_odom_:  1691062564.970133771  0.792481   -0.548272  9.83059    -0.056459   -0.0532632  -0.153398   0.14       -0.23         pose: 0.34964228    -4.49819   0.0431418   0 0.0015688   -0.00451158 0.0129688   0.999904       uwb: 0.0            863.424  1467.08  
imu_odom_:  1691062564.984189806  0.490811   -0.215478  10.0389    -0.0532632  -0.0649811  -0.158724   0.14       -0.23         pose: 0.0           -4.49819   0.0431418   0 0.0015688   -0.00451158 0.0129688   0.999904       uwb: 0.50022641     864.528  1466.33  
imu_odom_:  1691062565.2026120    0.521936   -0.0023942 9.83059    -0.0436758  0.0223706   -0.135289   0.12       -0.14         pose: 0.41205100    -4.49584   0.0386935   0 -5.2573e-05 -0.00474291 0.00902045  0.999948       uwb: 0.0            864.528  1466.33  
imu_odom_:  1691062565.18095663   0.486023   -0.0383072 10.3477    -0.0479369  0           -0.106526   0.12       -0.14         pose: 0.0           -4.49584   0.0386935   0 -5.2573e-05 -0.00474291 0.00902045  0.999948       uwb: 0.0            864.528  1466.33  
imu_odom_:  1691062565.35092923   0.011971   -0.514753  10.0102    -0.0500674  0.0692422   -0.109722   0.12       -0.14         pose: 0.0           -4.49584   0.0386935   0 -5.2573e-05 -0.00474291 0.00902045  0.999948       uwb: 0.49945067     863.977  1465.19  
imu_odom_:  1691062565.53092853   0.172383   -0.174777  10.0221    -0.0426106  -0.0703074  -0.111853   0.13       -0.14         pose: 0.7944360     -4.49351   0.0343043   0 0.000786573 -0.00472805 0.00832233  0.999954       uwb: 0.0            863.977  1465.19  
imu_odom_:  1691062565.69972872   0.399832   -0.1652    9.73961    -0.0543285  -0.0308927  -0.1012     0.13       -0.14         pose: 0.0           -4.49351   0.0343043   0 0.000786573 -0.00472805 0.00832233  0.999954       uwb: 0.0            863.977  1465.19  
imu_odom_:  1691062565.86984423   0.565032   -0.19393   10.0437    -0.0458064  0.00213053  -0.0894822  0.14       -0.14         pose: 0.50964073    -4.48467   0.0389809   0 0.00252314  -0.00199355 0.00439664  0.999985       uwb: 0.49930490     859.788  1462.98  
imu_odom_:  1691062565.104014639  0.725443   -0.418985  10.0556    -0.0628506  -0.0351537  -0.0841559  0.13       -0.11         pose: 0.0           -4.48467   0.0389809   0 0.00252314  -0.00199355 0.00439664  0.999985       uwb: 0.0            859.788  1462.98  
imu_odom_:  1691062565.120953570  0.957681   -0.325611  9.39485    -0.0553937  0.02024     -0.0703074  0.12       -0.11         pose: 0.0           -4.48467   0.0389809   0 0.00252314  -0.00199355 0.00439664  0.999985       uwb: 0.0            859.788  1462.98  
imu_odom_:  1691062565.137962788  0.727837   -0.397437  9.91918    -0.0468716  0.0276969   -0.0255663  0.12       -0.11         pose: 0.67945002    -4.47585   0.0436985   0 0.00100518  -0.00362251 -8.39852e-050.999993       uwb: 0.50056189     858.699  1462.21  
imu_odom_:  1691062565.155018960  1.45567    -0.385466  9.71088    -0.0575243  -0.0884169  -0.00745685 0.1        -0.14         pose: 0.0           -4.47585   0.0436985   0 0.00100518  -0.00362251 -8.39852e-050.999993       uwb: 0.0            858.699  1462.21  
imu_odom_:  1691062565.169959260  1.30484    -0.102951  9.61511    -0.0447411  0.00426106  -0.0383495  0.1        -0.14         pose: 0.0           -4.47585   0.0436985   0 0.00100518  -0.00362251 -8.39852e-050.999993       uwb: 0.0            858.699  1462.21  
imu_odom_:  1691062565.186975477  1.20428    -0.287304  9.83299    -0.0575243  0.0372843   -0.0117179  0.1        -0.14         pose: 0.34987274    -4.47115   0.0348698   0 -0.000411218-0.00662749 -0.00136323 0.999977       uwb: 0.49902493     858.912  1461.51  
imu_odom_:  1691062565.204072479  0.414197   -0.28491   10.0987    -0.0596548  0.0351537   -0.052198   0.08       -0.11         pose: 0.40944962    -4.47115   0.0348698   0 -0.00045728 -0.0106412  -0.00259348 0.99994        uwb: 0.0            858.912  1461.51  
imu_odom_:  1691062565.221126318  0.430956   -0.0933739 9.90002    -0.0532632  -0.0372843  -0.105461   0.08       -0.11         pose: 0.7109971     -4.47115   0.0348698   0 -0.000675307-0.0098207  -0.00291748 0.999947       uwb: 0.0            858.912  1461.51  
imu_odom_:  1691062565.239069086  0.603339   0.0454898  9.61751    -0.0607201  -0.015979   -0.100135   0.08       -0.11         pose: 0.0           -4.47115   0.0348698   0 -0.000675307-0.0098207  -0.00291748 0.999947       uwb: 0.50164389     859.466  1461.14  
imu_odom_:  1691062565.253132123  0.849942   -0.318429  10.1562    -0.056459   -0.00319579 -0.0703074  0.07       -0.08         pose: 0.44983638    -4.46235   0.0396129   0 0.00196551  -0.00822034 -0.00588538 0.999947       uwb: 0.0            859.466  1461.14  
imu_odom_:  1691062565.268999849  0.845153   -0.47884   9.76355    -0.0596548  -0.00745685 -0.052198   0.05       -0.02         pose: 0.0           -4.46235   0.0396129   0 0.00196551  -0.00822034 -0.00588538 0.999947       uwb: 0.0            859.466  1461.14  
imu_odom_:  1691062565.283952690  0.684742   -0.196325  9.79947    -0.0500674  0.0170442   -0.0468716  0.05       -0.02         pose: 0.0           -4.46235   0.0396129   0 0.00196551  -0.00822034 -0.00588538 0.999947       uwb: 0.49973945     858.862  1460.24  
imu_odom_:  1691062565.301069524  0.584185   -0.0909797 9.9934     -0.0479369  0.00852212  -0.02024    0.05       -0.02         pose: 0.21012896    -4.46235   0.0396129   0 0.000783026 -0.00992943 -0.0069637  0.999926       uwb: 0.0            858.862  1460.24  
imu_odom_:  1691062565.325954275  0.562637   -0.260968  9.97664    -0.0532632  -0.00852212 -0.015979   0.05       0             pose: 0.0           -4.46235   0.0396129   0 0.000783026 -0.00992943 -0.0069637  0.999926       uwb: 0.49966946     854.317  1457.91  
imu_odom_:  1691062565.349941641  -0.296881  -0.246603  9.44034    -0.052198   0.0830906   -0.00745685 0.04       -0.05         pose: 0.65872293    -4.46232   0.0396068   0 2.60581e-06 -0.00970298 -0.00921543 0.99991        uwb: 0.0            854.317  1457.91  
imu_odom_:  1691062565.367083264  -1.04148   -0.196325  10.0628    -0.0532632  0.0468716   0.0149137   0.04       -0.05         pose: 0.7009938     -4.46235   0.0396127   0 -2.16537e-06-0.00869602 -0.00938004 0.999918       uwb: 0.0            854.317  1457.91  
imu_odom_:  1691062565.392062217  -0.787692  -0.160412  9.77553    -0.072438   -0.056459   0.0138484   0.08       -0.08         pose: 0.0           -4.46235   0.0396127   0 -2.16537e-06-0.00869602 -0.00938004 0.999918       uwb: 0.49981820     857.738  1458.23  
imu_odom_:  1691062565.418061338  0.517148   -0.143652  9.71567    -0.0692422  -0.02024    0.0117179   0.08       -0.08         pose: 0.34119051    -4.46235   0.0396127   0 4.5776e-05  -0.00410534 -0.00999025 0.999942       uwb: 0.0            857.738  1458.23  
imu_odom_:  1691062565.444000380  0.225055   -0.411803  9.44273    -0.0617853  0.0127832   0.00213053  0.11       -0.05         pose: 0.50978074    -4.45012   0.0379304   0 0.00160334  -0.00431286 -0.01068    0.999932       uwb: 0.49894618     853.329  1456.91  
imu_odom_:  1691062565.469947296  -0.0383072 -0.0383072 10.1514    -0.0511327  -0.0127832  -0.00213053 0.11       -0.05         pose: 0.0           -4.45012   0.0379304   0 0.00160334  -0.00431286 -0.01068    0.999932       uwb: 0.0            853.329  1456.91  
imu_odom_:  1691062565.494977578  0.153229   -0.0622492 9.97903    -0.0575243  0.00852212  0.00106526  0.12       -0.02         pose: 0.51885958    -4.44882   0.0354916   0 0.000810666 0.000185525 -0.0117041  0.999931       uwb: 0.49961405     850.949  1456.09  
imu_odom_:  1691062565.512090037  0.397437   -0.277727  9.7037     -0.0596548  -0.0266316  0.0181095   0.12       -0.02         pose: 0.0           -4.44882   0.0354916   0 0.000810666 0.000185525 -0.0117041  0.999931       uwb: 0.0            850.949  1456.09  
imu_odom_:  1691062565.536077986  0.280122   -0.162806  10.1394    -0.0553937  0.00213053  -0.00106526 0.13       -0.02         pose: 0.42142741    -4.43998   0.0401649   0 0.000403547 0.0016817   -0.0123741  0.999922       uwb: 0.49986778     854.585  1457.11  
imu_odom_:  1691062565.554148202  -0.0502782 -0.368707  9.43076    -0.0756338  0.0223706   0.0181095   0.13       -0.02         pose: 0.8018440     -4.43998   0.0401649   0 0.000767987 0.00242165  -0.0125367  0.999918       uwb: 0.0            854.585  1457.11  
imu_odom_:  1691062565.579060659  0.45011    -0.107739  10.1562    -0.0500674  -0.04048    0.00745685  0.14       -0.02         pose: 0.34039725    -4.43998   0.0401649   0 0.000557065 0.00578198  -0.0130587  0.999898       uwb: 0.49996694     853.45   1456.53  
imu_odom_:  1691062565.605234474  0.351948   -0.351948  10.3262    -0.0436758  -0.00532632 0.00426106  0.14       -0.02         pose: 0.0           -4.43998   0.0401649   0 0.000557065 0.00578198  -0.0130587  0.999898       uwb: 0.0            853.45   1456.53  
imu_odom_:  1691062565.629928491  0.0263362  -0.268151  9.27514    -0.076699   0.00852212  0.0276969   0.13       -0.02         pose: 0.8000940     -4.43998   0.0401649   0 0.000976287 0.00494381  -0.0131848  0.9999         uwb: 0.50129974     853.253  1455.77  
imu_odom_:  1691062565.656047769  0.399832   -0.150835  9.78031    -0.0607201  -0.0181095  0.0106526   0.13       -0.02         pose: 0.51857670    -4.42648   0.0359617   0 -0.0007954950.00391094  -0.0139734  0.999894       uwb: 0.0            853.253  1455.77  
imu_odom_:  1691062565.680051758  0.445322   -0.181959  10.2376    -0.0532632  0.00106526  0.0223706   0.17       -0.05         pose: 0.0           -4.42648   0.0359617   0 -0.0007954950.00391094  -0.0139734  0.999894       uwb: 0.49984445     852.268  1454.74  
imu_odom_:  1691062565.704020750  0.402226   -0.363919  10.2089    -0.0585895  0.00958738  0.0106526   0.18       -0.02         pose: 0.66044946    -4.41758   0.0405871   0 0.000948037 0.00109944  -0.0146414  0.999892       uwb: 0.0            852.268  1454.74  
imu_odom_:  1691062565.720920310  0.703895   -0.148441  9.59835    -0.0479369  0.0394148   0.00213053  0.18       -0.02         pose: 0.8003858     -4.41762   0.0405937   0 0.000139305 0.00106475  -0.0147579  0.999891       uwb: 0.0            852.268  1454.74  
imu_odom_:  1691062565.744924882  0.859518   -0.593762  10.0221    -0.076699   -0.0181095  0.0436758   0.15       0             pose: 0.0           -4.41762   0.0405937   0 0.000139305 0.00106475  -0.0147579  0.999891       uwb: 0.50119475     854.423  1454.86  
imu_odom_:  1691062565.770979998  0.464475   -0.260968  9.60554    -0.0532632  0.00213053  0.0117179   0.15       0             pose: 0.40883425    -4.40408   0.0364788   0 -0.00154757 -0.000940935-0.0152932  0.999881       uwb: 0.0            854.423  1454.86  
imu_odom_:  1691062565.784916171  0.167594   -0.263362  9.32542    -0.0543285  0.00958738  0.0276969   0.15       0             pose: 0.0           -4.40408   0.0364788   0 -0.00154757 -0.000940935-0.0152932  0.999881       uwb: 0.50125017     853.554  1453.47  
imu_odom_:  1691062565.807967362  0.37589    -0.426168  10.1682    -0.0383495  -0.0127832  0.015979    0.16       -0.02         pose: 0.48088763    -4.40408   0.0364788   0 -0.00203785 -0.00407125 -0.0156675  0.999867       uwb: 0.0            853.554  1453.47  
imu_odom_:  1691062565.831925563  0.526724   0.181959   10.386     -0.0340885  -0.0436758  0.0394148   0.19       0             pose: 0.30939558    -4.39526   0.0411734   0 -0.00386603 -0.00219986 -0.0159751  0.999862       uwb: 0.49689301     852.483  1452.73  
imu_odom_:  1691062565.850006861  0.445322   -0.447716  9.89524    -0.0490022  0.00106526  0.04048     0.19       0             pose: 0.0           -4.39526   0.0411734   0 -0.00386603 -0.00219986 -0.0159751  0.999862       uwb: 0.0            852.483  1452.73  
imu_odom_:  1691062565.872909897  0.160412   -0.270545  9.59596    -0.0298274  0.0213053   0.0234358   0.19       0             pose: 0.0           -4.39526   0.0411734   0 -0.00386603 -0.00219986 -0.0159751  0.999862       uwb: 0.49941865     851.552  1451.56  
imu_odom_:  1691062565.899023925  0.174777   -0.220267  10.173     -0.0458064  -0.0127832  0.04048     0.16       0             pose: 0.7948153     -4.39526   0.0411734   0 -0.003001   -0.0024979  -0.0159772  0.999865       uwb: 0.0            851.552  1451.56  
imu_odom_:  1691062565.922079199  0.679953   -0.150835  9.95988    -0.0639159  0.0213053   0.0287621   0.17       0             pose: 0.40989875    -4.38173   0.0370302   0 -0.00289882 -0.00208441 -0.0160211  0.999865       uwb: 0.0            851.552  1451.56  
imu_odom_:  1691062565.937911052  0.177171   -0.153229  9.991      -0.0649811  0.0266316   0.0607201   0.17       0             pose: 0.0           -4.38173   0.0370302   0 -0.00289882 -0.00208441 -0.0160211  0.999865       uwb: 0.49968988     850.917  1450.83  
imu_odom_:  1691062565.954944185  0.162806   -0.320823  9.79707    -0.0745685  0.0127832   0.0415453   0.17       0             pose: 0.0           -4.38173   0.0370302   0 -0.00289882 -0.00208441 -0.0160211  0.999865       uwb: 0.0            850.917  1450.83  
imu_odom_:  1691062565.979063956  0.514753   -0.059855  9.79228    -0.0596548  0.0266316   0.0319579   0.21       -0.02         pose: 0.48333161    -4.38173   0.0370302   0 -0.00182183 0.00163896  -0.0161614  0.999866       uwb: 0.50003109     850.273  1450.15  
imu_odom_:  1691062566.5038871    0.737414   -0.407014  9.72285    -0.0575243  0.0308927   0.0276969   0.2        -0.02         pose: 0.39746017    -4.36821   0.0328816   0 -0.00119462 0.00266201  -0.0160787  0.999866       uwb: 0.0            850.273  1450.15  
imu_odom_:  1691062566.29915169   0.579397   -0.0263362 9.81623    -0.0319579  0.015979    0.0447411   0.2        -0.02         pose: 0.34079388    -4.36821   0.0328816   0 -1.27464e-050.00233513  -0.0161577  0.999867       uwb: 0.50027903     850.466  1449.57  
imu_odom_:  1691062566.56937963   0.23942    0.00718261 10.1897    -0.0607201  -0.00958738 0.0308927   0.18       0             pose: 0.7973818     -4.36821   0.0328816   0 -0.0003904770.00176852  -0.016206   0.999867       uwb: 0.0            850.466  1449.57  
imu_odom_:  1691062566.71040375   0.581791   -0.122104  9.94791    -0.056459   -0.0106526  0.0330232   0.18       0             pose: 0.0           -4.36821   0.0328816   0 -0.0003904770.00176852  -0.016206   0.999867       uwb: 0.0            850.466  1449.57  
imu_odom_:  1691062566.95895675   0.418985   -0.148441  10.0437    -0.0873517  0.0351537   0.0532632   0.19       0             pose: 0.51043991    -4.35938   0.0375665   0 0.00149848  -0.000418002-0.0162889  0.999866       uwb: 0.49970747     852.144  1449.75  
imu_odom_:  1691062566.120009910  0.35913    -0.232238  10.0341    -0.0660464  0.0149137   0.0468716   0.19       0             pose: 0.0           -4.35938   0.0375665   0 0.00149848  -0.000418002-0.0162889  0.999866       uwb: 0.0            852.144  1449.75  
imu_odom_:  1691062566.143893455  0.648829   -0.198719  9.7851     -0.0639159  -0.0181095  0.0490022   0.17       -0.02         pose: 0.39823893    -4.34586   0.0334146   0 0.00351534  -0.00097567 -0.0163671  0.999859       uwb: 0.50255099     853.979  1449.46  
imu_odom_:  1691062566.168963405  0.397437   0.0311246  10.0437    -0.0479369  0.036219    0.0181095   0.17       -0.02         pose: 0.0           -4.34586   0.0334146   0 0.00351534  -0.00097567 -0.0163671  0.999859       uwb: 0.0            853.979  1449.46  
imu_odom_:  1691062566.184936417  0.368707   -0.339977  9.36612    -0.0820254  -0.0330232  0.0383495   0.19       -0.02         pose: 0.49058778    -4.33702   0.0380977   0 0.0024002   -0.000857313-0.0161204  0.999867       uwb: 0.50007202     855.868  1448.99  
imu_odom_:  1691062566.209997034  0.263362   -0.189142  9.88566    -0.0490022  -0.0426106  0.04048     0.19       -0.02         pose: 0.0           -4.33702   0.0380977   0 0.0024002   -0.000857313-0.0161204  0.999867       uwb: 0.0            855.868  1448.99  
imu_odom_:  1691062566.233937158  0.304064   -0.162806  9.96227    -0.0798948  0           0.0500674   0.18       0             pose: 0.48047067    -4.33234   0.0292633   0 0.00393744  -0.00140637 -0.0163164  0.999858       uwb: 0.49737432     855.756  1447.99  
imu_odom_:  1691062566.251000916  0.742203   -0.294487  9.47864    -0.0372843  -0.0308927  0.0213053   0.18       0             pose: 0.0           -4.33234   0.0292633   0 0.00393744  -0.00140637 -0.0163164  0.999858       uwb: 0.0            855.756  1447.99  
imu_odom_:  1691062566.275884214  0.4956     -0.227449  9.76355    -0.0500674  0.00319579  0.0298274   0.19       0             pose: 0.40936804    -4.3235    0.0339462   0 0.0024593   0.00134493  -0.01629    0.999863       uwb: 0.50350758     852.996  1445.85  
imu_odom_:  1691062566.300891460  0.622492   0.0742203  10.252     -0.0287621  -0.0426106  0.0234358   0.19       0             pose: 0.0           -4.3235    0.0339462   0 0.0024593   0.00134493  -0.01629    0.999863       uwb: 0.0            852.996  1445.85  
imu_odom_:  1691062566.325878875  0.383072   -0.141258  10.1825    -0.0543285  0.00426106  0.0511327   0.17       0             pose: 0.42947393    -4.31467   0.0386292   0 0.00165389  0.000637847 -0.0163922  0.999864       uwb: 0.49637398     856.288  1446.31  
imu_odom_:  1691062566.343881141  0.102951   -0.280122  10.3789    -0.0479369  -0.0234358  0.0276969   0.17       0             pose: 0.0           -4.31467   0.0386292   0 0.00165389  0.000637847 -0.0163922  0.999864       uwb: 0.0            856.288  1446.31  
imu_odom_:  1691062566.367924507  0.612916   -0.337582  9.92875    -0.072438   0.00426106  0.0458064   0.19       -0.05         pose: 0.50054740    -4.30115   0.0344712   0 0.00339043  -0.00204499 -0.0166312  0.999854       uwb: 0.0            856.288  1446.31  
imu_odom_:  1691062566.391873088  0.294487   0.0383072  9.96467    -0.0426106  -0.04048    0.0255663   0.19       -0.05         pose: 0.0           -4.30115   0.0344712   0 0.00339043  -0.00204499 -0.0166312  0.999854       uwb: 0.50011285     855.015  1444.93  
imu_odom_:  1691062566.416990868  0.416591   -0.213084  10.1083    -0.0628506  -0.0308927  0.052198    0.22       -0.02         pose: 0.65934426    -4.29231   0.0391494   0 0.00186536  -0.000401704-0.016623   0.99986        uwb: 0.0            855.015  1444.93  
imu_odom_:  1691062566.438871406  0.694318   -0.0526724 9.44752    -0.0458064  0.0170442   0.0213053   0.18       -0.02         pose: 0.42106002    -4.28763   0.0303108   0 0.000927588 -0.000804391-0.0165852  0.999862       uwb: 0.50049491     857.349  1444.3   
imu_odom_:  1691062566.454976533  -0.11971   -0.282516  10.1538    -0.0575243  0.0245011   0.0596548   0.18       -0.02         pose: 0.0           -4.28763   0.0303108   0 0.000927588 -0.000804391-0.0165852  0.999862       uwb: 0.0            857.349  1444.3   
imu_odom_:  1691062566.480862209  0.550666   -0.184354  10.3621    -0.0276969  -0.0319579  0.0255663   0.23       0.02          pose: 0.5889444     -4.28763   0.0303108   0 0.00122121  -0.00126946 -0.0166387  0.99986        uwb: 0.49923792     860.354  1444.25  
imu_odom_:  1691062566.505029815  0.833182   -0.349553  10.0293    -0.0649811  -0.0106526  0.0671117   0.23       0.02          pose: 0.0           -4.28763   0.0303108   0 0.00122121  -0.00126946 -0.0166387  0.99986        uwb: 0.0            860.354  1444.25  
imu_odom_:  1691062566.530856287  0.88346    0.0502782  10.0317    -0.0372843  -0.00745685 0.0351537   0.21       0.02          pose: 0.40102121    -4.27879   0.0349882   0 0.00179244  -0.00162334 -0.016679   0.999858       uwb: 0.0            860.354  1444.25  
imu_odom_:  1691062566.543858912  0.0885855  -0.0909797 9.83059    -0.0468716  0.0234358   0.052198    0.21       0.02          pose: 0.0           -4.27879   0.0349882   0 0.00179244  -0.00162334 -0.016679   0.999858       uwb: 0.0            860.354  1444.25  
imu_odom_:  1691062566.567852698  0.311246   -0.112527  9.92875    -0.0308927  0.0181095   0.0298274   0.17       0             pose: 0.49949165    -4.26528   0.0308256   0 0.00122744  -0.00656513 -0.01648    0.999842       uwb: 0.0            860.354  1444.25  
imu_odom_:  1691062566.584908582  0.356736   -0.0981623 9.93115    -0.0830906  0.0170442   0.0596548   0.17       0             pose: 0.0           -4.26528   0.0308256   0 0.00122744  -0.00656513 -0.01648    0.999842       uwb: 0.99993406     860.994  1443.56  
imu_odom_:  1691062566.610917040  0.105345   -0.342371  9.50498    -0.0671117  0.0213053   0.0458064   0.2        0             pose: 0.38936131    -4.25644   0.0355058   0 0.00294242  -0.00576664 -0.0164869  0.999843       uwb: 0.0            860.994  1443.56  
imu_odom_:  1691062566.635909996  0.308852   -0.428562  9.82102    -0.072438   0.00852212  0.0585895   0.2        0             pose: 0.0           -4.25644   0.0355058   0 0.00294242  -0.00576664 -0.0164869  0.999843       uwb: 0.0            860.994  1443.56  
imu_odom_:  1691062566.661860709  0.11971    -0.31364   9.96706    -0.0287621  -0.0170442  0.0266316   0.2        0.02          pose: 0.42280988    -4.25176   0.0266688   0 0.00338145  -0.00133778 -0.01638    0.999859       uwb: 0.0            860.994  1443.56  
imu_odom_:  1691062566.686000025  0.253785   -0.517148  9.90721    -0.0681769  -0.0117179  0.0468716   0.2        0.02          pose: 0.0           -4.25176   0.0266688   0 0.00338145  -0.00133778 -0.01638    0.999859       uwb: 0.100060483    862.773  1443.3   
imu_odom_:  1691062566.711902325  0.4956     -0.129287  9.9096     -0.0372843  -0.052198   0.0383495   0.18       0             pose: 0.49778553    -4.24292   0.0313505   0 -0.0002825710.00202855  -0.0161482  0.999868       uwb: 0.0            862.773  1443.3   
imu_odom_:  1691062566.727849380  0.632069   -0.196325  9.83538    -0.0692422  -0.0138484  0.0617853   0.18       0             pose: 0.0           -4.24292   0.0313505   0 -0.0002825710.00202855  -0.0161482  0.999868       uwb: 0.49919710     863.823  1442.64  
imu_odom_:  1691062566.749960317  0.711078   -0.191536  10.5177    -0.0458064  0.0575243   0.0308927   0.19       0             pose: 0.49995828    -4.23409   0.0360362   0 -0.00254803 0.00338611  -0.0161888  0.99986        uwb: 0.0            863.823  1442.64  
imu_odom_:  1691062566.774913901  1.09176    -0.0311246 9.81383    -0.0692422  -0.0223706  0.056459    0.19       0             pose: 0.0           -4.23409   0.0360362   0 -0.00254803 0.00338611  -0.0161888  0.99986        uwb: 0.50071946     859.961  1440.23  
imu_odom_:  1691062566.791907665  0.263362   -0.550666  9.59835    -0.0553937  0.036219    0.036219    0.19       0             pose: 0.40920472    -4.2294    0.0272017   0 -0.000992645-0.000567368-0.0160545  0.99987        uwb: 0.0            859.961  1440.23  
imu_odom_:  1691062566.815837873  0.138864   -0.514753  9.35893    -0.0596548  0.0245011   0.0479369   0.19       0             pose: 0.0           -4.2294    0.0272017   0 -0.000992645-0.000567368-0.0160545  0.99987        uwb: 0.0            859.961  1440.23  
imu_odom_:  1691062566.833838097  0.339977   -0.292093  9.89045    -0.0415453  -0.0234358  0.0372843   0.23       0             pose: 0.48174224    -4.22057   0.0318893   0 -0.000875495-0.00360886 -0.0159254  0.999866       uwb: 0.49945957     856.822  1438.15  
imu_odom_:  1691062566.859161777  0.21069    -0.275333  9.90002    -0.0809601  -0.00639159 0.0649811   0.23       0             pose: 0.0           -4.22057   0.0318893   0 -0.000875495-0.00360886 -0.0159254  0.999866       uwb: 0.0            856.822  1438.15  
imu_odom_:  1691062566.884842720  0.387861   -0.325611  9.90002    -0.0372843  -0.0117179  0.0372843   0.23       -0.02         pose: 0.40882558    -4.20705   0.0277475   0 -0.00326692 -1.73538e-05-0.0158368  0.999869       uwb: 0.49996412     856.225  1437.39  
imu_odom_:  1691062566.909010908  0.270545   -0.306458  10.0628    -0.0415453  -0.00319579 0.0511327   0.23       -0.02         pose: 0.0           -4.20705   0.0277475   0 -0.00326692 -1.73538e-05-0.0158368  0.999869       uwb: 0.0            856.225  1437.39  
imu_odom_:  1691062566.934824257  0.263362   -0.136469  10.1562    -0.0170442  -0.015979   0.036219    0.18       0             pose: 0.43163792    -4.19822   0.0324418   0 -0.00401482 0.00273742  -0.015527   0.999868       uwb: 0.49980371     856.856  1436.76  
imu_odom_:  1691062566.947819299  0.52433    -0.445322  9.58878    -0.0511327  -0.0340885  0.056459    0.18       0             pose: 0.0           -4.19822   0.0324418   0 -0.00401482 0.00273742  -0.015527   0.999868       uwb: 0.0            856.856  1436.76  
imu_odom_:  1691062566.964046624  0.742203   -0.0550666 10.1562    -0.0479369  -0.0340885  0.0468716   0.18       0             pose: 0.49850006    -4.19352   0.0236139   0 -0.00371818 0.00394585  -0.0154144  0.999866       uwb: 0.0            856.856  1436.76  
imu_odom_:  1691062566.989816810  0.905008   0.265756   10.4627    -0.0596548  0.0223706   0.0490022   0.18       0             pose: 0.0           -4.19352   0.0236139   0 -0.00371818 0.00394585  -0.0154144  0.999866       uwb: 0.49879462     859.825  1436.71  
imu_odom_:  1691062567.14872471   0.792481   -0.0885855 9.68215    -0.0703074  0.0106526   0.0426106   0.19       0             pose: 0.72902660    -4.17883   0.0314331   0 -8.05045e-050.000108683 -0.0151534  0.999885       uwb: 0.0            859.825  1436.71  
imu_odom_:  1691062567.40986509   0.447716   -0.387861  9.991      -0.0798948  -0.00213053 0.0649811   0.19       0             pose: 0.9081772     -4.17587   0.0330143   0 0.000121339 -0.000690984-0.0151397  0.999885       uwb: 0.50095282     858.238  1435.11  
imu_odom_:  1691062567.63814018   0.248997   -0.229843  10.0437    -0.0330232  -0.00426106 0.0276969   0.19       -0.02         pose: 0.42087927    -4.16476   0.0276033   0 -0.00245734 -0.00207296 -0.0147791  0.999886       uwb: 0.0            858.238  1435.11  
imu_odom_:  1691062567.86827012   0.0335188  -0.241814  10.1706    -0.0628506  -0.0383495  0.0575243   0.19       -0.02         pose: 0.0           -4.16476   0.0276033   0 -0.00245734 -0.00207296 -0.0147791  0.999886       uwb: 0.50132909     856.682  1433.43  
imu_odom_:  1691062567.112829350  0.730232   -0.0742203 10.1849    -0.0234358  -0.052198   0.036219    0.19       0             pose: 0.30849451    -4.16234   0.0288968   0 -0.00179104 0.000834546 -0.0148359  0.999888       uwb: 0.0            856.682  1433.43  
imu_odom_:  1691062567.125891181  0.416591   -0.320823  9.68933    -0.0532632  0           0.0649811   0.19       0             pose: 0.0           -4.16234   0.0288968   0 -0.00179104 0.000834546 -0.0148359  0.999888       uwb: 0.50031418     855.102  1431.87  
imu_odom_:  1691062567.149812644  0.351948   0.0454898  10.2759    -0.0319579  -0.0330232  0.0458064   0.2        0             pose: 0.47136566    -4.15352   0.0336059   0 -0.00090134 -0.000863489-0.014665   0.999892       uwb: 0.0            855.102  1431.87  
imu_odom_:  1691062567.174811729  0.42138    -0.0095768110.3477    -0.0735032  -0.0500674  0.0596548   0.2        0             pose: 0.0           -4.15352   0.0336059   0 -0.00090134 -0.000863489-0.014665   0.999892       uwb: 0.49949758     856.926  1431.43  
imu_odom_:  1691062567.190817408  0.701501   -0.208296  9.71567    -0.0628506  0.0181095   0.0426106   0.23       0             pose: 0.38904348    -4.14881   0.0247858   0 0.00176164  -0.000867635-0.0144222  0.999894       uwb: 0.0            856.926  1431.43  
imu_odom_:  1691062567.216888574  0.507571   -0.301669  9.70849    -0.0830906  0.0223706   0.0511327   0.23       0             pose: 0.0           -4.14881   0.0247858   0 0.00176164  -0.000867635-0.0144222  0.999894       uwb: 0.0            856.926  1431.43  
imu_odom_:  1691062567.241921198  0.572214   -0.35913   9.75398    -0.052198   -0.0447411  0.036219    0.18       -0.02         pose: 0.41112381    -4.13999   0.0295022   0 0.00200622  -0.00287514 -0.0141732  0.999893       uwb: 0.50005461     856.423  1430.42  
imu_odom_:  1691062567.268078983  0.538695   -0.323217  9.93115    -0.0681769  -0.036219   0.0458064   0.21       -0.02         pose: 0.42931943    -4.12645   0.0254073   0 -0.00193924 -0.00518543 -0.0140986  0.999885       uwb: 0.0            856.423  1430.42  
imu_odom_:  1691062567.283957213  0.402226   0.0430956  10.0054    -0.0319579  0.00852212  0.0351537   0.21       -0.02         pose: 0.0           -4.12645   0.0254073   0 -0.00193924 -0.00518543 -0.0140986  0.999885       uwb: 0.49882096     854.767  1429.12  
imu_odom_:  1691062567.310011464  0.177171   -0.268151  9.9096     -0.0841559  0.00532632  0.052198    0.22       0             pose: 0.7057770     -4.12645   0.0254073   0 -0.00263151 -0.00558474 -0.0140739  0.999882       uwb: 0.0            854.767  1429.12  
imu_odom_:  1691062567.334800858  0.335188   0.0047884  9.91918    -0.0394148  -0.0138484  0.0287621   0.22       0             pose: 0.0           -4.12645   0.0254073   0 -0.00263151 -0.00558474 -0.0140739  0.999882       uwb: 0.49864306     852.448  1427.34  
imu_odom_:  1691062567.357936634  0.31364    -0.213084  9.64863    -0.0745685  -0.00639159 0.0458064   0.21       0             pose: 0.43163508    -4.11764   0.0301302   0 -0.00293393 -0.00515187 -0.0139957  0.999884       uwb: 0.0            852.448  1427.34  
imu_odom_:  1691062567.375779374  0.545878   -0.227449  9.7851     -0.0223706  0.0245011   0.0223706   0.21       0             pose: 0.0           -4.11764   0.0301302   0 -0.00293393 -0.00515187 -0.0139957  0.999884       uwb: 0.50055041     853.281  1427.35  
imu_odom_:  1691062567.399822161  0.277727   -0.323217  10.0054    -0.0596548  -0.0138484  0.0532632   0.18       -0.02         pose: 0.49663072    -4.1041    0.0260404   0 -0.000695109-0.00167459 -0.0139953  0.9999         uwb: 0.0            853.281  1427.35  
imu_odom_:  1691062567.425819833  0.584185   -0.0047884 9.63666    -0.0415453  -0.00532632 0.0308927   0.18       -0.02         pose: 0.0           -4.1041    0.0260404   0 -0.000695109-0.00167459 -0.0139953  0.9999         uwb: 0.49946550     855.079  1426.97  
imu_odom_:  1691062567.450846624  0.323217   -0.332794  10.0293    -0.0596548  -0.0607201  0.04048     0.19       -0.02         pose: 0.42225583    -4.1041    0.0260404   0 -0.000840004-0.000959594-0.0140422  0.999901       uwb: 0.0            855.079  1426.97  
imu_odom_:  1691062567.475779506  -0.0861913 0.0143652  9.77553    -0.0713727  0.0138484   0.0490022   0.19       -0.02         pose: 0.0           -4.1041    0.0260404   0 -0.000840004-0.000959594-0.0140422  0.999901       uwb: 0.50224777     856.104  1426.4   
imu_odom_:  1691062567.491849930  0.339977   -0.292093  10.0341    -0.0671117  -0.0436758  0.0479369   0.18       0             pose: 0.49799853    -4.09056   0.0219492   0 -0.000123637-0.0010327  -0.0140434  0.999901       uwb: 0.0            856.104  1426.4   
imu_odom_:  1691062567.515781600  0.0837971  -0.234632  10.1083    -0.0479369  -0.00213053 0.0276969   0.18       0             pose: 0.0           -4.09056   0.0219492   0 -0.000123637-0.0010327  -0.0140434  0.999901       uwb: 0.0            856.104  1426.4   
imu_odom_:  1691062567.532780617  0.45011    -0.23942   9.90721    -0.072438   -0.0447411  0.0532632   0.26       -0.02         pose: 0.48993751    -4.08175   0.0266735   0 -0.00119204 0.00212181  -0.0138867  0.999901       uwb: 0.49950341     855.692  1425.17  
imu_odom_:  1691062567.557780577  0.596156   -0.0215478 9.90242    -0.0436758  -0.00106526 0.0351537   0.26       -0.02         pose: 0.0           -4.08175   0.0266735   0 -0.00119204 0.00212181  -0.0138867  0.999901       uwb: 0.0            855.692  1425.17  
imu_odom_:  1691062567.583823162  0.268151   -0.114922  9.84496    -0.0681769  0.0170442   0.0639159   0.24       0             pose: 0.74955842    -4.06821   0.0225854   0 2.30746e-05 0.000809068 -0.0139269  0.999903       uwb: 0.50098495     853.077  1423.13  
imu_odom_:  1691062567.596758128  0.416591   -0.3304    10.0604    -0.0500674  -0.02024    0.0436758   0.24       0             pose: 0.8133350     -4.06821   0.0225854   0 0.00050228  0.00151399  -0.0138275  0.999903       uwb: 0.0            853.077  1423.13  
imu_odom_:  1691062567.614979713  0.526724   -0.304064  9.54329    -0.0490022  0.00639159  0.0585895   0.18       0             pose: 0.0           -4.06821   0.0225854   0 0.00050228  0.00151399  -0.0138275  0.999903       uwb: 0.0            853.077  1423.13  
imu_odom_:  1691062567.637880716  0.423774   -0.191536  9.8258     -0.0266316  0.0298274   0.0340885   0.18       0             pose: 0.39295734    -4.0594    0.0273123   0 2.66509e-05 0.00170424  -0.0135055  0.999907       uwb: 0.49963757     850.18   1420.76  
imu_odom_:  1691062567.661916212  0.507571   -0.0837971 9.84975    -0.0884169  0.0138484   0.072438    0.18       0.02          pose: 0.0           -4.0594    0.0273123   0 2.66509e-05 0.00170424  -0.0135055  0.999907       uwb: 0.0            850.18   1420.76  
imu_odom_:  1691062567.687907176  0.593762   -0.234632  10.0006    -0.0649811  -0.00106526 0.0511327   0.18       0.02          pose: 0.40588589    -4.04586   0.0232359   0 0.00178419  -0.000948944-0.0133458  0.999909       uwb: 0.49915635     850.192  1419.57  
imu_odom_:  1691062567.711932756  0.380678   -0.19393   10.058     -0.0830906  0.04048     0.0511327   0.19       0             pose: 0.0           -4.04586   0.0232359   0 0.00178419  -0.000948944-0.0133458  0.999909       uwb: 0.0            850.192  1419.57  
imu_odom_:  1691062567.735750685  0.186748   -0.0909797 10.307     -0.0532632  0.00106526  0.0479369   0.19       0             pose: 0.49101659    -4.04586   0.0232359   0 0.00127309  -0.00333705 -0.0128821  0.999911       uwb: 0.50008378     849.732  1418.56  
imu_odom_:  1691062567.760809266  0.407014   0.0167594  9.84256    -0.0575243  -0.015979   0.0415453   0.19       0             pose: 0.0           -4.04586   0.0232359   0 0.00127309  -0.00333705 -0.0128821  0.999911       uwb: 0.0            849.732  1418.56  
imu_odom_:  1691062567.784928754  0.591368   -0.174777  9.81862    -0.0660464  0.0245011   0.0394148   0.19       0             pose: 0.40850776    -4.03705   0.0279794   0 0.00192459  0.000984168 -0.0126897  0.999917       uwb: 0.49809769     855.039  1419.8   
imu_odom_:  1691062567.801752201  0.368707   -0.292093  9.95748    -0.0617853  -0.00745685 0.0394148   0.19       0             pose: 0.0           -4.03705   0.0279794   0 0.00192459  0.000984168 -0.0126897  0.999917       uwb: 0.0            855.039  1419.8   
imu_odom_:  1691062567.826742537  0.280122   0.0383072  10.4148    -0.04048    -0.0106526  0.0426106   0.19       0             pose: 0.32043439    -4.02351   0.0239253   0 0.00418107  -7.39603e-05-0.0126594  0.999911       uwb: 0.50120368     859.667  1420.63  
imu_odom_:  1691062567.852748084  0.263362   0.148441   10.0604    -0.0596548  -0.0170442  0.0458064   0.19       0             pose: 0.42991730    -4.02351   0.0239253   0 0.00291762  -0.000388444-0.0126424  0.999916       uwb: 0.0            859.667  1420.63  
imu_odom_:  1691062567.876731958  0.191536   0.023942   10.0413    -0.0585895  0.0170442   0.0394148   0.19       0.02          pose: 0.41962230    -4.01129   0.0223393   0 0.00668243  0.00134105  -0.0125444  0.999898       uwb: 0.50078081     861.477  1420.09  
imu_odom_:  1691062567.893754598  0.749385   -0.339977  9.64624    -0.0585895  -0.0106526  0.0426106   0.19       0.02          pose: 0.6999732     -4.00996   0.0198723   0 0.00703092  0.00201722  -0.012548   0.999895       uwb: 0.0            861.477  1420.09  
imu_odom_:  1691062567.919743229  0.543484   -0.0143652 10.647     -0.04048    0.0213053   0.0532632   0.18       0.02          pose: 0.34006782    -4.00116   0.024622    0 0.00689594  0.00219267  -0.0125237  0.999895       uwb: 0.0            861.477  1420.09  
imu_odom_:  1691062567.942733183  0.751779   -0.260968  9.99819    -0.0532632  -0.0255663  0.0383495   0.18       0.02          pose: 0.0           -4.00116   0.024622    0 0.00689594  0.00219267  -0.0125237  0.999895       uwb: 0.49898428     861.443  1418.96  
imu_odom_:  1691062567.968734063  0.864307   -0.169988  10.094     -0.0596548  -0.0298274  0.0458064   0.25       0             pose: 0.48978585    -3.99543   0.0277166   0 0.00665572  -0.00220962 -0.0123259  0.999899       uwb: 0.0            861.443  1418.96  
imu_odom_:  1691062567.981857139  0.42138    -0.160412  9.59596    -0.0447411  -0.0138484  0.0426106   0.25       0             pose: 0.0           -3.99543   0.0277166   0 0.00665572  -0.00220962 -0.0123259  0.999899       uwb: 0.50125911     859.432  1417.7   
imu_odom_:  1691062568.5851805    0.272939   -0.0814029 9.70609    -0.052198   -0.0106526  0.0639159   0.18       0             pose: 0.0           -3.99543   0.0277166   0 0.00665572  -0.00220962 -0.0123259  0.999899       uwb: 0.0            859.432  1417.7   
imu_odom_:  1691062568.29863098   0.742203   -0.126893  10.1754    -0.0490022  0.00213053  0.0468716   0.18       0             pose: 0.47142398    -3.9876    0.0205761   0 0.00542741  -0.00334276 -0.0121187  0.999906       uwb: 0.49878891     863.273  1418.33  
imu_odom_:  1691062568.43739783   0.430956   0          9.70131    -0.0426106  -0.00106526 0.0394148   0.18       0             pose: 0.0           -3.9876    0.0205761   0 0.00542741  -0.00334276 -0.0121187  0.999906       uwb: 0.0            863.273  1418.33  
imu_odom_:  1691062568.67953477   0.337582   -0.0766145 9.71806    -0.0788296  -0.0138484  0.0543285   0.18       0             pose: 0.46873510    -3.97881   0.0253328   0 0.00620965  -0.00383589 -0.0118362  0.999903       uwb: 0.0            863.273  1418.33  
imu_odom_:  1691062568.92874115   0.114922   -0.205901  9.66779    -0.0852212  0.00106526  0.0585895   0.22       0             pose: 0.31204386    -3.96957   0.0225839   0 0.00672334  -0.00123083 -0.0116811  0.999908       uwb: 0.50038718     864.617  1417.93  
imu_odom_:  1691062568.114797825  -0.0143652 -0.347159  9.97424    -0.076699   -0.0255663  0.0532632   0.22       0             pose: 0.7997738     -3.96525   0.0213023   0 0.00632395  -0.000458289-0.0116098  0.999913       uwb: 0.0            864.617  1417.93  
imu_odom_:  1691062568.130937955  0.409408   -0.0814029 10.1754    -0.0287621  -0.0340885  0.0255663   0.19       0             pose: 0.0           -3.96525   0.0213023   0 0.00632395  -0.000458289-0.0116098  0.999913       uwb: 0.49938393     867.352  1418.19  
imu_odom_:  1691062568.147862897  0.998382   -0.481235  9.3302     -0.0713727  0.0170442   0.0553937   0.19       0             pose: 0.46923091    -3.95646   0.0260701   0 0.00472186  0.00206923  -0.011375   0.999922       uwb: 0.0            867.352  1418.19  
imu_odom_:  1691062568.172774202  0.667982   -0.227449  9.64384    -0.0138484  0.0884169   0.0245011   0.18       0             pose: 0.0           -3.95646   0.0260701   0 0.00472186  0.00206923  -0.011375   0.999922       uwb: 0.50062924     868.387  1417.45  
imu_odom_:  1691062568.197878575  0.3304     -0.0909797 9.80186    -0.0703074  0.04048     0.0639159   0.18       0             pose: 0.33081987    -3.95646   0.0260701   0 0.00420739  -0.000345285-0.011343   0.999927       uwb: 0.0            868.387  1417.45  
imu_odom_:  1691062568.222866582  0.409408   -0.296881  9.77074    -0.0649811  -0.0191748  0.0415453   0.18       0             pose: 0.41922282    -3.94532   0.0207398   0 0.00493464  0.00165562  -0.0111624  0.999924       uwb: 0.49941601     866.833  1416.05  
imu_odom_:  1691062568.247744056  0.531513   -0.21069   10.1155    -0.0798948  -0.00213053 0.0585895   0.18       0             pose: 0.6869077     -3.9429    0.0220529   0 0.00422853  0.00146333  -0.0111563  0.999928       uwb: 0.0            866.833  1416.05  
imu_odom_:  1691062568.271727352  0.407014   -0.169988  9.7444     -0.0692422  0.0127832   0.0426106   0.26       -0.02         pose: 0.42996404    -3.93673   0.0254093   0 0.00133844  -0.00139504 -0.0108984  0.999939       uwb: 0.49993513     869.633  1416.05  
imu_odom_:  1691062568.288863736  0.308852   -0.447716  10.1083    -0.0745685  0.00319579  0.0468716   0.26       -0.02         pose: 0.0           -3.93673   0.0254093   0 0.00133844  -0.00139504 -0.0108984  0.999939       uwb: 0.0            869.633  1416.05  
imu_odom_:  1691062568.314866079  0.560243   0.11971    9.88326    -0.0319579  -0.00426106 0.0255663   0.18       0             pose: 0.41119680    -3.92934   0.0180439   0 0.000902691 0.00119863  -0.0108063  0.99994        uwb: 0.0            869.633  1416.05  
imu_odom_:  1691062568.339854086  0.325611   -0.0742203 9.90721    -0.0628506  0.00319579  0.0394148   0.18       0             pose: 0.0           -3.92934   0.0180439   0 0.000902691 0.00119863  -0.0108063  0.99994        uwb: 0.49926435     872.396  1416.11  
imu_odom_:  1691062568.355855977  0.203507   -0.177171  9.79707    -0.0468716  0.00639159  0.0308927   0.21       0             pose: 0.50990350    -3.92055   0.0228231   0 0.00507487  0.00179865  -0.0109931  0.999925       uwb: 0.0            872.396  1416.11  
imu_odom_:  1691062568.380860899  -0.0311246 -0.208296  9.96467    -0.0617853  -0.0106526  0.0490022   0.21       0             pose: 0.0           -3.92055   0.0228231   0 0.00507487  0.00179865  -0.0109931  0.999925       uwb: 0.49941017     873.869  1415.19  
imu_odom_:  1691062568.406691756  0.21069    -0.380678  9.991      -0.0458064  0.00532632  0.0213053   0.21       0             pose: 0.41006813    -3.90864   0.0218427   0 0.00399522  0.00575728  -0.0109662  0.999915       uwb: 0.0            873.869  1415.19  
imu_odom_:  1691062568.431714469  0.35913    -0.433351  10.2975    -0.0468716  -0.0330232  0.0330232   0.21       0             pose: 0.0           -3.90864   0.0218427   0 0.00399522  0.00575728  -0.0109662  0.999915       uwb: 0.49996722     872.362  1413.65  
imu_odom_:  1691062568.455771259  0.694318   0.023942   9.95988    -0.0436758  0.00213053  0.0426106   0.21       -0.02         pose: 0.33896839    -3.90699   0.0188142   0 0.000940015 0.00630665  -0.0112513  0.999916       uwb: 0.0            872.362  1413.65  
imu_odom_:  1691062568.480705895  0.639252   -0.445322  9.9096     -0.056459   0.00745685  0.0276969   0.26       0.02          pose: 0.0           -3.90699   0.0188142   0 0.000940015 0.00630665  -0.0112513  0.999916       uwb: 0.50168791     869.725  1411.96  
imu_odom_:  1691062568.496699911  0.268151   -0.225055  10.1155    -0.0798948  -0.0138484  0.0415453   0.26       0.02          pose: 0.48062542    -3.8982    0.0235862   0 0.000360578 0.00301472  -0.0113194  0.999931       uwb: 0.0            869.725  1411.96  
imu_odom_:  1691062568.522760583  0.397437   -0.531513  9.44991    -0.0500674  -0.036219   0.0149137   0.19       0             pose: 0.0           -3.8982    0.0235862   0 0.000360578 0.00301472  -0.0113194  0.999931       uwb: 0.49883855     872.838  1412.09  
imu_odom_:  1691062568.547702511  0.756568   -0.488417  9.72046    -0.0788296  -0.0756338  0.0500674   0.19       0             pose: 0.42021149    -3.88464   0.0195689   0 -0.00165811 0.00299234  -0.0115139  0.999928       uwb: 0.0            872.838  1412.09  
imu_odom_:  1691062568.571703597  0.0263362  -0.507571  9.69891    -0.036219   0.0276969   0.0287621   0.21       -0.02         pose: 0.42861082    -3.87834   0.0229898   0 -0.0048666  -0.00068318 -0.0116165  0.99992        uwb: 0.49922644     872.055  1410.82  
imu_odom_:  1691062568.588722156  0.737414   -0.11971   10.149     -0.052198   -0.0138484  0.0383495   0.21       -0.02         pose: 0.0           -3.87834   0.0229898   0 -0.0048666  -0.00068318 -0.0116165  0.99992        uwb: 0.0            872.055  1410.82  
imu_odom_:  1691062568.614755705  0.895431   -0.203507  10.0604    -0.0351537  0.0447411   0.02024     0.18       -0.02         pose: 0.7070894     -3.87585   0.024336    0 -0.00511232 6.27074e-05 -0.011652   0.999919       uwb: 0.0            872.055  1410.82  
imu_odom_:  1691062568.639890992  0.562637   -0.21069   9.56723    -0.0703074  0.00532632  0.0639159   0.18       -0.02         pose: 0.0           -3.87585   0.024336    0 -0.00511232 6.27074e-05 -0.011652   0.999919       uwb: 0.50024719     870.562  1409.34  
imu_odom_:  1691062568.655686691  0.610521   -0.191536  10.0102    -0.052198   0.00319579  0.0447411   0.2        0             pose: 0.41944447    -3.87109   0.0155439   0 -0.00460915 -0.000313465-0.0118359  0.999919       uwb: 0.0            870.562  1409.34  
imu_odom_:  1691062568.679675528  0.529119   -0.220267  9.69412    -0.0575243  -0.0149137  0.0543285   0.2        0             pose: 0.0           -3.87109   0.0155439   0 -0.00460915 -0.000313465-0.0118359  0.999919       uwb: 0.50062049     870.51   1408.26  
imu_odom_:  1691062568.704786317  0.490811   -0.263362  9.86411    -0.0330232  0.0170442   0.0340885   0.18       0             pose: 0.50017719    -3.8623    0.0203059   0 -0.00257734 -0.00422872 -0.0117122  0.999919       uwb: 0.0            870.51   1408.26  
imu_odom_:  1691062568.729677207  0.457293   -0.0790087 9.98382    -0.0852212  0.0276969   0.072438    0.18       0             pose: 0.0           -3.8623    0.0203059   0 -0.00257734 -0.00422872 -0.0117122  0.999919       uwb: 0.50104629     869.044  1406.71  
imu_odom_:  1691062568.754673672  0.562637   -0.19393   9.95509    -0.0628506  -0.0276969  0.052198    0.18       0             pose: 0.41010605    -3.8535    0.0250703   0 -0.000844937-0.00605775 -0.0115458  0.999915       uwb: 0.0            869.044  1406.71  
imu_odom_:  1691062568.770789595  0.407014   -0.452504  9.6199     -0.0788296  0           0.0543285   0.18       0             pose: 0.0           -3.8535    0.0250703   0 -0.000844937-0.00605775 -0.0115458  0.999915       uwb: 0.0            869.044  1406.71  
imu_odom_:  1691062568.788690668  0.0454898  -0.246603  10.0149    -0.0447411  -0.0255663  0.0426106   0.18       0             pose: 0.50055050    -3.83995   0.02105     0 0.000336096 -0.00463369 -0.0111362  0.999927       uwb: 0.49859358     867.575  1405.19  
imu_odom_:  1691062568.813741962  0.181959   -0.282516  10.1035    -0.0575243  -0.0298274  0.0500674   0.18       0             pose: 0.0           -3.83995   0.02105     0 0.000336096 -0.00463369 -0.0111362  0.999927       uwb: 0.0            867.575  1405.19  
imu_odom_:  1691062568.829684065  0.452504   0.102951   9.70131    -0.0607201  -0.015979   0.0436758   0.25       -0.02         pose: 0.75940736    -3.82778   0.0196125   0 -0.00142023 -0.00199162 -0.0107386  0.999939       uwb: 0.49880647     865.083  1403.25  
imu_odom_:  1691062568.854660407  0.457293   -0.268151  9.99579    -0.0585895  0.00745685  0.0415453   0.25       -0.02         pose: 0.7015773     -3.82638   0.0170448   0 -0.000737584-0.00206233 -0.0107256  0.99994        uwb: 0.0            865.083  1403.25  
imu_odom_:  1691062568.877680404  0.272939   -0.447716  9.27753    -0.0649811  0.00958738  0.0415453   0.22       0             pose: 0.33902672    -3.8202    0.0204101   0 -0.00236058 -0.00248436 -0.0106793  0.999937       uwb: 0.50033468     864.94   1402.51  
imu_odom_:  1691062568.903727077  0.301669   -0.371101  9.79707    -0.0649811  -0.0458064  0.0553937   0.22       0             pose: 0.0           -3.8202    0.0204101   0 -0.00236058 -0.00248436 -0.0106793  0.999937       uwb: 0.0            864.94   1402.51  
imu_odom_:  1691062568.918673802  0.280122   0.059855   10.2568    -0.0479369  -0.052198   0.0553937   0.2        0             pose: 0.49066670    -3.81403   0.0152622   0 -0.0056818  0.000918606 -0.0104311  0.999929       uwb: 0.0            864.94   1402.51  
imu_odom_:  1691062568.935738441  0.739808   -0.241814  10.0245    -0.0500674  0.00852212  0.0394148   0.2        0             pose: 0.0           -3.81403   0.0152622   0 -0.0056818  0.000918606 -0.0104311  0.999929       uwb: 0.50015678     865.321  1401.38  
imu_odom_:  1691062568.961727369  0.342371   -0.361524  9.88326    -0.0596548  -0.0149137  0.0426106   0.18       0.02          pose: 0.32011364    -3.80404   0.0178323   0 -0.00388793 -0.000645755-0.0103163  0.999939       uwb: 0.0            865.321  1401.38  
imu_odom_:  1691062568.987851910  0.648829   -0.306458  10.0269    -0.056459   -0.0234358  0.056459    0.18       0.02          pose: 0.0           -3.80404   0.0178323   0 -0.00388793 -0.000645755-0.0103163  0.999939       uwb: 0.50241410     864.684  1399.8   
imu_odom_:  1691062569.12719470   0.730232   -0.270545  10.1203    -0.0479369  -0.00532632 0.0351537   0.2        0             pose: 0.52113469    -3.79781   0.0212288   0 -0.00555472 -0.00174522 -0.0100607  0.999932       uwb: 0.0            864.684  1399.8   
imu_odom_:  1691062569.38775189   0.37589    -0.107739  10.1682    -0.0500674  -0.0394148  0.0479369   0.2        0             pose: 0.0           -3.79781   0.0212288   0 -0.00555472 -0.00174522 -0.0100607  0.999932       uwb: 0.50001391     864.615  1398.85  
imu_odom_:  1691062569.61647619   0.835576   -0.205901  10.1514    -0.0213053  -0.0255663  0.0234358   0.19       -0.02         pose: 0.31843964    -3.79047   0.0138461   0 -0.00439245 -0.00400616 -0.010101   0.999931       uwb: 0.0            864.615  1398.85  
imu_odom_:  1691062569.78640225   0.131681   -0.19393   9.50259    -0.0639159  -0.0117179  0.0585895   0.19       -0.02         pose: 0.0           -3.79047   0.0138461   0 -0.00439245 -0.00400616 -0.010101   0.999931       uwb: 0.49935485     866.276  1398.52  
imu_odom_:  1691062569.103667318  0.543484   -0.371101  10.0461    -0.0511327  -0.00958738 0.0351537   0.19       0             pose: 0.58944351    -3.77679   0.0213131   0 -0.00172682 -0.00433688 -0.010049   0.999939       uwb: 0.0            866.276  1398.52  
imu_odom_:  1691062569.129668207  0.397437   -0.577003  9.4978     -0.056459   -0.0117179  0.0596548   0.19       0             pose: 0.0           -3.77679   0.0213131   0 -0.00172682 -0.00433688 -0.010049   0.999939       uwb: 0.49804246     867.284  1397.82  
imu_odom_:  1691062569.152644754  0.617704   -0.246603  9.94073    -0.0575243  0.00319579  0.0458064   0.19       0.02          pose: 0.32093614    -3.77291   0.0234324   0 -0.00464304 -0.00515823 -0.0100201  0.999926       uwb: 0.0            867.284  1397.82  
imu_odom_:  1691062569.169637944  0.593762   -0.100556  10.0149    -0.0745685  -0.00745685 0.0692422   0.19       0.02          pose: 0.0           -3.77291   0.0234324   0 -0.00464304 -0.00515823 -0.0100201  0.999926       uwb: 0.0            867.284  1397.82  
imu_odom_:  1691062569.194642871  0.19393    -0.435745  9.32063    -0.0596548  0.0660464   0.0223706   0.18       -0.02         pose: 0.49971940    -3.75935   0.0194555   0 -0.00439277 -0.00656486 -0.00965174 0.999922       uwb: 0.49991481     865.087  1396.31  
imu_odom_:  1691062569.219659172  -0.0263362 -0.414197  9.35415    -0.04048    0.0266316   0.0607201   0.21       0.02          pose: 0.0           -3.75935   0.0194555   0 -0.00439277 -0.00656486 -0.00965174 0.999922       uwb: 0.0            865.087  1396.31  
imu_odom_:  1691062569.243648305  0.136469   -0.047884  9.79228    -0.0149137  0.0181095   0.0255663   0.21       0.02          pose: 0.41945038    -3.75935   0.0194555   0 -0.00480883 -0.00278128 -0.00964139 0.999938       uwb: 0.50246377     865.773  1395.42  
imu_odom_:  1691062569.259644949  0.471658   -0.335188  9.62948    -0.0628506  -0.02024    0.0639159   0.21       0.02          pose: 0.0           -3.75935   0.0194555   0 -0.00480883 -0.00278128 -0.00964139 0.999938       uwb: 0.0            865.773  1395.42  
imu_odom_:  1691062569.283698535  0.339977   -0.325611  9.85214    -0.0308927  0.00745685  0.0351537   0.19       0             pose: 0.49001351    -3.74577   0.015484    0 -0.00341044 0.000441672 -0.00951977 0.999949       uwb: 0.49687588     866.045  1394.62  
imu_odom_:  1691062569.306670999  0.481235   -0.0287304 10.0724    -0.0426106  -0.0319579  0.0585895   0.27       -0.02         pose: 0.0           -3.74577   0.015484    0 -0.00341044 0.000441672 -0.00951977 0.999949       uwb: 0.0            866.045  1394.62  
imu_odom_:  1691062569.323664480  0.876278   -0.0837971 9.82341    -0.0543285  0           0.0383495   0.27       -0.02         pose: 0.32046367    -3.73968   0.0188209   0 -0.00468355 0.00203171  -0.00946961 0.999942       uwb: 0.49950068     866.691  1393.85  
imu_odom_:  1691062569.348647826  0.399832   -0.282516  9.32302    -0.0873517  0.0298274   0.0490022   0.27       -0.02         pose: 0.0           -3.73968   0.0188209   0 -0.00468355 0.00203171  -0.00946961 0.999942       uwb: 0.0            866.691  1393.85  
imu_odom_:  1691062569.371708657  0.162806   -0.196325  9.94551    -0.0490022  0.0543285   0.0298274   0.18       0             pose: 0.7011400     -3.737     0.0202869   0 -0.00399601 0.00165631  -0.00940263 0.999946       uwb: 0.50202339     867.269  1393.27  
imu_odom_:  1691062569.397676008  0.071826   -0.244209  9.89763    -0.0703074  -0.00319579 0.0543285   0.25       0             pose: 0.41054067    -3.72343   0.0163213   0 -0.00269751 -0.000243582-0.00922509 0.999954       uwb: 0.0            867.269  1393.27  
imu_odom_:  1691062569.412834760  0.821211   -0.380678  10.3214    -0.0532632  -0.0255663  0.0330232   0.25       0             pose: 0.0           -3.72343   0.0163213   0 -0.00269751 -0.000243582-0.00922509 0.999954       uwb: 0.0            867.269  1393.27  
imu_odom_:  1691062569.435740146  0.469264   -0.280122  9.64863    -0.0809601  -0.00319579 0.0532632   0.25       0             pose: 0.0           -3.72343   0.0163213   0 -0.00269751 -0.000243582-0.00922509 0.999954       uwb: 0.50028811     867.973  1392.32  
imu_odom_:  1691062569.452606471  0.486023   -0.280122  10.1323    -0.0713727  -0.0596548  0.0436758   0.21       0             pose: 0.47862775    -3.72343   0.0163213   0 -0.0033138  0.00438146  -0.00918736 0.999943       uwb: 0.0            867.973  1392.32  
imu_odom_:  1691062569.477616356  0.476446   -0.0933739 10.3238    -0.0479369  -0.0181095  0.0234358   0.21       0             pose: 0.0           -3.72343   0.0163213   0 -0.0033138  0.00438146  -0.00918736 0.999943       uwb: 0.50055350     869.708  1391.69  
imu_odom_:  1691062569.502679612  0.979228   -0.0861913 10.3645    -0.0468716  -0.015979   0.0319579   0.18       0             pose: 0.81067259    -3.70108   0.0171733   0 -0.00298712 -0.00024625 -0.00898823 0.999955       uwb: 0.0            869.708  1391.69  
imu_odom_:  1691062569.525713029  0.428562   -0.0047884 10.0604    -0.0607201  0.0234358   0.052198    0.18       -0.02         pose: 0.41985576    -3.70108   0.0171733   0 -0.000585825-0.00354675 -0.00922563 0.999951       uwb: 0.50123596     867.889  1390.31  
imu_odom_:  1691062569.550613256  0.351948   -0.146046  9.42358    -0.0436758  0.00852212  0.0308927   0.18       -0.02         pose: 0.0           -3.70108   0.0171733   0 -0.000585825-0.00354675 -0.00922563 0.999951       uwb: 0.0            867.889  1390.31  
imu_odom_:  1691062569.566610192  0.189142   -0.246603  9.81623    -0.0543285  -0.0127832  0.04048     0.23       0             pose: 0.7075562     -3.70108   0.0171733   0 9.13303e-05 -0.00331297 -0.00918352 0.999952       uwb: 0.0            867.889  1390.31  
imu_odom_:  1691062569.592628580  0.675165   -0.37589   10.1107    -0.0543285  -0.0149137  0.0170442   0.23       0             pose: 0.0           -3.70108   0.0171733   0 9.13303e-05 -0.00331297 -0.00918352 0.999952       uwb: 0.49628676     868.063  1389.79  
imu_odom_:  1691062569.615672205  0.411803   -0.213084  9.71567    -0.076699   -0.0266316  0.0553937   0.21       0             pose: 0.47862775    -3.6875    0.0132139   0 0.00241073  0.000328398 -0.00920085 0.999955       uwb: 0.0            868.063  1389.79  
imu_odom_:  1691062569.632612024  0.502782   -0.196325  10.1323    -0.0649811  -0.0276969  0.04048     0.21       0             pose: 0.0           -3.6875    0.0132139   0 0.00241073  0.000328398 -0.00920085 0.999955       uwb: 0.50062058     870.658  1389.95  
imu_odom_:  1691062569.648618000  0.445322   -0.196325  9.70609    -0.0458064  0.0245011   0.0319579   0.21       0             pose: 0.0           -3.6875    0.0132139   0 0.00241073  0.000328398 -0.00920085 0.999955       uwb: 0.0            870.658  1389.95  
imu_odom_:  1691062569.674818374  0.416591   -0.488417  9.46907    -0.0713727  0.0330232   0.0479369   0.18       0             pose: 0.42005116    -3.67874   0.0180222   0 0.000107443 -0.000666233-0.00943444 0.999955       uwb: 0.50231212     872.537  1389.97  
imu_odom_:  1691062569.689615780  0.390255   -0.294487  9.93115    -0.0298274  -0.00532632 0.0266316   0.18       0             pose: 0.0           -3.67874   0.0180222   0 0.000107443 -0.000666233-0.00943444 0.999955       uwb: 0.0            872.537  1389.97  
imu_odom_:  1691062569.716631005  0.620098   -0.304064  10.2927    -0.0617853  -0.0138484  0.0713727   0.18       0.02          pose: 0.82025890    -3.66516   0.014056    0 -0.00233425 -0.000759373-0.00929279 0.999954       uwb: 0.0            872.537  1389.97  
imu_odom_:  1691062569.740588057  0.90022    0.0023942  10.2185    -0.0383495  -0.0138484  0.0426106   0.19       0             pose: 0.0           -3.66516   0.014056    0 -0.00233425 -0.000759373-0.00929279 0.999954       uwb: 0.49733960     874.74   1390.14  
imu_odom_:  1691062569.766639401  0.835576   -0.191536  9.98622    -0.056459   0.0287621   0.0436758   0.19       0             pose: 0.34982050    -3.65639   0.0188627   0 -0.00334621 -0.00303351 -0.00892013 0.99995        uwb: 0.0            874.74   1390.14  
imu_odom_:  1691062569.782712164  0.198719   -0.177171  9.36851    -0.0479369  0.015979    0.0308927   0.19       0             pose: 0.0           -3.65639   0.0188627   0 -0.00334621 -0.00303351 -0.00892013 0.99995        uwb: 0.49995272     876.318  1389.9   
imu_odom_:  1691062569.808639851  0.0670376  -0.423774  9.7444     -0.0841559  0.0181095   0.0777643   0.18       0             pose: 0.7979074     -3.65639   0.0188627   0 -0.00284851 -0.00374441 -0.00891126 0.999949       uwb: 0.0            876.318  1389.9   
imu_odom_:  1691062569.825753781  0.761356   -0.148441  9.96946    -0.0649811  0.00426106  0.0426106   0.18       0             pose: 0.0           -3.65639   0.0188627   0 -0.00284851 -0.00374441 -0.00891126 0.999949       uwb: 0.49975148     877.92   1389.57  
imu_odom_:  1691062569.850735960  0.696713   -0.0885855 9.97185    -0.0777643  -0.0191748  0.0607201   0.19       0             pose: 0.48996685    -3.64281   0.0149113   0 -0.00126898 -0.00655611 -0.00887808 0.999938       uwb: 0.0            877.92   1389.57  
imu_odom_:  1691062569.872585305  0.567426   -0.0215478 10.331     -0.0255663  -0.00745685 0.0287621   0.19       0             pose: 0.77129196    -3.63041   0.0131211   0 -0.000670116-0.00657443 -0.00814431 0.999945       uwb: 0.49920320     878.922  1388.75  
imu_odom_:  1691062569.895628638  0.627281   -0.222661  10.2951    -0.0617853  -0.0287621  0.0458064   0.19       0             pose: 0.0           -3.63041   0.0131211   0 -0.000670116-0.00657443 -0.00814431 0.999945       uwb: 0.0            878.922  1388.75  
imu_odom_:  1691062569.921611738  0.577003   -0.0047884 9.98861    -0.0479369  -0.0138484  0.0394148   0.18       0.02          pose: 0.5906363     -3.62923   0.0109655   0 1.90867e-06 -0.0066744  -0.00817957 0.999944       uwb: 0.50006063     876.19   1386.8   
imu_odom_:  1691062569.944600242  0.320823   -0.141258  9.71567    -0.0617853  -0.0245011  0.0436758   0.18       0.02          pose: 0.0           -3.62923   0.0109655   0 1.90867e-06 -0.0066744  -0.00817957 0.999944       uwb: 0.0            876.19   1386.8   
imu_odom_:  1691062569.960598344  0.124498   -0.265756  10.2208    -0.056459   0.052198    0.036219    0.25       0.02          pose: 0.47005927    -3.62047   0.0157916   0 0.00143367  -0.00924353 -0.00820018 0.999923       uwb: 0.0            876.19   1386.8   
imu_odom_:  1691062569.986730473  0.560243   -0.593762  10.2615    -0.0735032  0.0287621   0.0585895   0.25       0.02          pose: 0.0           -3.62047   0.0157916   0 0.00143367  -0.00924353 -0.00820018 0.999923       uwb: 0.50137303     877.094  1386.3   
imu_odom_:  1691062570.11581705   0.373495   -0.181959  10.1921    -0.0351537  -0.0117179  0.0394148   0.21       0             pose: 0.47964267    -3.61171   0.0206169   0 0.00312777  -0.0063282  -0.00819279 0.999942       uwb: 0.0            877.094  1386.3   
imu_odom_:  1691062570.34697079   0.565032   -0.217872  9.9503     -0.052198   -0.0266316  0.0383495   0.21       0             pose: 0.0           -3.61171   0.0206169   0 0.00312777  -0.0063282  -0.00819279 0.999942       uwb: 0.50018607     876.799  1384.9   
imu_odom_:  1691062570.50584068   0.292093   0.059855   9.71328    -0.0213053  -0.00532632 0.036219    0.17       0.02          pose: 0.83084562    -3.59813   0.0166885   0 0.000461275 -0.00526585 -0.00796054 0.999954       uwb: 0.0            876.799  1384.9   
imu_odom_:  1691062570.76578254   0.131681   -0.457293  9.52653    -0.0639159  0.0383495   0.056459    0.17       0.02          pose: 0.7012568     -3.59813   0.0166885   0 0.00113247  -0.00483601 -0.00797482 0.999956       uwb: 0.49985073     872.082  1382.34  
imu_odom_:  1691062570.92573443   0.0622492  -0.356736  10.0533    -0.0351537  0.00426106  0.036219    0.19       0             pose: 0.0           -3.59813   0.0166885   0 0.00113247  -0.00483601 -0.00797482 0.999956       uwb: 0.0            872.082  1382.34  
imu_odom_:  1691062570.118581628  0.311246   -0.227449  9.9527     -0.0426106  -0.0511327  0.0479369   0.19       0             pose: 0.34868607    -3.58837   0.0138687   0 0.000269594 -0.00169209 -0.00777011 0.999968       uwb: 0.0            872.082  1382.34  
imu_odom_:  1691062570.143705258  0.550666   0.023942   10.1586    -0.0117179  -0.0266316  0.0394148   0.17       0             pose: 0.42003374    -3.57826   0.0162286   0 -0.0002369340.00184529  -0.00768696 0.999969       uwb: 0.50007822     869.038  1380.36  
imu_odom_:  1691062570.169575788  0.328006   -0.0622492 10.2879    -0.0287621  -0.0213053  0.0490022   0.17       0             pose: 0.0           -3.57826   0.0162286   0 -0.0002369340.00184529  -0.00768696 0.999969       uwb: 0.0            869.038  1380.36  
imu_odom_:  1691062570.194573720  0.6608     0.0766145  10.0078    -0.04048    0.0223706   0.0383495   0.17       0             pose: 0.50994160    -3.56603   0.0147843   0 0.0047705   0.00127502  -0.00756857 0.999959       uwb: 0.49816503     870.076  1379.5   
imu_odom_:  1691062570.220748434  0.356736   -0.253785  9.85932    -0.0543285  0           0.0394148   0.21       0             pose: 0.0           -3.56603   0.0147843   0 0.0047705   0.00127502  -0.00756857 0.999959       uwb: 0.0            870.076  1379.5   
imu_odom_:  1691062570.236571845  -0.0502782 -0.337582  9.70609    -0.0809601  -0.0287621  0.056459    0.21       0             pose: 0.33072666    -3.5622    0.0136799   0 0.00561139  -0.00018215 -0.0075728  0.999956       uwb: 0.50127688     872.338  1379.37  
imu_odom_:  1691062570.262598695  0.490811   -0.35913   9.92397    -0.0660464  -0.0170442  0.0383495   0.23       -0.02         pose: 0.41997541    -3.55344   0.0185167   0 0.00232889  0.00124079  -0.00745515 0.999969       uwb: 0.49887956     871.647  1378.15  
imu_odom_:  1691062570.288605422  0.826      -0.0383072 10.0461    -0.0681769  -0.0191748  0.0458064   0.23       -0.02         pose: 0.0           -3.55344   0.0185167   0 0.00232889  0.00124079  -0.00745515 0.999969       uwb: 0.0            871.647  1378.15  
imu_odom_:  1691062570.314631106  0.466869   -0.263362  9.48343    -0.0213053  0.0948085   0.0245011   0.23       0             pose: 0.43959427    -3.54994   0.0121757   0 0.00142244  -0.00241119 -0.00738352 0.999969       uwb: 0.0            871.647  1378.15  
imu_odom_:  1691062570.330557758  0.0766145  -0.387861  10.1442    -0.0543285  0.00958738  0.0553937   0.23       0             pose: 0.0           -3.54994   0.0121757   0 0.00142244  -0.00241119 -0.00738352 0.999969       uwb: 0.50081024     868.933  1376.39  
imu_odom_:  1691062570.356767469  0.505177   -0.42138   9.52413    -0.0426106  0.0149137   0.0372843   0.22       0             pose: 0.7143516     -3.54861   0.00976547  0 0.000851167 -0.00222515 -0.00743467 0.99997        uwb: 0.0            868.933  1376.39  
imu_odom_:  1691062570.381610539  0.275333   -0.213084  9.8689     -0.0426106  -0.00106526 0.0575243   0.22       0             pose: 0.0           -3.54861   0.00976547  0 0.000851167 -0.00222515 -0.00743467 0.99997        uwb: 0.50053319     868.548  1375.39  
imu_odom_:  1691062570.397564022  0.720655   -0.124498  9.96946    -0.0532632  0.0106526   0.0372843   0.2        0             pose: 0.42841849    -3.53985   0.0146046   0 -0.00194308 -0.000463258-0.00745161 0.99997        uwb: 0.0            868.548  1375.39  
imu_odom_:  1691062570.423556167  0.361524   -0.229843  9.42837    -0.0873517  0.02024     0.0553937   0.2        0             pose: 0.0           -3.53985   0.0146046   0 -0.00194308 -0.000463258-0.00745161 0.99997        uwb: 0.49993531     867.783  1374.42  
imu_odom_:  1691062570.449568144  0.00718261 -0.282516  9.91439    -0.0511327  -0.02024    0.0340885   0.23       -0.02         pose: 0.49992657    -3.52626   0.0106929   0 -0.0019701  0.000554376 -0.00725333 0.999972       uwb: 0.0            867.783  1374.42  
imu_odom_:  1691062570.475613368  0.675165   -0.289698  9.90002    -0.0703074  -0.0607201  0.0447411   0.23       -0.02         pose: 0.0           -3.52626   0.0106929   0 -0.0019701  0.000554376 -0.00725333 0.999972       uwb: 0.49889706     866.967  1373.61  
imu_odom_:  1691062570.501548934  0.730232   -0.0383072 10.0102    -0.0458064  -0.02024    0.0415453   0.21       -0.02         pose: 0.42976005    -3.51751   0.0155363   0 -0.0012919  0.00329794  -0.00707775 0.999969       uwb: 0.0            866.967  1373.61  
imu_odom_:  1691062570.518543293  0.186748   -0.411803  9.94791    -0.0809601  0.0223706   0.052198    0.21       -0.02         pose: 0.0           -3.51751   0.0155363   0 -0.0012919  0.00329794  -0.00707775 0.999969       uwb: 0.0            866.967  1373.61  
imu_odom_:  1691062570.534548398  0.25618    -0.339977  9.70609    -0.0287621  -0.0287621  0.0298274   0.17       -0.02         pose: 0.51022449    -3.50877   0.0203814   0 -0.00161823 0.000970981 -0.00705545 0.999973       uwb: 0.49943952     867.671  1372.66  
imu_odom_:  1691062570.559538456  0.620098   -0.21069   9.991      -0.0426106  0           0.0351537   0.17       -0.02         pose: 0.0           -3.50877   0.0203814   0 -0.00161823 0.000970981 -0.00705545 0.999973       uwb: 0.0            867.671  1372.66  
imu_odom_:  1691062570.585682839  0.545878   0.143652   10.1083    -0.0276969  -0.00213053 0.0308927   0.19       0             pose: 0.58980235    -3.49517   0.016481    0 -0.00232429 0.00120978  -0.00702302 0.999972       uwb: 0.50052151     868.753  1371.67  
imu_odom_:  1691062570.611680233  0.136469   -0.0383072 10.1945    -0.0628506  0.0308927   0.052198    0.19       0             pose: 0.0           -3.49517   0.016481    0 -0.00232429 0.00120978  -0.00702302 0.999972       uwb: 0.0            868.753  1371.67  
imu_odom_:  1691062570.637588968  -0.00718261-0.268151  9.8282     -0.0500674  0.0127832   0.0372843   0.19       0             pose: 0.44120706    -3.49182   0.0104265   0 0.000987185 -0.00133698 -0.00718315 0.999973       uwb: 0.50052152     868.711  1370.76  
imu_odom_:  1691062570.663526284  0.696713   -0.407014  10.0054    -0.052198   -0.0394148  0.0223706   0.19       0             pose: 0.8048194     -3.49033   0.00773338  0 0.0013419   -0.000486699-0.00713349 0.999974       uwb: 0.0            868.711  1370.76  
imu_odom_:  1691062570.689585215  0.550666   -0.227449  10.0892    -0.0639159  -0.00639159 0.0553937   0.19       0             pose: 0.0           -3.49033   0.00773338  0 0.0013419   -0.000486699-0.00713349 0.999974       uwb: 0.49997323     866.824  1368.91  
imu_odom_:  1691062570.705524408  0.260968   -0.124498  9.9934     -0.0692422  0.00958738  0.0330232   0.17       0.02          pose: 0.50862921    -3.48158   0.0125779   0 0.00124541  0.00342568  -0.00711936 0.999968       uwb: 0.0            866.824  1368.91  
imu_odom_:  1691062570.731576340  0.4956     -0.574608  9.50498    -0.0777643  0.015979    0.056459    0.17       0.02          pose: 0.0           -3.48158   0.0125779   0 0.00124541  0.00342568  -0.00711936 0.999968       uwb: 0.49984781     864.677  1366.82  
imu_odom_:  1691062570.757579567  0.296881   -0.339977  10.3046    -0.0266316  0.015979    0.0276969   0.2        -0.02         pose: 0.51943459    -3.46799   0.0086748   0 0.000187138 -0.000497123-0.00710111 0.999975       uwb: 0.0            864.677  1366.82  
imu_odom_:  1691062570.783516592  0.845153   -0.342371  10.1825    -0.0713727  -0.00852212 0.0703074   0.23       0             pose: 0.43034626    -3.45924   0.0135209   0 -0.00259879 0.000683315 -0.00695767 0.999972       uwb: 0.50037862     863.251  1364.79  
imu_odom_:  1691062570.809513403  0.73502    -0.136469  10.0389    -0.0479369  0.00426106  0.0447411   0.17       0             pose: 0.0           -3.45924   0.0135209   0 -0.00259879 0.000683315 -0.00695767 0.999972       uwb: 0.0            863.251  1364.79  
imu_odom_:  1691062570.834576663  0.232238   -0.260968  10.2999    -0.0607201  0.0436758   0.0500674   0.23       0             pose: 0.51007575    -3.45049   0.0183697   0 -0.00360944 -0.000917883-0.0066566  0.999971       uwb: 0.49836918     861.427  1362.89  
imu_odom_:  1691062570.849505603  0.308852   -0.217872  9.48343    -0.0479369  0.00745685  0.0340885   0.23       0             pose: 0.0           -3.45049   0.0183697   0 -0.00360944 -0.000917883-0.0066566  0.999971       uwb: 0.0            861.427  1362.89  
imu_odom_:  1691062570.876576829  0.476446   -0.31364   9.94551    -0.0745685  -0.0170442  0.0703074   0.19       0             pose: 0.25951024    -3.44564   0.00962632  0 -0.00271432 -0.00168148 -0.00657693 0.999973       uwb: 0.50051277     859.853  1361.33  
imu_odom_:  1691062570.902643926  0.42138    -0.0981623 10.1011    -0.052198   -0.00106526 0.04048     0.19       0             pose: 0.40989621    -3.4369    0.014481    0 -0.00235489 0.0011938   -0.00639499 0.999976       uwb: 0.0            859.853  1361.33  
imu_odom_:  1691062570.928569577  0.560243   -0.258574  9.73482    -0.0479369  -0.00213053 0.036219    0.23       0             pose: 0.26054556    -3.4369    0.014481    0 -0.00276249 -0.000602908-0.00610397 0.999977       uwb: 0.50243178     860.72   1360.96  
imu_odom_:  1691062570.944510811  0.011971   -0.275333  10.1011    -0.0511327  -0.0223706  0.0543285   0.23       0             pose: 0.0           -3.4369    0.014481    0 -0.00276249 -0.000602908-0.00610397 0.999977       uwb: 0.0            860.72   1360.96  
imu_odom_:  1691062570.970531829  0.328006   -0.0646434 10.1179    -0.0607201  -0.0276969  0.0447411   0.23       0.02          pose: 0.26087513    -3.4233    0.0106054   0 -0.000937317-0.00132796 -0.00610914 0.99998        uwb: 0.0            860.72   1360.96  
imu_odom_:  1691062570.996536223  0.612916   -0.129287  10.2639    -0.0628506  -0.0106526  0.0543285   0.23       0.02          pose: 0.0           -3.4233    0.0106054   0 -0.000937317-0.00132796 -0.00610914 0.99998        uwb: 0.49717636     859.751  1359.72  
imu_odom_:  1691062571.22688192   0.888249   -0.071826  10.2017    -0.0479369  0.0308927   0.0330232   0.23       0.02          pose: 0.42915343    -3.4233    0.0106054   0 -0.000658945-0.00138745 -0.00600172 0.999981       uwb: 0.49970495     858.816  1358.42  
imu_odom_:  1691062571.47605052   0.665588   -0.0550666 9.81862    -0.0756338  -0.0149137  0.0511327   0.23       0.02          pose: 0.0           -3.4233    0.0106054   0 -0.000658945-0.00138745 -0.00600172 0.999981       uwb: 0.0            858.816  1358.42  
imu_odom_:  1691062571.63615117   0.490811   -0.462081  10.1227    -0.0490022  0.0127832   0.0415453   0.21       0.02          pose: 0.51256056    -3.41456   0.0154697   0 0.00177677  -0.0037815  -0.00578656 0.999975       uwb: 0.0            858.816  1358.42  
imu_odom_:  1691062571.89493234   0.349553   -0.430956  9.42118    -0.0585895  -0.0223706  0.0500674   0.21       0.02          pose: 0.0           -3.41456   0.0154697   0 0.00177677  -0.0037815  -0.00578656 0.999975       uwb: 0.50012497     860.661  1358.31  
imu_odom_:  1691062571.115491799  0.0861913  -0.217872  9.76355    -0.02024    0.0223706   0.0340885   0.18       0             pose: 0.50801684    -3.40096   0.0116025   0 0.00282928  -0.00725309 -0.00569475 0.999953       uwb: 0.0            860.661  1358.31  
imu_odom_:  1691062571.141501739  0.435745   -0.354342  9.65821    -0.0735032  0.0181095   0.0596548   0.19       0             pose: 0.41873892    -3.39222   0.0164726   0 -3.2105e-05 -0.00491079 -0.00555152 0.999973       uwb: 0.50109614     861.66   1357.59  
imu_odom_:  1691062571.166479844  0.31364    -0.296881  9.52174    -0.0383495  0           0.0415453   0.19       0             pose: 0.27002111    -3.38735   0.00773967  0 -0.000556252-0.0025559  -0.00551908 0.999981       uwb: 0.0            861.66   1357.59  
imu_odom_:  1691062571.181549359  0.134075   -0.181959  10.1179    -0.0287621  -0.0308927  0.0500674   0.19       0             pose: 0.0           -3.38735   0.00773967  0 -0.000556252-0.0025559  -0.00551908 0.999981       uwb: 0.49879800     861.688  1356.59  
imu_odom_:  1691062571.208490808  0.433351   0.059855   10.4651    -0.036219   -0.0245011  0.0490022   0.19       0             pose: 0.25014852    -3.37862   0.0126133   0 -0.00262225 -0.00140554 -0.00532499 0.999981       uwb: 0.0            861.688  1356.59  
imu_odom_:  1691062571.233490495  0.608127   -0.0502782 10.082     -0.0287621  -0.0394148  0.0490022   0.17       -0.02         pose: 0.41108036    -3.37862   0.0126133   0 -0.00136192 0.00134692  -0.00517887 0.999985       uwb: 0.50108739     861.391  1355.51  
imu_odom_:  1691062571.259478270  0.407014   0.00957681 10.1514    -0.0500674  0.04048     0.0479369   0.17       -0.02         pose: 0.0           -3.37862   0.0126133   0 -0.00136192 0.00134692  -0.00517887 0.999985       uwb: 0.0            861.391  1355.51  
imu_odom_:  1691062571.275484544  0.0502782  -0.25618   10.0628    -0.0703074  -0.0340885  0.0511327   0.19       -0.05         pose: 0.51946969    -3.36501   0.00876342  0 0.00322142  -0.00141377 -0.00493551 0.999982       uwb: 0.49859093     858.989  1353.45  
imu_odom_:  1691062571.301486901  0.40462    -0.28491   9.80904    -0.0713727  -0.0458064  0.0660464   0.19       -0.05         pose: 0.0           -3.36501   0.00876342  0 0.00322142  -0.00141377 -0.00493551 0.999982       uwb: 0.0            858.989  1353.45  
imu_odom_:  1691062571.326495045  0.732626   -0.1652    10.0317    -0.0543285  -0.0191748  0.0308927   0.19       0.02          pose: 0.25912239    -3.35628   0.0136462   0 0.00469198  -8.62366e-05-0.00482136 0.999977       uwb: 0.50158902     860.278  1352.9   
imu_odom_:  1691062571.352549898  0.500388   -0.4956    9.27993    -0.0798948  0.0223706   0.0585895   0.19       0.02          pose: 0.33993391    -3.35628   0.0136462   0 0.00154214  -0.000195061-0.00443815 0.999989       uwb: 0.0            860.278  1352.9   
imu_odom_:  1691062571.378500342  -0.047884  -0.21069   9.75158    -0.00745685 0.0532632   0.0276969   0.19       0             pose: 0.8070069     -3.35628   0.0136462   0 0.00158914  -0.00106224 -0.00447206 0.999988       uwb: 0.50171734     860.011  1351.78  
imu_odom_:  1691062571.403635643  0.318429   -0.323217  9.73004    -0.0830906  0.0234358   0.0639159   0.23       0             pose: 0.0           -3.35628   0.0136462   0 0.00158914  -0.00106224 -0.00447206 0.999988       uwb: 0.0            860.011  1351.78  
imu_odom_:  1691062571.418482051  0.289698   -0.332794  9.83299    -0.0372843  0.0340885   0.0340885   0.23       0             pose: 0.49950377    -3.34267   0.00981495  0 -0.00100809 -0.00199766 -0.00432824 0.999988       uwb: 0.0            860.011  1351.78  
imu_odom_:  1691062571.445685979  0.445322   0.227449   10.0916    -0.0692422  -0.0117179  0.0596548   0.19       0             pose: 0.0           -3.34267   0.00981495  0 -0.00100809 -0.00199766 -0.00432824 0.999988       uwb: 0.49810680     860.665  1351.03  
imu_odom_:  1691062571.461584053  0.440533   -0.454898  9.61272    -0.0628506  0.00319579  0.0351537   0.19       0             pose: 0.50001123    -3.33395   0.0147085   0 -0.00312616 0.0028675   -0.00414909 0.999982       uwb: 0.0            860.665  1351.03  
imu_odom_:  1691062571.487611200  0.399832   -0.332794  9.87848    -0.0735032  -0.0181095  0.0468716   0.23       -0.02         pose: 0.0           -3.33395   0.0147085   0 -0.00312616 0.0028675   -0.00414909 0.999982       uwb: 0.49865508     861.387  1350.1   
imu_odom_:  1691062571.513500983  0.742203   -0.282516  9.9503     -0.0436758  -0.0511327  0.0308927   0.23       -0.02         pose: 0.43005468    -3.32034   0.0108869   0 -0.00184269 0.00274749  -0.00390956 0.999987       uwb: 0.0            861.387  1350.1   
imu_odom_:  1691062571.537465918  0.581791   -0.311246  9.85214    -0.0639159  -0.0181095  0.0415453   0.23       0             pose: 0.0           -3.32034   0.0108869   0 -0.00184269 0.00274749  -0.00390956 0.999987       uwb: 0.50038745     862.231  1349.75  
imu_odom_:  1691062571.562463563  0.493206   -0.0646434 9.69652    -0.0617853  0.0234358   0.0447411   0.23       0             pose: 0.42122956    -3.32034   0.0108869   0 -0.00501049 -6.69162e-05-0.00387894 0.99998        uwb: 0.0            862.231  1349.75  
imu_odom_:  1691062571.578451172  0.0766145  -0.438139  9.991      -0.0809601  0.0127832   0.0479369   0.19       0             pose: 0.0           -3.32034   0.0108869   0 -0.00501049 -6.69162e-05-0.00387894 0.99998        uwb: 0.50118947     862.804  1349.19  
imu_odom_:  1691062571.603519103  0.191536   -0.342371  10.1203    -0.0436758  -0.0266316  0.0340885   0.19       0             pose: 0.49835177    -3.30672   0.00707105  0 -0.00425365 -0.00484379 -0.00394113 0.999971       uwb: 0.0            862.804  1349.19  
imu_odom_:  1691062571.628465418  0.557849   -0.356736  10.4435    -0.0543285  -0.0245011  0.0394148   0.19       -0.02         pose: 0.0           -3.30672   0.00707105  0 -0.00425365 -0.00484379 -0.00394113 0.999971       uwb: 0.49822054     861.845  1348.06  
imu_odom_:  1691062571.654528146  0.536301   0.0670376  10.386     -0.0468716  0.0330232   0.0490022   0.19       -0.02         pose: 0.83993347    -3.28859   0.00933551  0 -0.0047893  -0.00328673 -0.00389936 0.999976       uwb: 0.0            861.845  1348.06  
imu_odom_:  1691062571.670509630  0.205901   -0.189142  9.92875    -0.0692422  -0.00745685 0.0500674   0.18       -0.02         pose: 0.0           -3.28859   0.00933551  0 -0.0047893  -0.00328673 -0.00389936 0.999976       uwb: 0.0            861.845  1348.06  
imu_odom_:  1691062571.696443451  -0.129287  -0.241814  9.90242    -0.0490022  0.00958738  0.0372843   0.18       -0.02         pose: 0.33054591    -3.28438   0.00815631  0 -0.00198163 -0.00258639 -0.0037518  0.999988       uwb: 0.0            861.845  1348.06  
imu_odom_:  1691062571.721445470  0.402226   -0.390255  9.9934     -0.0500674  -0.0553937  0.0266316   0.23       0.02          pose: 0.0           -3.28438   0.00815631  0 -0.00198163 -0.00258639 -0.0037518  0.999988       uwb: 0.100010995    861.389  1346.56  
imu_odom_:  1691062571.747440536  0.806846   -0.366313  9.56005    -0.0777643  -0.0138484  0.0511327   0.2        -0.02         pose: 0.41931053    -3.27567   0.01306     0 -0.00236534 0.000774122 -0.00377503 0.99999        uwb: 0.0            861.389  1346.56  
imu_odom_:  1691062571.763454393  0.59855    -0.105345  10.0173    -0.0703074  0.00426106  0.0330232   0.2        -0.02         pose: 0.0           -3.27567   0.01306     0 -0.00236534 0.000774122 -0.00377503 0.99999        uwb: 0.0            861.389  1346.56  
imu_odom_:  1691062571.789444501  0.533907   -0.246603  10.2663    -0.0777643  0.0106526   0.052198    0.22       0             pose: 0.51002919    -3.26205   0.00924793  0 -0.00435435 -0.00298082 -0.00377965 0.999979       uwb: 0.49966126     860.16   1345.25  
imu_odom_:  1691062571.814444771  0.897826   -0.426168  10.0341    -0.0319579  0.056459    0.0223706   0.22       0             pose: 0.34990520    -3.25593   0.0126894   0 -0.00248285 -0.0053975  -0.00366474 0.999976       uwb: 0.0            860.16   1345.25  
imu_odom_:  1691062571.830573827  0.64404    -0.0885855 10.3813    -0.0500674  0.00958738  0.052198    0.22       0             pose: 0.8035947     -3.25334   0.0141518   0 -0.00270145 -0.0058942  -0.0037341  0.999972       uwb: 0.49873674     858.653  1343.8   
imu_odom_:  1691062571.856559852  0.517148   -0.308852  9.28711    -0.0468716  0.0553937   0.0447411   0.21       -0.02         pose: 0.0           -3.25334   0.0141518   0 -0.00270145 -0.0058942  -0.0037341  0.999972       uwb: 0.0            858.653  1343.8   
imu_odom_:  1691062571.882507380  -0.23942   -0.0167594 9.6606     -0.0596548  0.0287621   0.0596548   0.23       0             pose: 0.40976504    -3.24843   0.00543664  0 -0.00238801 -0.00704938 -0.00376489 0.999965       uwb: 0.50157444     859.803  1343.56  
imu_odom_:  1691062571.907439697  0.232238   -0.0622492 9.39006    -0.0479369  0.00639159  0.0383495   0.23       0             pose: 0.44050428    -3.23972   0.0103402   0 -0.00315413 -0.00297407 -0.00344175 0.999985       uwb: 0.0            859.803  1343.56  
imu_odom_:  1691062571.933425139  0.512359   -0.474052  9.88566    -0.0884169  0.0149137   0.072438    0.21       0             pose: 0.7002945     -3.23972   0.0103402   0 -0.00264819 -0.00242525 -0.00344593 0.999988       uwb: 0.49958251     860.642  1343.21  
imu_odom_:  1691062571.959425162  1.69749    -0.289698  9.32542    -0.0692422  0.155529    0.036219    0.21       0             pose: 0.43914814    -3.22983   0.00758167  0 -0.00421149 -0.00168952 -0.00302922 0.999985       uwb: 0.0            860.642  1343.21  
imu_odom_:  1691062571.976422733  -0.799663  -0.311246  10.6901    -0.0873517  0.0138484   0.0511327   0.23       0.02          pose: 0.0           -3.22983   0.00758167  0 -0.00421149 -0.00168952 -0.00302922 0.999985       uwb: 0.50070826     861.859  1342.79  
imu_odom_:  1691062572.2411966    -0.153229  -0.122104  11.0038    -0.0468716  -0.1012     0.0575243   0.23       0.02          pose: 0.33008802    -3.22609   0.00654219  0 -0.0045002  -0.00145056 -0.00304989 0.999984       uwb: 0.0            861.859  1342.79  
imu_odom_:  1691062572.28432701   0.301669   0.0742203  10.2592    -0.0660464  -0.00958738 0.04048     0.18       -0.02         pose: 0.0           -3.22609   0.00654219  0 -0.0045002  -0.00145056 -0.00304989 0.999984       uwb: 0.0            861.859  1342.79  
imu_odom_:  1691062572.54570385   0.289698   -0.215478  10.1993    -0.0628506  -0.0287621  0.0490022   0.2        0             pose: 0.43062340    -3.21739   0.0114581   0 -0.00304736 0.000979483 -0.00273389 0.999991       uwb: 0.0            861.859  1342.79  
imu_odom_:  1691062572.71451301   0.342371   -0.234632  9.60793    -0.0713727  0.0319579   0.0415453   0.2        0             pose: 0.0           -3.21739   0.0114581   0 -0.00304736 0.000979483 -0.00273389 0.999991       uwb: 0.100003425    862.509  1342.04  
imu_odom_:  1691062572.87684477   0.0790087  -0.464475  10.1969    -0.036219   -0.036219   0.036219    0.2        0             pose: 0.52134505    -3.20376   0.00767476  0 -0.00124468 0.00320928  -0.00258918 0.999991       uwb: 0.0            862.509  1342.04  
imu_odom_:  1691062572.113422901  0.270545   -0.64404   10.1658    -0.0543285  0.00426106  0.0596548   0.19       0             pose: 0.0           -3.20376   0.00767476  0 -0.00124468 0.00320928  -0.00258918 0.999991       uwb: 0.0            862.509  1342.04  
imu_odom_:  1691062572.139470176  0.533907   -0.0191536 10.2113    -0.04048    -0.0255663  0.0394148   0.19       0.02          pose: 0.34003896    -3.20376   0.00767476  0 -0.00368735 0.00393189  -0.00253257 0.999982       uwb: 0.50052461     861.625  1340.79  
imu_odom_:  1691062572.156454042  0.0814029  -0.361524  9.991      -0.0639159  -0.0255663  0.0447411   0.19       0.02          pose: 0.0           -3.20376   0.00767476  0 -0.00368735 0.00393189  -0.00253257 0.999982       uwb: 0.0            861.625  1340.79  
imu_odom_:  1691062572.182469528  0.912191   -0.275333  10.0317    -0.056459   -0.052198   0.0532632   0.18       0.02          pose: 0.50910768    -3.19505   0.0125993   0 -0.00336099 0.00309123  -0.00234061 0.999987       uwb: 0.50063252     860.22   1339.15  
imu_odom_:  1691062572.208467515  0.790087   -0.258574  10.2256    -0.0532632  0.0127832   0.0383495   0.18       0.02          pose: 0.35924078    -3.18143   0.00882583  0 -0.00366123 0.000706167 -0.00214147 0.999991       uwb: 0.0            860.22   1339.15  
imu_odom_:  1691062572.225406176  0.102951   -0.232238  9.79468    -0.0372843  0.00852212  0.0383495   0.2        -0.02         pose: 0.0           -3.18143   0.00882583  0 -0.00366123 0.000706167 -0.00214147 0.999991       uwb: 0.49869017     869.968  1341.82  
imu_odom_:  1691062572.251523154  0.184354   -0.31364   9.38288    -0.0468716  -0.0117179  0.0330232   0.2        -0.02         pose: 0.6953367     -3.18143   0.00882583  0 -0.00360322 7.17799e-05 -0.00214848 0.999991       uwb: 0.0            869.968  1341.82  
imu_odom_:  1691062572.276547634  0.61531    -0.280122  9.86172    -0.0596548  -0.0308927  0.0575243   0.19       -0.02         pose: 0.0           -3.18143   0.00882583  0 -0.00360322 7.17799e-05 -0.00214848 0.999991       uwb: 0.49896140     870.477  1341.39  
imu_odom_:  1691062572.302438296  0.821211   -0.277727  9.97903    -0.0436758  -0.0138484  0.0340885   0.19       -0.02         pose: 0.43008976    -3.17273   0.0137573   0 -0.00314452 0.000783507 -0.00219373 0.999992       uwb: 0.0            870.477  1341.39  
imu_odom_:  1691062572.327395407  0.538695   -0.445322  9.84735    -0.0735032  -0.036219   0.0607201   0.19       -0.02         pose: 0.0           -3.17273   0.0137573   0 -0.00314452 0.000783507 -0.00219373 0.999992       uwb: 0.50072293     870.461  1340.53  
imu_odom_:  1691062572.344511971  0.244209   -0.229843  9.68694    -0.0553937  -0.0181095  0.0394148   0.19       -0.02         pose: 0.94963536    -3.1591    0.00998886  0 -0.00578722 -0.00441255 -0.00184514 0.999972       uwb: 0.0            870.461  1340.53  
imu_odom_:  1691062572.369383631  0.593762   -0.23942   9.95988    -0.0809601  -0.0127832  0.0671117   0.18       -0.02         pose: 0.0           -3.1591    0.00998886  0 -0.00578722 -0.00441255 -0.00184514 0.999972       uwb: 0.0            870.461  1340.53  
imu_odom_:  1691062572.385413822  0.646434   -0.308852  9.85453    -0.0671117  -0.0415453  0.036219    0.18       -0.02         pose: 0.7032986     -3.1591    0.00998886  0 -0.00552951 -0.00380636 -0.0018428  0.999976       uwb: 0.49937553     872.173  1340.52  
imu_odom_:  1691062572.402386606  0.385466   -0.179565  10.0772    -0.056459   0.0138484   0.0372843   0.19       0             pose: 0.0           -3.1591    0.00998886  0 -0.00552951 -0.00380636 -0.0018428  0.999976       uwb: 0.0            872.173  1340.52  
imu_odom_:  1691062572.428513499  0.411803   -0.351948  9.6199     -0.0553937  0.0298274   0.0394148   0.19       0             pose: 0.41979183    -3.14546   0.00623074  0 -0.00433942 -0.00602853 -0.00152634 0.999971       uwb: 0.50041670     872.762  1339.86  
imu_odom_:  1691062572.454501279  0.129287   -0.272939  10.3262    -0.0490022  0.00532632  0.0585895   0.2        -0.02         pose: 0.0           -3.14546   0.00623074  0 -0.00433942 -0.00602853 -0.00152634 0.999971       uwb: 0.0            872.762  1339.86  
imu_odom_:  1691062572.479383146  0.476446   -0.363919  9.95988    -0.0649811  0.00852212  0.0372843   0.2        -0.02         pose: 0.33011724    -3.13677   0.0111731   0 -0.00384948 -0.00491753 -0.00156285 0.999979       uwb: 0.50097958     872.23   1338.55  
imu_odom_:  1691062572.494370128  0.378284   0.102951   9.8665     -0.0490022  0.0138484   0.0394148   0.19       0             pose: 0.0           -3.13677   0.0111731   0 -0.00384948 -0.00491753 -0.00156285 0.999979       uwb: 0.0            872.23   1338.55  
imu_odom_:  1691062572.522385414  0.526724   -0.1652    9.7875     -0.0511327  -0.0117179  0.0351537   0.19       0             pose: 0.51981684    -3.12807   0.0161163   0 -0.00505677 -0.000817076-0.0013058  0.999986       uwb: 0.49856185     871.604  1337.51  
imu_odom_:  1691062572.547386272  0.462081   -0.237026  9.4571     -0.0873517  0.00958738  0.0479369   0.18       0.02          pose: 0.0           -3.12807   0.0161163   0 -0.00505677 -0.000817076-0.0013058  0.999986       uwb: 0.0            871.604  1337.51  
imu_odom_:  1691062572.573435005  -0.0837971 -0.244209  10.0221    -0.0447411  -0.00958738 0.0319579   0.23       0             pose: 0.40034502    -3.12313   0.00742521  0 -0.00420277 -0.00209697 -0.00135468 0.999988       uwb: 0.49997048     871.22   1336.74  
imu_odom_:  1691062572.590643145  0.605733   -0.519542  9.56005    -0.0671117  0.0191748   0.0458064   0.23       0             pose: 0.0           -3.12313   0.00742521  0 -0.00420277 -0.00209697 -0.00135468 0.999988       uwb: 0.0            871.22   1336.74  
imu_odom_:  1691062572.616438439  0.37589    -0.131681  9.94791    -0.00745685 0.0223706   0.0223706   0.25       -0.02         pose: 0.54029897    -3.11444   0.0123706   0 -0.0003002  -0.00202775 -0.00134408 0.999997       uwb: 0.0            871.22   1336.74  
imu_odom_:  1691062572.641579869  0.627281   -0.0622492 10.1394    -0.0255663  0.0149137   0.00426106  0.25       -0.02         pose: 0.60973056    -3.1008    0.00862458  0 0.00119613  0.000273309 -0.00158057 0.999998       uwb: 0.49922680     869.819  1335.09  
imu_odom_:  1691062572.667512528  0.272939   -0.213084  9.63666    -0.0660464  -0.0319579  0.0788296   0.21       0             pose: 0.0           -3.1008    0.00862458  0 0.00119613  0.000273309 -0.00158057 0.999998       uwb: 0.0            869.819  1335.09  
imu_odom_:  1691062572.693597133  0.493206   -0.323217  9.98143    -0.0553937  -0.0372843  0.02024     0.21       0             pose: 0.6976991     -3.1008    0.00862458  0 0.00163976  -0.000269518-0.00170291 0.999997       uwb: 0.50136746     869.874  1334.07  
imu_odom_:  1691062572.719574705  0.366313   0.0215478  10.5465    -0.0543285  0.0415453   0.0447411   0.23       0             pose: 0.0           -3.1008    0.00862458  0 0.00163976  -0.000269518-0.00170291 0.999997       uwb: 0.0            869.874  1334.07  
imu_odom_:  1691062572.736364337  0.244209   -0.3304    9.89045    -0.0713727  -0.00852212 0.0468716   0.23       0             pose: 0.52132463    -3.08716   0.00486929  0 0.00120322  -0.000151087-0.00159673 0.999998       uwb: 0.50037879     870.173  1333.3   
imu_odom_:  1691062572.761472811  -0.0407014 -0.158017  9.8665     -0.0436758  0.0138484   0.0319579   0.17       -0.02         pose: 0.0           -3.08716   0.00486929  0 0.00120322  -0.000151087-0.00159673 0.999998       uwb: 0.0            870.173  1333.3   
imu_odom_:  1691062572.783487529  0.282516   -0.344765  9.68694    -0.0607201  -0.0436758  0.0458064   0.17       -0.02         pose: 0.50971722    -3.07847   0.00980983  0 0.00168307  0.000306824 -0.00168291 0.999997       uwb: 0.49891765     870.429  1332.65  
imu_odom_:  1691062572.809338236  0.526724   -0.0287304 9.98382    -0.0692422  -0.0234358  0.0436758   0.18       -0.02         pose: 0.0           -3.07847   0.00980983  0 0.00168307  0.000306824 -0.00168291 0.999997       uwb: 0.0            870.429  1332.65  
imu_odom_:  1691062572.826533836  0.548272   -0.0023942 10.343     -0.0735032  -0.0266316  0.0426106   0.18       -0.02         pose: 0.40840605    -3.06978   0.0147491   0 0.000717987 0.00378398  -0.0017303  0.999991       uwb: 0.50193034     872.307  1332.14  
imu_odom_:  1691062572.852415749  0.454898   -0.117316  9.96706    -0.0532632  -0.0181095  0.04048     0.23       0             pose: 0.0           -3.06978   0.0147491   0 0.000717987 0.00378398  -0.0017303  0.999991       uwb: 0.0            872.307  1332.14  
imu_odom_:  1691062572.878353365  0.811634   -0.117316  10.0221    -0.036219   -0.00532632 0.0276969   0.25       0.02          pose: 0.48996712    -3.06484   0.00605384  0 0.00123888  0.00132455  -0.00161515 0.999997       uwb: 0.49716487     873.823  1331.66  
imu_odom_:  1691062572.895407809  0.507571   -0.059855  10.0963    -0.0383495  -0.0117179  0.0532632   0.25       0.02          pose: 0.0           -3.06484   0.00605384  0 0.00123888  0.00132455  -0.00161515 0.999997       uwb: 0.0            873.823  1331.66  
imu_odom_:  1691062572.921369924  0.380678   -0.158017  9.51456    -0.0607201  0.0394148   0.0468716   0.25       0             pose: 0.43072846    -3.05614   0.0109947   0 0.00382732  -0.00223323 -0.001621   0.999989       uwb: 0.49962635     874.174  1330.73  
imu_odom_:  1691062572.946339576  0.543484   -0.299275  9.34457    -0.0649811  -0.00213053 0.0585895   0.25       0             pose: 0.43001393    -3.04251   0.00724072  0 0.00557069  -0.0039147  -0.00158984 0.999976       uwb: 0.0            874.174  1330.73  
imu_odom_:  1691062572.963343857  0.263362   -0.378284  10.07      -0.0532632  -0.0266316  0.0553937   0.2        0             pose: 0.0           -3.04251   0.00724072  0 0.00557069  -0.0039147  -0.00158984 0.999976       uwb: 0.0            874.174  1330.73  
imu_odom_:  1691062572.989347094  0.52433    -0.203507  10.1107    -0.0916127  -0.0127832  0.0692422   0.2        0             pose: 0.50932058    -3.03382   0.0121851   0 0.00194326  -0.00269324 -0.00122173 0.999994       uwb: 0.50100582     871.643  1328.67  
imu_odom_:  1691062573.15343041   0.328006   -0.136469  10.1921    -0.0543285  0.00958738  0.0468716   0.25       0             pose: 0.0           -3.03382   0.0121851   0 0.00194326  -0.00269324 -0.00122173 0.999994       uwb: 0.0            871.643  1328.67  
imu_odom_:  1691062573.40439562   0.328006   -0.366313  10.058     -0.0617853  -0.00852212 0.0575243   0.25       0             pose: 0.61979812    -3.02252   0.00711055  0 0.00133306  -0.00221212 -0.0006645760.999996       uwb: 0.50007551     871.163  1327.35  
imu_odom_:  1691062573.66336645   0.395043   0.0191536  10.2592    -0.0276969  0.0223706   0.0319579   0.2        0             pose: 0.0           -3.02252   0.00711055  0 0.00133306  -0.00221212 -0.0006645760.999996       uwb: 0.0            871.163  1327.35  
imu_odom_:  1691062573.92479875   0.325611   -0.189142  10.2232    -0.0596548  -0.00532632 0.0447411   0.2        0             pose: 0.7006739     -3.02018   0.0084491   0 0.000727627 -0.0018372  -0.0006010130.999998       uwb: 0.50037888     872.074  1326.72  
imu_odom_:  1691062573.117539358  0.469264   -0.196325  9.74679    -0.0681769  -0.0127832  0.0436758   0.2        0             pose: 0.0           -3.02018   0.0084491   0 0.000727627 -0.0018372  -0.0006010130.999998       uwb: 0.0            872.074  1326.72  
imu_odom_:  1691062573.131503840  -0.155623  -0.311246  9.93115    -0.0671117  -0.0255663  0.0575243   0.2        0             pose: 0.52157846    -3.01149   0.0134078   0 0.00191813  0.000535719 -0.0005181770.999998       uwb: 0.49960602     872.226  1325.49  
imu_odom_:  1691062573.156406418  0.469264   -0.177171  10.0796    -0.0340885  -0.0468716  0.0372843   0.19       0             pose: 0.0           -3.01149   0.0134078   0 0.00191813  0.000535719 -0.0005181770.999998       uwb: 0.0            872.226  1325.49  
imu_odom_:  1691062573.183346418  0.407014   -0.179565  9.991      -0.0415453  -0.0287621  0.056459    0.25       0             pose: 0.48885312    -3.00653   0.00472447  0 0.000955162 0.000198107 -0.0003688690.999999       uwb: 0.50163003     873.97   1325.24  
imu_odom_:  1691062573.208330948  0.0957681  0.0454898  9.92636    -0.0553937  0.0223706   0.04048     0.25       0             pose: 0.0           -3.00653   0.00472447  0 0.000955162 0.000198107 -0.0003688690.999999       uwb: 0.0            873.97   1325.24  
imu_odom_:  1691062573.225335816  0.122104   -0.320823  10.2041    -0.0607201  -0.0234358  0.0468716   0.24       0             pose: 0.40027802    -2.99785   0.00968686  0 0.00174821  -0.00141778 -0.0002659950.999997       uwb: 0.49759368     863.249  1319.85  
imu_odom_:  1691062573.241359886  0.339977   -0.383072  9.73961    -0.0340885  0.036219    0.0351537   0.24       0             pose: 0.0           -2.99785   0.00968686  0 0.00174821  -0.00141778 -0.0002659950.999997       uwb: 0.0            863.249  1319.85  
imu_odom_:  1691062573.268463790  0.237026   -0.512359  9.48343    -0.0735032  0.0117179   0.0585895   0.26       -0.02         pose: 0.51948445    -2.9842    0.0059719   0 0.00304233  0.00316605  -7.08242e-050.99999        uwb: 0.0            863.249  1319.85  
imu_odom_:  1691062573.284468903  0.387861   -0.246603  9.88326    -0.0372843  -0.0170442  0.04048     0.26       -0.02         pose: 0.0           -2.9842    0.0059719   0 0.00304233  0.00316605  -7.08242e-050.99999        uwb: 0.49974309     861.376  1318.07  
imu_odom_:  1691062573.311379156  0.277727   -0.201113  10.2376    -0.0479369  -0.0415453  0.0490022   0.25       0             pose: 0.69099718    -2.97552   0.0109395   0 -0.00164828 0.00335132  0.000171025 0.999993       uwb: 0.0            861.376  1318.07  
imu_odom_:  1691062573.327317774  0.605733   -0.122104  9.74919    -0.0287621  0.00106526  0.0287621   0.25       0             pose: 0.8027200     -2.97552   0.0109395   0 -0.00111093 0.00382538  0.000211713 0.999992       uwb: 0.49944270     860.283  1316.79  
imu_odom_:  1691062573.354377932  0.749385   -0.28491   9.88566    -0.0585895  -0.00426106 0.052198    0.26       -0.02         pose: 0.0           -2.97552   0.0109395   0 -0.00111093 0.00382538  0.000211713 0.999992       uwb: 0.0            860.283  1316.79  
imu_odom_:  1691062573.379318132  0.490811   -0.234632  10.0892    -0.0447411  -0.0138484  0.036219    0.26       -0.02         pose: 0.34821671    -2.96188   0.00723577  0 0.00082463  0.00345532  0.000222676 0.999994       uwb: 0.50058886     860.445  1315.68  
imu_odom_:  1691062573.406311212  0.519542   -0.201113  9.63906    -0.0660464  -0.0106526  0.0458064   0.23       -0.02         pose: 0.52000358    -2.95574   0.0107519   0 -0.000213593-0.00174478 0.000351854 0.999998       uwb: 0.0            860.445  1315.68  
imu_odom_:  1691062573.431432523  0.610521   -0.0981623 9.8689     -0.0681769  -0.00745685 0.0681769   0.23       -0.02         pose: 0.0           -2.95574   0.0107519   0 -0.000213593-0.00174478 0.000351854 0.999998       uwb: 0.50014848     859.337  1314.47  
imu_odom_:  1691062573.458460891  0.617704   -0.308852  9.39485    -0.0713727  0.0213053   0.0223706   0.23       0.02          pose: 0.52114391    -2.94209   0.00705802  0 0.00176098  -0.00635133 0.000785214 0.999978       uwb: 0.0            859.337  1314.47  
imu_odom_:  1691062573.483348887  0.363919   -0.768539  9.26077    -0.0692422  0.0245011   0.0585895   0.2        0             pose: 0.0           -2.94209   0.00705802  0 0.00176098  -0.00635133 0.000785214 0.999978       uwb: 0.50060927     859.644  1313.78  
imu_odom_:  1691062573.510491288  0.411803   0.0885855  10.1011    -0.00532632 -0.0223706  0.0266316   0.2        0             pose: 0.33921658    -2.93955   0.00851483  0 -0.00130886 -0.00733367 0.00063866  0.999972       uwb: 0.0            859.644  1313.78  
imu_odom_:  1691062573.526328998  0.703895   -0.35913   9.61751    -0.0713727  -0.00426106 0.0628506   0.19       0             pose: 0.45137107    -2.92733   0.00730581  0 0.000112986 -0.00590205 0.000637372 0.999982       uwb: 0.50104674     859.765  1312.77  
imu_odom_:  1691062573.543302368  0.387861   -0.136469  9.88566    -0.0649811  -0.0106526  0.0415453   0.19       0             pose: 0.8012035     -2.9259    0.0048231   0 -0.000442865-0.00653494 0.000733179 0.999978       uwb: 0.0            859.765  1312.77  
imu_odom_:  1691062573.569370646  0.837971   -0.572214  9.48583    -0.0852212  -0.00106526 0.052198    0.18       -0.02         pose: 0.24799045    -2.92111   0.00757779  0 -0.000164178-0.0057693  0.000837868 0.999983       uwb: 0.0            859.765  1312.77  
imu_odom_:  1691062573.596394348  0.462081   -0.172383  10.0652    -0.0330232  -0.00639159 0.0351537   0.18       -0.02         pose: 0.0           -2.92111   0.00757779  0 -0.000164178-0.0057693  0.000837868 0.999983       uwb: 0.49999100     861.101  1311.98  
imu_odom_:  1691062573.621284385  0.727837   -0.225055  9.94551    -0.072438   -0.00319579 0.0458064   0.19       -0.02         pose: 0.53091980    -2.91101   0.0133799   0 -0.000243505-0.00562678 0.00094362  0.999984       uwb: 0.49729911     862.797  1311.83  
imu_odom_:  1691062573.648286214  0.486023   -0.0430956 9.67018    -0.0447411  0.0149137   0.0276969   0.19       -0.02         pose: 0.0           -2.91101   0.0133799   0 -0.000243505-0.00562678 0.00094362  0.999984       uwb: 0.0            862.797  1311.83  
imu_odom_:  1691062573.673309533  0.225055   -0.222661  9.84735    -0.0660464  -0.00639159 0.0436758   0.2        0             pose: 0.32046973    -2.90358   0.00612159  0 0.000185019 -0.00777151 0.000972123 0.999969       uwb: 0.50021264     863.485  1311     
imu_odom_:  1691062573.700332652  0.469264   -0.184354  10.1059    -0.0628506  -0.0426106  0.0479369   0.21       0             pose: 0.44868212    -2.89749   0.00962208  0 0.00160665  -0.00440189 0.000888106 0.999989       uwb: 0.0            863.485  1311     
imu_odom_:  1691062573.725285684  0.268151   -0.37589   9.8689     -0.0479369  0.0223706   0.0266316   0.21       0             pose: 0.0           -2.89749   0.00962208  0 0.00160665  -0.00440189 0.000888106 0.999989       uwb: 0.50124506     861.317  1308.62  
imu_odom_:  1691062573.742376003  0.464475   -0.11971   9.8689     -0.0585895  -0.00106526 0.0308927   0.23       -0.02         pose: 0.0           -2.89749   0.00962208  0 0.00160665  -0.00440189 0.000888106 0.999989       uwb: 0.0            861.317  1308.62  
imu_odom_:  1691062573.767261958  0.445322   -0.112527  10.2161    -0.0447411  -0.0127832  0.0319579   0.23       -0.02         pose: 0.59125213    -2.88125   0.0074201   0 0.000184964 -0.0005053190.000805941 1              uwb: 0.0            861.317  1308.62  
imu_odom_:  1691062573.784268283  0.64404    -0.225055  9.73243    -0.0500674  -0.0234358  0.0458064   0.21       -0.02         pose: 0.0           -2.88125   0.0074201   0 0.000184964 -0.0005053190.000805941 1              uwb: 0.49911315     861.645  1307.89  
imu_odom_:  1691062573.810394015  0.773327   -0.349553  10.4579    -0.0511327  0.00852212  0.0330232   0.21       -0.02         pose: 0.34827212    -2.88125   0.0074201   0 0.00357125  -0.00174534 0.0006659   0.999992       uwb: 0.0            861.645  1307.89  
imu_odom_:  1691062573.837287644  0.531513   -0.275333  9.56962    -0.0500674  0.0308927   0.0553937   0.25       0.02          pose: 0.7028904     -2.88125   0.0074201   0 0.00333954  -0.00247029 0.000690356 0.999991       uwb: 0.50067635     861.129  1306.88  
imu_odom_:  1691062573.862333711  0.158017   -0.0622492 9.57681    -0.0415453  0.0213053   0.0234358   0.25       0.02          pose: 0.0           -2.88125   0.0074201   0 0.00333954  -0.00247029 0.000690356 0.999991       uwb: 0.0            861.129  1306.88  
imu_odom_:  1691062573.879327788  0.471658   -0.215478  9.63427    -0.0756338  -0.0372843  0.0490022   0.2        0.05          pose: 0.43119808    -2.87258   0.0124007   0 0.000963165 -0.00557137 0.000711539 0.999984       uwb: 0.49860276     861.172  1306.07  
imu_odom_:  1691062573.905269200  0.112527   -0.275333  9.90242    -0.0287621  0.00852212  0.0245011   0.2        0.05          pose: 0.0           -2.87258   0.0124007   0 0.000963165 -0.00557137 0.000711539 0.999984       uwb: 0.0            861.172  1306.07  
imu_odom_:  1691062573.932273654  0.545878   -0.201113  9.94551    -0.0841559  -0.0138484  0.0447411   0.25       -0.02         pose: 0.51883992    -2.85893   0.00871063  0 -0.000179713-0.00379015 0.000709508 0.999993       uwb: 0.50198292     860.524  1304.67  
imu_odom_:  1691062573.957271600  0.409408   -0.0861913 10.1107    -0.04048    0.0106526   0.0319579   0.19       0             pose: 0.42982736    -2.85026   0.0136911   0 -0.000783077-0.00267393 0.000585322 0.999996       uwb: 0.0            860.524  1304.67  
imu_odom_:  1691062573.984382212  0.268151   -0.186748  10.1179    -0.0553937  -0.00639159 0.0490022   0.21       -0.02         pose: 0.0           -2.85026   0.0136911   0 -0.000783077-0.00267393 0.000585322 0.999996       uwb: 0.50129756     859.92   1303.2   
imu_odom_:  1691062574.10282504   0.517148   -0.296881  9.663      -0.0607201  -0.00639159 0.052198    0.19       0             pose: 0.52140930    -2.84528   0.00501886  0 0.00177176  -0.00245903 0.000562333 0.999995       uwb: 0.0            859.92   1303.2   
imu_odom_:  1691062574.37270339   1.0319     -0.114922  10.0796    -0.0447411  -0.00213053 0.0308927   0.19       0             pose: 0.0           -2.84528   0.00501886  0 0.00177176  -0.00245903 0.000562333 0.999995       uwb: 0.49795534     860.051  1302.22  
imu_odom_:  1691062574.63259586   0.639252   -0.134075  9.70131    -0.0862864  0.0436758   0.0692422   0.18       0.02          pose: 0.72852011    -2.82687   0.00736661  0 0.000333877 -0.00489496 0.000701414 0.999988       uwb: 0.0            860.051  1302.22  
imu_odom_:  1691062574.80312286   0.253785   -0.411803  9.80904    -0.0692422  0.0181095   0.0394148   0.18       0.02          pose: 0.8019911     -2.82295   0.00630758  0 0.000581149 -0.00541487 0.000818223 0.999985       uwb: 0.50011649     859.235  1301.22  
imu_odom_:  1691062574.106245537  0.3304     -0.337582  10.0652    -0.0617853  -0.00213053 0.0575243   0.18       0             pose: 0.0           -2.82295   0.00630758  0 0.000581149 -0.00541487 0.000818223 0.999985       uwb: 0.0            859.235  1301.22  
imu_odom_:  1691062574.133320282  0.684742   -0.117316  10.0006    -0.0308927  -0.0308927  0.0298274   0.18       0             pose: 0.35022036    -2.81813   0.00908003  0 -4.37104e-05-0.00505173 0.00108344  0.999987       uwb: 0.50049270     857.952  1299.86  
imu_odom_:  1691062574.149246071  0.507571   -0.31364   9.15543    -0.0830906  0           0.0511327   0.2        0.02          pose: 0.53007996    -2.81429   0.0112926   0 6.50935e-05 -0.0056081  0.0011851   0.999984       uwb: 0.0            857.952  1299.86  
imu_odom_:  1691062574.176248196  0.440533   -0.232238  9.73722    -0.0415453  -0.02024    0.0383495   0.2        0.02          pose: 0.0           -2.81429   0.0112926   0 6.50935e-05 -0.0056081  0.0011851   0.999984       uwb: 0.49927655     857.5    1298.78  
imu_odom_:  1691062574.201247312  0.158017   -0.232238  9.94791    -0.0639159  -0.0415453  0.0543285   0.23       0             pose: 0.24040192    -2.80063   0.00761695  0 -0.00151394 -0.00489801 0.00128061  0.999986       uwb: 0.0            857.5    1298.78  
imu_odom_:  1691062574.228268395  0.457293   0.0837971  10.0078    -0.0479369  -0.0170442  0.0372843   0.21       0.02          pose: 0.0           -2.80063   0.00761695  0 -0.00151394 -0.00489801 0.00128061  0.999986       uwb: 0.49863786     859.641  1298.99  
imu_odom_:  1691062574.253242430  0.608127   -0.035913  10.1562    -0.0436758  -0.0383495  0.0532632   0.21       0.02          pose: 0.51011403    -2.80063   0.00761695  0 -0.000326136-0.00128616 0.0014487   0.999998       uwb: 0.0            859.641  1298.99  
imu_odom_:  1691062574.280264095  0.316035   -0.205901  9.44034    -0.0649811  0.0181095   0.04048     0.21       0             pose: 0.44870553    -2.78843   0.00648332  0 0.00348121  -0.00394757 0.00159463  0.999985       uwb: 0.50053645     858.825  1297.35  
imu_odom_:  1691062574.305368204  0.349553   -0.35913   9.81862    -0.0394148  -0.0127832  0.036219    0.21       0             pose: 0.0           -2.78843   0.00648332  0 0.00348121  -0.00394757 0.00159463  0.999985       uwb: 0.0            858.825  1297.35  
imu_odom_:  1691062574.322442777  0.773327   -0.237026  10.1323    -0.0532632  -0.00639159 0.0553937   0.23       0.02          pose: 0.52125774    -2.77831   0.00894382  0 0.000314629 -0.0002918580.00156008  0.999999       uwb: 0.50199175     858.791  1296.09  
imu_odom_:  1691062574.348296409  0.826      -0.241814  10.1155    -0.0458064  0.015979    0.0298274   0.23       0.02          pose: 0.0           -2.77831   0.00894382  0 0.000314629 -0.0002918580.00156008  0.999999       uwb: 0.0            858.791  1296.09  
imu_odom_:  1691062574.375238456  0.368707   -0.241814  9.89284    -0.0692422  -0.0106526  0.0490022   0.25       0             pose: 0.42928205    -2.77208   0.0125352   0 0.000119126 -0.00433069 0.0015708   0.999989       uwb: 0.49785041     858.195  1294.68  
imu_odom_:  1691062574.391441015  0.270545   -0.442927  9.59357    -0.0458064  0.0181095   0.0319579   0.25       0             pose: 0.0           -2.77208   0.0125352   0 0.000119126 -0.00433069 0.0015708   0.999989       uwb: 0.0            858.195  1294.68  
imu_odom_:  1691062574.418432349  0.435745   -0.385466  9.88087    -0.0628506  0           0.056459    0.24       0             pose: 0.43144606    -2.76001   0.00795248  0 -0.0019239  -0.0006282930.0016407   0.999997       uwb: 0.0            858.195  1294.68  
imu_odom_:  1691062574.443637366  0.56982    -0.272939  10.0628    -0.0426106  0.00106526  0.0394148   0.19       0             pose: 0.0           -2.76001   0.00795248  0 -0.0019239  -0.0006282930.0016407   0.999997       uwb: 0.49976360     858.841  1293.99  
imu_odom_:  1691062574.460220228  0.514753   0.00718261 10.1323    -0.052198   0.00639159  0.0511327   0.23       0             pose: 0.34913836    -2.75599   0.0102752   0 -0.00445949 -0.00173327 0.00186466  0.999987       uwb: 0.0            858.841  1293.99  
imu_odom_:  1691062574.485298672  0.40462    -0.28491   9.43555    -0.0660464  0.00213053  0.0394148   0.23       0             pose: 0.0           -2.75599   0.0102752   0 -0.00445949 -0.00173327 0.00186466  0.999987       uwb: 0.50180802     858.941  1293.13  
imu_odom_:  1691062574.512511656  0.61531    -0.591368  9.63666    -0.0937433  -0.0415453  0.0617853   0.21       0.02          pose: 0.58943821    -2.74233   0.00661775  0 -0.0034142  -0.00113629 0.00194994  0.999992       uwb: 0.0            858.941  1293.13  
imu_odom_:  1691062574.537232544  0.320823   -0.325611  9.83059    -0.0298274  -0.00319579 0.0276969   0.18       0             pose: 0.7060986     -2.74233   0.00661775  0 -0.00415125 -0.0016377  0.00202804  0.999988       uwb: 0.49687924     857.129  1291.02  
imu_odom_:  1691062574.564206088  0.811634   -0.227449  10.0221    -0.0617853  -0.052198   0.0500674   0.23       0             pose: 0.44872886    -2.73367   0.011623    0 -0.00575846 -0.0005864830.00211984  0.999981       uwb: 0.0            857.129  1291.02  
imu_odom_:  1691062574.580217620  0.476446   -0.3304    9.40203    -0.0308927  0.0735032   0.0223706   0.23       0             pose: 0.0           -2.73367   0.011623    0 -0.00575846 -0.0005864830.00211984  0.999981       uwb: 0.0            857.129  1291.02  
imu_odom_:  1691062574.597232698  0.418985   -0.208296  10.0556    -0.0575243  -0.0223706  0.0628506   0.19       0             pose: 0.0           -2.73367   0.011623    0 -0.00575846 -0.0005864830.00211984  0.999981       uwb: 0.0            857.129  1291.02  
imu_odom_:  1691062574.623218154  0.493206   -0.361524  9.62708    -0.0511327  0.0308927   0.0330232   0.19       0             pose: 0.34116482    -2.73367   0.011623    0 -0.00579544 -0.00364604 0.00218926  0.999974       uwb: 0.100271485    856.987  1290.03  
imu_odom_:  1691062574.650277150  0.277727   0.0766145  10.2376    -0.0841559  0.00319579  0.0607201   0.18       0             pose: 0.33880543    -2.72001   0.00797395  0 -0.00564434 -0.00325131 0.00228482  0.999976       uwb: 0.0            856.987  1290.03  
imu_odom_:  1691062574.676348057  0.304064   -0.0981623 9.85693    -0.0660464  -0.00532632 0.0436758   0.18       0.02          pose: 0.45047581    -2.71382   0.0115562   0 -0.00504906 -0.00267117 0.00250621  0.999981       uwb: 0.49948362     855.712  1288.16  
imu_odom_:  1691062574.703329767  0.232238   -0.0766145 10.1969    -0.072438   -0.0490022  0.0426106   0.18       0.02          pose: 0.0           -2.71382   0.0115562   0 -0.00504906 -0.00267117 0.00250621  0.999981       uwb: 0.0            855.712  1288.16  
imu_odom_:  1691062574.728202019  0.344765   -0.177171  10.1155    -0.0575243  -0.0532632  0.0351537   0.2        0             pose: 0.7957790     -2.71135   0.0129837   0 -0.00444094 -0.00221643 0.002523    0.999984       uwb: 0.49857369     854.286  1286.62  
imu_odom_:  1691062574.755204144  0.976834   -0.328006  10.0628    -0.0468716  -0.0308927  0.0255663   0.2        0             pose: 0.0           -2.71135   0.0129837   0 -0.00444094 -0.00221643 0.002523    0.999984       uwb: 0.0            854.286  1286.62  
imu_odom_:  1691062574.780208218  0.430956   -0.102951  10.0556    -0.0692422  0.0234358   0.0468716   0.19       0.02          pose: 0.53017037    -2.69769   0.00934389  0 -0.0007664310.00043292  0.00259068  0.999996       uwb: 0.50016023     855.146  1286.16  
imu_odom_:  1691062574.807256715  0.395043   -0.222661  10.0006    -0.0436758  0.0170442   0.02024     0.23       0             pose: 0.51984035    -2.68903   0.0143554   0 0.000814965 -0.00168843 0.00239423  0.999995       uwb: 0.0            855.146  1286.16  
imu_odom_:  1691062574.823233833  0.227449   -0.641646  9.60554    -0.0713727  0.015979    0.0394148   0.23       0             pose: 0.0           -2.68903   0.0143554   0 0.000814965 -0.00168843 0.00239423  0.999995       uwb: 0.50184885     855.205  1285.42  
imu_odom_:  1691062574.850320535  0.509965   -0.215478  9.79707    -0.0213053  0.0138484   0.0234358   0.25       0             pose: 0.59997821    -2.67944   0.0083548   0 -0.00137709 0.00113374  0.00218972  0.999996       uwb: 0.0            855.205  1285.42  
imu_odom_:  1691062574.875186079  0.550666   -0.344765  9.95748    -0.0692422  0.0245011   0.0553937   0.25       0             pose: 0.7071777     -2.67537   0.0107098   0 -0.00111664 0.000504218 0.00213162  0.999997       uwb: 0.49729920     855.642  1284.56  
imu_odom_:  1691062574.902278906  0.00957681 0.0143652  9.7851     -0.0490022  0.0532632   0.0287621   0.21       0             pose: 0.44880469    -2.66916   0.0142975   0 -0.00231184 -0.00268305 0.00216497  0.999991       uwb: 0.0            855.642  1284.56  
imu_odom_:  1691062574.928283318  0.258574   -0.366313  9.62708    -0.052198   -0.0511327  0.0340885   0.21       0             pose: 0.0           -2.66916   0.0142975   0 -0.00231184 -0.00268305 0.00216497  0.999991       uwb: 0.50075227     854.755  1283.24  
imu_odom_:  1691062574.953305766  0.205901   -0.232238  9.64145    -0.0713727  -0.0266316  0.0458064   0.25       0             pose: 0.53097239    -2.6617    0.00705881  0 -0.00260873 0.00163725  0.0019482   0.999993       uwb: 0.0            854.755  1283.24  
imu_odom_:  1691062574.967364743  0.497994   -0.275333  9.991      -0.0607201  -0.0468716  0.0447411   0.25       0             pose: 0.0           -2.6617    0.00705881  0 -0.00260873 0.00163725  0.0019482   0.999993       uwb: 0.0            854.755  1283.24  
imu_odom_:  1691062574.983257284  0.23942    0.0287304  9.62708    -0.0415453  -0.00745685 0.0213053   0.17       0             pose: 0.39081425    -2.65305   0.0120617   0 -0.00249336 0.00211554  0.00206773  0.999993       uwb: 0.50104975     855.508  1282.99  
imu_odom_:  1691062575.9214743    0.418985   -0.232238  9.72046    -0.0830906  -0.00426106 0.0490022   0.17       0             pose: 0.6897374     -2.65305   0.0120617   0 -0.00181041 0.0023756   0.00200665  0.999994       uwb: 0.0            855.508  1282.99  
imu_odom_:  1691062575.34252069   0.490811   -0.122104  10.1011    -0.04048    0.0287621   0.0308927   0.18       0             pose: 0.34952626    -2.64311   0.00940492  0 -0.00127661 0.000114236 0.00204787  0.999997       uwb: 0.49866996     856.46   1282.34  
imu_odom_:  1691062575.59321184   0.0215478  -0.244209  9.64624    -0.0692422  0.00532632  0.0607201   0.18       0             pose: 0.0           -2.64311   0.00940492  0 -0.00127661 0.000114236 0.00204787  0.999997       uwb: 0.0            856.46   1282.34  
imu_odom_:  1691062575.76179069   0.387861   -0.203507  10.1778    -0.04048    -0.0298274  0.0394148   0.18       0             pose: 0.7129524     -2.63938   0.00840734  0 -0.000655333-0.0001998520.00201626  0.999998       uwb: 0.0            856.46   1282.34  
imu_odom_:  1691062575.100197683  0.639252   -0.222661  9.81383    -0.072438   -0.0372843  0.052198    0.18       0             pose: 0.0           -2.63938   0.00840734  0 -0.000655333-0.0001998520.00201626  0.999998       uwb: 0.0            856.46   1282.34  
imu_odom_:  1691062575.124183634  0.529119   -0.0311246 9.81623    -0.0490022  -0.0245011  0.0383495   0.2        0             pose: 0.49853294    -2.63073   0.0134119   0 0.000577375 0.000851081 0.00219955  0.999997       uwb: 0.100182843    855.594  1280.99  
imu_odom_:  1691062575.150168219  0.378284   -0.232238  10.0365    -0.0745685  -0.015979   0.0671117   0.23       0             pose: 0.16114485    -2.63073   0.0134119   0 0.000671981 -0.0009790270.00223829  0.999997       uwb: 0.0            855.594  1280.99  
imu_odom_:  1691062575.174179834  0.433351   -0.205901  10.1011    -0.0543285  -0.00852212 0.0330232   0.23       0             pose: 0.41871588    -2.61962   0.00828472  0 0.00266868  -0.00413914 0.00233108  0.999985       uwb: 0.49736054     855.366  1279.63  
imu_odom_:  1691062575.191212122  0.325611   -0.538695  9.80186    -0.0841559  0.00426106  0.0468716   0.23       0             pose: 0.0           -2.61962   0.00828472  0 0.00266868  -0.00413914 0.00233108  0.999985       uwb: 0.0            855.366  1279.63  
imu_odom_:  1691062575.216175953  0.244209   -0.11971   10.1682    -0.0532632  -0.015979   0.0426106   0.18       0             pose: 0.7115816     -2.61706   0.00976412  0 0.00220788  -0.0035876  0.00242868  0.999988       uwb: 0.0            855.366  1279.63  
imu_odom_:  1691062575.242360314  0.21069    -0.0909797 10.2161    -0.0585895  -0.00532632 0.0372843   0.23       0.02          pose: 0.50018073    -2.61706   0.00976412  0 -0.00139234 -0.0001678660.00263672  0.999996       uwb: 0.50078735     855.115  1278.33  
imu_odom_:  1691062575.267161117  0.596156   -0.251391  10.1706    -0.0596548  -0.0170442  0.0426106   0.23       0.02          pose: 0.0           -2.61706   0.00976412  0 -0.00139234 -0.0001678660.00263672  0.999996       uwb: 0.0            855.115  1278.33  
imu_odom_:  1691062575.293172242  1.02951    -0.0287304 10.3597    -0.0191748  -0.056459   0.0266316   0.21       0             pose: 0.42942504    -2.6034    0.00612701  0 -0.0002461410.00242002  0.00270839  0.999993       uwb: 0.50104692     855.452  1277.68  
imu_odom_:  1691062575.319178700  0.699107   -0.167594  9.8258     -0.072438   -0.02024    0.0532632   0.21       0             pose: 0.0           -2.6034    0.00612701  0 -0.0002461410.00242002  0.00270839  0.999993       uwb: 0.0            855.452  1277.68  
imu_odom_:  1691062575.336235778  0.289698   -0.471658  9.73961    -0.0607201  0.0127832   0.0340885   0.23       -0.02         pose: 0.50930918    -2.59474   0.0111427   0 0.000738632 0.000188424 0.00267722  0.999996       uwb: 0.50022739     854.603  1276.36  
imu_odom_:  1691062575.362221238  0.536301   -0.476446  9.5816     -0.0649811  -0.0415453  0.0511327   0.23       -0.02         pose: 0.0           -2.59474   0.0111427   0 0.000738632 0.000188424 0.00267722  0.999996       uwb: 0.0            854.603  1276.36  
imu_odom_:  1691062575.387171946  0.201113   -0.268151  9.89763    -0.0191748  0.0245011   0.0340885   0.18       0.02          pose: 0.51018412    -2.58108   0.00750549  0 0.000912868 -0.00434927 0.00272506  0.999986       uwb: 0.49849212     855.949  1276.14  
imu_odom_:  1691062575.401223051  0.459687   -0.0837971 10.3286    -0.0479369  0.0213053   0.0575243   0.18       0.02          pose: 0.0           -2.58108   0.00750549  0 0.000912868 -0.00434927 0.00272506  0.999986       uwb: 0.0            855.949  1276.14  
imu_odom_:  1691062575.426169968  0.591368   -0.126893  10.1203    -0.0426106  0.0308927   0.0319579   0.18       0.02          pose: 0.75013694    -2.57243   0.0125219   0 -0.000708682-0.00188111 0.00292163  0.999994       uwb: 0.50032655     855.861  1275.13  
imu_odom_:  1691062575.451149548  0.653617   -0.37589   9.7851     -0.0639159  0.0149137   0.0500674   0.18       0.02          pose: 0.0           -2.57243   0.0125219   0 -0.000708682-0.00188111 0.00292163  0.999994       uwb: 0.0            855.861  1275.13  
imu_odom_:  1691062575.474210696  0.890643   -0.179565  9.80186    -0.0287621  0.0149137   0.0287621   0.18       -0.02         pose: 0.7062446     -2.57243   0.0125219   0 -0.000265797-0.0023412  0.00289354  0.999993       uwb: 0.49873418     855.687  1274.3   
imu_odom_:  1691062575.490206190  0.0383072  -0.289698  9.63666    -0.0617853  -0.0213053  0.0660464   0.18       -0.02         pose: 0.0           -2.57243   0.0125219   0 -0.000265797-0.0023412  0.00289354  0.999993       uwb: 0.0            855.687  1274.3   
imu_odom_:  1691062575.516253770  0.653617   -0.306458  9.88566    -0.0458064  -0.0117179  0.036219    0.23       -0.02         pose: 0.48989737    -2.55876   0.00889154  0 -0.000820711-0.00561085 0.002927    0.99998        uwb: 0.0            855.687  1274.3   
imu_odom_:  1691062575.541132442  0.4956     -0.500388  9.94551    -0.0553937  -0.0298274  0.0617853   0.23       -0.02         pose: 0.40898664    -2.55011   0.0139121   0 -0.000981116-0.00640097 0.00303559  0.999974       uwb: 0.50212016     855.365  1273.17  
imu_odom_:  1691062575.558198269  0.565032   -0.169988  9.83299    -0.0553937  0.00213053  0.036219    0.21       0.02          pose: 0.42958544    -2.53912   0.00873045  0 -0.00419331 -0.00773945 0.00330701  0.999956       uwb: 0.0            855.365  1273.17  
imu_odom_:  1691062575.583199431  0.411803   -0.349553  9.7851     -0.0990696  -0.0319579  0.0671117   0.21       0.02          pose: 0.0           -2.53912   0.00873045  0 -0.00419331 -0.00773945 0.00330701  0.999956       uwb: 0.50028281     854.63   1271.68  
imu_odom_:  1691062575.608135557  0.416591   -0.579397  9.44752    -0.0607201  0.0426106   0.0245011   0.18       0             pose: 0.24035238    -2.53644   0.0102881   0 -0.00300903 -0.00733804 0.00336364  0.999963       uwb: 0.0            854.63   1271.68  
imu_odom_:  1691062575.633128845  0.146046   -0.246603  9.93833    -0.0415453  -0.0276969  0.0575243   0.18       0             pose: 0.0           -2.53644   0.0102881   0 -0.00300903 -0.00733804 0.00336364  0.999963       uwb: 0.50041113     854.941  1271.1   
imu_odom_:  1691062575.650122344  1.02951    -0.244209  10.2496    -0.0266316  -0.0319579  0.0223706   0.18       0             pose: 0.49030276    -2.5278    0.015316    0 -0.00655969 -0.00413466 0.00350569  0.999964       uwb: 0.0            854.941  1271.1   
imu_odom_:  1691062575.675254163  0.751779   -0.301669  9.61511    -0.0671117  0.0234358   0.0681769   0.18       0             pose: 0.0           -2.5278    0.015316    0 -0.00655969 -0.00413466 0.00350569  0.999964       uwb: 0.50022448     855.565  1270.5   
imu_odom_:  1691062575.702123012  0.536301   -0.0526724 10.1275    -0.0692422  -0.0298274  0.0436758   0.18       0             pose: 0.43936134    -2.52277   0.00667314  0 -0.00538764 -0.0051393  0.00364192  0.999966       uwb: 0.0            855.565  1270.5   
imu_odom_:  1691062575.727301202  0.399832   -0.581791  10.0485    -0.0809601  -0.00319579 0.056459    0.18       -0.02         pose: 0.43988922    -2.51413   0.0117055   0 -0.0028794  -0.00695794 0.00391313  0.999964       uwb: 0.49797007     855.124  1269.62  
imu_odom_:  1691062575.752176374  0.131681   -0.308852  9.92875    -0.0681769  -0.00745685 0.0553937   0.18       -0.02         pose: 0.8198398     -2.51413   0.0117055   0 -0.00373308 -0.00661572 0.00398775  0.999963       uwb: 0.0            855.124  1269.62  
imu_odom_:  1691062575.774163106  0.272939   -0.0861913 10.0533    -0.0649811  -0.0245011  0.0415453   0.18       0             pose: 0.41854964    -2.50172   0.0102811   0 -0.00558051 -0.00346009 0.0043515   0.999969       uwb: 0.49950704     856.051  1269.02  
imu_odom_:  1691062575.790111354  0.641646   -0.232238  9.75637    -0.052198   -0.0468716  0.0298274   0.18       0             pose: 0.0           -2.50172   0.0102811   0 -0.00558051 -0.00346009 0.0043515   0.999969       uwb: 0.0            856.051  1269.02  
imu_odom_:  1691062575.817238891  0.665588   -0.258574  10.003     -0.0649811  -0.0117179  0.0415453   0.23       0             pose: 0.37934980    -2.49589   0.0107689   0 -0.00349768 -0.00413724 0.00429252  0.999976       uwb: 0.0            856.051  1269.02  
imu_odom_:  1691062575.833244593  0.153229   -0.102951  9.76355    -0.036219   0.0223706   0.0330232   0.23       0             pose: 0.0           -2.49589   0.0107689   0 -0.00349768 -0.00413724 0.00429252  0.999976       uwb: 0.49908124     857.066  1268.82  
imu_odom_:  1691062575.860128607  0.320823   -0.383072  9.70849    -0.0777643  -0.0117179  0.0511327   0.26       -0.02         pose: 0.43133239    -2.49181   0.0131506   0 -0.00242553 -0.00525139 0.00425602  0.999974       uwb: 0.0            857.066  1268.82  
imu_odom_:  1691062575.885230970  0.155623   -0.258574  10.4267    -0.0394148  0           0.0276969   0.26       -0.02         pose: 0.0           -2.49181   0.0131506   0 -0.00242553 -0.00525139 0.00425602  0.999974       uwb: 0.50112857     856.64   1267.36  
imu_odom_:  1691062575.909119803  0.387861   -0.349553  9.87608    -0.0649811  -0.0223706  0.0394148   0.22       0             pose: 0.51986377    -2.47814   0.00955932  0 -0.00368935 -0.0005766430.00428401  0.999984       uwb: 0.0            856.64   1267.36  
imu_odom_:  1691062575.924186703  0.476446   -0.25618   9.53611    -0.0191748  -0.00106526 0.0276969   0.22       0             pose: 0.0           -2.47814   0.00955932  0 -0.00368935 -0.0005766430.00428401  0.999984       uwb: 0.49991825     856.01   1266.3   
imu_odom_:  1691062575.948243231  0.725443   -0.433351  10.0963    -0.0703074  -0.00745685 0.0543285   0.19       0             pose: 0.38955733    -2.4695    0.0146023   0 -0.00470184 -0.00095107 0.00419122  0.99998        uwb: 0.0            856.01   1266.3   
imu_odom_:  1691062575.973127736  0.560243   0.0287304  9.78031    -0.04048    0.0255663   0.0308927   0.19       0             pose: 0.0           -2.4695    0.0146023   0 -0.00470184 -0.00095107 0.00419122  0.99998        uwb: 0.50001742     856.623  1265.72  
imu_odom_:  1691062575.998108775  0.373495   -0.430956  9.81862    -0.0681769  -0.00958738 0.0458064   0.19       0             pose: 0.48941033    -2.45825   0.0095923   0 -0.00319623 -0.00348485 0.00423791  0.99998        uwb: 0.0            856.623  1265.72  
imu_odom_:  1691062576.24111445   -0.0742203 -0.0335188 9.72764    -0.0671117  0.0308927   0.052198    0.19       0.02          pose: 0.0           -2.45825   0.0095923   0 -0.00319623 -0.00348485 0.00423791  0.99998        uwb: 0.49977537     857.127  1264.78  
imu_odom_:  1691062576.50098076   0.442927   -0.40462   9.79947    -0.0735032  0.00639159  0.0266316   0.19       0.02          pose: 0.33170980    -2.45582   0.011009    0 -0.00513335 -0.00136625 0.00438077  0.999976       uwb: 0.0            857.127  1264.78  
imu_odom_:  1691062576.67154282   0.380678   -0.169988  10.4196    -0.0468716  -0.00426106 0.0330232   0.22       0             pose: 0.0           -2.45582   0.011009    0 -0.00513335 -0.00136625 0.00438077  0.999976       uwb: 0.0            857.127  1264.78  
imu_odom_:  1691062576.83097866   0.486023   -0.246603  9.56962    -0.0745685  0.00319579  0.0468716   0.22       0             pose: 0.50867932    -2.44214   0.00741937  0 -0.00623675 -0.0003607640.00430031  0.999971       uwb: 0.49973169     857.406  1264.27  
imu_odom_:  1691062576.100094577  0.356736   -0.423774  9.98622    -0.0340885  0.0117179   0.02024     0.22       0             pose: 0.0           -2.44214   0.00741937  0 -0.00623675 -0.0003607640.00430031  0.999971       uwb: 0.0            857.406  1264.27  
imu_odom_:  1691062576.125112367  0.141258   -0.414197  10.5919    -0.0660464  -0.0298274  0.072438    0.18       0             pose: 0.42927929    -2.43765   0.010047    0 -0.0056248  -0.0003593760.00416054  0.999975       uwb: 0.49889467     858.478  1263.93  
imu_odom_:  1691062576.142102661  0.902614   -0.356736  8.73644    -0.0340885  0.126766    0.0500674   0.18       0             pose: 0.8236604     -2.43351   0.0124615   0 -0.00591126 0.000323297 0.00430094  0.999973       uwb: 0.0            858.478  1263.93  
imu_odom_:  1691062576.166234146  0.993594   -0.481235  9.01417    -0.0543285  -0.00319579 0.0660464   0.18       0             pose: 0.0           -2.43351   0.0124615   0 -0.00591126 0.000323297 0.00430094  0.999973       uwb: 0.0            858.478  1263.93  
imu_odom_:  1691062576.193114957  0.390255   -0.009576819.44513    -0.0490022  0.04048     0.0266316   0.21       0             pose: 0.40809720    -2.43351   0.0124615   0 -0.00657186 0.000451561 0.00474589  0.999967       uwb: 0.50007291     858.487  1262.81  
imu_odom_:  1691062576.218284693  0.430956   -0.471658  9.48822    -0.0958738  0.0170442   0.072438    0.2        0             pose: 0.43974056    -2.41983   0.0088835   0 -0.00421125 -0.0003104830.00478163  0.99998        uwb: 0.0            858.487  1262.81  
imu_odom_:  1691062576.243088125  0.469264   -0.323217  9.50498    -0.0596548  -0.00319579 0.0415453   0.2        0             pose: 0.0           -2.41983   0.0088835   0 -0.00421125 -0.0003104830.00478163  0.99998        uwb: 0.50126865     859.474  1262.62  
imu_odom_:  1691062576.264141309  0.442927   -0.102951  10.2999    -0.0809601  0.00319579  0.0585895   0.22       -0.02         pose: 0.32175604    -2.4112    0.0139388   0 -0.00694221 -0.00100368 0.0051953   0.999962       uwb: 0.0            859.474  1262.62  
imu_odom_:  1691062576.278151879  0.428562   -0.301669  9.58878    -0.0447411  0           0.0276969   0.22       -0.02         pose: 0.0           -2.4112    0.0139388   0 -0.00694221 -0.00100368 0.0051953   0.999962       uwb: 0.50122782     859.117  1261.09  
imu_odom_:  1691062576.303223623  0.299275   -0.555455  9.03572    -0.0788296  0.00532632  0.0500674   0.17       0.02          pose: 0.52861318    -2.40385   0.0120226   0 -0.00457168 -0.00100107 0.00531845  0.999975       uwb: 0.0            859.117  1261.09  
imu_odom_:  1691062576.320188252  0.304064   -0.160412  9.9527     -0.0596548  -0.0234358  0.0394148   0.17       0.02          pose: 0.6938498     -2.39751   0.0103731   0 -0.00528367 -0.0006771720.00535655  0.999971       uwb: 0.0            859.117  1261.09  
imu_odom_:  1691062576.346187716  0.497994   -0.181959  10.228     -0.0628506  -0.0255663  0.0532632   0.18       0.02          pose: 0.0           -2.39751   0.0103731   0 -0.00528367 -0.0006771720.00535655  0.999971       uwb: 0.49892675     859.077  1260.08  
imu_odom_:  1691062576.371115680  1.32399    -0.0047884 10.386     -0.0468716  -0.0223706  0.0298274   0.24       0             pose: 0.43163285    -2.39751   0.0103731   0 -0.00503962 0.000190729 0.005515    0.999972       uwb: 0.49832888     859.243  1259.23  
imu_odom_:  1691062576.396097598  0.713472   -0.208296  9.72046    -0.0681769  -0.00639159 0.0511327   0.18       0.02          pose: 0.42862018    -2.38889   0.0154379   0 -0.00279094 -0.00367344 0.00550371  0.999974       uwb: 0.0            859.243  1259.23  
imu_odom_:  1691062576.420089385  0.289698   -0.124498  9.70131    -0.0340885  -0.00958738 0.0319579   0.18       0             pose: 0.0           -2.38889   0.0154379   0 -0.00279094 -0.00367344 0.00550371  0.999974       uwb: 0.0            859.243  1259.23  
imu_odom_:  1691062576.437089595  0.220267   -0.35913   10.082     -0.0617853  -0.00319579 0.0468716   0.18       0             pose: 0.31987202    -2.3752    0.0118811   0 -0.00190239 -0.00553175 0.00561148  0.999967       uwb: 0.49995042     859.31   1258.57  
imu_odom_:  1691062576.462072679  0.823605   -0.335188  9.54329    -0.0511327  -0.00319579 0.0266316   0.18       0             pose: 0.0           -2.3752    0.0118811   0 -0.00190239 -0.00553175 0.00561148  0.999967       uwb: 0.0            859.31   1258.57  
imu_odom_:  1691062576.487211502  0.658405   -0.555455  9.50737    -0.0671117  -0.0276969  0.0617853   0.18       0             pose: 0.41981253    -2.3752    0.0118811   0 -0.00183082 -0.00333955 0.00555978  0.999977       uwb: 0.50066203     860.369  1258.23  
imu_odom_:  1691062576.501182116  0.720655   -0.201113  9.94312    -0.0553937  -0.0255663  0.0394148   0.18       0             pose: 0.0           -2.3752    0.0118811   0 -0.00183082 -0.00333955 0.00555978  0.999977       uwb: 0.0            860.369  1258.23  
imu_odom_:  1691062576.526053792  0.222661   -0.251391  10.2137    -0.0372843  -0.00532632 0.0436758   0.18       0             pose: 0.48129397    -2.36152   0.00832385  0 -0.00424426 -0.00707956 0.00573085  0.99995        uwb: 0.50099451     859.852  1257.04  
imu_odom_:  1691062576.552341108  1.01514    -0.112527  9.91439    -0.0223706  -0.0170442  0.0266316   0.23       0             pose: 0.32840260    -2.35536   0.0119432   0 -0.00334201 -0.00540176 0.00578498  0.999963       uwb: 0.0            859.852  1257.04  
imu_odom_:  1691062576.578077509  0.543484   -0.3304    9.73004    -0.0458064  -0.00106526 0.0532632   0.23       0             pose: 0.0           -2.35536   0.0119432   0 -0.00334201 -0.00540176 0.00578498  0.999963       uwb: 0.50011374     858.731  1255.37  
imu_odom_:  1691062576.605206217  0.418985   -0.0742203 9.64863    -0.0415453  0.00958738  0.0383495   0.23       -0.02         pose: 0.7188437     -2.3529    0.0133925   0 -0.0029922  -0.00612859 0.00573569  0.99996        uwb: 0.0            858.731  1255.37  
imu_odom_:  1691062576.630098017  0.191536   -0.229843  9.85214    -0.0703074  -0.0127832  0.0479369   0.23       -0.02         pose: 0.0           -2.3529    0.0133925   0 -0.0029922  -0.00612859 0.00573569  0.99996        uwb: 0.50007291     859.387  1254.71  
imu_odom_:  1691062576.647093561  0.25618    -0.0814029 10.0078    -0.0426106  0.00852212  0.0415453   0.21       0             pose: 0.52841486    -2.3529    0.0133925   0 -0.003722   -0.00709511 0.00579485  0.999951       uwb: 0.0            859.387  1254.71  
imu_odom_:  1691062576.671100805  0.713472   -0.308852  10.0365    -0.0809601  -0.00958738 0.056459    0.21       0             pose: 0.0           -2.3529    0.0133925   0 -0.003722   -0.00709511 0.00579485  0.999951       uwb: 0.49970543     857.509  1252.88  
imu_odom_:  1691062576.698065318  0.572214   -0.251391  10.2352    -0.0500674  0           0.036219    0.21       0             pose: 0.50972924    -2.33921   0.00984227  0 -0.00148216 -0.00303802 0.00588869  0.999977       uwb: 0.0            857.509  1252.88  
imu_odom_:  1691062576.722125350  0.802058   -0.339977  9.53132    -0.0628506  0.0372843   0.04048     0.21       0             pose: 0.0           -2.33921   0.00984227  0 -0.00148216 -0.00303802 0.00588869  0.999977       uwb: 0.49878677     858.609  1252.47  
imu_odom_:  1691062576.740042488  0.234632   -0.0095768110.1418    -0.0191748  -0.0287621  0.0308927   0.2        0             pose: 0.41995252    -2.33059   0.014913    0 -0.00174738 -0.00533565 0.00608476  0.999966       uwb: 0.0            858.609  1252.47  
imu_odom_:  1691062576.763115306  0.0790087  -0.363919  9.7875     -0.0660464  -0.0468716  0.0639159   0.2        0             pose: 0.0           -2.33059   0.014913    0 -0.00174738 -0.00533565 0.00608476  0.999966       uwb: 0.0            858.609  1252.47  
imu_odom_:  1691062576.787256998  0.622492   -0.244209  9.71088    -0.052198   -0.0287621  0.0426106   0.23       0             pose: 0.51084040    -2.3169    0.0113702   0 -0.00195454 -0.0084246  0.00602473  0.999944       uwb: 0.50009624     857.43   1250.97  
imu_odom_:  1691062576.804186338  0.715866   0.136469   10.2208    -0.100135   -0.0500674  0.0617853   0.23       0             pose: 0.0           -2.3169    0.0113702   0 -0.00195454 -0.0084246  0.00602473  0.999944       uwb: 0.0            857.43   1250.97  
imu_odom_:  1691062576.830203009  0.342371   -0.0885855 9.89524    -0.127832   -0.02024    0.072438    0.18       -0.02         pose: 0.40975082    -2.30828   0.0164453   0 -0.00183646 -0.00690591 0.00627868  0.999955       uwb: 0.50129198     857.176  1249.38  
imu_odom_:  1691062576.855060978  0.282516   -0.368707  10.1131    -0.0660464  -0.0245011  0.0223706   0.18       -0.02         pose: 0.42096160    -2.3032    0.00783116  0 -0.000356753-0.0089381  0.00661147  0.999938       uwb: 0.0            857.176  1249.38  
imu_odom_:  1691062576.878025596  0.636858   -0.0454898 9.84256    -0.0458064  0.0276969   0.0330232   0.18       0             pose: 0.41853805    -2.29459   0.0129144   0 -0.00151098 -0.00566157 0.00667258  0.999961       uwb: 0.49931463     856.876  1248.4   
imu_odom_:  1691062576.895101633  0.694318   -0.392649  9.80904    -0.0671117  -0.0500674  0.0436758   0.18       0             pose: 0.0           -2.29459   0.0129144   0 -0.00151098 -0.00566157 0.00667258  0.999961       uwb: 0.0            856.876  1248.4   
imu_odom_:  1691062576.920101633  0.572214   -0.0981623 9.81623    -0.0458064  -0.0809601  0.0372843   0.18       -0.02         pose: 0.5994156     -2.29459   0.0129144   0 -0.000971445-0.00587868 0.00664957  0.99996        uwb: 0.0            856.876  1248.4   
imu_odom_:  1691062576.945095509  0.426168   -0.134075  10.4818    -0.0671117  -0.0756338  0.0479369   0.18       -0.02         pose: 0.0           -2.29459   0.0129144   0 -0.000971445-0.00587868 0.00664957  0.99996        uwb: 0.49920090     857.095  1247.52  
imu_odom_:  1691062576.970245122  -0.0143652 -0.407014  10.5273    -0.0468716  0.00639159  0.0234358   0.25       0.02          pose: 0.40996371    -2.28598   0.0179981   0 -8.9105e-05 -0.00835314 0.00661425  0.999943       uwb: 0.49934380     857.018  1246.65  
imu_odom_:  1691062576.996030810  0.696713   -0.146046  10.1945    -0.0330232  -0.036219   0.0308927   0.19       -0.02         pose: 0.50011958    -2.27228   0.0144695   0 0.00204214  -0.00700521 0.00661639  0.999951       uwb: 0.0            857.018  1246.65  
imu_odom_:  1691062577.13015273   0.557849   -0.366313  9.74919    -0.0479369  -0.00852212 0.0447411   0.19       -0.02         pose: 0.0           -2.27228   0.0144695   0 0.00204214  -0.00700521 0.00661639  0.999951       uwb: 0.0            857.018  1246.65  
imu_odom_:  1691062577.38091980   0.356736   -0.488417  10.3717    -0.0596548  0           0.04048     0.18       -0.02         pose: 0.60951810    -2.26472   0.0125183   0 0.000632582 -0.00818122 0.00641963  0.999946       uwb: 0.50013419     856.076  1245.31  
imu_odom_:  1691062577.55014907   0.603339   -0.0287304 9.67257    -0.036219   0.0287621   0.0308927   0.18       -0.02         pose: 0.8076785     -2.25859   0.0109357   0 -3.51082e-05-0.00768307 0.00642818  0.99995        uwb: 0.0            856.076  1245.31  
imu_odom_:  1691062577.80015203   0.21069    -0.325611  9.91678    -0.056459   -0.00319579 0.0415453   0.18       0.02          pose: 0.0           -2.25859   0.0109357   0 -3.51082e-05-0.00768307 0.00642818  0.99995        uwb: 0.49979301     856.945  1244.81  
imu_odom_:  1691062577.105161029  0.11971    -0.342371  9.42358    -0.0756338  -0.0106526  0.0500674   0.18       0.02          pose: 0.41940139    -2.25859   0.0109357   0 4.69079e-05 -0.00613511 0.00637139  0.999961       uwb: 0.0            856.945  1244.81  
imu_odom_:  1691062577.119071567  0.347159   -0.560243  9.79228    -0.0703074  -0.00639159 0.0500674   0.18       0.02          pose: 0.0           -2.25859   0.0109357   0 4.69079e-05 -0.00613511 0.00637139  0.999961       uwb: 0.0            856.945  1244.81  
imu_odom_:  1691062577.142229840  0.397437   -0.344765  9.64624    -0.0426106  -0.00106526 0.0330232   0.19       0             pose: 0.48008664    -2.24997   0.0160147   0 -0.00218307 -0.00205222 0.00655941  0.999974       uwb: 0.50322567     856.238  1243.57  
imu_odom_:  1691062577.167010819  0.371101   -0.593762  9.46188    -0.0639159  0.0138484   0.0447411   0.23       0             pose: 0.0           -2.24997   0.0160147   0 -0.00218307 -0.00205222 0.00655941  0.999974       uwb: 0.0            856.238  1243.57  
imu_odom_:  1691062577.192171228  0.557849   -0.225055  9.96467    -0.0511327  -0.02024    0.0532632   0.23       0             pose: 0.31188979    -2.23909   0.0108279   0 -0.00490151 -0.0006788420.00653471  0.999966       uwb: 0.49781567     854.918  1241.94  
imu_odom_:  1691062577.217051658  0.397437   -0.318429  9.84496    -0.0447411  -0.00213053 0.0415453   0.18       -0.02         pose: 0.7818680     -2.23628   0.0124846   0 -0.00570885 -0.0004946690.00655557  0.999962       uwb: 0.0            854.918  1241.94  
imu_odom_:  1691062577.242153446  0.447716   -0.217872  9.72764    -0.0607201  -0.00426106 0.056459    0.18       -0.02         pose: 0.0           -2.23628   0.0124846   0 -0.00570885 -0.0004946690.00655557  0.999962       uwb: 0.49884809     855.193  1241     
imu_odom_:  1691062577.259168533  0.426168   -0.380678  10.1347    -0.0628506  0.0340885   0.0447411   0.2        0.02          pose: 0.50052796    -2.22767   0.017568    0 -0.00555618 -0.00137415 0.00677243  0.999961       uwb: 0.0            855.193  1241     
imu_odom_:  1691062577.284030298  0.481235   -0.114922  9.78989    -0.076699   0.0149137   0.0681769   0.2        0.02          pose: 0.0           -2.22767   0.017568    0 -0.00555618 -0.00137415 0.00677243  0.999961       uwb: 0.49995634     854.926  1239.55  
imu_odom_:  1691062577.309011637  0.505177   -0.411803  10.0173    -0.0777643  0.0319579   0.0426106   0.2        -0.02         pose: 0.49211112    -2.22258   0.00895797  0 -0.00378268 -0.0007578640.00702324  0.999968       uwb: 0.0            854.926  1239.55  
imu_odom_:  1691062577.333005469  0.483629   -0.217872  9.8689     -0.0788296  0.0234358   0.052198    0.2        -0.02         pose: 0.0           -2.22258   0.00895797  0 -0.00378268 -0.0007578640.00702324  0.999968       uwb: 0.50067087     854.998  1238.49  
imu_odom_:  1691062577.350286535  0          -0.246603  9.71806    -0.04048    -0.0106526  0.0394148   0.22       0             pose: 0.41831647    -2.21397   0.0140482   0 -0.00341634 -0.00141301 0.00740767  0.999966       uwb: 0.0            854.998  1238.49  
imu_odom_:  1691062577.366123089  0.344765   -0.0670376 10.4962    -0.0436758  0.00639159  0.0351537   0.22       0             pose: 0.0           -2.21397   0.0140482   0 -0.00341634 -0.00141301 0.00740767  0.999966       uwb: 0.0            854.998  1238.49  
imu_odom_:  1691062577.384067937  0.447716   -0.426168  9.96467    -0.0532632  -0.052198   0.0447411   0.25       0             pose: 0.48862014    -2.20027   0.0105421   0 -0.00316157 -0.00190419 0.00757476  0.999965       uwb: 0.50180244     855.329  1237.94  
imu_odom_:  1691062577.407115677  0.339977   -0.28491   9.82341    -0.0511327  -0.0213053  0.0351537   0.25       0             pose: 0.0           -2.20027   0.0105421   0 -0.00316157 -0.00190419 0.00757476  0.999965       uwb: 0.0            855.329  1237.94  
imu_odom_:  1691062577.431063138  0.00957681 -0.411803  9.92875    -0.0660464  -0.0181095  0.0500674   0.23       0             pose: 0.34121458    -2.20027   0.0105421   0 -0.00221692 -0.00063703 0.00756341  0.999969       uwb: 0.49944304     854.979  1236.65  
imu_odom_:  1691062577.456983862  0.35913    -0.332794  9.84735    -0.0415453  -0.0426106  0.0372843   0.23       0             pose: 0.0           -2.20027   0.0105421   0 -0.00221692 -0.00063703 0.00756341  0.999969       uwb: 0.0            854.979  1236.65  
imu_odom_:  1691062577.473130725  0.73502    -0.150835  9.79468    -0.0639159  -0.0266316  0.0532632   0.18       -0.02         pose: 0.40881763    -2.19167   0.0156416   0 -0.00368375 0.00169426  0.00759039  0.999963       uwb: 0.49784776     854.116  1235.29  
imu_odom_:  1691062577.490155728  0.581791   -0.366313  9.77074    -0.0553937  0.0127832   0.0330232   0.18       -0.02         pose: 0.0           -2.19167   0.0156416   0 -0.00368375 0.00169426  0.00759039  0.999963       uwb: 0.0            854.116  1235.29  
imu_odom_:  1691062577.514011030  0.414197   -0.373495  10.0461    -0.0639159  0.00532632  0.0468716   0.18       0             pose: 0.48035787    -2.17797   0.0121396   0 -0.00619353 0.000844844 0.00767806  0.999951       uwb: 0.0            854.116  1235.29  
imu_odom_:  1691062577.538040151  0.905008   -0.347159  9.5385     -0.0447411  -0.0117179  0.0287621   0.18       0             pose: 0.0           -2.17797   0.0121396   0 -0.00619353 0.000844844 0.00767806  0.999951       uwb: 0.50066211     854.445  1234.3   
imu_odom_:  1691062577.562983577  0.672771   -0.59855   9.59835    -0.076699   -0.0308927  0.0681769   0.25       0             pose: 0.35108089    -2.16937   0.0172411   0 -0.00686168 -0.00124404 0.00770902  0.999946       uwb: 0.0            854.445  1234.3   
imu_odom_:  1691062577.576085094  0.703895   -0.213084  9.88087    -0.052198   -0.0298274  0.0372843   0.25       0             pose: 0.0           -2.16937   0.0172411   0 -0.00686168 -0.00124404 0.00770902  0.999946       uwb: 0.49992134     854.894  1233.58  
imu_odom_:  1691062577.599977143  0.198719   -0.328006  9.74201    -0.0458064  0.0127832   0.04048     0.17       0.02          pose: 0.46889043    -2.16427   0.00864041  0 -0.0086295  -0.00345027 0.00772227  0.999927       uwb: 0.0            854.894  1233.58  
imu_odom_:  1691062577.626060313  0.730232   -0.304064  10.3358    -0.00745685 -0.0298274  0.0223706   0.17       0.02          pose: 0.0           -2.16427   0.00864041  0 -0.0086295  -0.00345027 0.00772227  0.999927       uwb: 0.49956262     854.43   1232.51  
imu_odom_:  1691062577.650998489  0.488417   -0.363919  9.84017    -0.0490022  -0.0213053  0.0607201   0.18       0.02          pose: 0.38974412    -2.15567   0.0137432   0 -0.00899007 -0.00518109 0.00795604  0.999915       uwb: 0.0            854.43   1232.51  
imu_odom_:  1691062577.667976245  0.481235   -0.158017  9.93354    -0.0479369  0.00532632  0.0447411   0.18       0.02          pose: 0.0           -2.15567   0.0137432   0 -0.00899007 -0.00518109 0.00795604  0.999915       uwb: 0.0            854.43   1232.51  
imu_odom_:  1691062577.692035989  0.56982    -0.220267  9.99819    -0.072438   0.0191748   0.0553937   0.18       -0.02         pose: 0.50987515    -2.14707   0.0188489   0 -0.00734212 -0.005485   0.00783439  0.999927       uwb: 0.49978427     854.716  1231.6   
imu_odom_:  1691062577.716981165  0.888249   -0.169988  10.082     -0.0575243  -0.00745685 0.0394148   0.18       -0.02         pose: 0.0           -2.14707   0.0188489   0 -0.00734212 -0.005485   0.00783439  0.999927       uwb: 0.0            854.716  1231.6   
imu_odom_:  1691062577.739968826  0.488417   -0.397437  9.59596    -0.092678   -0.0191748  0.0681769   0.18       0             pose: 0.41020002    -2.14196   0.0102501   0 -0.00539744 -0.00437864 0.00811253  0.999943       uwb: 0.50251989     852.746  1229.38  
imu_odom_:  1691062577.764015446  -0.0646434 -0.457293  9.34457    -0.0532632  0.0330232   0.0255663   0.18       0             pose: 0.0           -2.14196   0.0102501   0 -0.00539744 -0.00437864 0.00811253  0.999943       uwb: 0.0            852.746  1229.38  
imu_odom_:  1691062577.782097950  0.73502    -0.0837971 10.2999    -0.0585895  -0.0266316  0.0479369   0.19       0.02          pose: 0.47959376    -2.13337   0.0153594   0 -0.00423108 -0.00731493 0.00831526  0.99993        uwb: 0.49619413     852.768  1228.46  
imu_odom_:  1691062577.805090861  1.1133     -0.270545  9.9934     -0.0298274  -0.0245011  0.0255663   0.19       0.02          pose: 0.0           -2.13337   0.0153594   0 -0.00423108 -0.00731493 0.00831526  0.99993        uwb: 0.0            852.768  1228.46  
imu_odom_:  1691062577.831025584  0.452504   -0.42138   9.75398    -0.0628506  -0.00213053 0.0681769   0.23       0             pose: 0.48008372    -2.11966   0.0118784   0 -0.00591893 -0.00457857 0.00843001  0.999936       uwb: 0.50296027     853.223  1228.2   
imu_odom_:  1691062577.856107831  0.804452   0.0742203  10.137     -0.0596548  -0.0223706  0.0458064   0.23       0             pose: 0.0           -2.11966   0.0118784   0 -0.00591893 -0.00457857 0.00843001  0.999936       uwb: 0.0            853.223  1228.2   
imu_odom_:  1691062577.874149213  0.308852   -0.572214  9.74679    -0.0553937  0.0340885   0.0596548   0.19       0.02          pose: 0.41055583    -2.11107   0.0169925   0 -0.00533097 -0.00737401 0.00841478  0.999923       uwb: 0.49956553     852.709  1227.25  
imu_odom_:  1691062577.898149754  0.272939   -0.42138   9.87369    -0.0330232  0.036219    0.0298274   0.19       0.02          pose: 0.0           -2.11107   0.0169925   0 -0.00533097 -0.00737401 0.00841478  0.999923       uwb: 0.0            852.709  1227.25  
imu_odom_:  1691062577.921245615  0.488417   -0.387861  9.92157    -0.0777643  -0.00958738 0.0532632   0.22       0             pose: 0.50979057    -2.09736   0.0135227   0 -0.00528826 -0.00707226 0.00883041  0.999922       uwb: 0.49983385     852.432  1225.94  
imu_odom_:  1691062577.948025813  0.509965   -0.186748  9.82102    -0.0319579  -0.0213053  0.0308927   0.22       0             pose: 0.41979510    -2.09736   0.0135227   0 -0.00740175 -0.00379367 0.00889448  0.999926       uwb: 0.0            852.432  1225.94  
imu_odom_:  1691062577.964004689  0.0837971  -0.258574  9.9934     -0.0575243  -0.00106526 0.0532632   0.19       0.05          pose: 0.42019757    -2.08501   0.012353    0 -0.0059845  -0.0049431  0.00887207  0.999931       uwb: 0.0            852.432  1225.94  
imu_odom_:  1691062577.988095640  0.351948   -0.0814029 9.94073    -0.0372843  0.0213053   0.0426106   0.19       0.05          pose: 0.0           -2.08501   0.012353    0 -0.0059845  -0.0049431  0.00887207  0.999931       uwb: 0.49964136     852.713  1225.08  
imu_odom_:  1691062578.13179639   0.383072   -0.399832  9.80186    -0.0756338  -0.00426106 0.0607201   0.25       0.02          pose: 0.6938791     -2.08365   0.0100579   0 -0.00587497 -0.0042475  0.00892298  0.999934       uwb: 0.0            852.713  1225.08  
imu_odom_:  1691062578.39095118   0.368707   -0.186748  9.71806    -0.0447411  0.00639159  0.0394148   0.25       0.02          pose: 0.0           -2.08365   0.0100579   0 -0.00587497 -0.0042475  0.00892298  0.999934       uwb: 0.50117253     851.72   1223.18  
imu_odom_:  1691062578.65154377   0.282516   -0.466869  10.1394    -0.0575243  -0.0298274  0.0458064   0.21       0             pose: 0.40995796    -2.07506   0.0151817   0 -0.00413569 -0.00165075 0.00910909  0.999949       uwb: 0.0            851.72   1223.18  
imu_odom_:  1691062578.81143755   0.749385   0.205901   9.87129    -0.0319579  -0.00745685 0.0394148   0.21       0             pose: 0.0           -2.07506   0.0151817   0 -0.00413569 -0.00165075 0.00910909  0.999949       uwb: 0.49722955     851.244  1222.21  
imu_odom_:  1691062578.107062733  0.351948   -0.11971   10.1155    -0.056459   0.0170442   0.0575243   0.18       -0.02         pose: 0.50144671    -2.06647   0.020311    0 -0.00390828 0.000406817 0.00931982  0.999949       uwb: 0.0            851.244  1222.21  
imu_odom_:  1691062578.127989059  0.864307   -0.217872  10.0892    -0.0383495  -0.00319579 0.0351537   0.18       -0.02         pose: 0.26890153    -2.06134   0.0117269   0 -0.00480913 0.000710161 0.00938059  0.999944       uwb: 0.50145255     851.111  1221.16  
imu_odom_:  1691062578.140926675  0.469264   -0.253785  9.85214    -0.0479369  0.04048     0.056459    0.18       -0.02         pose: 0.39962508    -2.05276   0.0168576   0 -0.00146312 0.000605128 0.00959896  0.999953       uwb: 0.0            851.111  1221.16  
imu_odom_:  1691062578.165098123  0.117316   -0.0383072 9.80426    -0.0319579  0.0426106   0.0223706   0.18       -0.02         pose: 0.0           -2.05276   0.0168576   0 -0.00146312 0.000605128 0.00959896  0.999953       uwb: 0.0            851.111  1221.16  
imu_odom_:  1691062578.182141211  0.260968   -0.222661  9.59835    -0.0735032  -0.0394148  0.052198    0.23       0             pose: 0.52140391    -2.04355   0.0145421   0 1.13917e-05 0.000776007 0.00946343  0.999955       uwb: 0.49889776     850.845  1219.9   
imu_odom_:  1691062578.208054356  0.225055   -0.550666  9.51695    -0.0479369  0.0138484   0.0223706   0.23       0             pose: 0.0           -2.04355   0.0145421   0 1.13917e-05 0.000776007 0.00946343  0.999955       uwb: 0.0            850.845  1219.9   
imu_odom_:  1691062578.232935957  0.308852   -0.42138   10.0676    -0.0575243  0.00213053  0.0607201   0.21       0.02          pose: 0.7890427     -2.03905   0.0134097   0 -0.0001181930.00142386  0.00951319  0.999954       uwb: 0.50084010     850.945  1219.34  
imu_odom_:  1691062578.256002950  0.368707   -0.289698  10.2472    -0.0287621  0.0223706   0.0276969   0.18       0.02          pose: 0.0           -2.03905   0.0134097   0 -0.0001181930.00142386  0.00951319  0.999954       uwb: 0.0            850.945  1219.34  
imu_odom_:  1691062578.279924459  0.397437   -0.301669  10.0365    -0.0628506  0.00106526  0.0649811   0.18       0             pose: 0.66976609    -2.03046   0.0185416   0 -0.00460412 0.00334781  0.00955393  0.999938       uwb: 0.49995351     850.34   1218.58  
imu_odom_:  1691062578.297054456  0.593762   -0.363919  9.46907    -0.0490022  0.0436758   0.0426106   0.18       0             pose: 0.0           -2.03046   0.0185416   0 -0.00460412 0.00334781  0.00955393  0.999938       uwb: 0.0            850.34   1218.58  
imu_odom_:  1691062578.321097581  0.299275   -0.280122  9.38527    -0.0585895  0.0298274   0.0596548   0.18       -0.02         pose: 0.57089297    -2.02083   0.0126481   0 -0.00505921 -0.00116617 0.00976346  0.999939       uwb: 0.0            850.34   1218.58  
imu_odom_:  1691062578.346937816  0.246603   -0.0837971 9.36133    -0.0490022  0.04048     0.0319579   0.18       -0.02         pose: 0.8176821     -2.01675   0.0150952   0 -0.00489906 -0.0002268970.00984866  0.999939       uwb: 0.0            850.34   1218.58  
imu_odom_:  1691062578.359909846  0.521936   -0.0646434 10.0102    -0.0745685  0.0287621   0.0692422   0.18       0.02          pose: 0.0           -2.01675   0.0150952   0 -0.00489906 -0.0002268970.00984866  0.999939       uwb: 0.0            850.34   1218.58  
imu_odom_:  1691062578.383982718  0.301669   -0.447716  9.91439    -0.0788296  0.0319579   0.0426106   0.18       0.02          pose: 0.47709154    -2.00817   0.020236    0 -0.00191661 0.00318821  0.010012    0.999943       uwb: 0.99987784     849.033  1216.82  
imu_odom_:  1691062578.408957645  0.56982    -0.35913   10.0341    -0.076699   -0.00958738 0.0575243   0.23       0             pose: 0.0           -2.00817   0.020236    0 -0.00191661 0.00318821  0.010012    0.999943       uwb: 0.0            849.033  1216.82  
imu_odom_:  1691062578.422922431  0.347159   -0.459687  9.53132    -0.056459   0.00319579  0.04048     0.23       0             pose: 0.38974127    -2.00303   0.0116594   0 -0.0043985  0.00296733  0.0102143   0.999934       uwb: 0.50083719     848.954  1215.72  
imu_odom_:  1691062578.446929975  0.40462    -0.299275  9.92157    -0.0553937  -0.0415453  0.052198    0.18       0.02          pose: 0.0           -2.00303   0.0116594   0 -0.0043985  0.00296733  0.0102143   0.999934       uwb: 0.0            848.954  1215.72  
imu_odom_:  1691062578.472924489  0.691924   -0.201113  10.3789    -0.0543285  -0.0223706  0.04048     0.18       0.02          pose: 0.39075035    -1.99445   0.0168042   0 -0.00575274 0.000921809 0.0104148   0.999929       uwb: 0.49963270     849.12   1214.69  
imu_odom_:  1691062578.485922767  0.646434   -0.134075  9.86411    -0.0458064  -0.036219   0.0415453   0.18       0             pose: 0.0           -1.99445   0.0168042   0 -0.00575274 0.000921809 0.0104148   0.999929       uwb: 0.0            849.12   1214.69  
imu_odom_:  1691062578.509920687  0.471658   -0.0742203 9.71328    -0.0639159  0.00426106  0.0394148   0.18       0             pose: 0.47938095    -1.98588   0.0219531   0 -0.00314638 -0.0036114  0.0105177   0.999933       uwb: 0.0            849.12   1214.69  
imu_odom_:  1691062578.535981696  0.380678   -0.134075  9.58399    -0.0671117  -0.0106526  0.0532632   0.21       0.02          pose: 0.0           -1.98588   0.0219531   0 -0.00314638 -0.0036114  0.0105177   0.999933       uwb: 0.50000600     849.385  1213.52  
imu_odom_:  1691062578.560970914  0.411803   -0.342371  9.59835    -0.0671117  0.00745685  0.0383495   0.21       0.02          pose: 0.39000666    -1.98073   0.0133814   0 0.000110709 -0.00340204 0.0105622   0.999938       uwb: 0.0            849.385  1213.52  
imu_odom_:  1691062578.579030963  0.610521   -0.244209  10.2232    -0.036219   -0.0234358  0.0383495   0.2        0             pose: 0.0           -1.98073   0.0133814   0 0.000110709 -0.00340204 0.0105622   0.999938       uwb: 0.50056304     849.558  1212.48  
imu_odom_:  1691062578.602900268  0.624887   -0.277727  9.86411    -0.056459   0.00852212  0.0383495   0.2        0             pose: 0.51125179    -1.97216   0.0185324   0 -0.00131541 -0.00236161 0.0106642   0.999939       uwb: 0.0            849.558  1212.48  
imu_odom_:  1691062578.625910390  0.727837   -0.265756  10.0389    -0.0468716  -0.0266316  0.0543285   0.18       0             pose: 0.0           -1.97216   0.0185324   0 -0.00131541 -0.00236161 0.0106642   0.999939       uwb: 0.49864986     849.94   1211.94  
imu_odom_:  1691062578.650920898  0.895431   -0.107739  10.1538    -0.0543285  -0.0490022  0.0394148   0.18       0             pose: 0.17978390    -1.97216   0.0185324   0 -0.00140516 -0.00418363 0.0106516   0.999934       uwb: 0.0            849.94   1211.94  
imu_odom_:  1691062578.673967184  0.351948   -0.289698  10.2208    -0.0372843  0.00106526  0.0415453   0.25       0             pose: 0.46891092    -1.95844   0.0151147   0 -0.00147852 -0.00909217 0.0108037   0.999899       uwb: 0.49879860     850.26   1211.1   
imu_odom_:  1691062578.686910341  0.47884    -0.25618   10.2304    -0.0415453  -0.0245011  0.0372843   0.25       0             pose: 0.0           -1.95844   0.0151147   0 -0.00147852 -0.00909217 0.0108037   0.999899       uwb: 0.0            850.26   1211.1   
imu_odom_:  1691062578.703946137  0.610521   -0.361524  9.4571     -0.0330232  0.0372843   0.0287621   0.19       0             pose: 0.52987326    -1.94987   0.0202701   0 -0.00120732 -0.00756534 0.0108163   0.999912       uwb: 0.0            850.26   1211.1   
imu_odom_:  1691062578.730125554  0.593762   -0.385466  9.81383    -0.0585895  0.0287621   0.0543285   0.19       0             pose: 0.0           -1.94987   0.0202701   0 -0.00120732 -0.00756534 0.0108163   0.999912       uwb: 0.50189585     849.752  1209.87  
imu_odom_:  1691062578.755929333  0.629675   -0.272939  10.082     -0.0340885  -0.0266316  0.0394148   0.23       0             pose: 0.8001543     -1.94987   0.0202701   0 -0.00181999 -0.00778619 0.0107783   0.99991        uwb: 0.0            849.752  1209.87  
imu_odom_:  1691062578.779915004  0.47884    -0.294487  9.80665    -0.0692422  -0.0436758  0.0458064   0.19       0             pose: 0.0           -1.94987   0.0202701   0 -0.00181999 -0.00778619 0.0107783   0.99991        uwb: 0.49870819     850.672  1209.74  
imu_odom_:  1691062578.803893967  0.462081   -0.282516  9.78271    -0.0735032  -0.0511327  0.0607201   0.21       0.02          pose: 0.69054280    -1.93614   0.0168562   0 -0.00339534 -0.0100814  0.0109517   0.999883       uwb: 0.0            850.672  1209.74  
imu_odom_:  1691062578.828905641  0.754174   -0.275333  10.1562    -0.0543285  -0.02024    0.0245011   0.21       0.02          pose: 0.23950674    -1.92758   0.0220148   0 -0.00373909 -0.00820075 0.011096    0.999898       uwb: 0.50098592     851.106  1208.75  
imu_odom_:  1691062578.851890390  0.497994   -0.189142  10.2879    -0.0468716  -0.0213053  0.0415453   0.25       0             pose: 0.24005503    -1.92242   0.0134493   0 -0.00373915 -0.00784233 0.0112066   0.999899       uwb: 0.0            851.106  1208.75  
imu_odom_:  1691062578.868884481  0.632069   -0.28491   9.71088    -0.0585895  0.0340885   0.0436758   0.25       0             pose: 0.0           -1.92242   0.0134493   0 -0.00373915 -0.00784233 0.0112066   0.999899       uwb: 0.0            851.106  1208.75  
imu_odom_:  1691062578.893874574  0.102951   -0.136469  9.91678    -0.0415453  0.0436758   0.056459    0.18       0             pose: 0.24064414    -1.91385   0.0186119   0 -0.00304387 -0.00922127 0.011076    0.999892       uwb: 0.49899983     850.819  1207.61  
imu_odom_:  1691062578.916977730  0.430956   -0.0646434 9.9934     -0.0628506  0.00852212  0.0458064   0.21       0             pose: 0.23918010    -1.91385   0.0186119   0 -0.00220585 -0.00879351 0.0111035   0.999897       uwb: 0.0            850.819  1207.61  
imu_odom_:  1691062578.943936711  0.730232   -0.414197  9.4164     -0.0884169  0.00745685  0.0596548   0.21       0             pose: 0.0           -1.91385   0.0186119   0 -0.00220585 -0.00879351 0.0111035   0.999897       uwb: 0.50179378     850.87   1206.4   
imu_odom_:  1691062578.959875926  0.426168   -0.442927  9.94073    -0.052198   0.0287621   0.0372843   0.2        0             pose: 0.41116835    -1.90529   0.0237737   0 -0.00119653 -0.00603672 0.0113529   0.999917       uwb: 0.0            850.87   1206.4   
imu_odom_:  1691062578.984884975  0.399832   0.023942   9.74201    -0.0617853  -0.0319579  0.0575243   0.2        0             pose: 0.0           -1.90529   0.0237737   0 -0.00119653 -0.00603672 0.0113529   0.999917       uwb: 0.49716831     850.005  1204.57  
imu_odom_:  1691062578.997979787  0.440533   -0.368707  9.44991    -0.0756338  -0.00106526 0.0500674   0.2        0             pose: 0.0           -1.90529   0.0237737   0 -0.00119653 -0.00603672 0.0113529   0.999917       uwb: 0.0            850.005  1204.57  
imu_odom_:  1691062579.21904799   0.577003   -0.059855  9.67976    -0.0351537  0.00426106  0.0276969   0.18       0             pose: 0.89933943    -1.89156   0.0203753   0 -0.00175965 -0.00514031 0.0119138   0.999914       uwb: 0.50019268     850.264  1203.47  
imu_odom_:  1691062579.44907342   0.466869   -0.184354  9.88805    -0.0596548  0.0245011   0.0394148   0.18       0             pose: 0.0           -1.89156   0.0203753   0 -0.00175965 -0.00514031 0.0119138   0.999914       uwb: 0.0            850.264  1203.47  
imu_odom_:  1691062579.71955279   -0.00718261-0.23942   9.87608    -0.0660464  0.0276969   0.0511327   0.23       0             pose: 0.38955758    -1.87783   0.0169924   0 0.00043334  -0.00481844 0.0117966   0.999919       uwb: 0.50041439     850.572  1203.05  
imu_odom_:  1691062579.88014654   0.248997   -0.306458  9.92157    -0.0607201  -0.0340885  0.0543285   0.23       0             pose: 0.0           -1.87783   0.0169924   0 0.00043334  -0.00481844 0.0117966   0.999919       uwb: 0.0            850.572  1203.05  
imu_odom_:  1691062579.104889466  0.294487   -0.136469  9.80665    -0.0415453  0.0266316   0.0245011   0.19       0             pose: 0.50175887    -1.86927   0.0221645   0 0.000299035 0.000308562 0.012004    0.999928       uwb: 0.0            850.572  1203.05  
imu_odom_:  1691062579.128915096  0.402226   -0.0646434 10.0916    -0.0649811  -0.0234358  0.0394148   0.19       0             pose: 0.0           -1.86927   0.0221645   0 0.000299035 0.000308562 0.012004    0.999928       uwb: 0.50021607     849.605  1201.04  
imu_odom_:  1691062579.146866365  0.275333   -0.430956  9.71567    -0.0298274  0.0351537   0.0223706   0.18       -0.02         pose: 0.33794245    -1.86927   0.0221645   0 0.00184984  0.00200172  0.0119373   0.999925       uwb: 0.0            849.605  1201.04  
imu_odom_:  1691062579.170847666  0.641646   -0.514753  9.83777    -0.072438   -0.00852212 0.0553937   0.18       -0.02         pose: 0.0           -1.86927   0.0221645   0 0.00184984  0.00200172  0.0119373   0.999925       uwb: 0.49992442     850.148  1200.68  
imu_odom_:  1691062579.196844517  0.869095   -0.347159  9.89763    -0.0468716  -0.0607201  0.0308927   0.18       0.02          pose: 0.41067553    -1.85554   0.018782    0 0.00105403  0.00177116  0.0118457   0.999928       uwb: 0.0            850.148  1200.68  
imu_odom_:  1691062579.209842214  0.531513   -0.416591  9.35175    -0.0490022  0.0191748   0.0532632   0.18       0.02          pose: 0.0           -1.85554   0.018782    0 0.00105403  0.00177116  0.0118457   0.999928       uwb: 0.0            850.148  1200.68  
imu_odom_:  1691062579.224858379  0.23942    -0.397437  9.95988    -0.0575243  0.0223706   0.0372843   0.17       0.02          pose: 0.54893228    -1.84698   0.023955    0 -0.00194777 -0.00294173 0.0119482   0.999922       uwb: 0.49918365     850.746  1200.24  
imu_odom_:  1691062579.250861938  0.0742203  -0.270545  9.30626    -0.0735032  -0.0234358  0.0511327   0.17       0.02          pose: 0.0           -1.84698   0.023955    0 -0.00194777 -0.00294173 0.0119482   0.999922       uwb: 0.0            850.746  1200.24  
imu_odom_:  1691062579.263957628  0.411803   -0.526724  9.78031    -0.0735032  0.00319579  0.0479369   0.18       0             pose: 0.8027500     -1.84698   0.023955    0 -0.00240344 -0.00216699 0.0119413   0.999923       uwb: 0.0            850.746  1200.24  
imu_odom_:  1691062579.286843221  0.617704   -0.390255  9.59357    -0.0500674  0.00958738  0.0319579   0.17       0             pose: 0.0           -1.84698   0.023955    0 -0.00240344 -0.00216699 0.0119413   0.999923       uwb: 0.49955696     850.182  1198.82  
imu_odom_:  1691062579.312855822  0.624887   -0.550666  9.52174    -0.0660464  0.0372843   0.04048     0.21       -0.02         pose: 0.68973507    -1.83325   0.0205759   0 -0.00526618 -0.00122808 0.012048    0.999913       uwb: 0.0            850.182  1198.82  
imu_odom_:  1691062579.333833189  0.605733   -0.280122  9.19852    -0.0458064  -0.00532632 0.0458064   0.21       -0.02         pose: 0.0           -1.83325   0.0205759   0 -0.00526618 -0.00122808 0.012048    0.999913       uwb: 0.50062437     850.666  1198.18  
imu_odom_:  1691062579.346842552  0.497994   -0.366313  9.67018    -0.0660464  0.00958738  0.0607201   0.18       0.02          pose: 0.0           -1.83325   0.0205759   0 -0.00526618 -0.00122808 0.012048    0.999913       uwb: 0.0            850.666  1198.18  
imu_odom_:  1691062579.363843645  0.61531    -0.191536  9.94312    -0.0490022  0.0149137   0.0383495   0.18       0.02          pose: 0.32005301    -1.83325   0.0205759   0 -0.00710909 -0.00294431 0.0120641   0.999898       uwb: 0.0            850.666  1198.18  
imu_odom_:  1691062579.385965715  0.42138    -0.296881  9.61511    -0.0553937  -0.0415453  0.052198    0.18       -0.02         pose: 0.44995123    -1.81952   0.0171974   0 -0.00618944 -0.00560033 0.0122116   0.999891       uwb: 0.50059812     851.652  1197.94  
imu_odom_:  1691062579.410856361  0.634463   -0.280122  10.0724    -0.0447411  -0.04048    0.0415453   0.18       -0.02         pose: 0.7034453     -1.81952   0.0171974   0 -0.00592246 -0.00507989 0.0122594   0.999894       uwb: 0.0            851.652  1197.94  
imu_odom_:  1691062579.435883205  0.622492   -0.299275  9.94791    -0.0830906  -0.00958738 0.0713727   0.19       0             pose: 0.39978263    -1.81096   0.022378    0 -0.00452623 -0.00680718 0.0123736   0.99989        uwb: 0.50232174     850.831  1196.52  
imu_odom_:  1691062579.451888918  0.308852   -0.023942  10.4722    -0.0713727  0.0234358   0.0607201   0.19       0             pose: 0.0           -1.81096   0.022378    0 -0.00452623 -0.00680718 0.0123736   0.99989        uwb: 0.0            850.831  1196.52  
imu_odom_:  1691062579.475832013  0.277727   -0.117316  9.64145    -0.0745685  0.0383495   0.0511327   0.18       0             pose: 0.41032557    -1.79723   0.0190136   0 -0.00368088 -0.00801283 0.0129183   0.999878       uwb: 0.49754753     850.519  1195.51  
imu_odom_:  1691062579.499822646  0.131681   -0.270545  9.90481    -0.0415453  -0.0287621  0.0383495   0.18       0             pose: 0.0           -1.79723   0.0190136   0 -0.00368088 -0.00801283 0.0129183   0.999878       uwb: 0.0            850.519  1195.51  
imu_odom_:  1691062579.523812404  0.852336   -0.225055  9.60793    -0.0649811  -0.0106526  0.0479369   0.18       0             pose: 0.30961215    -1.79723   0.0190136   0 -0.00265703 -0.00482681 0.0130491   0.9999         uwb: 0.49855369     849.743  1194.41  
imu_odom_:  1691062579.540946778  0.632069   -0.0837971 9.67018    -0.0532632  -0.0213053  0.0447411   0.18       0             pose: 0.0           -1.79723   0.0190136   0 -0.00265703 -0.00482681 0.0130491   0.9999         uwb: 0.0            849.743  1194.41  
imu_odom_:  1691062579.565826342  0.502782   -0.237026  10.1347    -0.0543285  0.0106526   0.036219    0.21       0             pose: 0.48972855    -1.78868   0.0242074   0 -0.0017263  -0.00630172 0.0131534   0.999892       uwb: 0.0            849.743  1194.41  
imu_odom_:  1691062579.589967172  0.174777   -0.584185  9.9096     -0.0340885  -0.036219   0.0298274   0.23       0             pose: 0.34003354    -1.77745   0.0193317   0 -0.00107578 -0.0042057  0.0131331   0.999904       uwb: 0.49986902     848.87   1192.74  
imu_odom_:  1691062579.613827731  0.433351   -0.371101  9.85693    -0.0585895  -0.0543285  0.0468716   0.23       0             pose: 0.0           -1.77745   0.0193317   0 -0.00107578 -0.0042057  0.0131331   0.999904       uwb: 0.0            848.87   1192.74  
imu_odom_:  1691062579.629964684  0.481235   0.179565   9.87608    -0.0479369  -0.0447411  0.0447411   0.19       0.02          pose: 0.7018412     -1.77494   0.0208585   0 -0.00152912 -0.00385604 0.0131021   0.999906       uwb: 0.50168887     849.424  1192.04  
imu_odom_:  1691062579.655818921  0.335188   -0.186748  9.72285    -0.0628506  0.0138484   0.0383495   0.19       0.02          pose: 0.0           -1.77494   0.0208585   0 -0.00152912 -0.00385604 0.0131021   0.999906       uwb: 0.0            849.424  1192.04  
imu_odom_:  1691062579.680824767  0.208296   -0.371101  9.95509    -0.0394148  -0.00426106 0.036219    0.19       0             pose: 0.48993270    -1.7664    0.0260531   0 -0.00415099 -0.00320452 0.0131422   0.9999         uwb: 0.50091893     849.229  1191.25  
imu_odom_:  1691062579.704894727  0.241814   -0.272939  9.91678    -0.0692422  0.0191748   0.0639159   0.19       0             pose: 0.0           -1.7664    0.0260531   0 -0.00415099 -0.00320452 0.0131422   0.9999         uwb: 0.0            849.229  1191.25  
imu_odom_:  1691062579.721854990  0.342371   -0.172383  10.0341    -0.0436758  -0.0532632  0.0468716   0.26       0.02          pose: 0.42057102    -1.7612    0.0175086   0 -0.00228657 -0.0003123290.0131351   0.999911       uwb: 0.49998567     849.482  1190.25  
imu_odom_:  1691062579.746845379  0.328006   -0.296881  10.1586    -0.04048    -0.00106526 0.04048     0.26       0.02          pose: 0.0           -1.7612    0.0175086   0 -0.00228657 -0.0003123290.0131351   0.999911       uwb: 0.0            849.482  1190.25  
imu_odom_:  1691062579.772815982  0.916979   -0.105345  10.1275    -0.0149137  -0.0298274  0.0181095   0.23       -0.02         pose: 0.48019471    -1.75266   0.0227036   0 -0.00245118 0.00358097  0.0134381   0.9999         uwb: 0.49876952     849.107  1188.68  
imu_odom_:  1691062579.798920742  0.531513   -0.332794  9.58399    -0.0447411  -0.00639159 0.056459    0.23       -0.02         pose: 0.0           -1.75266   0.0227036   0 -0.00245118 0.00358097  0.0134381   0.9999         uwb: 0.0            849.107  1188.68  
imu_odom_:  1691062579.815946917  0.565032   -0.42138   9.53132    -0.0415453  -0.00213053 0.0266316   0.23       0.02          pose: 0.42943408    -1.73892   0.0193624   0 -0.00327281 0.00281498  0.0133934   0.999901       uwb: 0.0            849.107  1188.68  
imu_odom_:  1691062579.840875186  0.493206   -0.588974  9.65821    -0.0660464  -0.0127832  0.0607201   0.23       0.02          pose: 0.0           -1.73892   0.0193624   0 -0.00327281 0.00281498  0.0133934   0.999901       uwb: 0.49865285     848.761  1188.1   
imu_odom_:  1691062579.857811534  0.47884    -0.162806  9.69173    -0.052198   0.00745685  0.0330232   0.23       0.02          pose: 0.52137484    -1.73037   0.0245604   0 -0.00389027 -0.00204441 0.0133563   0.999901       uwb: 0.0            848.761  1188.1   
imu_odom_:  1691062579.882803672  0.45011    -0.320823  9.72046    -0.092678   -0.0170442  0.0639159   0.23       0.02          pose: 0.0           -1.73037   0.0245604   0 -0.00389027 -0.00204441 0.0133563   0.999901       uwb: 0.50003525     848.908  1186.91  
imu_odom_:  1691062579.907817101  0.28491    -0.538695  9.53132    -0.056459   0.0596548   0.0234358   0.23       0.02          pose: 0.75808183    -1.71663   0.0212224   0 -0.00634951 -0.0008975250.0138214   0.999884       uwb: 0.0            848.908  1186.91  
imu_odom_:  1691062579.930950884  0.229843   -0.411803  9.75877    -0.036219   0.00745685  0.0575243   0.23       0.02          pose: 0.7050785     -1.71663   0.0212224   0 -0.00695186 -0.0002952560.0137659   0.999881       uwb: 0.49988068     848.807  1186.04  
imu_odom_:  1691062579.954801236  -0.0526724 -0.129287  9.80904    -0.00319579 0.0149137   0.0223706   0.2        0             pose: 0.41096427    -1.71091   0.0247106   0 -0.00881566 0.00362626  0.0138489   0.999859       uwb: 0.0            848.807  1186.04  
imu_odom_:  1691062579.979783166  0.150835   -0.476446  9.79947    -0.0830906  0.0234358   0.0617853   0.2        -0.02         pose: 0.0           -1.71091   0.0247106   0 -0.00881566 0.00362626  0.0138489   0.999859       uwb: 0.50119016     850.005  1186.55  
imu_odom_:  1691062579.994797289  0.521936   -0.459687  9.62469    -0.0415453  0.00852212  0.0319579   0.2        -0.02         pose: 0.0           -1.71091   0.0247106   0 -0.00881566 0.00362626  0.0138489   0.999859       uwb: 0.0            850.005  1186.55  
imu_odom_:  1691062580.17781170   0.318429   -0.162806  9.73482    -0.04048    0.00319579  0.056459    0.2        -0.02         pose: 0.31851312    -1.70289   0.0178887   0 -0.00757212 0.00654836  0.0137511   0.999855       uwb: 0.0            850.005  1186.55  
imu_odom_:  1691062580.42786436   0.347159   -0.301669  10.0102    -0.0308927  0.00213053  0.0298274   0.18       0             pose: 0.38993674    -1.69435   0.0230935   0 -0.00853498 0.00654148  0.0139275   0.999845       uwb: 0.49847790     849.637  1185.68  
imu_odom_:  1691062580.58780486   0.486023   -0.100556  9.35893    -0.0745685  -0.0127832  0.0458064   0.18       0             pose: 0.0           -1.69435   0.0230935   0 -0.00853498 0.00654148  0.0139275   0.999845       uwb: 0.0            849.637  1185.68  
imu_odom_:  1691062580.83779628   -0.0837971 -0.196325  9.48822    -0.0479369  0.0181095   0.0266316   0.18       0             pose: 0.56984616    -1.68306   0.02379     0 -0.00401578 0.00327813  0.013991    0.999889       uwb: 0.0            849.637  1185.68  
imu_odom_:  1691062580.106780716  0.105345   -0.356736  10.0341    -0.0447411  0.0298274   0.0415453   0.18       0             pose: 0.0           -1.68306   0.02379     0 -0.00401578 0.00327813  0.013991    0.999889       uwb: 0.0            849.637  1185.68  
imu_odom_:  1691062580.122778557  0.505177   -0.356736  10.1897    -0.052198   -0.0415453  0.0351537   0.18       -0.02         pose: 0.8019044     -1.6806    0.0197646   0 -0.00382708 0.00415435  0.0139423   0.999887       uwb: 0.100053147    849.378  1184.68  
imu_odom_:  1691062580.148865531  0.818817   -0.52433   9.25119    -0.0756338  -0.0276969  0.0426106   0.18       -0.02         pose: 0.0           -1.6806    0.0197646   0 -0.00382708 0.00415435  0.0139423   0.999887       uwb: 0.0            849.378  1184.68  
imu_odom_:  1691062580.173794095  0.0670376  -0.351948  9.63906    -0.0255663  -0.0127832  0.0234358   0.25       0             pose: 0.48065267    -1.67206   0.0249714   0 -0.00438675 0.00756208  0.0138389   0.999866       uwb: 0.49947829     850.997  1185.32  
imu_odom_:  1691062580.198921560  0.459687   -0.296881  10.2496    -0.036219   0.00106526  0.0319579   0.25       0             pose: 0.16124414    -1.67206   0.0249714   0 -0.0049207  0.00577996  0.0138253   0.999876       uwb: 0.0            850.997  1185.32  
imu_odom_:  1691062580.221917983  0.483629   -0.0742203 9.82341    -0.015979   0.00106526  0.0266316   0.21       0             pose: 0.49948704    -1.65832   0.02164     0 -0.00551017 0.00560296  0.0136226   0.999876       uwb: 0.50178228     849.856  1183.11  
imu_odom_:  1691062580.238773257  0.335188   -0.0191536 9.76834    -0.0798948  0.00958738  0.0713727   0.21       0             pose: 0.0           -1.65832   0.02164     0 -0.00551017 0.00560296  0.0136226   0.999876       uwb: 0.0            849.856  1183.11  
imu_odom_:  1691062580.262777601  0.90022    -0.162806  10.3118    -0.0308927  0.092678    0.0319579   0.18       -0.02         pose: 0.48863497    -1.64978   0.0268429   0 -0.0019359  0.0028138   0.013523    0.999903       uwb: 0.0            849.856  1183.11  
imu_odom_:  1691062580.287877944  0.545878   -0.1652    10.3525    -0.0788296  0.104396    0.0649811   0.27       -0.02         pose: 0.32976189    -1.64978   0.0268429   0 -0.0005232320.00173185  0.013573    0.999906       uwb: 0.49681267     850.047  1182.23  
imu_odom_:  1691062580.302762871  0.500388   -0.529119  9.87369    -0.0490022  -0.0617853  0.0138484   0.27       -0.02         pose: 0.0           -1.64978   0.0268429   0 -0.0005232320.00173185  0.013573    0.999906       uwb: 0.0            850.047  1182.23  
imu_odom_:  1691062580.325795749  0.191536   -0.138864  10.4172    -0.0735032  -0.0639159  0.0447411   0.27       -0.02         pose: 0.0           -1.64978   0.0268429   0 -0.0005232320.00173185  0.013573    0.999906       uwb: 0.50158979     849.691  1181.05  
imu_odom_:  1691062580.352923309  0.184354   -0.035913  9.91918    -0.0308927  -0.015979   0.0255663   0.18       -0.02         pose: 0.8038876     -1.64978   0.0268429   0 -0.0003577150.00140768  0.0136751   0.999905       uwb: 0.0            849.691  1181.05  
imu_odom_:  1691062580.378767927  0.37589    -0.162806  9.66779    -0.0830906  -0.0308927  0.0458064   0.2        0             pose: 0.39054634    -1.63604   0.0235081   0 -0.00111406 0.000207871 0.0137187   0.999905       uwb: 0.50023074     849.277  1179.62  
imu_odom_:  1691062580.395876640  0.940921   -0.363919  9.77313    -0.0458064  0.0330232   0.02024     0.2        0             pose: 0.0           -1.63604   0.0235081   0 -0.00111406 0.000207871 0.0137187   0.999905       uwb: 0.0            849.277  1179.62  
imu_odom_:  1691062580.420781580  0.474052   -0.294487  10.0317    -0.0713727  -0.00532632 0.0628506   0.18       0             pose: 0.51066284    -1.6275    0.0287124   0 0.00196762  0.00223186  0.0136027   0.999903       uwb: 0.50119024     848.814  1178.58  
imu_odom_:  1691062580.443813875  0.538695   -0.229843  9.8282     -0.0351537  -0.0319579  0.0447411   0.18       0             pose: 0.0           -1.6275    0.0287124   0 0.00196762  0.00223186  0.0136027   0.999903       uwb: 0.0            848.814  1178.58  
imu_odom_:  1691062580.467914170  0.3304     -0.201113  9.73722    -0.0703074  -0.0213053  0.0585895   0.25       0             pose: 0.42898210    -1.61375   0.0253749   0 0.0014658   -0.00110197 0.0135973   0.999906       uwb: 0.0            848.814  1178.58  
imu_odom_:  1691062580.483755107  0.948104   -0.201113  9.91199    -0.0468716  -0.0149137  0.0372843   0.25       0             pose: 0.0           -1.61375   0.0253749   0 0.0014658   -0.00110197 0.0135973   0.999906       uwb: 0.50078778     849.648  1178.54  
imu_odom_:  1691062580.509971571  0.672771   -0.244209  9.8258     -0.0798948  0.0287621   0.0703074   0.19       0.02          pose: 0.48097348    -1.61375   0.0253749   0 -0.000163333-0.00369333 0.0139336   0.999896       uwb: 0.0            849.648  1178.54  
imu_odom_:  1691062580.536928227  0.260968   -0.222661  10.2544    -0.0639159  0.015979    0.0426106   0.19       0.02          pose: 0.0           -1.61375   0.0253749   0 -0.000163333-0.00369333 0.0139336   0.999896       uwb: 0.49737262     849.546  1177.41  
imu_odom_:  1691062580.561948367  0.11971    -0.251391  10.1538    -0.0809601  0.0223706   0.0532632   0.18       0.02          pose: 0.39837989    -1.60001   0.0220479   0 -0.000184845-0.00456826 0.0141893   0.999889       uwb: 0.0            849.546  1177.41  
imu_odom_:  1691062580.577954083  0.251391   -0.435745  10.0556    -0.0351537  -0.00319579 0.0276969   0.18       0.02          pose: 0.0           -1.60001   0.0220479   0 -0.000184845-0.00456826 0.0141893   0.999889       uwb: 0.0            849.546  1177.41  
imu_odom_:  1691062580.602884688  0.646434   -0.282516  10.0173    -0.0543285  -0.0255663  0.0415453   0.18       0             pose: 0.53005426    -1.59148   0.0272625   0 -0.000904648-0.00222117 0.0145647   0.999891       uwb: 0.0            849.546  1177.41  
imu_odom_:  1691062580.629891216  0.3304     -0.148441  10.0796    -0.0426106  -0.0276969  0.0330232   0.18       0             pose: 0.0           -1.59148   0.0272625   0 -0.000904648-0.00222117 0.0145647   0.999891       uwb: 0.100184969    849.71   1176.27  
imu_odom_:  1691062580.654882192  0.694318   -0.198719  9.59357    -0.0639159  0.00106526  0.0372843   0.18       0             pose: 0.41132888    -1.58295   0.0324821   0 -0.00240794 -0.0001667160.0145956   0.999891       uwb: 0.0            849.71   1176.27  
imu_odom_:  1691062580.670734794  0.0766145  -0.31364   9.97185    -0.0415453  0.0149137   0.0340885   0.18       0             pose: 0.0           -1.58295   0.0324821   0 -0.00240794 -0.0001667160.0145956   0.999891       uwb: 0.49872002     851.187  1176.72  
imu_odom_:  1691062580.695766600  0.665588   -0.493206  10.1251    -0.0830906  0.0351537   0.0500674   0.18       -0.02         pose: 0.52127285    -1.57773   0.0239527   0 -0.000370858-0.00124042 0.0145124   0.999894       uwb: 0.0            851.187  1176.72  
imu_odom_:  1691062580.720783240  0.397437   -0.399832  10.4698    -0.0319579  0.00639159  0.0330232   0.18       -0.02         pose: 0.40831329    -1.5692    0.0291712   0 -0.00127873 -0.00157904 0.0144933   0.999893       uwb: 0.49858878     850.386  1175.17  
imu_odom_:  1691062580.736807037  0.198719   -0.169988  10.0078    -0.0447411  -0.0245011  0.052198    0.2        0             pose: 0.41915370    -1.55785   0.0243885   0 -0.00478624 -0.0013084  0.0145086   0.999882       uwb: 0.0            850.386  1175.17  
imu_odom_:  1691062580.753945790  0.560243   -0.241814  10.0652    -0.0426106  -0.0234358  0.0351537   0.2        0             pose: 0.0           -1.55785   0.0243885   0 -0.00478624 -0.0013084  0.0145086   0.999882       uwb: 0.0            850.386  1175.17  
imu_odom_:  1691062580.778826233  0.23942    -0.433351  9.39964    -0.0798948  0.00958738  0.0607201   0.18       0             pose: 0.7018997     -1.55545   0.02586     0 -0.00439085 -0.0007738630.0145557   0.999884       uwb: 0.50074695     850.035  1173.12  
imu_odom_:  1691062580.803812542  0.306458   -0.414197  9.92157    -0.0340885  -0.015979   0.04048     0.18       0             pose: 0.0           -1.55545   0.02586     0 -0.00439085 -0.0007738630.0145557   0.999884       uwb: 0.0            850.035  1173.12  
imu_odom_:  1691062580.817742919  0.280122   -0.198719  9.79947    -0.04048    -0.00852212 0.036219    0.19       0             pose: 0.33995776    -1.55545   0.02586     0 -0.0038222  -0.00121866 0.014658    0.999885       uwb: 0.0            850.035  1173.12  
imu_odom_:  1691062580.842797181  0.323217   -0.3304    9.76116    -0.02024    -0.0372843  0.0234358   0.19       0             pose: 0.0           -1.55545   0.02586     0 -0.0038222  -0.00121866 0.014658    0.999885       uwb: 0.50119316     850.519  1172.26  
imu_odom_:  1691062580.858788897  0.237026   -0.0574608 9.5816     -0.052198   -0.00958738 0.0585895   0.25       0             pose: 0.48021521    -1.5417    0.0225529   0 -0.00616208 0.00203669  0.0148562   0.999869       uwb: 0.0            850.519  1172.26  
imu_odom_:  1691062580.883731169  0.476446   -0.153229  9.77313    -0.056459   0.00106526  0.0426106   0.25       0             pose: 0.0           -1.5417    0.0225529   0 -0.00616208 0.00203669  0.0148562   0.999869       uwb: 0.49982826     850.741  1171.7   
imu_odom_:  1691062580.909740857  0.553061   -0.203507  10.0437    -0.0756338  0.0213053   0.0596548   0.21       -0.02         pose: 0.39918483    -1.53317   0.0277761   0 -0.0052282  0.00456048  0.0147264   0.999867       uwb: 0.0            850.741  1171.7   
imu_odom_:  1691062580.932741363  0.694318   -0.126893  10.2879    -0.0351537  -0.00213053 0.0330232   0.21       -0.02         pose: 0.0           -1.53317   0.0277761   0 -0.0052282  0.00456048  0.0147264   0.999867       uwb: 0.49890084     850.366  1170.02  
imu_odom_:  1691062580.949765207  0.354342   -0.402226  9.73722    -0.0266316  -0.0330232  0.0394148   0.18       0.02          pose: 0.42133811    -1.53317   0.0277761   0 -0.00254434 0.00233851  0.0149358   0.999882       uwb: 0.0            850.366  1170.02  
imu_odom_:  1691062580.975724149  0.624887   0.208296   10.477     -0.0649811  -0.0543285  0.0553937   0.18       0.02          pose: 0.0           -1.53317   0.0277761   0 -0.00254434 0.00233851  0.0149358   0.999882       uwb: 0.49983701     850.118  1169.1   
imu_odom_:  1691062581.1829497    0.837971   -0.514753  9.21768    -0.109722   0.0106526   0.0649811   0.22       0             pose: 0.47893489    -1.51942   0.0244758   0 -0.00156273 -0.0010494  0.0150335   0.999885       uwb: 0.0            850.118  1169.1   
imu_odom_:  1691062581.26698278   0.0861913  -0.122104  9.62948    -0.0181095  0.0351537   0.00852212  0.22       0             pose: 0.0           -1.51942   0.0244758   0 -0.00156273 -0.0010494  0.0150335   0.999885       uwb: 0.50009078     850.115  1168.22  
imu_odom_:  1691062581.49690913   0.533907   -0.148441  9.97424    -0.0692422  0.0276969   0.0671117   0.2        0             pose: 0.43060073    -1.51089   0.0297033   0 -0.000679332-0.00298484 0.0153275   0.999878       uwb: 0.0            850.115  1168.22  
imu_odom_:  1691062581.66826460   0.471658   -0.483629  9.62948    -0.0372843  -0.00319579 0.0372843   0.2        0             pose: 0.0           -1.51089   0.0297033   0 -0.000679332-0.00298484 0.0153275   0.999878       uwb: 0.0            850.115  1168.22  
imu_odom_:  1691062581.92989557   0.430956   0.160412   10.3813    -0.0607201  -0.0181095  0.0660464   0.25       0             pose: 0.49899421    -1.49714   0.0264146   0 -0.000736207-0.00186955 0.0152687   0.999881       uwb: 0.50171237     849.969  1166.91  
imu_odom_:  1691062581.118715480  0.591368   0.059855   10.2113    -0.0671117  -0.0213053  0.0447411   0.23       0.02          pose: 0.60264746    -1.48862   0.0316499   0 0.00125567  -0.00289585 0.0158231   0.99987        uwb: 0.0            849.969  1166.91  
imu_odom_:  1691062581.133695194  0.656011   -0.383072  9.23444    -0.0852212  0.0223706   0.0468716   0.23       0.02          pose: 0.0           -1.48862   0.0316499   0 0.00125567  -0.00289585 0.0158231   0.99987        uwb: 0.49676317     849.797  1165.64  
imu_odom_:  1691062581.157742997  0.177171   -0.23942   9.58878    -0.0543285  -0.00426106 0.0298274   0.23       0.02          pose: 0.0           -1.48862   0.0316499   0 0.00125567  -0.00289585 0.0158231   0.99987        uwb: 0.0            849.797  1165.64  
imu_odom_:  1691062581.182759934  0.268151   -0.418985  9.96706    -0.0713727  -0.04048    0.0436758   0.21       0             pose: 0.6772267     -1.48862   0.0316499   0 0.0018239   -0.00325632 0.015839    0.999868       uwb: 0.50120491     849.555  1164.17  
imu_odom_:  1691062581.205704739  0.150835   -0.198719  9.76355    -0.0490022  -0.0191748  0.0383495   0.18       0             pose: 0.39942113    -1.47486   0.0283744   0 0.00188927  -0.00440458 0.0159161   0.999862       uwb: 0.0            849.555  1164.17  
imu_odom_:  1691062581.222687756  0.677559   -0.438139  9.96706    -0.0692422  -0.0181095  0.0458064   0.18       0             pose: 0.0           -1.47486   0.0283744   0 0.00188927  -0.00440458 0.0159161   0.999862       uwb: 0.50069161     848.158  1161.97  
imu_odom_:  1691062581.246688604  0.397437   -0.186748  9.73961    -0.0298274  -0.0223706  0.0213053   0.18       0             pose: 0.0           -1.47486   0.0283744   0 0.00188927  -0.00440458 0.0159161   0.999872       uwb: 0.0            848.158  1161.97  
imu_odom_:  1691062581.270812235  0.612916   -0.277727  9.8282     -0.0490022  -0.00852212 0.036219    0.18       0             pose: 0.6117234     -1.47486   0.0283744   0 -0.000564855-0.0009931070.0158761   0.999873       uwb: 0.49936755     848.276  1161.56  
imu_odom_:  1691062581.287809834  0.799663   -0.339977  9.32063    -0.0479369  0.0106526   0.0298274   0.18       0             pose: 0.0           -1.47486   0.0283744   0 -0.000564855-0.0009931070.0158761   0.999873       uwb: 0.0            848.276  1161.56  
imu_odom_:  1691062581.312771358  0.454898   -0.237026  9.42358    -0.0756338  0.015979    0.0617853   0.27       0             pose: 0.40822295    -1.4611    0.0251004   0 -0.000751022-0.0007165930.0158546   0.999874       uwb: 0.0            848.276  1161.56  
imu_odom_:  1691062581.328702415  0.830788   -0.28491   10.331     -0.056459   -0.0138484  0.0330232   0.27       0             pose: 0.0           -1.4611    0.0251004   0 -0.000751022-0.0007165930.0158546   0.999874       uwb: 0.49984293     848.028  1160.42  
imu_odom_:  1691062581.354689360  0.462081   -0.440533  9.4954     -0.0479369  0.0181095   0.0500674   0.23       -0.02         pose: 0.90050354    -1.44407   0.0355794   0 -0.00207382 -0.0024761  0.0158387   0.999869       uwb: 0.0            848.028  1160.42  
imu_odom_:  1691062581.381723015  0.289698   -0.0694318 9.78031    -0.0436758  -0.02024    0.0255663   0.21       -0.02         pose: 0.34939543    -1.43883   0.027063    0 -0.00463508 -0.00309973 0.0159524   0.999857       uwb: 0.50017541     848.409  1159.74  
imu_odom_:  1691062581.406683372  0.490811   -0.462081  9.77074    -0.076699   0.00639159  0.0479369   0.21       -0.02         pose: 0.0           -1.43883   0.027063    0 -0.00463508 -0.00309973 0.0159524   0.999857       uwb: 0.0            848.409  1159.74  
imu_odom_:  1691062581.430709885  0.596156   -0.260968  9.34457    -0.0500674  -0.0191748  0.0308927   0.23       0             pose: 0.8073874     -1.43883   0.027063    0 -0.00394173 -0.00267751 0.0158966   0.999862       uwb: 0.49854803     848.286  1158.48  
imu_odom_:  1691062581.455731196  0.409408   -0.653617  9.65103    -0.0596548  0.00639159  0.0383495   0.23       0             pose: 0.0           -1.43883   0.027063    0 -0.00394173 -0.00267751 0.0158966   0.999862       uwb: 0.0            848.286  1158.48  
imu_odom_:  1691062581.470701578  0.533907   -0.23942   9.85932    -0.0266316  -0.00745685 0.0266316   0.18       0             pose: 0.50934469    -1.43031   0.0323054   0 -0.00474584 -0.00298126 0.0158373   0.999859       uwb: 0.50108825     848.528  1157.39  
imu_odom_:  1691062581.497802602  0.459687   -0.335188  10.1873    -0.0607201  -0.00958738 0.0660464   0.18       0             pose: 0.0           -1.43031   0.0323054   0 -0.00474584 -0.00298126 0.0158373   0.999859       uwb: 0.0            848.528  1157.39  
imu_odom_:  1691062581.513677664  -0.071826  -0.0742203 9.84735    -0.0319579  0.00106526  0.0436758   0.19       0             pose: 0.49083697    -1.41655   0.0290299   0 -0.00594496 -0.00438987 0.0157024   0.999849       uwb: 0.0            848.528  1157.39  
imu_odom_:  1691062581.529803247  0.622492   -0.186748  9.91918    -0.0575243  -0.0245011  0.0543285   0.19       0             pose: 0.0           -1.41655   0.0290299   0 -0.00594496 -0.00438987 0.0157024   0.999849       uwb: 0.50078202     847.82   1155.12  
imu_odom_:  1691062581.546694105  1.02232    -0.153229  9.95748    -0.0607201  0.0127832   0.0415453   0.19       0             pose: 0.0           -1.41655   0.0290299   0 -0.00594496 -0.00438987 0.0157024   0.999849       uwb: 0.0            847.82   1155.12  
imu_odom_:  1691062581.573705303  0.371101   -0.0143652 9.85693    -0.0735032  -0.00319579 0.0628506   0.18       0.02          pose: 0.42908716    -1.40804   0.0342707   0 -0.00586026 -0.00160887 0.0160431   0.999853       uwb: 0.49944338     847.527  1154.07  
imu_odom_:  1691062581.599739494  0.21069    -0.428562  9.77313    -0.0692422  0.0351537   0.0436758   0.19       0.05          pose: 0.68015187    -1.39681   0.0294456   0 -0.00184666 -0.0028459  0.0164902   0.999858       uwb: 0.0            847.527  1154.07  
imu_odom_:  1691062581.615740546  0.457293   -0.117316  10.003     -0.0575243  0.00319579  0.0372843   0.19       0.05          pose: 0.0           -1.39681   0.0294456   0 -0.00184666 -0.0028459  0.0164902   0.999858       uwb: 0.0            847.527  1154.07  
imu_odom_:  1691062581.641739156  0.533907   -0.191536  9.65103    -0.0415453  -0.0287621  0.0340885   0.18       0.02          pose: 0.7992506     -1.39428   0.0310052   0 -0.0023818  -0.00204812 0.0165087   0.999859       uwb: 0.50047580     847.826  1153.5   
imu_odom_:  1691062581.667683812  0.560243   -0.373495  9.45949    -0.0756338  -0.00958738 0.0426106   0.18       0.02          pose: 0.0           -1.39428   0.0310052   0 -0.0023818  -0.00204812 0.0165087   0.999859       uwb: 0.0            847.826  1153.5   
imu_odom_:  1691062581.693750959  0.146046   -0.248997  9.47386    -0.0458064  0.00639159  0.0372843   0.2        0.02          pose: 0.42122152    -1.38577   0.0362581   0 -0.00162065 -0.00143125 0.0165062   0.999861       uwb: 0.49931505     846.916  1151.75  
imu_odom_:  1691062581.720921686  0.107739   -0.464475  9.8282     -0.0649811  -0.0479369  0.0490022   0.2        0.02          pose: 0.0           -1.38577   0.0362581   0 -0.00162065 -0.00143125 0.0165062   0.999861       uwb: 0.50171237     847.109  1150.77  
imu_odom_:  1691062581.736669299  1.08218    -0.0502782 10.5848    -0.0308927  -0.0511327  0.0287621   0.18       -0.02         pose: 0.51982347    -1.37201   0.0330012   0 -0.00295292 -0.00391511 0.016491    0.999852       uwb: 0.0            847.109  1150.77  
imu_odom_:  1691062581.762791275  0.952892   -0.047884  10.0197    -0.0660464  -0.0394148  0.0543285   0.18       -0.02         pose: 0.0           -1.37201   0.0330012   0 -0.00295292 -0.00391511 0.016491    0.999852       uwb: 0.0            847.109  1150.77  
imu_odom_:  1691062581.779720338  0.363919   -0.447716  9.92875    -0.0479369  0.00745685  0.036219    0.25       0.02          pose: 0.53035473    -1.37201   0.0330012   0 -0.00391366 -0.00121861 0.016569    0.999854       uwb: 0.50035623     847.227  1150.65  
imu_odom_:  1691062581.806655709  0.565032   -0.42138   9.56244    -0.0479369  -0.0223706  0.0532632   0.25       0.02          pose: 0.0           -1.37201   0.0330012   0 -0.00391366 -0.00121861 0.016569    0.999854       uwb: 0.0            847.227  1150.65  
imu_odom_:  1691062581.832642945  0.0957681  -0.0957681 10.0676    -0.02024    0.00532632  0.0340885   0.23       0             pose: 0.57849350    -1.35825   0.0297462   0 -0.0043723  -0.00431902 0.0167368   0.999841       uwb: 0.49782767     846.038  1149.2   
imu_odom_:  1691062581.858707175  0.624887   -0.337582  9.59596    -0.0639159  -0.00639159 0.056459    0.25       0             pose: 0.45955814    -1.34974   0.035003    0 -0.00422597 -0.00323789 0.0168132   0.999844       uwb: 0.0            846.038  1149.2   
imu_odom_:  1691062581.884656789  0.232238   -0.146046  9.67497    -0.0415453  0.00426106  0.0426106   0.25       0             pose: 0.0           -1.34974   0.035003    0 -0.00422597 -0.00323789 0.0168132   0.999844       uwb: 0.50055746     845.65   1147.5   
imu_odom_:  1691062581.911770938  0.0047884  -0.440533  10.2352    -0.0266316  -0.0181095  0.0234358   0.23       0             pose: 0.7012290     -1.34974   0.035003    0 -0.00442032 -0.00392838 0.0168699   0.99984        uwb: 0.0            845.65   1147.5   
imu_odom_:  1691062581.927693246  0.481235   0.117316   10.3765    -0.0447411  -0.0340885  0.0532632   0.23       0             pose: 0.0           -1.34974   0.035003    0 -0.00442032 -0.00392838 0.0168699   0.99984        uwb: 0.50050788     845.379  1146.22  
imu_odom_:  1691062581.952832964  0.6608     0.011971   10.4004    -0.0340885  -0.0351537  0.0426106   0.25       0             pose: 0.52200788    -1.33597   0.0317566   0 -0.0036233  -0.00279765 0.0170134   0.999845       uwb: 0.0            845.379  1146.22  
imu_odom_:  1691062581.974643566  0.694318   0.00718261 10.2041    -0.0351537  -0.0170442  0.04048     0.25       0             pose: 0.0           -1.33597   0.0317566   0 -0.0036233  -0.00279765 0.0170134   0.999845       uwb: 0.49760018     845.318  1145.25  
imu_odom_:  1691062582.834369     0.220267   -0.1652    9.68933    -0.0575243  0.00106526  0.0319579   0.18       0             pose: 0.43941720    -1.32747   0.0370175   0 -0.00160021 -0.00211209 0.0169811   0.999852       uwb: 0.0            845.318  1145.25  
imu_odom_:  1691062582.17681483   0.248997   -0.0646434 9.7851     -0.0873517  -0.02024    0.0490022   0.18       0             pose: 0.0           -1.32747   0.0370175   0 -0.00160021 -0.00211209 0.0169811   0.999852       uwb: 0.0            845.318  1145.25  
imu_odom_:  1691062582.42783583   0.469264   -0.339977  9.90242    -0.0703074  -0.0777643  0.0415453   0.2        0             pose: 0.46863118    -1.3137    0.033774    0 0.0017471   -0.00425777 0.0169761   0.999845       uwb: 0.50171532     845.31   1144     
imu_odom_:  1691062582.68711620   0.550666   -0.150835  10.1251    -0.0500674  -0.0308927  0.0351537   0.2        0             pose: 0.0           -1.3137    0.033774    0 0.0017471   -0.00425777 0.0169761   0.999845       uwb: 0.0            845.31   1144     
imu_odom_:  1691062582.94744940   1.0343     -0.366313  10.0245    -0.0308927  -0.0117179  0.0223706   0.19       -0.02         pose: 0.43155159    -1.3137    0.033774    0 0.0015226   -0.00157549 0.0169859   0.999853       uwb: 0.49940846     844.726  1142.28  
imu_odom_:  1691062582.111744000  0.181959   -0.023942  10.094     -0.0436758  0.0447411   0.0490022   0.19       -0.02         pose: 0.0           -1.3137    0.033774    0 0.0015226   -0.00157549 0.0169859   0.999853       uwb: 0.0            844.726  1142.28  
imu_odom_:  1691062582.137680203  0.612916   -0.289698  9.7875     -0.0617853  0.00852212  0.0383495   0.21       0.02          pose: 0.50879940    -1.29994   0.0305301   0 0.00127228  -0.00585797 0.0168758   0.99984        uwb: 0.50045255     844.951  1141.58  
imu_odom_:  1691062582.164648826  0.4956     -0.0550666 10.094     -0.0383495  -0.00319579 0.0543285   0.23       0.02          pose: 0.60984243    -1.29143   0.0357868   0 -0.000220694-0.00730979 0.0167985   0.999832       uwb: 0.0            844.951  1141.58  
imu_odom_:  1691062582.189628727  0.31364    -0.306458  9.84496    -0.0351537  0.00958738  0.0319579   0.23       0.02          pose: 0.0           -1.29143   0.0357868   0 -0.000220694-0.00730979 0.0167985   0.999832       uwb: 0.49865602     845.3    1141.01  
imu_odom_:  1691062582.213619372  0.620098   -0.380678  9.991      -0.0703074  -0.00852212 0.0458064   0.23       0             pose: 0.7021040     -1.29143   0.0357868   0 0.000504643 -0.0070794  0.016846    0.999833       uwb: 0.0            845.3    1141.01  
imu_odom_:  1691062582.229631509  0.268151   -0.229843  9.53132    -0.0543285  0.0447411   0.0234358   0.23       0             pose: 0.0           -1.29143   0.0357868   0 0.000504643 -0.0070794  0.016846    0.999833       uwb: 0.50062462     845.422  1140.16  
imu_odom_:  1691062582.246710188  0.490811   -0.306458  9.95748    -0.0681769  -0.052198   0.04048     0.18       -0.02         pose: 0.51980314    -1.27767   0.0325393   0 0.000796092 -0.00460331 0.016916    0.999846       uwb: 0.0            845.422  1140.16  
imu_odom_:  1691062582.272703261  1.20668    -0.399832  9.89045    -0.0468716  -0.0351537  0.0319579   0.18       -0.02         pose: 0.0           -1.27767   0.0325393   0 0.000796092 -0.00460331 0.016916    0.999846       uwb: 0.50018423     845.531  1139.33  
imu_odom_:  1691062582.297822277  0.56982    -0.339977  10.0389    -0.0628506  0.0117179   0.04048     0.22       0.02          pose: 0.40998746    -1.26916   0.0377982   0 -0.00156287 -0.00401498 0.0168534   0.999849       uwb: 0.0            845.531  1139.33  
imu_odom_:  1691062582.321821671  0.428562   -0.136469  9.56962    -0.0276969  -0.0245011  0.0234358   0.22       0.02          pose: 0.0           -1.26916   0.0377982   0 -0.00156287 -0.00401498 0.0168534   0.999849       uwb: 0.50002675     846.074  1139.08  
imu_odom_:  1691062582.346654001  0.857124   -0.208296  9.78989    -0.0468716  0.00958738  0.0330232   0.18       0.02          pose: 0.41950964    -1.26916   0.0377982   0 -0.00350254 -0.0075618  0.0167651   0.999825       uwb: 0.0            846.074  1139.08  
imu_odom_:  1691062582.370601190  0.454898   -0.110133  9.39006    -0.0170442  0.00958738  0.0276969   0.18       0.02          pose: 0.0           -1.26916   0.0377982   0 -0.00350254 -0.0075618  0.0167651   0.999825       uwb: 0.50073836     845.928  1138     
imu_odom_:  1691062582.395884985  0.459687   -0.332794  10.0365    -0.0617853  0.00426106  0.0458064   0.18       0             pose: 0.49084579    -1.2554    0.0345492   0 -0.00282742 -0.00746108 0.01656     0.999831       uwb: 0.0            845.928  1138     
imu_odom_:  1691062582.412766221  0.071826   -0.225055  9.85453    -0.0436758  0.00852212  0.0319579   0.18       0             pose: 0.0           -1.2554    0.0345492   0 -0.00282742 -0.00746108 0.01656     0.999831       uwb: 0.0            845.928  1138     
imu_odom_:  1691062582.436606378  0.172383   -0.117316  9.84975    -0.0596548  0.0138484   0.052198    0.18       0             pose: 0.48909301    -1.2554    0.0345492   0 -0.000610745-0.00697009 0.0163673   0.999842       uwb: 0.49916057     846.486  1137.98  
imu_odom_:  1691062582.461603778  0.543484   0.0143652  10.0389    -0.0447411  -0.0308927  0.0276969   0.18       0             pose: 0.0           -1.2554    0.0345492   0 -0.000610745-0.00697009 0.0163673   0.999842       uwb: 0.0            846.486  1137.98  
imu_odom_:  1691062582.476605368  0.802058   -0.397437  9.59357    -0.0713727  -0.0319579  0.0490022   0.24       0             pose: 0.83978631    -1.24164   0.0312887   0 0.00139163  -0.00287017 0.0163715   0.999861       uwb: 0.49832938     846.736  1137.52  
imu_odom_:  1691062582.503591198  0.227449   -0.179565  9.92875    -0.04048    -0.036219   0.0245011   0.24       0             pose: 0.0           -1.24164   0.0312887   0 0.00139163  -0.00287017 0.0163715   0.999861       uwb: 0.0            846.736  1137.52  
imu_odom_:  1691062582.528644593  0.497994   -0.244209  10.0724    -0.0681769  -0.0447411  0.0490022   0.18       0             pose: 0.6126859     -1.24164   0.0312887   0 0.0010351   -0.00348543 0.0164017   0.999859       uwb: 0.50146747     846.837  1136.7   
imu_odom_:  1691062582.553614287  0.744597   0.00718261 9.90481    -0.0447411  -0.0170442  0.0330232   0.2        0             pose: 0.16892027    -1.23313   0.0365394   0 0.000647783 -0.00370446 0.0163845   0.999859       uwb: 0.0            846.837  1136.7   
imu_odom_:  1691062582.568597212  0.462081   -0.277727  9.54808    -0.0671117  0.0106526   0.0639159   0.2        0             pose: 0.0           -1.23313   0.0365394   0 0.000647783 -0.00370446 0.0163845   0.999859       uwb: 0.0            846.837  1136.7   
imu_odom_:  1691062582.593725561  0.416591   -0.215478  10.0437    -0.0447411  -0.0223706  0.0436758   0.2        0             pose: 0.0           -1.23313   0.0365394   0 0.000647783 -0.00370446 0.0163845   0.999859       uwb: 0.49942888     847.165  1135.93  
imu_odom_:  1691062582.619574562  0.383072   -0.272939  9.98382    -0.0649811  -0.0298274  0.052198    0.18       -0.02         pose: 0.50027173    -1.22788   0.0280286   0 -0.000407278-0.00497233 0.016341    0.999854       uwb: 0.0            847.165  1135.93  
imu_odom_:  1691062582.635589906  0.797269   -0.3304    9.65821    -0.036219   0.0117179   0.0351537   0.18       -0.02         pose: 0.0           -1.22788   0.0280286   0 -0.000407278-0.00497233 0.016341    0.999854       uwb: 0.49932096     846.865  1134.77  
imu_odom_:  1691062582.661703429  0.512359   -0.179565  9.93354    -0.0873517  0.036219    0.0713727   0.26       0             pose: 0.91941682    -1.2056    0.0300207   0 -0.00171395 -0.00201413 0.0166642   0.999858       uwb: 0.0            846.865  1134.77  
imu_odom_:  1691062582.687644881  0.483629   -0.25618   9.81144    -0.0649811  0.00745685  0.0458064   0.23       0.05          pose: 0.35111910    -1.19935   0.0338841   0 -0.000135358-0.00384679 0.0170472   0.999847       uwb: 0.50242990     846.868  1133.59  
imu_odom_:  1691062582.712732107  0.447716   -0.407014  9.83777    -0.0798948  0.0117179   0.0479369   0.23       0.05          pose: 0.0           -1.19935   0.0338841   0 -0.000135358-0.00384679 0.0170472   0.999847       uwb: 0.0            846.868  1133.59  
imu_odom_:  1691062582.738644104  0.112527   -0.316035  9.98622    -0.0543285  -0.00958738 0.056459    0.2        0             pose: 0.6881051     -1.1971    0.0352777   0 -0.000846851-0.00392631 0.0170711   0.999846       uwb: 0.0            846.868  1133.59  
imu_odom_:  1691062582.754637575  0.665588   -0.248997  10.4986    -0.0596548  -0.0170442  0.0394148   0.2        0             pose: 0.0           -1.1971    0.0352777   0 -0.000846851-0.00392631 0.0170711   0.999846       uwb: 0.0            846.868  1133.59  
imu_odom_:  1691062582.781601532  0.347159   0.0502782  9.87129    -0.0596548  0.0106526   0.0426106   0.23       0             pose: 0.52068390    -1.18333   0.0320381   0 -0.00556053 -0.00259421 0.0173231   0.999831       uwb: 0.99920190     846.476  1132.52  
imu_odom_:  1691062582.805567970  0.337582   -0.335188  9.81623    -0.0660464  0.0276969   0.04048     0.23       0             pose: 0.0           -1.18333   0.0320381   0 -0.00556053 -0.00259421 0.0173231   0.999831       uwb: 0.0            846.476  1132.52  
imu_odom_:  1691062582.830621366  0.45011    -0.215478  9.53371    -0.0681769  0.00319579  0.0585895   0.2        0             pose: 0.41992086    -1.18333   0.0320381   0 -0.00429254 -0.00216495 0.0174868   0.999836       uwb: 0.0            846.476  1132.52  
imu_odom_:  1691062582.855557229  0.474052   -0.332794  9.38048    -0.0639159  0.0138484   0.0340885   0.2        0             pose: 0.0           -1.18333   0.0320381   0 -0.00429254 -0.00216495 0.0174868   0.999836       uwb: 0.0            846.476  1132.52  
imu_odom_:  1691062582.871610488  0.42138    -0.059855  10.1562    -0.0351537  -0.0255663  0.0383495   0.19       0.02          pose: 0.50070628    -1.16956   0.0288085   0 -0.00362565 0.000362731 0.0175961   0.999839       uwb: 0.100051137    846.885  1131.47  
imu_odom_:  1691062582.888700541  0.658405   -0.158017  9.75637    -0.0532632  -0.0436758  0.052198    0.19       0.02          pose: 0.0           -1.16956   0.0288085   0 -0.00362565 0.000362731 0.0175961   0.999839       uwb: 0.0            846.885  1131.47  
imu_odom_:  1691062582.915568838  0.687136   -0.0670376 10.2448    -0.0575243  -0.0149137  0.0468716   0.25       0.02          pose: 0.49854228    -1.16106   0.0340796   0 -0.00360591 -0.00204175 0.0176861   0.999835       uwb: 0.0            846.885  1131.47  
imu_odom_:  1691062582.931620347  0.588974   -0.418985  9.55765    -0.0628506  -0.02024    0.0575243   0.25       0.02          pose: 0.0           -1.16106   0.0340796   0 -0.00360591 -0.00204175 0.0176861   0.999835       uwb: 0.49817773     846.272  1129.47  
imu_odom_:  1691062582.957550717  0.679953   -0.208296  10.6255    -0.0330232  -0.0298274  0.04048     0.23       0.02          pose: 0.69050535    -1.14729   0.0308586   0 -0.00155495 -0.00670195 0.0180227   0.999814       uwb: 0.0            846.272  1129.47  
imu_odom_:  1691062582.982719020  0.543484   -0.258574  10.1107    -0.0383495  -0.0255663  0.0426106   0.23       0.02          pose: 0.7073828     -1.14729   0.0308586   0 -0.00125625 -0.00746439 0.0180239   0.999809       uwb: 0.50061295     846.482  1128.83  
imu_odom_:  1691062583.7561558    0.526724   0.0814029  9.91199    -0.0511327  -0.0127832  0.0575243   0.21       0             pose: 0.44024845    -1.1388    0.0361371   0 -0.00163138 -0.0076614  0.018082    0.999806       uwb: 0.0            846.482  1128.83  
imu_odom_:  1691062583.22569567   0.430956   -0.215478  10.0556    -0.0468716  0.0170442   0.0511327   0.21       0             pose: 0.0           -1.1388    0.0361371   0 -0.00163138 -0.0076614  0.018082    0.999806       uwb: 0.49978763     847.161  1128.72  
imu_odom_:  1691062583.38610870   0.373495   -0.258574  10.2352    -0.0436758  0           0.0340885   0.18       0             pose: 0.0           -1.1388    0.0361371   0 -0.00163138 -0.0076614  0.018082    0.999806       uwb: 0.0            847.161  1128.72  
imu_odom_:  1691062583.64885093   0.651223   -0.423774  9.94791    -0.0703074  -0.0149137  0.0607201   0.18       0             pose: 0.46931667    -1.12503   0.0329282   0 0.000513894 -0.00520928 0.0183567   0.999818       uwb: 0.0            847.161  1128.72  
imu_odom_:  1691062583.90555612   0.342371   -0.289698  9.91918    -0.0585895  0.0213053   0.0383495   0.21       0             pose: 0.35234406    -1.12503   0.0329282   0 -0.00202114 -0.00613742 0.0186197   0.999806       uwb: 0.50030972     847.148  1127.82  
imu_odom_:  1691062583.115537851  0.924162   -0.246603  10.0916    -0.0852212  0           0.0490022   0.21       0             pose: 0.6903217     -1.12503   0.0329282   0 -0.00217167 -0.00537261 0.0186175   0.99981        uwb: 0.0            847.148  1127.82  
imu_odom_:  1691062583.140595625  0.861913   -0.059855  10.3406    -0.0532632  -0.0191748  0.036219    0.21       0             pose: 0.43749541    -1.11654   0.0382168   0 -0.00279505 -0.00574254 0.0187206   0.999804       uwb: 0.49844612     847.38   1127.17  
imu_odom_:  1691062583.165554241  0.861913   -0.258574  9.59357    -0.0617853  0.0213053   0.04048     0.18       0             pose: 0.0           -1.11654   0.0382168   0 -0.00279505 -0.00574254 0.0187206   0.999804       uwb: 0.0            847.38   1127.17  
imu_odom_:  1691062583.180539209  0.0814029  -0.169988  9.72285    -0.00958738 0.0916127   0.0245011   0.18       0             pose: 0.31019856    -1.10276   0.0350206   0 -0.0014346  -0.00854943 0.0186668   0.999788       uwb: 0.50003266     847.487  1126.63  
imu_odom_:  1691062583.206543953  0.253785   -0.440533  9.53371    -0.0798948  0.00639159  0.0575243   0.18       0.02          pose: 0.0           -1.10276   0.0350206   0 -0.0014346  -0.00854943 0.0186668   0.999788       uwb: 0.0            847.487  1126.63  
imu_odom_:  1691062583.230611012  0.555455   -0.387861  9.73482    -0.056459   -0.00958738 0.0458064   0.18       0.02          pose: 0.41999675    -1.10276   0.0350206   0 -0.00159094 -0.00730208 0.0186375   0.999798       uwb: 0.50177378     846.794  1124.74  
imu_odom_:  1691062583.246537700  0.368707   -0.112527  9.94551    -0.0415453  0.0117179   0.056459    0.18       0.02          pose: 0.0           -1.10276   0.0350206   0 -0.00159094 -0.00730208 0.0186375   0.999798       uwb: 0.0            846.794  1124.74  
imu_odom_:  1691062583.272711888  0.320823   -0.047884  10.1442    -0.0372843  -0.0266316  0.0351537   0.23       -0.05         pose: 0.49064756    -1.08899   0.0318228   0 -0.00452096 -0.00617615 0.01895     0.999791       uwb: 0.50094843     846.672  1123.95  
imu_odom_:  1691062583.299547234  0.342371   -0.0287304 9.97424    -0.0703074  -0.0213053  0.0394148   0.23       0.02          pose: 0.35089750    -1.0831    0.0354948   0 -0.00150421 -0.0041679  0.0189635   0.99981        uwb: 0.0            846.672  1123.95  
imu_odom_:  1691062583.315694113  0.397437   -0.215478  9.77074    -0.0553937  -0.0532632  0.0298274   0.23       0.02          pose: 0.0           -1.0831    0.0354948   0 -0.00150421 -0.0041679  0.0189635   0.99981        uwb: 0.0            846.672  1123.95  
imu_odom_:  1691062583.342542291  0.790087   -0.31364   9.88805    -0.0660464  -0.02024    0.0458064   0.25       0.02          pose: 0.7990175     -1.0805    0.0371173   0 -0.000902626-0.00378635 0.0189607   0.999813       uwb: 0.49897399     846.776  1122.98  
imu_odom_:  1691062583.367814716  0.964863   -0.100556  9.73004    -0.056459   0           0.0447411   0.25       0.02          pose: 0.0           -1.0805    0.0371173   0 -0.000902626-0.00378635 0.0189607   0.999813       uwb: 0.0            846.776  1122.98  
imu_odom_:  1691062583.393595185  0.414197   -0.107739  10.0509    -0.0617853  0.036219    0.0266316   0.23       0             pose: 0.42991849    -1.0805    0.0371173   0 -1.04833e-05-0.00252974 0.0189004   0.999818       uwb: 0.49890108     846.895  1121.57  
imu_odom_:  1691062583.418809572  0.368707   -0.241814  9.77313    -0.072438   0.00213053  0.0340885   0.23       0             pose: 0.0           -1.0805    0.0371173   0 -1.04833e-05-0.00252974 0.0189004   0.999818       uwb: 0.0            846.895  1121.57  
imu_odom_:  1691062583.444527337  0.462081   -0.428562  9.62708    -0.0383495  0.0245011   0.0308927   0.21       -0.02         pose: 0.50929237    -1.06673   0.0339263   0 0.000493328 -0.00621426 0.0189731   0.999801       uwb: 0.49960978     846.858  1120.3   
imu_odom_:  1691062583.469526200  0.792481   -0.426168  9.84735    -0.072438   -0.0106526  0.0468716   0.21       -0.02         pose: 0.52104270    -1.05824   0.0392208   0 -0.000435974-0.00200796 0.0187403   0.999822       uwb: 0.0            846.858  1120.3   
imu_odom_:  1691062583.495640893  0.502782   -0.217872  9.82341    -0.0383495  -0.02024    0.0340885   0.18       0             pose: 0.0           -1.05824   0.0392208   0 -0.000435974-0.00200796 0.0187403   0.999822       uwb: 0.49970602     846.962  1119.36  
imu_odom_:  1691062583.511521501  0.155623   -0.0622492 9.87129    -0.0500674  0.0117179   0.0490022   0.18       0             pose: 0.25823633    -1.04447   0.0360254   0 -0.00246421 -0.00270127 0.0186953   0.999819       uwb: 0.0            846.962  1119.36  
imu_odom_:  1691062583.538535041  0.344765   -0.0263362 10.0054    -0.0468716  -0.0213053  0.0266316   0.19       0             pose: 0.49970602    -1.03598   0.0413153   0 -0.000262379-0.0044733  0.0187034   0.999815       uwb: 0.50115550     846.527  1117.98  
imu_odom_:  1691062583.564630486  0.634463   -0.217872  10.2256    -0.0543285  -0.056459   0.0479369   0.19       -0.02         pose: 0.36013387    -1.03598   0.0413153   0 0.00244617  -0.00223059 0.018562    0.999822       uwb: 0.0            846.527  1117.98  
imu_odom_:  1691062583.581522807  0.591368   -0.0335188 9.67976    -0.0543285  -0.0191748  0.0276969   0.19       -0.02         pose: 0.0           -1.03598   0.0413153   0 0.00244617  -0.00223059 0.018562    0.999822       uwb: 0.49726204     846.06   1116.43  
imu_odom_:  1691062583.607521717  0.387861   -0.347159  9.68215    -0.0713727  0.015979    0.0447411   0.19       -0.02         pose: 0.7013751     -1.03598   0.0413153   0 0.00227665  -0.00309275 0.0185929   0.99982        uwb: 0.0            846.06   1116.43  
imu_odom_:  1691062583.633518295  0.40462    -0.225055  9.89045    -0.0394148  -0.00426106 0.0436758   0.19       -0.02         pose: 0.0           -1.03598   0.0413153   0 0.00227665  -0.00309275 0.0185929   0.99982        uwb: 0.50139172     846.331  1115.8   
imu_odom_:  1691062583.659514872  0.469264   -0.208296  9.86411    -0.052198   -0.0223706  0.0436758   0.17       -0.02         pose: 0.43145837    -1.02221   0.0381157   0 0.00266593  -0.00588983 0.0185904   0.999806       uwb: 0.0            846.331  1115.8   
imu_odom_:  1691062583.676556515  0.749385   -0.138864  10.0652    -0.0500674  0.00426106  0.0458064   0.17       -0.02         pose: 0.0           -1.02221   0.0381157   0 0.00266593  -0.00588983 0.0185904   0.999806       uwb: 0.49972061     846.622  1115.16  
imu_odom_:  1691062583.701566752  0.464475   -0.347159  10.2304    -0.0660464  0.0319579   0.0468716   0.2        0             pose: 0.51951741    -1.01372   0.0434039   0 0.000386636 -0.00294001 0.0187156   0.99982        uwb: 0.0            846.622  1115.16  
imu_odom_:  1691062583.727568578  0.562637   -0.11971   9.85453    -0.0809601  0.00745685  0.0649811   0.2        0             pose: 0.0           -1.01372   0.0434039   0 0.000386636 -0.00294001 0.0187156   0.99982        uwb: 0.50147046     846.512  1113.79  
imu_odom_:  1691062583.753640108  0.220267   -0.335188  9.8665     -0.0649811  0           0.0447411   0.19       0.02          pose: 0.42897939    -0.999943  0.0402085   0 0.000319407 -0.00614203 0.0188354   0.999804       uwb: 0.0            846.512  1113.79  
imu_odom_:  1691062583.778496357  0.442927   -0.588974  9.67736    -0.0703074  -0.00852212 0.0553937   0.23       0             pose: 0.51109181    -0.999943  0.0402085   0 0.000266264 -0.00537051 0.0192451   0.9998         uwb: 0.50008225     846.383  1113.05  
imu_odom_:  1691062583.803662915  0.586579   -0.169988  10.07      -0.0213053  -0.0308927  0.0298274   0.23       0             pose: 0.0           -0.999943  0.0402085   0 0.000266264 -0.00537051 0.0192451   0.9998         uwb: 0.0            846.383  1113.05  
imu_odom_:  1691062583.818616386  0.600945   -0.213084  9.62948    -0.056459   -0.0383495  0.0458064   0.23       0             pose: 0.25981412    -0.991462  0.0455078   0 -0.00136429 -0.00357488 0.019355    0.999805       uwb: 0.0            846.383  1113.05  
imu_odom_:  1691062583.833483530  0.430956   0.011971   10.0604    -0.0511327  -0.0106526  0.04048     0.19       0             pose: 0.48871103    -0.977682  0.0423295   0 -0.00090198 -0.00627227 0.0193866   0.999792       uwb: 0.49781033     846.492  1112.56  
imu_odom_:  1691062583.858495225  0.557849   -0.272939  9.90242    -0.0607201  0.00532632  0.0436758   0.19       0             pose: 0.0           -0.977682  0.0423295   0 -0.00090198 -0.00627227 0.0193866   0.999792       uwb: 0.0            846.492  1112.56  
imu_odom_:  1691062583.885764537  0.328006   -0.447716  9.84496    -0.0245011  -0.0585895  0.0287621   0.18       0             pose: 0.31029189    -0.977682  0.0423295   0 1.81567e-05 -0.00688663 0.0194294   0.999788       uwb: 0.50319992     846.426  1111.78  
imu_odom_:  1691062583.910518127  0.591368   -0.181959  9.8282     -0.0596548  -0.0245011  0.0500674   0.19       0.02          pose: 0.45229343    -0.966296  0.0376557   0 -0.0031479  -0.00615709 0.0193519   0.999789       uwb: 0.0            846.426  1111.78  
imu_odom_:  1691062583.937646283  0.593762   -0.0933739 9.79228    -0.0372843  -0.0255663  0.0340885   0.19       0.02          pose: 0.0           -0.966296  0.0376557   0 -0.0031479  -0.00615709 0.0193519   0.999789       uwb: 0.49726787     847.159  1111.86  
imu_odom_:  1691062583.963613696  0.555455   -0.268151  9.991      -0.0596548  -0.00319579 0.0447411   0.19       0             pose: 0.7863310     -0.963901  0.0391529   0 -0.00251848 -0.00668687 0.0193878   0.999787       uwb: 0.0            847.159  1111.86  
imu_odom_:  1691062583.990466832  0.723049   -0.234632  9.90002    -0.0468716  -0.0149137  0.056459    0.19       0             pose: 0.0           -0.963901  0.0391529   0 -0.00251848 -0.00668687 0.0193878   0.999787       uwb: 0.50041472     847.349  1111.52  
imu_odom_:  1691062584.6472848    0.514753   -0.308852  9.39245    -0.0660464  0.0276969   0.0553937   0.18       0             pose: 0.52156183    -0.955422  0.0444544   0 0.000906038 -0.00857626 0.0193988   0.999775       uwb: 0.0            847.349  1111.52  
imu_odom_:  1691062584.33469477   0.371101   -0.162806  9.5792     -0.0447411  0.00106526  0.0426106   0.18       0             pose: 0.0           -0.955422  0.0444544   0 0.000906038 -0.00857626 0.0193988   0.999775       uwb: 0.50221419     847.075  1110.29  
imu_odom_:  1691062584.59589133   -0.0167594 -0.435745  9.83777    -0.0298274  0.0266316   0.0255663   0.26       0             pose: 0.52696892    -0.941643  0.0412802   0 -0.00127467 -0.0102585  0.0197526   0.999751       uwb: 0.0            847.075  1110.29  
imu_odom_:  1691062584.86508768   0.562637   -0.385466  9.87848    -0.0511327  -0.02024    0.0575243   0.25       -0.02         pose: 0.43021895    -0.941643  0.0412802   0 -0.000887092-0.00607796 0.019806    0.999785       uwb: 0.49872618     846.907  1109     
imu_odom_:  1691062584.111543507  0.220267   -0.208296  9.91918    -0.02024    0.0245011   0.036219    0.25       -0.02         pose: 0.0           -0.941643  0.0412802   0 -0.000887092-0.00607796 0.019806    0.999785       uwb: 0.0            846.907  1109     
imu_odom_:  1691062584.128694811  0.536301   -0.162806  10.0748    -0.0660464  0.015979    0.0585895   0.21       0.02          pose: 0.25167145    -0.933169  0.0465883   0 -0.00191808 -0.0045237  0.0197523   0.999793       uwb: 0.49914906     846.419  1107.94  
imu_odom_:  1691062584.154511448  0.679953   -0.251391  9.83538    -0.0671117  0           0.0415453   0.21       0.02          pose: 0.0           -0.933169  0.0465883   0 -0.00191808 -0.0045237  0.0197523   0.999793       uwb: 0.0            846.419  1107.94  
imu_odom_:  1691062584.171462101  0.543484   -0.160412  10.2017    -0.0713727  -0.00958738 0.0628506   0.23       0             pose: 0.51870381    -0.919386  0.0434218   0 -0.00202311 -0.00321739 0.0199644   0.999793       uwb: 0.49957195     846.065  1106.39  
imu_odom_:  1691062584.196591624  0.797269   -0.316035  9.43315    -0.0713727  0.0458064   0.0234358   0.23       0             pose: 0.0           -0.919386  0.0434218   0 -0.00202311 -0.00321739 0.0199644   0.999793       uwb: 0.0            846.065  1106.39  
imu_odom_:  1691062584.223473054  0.138864   -0.47884   9.39485    -0.0436758  0.0213053   0.056459    0.23       0.02          pose: 0.43092765    -0.919386  0.0434218   0 -0.000842769-0.00636235 0.0201561   0.999776       uwb: 0.49970027     846.187  1106.11  
imu_odom_:  1691062584.249462344  0.19393    0.0023942  10.161     -0.00639159 -0.00319579 0.0276969   0.23       0.02          pose: 0.0           -0.919386  0.0434218   0 -0.000842769-0.00636235 0.0201561   0.999776       uwb: 0.0            846.187  1106.11  
imu_odom_:  1691062584.276472972  0.677559   -0.0957681 10.2615    -0.052198   -0.052198   0.0543285   0.23       -0.02         pose: 0.41842777    -0.905601  0.0402656   0 -0.00129877 -0.00761557 0.0201266   0.999768       uwb: 0.50014065     846.347  1105.21  
imu_odom_:  1691062584.301579164  0.54109    -0.0622492 10.0078    -0.0468716  0.00532632  0.0415453   0.18       0             pose: 0.53003419    -0.89713   0.0455799   0 0.000402211 -0.00434513 0.0202018   0.999786       uwb: 0.0            846.347  1105.21  
imu_odom_:  1691062584.328581626  0.665588   -0.0670376 9.89524    -0.052198   -0.00106526 0.036219    0.22       0             pose: 0.0           -0.89713   0.0455799   0 0.000402211 -0.00434513 0.0202018   0.999786       uwb: 0.49902365     846.491  1104.32  
imu_odom_:  1691062584.344568978  0.186748   -0.323217  9.83777    -0.0585895  0.0117179   0.0543285   0.22       0             pose: 0.52037201    -0.883345  0.0424274   0 0.0044568   -0.00711305 0.0203432   0.999758       uwb: 0.0            846.491  1104.32  
imu_odom_:  1691062584.371464699  0.758962   -0.184354  10.4052    -0.0735032  -0.0138484  0.0255663   0.19       -0.02         pose: 0.0           -0.883345  0.0424274   0 0.0044568   -0.00711305 0.0203432   0.999758       uwb: 0.50218216     846.162  1102.99  
imu_odom_:  1691062584.396532977  0.826      -0.560243  9.79707    -0.0745685  -0.015979   0.0479369   0.2        -0.02         pose: 0.62948194    -0.874876  0.0477449   0 0.00366299  -0.0100421  0.0202546   0.999738       uwb: 0.0            846.162  1102.99  
imu_odom_:  1691062584.423455528  -0.318429  -0.0622492 8.44914    -0.0191748  0.108657    0.0255663   0.2        -0.02         pose: 0.0           -0.874876  0.0477449   0 0.00366299  -0.0100421  0.0202546   0.999738       uwb: 0.49936196     845.635  1101.98  
imu_odom_:  1691062584.439512583  0.263362   -0.222661  9.15543    -0.0639159  0.203466    0.0596548   0.19       0             pose: 0.8064545     -0.874876  0.0477449   0 0.00288765  -0.0104941  0.0202957   0.999735       uwb: 0.0            845.635  1101.98  
imu_odom_:  1691062584.466549751  -0.37589   -0.426168  9.73722    -0.036219   0.0276969   0.0255663   0.19       0             pose: 0.0           -0.874876  0.0477449   0 0.00288765  -0.0104941  0.0202957   0.999735       uwb: 0.0            845.635  1101.98  
imu_odom_:  1691062584.491627362  1.29287    -0.442927  9.07402    -0.0340885  -0.0479369  0.0426106   0.18       0             pose: 0.51996371    -0.861089  0.0445912   0 0.0018595   -0.00561289 0.0202765   0.999777       uwb: 0.49908199     845.305  1100.65  
imu_odom_:  1691062584.516446867  0.667982   -0.0670376 10.1873    -0.0255663  0.0298274   0.0372843   0.18       0             pose: 0.0           -0.861089  0.0445912   0 0.0018595   -0.00561289 0.0202765   0.999777       uwb: 0.0            845.305  1100.65  
imu_odom_:  1691062584.530440248  0.225055   -0.0909797 10.1969    -0.0553937  0.0170442   0.0490022   0.2        -0.02         pose: 0.42967066    -0.852619  0.0499071   0 0.00101682  -0.00191208 0.0201818   0.999794       uwb: 0.49988109     845.768  1099.97  
imu_odom_:  1691062584.555551689  -0.0646434 0.0790087  10.1131    -0.0447411  0.0255663   0.0276969   0.2        -0.02         pose: 0.0           -0.852619  0.0499071   0 0.00101682  -0.00191208 0.0201818   0.999794       uwb: 0.0            845.768  1099.97  
imu_odom_:  1691062584.582609272  0.42138    -0.28491   9.95748    -0.0777643  0.00213053  0.0511327   0.24       0             pose: 0.47944850    -0.847304  0.0414365   0 0.00275994  -0.00484631 0.0202046   0.99978        uwb: 0.50088726     846.099  1099.56  
imu_odom_:  1691062584.607492356  0.414197   0.0742203  10.2831    -0.0426106  -0.0308927  0.0330232   0.24       0             pose: 0.0           -0.847304  0.0414365   0 0.00275994  -0.00484631 0.0202046   0.99978        uwb: 0.0            846.099  1099.56  
imu_odom_:  1691062584.624495213  0.512359   -0.203507  10.0556    -0.0692422  0.0181095   0.0575243   0.23       -0.02         pose: 0.40003378    -0.838834  0.0467516   0 0.00324666  -0.00122959 0.020122    0.999792       uwb: 0.50040604     845.826  1098.79  
imu_odom_:  1691062584.640486357  0.160412   -0.181959  10.0556    -0.0713727  0.00745685  0.0308927   0.23       -0.02         pose: 0.0           -0.838834  0.0467516   0 0.00324666  -0.00122959 0.020122    0.999792       uwb: 0.0            845.826  1098.79  
imu_odom_:  1691062584.667492319  0.0766145  -0.493206  10.0126    -0.0617853  0.00106526  0.0628506   0.25       0             pose: 0.52063157    -0.825047  0.0435951   0 0.00319803  -0.00176226 0.0202218   0.999789       uwb: 0.0            845.826  1098.79  
imu_odom_:  1691062584.683631034  0.201113   -0.337582  9.84496    -0.0298274  -0.0458064  0.04048     0.25       0             pose: 0.0           -0.825047  0.0435951   0 0.00319803  -0.00176226 0.0202218   0.999789       uwb: 0.50014649     845.648  1097.58  
imu_odom_:  1691062584.700503818  0.35913    -0.162806  9.83299    -0.0447411  -0.00532632 0.0383495   0.23       0             pose: 0.33999007    -0.825047  0.0435951   0 0.00170578  -0.0001878640.0203347   0.999792       uwb: 0.0            845.648  1097.58  
imu_odom_:  1691062584.717490052  0.840365   -0.37589   9.8689     -0.076699   -0.0223706  0.0713727   0.23       0             pose: 0.0           -0.825047  0.0435951   0 0.00170578  -0.0001878640.0203347   0.999792       uwb: 0.0            845.648  1097.58  
imu_odom_:  1691062584.744496305  0.723049   -0.138864  10.3765    -0.0468716  0.00532632  0.0479369   0.27       0.02          pose: 0.41977809    -0.816578  0.0489126   0 0.0002702   0.002202    0.0205561   0.999786       uwb: 0.49905865     845.563  1096.5   
imu_odom_:  1691062584.761679107  0.215478   -0.23942   9.39485    -0.0681769  -0.00958738 0.0617853   0.27       0.02          pose: 0.34010964    -0.802792  0.0457693   0 0.000738141 -0.0001585110.0208527   0.999782       uwb: 0.0            845.563  1096.5   
imu_odom_:  1691062584.786463615  0.306458   -0.174777  9.4571     -0.0436758  0.00639159  0.0383495   0.24       0             pose: 0.0           -0.802792  0.0457693   0 0.000738141 -0.0001585110.0208527   0.999782       uwb: 0.49971777     845.524  1095.41  
imu_odom_:  1691062584.809459761  0.277727   -0.339977  9.72285    -0.0958738  0.0255663   0.072438    0.24       0             pose: 0.44132476    -0.802792  0.0457693   0 0.000941956 0.00032251  0.0211219   0.999776       uwb: 0.0            845.524  1095.41  
imu_odom_:  1691062584.835597498  0.40462    -0.323217  9.42837    -0.0681769  0.0276969   0.0394148   0.18       0.02          pose: 0.40835439    -0.790721  0.0453701   0 -0.00107312 0.003558    0.0214827   0.999762       uwb: 0.49978193     845.554  1094.27  
imu_odom_:  1691062584.859421038  0.462081   -0.593762  10.1849    -0.0788296  -0.00426106 0.0500674   0.18       0.02          pose: 0.8022549     -0.788998  0.0426408   0 -0.00175635 0.00318705  0.0214793   0.999763       uwb: 0.0            845.554  1094.27  
imu_odom_:  1691062584.883490435  0.138864   -0.201113  10.2376    -0.0553937  -0.0138484  0.0543285   0.18       0             pose: 0.41938728    -0.780541  0.0479777   0 -0.00581729 0.001521    0.021589    0.999749       uwb: 0.50112640     845.409  1093.26  
imu_odom_:  1691062584.908447305  0.21069    -0.0837971 9.96227    -0.0617853  -0.00532632 0.0436758   0.18       0             pose: 0.0           -0.780541  0.0479777   0 -0.00581729 0.001521    0.021589    0.999749       uwb: 0.0            845.409  1093.26  
imu_odom_:  1691062584.935464932  0.509965   -0.186748  10.3573    -0.0628506  -0.0255663  0.0500674   0.21       0             pose: 0.49026267    -0.774587  0.0517382   0 -0.00259182 0.00475676  0.0218462   0.999747       uwb: 0.49975568     845.512  1092.46  
imu_odom_:  1691062584.961449848  1.10852    0.0335188  10.4746    -0.0340885  -0.0255663  0.0276969   0.18       -0.02         pose: 0.0           -0.774587  0.0517382   0 -0.00259182 0.00475676  0.0218462   0.999747       uwb: 0.0            845.512  1092.46  
imu_odom_:  1691062584.978451247  0.287304   -0.21069   9.42358    -0.0735032  -0.0149137  0.0585895   0.23       0             pose: 0.35031719    -0.766743  0.044866    0 -0.00127593 0.00113698  0.0219394   0.999758       uwb: 0.49780167     845.078  1091.07  
imu_odom_:  1691062585.4784970    0.383072   -0.354342  9.37569    -0.0703074  0.0106526   0.0394148   0.23       0             pose: 0.0           -0.766743  0.044866    0 -0.00127593 0.00113698  0.0219394   0.999758       uwb: 0.0            845.078  1091.07  
imu_odom_:  1691062585.31392842   0.505177   -0.395043  9.67497    -0.0617853  -0.0255663  0.0511327   0.18       0.02          pose: 0.42997105    -0.75829   0.0502102   0 -0.00130818 0.000947941 0.0219919   0.999757       uwb: 0.50033317     844.673  1089.86  
imu_odom_:  1691062585.47453982   0.402226   -0.301669  9.62708    -0.0585895  0.0255663   0.0426106   0.18       0.02          pose: 0.0           -0.75829   0.0502102   0 -0.00130818 0.000947941 0.0219919   0.999757       uwb: 0.0            844.673  1089.86  
imu_odom_:  1691062585.64398805   0.462081   -0.0861913 10.2496    -0.0639159  -0.0181095  0.0500674   0.2        0             pose: 0.51933090    -0.744494  0.0471044   0 -0.0048441  -0.0004387910.0221477   0.999743       uwb: 0.0            844.673  1089.86  
imu_odom_:  1691062585.82468792   0.59855    -0.428562  10.4076    -0.0106526  -0.0181095  0.036219    0.2        0             pose: 0.0           -0.744494  0.0471044   0 -0.0048441  -0.0004387910.0221477   0.999743       uwb: 0.50056653     844.493  1088.88  
imu_odom_:  1691062585.105420611  0.222661   -0.258574  9.88805    0.0170442   -0.0628506  0.0330232   0.19       0.02          pose: 0.44059573    -0.7392    0.0504549   0 -0.00357582 -0.00166559 0.0222184   0.999745       uwb: 0.0            844.493  1088.88  
imu_odom_:  1691062585.131407281  0.481235   -0.124498  10.0413    -0.0255663  -0.0607201  0.0532632   0.19       0.02          pose: 0.0           -0.7392    0.0504549   0 -0.00357582 -0.00166559 0.0222184   0.999745       uwb: 0.50029239     844.789  1087.81  
imu_odom_:  1691062585.156474104  0.459687   0.201113   10.0556    -0.1012     -0.0245011  0.0830906   0.25       0             pose: 0.5968499     -0.736044  0.0524532   0 -0.00329439 -0.00124137 0.0222019   0.999747       uwb: 0.0            844.789  1087.81  
imu_odom_:  1691062585.179448964  0.383072   -0.0430956 10.082     -0.0660464  -0.0426106  0.0500674   0.18       0             pose: 0.0           -0.736044  0.0524532   0 -0.00329439 -0.00124137 0.0222019   0.999747       uwb: 0.50016698     844.719  1086.96  
imu_odom_:  1691062585.205416385  0.603339   -0.0287304 9.77792    -0.0585895  0.0181095   0.0319579   0.18       0.02          pose: 0.74136553    -0.722249  0.0493601   0 0.00264909  -0.00212381 0.0229      0.999732       uwb: 0.0            844.719  1086.96  
imu_odom_:  1691062585.222508780  0.344765   -0.292093  10.0509    -0.0639159  -0.0213053  0.0479369   0.18       0.02          pose: 0.0           -0.722249  0.0493601   0 0.00264909  -0.00212381 0.0229      0.999732       uwb: 0.50144438     844.723  1085.89  
imu_odom_:  1691062585.248419622  0.25618    -0.232238  9.8689     -0.0745685  -0.0266316  0.0649811   0.25       0.02          pose: 0.49931246    -0.713808  0.0547218   0 0.00485028  -0.00316246 0.0229197   0.999721       uwb: 0.0            844.723  1085.89  
imu_odom_:  1691062585.275443670  0.469264   -0.198719  10.2496    -0.0511327  -0.0127832  0.0276969   0.25       -0.02         pose: 0.35914532    -0.709958  0.0486591   0 0.00258402  -0.0006628780.0232821   0.999725       uwb: 0.49881375     844.524  1084.59  
imu_odom_:  1691062585.291622927  0.316035   -0.201113  9.89284    -0.056459   -0.00958738 0.0447411   0.25       -0.02         pose: 0.0           -0.709958  0.0486591   0 0.00258402  -0.0006628780.0232821   0.999725       uwb: 0.0            844.524  1084.59  
imu_odom_:  1691062585.318579313  0.325611   -0.497994  9.78031    -0.0575243  0.0298274   0.0298274   0.25       0.02          pose: 0.7071498     -0.708445  0.0462813   0 0.00220705  -0.00128064 0.0232418   0.999727       uwb: 0.0            844.524  1084.59  
imu_odom_:  1691062585.344526319  0.174777   -0.292093  10.3262    -0.0415453  0.00745685  0.0617853   0.25       0.02          pose: 0.0           -0.708445  0.0462813   0 0.00220705  -0.00128064 0.0232418   0.999727       uwb: 0.49951661     844.231  1083.35  
imu_odom_:  1691062585.371403671  0.248997   -0.129287  10.1778    -0.0266316  0.0170442   0.0383495   0.25       0             pose: 0.42934701    -0.700008  0.051648    0 0.000357761 -0.00112631 0.023136    0.999732       uwb: 0.50100108     844.025  1082.76  
imu_odom_:  1691062585.396375127  0.399832   -0.0047884 10.1969    -0.0394148  -0.00213053 0.0617853   0.25       0             pose: 0.0           -0.700008  0.051648    0 0.000357761 -0.00112631 0.023136    0.999732       uwb: 0.0            844.025  1082.76  
imu_odom_:  1691062585.413497561  0.746991   -0.31364   9.73482    -0.0553937  0.0106526   0.0308927   0.23       -0.02         pose: 0.53000801    -0.686203  0.0485745   0 -0.00135076 0.00306152  0.0233295   0.999722       uwb: 0.0            844.025  1082.76  
imu_odom_:  1691062585.439393821  0.316035   -0.486023  9.97424    -0.0713727  0.0117179   0.0479369   0.23       -0.02         pose: 0.0           -0.686203  0.0485745   0 -0.00135076 0.00306152  0.0233295   0.999722       uwb: 0.49986950     844.162  1081.64  
imu_odom_:  1691062585.466435076  0.624887   -0.153229  9.91199    -0.0490022  -0.0607201  0.0308927   0.25       0             pose: 0.52074540    -0.677767  0.0539441   0 0.00270693  0.00303338  0.02358     0.999714       uwb: 0.0            844.162  1081.64  
imu_odom_:  1691062585.492384998  0.792481   -0.258574  10.1155    -0.0649811  -0.0149137  0.0436758   0.2        -0.02         pose: 0.42958032    -0.677767  0.0539441   0 -0.0002013880.00179057  0.0236109   0.99972        uwb: 0.49735262     844.576  1081.25  
imu_odom_:  1691062585.519419837  0.177171   -0.201113  9.74679    -0.0671117  0.0426106   0.0468716   0.25       0             pose: 0.0           -0.677767  0.0539441   0 -0.0002013880.00179057  0.0236109   0.99972        uwb: 0.50125773     843.9    1080.05  
imu_odom_:  1691062585.544638899  0.423774   -0.208296  10.0389    -0.0607201  0.0138484   0.0276969   0.2        0             pose: 0.52943932    -0.66396   0.0508824   0 -3.57441e-05-0.00255756 0.0236044   0.999718       uwb: 0.0            843.9    1080.05  
imu_odom_:  1691062585.561633010  0.574608   -0.217872  9.83059    -0.0468716  -0.0319579  0.0298274   0.2        0             pose: 0.0           -0.66396   0.0508824   0 -3.57441e-05-0.00255756 0.0236044   0.999718       uwb: 0.0            843.9    1080.05  
imu_odom_:  1691062585.587377615  0.363919   -0.308852  10.3741    -0.0383495  -0.0308927  0.0383495   0.18       0             pose: 0.62229884    -0.652524  0.0515434   0 0.000766912 -0.00406372 0.0234455   0.999717       uwb: 0.50072110     843.707  1078.78  
imu_odom_:  1691062585.614368124  0.648829   0.0957681  9.92157    -0.0671117  0.015979    0.0596548   0.18       0             pose: 0.7962180     -0.650154  0.0478209   0 0.000297401 -0.00358228 0.0234426   0.999719       uwb: 0.0            843.707  1078.78  
imu_odom_:  1691062585.630403600  0.399832   -0.311246  9.97664    -0.0671117  -0.0234358  0.0458064   0.2        0             pose: 0.44772934    -0.641718  0.053191    0 0.0014269   -0.00357805 0.0236993   0.999712       uwb: 0.50019614     843.502  1077.52  
imu_odom_:  1691062585.657355612  0.663194   -0.227449  9.77553    -0.056459   -0.0415453  0.0500674   0.2        0             pose: 0.0           -0.641718  0.053191    0 0.0014269   -0.00357805 0.0236993   0.999712       uwb: 0.0            843.502  1077.52  
imu_odom_:  1691062585.683500936  0.94571    -0.316035  10.0604    -0.0351537  0.0276969   0.0170442   0.18       0.02          pose: 0.42987488    -0.629512  0.0526447   0 -0.00013366 -0.00613359 0.0238936   0.999696       uwb: 0.49846378     843.184  1076.65  
imu_odom_:  1691062585.710377704  0.651223   -0.177171  10.0221    -0.0649811  -0.00639159 0.0575243   0.18       0.02          pose: 0.0           -0.629512  0.0526447   0 -0.00013366 -0.00613359 0.0238936   0.999696       uwb: 0.0            843.184  1076.65  
imu_odom_:  1691062585.735353243  0.347159   -0.0814029 9.77792    -0.0479369  -0.0138484  0.0287621   0.2        0             pose: 0.33047960    -0.62791   0.0501337   0 -6.96183e-05-0.00887049 0.0236614   0.999681       uwb: 0.50007365     843.215  1075.79  
imu_odom_:  1691062585.762353960  0.433351   -0.42138   9.45949    -0.0692422  0.0106526   0.04048     0.23       0             pose: 0.28045678    -0.619477  0.0555084   0 0.00123356  -0.00989272 0.0237827   0.999667       uwb: 0.0            843.215  1075.79  
imu_odom_:  1691062585.779465020  0.227449   -0.177171  10.319     -0.0245011  -0.0170442  0.0276969   0.23       0             pose: 0.0           -0.619477  0.0555084   0 0.00123356  -0.00989272 0.0237827   0.999667       uwb: 0.49963327     842.991  1074.39  
imu_odom_:  1691062585.806402158  0.68953    -0.328006  9.94551    -0.0617853  -0.0234358  0.0660464   0.26       0             pose: 0.23926495    -0.619477  0.0555084   0 0.00129644  -0.00805347 0.0236913   0.999686       uwb: 0.0            842.991  1074.39  
imu_odom_:  1691062585.831346199  0.756568   -0.138864  9.95509    -0.0532632  0.0266316   0.0458064   0.26       0             pose: 0.0           -0.619477  0.0555084   0 0.00129644  -0.00805347 0.0236913   0.999686       uwb: 0.50078235     843.121  1073.49  
imu_odom_:  1691062585.858347208  0.191536   -0.445322  9.99579    -0.0575243  0.0340885   0.04048     0.23       0             pose: 0.44035658    -0.60567   0.052449    0 -0.000486604-0.00608856 0.0237062   0.9997         uwb: 0.0            843.121  1073.49  
imu_odom_:  1691062585.874463761  0.0790087  0.0335188  10.0173    -0.0426106  -0.0234358  0.0394148   0.23       0             pose: 0.0           -0.60567   0.052449    0 -0.000486604-0.00608856 0.0237062   0.9997         uwb: 0.50129564     843.084  1072.51  
imu_odom_:  1691062585.901325655  0.545878   -0.241814  10.161     -0.0681769  -0.0223706  0.0639159   0.23       0.02          pose: 0.52070456    -0.597237  0.0578236   0 -0.000620887-0.0090276  0.0240454   0.99967        uwb: 0.0            843.084  1072.51  
imu_odom_:  1691062585.927452897  0.466869   -0.0263362 9.77074    -0.0660464  0.0170442   0.0479369   0.23       0.02          pose: 0.0           -0.597237  0.0578236   0 -0.000620887-0.0090276  0.0240454   0.99967        uwb: 0.49768801     842.861  1071.45  
imu_odom_:  1691062585.954448073  0.232238   -0.232238  9.59117    -0.0415453  -0.0287621  0.0298274   0.25       0             pose: 0.88971038    -0.583428  0.0547751   0 0.000515141 -0.00710675 0.0244787   0.999675       uwb: 0.0            842.861  1071.45  
imu_odom_:  1691062585.980393329  0.464475   -0.543484  9.30147    -0.0756338  -0.00319579 0.052198    0.18       0.02          pose: 0.6906136     -0.583428  0.0547751   0 0.000494063 -0.00650259 0.0244456   0.99968        uwb: 0.50019906     842.836  1070.47  
imu_odom_:  1691062586.7348842    0.471658   -0.208296  9.88326    -0.0468716  -0.0255663  0.0415453   0.18       0.02          pose: 0.0           -0.583428  0.0547751   0 0.000494063 -0.00650259 0.0244456   0.99968        uwb: 0.0            842.836  1070.47  
imu_odom_:  1691062586.23352823   0.464475   -0.172383  9.99819    -0.0735032  0.00213053  0.0585895   0.18       0             pose: 0.28064343    -0.575003  0.0601616   0 -0.000445518-0.00470051 0.024403    0.999691       uwb: 0.50279764     843.261  1069.79  
imu_odom_:  1691062586.50430829   0.76375    -0.179565  10.4507    -0.0639159  0.0426106   0.0372843   0.18       0             pose: 0.0           -0.575003  0.0601616   0 -0.000445518-0.00470051 0.024403    0.999691       uwb: 0.0            843.261  1069.79  
imu_odom_:  1691062586.66352275   0.296881   -0.402226  9.82102    -0.0628506  -0.0330232  0.0585895   0.2        0.02          pose: 0.52934018    -0.561191  0.0571233   0 0.000874115 -0.00356874 0.0246154   0.99969        uwb: 0.0            843.261  1069.79  
imu_odom_:  1691062586.93385952   0.440533   -0.253785  10.1227    -0.0383495  -0.00745685 0.0415453   0.2        0.02          pose: 0.0           -0.561191  0.0571233   0 0.000874115 -0.00356874 0.0246154   0.99969        uwb: 0.49772016     843.225  1068.82  
imu_odom_:  1691062586.118531815  0.462081   -0.361524  9.74201    -0.0468716  0.00106526  0.0596548   0.18       0             pose: 0.43126026    -0.561191  0.0571233   0 0.000901655 -0.00487579 0.0247398   0.999682       uwb: 0.0            843.225  1068.82  
imu_odom_:  1691062586.145378839  0.25618    0.0407014  9.94312    -0.0383495  -0.00532632 0.0500674   0.18       0             pose: 0.0           -0.561191  0.0571233   0 0.000901655 -0.00487579 0.0247398   0.999682       uwb: 0.49999208     843.229  1067.52  
imu_odom_:  1691062586.170394921  0.263362   -0.474052  9.56484    -0.0692422  0.0255663   0.0617853   0.2        0             pose: 0.43010535    -0.547376  0.0540944   0 -0.00201754 -0.00253136 0.0249348   0.999684       uwb: 0.49901506     843.294  1067     
imu_odom_:  1691062586.197375227  0.253785   -0.107739  9.53132    -0.0436758  -0.0276969  0.0458064   0.21       0.02          pose: 0.50879973    -0.538956  0.0594898   0 -0.00178272 -0.0007763460.025329    0.999677       uwb: 0.0            843.294  1067     
imu_odom_:  1691062586.213319421  0.802058   -0.263362  10.2687    -0.0415453  -0.0735032  0.0351537   0.21       0.02          pose: 0.0           -0.538956  0.0594898   0 -0.00178272 -0.0007763460.025329    0.999677       uwb: 0.0            843.294  1067     
imu_odom_:  1691062586.230437775  1.41737    -0.0742203 9.92397    -0.0298274  -0.0308927  0.0255663   0.21       0.02          pose: 0.0           -0.538956  0.0594898   0 -0.00178272 -0.0007763460.025329    0.999677       uwb: 0.50141238     843.486  1066.11  
imu_odom_:  1691062586.248481516  1.58017    -0.399832  10.2711    -0.056459   -0.00319579 -0.00319579 0.21       -0.11         pose: 0.67986369    -0.525137  0.0564824   0 -0.000910867-0.00101375 0.0255366   0.999673       uwb: 0.0            843.486  1066.11  
imu_odom_:  1691062586.262478692  1.81959    -0.196325  9.96706    -0.04048    0.00532632  -0.129962   0.21       -0.11         pose: 0.0           -0.525137  0.0564824   0 -0.000910867-0.00101375 0.0255366   0.999673       uwb: 0.0            843.486  1066.11  
imu_odom_:  1691062586.278313228  1.46765    0.282516   9.83777    -0.0511327  0.0394148   -0.214118   0.21       -0.11         pose: 0.0           -0.525137  0.0564824   0 -0.000910867-0.00101375 0.0255366   0.999673       uwb: 0.49934171     843.221  1065.42  
imu_odom_:  1691062586.293360616  1.26414    0.301669   9.89524    -0.0649811  0.0266316   -0.280165   0.12       -0.35         pose: 0.49010533    -0.516724  0.0618878   0 -0.000292853-0.00570153 0.0230147   0.999719       uwb: 0.0            843.221  1065.42  
imu_odom_:  1691062586.310319732  0.950498   -0.134075  9.85214    -0.072438   0.0181095   -0.358994   0.12       -0.35         pose: 0.0           -0.516724  0.0618878   0 -0.000292853-0.00570153 0.0230147   0.999719       uwb: 0.0            843.221  1065.42  
imu_odom_:  1691062586.324322158  0.90022    -0.0909797 9.5816     -0.0703074  0.0319579   -0.429302   0.1        -0.41         pose: 0.0           -0.516724  0.0618878   0 -0.000292853-0.00570153 0.0230147   0.999719       uwb: 0.49925129     843.301  1064.75  
imu_odom_:  1691062586.340360261  0.981623   -0.23942   9.88566    -0.0756338  0.00745685  -0.426106   0.1        -0.41         pose: 0.40948902    -0.51673   0.0618821   0 0.00116722  -0.00875122 0.0160861   0.999832       uwb: 0.0            843.301  1064.75  
imu_odom_:  1691062586.357304503  0.711078   -0.371101  9.64384    -0.0628506  -0.00639159 -0.434628   0.1        -0.41         pose: 0.0           -0.51673   0.0618821   0 0.00116722  -0.00875122 0.0160861   0.999832       uwb: 0.0            843.301  1064.75  
imu_odom_:  1691062586.375326663  0.751779   -0.136469  9.85693    -0.0543285  -0.0351537  -0.455933   0.08       -0.5          pose: 0.6089824     -0.516724  0.0618879   0 0.00132482  -0.00921837 0.0146573   0.999849       uwb: 0.49996291     843.351  1063.93  
imu_odom_:  1691062586.392307069  0.976834   -0.0885855 9.85932    -0.0607201  -0.0191748  -0.461259   0.08       -0.5          pose: 0.0           -0.516724  0.0618879   0 0.00132482  -0.00921837 0.0146573   0.999849       uwb: 0.0            843.351  1063.93  
imu_odom_:  1691062586.409358636  0.857124   -0.0981623 10.1275    -0.0543285  -0.02024    -0.479369   0.08       -0.5          pose: 0.0           -0.516724  0.0618879   0 0.00132482  -0.00921837 0.0146573   0.999849       uwb: 0.0            843.351  1063.93  
imu_odom_:  1691062586.426366165  0.826      -0.102951  9.80665    -0.0628506  -0.0245011  -0.496413   0.06       -0.5          pose: 0.48919832    -0.502882  0.0589945   0 0.000210724 -0.0128886  0.00307558  0.999912       uwb: 0.50181485     843.195  1063.03  
imu_odom_:  1691062586.442359647  0.797269   -0.222661  10.0533    -0.0511327  -0.00852212 -0.515588   0.06       -0.53         pose: 0.0           -0.502882  0.0589945   0 0.000210724 -0.0128886  0.00307558  0.999912       uwb: 0.0            843.195  1063.03  
imu_odom_:  1691062586.460370724  0.775721   -0.263362  9.80426    -0.0500674  -0.0138484  -0.534763   0.06       -0.53         pose: 0.68045865    -0.502882  0.0589945   0 0.00274355  -0.0189153  -0.0146052  0.999711       uwb: 0.0            843.195  1063.03  
imu_odom_:  1691062586.477359588  0.639252   -0.196325  9.60075    -0.0596548  0.0138484   -0.534763   0.06       -0.58         pose: 0.0           -0.502882  0.0589945   0 0.00274355  -0.0189153  -0.0146052  0.999711       uwb: 0.49751018     842.813  1062.08  
imu_odom_:  1691062586.491448924  0.797269   -0.0454898 10.1323    -0.0511327  0.00106526  -0.509196   0.06       -0.58         pose: 0.0           -0.502882  0.0589945   0 0.00274355  -0.0189153  -0.0146052  0.999711       uwb: 0.0            842.813  1062.08  
imu_odom_:  1691062586.507439198  0.708684   -0.383072  9.95509    -0.0681769  -0.00852212 -0.461259   0.06       -0.58         pose: 0.34048014    -0.502882  0.0589945   0 0.000351979 -0.018475   -0.024242   0.999535       uwb: 0.0            842.813  1062.08  
imu_odom_:  1691062586.522294392  0.435745   -0.462081  9.71328    -0.0490022  0.0138484   -0.423975   0.05       -0.5          pose: 0.40015931    -0.502882  0.0589945   0 0.000289361 -0.01746    -0.0349588  0.999236       uwb: 0.50033913     842.983  1061.53  
imu_odom_:  1691062586.538276208  0.622492   -0.237026  9.99579    -0.0447411  -0.00106526 -0.389887   0.05       -0.5          pose: 0.7075874     -0.502882  0.0589945   0 -0.000104644-0.0168482  -0.0365898  0.999188       uwb: 0.0            842.983  1061.53  
imu_odom_:  1691062586.554340559  0.617704   -0.141258  9.96227    -0.0628506  -0.0117179  -0.338754   0.05       -0.5          pose: 0.0           -0.502882  0.0589945   0 -0.000104644-0.0168482  -0.0365898  0.999188       uwb: 0.0            842.983  1061.53  
imu_odom_:  1691062586.571399126  0.579397   -0.280122  9.94791    -0.0617853  -0.0106526  -0.30147    0.04       -0.38         pose: 0.39825487    -0.498187  0.0620755   0 0.000472154 -0.0135777  -0.0448593  0.998901       uwb: 0.50247104     842.527  1060.29  
imu_odom_:  1691062586.588398198  0.545878   -0.40462   9.59835    -0.0617853  0.00426106  -0.271642   0.04       -0.38         pose: 0.0           -0.498187  0.0620755   0 0.000472154 -0.0135777  -0.0448593  0.998901       uwb: 0.0            842.527  1060.29  
imu_odom_:  1691062586.606405192  0.47884    -0.237026  9.96227    -0.0479369  0.00213053  -0.252468   0.04       -0.32         pose: 0.0           -0.498187  0.0620755   0 0.000472154 -0.0135777  -0.0448593  0.998901       uwb: 0.0            842.527  1060.29  
imu_odom_:  1691062586.623286439  0.565032   -0.158017  9.83777    -0.0575243  -0.0138484  -0.224771   0.03       -0.29         pose: 0.42121020    -0.494497  0.0644443   0 -0.0020496  -0.0106352  -0.0515511  0.998612       uwb: 0.49767059     842.557  1059.02  
imu_odom_:  1691062586.638337326  0.486023   -0.260968  9.87369    -0.0585895  -0.0117179  -0.20027    0.03       -0.26         pose: 0.0           -0.494497  0.0644443   0 -0.0020496  -0.0106352  -0.0515511  0.998612       uwb: 0.0            842.557  1059.02  
imu_odom_:  1691062586.655394143  0.672771   -0.328006  10.003     -0.0532632  -0.00958738 -0.190682   0.03       -0.26         pose: 0.32832441    -0.494497  0.0644444   0 -0.000505477-0.00874714 -0.0559607  0.998395       uwb: 0.0            842.557  1059.02  
imu_odom_:  1691062586.673295270  0.586579   -0.1652    9.75398    -0.0575243  -0.00958738 -0.170442   0.03       -0.23         pose: 0.0           -0.494497  0.0644444   0 -0.000505477-0.00874714 -0.0559607  0.998395       uwb: 0.49967709     842.568  1058.24  
imu_odom_:  1691062586.698391845  0.608127   -0.258574  9.91199    -0.0617853  -0.0106526  -0.143811   0.03       -0.23         pose: 0.33992893    -0.489019  0.0560785   0 -0.0013104  -0.0092919  -0.0598258  0.998165       uwb: 0.0            842.568  1058.24  
imu_odom_:  1691062586.715278925  0.457293   -0.237026  9.86411    -0.0617853  0.0170442   -0.129962   0.02       -0.17         pose: 0.35104932    -0.489024  0.0560736   0 -0.00275838 -0.0103209  -0.0631587  0.997946       uwb: 0.0            842.568  1058.24  
imu_odom_:  1691062586.732270122  -0.0885855 -0.344765  9.89524    -0.0479369  0.0490022   -0.18216    0.02       -0.17         pose: 0.6941718     -0.489019  0.0560785   0 -0.00264138 -0.00956538 -0.0637463  0.997917       uwb: 0.50103325     842.232  1057.74  
imu_odom_:  1691062586.749424348  -1.38145   0.263362   9.79228    -0.0181095  0.111853    -0.233293   0.02       -0.17         pose: 0.0           -0.489019  0.0560785   0 -0.00264138 -0.00956538 -0.0637463  0.997917       uwb: 0.0            842.232  1057.74  
imu_odom_:  1691062586.767417343  -1.54187   -0.227449  10.0652    -0.0639159  -0.00532632 -0.125701   0.07       -0.17         pose: 0.34005142    -0.489019  0.0560785   0 -0.00209772 -0.0052766  -0.0674264  0.997708       uwb: 0.0            842.232  1057.74  
imu_odom_:  1691062586.781387689  -0.430956  -0.593762  10.0772    -0.0873517  -0.129962   -0.092678   0.07       -0.17         pose: 0.0           -0.489019  0.0560785   0 -0.00209772 -0.0052766  -0.0674264  0.997708       uwb: 0.49947877     842.467  1057.96  
imu_odom_:  1691062586.798386468  0.471658   -0.37589   9.9096     -0.0532632  -0.0905475  -0.105461   0.07       -0.17         pose: 0.0           -0.489019  0.0560785   0 -0.00209772 -0.0052766  -0.0674264  0.997708       uwb: 0.0            842.467  1057.96  
imu_odom_:  1691062586.814256293  0.56982    -0.289698  9.68694    -0.0532632  0.00958738  -0.0841559  0.08       -0.11         pose: 0.49051072    -0.489019  0.0560785   0 -0.00288063 -0.00195482 -0.0717042  0.99742        uwb: 0.0            842.467  1057.96  
imu_odom_:  1691062586.831436184  0.0023942  -0.0814029 9.87608    -0.0649811  0.00319579  -0.072438   0.08       -0.11         pose: 0.0           -0.489019  0.0560785   0 -0.00288063 -0.00195482 -0.0717042  0.99742        uwb: 0.50072119     841.865  1056.93  
imu_odom_:  1691062586.848385092  0.21069    -0.356736  10.0317    -0.0575243  0.0127832   -0.0841559  0.1        -0.11         pose: 0.43046407    -0.480635  0.0615292   0 -0.00331857 -0.00248347 -0.0743676  0.997222       uwb: 0.0            841.865  1056.93  
imu_odom_:  1691062586.863383484  -0.0023942 -0.3304    9.92397    -0.0607201  0.015979    -0.102265   0.1        -0.11         pose: 0.0           -0.480635  0.0615292   0 -0.00331857 -0.00248347 -0.0743676  0.997222       uwb: 0.0            841.865  1056.93  
imu_odom_:  1691062586.879384257  0.035913   0.0790087  9.93833    -0.0575243  -0.0127832  -0.0777643  0.1        -0.11         pose: 0.0           -0.480635  0.0615292   0 -0.00331857 -0.00248347 -0.0743676  0.997222       uwb: 0.50048787     841.205  1056.08  
imu_odom_:  1691062586.894446518  0.414197   -0.323217  9.9096     -0.0585895  0.00426106  -0.0607201  0.11       -0.11         pose: 0.47948073    -0.475153  0.0531654   0 -0.00258248 0.00190151  -0.077394   0.996995       uwb: 0.0            841.205  1056.08  
imu_odom_:  1691062586.911381428  0.390255   -0.117316  10.3501    -0.0490022  0.0223706   -0.0873517  0.11       -0.11         pose: 0.0           -0.475153  0.0531654   0 -0.00258248 0.00190151  -0.077394   0.996995       uwb: 0.0            841.205  1056.08  
imu_odom_:  1691062586.925432267  0.105345   -0.102951  9.5792     -0.0596548  -0.00745685 -0.0639159  0.11       -0.11         pose: 0.0           -0.475153  0.0531654   0 -0.00258248 0.00190151  -0.077394   0.996995       uwb: 0.49802930     841.314  1055.88  
imu_odom_:  1691062586.941299758  0.337582   -0.380678  9.63427    -0.072438   0.0127832   -0.0553937  0.12       -0.14         pose: 0.46048010    -0.470645  0.0561243   0 -0.00135253 0.00231952  -0.0799444  0.996796       uwb: 0.0            841.314  1055.88  
imu_odom_:  1691062586.956370186  0.328006   -0.0861913 9.78031    -0.0660464  -0.00745685 -0.0671117  0.13       -0.08         pose: 0.6831476     -0.466791  0.0586488   0 -0.00206956 0.00255146  -0.0802689  0.996768       uwb: 0.0            841.314  1055.88  
imu_odom_:  1691062586.973389672  0.4956     -0.265756  9.42597    -0.0511327  -0.0458064  -0.0628506  0.13       -0.08         pose: 0.0           -0.466791  0.0586488   0 -0.00206956 0.00255146  -0.0802689  0.996768       uwb: 0.50196359     841.602  1055.63  
imu_odom_:  1691062586.987425346  0.80924    -0.023942  9.89763    -0.0532632  -0.00852212 -0.056459   0.13       -0.08         pose: 0.16176926    -0.466791  0.0586488   0 -0.00234461 0.00288311  -0.0810755  0.996701       uwb: 0.0            841.602  1055.63  
imu_odom_:  1691062587.3310919    1.07739    -0.325611  9.68455    -0.0553937  0.0511327   -0.0298274  0.13       -0.11         pose: 0.0           -0.466791  0.0586488   0 -0.00234461 0.00288311  -0.0810755  0.996701       uwb: 0.0            841.602  1055.63  
imu_odom_:  1691062587.18240193   1.04866    -0.442927  9.88566    -0.076699   0.0340885   -0.0106526  0.13       -0.11         pose: 0.0           -0.466791  0.0586488   0 -0.00234461 0.00288311  -0.0810755  0.996701       uwb: 0.0            841.602  1055.63  
imu_odom_:  1691062587.35324719   0.730232   -0.325611  9.78989    -0.056459   0.00852212  -0.0138484  0.09       -0.11         pose: 0.69799524    -0.461357  0.0502541   0 -0.0023592  -0.00262814 -0.0839677  0.996462       uwb: 0.49787768     841.243  1054.66  
imu_odom_:  1691062587.58294336   1.66397    0.148441   9.86172    -0.0351537  -0.0287621  -0.0415453  0.09       -0.11         pose: 0.0           -0.461357  0.0502541   0 -0.0023592  -0.00262814 -0.0839677  0.996462       uwb: 0.0            841.243  1054.66  
imu_odom_:  1691062587.74237366   1.01993    -0.0335188 9.93594    -0.0585895  0.00852212  -0.00852212 0.09       -0.11         pose: 0.0           -0.461357  0.0502541   0 -0.0023592  -0.00262814 -0.0839677  0.996462       uwb: 0.50085833     841.589  1055.01  
imu_odom_:  1691062587.92296859   1.23301    -0.426168  10.2783    -0.0532632  -0.0127832  0.015979    0.1        0             pose: 0.7128372     -0.461357  0.0502541   0 -0.00259324 -0.00325729 -0.0841583  0.996444       uwb: 0.0            841.589  1055.01  
imu_odom_:  1691062587.109235563  0.950498   -0.500388  9.52653    -0.0553937  -0.00426106 0.00213053  0.07       0.05          pose: 0.0           -0.461357  0.0502541   0 -0.00259324 -0.00325729 -0.0841583  0.996444       uwb: 0.0            841.589  1055.01  
imu_odom_:  1691062587.126329129  0.167594   0.0167594  9.74919    -0.0415453  0.0660464   0.0894822   0.07       0.05          pose: 0.74941222    -0.453     0.0557469   0 -0.00279228 -0.0104443  -0.0861004  0.996228       uwb: 0.49780482     841.64   1055.3   
imu_odom_:  1691062587.143440778  0.0861913  -0.54109   10.1275    -0.076699   0           0.248207    0.07       0.23          pose: 0.0           -0.453     0.0557469   0 -0.00279228 -0.0104443  -0.0861004  0.996228       uwb: 0.0            841.64   1055.3   
imu_odom_:  1691062587.160303946  0.409408   -0.869095  9.991      -0.0532632  -0.0276969  0.3036      0.07       0.23          pose: 0.0           -0.453     0.0557469   0 -0.00279228 -0.0104443  -0.0861004  0.996228       uwb: 0.0            841.64   1055.3   
imu_odom_:  1691062587.175238470  0.833182   -0.344765  9.98622    -0.0255663  -0.0319579  0.311057    0.07       0.23          pose: 0.33041555    -0.453     0.0557469   0 -0.0025796  -0.00849751 -0.0851129  0.996332       uwb: 0.50205116     841.531  1054.26  
imu_odom_:  1691062587.191238662  0.952892   0.0981623  9.72525    -0.0468716  -0.00852212 0.381365    0.04       0.32          pose: 0.41887128    -0.44753   0.0473741   0 -0.0049316  -0.00887319 -0.0798068  0.996759       uwb: 0.0            841.531  1054.26  
imu_odom_:  1691062587.206243763  0.878672   -0.196325  10.0389    -0.0649811  -0.00426106 0.44315     0.04       0.32          pose: 0.7126621     -0.447524  0.04738     0 -0.00443559 -0.00941486 -0.0785991  0.996852       uwb: 0.0            841.531  1054.26  
imu_odom_:  1691062587.223238463  0.751779   -0.526724  9.87608    -0.0532632  0.0127832   0.460194    0.04       0.32          pose: 0.0           -0.447524  0.04738     0 -0.00443559 -0.00941486 -0.0785991  0.996852       uwb: 0.50005340     841.391  1054     
imu_odom_:  1691062587.237403337  0.397437   -0.246603  9.77074    -0.0436758  0.0213053   0.485761    0.03       0.44          pose: 0.40873372    -0.44753   0.0473744   0 -0.00522145 -0.0119806  -0.0705032  0.997426       uwb: 0.0            841.391  1054     
imu_odom_:  1691062587.254221592  0.351948   -0.141258  9.991      -0.0479369  0.0117179   0.536893    0.03       0.44          pose: 0.0           -0.44753   0.0473744   0 -0.00522145 -0.0119806  -0.0705032  0.997426       uwb: 0.0            841.391  1054     
imu_odom_:  1691062587.268232186  0.418985   -0.332794  9.81862    -0.0500674  -0.00532632 0.557133    0.03       0.44          pose: 0.0           -0.44753   0.0473744   0 -0.00522145 -0.0119806  -0.0705032  0.997426       uwb: 0.0            841.391  1054     
imu_odom_:  1691062587.284232961  0.469264   -0.241814  10.0173    -0.0426106  0.00106526  0.540089    0.03       0.44          pose: 0.44993723    -0.43912   0.0527842   0 -0.00416714 -0.00753121 -0.0595542  0.998188       uwb: 0.49901514     841.726  1053.57  
imu_odom_:  1691062587.301230285  0.308852   -0.153229  9.82341    -0.0436758  0.0127832   0.525175    0.05       0.67          pose: 0.0           -0.43912   0.0527842   0 -0.00416714 -0.00753121 -0.0595542  0.998188       uwb: 0.0            841.726  1053.57  
imu_odom_:  1691062587.318227901  0.196325   -0.114922  9.65582    -0.0543285  0           0.518784    0.05       0.67          pose: 0.0           -0.43912   0.0527842   0 -0.00416714 -0.00753121 -0.0595542  0.998188       uwb: 0.0            841.726  1053.57  
imu_odom_:  1691062587.335294053  0.457293   -0.361524  9.9503     -0.0553937  -0.00745685 0.50387     0.05       0.67          pose: 0.23012489    -0.439113  0.0527902   0 -0.00285926 -0.00545164 -0.053858   0.99853        uwb: 0.50015255     841.703  1053.58  
imu_odom_:  1691062587.351338284  0.577003   -0.198719  9.9503     -0.056459   -0.015979   0.467651    0.05       0.67          pose: 0.0           -0.439113  0.0527902   0 -0.00285926 -0.00545164 -0.053858   0.99853        uwb: 0.0            841.703  1053.58  
imu_odom_:  1691062587.369337990  0.708684   0.011971   9.9096     -0.0447411  0.00106526  0.430367    0.05       0.67          pose: 0.34064059    -0.439113  0.0527902   0 -0.00219973 -0.00291042 -0.0457263  0.998947       uwb: 0.0            841.703  1053.58  
imu_odom_:  1691062587.384378672  0.708684   -0.191536  9.7851     -0.0543285  0.00106526  0.410127    0.03       0.35          pose: 0.44029256    -0.439113  0.0527902   0 -0.000962725-0.00543022 -0.0364766  0.999319       uwb: 0.49994549     841.813  1053.24  
imu_odom_:  1691062587.402323257  0.550666   -0.23942   9.93594    -0.0426106  0.00319579  0.367516    0.03       0.35          pose: 0.6953384     -0.439113  0.0527902   0 -0.000861026-0.00609837 -0.0351902  0.999362       uwb: 0.0            841.813  1053.24  
imu_odom_:  1691062587.426217970  0.486023   -0.0861913 9.75158    -0.0553937  -0.00639159 0.334493    0.02       0.32          pose: 0.0           -0.439113  0.0527902   0 -0.000861026-0.00609837 -0.0351902  0.999362       uwb: 0.0            841.813  1053.24  
imu_odom_:  1691062587.443223168  0.531513   -0.186748  10.0197    -0.0511327  0.0181095   0.333428    0.03       0.38          pose: 0.33112424    -0.439113  0.0527902   0 -0.00142195 -0.00764422 -0.0297045  0.999528       uwb: 0.0            841.813  1053.24  
imu_odom_:  1691062587.460215243  -0.153229  -0.318429  9.9527     -0.072438   0.0617853   0.378169    0.04       0.23          pose: 0.0           -0.439113  0.0527902   0 -0.00142195 -0.00764422 -0.0297045  0.999528       uwb: 0.0            841.813  1053.24  
imu_odom_:  1691062587.477210234  -0.993594  -0.442927  10.0652    -0.0607201  0.0575243   0.379234    0.04       0.23          pose: 0.41819758    -0.439113  0.0527902   0 0.00147242  -0.0050738  -0.0233971  0.999712       uwb: 0.100034886    841.811  1052.93  
imu_odom_:  1691062587.494214266  -0.914585  -0.222661  9.94312    -0.0458064  -0.0628506  0.328101    0.06       0.26          pose: 0.0           -0.439113  0.0527902   0 0.00147242  -0.0050738  -0.0233971  0.999712       uwb: 0.0            841.811  1052.93  
imu_odom_:  1691062587.511281876  -0.0670376 0.011971   9.81383    -0.0436758  -0.0820254  0.304666    0.06       0.26          pose: 0.0           -0.439113  0.0527902   0 0.00147242  -0.0050738  -0.0233971  0.999712       uwb: 0.0            841.811  1052.93  
imu_odom_:  1691062587.527272153  0.629675   -0.023942  10.1873    -0.052198   -0.0351537  0.312122    0.06       0.26          pose: 0.33998731    -0.439113  0.0527902   0 0.000966406 -0.00112152 -0.0178362  0.99984        uwb: 0.49999507     842.013  1052.55  
imu_odom_:  1691062587.545209446  0.476446   -0.237026  10.0197    -0.0639159  0.0127832   0.3036      0.1        0.32          pose: 0.42049866    -0.43222   0.0512695   0 0.00267564  -0.00119898 -0.0120997  0.999922       uwb: 0.0            842.013  1052.55  
imu_odom_:  1691062587.562262475  0.117316   -0.519542  9.80665    -0.0649811  0.00426106  0.289752    0.1        0.32          pose: 0.7996596     -0.425276  0.0498722   0 0.00196878  -0.00156769 -0.011042   0.999936       uwb: 0.0            842.013  1052.55  
imu_odom_:  1691062587.576263736  -0.325611  -0.215478  9.66779    -0.0692422  0.0245011   0.299339    0.1        0.32          pose: 0.0           -0.425276  0.0498722   0 0.00196878  -0.00156769 -0.011042   0.999936       uwb: 0.50087874     842.102  1051.91  
imu_odom_:  1691062587.592260137  0.00718261 -0.0790087 10.343     -0.0585895  -0.0170442  0.290817    0.09       0.2           pose: 0.40994987    -0.425283  0.0498662   0 -0.0002739780.000862823 -0.00577464 0.999983       uwb: 0.0            842.102  1051.91  
imu_odom_:  1691062587.607239282  0.373495   -0.234632  9.88566    -0.0436758  -0.0319579  0.26099     0.1        0.23          pose: 0.0           -0.425283  0.0498662   0 -0.0002739780.000862823 -0.00577464 0.999983       uwb: 0.0            842.102  1051.91  
imu_odom_:  1691062587.623307428  0.550666   -0.28491   10.058     -0.0500674  0.00319579  0.266316    0.1        0.23          pose: 0.0           -0.425283  0.0498662   0 -0.0002739780.000862823 -0.00577464 0.999983       uwb: 0.49742860     842.533  1052.38  
imu_odom_:  1691062587.638383691  0.275333   -0.438139  9.76834    -0.0681769  0.0298274   0.266316    0.1        0.23          pose: 0.23002865    -0.425276  0.0498722   0 -0.0002964120.00181163  -0.00299003 0.999994       uwb: 0.0            842.533  1052.38  
imu_odom_:  1691062587.655274273  0.0383072  -0.1652    10.1418    -0.0511327  0.0255663   0.225836    0.11       0.23          pose: 0.0           -0.425276  0.0498722   0 -0.0002964120.00181163  -0.00299003 0.999994       uwb: 0.0            842.533  1052.38  
imu_odom_:  1691062587.669262119  0.35913    -0.107739  9.75877    -0.0543285  -0.00639159 0.24288     0.11       0.23          pose: 0.0           -0.425276  0.0498722   0 -0.0002964120.00181163  -0.00299003 0.999994       uwb: 0.0            842.533  1052.38  
imu_odom_:  1691062587.685199899  0.562637   -0.306458  10.1418    -0.072438   -0.0298274  0.253533    0.11       0.17          pose: 0.31036208    -0.425276  0.0498722   0 -0.00198445 0.000333449 0.000503933 0.999998       uwb: 0.50098083     842.532  1052.23  
imu_odom_:  1691062587.701203008  0.682347   -0.574608  9.75398    -0.0351537  -0.0394148  0.186421    0.11       0.17          pose: 0.38959310    -0.416924  0.0553548   0 -0.0007820560.00269476  0.00442322  0.999986       uwb: 0.0            842.532  1052.23  
imu_odom_:  1691062587.718218997  1.06063    -0.172383  10.0221    -0.04048    -0.0543285  0.218379    0.11       0.17          pose: 0.0           -0.416924  0.0553548   0 -0.0007820560.00269476  0.00442322  0.999986       uwb: 0.0            842.532  1052.23  
imu_odom_:  1691062587.735324813  1.29287    -0.380678  9.92636    -0.0681769  0.0245011   0.308927    0.1        0.11          pose: 0.6947552     -0.416917  0.0553609   0 -0.0010703  0.00195024  0.00516554  0.999984       uwb: 0.49997173     842.283  1051.7   
imu_odom_:  1691062587.752267308  1.47243    -0.68953   10.1778    -0.0585895  -0.0468716  0.32384     0.1        0.11          pose: 0.0           -0.416917  0.0553609   0 -0.0010703  0.00195024  0.00516554  0.999984       uwb: 0.0            842.283  1051.7   
imu_odom_:  1691062587.768259626  1.32399    -0.337582  9.67018    -0.036219   -0.0298274  0.233293    0.1        0.11          pose: 0.0           -0.416917  0.0553609   0 -0.0010703  0.00195024  0.00516554  0.999984       uwb: 0.0            842.283  1051.7   
imu_odom_:  1691062587.786401654  1.4461     0.426168   10.1059    -0.0479369  0.0213053   0.168312    0.1        0.11          pose: 0.49000041    -0.411434  0.046998    0 -0.00223008 -0.00306755 0.00975637  0.999945       uwb: 0.50000965     842.419  1051.35  
imu_odom_:  1691062587.803401603  0.826      -0.0454898 9.60075    -0.0649811  0.0319579   0.143811    0.06       0.08          pose: 0.0           -0.411434  0.046998    0 -0.00223008 -0.00306755 0.00975637  0.999945       uwb: 0.0            842.419  1051.35  
imu_odom_:  1691062587.819333842  0.521936   -0.399832  10.1873    -0.056459   0.02024     0.0980043   0.06       0.08          pose: 0.68204239    -0.403067  0.0524743   0 -0.00146064 -0.00922081 0.016583    0.999819       uwb: 0.49878183     842.761  1050.94  
imu_odom_:  1691062587.836469989  0.64404    -0.296881  9.84256    -0.0511327  -0.0319579  0.0798948   0.06       0.08          pose: 0.0           -0.403067  0.0524743   0 -0.00146064 -0.00922081 0.016583    0.999819       uwb: 0.0            842.761  1050.94  
imu_odom_:  1691062587.853271911  0.837971   -0.102951  9.86411    -0.0511327  -0.00532632 0.104396    0.06       0.05          pose: 0.0           -0.403067  0.0524743   0 -0.00146064 -0.00922081 0.016583    0.999819       uwb: 0.0            842.761  1050.94  
imu_odom_:  1691062587.870176784  0.646434   -0.205901  9.98143    -0.0617853  0.00319579  0.129962    0.06       0.05          pose: 0.33011806    -0.403067  0.0524743   0 -0.00263116 -0.00968746 0.0177198   0.999793       uwb: 0.49989591     843.124  1050.82  
imu_odom_:  1691062587.887191024  0.670376   -0.282516  9.86411    -0.0490022  -0.00639159 0.107592    0.04       0.08          pose: 0.43751027    -0.403067  0.0524743   0 -0.000341696-0.0121606  0.019196    0.999742       uwb: 0.0            843.124  1050.82  
imu_odom_:  1691062587.904183390  0.732626   -0.143652  9.90721    -0.0490022  -0.0117179  0.103331    0.04       0.08          pose: 0.8134253     -0.403067  0.0524743   0 -0.00102894 -0.0125658  0.0194812   0.999731       uwb: 0.0            843.124  1050.82  
imu_odom_:  1691062587.920182707  0.600945   -0.162806  9.82341    -0.0553937  0.0138484   0.110787    0.04       0.08          pose: 0.0           -0.403067  0.0524743   0 -0.00102894 -0.0125658  0.0194812   0.999731       uwb: 0.50170702     843.827  1050.59  
imu_odom_:  1691062587.947183141  0.407014   -0.232238  9.83538    -0.0532632  0.00106526  0.123571    0.05       0.11          pose: 0.41871670    -0.403067  0.0524743   0 0.000698746 -0.0126181  0.0208704   0.999702       uwb: 0.0            843.827  1050.59  
imu_odom_:  1691062587.972290219  -0.430956  -0.289698  9.65103    -0.0543285  0.0745685   0.128897    0.04       0.08          pose: 0.0           -0.403067  0.0524743   0 0.000698746 -0.011783   0.0212159   0.999705       uwb: 0.50105665     843.812  1049.84  
imu_odom_:  1691062587.997192272  -1.1133    -0.296881  9.87848    -0.0532632  -0.0255663  0.125701    0.07       0.08          pose: 0.18796187    -0.403067  0.0524743   0 0.000365797 -0.00986978 0.0220075   0.999709       uwb: 0.0            843.812  1049.84  
imu_odom_:  1691062588.19340037   -0.158017  -0.227449  9.83777    -0.0575243  -0.0511327  0.113983    0.07       0.08          pose: 0.32014383    -0.389207  0.0496617   0 5.72217e-05 -0.00576569 0.0234286   0.999709       uwb: 0.49982886     843.684  1049.28  
imu_odom_:  1691062588.36165002   0.483629   -0.0742203 10.1035    -0.0479369  -0.0426106  0.108657    0.07       0.08          pose: 0.0           -0.389207  0.0496617   0 5.72217e-05 -0.00576569 0.0234286   0.999709       uwb: 0.0            843.684  1049.28  
imu_odom_:  1691062588.61166218   0.363919   0.0454898  9.95748    -0.0713727  0.0181095   0.11931     0.09       0.05          pose: 0.46977783    -0.389207  0.0496617   0 0.000543439 -0.00272388 0.0252629   0.999677       uwb: 0.0            843.684  1049.28  
imu_odom_:  1691062588.83153580   -0.110133  -0.368707  9.90481    -0.0639159  0.0319579   0.0873517   0.1        0.05          pose: 0.0           -0.389207  0.0496617   0 0.000543439 -0.00272388 0.0252629   0.999677       uwb: 0.49744909     843.434  1049.36  
imu_odom_:  1691062588.97151636   0.0670376  -0.158017  10.2855    -0.0649811  -0.0255663  0.0916127   0.1        0.05          pose: 0.34990911    -0.389207  0.0496617   0 0.00362098  -0.00176831 0.0265928   0.999638       uwb: 0.0            843.434  1049.36  
imu_odom_:  1691062588.114262704  0.447716   -0.143652  10.1155    -0.072438   -0.0255663  0.120375    0.1        0.05          pose: 0.0           -0.389207  0.0496617   0 0.00362098  -0.00176831 0.0265928   0.999638       uwb: 0.0            843.434  1049.36  
imu_odom_:  1691062588.139150178  0.268151   -0.222661  10.058     -0.072438   0.00745685  0.0894822   0.12       0.02          pose: 0.6018957     -0.389207  0.0496617   0 0.00335023  -0.00110935 0.0267354   0.999636       uwb: 0.50107131     843.133  1048.56  
imu_odom_:  1691062588.166202237  0.0814029  -0.395043  9.62708    -0.0468716  -0.0340885  0.0852212   0.12       0.02          pose: 0.0           -0.389207  0.0496617   0 0.00335023  -0.00110935 0.0267354   0.999636       uwb: 0.0            843.133  1048.56  
imu_odom_:  1691062588.191210744  0.620098   0.0023942  9.9503     -0.0617853  -0.00319579 0.0948085   0.13       0.05          pose: 0.53985710    -0.380861  0.0551709   0 0.00246813  0.0006963   0.0283399   0.999595       uwb: 0.50054635     842.972  1047.71  
imu_odom_:  1691062588.216173171  0.304064   -0.349553  10.4651    -0.056459   -0.00639159 0.0681769   0.17       0.02          pose: 0.53081904    -0.375313  0.0468515   0 0.00039097  0.00347134  0.0296172   0.999555       uwb: 0.0            842.972  1047.71  
imu_odom_:  1691062588.241285211  -0.134075  -0.217872  9.56484    -0.0553937  -0.015979   0.0798948   0.17       0.02          pose: 0.0           -0.375313  0.0468515   0 0.00039097  0.00347134  0.0296172   0.999555       uwb: 0.49807613     843.273  1047.47  
imu_odom_:  1691062588.265274712  0.758962   -0.363919  9.81862    -0.0660464  -0.0117179  0.0735032   0.14       0.02          pose: 0.67032422    -0.366999  0.0524088   0 -0.0010232  0.00520195  0.0309487   0.999507       uwb: 0.0            843.273  1047.47  
imu_odom_:  1691062588.282200878  0.512359   -0.31364   10.2376    -0.0543285  0.0436758   0.052198    0.14       0.02          pose: 0.0           -0.366999  0.0524088   0 -0.0010232  0.00520195  0.0309487   0.999507       uwb: 0.50012347     843.273  1046.72  
imu_odom_:  1691062588.298139535  0.713472   -0.234632  10.2735    -0.0532632  0.015979    0.0617853   0.14       0.02          pose: 0.0           -0.366999  0.0524088   0 -0.0010232  0.00520195  0.0309487   0.999507       uwb: 0.0            843.273  1046.72  
imu_odom_:  1691062588.316165200  -0.138864  -0.105345  10.4315    -0.0596548  0.036219    0.0756338   0.14       0.05          pose: 0.6994216     -0.366999  0.0524088   0 -0.00123294 0.00449733  0.0310659   0.999506       uwb: 0.0            843.273  1046.72  
imu_odom_:  1691062588.340292649  0.0263362  -0.316035  9.80665    -0.0575243  -0.00532632 0.0585895   0.14       0.05          pose: 0.0           -0.366999  0.0524088   0 -0.00123294 0.00449733  0.0310659   0.999506       uwb: 0.49980557     843.076  1045.89  
imu_odom_:  1691062588.366135259  0.160412   -0.143652  9.89524    -0.0543285  -0.0500674  0.0735032   0.15       0.02          pose: 0.41871968    -0.353143  0.0495576   0 -0.00222577 0.000883822 0.031539    0.9995         uwb: 0.0            843.076  1045.89  
imu_odom_:  1691062588.390155966  0.639252   -0.335188  9.81623    -0.0553937  -0.00213053 0.0426106   0.17       0.02          pose: 0.33018229    -0.353143  0.0495576   0 -0.00191698 0.00296081  0.0320208   0.999481       uwb: 0.50143879     843.081  1044.7   
imu_odom_:  1691062588.416151980  0.354342   -0.124498  9.91918    -0.0575243  0.00213053  0.0660464   0.17       0.02          pose: 0.42965635    -0.3448    0.0550716   0 -0.0008148780.00614135  0.0326362   0.999448       uwb: 0.0            843.081  1044.7   
imu_odom_:  1691062588.432418738  0.248997   -0.634463  9.76355    -0.072438   0.0191748   0.076699    0.17       0.02          pose: 0.0           -0.3448    0.0550716   0 -0.0008148780.00614135  0.0326362   0.999448       uwb: 0.50126380     842.758  1044.35  
imu_odom_:  1691062588.459138614  0.435745   -0.251391  9.61511    -0.0490022  -0.0149137  0.0617853   0.15       0             pose: 0.8066300     -0.3448    0.0550716   0 -0.00102557 0.00537095  0.0326466   0.999452       uwb: 0.0            842.758  1044.35  
imu_odom_:  1691062588.483148238  0.0837971  -0.502782  9.50259    -0.0426106  0.0308927   0.0500674   0.17       0             pose: 0.48126866    -0.33094   0.0522606   0 0.000412184 0.00358409  0.0331327   0.999444       uwb: 0.49709036     842.657  1043.63  
imu_odom_:  1691062588.509198207  0.768539   -0.0263362 10.0293    -0.036219   0.0245011   0.0351537   0.17       0             pose: 0.0           -0.33094   0.0522606   0 0.000412184 0.00358409  0.0331327   0.999444       uwb: 0.0            842.657  1043.63  
imu_odom_:  1691062588.523146392  0.0885855  -0.282516  9.49062    -0.0617853  0.00319579  0.0820254   0.18       0.02          pose: 0.44826327    -0.33094   0.0522606   0 -0.00164946 0.00183148  0.033651    0.999431       uwb: 0.50120256     842.5    1042.79  
imu_odom_:  1691062588.546216046  0.3304     -0.0909797 9.98143    -0.0458064  0.00319579  0.0468716   0.18       0.02          pose: 0.0           -0.33094   0.0522606   0 -0.00164946 0.00183148  0.033651    0.999431       uwb: 0.0            842.5    1042.79  
imu_odom_:  1691062588.564188632  0.746991   0.0694318  9.73482    -0.0479369  -0.0245011  0.0511327   0.21       0.02          pose: 0.47994167    -0.322616  0.0578018   0 -0.00123017 0.00202138  0.0338002   0.999426       uwb: 0.0            842.5    1042.79  
imu_odom_:  1691062588.580194368  0.80924    -0.306458  10.0556    -0.072438   -0.0234358  0.076699    0.21       0.02          pose: 0.0           -0.322616  0.0578018   0 -0.00123017 0.00202138  0.0338002   0.999426       uwb: 0.50006805     842.559  1042.19  
imu_odom_:  1691062588.598184744  1.53708    -0.323217  9.97903    -0.0713727  -0.0862864  0.0308927   0.21       0.02          pose: 0.0           -0.322616  0.0578018   0 -0.00123017 0.00202138  0.0338002   0.999426       uwb: 0.0            842.559  1042.19  
imu_odom_:  1691062588.616185911  1.37188    0.0837971  9.42837    -0.0703074  -0.0308927  -0.092678   0.12       -0.23         pose: 0.39104847    -0.308749  0.0550253   0 0.00146939  0.00250599  0.0341093   0.999414       uwb: 0.0            842.559  1042.19  
imu_odom_:  1691062588.630124763  1.66158    0.167594   10.3286    -0.0756338  -0.00319579 -0.157659   0.12       -0.23         pose: 0.0           -0.308749  0.0550253   0 0.00146939  0.00250599  0.0341093   0.999414       uwb: 0.49872066     842.538  1041.46  
imu_odom_:  1691062588.647241955  1.03669    0.0047884  9.68933    -0.0575243  -0.00852212 -0.259925   0.12       -0.23         pose: 0.0           -0.308749  0.0550253   0 0.00146939  0.00250599  0.0341093   0.999414       uwb: 0.0            842.538  1041.46  
imu_odom_:  1691062588.664249198  1.04148    -0.011971  9.50977    -0.0575243  0.0330232   -0.365386   0.1        -0.38         pose: 0.51936616    -0.308749  0.0550254   0 0.0014562   -0.00351672 0.0338627   0.999419       uwb: 0.0            842.538  1041.46  
imu_odom_:  1691062588.681180613  0.792481   -0.169988  9.80904    -0.0703074  0.0117179   -0.399474   0.14       -0.58         pose: 0.0           -0.308749  0.0550254   0 0.0014562   -0.00351672 0.0338627   0.999419       uwb: 0.50102465     842.466  1041.18  
imu_odom_:  1691062588.698182606  0.577003   -0.361524  10.0509    -0.0543285  -0.00319579 -0.430367   0.14       -0.58         pose: 0.65063823    -0.300483  0.060653    0 0.0031399   -0.00946664 0.0242872   0.999655       uwb: 0.0            842.466  1041.18  
imu_odom_:  1691062588.713174295  0.567426   -0.416591  9.81623    -0.0575243  0.0181095   -0.460194   0.14       -0.58         pose: 0.0           -0.300483  0.060653    0 0.0031399   -0.00946664 0.0242872   0.999655       uwb: 0.0            842.466  1041.18  
imu_odom_:  1691062588.730127583  0.545878   -0.136469  9.84735    -0.052198   0.0149137   -0.468716   0.08       -0.5          pose: 0.0           -0.300483  0.060653    0 0.0031399   -0.00946664 0.0242872   0.999655       uwb: 0.49888398     842.428  1040.75  
imu_odom_:  1691062588.744231798  0.950498   0.0742203  9.88805    -0.052198   0.00106526  -0.464455   0.08       -0.5          pose: 0.33964614    -0.294849  0.0523914   0 0.000725851 -0.00994555 0.0163837   0.999816       uwb: 0.0            842.428  1040.75  
imu_odom_:  1691062588.760292363  0.811634   -0.208296  10.0892    -0.0553937  0.00852212  -0.472977   0.06       -0.5          pose: 0.39012979    -0.290438  0.055392    0 0.00234081  -0.00983401 0.00652255  0.999928       uwb: 0.0            842.428  1040.75  
imu_odom_:  1691062588.774129723  0.751779   -0.150835  9.95509    -0.0575243  -0.0298274  -0.510262   0.06       -0.5          pose: 0.7058669     -0.286569  0.0579995   0 0.00223467  -0.0104801  0.00471665  0.999931       uwb: 0.50131338     842.425  1040.16  
imu_odom_:  1691062588.790317444  0.778116   -0.0550666 10.07      -0.056459   -0.0436758  -0.533697   0.06       -0.5          pose: 0.0           -0.286569  0.0579995   0 0.00223467  -0.0104801  0.00471665  0.999931       uwb: 0.0            842.425  1040.16  
imu_odom_:  1691062588.807318854  0.667982   -0.0383072 9.89284    -0.0607201  -0.0287621  -0.526241   0.07       -0.79         pose: 0.39026977    -0.286578  0.0579933   0 0.00353511  -0.014326   -0.00604239 0.999873       uwb: 0.0            842.425  1040.16  
imu_odom_:  1691062588.825133369  0.677559   -0.225055  9.71328    -0.0617853  -0.0394148  -0.536893   0.07       -0.79         pose: 0.0           -0.286578  0.0579933   0 0.00353511  -0.014326   -0.00604239 0.999873       uwb: 0.50116756     842.055  1039.38  
imu_odom_:  1691062588.839330034  0.699107   -0.155623  10.0748    -0.056459   -0.0138484  -0.550742   0.07       -0.79         pose: 0.0           -0.286578  0.0579933   0 0.00353511  -0.014326   -0.00604239 0.999873       uwb: 0.0            842.055  1039.38  
imu_odom_:  1691062588.857161173  0.888249   -0.186748  10.1682    -0.0671117  -0.00852212 -0.498544   0.04       -0.5          pose: 0.41098528    -0.286569  0.0579996   0 0.00292233  -0.0148493  -0.0178334  0.999726       uwb: 0.0            842.055  1039.38  
imu_odom_:  1691062588.873114704  0.56982    -0.383072  9.80426    -0.0575243  -0.0117179  -0.454868   0.04       -0.44         pose: 0.0           -0.286569  0.0579996   0 0.00292233  -0.0148493  -0.0178334  0.999726       uwb: 0.49860400     842.06   1038.5   
imu_odom_:  1691062588.891442221  0.579397   -0.263362  10.0724    -0.0585895  0.00213053  -0.413323   0.04       -0.44         pose: 0.32693628    -0.286569  0.0579996   0 0.00140859  -0.0165765  -0.0266549  0.999506       uwb: 0.0            842.06   1038.5   
imu_odom_:  1691062588.909284442  0.54109    -0.246603  9.7444     -0.0628506  0.015979    -0.358994   0.04       -0.41         pose: 0.0           -0.286569  0.0579996   0 0.00140859  -0.0165765  -0.0266549  0.999506       uwb: 0.0            842.06   1038.5   
imu_odom_:  1691062588.925269179  0.572214   -0.339977  10.0533    -0.0617853  0.00213053  -0.329167   0.04       -0.41         pose: 0.0           -0.286569  0.0579996   0 0.00140859  -0.0165765  -0.0266549  0.999506       uwb: 0.50001264     841.707  1037.86  
imu_odom_:  1691062588.943382629  0.464475   -0.251391  9.87848    -0.056459   0.00106526  -0.319579   0.04       -0.41         pose: 0.35287513    -0.286569  0.0579996   0 -0.000219307-0.0134735  -0.0345897  0.999311       uwb: 0.0            841.707  1037.86  
imu_odom_:  1691062588.960144307  0.545878   -0.141258  9.96467    -0.0649811  -0.0191748  -0.275903   0.03       -0.32         pose: 0.33879163    -0.286569  0.0579996   0 -0.00181904 -0.010648   -0.0409205  0.999104       uwb: 0.0            841.707  1037.86  
imu_odom_:  1691062588.974146154  0.608127   -0.299275  9.78989    -0.0671117  -0.00958738 -0.239684   0.03       -0.32         pose: 0.0           -0.286569  0.0579996   0 -0.00181904 -0.010648   -0.0409205  0.999104       uwb: 0.49867692     841.613  1037.15  
imu_odom_:  1691062588.991211143  0.629675   -0.433351  9.9527     -0.0596548  -0.00213053 -0.207727   0.03       -0.32         pose: 0.0           -0.286569  0.0579996   0 -0.00181904 -0.010648   -0.0409205  0.999104       uwb: 0.0            841.613  1037.15  
imu_odom_:  1691062589.4146446    0.557849   -0.299275  9.91918    -0.0628506  -0.00639159 -0.183225   0.03       -0.23         pose: 0.32875906    -0.286569  0.0579996   0 -0.000946429-0.00926681 -0.0462211  0.998888       uwb: 0.0            841.613  1037.15  
imu_odom_:  1691062589.21230978   0.459687   -0.179565  9.8258     -0.0543285  0.00532632  -0.165116   0.03       -0.23         pose: 0.0           -0.286569  0.0579996   0 -0.000946429-0.00926681 -0.0462211  0.998888       uwb: 0.50233707     841.343  1036.19  
imu_odom_:  1691062589.38208475   0.416591   -0.244209  9.83538    -0.0585895  -0.0117179  -0.151268   0.02       -0.23         pose: 0.15162008    -0.286569  0.0579996   0 -0.00246822 -0.0096061  -0.0482082  0.998788       uwb: 0.0            841.343  1036.19  
imu_odom_:  1691062589.56206437   0.608127   -0.217872  9.81862    -0.0585895  -0.00852212 -0.134223   0.02       -0.23         pose: 0.0           -0.286569  0.0579996   0 -0.00246822 -0.0096061  -0.0482082  0.998788       uwb: 0.0            841.343  1036.19  
imu_odom_:  1691062589.73216598   0.600945   -0.335188  9.87369    -0.0575243  -0.0127832  -0.107592   0.02       -0.23         pose: 0.0           -0.286569  0.0579996   0 -0.00246822 -0.0096061  -0.0482082  0.998788       uwb: 0.49865074     841.598  1035.26  
imu_odom_:  1691062589.87104415   0.636858   -0.323217  9.90242    -0.0575243  -0.00745685 -0.0862864  0.02       -0.17         pose: 0.46905172    -0.272687  0.0553035   0 -0.00277455 -0.00672518 -0.0532691  0.998554       uwb: 0.0            841.598  1035.26  
imu_odom_:  1691062589.104149574  0.586579   -0.251391  9.85453    -0.052198   0           -0.0671117  0.02       -0.17         pose: 0.0           -0.272687  0.0553035   0 -0.00277455 -0.00672518 -0.0532691  0.998554       uwb: 0.0            841.598  1035.26  
imu_odom_:  1691062589.120082693  0.562637   -0.181959  9.88326    -0.0543285  -0.00426106 -0.0532632  0.02       -0.17         pose: 0.0           -0.272687  0.0553035   0 -0.00277455 -0.00672518 -0.0532691  0.998554       uwb: 0.49946152     841.402  1034.15  
imu_odom_:  1691062589.137090813  0.565032   -0.21069   9.89045    -0.0585895  -0.00213053 -0.0394148  0.01       -0.11         pose: 0.50873289    -0.272687  0.0553035   0 -0.00388679 -0.00877243 -0.0573955  0.998305       uwb: 0.0            841.402  1034.15  
imu_odom_:  1691062589.153088094  0.76375    -0.277727  9.92157    -0.0575243  -0.00852212 -0.0415453  0.01       -0.11         pose: 0.0           -0.272687  0.0553035   0 -0.00388679 -0.00877243 -0.0573955  0.998305       uwb: 0.0            841.402  1034.15  
imu_odom_:  1691062589.170107005  0.596156   -0.167594  9.91439    -0.0532632  0.00319579  -0.0372843  0.01       -0.11         pose: 0.65002587    -0.272687  0.0553035   0 -3.9628e-05 -0.00850601 -0.0605352  0.99813        uwb: 0.49926903     841.103  1033.2   
imu_odom_:  1691062589.186084454  0.54109    -0.234632  9.89284    -0.0575243  -0.00426106 -0.00958738 0          -0.05         pose: 0.0           -0.272687  0.0553035   0 -3.9628e-05 -0.00850601 -0.0605352  0.99813        uwb: 0.0            841.103  1033.2   
imu_odom_:  1691062589.202079985  0.529119   -0.3304    9.90481    -0.0553937  -0.00852212 0.0138484   0          -0.05         pose: 0.0           -0.272687  0.0553035   0 -3.9628e-05 -0.00850601 -0.0605352  0.99813        uwb: 0.0            841.103  1033.2   
imu_odom_:  1691062589.217082758  0.584185   -0.304064  9.91199    -0.0543285  -0.00639159 0.0383495   0          -0.05         pose: 0.32000394    -0.272687  0.0553035   0 0.000830076 -0.00932442 -0.0617074  0.99805        uwb: 0.0            841.103  1033.2   
imu_odom_:  1691062589.231137103  0.536301   -0.282516  9.87129    -0.0553937  0.00532632  0.056459    0          0             pose: 0.0           -0.272687  0.0553035   0 0.000830076 -0.00932442 -0.0617074  0.99805        uwb: 0.50126387     840.791  1032.39  
imu_odom_:  1691062589.245080624  0.399832   -0.213084  9.89524    -0.0511327  0.00852212  0.0479369   0          0             pose: 0.40987126    -0.272687  0.0553035   0 -0.002818   -0.00841277 -0.0621375  0.998028       uwb: 0.0            840.791  1032.39  
imu_odom_:  1691062589.259074890  0.304064   -0.114922  9.88326    -0.052198   0           0.0394148   0          0             pose: 0.0           -0.272687  0.0553035   0 -0.002818   -0.00841277 -0.0621375  0.998028       uwb: 0.0            840.791  1032.39  
imu_odom_:  1691062589.273084906  0.318429   -0.141258  9.89284    -0.0575243  -0.00958738 0.0383495   0          0             pose: 0.6005250     -0.272687  0.0553035   0 -0.0031241  -0.00786696 -0.0620832  0.998035       uwb: 0.49860117     840.548  1032.15  
imu_odom_:  1691062589.288082721  0.447716   -0.246603  9.85932    -0.056459   -0.0138484  0.0330232   0          0             pose: 0.0           -0.272687  0.0553035   0 -0.0031241  -0.00786696 -0.0620832  0.998035       uwb: 0.0            840.548  1032.15  
imu_odom_:  1691062589.302141733  0.526724   -0.280122  9.91439    -0.0553937  -0.0106526  0.0351537   0          0             pose: 0.0           -0.272687  0.0553035   0 -0.0031241  -0.00786696 -0.0620832  0.998035       uwb: 0.0            840.548  1032.15  
imu_odom_:  1691062589.316137458  0.505177   -0.251391  9.88087    -0.056459   -0.00319579 0.0436758   0          0             pose: 0.0           -0.272687  0.0553035   0 -0.0031241  -0.00786696 -0.0620832  0.998035       uwb: 0.0            840.548  1032.15  
imu_odom_:  1691062589.330142515  0.469264   -0.208296  9.89524    -0.0543285  0.00213053  0.0458064   0          0             pose: 0.41992716    -0.272687  0.0553035   0 -0.0016576  -0.00418873 -0.0619608  0.998068       uwb: 0.50095473     840.398  1031.89  
imu_odom_:  1691062589.345141789  0.378284   -0.174777  9.90242    -0.0543285  -0.00106526 0.04048     0          0             pose: 0.0           -0.272687  0.0553035   0 -0.0016576  -0.00418873 -0.0619608  0.998068       uwb: 0.0            840.398  1031.89  
imu_odom_:  1691062589.359133430  0.387861   -0.167594  9.93833    -0.0543285  -0.00532632 0.0394148   0          0             pose: 0.0           -0.272687  0.0553035   0 -0.0016576  -0.00418873 -0.0619608  0.998068       uwb: 0.0            840.398  1031.89  
imu_odom_:  1691062589.373078409  0.440533   -0.232238  9.9096     -0.0553937  -0.0106526  0.0372843   0          0             pose: 0.43007056    -0.272687  0.0553035   0 -0.00235041 -0.00412345 -0.0620332  0.998063       uwb: 0.49994564     840.526  1031.43  
imu_odom_:  1691062589.395068108  0.493206   -0.253785  9.85453    -0.0575243  -0.00426106 0.0383495   0          0             pose: 0.0           -0.272687  0.0553035   0 -0.00235041 -0.00412345 -0.0620332  0.998063       uwb: 0.0            840.526  1031.43  
imu_odom_:  1691062589.412196094  0.201113   -0.31364   9.81862    -0.0628506  0.0266316   0.0234358   0          0             pose: 0.86980328    -0.272687  0.0553035   0 -0.00190726 -0.00377814 -0.0620048  0.998067       uwb: 0.0            840.526  1031.43  
imu_odom_:  1691062589.429074141  -0.23942   -0.059855  10.1514    -0.036219   0.0351537   -0.0756338  0          0             pose: 0.0           -0.272687  0.0553035   0 -0.00190726 -0.00377814 -0.0620048  0.998067       uwb: 0.50074475     840.967  1031.2   
imu_odom_:  1691062589.444134951  -1.45567   0.203507   9.46188    -0.0372843  0.0660464   -0.0585895  0          0             pose: 0.0           -0.272687  0.0553035   0 -0.00190726 -0.00377814 -0.0620048  0.998067       uwb: 0.0            840.967  1031.2   
imu_odom_:  1691062589.461075410  -1.17316   -0.612916  10.0748    -0.0617853  -0.0394148  0.0479369   0.04       0.05          pose: 0.7011424     -0.272687  0.0553035   0 -0.00204781 -0.00297695 -0.06206    0.998066       uwb: 0.0            840.967  1031.2   
imu_odom_:  1691062589.478068073  -0.105345  -0.773327  9.9503     -0.0607201  -0.0937433  0.0639159   0.05       0.02          pose: 0.0           -0.272687  0.0553035   0 -0.00204781 -0.00297695 -0.06206    0.998066       uwb: 0.0            840.967  1031.2   
imu_odom_:  1691062589.495128106  0.677559   -0.253785  10.0078    -0.0383495  -0.0383495  0.0671117   0.05       0.02          pose: 0.66075547    -0.272687  0.0553035   0 -0.0018084  0.00359536  -0.0636866  0.997962       uwb: 0.0            840.967  1031.2   
imu_odom_:  1691062589.512120478  0.306458   -0.047884  9.80665    -0.0596548  0.0319579   0.0862864   0.07       0.02          pose: 0.0           -0.272687  0.0553035   0 -0.0018084  0.00359536  -0.0636866  0.997962       uwb: 0.0            840.967  1031.2   
imu_odom_:  1691062589.529182844  -0.342371  -0.0790087 9.84017    -0.0585895  0.0351537   0.0649811   0.07       0.02          pose: 0.0           -0.272687  0.0553035   0 -0.0018084  0.00359536  -0.0636866  0.997962       uwb: 0.99905135     841.064  1031.33  
imu_odom_:  1691062589.546165008  -0.414197  -0.337582  9.7037     -0.052198   0.00319579  0.0447411   0.07       0.02          pose: 0.34969918    -0.272687  0.0553035   0 -0.00170911 0.00215558  -0.0631493  0.998          uwb: 0.0            841.064  1031.33  
imu_odom_:  1691062589.563116841  0.162806   -0.227449  10.1897    -0.0649811  -0.0181095  0.0575243   0.08       0.02          pose: 0.33997575    -0.272687  0.0553035   0 -0.0004255080.00531825  -0.0626984  0.998018       uwb: 0.0            841.064  1031.33  
imu_odom_:  1691062589.580116503  0.423774   -0.438139  9.72764    -0.0490022  -0.00639159 0.0479369   0.08       0.02          pose: 0.0           -0.272687  0.0553035   0 -0.0004255080.00531825  -0.0626984  0.998018       uwb: 0.49958984     840.97   1030.34  
imu_odom_:  1691062589.598065177  0.253785   -0.059855  9.96467    -0.072438   -0.00213053 0.0511327   0.1        0             pose: 0.42993931    -0.261283  0.056291    0 -0.00172225 0.00680692  -0.0624609  0.998023       uwb: 0.0            840.97   1030.34  
imu_odom_:  1691062589.615109170  0.035913   -0.282516  9.98382    -0.0649811  -0.00852212 0.0468716   0.1        0             pose: 0.0           -0.261283  0.056291    0 -0.00172225 0.00680692  -0.0624609  0.998023       uwb: 0.0            840.97   1030.34  
imu_odom_:  1691062589.631167696  0.347159   -0.234632  9.7851     -0.0500674  -0.0117179  0.0298274   0.1        0             pose: 0.0           -0.261283  0.056291    0 -0.00172225 0.00680692  -0.0624609  0.998023       uwb: 0.50027228     840.677  1029.82  
imu_odom_:  1691062589.649161574  0.287304   -0.433351  10.0413    -0.0426106  -0.0223706  0.0490022   0.11       0             pose: 0.7943520     -0.2588    0.0526215   0 -0.0009948990.00684097  -0.0624093  0.998027       uwb: 0.0            840.677  1029.82  
imu_odom_:  1691062589.666151612  -0.0047884 -0.488417  10.0293    -0.0351537  0.015979    0.0372843   0.11       0             pose: 0.0           -0.2588    0.0526215   0 -0.0009948990.00684097  -0.0624093  0.998027       uwb: 0.0            840.677  1029.82  
imu_odom_:  1691062589.680205958  1.0343     -0.227449  10.1442    -0.0553937  -0.0340885  0.036219    0.11       0             pose: 0.0           -0.2588    0.0526215   0 -0.0009948990.00684097  -0.0624093  0.998027       uwb: 0.49928362     840.764  1029.37  
imu_odom_:  1691062589.697122210  0.847547   0.023942   9.59596    -0.0617853  -0.00319579 0.0649811   0.1        0             pose: 0.51109813    -0.2588    0.0526215   0 -0.00129621 0.00675881  -0.0623319  0.998032       uwb: 0.0            840.764  1029.37  
imu_odom_:  1691062589.713031414  0.691924   -0.37589   9.81862    -0.0553937  0.02024     0.0681769   0.09       0             pose: 0.0           -0.2588    0.0526215   0 -0.00129621 0.00675881  -0.0623319  0.998032       uwb: 0.0            840.764  1029.37  
imu_odom_:  1691062589.730033702  0.957681   -0.354342  10.0437    -0.0585895  -0.015979   0.0777643   0.09       0             pose: 0.64877180    -0.250519  0.0582282   0 -0.00259387 0.00447733  -0.0620335  0.998061       uwb: 0.50070683     840.568  1028.83  
imu_odom_:  1691062589.746033024  1.28329    -0.0143652 9.96227    -0.052198   -0.00319579 0.0660464   0.08       -0.02         pose: 0.0           -0.250519  0.0582282   0 -0.00259387 0.00447733  -0.0620335  0.998061       uwb: 0.0            840.568  1028.83  
imu_odom_:  1691062589.763028020  1.1995     -0.196325  9.63666    -0.0436758  0.00319579  0.0575243   0.08       -0.02         pose: 0.0           -0.250519  0.0582282   0 -0.00259387 0.00447733  -0.0620335  0.998061       uwb: 0.0            840.568  1028.83  
imu_odom_:  1691062589.779046007  0.916979   -0.160412  10.0796    -0.0639159  0.0213053   0.0585895   0.08       -0.02         pose: 0.33994075    -0.244907  0.0499513   0 -0.00304354 0.00119431  -0.0614876  0.998102       uwb: 0.49944110     840.844  1028.21  
imu_odom_:  1691062589.796156495  0.64404    -0.363919  10.0509    -0.0585895  0.0213053   0.0287621   0.08       -0.02         pose: 0.41004916    -0.244907  0.0499513   0 -0.00251123 -0.00259777 -0.0610903  0.998126       uwb: 0.0            840.844  1028.21  
imu_odom_:  1691062589.812068615  0.373495   -0.138864  9.8258     -0.0479369  -0.015979   -0.0340885  0.08       -0.02         pose: 0.0           -0.244907  0.0499513   0 -0.00251123 -0.00259777 -0.0610903  0.998126       uwb: 0.0            840.844  1028.21  
imu_odom_:  1691062589.829048738  0.737414   0.00718261 9.76116    -0.0585895  -0.00532632 -0.0351537  0.08       -0.02         pose: 0.0           -0.244907  0.0499513   0 -0.00251123 -0.00259777 -0.0610903  0.998126       uwb: 0.50162260     840.677  1027.81  
imu_odom_:  1691062589.845170842  0.816423   -0.213084  10.0149    -0.0671117  -0.00213053 -0.00532632 0.04       0             pose: 0.8052012     -0.244907  0.0499513   0 -0.00294892 -0.00317508 -0.0611345  0.99812        uwb: 0.0            840.677  1027.81  
imu_odom_:  1691062589.862058222  0.550666   -0.392649  9.83538    -0.0490022  0.0340885   -0.00745685 0.06       0.02          pose: 0.0           -0.244907  0.0499513   0 -0.00294892 -0.00317508 -0.0611345  0.99812        uwb: 0.0            840.677  1027.81  
imu_odom_:  1691062589.878121122  0.3304     -0.225055  10.1203    -0.0479369  0.00426106  0.0479369   0.06       0.02          pose: 0.65083664    -0.244907  0.0499513   0 -0.00178976 -0.00588176 -0.0629332  0.997999       uwb: 0.49830952     840.416  1026.99  
imu_odom_:  1691062589.901083164  0.545878   -0.28491   9.95748    -0.0585895  -0.0255663  0.0777643   0.05       0             pose: 0.0           -0.244907  0.0499513   0 -0.00178976 -0.00588176 -0.0629332  0.997999       uwb: 0.0            840.416  1026.99  
imu_odom_:  1691062589.927180091  -0.0023942 -0.0981623 9.60793    -0.0479369  0.0692422   0.0575243   0.05       0             pose: 0.32901575    -0.236621  0.0555487   0 -0.00264882 -0.0048622  -0.0629575  0.998001       uwb: 0.49988148     840.252  1026.45  
imu_odom_:  1691062589.940058526  -0.837971  -0.150835  9.96467    -0.0490022  0.113983    0.0585895   0.05       0.02          pose: 0.42096833    -0.236621  0.0555487   0 -0.00240357 -0.00301092 -0.0624187  0.998043       uwb: 0.0            840.252  1026.45  
imu_odom_:  1691062589.956245084  -1.41497   -0.292093  9.94791    -0.056459   -0.00319579 0.0681769   0.05       0.02          pose: 0.5887135     -0.236621  0.0555487   0 -0.00227831 -0.00208124 -0.0623626  0.998049       uwb: 0.0            840.252  1026.45  
imu_odom_:  1691062589.981019988  -0.0981623 -0.215478  9.95988    -0.0575243  -0.0841559  0.0436758   0.09       0.05          pose: 0.0           -0.236621  0.0555487   0 -0.00227831 -0.00208124 -0.0623626  0.998049       uwb: 0.50021687     840.417  1026.28  
imu_odom_:  1691062590.3019602    0.727837   -0.260968  9.76355    -0.0596548  -0.0511327  0.0500674   0.09       0.05          pose: 0.31252326    -0.236621  0.0555487   0 -0.00198176 0.00112864  -0.0620427  0.998071       uwb: 0.0            840.417  1026.28  
imu_odom_:  1691062590.28029867   -0.289698  -0.110133  9.76116    -0.0585895  0.0245011   0.0490022   0.1        0.02          pose: 0.38700050    -0.231009  0.0472718   0 -0.00207086 -0.000588095-0.0618917  0.998081       uwb: 0.50115016     840.231  1026.02  
imu_odom_:  1691062590.53076003   -0.100556  -0.184354  9.7851     -0.0490022  -0.0149137  0.0447411   0.1        0.02          pose: 0.8048222     -0.231009  0.0472718   0 -0.00186762 0.000306061 -0.0618526  0.998083       uwb: 0.0            840.231  1026.02  
imu_odom_:  1691062590.78021231   0.328006   -0.25618   10.003     -0.0511327  -0.00426106 0.0436758   0.1        0.02          pose: 0.42008179    -0.225395  0.0510815   0 -0.0008895070.00451146  -0.0617006  0.998084       uwb: 0.50006530     840.278  1026.01  
imu_odom_:  1691062590.95030520   0.454898   0.0167594  9.84496    -0.0330232  0.0149137   0.0298274   0.1        0.02          pose: 0.0           -0.225395  0.0510815   0 -0.0008895070.00451146  -0.0617006  0.998084       uwb: 0.0            840.278  1026.01  
imu_odom_:  1691062590.120047784  0.160412   0.0550666  9.48343    -0.0596548  -0.0266316  0.0692422   0.12       0             pose: 0.41954517    -0.222735  0.0528878   0 -0.00122112 0.00266795  -0.061742   0.998088       uwb: 0.49848458     840.209  1025.74  
imu_odom_:  1691062590.145025384  -0.0694318 -0.301669  9.91199    -0.056459   0.00213053  0.0447411   0.12       0             pose: 0.0           -0.222735  0.0528878   0 -0.00122112 0.00266795  -0.061742   0.998088       uwb: 0.0            840.209  1025.74  
imu_odom_:  1691062590.170171554  0.531513   -0.0646434 10.149     -0.0511327  -0.0117179  0.056459    0.14       0             pose: 0.49994864    -0.217125  0.056698    0 0.000418516 0.00617224  -0.0613023  0.9981         uwb: 0.50315964     840.307  1025.29  
imu_odom_:  1691062590.187097725  -0.102951  -0.237026  9.76355    -0.0500674  0.0415453   0.0532632   0.14       0             pose: 0.0           -0.217125  0.056698    0 0.000418516 0.00617224  -0.0613023  0.9981         uwb: 0.0            840.307  1025.29  
imu_odom_:  1691062590.210997699  0.220267   -0.304064  10.2663    -0.0426106  -0.0830906  0.0479369   0.14       0.02          pose: 0.42072341    -0.214464  0.0585084   0 0.0015938   0.00590858  -0.06097    0.998121       uwb: 0.0            840.307  1025.29  
imu_odom_:  1691062590.234011656  0.52433    -0.114922  9.8689     -0.0468716  0.0500674   0.0607201   0.14       0.02          pose: 0.0           -0.214464  0.0585084   0 0.0015938   0.00590858  -0.06097    0.998121       uwb: 0.50049109     840.613  1025.24  
imu_odom_:  1691062590.260114712  0.725443   -0.265756  9.59357    -0.0607201  -0.0276969  0.0394148   0.2        0             pose: 0.46913931    -0.203332  0.0539942   0 0.000644069 0.00468987  -0.0606406  0.998148       uwb: 0.0            840.613  1025.24  
imu_odom_:  1691062590.273002774  0.0646434  -0.169988  9.60554    -0.0436758  0.0106526   0.036219    0.2        0             pose: 0.0           -0.203332  0.0539942   0 0.000644069 0.00468987  -0.0606406  0.998148       uwb: 0.49601436     840.588  1025.39  
imu_odom_:  1691062590.297088817  0.608127   -0.181959  10.307     -0.056459   0.0234358   0.0703074   0.14       0.02          pose: 0.38991118    -0.200571  0.0558774   0 0.000386972 0.00318032  -0.060665   0.998153       uwb: 0.0            840.588  1025.39  
imu_odom_:  1691062590.314026362  0.42138    -0.308852  10.3453    -0.0607201  0.00852212  0.0447411   0.14       0.02          pose: 0.8079718     -0.200571  0.0558774   0 0.000426302 0.00248469  -0.0605407  0.998163       uwb: 0.0            840.588  1025.39  
imu_odom_:  1691062590.338996087  0.737414   0.181959   10.0197    -0.052198   -0.056459   0.0639159   0.16       0.02          pose: 0.32943870    -0.193745  0.054589    0 -0.00114278 0.00068099  -0.0602523  0.998182       uwb: 0.50003613     840.573  1024.68  
imu_odom_:  1691062590.365055105  0.957681   -0.246603  10.2352    -0.0660464  -0.0181095  0.0415453   0.16       0.02          pose: 0.0           -0.193745  0.054589    0 -0.00114278 0.00068099  -0.0602523  0.998182       uwb: 0.0            840.573  1024.68  
imu_odom_:  1691062590.390057786  0.3304     0.047884   9.76595    -0.0617853  -0.0490022  0.0511327   0.16       0             pose: 0.9059352     -0.186673  0.0532585   0 -0.000479015-0.000173929-0.0601423  0.99819        uwb: 0.50049984     840.726  1023.95  
imu_odom_:  1691062590.415043844  -0.0909797 -0.339977  9.35175    -0.0798948  -0.0500674  0.0575243   0.15       0.02          pose: 0.49998947    -0.186673  0.0532584   0 0.000813725 -0.00421993 -0.0598779  0.998196       uwb: 0.0            840.726  1023.95  
imu_odom_:  1691062590.438049636  -0.0191536 -0.126893  10.2663    -0.0596548  0.0213053   0.0351537   0.15       0.02          pose: 0.0           -0.186673  0.0532584   0 0.000813725 -0.00421993 -0.0598779  0.998196       uwb: 0.50025487     840.782  1023.51  
imu_odom_:  1691062590.454986889  0.21069    -0.0981623 10.1538    -0.0820254  -0.015979   0.0788296   0.15       0.02          pose: 0.0           -0.186673  0.0532584   0 0.000813725 -0.00421993 -0.0598779  0.998196       uwb: 0.0            840.782  1023.51  
imu_odom_:  1691062590.467985484  0.435745   -0.474052  10.0293    -0.0820254  0.00426106  0.072438    0.17       0             pose: 0.72902371    -0.172799  0.0505191   0 0.00197449  0.00130369  -0.0594692  0.998227       uwb: 0.0            840.782  1023.51  
imu_odom_:  1691062590.492041487  0.816423   -0.059855  9.94312    -0.0575243  -0.00639159 0.0415453   0.17       0             pose: 0.0           -0.172799  0.0505191   0 0.00197449  0.00130369  -0.0594692  0.998227       uwb: 0.49944409     840.472  1022.7   
imu_odom_:  1691062590.517068083  0.244209   -0.311246  10.2089    -0.0660464  0.0149137   0.0458064   0.15       0.05          pose: 0.46054455    -0.163556  0.0486991   0 0.00138673  -0.000487167-0.0590558  0.998254       uwb: 0.0            840.472  1022.7   
imu_odom_:  1691062590.540975931  0.141258   -0.0143652 10.0389    -0.0308927  -0.0223706  0.0415453   0.15       0.05          pose: 0.0           -0.163556  0.0486991   0 0.00138673  -0.000487167-0.0590558  0.998254       uwb: 0.50004779     840.512  1022.13  
imu_odom_:  1691062590.564028094  0.40462    -0.442927  9.84496    -0.052198   -0.0266316  0.0532632   0.18       0.02          pose: 0.8015849     -0.158923  0.0477909   0 0.000906633 0.000260949 -0.0590316  0.998256       uwb: 0.0            840.512  1022.13  
imu_odom_:  1691062590.580972347  0.593762   -0.0933739 9.89763    -0.0447411  0.0181095   0.04048     0.18       0.02          pose: 0.0           -0.158923  0.0477909   0 0.000906633 0.000260949 -0.0590316  0.998256       uwb: 0.49977949     840.768  1022.24  
imu_odom_:  1691062590.605137134  0.699107   -0.253785  9.70849    -0.0681769  0.0170442   0.0628506   0.2        0             pose: 0.48947276    -0.158923  0.0477909   0 0.00109489  0.00304162  -0.0589011  0.998259       uwb: 0.0            840.768  1022.24  
imu_odom_:  1691062590.630966628  0.766145   -0.143652  10.4555    -0.0255663  -0.0330232  0.0276969   0.18       0.02          pose: 0.40033163    -0.145043  0.0450752   0 0.000249082 0.000528824 -0.058701   0.998275       uwb: 0.49989030     840.644  1021.69  
imu_odom_:  1691062590.644245784  0.469264   -0.0790087 9.72764    -0.0628506  -0.0117179  0.0692422   0.18       0.02          pose: 0.41928853    -0.145043  0.0450752   0 0.000583399 -0.00382486 -0.0586666  0.99827        uwb: 0.0            840.644  1021.69  
imu_odom_:  1691062590.669121309  0.588974   -0.11971   10.3813    -0.0394148  -0.036219   0.0426106   0.18       0.02          pose: 0.0           -0.145043  0.0450752   0 0.000583399 -0.00382486 -0.0586666  0.99827        uwb: 0.0            840.644  1021.69  
imu_odom_:  1691062590.694107950  0.68953    -0.0670376 10.1418    -0.0490022  0.0138484   0.0458064   0.16       -0.02         pose: 0.6016625     -0.145043  0.0450752   0 0.00116094  -0.00384829 -0.0585799  0.998275       uwb: 0.0            840.644  1021.69  
imu_odom_:  1691062590.708107760  0.112527   -0.035913  9.67736    -0.0553937  -0.015979   0.0553937   0.16       -0.02         pose: 0.0           -0.145043  0.0450752   0 0.00116094  -0.00384829 -0.0585799  0.998275       uwb: 0.0            840.644  1021.69  
imu_odom_:  1691062590.731998984  0.0383072  -0.059855  10.2161    -0.0426106  0.0117179   0.0426106   0.17       0             pose: 0.40041038    -0.131162  0.0423682   0 0.00332291  -0.00724352 -0.0584107  0.998261       uwb: 0.99981270     840.704  1020.69  
imu_odom_:  1691062590.755958745  0.76375    -0.335188  10.2855    -0.0692422  -0.0287621  0.0553937   0.17       0             pose: 0.0           -0.131162  0.0423682   0 0.00332291  -0.00724352 -0.0584107  0.998261       uwb: 0.0            840.704  1020.69  
imu_odom_:  1691062590.772965993  0.332794   -0.454898  9.68215    -0.0500674  0.0330232   0.0213053   0.24       0             pose: 0.38987909    -0.12287   0.0479584   0 0.00460919  -0.00655008 -0.0582468  0.99827        uwb: 0.50038902     840.646  1019.85  
imu_odom_:  1691062590.796958709  0.416591   -0.629675  9.36133    -0.0447411  0.04048     0.052198    0.24       0             pose: 0.0           -0.12287   0.0479584   0 0.00460919  -0.00655008 -0.0582468  0.99827        uwb: 0.0            840.646  1019.85  
imu_odom_:  1691062590.822970772  0.371101   -0.299275  9.77553    -0.0149137  0.0617853   0.0266316   0.22       -0.02         pose: 0.47976684    -0.117277  0.0396687   0 0.00252855  -0.00625205 -0.0580969  0.998288       uwb: 0.50019945     840.631  1019.15  
imu_odom_:  1691062590.843965675  0.627281   -0.428562  9.86411    -0.0585895  0.0170442   0.0660464   0.22       -0.02         pose: 0.0           -0.117277  0.0396687   0 0.00252855  -0.00625205 -0.0580969  0.998288       uwb: 0.0            840.631  1019.15  
imu_odom_:  1691062590.868024887  0.347159   0.0502782  10.2951    -0.0223706  0.00426106  0.0426106   0.18       -0.02         pose: 0.41109040    -0.108989  0.0452631   0 -0.000581173-0.00349127 -0.0580607  0.998307       uwb: 0.0            840.631  1019.15  
imu_odom_:  1691062590.885027177  0.442927   -0.100556  9.81383    -0.0639159  -0.00532632 0.0703074   0.18       -0.02         pose: 0.0           -0.108989  0.0452631   0 -0.000581173-0.00349127 -0.0580607  0.998307       uwb: 0.49916703     840.731  1018.15  
imu_odom_:  1691062590.909017852  0.392649   -0.0646434 9.73243    -0.0436758  -0.00639159 0.0340885   0.18       0             pose: 0.45873927    -0.103392  0.0369756   0 -0.00192306 -0.00236674 -0.0578827  0.998319       uwb: 0.0            840.731  1018.15  
imu_odom_:  1691062590.926996859  0.40462    -0.177171  9.86411    -0.0628506  0.00426106  0.0756338   0.18       0             pose: 0.0           -0.103392  0.0369756   0 -0.00192306 -0.00236674 -0.0578827  0.998319       uwb: 0.50143019     841.068  1016.85  
imu_odom_:  1691062590.951042655  0.746991   -0.265756  10.2687    -0.0735032  -0.0319579  0.0351537   0.18       0             pose: 0.42048426    -0.0951063 0.0425738   0 0.00242686  -0.00175933 -0.0576256  0.998334       uwb: 0.0            841.068  1016.85  
imu_odom_:  1691062590.977075717  1.27372    -0.174777  9.61272    -0.0788296  0.00213053  0.0436758   0.18       0             pose: 0.0           -0.0951063 0.0425738   0 0.00242686  -0.00175933 -0.0576256  0.998334       uwb: 0.50262010     841.467  1015.83  
imu_odom_:  1691062591.1948325    0.4956     -0.225055  9.89524    -0.036219   0           0.0266316   0.18       -0.02         pose: 0.42016637    -0.0812199 0.0398964   0 0.00201896  -0.00123821 -0.0573668  0.99835        uwb: 0.0            841.467  1015.83  
imu_odom_:  1691062591.28988730   0.773327   0.0167594  10.0533    -0.076699   -0.052198   0.0671117   0.19       0             pose: 0.50153519    -0.0812199 0.0398964   0 0.000248134 -0.00511655 -0.0573905  0.998339       uwb: 0.49535818     841.334  1014.16  
imu_odom_:  1691062591.44973766   0.632069   -0.296881  9.61751    -0.0713727  0.0149137   0.0426106   0.19       0             pose: 0.0           -0.0812199 0.0398964   0 0.000248134 -0.00511655 -0.0573905  0.998339       uwb: 0.0            841.334  1014.16  
imu_odom_:  1691062591.70970085   0.277727   -0.61531   9.68933    -0.0639159  0.0149137   0.0500674   0.25       0.02          pose: 0.24783365    -0.0673331 0.0372213   0 -0.000718468-0.00521915 -0.0573829  0.998338       uwb: 0.50049700     841.512  1013.17  
imu_odom_:  1691062591.96219209   0.502782   -0.260968  9.35415    -0.0266316  0.00639159  0.02024     0.25       0.02          pose: 0.43130434    -0.0673331 0.0372213   0 -0.001754   -0.00746492 -0.057048   0.998342       uwb: 0.0            841.512  1013.17  
imu_odom_:  1691062591.119987363  0.677559   -0.490811  9.72525    -0.0681769  0.00532632  0.0468716   0.19       -0.02         pose: 0.25019309    -0.0590565 0.0428335   0 -0.00281991 -0.00547303 -0.0570116  0.998355       uwb: 0.50068075     841.543  1012.06  
imu_odom_:  1691062591.144076035  0.909797   -0.21069   10.0341    -0.0298274  -0.0500674  0.0340885   0.19       -0.02         pose: 0.0           -0.0590565 0.0428335   0 -0.00281991 -0.00547303 -0.0570116  0.998355       uwb: 0.0            841.543  1012.06  
imu_odom_:  1691062591.161078327  0.301669   -0.191536  9.34696    -0.0490022  0.0340885   0.0596548   0.26       -0.02         pose: 0.25931574    -0.0534445 0.0345566   0 -0.00252209 -0.00414963 -0.0571546  0.998354       uwb: 0.0            841.543  1012.06  
imu_odom_:  1691062591.185924399  0.222661   -0.0694318 9.89763    -0.0415453  0.0127832   0.0287621   0.26       -0.02         pose: 0.0           -0.0534445 0.0345566   0 -0.00252209 -0.00414963 -0.0571546  0.998354       uwb: 0.0            841.543  1012.06  
imu_odom_:  1691062591.212004420  0.488417   -0.179565  9.98861    -0.0894822  0.015979    0.0447411   0.21       0.02          pose: 0.47038470    -0.0451667 0.0401671   0 -0.00305395 -0.00717163 -0.0570959  0.998338       uwb: 0.0            841.543  1012.06  
imu_odom_:  1691062591.227997914  0.167594   -0.440533  9.34217    -0.0436758  0.0266316   0.0308927   0.21       0.02          pose: 0.0           -0.0451667 0.0401671   0 -0.00305395 -0.00717163 -0.0570959  0.998338       uwb: 0.99864918     841.625  1010.52  
imu_odom_:  1691062591.253932695  0.0526724  -0.390255  9.95509    -0.0532632  0.00532632  0.0447411   0.18       -0.02         pose: 0.42975571    -0.0395551 0.03189     0 -0.000378188-0.00391292 -0.0571168  0.99836        uwb: 0.0            841.625  1010.52  
imu_odom_:  1691062591.276929157  0.31364    -0.169988  10.1849    -0.0276969  0.00852212  0.0319579   0.18       -0.02         pose: 0.0           -0.0395551 0.03189     0 -0.000378188-0.00391292 -0.0571168  0.99836        uwb: 0.50316555     842.024  1009.25  
imu_odom_:  1691062591.300950167  0.591368   -0.220267  10.1179    -0.0745685  -0.0138484  0.0628506   0.18       0             pose: 0.41930900    -0.0312776 0.0375009   0 -3.00347e-05-0.0017934  -0.0571244  0.998365       uwb: 0.0            842.024  1009.25  
imu_odom_:  1691062591.318045203  0.600945   -0.399832  9.34936    -0.0458064  0.0447411   0.0415453   0.18       0             pose: 0.0           -0.0312776 0.0375009   0 -3.00347e-05-0.0017934  -0.0571244  0.998365       uwb: 0.0            842.024  1009.25  
imu_odom_:  1691062591.342921606  -0.150835  -0.035913  9.67736    -0.0500674  0.0234358   0.0585895   0.18       0             pose: 0.82045147    -0.0145617 0.0306637   0 -0.000793591-0.00122728 -0.0568642  0.998381       uwb: 0.49746391     841.925  1007.87  
imu_odom_:  1691062591.365957441  0.56982    -0.184354  9.63666    -0.0276969  0.0255663   0.0383495   0.18       0             pose: 0.8934530     -0.0117756 0.026558    0 -0.000432827-0.000274401-0.0567793  0.998387       uwb: 0.0            841.925  1007.87  
imu_odom_:  1691062591.383931784  0.526724   -0.246603  10.2496    -0.072438   -0.0426106  0.0596548   0.25       0             pose: 0.0           -0.0117756 0.026558    0 -0.000432827-0.000274401-0.0567793  0.998387       uwb: 0.50056116     842.138  1006.2   
imu_odom_:  1691062591.407897382  0.217872   -0.430956  10.0676    -0.0553937  0.0191748   0.0319579   0.25       0             pose: 0.47014264    -0.0035019 0.0321745   0 0.000315271 -0.0014172  -0.0565603  0.998398       uwb: 0.0            842.138  1006.2   
imu_odom_:  1691062591.432899484  0.1652     -0.335188  10.3094    -0.0671117  -0.0106526  0.0703074   0.23       0             pose: 0.33903385    0.0003898180.026447    0 -0.0017162  -0.000356733-0.056547   0.998398       uwb: 0.49807053     842.571  1004.95  
imu_odom_:  1691062591.448918351  0.21069    -0.196325  9.72285    -0.0415453  -0.0149137  0.0415453   0.23       0             pose: 0.7082295     0.00211831 0.0239033   0 -0.00195369 0.000304074 -0.0564371  0.998404       uwb: 0.0            842.571  1004.95  
imu_odom_:  1691062591.474930710  0.311246   -0.110133  9.31823    -0.0692422  0.00213053  0.0628506   0.18       0.05          pose: 0.0           0.00211831 0.0239033   0 -0.00195369 0.000304074 -0.0564371  0.998404       uwb: 0.50227603     842.937  1004.38  
imu_odom_:  1691062591.499911521  0.464475   -0.102951  10.1754    -0.0660464  0.0276969   0.0415453   0.18       0.05          pose: 0.33938674    0.0103882  0.0295254   0 -0.00171969 0.00331332  -0.0561379  0.998416       uwb: 0.0            842.937  1004.38  
imu_odom_:  1691062591.522912650  0.596156   -0.213084  10.1179    -0.0852212  0.0234358   0.0607201   0.19       0             pose: 0.50993170    0.0202037  0.0276675   0 0.001924    0.00216833  -0.0557944  0.998438       uwb: 0.49889588     842.83   1003.98  
imu_odom_:  1691062591.548969631  0.876278   -0.105345  10.1323    -0.0607201  0.052198    0.0245011   0.24       -0.02         pose: 0.0           0.0202037  0.0276675   0 0.001924    0.00216833  -0.0557944  0.998438       uwb: 0.0            842.83   1003.98  
imu_odom_:  1691062591.573925361  0.505177   -0.0407014 10.07      -0.0894822  0.0106526   0.0692422   0.24       -0.02         pose: 0.31173592    0.0242837  0.0268954   0 0.00123545  -0.000329819-0.0556074  0.998452       uwb: 0.49855173     843.229  1002.46  
imu_odom_:  1691062591.589906898  0.251391   -0.502782  9.69173    -0.0745685  0.00639159  0.0490022   0.24       -0.02         pose: 0.0           0.0242837  0.0268954   0 0.00123545  -0.000329819-0.0556074  0.998452       uwb: 0.0            843.229  1002.46  
imu_odom_:  1691062591.615893008  0.634463   -0.158017  10.4938    -0.102265   -0.0298274  0.056459    0.21       0             pose: 0.48826835    0.0381801  0.0242707   0 0.00262843  -0.00227256 -0.0553432  0.998461       uwb: 0.0            843.229  1002.46  
imu_odom_:  1691062591.641120260  0.40462    -0.287304  9.77792    -0.107592   -0.0490022  0.0394148   0.22       0             pose: 0.35981060    0.0381801  0.0242707   0 0.00117799  -0.00457085 -0.0550738  0.998471       uwb: 0.50016453     843.306  1000.55  
imu_odom_:  1691062591.665948833  0.354342   -0.574608  9.99819    -0.0575243  -0.0426106  0.0149137   0.22       0             pose: 0.0           0.0381801  0.0242707   0 0.00117799  -0.00457085 -0.0550738  0.998471       uwb: 0.0            843.306  1000.55  
imu_odom_:  1691062591.682054902  0.73502    -0.191536  10.1754    -0.0394148  0.0266316   0.0319579   0.18       0             pose: 0.7093670     0.0381801  0.0242707   0 0.000470105 -0.00422969 -0.0550738  0.998473       uwb: 0.50101614     843.237  998.905  
imu_odom_:  1691062591.698047230  0.311246   -0.265756  9.48583    -0.0575243  0.00213053  0.0596548   0.18       0             pose: 0.0           0.0381801  0.0242707   0 0.000470105 -0.00422969 -0.0550738  0.998473       uwb: 0.0            843.237  998.905  
imu_odom_:  1691062591.723889851  0.213084   -0.356736  10.0676    -0.0308927  0.00426106  0.0223706   0.18       -0.02         pose: 0.50071574    0.052078   0.02166     0 -0.00343288 -0.00347018 -0.0554     0.998452       uwb: 0.50063407     843.8    997.682  
imu_odom_:  1691062591.746974099  0.201113   -0.402226  9.79707    -0.0596548  -0.0308927  0.0532632   0.18       -0.02         pose: 0.0           0.052078   0.02166     0 -0.00343288 -0.00347018 -0.0554     0.998452       uwb: 0.0            843.8    997.682  
imu_odom_:  1691062591.772903047  0.474052   -0.423774  9.7444     -0.0351537  0.02024     0.0319579   0.18       0             pose: 0.33066656    0.0603355  0.0273004   0 -0.00312974 -0.00174782 -0.0553406  0.998461       uwb: 0.50007704     844.184  996.328  
imu_odom_:  1691062591.798027640  0.237026   -0.481235  9.75158    -0.0532632  0.0287621   0.0490022   0.18       0             pose: 0.0           0.0603355  0.0273004   0 -0.00312974 -0.00174782 -0.0553406  0.998461       uwb: 0.0            844.184  996.328  
imu_odom_:  1691062591.820918819  0.586579   -0.275333  9.93833    -0.0543285  0.0106526   0.0308927   0.18       -0.02         pose: 0.48781339    0.0659759  0.019043    0 -0.00508472 0.00138446  -0.0553544  0.998453       uwb: 0.49994580     844.385  995.109  
imu_odom_:  1691062591.846027371  1.13006    -0.237026  10.1347    -0.0745685  -0.0287621  0.0511327   0.18       -0.02         pose: 0.0           0.0659759  0.019043    0 -0.00508472 0.00138446  -0.0553544  0.998453       uwb: 0.0            844.385  995.109  
imu_odom_:  1691062591.861943871  0.651223   -0.483629  9.25359    -0.0617853  0.0468716   0.02024     0.23       0             pose: 0.50395299    0.0742337  0.024683    0 -0.0075991  0.00227356  -0.0553401  0.998436       uwb: 0.0            844.385  995.109  
imu_odom_:  1691062591.885938633  0.260968   -0.701501  9.22486    -0.052198   0.0436758   0.0383495   0.23       0             pose: 0.0           0.0742337  0.024683    0 -0.0075991  0.00227356  -0.0553401  0.998436       uwb: 0.49929543     844.566  994.028  
imu_odom_:  1691062591.903945349  0.122104   -0.579397  10.0628    -0.0266316  -0.00426106 0.0234358   0.19       0.05          pose: 0.47734335    0.0881312  0.0220657   0 -0.00749941 -0.00225151 -0.0553612  0.998436       uwb: 0.0            844.566  994.028  
imu_odom_:  1691062591.927874783  0.749385   -0.237026  9.89763    -0.0585895  -0.0276969  0.0532632   0.19       0.05          pose: 0.0           0.0881312  0.0220657   0 -0.00749941 -0.00225151 -0.0553612  0.998436       uwb: 0.49953166     844.796  993.087  
imu_odom_:  1691062591.955025430  0.474052   -0.0143652 10.5441    -0.0191748  -0.00319579 0.0394148   0.23       -0.02         pose: 0.40941350    0.0881312  0.0220657   0 -0.0102225  -0.000113352-0.0555117  0.998406       uwb: 0.0            844.796  993.087  
imu_odom_:  1691062591.979027774  0.37589    -0.0191536 10.1083    -0.0426106  -0.00319579 0.0628506   0.23       -0.02         pose: 0.0           0.0881312  0.0220657   0 -0.0102225  -0.000113352-0.0555117  0.998406       uwb: 0.50075365     844.828  992.409  
imu_odom_:  1691062592.5227661    0.234632   0.150835   10.2137    -0.0468716  -0.0298274  0.0500674   0.2        -0.05         pose: 0.41974355    0.102028   0.0194439   0 -0.00861877 -0.00177272 -0.0554416  0.998423       uwb: 0.0            844.828  992.409  
imu_odom_:  1691062592.29885626   0.292093   -0.454898  9.83299    -0.076699   0.00639159  0.0553937   0.19       0             pose: 0.51013877    0.115926   0.0168282   0 -0.0030923  -0.00139802 -0.0551306  0.998473       uwb: 0.49962793     844.648  991.72   
imu_odom_:  1691062592.46872172   0.263362   -0.0861913 9.94073    -0.0532632  -0.0490022  0.0287621   0.19       0             pose: 0.0           0.115926   0.0168282   0 -0.0030923  -0.00139802 -0.0551306  0.998473       uwb: 0.0            844.648  991.72   
imu_odom_:  1691062592.71926482   0.555455   -0.342371  9.663      -0.0735032  -0.0639159  0.0468716   0.19       0             pose: 0.25961906    0.115926   0.0168282   0 -0.00204545 -0.000477721-0.0549725  0.998486       uwb: 0.49874429     845.011  991.197  
imu_odom_:  1691062592.97923388   0.670376   0.0263362  9.61272    -0.0543285  -0.0330232  0.0447411   0.18       0.02          pose: 0.42948163    0.12418    0.0224746   0 -0.00269988 1.42278e-05 -0.0548913  0.998489       uwb: 0.0            845.011  991.197  
imu_odom_:  1691062592.111865165  0.567426   -0.174777  9.8689     -0.0713727  -0.00532632 0.0575243   0.18       0.02          pose: 0.0           0.12418    0.0224746   0 -0.00269988 1.42278e-05 -0.0548913  0.998489       uwb: 0.0            845.011  991.197  
imu_odom_:  1691062592.135880345  0.857124   -0.150835  9.51456    -0.0447411  0           0.0287621   0.18       -0.02         pose: 0.48016070    0.129827   0.0142222   0 -0.00137984 -0.00437106 -0.0547255  0.998491       uwb: 0.50104246     844.975  989.837  
imu_odom_:  1691062592.152859600  0.320823   -0.474052  9.4164     -0.0809601  0.0117179   0.0415453   0.18       -0.02         pose: 0.0           0.129827   0.0142222   0 -0.00137984 -0.00437106 -0.0547255  0.998491       uwb: 0.0            844.975  989.837  
imu_odom_:  1691062592.168906760  0.423774   -0.265756  10.4842    -0.0511327  -0.0330232  0.0426106   0.23       0             pose: 0.38972464    0.143728   0.0116223   0 -0.00107226 -0.00681203 -0.0547796  0.998475       uwb: 0.50128452     845.359  988.777  
imu_odom_:  1691062592.184902589  0.306458   -0.162806  10.094     -0.0575243  -0.00745685 0.0458064   0.23       0             pose: 0.0           0.143728   0.0116223   0 -0.00107226 -0.00681203 -0.0547796  0.998475       uwb: 0.0            845.359  988.777  
imu_odom_:  1691062592.200844465  0.222661   -0.42138   10.1442    -0.0649811  -0.00532632 0.0458064   0.23       0             pose: 0.0           0.143728   0.0116223   0 -0.00107226 -0.00681203 -0.0547796  0.998475       uwb: 0.0            845.359  988.777  
imu_odom_:  1691062592.217912672  0.663194   -0.282516  9.75637    -0.052198   0.04048     0.02024     0.18       -0.02         pose: 0.49994296    0.15198    0.0172719   0 -0.00183195 -0.0026209  -0.054661   0.9985         uwb: 0.0            845.359  988.777  
imu_odom_:  1691062592.233962747  0.0766145  -0.059855  9.74919    -0.0468716  0.0351537   0.0372843   0.18       -0.02         pose: 0.0           0.15198    0.0172719   0 -0.00183195 -0.0026209  -0.054661   0.9985         uwb: 0.49761855     845.706  987.99   
imu_odom_:  1691062592.249852710  0.557849   -0.411803  10.1179    -0.0735032  -0.0394148  0.0447411   0.25       -0.02         pose: 0.41104385    0.157631   0.00902213  0 -0.00165625 -0.0015603  -0.054821   0.998494       uwb: 0.0            845.706  987.99   
imu_odom_:  1691062592.266847423  0.610521   -0.0430956 10.2424    -0.0287621  0.00745685  0.0223706   0.25       -0.02         pose: 0.0           0.157631   0.00902213  0 -0.00165625 -0.0015603  -0.054821   0.998494       uwb: 0.0            845.706  987.99   
imu_odom_:  1691062592.282848210  0.0574608  -0.0861913 9.20092    -0.0681769  -0.0127832  0.0436758   0.25       -0.02         pose: 0.0           0.157631   0.00902213  0 -0.00165625 -0.0015603  -0.054821   0.998494       uwb: 0.50106287     845.664  987.308  
imu_odom_:  1691062592.298901202  0.713472   -0.0622492 10.3525    -0.0628506  -0.0511327  0.0468716   0.18       0             pose: 0.6894186     0.157631   0.00902213  0 -0.00230265 -0.00205486 -0.0548028  0.998492       uwb: 0.0            845.664  987.308  
imu_odom_:  1691062592.314900240  0.481235   -0.136469  9.54089    -0.0490022  -0.0394148  0.0223706   0.18       0             pose: 0.0           0.157631   0.00902213  0 -0.00230265 -0.00205486 -0.0548028  0.998492       uwb: 0.0            845.664  987.308  
imu_odom_:  1691062592.330842699  0.720655   -0.454898  9.73243    -0.0841559  0.00213053  0.0394148   0.18       0             pose: 0.0           0.157631   0.00902213  0 -0.00230265 -0.00205486 -0.0548028  0.998492       uwb: 0.50071581     845.84   986.373  
imu_odom_:  1691062592.347838870  0.373495   -0.445322  9.82102    -0.0500674  0.00532632  0.0394148   0.23       0             pose: 0.49059575    0.165883   0.0146714   0 -0.000691103-0.00298327 -0.0548748  0.998489       uwb: 0.0            845.84   986.373  
imu_odom_:  1691062592.363956315  0.517148   -0.174777  9.74679    -0.036219   0.00745685  0.0266316   0.18       0             pose: 0.0           0.165883   0.0146714   0 -0.000691103-0.00298327 -0.0548748  0.998489       uwb: 0.0            845.84   986.373  
imu_odom_:  1691062592.379907815  0.320823   -0.347159  9.34936    -0.0756338  0.0191748   0.0543285   0.18       0             pose: 0.65940838    0.179784   0.0120654   0 -0.000737136-0.004647   -0.0550311  0.998474       uwb: 0.49989921     845.82   985.286  
imu_odom_:  1691062592.396859947  0.392649   -0.31364   10.1562    -0.052198   -0.00532632 0.0447411   0.18       0.02          pose: 0.0           0.179784   0.0120654   0 -0.000737136-0.004647   -0.0550311  0.998474       uwb: 0.0            845.82   985.286  
imu_odom_:  1691062592.413891699  0.687136   -0.227449  9.77074    -0.0447411  -0.00852212 0.036219    0.18       0.02          pose: 0.0           0.179784   0.0120654   0 -0.000737136-0.004647   -0.0550311  0.998474       uwb: 0.0            845.82   985.286  
imu_odom_:  1691062592.429826575  0.794875   -0.0550666 9.88805    -0.0511327  -0.0916127  0.076699    0.18       0.02          pose: 0.32045905    0.18543    0.00381178  0 -0.00153936 -0.00289623 -0.0549428  0.998484       uwb: 0.50004212     845.879  984.204  
imu_odom_:  1691062592.447013481  1.16837    -0.213084  9.65342    -0.0447411  -0.0447411  0.122505    0.21       -0.02         pose: 0.41923324    0.193683   0.00945875  0 -0.00119118 -0.00607603 -0.0546574  0.998486       uwb: 0.0            845.879  984.204  
imu_odom_:  1691062592.462834616  2.05901    -0.521936  9.99819    -0.0532632  -0.0639159  0.129962    0.21       -0.02         pose: 0.7210037     0.193683   0.00945875  0 -0.00118223 -0.00694539 -0.0543589  0.998497       uwb: 0.0            845.879  984.204  
imu_odom_:  1691062592.479005432  1.80762    -0.272939  9.78031    -0.0575243  -0.00213053 0.0830906   0.21       -0.02         pose: 0.0           0.193683   0.00945875  0 -0.00118223 -0.00694539 -0.0543589  0.998497       uwb: 0.49780228     845.99   982.721  
imu_odom_:  1691062592.493898554  1.52511    -0.047884  9.85932    -0.036219   0.0340885   0.02024     0.12       -0.02         pose: 0.41968820    0.201622   0.00800113  0 -0.00172957 -0.0117462  -0.0528783  0.99853        uwb: 0.0            845.99   982.721  
imu_odom_:  1691062592.509845679  0.732626   0.220267   9.94791    -0.0692422  0.0585895   0.0213053   0.13       0             pose: 0.0           0.201622   0.00800113  0 -0.00172957 -0.0117462  -0.0528783  0.99853        uwb: 0.0            845.99   982.721  
imu_odom_:  1691062592.525987914  0.560243   -0.241814  10.3262    -0.0649811  0.052198    0.0255663   0.13       0             pose: 0.0           0.201622   0.00800113  0 -0.00172957 -0.0117462  -0.0528783  0.99853        uwb: 0.50012961     846.355  980.863  
imu_odom_:  1691062592.542818722  0.799663   -0.493206  10.2592    -0.0532632  -0.0127832  -0.0138484  0.13       0             pose: 0.21909799    0.207593   0.00690722  0 -0.000690047-0.0128694  -0.0530992  0.998506       uwb: 0.0            846.355  980.863  
imu_odom_:  1691062592.559949633  0.849942   -0.213084  9.39485    -0.0511327  -0.0255663  0.00319579  0.13       0.02          pose: 0.0           0.207593   0.00690722  0 -0.000690047-0.0128694  -0.0530992  0.998506       uwb: 0.0            846.355  980.863  
imu_odom_:  1691062592.575826472  0.842759   -0.325611  9.80665    -0.0596548  0.0394148   0.0415453   0.13       0.02          pose: 0.0           0.207593   0.00690722  0 -0.000690047-0.0128694  -0.0530992  0.998506       uwb: 0.50240152     846.474  979.925  
imu_odom_:  1691062592.591941001  0.677559   -0.260968  10.2256    -0.0553937  -0.00426106 0.0479369   0.08       0             pose: 0.74911241    0.207593   0.00690722  0 -0.00261167 -0.0146094  -0.0540234  0.998429       uwb: 0.0            846.474  979.925  
imu_odom_:  1691062592.607942080  0.723049   -0.198719  9.65103    -0.052198   -0.0213053  0.04048     0.08       0             pose: 0.0           0.207593   0.00690722  0 -0.00261167 -0.0146094  -0.0540234  0.998429       uwb: 0.0            846.474  979.925  
imu_odom_:  1691062592.624941750  0.718261   -0.153229  9.80904    -0.052198   0.015979    0.0628506   0.08       0             pose: 0.0           0.207593   0.00690722  0 -0.00261167 -0.0146094  -0.0540234  0.998429       uwb: 0.50131369     846.724  979.14   
imu_odom_:  1691062592.640840463  0.758962   -0.385466  9.98143    -0.0639159  0.00958738  0.0671117   0.09       0.02          pose: 0.6999761     0.207593   0.00690722  0 -0.00284212 -0.0139485  -0.0539896  0.99844        uwb: 0.0            846.724  979.14   
imu_odom_:  1691062592.656874789  0.684742   -0.260968  10.0293    -0.056459   0.00213053  0.0340885   0.06       0             pose: 0.0           0.207593   0.00690722  0 -0.00284212 -0.0139485  -0.0539896  0.99844        uwb: 0.0            846.724  979.14   
imu_odom_:  1691062592.673875626  0.696713   -0.11971   9.75398    -0.0596548  -0.0117179  0.0287621   0.06       0             pose: 0.66059537    0.221503   0.0043346   0 -0.00261419 -0.0146374  -0.053553   0.998454       uwb: 0.49620990     846.916  978.621  
imu_odom_:  1691062592.689863290  0.768539   -0.23942   9.89045    -0.056459   0.00426106  0.0394148   0.06       0             pose: 0.0           0.221503   0.0043346   0 -0.00261419 -0.0146374  -0.053553   0.998454       uwb: 0.0            846.916  978.621  
imu_odom_:  1691062592.706941121  0.754174   -0.241814  9.99579    -0.0639159  -0.00106526 0.0490022   0.05       0.05          pose: 0.0           0.221503   0.0043346   0 -0.00261419 -0.0146374  -0.053553   0.998454       uwb: 0.0            846.916  978.621  
imu_odom_:  1691062592.722822335  0.653617   -0.174777  9.82341    -0.0436758  0.0149137   0.0511327   0.05       0.05          pose: 0.32933671    0.221503   0.0043346   0 -0.00163357 -0.015139   -0.0536822  0.998442       uwb: 0.50118245     847.096  977.693  
imu_odom_:  1691062592.739862544  0.37589    -0.25618   10.0365    -0.0649811  0.0245011   0.100135    0.06       0.08          pose: 0.41002894    0.221503   0.0043346   0 -0.00125038 -0.0161255  -0.0535187  0.998436       uwb: 0.0            847.096  977.693  
imu_odom_:  1691062592.755830667  0.356736   -0.385466  10.0078    -0.0532632  -0.0117179  0.116114    0.06       0.08          pose: 0.0           0.221503   0.0043346   0 -0.00125038 -0.0161255  -0.0535187  0.998436       uwb: 0.0            847.096  977.693  
imu_odom_:  1691062592.771846037  0.608127   -0.215478  9.88326    -0.0479369  -0.0266316  0.116114    0.06       0.08          pose: 0.0           0.221503   0.0043346   0 -0.00125038 -0.0161255  -0.0535187  0.998436       uwb: 0.50122327     846.868  977.114  
imu_odom_:  1691062592.788812168  0.852336   -0.184354  9.95988    -0.056459   -0.0117179  0.13955     0.03       0.08          pose: 0.7068298     0.221503   0.0043346   0 -0.00131313 -0.0153152  -0.0533049  0.99846        uwb: 0.0            846.868  977.114  
imu_odom_:  1691062592.805802506  0.778116   -0.323217  9.86172    -0.0585895  0.00532632  0.147006    0.04       0.14          pose: 0.0           0.221503   0.0043346   0 -0.00131313 -0.0153152  -0.0533049  0.99846        uwb: 0.0            846.868  977.114  
imu_odom_:  1691062592.821810293  0.677559   -0.299275  9.90002    -0.0532632  0.0127832   0.138484    0.04       0.14          pose: 0.66925137    0.221503   0.00433454  0 -0.00150969 -0.0138491  -0.0504989  0.998627       uwb: 0.49869764     847.276  976.493  
imu_odom_:  1691062592.837809914  0.493206   -0.21069   9.84256    -0.0553937  0.00319579  0.154463    0.04       0.14          pose: 0.0           0.221503   0.00433454  0 -0.00150969 -0.0138491  -0.0504989  0.998627       uwb: 0.0            847.276  976.493  
imu_odom_:  1691062592.854867330  0.545878   -0.287304  9.87129    -0.0585895  -0.00745685 0.166181    0.03       0.14          pose: 0.0           0.221503   0.00433454  0 -0.00150969 -0.0138491  -0.0504989  0.998627       uwb: 0.0            847.276  976.493  
imu_odom_:  1691062592.870807748  0.658405   -0.323217  9.93594    -0.052198   -0.0106526  0.155529    0.03       0.14          pose: 0.32060196    0.221503   0.00433454  0 -0.00345826 -0.0132618  -0.0487913  0.998715       uwb: 0.49983504     847.401  975.693  
imu_odom_:  1691062592.886811160  0.696713   -0.174777  9.90721    -0.0553937  -0.00532632 0.16192     0.01       0.11          pose: 0.41931782    0.221488   0.00432896  0 -0.00474212 -0.0117404  -0.04626    0.998849       uwb: 0.0            847.401  975.693  
imu_odom_:  1691062592.903798582  0.68953    -0.181959  9.87369    -0.0553937  0           0.169377    0.01       0.11          pose: 0.7061881     0.221503   0.00433453  0 -0.00412726 -0.0120815  -0.0458374  0.998867       uwb: 0.0            847.401  975.693  
imu_odom_:  1691062592.919806952  0.636858   -0.244209  9.93594    -0.0532632  0.00426106  0.167247    0.01       0.11          pose: 0.0           0.221503   0.00433453  0 -0.00412726 -0.0120815  -0.0458374  0.998867       uwb: 0.50062249     848.046  974.707  
imu_odom_:  1691062592.935804532  0.500388   -0.227449  9.84256    -0.056459   0.00639159  0.16192     0.01       0.14          pose: 0.41937323    0.221503   0.00433453  0 -0.00204689 -0.0115878  -0.0431965  0.998997       uwb: 0.0            848.046  974.707  
imu_odom_:  1691062592.951866273  0.466869   -0.248997  9.91439    -0.0553937  0.00106526  0.150202    0.01       0.11          pose: 0.0           0.221503   0.00433453  0 -0.00204689 -0.0115878  -0.0431965  0.998997       uwb: 0.0            848.046  974.707  
imu_odom_:  1691062592.967863561  0.474052   -0.189142  9.89284    -0.0553937  -0.00319579 0.133158    0.01       0.11          pose: 0.0           0.221503   0.00433453  0 -0.00204689 -0.0115878  -0.0431965  0.998997       uwb: 0.0            848.046  974.707  
imu_odom_:  1691062592.983800770  0.481235   -0.184354  9.87848    -0.0543285  -0.00426106 0.116114    0          0.08          pose: 0.23060045    0.221503   0.00433453  0 -0.00179869 -0.00919873 -0.0418286  0.999081       uwb: 0.49789853     848.229  974.057  
imu_odom_:  1691062592.999793392  0.567426   -0.225055  9.90002    -0.0543285  -0.0106526  0.1012      0          0.08          pose: 0.0           0.221503   0.00433453  0 -0.00179869 -0.00919873 -0.0418286  0.999081       uwb: 0.0            848.229  974.057  
imu_odom_:  1691062593.15791848   0.624887   -0.246603  9.88326    -0.056459   -0.00319579 0.0873517   0          0.08          pose: 0.31950537    0.221503   0.00433448  0 -0.00051113 -0.00637988 -0.040324   0.999166       uwb: 0.0            848.229  974.057  
imu_odom_:  1691062593.31866133   0.567426   -0.213084  9.85693    -0.0543285  -0.00532632 0.0735032   0          0.02          pose: 0.40974314    0.221503   0.00433448  0 -0.00106997 -0.00872493 -0.0391023  0.999197       uwb: 0.50017338     848.366  973.126  
imu_odom_:  1691062593.47791387   0.47884    -0.189142  9.88566    -0.056459   -0.00106526 0.0585895   0          0.02          pose: 0.6008754     0.221503   0.00433448  0 -0.000501908-0.00852407 -0.0390052  0.999203       uwb: 0.0            848.366  973.126  
imu_odom_:  1691062593.63818425   0.433351   -0.213084  9.87369    -0.0553937  0           0.0468716   0          0.02          pose: 0.0           0.221503   0.00433448  0 -0.000501908-0.00852407 -0.0390052  0.999203       uwb: 0.0            848.366  973.126  
imu_odom_:  1691062593.78817125   0.464475   -0.260968  9.88805    -0.0553937  -0.00426106 0.0383495   0          0.02          pose: 0.42017823    0.221503   0.00433448  0 0.000485723 -0.00496599 -0.0386363  0.999241       uwb: 0.50131959     848.464  972.051  
imu_odom_:  1691062593.93820198   0.426168   -0.229843  9.89763    -0.0543285  -0.00532632 0.0340885   0          0             pose: 0.0           0.221503   0.00433448  0 0.000485723 -0.00496599 -0.0386363  0.999241       uwb: 0.0            848.464  972.051  
imu_odom_:  1691062593.108862353  0.45011    -0.237026  9.9096     -0.0575243  -0.00532632 0.04048     0          0             pose: 0.0           0.221503   0.00433448  0 0.000485723 -0.00496599 -0.0386363  0.999241       uwb: 0.0            848.464  972.051  
imu_odom_:  1691062593.122806465  0.452504   -0.28491   9.88087    -0.056459   -0.00532632 0.0394148   0          0             pose: 0.21120028    0.221503   0.00433448  0 -0.000783121-0.00354306 -0.0386561  0.999246       uwb: 0.49890478     848.982  971.874  
imu_odom_:  1691062593.136775950  0.435745   -0.220267  9.88566    -0.0543285  -0.00319579 0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -0.000783121-0.00354306 -0.0386561  0.999246       uwb: 0.0            848.982  971.874  
imu_odom_:  1691062593.151835895  0.462081   -0.217872  9.89763    -0.056459   -0.00532632 0.0415453   0          0             pose: 0.0           0.221503   0.00433448  0 -0.000783121-0.00354306 -0.0386561  0.999246       uwb: 0.0            848.982  971.874  
imu_odom_:  1691062593.165778257  0.399832   -0.25618   9.88087    -0.0553937  -0.00213053 0.0383495   0          0             pose: 0.29894740    0.221503   0.00433448  0 -0.00261614 -0.00201146 -0.038669   0.999247       uwb: 0.0            848.982  971.874  
imu_odom_:  1691062593.180890698  0.418985   -0.263362  9.84256    -0.0553937  -0.00319579 0.0383495   0          0             pose: 0.42951377    0.221503   0.00433448  0 -0.00096181 -0.00222023 -0.0386641  0.999249       uwb: 0.49960180     849.063  970.934  
imu_odom_:  1691062593.194864558  0.42138    -0.232238  9.89045    -0.056459   -0.00426106 0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -0.00096181 -0.00222023 -0.0386641  0.999249       uwb: 0.0            849.063  970.934  
imu_odom_:  1691062593.208859708  0.45011    -0.251391  9.91199    -0.0553937  -0.00745685 0.04048     0          0             pose: 0.0           0.221503   0.00433448  0 -0.00096181 -0.00222023 -0.0386641  0.999249       uwb: 0.0            849.063  970.934  
imu_odom_:  1691062593.222781364  0.454898   -0.232238  9.87848    -0.056459   -0.00745685 0.0383495   0          0             pose: 0.43086992    0.221503   0.00433448  0 -0.00148443 -0.00140556 -0.0386743  0.99925        uwb: 0.50139251     848.833  970.616  
imu_odom_:  1691062593.237923261  0.435745   -0.215478  9.90721    -0.0553937  -0.00319579 0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -0.00148443 -0.00140556 -0.0386743  0.99925        uwb: 0.0            848.833  970.616  
imu_odom_:  1691062593.252051109  0.47884    -0.237026  9.9096     -0.0553937  -0.00319579 0.0372843   0          0             pose: 0.0           0.221503   0.00433448  0 -0.00148443 -0.00140556 -0.0386743  0.99925        uwb: 0.0            848.833  970.616  
imu_odom_:  1691062593.266953857  0.399832   -0.246603  9.90242    -0.056459   -0.00426106 0.0383495   0          0             pose: 0.43085826    0.221503   0.00433448  0 -0.000305613-0.00198828 -0.0386923  0.999249       uwb: 0.0            848.833  970.616  
imu_odom_:  1691062593.281948765  0.416591   -0.251391  9.91678    -0.0543285  -0.00532632 0.0415453   0          0             pose: 0.0           0.221503   0.00433448  0 -0.000305613-0.00198828 -0.0386923  0.999249       uwb: 0.49861896     848.618  970.848  
imu_odom_:  1691062593.296050074  0.452504   -0.234632  9.90721    -0.056459   -0.00852212 0.04048     0          0             pose: 0.0           0.221503   0.00433448  0 -0.000305613-0.00198828 -0.0386923  0.999249       uwb: 0.0            848.618  970.848  
imu_odom_:  1691062593.310922783  0.440533   -0.23942   9.86411    -0.0543285  -0.00639159 0.0394148   0          0             pose: 0.44106290    0.221503   0.00433448  0 -0.00198852 -0.000845349-0.0386892  0.999249       uwb: 0.0            848.618  970.848  
imu_odom_:  1691062593.325951230  0.423774   -0.229843  9.8689     -0.056459   -0.00532632 0.04048     0          0             pose: 0.0           0.221503   0.00433448  0 -0.00198852 -0.000845349-0.0386892  0.999249       uwb: 0.49991970     848.767  970.329  
imu_odom_:  1691062593.339908758  0.428562   -0.248997  9.8689     -0.0553937  -0.00319579 0.0383495   0          0             pose: 0.0           0.221503   0.00433448  0 -0.00198852 -0.000845349-0.0386892  0.999249       uwb: 0.0            848.767  970.329  
imu_odom_:  1691062593.353973319  0.414197   -0.248997  9.91918    -0.0532632  -0.00426106 0.0394148   0          0             pose: 0.43866266    0.221503   0.00433448  0 -0.00140703 -0.00121576 -0.0386867  0.99925        uwb: 0.0            848.767  970.329  
imu_odom_:  1691062593.367970219  0.442927   -0.232238  9.89045    -0.0543285  -0.00426106 0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -0.00140703 -0.00121576 -0.0386867  0.99925        uwb: 0.0            848.767  970.329  
imu_odom_:  1691062593.381915498  0.440533   -0.260968  9.91918    -0.0553937  -0.00532632 0.04048     0          0             pose: 0.0           0.221503   0.00433448  0 -0.00140703 -0.00121576 -0.0386867  0.99925        uwb: 0.49980888     848.936  970.088  
imu_odom_:  1691062593.396934904  0.442927   -0.25618   9.88087    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.42016656    0.221503   0.00433448  0 -0.0016997  -0.00157327 -0.0386899  0.999249       uwb: 0.0            848.936  970.088  
imu_odom_:  1691062593.412039179  0.430956   -0.227449  9.89763    -0.0553937  -0.00532632 0.04048     0          0             pose: 0.0           0.221503   0.00433448  0 -0.0016997  -0.00157327 -0.0386899  0.999249       uwb: 0.0            848.936  970.088  
imu_odom_:  1691062593.425878007  0.42138    -0.244209  9.90242    -0.0543285  0           0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -0.0016997  -0.00157327 -0.0386899  0.999249       uwb: 0.50251242     848.705  969.905  
imu_odom_:  1691062593.440759465  0.430956   -0.260968  9.84017    -0.0553937  -0.00639159 0.0372843   0          0             pose: 0.43979717    0.221503   0.00433448  0 -0.00116992 -0.00094845 -0.0386836  0.99925        uwb: 0.0            848.705  969.905  
imu_odom_:  1691062593.455756706  0.42138    -0.225055  9.92636    -0.0553937  -0.00213053 0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -0.00116992 -0.00094845 -0.0386836  0.99925        uwb: 0.0            848.705  969.905  
imu_odom_:  1691062593.469767897  0.445322   -0.260968  9.87129    -0.056459   -0.00532632 0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -0.00116992 -0.00094845 -0.0386836  0.99925        uwb: 0.49637913     848.969  969.683  
imu_odom_:  1691062593.483756339  0.440533   -0.241814  9.8665     -0.0553937  -0.00319579 0.0394148   0          0             pose: 0.43845851    0.221503   0.00433448  0 -0.00199031 -0.00168425 -0.0387045  0.999247       uwb: 0.0            848.969  969.683  
imu_odom_:  1691062593.497814193  0.447716   -0.232238  9.89763    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -0.00199031 -0.00168425 -0.0387045  0.999247       uwb: 0.0            848.969  969.683  
imu_odom_:  1691062593.511810509  0.435745   -0.241814  9.87369    -0.0543285  -0.00532632 0.04048     0          0             pose: 0.0           0.221503   0.00433448  0 -0.00199031 -0.00168425 -0.0387045  0.999247       uwb: 0.0            848.969  969.683  
imu_odom_:  1691062593.525778828  0.447716   -0.253785  9.90481    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.41987784    0.221503   0.00433448  0 -0.000851665-0.00250869 -0.0387083  0.999247       uwb: 0.50127002     848.614  969.749  
imu_odom_:  1691062593.539746855  0.457293   -0.253785  9.91439    -0.0553937  -0.00426106 0.04048     0          0             pose: 0.0           0.221503   0.00433448  0 -0.000851665-0.00250869 -0.0387083  0.999247       uwb: 0.0            848.614  969.749  
imu_odom_:  1691062593.553749005  0.433351   -0.217872  9.90481    -0.0553937  -0.00532632 0.04048     0          0             pose: 0.0           0.221503   0.00433448  0 -0.000851665-0.00250869 -0.0387083  0.999247       uwb: 0.0            848.614  969.749  
imu_odom_:  1691062593.567804817  0.416591   -0.23942   9.88805    -0.0553937  -0.00426106 0.0383495   0          0             pose: 0.49989053    0.221503   0.00433448  0 -0.00054166 -0.00197993 -0.0386957  0.999249       uwb: 0.0            848.614  969.749  
imu_odom_:  1691062593.581812800  0.440533   -0.232238  9.85932    -0.0553937  -0.00639159 0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -0.00054166 -0.00197993 -0.0386957  0.999249       uwb: 0.50000135     848.641  969.617  
imu_odom_:  1691062593.596936323  0.423774   -0.222661  9.90002    -0.056459   -0.00426106 0.0383495   0          0             pose: 0.0           0.221503   0.00433448  0 -0.00054166 -0.00197993 -0.0386957  0.999249       uwb: 0.0            848.641  969.617  
imu_odom_:  1691062593.610827647  0.457293   -0.258574  9.92397    -0.0543285  -0.00319579 0.04048     0          0             pose: 0.6005254     0.221503   0.00433448  0 -0.000836074-0.00145654 -0.0386985  0.99925        uwb: 0.0            848.641  969.617  
imu_odom_:  1691062593.624893376  0.397437   -0.220267  9.91918    -0.056459   -0.00532632 0.04048     0          0             pose: 0.0           0.221503   0.00433448  0 -0.000836074-0.00145654 -0.0386985  0.99925        uwb: 0.49873271     848.758  969.641  
imu_odom_:  1691062593.639893533  0.459687   -0.225055  9.9096     -0.0553937  -0.00319579 0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -0.000836074-0.00145654 -0.0386985  0.99925        uwb: 0.0            848.758  969.641  
imu_odom_:  1691062593.653861852  0.433351   -0.225055  9.88087    -0.0532632  -0.00319579 0.0394148   0          0             pose: 0.71209408    0.221503   0.00433448  0 -0.000674609-0.00106834 -0.0387021  0.99925        uwb: 0.0            848.758  969.641  
imu_odom_:  1691062593.668896715  0.409408   -0.241814  9.87369    -0.0553937  -0.00426106 0.0383495   0          0             pose: 0.0           0.221503   0.00433448  0 -0.000674609-0.00106834 -0.0387021  0.99925        uwb: 0.50116502     848.735  969.636  
imu_odom_:  1691062593.683732677  0.409408   -0.241814  9.90481    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -0.000674609-0.00106834 -0.0387021  0.99925        uwb: 0.0            848.735  969.636  
imu_odom_:  1691062593.697858483  0.414197   -0.229843  9.83777    -0.0553937  -0.00426106 0.04048     0          0             pose: 0.28939603    0.221503   0.00433448  0 -0.00101412 -0.000388685-0.0387074  0.99925        uwb: 0.0            848.735  969.636  
imu_odom_:  1691062593.711854217  0.454898   -0.251391  9.87848    -0.0553937  -0.00639159 0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -0.00101412 -0.000388685-0.0387074  0.99925        uwb: 0.0            848.735  969.636  
imu_odom_:  1691062593.725727168  0.445322   -0.227449  9.89284    -0.0553937  -0.00319579 0.0383495   0          0             pose: 0.43837394    0.221503   0.00433448  0 -0.00190115 -0.00108508 -0.0387089  0.999248       uwb: 0.50171623     848.48   969.447  
imu_odom_:  1691062593.739786771  0.45011    -0.213084  9.87369    -0.056459   -0.00426106 0.0415453   0          0             pose: 0.0           0.221503   0.00433448  0 -0.00190115 -0.00108508 -0.0387089  0.999248       uwb: 0.0            848.48   969.447  
imu_odom_:  1691062593.753725051  0.459687   -0.23942   9.89284    -0.056459   -0.00532632 0.0383495   0          0             pose: 0.0           0.221503   0.00433448  0 -0.00190115 -0.00108508 -0.0387089  0.999248       uwb: 0.0            848.48   969.447  
imu_odom_:  1691062593.767743824  0.433351   -0.232238  9.88805    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.49984387    0.221503   0.00433448  0 -0.000710636-0.00281239 -0.0387166  0.999246       uwb: 0.0            848.48   969.447  
imu_odom_:  1691062593.781799053  0.430956   -0.222661  9.87369    -0.056459   -0.00319579 0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -0.000710636-0.00281239 -0.0387166  0.999246       uwb: 0.49803276     848.167  968.832  
imu_odom_:  1691062593.795790120  0.42138    -0.253785  9.89045    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -0.000710636-0.00281239 -0.0387166  0.999246       uwb: 0.0            848.167  968.832  
imu_odom_:  1691062593.809790228  0.45011    -0.241814  9.88566    -0.0543285  -0.00426106 0.0383495   0          0             pose: 0.6006421     0.221503   0.00433448  0 -0.000824416-0.00222231 -0.0387165  0.999247       uwb: 0.0            848.167  968.832  
imu_odom_:  1691062593.823790920  0.423774   -0.232238  9.92636    -0.0543285  -0.00319579 0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -0.000824416-0.00222231 -0.0387165  0.999247       uwb: 0.49898644     848.147  968.69   
imu_odom_:  1691062593.837731532  0.447716   -0.253785  9.88805    -0.0543285  -0.00426106 0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -0.000824416-0.00222231 -0.0387165  0.999247       uwb: 0.0            848.147  968.69   
imu_odom_:  1691062593.852784477  0.440533   -0.244209  9.93354    -0.0553937  -0.00319579 0.0394148   0          0             pose: 0.70072285    0.221503   0.00433448  0 -0.001375   -0.00148877 -0.0387289  0.999248       uwb: 0.0            848.147  968.69   
imu_odom_:  1691062593.866724507  0.430956   -0.25618   9.89045    -0.0543285  -0.00745685 0.04048     0          0             pose: 0.0           0.221503   0.00433448  0 -0.001375   -0.00148877 -0.0387289  0.999248       uwb: 0.0            848.147  968.69   
imu_odom_:  1691062593.880788193  0.423774   -0.244209  9.90721    -0.0553937  -0.00532632 0.04048     0          0             pose: 0.0           0.221503   0.00433448  0 -0.001375   -0.00148877 -0.0387289  0.999248       uwb: 0.0            848.147  968.69   
imu_odom_:  1691062593.894837298  0.454898   -0.251391  9.91199    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.28986558    0.221503   0.00433448  0 -0.00122743 -0.00131584 -0.0387285  0.999248       uwb: 0.0            848.147  968.69   
imu_odom_:  1691062593.909941280  0.430956   -0.253785  9.88566    -0.0532632  -0.00639159 0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -0.00122743 -0.00131584 -0.0387285  0.999248       uwb: 0.0            848.147  968.69   
imu_odom_:  1691062593.923738696  0.440533   -0.263362  9.89045    -0.0543285  -0.00426106 0.0394148   0          0             pose: 0.41987200    0.221503   0.00433448  0 -0.00201251 -0.00138465 -0.0387183  0.999247       uwb: 0.100232713    848.381  968.738  
imu_odom_:  1691062593.938924631  0.445322   -0.23942   9.89284    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -0.00201251 -0.00138465 -0.0387183  0.999247       uwb: 0.0            848.381  968.738  
imu_odom_:  1691062593.953927413  0.438139   -0.232238  9.89284    -0.0553937  -0.00532632 0.0383495   0          0             pose: 0.0           0.221503   0.00433448  0 -0.00201251 -0.00138465 -0.0387183  0.999247       uwb: 0.0            848.381  968.738  
imu_odom_:  1691062593.967740577  0.433351   -0.23942   9.92157    -0.0553937  -0.00319579 0.04048     0          0             pose: 0.44106290    0.221503   0.00433448  0 -0.000958746-0.00149708 -0.0387294  0.999248       uwb: 0.0            848.381  968.738  
imu_odom_:  1691062593.982866725  0.409408   -0.222661  9.91678    -0.056459   -0.00319579 0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -0.000958746-0.00149708 -0.0387294  0.999248       uwb: 0.49949389     848.178  968.42   
imu_odom_:  1691062593.996793338  0.457293   -0.217872  9.89284    -0.0543285  -0.00426106 0.0383495   0          0             pose: 0.0           0.221503   0.00433448  0 -0.000958746-0.00149708 -0.0387294  0.999248       uwb: 0.0            848.178  968.42   
imu_odom_:  1691062594.11754708   0.411803   -0.25618   9.92397    -0.056459   0           0.0394148   0          0             pose: 0.28934354    0.221503   0.00433448  0 -0.00114718 -0.00134386 -0.0387292  0.999248       uwb: 0.0            848.178  968.42   
imu_odom_:  1691062594.26744952   0.411803   -0.232238  9.91918    -0.0553937  -0.00319579 0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -0.00114718 -0.00134386 -0.0387292  0.999248       uwb: 0.49763032     848.249  968.435  
imu_odom_:  1691062594.41881310   0.454898   -0.237026  9.90481    -0.0543285  -0.00852212 0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -0.00114718 -0.00134386 -0.0387292  0.999248       uwb: 0.0            848.249  968.435  
imu_odom_:  1691062594.55831257   0.459687   -0.229843  9.90481    -0.0553937  -0.00532632 0.0415453   0          0             pose: 0.14939495    0.221503   0.00433448  0 -0.000536533-0.00117608 -0.0387339  0.999249       uwb: 0.0            848.249  968.435  
imu_odom_:  1691062594.70777462   0.464475   -0.251391  9.90242    -0.056459   -0.00532632 0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -0.000536533-0.00117608 -0.0387339  0.999249       uwb: 0.50003934     847.859  968.907  
imu_odom_:  1691062594.155748425  0.454898   -0.277727  9.84017    -0.0553937  -0.00106526 0.0394148   0          0             pose: 0.87959152    0.221503   0.00433448  0 -0.0021513  -0.00257994 -0.0387284  0.999244       uwb: 0.50204878     847.773  968.613  
imu_odom_:  1691062594.169686998  0.409408   -0.237026  9.89763    -0.052198   0           0.04048     0          0             pose: 0.0           0.221503   0.00433448  0 -0.0021513  -0.00257994 -0.0387284  0.999244       uwb: 0.49921400     847.656  968.589  
imu_odom_:  1691062594.183750687  0.399832   -0.222661  9.90481    -0.0553937  -0.00213053 0.0394148   0          0             pose: 0.42984631    0.221503   0.00433448  0 -0.000831735-0.00230313 -0.0387367  0.999246       uwb: 0.0            847.656  968.589  
imu_odom_:  1691062594.197734757  0.418985   -0.213084  9.93833    -0.0543285  -0.00745685 0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -0.000831735-0.00230313 -0.0387367  0.999246       uwb: 0.0            847.656  968.589  
imu_odom_:  1691062594.212791204  0.454898   -0.234632  9.90721    -0.0553937  -0.00639159 0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -0.000831735-0.00230313 -0.0387367  0.999246       uwb: 0.0            847.656  968.589  
imu_odom_:  1691062594.226716653  0.428562   -0.248997  9.9096     -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.42049910    0.221503   0.00433448  0 -0.00246336 -0.00190391 -0.0387247  0.999245       uwb: 0.49936565     847.698  968.736  
imu_odom_:  1691062594.241715938  0.440533   -0.263362  9.90002    -0.0553937  -0.00426106 0.0383495   0          0             pose: 0.0           0.221503   0.00433448  0 -0.00246336 -0.00190391 -0.0387247  0.999245       uwb: 0.0            847.698  968.736  
imu_odom_:  1691062594.255772919  0.438139   -0.251391  9.88326    -0.0553937  -0.00639159 0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -0.00246336 -0.00190391 -0.0387247  0.999245       uwb: 0.0            847.698  968.736  
imu_odom_:  1691062594.269724907  0.438139   -0.229843  9.90002    -0.056459   -0.00532632 0.0394148   0          0             pose: 0.42018996    0.221503   0.00433448  0 -8.48264e-05-0.00143293 -0.0387234  0.999249       uwb: 0.49933648     848.292  968.582  
imu_odom_:  1691062594.284757731  0.452504   -0.253785  9.86411    -0.056459   -0.00532632 0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -8.48264e-05-0.00143293 -0.0387234  0.999249       uwb: 0.0            848.292  968.582  
imu_odom_:  1691062594.299694896  0.428562   -0.253785  9.90002    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -8.48264e-05-0.00143293 -0.0387234  0.999249       uwb: 0.0            848.292  968.582  
imu_odom_:  1691062594.313751585  0.447716   -0.23942   9.88805    -0.056459   -0.00426106 0.0394148   0          0             pose: 0.43956391    0.221503   0.00433448  0 -0.00244222 -0.00191311 -0.0387317  0.999245       uwb: 0.0            848.292  968.582  
imu_odom_:  1691062594.328969895  0.435745   -0.232238  9.88805    -0.056459   -0.00319579 0.04048     0          0             pose: 0.0           0.221503   0.00433448  0 -0.00244222 -0.00191311 -0.0387317  0.999245       uwb: 0.50180380     848.556  967.672  
imu_odom_:  1691062594.342697026  0.423774   -0.222661  9.93594    -0.0543285  0           0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -0.00244222 -0.00191311 -0.0387317  0.999245       uwb: 0.0            848.556  967.672  
imu_odom_:  1691062594.356696552  0.407014   -0.234632  9.87608    -0.056459   -0.00213053 0.0394148   0          0             pose: 0.87086262    0.221503   0.00433448  0 -0.00094046 -0.00112349 -0.0387318  0.999249       uwb: 0.0            848.556  967.672  
imu_odom_:  1691062594.370690830  0.411803   -0.232238  9.89284    -0.056459   -0.00639159 0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -0.00094046 -0.00112349 -0.0387318  0.999249       uwb: 0.49918191     848.617  967.961  
imu_odom_:  1691062594.384697939  0.454898   -0.21069   9.92157    -0.0553937  -0.00639159 0.04048     0          0             pose: 0.0           0.221503   0.00433448  0 -0.00094046 -0.00112349 -0.0387318  0.999249       uwb: 0.0            848.617  967.961  
imu_odom_:  1691062594.399824381  0.435745   -0.251391  9.89045    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.41943168    0.221503   0.00433448  0 -0.000387716-0.00195154 -0.0387324  0.999248       uwb: 0.0            848.617  967.961  
imu_odom_:  1691062594.414820749  0.411803   -0.220267  9.84975    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -0.000387716-0.00195154 -0.0387324  0.999248       uwb: 0.0            848.617  967.961  
imu_odom_:  1691062594.428680870  0.435745   -0.213084  9.90481    -0.0553937  -0.00426106 0.04048     0          0             pose: 0.0           0.221503   0.00433448  0 -0.000387716-0.00195154 -0.0387324  0.999248       uwb: 0.50102511     848.533  968.357  
imu_odom_:  1691062594.442744267  0.440533   -0.237026  9.92636    -0.0543285  -0.00532632 0.04048     0          0             pose: 0.43953474    0.221503   0.00433448  0 -0.000207707-0.00121129 -0.0387268  0.999249       uwb: 0.0            848.533  968.357  
imu_odom_:  1691062594.457734219  0.445322   -0.234632  9.88566    -0.0543285  -0.00639159 0.04048     0          0             pose: 0.0           0.221503   0.00433448  0 -0.000207707-0.00121129 -0.0387268  0.999249       uwb: 0.0            848.533  968.357  
imu_odom_:  1691062594.471694083  0.426168   -0.246603  9.90242    -0.056459   -0.00426106 0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -0.000207707-0.00121129 -0.0387268  0.999249       uwb: 0.49785785     848.678  968.25   
imu_odom_:  1691062594.485797435  0.433351   -0.237026  9.88805    -0.0543285  -0.00532632 0.0394148   0          0             pose: 0.43030711    0.221503   0.00433448  0 -0.000786272-0.00264966 -0.0387102  0.999247       uwb: 0.0            848.678  968.25   
imu_odom_:  1691062594.500680937  0.428562   -0.23942   9.92157    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -0.000786272-0.00264966 -0.0387102  0.999247       uwb: 0.0            848.678  968.25   
imu_odom_:  1691062594.514741417  0.457293   -0.244209  9.90002    -0.056459   -0.00532632 0.04048     0          0             pose: 0.0           0.221503   0.00433448  0 -0.000786272-0.00264966 -0.0387102  0.999247       uwb: 0.0            848.678  968.25   
imu_odom_:  1691062594.528738028  0.433351   -0.253785  9.88566    -0.0553937  -0.00639159 0.0394148   0          0             pose: 0.43007380    0.221503   0.00433448  0 -0.00159494 -0.00262149 -0.0387093  0.999246       uwb: 0.50037474     848.317  967.759  
imu_odom_:  1691062594.543795641  0.447716   -0.234632  9.87848    -0.0575243  -0.00319579 0.04048     0          0             pose: 0.0           0.221503   0.00433448  0 -0.00159494 -0.00262149 -0.0387093  0.999246       uwb: 0.0            848.317  967.759  
imu_odom_:  1691062594.557792544  0.454898   -0.217872  9.91199    -0.056459   -0.00426106 0.04048     0          0             pose: 0.0           0.221503   0.00433448  0 -0.00159494 -0.00262149 -0.0387093  0.999246       uwb: 0.0            848.317  967.759  
imu_odom_:  1691062594.572717751  0.462081   -0.246603  9.88805    -0.0553937  -0.00532632 0.0383495   0          0             pose: 0.43003880    0.221503   0.00433448  0 -0.000113033-0.00277508 -0.0386999  0.999247       uwb: 0.50021725     848.626  967.687  
imu_odom_:  1691062594.587884148  0.418985   -0.241814  9.90721    -0.0543285  -0.00532632 0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -0.000113033-0.00277508 -0.0386999  0.999247       uwb: 0.0            848.626  967.687  
imu_odom_:  1691062594.602749859  0.457293   -0.217872  9.89284    -0.0553937  -0.00426106 0.04048     0          0             pose: 0.0           0.221503   0.00433448  0 -0.000113033-0.00277508 -0.0386999  0.999247       uwb: 0.0            848.626  967.687  
imu_odom_:  1691062594.616757552  0.435745   -0.19393   9.84975    -0.0553937  -0.00639159 0.0394148   0          0             pose: 0.44081798    0.221503   0.00433448  0 -0.000874667-0.00205142 -0.0387     0.999248       uwb: 0.0            848.626  967.687  
imu_odom_:  1691062594.631667302  0.438139   -0.246603  9.90721    -0.0543285  -0.00639159 0.0415453   0          0             pose: 0.0           0.221503   0.00433448  0 -0.000874667-0.00205142 -0.0387     0.999248       uwb: 0.50117676     848.631  967.55   
imu_odom_:  1691062594.645733615  0.442927   -0.237026  9.86411    -0.0553937  -0.00319579 0.04048     0          0             pose: 0.0           0.221503   0.00433448  0 -0.000874667-0.00205142 -0.0387     0.999248       uwb: 0.0            848.631  967.55   
imu_odom_:  1691062594.660659114  0.409408   -0.237026  9.90242    -0.0553937  -0.00532632 0.04048     0          0             pose: 0.43837400    0.221503   0.00433448  0 -0.00124597 -0.0019986  -0.0386807  0.999249       uwb: 0.0            848.631  967.55   
imu_odom_:  1691062594.674799214  0.462081   -0.241814  9.87129    -0.0575243  -0.00532632 0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -0.00124597 -0.0019986  -0.0386807  0.999249       uwb: 0.50048848     848.659  967.417  
imu_odom_:  1691062594.689795290  0.428562   -0.237026  9.90481    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -0.00124597 -0.0019986  -0.0386807  0.999249       uwb: 0.0            848.659  967.417  
imu_odom_:  1691062594.703662702  0.414197   -0.244209  9.91199    -0.0553937  -0.00532632 0.04048     0          0             pose: 0.43134828    0.221503   0.00433448  0 -0.00133232 -0.00173694 -0.0386709  0.99925        uwb: 0.0            848.659  967.417  
imu_odom_:  1691062594.718656737  0.433351   -0.222661  9.89763    -0.0543285  -0.00532632 0.04048     0          0             pose: 0.0           0.221503   0.00433448  0 -0.00133232 -0.00173694 -0.0386709  0.99925        uwb: 0.49906234     848.792  967.031  
imu_odom_:  1691062594.733657480  0.428562   -0.25618   9.89284    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -0.00133232 -0.00173694 -0.0386709  0.99925        uwb: 0.0            848.792  967.031  
imu_odom_:  1691062594.747713003  0.438139   -0.222661  9.88805    -0.056459   -0.00958738 0.04048     0          0             pose: 0.44003346    0.221503   0.00433448  0 -0.0016461  -0.00112337 -0.0386582  0.999251       uwb: 0.0            848.792  967.031  
imu_odom_:  1691062594.762711121  0.457293   -0.234632  9.90242    -0.056459   -0.00852212 0.04048     0          0             pose: 0.0           0.221503   0.00433448  0 -0.0016461  -0.00112337 -0.0386582  0.999251       uwb: 0.0            848.792  967.031  
imu_odom_:  1691062594.776710065  0.445322   -0.246603  9.92636    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -0.0016461  -0.00112337 -0.0386582  0.999251       uwb: 0.49841780     848.815  967.037  
imu_odom_:  1691062594.790857164  0.45011    -0.253785  9.90002    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.28858531    0.221503   0.00433448  0 -0.00114644 -0.00225768 -0.0386524  0.99925        uwb: 0.0            848.815  967.037  
imu_odom_:  1691062594.805747082  0.440533   -0.222661  9.88087    -0.0553937  -0.00426106 0.0383495   0          0             pose: 0.0           0.221503   0.00433448  0 -0.00114644 -0.00225768 -0.0386524  0.99925        uwb: 0.0            848.815  967.037  
imu_odom_:  1691062594.820800612  0.447716   -0.227449  9.86411    -0.0543285  -0.00639159 0.0383495   0          0             pose: 0.0           0.221503   0.00433448  0 -0.00114644 -0.00225768 -0.0386524  0.99925        uwb: 0.50000435     849.183  967.255  
imu_odom_:  1691062594.834825512  0.426168   -0.246603  9.91439    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.14992869    0.221503   0.00433448  0 -0.00140772 -0.00265759 -0.0386484  0.999248       uwb: 0.0            849.183  967.255  
imu_odom_:  1691062594.849654477  0.409408   -0.232238  9.9096     -0.0553937  -0.00319579 0.0383495   0          0             pose: 0.0           0.221503   0.00433448  0 -0.00140772 -0.00265759 -0.0386484  0.999248       uwb: 0.0            849.183  967.255  
imu_odom_:  1691062594.863660420  0.457293   -0.234632  9.87369    -0.0553937  -0.00426106 0.0372843   0          0             pose: 0.0           0.221503   0.00433448  0 -0.00140772 -0.00265759 -0.0386484  0.999248       uwb: 0.0            849.183  967.255  
imu_odom_:  1691062594.877720900  0.428562   -0.229843  9.89763    -0.0543285  -0.00426106 0.0394148   0          0             pose: 0.43169825    0.221503   0.00433448  0 -0.000761274-0.00226946 -0.0386648  0.999249       uwb: 0.50157924     849.136  967.245  
imu_odom_:  1691062594.922670342  0.42138    -0.225055  9.88326    -0.0553937  -0.00639159 0.0394148   0          0             pose: 0.86915358    0.221503   0.00433448  0 -0.000921111-0.00132656 -0.0386934  0.99925        uwb: 0.49981186     849.141  967.108  
imu_odom_:  1691062594.937643962  0.435745   -0.237026  9.87369    -0.0543285  -0.00426106 0.04048     0          0             pose: 0.0           0.221503   0.00433448  0 -0.000921111-0.00132656 -0.0386934  0.99925        uwb: 0.0            849.141  967.108  
imu_odom_:  1691062594.951641447  0.433351   -0.251391  9.88566    -0.0553937  -0.00532632 0.0383495   0          0             pose: 0.0           0.221503   0.00433448  0 -0.000921111-0.00132656 -0.0386934  0.99925        uwb: 0.0            849.141  967.108  
imu_odom_:  1691062594.966698477  0.42138    -0.244209  9.85453    -0.0543285  -0.00426106 0.0394148   0          0             pose: 0.44904819    0.221503   0.00433448  0 -0.00197705 -0.00146106 -0.0386943  0.999248       uwb: 0.0            849.141  967.108  
imu_odom_:  1691062594.981704762  0.423774   -0.25618   9.87129    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -0.00197705 -0.00146106 -0.0386943  0.999248       uwb: 0.49839447     849.089  967.234  
imu_odom_:  1691062594.995693789  0.409408   -0.232238  9.85453    -0.0543285  -0.00532632 0.04048     0          0             pose: 0.0           0.221503   0.00433448  0 -0.00197705 -0.00146106 -0.0386943  0.999248       uwb: 0.0            849.089  967.234  
imu_odom_:  1691062595.10649037   0.423774   -0.25618   9.90002    -0.0532632  -0.00426106 0.0394148   0          0             pose: 0.43993722    0.221503   0.00433448  0 -0.00217027 -0.000845842-0.0386972  0.999248       uwb: 0.0            849.089  967.234  
imu_odom_:  1691062595.24638358   0.426168   -0.248997  9.87369    -0.0553937  -0.00319579 0.0383495   0          0             pose: 0.0           0.221503   0.00433448  0 -0.00217027 -0.000845842-0.0386972  0.999248       uwb: 0.50053517     848.786  967.168  
imu_odom_:  1691062595.38631179   0.428562   -0.234632  9.90721    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -0.00217027 -0.000845842-0.0386972  0.999248       uwb: 0.0            848.786  967.168  
imu_odom_:  1691062595.53634841   0.426168   -0.205901  9.90721    -0.0575243  -0.00426106 0.04048     0          0             pose: 0.42996301    0.221503   0.00433448  0 -0.000905798-0.00143427 -0.0387063  0.999249       uwb: 0.0            848.786  967.168  
imu_odom_:  1691062595.68690999   0.430956   -0.244209  9.89763    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -0.000905798-0.00143427 -0.0387063  0.999249       uwb: 0.50062271     848.872  966.773  
imu_odom_:  1691062595.82643573   0.428562   -0.213084  9.91439    -0.0543285  -0.00532632 0.04048     0          0             pose: 0.0           0.221503   0.00433448  0 -0.000905798-0.00143427 -0.0387063  0.999249       uwb: 0.0            848.872  966.773  
imu_odom_:  1691062595.97634694   0.462081   -0.232238  9.91918    -0.0553937  -0.00639159 0.0383495   0          0             pose: 0.44008894    0.221503   0.00433448  0 -0.000233384-0.00127567 -0.038701   0.99925        uwb: 0.0            848.872  966.773  
imu_odom_:  1691062595.111639472  0.411803   -0.234632  9.89763    -0.056459   -0.00426106 0.04048     0          0             pose: 0.0           0.221503   0.00433448  0 -0.000233384-0.00127567 -0.038701   0.99925        uwb: 0.0            848.872  966.773  
imu_odom_:  1691062595.125635793  0.42138    -0.237026  9.88087    -0.0585895  -0.00532632 0.04048     0          0             pose: 0.0           0.221503   0.00433448  0 -0.000233384-0.00127567 -0.038701   0.99925        uwb: 0.49875327     848.864  967.599  
imu_odom_:  1691062595.140638580  0.438139   -0.260968  9.91199    -0.0553937  -0.00532632 0.04048     0          0             pose: 0.42993095    0.221503   0.00433448  0 -0.00137705 -0.000775448-0.0386943  0.99925        uwb: 0.0            848.864  967.599  
imu_odom_:  1691062595.155700570  0.440533   -0.253785  9.87129    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -0.00137705 -0.000775448-0.0386943  0.99925        uwb: 0.0            848.864  967.599  
imu_odom_:  1691062595.169684350  0.440533   -0.234632  9.90002    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -0.00137705 -0.000775448-0.0386943  0.99925        uwb: 0.50184470     848.789  967.721  
imu_odom_:  1691062595.184630850  0.426168   -0.23942   9.89763    -0.0543285  -0.00532632 0.0383495   0          0             pose: 0.44057890    0.221503   0.00433448  0 -0.0015101  -0.00168593 -0.0386891  0.999249       uwb: 0.0            848.789  967.721  
imu_odom_:  1691062595.198627462  0.445322   -0.258574  9.9096     -0.056459   -0.00532632 0.0383495   0          0             pose: 0.0           0.221503   0.00433448  0 -0.0015101  -0.00168593 -0.0386891  0.999249       uwb: 0.0            848.789  967.721  
imu_odom_:  1691062595.213690036  0.418985   -0.244209  9.87608    -0.056459   -0.00532632 0.0426106   0          0             pose: 0.0           0.221503   0.00433448  0 -0.0015101  -0.00168593 -0.0386891  0.999249       uwb: 0.0            848.789  967.721  
imu_odom_:  1691062595.228738028  0.426168   -0.220267  9.89524    -0.0553937  -0.00426106 0.04048     0          0             pose: 0.36927177    0.221503   0.00433448  0 -0.00194447 -0.00180531 -0.0387064  0.999247       uwb: 0.49946197     848.705  968.117  
imu_odom_:  1691062595.243732648  0.433351   -0.217872  9.83538    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.0           0.221503   0.00433448  0 -0.00194447 -0.00180531 -0.0387064  0.999247       uwb: 0.0            848.705  968.117  
imu_odom_:  1691062595.257635643  0.45011    -0.258574  9.87848    -0.0553937  -0.00532632 0.04048     0          0             pose: 0.6045503     0.221503   0.00433448  0 -0.00173401 -0.00124216 -0.0386966  0.999249       uwb: 0.0            848.705  968.117