[0m[ INFO] [1617214189.353290225]: [1;32m---->[0m Map Loader Started.[0m
[0m[ INFO] [1617214189.383261342]: x0y: 0z: 0roll: 0 pitch: 0yaw: 0[0m
[0m[ INFO] [1617214189.543878364]: base_frame_id: base_link[0m
[0m[ INFO] [1617214189.558693275]: trans_epsilon: 0.050000, step_size: 0.100000, resolution: 2.000000, max_iterations: 30[0m
thisUtm.pose.pose.position.x=243621.961906387   thisUtm.pose.pose.position.y=3378389.62925714   thisUtm.pose.pose.position.z=23.7277
Not Converged
delta x: 0.527138113975525 y: 0.66362190246582 z: 0.044292688369751
delta yaw: 3.13879442214966 pitch: -3.08891010284424 roll: -3.12895107269287
x= 0.384062767028809
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------------------------------------------------
align_time: 52.988ms
exe_time: 53.031ms
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[0m[ INFO] [1617214226.440257456]: zone: 50N[0m
yaw-2.0028
send data=-1
fix.longitude=114.328486903211
fix.latitude=30.5104809749941
Not Converged
delta x: 0.654579162597656 y: 0.148697078227997 z: -0.133138179779053
delta yaw: 0.0202465429902077 pitch: -0.0243736915290356 roll: 0.00362961716018617
x= 0.244037568569183
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------------------------------------------------
align_time: 29.621ms
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[0m[ INFO] [1617214226.493037833]: zone: 50N[0m
yaw-1.98280769013756
send data=-1
fix.longitude=114.328485608926
fix.latitude=30.5104749701068
Not Converged
delta x: 0.738041281700134 y: 0.38309246301651 z: -0.0717789381742477
delta yaw: 0.0439646802842617 pitch: -0.000721722841262817 roll: 0.00761432154104114
x= 0.299324482679367
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------------------------------------------------
align_time: 19.137ms
exe_time: 19.163ms
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iter_num: 8
skipping_publish_num: 3
[0m[ INFO] [1617214226.562856022]: zone: 50N[0m
yaw-1.93872305913469
send data=-1
fix.longitude=114.32848638988
fix.latitude=30.5104674753918
delta x: 0.962538719177246 y: -0.0406428575515747 z: -0.0501177906990051
delta yaw: 0.068460151553154 pitch: 0.00761811388656497 roll: 0.00190803979057819
x= -0.0842591971158981
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------------------------------------------------
align_time: 16.201ms
exe_time: 16.223ms
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iter_num: 8
skipping_publish_num: 0
[0m[ INFO] [1617214226.649871781]: zone: 50N[0m
yaw-1.86995036415916
send data=-1
fix.longitude=114.328482614722
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delta x: 0.933542490005493 y: 0.0137279629707336 z: -0.0536840260028839
delta yaw: 0.0791234970092773 pitch: 1.9371509552002e-05 roll: 0.00594109063968062
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------------------------------------------------
align_time: 28.386ms
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[0m[ INFO] [1617214226.772249235]: zone: 50N[0m
yaw-1.79062398193656
send data=-1
fix.longitude=114.328480112535
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delta x: 1.52448296546936 y: -0.538904130458832 z: -0.146493375301361
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x= -1.20345950126648
y=-5.41154336929321
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------------------------------------------------
align_time: 32.942ms
exe_time: 32.969ms
trans_prob: 4.67448759078979
iter_num: 12
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[0m[ INFO] [1617214226.855177113]: zone: 50N[0m
yaw-1.73159849643502
send data=-1
fix.longitude=114.328471524297
fix.latitude=30.5104386660312
delta x: 0.0209379196166992 y: -0.0077594518661499 z: 0.00322562456130981
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x= -1.21449327468872
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------------------------------------------------
align_time: 51.003ms
exe_time: 51.065ms
trans_prob: 4.68882751464844
iter_num: 18
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[0m[ INFO] [1617214226.996280502]: zone: 50N[0m
yaw-1.73031956892038
send data=-1
fix.longitude=114.328471414139
fix.latitude=30.5104384914661
delta x: 0.00541114807128906 y: 0.0930699408054352 z: 0.00739428400993347
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------------------------------------------------
align_time: 11.377ms
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[0m[ INFO] [1617214227.039887451]: zone: 50N[0m
yaw-1.73313494270549
send data=-1
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delta x: -0.0297174453735352 y: -0.0257082879543304 z: -0.00178882479667664
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[0m[ INFO] [1617214227.129348244]: zone: 50N[0m
yaw-1.7335373171821
send data=-1
fix.longitude=114.328472143578
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------------------------------------------------
align_time: 14.779ms
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delta x: 0.0068974494934082 y: 0.00241851806640625 z: -0.00623166561126709
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x= -1.14276337623596
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------------------------------------------------
align_time: 32.455ms
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[0m[ INFO] [1617214227.268183775]: zone: 50N[0m
yaw-1.7327461446951
send data=-1
fix.longitude=114.32847215937
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delta x: -0.013329029083252 y: 0.00680416822433472 z: 0.00298425555229187
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x= -1.13393461704254
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------------------------------------------------
align_time: 10.471ms
exe_time: 10.495ms
trans_prob: 4.71049642562866
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[0m[ INFO] [1617214227.321950623]: zone: 50N[0m
yaw-1.73538991391556
send data=-1
fix.longitude=114.328472248257
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------------------------------------------------
align_time: 13.707ms
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[0m[ INFO] [1617214227.403194973]: zone: 50N[0m
yaw-1.73301628525776
send data=-1
fix.longitude=114.328471837975
fix.latitude=30.5104388848702
delta x: -0.00221109390258789 y: 0.051017701625824 z: -0.00505200028419495
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x= -1.12201547622681
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------------------------------------------------
align_time: 6.27ms
exe_time: 6.293ms
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[0m[ INFO] [1617214227.494878625]: zone: 50N[0m
yaw-1.73340088328803
send data=-1
fix.longitude=114.328472367953
fix.latitude=30.5104388381465
delta x: 0.027402400970459 y: -0.0649324506521225 z: -0.00281795859336853
delta yaw: 0.00228103739209473 pitch: -0.000268794596195221 roll: 2.69000611297088e-05
x= -1.19048547744751
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------------------------------------------------
align_time: 6.431ms
exe_time: 6.452ms
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iter_num: 2
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[0m[ INFO] [1617214227.561565299]: zone: 50N[0m
yaw-1.7311196523414
send data=-1
fix.longitude=114.328471659276
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delta x: 0.0179409980773926 y: 0.0168842375278473 z: 0.00748133659362793
delta yaw: 3.14136910438538 pitch: 3.14071440696716 roll: 3.14110255241394
[0m[ INFO] [1617214227.728316985]: zone: 50N[0m
yaw-1.73132298088252
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------------------------------------------------
align_time: 46.415ms
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delta x: 0.0544824600219727 y: 0.0191343724727631 z: 0.0027657151222229
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------------------------------------------------
align_time: 13.623ms
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[0m[ INFO] [1617214227.770774725]: zone: 50N[0m
yaw-1.73203363250858
send data=-1
fix.longitude=114.328471927013
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------------------------------------------------
align_time: 14.412ms
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[0m[ INFO] [1617214227.868646755]: zone: 50N[0m
yaw-1.73277994535497
send data=-1
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x= -1.17765522003174
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[0m[ INFO] [1617214227.929957646]: zone: 50N[0m
yaw-1.73224466853256
send data=-1
fix.longitude=114.328471794488
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------------------------------------------------
align_time: 10.57ms
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x= -1.20702362060547
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------------------------------------------------
align_time: 45.208ms
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[0m[ INFO] [1617214228.101961803]: zone: 50N[0m
yaw-1.73252364345192
send data=-1
fix.longitude=114.328471483348
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------------------------------------------------
align_time: 19.089ms
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[0m[ INFO] [1617214228.146485225]: zone: 50N[0m
yaw-1.73161012896624
send data=-1
fix.longitude=114.328471831273
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------------------------------------------------
align_time: 9.988ms
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[0m[ INFO] [1617214228.240986766]: zone: 50N[0m
yaw-1.7329100596914
send data=-1
fix.longitude=114.328472091129
fix.latitude=30.5104381612011
Not Converged
delta x: -0.0757451057434082 y: -0.0272084474563599 z: -0.0204886794090271
delta yaw: 3.13930463790894 pitch: -3.13855218887329 roll: -3.14038753509521
x= -1.16484332084656
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------------------------------------------------
align_time: 92.24ms
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[0m[ INFO] [1617214228.394457173]: zone: 50N[0m
yaw-1.73527445028725
send data=-1
fix.longitude=114.328471921412
fix.latitude=30.5104388535827
Not Converged
delta x: 0.00112009048461914 y: -0.0560343861579895 z: -0.0221965909004211
delta yaw: 0.00143710675183684 pitch: -0.00250164675526321 roll: -0.000642320897895843
x= -1.22008299827576
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------------------------------------------------
align_time: 91.704ms
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[0m[ INFO] [1617214228.486675788]: zone: 50N[0m
yaw-1.73389281111614
send data=-1
fix.longitude=114.328471344836
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x= -1.19505786895752
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------------------------------------------------
align_time: 8.1ms
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[0m[ INFO] [1617214228.530732307]: zone: 50N[0m
yaw-1.73065245722123
send data=-1
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------------------------------------------------
align_time: 13.412ms
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[0m[ INFO] [1617214228.574476422]: zone: 50N[0m
yaw-1.731946147587
send data=-1
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[0m[ INFO] [1617214228.668516378]: zone: 50N[0m
yaw-1.73078363085422
send data=-1
fix.longitude=114.328471770102
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------------------------------------------------
align_time: 13.421ms
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------------------------------------------------
align_time: 11.269ms
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[0m[ INFO] [1617214228.786567722]: zone: 50N[0m
yaw-1.73345102827284
send data=-1
fix.longitude=114.328472153764
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x= -1.19969356060028
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------------------------------------------------
align_time: 14.5ms
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[0m[ INFO] [1617214228.875116904]: zone: 50N[0m
yaw-1.73041501867253
send data=-1
fix.longitude=114.328471556456
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x= -1.24963355064392
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------------------------------------------------
align_time: 11.934ms
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[0m[ INFO] [1617214228.937049644]: zone: 50N[0m
yaw-1.73037539280776
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------------------------------------------------
align_time: 38.367ms
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[0m[ INFO] [1617214229.087256997]: zone: 50N[0m
yaw-1.72980350304019
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------------------------------------------------
align_time: 13.645ms
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[0m[ INFO] [1617214229.130801084]: zone: 50N[0m
yaw-1.73061695964536
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x= -1.15171360969543
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[0m[ INFO] [1617214229.208529871]: zone: 50N[0m
yaw-1.73323891055705
send data=-1
fix.longitude=114.328472056211
fix.latitude=30.5104389255064
------------------------------------------------
align_time: 11.324ms
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------------------------------------------------
align_time: 9.157ms
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[0m[ INFO] [1617214229.301512676]: zone: 50N[0m
yaw-1.73316871366751
send data=-1
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yaw-1.75090021135139
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------------------------------------------------
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[0m[ INFO] [1617214267.155682170]: zone: 50N[0m
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------------------------------------------------
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------------------------------------------------
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------------------------------------------------
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------------------------------------------------
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------------------------------------------------
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------------------------------------------------
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[0m[ INFO] [1617214267.726479685]: zone: 50N[0m
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------------------------------------------------
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[0m[ INFO] [1617214267.872576289]: zone: 50N[0m
yaw-1.76463927662695
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------------------------------------------------
align_time: 13.671ms
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[0m[ INFO] [1617214267.914685816]: zone: 50N[0m
yaw-1.76486686683073
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------------------------------------------------
align_time: 47.833ms
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[0m[ INFO] [1617214268.084712082]: zone: 50N[0m
yaw-1.76753911541046
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------------------------------------------------
align_time: 22.142ms
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[0m[ INFO] [1617214268.126918449]: zone: 50N[0m
yaw-1.76761580544753
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fix.longitude=114.328250079011
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delta x: 0.613166809082031 y: -0.0626885890960693 z: -0.0403480529785156
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------------------------------------------------
align_time: 18.089ms
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[0m[ INFO] [1617214268.209328770]: zone: 50N[0m
yaw-1.76820532154229
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fix.longitude=114.328248345935
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x= -25.6399097442627
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------------------------------------------------
align_time: 12.139ms
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[0m[ INFO] [1617214268.256833393]: zone: 50N[0m
yaw-1.77048094346134
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fix.longitude=114.328246852481
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delta x: 0.626815795898438 y: 0.039880782365799 z: -0.0534791946411133
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x= -25.7241287231445
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------------------------------------------------
align_time: 20.417ms
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[0m[ INFO] [1617214268.376566276]: zone: 50N[0m
yaw-1.77467815943913
send data=-1
fix.longitude=114.328246129792
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delta x: 0.688873291015625 y: 0.0447453260421753 z: -0.0618295669555664
delta yaw: 3.13935780525208 pitch: 3.14065790176392 roll: 3.14024758338928
x= -25.8184852600098
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------------------------------------------------
align_time: 20.44ms
exe_time: 20.476ms
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[0m[ INFO] [1617214268.461457949]: zone: 50N[0m
yaw-1.77689097021674
send data=-1
fix.longitude=114.328245316836
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delta x: 0.761154174804688 y: -0.0404216051101685 z: -0.0496330261230469
delta yaw: 3.14030361175537 pitch: -3.14108085632324 roll: -3.1395525932312
x= -26.0126838684082
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z=1.57134437561035
------------------------------------------------
align_time: 20.409ms
exe_time: 20.447ms
trans_prob: 4.34475469589233
iter_num: 2
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[0m[ INFO] [1617214268.556886592]: zone: 50N[0m
yaw-1.77819927476195
send data=-1
fix.longitude=114.328243477294
fix.latitude=30.5093283960646
delta x: 0.727691650390625 y: 0.0678011775016785 z: -0.063847541809082
delta yaw: 3.13967800140381 pitch: -3.14102840423584 roll: 3.14099311828613
x= -26.0947666168213
y=-128.723693847656
z=1.57045996189117
------------------------------------------------
align_time: 12.466ms
exe_time: 12.498ms
trans_prob: 4.40662717819214
iter_num: 2
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[0m[ INFO] [1617214268.651036213]: zone: 50N[0m
yaw-1.78013765669456
send data=-1
fix.longitude=114.328242802567
fix.latitude=30.5093218071111
delta x: 0.700942993164062 y: -0.0667427778244019 z: -0.0242109298706055
delta yaw: 3.14107704162598 pitch: 3.14137721061707 roll: -3.14026641845703
x= -26.3048896789551
y=-129.395370483398
z=1.60295033454895
------------------------------------------------
align_time: 15.999ms
exe_time: 16.022ms
trans_prob: 4.48110961914062
iter_num: 2
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[0m[ INFO] [1617214268.740407456]: zone: 50N[0m
yaw-1.78064809805535
send data=-1
fix.longitude=114.328240780725
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delta x: 0.682159423828125 y: -0.0102962851524353 z: -0.0587835311889648
delta yaw: 3.14155292510986 pitch: -3.14115715026855 roll: -3.13820242881775
x= -26.4557113647461
y=-130.063323974609
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------------------------------------------------
align_time: 9.855ms
exe_time: 9.882ms
trans_prob: 4.61474132537842
iter_num: 2
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[0m[ INFO] [1617214268.820139534]: zone: 50N[0m
yaw-1.78070239647346
send data=-1
fix.longitude=114.328239375326
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delta x: 0.75152587890625 y: 0.038033664226532 z: -0.0658206939697266
delta yaw: 0.0030759007204324 pitch: 0.000568918942008168 roll: -0.00141402787994593
x= -26.5733814239502
[0m[ INFO] [1617214268.910950214]: zone: 50N[0m
yaw-1.77759715019812
send data=-1
y=-130.809463500977
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fix.longitude=114.328238334339
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------------------------------------------------
align_time: 9.769ms
exe_time: 9.791ms
trans_prob: 4.56160688400269
iter_num: 2
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delta x: 0.712554931640625 y: 0.00134342908859253 z: -0.0494384765625
delta yaw: 3.1410870552063 pitch: -3.14044404029846 roll: -3.14000034332275
x= -26.7170429229736
y=-131.509033203125
z=1.61020815372467
------------------------------------------------
align_time: 14.175ms
exe_time: 14.209ms
trans_prob: 4.67965412139893
iter_num: 2
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[0m[ INFO] [1617214269.020332734]: zone: 50N[0m
yaw-1.77814382391522
send data=-1
fix.longitude=114.328237011279
fix.latitude=30.509296566999
delta x: 0.668121337890625 y: -0.0287021994590759 z: -0.0491399765014648
delta yaw: 0.000273336219834164 pitch: -4.42191994807217e-05 roll: -0.00126762082800269
x= -26.8812999725342
y=-132.159103393555
z=1.61676812171936
------------------------------------------------
align_time: 9.827ms
exe_time: 9.848ms
trans_prob: 4.55988597869873
iter_num: 2
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[0m[ INFO] [1617214269.087521736]: zone: 50N[0m
yaw-1.77787128713602
send data=-1
fix.longitude=114.328235461601
fix.latitude=30.509290672148
delta x: 0.764495849609375 y: -0.112204968929291 z: -0.0345430374145508
delta yaw: 0.00245374930091202 pitch: 0.000818498490843922 roll: 0.000173554799403064
x= -27.1471519470215
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------------------------------------------------
align_time: 22.065ms
exe_time: 22.128ms
trans_prob: 4.59640073776245
iter_num: 2
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[0m[ INFO] [1617214269.220962202]: zone: 50N[0m
yaw-1.77538172120167
send data=-1
fix.longitude=114.328232872953
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delta x: 0.618972778320312 y: -0.0992516949772835 z: -0.0316991806030273
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x= -27.3691082000732
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[0m[ INFO] [1617214269.297991261]: zone: 50N[0m
yaw-1.77295307055596
send data=-1
fix.longitude=114.328230707009
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------------------------------------------------
align_time: 16.222ms
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trans_prob: 4.7180347442627
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delta x: 0.47613525390625 y: 0.173487603664398 z: -0.0343160629272461
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------------------------------------------------
align_time: 13.97ms
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[0m[ INFO] [1617214269.389053400]: zone: 50N[0m
yaw-1.77474673018117
send data=-1
fix.longitude=114.328231614804
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delta x: 0.8731689453125 y: -0.125038221478462 z: -0.0534400939941406
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[0m[ INFO] [1617214269.575764655]: zone: 50N[0m
yaw-1.7705494221089
send data=-1
fix.longitude=114.328228721601
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------------------------------------------------
align_time: 63.025ms
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trans_prob: 4.71382331848145
iter_num: 6
skipping_publish_num: 0
delta x: 0.623077392578125 y: -0.0299145579338074 z: -0.0257272720336914
delta yaw: 0.00169983098749071 pitch: -5.4970383644104e-05 roll: -0.000601959764026105
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------------------------------------------------
align_time: 16.171ms
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trans_prob: 4.70304870605469
iter_num: 4
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[0m[ INFO] [1617214269.622466543]: zone: 50N[0m
yaw-1.76884630388005
send data=-1
fix.longitude=114.328227287631
fix.latitude=30.5092611765021
delta x: 0.715805053710938 y: 0.0208920836448669 z: -0.0566892623901367
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------------------------------------------------
align_time: 14.115ms
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trans_prob: 4.92673540115356
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[0m[ INFO] [1617214269.669942746]: zone: 50N[0m
yaw-1.76722880204711
send data=-1
fix.longitude=114.328226224213
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delta x: 0.7333984375 y: 0.111158490180969 z: -0.0854806900024414
delta yaw: 3.13946938514709 pitch: 3.14113759994507 roll: -3.14136958122253
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------------------------------------------------
align_time: 48.222ms
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trans_prob: 4.84866189956665
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[0m[ INFO] [1617214269.829361639]: zone: 50N[0m
yaw-1.76934204966827
send data=-1
fix.longitude=114.328226074819
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delta yaw: 0.00146003731060773 pitch: -0.000256545812590048 roll: -6.78247452015057e-05
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------------------------------------------------
align_time: 14.935ms
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[0m[ INFO] [1617214269.870623224]: zone: 50N[0m
yaw-1.76788709172569
send data=-1
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delta yaw: 0.0048249214887619 pitch: 0.000659160315990448 roll: -0.00168069719802588
x= -28.3833770751953
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------------------------------------------------
align_time: 11.004ms
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[0m[ INFO] [1617214269.917894636]: zone: 50N[0m
yaw-1.76302400775708
send data=-1
fix.longitude=114.328221290905
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delta x: 0.848846435546875 y: 0.0506114959716797 z: -0.0455541610717773
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[0m[ INFO] [1617214270.017008648]: zone: 50N[0m
yaw-1.76335748468905
send data=-1
fix.longitude=114.32822034208
fix.latitude=30.5092291135523
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------------------------------------------------
align_time: 20.556ms
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skipping_publish_num: 0
delta x: 0.653213500976562 y: 0.0190383195877075 z: -0.0459613800048828
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------------------------------------------------
align_time: 18.615ms
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[0m[ INFO] [1617214270.119893220]: zone: 50N[0m
yaw-1.76183902070435
send data=-1
fix.longitude=114.328219406766
fix.latitude=30.5092232632317
Not Converged
delta x: 0.622283935546875 y: -0.0505721569061279 z: -0.00770950317382812
delta yaw: 0.00172893202397972 pitch: 0.00310972821898758 roll: -0.000369425484677777
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------------------------------------------------
align_time: 102.322ms
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iter_num: 32
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[0m[ INFO] [1617214270.277964050]: zone: 50N[0m
yaw-1.76000488663789
send data=-1
fix.longitude=114.328217813264
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[0m[ INFO] [1617214279.809543105]: zone: 50N[0m
yaw-1.77301694682781
send data=-1
fix.longitude=114.328079089632
fix.latitude=30.5085516760196
delta x: 0.69140625 y: 0.100411176681519 z: -0.0486536026000977
delta yaw: 3.13645219802856 pitch: -3.14059734344482 roll: -3.13890719413757
x= -43.8738784790039
y=-214.439224243164
z=2.98507356643677
------------------------------------------------
align_time: 19.036ms
exe_time: 19.061ms
trans_prob: 3.21546268463135
iter_num: 5
skipping_publish_num: 0
[0m[ INFO] [1617214279.850514522]: zone: 50N[0m
yaw-1.7782046428655
send data=-1
fix.longitude=114.328078853397
fix.latitude=30.5085453651092
delta x: 0.62554931640625 y: 0.0958989262580872 z: -0.0578060150146484
delta yaw: 3.13755750656128 pitch: -3.13972234725952 roll: 3.14125871658325
x= -43.9073448181152
y=-215.073837280273
z=2.98139333724976
[0m[ INFO] [1617214279.990480983]: zone: 50N[0m
yaw-1.782318949724
send data=-1
fix.longitude=114.328078661519
fix.latitude=30.5085396375204
------------------------------------------------
align_time: 52.728ms
exe_time: 52.823ms
trans_prob: 3.43374514579773
iter_num: 2
skipping_publish_num: 0
delta x: 0.200347900390625 y: -0.159015893936157 z: 0.00315952301025391
delta yaw: 0.0015503503382206 pitch: 0.000405021011829376 roll: -0.00312004121951759
x= -44.1047897338867
y=-215.235855102539
z=2.99528813362122
------------------------------------------------
align_time: 35.53ms
exe_time: 35.609ms
trans_prob: 3.61127305030823
iter_num: 6
skipping_publish_num: 0
[0m[ INFO] [1617214280.034592893]: zone: 50N[0m
yaw-1.78074970659725
send data=-1
fix.longitude=114.328076645981
fix.latitude=30.5085381349154
delta x: 0.753799438476562 y: 0.0869461297988892 z: -0.0491247177124023
delta yaw: 3.13882780075073 pitch: -3.13987755775452 roll: -3.13996362686157
x= -44.1755867004395
y=-215.992797851562
z=3.01101875305176
------------------------------------------------
align_time: 26.042ms
exe_time: 26.071ms
trans_prob: 3.66443347930908
iter_num: 7
skipping_publish_num: 0
[0m[ INFO] [1617214280.110505810]: zone: 50N[0m
yaw-1.78357975996233
send data=-1
fix.longitude=114.328076095645
fix.latitude=30.5085312966666
delta x: 0.81304931640625 y: -0.042660117149353 z: -0.0460062026977539
delta yaw: 3.14153528213501 pitch: -3.14039444923401 roll: -3.14032816886902
x= -44.387622833252
y=-216.779922485352
z=3.03169512748718
------------------------------------------------
align_time: 7.5ms
exe_time: 7.524ms
trans_prob: 3.37772059440613
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214280.181506618]: zone: 50N[0m
yaw-1.78367934633625
send data=-1
fix.longitude=114.328074082385
fix.latitude=30.5085241561933
delta x: 0.78656005859375 y: -0.0290451049804688 z: -0.0480432510375977
delta yaw: 3.13951849937439 pitch: 3.14149188995361 roll: 3.13953804969788
x= -44.5807609558105
y=-217.54426574707
z=3.0495080947876
------------------------------------------------
align_time: 17.398ms
exe_time: 17.446ms
trans_prob: 3.44503164291382
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214280.288390977]: zone: 50N[0m
yaw-1.78575597496421
send data=-1
fix.longitude=114.328072260243
fix.latitude=30.5085172251087
delta x: 0.417755126953125 y: 0.032907247543335 z: -0.0154657363891602
delta yaw: 3.1390585899353 pitch: 3.14052414894104 roll: -3.13652753829956
x= -44.6371612548828
y=-217.959259033203
z=3.0705828666687
------------------------------------------------
align_time: 31.115ms
exe_time: 31.152ms
trans_prob: 3.3765881061554
iter_num: 6
skipping_publish_num: 0
[0m[ INFO] [1617214280.387316145]: zone: 50N[0m
yaw-1.78826067777471
send data=-1
fix.longitude=114.328071775444
fix.latitude=30.5085134722883
delta x: 0.762298583984375 y: 0.0584366321563721 z: -0.0592670440673828
delta yaw: 0.000261886045336723 pitch: -0.000177726149559021 roll: -0.000305363908410072
x= -44.7427749633789
y=-218.718734741211
z=3.07750105857849
[0m[ INFO] [1617214280.466583835]: zone: 50N[0m
yaw-1.78800515811765
send data=-1
fix.longitude=114.328070863274
fix.latitude=30.5085066037718
------------------------------------------------
align_time: 18.579ms
exe_time: 18.606ms
trans_prob: 3.28085350990295
iter_num: 5
skipping_publish_num: 0
delta x: 0.761474609375 y: -0.082878589630127 z: -0.0613307952880859
delta yaw: 3.1415810585022 pitch: -3.14031648635864 roll: 3.13994598388672
x= -44.9859886169434
y=-219.447631835938
z=3.07689523696899
------------------------------------------------
[0m[ INFO] [1617214280.587347631]: zone: 50N[0m
yaw-1.78806720974356
align_time: 12.417ms
send data=-1
exe_time: 12.454ms
trans_prob: 3.13160800933838
iter_num: 2
skipping_publish_num: 0
fix.longitude=114.32806851108
fix.latitude=30.5084999815069
delta x: 0.525192260742188 y: -0.0829415321350098 z: -0.0100955963134766
delta yaw: 0.00404221890494227 pitch: 0.00268496922217309 roll: -6.86563071212731e-05
x= -45.1795997619629
y=-219.941925048828
z=3.10834002494812
------------------------------------------------
align_time: 19.171ms
exe_time: 19.199ms
trans_prob: 3.02101516723633
iter_num: 4
skipping_publish_num: 0
[0m[ INFO] [1617214280.659465550]: zone: 50N[0m
yaw-1.7839128520867
send data=-1
fix.longitude=114.328066617408
fix.latitude=30.5084954845692
Not Converged
delta x: 0.49139404296875 y: -0.0429569482803345 z: -0.0257816314697266
delta yaw: 0.00756176095455885 pitch: 0.000444196222815663 roll: 0.00267691188491881
x= -45.3246803283691
y=-220.41389465332
z=3.12157034873962
------------------------------------------------
align_time: 16.305ms
exe_time: 16.339ms
trans_prob: 2.90122437477112
iter_num: 2
skipping_publish_num: 1
[0m[ INFO] [1617214280.775718131]: zone: 50N[0m
yaw-1.77631401838695
send data=-1
fix.longitude=114.328065223458
fix.latitude=30.5084911992222
Not Converged
delta x: 0.405670166015625 y: -0.0852483510971069 z: -0.0485897064208984
delta yaw: 0.0113726165145636 pitch: -0.00333122746087611 roll: 0.000311732554109767
x= -45.4895858764648
y=-220.796859741211
z=3.10321426391602
------------------------------------------------
align_time: 11.837ms
exe_time: 11.876ms
trans_prob: 2.97561717033386
iter_num: 2
skipping_publish_num: 2
[0m[ INFO] [1617214280.849480345]: zone: 50N[0m
yaw-1.7650388926438
send data=-1
fix.longitude=114.328063601167
fix.latitude=30.5084877119336
Not Converged
delta x: 0.305572509765625 y: -0.0921285152435303 z: -0.0204391479492188
delta yaw: 3.1399028301239 pitch: 3.14129137992859 roll: 3.13951945304871
x= -45.6383056640625
y=-221.079986572266
z=3.10560274124146
------------------------------------------------
align_time: 11.823ms
exe_time: 11.867ms
trans_prob: 2.9004979133606
iter_num: 2
skipping_publish_num: 3
[0m[ INFO] [1617214280.944497308]: zone: 50N[0m
yaw-1.76672218443766
send data=-1
fix.longitude=114.328062122754
fix.latitude=30.5084851280499
Not Converged
delta x: 0.672576904296875 y: -0.170059680938721 z: -0.0185470581054688
delta yaw: 0.00492121186107397 pitch: 0.00107370328623801 roll: 0.00226076412945986
x= -45.9352035522461
y=-221.706405639648
z=3.13852262496948
------------------------------------------------
align_time: 19.386ms
exe_time: 19.421ms
trans_prob: 2.82836937904358
iter_num: 5
skipping_publish_num: 4
[0m[ INFO] [1617214281.020086752]: zone: 50N[0m
yaw-1.76174687325193
send data=-1
fix.longitude=114.328059186406
fix.latitude=30.5084794180635
Not Converged
delta x: 1.16256713867188 y: 0.0304954051971436 z: -0.100019454956055
delta yaw: 3.12543797492981 pitch: -3.1403443813324 roll: 3.13693165779114
x= -46.1229476928711
y=-222.858459472656
z=3.13862228393555
------------------------------------------------
align_time: 32.292ms
exe_time: 32.344ms
trans_prob: 2.86609745025635
iter_num: 6
skipping_publish_num: 5
[0m[ INFO] [1617214281.148455151]: zone: 50N[0m
yaw-1.77799706299457
send data=-1
fix.longitude=114.328057516047
fix.latitude=30.5084689932832
Not Converged
delta x: 1.07244873046875 y: 0.0184600800275803 z: -0.0811214447021484
delta yaw: 3.14060020446777 pitch: 3.1410768032074 roll: 3.1404447555542
x= -46.3233299255371
y=-223.915237426758
z=3.15003252029419
------------------------------------------------
align_time: 34.422ms
exe_time: 34.514ms
trans_prob: 2.88962841033936
iter_num: 2
skipping_publish_num: 6
[0m[ INFO] [1617214281.259391180]: zone: 50N[0m
yaw-1.77897428292143
send data=-1
fix.longitude=114.32805569062
fix.latitude=30.5084594246267
delta x: 0.503280639648438 y: 0.466153740882874 z: -0.0483112335205078
delta yaw: 3.12717461585999 pitch: 3.14067912101746 roll: 3.14061164855957
x= -45.9701042175293
y=-224.50520324707
z=3.1604585647583
[0m[ INFO] [1617214281.320597200]: zone: 50N[0m
yaw-1.79340317108295
send data=-1
------------------------------------------------
align_time: 35.166ms
exe_time: 35.197ms
fix.longitude=114.328059513381
trans_prob: 3.13077521324158
fix.latitude=30.5084541820729
iter_num: 8
skipping_publish_num: 0
delta x: 0.631515502929688 y: 0.106954097747803 z: -0.0545845031738281
delta yaw: 3.13168549537659 pitch: -3.14047312736511 roll: 3.13941669464111
x= -46.0038986206055
y=-225.147155761719
z=3.16242647171021
------------------------------------------------
align_time: 22.528ms
exe_time: 22.55ms
trans_prob: 3.02009892463684
iter_num: 5
skipping_publish_num: 0
[0m[ INFO] [1617214281.410156175]: zone: 50N[0m
yaw-1.80337845453412
send data=-1
fix.longitude=114.328059319899
fix.latitude=30.5084483882555
delta x: 0.53729248046875 y: -0.0577354431152344 z: -0.0378398895263672
delta yaw: 0.000872855714987963 pitch: -0.00203730305656791 roll: 0.00116570945829153
x= -46.1830062866211
y=-225.65837097168
z=3.1680634021759
------------------------------------------------
align_time: 12.57ms
exe_time: 12.597ms
trans_prob: 3.04458808898926
iter_num: 3
skipping_publish_num: 0
[0m[ INFO] [1617214281.467242943]: zone: 50N[0m
yaw-1.8025704644082
send data=-1
fix.longitude=114.328057581391
fix.latitude=30.5084437418792
Not Converged
delta x: 0.569671630859375 y: -0.168147563934326 z: -0.02630615234375
delta yaw: 0.00377402803860605 pitch: -0.000307798414723948 roll: -0.00132220413070172
x= -46.4766883850098
y=-226.175048828125
z=3.18527579307556
------------------------------------------------
align_time: 48.558ms
exe_time: 48.647ms
trans_prob: 2.97606039047241
iter_num: 2
skipping_publish_num: 1
[0m[ INFO] [1617214281.641770264]: zone: 50N[0m
yaw-1.79879476795898
send data=-1
fix.longitude=114.328054651455
fix.latitude=30.5084390217936
Not Converged
delta x: 0.749740600585938 y: -0.226069450378418 z: -0.0351524353027344
delta yaw: 0.0106530394405127 pitch: 0.00203319033607841 roll: 0.000971656059846282
x= -46.8653450012207
y=-226.855422973633
z=3.20793151855469
------------------------------------------------
align_time: 21.602ms
exe_time: 21.641ms
trans_prob: 2.85894513130188
iter_num: 3
skipping_publish_num: 2
[0m[ INFO] [1617214281.694705594]: zone: 50N[0m
yaw-1.7880423915691
send data=-1
fix.longitude=114.328050773165
fix.latitude=30.5084328058565
Not Converged
delta x: 0.345016479492188 y: 0.271228790283203 z: -0.0360240936279297
delta yaw: 3.12933278083801 pitch: -3.1409227848053 roll: 3.13958883285522
x= -46.6740798950195
y=-227.252059936523
z=3.21016144752502
------------------------------------------------
align_time: 34.11ms
exe_time: 34.14ms
trans_prob: 2.95664095878601
iter_num: 8
skipping_publish_num: 3
[0m[ INFO] [1617214281.780902190]: zone: 50N[0m
yaw-1.80036243192163
send data=-1
fix.longitude=114.328052862154
fix.latitude=30.5084292713928
Not Converged
delta x: 0.383041381835938 y: 0.134745597839355 z: -0.0384559631347656
delta yaw: 3.13635730743408 pitch: -3.14127206802368 roll: -3.13984417915344
x= -46.6292572021484
y=-227.657440185547
z=3.20875096321106
------------------------------------------------
align_time: 10.323ms
exe_time: 10.37ms
trans_prob: 2.95351099967957
iter_num: 2
skipping_publish_num: 4
[0m[ INFO] [1617214281.823863253]: zone: 50N[0m
yaw-1.80562448452563
send data=-1
fix.longitude=114.328053428765
fix.latitude=30.5084256268422
Not Converged
delta x: 0.859268188476562 y: -0.384031772613525 z: -0.0449886322021484
delta yaw: 0.00421413965523243 pitch: 0.000279292493360117 roll: -0.00166151754092425
x= -47.2014045715332
y=-228.40592956543
z=3.22441291809082
------------------------------------------------
align_time: 44.161ms
exe_time: 44.201ms
trans_prob: 2.9403965473175
iter_num: 8
skipping_publish_num: 5
[0m[ INFO] [1617214281.957592203]: zone: 50N[0m
yaw-1.80138809640655
send data=-1
fix.longitude=114.328047657049
fix.latitude=30.5084187577236
Not Converged
delta x: 0.682601928710938 y: 0.00975847244262695 z: -0.0458812713623047
delta yaw: 3.1400101184845 pitch: 3.1406512260437 roll: -3.13936638832092
x= -47.3468208312988
y=-229.074371337891
z=3.237224817276
------------------------------------------------
align_time: 20.56ms
exe_time: 20.595ms
trans_prob: 2.9983446598053
iter_num: 5
skipping_publish_num: 6
[0m[ INFO] [1617214282.049631620]: zone: 50N[0m
yaw-1.80294560414215
send data=-1
fix.longitude=114.328046308064
fix.latitude=30.5084127012923
Not Converged
delta x: 0.644363403320312 y: 0.0531420707702637 z: -0.0407466888427734
delta yaw: 3.13805508613586 pitch: 3.13804745674133 roll: -3.1395103931427
x= -47.442253112793
y=-229.714950561523
z=3.25275325775146
------------------------------------------------
align_time: 14.043ms
exe_time: 14.068ms
trans_prob: 2.95993614196777
iter_num: 2
skipping_publish_num: 7
[0m[ INFO] [1617214282.123768151]: zone: 50N[0m
yaw-1.80637138276217
send data=-1
fix.longitude=114.328045472565
fix.latitude=30.5084069066904
delta x: 0.600692749023438 y: -0.0424327850341797 z: -0.0465965270996094
delta yaw: 0.000549256801605225 pitch: -0.000140957519761287 roll: 0.000162084470503032
x= -47.622486114502
y=-230.291412353516
z=3.25322151184082
------------------------------------------------
align_time: 15.314ms
exe_time: 15.37ms
trans_prob: 3.08696722984314
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214282.239805151]: zone: 50N[0m
yaw-1.80582595284883
send data=-1
fix.longitude=114.328043738435
fix.latitude=30.5084016719368
delta x: 0.450027465820312 y: 0.102708339691162 z: -0.0505695343017578
delta yaw: 0.000205101445317268 pitch: -0.000135719761601649 roll: -0.00262479553930461
x= -47.6262054443359
y=-230.755661010742
z=3.24294829368591
------------------------------------------------
align_time: 14.93ms
exe_time: 14.988ms
[0m[ INFO] [1617214282.290444654]: zone: 50N[0m
yaw-1.80562527369895
send data=-1
fix.longitude=114.32804381422
fix.latitude=30.508397486376
trans_prob: 3.04355502128601
iter_num: 3
skipping_publish_num: 0
delta x: 0.665908813476562 y: 0.0656251907348633 z: -0.0650844573974609
delta yaw: 3.13943552970886 pitch: 3.14063334465027 roll: 3.13916254043579
x= -47.7158966064453
y=-231.421905517578
z=3.23422026634216
------------------------------------------------
align_time: 17.58ms
exe_time: 17.605ms
trans_prob: 3.15217876434326
iter_num: 3
skipping_publish_num: 0
[0m[ INFO] [1617214282.378741031]: zone: 50N[0m
yaw-1.80775554055601
send data=-1
fix.longitude=114.328043044818
fix.latitude=30.5083914616517
delta x: 0.565597534179688 y: -0.301078796386719 z: 0.00165367126464844
delta yaw: 0.00133676931727678 pitch: 0.00100196909625083 roll: 0.00301852612756193
x= -48.1409645080566
[0m[ INFO] [1617214282.529335732]: zone: 50N[0m
yaw-1.80638331493625
send data=-1
fix.longitude=114.328038737556
fix.latitude=30.5083870621801
y=-231.89990234375
z=3.27154636383057
------------------------------------------------
align_time: 24.687ms
exe_time: 24.72ms
trans_prob: 3.07026052474976
iter_num: 5
skipping_publish_num: 0
delta x: 0.475784301757812 y: 0.0785412788391113 z: -0.044219970703125
delta yaw: 3.13974809646606 pitch: -3.14006757736206 roll: 3.13875246047974
x= -48.1746253967285
y=-232.38298034668
z=3.26775646209717
------------------------------------------------
align_time: 25.453ms
exe_time: 25.479ms
trans_prob: 3.28810167312622
iter_num: 5
skipping_publish_num: 0
[0m[ INFO] [1617214282.571871593]: zone: 50N[0m
yaw-1.80828581226417
send data=-1
fix.longitude=114.328038506279
fix.latitude=30.5083827004961
delta x: 0.658187866210938 y: 0.0662240982055664 z: -0.0611000061035156
delta yaw: 3.14116430282593 pitch: -3.14068365097046 roll: 3.1377284526825
x= -48.2638626098633
y=-233.041244506836
z=3.26190066337585
------------------------------------------------
align_time: 25.879ms
exe_time: 25.93ms
trans_prob: 3.17193627357483
iter_num: 3
skipping_publish_num: 0
[0m[ INFO] [1617214282.703096944]: zone: 50N[0m
yaw-1.80874462307313
send data=-1
fix.longitude=114.328037739635
fix.latitude=30.508376747804
delta x: 0.591049194335938 y: 0.0154266357421875 z: -0.0481510162353516
delta yaw: 3.13914561271667 pitch: -3.13973546028137 roll: 3.14126467704773
x= -48.3873329162598
y=-233.621444702148
z=3.26239919662476
------------------------------------------------
align_time: 9.08ms
exe_time: 9.101ms
trans_prob: 3.04511165618896
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214282.749188422]: zone: 50N[0m
yaw-1.81125154255185
send data=-1
fix.longitude=114.328036597355
fix.latitude=30.5083714914745
delta x: 0.5152587890625 y: -0.0316057205200195 z: -0.0307540893554688
delta yaw: 0.000480164570035413 pitch: -0.000395856768591329 roll: 0.000861430540680885
x= -48.5400886535645
y=-234.115371704102
z=3.27368140220642
------------------------------------------------
align_time: 15.857ms
exe_time: 15.885ms
trans_prob: 3.04938673973083
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214282.856951307]: zone: 50N[0m
yaw-1.81078109469381
send data=-1
fix.longitude=114.328035128921
fix.latitude=30.5083670065628
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[0m[ INFO] [1617214282.933761200]: zone: 50N[0m
yaw-1.8103998813735
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------------------------------------------------
align_time: 10.934ms
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------------------------------------------------
align_time: 35.689ms
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yaw-1.81672231172336
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------------------------------------------------
align_time: 17.847ms
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yaw-1.82390430919729
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------------------------------------------------
align_time: 19.267ms
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yaw-1.8352563566377
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------------------------------------------------
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[0m[ INFO] [1617214283.316524095]: zone: 50N[0m
yaw-1.83852712939441
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[0m[ INFO] [1617214283.385460574]: zone: 50N[0m
yaw-1.84866047252769
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fix.longitude=114.328038746224
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------------------------------------------------
align_time: 12.113ms
exe_time: 12.141ms
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delta x: 0.137802124023438 y: -0.854978561401367 z: 0.0147628784179688
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x= -49.1392936706543
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------------------------------------------------
align_time: 100.683ms
exe_time: 100.748ms
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iter_num: 17
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[0m[ INFO] [1617214283.595601841]: zone: 50N[0m
yaw-1.82099141392118
send data=-1
fix.longitude=114.328029766373
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delta x: 0.045440673828125 y: -0.320343971252441 z: -0.00601768493652344
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x= -49.4608573913574
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------------------------------------------------
align_time: 33.323ms
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[0m[ INFO] [1617214283.629031371]: zone: 50N[0m
yaw-1.81286897621826
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fix.longitude=114.328026410341
fix.latitude=30.5083351220581
delta x: 0.446945190429688 y: 0.00499057769775391 z: -0.00727653503417969
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------------------------------------------------
align_time: 25.793ms
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[0m[ INFO] [1617214283.676919757]: zone: 50N[0m
yaw-1.81571336768021
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------------------------------------------------
align_time: 15.036ms
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[0m[ INFO] [1617214283.762571522]: zone: 50N[0m
yaw-1.82304406074255
send data=-1
fix.longitude=114.328025763221
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delta x: 0.45361328125 y: 0.154232025146484 z: -0.0340576171875
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------------------------------------------------
align_time: 17.451ms
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[0m[ INFO] [1617214283.876379978]: zone: 50N[0m
yaw-1.8299887150948
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delta x: 0.386428833007812 y: 0.141512870788574 z: 0.00537872314453125
delta yaw: 3.13380169868469 pitch: -3.13152194023132 roll: 3.13718843460083
x= -49.4718475341797
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------------------------------------------------
align_time: 20.162ms
exe_time: 20.184ms
trans_prob: 3.11153793334961
iter_num: 3
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[0m[ INFO] [1617214283.944926124]: zone: 50N[0m
yaw-1.83812572045253
send data=-1
fix.longitude=114.328026762255
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delta x: 0.623336791992188 y: -0.0348014831542969 z: -0.0525588989257812
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x= -49.6692657470703
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------------------------------------------------
align_time: 30.203ms
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trans_prob: 3.16442441940308
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[0m[ INFO] [1617214284.061432381]: zone: 50N[0m
yaw-1.83776829084357
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x= -49.6527404785156
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------------------------------------------------
align_time: 13.992ms
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[0m[ INFO] [1617214284.122764426]: zone: 50N[0m
yaw-1.8437756302224
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------------------------------------------------
align_time: 26.277ms
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[0m[ INFO] [1617214284.247154614]: zone: 50N[0m
yaw-1.84566077177892
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delta x: 0.585311889648438 y: 0.0282745361328125 z: -0.00392532348632812
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------------------------------------------------
align_time: 22.247ms
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[0m[ INFO] [1617214284.364532593]: zone: 50N[0m
yaw-1.84610248901241
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------------------------------------------------
align_time: 20.733ms
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[0m[ INFO] [1617214284.427382036]: zone: 50N[0m
yaw-1.84858280195192
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fix.longitude=114.32802152266
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------------------------------------------------
align_time: 31.191ms
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[0m[ INFO] [1617214284.500517422]: zone: 50N[0m
yaw-1.8578206664292
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delta x: 0.265029907226562 y: -0.285554885864258 z: 0.0276584625244141
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[0m[ INFO] [1617214284.646078899]: zone: 50N[0m
yaw-1.85503843851429
------------------------------------------------
send data=-1
align_time: 56.579ms
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fix.longitude=114.328020163086
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------------------------------------------------
align_time: 19.821ms
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[0m[ INFO] [1617214284.683779644]: zone: 50N[0m
yaw-1.84566185636529
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------------------------------------------------
align_time: 31.207ms
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[0m[ INFO] [1617214284.776904455]: zone: 50N[0m
yaw-1.85056287759131
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------------------------------------------------
align_time: 18.299ms
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[0m[ INFO] [1617214284.895380922]: zone: 50N[0m
yaw-1.8554273045787
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------------------------------------------------
align_time: 25.162ms
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[0m[ INFO] [1617214284.992429713]: zone: 50N[0m
yaw-1.86011425199976
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------------------------------------------------
align_time: 47.589ms
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[0m[ INFO] [1617214285.082368600]: zone: 50N[0m
yaw-1.84162123386902
send data=-1
fix.longitude=114.328010588103
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Not Converged
delta x: 0.170120239257812 y: -0.202436447143555 z: -0.0221080780029297
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------------------------------------------------
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[0m[ INFO] [1617214285.141023973]: zone: 50N[0m
yaw-1.8337482218659
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------------------------------------------------
align_time: 40.892ms
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[0m[ INFO] [1617214285.276720997]: zone: 50N[0m
yaw-1.84117975359861
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------------------------------------------------
align_time: 19.083ms
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[0m[ INFO] [1617214285.325142264]: zone: 50N[0m
yaw-1.84531640913811
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------------------------------------------------
align_time: 16.371ms
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[0m[ INFO] [1617214285.412163099]: zone: 50N[0m
yaw-1.85145575308674
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------------------------------------------------
align_time: 16.758ms
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[0m[ INFO] [1617214285.508216019]: zone: 50N[0m
yaw-1.85591481291778
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------------------------------------------------
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[0m[ INFO] [1617214285.645510620]: zone: 50N[0m
yaw-1.86083208183043
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------------------------------------------------
align_time: 22.761ms
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[0m[ INFO] [1617214285.705493448]: zone: 50N[0m
yaw-1.86289734633536
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------------------------------------------------
align_time: 28.97ms
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[0m[ INFO] [1617214285.807216372]: zone: 50N[0m
yaw-1.87257962207604
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------------------------------------------------
align_time: 12.984ms
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[0m[ INFO] [1617214285.861292583]: zone: 50N[0m
yaw-1.87486665804294
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------------------------------------------------
align_time: 41.657ms
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[0m[ INFO] [1617214286.037951637]: zone: 50N[0m
yaw-1.8663578759294
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------------------------------------------------
align_time: 40.466ms
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delta yaw: 3.14006328582764 pitch: 3.13933801651001 roll: 3.14118409156799
x= -86.8807601928711
y=-299.374694824219
z=4.29113054275513
------------------------------------------------
align_time: 19.796ms
exe_time: 19.824ms
trans_prob: 3.38935875892639
iter_num: 4
skipping_publish_num: 0
[0m[ INFO] [1617214295.708002670]: zone: 50N[0m
yaw-2.46775539036143
send data=-1
fix.longitude=114.327652082646
fix.latitude=30.5077705663782
delta x: 0.459396362304688 y: -0.118682861328125 z: -0.0379600524902344
delta yaw: 3.13810801506042 pitch: 3.14086532592773 roll: 3.14012765884399
x= -87.3143844604492
y=-299.570892333984
z=4.28537225723267
------------------------------------------------
align_time: 12.151ms
exe_time: 12.181ms
trans_prob: 3.40115213394165
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214295.793837560]: zone: 50N[0m
yaw-2.47122285806007
send data=-1
fix.longitude=114.32764761684
fix.latitude=30.5077687052246
delta x: 0.530975341796875 y: 0.0760650634765625 z: -0.0435638427734375
delta yaw: 3.129474401474 pitch: -3.14151430130005 roll: 3.14072728157043
x= -87.6835403442383
y=-299.962493896484
z=4.28600454330444
------------------------------------------------
align_time: 15.1ms
exe_time: 15.141ms
trans_prob: 3.30812120437622
iter_num: 3
skipping_publish_num: 0
[0m[ INFO] [1617214295.873327723]: zone: 50N[0m
yaw-2.48337353025687
send data=-1
fix.longitude=114.327643870376
fix.latitude=30.5077650964567
delta x: 0.873062133789062 y: -0.0899658203125 z: -0.0567073822021484
delta yaw: 3.13168787956238 pitch: 3.14079833030701 roll: 3.14049506187439
x= -88.4296188354492
y=-300.428192138672
z=4.2942795753479
------------------------------------------------
align_time: 27.867ms
exe_time: 27.898ms
trans_prob: 3.2997088432312
iter_num: 5
skipping_publish_num: 0
[0m[ INFO] [1617214295.990645424]: zone: 50N[0m
yaw-2.49327448537572
send data=-1
fix.longitude=114.327636218275
fix.latitude=30.5077607392699
delta x: 0.644805908203125 y: -0.0044708251953125 z: -0.0475788116455078
delta yaw: 3.13076019287109 pitch: -3.14091277122498 roll: 3.14155578613281
x= -88.9467086791992
y=-300.816345214844
z=4.29609775543213
------------------------------------------------
align_time: 13.31ms
exe_time: 13.338ms
trans_prob: 3.20649337768555
iter_num: 3
skipping_publish_num: 0
[0m[ INFO] [1617214296.056288540]: zone: 50N[0m
yaw-2.5041561805884
send data=-1
fix.longitude=114.32763093091
fix.latitude=30.5077571299892
delta x: 0.437301635742188 y: 0.07275390625 z: -0.0258922576904297
delta yaw: 3.13086366653442 pitch: 3.14146971702576 roll: 3.13835740089417
x= -89.2547073364258
y=-301.136047363281
z=4.30643749237061
------------------------------------------------
align_time: 17.688ms
exe_time: 17.708ms
trans_prob: 3.34923148155212
iter_num: 3
skipping_publish_num: 0
[0m[ INFO] [1617214296.161611267]: zone: 50N[0m
yaw-2.51490580373632
send data=-1
fix.longitude=114.327627803383
fix.latitude=30.5077541823892
delta x: 0.581298828125 y: -0.197799682617188 z: -0.0212993621826172
delta yaw: 3.14028000831604 pitch: -3.14157700538635 roll: 3.14145517349243
x= -89.8414154052734
y=-301.317626953125
z=4.32323980331421
------------------------------------------------
align_time: 16.739ms
exe_time: 16.764ms
trans_prob: 3.3619589805603
iter_num: 4
skipping_publish_num: 0
[0m[ INFO] [1617214296.249159245]: zone: 50N[0m
yaw-2.51622232215663
send data=-1
fix.longitude=114.327621740308
fix.latitude=30.5077524203043
delta x: 0.545761108398438 y: -0.144485473632812 z: -0.03680419921875
delta yaw: 3.13769149780273 pitch: -3.13940858840942 roll: -3.13966965675354
x= -90.369010925293
y=-301.521942138672
z=4.32358837127686
------------------------------------------------
align_time: 20.544ms
exe_time: 20.631ms
trans_prob: 3.24400091171265
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214296.378820961]: zone: 50N[0m
yaw-2.52020426495327
send data=-1
fix.longitude=114.327616298227
fix.latitude=30.5077504659051
delta x: 0.68634033203125 y: 0.260650634765625 z: -0.0580673217773438
delta yaw: 3.12642097473145 pitch: -3.14055418968201 roll: -3.13989067077637
x= -90.7756271362305
y=-302.135955810547
z=4.32851791381836
------------------------------------------------
align_time: 28.433ms
exe_time: 28.477ms
trans_prob: 3.17954969406128
iter_num: 5
skipping_publish_num: 0
[0m[ INFO] [1617214296.451133191]: zone: 50N[0m
yaw-2.53545048390133
send data=-1
fix.longitude=114.327612216653
fix.latitude=30.5077448442989
delta x: 0.581741333007812 y: -0.0172271728515625 z: -0.0624904632568359
delta yaw: 3.13497090339661 pitch: -3.14125323295593 roll: 3.13900780677795
x= -91.2648010253906
y=-302.456939697266
z=4.31153202056885
------------------------------------------------
align_time: 25.731ms
exe_time: 25.755ms
trans_prob: 3.22464442253113
iter_num: 4
skipping_publish_num: 0
[0m[ INFO] [1617214296.529772162]: zone: 50N[0m
yaw-2.54210104986059
send data=-1
fix.longitude=114.327607203336
fix.latitude=30.5077418464472
delta x: 0.5791015625 y: -0.184921264648438 z: -0.0166988372802734
delta yaw: 3.13755965232849 pitch: 3.13858866691589 roll: 3.14077401161194
x= -91.8468704223633
y=-302.631622314453
z=4.33413457870483
------------------------------------------------
align_time: 19.859ms
exe_time: 19.88ms
trans_prob: 3.16613483428955
iter_num: 3
skipping_publish_num: 0
[0m[ INFO] [1617214296.622015598]: zone: 50N[0m
yaw-2.54603690219871
send data=-1
fix.longitude=114.327601186851
fix.latitude=30.507740147522
delta x: 0.659042358398438 y: -0.0881195068359375 z: -0.0423355102539062
delta yaw: 1.35169866553042e-05 pitch: 0.000850744487252086 roll: -0.00172482070047408
x= -92.4423065185547
y=-302.930511474609
z=4.33888816833496
------------------------------------------------
align_time: 13.099ms
exe_time: 13.177ms
trans_prob: 3.13025283813477
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214296.716186025]: zone: 50N[0m
yaw-2.54599362542869
send data=-1
fix.longitude=114.327595061853
fix.latitude=30.5077373261362
delta x: 0.57025146484375 y: -0.09423828125 z: -0.0364837646484375
delta yaw: 3.13413739204407 pitch: -3.14123725891113 roll: 3.1397545337677
x= -92.9676513671875
y=-303.174255371094
z=4.34220027923584
------------------------------------------------
align_time: 16.427ms
exe_time: 16.476ms
trans_prob: 3.09060978889465
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214296.809218716]: zone: 50N[0m
yaw-2.55347786376755
send data=-1
fix.longitude=114.32758965293
fix.latitude=30.5077350168039
Not Converged
delta x: 0.326904296875 y: 0.289459228515625 z: -0.053070068359375
delta yaw: 9.50661342358217e-05 pitch: -6.05955719947815e-05 roll: -0.000279849569778889
x= -93.0801620483398
y=-303.599029541016
z=4.32305240631104
------------------------------------------------
align_time: 26.242ms
exe_time: 26.268ms
trans_prob: 2.98664474487305
iter_num: 6
skipping_publish_num: 1
[0m[ INFO] [1617214296.899293992]: zone: 50N[0m
yaw-2.5533845058755
send data=-1
fix.longitude=114.327588586432
fix.latitude=30.5077311638323
delta x: 0.576522827148438 y: -0.04217529296875 z: -0.0405998229980469
delta yaw: 3.13521814346313 pitch: -3.14022660255432 roll: -3.13941550254822
x= -93.5837478637695
y=-303.885772705078
z=4.32460975646973
------------------------------------------------
align_time: 24.139ms
exe_time: 24.166ms
trans_prob: 3.05258274078369
iter_num: 5
skipping_publish_num: 0
[0m[ INFO] [1617214296.997374779]: zone: 50N[0m
yaw-2.55981772628136
send data=-1
fix.longitude=114.327583414637
fix.latitude=30.5077284715494
delta x: 0.837066650390625 y: -0.102294921875 z: -0.0486526489257812
delta yaw: 3.13428688049316 pitch: 3.14000487327576 roll: 3.13936185836792
x= -94.3396759033203
y=-304.262542724609
z=4.33654832839966
------------------------------------------------
align_time: 16.966ms
exe_time: 16.992ms
trans_prob: 3.04325747489929
iter_num: 4
skipping_publish_num: 0
[0m[ INFO] [1617214297.082797291]: zone: 50N[0m
yaw-2.56708528053735
send data=-1
fix.longitude=114.327575638067
fix.latitude=30.5077249138599
delta x: 0.559539794921875 y: -0.1546630859375 z: -0.0313453674316406
delta yaw: 0.00125958933494985 pitch: 0.00108793401159346 roll: 0.00114828418008983
x= -94.8938293457031
y=-304.438354492188
z=4.34198999404907
------------------------------------------------
align_time: 19.092ms
exe_time: 19.12ms
trans_prob: 3.02641797065735
iter_num: 4
skipping_publish_num: 0
[0m[ INFO] [1617214297.154366627]: zone: 50N[0m
yaw-2.56578744667545
send data=-1
fix.longitude=114.327569912478
fix.latitude=30.5077232107178
delta x: 0.700668334960938 y: -0.0164947509765625 z: -0.0559139251708984
delta yaw: 3.13581347465515 pitch: -3.141193151474 roll: 3.14011216163635
x= -95.4913711547852
y=-304.808837890625
z=4.33718776702881
------------------------------------------------
align_time: 16.638ms
exe_time: 16.707ms
trans_prob: 3.08876752853394
iter_num: 3
skipping_publish_num: 0
[0m[ INFO] [1617214297.266949269]: zone: 50N[0m
yaw-2.57159281125379
send data=-1
fix.longitude=114.327563783222
fix.latitude=30.5077197435261
delta x: 0.72088623046875 y: -0.0281219482421875 z: -0.0163002014160156
delta yaw: 3.13254070281982 pitch: -3.14113426208496 roll: 3.14047336578369
x= -96.1125869750977
y=-305.174255371094
z=4.37314081192017
------------------------------------------------
align_time: 17.307ms
exe_time: 17.345ms
trans_prob: 3.15538382530212
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214297.350276802]: zone: 50N[0m
yaw-2.58067982375098
send data=-1
fix.longitude=114.32755740626
fix.latitude=30.5077163169419
delta x: 0.638031005859375 y: 0.051239013671875 z: -0.0485706329345703
delta yaw: 3.13414001464844 pitch: -3.13942122459412 roll: 3.14096260070801
x= -96.6262359619141
y=-305.559265136719
z=4.37347888946533
------------------------------------------------
align_time: 18.623ms
exe_time: 18.67ms
trans_prob: 3.084805727005
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214297.440025908]: zone: 50N[0m
yaw-2.58822007874573
send data=-1
fix.longitude=114.327552153946
fix.latitude=30.5077127367273
delta x: 0.743484497070312 y: -0.0917205810546875 z: -0.0544147491455078
delta yaw: 3.13410115242004 pitch: -3.14005851745605 roll: 3.14027762413025
x= -97.3078842163086
y=-305.874664306641
z=4.37264728546143
------------------------------------------------
align_time: 17.203ms
exe_time: 17.242ms
trans_prob: 3.17210292816162
iter_num: 3
skipping_publish_num: 0
[0m[ INFO] [1617214297.534176767]: zone: 50N[0m
yaw-2.59577944981283
send data=-1
fix.longitude=114.327545135521
fix.latitude=30.5077097481025
delta x: 0.734512329101562 y: -0.0005950927734375 z: -0.0536060333251953
delta yaw: 3.13332223892212 pitch: 3.14021420478821 roll: 3.13992190361023
x= -97.9367828369141
y=-306.257873535156
z=4.37580060958862
------------------------------------------------
align_time: 13.032ms
exe_time: 13.061ms
trans_prob: 3.08808159828186
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214297.622330907]: zone: 50N[0m
yaw-2.60402644045151
send data=-1
fix.longitude=114.327538682969
fix.latitude=30.5077061595006
Not Converged
delta x: 0.764068603515625 y: 0.060882568359375 z: -0.0606880187988281
delta yaw: 3.13008427619934 pitch: -3.14075565338135 roll: -3.14132690429688
x= -98.5629272460938
y=-306.7041015625
z=4.37476778030396
------------------------------------------------
align_time: 10.742ms
exe_time: 10.781ms
trans_prob: 2.99510836601257
iter_num: 2
skipping_publish_num: 1
[0m[ INFO] [1617214297.720627686]: zone: 50N[0m
yaw-2.61558818952107
send data=-1
fix.longitude=114.327532274635
fix.latitude=30.5077020034315
Not Converged
delta x: 0.742813110351562 y: 0.198501586914062 z: -0.0963554382324219
delta yaw: 3.12825012207031 pitch: -3.14018535614014 roll: -3.13952445983887
x= -99.1082305908203
y=-307.253631591797
z=4.3413200378418
------------------------------------------------
align_time: 11.66ms
exe_time: 11.691ms
trans_prob: 2.99284672737122
iter_num: 2
skipping_publish_num: 2
[0m[ INFO] [1617214297.780958249]: zone: 50N[0m
yaw-2.62900802034264
send data=-1
fix.longitude=114.327526733373
fix.latitude=30.5076969334592
Not Converged
delta x: 0.65643310546875 y: -0.200424194335938 z: -0.0262126922607422
delta yaw: 3.13459157943726 pitch: 3.13885354995728 roll: 3.13886070251465
x= -99.7786331176758
y=-307.402099609375
z=4.3587851524353
------------------------------------------------
align_time: 28.549ms
exe_time: 28.603ms
trans_prob: 2.92351341247559
iter_num: 5
skipping_publish_num: 3
[0m[ INFO] [1617214297.926200633]: zone: 50N[0m
yaw-2.63592963102061
send data=-1
fix.longitude=114.327519790843
fix.latitude=30.5076954519626
Not Converged
delta x: 0.438949584960938 y: -0.15106201171875 z: -0.0205078125
delta yaw: 3.13563752174377 pitch: -3.14048075675964 roll: 3.1401891708374
x= -100.236045837402
y=-307.483520507812
z=4.36592769622803
------------------------------------------------
align_time: 15.965ms
exe_time: 15.987ms
trans_prob: 2.97213411331177
iter_num: 3
skipping_publish_num: 4
[0m[ INFO] [1617214297.988974862]: zone: 50N[0m
yaw-2.64193450225267
send data=-1
fix.longitude=114.327515049081
fix.latitude=30.5076946203268
delta x: 0.530609130859375 y: -0.18927001953125 z: -0.0104293823242188
delta yaw: 3.13262796401978 pitch: -3.14077687263489 roll: -3.14144062995911
x= -100.792030334473
y=-307.571838378906
z=4.38932704925537
------------------------------------------------
align_time: 11.958ms
exe_time: 11.986ms
trans_prob: 3.07051301002502
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214298.065907546]: zone: 50N[0m
yaw-2.65094603902432
send data=-1
fix.longitude=114.32750928285
fix.latitude=30.5076937054663
delta x: 0.662200927734375 y: -0.039886474609375 z: -0.0389995574951172
delta yaw: 3.12930393218994 pitch: -3.14071679115295 roll: 3.14100623130798
x= -101.395347595215
y=-307.850341796875
z=4.39908075332642
------------------------------------------------
align_time: 15.261ms
exe_time: 15.286ms
trans_prob: 3.11073565483093
iter_num: 3
skipping_publish_num: 0
[0m[ INFO] [1617214298.164475032]: zone: 50N[0m
yaw-2.6632921667664
send data=-1
fix.longitude=114.327503070783
fix.latitude=30.5076910661514
delta x: 0.705032348632812 y: 0.07830810546875 z: -0.0610904693603516
delta yaw: 3.1273775100708 pitch: -3.14111018180847 roll: -3.14093017578125
x= -101.986457824707
y=-308.247222900391
z=4.39418935775757
[0m[ INFO] [1617214298.279670791]: zone: 50N[0m
yaw-2.67755655295485
send data=-1
fix.longitude=114.327497014998
fix.latitude=30.5076873623801
------------------------------------------------
align_time: 16.817ms
exe_time: 16.868ms
trans_prob: 3.21478939056396
iter_num: 2
skipping_publish_num: 0
delta x: 0.32928466796875 y: -0.333740234375 z: -0.0122356414794922
delta yaw: 3.13923144340515 pitch: 3.1400887966156 roll: 3.14070963859558
x= -102.430770874023
y=-308.097045898438
z=4.39559459686279
------------------------------------------------
align_time: 27.4ms
exe_time: 27.433ms
trans_prob: 3.1359236240387
iter_num: 7
skipping_publish_num: 0
[0m[ INFO] [1617214298.360081992]: zone: 50N[0m
yaw-2.67987139572258
send data=-1
fix.longitude=114.327492352477
fix.latitude=30.5076886211789
Not Converged
delta x: 0.579757690429688 y: -0.02392578125 z: -0.0615024566650391
delta yaw: 3.13105821609497 pitch: 3.14028549194336 roll: 3.13990759849548
x= -102.962272644043
y=-308.337097167969
z=4.37654876708984
------------------------------------------------
align_time: 21.015ms
exe_time: 21.042ms
trans_prob: 2.78876280784607
iter_num: 5
skipping_publish_num: 1
[0m[ INFO] [1617214298.439655215]: zone: 50N[0m
yaw-2.69038409879795
send data=-1
fix.longitude=114.327486878552
fix.latitude=30.5076863438131
Not Converged
delta x: 1.01092529296875 y: -0.061798095703125 z: -0.0425167083740234
delta yaw: 3.12432026863098 pitch: 3.14118623733521 roll: 3.13850808143616
x= -103.89884185791
y=-308.723846435547
z=4.40555334091187
------------------------------------------------
align_time: 25.569ms
exe_time: 25.617ms
trans_prob: 2.88302826881409
iter_num: 6
skipping_publish_num: 2
[0m[ INFO] [1617214298.533928579]: zone: 50N[0m
yaw-2.70767848201835
send data=-1
fix.longitude=114.327477223906
fix.latitude=30.5076826575793
delta x: 0.62347412109375 y: 0.04425048828125 z: -0.0428676605224609
delta yaw: 3.12729930877686 pitch: -3.13842225074768 roll: -3.14080953598022
x= -104.446617126465
y=-309.027862548828
z=4.40882921218872
------------------------------------------------
align_time: 23.796ms
exe_time: 23.832ms
trans_prob: 3.05129265785217
iter_num: 5
skipping_publish_num: 0
[0m[ INFO] [1617214298.631978236]: zone: 50N[0m
yaw-2.72210242554682
send data=-1
fix.longitude=114.327471596348
fix.latitude=30.5076798001539
delta x: 0.278106689453125 y: -0.035125732421875 z: 0.0133724212646484
delta yaw: 3.13252258300781 pitch: 3.14071559906006 roll: 3.14069867134094
x= -104.713531494141
y=-309.107971191406
z=4.44168996810913
------------------------------------------------
align_time: 27.194ms
exe_time: 27.23ms
trans_prob: 3.08543610572815
iter_num: 5
skipping_publish_num: 0
[0m[ INFO] [1617214298.723488507]: zone: 50N[0m
yaw-2.7311636740502
send data=-1
fix.longitude=114.327468837426
fix.latitude=30.5076790210362
delta x: 1.09719848632812 y: 0.0648193359375 z: -0.0885276794433594
delta yaw: 3.12173533439636 pitch: -3.14062976837158 roll: 3.13976073265076
x= -105.695709228516
y=-309.609130859375
z=4.43581295013428
------------------------------------------------
align_time: 43.348ms
exe_time: 43.375ms
trans_prob: 3.02360582351685
iter_num: 11
skipping_publish_num: 0
[0m[ INFO] [1617214298.813060006]: zone: 50N[0m
yaw-2.75109555392446
send data=-1
fix.longitude=114.327458736202
fix.latitude=30.5076742937569
Not Converged
delta x: 1.02821350097656 y: -0.07147216796875 z: -0.0970573425292969
delta yaw: 3.12680864334106 pitch: -3.14122271537781 roll: -3.139981508255
x= -106.676712036133
y=-309.939056396484
z=4.41233253479004
------------------------------------------------
align_time: 13.606ms
exe_time: 13.631ms
trans_prob: 2.94969773292542
iter_num: 3
skipping_publish_num: 1
[0m[ INFO] [1617214298.902483358]: zone: 50N[0m
yaw-2.76592387500551
send data=-1
fix.longitude=114.327448604969
fix.latitude=30.5076711102425
Not Converged
delta x: 0.0540924072265625 y: -0.0647735595703125 z: -0.0200424194335938
delta yaw: 3.13760709762573 pitch: -3.14154362678528 roll: -3.14126062393188
x= -106.751922607422
y=-309.899871826172
z=4.39408779144287
------------------------------------------------
align_time: 51.6ms
exe_time: 51.624ms
trans_prob: 2.99487543106079
iter_num: 13
skipping_publish_num: 2
[0m[ INFO] [1617214299.030981086]: zone: 50N[0m
yaw-2.76991950266251
send data=-1
fix.longitude=114.327447812331
fix.latitude=30.5076714473892
Not Converged
delta x: 0.586898803710938 y: -0.107131958007812 z: -0.0474109649658203
delta yaw: 3.13332605361938 pitch: -3.14062809944153 roll: 3.14151859283447
x= -107.339057922363
y=-310.015594482422
z=4.38606977462769
------------------------------------------------
align_time: 28.198ms
exe_time: 28.226ms
trans_prob: 2.83185601234436
iter_num: 7
skipping_publish_num: 3
[0m[ INFO] [1617214299.106318110]: zone: 50N[0m
yaw-2.77823793692323
send data=-1
fix.longitude=114.32744172857
fix.latitude=30.5076702788435
Not Converged
delta x: 0.602951049804688 y: -0.0749664306640625 z: -0.0364131927490234
delta yaw: 3.12990784645081 pitch: -3.14062476158142 roll: 3.14041757583618
x= -107.929969787598
y=-310.161529541016
z=4.39168548583984
[0m[ INFO] [1617214299.280930008]: zone: 50N[0m
yaw-2.78998260548746
send data=-1
------------------------------------------------
align_time: 124.927ms
fix.longitude=114.327435612947
exe_time: 124.948ms
fix.latitude=30.5076688371544
trans_prob: 2.76384115219116
iter_num: 32
skipping_publish_num: 4
Not Converged
delta x: 0.5133056640625 y: -0.0522308349609375 z: 0.00633811950683594
delta yaw: 3.13559436798096 pitch: 3.13743829727173 roll: -3.13750791549683
x= -108.428276062012
y=-310.288513183594
z=4.43438863754272
------------------------------------------------
align_time: 20.947ms
exe_time: 20.969ms
trans_prob: 2.80160641670227
iter_num: 3
skipping_publish_num: 5
[0m[ INFO] [1617214299.322498258]: zone: 50N[0m
yaw-2.795844070329
send data=-1
fix.longitude=114.32743045671
fix.latitude=30.5076675860753
Not Converged
delta x: 0.520233154296875 y: -0.108566284179688 z: -0.036285400390625
delta yaw: 3.13466835021973 pitch: -3.1405189037323 roll: 3.13843631744385
x= -108.955474853516
y=-310.364654541016
z=4.43037033081055
------------------------------------------------
align_time: 18.663ms
exe_time: 18.683ms
trans_prob: 2.92067933082581
iter_num: 3
skipping_publish_num: 6
[0m[ INFO] [1617214299.370455762]: zone: 50N[0m
yaw-2.80282344022938
send data=-1
fix.longitude=114.327424987148
fix.latitude=30.5076667871198
Not Converged
delta x: 0.54278564453125 y: -0.060211181640625 z: -0.0207557678222656
delta yaw: 3.1332528591156 pitch: -3.14101457595825 roll: 3.14021992683411
x= -109.487403869629
y=-310.489135742188
z=4.44593572616577
------------------------------------------------
[0m[ INFO] [1617214299.437497829]: zone: 50N[0m
yaw-2.8112004296228
align_time: 10.29ms
send data=-1
exe_time: 10.322ms
trans_prob: 2.70603728294373
iter_num: 2
skipping_publish_num: 7
fix.longitude=114.327419480268
fix.latitude=30.5076655514155
Not Converged
delta x: 1.13655090332031 y: 0.0970458984375 z: -0.0940952301025391
delta yaw: 3.12435364723206 pitch: -3.13911509513855 roll: 3.13950967788696
x= -110.53328704834
y=-310.953979492188
z=4.43658494949341
------------------------------------------------
align_time: 37.289ms
exe_time: 37.338ms
trans_prob: 2.81079459190369
iter_num: 7
skipping_publish_num: 8
[0m[ INFO] [1617214299.581221955]: zone: 50N[0m
yaw-2.8285648700448
send data=-1
fix.longitude=114.327408706891
fix.latitude=30.5076611378784
Not Converged
delta x: 0.66571044921875 y: -0.055084228515625 z: -0.0291500091552734
delta yaw: 3.134437084198 pitch: -3.13733959197998 roll: -3.13860464096069
x= -111.183731079102
y=-311.107757568359
z=4.45417308807373
------------------------------------------------
align_time: 25.139ms
exe_time: 25.199ms
trans_prob: 2.90145754814148
iter_num: 6
skipping_publish_num: 9
[0m[ INFO] [1617214299.649694370]: zone: 50N[0m
yaw-2.83588943968308
send data=-1
fix.longitude=114.327401973451
fix.latitude=30.5076596127739
Not Converged
delta x: 0.682571411132812 y: -0.076507568359375 z: -0.0818119049072266
delta yaw: 3.12806057929993 pitch: -3.1353166103363 roll: 3.13901829719543
x= -111.861015319824
y=-311.244689941406
z=4.42223119735718
------------------------------------------------
align_time: 17.002ms
exe_time: 17.054ms
trans_prob: 2.78533959388733
iter_num: 2
skipping_publish_num: 10
[0m[ INFO] [1617214299.744431315]: zone: 50N[0m
yaw-2.84970446554782
send data=-1
fix.longitude=114.327394956439
fix.latitude=30.5076582337839
Not Converged
delta x: 0.814559936523438 y: -0.004730224609375 z: -0.0314121246337891
delta yaw: 3.12978315353394 pitch: 3.13763618469238 roll: 3.140291929245
x= -112.641967773438
y=-311.475646972656
z=4.45814371109009
------------------------------------------------
align_time: 58.496ms
exe_time: 58.584ms
trans_prob: 2.82927298545837
iter_num: 3
skipping_publish_num: 11
[0m[ INFO] [1617214299.910022166]: zone: 50N[0m
yaw-2.86139212398171
send data=-1
fix.longitude=114.327386883396
fix.latitude=30.5076559851052
Not Converged
delta x: 0.0953369140625 y: -0.2410888671875 z: -0.00349235534667969
delta yaw: 0.00467441696673632 pitch: 0.00464616157114506 roll: -0.000565360591281205
x= -112.800827026367
y=-311.270812988281
z=4.45314741134644
[0m[ INFO] [1617214299.962088319]: zone: 50N[0m
yaw-2.85653406526837
send data=-1
fix.longitude=114.327385179077
fix.latitude=30.507657797557
------------------------------------------------
align_time: 52.8ms
exe_time: 52.838ms
trans_prob: 2.89256429672241
iter_num: 10
skipping_publish_num: 12
Not Converged
delta x: 0.61761474609375 y: -0.14361572265625 z: -0.0286769866943359
delta yaw: 3.13405084609985 pitch: 3.13432264328003 roll: 3.13900828361511
x= -113.434394836426
y=-311.308013916016
z=4.4649715423584
------------------------------------------------
align_time: 37.73ms
exe_time: 37.791ms
trans_prob: 2.59492135047913
iter_num: 7
skipping_publish_num: 13
[0m[ INFO] [1617214300.034847680]: zone: 50N[0m
yaw-2.86382204378386
send data=-1
fix.longitude=114.327378592566
fix.latitude=30.5076573268895
Not Converged
delta x: 0.474517822265625 y: -0.0263671875 z: -0.0244884490966797
delta yaw: 3.13246154785156 pitch: 3.14097428321838 roll: -3.13720607757568
x= -113.898330688477
y=-311.413757324219
z=4.47112369537354
------------------------------------------------
align_time: 19.654ms
exe_time: 19.713ms
trans_prob: 2.76565599441528
iter_num: 3
skipping_publish_num: 14
[0m[ INFO] [1617214300.080824646]: zone: 50N[0m
yaw-2.87294613985233
send data=-1
fix.longitude=114.3273737889
fix.latitude=30.5076562746109
Not Converged
delta x: 0.94677734375 y: -0.10528564453125 z: -0.0772018432617188
delta yaw: 3.13112211227417 pitch: 3.14159083366394 roll: 3.1354444026947
x= -114.841415405273
y=-311.567474365234
z=4.45193862915039
------------------------------------------------
align_time: 43.176ms
exe_time: 43.208ms
trans_prob: 2.73104333877563
iter_num: 6
skipping_publish_num: 15
[0m[ INFO] [1617214300.231802847]: zone: 50N[0m
yaw-2.88343067205726
send data=-1
fix.longitude=114.327364008943
fix.latitude=30.5076546875435
Not Converged
delta x: 1.07778930664062 y: 0.246795654296875 z: -0.0835628509521484
delta yaw: 3.1223475933075 pitch: -3.13843607902527 roll: -3.14064717292786
x= -115.822319030762
y=-312.084503173828
z=4.44699764251709
------------------------------------------------
align_time: 26.297ms
exe_time: 26.357ms
trans_prob: 2.77153205871582
iter_num: 5
skipping_publish_num: 16
[0m[ INFO] [1617214300.274470935]: zone: 50N[0m
yaw-2.90281604046866
send data=-1
fix.longitude=114.327353924906
fix.latitude=30.5076498174833
Not Converged
delta x: 0.523651123046875 y: 0.045989990234375 z: -0.0342884063720703
delta yaw: 3.13318538665771 pitch: -3.13948798179626 roll: -3.14136052131653
x= -116.320938110352
y=-312.254455566406
z=4.44980192184448
------------------------------------------------
align_time: 28.132ms
exe_time: 28.16ms
trans_prob: 2.82927966117859
iter_num: 7
skipping_publish_num: 17
[0m[ INFO] [1617214300.356770791]: zone: 50N[0m
yaw-2.9113141980319
send data=-1
fix.longitude=114.327348776015
fix.latitude=30.5076481790115
Not Converged
delta x: 0.174606323242188 y: -0.284759521484375 z: 0.00361061096191406
delta yaw: 0.000577016791794449 pitch: -0.00101292890030891 roll: -0.00067849806509912
x= -116.555953979492
y=-312.017120361328
z=4.45500612258911
------------------------------------------------
align_time: 22.821ms
exe_time: 22.844ms
trans_prob: 2.82574772834778
iter_num: 6
skipping_publish_num: 18
[0m[ INFO] [1617214300.473434686]: zone: 50N[0m
yaw-2.91077364613288
send data=-1
fix.longitude=114.327346270858
fix.latitude=30.5076502681627
Not Converged
delta x: 0.582366943359375 y: -0.073760986328125 z: -0.0425014495849609
delta yaw: 3.13632392883301 pitch: -3.14115738868713 roll: -3.13983869552612
x= -117.141059875488
y=-312.080474853516
z=4.45091199874878
------------------------------------------------
align_time: 23.639ms
exe_time: 23.676ms
trans_prob: 2.76904726028442
iter_num: 6
skipping_publish_num: 19
[0m[ INFO] [1617214300.550658464]: zone: 50N[0m
yaw-2.91606796681563
send data=-1
fix.longitude=114.327340195308
fix.latitude=30.5076495720956
Not Converged
delta x: 0.625350952148438 y: 0.060699462890625 z: -0.0533771514892578
delta yaw: 3.13288283348083 pitch: 3.14156079292297 roll: 3.14091610908508
x= -117.738548278809
y=-312.281860351562
z=4.44414091110229
------------------------------------------------
align_time: 11.327ms
exe_time: 11.353ms
trans_prob: 2.68006896972656
iter_num: 2
skipping_publish_num: 20
[0m[ INFO] [1617214300.643344447]: zone: 50N[0m
yaw-2.92479175501275
send data=-1
fix.longitude=114.327334024904
fix.latitude=30.5076476291635
Not Converged
delta x: 0.96392822265625 y: 0.091705322265625 z: -0.0678977966308594
delta yaw: 3.12217140197754 pitch: -3.14126014709473 roll: 3.13864588737488
x= -118.661766052246
y=-312.581665039062
z=4.44760131835938
------------------------------------------------
align_time: 32.459ms
exe_time: 32.485ms
trans_prob: 2.74466872215271
iter_num: 8
skipping_publish_num: 21
[0m[ INFO] [1617214300.729862011]: zone: 50N[0m
yaw-2.94425914669036
send data=-1
fix.longitude=114.327324487811
fix.latitude=30.5076447294946
Not Converged
delta x: 0.887527465820312 y: 0.069610595703125 z: -0.0849285125732422
delta yaw: 3.12952446937561 pitch: -3.14073920249939 roll: 3.14077687263489
x= -119.521354675293
y=-312.82763671875
z=4.42739200592041
------------------------------------------------
align_time: 21.983ms
exe_time: 22.019ms
trans_prob: 2.92514944076538
iter_num: 4
skipping_publish_num: 22
[0m[ INFO] [1617214300.842050458]: zone: 50N[0m
yaw-2.95638052580336
send data=-1
fix.longitude=114.327315599843
fix.latitude=30.507642328671
delta x: 0.664535522460938 y: -0.084381103515625 z: -0.0365848541259766
delta yaw: 3.13310837745667 pitch: -3.14067149162292 roll: 3.14081525802612
x= -120.19091796875
y=-312.868682861328
z=4.43445253372192
------------------------------------------------
align_time: 18.274ms
exe_time: 18.301ms
trans_prob: 3.05620050430298
iter_num: 4
skipping_publish_num: 0
[0m[ INFO] [1617214300.898346233]: zone: 50N[0m
yaw-2.96491436411371
send data=-1
fix.longitude=114.327308639556
fix.latitude=30.5076418156498
Not Converged
delta x: 0.613327026367188 y: 0.010772705078125 z: -0.0308551788330078
delta yaw: 3.13463497161865 pitch: 3.1375732421875 roll: 3.14010286331177
x= -120.793197631836
y=-312.98828125
z=4.44748401641846
------------------------------------------------
align_time: 13.977ms
exe_time: 14.016ms
trans_prob: 2.88985109329224
iter_num: 2
skipping_publish_num: 1
[0m[ INFO] [1617214301.023668501]: zone: 50N[0m
yaw-2.97173574189759
send data=-1
fix.longitude=114.327302399097
fix.latitude=30.5076406089267
Not Converged
delta x: 0.6131591796875 y: 0.029144287109375 z: -0.08062744140625
delta yaw: 3.13275384902954 pitch: -3.14028692245483 roll: 3.14065217971802
x= -121.396003723145
y=-313.124176025391
z=4.40889739990234
------------------------------------------------
align_time: 9.258ms
exe_time: 9.299ms
trans_prob: 2.98129725456238
iter_num: 2
skipping_publish_num: 2
[0m[ INFO] [1617214301.076308424]: zone: 50N[0m
yaw-2.98063569993678
send data=-1
fix.longitude=114.327296157178
fix.latitude=30.5076392551942
Not Converged
delta x: 0.408645629882812 y: -0.175262451171875 z: -0.0221767425537109
delta yaw: 3.1413242816925 pitch: 3.13930153846741 roll: 3.14092087745667
x= -121.828300476074
y=-313.017730712891
z=4.40821409225464
------------------------------------------------
align_time: 26.012ms
exe_time: 26.049ms
trans_prob: 2.80184817314148
iter_num: 4
skipping_publish_num: 3
[0m[ INFO] [1617214301.233149739]: zone: 50N[0m
yaw-2.98082373607446
send data=-1
fix.longitude=114.327291630541
fix.latitude=30.5076401223527
Not Converged
delta x: 0.4697265625 y: -0.06146240234375 z: -0.0322532653808594
delta yaw: 3.13670325279236 pitch: 3.14035391807556 roll: 3.13980746269226
x= -122.302864074707
y=-313.033569335938
z=4.40455341339111
------------------------------------------------
align_time: 8.494ms
exe_time: 8.519ms
trans_prob: 2.8856029510498
iter_num: 2
skipping_publish_num: 4
[0m[ INFO] [1617214301.274470112]: zone: 50N[0m
yaw-2.98567745715434
send data=-1
fix.longitude=114.327286694057
fix.latitude=30.5076398782076
Not Converged
delta x: 0.449569702148438 y: -0.125518798828125 z: -0.0190906524658203
delta yaw: 3.13807225227356 pitch: -3.13969683647156 roll: -3.14091300964355
x= -122.766906738281
y=-312.980194091797
z=4.41005086898804
------------------------------------------------
align_time: 9.729ms
exe_time: 9.759ms
trans_prob: 2.90959811210632
iter_num: 2
skipping_publish_num: 5
[0m[ INFO] [1617214301.367471248]: zone: 50N[0m
yaw-2.98926644829159
send data=-1
fix.longitude=114.327281850025
fix.latitude=30.5076402602077
Not Converged
delta x: 0.480697631835938 y: -0.00213623046875 z: -0.0143966674804688
delta yaw: 3.13642239570618 pitch: -3.14131784439087 roll: 3.1414155960083
x= -123.242202758789
y=-313.051513671875
z=4.42713403701782
------------------------------------------------
align_time: 14.496ms
exe_time: 14.525ms
trans_prob: 2.81064796447754
iter_num: 2
skipping_publish_num: 6
[0m[ INFO] [1617214301.445941794]: zone: 50N[0m
yaw-2.99445437471445
send data=-1
fix.longitude=114.327276919605
fix.latitude=30.5076395157972
Not Converged
delta x: 0.661407470703125 y: 0.06756591796875 z: -0.0486488342285156
delta yaw: 3.13352847099304 pitch: 3.14036822319031 roll: -3.14104461669922
x= -123.88793182373
y=-313.217132568359
z=4.42434310913086
------------------------------------------------
align_time: 20.286ms
exe_time: 20.331ms
trans_prob: 2.89955997467041
iter_num: 3
skipping_publish_num: 7
[0m[ INFO] [1617214301.580572983]: zone: 50N[0m
yaw-3.0024886210148
send data=-1
fix.longitude=114.327270238175
fix.latitude=30.5076378849594
Not Converged
delta x: 0.708633422851562 y: -0.03741455078125 z: -0.0592327117919922
delta yaw: 3.13454985618591 pitch: -3.14020681381226 roll: -3.14151692390442
x= -124.597007751465
y=-313.28076171875
z=4.40942192077637
------------------------------------------------
align_time: 11.24ms
exe_time: 11.268ms
trans_prob: 2.83957767486572
iter_num: 2
skipping_publish_num: 8
[0m[ INFO] [1617214301.644463991]: zone: 50N[0m
yaw-3.00959116280435
send data=-1
fix.longitude=114.327262872119
fix.latitude=30.5076371599307
Not Converged
delta x: 0.637649536132812 y: -0.206451416015625 z: -0.0248851776123047
delta yaw: 3.13862895965576 pitch: 3.13937497138977 roll: 3.14066648483276
x= -125.256904602051
y=-313.1611328125
z=4.41888046264648
------------------------------------------------
align_time: 17.447ms
exe_time: 17.475ms
trans_prob: 2.79298734664917
iter_num: 3
skipping_publish_num: 9
[0m[ INFO] [1617214301.739777898]: zone: 50N[0m
yaw-3.01247956640827
send data=-1
fix.longitude=114.327255972823
fix.latitude=30.5076380973059
Not Converged
delta x: 0.261810302734375 y: -0.113433837890625 z: -0.0157318115234375
delta yaw: 0.0011239810846746 pitch: 0.00105361279565841 roll: 0.000684678554534912
x= -125.531753540039
y=-313.083068847656
z=4.41571474075317
------------------------------------------------
align_time: 19.583ms
exe_time: 19.612ms
trans_prob: 2.92551445960999
iter_num: 5
skipping_publish_num: 10
[0m[ INFO] [1617214301.818761244]: zone: 50N[0m
yaw-3.01131719291844
send data=-1
fix.longitude=114.327253092281
fix.latitude=30.5076387422659
Not Converged
delta x: 0.27752685546875 y: -0.153656005859375 z: -0.0157318115234375
delta yaw: 0.0100938118994236 pitch: 0.00181425095070153 roll: 0.00109426199924201
x= -125.827598571777
y=-312.967529296875
z=4.41176271438599
------------------------------------------------
align_time: 15.381ms
exe_time: 15.427ms
trans_prob: 2.92218565940857
iter_num: 2
skipping_publish_num: 11
[0m[ INFO] [1617214301.913330984]: zone: 50N[0m
yaw-3.00114659199565
send data=-1
fix.longitude=114.327249983914
fix.latitude=30.5076397205477
Not Converged
delta x: 0.244964599609375 y: 0.10205078125 z: -0.0370292663574219
delta yaw: 3.1286346912384 pitch: -3.13901257514954 roll: 3.14079308509827
x= -126.057228088379
y=-313.104339599609
z=4.39331865310669
------------------------------------------------
align_time: 30.897ms
exe_time: 30.943ms
trans_prob: 2.84432792663574
iter_num: 5
skipping_publish_num: 12
[0m[ INFO] [1617214302.029551370]: zone: 50N[0m
yaw-3.01421493299092
send data=-1
fix.longitude=114.327247627135
fix.latitude=30.5076384382783
Not Converged
delta x: 0.566604614257812 y: -0.103912353515625 z: -0.0187664031982422
delta yaw: 3.13894391059875 pitch: 3.14064335823059 roll: 3.14098930358887
x= -126.632637023926
y=-313.074066162109
z=4.40634059906006
------------------------------------------------
align_time: 22.89ms
exe_time: 22.916ms
trans_prob: 2.91495037078857
iter_num: 5
skipping_publish_num: 13
[0m[ INFO] [1617214302.096826985]: zone: 50N[0m
yaw-3.01683271385892
send data=-1
fix.longitude=114.327241629437
fix.latitude=30.5076385882457
Not Converged
delta x: 0.738922119140625 y: 0.065460205078125 z: 0.00242805480957031
delta yaw: 3.13076615333557 pitch: -3.13899397850037 roll: 3.13616156578064
x= -127.356010437012
y=-313.230621337891
z=4.45658302307129
------------------------------------------------
align_time: 29.373ms
exe_time: 29.415ms
trans_prob: 2.95622563362122
iter_num: 5
skipping_publish_num: 14
[0m[ INFO] [1617214302.222197574]: zone: 50N[0m
yaw-3.02776717705611
send data=-1
fix.longitude=114.327234137464
fix.latitude=30.5076370225206
delta x: 0.52947998046875 y: 0.0665283203125 z: -0.0564155578613281
delta yaw: 3.1359007358551 pitch: -3.13714790344238 roll: -3.13714241981506
x= -127.876686096191
y=-313.358795166016
z=4.43612241744995
------------------------------------------------
align_time: 17.736ms
exe_time: 17.786ms
trans_prob: 3.0312762260437
iter_num: 3
skipping_publish_num: 0
[0m[ INFO] [1617214302.308895636]: zone: 50N[0m
yaw-3.0336070369137
send data=-1
fix.longitude=114.327228748651
fix.latitude=30.5076357559268
Not Converged
delta x: 0.830795288085938 y: 0.107177734375 z: -0.09759521484375
delta yaw: 3.12809610366821 pitch: -3.14154243469238 roll: 3.14097380638123
x= -128.69514465332
y=-313.558746337891
z=4.39914512634277
------------------------------------------------
align_time: 33.105ms
exe_time: 33.149ms
trans_prob: 2.94303870201111
iter_num: 6
skipping_publish_num: 1
[0m[ INFO] [1617214302.435682231]: zone: 50N[0m
yaw-3.04712768921629
send data=-1
fix.longitude=114.327220277512
fix.latitude=30.5076337787146
Not Converged
delta x: 0.86639404296875 y: 0.146759033203125 z: -0.0876483917236328
delta yaw: 3.12929511070251 pitch: -3.13916826248169 roll: 3.14112949371338
x= -129.547103881836
y=-313.789947509766
z=4.37558364868164
------------------------------------------------
align_time: 11.003ms
exe_time: 11.026ms
trans_prob: 2.91827702522278
iter_num: 2
skipping_publish_num: 2
[0m[ INFO] [1617214302.486214330]: zone: 50N[0m
yaw-3.0595345046363
send data=-1
fix.longitude=114.327211465329
fix.latitude=30.5076315126561
delta x: 0.18414306640625 y: -0.277557373046875 z: 0.0431938171386719
delta yaw: 0.00260934676043689 pitch: 0.000344842701451853 roll: 0.00478669162839651
x= -129.750778198242
y=-313.526794433594
z=4.42139339447021
------------------------------------------------
align_time: 36.72ms
exe_time: 36.741ms
trans_prob: 3.03761506080627
iter_num: 9
skipping_publish_num: 0
[0m[ INFO] [1617214302.579729552]: zone: 50N[0m
yaw-3.05690803299919
send data=-1
fix.longitude=114.327209280077
fix.latitude=30.5076338412235
Not Converged
delta x: 0.209381103515625 y: -0.246856689453125 z: -0.0123157501220703
delta yaw: 0.00493770418688655 pitch: 0.00557866599410772 roll: -0.00484870653599501
x= -129.981262207031
y=-313.29931640625
z=4.41354942321777
------------------------------------------------
align_time: 14.734ms
exe_time: 14.765ms
trans_prob: 2.87318420410156
iter_num: 2
skipping_publish_num: 1
[0m[ INFO] [1617214302.661555250]: zone: 50N[0m
yaw-3.05173558651833
send data=-1
fix.longitude=114.327206824527
fix.latitude=30.5076358424868
Not Converged
delta x: 0.469223022460938 y: -0.097442626953125 z: -0.0160388946533203
delta yaw: 3.13685846328735 pitch: -3.13994288444519 roll: -3.14126038551331
x= -130.457565307617
y=-313.245025634766
z=4.42408752441406
------------------------------------------------
align_time: 16.439ms
exe_time: 16.468ms
trans_prob: 2.99129033088684
iter_num: 4
skipping_publish_num: 2
[0m[ INFO] [1617214302.740218330]: zone: 50N[0m
yaw-3.05653616662149
send data=-1
fix.longitude=114.327201852634
fix.latitude=30.5076362301173
delta x: 0.511123657226562 y: -0.152862548828125 z: -0.0273075103759766
delta yaw: 3.13760375976562 pitch: -3.13993000984192 roll: 3.1385350227356
x= -130.980758666992
y=-313.137329101562
z=4.42475128173828
------------------------------------------------
align_time: 13.382ms
exe_time: 13.46ms
trans_prob: 3.0297064781189
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214302.837442997]: zone: 50N[0m
yaw-3.06059201749247
send data=-1
fix.longitude=114.327196379419
fix.latitude=30.5076370891334
delta x: 0.526031494140625 y: 0.168731689453125 z: -0.0521564483642578
delta yaw: 3.13211703300476 pitch: -3.14001607894897 roll: 3.14109206199646
x= -131.493179321289
y=-313.349822998047
z=4.41360425949097
------------------------------------------------
align_time: 19.106ms
exe_time: 19.153ms
trans_prob: 3.12574505805969
iter_num: 4
skipping_publish_num: 0
[0m[ INFO] [1617214302.914702075]: zone: 50N[0m
yaw-3.07013764183159
send data=-1
fix.longitude=114.327191097347
fix.latitude=30.5076350642356
delta x: 0.543350219726562 y: 0.02410888671875 z: -0.05303955078125
delta yaw: 3.13479328155518 pitch: 3.14107322692871 roll: 3.13912796974182
x= -132.035598754883
y=-313.414581298828
z=4.39858293533325
------------------------------------------------
align_time: 17.03ms
exe_time: 17.067ms
trans_prob: 3.07699656486511
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214303.057735218]: zone: 50N[0m
yaw-3.07693107546
send data=-1
fix.longitude=114.327185466529
fix.latitude=30.5076343646263
delta x: 0.556442260742188 y: -0.0230712890625 z: -0.0358695983886719
delta yaw: 3.13392901420593 pitch: 3.1404767036438 roll: 3.14053583145142
x= -132.593505859375
y=-313.4287109375
z=4.3996114730835
------------------------------------------------
align_time: 10.91ms
exe_time: 10.935ms
trans_prob: 3.00293898582458
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214303.098482788]: zone: 50N[0m
yaw-3.08457224235948
send data=-1
fix.longitude=114.327179661987
fix.latitude=30.5076341180778
delta x: 0.340560913085938 y: -0.046844482421875 z: -0.023493766784668
delta yaw: 3.13635945320129 pitch: 3.14087128639221 roll: 3.1412947177887
x= -132.937042236328
y=-313.402160644531
z=4.39723110198975
------------------------------------------------
align_time: 23.466ms
exe_time: 23.503ms
trans_prob: 3.01767754554749
iter_num: 3
skipping_publish_num: 0
[0m[ INFO] [1617214303.230010422]: zone: 50N[0m
yaw-3.08979154228681
send data=-1
fix.longitude=114.32717607909
fix.latitude=30.5076342840155
Not Converged
delta x: 0.412765502929688 y: 0.0205078125 z: -0.0100841522216797
delta yaw: 3.13582468032837 pitch: 3.13886857032776 roll: 3.14052581787109
x= -133.347915649414
y=-313.444305419922
z=4.41472673416138
------------------------------------------------
align_time: 17.886ms
exe_time: 17.922ms
trans_prob: 2.97831106185913
iter_num: 2
skipping_publish_num: 1
[0m[ INFO] [1617214303.304257163]: zone: 50N[0m
yaw-3.09548269100365
send data=-1
fix.longitude=114.327171812137
fix.latitude=30.5076338163468
Not Converged
delta x: 0.472122192382812 y: -0.148162841796875 z: -0.0102214813232422
delta yaw: 3.13821315765381 pitch: -3.13940143585205 roll: -3.14149737358093
x= -133.826354980469
y=-313.318481445312
z=4.42943429946899
------------------------------------------------
align_time: 27.197ms
exe_time: 27.284ms
trans_prob: 2.94528865814209
iter_num: 3
skipping_publish_num: 2
[0m[ INFO] [1617214303.434956439]: zone: 50N[0m
yaw-3.09893478355678
send data=-1
fix.longitude=114.327166800356
fix.latitude=30.507634848324
delta x: 0.534072875976562 y: 0.09710693359375 z: -0.061492919921875
delta yaw: 3.13557243347168 pitch: -3.13696789741516 roll: 3.14062118530273
x= -134.358367919922
y=-313.440185546875
z=4.40547227859497
------------------------------------------------
align_time: 20.89ms
exe_time: 20.936ms
trans_prob: 3.10963988304138
iter_num: 4
skipping_publish_num: 0
[0m[ INFO] [1617214303.482470483]: zone: 50N[0m
yaw-3.10510933392266
send data=-1
fix.longitude=114.327161291923
fix.latitude=30.507633637624
delta x: 0.542083740234375 y: 0.00225830078125 z: -0.0183858871459961
delta yaw: 3.13113021850586 pitch: -3.14107990264893 roll: 3.13896489143372
x= -134.899948120117
y=-313.462799072266
z=4.42450904846191
------------------------------------------------
align_time: 18.605ms
exe_time: 18.632ms
trans_prob: 3.13372421264648
iter_num: 3
skipping_publish_num: 0
[0m[ INFO] [1617214303.568398418]: zone: 50N[0m
yaw-3.11560761726309
send data=-1
fix.longitude=114.327155659444
fix.latitude=30.5076333180881
delta x: 0.5111083984375 y: 0.009246826171875 z: -0.0587482452392578
delta yaw: 3.13381814956665 pitch: -3.13976049423218 roll: 3.14017796516418
x= -135.413421630859
y=-313.487091064453
z=4.4014573097229
------------------------------------------------
align_time: 16.235ms
exe_time: 16.259ms
trans_prob: 3.00558519363403
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214303.655768152]: zone: 50N[0m
yaw-3.1234505232886
send data=-1
fix.longitude=114.32715031998
fix.latitude=30.5076329894265
delta x: 0.63165283203125 y: 0.014312744140625 z: -0.0203189849853516
delta yaw: 3.13195061683655 pitch: 3.14090442657471 roll: -3.14098477363586
x= -136.044525146484
y=-313.513427734375
z=4.42618989944458
------------------------------------------------
align_time: 20.823ms
exe_time: 20.896ms
trans_prob: 3.13567066192627
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214303.796075480]: zone: 50N[0m
yaw-3.13309360747791
send data=-1
fix.longitude=114.327143756447
fix.latitude=30.5076326172048
Not Converged
delta x: 0.511505126953125 y: -0.097625732421875 z: -0.0375823974609375
delta yaw: 3.13488340377808 pitch: -3.14117813110352 roll: 3.14113903045654
x= -136.558410644531
y=-313.421264648438
z=4.42154121398926
------------------------------------------------
align_time: 16.435ms
exe_time: 16.532ms
trans_prob: 2.96560883522034
iter_num: 3
skipping_publish_num: 1
[0m[ INFO] [1617214303.842742758]: zone: 50N[0m
yaw-3.13982861096082
send data=-1
fix.longitude=114.327138383963
fix.latitude=30.5076333381874
delta x: 0.270492553710938 y: -0.329833984375 z: -0.00100326538085938
delta yaw: 3.14076828956604 pitch: 3.13760948181152 roll: -3.13970828056335
x= -136.829544067383
y=-313.092071533203
z=4.42997264862061
------------------------------------------------
align_time: 35.147ms
exe_time: 35.186ms
trans_prob: 3.01758766174316
iter_num: 4
skipping_publish_num: 0
[0m[ INFO] [1617214303.976674333]: zone: 50N[0m
yaw-3.14053969837121
send data=-1
fix.longitude=114.32713548014
fix.latitude=30.507636247631
Not Converged
delta x: 0.422836303710938 y: -0.05120849609375 z: -0.0243511199951172
delta yaw: 3.13970375061035 pitch: 3.13717818260193 roll: -3.13861346244812
x= -137.253219604492
y=-313.042083740234
z=4.43197202682495
------------------------------------------------
align_time: 17.273ms
exe_time: 17.303ms
trans_prob: 2.95029187202454
iter_num: 4
skipping_publish_num: 1
[0m[ INFO] [1617214304.024789851]: zone: 50N[0m
yaw3.1408897162897
send data=-1
fix.longitude=114.327131057182
fix.latitude=30.5076366077143
delta x: 0.603622436523438 y: 0.013397216796875 z: -0.0546283721923828
delta yaw: 3.1302592754364 pitch: -3.14083170890808 roll: 3.14090013504028
x= -137.859039306641
y=-313.056854248047
z=4.41500186920166
------------------------------------------------
align_time: 27.437ms
exe_time: 27.472ms
trans_prob: 3.11764693260193
iter_num: 4
skipping_publish_num: 0
[0m[ INFO] [1617214304.146348506]: zone: 50N[0m
yaw3.12951519114822
send data=-1
fix.longitude=114.327124754009
fix.latitude=30.507636345151
Not Converged
delta x: 0.462493896484375 y: 0.004425048828125 z: -0.038151741027832
delta yaw: 3.13406991958618 pitch: -3.14082479476929 roll: 3.14015030860901
x= -138.323059082031
y=-313.056945800781
z=4.40567636489868
------------------------------------------------
align_time: 14.863ms
exe_time: 14.89ms
trans_prob: 2.99437689781189
iter_num: 3
skipping_publish_num: 1
[0m[ INFO] [1617214304.206962796]: zone: 50N[0m
yaw3.12195610818449
send data=-1
fix.longitude=114.327119923407
fix.latitude=30.5076362451971
Not Converged
delta x: 0.535629272460938 y: 0.074127197265625 z: -0.0359315872192383
delta yaw: 3.1352322101593 pitch: -3.14156818389893 roll: -3.13979244232178
x= -138.861099243164
y=-313.121643066406
z=4.40563297271729
------------------------------------------------
align_time: 18.839ms
exe_time: 18.891ms
trans_prob: 2.91770505905151
iter_num: 2
skipping_publish_num: 2
[0m[ INFO] [1617214304.316441718]: zone: 50N[0m
yaw3.11558598042572
send data=-1
fix.longitude=114.327114338164
fix.latitude=30.5076355470704
Not Converged
delta x: 0.437728881835938 y: -0.07147216796875 z: -0.0275192260742188
delta yaw: 3.13535785675049 pitch: -3.13631939888 roll: -3.14089417457581
x= -139.297836303711
y=-313.039794921875
z=4.40287160873413
------------------------------------------------
align_time: 18.486ms
exe_time: 18.52ms
trans_prob: 2.97248649597168
iter_num: 3
skipping_publish_num: 3
[0m[ INFO] [1617214304.403175931]: zone: 50N[0m
yaw3.10915564700426
send data=-1
fix.longitude=114.327109771369
fix.latitude=30.5076361915537
Not Converged
delta x: 0.417755126953125 y: -0.11993408203125 z: -0.0176162719726562
delta yaw: 3.1377546787262 pitch: -3.13983535766602 roll: -3.14100813865662
x= -139.712005615234
y=-312.907043457031
z=4.40903759002686
------------------------------------------------
align_time: 18.351ms
exe_time: 18.391ms
trans_prob: 2.910240650177
iter_num: 2
skipping_publish_num: 4
[0m[ INFO] [1617214304.521691934]: zone: 50N[0m
yaw3.10524737835071
send data=-1
fix.longitude=114.327105426954
fix.latitude=30.5076372997034
delta x: 0.457229614257812 y: -0.0062255859375 z: -0.0115833282470703
delta yaw: 3.13351798057556 pitch: -3.14092683792114 roll: 3.14077997207642
x= -140.168441772461
y=-312.884674072266
z=4.42870330810547
------------------------------------------------
align_time: 9.963ms
exe_time: 10.046ms
trans_prob: 3.01991200447083
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214304.589861463]: zone: 50N[0m
yaw3.09713417613949
send data=-1
fix.longitude=114.327100669759
fix.latitude=30.5076374038331
Not Converged
delta x: 0.512466430664062 y: 0.024749755859375 z: -0.0368614196777344
delta yaw: 3.13477945327759 pitch: -3.14055204391479 roll: -3.14148759841919
x= -140.682815551758
y=-312.887908935547
z=4.42829084396362
------------------------------------------------
align_time: 14.885ms
exe_time: 14.932ms
trans_prob: 2.95986580848694
iter_num: 2
skipping_publish_num: 1
[0m[ INFO] [1617214304.700514861]: zone: 50N[0m
yaw3.09027040410984
send data=-1
fix.longitude=114.327095315728
fix.latitude=30.5076372647871
delta x: 0.859169006347656 y: 0.030029296875 z: -0.0650730133056641
delta yaw: 3.12616086006165 pitch: -3.13986110687256 roll: 3.13996887207031
x= -141.544876098633
y=-312.876098632812
z=4.42461204528809
------------------------------------------------
align_time: 23.154ms
exe_time: 23.175ms
trans_prob: 3.00538849830627
iter_num: 5
skipping_publish_num: 0
[0m[ INFO] [1617214304.771932395]: zone: 50N[0m
yaw3.07474550234494
send data=-1
fix.longitude=114.327086338432
fix.latitude=30.5076371870815
delta x: 0.342674255371094 y: -0.2218017578125 z: -0.0297660827636719
delta yaw: 3.14147615432739 pitch: -3.1407904624939 roll: 3.13467979431152
x= -141.873870849609
y=-312.632995605469
z=4.41116142272949
------------------------------------------------
align_time: 34.441ms
exe_time: 34.484ms
trans_prob: 3.09863138198853
iter_num: 7
skipping_publish_num: 0
[0m[ INFO] [1617214304.906819488]: zone: 50N[0m
yaw3.07459922712955
send data=-1
fix.longitude=114.32708285349
fix.latitude=30.5076393081417
delta x: 0.346450805664062 y: -0.082977294921875 z: -0.0018463134765625
delta yaw: 3.13800954818726 pitch: 3.14131116867065 roll: -3.14019274711609
x= -142.213424682617
y=-312.527160644531
z=4.43174695968628
------------------------------------------------
align_time: 12.563ms
exe_time: 12.594ms
trans_prob: 3.16124629974365
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214304.950464034]: zone: 50N[0m
yaw3.07101692024377
send data=-1
fix.longitude=114.327079292491
fix.latitude=30.507640189604
delta x: 0.454940795898438 y: -0.0230712890625 z: -0.0534305572509766
delta yaw: 3.13618516921997 pitch: 3.14124488830566 roll: -3.14023327827454
x= -142.668411254883
y=-312.473571777344
z=4.41026878356934
------------------------------------------------
align_time: 18.006ms
exe_time: 18.04ms
trans_prob: 3.23735594749451
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214305.054881430]: zone: 50N[0m
yaw3.06560937846007
send data=-1
fix.longitude=114.327074542684
fix.latitude=30.5076405754565
delta x: 0.556388854980469 y: -0.048980712890625 z: -0.0391073226928711
delta yaw: 3.1333703994751 pitch: 3.13937878608704 roll: -3.1409068107605
x= -143.221054077148
y=-312.383666992188
z=4.40913105010986
[0m[ INFO] [1617214305.115311202]: zone: 50N[0m
yaw3.05744609146953
send data=-1
fix.longitude=114.327068767277
fix.latitude=30.5076412677999
------------------------------------------------
align_time: 10.604ms
exe_time: 10.633ms
trans_prob: 3.12048006057739
iter_num: 2
skipping_publish_num: 0
delta x: 0.756675720214844 y: 0.175933837890625 z: -0.0505990982055664
delta yaw: 3.12692356109619 pitch: 3.14094233512878 roll: -3.13917875289917
x= -143.991241455078
y=-312.496917724609
z=4.4165506362915
------------------------------------------------
align_time: 58.728ms
exe_time: 58.8ms
trans_prob: 3.25974154472351
iter_num: 4
skipping_publish_num: 0
[0m[ INFO] [1617214305.296783057]: zone: 50N[0m
yaw3.0427748796523
send data=-1
fix.longitude=114.327060777272
fix.latitude=30.5076400824126
delta x: 0.52252197265625 y: -0.04736328125 z: -0.0248394012451172
delta yaw: 3.13530731201172 pitch: 3.13755369186401 roll: 3.13957071304321
x= -144.507263183594
y=-312.399139404297
z=4.4251651763916
------------------------------------------------
align_time: 27.616ms
exe_time: 27.643ms
trans_prob: 3.16533613204956
iter_num: 4
skipping_publish_num: 0
[0m[ INFO] [1617214305.338464718]: zone: 50N[0m
yaw3.03663489206592
send data=-1
fix.longitude=114.327055381162
fix.latitude=30.5076408535514
delta x: 0.515167236328125 y: -0.25897216796875 z: -0.0365257263183594
delta yaw: 3.13972020149231 pitch: 3.14082360267639 roll: 3.14054179191589
x= -144.99446105957
y=-312.0888671875
z=4.4118218421936
------------------------------------------------
align_time: 16.73ms
exe_time: 16.762ms
trans_prob: 3.02404689788818
iter_num: 3
skipping_publish_num: 0
[0m[ INFO] [1617214305.406228334]: zone: 50N[0m
yaw3.03478794650269
send data=-1
fix.longitude=114.327050232691
fix.latitude=30.5076435462798
Not Converged
delta x: 0.346992492675781 y: -0.0172119140625 z: -0.0416460037231445
delta yaw: 3.13421106338501 pitch: -3.14000201225281 roll: 3.14083337783813
x= -145.339767456055
y=-312.036010742188
z=4.39126205444336
------------------------------------------------
align_time: 35.547ms
exe_time: 35.633ms
trans_prob: 2.90420389175415
iter_num: 4
skipping_publish_num: 1
[0m[ INFO] [1617214305.557309561]: zone: 50N[0m
yaw3.02733955661471
send data=-1
fix.longitude=114.327046624877
fix.latitude=30.5076439489609
Not Converged
delta x: 0.502281188964844 y: -0.072479248046875 z: -0.0201749801635742
delta yaw: 3.13502311706543 pitch: 3.14054298400879 roll: -3.14101052284241
x= -145.831024169922
y=-311.907440185547
z=4.40051174163818
------------------------------------------------
align_time: 23.518ms
exe_time: 23.553ms
trans_prob: 2.86456394195557
iter_num: 3
skipping_publish_num: 2
[0m[ INFO] [1617214305.598640875]: zone: 50N[0m
yaw3.02079809182259
send data=-1
fix.longitude=114.327041478983
fix.latitude=30.5076450029528
Not Converged
delta x: 1.0885009765625 y: 0.05743408203125 z: -0.0840816497802734
delta yaw: 3.12540864944458 pitch: -3.14008903503418 roll: -3.13905334472656
x= -146.921844482422
y=-311.835906982422
z=4.38647890090942
------------------------------------------------
align_time: 41.282ms
exe_time: 41.312ms
trans_prob: 2.95552134513855
iter_num: 8
skipping_publish_num: 3
[0m[ INFO] [1617214305.716137029]: zone: 50N[0m
yaw3.00453777533695
send data=-1
fix.longitude=114.327030105474
fix.latitude=30.5076454147173
Not Converged
delta x: 0.640190124511719 y: 0.021148681640625 z: -0.0568294525146484
delta yaw: 3.13345694541931 pitch: -3.13834857940674 roll: -3.13998985290527
x= -147.561462402344
y=-311.771270751953
z=4.37108039855957
------------------------------------------------
align_time: 28.256ms
exe_time: 28.283ms
trans_prob: 2.93787503242493
iter_num: 6
skipping_publish_num: 4
[0m[ INFO] [1617214305.772471483]: zone: 50N[0m
yaw2.99626164012173
send data=-1
fix.longitude=114.327023430857
fix.latitude=30.5076458607054
delta x: 0.249130249023438 y: -0.29473876953125 z: 0.0153083801269531
delta yaw: 0.00638136733323336 pitch: 0.00073228043038398 roll: -0.000522548332810402
x= -147.76448059082
y=-311.443328857422
z=4.39052248001099
------------------------------------------------
align_time: 28.578ms
exe_time: 28.6ms
trans_prob: 3.09555339813232
iter_num: 7
skipping_publish_num: 0
[0m[ INFO] [1617214305.860623592]: zone: 50N[0m
yaw3.0026818493139
send data=-1
fix.longitude=114.327021236445
fix.latitude=30.5076487734196
Not Converged
delta x: 0.834091186523438 y: 0.14581298828125 z: -0.059722900390625
delta yaw: 3.12440061569214 pitch: -3.14027070999146 roll: -3.14021635055542
x= -148.612762451172
y=-311.474273681641
z=4.39163684844971
------------------------------------------------
align_time: 49.579ms
exe_time: 49.63ms
trans_prob: 2.90190052986145
iter_num: 10
skipping_publish_num: 1
[0m[ INFO] [1617214306.035678730]: zone: 50N[0m
yaw2.98541209136302
send data=-1
fix.longitude=114.327012413139
fix.latitude=30.5076483132554
delta x: 0.474105834960938 y: -0.061859130859375 z: -0.0280113220214844
delta yaw: 3.13784837722778 pitch: 3.14111757278442 roll: 3.14107060432434
x= -149.072647094727
y=-311.340515136719
z=4.39243268966675
------------------------------------------------
align_time: 27.364ms
exe_time: 27.388ms
trans_prob: 3.0965633392334
iter_num: 5
skipping_publish_num: 0
[0m[ INFO] [1617214306.082693172]: zone: 50N[0m
yaw2.98168371013854
send data=-1
fix.longitude=114.32700759256
fix.latitude=30.507649420713
delta x: 0.069732666015625 y: -0.175506591796875 z: 0.00469017028808594
delta yaw: 0.00457399105653167 pitch: 0.000525705458130687 roll: -0.00109131843782961
x= -149.11360168457
y=-311.156127929688
z=4.3941445350647
[0m[ INFO] [1617214306.140545928]: zone: 50N[0m
yaw2.98628589765574
send data=-1
fix.longitude=114.327007120712
fix.latitude=30.5076510740401
------------------------------------------------
align_time: 29.836ms
exe_time: 29.897ms
trans_prob: 3.00153422355652
iter_num: 6
skipping_publish_num: 0
delta x: 0.590538024902344 y: -0.074798583984375 z: -0.0431060791015625
delta yaw: 3.1399347782135 pitch: -3.14030385017395 roll: 3.14082622528076
x= -149.687484741211
y=-310.992462158203
z=4.38659334182739
------------------------------------------------
align_time: 28.75ms
exe_time: 28.806ms
trans_prob: 3.10498356819153
iter_num: 6
skipping_publish_num: 0
[0m[ INFO] [1617214306.232156200]: zone: 50N[0m
yaw2.9845718466733
send data=-1
fix.longitude=114.327001105986
fix.latitude=30.5076524267283
delta x: 0.488838195800781 y: -0.136810302734375 z: -0.0341663360595703
delta yaw: 3.13897180557251 pitch: -3.14053988456726 roll: -3.14143586158752
x= -150.150695800781
y=-310.782165527344
z=4.37942934036255
------------------------------------------------
align_time: 12.365ms
exe_time: 12.43ms
trans_prob: 3.14430522918701
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214306.325330372]: zone: 50N[0m
yaw2.98190381717916
send data=-1
fix.longitude=114.326996231893
fix.latitude=30.5076542233935
delta x: 0.823165893554688 y: 0.12359619140625 z: -0.0523395538330078
delta yaw: 3.1230673789978 pitch: -3.14100074768066 roll: 3.14152646064758
x= -150.984680175781
y=-310.775115966797
z=4.38784122467041
------------------------------------------------
align_time: 34.202ms
exe_time: 34.234ms
trans_prob: 3.06036782264709
iter_num: 6
skipping_publish_num: 0
[0m[ INFO] [1617214306.455020176]: zone: 50N[0m
yaw2.9633278080589
send data=-1
fix.longitude=114.326987548054
fix.latitude=30.5076541087656
delta x: 0.966018676757812 y: -0.005340576171875 z: -0.0270538330078125
delta yaw: 3.13037443161011 pitch: 3.13532090187073 roll: 3.13928413391113
x= -151.934295654297
y=-310.599792480469
z=4.42558574676514
------------------------------------------------
align_time: 17.841ms
exe_time: 17.87ms
trans_prob: 3.064368724823
iter_num: 3
skipping_publish_num: 0
[0m[ INFO] [1617214306.502006858]: zone: 50N[0m
yaw2.95236625543695
send data=-1
fix.longitude=114.326977618932
fix.latitude=30.5076554862641
Not Converged
delta x: 0.451286315917969 y: 0.12127685546875 z: -0.0630760192871094
delta yaw: 3.13106036186218 pitch: -3.14125490188599 roll: 3.13936829566956
x= -152.403442382812
y=-310.635955810547
z=4.39493322372437
------------------------------------------------
align_time: 36.092ms
exe_time: 36.129ms
trans_prob: 2.98067498207092
iter_num: 8
skipping_publish_num: 1
[0m[ INFO] [1617214306.601529003]: zone: 50N[0m
yaw2.94180970508028
send data=-1
fix.longitude=114.326972743856
fix.latitude=30.5076550600563
delta x: 1.26540374755859 y: 0.22943115234375 z: -0.143257141113281
delta yaw: 3.12589812278748 pitch: -3.13381958007812 roll: -3.13738656044006
x= -153.695953369141
y=-310.613891601562
z=4.33748197555542
------------------------------------------------
align_time: 48.675ms
exe_time: 48.73ms
trans_prob: 3.1275463104248
iter_num: 10
skipping_publish_num: 0
[0m[ INFO] [1617214306.757382201]: zone: 50N[0m
yaw2.92578519833088
send data=-1
fix.longitude=114.326959282874
fix.latitude=30.5076549828087
delta x: 0.572837829589844 y: -0.086212158203125 z: -0.0300407409667969
delta yaw: 3.13089799880981 pitch: -3.14085102081299 roll: 3.13706922531128
x= -154.23828125
y=-310.408203125
z=4.34238862991333
------------------------------------------------
align_time: 41.906ms
exe_time: 41.929ms
trans_prob: 3.00174474716187
iter_num: 9
skipping_publish_num: 0
[0m[ INFO] [1617214306.799428794]: zone: 50N[0m
yaw2.91504332508814
send data=-1
fix.longitude=114.32695358628
fix.latitude=30.5076567210312
delta x: 0.350883483886719 y: -0.14422607421875 z: -0.00916004180908203
delta yaw: 3.13767957687378 pitch: 3.14089941978455 roll: 3.13949847221375
x= -154.548141479492
y=-310.189331054688
z=4.3511848449707
------------------------------------------------
align_time: 15.528ms
[0m[ INFO] [1617214306.857447047]: zone: 50N[0m
yaw2.91115286042964
send data=-1
exe_time: 15.553ms
trans_prob: 3.15168380737305
iter_num: 3
skipping_publish_num: 0
fix.longitude=114.326950306511
fix.latitude=30.5076586277565
delta x: 0.313972473144531 y: -0.128173828125 z: 0.00212669372558594
delta yaw: 0.000554732803720981 pitch: 0.00165917060803622 roll: -0.00196974468417466
x= -154.824035644531
y=-309.992950439453
z=4.3693470954895
------------------------------------------------
align_time: 11.663ms
exe_time: 11.69ms
trans_prob: 3.25037598609924
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214306.946525450]: zone: 50N[0m
yaw2.91177302149755
send data=-1
fix.longitude=114.326947385892
fix.latitude=30.5076603389991
delta x: -0.09991455078125 y: -0.203887939453125 z: 0.00851631164550781
delta yaw: 0.00411259336397052 pitch: -0.000159531846293248 roll: -0.000197088607819751
x= -154.680389404297
y=-309.816986083984
z=4.36381387710571
------------------------------------------------
align_time: 26.015ms
exe_time: 26.059ms
trans_prob: 3.28632497787476
iter_num: 5
skipping_publish_num: 0
[0m[ INFO] [1617214307.074188590]: zone: 50N[0m
yaw2.91588576766298
send data=-1
fix.longitude=114.326948837887
fix.latitude=30.5076619558408
delta x: 0.522506713867188 y: -0.075531005859375 z: -0.0180759429931641
delta yaw: 3.13662075996399 pitch: 3.13743615150452 roll: -3.1409797668457
x= -155.173110961914
y=-309.627014160156
z=4.37732076644897
------------------------------------------------
align_time: 31.964ms
exe_time: 31.993ms
trans_prob: 3.30493927001953
iter_num: 7
skipping_publish_num: 0
[0m[ INFO] [1617214307.159965798]: zone: 50N[0m
yaw2.91105944664531
send data=-1
fix.longitude=114.326943661592
fix.latitude=30.5076635629911
delta x: 0.604354858398438 y: 0.027252197265625 z: -0.050750732421875
delta yaw: 3.13406324386597 pitch: 3.14035177230835 roll: 3.13944411277771
x= -155.770004272461
y=-309.516876220703
z=4.36475372314453
------------------------------------------------
align_time: 14.213ms
exe_time: 14.259ms
trans_prob: 3.34558773040771
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214307.243665498]: zone: 50N[0m
yaw2.90356817352812
send data=-1
fix.longitude=114.326937420526
fix.latitude=30.5076644282574
delta x: 0.542549133300781 y: 0.015869140625 z: -0.0384016036987305
delta yaw: 3.13463258743286 pitch: -3.13721537590027 roll: 3.14091515541077
x= -156.302581787109
y=-309.405395507812
z=4.3594331741333
------------------------------------------------
align_time: 12.691ms
exe_time: 12.716ms
trans_prob: 3.25852346420288
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214307.325462203]: zone: 50N[0m
yaw2.89644194713338
send data=-1
fix.longitude=114.326931848681
fix.latitude=30.507665319368
delta x: 0.630638122558594 y: -0.0797119140625 z: -0.0325155258178711
delta yaw: 3.13838195800781 pitch: -3.13788723945618 roll: 3.14136791229248
x= -156.896255493164
y=-309.175903320312
z=4.36447048187256
------------------------------------------------
align_time: 20.561ms
[0m[ INFO] [1617214307.462041887]: zone: 50N[0m
yaw2.89309439550867
exe_time: 20.604ms
trans_prob: 3.30577802658081
send data=-1
iter_num: 2
skipping_publish_num: 0
fix.longitude=114.326925611683
fix.latitude=30.5076672611874
delta x: 0.676841735839844 y: -0.036376953125 z: -0.0268688201904297
delta yaw: 3.13139152526855 pitch: -3.13958549499512 roll: 3.14149641990662
x= -157.543930053711
y=-308.975036621094
z=4.38205289840698
------------------------------------------------
align_time: 16.398ms
exe_time: 16.46ms
trans_prob: 3.18353915214539
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214307.502519349]: zone: 50N[0m
yaw2.8828038156295
send data=-1
fix.longitude=114.326918819578
fix.latitude=30.5076689334377
delta x: 0.613182067871094 y: -0.002349853515625 z: -0.0515232086181641
delta yaw: 3.1339545249939 pitch: -3.14139366149902 roll: 3.14108848571777
x= -158.138580322266
y=-308.817077636719
z=4.37296915054321
------------------------------------------------
align_time: 14.941ms
exe_time: 14.973ms
trans_prob: 3.28968596458435
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214307.588757153]: zone: 50N[0m
yaw2.87514509594279
send data=-1
fix.longitude=114.326912590064
fix.latitude=30.5076702302435
delta x: 0.828872680664062 y: -0.03436279296875 z: -0.0927562713623047
delta yaw: 3.13435387611389 pitch: 3.13999843597412 roll: 3.14076709747314
x= -158.93440246582
y=-308.567718505859
z=4.33646821975708
------------------------------------------------
align_time: 22.513ms
exe_time: 22.553ms
trans_prob: 3.24277710914612
iter_num: 3
skipping_publish_num: 0
[0m[ INFO] [1617214307.699238367]: zone: 50N[0m
yaw2.86795202340222
send data=-1
fix.longitude=114.326904243719
fix.latitude=30.5076723079551
delta x: 0.851753234863281 y: 0.045989990234375 z: -0.0611686706542969
delta yaw: 3.13004231452942 pitch: 3.13557600975037 roll: 3.13990449905396
x= -159.769485473633
y=-308.383361816406
z=4.33432579040527
------------------------------------------------
align_time: 15.463ms
exe_time: 15.496ms
trans_prob: 3.23189258575439
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214307.790732578]: zone: 50N[0m
yaw2.85660289677851
send data=-1
fix.longitude=114.326895504693
fix.latitude=30.5076737913426
delta x: 0.42681884765625 y: 0.016357421875 z: -0.00458908081054688
delta yaw: 3.13030338287354 pitch: 3.13685989379883 roll: 3.13492655754089
x= -160.183212280273
y=-308.279296875
z=4.35624504089355
------------------------------------------------
align_time: 39.215ms
[0m[ INFO] [1617214307.921757320]: zone: 50N[0m
yaw2.84546776157529
exe_time: 39.269ms
send data=-1
trans_prob: 3.23300409317017
iter_num: 6
skipping_publish_num: 0
fix.longitude=114.326891171959
fix.latitude=30.5076746409975
delta x: 0.479904174804688 y: -0.13909912109375 z: -0.0212554931640625
delta yaw: 0.00124403391964734 pitch: -0.00858788751065731 roll: 0.00467919697985053
x= -160.602508544922
y=-308.006683349609
z=4.35774040222168
------------------------------------------------
align_time: 18.579ms
exe_time: 18.609ms
trans_prob: 3.25183367729187
iter_num: 3
skipping_publish_num: 0
[0m[ INFO] [1617214307.983856935]: zone: 50N[0m
yaw2.84646631392025
send data=-1
fix.longitude=114.326886739657
fix.latitude=30.5076770087686
delta x: 0.345840454101562 y: -0.007537841796875 z: -0.0474948883056641
delta yaw: 3.13169479370117 pitch: -3.13511538505554 roll: 3.14074730873108
x= -160.93391418457
y=-307.899719238281
z=4.33233499526978
------------------------------------------------
align_time: 20.12ms
exe_time: 20.162ms
trans_prob: 3.33999991416931
iter_num: 3
skipping_publish_num: 0
[0m[ INFO] [1617214308.047560530]: zone: 50N[0m
yaw2.83633274986647
send data=-1
fix.longitude=114.326883263203
fix.latitude=30.5076779021444
delta x: 0.543575286865234 y: -0.117828369140625 z: -0.0144548416137695
delta yaw: 3.13236880302429 pitch: 3.14117550849915 roll: 3.1385817527771
x= -161.417053222656
y=-307.62451171875
z=4.35227346420288
------------------------------------------------
align_time: 21.202ms
exe_time: 21.231ms
trans_prob: 3.22117733955383
iter_num: 3
skipping_publish_num: 0
[0m[ INFO] [1617214308.172331574]: zone: 50N[0m
yaw2.82710533944406
send data=-1
fix.longitude=114.326878165632
fix.latitude=30.5076802796576
delta x: 0.652023315429688 y: -0.099822998046875 z: -0.0281925201416016
delta yaw: 3.13718295097351 pitch: -3.14077043533325 roll: -3.14132761955261
x= -162.007064819336
y=-307.32861328125
z=4.36650085449219
------------------------------------------------
align_time: 14.138ms
exe_time: 14.189ms
trans_prob: 3.17683339118958
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214308.277334416]: zone: 50N[0m
yaw2.82266123996493
send data=-1
fix.longitude=114.32687195037
fix.latitude=30.5076828208463
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fix.longitude=114.326502053121
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delta x: 0.622222900390625 y: -0.085205078125 z: -0.0351314544677734
delta yaw: 3.1364598274231 pitch: -3.14111113548279 roll: 3.14092040061951
x= -197.38801574707
y=-282.921875
z=4.21306324005127
------------------------------------------------
align_time: 18.29ms
exe_time: 18.318ms
trans_prob: 3.18475079536438
iter_num: 5
skipping_publish_num: 0
[0m[ INFO] [1617214314.746074134]: zone: 50N[0m
yaw2.42418286155646
send data=-1
fix.longitude=114.326497597876
fix.latitude=30.5078952647823
delta x: 0.504665374755859 y: -0.150390625 z: -0.0235352516174316
delta yaw: 3.13539505004883 pitch: 3.14154458045959 roll: 3.14096236228943
x= -197.670455932617
y=-282.476837158203
z=4.21899747848511
------------------------------------------------
align_time: 14.817ms
[0m[ INFO] [1617214314.862410146]: zone: 50N[0m
yaw2.4179754175348
exe_time: 14.846ms
send data=-1
trans_prob: 3.05781435966492
iter_num: 2
skipping_publish_num: 0
fix.longitude=114.32649454773
fix.latitude=30.5078992160243
delta x: 0.313594818115234 y: -0.153656005859375 z: -0.00825691223144531
delta yaw: 3.13761067390442 pitch: -3.14157223701477 roll: 3.1401526927948
x= -197.804077148438
y=-282.154205322266
z=4.22725868225098
------------------------------------------------
align_time: 14.1ms
exe_time: 14.125ms
trans_prob: 3.12030506134033
iter_num: 3
skipping_publish_num: 0
[0m[ INFO] [1617214314.945529596]: zone: 50N[0m
yaw2.41398547838818
send data=-1
fix.longitude=114.326493077059
fix.latitude=30.5079020956919
delta x: 0.118610382080078 y: -0.40399169921875 z: -0.00958538055419922
delta yaw: 0.0022766450420022 pitch: 0.000458568363683298 roll: -0.00334896449930966
x= -197.625061035156
y=-281.773193359375
z=4.21447277069092
------------------------------------------------
align_time: 20.507ms
exe_time: 20.534ms
trans_prob: 3.00384497642517
iter_num: 4
skipping_publish_num: 0
[0m[ INFO] [1617214315.021678581]: zone: 50N[0m
yaw2.41627886856232
send data=-1
fix.longitude=114.326494846662
fix.latitude=30.5079055684061
Not Converged
delta x: 0.568672180175781 y: -0.02032470703125 z: -0.0299185514450073
delta yaw: 3.13855671882629 pitch: 3.14062905311584 roll: 3.13880205154419
x= -198.038146972656
y=-281.380767822266
z=4.22176647186279
------------------------------------------------
align_time: 36.905ms
exe_time: 36.946ms
trans_prob: 2.98810839653015
iter_num: 7
skipping_publish_num: 1
[0m[ INFO] [1617214315.181482174]: zone: 50N[0m
yaw2.41326057999289
send data=-1
fix.longitude=114.326490449425
fix.latitude=30.5079090174812
Not Converged
delta x: 1.78115081787109 y: 0.1177978515625 z: -0.136464536190033
delta yaw: 3.11553907394409 pitch: 3.14125442504883 roll: 3.14106702804565
x= -199.451385498047
y=-280.281951904297
z=4.20416069030762
------------------------------------------------
align_time: 70.162ms
exe_time: 70.236ms
trans_prob: 2.97840309143066
iter_num: 17
skipping_publish_num: 2
[0m[ INFO] [1617214315.254179964]: zone: 50N[0m
yaw2.38716618565657
send data=-1
fix.longitude=114.326475465862
fix.latitude=30.5079186202798
Not Converged
delta x: 1.46379470825195 y: 0.6334228515625 z: -0.145726144313812
delta yaw: 3.10303139686584 pitch: -3.13988733291626 roll: 3.14042782783508
x= -200.957870483398
y=-279.739562988281
z=4.16709327697754
------------------------------------------------
align_time: 31.133ms
exe_time: 31.155ms
trans_prob: 2.7948157787323
iter_num: 7
skipping_publish_num: 3
[0m[ INFO] [1617214315.311343510]: zone: 50N[0m
yaw2.34849429170588
send data=-1
fix.longitude=114.326459648882
fix.latitude=30.5079231874894
Not Converged
delta x: 0.717575073242188 y: -0.044403076171875 z: -0.0546269714832306
delta yaw: 3.12739086151123 pitch: -3.14123487472534 roll: 3.14144659042358
x= -201.432144165039
y=-279.196563720703
z=4.15817737579346
------------------------------------------------
align_time: 46.29ms
exe_time: 46.83ms
trans_prob: 2.88656163215637
iter_num: 11
skipping_publish_num: 4
[0m[ INFO] [1617214315.428270084]: zone: 50N[0m
yaw2.33425774782926
send data=-1
fix.longitude=114.326454577493
fix.latitude=30.5079279807677
delta x: 0.0785789489746094 y: -0.145477294921875 z: 0.00901460647583008
delta yaw: 0.00542575633153319 pitch: -0.000116683557280339 roll: -0.0010553045431152
x= -201.380905151367
y=-279.039489746094
z=4.16868686676025
------------------------------------------------
align_time: 35.703ms
exe_time: 35.724ms
trans_prob: 3.07317495346069
iter_num: 9
skipping_publish_num: 0
[0m[ INFO] [1617214315.512199143]: zone: 50N[0m
yaw2.33969045588384
send data=-1
fix.longitude=114.326455072148
fix.latitude=30.5079294075896
delta x: 0.0521316528320312 y: -0.5462646484375 z: 0.0188049972057343
delta yaw: 0.00980011560022831 pitch: -0.000233866274356842 roll: -0.000518729561008513
x= -201.023986816406
y=-278.622344970703
z=4.17813014984131
[0m[ INFO] [1617214315.598599560]: zone: 50N[0m
yaw2.34950366484929
send data=-1
fix.longitude=114.326458684869
fix.latitude=30.5079332440223
------------------------------------------------
align_time: 23.654ms
exe_time: 23.682ms
trans_prob: 3.05115270614624
iter_num: 5
skipping_publish_num: 0
delta x: 0.459274291992188 y: -0.114593505859375 z: -0.0392813682556152
delta yaw: 3.13433647155762 pitch: -3.14118766784668 roll: -3.14091277122498
x= -201.266860961914
y=-278.214294433594
z=4.16659021377563
------------------------------------------------
align_time: 29.296ms
exe_time: 29.322ms
trans_prob: 3.23000192642212
iter_num: 7
skipping_publish_num: 0
[0m[ INFO] [1617214315.682264616]: zone: 50N[0m
yaw2.34222443902887
send data=-1
fix.longitude=114.326456055748
fix.latitude=30.5079368703123
delta x: 0.379474639892578 y: -0.08197021484375 z: -0.0287885814905167
delta yaw: 3.13592004776001 pitch: 3.14083981513977 roll: 3.13816738128662
x= -201.473968505859
y=-277.884704589844
z=4.16099309921265
------------------------------------------------
align_time: 9.716ms
exe_time: 9.746ms
trans_prob: 3.13936114311218
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214315.768603617]: zone: 50N[0m
yaw2.33655892308163
send data=-1
fix.longitude=114.326453818334
fix.latitude=30.5079397969963
delta x: 0.841789245605469 y: 0.146881103515625 z: -0.0485762357711792
delta yaw: 3.12293028831482 pitch: 3.14073300361633 roll: 3.1401526927948
x= -202.164810180664
y=-277.379486083984
z=4.17028093338013
------------------------------------------------
align_time: 35.734ms
exe_time: 35.794ms
trans_prob: 3.21718120574951
iter_num: 8
skipping_publish_num: 0
[0m[ INFO] [1617214315.878668913]: zone: 50N[0m
yaw2.31787950975536
send data=-1
fix.longitude=114.326446501706
fix.latitude=30.507944203439
delta x: 0.885177612304688 y: 0.20635986328125 z: -0.0814592838287354
delta yaw: 3.11871123313904 pitch: -3.14082717895508 roll: 3.1391921043396
x= -202.921005249023
y=-276.869079589844
z=4.14963102340698
------------------------------------------------
align_time: 12.93ms
exe_time: 12.965ms
trans_prob: 3.11592435836792
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214315.951497544]: zone: 50N[0m
yaw2.29493997330202
send data=-1
fix.longitude=114.326438503441
fix.latitude=30.5079486426808
delta x: 1.1500244140625 y: 0.225341796875 z: -0.0982828140258789
delta yaw: 3.11753177642822 pitch: -3.14063000679016 roll: 3.14131426811218
x= -203.855499267578
y=-276.155426025391
z=4.12959909439087
------------------------------------------------
align_time: 26.55ms
exe_time: 26.582ms
trans_prob: 3.05209016799927
iter_num: 4
skipping_publish_num: 0
[0m[ INFO] [1617214316.069089357]: zone: 50N[0m
yaw2.27081458441373
send data=-1
fix.longitude=114.32642859885
fix.latitude=30.5079548759014
delta x: 0.451324462890625 y: -0.2244873046875 z: -0.0129964351654053
delta yaw: 3.13715934753418 pitch: 3.14125633239746 roll: 3.13936305046082
x= -203.974960327148
y=-275.665740966797
z=4.14122295379639
------------------------------------------------
align_time: 43.482ms
exe_time: 43.51ms
trans_prob: 3.00069403648376
iter_num: 10
skipping_publish_num: 0
[0m[ INFO] [1617214316.163272577]: zone: 50N[0m
yaw2.26637974333331
send data=-1
fix.longitude=114.326427234362
fix.latitude=30.5079592644203
delta x: 0.500473022460938 y: -0.245697021484375 z: -0.0359125137329102
delta yaw: 3.1326789855957 pitch: -3.1414213180542 roll: 3.13822746276855
x= -204.108596801758
y=-275.123352050781
z=4.13298749923706
------------------------------------------------
align_time: 16.568ms
exe_time: 16.61ms
trans_prob: 3.05941390991211
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214316.233795377]: zone: 50N[0m
yaw2.25744595326398
send data=-1
fix.longitude=114.326425709294
fix.latitude=30.5079641249854
delta x: 0.615158081054688 y: 0.112274169921875 z: -0.0581560134887695
delta yaw: 3.12356638908386 pitch: -3.14103722572327 roll: 3.14144206047058
x= -204.587600708008
y=-274.717498779297
z=4.11619091033936
------------------------------------------------
align_time: 19.639ms
exe_time: 19.685ms
trans_prob: 3.08524560928345
iter_num: 5
skipping_publish_num: 0
[0m[ INFO] [1617214316.311857593]: zone: 50N[0m
yaw2.23937547535441
send data=-1
fix.longitude=114.326420622505
fix.latitude=30.5079676810102
delta x: 0.745185852050781 y: -0.021209716796875 z: -0.0411601066589355
delta yaw: 3.1224262714386 pitch: 3.13912487030029 roll: 3.13615369796753
x= -205.034118652344
y=-274.119171142578
z=4.12278747558594
[0m[ INFO] [1617214316.414904824]: zone: 50N[0m
yaw2.22021628066741
send data=-1
------------------------------------------------
align_time: 16.97ms
exe_time: 16.997ms
trans_prob: 3.05653834342957
iter_num: 3
skipping_publish_num: 0
fix.longitude=114.326415826406
fix.latitude=30.5079729789504
Not Converged
delta x: 0.481132507324219 y: -0.402313232421875 z: -0.0508170127868652
delta yaw: 3.14028072357178 pitch: 3.14118504524231 roll: 3.13855314254761
x= -205.006713867188
y=-273.491058349609
z=4.09673881530762
------------------------------------------------
align_time: 25.701ms
exe_time: 25.728ms
trans_prob: 2.97764301300049
iter_num: 6
skipping_publish_num: 1
[0m[ INFO] [1617214316.517832510]: zone: 50N[0m
yaw2.21890688625418
send data=-1
fix.longitude=114.326415956688
fix.latitude=30.5079786466475
delta x: 0.256591796875 y: -1.04562377929688 z: -0.00351762771606445
delta yaw: 0.0120802251622081 pitch: 0.000850662647280842 roll: 0.00648010428994894
x= -204.32829284668
y=-272.655029296875
z=4.09904909133911
------------------------------------------------
align_time: 36.523ms
exe_time: 36.551ms
trans_prob: 3.05563163757324
iter_num: 8
skipping_publish_num: 0
[0m[ INFO] [1617214316.628215886]: zone: 50N[0m
yaw2.23101677665259
send data=-1
fix.longitude=114.326422813009
fix.latitude=30.507986327627
delta x: 0.520652770996094 y: 0.002197265625 z: -0.0174798965454102
delta yaw: 3.12398648262024 pitch: 3.14129996299744 roll: 3.13872456550598
x= -204.64958190918
y=-272.245178222656
z=4.11312818527222
------------------------------------------------
align_time: 49.253ms
exe_time: 49.276ms
trans_prob: 3.28490662574768
iter_num: 12
skipping_publish_num: 0
[0m[ INFO] [1617214316.703408000]: zone: 50N[0m
yaw2.21338540690724
send data=-1
fix.longitude=114.326419367108
fix.latitude=30.5079899533899
delta x: 0.480339050292969 y: -0.17144775390625 z: -0.0387401580810547
delta yaw: 3.12054538726807 pitch: -3.14078378677368 roll: 3.13639569282532
x= -204.801544189453
y=-271.756988525391
z=4.10094356536865
------------------------------------------------
align_time: 16.699ms
exe_time: 16.727ms
trans_prob: 3.08200311660767
iter_num: 3
skipping_publish_num: 0
[0m[ INFO] [1617214316.798061239]: zone: 50N[0m
yaw2.19229069426253
send data=-1
fix.longitude=114.326417664637
fix.latitude=30.5079943214842
delta x: 0.432228088378906 y: -0.204376220703125 z: -0.0278735160827637
delta yaw: 3.12582063674927 pitch: -3.14041924476624 roll: 3.13970518112183
x= -204.887878417969
y=-271.285919189453
z=4.09730911254883
------------------------------------------------
align_time: 12.552ms
exe_time: 12.58ms
trans_prob: 3.12596201896667
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214316.859777782]: zone: 50N[0m
yaw2.17647825655379
send data=-1
fix.longitude=114.326416649606
fix.latitude=30.5079985492787
delta x: 0.93896484375 y: 0.17974853515625 z: -0.0764980316162109
delta yaw: 3.13098239898682 pitch: -3.13954329490662 roll: -3.13700771331787
x= -205.572357177734
y=-270.614349365234
z=4.08018255233765
------------------------------------------------
align_time: 45.901ms
exe_time: 45.934ms
trans_prob: 3.07350540161133
iter_num: 10
skipping_publish_num: 0
[0m[ INFO] [1617214316.993893539]: zone: 50N[0m
yaw2.1658294141355
send data=-1
fix.longitude=114.326409358158
fix.latitude=30.5080044565779
delta x: 0.827362060546875 y: 0.101898193359375 z: -0.0583691596984863
delta yaw: 3.11956119537354 pitch: -3.14084720611572 roll: 3.14016246795654
x= -206.12223815918
y=-269.985107421875
z=4.07578802108765
------------------------------------------------
align_time: 11.321ms
exe_time: 11.349ms
trans_prob: 3.18231630325317
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214317.051974433]: zone: 50N[0m
yaw2.14374467206721
send data=-1
fix.longitude=114.326403478374
fix.latitude=30.508010011093
delta x: 0.694648742675781 y: 0.263641357421875 z: -0.0618467330932617
delta yaw: 3.12173008918762 pitch: 3.13964319229126 roll: 3.14007878303528
x= -206.722305297852
y=-269.542846679688
z=4.06202077865601
------------------------------------------------
align_time: 17.656ms
exe_time: 17.683ms
trans_prob: 3.16123795509338
iter_num: 3
skipping_publish_num: 0
[0m[ INFO] [1617214317.129611773]: zone: 50N[0m
yaw2.12387315117108
send data=-1
fix.longitude=114.326397122277
fix.latitude=30.5080138694255
delta x: 0.638786315917969 y: 0.10015869140625 z: -0.0388331413269043
delta yaw: 3.1237165927887 pitch: 3.1382360458374 roll: -3.13938164710999
x= -207.144119262695
y=-269.051239013672
z=4.06395673751831
------------------------------------------------
align_time: 20.657ms
exe_time: 20.693ms
trans_prob: 3.33028149604797
iter_num: 3
skipping_publish_num: 0
[0m[ INFO] [1617214317.259719697]: zone: 50N[0m
yaw2.10601399495018
send data=-1
fix.longitude=114.326392609691
fix.latitude=30.5080182106644
delta x: 0.88671875 y: -0.121429443359375 z: -0.061917781829834
delta yaw: 3.1287739276886 pitch: 3.13877654075623 roll: 3.13902807235718
x= -207.494003295898
y=-268.225250244141
z=4.05153322219849
------------------------------------------------
align_time: 21.843ms
exe_time: 21.897ms
trans_prob: 3.39984464645386
iter_num: 4
skipping_publish_num: 0
[0m[ INFO] [1617214317.335679146]: zone: 50N[0m
yaw2.09322504436823
send data=-1
fix.longitude=114.326388763402
fix.latitude=30.5080255814023
delta x: 1.01668548583984 y: 0.253509521484375 z: -0.0702934265136719
delta yaw: 3.11589527130127 pitch: 3.14088106155396 roll: -3.14117693901062
x= -208.222915649414
y=-267.469299316406
z=4.0410213470459
------------------------------------------------
align_time: 32.704ms
exe_time: 32.728ms
trans_prob: 3.39566159248352
iter_num: 5
skipping_publish_num: 0
[0m[ INFO] [1617214317.425867625]: zone: 50N[0m
yaw2.06750362543595
send data=-1
fix.longitude=114.326380988553
fix.latitude=30.5080322398201
delta x: 0.6131591796875 y: -0.015411376953125 z: -0.0354142189025879
delta yaw: 3.13402271270752 pitch: -3.13942193984985 roll: 3.14153337478638
x= -208.502563476562
y=-266.922241210938
z=4.03842067718506
------------------------------------------------
align_time: 30.868ms
exe_time: 30.904ms
trans_prob: 3.19631052017212
iter_num: 6
skipping_publish_num: 0
[0m[ INFO] [1617214317.529884736]: zone: 50N[0m
yaw2.05988646637512
send data=-1
fix.longitude=114.32637794229
fix.latitude=30.5080371112712
delta x: 0.472076416015625 y: -0.348785400390625 z: -0.0309977531433105
delta yaw: 0.00021220202324912 pitch: -0.00538331223651767 roll: 0.000612217409070581
x= -208.417587280273
y=-266.340759277344
z=4.02788257598877
------------------------------------------------
align_time: 33.506ms
exe_time: 33.573ms
trans_prob: 3.29144406318665
iter_num: 5
skipping_publish_num: 0
[0m[ INFO] [1617214317.630969733]: zone: 50N[0m
yaw2.06000646335211
send data=-1
fix.longitude=114.326378683421
fix.latitude=30.5080423709377
delta x: 0.30535888671875 y: -0.259307861328125 z: 0.00639009475708008
delta yaw: 3.13521003723145 pitch: -3.14020586013794 roll: 3.13833785057068
x= -208.331802368164
y=-265.949920654297
z=4.04836797714233
------------------------------------------------
align_time: 15.825ms
exe_time: 15.856ms
trans_prob: 3.33120799064636
iter_num: 3
skipping_publish_num: 0
[0m[ INFO] [1617214317.686441480]: zone: 50N[0m
yaw2.05358734911156
send data=-1
fix.longitude=114.326379480021
fix.latitude=30.5080459123085
delta x: 0.425399780273438 y: -0.2073974609375 z: -0.0240917205810547
delta yaw: 3.1369035243988 pitch: -3.13972687721252 roll: -3.14138722419739
x= -208.346343994141
y=-265.476257324219
z=4.04784202575684
------------------------------------------------
align_time: 16.667ms
exe_time: 16.714ms
trans_prob: 3.50962471961975
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214317.815791012]: zone: 50N[0m
yaw2.04886108886124
send data=-1
fix.longitude=114.326379211739
fix.latitude=30.5080501788264
delta x: 0.678741455078125 y: -0.143951416015625 z: -0.0452690124511719
delta yaw: 3.13303065299988 pitch: 3.14152860641479 roll: -3.14159154891968
x= -208.532150268555
y=-264.806243896484
z=4.04411363601685
------------------------------------------------
align_time: 25.42ms
exe_time: 25.447ms
trans_prob: 3.53554105758667
iter_num: 4
skipping_publish_num: 0
[0m[ INFO] [1617214317.901042391]: zone: 50N[0m
yaw2.04028342794343
send data=-1
fix.longitude=114.326377112061
fix.latitude=30.5080561786562
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------------------------------------------------
align_time: 54.024ms
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[0m[ INFO] [1617214318.028184586]: zone: 50N[0m
yaw2.01279602092294
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------------------------------------------------
align_time: 46.663ms
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[0m[ INFO] [1617214318.086780596]: zone: 50N[0m
yaw2.00745550493709
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------------------------------------------------
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[0m[ INFO] [1617214318.161764684]: zone: 50N[0m
yaw2.00922953201949
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------------------------------------------------
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[0m[ INFO] [1617214318.259610777]: zone: 50N[0m
yaw1.99958067589541
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------------------------------------------------
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[0m[ INFO] [1617214318.334959274]: zone: 50N[0m
yaw1.98974821530921
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------------------------------------------------
align_time: 18.946ms
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[0m[ INFO] [1617214318.460143531]: zone: 50N[0m
yaw1.97467348800181
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------------------------------------------------
align_time: 19.13ms
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[0m[ INFO] [1617214318.532597077]: zone: 50N[0m
yaw1.96966539924908
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------------------------------------------------
align_time: 9.153ms
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[0m[ INFO] [1617214318.583633904]: zone: 50N[0m
yaw1.9618797460631
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------------------------------------------------
align_time: 20.448ms
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iter_num: 2
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[0m[ INFO] [1617214318.742269620]: zone: 50N[0m
yaw1.94988774173689
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x= -211.116561889648
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------------------------------------------------
align_time: 16.64ms
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iter_num: 3
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[0m[ INFO] [1617214318.795237403]: zone: 50N[0m
yaw1.93866125978443
send data=-1
fix.longitude=114.326348646306
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delta x: 0.73065185546875 y: -0.0994873046875 z: -0.0563554763793945
delta yaw: 3.13284301757812 pitch: -3.14155650138855 roll: 3.14027333259583
x= -211.288238525391
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z=3.93615937232971
------------------------------------------------
align_time: 14.768ms
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iter_num: 3
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[0m[ INFO] [1617214318.867516260]: zone: 50N[0m
yaw1.92989691832563
send data=-1
fix.longitude=114.326346681586
fix.latitude=30.5081190839027
delta x: 0.639678955078125 y: -0.1441650390625 z: -0.045659065246582
delta yaw: 3.13277959823608 pitch: -3.14150047302246 roll: 3.13992714881897
x= -211.379409790039
y=-257.111450195312
z=3.92607283592224
------------------------------------------------
align_time: 21.471ms
exe_time: 21.521ms
trans_prob: 3.15457463264465
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214319.022435122]: zone: 50N[0m
yaw1.92106800014042
send data=-1
fix.longitude=114.326345571818
fix.latitude=30.5081249314753
delta x: 0.830123901367188 y: 0.120391845703125 z: -0.0568790435791016
delta yaw: 3.12722897529602 pitch: -3.14113998413086 roll: -3.14128184318542
x= -211.77880859375
y=-256.371673583984
z=3.920494556427
------------------------------------------------
align_time: 17.201ms
exe_time: 17.228ms
trans_prob: 3.24116468429565
iter_num: 4
skipping_publish_num: 0
[0m[ INFO] [1617214319.064218249]: zone: 50N[0m
yaw1.90667349990818
send data=-1
fix.longitude=114.326341231327
fix.latitude=30.5081315145093
delta x: 0.464401245117188 y: -0.267791748046875 z: -0.0274906158447266
delta yaw: 0.00398416863754392 pitch: -0.00193208595737815 roll: 5.13778968525003e-06
x= -211.679885864258
y=-255.844116210938
z=3.91605401039124
------------------------------------------------
align_time: 43.585ms
exe_time: 43.627ms
trans_prob: 3.21224308013916
iter_num: 7
skipping_publish_num: 0
[0m[ INFO] [1617214319.200763739]: zone: 50N[0m
yaw1.91063095527371
send data=-1
fix.longitude=114.326342130955
fix.latitude=30.5081362910775
delta x: 0.586761474609375 y: -0.00909423828125 z: -0.0315074920654297
delta yaw: 3.1326014995575 pitch: -3.14056348800659 roll: 3.13975667953491
x= -211.867691040039
y=-255.287261962891
z=3.92056035995483
------------------------------------------------
align_time: 22.593ms
exe_time: 22.628ms
trans_prob: 3.2177107334137
iter_num: 4
skipping_publish_num: 0
[0m[ INFO] [1617214319.252939182]: zone: 50N[0m
yaw1.90160579216761
send data=-1
fix.longitude=114.32634003839
fix.latitude=30.5081412704566
delta x: 0.651626586914062 y: -0.006622314453125 z: -0.0487661361694336
delta yaw: 3.13331174850464 pitch: -3.14041996002197 roll: -3.14093065261841
x= -212.07438659668
y=-254.667358398438
z=3.91245460510254
------------------------------------------------
align_time: 14.428ms
exe_time: 14.462ms
trans_prob: 3.10757613182068
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214319.340448952]: zone: 50N[0m
yaw1.8932901803431
send data=-1
fix.longitude=114.326337733608
fix.latitude=30.5081468141287
delta x: 0.824142456054688 y: 0.0460205078125 z: -0.0665607452392578
delta yaw: 3.12970566749573 pitch: -3.14063906669617 roll: -3.14089107513428
x= -212.381072998047
y=-253.89826965332
z=3.89910197257996
------------------------------------------------
align_time: 14.903ms
exe_time: 14.932ms
trans_prob: 3.30092740058899
iter_num: 3
skipping_publish_num: 0
[0m[ INFO] [1617214319.420071492]: zone: 50N[0m
yaw1.88136419141154
send data=-1
fix.longitude=114.326334351058
fix.latitude=30.5081536811957
delta x: 0.634750366210938 y: -0.094482421875 z: -0.0351743698120117
delta yaw: 3.13192486763 pitch: 3.1400306224823 roll: 3.14150714874268
x= -212.486053466797
y=-253.264205932617
z=3.90300035476685
------------------------------------------------
align_time: 27.045ms
exe_time: 27.106ms
trans_prob: 3.24039649963379
iter_num: 3
skipping_publish_num: 0
[0m[ INFO] [1617214319.571514635]: zone: 50N[0m
yaw1.87170809491881
send data=-1
fix.longitude=114.326333101679
fix.latitude=30.5081593742441
delta x: 0.706756591796875 y: -0.16064453125 z: -0.0631380081176758
delta yaw: 3.13322854042053 pitch: 3.14084458351135 roll: 3.14075922966003
x= -212.54411315918
y=-252.539337158203
z=3.88107395172119
------------------------------------------------
align_time: 11.904ms
exe_time: 11.925ms
trans_prob: 3.30813455581665
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214319.618709513]: zone: 50N[0m
yaw1.86334370861668
send data=-1
fix.longitude=114.326332318354
fix.latitude=30.5081658958406
delta x: 0.517913818359375 y: -0.415496826171875 z: -0.0318412780761719
delta yaw: 3.14131426811218 pitch: 3.1414110660553 roll: 3.14018797874451
x= -212.296676635742
y=-251.922409057617
z=3.87339735031128
------------------------------------------------
align_time: 58.51ms
exe_time: 58.597ms
trans_prob: 3.22981309890747
iter_num: 4
skipping_publish_num: 0
[0m[ INFO] [1617214319.787571208]: zone: 50N[0m
yaw1.86306825376316
send data=-1
fix.longitude=114.326334742018
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delta x: 0.501861572265625 y: -0.35968017578125 z: -0.0103778839111328
delta yaw: 3.13771605491638 pitch: 3.1393883228302 roll: 3.13965153694153
x= -212.097091674805
y=-251.338180541992
z=3.88760089874268
------------------------------------------------
align_time: 16.461ms
exe_time: 16.493ms
trans_prob: 3.18530917167664
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214319.830515736]: zone: 50N[0m
yaw1.85922354217116
send data=-1
fix.longitude=114.326336675596
fix.latitude=30.5081768186538
delta x: 0.7537841796875 y: 0.5439453125 z: -0.086216926574707
delta yaw: 3.12516832351685 pitch: -3.13959193229675 roll: -3.13895106315613
x= -212.835098266602
y=-250.767501831055
z=3.85457181930542
------------------------------------------------
align_time: 43.492ms
exe_time: 43.52ms
trans_prob: 3.21395802497864
iter_num: 10
skipping_publish_num: 0
[0m[ INFO] [1617214319.919821941]: zone: 50N[0m
yaw1.84273919766169
send data=-1
fix.longitude=114.326328851781
fix.latitude=30.508181805071
delta x: 0.631561279296875 y: -0.484130859375 z: -0.0302925109863281
delta yaw: 3.13851046562195 pitch: 3.1411337852478 roll: 3.13891577720642
x= -212.539352416992
y=-250.028106689453
z=3.85343956947327
[0m[ INFO] [1617214320.018589531]: zone: 50N[0m
yaw1.83966074246965
------------------------------------------------
send data=-1
align_time: 55.861ms
exe_time: 55.881ms
trans_prob: 3.08759379386902
iter_num: 12
skipping_publish_num: 0
fix.longitude=114.326331748141
fix.latitude=30.508188533216
delta x: 0.646530151367188 y: -0.220611572265625 z: -0.0308675765991211
delta yaw: 3.13494277000427 pitch: -3.14137864112854 roll: 3.14081311225891
x= -212.499206542969
y=-249.345458984375
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------------------------------------------------
align_time: 23.07ms
exe_time: 23.099ms
trans_prob: 3.15536665916443
iter_num: 4
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[0m[ INFO] [1617214320.070908863]: zone: 50N[0m
yaw1.83299613395444
send data=-1
fix.longitude=114.326331997599
fix.latitude=30.5081946952158
delta x: 0.927017211914062 y: 0.1470947265625 z: -0.0629444122314453
delta yaw: 3.12725901603699 pitch: -3.14023208618164 roll: 3.14012718200684
x= -212.883026123047
y=-248.486618041992
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------------------------------------------------
align_time: 28.648ms
exe_time: 28.676ms
trans_prob: 3.07219481468201
iter_num: 6
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[0m[ INFO] [1617214320.173332747]: zone: 50N[0m
yaw1.81861484906748
send data=-1
fix.longitude=114.326327789906
fix.latitude=30.5082023548302
delta x: 0.975021362304688 y: 0.143585205078125 z: -0.0807523727416992
delta yaw: 3.12858128547668 pitch: -3.1398298740387 roll: -3.14138960838318
x= -213.263336181641
y=-247.574035644531
z=3.83515024185181
------------------------------------------------
align_time: 12.082ms
exe_time: 12.114ms
trans_prob: 3.12955570220947
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214320.253645586]: zone: 50N[0m
yaw1.80555112723501
send data=-1
fix.longitude=114.326323605484
fix.latitude=30.5082104996226
delta x: 0.223846435546875 y: -0.118927001953125 z: 0.000452041625976562
delta yaw: 3.13715767860413 pitch: 3.13996076583862 roll: 3.14074301719666
x= -213.199661254883
y=-247.328994750977
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------------------------------------------------
align_time: 37.132ms
exe_time: 37.162ms
trans_prob: 3.06678986549377
iter_num: 9
skipping_publish_num: 0
[0m[ INFO] [1617214320.376113667]: zone: 50N[0m
yaw1.80113568620337
send data=-1
fix.longitude=114.326324207892
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delta x: 0.658462524414062 y: -0.191741943359375 z: -0.0449790954589844
delta yaw: 3.13898658752441 pitch: -3.13989949226379 roll: -3.14007329940796
x= -213.164443969727
y=-246.642639160156
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------------------------------------------------
align_time: 26.062ms
exe_time: 26.096ms
trans_prob: 3.06033039093018
iter_num: 6
skipping_publish_num: 0
[0m[ INFO] [1617214320.451137874]: zone: 50N[0m
yaw1.79849735231973
send data=-1
fix.longitude=114.326324405125
fix.latitude=30.5082189164104
delta x: 0.837310791015625 y: -0.099700927734375 z: -0.0420141220092773
delta yaw: 3.13099336624146 pitch: 3.13953614234924 roll: 3.14126133918762
x= -213.257354736328
y=-245.803527832031
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------------------------------------------------
[0m[ INFO] [1617214320.541603293]: zone: 50N[0m
yaw1.78791689917139
align_time: 18.056ms
exe_time: 18.091ms
send data=-1
trans_prob: 3.11898565292358
iter_num: 4
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fix.longitude=114.326323230789
fix.latitude=30.5082264603472
delta x: 1.05563354492188 y: 0.301513671875 z: -0.11174488067627
delta yaw: 3.12270021438599 pitch: -3.14039945602417 roll: -3.13939332962036
x= -213.782104492188
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------------------------------------------------
align_time: 26.838ms
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trans_prob: 3.10558271408081
iter_num: 6
skipping_publish_num: 0
[0m[ INFO] [1617214320.653259093]: zone: 50N[0m
yaw1.76896981204035
send data=-1
fix.longitude=114.326317528543
fix.latitude=30.5082350907487
delta x: 0.453643798828125 y: -0.264434814453125 z: -0.0125198364257812
delta yaw: 3.13495326042175 pitch: 3.14077520370483 roll: 3.14093160629272
x= -213.612518310547
y=-244.336654663086
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------------------------------------------------
align_time: 46.936ms
exe_time: 46.989ms
trans_prob: 3.1850266456604
iter_num: 10
skipping_publish_num: 0
[0m[ INFO] [1617214320.749026873]: zone: 50N[0m
yaw1.76233737110559
send data=-1
fix.longitude=114.326319171351
fix.latitude=30.508239606918
delta x: 0.62823486328125 y: 0.11749267578125 z: -0.0496282577514648
delta yaw: 3.12922382354736 pitch: 3.14055514335632 roll: -3.13971400260925
x= -213.848815917969
y=-243.740798950195
z=3.80812096595764
------------------------------------------------
align_time: 29.596ms
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trans_prob: 3.13637614250183
iter_num: 6
skipping_publish_num: 0
[0m[ INFO] [1617214320.819388661]: zone: 50N[0m
yaw1.74997144453061
send data=-1
fix.longitude=114.326316564329
fix.latitude=30.5082449274949
delta x: 0.426712036132812 y: -0.248382568359375 z: -0.0150823593139648
delta yaw: 3.14000558853149 pitch: 3.14112520217896 roll: 3.13967680931091
x= -213.68098449707
y=-243.276229858398
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------------------------------------------------
align_time: 27.013ms
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trans_prob: 3.13641119003296
iter_num: 6
skipping_publish_num: 0
[0m[ INFO] [1617214320.905377550]: zone: 50N[0m
yaw1.74839305527284
send data=-1
fix.longitude=114.326318196872
fix.latitude=30.5082491510093
Not Converged
delta x: 0.384475708007812 y: -0.281219482421875 z: -0.0261192321777344
delta yaw: 0.000552644312847406 pitch: 0.000648729561362416 roll: -0.00172821630258113
x= -213.47297668457
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z=3.8027822971344
------------------------------------------------
align_time: 9.112ms
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trans_prob: 2.81894898414612
iter_num: 2
skipping_publish_num: 1
[0m[ INFO] [1617214320.980859579]: zone: 50N[0m
yaw1.74896102294797
send data=-1
fix.longitude=114.32632025639
fix.latitude=30.5082530645586
Not Converged
delta x: 0.491470336914062 y: -1.22920227050781 z: 0.0126066207885742
delta yaw: 0.0107173724099994 pitch: 0.00258120032958686 roll: -0.00109869311563671
x= -212.350311279297
y=-242.145584106445
z=3.81895709037781
------------------------------------------------
align_time: 45.484ms
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trans_prob: 2.93084239959717
iter_num: 11
skipping_publish_num: 2
[0m[ INFO] [1617214321.110925759]: zone: 50N[0m
yaw1.75974553883031
send data=-1
fix.longitude=114.326331770725
fix.latitude=30.5082596270688
Not Converged
delta x: 0.948745727539062 y: -0.325469970703125 z: -0.0573740005493164
delta yaw: 3.13538956642151 pitch: 3.14113306999207 roll: 3.14053177833557
x= -212.210327148438
y=-241.150802612305
z=3.80859184265137
------------------------------------------------
align_time: 50.964ms
exe_time: 50.992ms
trans_prob: 2.97364234924316
iter_num: 11
skipping_publish_num: 3
[0m[ INFO] [1617214321.223697156]: zone: 50N[0m
yaw1.75354244175574
send data=-1
fix.longitude=114.326332982509
fix.latitude=30.5082686239934
delta x: 0.86016845703125 y: 0.0630950927734375 z: -0.0692739486694336
delta yaw: 3.13369750976562 pitch: -3.14095854759216 roll: -3.14055490493774
x= -212.43034362793
y=-240.314239501953
z=3.78809428215027
------------------------------------------------
align_time: 22.688ms
exe_time: 22.771ms
trans_prob: 3.01568531990051
iter_num: 5
skipping_publish_num: 0
[0m[ INFO] [1617214321.280156067]: zone: 50N[0m
yaw1.74562476151113
send data=-1
fix.longitude=114.326330485574
fix.latitude=30.5082761177984
Not Converged
delta x: 0.387619018554688 y: -0.0118865966796875 z: 0.00414180755615234
delta yaw: 3.13332200050354 pitch: 3.14111423492432 roll: 3.13745355606079
x= -212.485824584961
y=-239.931259155273
z=3.81360459327698
------------------------------------------------
align_time: 23.474ms
exe_time: 23.503ms
trans_prob: 2.94295358657837
iter_num: 6
skipping_publish_num: 1
[0m[ INFO] [1617214321.368736898]: zone: 50N[0m
yaw1.73735232007057
send data=-1
fix.longitude=114.326329813472
fix.latitude=30.5082795581463
delta x: 0.864593505859375 y: 0.244918823242188 z: -0.0659599304199219
delta yaw: 3.12782168388367 pitch: -3.13733577728271 roll: 3.14056944847107
x= -212.872039794922
y=-239.117324829102
z=3.79924416542053
[0m[ INFO] [1617214321.463188989]: zone: 50N[0m
yaw1.72349196806591
send data=-1
fix.longitude=114.326325591918
fix.latitude=30.5082868124579
------------------------------------------------
align_time: 26.894ms
exe_time: 26.926ms
trans_prob: 3.01785373687744
iter_num: 7
skipping_publish_num: 0
delta x: 1.07716369628906 y: 0.512649536132812 z: -0.096318244934082
delta yaw: 3.12038612365723 pitch: -3.1403067111969 roll: 3.14104604721069
x= -213.544494628906
y=-238.127578735352
z=3.77472114562988
[0m[ INFO] [1617214321.553694955]: zone: 50N[0m
yaw1.70222955799712
send data=-1
fix.longitude=114.326318347089
fix.latitude=30.5082955903764
------------------------------------------------
align_time: 23.511ms
exe_time: 23.556ms
trans_prob: 3.02108669281006
iter_num: 4
skipping_publish_num: 0
delta x: 0.326507568359375 y: -0.87847900390625 z: 0.0274009704589844
delta yaw: 0.0106770424172282 pitch: 0.000289596646325663 roll: -0.00137899711262435
x= -212.715866088867
y=-237.690078735352
z=3.80749750137329
------------------------------------------------
align_time: 74.75ms
exe_time: 74.826ms
trans_prob: 3.15523600578308
iter_num: 17
skipping_publish_num: 0
[0m[ INFO] [1617214321.709070012]: zone: 50N[0m
yaw1.7129291505073
send data=-1
fix.longitude=114.326326865508
fix.latitude=30.5082997110998
Not Converged
delta x: 0.699188232421875 y: -0.110549926757812 z: -0.0400886535644531
delta yaw: 3.13558530807495 pitch: 3.14072728157043 roll: 3.13940906524658
x= -212.706207275391
y=-236.981140136719
z=3.80784296989441
------------------------------------------------
align_time: 38.083ms
exe_time: 38.103ms
trans_prob: 2.94634103775024
iter_num: 10
skipping_publish_num: 1
[0m[ INFO] [1617214321.750465069]: zone: 50N[0m
yaw1.70692404237513
send data=-1
fix.longitude=114.326326791093
fix.latitude=30.508306103572
delta x: 0.67779541015625 y: -0.0169677734375 z: -0.0410337448120117
delta yaw: 3.13219666481018 pitch: 3.14128088951111 roll: 3.14150023460388
x= -212.782043457031
y=-236.306137084961
z=3.80666971206665
------------------------------------------------
align_time: 8.666ms
exe_time: 8.691ms
trans_prob: 3.12511038780212
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214321.815902144]: zone: 50N[0m
yaw1.69751619015008
send data=-1
fix.longitude=114.326325835011
fix.latitude=30.5083121718773
delta x: 0.607254028320312 y: 0.31329345703125 z: -0.0768518447875977
delta yaw: 3.12898468971252 pitch: -3.14109897613525 roll: -3.13839745521545
x= -213.170913696289
y=-235.740264892578
z=3.76952886581421
------------------------------------------------
align_time: 30.49ms
exe_time: 30.54ms
trans_prob: 3.05239701271057
iter_num: 4
skipping_publish_num: 0
[0m[ INFO] [1617214321.961860068]: zone: 50N[0m
yaw1.68488087950164
send data=-1
fix.longitude=114.326321647038
fix.latitude=30.5083171895768
delta x: 0.751708984375 y: -0.148529052734375 z: -0.0612258911132812
delta yaw: 3.13667678833008 pitch: 3.13992238044739 roll: 3.14014101028442
x= -213.110229492188
y=-234.974212646484
z=3.7502167224884
------------------------------------------------
align_time: 23.366ms
exe_time: 23.393ms
[0m[ INFO] [1617214322.009217911]: zone: 50N[0m
yaw1.67998556552821
trans_prob: 3.15676069259644
send data=-1
iter_num: 6
skipping_publish_num: 0
fix.longitude=114.326322089724
fix.latitude=30.5083241077782
Not Converged
delta x: 0.69366455078125 y: 0.0168304443359375 z: -0.0621795654296875
delta yaw: 3.13111448287964 pitch: 3.14045548439026 roll: 3.14008927345276
x= -213.203796386719
y=-234.284225463867
z=3.72805523872375
------------------------------------------------
align_time: 13.494ms
exe_time: 13.515ms
trans_prob: 2.892502784729
iter_num: 3
skipping_publish_num: 1
[0m[ INFO] [1617214322.085013168]: zone: 50N[0m
yaw1.66950989686186
send data=-1
fix.longitude=114.326320945359
fix.latitude=30.5083303073622
Not Converged
delta x: 0.627716064453125 y: -0.171676635742188 z: -0.0497007369995117
delta yaw: 3.13828492164612 pitch: -3.14122152328491 roll: -3.13939356803894
x= -213.095748901367
y=-233.640777587891
z=3.71098637580872
------------------------------------------------
align_time: 21.402ms
exe_time: 21.455ms
trans_prob: 2.89306426048279
iter_num: 3
skipping_publish_num: 2
[0m[ INFO] [1617214322.210778776]: zone: 50N[0m
yaw1.66619174048035
send data=-1
fix.longitude=114.326321911377
fix.latitude=30.5083361305231
delta x: 0.72369384765625 y: -0.113540649414062 z: -0.0430717468261719
delta yaw: 3.137619972229 pitch: -3.13940620422363 roll: 3.14025282859802
x= -213.052520751953
y=-232.908264160156
z=3.70670962333679
------------------------------------------------
align_time: 22.187ms
exe_time: 22.232ms
trans_prob: 3.01129817962646
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214322.315044457]: zone: 50N[0m
yaw1.66217561218231
send data=-1
fix.longitude=114.326322180615
fix.latitude=30.5083427426737
Not Converged
delta x: 0.710845947265625 y: 0.27490234375 z: -0.0602245330810547
delta yaw: 3.13162636756897 pitch: -3.14131045341492 roll: 3.14120721817017
x= -213.39225769043
y=-232.223526000977
z=3.69240212440491
------------------------------------------------
align_time: 24.386ms
exe_time: 24.453ms
trans_prob: 2.98079228401184
iter_num: 5
skipping_publish_num: 1
[0m[ INFO] [1617214322.387061104]: zone: 50N[0m
yaw1.65218905588964
send data=-1
fix.longitude=114.326318474803
fix.latitude=30.5083488423364
delta x: 0.7037353515625 y: -0.159561157226562 z: -0.0336341857910156
delta yaw: 3.13769793510437 pitch: 3.14100766181946 roll: 3.13872313499451
x= -213.291091918945
y=-231.508285522461
z=3.69736647605896
------------------------------------------------
align_time: 23.349ms
exe_time: 23.375ms
trans_prob: 3.01602721214294
iter_num: 5
skipping_publish_num: 0
[0m[ INFO] [1617214322.447853729]: zone: 50N[0m
yaw1.64829760845454
send data=-1
fix.longitude=114.326319351461
fix.latitude=30.5083553111689
Not Converged
delta x: 0.67901611328125 y: -0.237167358398438 z: -0.0468854904174805
delta yaw: 3.14129996299744 pitch: -3.14098572731018 roll: -3.13890624046326
x= -213.107986450195
y=-230.811248779297
z=3.68659353256226
------------------------------------------------
align_time: 15.812ms
exe_time: 15.843ms
trans_prob: 2.98226523399353
iter_num: 2
skipping_publish_num: 1
[0m[ INFO] [1617214322.590687556]: zone: 50N[0m
yaw1.64799615312427
send data=-1
fix.longitude=114.326321085641
fix.latitude=30.5083616334224
Not Converged
delta x: 0.691436767578125 y: -0.067596435546875 z: -0.0462722778320312
delta yaw: 3.13615918159485 pitch: 3.14122462272644 roll: 3.13809990882874
x= -213.094833374023
y=-230.115142822266
z=3.67967104911804
------------------------------------------------
align_time: 12.624ms
exe_time: 12.651ms
trans_prob: 2.96699380874634
iter_num: 3
skipping_publish_num: 2
[0m[ INFO] [1617214322.634505587]: zone: 50N[0m
yaw1.64256007680723
send data=-1
fix.longitude=114.326321050768
fix.latitude=30.5083679109671
Not Converged
delta x: 0.652374267578125 y: 0.240127563476562 z: -0.0461616516113281
delta yaw: 3.13191723823547 pitch: -3.14128184318542 roll: -3.13754105567932
x= -213.381774902344
y=-229.48030090332
z=3.67448997497559
------------------------------------------------
align_time: 15.139ms
exe_time: 15.162ms
trans_prob: 2.89694309234619
iter_num: 4
skipping_publish_num: 3
[0m[ INFO] [1617214322.715487272]: zone: 50N[0m
yaw1.63286488201793
send data=-1
fix.longitude=114.326317906895
fix.latitude=30.5083735721449
Not Converged
delta x: 0.825958251953125 y: -0.389404296875 z: -0.0597419738769531
delta yaw: 3.13933348655701 pitch: -3.14147758483887 roll: 3.13533306121826
x= -213.045623779297
y=-228.629364013672
z=3.65598917007446
------------------------------------------------
align_time: 40.68ms
exe_time: 40.749ms
trans_prob: 2.80931496620178
iter_num: 8
skipping_publish_num: 4
[0m[ INFO] [1617214322.858795939]: zone: 50N[0m
yaw1.6305999619132
send data=-1
fix.longitude=114.326321196367
fix.latitude=30.5083813143677
Not Converged
delta x: 0.678314208984375 y: -0.040008544921875 z: -0.0366601943969727
delta yaw: 3.1332426071167 pitch: 3.1398491859436 roll: -3.1407482624054
x= -213.04670715332
y=-227.94889831543
z=3.6583890914917
------------------------------------------------
align_time: 24.127ms
exe_time: 24.148ms
trans_prob: 2.80294013023376
iter_num: 5
skipping_publish_num: 5
[0m[ INFO] [1617214322.916639468]: zone: 50N[0m
yaw1.6222572431128
send data=-1
fix.longitude=114.326321017147
fix.latitude=30.508387447888
Not Converged
delta x: 0.647293090820312 y: -0.0568084716796875 z: -0.0683813095092773
delta yaw: 3.1384482383728 pitch: -3.13979387283325 roll: -3.1408007144928
x= -213.024307250977
y=-227.296737670898
z=3.62585496902466
------------------------------------------------
align_time: 13.507ms
exe_time: 13.544ms
trans_prob: 2.83711051940918
iter_num: 2
skipping_publish_num: 6
[0m[ INFO] [1617214323.009634984]: zone: 50N[0m
yaw1.61908454896095
send data=-1
fix.longitude=114.326321089384
fix.latitude=30.5083933312835
Not Converged
delta x: 0.589309692382812 y: -0.01470947265625 z: -0.0317420959472656
delta yaw: 3.13134145736694 pitch: 3.14070630073547 roll: 3.13928365707397
x= -213.038528442383
y=-226.706558227539
z=3.62819528579712
------------------------------------------------
align_time: 8.514ms
exe_time: 8.542ms
trans_prob: 2.90826010704041
iter_num: 2
skipping_publish_num: 7
[0m[ INFO] [1617214323.064322648]: zone: 50N[0m
yaw1.60882977731032
send data=-1
fix.longitude=114.326320795676
fix.latitude=30.5083986481515
Not Converged
delta x: 0.65185546875 y: -0.0827789306640625 z: -0.0446605682373047
delta yaw: 3.13834238052368 pitch: -3.14136147499084 roll: -3.13846683502197
x= -212.981201171875
y=-226.050521850586
z=3.61980438232422
------------------------------------------------
align_time: 19.142ms
exe_time: 19.19ms
trans_prob: 2.93613743782043
iter_num: 2
skipping_publish_num: 8
[0m[ INFO] [1617214323.212097473]: zone: 50N[0m
yaw1.60557145338495
send data=-1
fix.longitude=114.326321230567
fix.latitude=30.508404573947
Not Converged
delta x: 0.58978271484375 y: -0.0094146728515625 z: -0.0324821472167969
delta yaw: 3.13676643371582 pitch: 3.14145827293396 roll: 3.14128732681274
x= -212.99284362793
y=-225.459899902344
z=3.62099671363831
------------------------------------------------
align_time: 10.22ms
exe_time: 10.241ms
trans_prob: 2.84281802177429
iter_num: 2
skipping_publish_num: 9
[0m[ INFO] [1617214323.255996616]: zone: 50N[0m
yaw1.60073996188071
send data=-1
fix.longitude=114.326320963596
fix.latitude=30.5084098953548
Not Converged
delta x: 0.723068237304688 y: 0.042877197265625 z: -0.0325927734375
delta yaw: 3.13120746612549 pitch: 3.14115238189697 roll: -3.14050197601318
x= -213.057861328125
y=-224.737823486328
z=3.63036012649536
------------------------------------------------
align_time: 14.366ms
exe_time: 14.434ms
trans_prob: 2.91850852966309
iter_num: 2
skipping_publish_num: 10
[0m[ INFO] [1617214323.370295488]: zone: 50N[0m
yaw1.59034630253075
send data=-1
fix.longitude=114.32632010852
fix.latitude=30.5084163902934
delta x: 0.800567626953125 y: -0.159271240234375 z: -0.0670986175537109
delta yaw: 3.13738894462585 pitch: -3.14065432548523 roll: 3.14004778862
x= -212.915512084961
y=-223.931686401367
z=3.60584712028503
[0m[ INFO] [1617214323.473507467]: zone: 50N[0m
yaw1.58612004727748
send data=-1
fix.longitude=114.326321391483
fix.latitude=30.5084236872733
------------------------------------------------
align_time: 17.847ms
exe_time: 17.897ms
trans_prob: 3.01168847084045
iter_num: 3
skipping_publish_num: 0
Not Converged
delta x: 0.58770751953125 y: 0.067108154296875 z: -0.0457162857055664
delta yaw: 3.13470029830933 pitch: 3.14089584350586 roll: -3.14027953147888
x= -212.992401123047
y=-223.343490600586
z=3.59494209289551
------------------------------------------------
align_time: 21.963ms
exe_time: 22.009ms
trans_prob: 2.91098380088806
iter_num: 4
skipping_publish_num: 1
[0m[ INFO] [1617214323.569587018]: zone: 50N[0m
yaw1.57922842138067
send data=-1
fix.longitude=114.326320445864
fix.latitude=30.5084289728685
Not Converged
delta x: 0.631027221679688 y: 0.0278778076171875 z: -0.0441379547119141
delta yaw: 3.13398241996765 pitch: 3.14129614830017 roll: -3.1404881477356
x= -213.026397705078
y=-222.711273193359
z=3.58701729774475
------------------------------------------------
align_time: 9.881ms
exe_time: 9.904ms
trans_prob: 2.80067992210388
iter_num: 2
skipping_publish_num: 2
[0m[ INFO] [1617214323.632574954]: zone: 50N[0m
yaw1.57161235783411
send data=-1
fix.longitude=114.326319935909
fix.latitude=30.5084346644428
Not Converged
delta x: 0.679641723632812 y: -0.0604248046875 z: -0.0464649200439453
delta yaw: 3.13768815994263 pitch: -3.14150357246399 roll: 3.1413357257843
x= -212.967407226562
y=-222.030014038086
z=3.57759046554565
------------------------------------------------
align_time: 14.562ms
exe_time: 14.605ms
trans_prob: 2.8490948677063
iter_num: 2
skipping_publish_num: 3
[0m[ INFO] [1617214323.752088770]: zone: 50N[0m
yaw1.56770073434557
send data=-1
fix.longitude=114.32632038189
fix.latitude=30.5084408179531
Not Converged
delta x: 0.72174072265625 y: -0.10797119140625 z: -0.0712213516235352
delta yaw: 3.13957595825195 pitch: -3.14054274559021 roll: -3.1415159702301
x= -212.85856628418
y=-221.305618286133
z=3.54492735862732
------------------------------------------------
align_time: 31.457ms
exe_time: 31.532ms
trans_prob: 2.84076166152954
iter_num: 2
skipping_publish_num: 4
[0m[ INFO] [1617214323.864200284]: zone: 50N[0m
yaw1.56566094529105
send data=-1
fix.longitude=114.32632133619
fix.latitude=30.5084473709518
Not Converged
delta x: 0.758468627929688 y: -0.054412841796875 z: -0.0538511276245117
delta yaw: 3.13680958747864 pitch: 3.14062690734863 roll: -3.13872456550598
x= -212.801300048828
y=-220.545532226562
z=3.53343558311462
------------------------------------------------
align_time: 15.668ms
exe_time: 15.691ms
trans_prob: 2.86926007270813
iter_num: 2
skipping_publish_num: 5
[0m[ INFO] [1617214323.912908620]: zone: 50N[0m
yaw1.56088958121059
send data=-1
fix.longitude=114.326321744766
fix.latitude=30.5084542346432
Not Converged
delta x: 0.674789428710938 y: -0.0268096923828125 z: -0.0332813262939453
delta yaw: 3.13552308082581 pitch: -3.14145588874817 roll: 3.13978981971741
x= -212.768539428711
y=-219.870193481445
z=3.5374276638031
------------------------------------------------
align_time: 50.701ms
exe_time: 50.829ms
trans_prob: 2.83183121681213
iter_num: 2
skipping_publish_num: 6
[0m[ INFO] [1617214324.075357016]: zone: 50N[0m
yaw1.55480895581096
send data=-1
fix.longitude=114.326321919142
fix.latitude=30.5084603291813
Not Converged
delta x: 0.641845703125 y: -0.0242156982421875 z: -0.0585975646972656
delta yaw: 3.13931322097778 pitch: -3.14110231399536 roll: 3.14053893089294
x= -212.735260009766
y=-219.226486206055
z=3.51439690589905
------------------------------------------------
align_time: 8.985ms
exe_time: 9.012ms
trans_prob: 2.9364607334137
iter_num: 2
skipping_publish_num: 7
[0m[ INFO] [1617214324.118493027]: zone: 50N[0m
yaw1.5525161574018
send data=-1
fix.longitude=114.326322106727
fix.latitude=30.5084661387026
Not Converged
delta x: 0.647232055664062 y: 0.06573486328125 z: -0.0438747406005859
delta yaw: 3.13521981239319 pitch: -3.14106345176697 roll: -3.14047050476074
x= -212.789978027344
y=-218.576766967773
z=3.50845885276794
------------------------------------------------
align_time: 8.871ms
exe_time: 8.899ms
trans_prob: 2.91220998764038
iter_num: 2
skipping_publish_num: 8
[0m[ INFO] [1617214324.180779018]: zone: 50N[0m
yaw1.54612352007084
send data=-1
fix.longitude=114.326321376733
fix.latitude=30.5084719836111
Not Converged
delta x: 0.611053466796875 y: -0.03460693359375 z: -0.0386247634887695
delta yaw: 3.1363308429718 pitch: -3.14026975631714 roll: -3.14133524894714
x= -212.741104125977
y=-217.965454101562
z=3.50392198562622
------------------------------------------------
align_time: 15.218ms
exe_time: 15.255ms
trans_prob: 2.98428678512573
iter_num: 2
skipping_publish_num: 9
[0m[ INFO] [1617214324.280793770]: zone: 50N[0m
yaw1.5408258351688
send data=-1
fix.longitude=114.326321734658
fix.latitude=30.5084775044601
delta x: 0.609405517578125 y: -0.113723754882812 z: -0.0299053192138672
delta yaw: 3.13970947265625 pitch: 3.1409547328949 roll: 3.14016652107239
x= -212.609848022461
y=-217.358840942383
z=3.50698161125183
------------------------------------------------
align_time: 18.341ms
exe_time: 18.377ms
trans_prob: 3.01309156417847
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214324.364589339]: zone: 50N[0m
yaw1.53895375930214
send data=-1
fix.longitude=114.32632295138
fix.latitude=30.5084830005507
Not Converged
delta x: 0.651153564453125 y: -0.10333251953125 z: -0.0382022857666016
delta yaw: 3.13599276542664 pitch: -3.14099478721619 roll: 3.13971042633057
x= -212.486633300781
y=-216.710037231445
z=3.50410485267639
[0m[ INFO] [1617214324.467532267]: zone: 50N[0m
yaw1.53333322245732
send data=-1
fix.longitude=114.326324073976
fix.latitude=30.5084888752306
------------------------------------------------
align_time: 15.131ms
exe_time: 15.165ms
trans_prob: 2.98199510574341
iter_num: 2
skipping_publish_num: 1
delta x: 0.636245727539062 y: -0.0230560302734375 z: -0.048431396484375
delta yaw: 3.1357729434967 pitch: 3.14120650291443 roll: -3.13850259780884
x= -212.440628051758
y=-216.073318481445
z=3.4921543598175
------------------------------------------------
align_time: 15.682ms
exe_time: 15.714ms
trans_prob: 3.13205146789551
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214324.554473175]: zone: 50N[0m
yaw1.52751218287206
send data=-1
fix.longitude=114.326324395767
fix.latitude=30.5084946244765
delta x: 0.695968627929688 y: -0.034271240234375 z: -0.0445652008056641
delta yaw: 3.13776206970215 pitch: 3.14070081710815 roll: 3.14126586914062
x= -212.377212524414
y=-215.377990722656
z=3.48684597015381
------------------------------------------------
align_time: 10.08ms
exe_time: 10.102ms
trans_prob: 3.21415400505066
[0m[ INFO] [1617214324.633689355]: zone: 50N[0m
yaw1.52369642227842
send data=-1
fix.longitude=114.326324884342
fix.latitude=30.5085009057475
iter_num: 2
skipping_publish_num: 0
delta x: 0.657302856445312 y: -0.08343505859375 z: -0.0440540313720703
delta yaw: 3.13588643074036 pitch: -3.14049386978149 roll: 3.14099788665771
x= -212.263854980469
y=-214.723754882812
z=3.47809028625488
------------------------------------------------
align_time: 10.075ms
exe_time: 10.097ms
trans_prob: 3.24387884140015
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214324.729157182]: zone: 50N[0m
yaw1.51795741790434
send data=-1
fix.longitude=114.326325902979
fix.latitude=30.5085068272864
delta x: 0.617874145507812 y: 0.0219879150390625 z: -0.0326681137084961
delta yaw: 3.13703536987305 pitch: 3.14122915267944 roll: -3.14095735549927
x= -212.253829956055
y=-214.104705810547
z=3.48142266273499
------------------------------------------------
align_time: 16.393ms
exe_time: 16.43ms
trans_prob: 3.29100775718689
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214324.861978254]: zone: 50N[0m
yaw1.51340169175138
send data=-1
fix.longitude=114.32632585456
fix.latitude=30.508512409568
delta x: 0.567611694335938 y: -0.0395660400390625 z: -0.0355691909790039
delta yaw: 3.13708686828613 pitch: -3.14122653007507 roll: 3.13966035842896
x= -212.182525634766
y=-213.539108276367
z=3.47731947898865
------------------------------------------------
align_time: 11.323ms
exe_time: 11.344ms
trans_prob: 3.30069923400879
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214324.928905747]: zone: 50N[0m
yaw1.50888123634906
send data=-1
fix.longitude=114.326326457279
fix.latitude=30.5085175231301
delta x: 0.63299560546875 y: 0.0296783447265625 z: -0.0411434173583984
delta yaw: 3.13485789299011 pitch: -3.1410973072052 roll: -3.13827919960022
x= -212.173751831055
y=-212.904159545898
z=3.47307729721069
------------------------------------------------
align_time: 19.695ms
exe_time: 19.729ms
trans_prob: 3.35598087310791
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214325.062304625]: zone: 50N[0m
yaw1.50212614980935
send data=-1
fix.longitude=114.32632639191
fix.latitude=30.5085232484645
delta x: 0.57891845703125 y: -0.09942626953125 z: -0.0263299942016602
delta yaw: 3.13883090019226 pitch: -3.1412947177887 roll: 3.14042496681213
x= -212.03547668457
y=-212.33268737793
z=3.47761964797974
------------------------------------------------
align_time: 10.447ms
exe_time: 10.572ms
trans_prob: 3.17100381851196
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214325.103327315]: zone: 50N[0m
yaw1.49935290944742
send data=-1
fix.longitude=114.326327690378
fix.latitude=30.5085284292925
delta x: 0.63494873046875 y: -0.085968017578125 z: -0.0501804351806641
delta yaw: 3.13713598251343 pitch: 3.14015889167786 roll: 3.14067506790161
x= -211.905487060547
y=-211.703460693359
z=3.4621467590332
------------------------------------------------
align_time: 8.997ms
exe_time: 9.028ms
trans_prob: 3.18674969673157
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214325.203364274]: zone: 50N[0m
yaw1.4949249872831
send data=-1
fix.longitude=114.326328888335
fix.latitude=30.5085341289519
delta x: 0.550506591796875 y: -0.0482025146484375 z: -0.0567111968994141
delta yaw: 3.13439965248108 pitch: 3.14132571220398 roll: 3.14090538024902
x= -211.816848754883
y=-211.155715942383
z=3.43536520004272
------------------------------------------------
align_time: 12.576ms
exe_time: 12.634ms
trans_prob: 3.25221610069275
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214325.292489959]: zone: 50N[0m
yaw1.48772880993707
send data=-1
fix.longitude=114.326329675916
fix.latitude=30.5085390852923
delta x: 0.60882568359375 y: -0.03607177734375 z: -0.033411979675293
delta yaw: 3.13782691955566 pitch: 3.13969278335571 roll: 3.14140057563782
x= -211.731079101562
y=-210.550964355469
z=3.43514442443848
------------------------------------------------
align_time: 12.43ms
exe_time: 12.458ms
trans_prob: 3.15452885627747
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214325.374678818]: zone: 50N[0m
yaw1.48400254724058
send data=-1
fix.longitude=114.326330419564
fix.latitude=30.5085445548822
delta x: 0.722091674804688 y: 0.0368499755859375 z: -0.0682191848754883
delta yaw: 3.13547205924988 pitch: -3.13976621627808 roll: -3.14095306396484
x= -211.70654296875
y=-209.82568359375
z=3.40673899650574
------------------------------------------------
align_time: 13.898ms
exe_time: 13.95ms
trans_prob: 3.13078188896179
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214325.483087911]: zone: 50N[0m
yaw1.47783181487319
send data=-1
fix.longitude=114.326330495994
fix.latitude=30.5085510978425
delta x: 0.712081909179688 y: -0.074462890625 z: -0.0421419143676758
delta yaw: 3.13702487945557 pitch: 3.14152026176453 roll: 3.14131188392639
x= -211.567169189453
y=-209.122177124023
z=3.40238952636719
------------------------------------------------
align_time: 8.584ms
exe_time: 8.612ms
trans_prob: 3.00689435005188
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214325.581755696]: zone: 50N[0m
yaw1.47326016864091
send data=-1
fix.longitude=114.326331773312
fix.latitude=30.5085574690689
delta x: 0.557907104492188 y: 0.0396270751953125 z: -0.0416240692138672
delta yaw: 3.13669586181641 pitch: -3.13913583755493 roll: 3.14131665229797
x= -211.553131103516
y=-208.561599731445
z=3.39264130592346
------------------------------------------------
align_time: 18.52ms
exe_time: 18.545ms
trans_prob: 3.16618418693542
iter_num: 3
skipping_publish_num: 0
[0m[ INFO] [1617214325.674021780]: zone: 50N[0m
yaw1.46829737194028
send data=-1
fix.longitude=114.326331781102
fix.latitude=30.5085625251414
Not Converged
delta x: 0.55755615234375 y: -0.0140533447265625 z: -0.0258760452270508
delta yaw: 3.1342248916626 pitch: -3.13998198509216 roll: 3.13964891433716
x= -211.482681274414
y=-208.007781982422
z=3.39861130714417
------------------------------------------------
align_time: 11.028ms
exe_time: 11.075ms
trans_prob: 2.96820425987244
iter_num: 2
skipping_publish_num: 1
[0m[ INFO] [1617214325.737275984]: zone: 50N[0m
yaw1.46088013934794
send data=-1
fix.longitude=114.326332377834
fix.latitude=30.5085675323373
delta x: 0.47222900390625 y: -0.0133056640625 z: -0.00979423522949219
delta yaw: 3.13789248466492 pitch: 3.1409764289856 roll: 3.13918447494507
x= -211.417922973633
y=-207.540054321289
z=3.41642832756042
------------------------------------------------
align_time: 15.91ms
exe_time: 15.959ms
trans_prob: 3.04020547866821
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214325.881602512]: zone: 50N[0m
yaw1.45718827456239
send data=-1
fix.longitude=114.326332936561
fix.latitude=30.5085717622966
delta x: 0.61676025390625 y: -0.0956268310546875 z: -0.0404262542724609
delta yaw: 3.13818454742432 pitch: 3.14101433753967 roll: -3.14004611968994
x= -211.253662109375
y=-206.936599731445
z=3.4101345539093
------------------------------------------------
align_time: 12.929ms
exe_time: 12.958ms
trans_prob: 3.03987407684326
iter_num: 3
skipping_publish_num: 0
[0m[ INFO] [1617214325.937735091]: zone: 50N[0m
yaw1.45378683680928
send data=-1
fix.longitude=114.32633449766
fix.latitude=30.5085772369687
delta x: 0.65960693359375 y: -0.056488037109375 z: -0.0553064346313477
delta yaw: 3.13598108291626 pitch: -3.14147853851318 roll: -3.14076137542725
x= -211.121520996094
y=-206.285781860352
z=3.3917601108551
------------------------------------------------
align_time: 8.904ms
exe_time: 8.924ms
trans_prob: 3.10585308074951
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214326.004944347]: zone: 50N[0m
yaw1.44816473814353
send data=-1
fix.longitude=114.326335712688
fix.latitude=30.5085831317119
delta x: 0.60211181640625 y: -0.046234130859375 z: -0.0185737609863281
delta yaw: 3.13720178604126 pitch: -3.14101028442383 roll: -3.14129996299744
x= -211.002380371094
y=-205.69367980957
z=3.406893491745
------------------------------------------------
align_time: 14.748ms
exe_time: 14.776ms
trans_prob: 3.25993704795837
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214326.150918123]: zone: 50N[0m
yaw1.4437540382962
send data=-1
fix.longitude=114.326336806865
fix.latitude=30.5085884944095
delta x: 0.5054931640625 y: 0.15228271484375 z: -0.0414962768554688
delta yaw: 3.1332426071167 pitch: -3.1413311958313 roll: 3.14013481140137
x= -211.090148925781
y=-205.171508789062
z=3.39850306510925
------------------------------------------------
align_time: 11.036ms
exe_time: 11.068ms
trans_prob: 3.14286422729492
iter_num: 3
skipping_publish_num: 0
[0m[ INFO] [1617214326.199011647]: zone: 50N[0m
yaw1.43538596553717
send data=-1
fix.longitude=114.326335764278
fix.latitude=30.5085931825291
Not Converged
delta x: 0.494369506835938 y: -0.0230255126953125 z: -0.049595832824707
delta yaw: 3.1373245716095 pitch: -3.14156556129456 roll: 3.13941979408264
x= -211.00146484375
y=-204.682571411133
z=3.37727499008179
------------------------------------------------
align_time: 12.668ms
exe_time: 12.696ms
trans_prob: 2.99118852615356
iter_num: 3
skipping_publish_num: 1
[0m[ INFO] [1617214326.290190355]: zone: 50N[0m
yaw1.4311110794131
send data=-1
fix.longitude=114.32633656685
fix.latitude=30.5085976087867
delta x: 0.704147338867188 y: -0.016998291015625 z: -0.0176296234130859
delta yaw: 3.13690638542175 pitch: 3.14071488380432 roll: 3.14045333862305
x= -210.886947631836
y=-203.987747192383
z=3.40028715133667
------------------------------------------------
align_time: 21.704ms
exe_time: 21.745ms
trans_prob: 3.0792076587677
iter_num: 3
skipping_publish_num: 0
[0m[ INFO] [1617214326.435657558]: zone: 50N[0m
yaw1.42643630469352
send data=-1
fix.longitude=114.326337587544
fix.latitude=30.508603896439
delta x: 0.574127197265625 y: -0.0443267822265625 z: -0.0384197235107422
delta yaw: 3.13879752159119 pitch: -3.14133071899414 roll: -3.13872241973877
x= -210.761077880859
y=-203.424545288086
z=3.39389276504517
------------------------------------------------
align_time: 11.295ms
exe_time: 11.359ms
trans_prob: 3.05895400047302
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214326.482458292]: zone: 50N[0m
yaw1.42363175365342
send data=-1
fix.longitude=114.326338758908
fix.latitude=30.5086090000673
delta x: 0.533737182617188 y: -0.0714569091796875 z: -0.046055793762207
delta yaw: 3.14084815979004 pitch: 3.14147210121155 roll: -3.14003205299377
x= -210.612930297852
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------------------------------------------------
align_time: 8.036ms
exe_time: 8.062ms
trans_prob: 3.22546887397766
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214326.551060592]: zone: 50N[0m
yaw1.42288880724152
send data=-1
fix.longitude=114.326340172988
fix.latitude=30.5086137142567
delta x: 0.42822265625 y: 0.075439453125 z: -0.041905403137207
delta yaw: 3.13775992393494 pitch: 3.14137291908264 roll: 3.13980960845947
x= -210.625183105469
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------------------------------------------------
align_time: 20.284ms
exe_time: 20.34ms
trans_prob: 3.37035131454468
iter_num: 3
skipping_publish_num: 0
[0m[ INFO] [1617214326.685893131]: zone: 50N[0m
yaw1.41905646404659
send data=-1
fix.longitude=114.326339937728
fix.latitude=30.5086176452444
delta x: 0.46221923828125 y: -0.20513916015625 z: -0.0324335098266602
delta yaw: 0.00195397599600255 pitch: -5.26234434801154e-05 roll: -0.00100947602186352
x= -210.353118896484
y=-202.041305541992
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------------------------------------------------
align_time: 22.461ms
exe_time: 22.521ms
trans_prob: 3.43193364143372
iter_num: 4
skipping_publish_num: 0
[0m[ INFO] [1617214326.808872970]: zone: 50N[0m
yaw1.4210118398059
send data=-1
fix.longitude=114.326342664568
fix.latitude=30.5086215558397
delta x: 0.414138793945312 y: 0.031402587890625 z: -0.0357208251953125
delta yaw: 3.13648986816406 pitch: -3.14120602607727 roll: 3.14152026176453
x= -210.322952270508
y=-201.625686645508
z=3.33936309814453
------------------------------------------------
align_time: 15.266ms
exe_time: 15.315ms
trans_prob: 3.37796545028687
iter_num: 3
skipping_publish_num: 0
[0m[ INFO] [1617214326.854606893]: zone: 50N[0m
yaw1.41589337082551
send data=-1
fix.longitude=114.326342876041
fix.latitude=30.5086253086957
delta x: 0.523895263671875 y: 0.0347747802734375 z: -0.0342369079589844
delta yaw: 3.13752150535583 pitch: 3.14115524291992 roll: 3.14100193977356
x= -210.277053833008
y=-201.101531982422
z=3.33599209785461
------------------------------------------------
align_time: 9.915ms
exe_time: 9.944ms
trans_prob: 3.4046573638916
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214326.927557860]: zone: 50N[0m
yaw1.41182633926592
send data=-1
fix.longitude=114.326343224502
fix.latitude=30.5086300432604
delta x: 0.6395263671875 y: -0.053009033203125 z: -0.0372753143310547
delta yaw: 3.14104413986206 pitch: 3.1412832736969 roll: -3.14116048812866
x= -210.124114990234
y=-200.477172851562
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------------------------------------------------
align_time: 11.87ms
exe_time: 11.903ms
trans_prob: 3.38883137702942
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214327.029355558]: zone: 50N[0m
yaw1.41128359591809
send data=-1
fix.longitude=114.326344662575
fix.latitude=30.5086357039475
delta x: 0.572189331054688 y: -0.012847900390625 z: -0.0272989273071289
delta yaw: 3.14048671722412 pitch: 3.14101457595825 roll: 3.14131546020508
x= -210.021041870117
y=-199.913558959961
z=3.33873724937439
------------------------------------------------
align_time: 8.844ms
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trans_prob: 3.4828405380249
iter_num: 2
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[0m[ INFO] [1617214327.100391947]: zone: 50N[0m
yaw1.41018907664195
send data=-1
fix.longitude=114.326345596514
fix.latitude=30.5086408064178
delta x: 0.419509887695312 y: 0.0060272216796875 z: -0.0295009613037109
delta yaw: 3.13926362991333 pitch: -3.14082407951355 roll: -3.14145445823669
x= -209.960418701172
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------------------------------------------------
align_time: 16.716ms
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trans_prob: 3.39753389358521
iter_num: 3
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[0m[ INFO] [1617214327.247661864]: zone: 50N[0m
yaw1.40783983029099
send data=-1
fix.longitude=114.326346124922
fix.latitude=30.5086445705964
delta x: 0.401611328125 y: -0.0877227783203125 z: -0.0313558578491211
delta yaw: 3.14135551452637 pitch: 3.14121246337891 roll: -3.14107418060303
x= -209.809188842773
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------------------------------------------------
align_time: 10.372ms
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trans_prob: 3.46368789672852
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214327.308082067]: zone: 50N[0m
yaw1.40761085787765
send data=-1
fix.longitude=114.326347604676
fix.latitude=30.5086480588316
delta x: 0.469528198242188 y: 0.0305633544921875 z: -0.0571413040161133
delta yaw: 3.14013457298279 pitch: 3.1414647102356 roll: -3.1403386592865
x= -209.763961791992
y=-198.643142700195
z=3.29238510131836
------------------------------------------------
align_time: 12.579ms
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trans_prob: 3.45372223854065
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214327.416079847]: zone: 50N[0m
yaw1.40615373551978
send data=-1
fix.longitude=114.326347959298
fix.latitude=30.508652312951
delta x: 0.514968872070312 y: -0.011505126953125 z: -0.0184469223022461
delta yaw: 0.00106026732828468 pitch: 0.00128174223937094 roll: 0.00198651617392898
x= -209.668609619141
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z=3.30255603790283
------------------------------------------------
align_time: 9.259ms
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yaw1.41738719892582
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send data=-1
fix.longitude=114.326368861951
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------------------------------------------------
align_time: 15.117ms
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------------------------------------------------
align_time: 17.883ms
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[0m[ INFO] [1617214330.800245369]: zone: 50N[0m
yaw1.43610676202163
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------------------------------------------------
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[0m[ INFO] [1617214330.871359670]: zone: 50N[0m
yaw1.43773984116396
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------------------------------------------------
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------------------------------------------------
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[0m[ INFO] [1617214331.079534315]: zone: 50N[0m
yaw1.43851547642845
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------------------------------------------------
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------------------------------------------------
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------------------------------------------------
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[0m[ INFO] [1617214331.348488551]: zone: 50N[0m
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------------------------------------------------
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------------------------------------------------
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yaw1.44672943337165
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------------------------------------------------
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------------------------------------------------
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[0m[ INFO] [1617214331.706560689]: zone: 50N[0m
yaw1.44363833945162
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Not Converged
delta x: 0.426132202148438 y: 0.07147216796875 z: -0.049220085144043
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------------------------------------------------
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------------------------------------------------
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yaw1.44482314315523
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------------------------------------------------
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[0m[ INFO] [1617214332.007425445]: zone: 50N[0m
yaw1.44362940615171
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------------------------------------------------
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------------------------------------------------
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------------------------------------------------
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[0m[ INFO] [1617214332.235498922]: zone: 50N[0m
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------------------------------------------------
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------------------------------------------------
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------------------------------------------------
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[0m[ INFO] [1617214332.525585197]: zone: 50N[0m
yaw1.44336229767918
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------------------------------------------------
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[0m[ INFO] [1617214332.650866283]: zone: 50N[0m
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------------------------------------------------
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------------------------------------------------
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------------------------------------------------
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[0m[ INFO] [1617214332.944773550]: zone: 50N[0m
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------------------------------------------------
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------------------------------------------------
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------------------------------------------------
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[0m[ INFO] [1617214333.255711037]: zone: 50N[0m
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------------------------------------------------
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[0m[ INFO] [1617214333.393603831]: zone: 50N[0m
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------------------------------------------------
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[0m[ INFO] [1617214333.440960517]: zone: 50N[0m
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------------------------------------------------
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------------------------------------------------
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------------------------------------------------
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x= -204.732849121094
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------------------------------------------------
align_time: 13.952ms
exe_time: 13.978ms
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skipping_publish_num: 0
[0m[ INFO] [1617214333.893905561]: zone: 50N[0m
yaw1.42336233313797
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fix.longitude=114.326392454546
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delta x: 0.223068237304688 y: -0.285415649414062 z: -0.0537147521972656
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x= -204.418762207031
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------------------------------------------------
align_time: 22.093ms
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[0m[ INFO] [1617214333.999596186]: zone: 50N[0m
yaw1.42666219993021
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fix.longitude=114.326395679426
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delta x: 0.5780029296875 y: -0.082366943359375 z: -0.0193157196044922
delta yaw: 3.14119911193848 pitch: 3.13730239868164 roll: 3.13856530189514
x= -204.254684448242
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------------------------------------------------
align_time: 13.771ms
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[0m[ INFO] [1617214334.088445725]: zone: 50N[0m
yaw1.42636859025932
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fix.longitude=114.326397249242
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delta x: 0.89697265625 y: 0.040924072265625 z: -0.0573759078979492
delta yaw: 3.13184857368469 pitch: 3.13854217529297 roll: 3.13790774345398
x= -204.166976928711
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------------------------------------------------
align_time: 21.095ms
exe_time: 21.151ms
trans_prob: 3.48778772354126
iter_num: 5
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[0m[ INFO] [1617214334.225276662]: zone: 50N[0m
yaw1.41667362464892
send data=-1
fix.longitude=114.326397941321
fix.latitude=30.5089561187083
delta x: 0.39959716796875 y: -0.098724365234375 z: -0.0321750640869141
delta yaw: 0.00147477863356471 pitch: -0.00241502979770303 roll: 0.00240555871278048
x= -204.008453369141
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------------------------------------------------
align_time: 18.023ms
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[0m[ INFO] [1617214334.266515881]: zone: 50N[0m
yaw1.4181088801896
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fix.longitude=114.326399497588
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delta x: 0.740737915039062 y: 0.17626953125 z: -0.0746297836303711
delta yaw: 3.12876009941101 pitch: -3.13605332374573 roll: -3.1404128074646
x= -204.07096862793
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------------------------------------------------
align_time: 16.005ms
exe_time: 16.025ms
trans_prob: 3.68432974815369
iter_num: 6
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[0m[ INFO] [1617214334.358769428]: zone: 50N[0m
yaw1.40514437016117
send data=-1
fix.longitude=114.326398658717
fix.latitude=30.5089664424698
delta x: 0.535888671875 y: -0.073760986328125 z: -0.0191812515258789
delta yaw: 0.00175399985164404 pitch: 0.000279121100902557 roll: 0.00119233492296189
x= -203.910217285156
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------------------------------------------------
align_time: 12.007ms
exe_time: 12.035ms
trans_prob: 3.79308891296387
iter_num: 4
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[0m[ INFO] [1617214334.447874651]: zone: 50N[0m
yaw1.40690741846006
send data=-1
fix.longitude=114.326400204701
fix.latitude=30.5089711343192
delta x: 0.555404663085938 y: -0.0414276123046875 z: -0.0387430191040039
delta yaw: 3.13600635528564 pitch: -3.14014172554016 roll: 3.14086055755615
x= -203.779388427734
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z=3.02396893501282
[0m[ INFO] [1617214334.575673283]: zone: 50N[0m
yaw1.40127793106377
send data=-1
------------------------------------------------
align_time: 13.125ms
exe_time: 13.207ms
fix.longitude=114.326401432756
trans_prob: 3.66968846321106
fix.latitude=30.508976054286
iter_num: 2
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delta x: 0.458969116210938 y: -0.078857421875 z: -0.0377416610717773
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x= -203.624816894531
y=-162.429046630859
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------------------------------------------------
align_time: 8.391ms
exe_time: 8.415ms
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[0m[ INFO] [1617214334.641575415]: zone: 50N[0m
yaw1.40274990809849
send data=-1
fix.longitude=114.32640293314
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delta x: 0.775314331054688 y: 0.058380126953125 z: -0.0542135238647461
delta yaw: 3.13760542869568 pitch: 3.13664245605469 roll: 3.13894009590149
x= -203.553436279297
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------------------------------------------------
align_time: 12.36ms
exe_time: 12.38ms
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[0m[ INFO] [1617214334.720526461]: zone: 50N[0m
yaw1.39885350291578
send data=-1
fix.longitude=114.326403484705
fix.latitude=30.508987071664
delta x: 0.391799926757812 y: -0.0206146240234375 z: -0.0224237442016602
delta yaw: 3.14001297950745 pitch: 3.13798856735229 roll: 3.13916826248169
x= -203.466339111328
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------------------------------------------------
align_time: 18.111ms
exe_time: 18.153ms
trans_prob: 3.70595049858093
iter_num: 5
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[0m[ INFO] [1617214334.861986831]: zone: 50N[0m
yaw1.39733356802855
send data=-1
fix.longitude=114.326404296851
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delta x: 0.509735107421875 y: -0.0994873046875 z: -0.0381526947021484
delta yaw: 0.00233312696218491 pitch: -0.00113622122444212 roll: -0.00125200056936592
x= -203.280685424805
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------------------------------------------------
align_time: 20.262ms
exe_time: 20.29ms
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iter_num: 4
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[0m[ INFO] [1617214334.926084675]: zone: 50N[0m
yaw1.39965334200138
send data=-1
fix.longitude=114.326406109558
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delta x: 0.483413696289062 y: -0.149871826171875 z: -0.0229291915893555
delta yaw: 0.00165860401466489 pitch: 0.00216927914880216 roll: -0.00111830758396536
x= -203.050903320312
y=-160.331802368164
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------------------------------------------------
align_time: 36.584ms
exe_time: 36.644ms
trans_prob: 3.41558241844177
iter_num: 14
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[0m[ INFO] [1617214335.042213509]: zone: 50N[0m
yaw1.40134339129775
send data=-1
fix.longitude=114.326408390277
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delta x: 0.922821044921875 y: 0.0640869140625 z: -0.0795745849609375
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------------------------------------------------
align_time: 14.82ms
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[0m[ INFO] [1617214335.093642988]: zone: 50N[0m
yaw1.39992836231955
send data=-1
fix.longitude=114.326409119932
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delta x: 0.69921875 y: 0.0075836181640625 z: -0.0588893890380859
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------------------------------------------------
align_time: 8.881ms
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[0m[ INFO] [1617214335.191597122]: zone: 50N[0m
yaw1.39286587455391
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delta x: 0.566238403320312 y: -0.0173187255859375 z: -0.0404987335205078
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x= -202.730651855469
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------------------------------------------------
align_time: 8.069ms
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[0m[ INFO] [1617214335.284571113]: zone: 50N[0m
yaw1.38766651115247
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delta x: 0.64666748046875 y: 0.044677734375 z: -0.00319099426269531
delta yaw: 9.46443688008003e-05 pitch: -0.00378474034368992 roll: 0.00645471084862947
x= -202.657104492188
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------------------------------------------------
[0m[ INFO] [1617214335.374886142]: zone: 50N[0m
yaw1.38771737238012
send data=-1
fix.longitude=114.32641179531
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align_time: 11.333ms
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delta x: 0.5084228515625 y: -0.109451293945312 z: -0.00297164916992188
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------------------------------------------------
align_time: 12.222ms
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[0m[ INFO] [1617214335.455091706]: zone: 50N[0m
yaw1.38849251781696
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fix.longitude=114.326413758971
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------------------------------------------------
align_time: 13.904ms
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[0m[ INFO] [1617214335.550677336]: zone: 50N[0m
yaw1.38596453658555
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delta x: 0.679931640625 y: 0.0518951416015625 z: -0.0680065155029297
delta yaw: 3.1349503993988 pitch: 3.13830757141113 roll: 3.13814163208008
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------------------------------------------------
align_time: 8.584ms
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[0m[ INFO] [1617214335.661606447]: zone: 50N[0m
yaw1.37936046622574
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------------------------------------------------
align_time: 10.063ms
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[0m[ INFO] [1617214335.730626749]: zone: 50N[0m
yaw1.38408729944243
send data=-1
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------------------------------------------------
align_time: 15.734ms
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[0m[ INFO] [1617214335.822588035]: zone: 50N[0m
yaw1.38217385344867
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------------------------------------------------
align_time: 16.502ms
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[0m[ INFO] [1617214335.951133846]: zone: 50N[0m
yaw1.37990952729828
send data=-1
fix.longitude=114.326419084526
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Not Converged
delta x: 0.641586303710938 y: 0.080841064453125 z: -0.0272178649902344
delta yaw: 3.1358003616333 pitch: 3.13717555999756 roll: 3.12979960441589
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------------------------------------------------
align_time: 64.427ms
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[0m[ INFO] [1617214336.054773423]: zone: 50N[0m
yaw1.3741936689653
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------------------------------------------------
align_time: 8.587ms
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[0m[ INFO] [1617214336.105019877]: zone: 50N[0m
yaw1.3755300952841
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------------------------------------------------
align_time: 15.465ms
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[0m[ INFO] [1617214336.229276162]: zone: 50N[0m
yaw1.3774035990514
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------------------------------------------------
align_time: 11.711ms
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[0m[ INFO] [1617214336.293155143]: zone: 50N[0m
yaw1.38207044471081
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------------------------------------------------
align_time: 12.65ms
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[0m[ INFO] [1617214336.383677827]: zone: 50N[0m
yaw1.38270373283089
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------------------------------------------------
align_time: 12.645ms
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[0m[ INFO] [1617214336.465898447]: zone: 50N[0m
yaw1.38533316327252
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------------------------------------------------
align_time: 17.135ms
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[0m[ INFO] [1617214336.582660723]: zone: 50N[0m
yaw1.38588232164877
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------------------------------------------------
align_time: 8.277ms
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[0m[ INFO] [1617214336.649967004]: zone: 50N[0m
yaw1.3875230068317
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------------------------------------------------
[0m[ INFO] [1617214336.753221723]: zone: 50N[0m
yaw1.38789304172798
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send data=-1
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------------------------------------------------
align_time: 8.729ms
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[0m[ INFO] [1617214336.849628111]: zone: 50N[0m
yaw1.3918467328038
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------------------------------------------------
align_time: 20.067ms
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[0m[ INFO] [1617214336.948396089]: zone: 50N[0m
yaw1.39599460490273
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------------------------------------------------
align_time: 16.934ms
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[0m[ INFO] [1617214337.032376762]: zone: 50N[0m
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yaw1.39245506286375
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fix.longitude=114.326756786776
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x= -165.317047119141
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------------------------------------------------
align_time: 28.104ms
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[0m[ INFO] [1617214359.495609482]: zone: 50N[0m
yaw1.3943400118233
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fix.longitude=114.326757696863
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delta x: 0.677122116088867 y: -0.0333709716796875 z: -0.0424849987030029
delta yaw: 3.14014792442322 pitch: 3.13881039619446 roll: -3.14128565788269
x= -165.166107177734
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------------------------------------------------
align_time: 14.172ms
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[0m[ INFO] [1617214359.577247055]: zone: 50N[0m
yaw1.3929607607673
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fix.longitude=114.326759104844
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x= -164.982452392578
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------------------------------------------------
align_time: 14.131ms
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[0m[ INFO] [1617214359.687212888]: zone: 50N[0m
yaw1.39473321300218
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delta x: 0.85636043548584 y: -0.0488128662109375 z: -0.0573933124542236
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x= -164.78547668457
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------------------------------------------------
align_time: 6.115ms
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[0m[ INFO] [1617214359.736274172]: zone: 50N[0m
yaw1.39532981862203
send data=-1
fix.longitude=114.326762639246
fix.latitude=30.510618642819
delta x: 0.816342353820801 y: 0.0419464111328125 z: -0.0771195888519287
delta yaw: 3.13864707946777 pitch: -3.14008402824402 roll: 3.13687229156494
x= -164.685577392578
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------------------------------------------------
align_time: 9.339ms
exe_time: 9.372ms
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[0m[ INFO] [1617214359.853280614]: zone: 50N[0m
yaw1.3923474550465
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fix.longitude=114.326763478416
fix.latitude=30.5106260004427
delta x: 0.470916748046875 y: 0.054168701171875 z: -0.0274975299835205
delta yaw: 3.13956212997437 pitch: -3.14022088050842 roll: -3.14145398139954
x= -164.655639648438
y=19.7188510894775
z=0.255149990320206
------------------------------------------------
align_time: 20.86ms
exe_time: 20.927ms
trans_prob: 3.54074907302856
iter_num: 4
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[0m[ INFO] [1617214359.975503797]: zone: 50N[0m
yaw1.390290010955
send data=-1
fix.longitude=114.326763673154
fix.latitude=30.510630277995
delta x: 0.466878890991211 y: -0.0859222412109375 z: -0.0418033599853516
delta yaw: 0.00219526677392423 pitch: -0.00187653047032654 roll: -0.000407647603424266
x= -164.487808227539
y=20.1643104553223
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------------------------------------------------
align_time: 5.377ms
exe_time: 5.402ms
trans_prob: 3.45777678489685
iter_num: 2
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[0m[ INFO] [1617214360.047196667]: zone: 50N[0m
yaw1.39245249345986
send data=-1
fix.longitude=114.326765310464
fix.latitude=30.5106343292499
delta x: 1.0177059173584 y: -0.033721923828125 z: -0.0650544166564941
delta yaw: 0.000337477162247524 pitch: -3.74354458472226e-05 roll: -0.000149063373100944
x= -164.27490234375
y=21.1620254516602
z=0.214481368660927
------------------------------------------------
align_time: 16.502ms
exe_time: 16.544ms
trans_prob: 3.66149497032166
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[0m[ INFO] [1617214360.113834278]: zone: 50N[0m
yaw1.39278958330273
send data=-1
fix.longitude=114.326767280743
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delta x: 0.704215049743652 y: 0.008453369140625 z: -0.0849785804748535
delta yaw: 0.0005642413161695 pitch: -0.000371601432561874 roll: -0.0010929083218798
x= -164.159454345703
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------------------------------------------------
align_time: 17.028ms
exe_time: 17.086ms
trans_prob: 3.50203418731689
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[0m[ INFO] [1617214360.250199414]: zone: 50N[0m
yaw1.39334773653551
send data=-1
fix.longitude=114.326768310384
fix.latitude=30.5106496845854
delta x: 0.548856258392334 y: -0.030059814453125 z: -0.0232622623443604
delta yaw: 0.000202810246264562 pitch: 0.00345161836594343 roll: -0.000580605468712747
x= -164.033279418945
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------------------------------------------------
align_time: 8.706ms
exe_time: 8.731ms
trans_prob: 3.35592842102051
iter_num: 3
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[0m[ INFO] [1617214360.304654500]: zone: 50N[0m
yaw1.39360847742438
send data=-1
fix.longitude=114.326769491801
fix.latitude=30.510654538549
delta x: 0.591899394989014 y: 0.074859619140625 z: -0.0527162551879883
delta yaw: 3.13704299926758 pitch: -3.13743281364441 roll: 3.14093732833862
x= -164.003143310547
y=22.9931392669678
z=0.138979852199554
------------------------------------------------
align_time: 18.943ms
exe_time: 18.978ms
trans_prob: 3.57507801055908
iter_num: 5
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[0m[ INFO] [1617214360.398088767]: zone: 50N[0m
yaw1.38898716476606
send data=-1
fix.longitude=114.326769658054
fix.latitude=30.5106599320167
delta x: 0.617737770080566 y: -0.06646728515625 z: -0.0367674827575684
delta yaw: 0.0028278639074415 pitch: -0.00511288270354271 roll: 0.00104180921334773
x= -163.826446533203
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------------------------------------------------
align_time: 15.401ms
exe_time: 15.436ms
trans_prob: 3.69296193122864
iter_num: 3
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[0m[ INFO] [1617214360.503374901]: zone: 50N[0m
yaw1.39173828855951
send data=-1
fix.longitude=114.326771350329
fix.latitude=30.5106653486861
delta x: 0.839202880859375 y: -0.0504302978515625 z: -0.0624697208404541
delta yaw: 0.00137261871714145 pitch: -0.000470429658889771 roll: -0.000542497087735683
x= -163.627990722656
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------------------------------------------------
align_time: 31.388ms
exe_time: 31.435ms
trans_prob: 3.58393335342407
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[0m[ INFO] [1617214360.626063888]: zone: 50N[0m
yaw1.3931048919455
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fix.longitude=114.326773214247
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delta x: 0.82405424118042 y: 0.069793701171875 z: -0.0564727783203125
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x= -163.551605224609
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------------------------------------------------
align_time: 5.872ms
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[0m[ INFO] [1617214360.666564106]: zone: 50N[0m
yaw1.39063958955562
send data=-1
fix.longitude=114.326773805795
fix.latitude=30.5106802305957
delta x: 0.821033239364624 y: -0.058837890625 z: -0.05924391746521
delta yaw: 3.13911151885986 pitch: 3.13605451583862 roll: 3.14039301872253
x= -163.347351074219
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------------------------------------------------
align_time: 10.043ms
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[0m[ INFO] [1617214360.780821324]: zone: 50N[0m
yaw1.38826311064695
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fix.longitude=114.326775734936
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delta x: 0.691465854644775 y: -0.011505126953125 z: -0.0767745971679688
delta yaw: 0.00122370757162571 pitch: 0.00431768409907818 roll: 0.000109601096482947
x= -163.211380004883
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------------------------------------------------
align_time: 11.687ms
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[0m[ INFO] [1617214360.844631709]: zone: 50N[0m
yaw1.38956673967833
send data=-1
fix.longitude=114.326776982426
fix.latitude=30.5106936482105
delta x: 0.843578577041626 y: -0.102615356445312 z: -0.0335402488708496
delta yaw: 0.00136687897611409 pitch: -0.00249913590960205 roll: 0.000604840693995357
x= -162.958892822266
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------------------------------------------------
align_time: 11.328ms
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trans_prob: 3.59811615943909
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[0m[ INFO] [1617214360.937138701]: zone: 50N[0m
yaw1.39088904056296
send data=-1
fix.longitude=114.32677941058
fix.latitude=30.5107010225697
delta x: 0.292058706283569 y: 0.0816497802734375 z: 0.00348091125488281
delta yaw: 3.13884711265564 pitch: -3.14094877243042 roll: -3.13960027694702
x= -162.986999511719
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------------------------------------------------
align_time: 26.603ms
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trans_prob: 3.44117116928101
iter_num: 8
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[0m[ INFO] [1617214361.064855037]: zone: 50N[0m
yaw1.38812873204339
send data=-1
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delta x: 0.505616784095764 y: 0.325363159179688 z: -0.0297031402587891
delta yaw: 3.137540102005 pitch: -3.13929176330566 roll: -3.13874864578247
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------------------------------------------------
align_time: 11.619ms
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[0m[ INFO] [1617214361.120503823]: zone: 50N[0m
yaw1.3840236818392
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fix.longitude=114.326776526666
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delta yaw: 0.00167551124468446 pitch: 0.00161227630451322 roll: -0.00162045529577881
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------------------------------------------------
align_time: 26.779ms
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[0m[ INFO] [1617214361.281484932]: zone: 50N[0m
yaw1.38573934993825
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------------------------------------------------
align_time: 11.53ms
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[0m[ INFO] [1617214361.322691971]: zone: 50N[0m
yaw1.38834774737173
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fix.longitude=114.326782409683
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x= -162.37825012207
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------------------------------------------------
align_time: 19.734ms
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[0m[ INFO] [1617214361.470788712]: zone: 50N[0m
yaw1.39120069633346
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------------------------------------------------
align_time: 22.795ms
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[0m[ INFO] [1617214361.516817746]: zone: 50N[0m
yaw1.38220775299069
send data=-1
fix.longitude=114.326783585213
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Not Converged
delta x: 0.741274654865265 y: 0.04632568359375 z: -0.0494122505187988
delta yaw: 3.13221526145935 pitch: -3.13860392570496 roll: 3.14046788215637
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------------------------------------------------
align_time: 46.412ms
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[0m[ INFO] [1617214361.658427376]: zone: 50N[0m
yaw1.3727503015513
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------------------------------------------------
align_time: 47.108ms
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[0m[ INFO] [1617214361.751712927]: zone: 50N[0m
yaw1.39243564886573
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------------------------------------------------
align_time: 27.246ms
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[0m[ INFO] [1617214361.794740098]: zone: 50N[0m
yaw1.38924848130583
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fix.longitude=114.326790515919
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------------------------------------------------
align_time: 19.769ms
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[0m[ INFO] [1617214361.860753205]: zone: 50N[0m
yaw1.3785314342416
send data=-1
fix.longitude=114.326788000161
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------------------------------------------------
align_time: 46.196ms
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[0m[ INFO] [1617214362.011906330]: zone: 50N[0m
yaw1.39050818022006
send data=-1
fix.longitude=114.326792134276
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x= -161.871597290039
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------------------------------------------------
align_time: 36.83ms
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[0m[ INFO] [1617214362.070952704]: zone: 50N[0m
yaw1.38748865873358
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------------------------------------------------
align_time: 49.884ms
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[0m[ INFO] [1617214362.207216557]: zone: 50N[0m
yaw1.39164456416644
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------------------------------------------------
align_time: 74.497ms
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[0m[ INFO] [1617214362.294971404]: zone: 50N[0m
yaw1.39385250778093
send data=-1
fix.longitude=114.326785537075
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------------------------------------------------
align_time: 9.633ms
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[0m[ INFO] [1617214362.338484145]: zone: 50N[0m
yaw1.39533189528637
send data=-1
fix.longitude=114.326780108281
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------------------------------------------------
align_time: 28.568ms
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[0m[ INFO] [1617214362.422150133]: zone: 50N[0m
yaw1.39792354327741
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------------------------------------------------
align_time: 68.783ms
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[0m[ INFO] [1617214362.596036208]: zone: 50N[0m
yaw1.39974651805551
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fix.latitude=30.5106971351335
delta x: 0.66211462020874 y: -0.0195770263671875 z: -0.0326082706451416
delta yaw: 0.00388206634670496 pitch: 0.00227759988047183 roll: 0.0025488450191915
x= -163.054565429688
y=27.7510395050049
z=0.0853153169155121
------------------------------------------------
align_time: 10.114ms
exe_time: 10.145ms
trans_prob: 3.23692631721497
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214362.642524091]: zone: 50N[0m
yaw1.40367846725675
send data=-1
fix.longitude=114.326778359243
fix.latitude=30.5107030226577
Not Converged
delta x: 0.602969229221344 y: -0.050201416015625 z: -0.0478055477142334
delta yaw: 0.00550315901637077 pitch: -0.00091722619254142 roll: 0.00152568670455366
x= -162.905624389648
y=28.338924407959
z=0.0611881986260414
------------------------------------------------
align_time: 8.695ms
exe_time: 8.721ms
trans_prob: 2.99188041687012
iter_num: 2
skipping_publish_num: 1
[0m[ INFO] [1617214362.686639793]: zone: 50N[0m
yaw1.40916372851588
send data=-1
fix.longitude=114.326779764744
fix.latitude=30.510708353707
Not Converged
delta x: 1.0315557718277 y: -0.0483856201171875 z: -0.057011604309082
delta yaw: 0.00556060066446662 pitch: -0.00091865670401603 roll: 0.00252237520180643
x= -162.692993164062
y=29.3509864807129
z=0.0465452149510384
------------------------------------------------
align_time: 14.183ms
exe_time: 14.207ms
trans_prob: 2.8739800453186
iter_num: 5
skipping_publish_num: 2
[0m[ INFO] [1617214362.776712110]: zone: 50N[0m
yaw1.41470533468315
send data=-1
fix.longitude=114.326781728625
fix.latitude=30.5107175219197
Not Converged
delta x: 0.714412689208984 y: 0.117355346679688 z: -0.041862964630127
delta yaw: 3.13977098464966 pitch: 3.140469789505 roll: 3.13934183120728
x= -162.698776245117
y=30.0761222839355
z=0.0387474447488785
------------------------------------------------
align_time: 18.406ms
exe_time: 18.475ms
trans_prob: 2.67971038818359
iter_num: 5
skipping_publish_num: 3
[0m[ INFO] [1617214362.900055892]: zone: 50N[0m
yaw1.41291267391049
send data=-1
fix.longitude=114.326781489466
fix.latitude=30.5107240570945
Not Converged
delta x: 0.613675117492676 y: -0.0225830078125 z: -0.0749955177307129
delta yaw: 0.00410272320732474 pitch: -0.00419573578983545 roll: 0.000282495573628694
x= -162.581405639648
y=30.6815052032471
z=-0.0109168980270624
------------------------------------------------
align_time: 9.076ms
exe_time: 9.101ms
trans_prob: 2.78559756278992
iter_num: 3
skipping_publish_num: 4
[0m[ INFO] [1617214362.956710741]: zone: 50N[0m
yaw1.41691507026564
send data=-1
fix.longitude=114.326782561979
fix.latitude=30.5107295391259
Not Converged
delta x: 0.38018798828125 y: 0.0394744873046875 z: 0.0410933494567871
delta yaw: 0.00311848544515669 pitch: 0.00804003328084946 roll: 0.00367106543853879
x= -162.561477661133
y=31.0607604980469
z=0.0487089157104492
------------------------------------------------
align_time: 15.44ms
exe_time: 15.47ms
trans_prob: 2.8241114616394
iter_num: 4
skipping_publish_num: 5
[0m[ INFO] [1617214363.057936759]: zone: 50N[0m
yaw1.42023396332258
send data=-1
fix.longitude=114.326782675849
fix.latitude=30.5107329620103
Not Converged
delta x: 0.971384525299072 y: -0.055328369140625 z: -0.060091495513916
delta yaw: 0.00573281291872263 pitch: -0.0034649926237762 roll: 0.000947289285250008
x= -162.362533569336
y=32.0147476196289
z=0.0244018379598856
------------------------------------------------
align_time: 29.736ms
exe_time: 29.766ms
trans_prob: 2.75180912017822
iter_num: 7
skipping_publish_num: 6
[0m[ INFO] [1617214363.186603528]: zone: 50N[0m
yaw1.42587149157844
send data=-1
fix.longitude=114.32678451157
fix.latitude=30.5107416038078
Not Converged
delta x: 0.541923522949219 y: 0.045562744140625 z: -0.0255851745605469
delta yaw: 0.00236044148914516 pitch: 0.00277149653993547 roll: -0.000151678992551751
x= -162.329971313477
y=32.5582046508789
z=0.0229285154491663
------------------------------------------------
align_time: 19.87ms
exe_time: 19.944ms
trans_prob: 2.67181944847107
iter_num: 5
skipping_publish_num: 7
[0m[ INFO] [1617214363.285999369]: zone: 50N[0m
yaw1.4283131687427
send data=-1
fix.longitude=114.326784716449
fix.latitude=30.5107465095146
Not Converged
delta x: 0.8150634765625 y: 0.02117919921875 z: -0.00328302383422852
delta yaw: 0.001401346642524 pitch: 0.00703755673021078 roll: -0.0013963698875159
x= -162.2353515625
y=33.3675079345703
z=0.0522879883646965
------------------------------------------------
align_time: 13.921ms
exe_time: 13.951ms
trans_prob: 2.40048432350159
iter_num: 4
skipping_publish_num: 8
[0m[ INFO] [1617214363.326648132]: zone: 50N[0m
yaw1.42991684319688
send data=-1
fix.longitude=114.326785501785
fix.latitude=30.510753824833
Not Converged
delta x: 0.735191345214844 y: -0.058013916015625 z: -0.086829662322998
delta yaw: 0.0034145622048527 pitch: -0.0055126897059381 roll: -0.000723909528460354
x= -162.076705932617
y=34.0900497436523
z=-0.0122929038479924
------------------------------------------------
align_time: 14.683ms
exe_time: 14.719ms
trans_prob: 2.42419028282166
iter_num: 2
skipping_publish_num: 9
[0m[ INFO] [1617214363.432241539]: zone: 50N[0m
yaw1.43318216063195
send data=-1
fix.longitude=114.326786975087
fix.latitude=30.51076037176
Not Converged
delta x: 0.368284225463867 y: 0.01708984375 z: 0.0070652961730957
delta yaw: 8.28303313937795e-07 pitch: 0.00443070009350777 roll: -0.00100842141546309
x= -162.042999267578
y=34.4566230773926
z=0.00917796324938536
------------------------------------------------
align_time: 15.203ms
exe_time: 15.23ms
trans_prob: 2.29938244819641
iter_num: 5
skipping_publish_num: 10
[0m[ INFO] [1617214363.504471114]: zone: 50N[0m
yaw1.43330019826056
send data=-1
fix.longitude=114.326787235533
fix.latitude=30.5107636832727
Not Converged
delta x: 0.669548988342285 y: -0.026275634765625 z: -0.00100994110107422
delta yaw: 3.14127326011658 pitch: -3.13837313652039 roll: 3.1365213394165
x= -161.925247192383
y=35.1159324645996
z=0.0299183260649443
------------------------------------------------
align_time: 22.799ms
exe_time: 22.878ms
trans_prob: 2.03739595413208
iter_num: 4
skipping_publish_num: 11
[0m[ INFO] [1617214363.636473510]: zone: 50N[0m
yaw1.43289852231195
send data=-1
fix.longitude=114.326788298709
fix.latitude=30.5107696514815
Not Converged
delta x: 0.96333122253418 y: -0.034027099609375 z: -0.110655784606934
delta yaw: 3.14027452468872 pitch: -3.13741016387939 roll: 3.13883090019226
x= -161.760879516602
y=36.0691528320312
z=-0.0459879823029041
------------------------------------------------
align_time: 14.931ms
exe_time: 14.957ms
trans_prob: 1.99992918968201
iter_num: 4
skipping_publish_num: 12
[0m[ INFO] [1617214363.694801279]: zone: 50N[0m
yaw1.43149426923118
send data=-1
fix.longitude=114.326789774655
fix.latitude=30.5107782789793
Not Converged
delta x: 0.845966339111328 y: -0.091033935546875 z: -0.0846590995788574
delta yaw: 0.000658194650895894 pitch: -0.00734118605032563 roll: 0.00216110050678253
x= -161.554351806641
y=36.8972854614258
z=-0.097619816660881
------------------------------------------------
align_time: 11.544ms
exe_time: 11.575ms
trans_prob: 2.04330706596375
iter_num: 2
skipping_publish_num: 13
[0m[ INFO] [1617214363.804600652]: zone: 50N[0m
yaw1.43202331651981
send data=-1
fix.longitude=114.326791720386
fix.latitude=30.5107857879384
Not Converged
delta x: 0.338829040527344 y: 0.0733795166015625 z: -0.0404877662658691
delta yaw: 3.13559770584106 pitch: -3.14084792137146 roll: -3.14094400405884
x= -161.580718994141
y=37.2445907592773
z=-0.120273843407631
------------------------------------------------
align_time: 22.71ms
exe_time: 22.731ms
trans_prob: 2.13930320739746
iter_num: 6
skipping_publish_num: 14
[0m[ INFO] [1617214363.877951596]: zone: 50N[0m
yaw1.4260075433885
send data=-1
fix.longitude=114.326791360176
fix.latitude=30.5107889129318
Not Converged
delta x: 0.701886177062988 y: -0.069549560546875 z: -0.0465431213378906
delta yaw: 3.13986754417419 pitch: 3.13837313652039 roll: 3.14109945297241
x= -161.411376953125
y=37.9307250976562
z=-0.133933454751968
[0m[ INFO] [1617214363.962139769]: zone: 50N[0m
yaw1.42434769365012
send data=-1
fix.longitude=114.326792953821
fix.latitude=30.5107951339655
------------------------------------------------
align_time: 15.025ms
exe_time: 15.052ms
trans_prob: 2.30049109458923
iter_num: 5
skipping_publish_num: 15
Not Converged
delta x: 0.69072437286377 y: -0.0064544677734375 z: -0.0604290962219238
delta yaw: 3.13635778427124 pitch: 3.13893437385559 roll: 3.13946390151978
x= -161.305114746094
y=38.6153182983398
z=-0.162949070334435
------------------------------------------------
align_time: 13.761ms
exe_time: 13.819ms
trans_prob: 2.39325189590454
iter_num: 2
skipping_publish_num: 16
[0m[ INFO] [1617214364.102349025]: zone: 50N[0m
yaw1.41916309193756
send data=-1
fix.longitude=114.32679389114
fix.latitude=30.5108013276287
Not Converged
delta x: 0.89810848236084 y: -0.0576629638671875 z: -0.0354180335998535
delta yaw: 3.13777995109558 pitch: 3.13776588439941 roll: -3.14157748222351
x= -161.112976074219
y=39.4952392578125
z=-0.160954833030701
------------------------------------------------
align_time: 7.893ms
exe_time: 7.918ms
trans_prob: 2.56981873512268
iter_num: 3
skipping_publish_num: 17
[0m[ INFO] [1617214364.146464289]: zone: 50N[0m
yaw1.4154188405355
send data=-1
fix.longitude=114.326795674292
fix.latitude=30.5108093003359
Not Converged
delta x: 0.176224708557129 y: -0.0167083740234375 z: -0.0247042179107666
delta yaw: 3.13773012161255 pitch: -3.13950300216675 roll: 3.1403329372406
x= -161.069519042969
y=39.6676559448242
z=-0.179091200232506
------------------------------------------------
align_time: 28.674ms
exe_time: 28.737ms
trans_prob: 2.56910753250122
iter_num: 8
skipping_publish_num: 18
[0m[ INFO] [1617214364.296166313]: zone: 50N[0m
yaw1.41151472958394
send data=-1
fix.longitude=114.326796084161
fix.latitude=30.5108108637943
Not Converged
delta x: 0.785082817077637 y: -0.0414276123046875 z: -0.0609121322631836
delta yaw: 3.13616681098938 pitch: -3.14002180099487 roll: -3.14125728607178
x= -160.904846191406
y=40.4382400512695
z=-0.208542689681053
------------------------------------------------
align_time: 18.634ms
exe_time: 18.657ms
trans_prob: 2.62037301063538
iter_num: 7
skipping_publish_num: 19
[0m[ INFO] [1617214364.352386727]: zone: 50N[0m
yaw1.4060571933565
send data=-1
fix.longitude=114.326797608356
fix.latitude=30.5108178450647
Not Converged
delta x: 0.716476440429688 y: -0.0273895263671875 z: -0.0258438587188721
delta yaw: 3.13608860969543 pitch: 3.14076781272888 roll: 3.14055919647217
x= -160.760711669922
y=41.1410675048828
z=-0.204479962587357
------------------------------------------------
align_time: 11.258ms
exe_time: 11.308ms
trans_prob: 2.58634352684021
iter_num: 2
skipping_publish_num: 20
[0m[ INFO] [1617214364.430041589]: zone: 50N[0m
yaw1.40056422656248
send data=-1
fix.longitude=114.326798935454
fix.latitude=30.5108242111848
Not Converged
delta x: 0.730036735534668 y: -0.0421142578125 z: -0.090202808380127
delta yaw: 3.13697838783264 pitch: -3.13541579246521 roll: -3.13949728012085
x= -160.596542358398
y=41.8567771911621
z=-0.2650445997715
------------------------------------------------
align_time: 14.936ms
exe_time: 14.967ms
trans_prob: 2.48024368286133
iter_num: 2
skipping_publish_num: 21
[0m[ INFO] [1617214364.527077233]: zone: 50N[0m
yaw1.3958386404137
send data=-1
fix.longitude=114.32680046795
fix.latitude=30.5108306977068
Not Converged
delta x: 0.569442749023438 y: -0.0284423828125 z: 0.00533771514892578
delta yaw: 3.13660287857056 pitch: 3.1381824016571 roll: 3.14157843589783
x= -160.469467163086
y=42.411693572998
z=-0.233187630772591
------------------------------------------------
align_time: 9.87ms
exe_time: 9.895ms
trans_prob: 2.43276047706604
iter_num: 3
skipping_publish_num: 22
[0m[ INFO] [1617214364.605583475]: zone: 50N[0m
yaw1.39091180874451
send data=-1
fix.longitude=114.32680165395
fix.latitude=30.5108357269039
Not Converged
delta x: 0.573688507080078 y: -0.0338287353515625 z: -0.0567092895507812
delta yaw: 3.1368305683136 pitch: -3.13932204246521 roll: 3.14115452766418
x= -160.334289550781
y=42.9722175598145
z=-0.265225917100906
------------------------------------------------
align_time: 12.461ms
exe_time: 12.506ms
trans_prob: 2.41843605041504
iter_num: 2
skipping_publish_num: 23
[0m[ INFO] [1617214364.754102791]: zone: 50N[0m
yaw1.38610054947605
send data=-1
fix.longitude=114.326802922919
fix.latitude=30.5108408083794
Not Converged
delta x: 0.76291561126709 y: -0.0386505126953125 z: -0.0652909278869629
delta yaw: 3.13703393936157 pitch: -3.14091324806213 roll: -3.14085531234741
x= -160.157028198242
y=43.7174949645996
z=-0.29592165350914
------------------------------------------------
align_time: 10.701ms
exe_time: 10.728ms
trans_prob: 2.49883961677551
iter_num: 3
skipping_publish_num: 24
[0m[ INFO] [1617214364.798593326]: zone: 50N[0m
yaw1.38152445849092
send data=-1
fix.longitude=114.326804584415
fix.latitude=30.5108475642238
Not Converged
delta x: 0.717034339904785 y: -0.0026702880859375 z: -0.0455789566040039
delta yaw: 3.13589549064636 pitch: 3.13939332962036 roll: 3.14050698280334
x= -160.020172119141
y=44.4227256774902
z=-0.307925879955292
------------------------------------------------
align_time: 17.036ms
exe_time: 17.072ms
trans_prob: 2.47529745101929
iter_num: 2
skipping_publish_num: 25
[0m[ INFO] [1617214364.898093120]: zone: 50N[0m
yaw1.37586778713364
send data=-1
fix.longitude=114.326805835147
fix.latitude=30.5108539504517
Not Converged
delta x: 0.600882530212402 y: -0.054595947265625 z: -0.0387306213378906
delta yaw: 3.14009189605713 pitch: -3.13784861564636 roll: -3.14113211631775
x= -159.85075378418
y=45.0029640197754
z=-0.320943027734756
------------------------------------------------
align_time: 17.236ms
exe_time: 17.261ms
trans_prob: 2.7007098197937
iter_num: 3
skipping_publish_num: 26
[0m[ INFO] [1617214365.001537467]: zone: 50N[0m
yaw1.37429167822377
send data=-1
fix.longitude=114.326807455722
fix.latitude=30.5108592169498
Not Converged
delta x: 0.609156608581543 y: -0.0352020263671875 z: -0.0094904899597168
delta yaw: 3.13927674293518 pitch: 3.14156794548035 roll: -3.13865542411804
x= -159.697509765625
y=45.5933456420898
z=-0.301762789487839
------------------------------------------------
align_time: 13.026ms
exe_time: 13.069ms
trans_prob: 2.66457533836365
iter_num: 2
skipping_publish_num: 27
[0m[ INFO] [1617214365.094350154]: zone: 50N[0m
yaw1.37197407965681
send data=-1
fix.longitude=114.326808905407
fix.latitude=30.5108645714239
Not Converged
delta x: 0.828433990478516 y: -0.0049285888671875 z: -0.0615959167480469
delta yaw: 3.13695168495178 pitch: -3.14050626754761 roll: -3.14155244827271
x= -159.530075073242
y=46.4067420959473
z=-0.323502779006958
------------------------------------------------
align_time: 14.931ms
exe_time: 14.977ms
trans_prob: 2.59589672088623
iter_num: 3
skipping_publish_num: 28
[0m[ INFO] [1617214365.195708439]: zone: 50N[0m
yaw1.36730335928554
send data=-1
fix.longitude=114.326810447791
fix.latitude=30.510871939197
Not Converged
delta x: 0.691091537475586 y: -0.0185089111328125 z: -0.0611276626586914
delta yaw: 3.13950872421265 pitch: 3.14108467102051 roll: 3.1411612033844
x= -159.373260498047
y=47.0822715759277
z=-0.351029902696609
------------------------------------------------
align_time: 7.939ms
exe_time: 7.963ms
trans_prob: 2.73309445381165
iter_num: 2
skipping_publish_num: 29
[0m[ INFO] [1617214365.241073107]: zone: 50N[0m
yaw1.36522935229893
send data=-1
fix.longitude=114.326811913636
fix.latitude=30.5108780619611
Not Converged
delta x: 0.623837471008301 y: -0.02484130859375 z: -0.0625772476196289
delta yaw: 3.1398777961731 pitch: 3.13959193229675 roll: -3.14131951332092
x= -159.222564697266
y=47.6904830932617
z=-0.383797973394394
------------------------------------------------
align_time: 16.96ms
exe_time: 17.008ms
trans_prob: 2.5681586265564
iter_num: 2
skipping_publish_num: 30
[0m[ INFO] [1617214365.373308357]: zone: 50N[0m
yaw1.36355938410163
send data=-1
fix.longitude=114.326813332392
fix.latitude=30.5108835766102
Not Converged
delta x: 0.70413875579834 y: -0.03314208984375 z: -0.0400471687316895
delta yaw: 3.13988399505615 pitch: 3.13997960090637 roll: -3.13980579376221
x= -159.045944213867
y=48.3740463256836
z=-0.39181113243103
------------------------------------------------
align_time: 11.927ms
exe_time: 11.974ms
trans_prob: 2.51533651351929
iter_num: 2
skipping_publish_num: 31
[0m[ INFO] [1617214365.469501001]: zone: 50N[0m
yaw1.3618874302432
send data=-1
fix.longitude=114.326815002448
fix.latitude=30.5108897760229
Not Converged
delta x: 0.802228927612305 y: -0.021759033203125 z: -0.0350685119628906
delta yaw: 3.1389594078064 pitch: 3.13672685623169 roll: 3.13762950897217
x= -158.858993530273
y=49.1552810668945
z=-0.391387820243835
------------------------------------------------
align_time: 7.912ms
exe_time: 7.934ms
trans_prob: 2.32257008552551
iter_num: 2
skipping_publish_num: 32
[0m[ INFO] [1617214365.550357887]: zone: 50N[0m
yaw1.35937656366459
send data=-1
fix.longitude=114.326816755946
fix.latitude=30.5108968580588
Not Converged
delta x: 0.840731620788574 y: -0.02642822265625 z: -0.0426397323608398
delta yaw: 3.14010906219482 pitch: 3.14140129089355 roll: -3.1410059928894
x= -158.657424926758
y=49.972972869873
z=-0.400969207286835
------------------------------------------------
align_time: 15.914ms
exe_time: 15.958ms
trans_prob: 2.25762295722961
iter_num: 2
skipping_publish_num: 33
[0m[ INFO] [1617214365.642723191]: zone: 50N[0m
yaw1.35789626557493
send data=-1
fix.longitude=114.32681865263
fix.latitude=30.510904271844
Not Converged
delta x: 0.558010101318359 y: -0.010406494140625 z: -0.0647382736206055
delta yaw: 3.13934230804443 pitch: -3.13491797447205 roll: -3.13956785202026
x= -158.530319213867
y=50.5185852050781
z=-0.443705171346664
------------------------------------------------
align_time: 35.691ms
exe_time: 35.791ms
trans_prob: 2.2757363319397
iter_num: 5
skipping_publish_num: 34
[0m[ INFO] [1617214365.761680656]: zone: 50N[0m
yaw1.35549550387866
send data=-1
fix.longitude=114.326819841246
fix.latitude=30.5109092171803
Not Converged
delta x: 0.383696556091309 y: -0.0129547119140625 z: -0.0251460075378418
delta yaw: 3.13979005813599 pitch: -3.13985705375671 roll: -3.1398069858551
x= -158.436141967773
y=50.8915367126465
z=-0.451350659132004
------------------------------------------------
align_time: 10.96ms
exe_time: 10.992ms
trans_prob: 2.27272963523865
iter_num: 3
skipping_publish_num: 35
[0m[ INFO] [1617214365.812210254]: zone: 50N[0m
yaw1.35364891624223
send data=-1
fix.longitude=114.326820729662
fix.latitude=30.5109125991072
Not Converged
delta x: 0.577352523803711 y: -0.02899169921875 z: -0.0458855628967285
delta yaw: 3.13986277580261 pitch: -3.13983082771301 roll: -3.14037156105042
x= -158.284301757812
y=51.4508895874023
z=-0.470196157693863
------------------------------------------------
align_time: 12.775ms
exe_time: 12.803ms
trans_prob: 2.14659190177917
iter_num: 3
skipping_publish_num: 36
[0m[ INFO] [1617214365.891528568]: zone: 50N[0m
yaw1.351871145275
send data=-1
fix.longitude=114.326822172391
fix.latitude=30.5109176735865
Not Converged
delta x: 0.935131072998047 y: -0.0266571044921875 z: -0.0667781829833984
delta yaw: 3.14060592651367 pitch: -3.14143133163452 roll: -3.14117670059204
x= -158.056488037109
y=52.3604507446289
z=-0.491084188222885
------------------------------------------------
align_time: 27.187ms
exe_time: 27.267ms
trans_prob: 2.13692164421082
iter_num: 5
skipping_publish_num: 37
[0m[ INFO] [1617214366.045348675]: zone: 50N[0m
yaw1.35087892216655
send data=-1
fix.longitude=114.326824319635
fix.latitude=30.5109259210945
Not Converged
delta x: 0.8992919921875 y: -0.026519775390625 z: -0.035243034362793
delta yaw: 0.000132821165607311 pitch: 0.00230578915216029 roll: 0.00347250793129206
x= -157.835266113281
y=53.2331733703613
z=-0.482157230377197
------------------------------------------------
align_time: 9.99ms
exe_time: 10.025ms
trans_prob: 2.03650641441345
iter_num: 2
skipping_publish_num: 38
[0m[ INFO] [1617214366.086581331]: zone: 50N[0m
yaw1.35107639626873
send data=-1
fix.longitude=114.326826407345
fix.latitude=30.5109338351296
Not Converged
delta x: 0.7120361328125 y: -0.0113677978515625 z: -0.0811381340026855
delta yaw: 3.13884687423706 pitch: 3.14060807228088 roll: 3.13981199264526
x= -157.670806884766
y=53.9291648864746
z=-0.529643058776855
------------------------------------------------
align_time: 11.411ms
exe_time: 11.446ms
trans_prob: 2.14712166786194
iter_num: 3
skipping_publish_num: 39
[0m[ INFO] [1617214366.162319795]: zone: 50N[0m
yaw1.34836008358953
send data=-1
fix.longitude=114.326827947728
fix.latitude=30.5109401439729
Not Converged
delta x: 0.711711883544922 y: -0.019622802734375 z: -0.0534710884094238
delta yaw: 3.14019870758057 pitch: -3.14155745506287 roll: 3.14087724685669
x= -157.495864868164
y=54.6210708618164
z=-0.55051451921463
------------------------------------------------
align_time: 18.82ms
exe_time: 18.88ms
trans_prob: 2.09165525436401
iter_num: 2
skipping_publish_num: 40
[0m[ INFO] [1617214366.303791539]: zone: 50N[0m
yaw1.34696416954491
send data=-1
fix.longitude=114.326829598252
fix.latitude=30.5109464182287
Not Converged
delta x: 0.241605758666992 y: -0.0384674072265625 z: -0.00326681137084961
delta yaw: 3.14086985588074 pitch: 3.14122581481934 roll: -3.14009022712708
x= -157.404846191406
y=54.8480796813965
z=-0.543660402297974
------------------------------------------------
align_time: 33.844ms
exe_time: 33.883ms
trans_prob: 1.96330904960632
iter_num: 7
skipping_publish_num: 41
[0m[ INFO] [1617214366.410594594]: zone: 50N[0m
yaw1.34625147363285
send data=-1
fix.longitude=114.326830489802
fix.latitude=30.510948483946
Not Converged
delta x: 0.71550178527832 y: -0.0426788330078125 z: -0.0361471176147461
delta yaw: 3.13991045951843 pitch: 3.14058232307434 roll: 3.14002680778503
x= -157.204803466797
y=55.5373001098633
z=-0.548064529895782
------------------------------------------------
align_time: 20.836ms
exe_time: 20.872ms
trans_prob: 1.96562933921814
iter_num: 6
skipping_publish_num: 42
[0m[ INFO] [1617214366.450458768]: zone: 50N[0m
yaw1.34459936493995
send data=-1
fix.longitude=114.326832402307
fix.latitude=30.5109547393575
Not Converged
delta x: 0.701656341552734 y: -0.006500244140625 z: -0.00313711166381836
delta yaw: 3.14055466651917 pitch: 3.1378378868103 roll: -3.13790416717529
x= -157.04133605957
y=56.2190933227539
z=-0.519773840904236
------------------------------------------------
align_time: 35.51ms
exe_time: 35.666ms
trans_prob: 2.01389956474304
iter_num: 2
skipping_publish_num: 43
[0m[ INFO] [1617214366.577362839]: zone: 50N[0m
yaw1.34367039620732
send data=-1
fix.longitude=114.326833935869
fix.latitude=30.5109609200046
Not Converged
delta x: 0.316341400146484 y: -0.122039794921875 z: -0.0565967559814453
delta yaw: 3.14145350456238 pitch: -3.13979291915894 roll: 3.13863897323608
x= -156.8525390625
y=56.5024337768555
z=-0.567247927188873
------------------------------------------------
align_time: 30.027ms
exe_time: 30.067ms
trans_prob: 1.9945867061615
iter_num: 6
skipping_publish_num: 44
[0m[ INFO] [1617214366.641904549]: zone: 50N[0m
yaw1.34347172295691
send data=-1
fix.longitude=114.326835831461
fix.latitude=30.5109635143907
Not Converged
delta x: 0.398796081542969 y: 0.079742431640625 z: -0.0420012474060059
delta yaw: 3.13880658149719 pitch: 3.14075136184692 roll: 3.14035677909851
x= -156.841262817383
y=56.9105186462402
z=-0.589629292488098
------------------------------------------------
align_time: 30.165ms
exe_time: 30.275ms
trans_prob: 1.8392596244812
iter_num: 3
skipping_publish_num: 45
[0m[ INFO] [1617214366.799983984]: zone: 50N[0m
yaw1.34070943438688
send data=-1
fix.longitude=114.326835848147
fix.latitude=30.5109671952977
Not Converged
delta x: 0.683149337768555 y: -0.03533935546875 z: -0.0195722579956055
delta yaw: 3.13983273506165 pitch: 3.13608407974243 roll: -3.13862824440002
x= -156.651565551758
y=57.5679969787598
z=-0.581403791904449
------------------------------------------------
align_time: 23.08ms
exe_time: 23.137ms
trans_prob: 1.66423785686493
iter_num: 4
skipping_publish_num: 46
[0m[ INFO] [1617214366.846690776]: zone: 50N[0m
yaw1.33910806335036
send data=-1
fix.longitude=114.326837660782
fix.latitude=30.5109731623737
Not Converged
delta x: 1.09410095214844 y: 0.01727294921875 z: -0.0473799705505371
delta yaw: 3.13950538635254 pitch: 3.13818430900574 roll: 3.14062786102295
x= -156.418380737305
y=58.638126373291
z=-0.588143646717072
------------------------------------------------
align_time: 24.335ms
exe_time: 24.369ms
trans_prob: 1.72194504737854
iter_num: 5
skipping_publish_num: 47
[0m[ INFO] [1617214366.928100211]: zone: 50N[0m
yaw1.33712922772226
send data=-1
fix.longitude=114.32683982432
fix.latitude=30.5109828583994
Not Converged
delta x: 0.471311569213867 y: 0.005340576171875 z: -0.0544681549072266
delta yaw: 3.13958835601807 pitch: -3.13824486732483 roll: -3.14045214653015
x= -156.31575012207
y=59.0997581481934
z=-0.62678062915802
[0m[ INFO] [1617214367.057727095]: zone: 50N[0m
yaw1.335020638719
send data=-1
fix.longitude=114.326840778858
fix.latitude=30.5109870415009
------------------------------------------------
align_time: 56.052ms
exe_time: 56.1ms
trans_prob: 1.71739661693573
iter_num: 7
skipping_publish_num: 48
Not Converged
delta x: 0.257116317749023 y: -0.045867919921875 z: -0.0141186714172363
delta yaw: 3.13982582092285 pitch: -3.14031958580017 roll: -3.13949871063232
x= -156.211441040039
y=59.3395385742188
z=-0.632999956607819
------------------------------------------------
align_time: 16.414ms
exe_time: 16.444ms
trans_prob: 1.59544467926025
iter_num: 3
skipping_publish_num: 49
[0m[ INFO] [1617214367.098634110]: zone: 50N[0m
yaw1.33321228600204
send data=-1
fix.longitude=114.32684180562
fix.latitude=30.5109892251818
Not Converged
delta x: 0.864248275756836 y: -0.056732177734375 z: -0.0757784843444824
delta yaw: 3.13966584205627 pitch: -3.14040112495422 roll: -3.13961863517761
x= -155.954940795898
y=60.1690254211426
z=-0.678117394447327
------------------------------------------------
align_time: 82.927ms
exe_time: 83.063ms
trans_prob: 1.51370894908905
iter_num: 8
skipping_publish_num: 50
[0m[ INFO] [1617214367.280405994]: zone: 50N[0m
yaw1.3312441180832
send data=-1
fix.longitude=114.326844271275
fix.latitude=30.5109967570253
Not Converged
delta x: 0.716972351074219 y: -0.041168212890625 z: -0.0532970428466797
delta yaw: 3.13928461074829 pitch: -3.14070391654968 roll: 3.13998126983643
x= -155.746368408203
y=60.8577575683594
z=-0.705061256885529
------------------------------------------------
align_time: 19.912ms
exe_time: 19.944ms
trans_prob: 1.69116759300232
iter_num: 3
skipping_publish_num: 51
[0m[ INFO] [1617214367.322482101]: zone: 50N[0m
yaw1.3289033467886
send data=-1
fix.longitude=114.326846272702
fix.latitude=30.5110030098579
Not Converged
delta x: 0.617599487304688 y: 0.0428924560546875 z: -0.0460066795349121
delta yaw: 3.13941502571106 pitch: 3.141432762146 roll: -3.1368043422699
x= -155.641311645508
y=61.4692687988281
z=-0.725086867809296
------------------------------------------------
align_time: 51.182ms
exe_time: 51.288ms
trans_prob: 1.75717687606812
iter_num: 2
skipping_publish_num: 52
[0m[ INFO] [1617214367.446236732]: zone: 50N[0m
yaw1.3267309733877
send data=-1
fix.longitude=114.326847215511
fix.latitude=30.5110085444987
Not Converged
delta x: 0.601015090942383 y: -0.0564422607421875 z: -0.00738430023193359
delta yaw: 3.13916110992432 pitch: 3.14137673377991 roll: -3.14024066925049
x= -155.441635131836
y=62.0388259887695
z=-0.711077690124512
------------------------------------------------
align_time: 18.897ms
exe_time: 18.94ms
trans_prob: 1.77476751804352
iter_num: 2
skipping_publish_num: 53
[0m[ INFO] [1617214367.486662077]: zone: 50N[0m
yaw1.3243081177948
send data=-1
fix.longitude=114.326849153736
fix.latitude=30.5110137211814
Not Converged
delta x: 0.605274200439453 y: -0.0886077880859375 z: -0.072596549987793
delta yaw: 3.13927412033081 pitch: -3.13755464553833 roll: -3.14117550849915
x= -155.210388183594
y=62.6073722839355
z=-0.763600826263428
------------------------------------------------
align_time: 65.837ms
exe_time: 65.946ms
trans_prob: 1.69679951667786
iter_num: 2
skipping_publish_num: 54
[0m[ INFO] [1617214367.647600317]: zone: 50N[0m
yaw1.32182270294618
send data=-1
fix.longitude=114.326851420882
fix.latitude=30.5110188954975
Not Converged
delta x: 0.580093383789062 y: -0.0982818603515625 z: -0.0246076583862305
delta yaw: 3.13830757141113 pitch: 3.1406397819519 roll: 3.13797545433044
x= -154.973098754883
y=63.1463088989258
z=-0.767356276512146
------------------------------------------------
align_time: 24.516ms
exe_time: 24.575ms
trans_prob: 1.71101689338684
iter_num: 2
skipping_publish_num: 55
[0m[ INFO] [1617214367.690596628]: zone: 50N[0m
yaw1.31857730846857
send data=-1
fix.longitude=114.326853758243
fix.latitude=30.5110238042017
Not Converged
delta x: 0.584753036499023 y: -0.0641021728515625 z: -0.0557327270507812
delta yaw: 3.13844871520996 pitch: -3.13948631286621 roll: 3.13993668556213
x= -154.766708374023
y=63.6989631652832
z=-0.800981938838959
[0m[ INFO] [1617214367.736938502]: zone: 50N[0m
yaw1.31535202558963
send data=-1
fix.longitude=114.326855770536
fix.latitude=30.511028829955
------------------------------------------------
align_time: 24.388ms
exe_time: 24.441ms
trans_prob: 1.74039041996002
iter_num: 2
skipping_publish_num: 56
Not Converged
delta x: 0.607704162597656 y: -0.1636962890625 z: -0.0346107482910156
delta yaw: 3.13965606689453 pitch: 3.14149880409241 roll: -3.14143538475037
x= -154.455795288086
y=64.2470932006836
z=-0.814907550811768
------------------------------------------------
align_time: 74.707ms
exe_time: 74.828ms
trans_prob: 1.7573025226593
iter_num: 2
skipping_publish_num: 57
[0m[ INFO] [1617214367.933896246]: zone: 50N[0m
yaw1.31341824894264
send data=-1
fix.longitude=114.326858872105
fix.latitude=30.5110338372604
Not Converged
delta x: 0.580032348632812 y: 0.092437744140625 z: -0.0155158042907715
delta yaw: 3.13707304000854 pitch: 3.13939499855042 roll: -3.13264584541321
x= -154.398056030273
y=64.831657409668
z=-0.801660358905792
------------------------------------------------
align_time: 38.409ms
exe_time: 38.531ms
trans_prob: 1.6686384677887
iter_num: 4
skipping_publish_num: 58
[0m[ INFO] [1617214367.974790689]: zone: 50N[0m
yaw1.30897902162299
send data=-1
fix.longitude=114.326859328954
fix.latitude=30.5110391188889
Not Converged
delta x: 0.542392730712891 y: -0.210739135742188 z: -0.00506496429443359
delta yaw: 3.13859605789185 pitch: 3.14093446731567 roll: 3.13576793670654
x= -154.054489135742
y=65.30126953125
z=-0.794021308422089
------------------------------------------------
align_time: 29.869ms
exe_time: 29.901ms
trans_prob: 1.58711123466492
iter_num: 4
skipping_publish_num: 59
[0m[ INFO] [1617214368.018498468]: zone: 50N[0m
yaw1.30601338812048
send data=-1
fix.longitude=114.326862789851
fix.latitude=30.511043425407
Not Converged
delta x: 0.679794311523438 y: -0.354293823242188 z: -0.0366449356079102
delta yaw: 3.14019179344177 pitch: -3.13967132568359 roll: 3.13939070701599
x= -153.535949707031
y=65.866569519043
z=-0.8173708319664
[0m[ INFO] [1617214368.140664252]: zone: 50N[0m
yaw1.30453447199318
send data=-1
fix.longitude=114.326868048729
fix.latitude=30.511048631847
------------------------------------------------
align_time: 37.043ms
exe_time: 37.089ms
trans_prob: 1.64758384227753
iter_num: 4
skipping_publish_num: 60
Not Converged
delta x: 0.752052307128906 y: -0.174240112304688 z: -0.0389528274536133
delta yaw: 3.13867115974426 pitch: 3.14140677452087 roll: 3.13842582702637
x= -153.171203613281
y=66.5479049682617
z=-0.831057608127594
------------------------------------------------
align_time: 32.127ms
exe_time: 32.161ms
trans_prob: 1.70093381404877
iter_num: 3
skipping_publish_num: 61
[0m[ INFO] [1617214368.200347949]: zone: 50N[0m
yaw1.30161968517382
send data=-1
fix.longitude=114.326871677868
fix.latitude=30.511054851375
Not Converged
delta x: 0.586925506591797 y: 0.5914306640625 z: -0.0432572364807129
delta yaw: 3.13066864013672 pitch: 3.14090251922607 roll: 3.13889026641846
x= -153.58625793457
y=67.2716827392578
z=-0.828754484653473
------------------------------------------------
align_time: 112.175ms
exe_time: 112.294ms
trans_prob: 1.62800633907318
iter_num: 9
skipping_publish_num: 62
[0m[ INFO] [1617214368.446812062]: zone: 50N[0m
yaw1.29071742320589
send data=-1
fix.longitude=114.326867178229
fix.latitude=30.5110612868589
Not Converged
delta x: 0.597686767578125 y: -0.0939178466796875 z: -0.0364265441894531
delta yaw: 3.13772034645081 pitch: 3.14005398750305 roll: 3.14141654968262
x= -153.331665039062
y=67.821533203125
z=-0.843724370002747
------------------------------------------------
align_time: 53.074ms
exe_time: 53.115ms
trans_prob: 1.65362977981567
iter_num: 8
skipping_publish_num: 63
[0m[ INFO] [1617214368.500007098]: zone: 50N[0m
yaw1.28689497680636
send data=-1
fix.longitude=114.326869693039
fix.latitude=30.511066297638
Not Converged
delta x: 0.327373504638672 y: 0.234100341796875 z: -0.0371780395507812
delta yaw: 3.13362550735474 pitch: -3.14142179489136 roll: -3.140869140625
x= -153.465484619141
y=68.2025604248047
z=-0.860271990299225
------------------------------------------------
align_time: 41.591ms
exe_time: 41.622ms
trans_prob: 1.61000573635101
iter_num: 5
skipping_publish_num: 64
[0m[ INFO] [1617214368.541899772]: zone: 50N[0m
yaw1.27892026909607
send data=-1
fix.longitude=114.326868205848
fix.latitude=30.5110697036431
Not Converged
delta x: 0.614133834838867 y: 0.131072998046875 z: -0.00987958908081055
delta yaw: 3.13329219818115 pitch: 3.13942313194275 roll: 3.13245105743408
x= -153.414611816406
y=68.8282623291016
z=-0.841592133045197
------------------------------------------------
align_time: 26.482ms
exe_time: 26.52ms
trans_prob: 1.64777600765228
iter_num: 4
skipping_publish_num: 65
[0m[ INFO] [1617214368.568471973]: zone: 50N[0m
yaw1.27069268969702
send data=-1
fix.longitude=114.326868581061
fix.latitude=30.5110753546217
Not Converged
delta x: 0.503292083740234 y: 0.074920654296875 z: -0.0199198722839355
delta yaw: 3.13453435897827 pitch: 3.14026737213135 roll: 3.13836145401001
x= -153.337753295898
y=69.3316497802734
z=-0.841094613075256
[0m[ INFO] [1617214368.706536840]: zone: 50N[0m
yaw1.26366555536898
send data=-1
fix.longitude=114.32686925699
fix.latitude=30.511079908604
------------------------------------------------
align_time: 29.591ms
exe_time: 29.647ms
trans_prob: 1.69016742706299
iter_num: 2
skipping_publish_num: 66
Not Converged
delta x: 0.619562149047852 y: -0.628433227539062 z: -0.0483016967773438
delta yaw: 0.000873425684403628 pitch: -0.00116092746611685 roll: 0.00170987553428859
x= -152.552032470703
y=69.7343215942383
z=-0.881431877613068
------------------------------------------------
align_time: 65.126ms
exe_time: 65.155ms
trans_prob: 1.71893930435181
iter_num: 10
skipping_publish_num: 67
[0m[ INFO] [1617214368.784258015]: zone: 50N[0m
yaw1.26451358599749
send data=-1
fix.longitude=114.326877337562
fix.latitude=30.5110837061944
Not Converged
delta x: 1.38731956481934 y: 0.209030151367188 z: -0.0454859733581543
delta yaw: 3.13378477096558 pitch: 3.13956117630005 roll: 3.13777685165405
x= -152.333862304688
y=71.1209335327148
z=-0.871304452419281
------------------------------------------------
align_time: 76.79ms
exe_time: 76.825ms
trans_prob: 1.78532063961029
iter_num: 13
skipping_publish_num: 68
[0m[ INFO] [1617214368.893761561]: zone: 50N[0m
yaw1.25675190090673
send data=-1
fix.longitude=114.32687926669
fix.latitude=30.511096251801
Not Converged
delta x: 1.28900337219238 y: 0.241470336914062 z: -0.0798764228820801
delta yaw: 3.13275051116943 pitch: 3.14141154289246 roll: 3.13596129417419
x= -152.166275024414
y=72.423713684082
z=-0.902066290378571
------------------------------------------------
align_time: 15.792ms
exe_time: 15.851ms
trans_prob: 1.66305756568909
iter_num: 2
skipping_publish_num: 69
[0m[ INFO] [1617214368.914915382]: zone: 50N[0m
yaw1.24791010820138
send data=-1
fix.longitude=114.326880689901
fix.latitude=30.5111080309355
Not Converged
delta x: 4.05270004272461 y: 0.26751708984375 z: -0.284575939178467
delta yaw: 3.13782000541687 pitch: -3.13629603385925 roll: -3.13719391822815
x= -151.135803222656
y=76.3600234985352
z=-1.04511618614197
------------------------------------------------
align_time: 232.542ms
exe_time: 232.641ms
trans_prob: 3.29928278923035
iter_num: 32
skipping_publish_num: 70
[0m[ INFO] [1617214369.264215641]: zone: 50N[0m
yaw1.24405535856704
send data=-1
fix.longitude=114.326890446493
fix.latitude=30.5111437332126
delta x: 2.82541275024414 y: 0.0236053466796875 z: -0.193742752075195
delta yaw: 3.1216447353363 pitch: -3.13583636283875 roll: 3.14008378982544
x= -150.253158569336
y=79.0498580932617
z=-1.12768709659576
------------------------------------------------
align_time: 221.273ms
exe_time: 221.305ms
trans_prob: 6.25237846374512
iter_num: 23
skipping_publish_num: 0
[0m[ INFO] [1617214369.485826993]: zone: 50N[0m
yaw1.22397915699018
send data=-1
fix.longitude=114.3268989717
fix.latitude=30.5111681681124
delta x: 1.06851387023926 y: -0.070526123046875 z: -0.0610561370849609
delta yaw: 3.12780261039734 pitch: -3.13946104049683 roll: 3.13746905326843
x= -149.824142456055
y=80.0327835083008
z=-1.14247870445251
------------------------------------------------
align_time: 231.648ms
exe_time: 231.682ms
trans_prob: 6.33030557632446
iter_num: 24
skipping_publish_num: 0
[0m[ INFO] [1617214369.717620014]: zone: 50N[0m
yaw1.21013642296344
send data=-1
fix.longitude=114.32690319552
fix.latitude=30.5111771199196
delta x: 1.09609222412109 y: -0.0486297607421875 z: -0.0552754402160645
delta yaw: 3.12846064567566 pitch: -3.13424491882324 roll: 3.13903117179871
x= -149.392120361328
y=81.0428161621094
z=-1.14764261245728
------------------------------------------------
align_time: 38.179ms
exe_time: 38.219ms
trans_prob: 6.1447606086731
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214369.756430519]: zone: 50N[0m
yaw1.19687492709624
send data=-1
fix.longitude=114.326907443945
fix.latitude=30.511186316715
delta x: 0.518207550048828 y: -0.0546112060546875 z: -0.0263199806213379
delta yaw: 3.13513445854187 pitch: -3.13770961761475 roll: 3.13898468017578
x= -149.152084350586
y=81.5060577392578
z=-1.14694225788116
------------------------------------------------
align_time: 85.201ms
exe_time: 85.246ms
trans_prob: 6.17477369308472
iter_num: 7
skipping_publish_num: 0
[0m[ INFO] [1617214369.841394057]: zone: 50N[0m
yaw1.19035480778885
send data=-1
fix.longitude=114.326909828585
fix.latitude=30.5111905436864
delta x: 0.517633438110352 y: -0.037811279296875 z: -0.053565502166748
delta yaw: 3.13398790359497 pitch: 3.1396861076355 roll: -3.14070177078247
x= -148.924499511719
y=81.9749526977539
z=-1.17119538784027
------------------------------------------------
align_time: 39.733ms
exe_time: 39.767ms
trans_prob: 6.23941326141357
iter_num: 3
skipping_publish_num: 0
[0m[ INFO] [1617214369.881397114]: zone: 50N[0m
yaw1.18275987414784
send data=-1
fix.longitude=114.326912082204
fix.latitude=30.5111948189571
delta x: 0.528999328613281 y: -0.0311737060546875 z: -0.0490818023681641
delta yaw: 3.13387966156006 pitch: -3.14042997360229 roll: -3.13981938362122
x= -148.695327758789
y=82.4548263549805
z=-1.19134783744812
------------------------------------------------
align_time: 29.576ms
exe_time: 29.604ms
trans_prob: 6.17208862304688
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214369.936370618]: zone: 50N[0m
yaw1.17502072554856
send data=-1
fix.longitude=114.326914349635
fix.latitude=30.5111991935295
delta x: 0.506618499755859 y: -0.03521728515625 z: -0.0303878784179688
delta yaw: 3.13349103927612 pitch: 3.14055013656616 roll: -3.13861751556396
x= -148.467575073242
y=82.9097442626953
z=-1.19365918636322
------------------------------------------------
align_time: 31.911ms
exe_time: 31.94ms
trans_prob: 6.2680778503418
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214370.027433372]: zone: 50N[0m
yaw1.16692283116908
send data=-1
fix.longitude=114.326916608452
fix.latitude=30.5112033428462
delta x: 0.508455276489258 y: -0.0642547607421875 z: -0.0401191711425781
delta yaw: 3.13400554656982 pitch: 3.1375994682312 roll: 3.13716626167297
x= -148.208755493164
y=83.3537063598633
z=-1.20681607723236
------------------------------------------------
align_time: 31.584ms
exe_time: 31.639ms
trans_prob: 6.17298746109009
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214370.151269135]: zone: 50N[0m
yaw1.15939918307812
send data=-1
fix.longitude=114.326919193402
fix.latitude=30.5112074000447
delta x: 0.519571304321289 y: -0.0047149658203125 z: -0.0343017578125
delta yaw: 3.13312292098999 pitch: 3.13894987106323 roll: 3.13845014572144
x= -147.996658325195
y=83.829216003418
z=-1.21461379528046
------------------------------------------------
align_time: 31.627ms
exe_time: 31.665ms
trans_prob: 6.07128953933716
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214370.229644176]: zone: 50N[0m
yaw1.15095754391693
send data=-1
fix.longitude=114.326921284151
fix.latitude=30.5112117316312
delta x: 0.495559692382812 y: -0.067474365234375 z: -0.0254218578338623
delta yaw: 3.13341426849365 pitch: 3.13861989974976 roll: -3.14034461975098
x= -147.733016967773
y=84.2549667358398
z=-1.21683919429779
------------------------------------------------
align_time: 48.23ms
exe_time: 48.379ms
trans_prob: 6.19274187088013
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214370.356963579]: zone: 50N[0m
yaw1.14280493304412
send data=-1
fix.longitude=114.326923923794
fix.latitude=30.5112156257017
delta x: 0.49008846282959 y: -0.05731201171875 z: -0.0677394866943359
delta yaw: 3.13230729103088 pitch: 3.1391875743866 roll: 3.14115571975708
x= -147.477203369141
y=84.6797943115234
z=-1.26308262348175
------------------------------------------------
align_time: 31.081ms
exe_time: 31.128ms
trans_prob: 6.11275863647461
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214370.403455634]: zone: 50N[0m
yaw1.13354301949267
send data=-1
fix.longitude=114.326926482172
fix.latitude=30.5112195097783
delta x: 0.474484443664551 y: -0.031524658203125 z: -0.0155997276306152
delta yaw: 3.13169693946838 pitch: -3.14153957366943 roll: 3.13855862617493
x= -147.247772216797
y=85.0965957641602
z=-1.25881493091583
------------------------------------------------
align_time: 37.107ms
exe_time: 37.175ms
trans_prob: 6.14447116851807
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214370.528492576]: zone: 50N[0m
yaw1.12363829428274
send data=-1
fix.longitude=114.326928767869
fix.latitude=30.5112233158698
delta x: 0.440146446228027 y: -0.0104827880859375 z: 0.00665664672851562
delta yaw: 3.12988424301147 pitch: -3.13714075088501 roll: 3.1372447013855
x= -147.048217773438
y=85.4882965087891
z=-1.23351299762726
------------------------------------------------
align_time: 38.733ms
exe_time: 38.761ms
trans_prob: 6.17532825469971
iter_num: 3
skipping_publish_num: 0
[0m[ INFO] [1617214370.614053942]: zone: 50N[0m
yaw1.11187157149374
send data=-1
fix.longitude=114.326930748721
fix.latitude=30.5112268893185
delta x: 0.502492904663086 y: -0.0846099853515625 z: -0.0437569618225098
delta yaw: 3.129638671875 pitch: -3.14101052284241 roll: 3.13784050941467
x= -146.74934387207
y=85.9028015136719
z=-1.25418043136597
------------------------------------------------
align_time: 33.5ms
exe_time: 33.538ms
trans_prob: 6.01723527908325
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214370.707810558]: zone: 50N[0m
yaw1.09990046589208
send data=-1
fix.longitude=114.326933757938
fix.latitude=30.5112306895474
delta x: 0.465506553649902 y: -0.0408782958984375 z: -0.0676436424255371
delta yaw: 3.12826943397522 pitch: -3.14005637168884 roll: -3.13634443283081
x= -146.500686645508
y=86.3015899658203
z=-1.29979610443115
------------------------------------------------
align_time: 31.557ms
exe_time: 31.587ms
trans_prob: 6.08416509628296
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214370.764209554]: zone: 50N[0m
yaw1.08655626540402
send data=-1
fix.longitude=114.326936248239
fix.latitude=30.5112343373768
delta x: 0.452169418334961 y: -0.086822509765625 z: -0.0121514797210693
delta yaw: 3.12524080276489 pitch: -3.13703489303589 roll: -3.1351912021637
x= -146.213409423828
y=86.6614837646484
z=-1.29060351848602
------------------------------------------------
align_time: 39.942ms
exe_time: 39.989ms
trans_prob: 5.98899841308594
iter_num: 3
skipping_publish_num: 0
[0m[ INFO] [1617214370.883241816]: zone: 50N[0m
yaw1.07013984427233
send data=-1
fix.longitude=114.326939150203
fix.latitude=30.5112376428595
delta x: 0.475667953491211 y: -0.0821075439453125 z: -0.0215072631835938
delta yaw: 3.12371230125427 pitch: -3.13800668716431 roll: -3.13913631439209
x= -145.913116455078
y=87.0400085449219
z=-1.28805494308472
------------------------------------------------
align_time: 30.342ms
exe_time: 30.378ms
trans_prob: 6.15786123275757
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214370.964214387]: zone: 50N[0m
yaw1.05217435495856
send data=-1
fix.longitude=114.326942183073
fix.latitude=30.5112411190639
delta x: 0.467195272445679 y: -0.0584564208984375 z: -0.0271134376525879
delta yaw: 3.12344837188721 pitch: 3.13920164108276 roll: 3.13531446456909
x= -145.630828857422
y=87.4178085327148
z=-1.28982853889465
------------------------------------------------
align_time: 31.346ms
exe_time: 31.388ms
trans_prob: 5.93096113204956
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214371.062697252]: zone: 50N[0m
yaw1.03405461510474
send data=-1
fix.longitude=114.326945028672
fix.latitude=30.5112445848877
delta x: 0.464216232299805 y: -0.07379150390625 z: -0.0166506767272949
delta yaw: 3.12275004386902 pitch: -3.14140510559082 roll: 3.13424324989319
x= -145.330123901367
y=87.7793884277344
z=-1.28252553939819
------------------------------------------------
align_time: 38.003ms
exe_time: 38.058ms
trans_prob: 6.03428602218628
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214371.145984889]: zone: 50N[0m
yaw1.01518399099226
send data=-1
fix.longitude=114.326948070013
fix.latitude=30.5112479084379
delta x: 0.46289849281311 y: -0.0628662109375 z: -0.0515820980072021
delta yaw: 3.12130641937256 pitch: 3.14143133163452 roll: 3.13897156715393
x= -145.031784057617
y=88.1415328979492
z=-1.30966377258301
[0m[ INFO] [1617214371.272808586]: zone: 50N[0m
yaw0.994870609930035
send data=-1
fix.longitude=114.326951086592
fix.latitude=30.5112512365718
------------------------------------------------
align_time: 36.274ms
exe_time: 36.315ms
trans_prob: 6.00374984741211
iter_num: 2
skipping_publish_num: 0
delta x: 0.444135189056396 y: -0.0988922119140625 z: -0.0368478298187256
delta yaw: 3.12013673782349 pitch: 3.13967180252075 roll: -3.13861966133118
x= -144.706420898438
y=88.4614410400391
z=-1.32339334487915
------------------------------------------------
align_time: 35.422ms
exe_time: 35.461ms
trans_prob: 6.150146484375
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214371.316605172]: zone: 50N[0m
yaw0.973399689085412
send data=-1
fix.longitude=114.326954394928
fix.latitude=30.5112541897592
delta x: 0.485274791717529 y: -0.111495971679688 z: -0.0541849136352539
delta yaw: 3.11839151382446 pitch: -3.14009213447571 roll: -3.13806700706482
x= -144.34049987793
y=88.8021087646484
z=-1.35378968715668
------------------------------------------------
align_time: 35.061ms
exe_time: 35.102ms
trans_prob: 6.04152631759644
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214371.412756578]: zone: 50N[0m
yaw0.950151520888672
send data=-1
fix.longitude=114.32695812038
fix.latitude=30.5112573387403
delta x: 0.453784942626953 y: -0.085540771484375 z: -0.0224342346191406
delta yaw: 3.11812591552734 pitch: -3.14010524749756 roll: 3.14141011238098
x= -144.006927490234
y=89.1222305297852
z=-1.35365617275238
------------------------------------------------
align_time: 32.713ms
exe_time: 32.753ms
trans_prob: 6.02398061752319
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214371.513917162]: zone: 50N[0m
yaw0.926630512275814
send data=-1
fix.longitude=114.326961514127
fix.latitude=30.5112602956072
delta x: 0.446502685546875 y: -0.096038818359375 z: -0.0198819637298584
delta yaw: 3.11795592308044 pitch: -3.14104318618774 roll: 3.14037227630615
x= -143.661956787109
y=89.4221649169922
z=-1.35112547874451
------------------------------------------------
align_time: 37.294ms
exe_time: 37.343ms
trans_prob: 6.19461917877197
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214371.621965493]: zone: 50N[0m
yaw0.902953568606792
send data=-1
fix.longitude=114.326965031522
fix.latitude=30.5112630729395
delta x: 0.441982269287109 y: -0.08319091796875 z: 0.00398492813110352
delta yaw: 3.1166033744812 pitch: 3.1408052444458 roll: 3.1322181224823
x= -143.323379516602
y=89.7170333862305
z=-1.32473528385162
------------------------------------------------
align_time: 31.352ms
exe_time: 31.398ms
trans_prob: 6.06747102737427
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214371.675849544]: zone: 50N[0m
yaw0.8779460393116
send data=-1
fix.longitude=114.326968483607
fix.latitude=30.5112658032411
delta x: 0.465299606323242 y: -0.0796661376953125 z: -0.0411331653594971
delta yaw: 3.11712098121643 pitch: 3.13622498512268 roll: 3.12876510620117
x= -142.964172363281
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z=-1.34201323986053
------------------------------------------------
align_time: 34.41ms
exe_time: 34.468ms
trans_prob: 6.03675413131714
iter_num: 2
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[0m[ INFO] [1617214371.796795532]: zone: 50N[0m
yaw0.853494461365068
send data=-1
fix.longitude=114.326972147091
fix.latitude=30.5112686611895
delta x: 0.457786560058594 y: -0.087646484375 z: -0.071336567401886
delta yaw: 3.11788153648376 pitch: -3.14110016822815 roll: 3.13767123222351
x= -142.595184326172
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z=-1.39148366451263
------------------------------------------------
align_time: 43.667ms
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trans_prob: 6.08587074279785
iter_num: 3
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[0m[ INFO] [1617214371.884866856]: zone: 50N[0m
yaw0.829757998064381
send data=-1
fix.longitude=114.326975917137
fix.latitude=30.5112713482667
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x= -142.220092773438
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------------------------------------------------
align_time: 41.348ms
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[0m[ INFO] [1617214371.980912677]: zone: 50N[0m
yaw0.803948556548682
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x= -141.825042724609
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------------------------------------------------
align_time: 31.791ms
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iter_num: 2
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[0m[ INFO] [1617214372.048252138]: zone: 50N[0m
yaw0.777075000419475
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fix.latitude=30.5112758246698
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x= -141.42024230957
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z=-1.37061035633087
------------------------------------------------
align_time: 28.493ms
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iter_num: 2
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[0m[ INFO] [1617214372.134339630]: zone: 50N[0m
yaw0.750244063339661
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fix.longitude=114.326987970637
fix.latitude=30.5112781214851
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x= -141.024398803711
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z=-1.35856151580811
------------------------------------------------
align_time: 33.986ms
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iter_num: 2
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[0m[ INFO] [1617214372.257299687]: zone: 50N[0m
yaw0.721092614757572
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fix.longitude=114.326992032387
fix.latitude=30.5112803716849
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x= -140.617919921875
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z=-1.41302251815796
------------------------------------------------
align_time: 40.104ms
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[0m[ INFO] [1617214372.344437443]: zone: 50N[0m
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------------------------------------------------
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[0m[ INFO] [1617214394.500886874]: zone: 50N[0m
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------------------------------------------------
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[0m[ INFO] [1617214394.618254349]: zone: 50N[0m
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------------------------------------------------
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[0m[ INFO] [1617214394.702964651]: zone: 50N[0m
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------------------------------------------------
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[0m[ INFO] [1617214394.806227506]: zone: 50N[0m
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------------------------------------------------
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------------------------------------------------
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------------------------------------------------
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[0m[ INFO] [1617214395.051491981]: zone: 50N[0m
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------------------------------------------------
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[0m[ INFO] [1617214395.164930229]: zone: 50N[0m
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------------------------------------------------
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[0m[ INFO] [1617214395.240235568]: zone: 50N[0m
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------------------------------------------------
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[0m[ INFO] [1617214395.321952685]: zone: 50N[0m
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------------------------------------------------
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[0m[ INFO] [1617214395.429176847]: zone: 50N[0m
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------------------------------------------------
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[0m[ INFO] [1617214395.497866685]: zone: 50N[0m
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------------------------------------------------
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[0m[ INFO] [1617214395.614311916]: zone: 50N[0m
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[0m[ INFO] [1617214395.720129814]: zone: 50N[0m
yaw-0.78611485414362
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------------------------------------------------
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[0m[ INFO] [1617214395.807145617]: zone: 50N[0m
yaw-0.813044178646805
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------------------------------------------------
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[0m[ INFO] [1617214395.866153725]: zone: 50N[0m
yaw-0.83884138977895
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------------------------------------------------
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[0m[ INFO] [1617214395.968643570]: zone: 50N[0m
yaw-0.865668366018131
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------------------------------------------------
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[0m[ INFO] [1617214396.064087983]: zone: 50N[0m
yaw-0.891366393529419
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------------------------------------------------
align_time: 15.402ms
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[0m[ INFO] [1617214396.152637867]: zone: 50N[0m
yaw-0.916366502147276
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------------------------------------------------
align_time: 23.401ms
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[0m[ INFO] [1617214396.268016314]: zone: 50N[0m
yaw-0.943203746577642
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fix.longitude=114.328570490611
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------------------------------------------------
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[0m[ INFO] [1617214396.333408654]: zone: 50N[0m
yaw-0.969314188442313
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fix.longitude=114.328572412363
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x= 10.0339736938477
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------------------------------------------------
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[0m[ INFO] [1617214396.461571886]: zone: 50N[0m
yaw-0.995775775661512
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x= 10.1890964508057
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------------------------------------------------
align_time: 25.197ms
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[0m[ INFO] [1617214396.519316030]: zone: 50N[0m
yaw-1.02274196023441
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x= 10.3456439971924
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------------------------------------------------
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[0m[ INFO] [1617214396.613359746]: zone: 50N[0m
yaw-1.0461716380861
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x= 10.4900932312012
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------------------------------------------------
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[0m[ INFO] [1617214396.691601759]: zone: 50N[0m
yaw-1.07523740204904
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------------------------------------------------
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[0m[ INFO] [1617214396.790807647]: zone: 50N[0m
yaw-1.10128314997023
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x= 10.6670541763306
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------------------------------------------------
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[0m[ INFO] [1617214396.930008000]: zone: 50N[0m
yaw-1.12622768304508
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x= 10.7611179351807
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[0m[ INFO] [1617214396.997400623]: zone: 50N[0m
yaw-1.15296121149816
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------------------------------------------------
align_time: 25.011ms
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x= 10.8604679107666
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------------------------------------------------
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[0m[ INFO] [1617214397.064094852]: zone: 50N[0m
yaw-1.18004485416451
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x= 10.9221086502075
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------------------------------------------------
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[0m[ INFO] [1617214397.231516435]: zone: 50N[0m
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x= 10.9974641799927
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------------------------------------------------
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[0m[ INFO] [1617214397.270464439]: zone: 50N[0m
yaw-1.23299448501861
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x= 10.9900636672974
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------------------------------------------------
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[0m[ INFO] [1617214397.330750105]: zone: 50N[0m
yaw-1.25891351886353
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x= 11.0383329391479
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------------------------------------------------
align_time: 35.067ms
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[0m[ INFO] [1617214397.454077523]: zone: 50N[0m
yaw-1.28849691211815
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x= 11.0864944458008
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------------------------------------------------
align_time: 18.323ms
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[0m[ INFO] [1617214397.520008273]: zone: 50N[0m
yaw-1.31575706985421
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x= 11.1035785675049
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------------------------------------------------
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[0m[ INFO] [1617214397.639732712]: zone: 50N[0m
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------------------------------------------------
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[0m[ INFO] [1617214397.698292839]: zone: 50N[0m
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------------------------------------------------
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[0m[ INFO] [1617214397.818587785]: zone: 50N[0m
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------------------------------------------------
[0m[ INFO] [1617214397.902799480]: zone: 50N[0m
yaw-1.41773678146074
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[0m[ INFO] [1617214397.975292882]: zone: 50N[0m
yaw-1.44649539386464
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------------------------------------------------
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[0m[ INFO] [1617214398.093440896]: zone: 50N[0m
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------------------------------------------------
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[0m[ INFO] [1617214398.175996078]: zone: 50N[0m
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[0m[ INFO] [1617214398.304754994]: zone: 50N[0m
yaw-1.52356022761189
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------------------------------------------------
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------------------------------------------------
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[0m[ INFO] [1617214398.346541075]: zone: 50N[0m
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------------------------------------------------
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[0m[ INFO] [1617214398.422939813]: zone: 50N[0m
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------------------------------------------------
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[0m[ INFO] [1617214398.568146221]: zone: 50N[0m
yaw-1.58707694914677
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------------------------------------------------
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[0m[ INFO] [1617214398.643274830]: zone: 50N[0m
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------------------------------------------------
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[0m[ INFO] [1617214398.720540480]: zone: 50N[0m
yaw-1.62430947992067
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------------------------------------------------
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[0m[ INFO] [1617214398.805535988]: zone: 50N[0m
yaw-1.63752142066977
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------------------------------------------------
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[0m[ INFO] [1617214398.909272453]: zone: 50N[0m
yaw-1.65047937484617
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------------------------------------------------
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[0m[ INFO] [1617214398.969726713]: zone: 50N[0m
yaw-1.66129853076618
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------------------------------------------------
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[0m[ INFO] [1617214399.077795076]: zone: 50N[0m
yaw-1.67337295726764
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------------------------------------------------
align_time: 8.055ms
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[0m[ INFO] [1617214399.155734163]: zone: 50N[0m
yaw-1.68269689367559
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fix.longitude=114.328578132146
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x= 10.0522146224976
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------------------------------------------------
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[0m[ INFO] [1617214399.303715087]: zone: 50N[0m
yaw-1.69242758181087
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x= 9.92004871368408
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------------------------------------------------
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[0m[ INFO] [1617214399.346456446]: zone: 50N[0m
yaw-1.70071589786365
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fix.longitude=114.328576196323
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x= 9.79550552368164
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------------------------------------------------
align_time: 15.067ms
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[0m[ INFO] [1617214399.444328400]: zone: 50N[0m
yaw-1.70804150239096
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fix.longitude=114.328575012673
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x= 9.73506641387939
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------------------------------------------------
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[0m[ INFO] [1617214399.520417407]: zone: 50N[0m
yaw-1.7147280823591
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fix.longitude=114.328574495457
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x= 9.6628885269165
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------------------------------------------------
align_time: 15.092ms
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[0m[ INFO] [1617214399.651525035]: zone: 50N[0m
yaw-1.72027784942716
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fix.longitude=114.328573854925
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x= 9.54093456268311
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------------------------------------------------
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[0m[ INFO] [1617214399.703949883]: zone: 50N[0m
yaw-1.72507215854978
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fix.longitude=114.328572698514
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x= 9.48574256896973
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------------------------------------------------
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[0m[ INFO] [1617214399.849083030]: zone: 50N[0m
yaw-1.72902526425754
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fix.longitude=114.328572242242
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x= 9.38112258911133
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------------------------------------------------
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[0m[ INFO] [1617214399.894749577]: zone: 50N[0m
yaw-1.73122759884171
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fix.longitude=114.328571267841
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x= 9.26336669921875
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[0m[ INFO] [1617214399.986223954]: zone: 50N[0m
yaw-1.73002126572773
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fix.longitude=114.328570151572
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------------------------------------------------
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x= 9.14953136444092
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------------------------------------------------
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[0m[ INFO] [1617214400.093562155]: zone: 50N[0m
yaw-1.73051102893749
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fix.longitude=114.328569081605
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------------------------------------------------
align_time: 7.353ms
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[0m[ INFO] [1617214400.174832655]: zone: 50N[0m
yaw-1.73307080308232
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fix.longitude=114.328568944483
fix.latitude=30.5108105888715
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x= 9.06980800628662
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------------------------------------------------
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[0m[ INFO] [1617214400.293250360]: zone: 50N[0m
yaw-1.73446946823152
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x= 8.96031951904297
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------------------------------------------------
align_time: 8.61ms
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[0m[ INFO] [1617214400.351289174]: zone: 50N[0m
yaw-1.73334523972039
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fix.longitude=114.32856746032
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x= 8.89346790313721
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------------------------------------------------
align_time: 9.668ms
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[0m[ INFO] [1617214400.477849305]: zone: 50N[0m
yaw-1.73351111180327
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x= 8.81239604949951
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------------------------------------------------
align_time: 10.26ms
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[0m[ INFO] [1617214400.553468927]: zone: 50N[0m
yaw-1.73199257492795
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x= 8.69834136962891
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------------------------------------------------
align_time: 6.612ms
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[0m[ INFO] [1617214400.626071156]: zone: 50N[0m
yaw-1.73110270539744
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x= 8.53423404693604
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------------------------------------------------
align_time: 13.905ms
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[0m[ INFO] [1617214400.771179700]: zone: 50N[0m
yaw-1.72726935715404
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fix.latitude=30.5107846389867
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delta yaw: 3.14143776893616 pitch: 3.14144349098206 roll: -3.13957643508911
x= 8.55768871307373
y=32.2525329589844
z=-0.632120788097382
------------------------------------------------
align_time: 9.329ms
exe_time: 9.348ms
trans_prob: 6.48090267181396
iter_num: 3
skipping_publish_num: 0
[0m[ INFO] [1617214400.820940436]: zone: 50N[0m
yaw-1.7274237011214
send data=-1
fix.longitude=114.328563855983
fix.latitude=30.510780256764
delta x: 0.482231140136719 y: 0.0132467746734619 z: -0.0416433811187744
delta yaw: 0.000476511748274788 pitch: 0.000107847168692388 roll: 0.00191444507800043
x= 8.49579238891602
y=31.772331237793
z=-0.626741528511047
------------------------------------------------
align_time: 12.592ms
exe_time: 12.627ms
trans_prob: 6.23875570297241
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214400.906992557]: zone: 50N[0m
yaw-1.72694356088683
send data=-1
fix.longitude=114.328563330025
fix.latitude=30.5107759149783
delta x: 0.546031951904297 y: 0.0229175090789795 z: -0.0284390449523926
delta yaw: 0.000787303841207176 pitch: 0.000947319029364735 roll: 0.00288865109905601
x= 8.43389225006104
y=31.229154586792
z=-0.60193920135498
------------------------------------------------
align_time: 16.967ms
exe_time: 17.009ms
trans_prob: 6.47318172454834
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214401.002716979]: zone: 50N[0m
yaw-1.72613898754603
send data=-1
fix.longitude=114.328562819558
fix.latitude=30.5107710055318
delta x: 0.473857879638672 y: -0.0714256763458252 z: -0.0383031368255615
delta yaw: 0.00279359566047788 pitch: 0.000556759594473988 roll: 0.000508150202222168
x= 8.29042530059814
y=30.770357131958
z=-0.595924139022827
------------------------------------------------
align_time: 12.072ms
exe_time: 12.109ms
trans_prob: 6.49518346786499
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214401.110083692]: zone: 50N[0m
yaw-1.7233234654765
send data=-1
fix.longitude=114.328561439111
fix.latitude=30.5107668392673
delta x: 0.442329406738281 y: -0.0315670967102051 z: -0.0319955348968506
delta yaw: 0.00216997950337827 pitch: 0.00166773865930736 roll: -0.00123473035637289
x= 8.19241046905518
y=30.336799621582
z=-0.586200416088104
------------------------------------------------
align_time: 8.957ms
exe_time: 8.978ms
trans_prob: 6.55543088912964
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214401.202600570]: zone: 50N[0m
yaw-1.72111490288686
send data=-1
fix.longitude=114.328560525629
fix.latitude=30.5107629102229
delta x: 0.479396820068359 y: 0.0317356586456299 z: -0.0304398536682129
delta yaw: 0.0007889888365753 pitch: -0.000150807201862335 roll: -0.00051379669457674
x= 8.15237045288086
y=29.8572940826416
z=-0.57112854719162
------------------------------------------------
align_time: 11.345ms
exe_time: 11.371ms
trans_prob: 6.51497554779053
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214401.303343229]: zone: 50N[0m
yaw-1.72032503405256
send data=-1
fix.longitude=114.328560227039
fix.latitude=30.5107585793797
delta x: 0.530632019042969 y: -0.0439143180847168 z: -0.0237936973571777
delta yaw: 0.000549069431144744 pitch: -0.000173062071553431 roll: 5.02047914778814e-05
x= 8.03027057647705
y=29.339111328125
z=-0.545737862586975
------------------------------------------------
align_time: 12.739ms
exe_time: 12.765ms
trans_prob: 6.64650249481201
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214401.378230330]: zone: 50N[0m
yaw-1.71977625307907
send data=-1
fix.longitude=114.328559083685
fix.latitude=30.510753882375
delta x: 0.492643356323242 y: 0.0341649055480957 z: -0.0434010028839111
delta yaw: 0.000846163602545857 pitch: -0.000508129654917866 roll: 0.00120376702398062
x= 7.99131727218628
y=28.8449268341064
z=-0.542139887809753
------------------------------------------------
align_time: 9.194ms
exe_time: 9.221ms
trans_prob: 6.57241582870483
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214401.447607748]: zone: 50N[0m
yaw-1.71893433616707
send data=-1
fix.longitude=114.328558800029
fix.latitude=30.5107494194468
delta x: 0.438055038452148 y: -0.0308670997619629 z: -0.0238919258117676
delta yaw: 3.14007902145386 pitch: 3.13997864723206 roll: -3.14073181152344
x= 7.89647674560547
y=28.4158229827881
z=-0.525052428245544
------------------------------------------------
align_time: 14.041ms
exe_time: 14.066ms
trans_prob: 6.52721166610718
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214401.541414218]: zone: 50N[0m
yaw-1.7204273907149
send data=-1
fix.longitude=114.328557918496
fix.latitude=30.5107455312258
delta x: 0.501283645629883 y: 0.0168454647064209 z: -0.0307116508483887
delta yaw: 3.13885068893433 pitch: 3.14115190505981 roll: -3.14119410514832
x= 7.83883762359619
y=27.916898727417
z=-0.508801102638245
[0m[ INFO] [1617214401.676225710]: zone: 50N[0m
yaw-1.72317322138181
------------------------------------------------
send data=-1
align_time: 13.374ms
exe_time: 13.414ms
trans_prob: 6.5638279914856
iter_num: 2
skipping_publish_num: 0
fix.longitude=114.328557441476
fix.latitude=30.510741021583
delta x: 0.50444221496582 y: -0.0641343593597412 z: -0.0449333190917969
delta yaw: 3.1408417224884 pitch: -3.14081573486328 roll: 3.14113521575928
x= 7.69937801361084
y=27.4258346557617
z=-0.508118033409119
------------------------------------------------
align_time: 14.413ms
exe_time: 14.469ms
trans_prob: 6.46862363815308
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214401.774788698]: zone: 50N[0m
yaw-1.72394168851575
send data=-1
fix.longitude=114.328556110706
fix.latitude=30.5107365653209
delta x: 0.434249877929688 y: 0.0427181720733643 z: -0.0307986736297607
delta yaw: 3.13992166519165 pitch: 3.14017772674561 roll: -3.13994789123535
x= 7.6757493019104
y=26.9891700744629
z=-0.497593253850937
------------------------------------------------
align_time: 9.068ms
exe_time: 9.091ms
trans_prob: 6.53601980209351
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214401.836958905]: zone: 50N[0m
yaw-1.72559429238148
send data=-1
fix.longitude=114.328555972405
fix.latitude=30.5107326241532
delta x: 0.516498565673828 y: -0.0615987777709961 z: -0.0247855186462402
delta yaw: 3.14151048660278 pitch: 3.14101481437683 roll: -3.14038801193237
x= 7.53571319580078
y=26.4880657196045
z=-0.476130247116089
------------------------------------------------
align_time: 8.978ms
exe_time: 9.002ms
trans_prob: 6.56032037734985
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214401.902597800]: zone: 50N[0m
yaw-1.72566521712194
send data=-1
fix.longitude=114.32855463811
fix.latitude=30.5107280772642
delta x: 0.478485107421875 y: -0.00653696060180664 z: -0.0279371738433838
delta yaw: 3.14003419876099 pitch: 3.14040803909302 roll: -3.14058709144592
x= 7.45593595504761
y=26.0156650543213
z=-0.460499346256256
------------------------------------------------
align_time: 7.417ms
exe_time: 7.443ms
trans_prob: 6.57943487167358
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214402.001110279]: zone: 50N[0m
yaw-1.72720520485633
send data=-1
fix.longitude=114.328553924075
fix.latitude=30.5107238019794
delta x: 0.476945877075195 y: -0.00743317604064941 z: -0.028289794921875
delta yaw: 3.14004445075989 pitch: 3.14043068885803 roll: -3.14048767089844
x= 7.37481689453125
y=25.5449867248535
z=-0.445967525243759
------------------------------------------------
align_time: 10.822ms
exe_time: 10.87ms
trans_prob: 6.49516439437866
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214402.091493909]: zone: 50N[0m
yaw-1.72873335592541
send data=-1
fix.longitude=114.328553195646
fix.latitude=30.5107195419334
delta x: 0.493000030517578 y: -0.0591723918914795 z: -0.0480217933654785
delta yaw: 3.14118909835815 pitch: 3.14134216308594 roll: 3.14037704467773
x= 7.23957395553589
y=25.0648422241211
z=-0.451435387134552
------------------------------------------------
align_time: 9.786ms
exe_time: 9.815ms
trans_prob: 6.44321918487549
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214402.196996294]: zone: 50N[0m
yaw-1.72913275630905
send data=-1
fix.longitude=114.328551906082
fix.latitude=30.5107151850014
delta x: 0.480289459228516 y: 0.0334112644195557 z: -0.0391130447387695
delta yaw: 3.13895010948181 pitch: 3.14029026031494 roll: -3.14128351211548
x= 7.19744110107422
y=24.5836658477783
z=-0.447185277938843
------------------------------------------------
align_time: 14.472ms
exe_time: 14.496ms
trans_prob: 6.52695560455322
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214402.278082129]: zone: 50N[0m
yaw-1.73175602912242
send data=-1
fix.longitude=114.328551586117
fix.latitude=30.5107108386502
delta x: 0.458377838134766 y: -0.0231060981750488 z: -0.0267025232315063
delta yaw: 3.13978838920593 pitch: 3.14075922966003 roll: -3.13860440254211
x= 7.10167121887207
y=24.1341991424561
z=-0.434390306472778
------------------------------------------------
align_time: 10.815ms
exe_time: 10.847ms
trans_prob: 6.46619415283203
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214402.385731310]: zone: 50N[0m
yaw-1.73354782498221
send data=-1
fix.longitude=114.328550699931
fix.latitude=30.5107067666787
delta x: 0.547023773193359 y: -0.0449855327606201 z: -0.0230255126953125
delta yaw: 3.14046287536621 pitch: 3.14000487327576 roll: -3.14133310317993
x= 6.96923446655273
y=23.6015472412109
z=-0.411323994398117
------------------------------------------------
align_time: 7.549ms
exe_time: 7.57ms
trans_prob: 6.54556179046631
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214402.451853746]: zone: 50N[0m
yaw-1.73464030540827
send data=-1
fix.longitude=114.328549452532
fix.latitude=30.5107019370408
delta x: 0.429426193237305 y: -0.018751859664917 z: -0.035551905632019
delta yaw: 3.13982748985291 pitch: -3.140620470047 roll: -3.14105415344238
x= 6.88136339187622
y=23.1792907714844
z=-0.410900831222534
------------------------------------------------
align_time: 14.192ms
exe_time: 14.22ms
trans_prob: 6.53786563873291
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214402.564177130]: zone: 50N[0m
yaw-1.73643693576614
send data=-1
fix.longitude=114.328548641868
fix.latitude=30.5106981120307
delta x: 0.507524490356445 y: -0.00954771041870117 z: -0.0361297130584717
delta yaw: 3.13989639282227 pitch: -3.14151358604431 roll: 3.14143347740173
x= 6.78901338577271
y=22.6788921356201
z=-0.403743088245392
------------------------------------------------
align_time: 9.175ms
exe_time: 9.204ms
trans_prob: 6.52857303619385
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214402.647359576]: zone: 50N[0m
yaw-1.73814121251671
send data=-1
fix.longitude=114.328547803846
fix.latitude=30.5106935816857
delta x: 0.459068298339844 y: -0.0431616306304932 z: -0.00793063640594482
delta yaw: 3.14007806777954 pitch: 3.1411817073822 roll: -3.14045000076294
x= 6.67036533355713
y=22.2342777252197
z=-0.373522490262985
------------------------------------------------
align_time: 13.558ms
exe_time: 13.603ms
trans_prob: 6.53493928909302
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214402.753653825]: zone: 50N[0m
yaw-1.73964970924564
send data=-1
fix.longitude=114.328546678286
fix.latitude=30.5106895485677
delta x: 0.518276214599609 y: 0.0472335815429688 z: -0.0705100297927856
delta yaw: 3.13822460174561 pitch: -3.14013266563416 roll: 3.14051198959351
x= 6.63108491897583
y=21.7111568450928
z=-0.398330748081207
------------------------------------------------
align_time: 10.587ms
exe_time: 10.635ms
trans_prob: 6.60131931304932
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214402.827588187]: zone: 50N[0m
yaw-1.74307019118262
send data=-1
fix.longitude=114.328546398361
fix.latitude=30.5106848247353
delta x: 0.461193084716797 y: -0.0253639221191406 z: -0.0222306251525879
delta yaw: 3.13948917388916 pitch: -3.14116477966309 roll: 3.14148116111755
x= 6.52759885787964
y=21.2607841491699
z=-0.381287693977356
------------------------------------------------
align_time: 8.249ms
exe_time: 8.274ms
trans_prob: 6.62908554077148
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214402.966911045]: zone: 50N[0m
yaw-1.74519260290631
send data=-1
fix.longitude=114.328545432068
fix.latitude=30.5106807429493
delta x: 0.478263854980469 y: -0.0243823528289795 z: -0.00552582740783691
delta yaw: 3.14008975028992 pitch: 3.14052772521973 roll: -3.14158773422241
x= 6.42097902297974
y=20.7952270507812
z=-0.345931321382523
------------------------------------------------
align_time: 11.516ms
exe_time: 11.536ms
trans_prob: 6.5785174369812
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214403.010499174]: zone: 50N[0m
yaw-1.74667163177315
send data=-1
fix.longitude=114.328544436895
fix.latitude=30.5106765236211
delta x: 0.516801834106445 y: -0.0507688522338867 z: -0.0554183721542358
delta yaw: 3.14062118530273 pitch: -3.14023685455322 roll: 3.13948798179626
x= 6.28156423568726
y=20.2920913696289
z=-0.358213245868683
------------------------------------------------
align_time: 10.97ms
exe_time: 10.999ms
trans_prob: 6.73185300827026
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214403.152450969]: zone: 50N[0m
yaw-1.7476837345056
send data=-1
fix.longitude=114.32854310957
fix.latitude=30.5106719585541
delta x: 0.487785339355469 y: -0.0212061405181885 z: -0.0315982103347778
delta yaw: 3.13911509513855 pitch: 3.13990116119385 roll: 3.140216588974
x= 6.17548561096191
y=19.8145751953125
z=-0.347760856151581
------------------------------------------------
align_time: 8.987ms
exe_time: 9.008ms
trans_prob: 6.72973203659058
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214403.207894227]: zone: 50N[0m
yaw-1.75012668338671
send data=-1
fix.longitude=114.328542122981
fix.latitude=30.5106676315416
delta x: 0.486339569091797 y: -0.0163028240203857 z: -0.0336400270462036
delta yaw: 3.1388111114502 pitch: 3.13965439796448 roll: 3.14034223556519
x= 6.07330083847046
y=19.3376846313477
z=-0.340180635452271
------------------------------------------------
align_time: 8.525ms
exe_time: 8.552ms
trans_prob: 6.59203290939331
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214403.280880142]: zone: 50N[0m
yaw-1.75286993792051
send data=-1
fix.longitude=114.328541176775
fix.latitude=30.5106633109998
delta x: 0.47587776184082 y: -0.0359411239624023 z: -0.033349871635437
delta yaw: 3.13981747627258 pitch: 3.13967704772949 roll: 3.14008951187134
x= 5.95234107971191
y=18.8748645782471
z=-0.334599286317825
------------------------------------------------
align_time: 11.602ms
exe_time: 11.628ms
trans_prob: 6.52027082443237
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214403.409045341]: zone: 50N[0m
yaw-1.75460578256737
send data=-1
fix.longitude=114.328540031639
fix.latitude=30.5106591132813
delta x: 0.502164840698242 y: 0.00472712516784668 z: -0.0711731910705566
delta yaw: 3.13921570777893 pitch: 3.13979816436768 roll: 3.13740205764771
x= 5.86598110198975
y=18.3759613037109
z=-0.364567816257477
------------------------------------------------
align_time: 9.002ms
exe_time: 9.026ms
trans_prob: 6.40982484817505
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214403.473007232]: zone: 50N[0m
yaw-1.75695042938418
send data=-1
fix.longitude=114.32853925561
fix.latitude=30.5106545976946
delta x: 0.463903427124023 y: 0.0180225372314453 z: -0.0426062345504761
delta yaw: 3.13943910598755 pitch: 3.13861393928528 roll: -3.14101243019104
x= 5.79822683334351
y=17.9147338867188
z=-0.369828671216965
------------------------------------------------
align_time: 12.585ms
exe_time: 12.627ms
trans_prob: 6.49008798599243
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214403.594549281]: zone: 50N[0m
yaw-1.75905677080315
send data=-1
fix.longitude=114.328538663988
fix.latitude=30.5106504256936
delta x: 0.476661682128906 y: -0.0713081359863281 z: -0.017607569694519
delta yaw: 3.14011383056641 pitch: 3.13862442970276 roll: 3.14078855514526
x= 5.63929557800293
y=17.4597263336182
z=-0.352242112159729
------------------------------------------------
align_time: 7.034ms
exe_time: 7.058ms
trans_prob: 6.60737991333008
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214403.661116399]: zone: 50N[0m
yaw-1.7604841650278
send data=-1
fix.longitude=114.328537121614
fix.latitude=30.5106462902892
Not Converged
delta x: 0.475723266601562 y: -0.00949239730834961 z: -5.90682029724121e-05
delta yaw: 3.13909029960632 pitch: 3.13745546340942 roll: 3.13780236244202
x= 5.54051685333252
y=16.9955730438232
z=-0.317500293254852
------------------------------------------------
align_time: 97.759ms
exe_time: 97.812ms
trans_prob: 6.29587125778198
iter_num: 32
skipping_publish_num: 1
[0m[ INFO] [1617214403.875574198]: zone: 50N[0m
yaw-1.7629179588561
send data=-1
fix.longitude=114.328536207727
fix.latitude=30.5106420852892
delta x: 0.490291595458984 y: -0.0109627246856689 z: -0.0685146450996399
delta yaw: 3.13933634757996 pitch: -3.13410258293152 roll: -3.14119410514832
x= 5.43641805648804
y=16.5126914978027
z=-0.352003008127213
------------------------------------------------
align_time: 12.694ms
exe_time: 12.723ms
trans_prob: 6.50725317001343
iter_num: 3
skipping_publish_num: 0
[0m[ INFO] [1617214403.888850400]: zone: 50N[0m
yaw-1.7652883402897
send data=-1
fix.longitude=114.328535243073
fix.latitude=30.5106377103356
delta x: 0.481651306152344 y: -0.0416014194488525 z: 0.00575953722000122
delta yaw: 3.13989043235779 pitch: -3.1389582157135 roll: 3.14122676849365
x= 5.30278491973877
y=16.0499610900879
z=-0.309898912906647
------------------------------------------------
align_time: 7.772ms
exe_time: 7.797ms
trans_prob: 6.63799285888672
iter_num: 2
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[0m[ INFO] [1617214403.921287947]: zone: 50N[0m
yaw-1.76703514127747
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x= 5.20536661148071
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------------------------------------------------
align_time: 12.583ms
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[0m[ INFO] [1617214404.075838092]: zone: 50N[0m
yaw-1.76945432806021
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x= 5.0720362663269
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------------------------------------------------
align_time: 8.331ms
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[0m[ INFO] [1617214404.126844097]: zone: 50N[0m
yaw-1.77018623184645
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x= 5.00534629821777
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------------------------------------------------
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[0m[ INFO] [1617214404.226672286]: zone: 50N[0m
yaw-1.77290271365659
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fix.longitude=114.328531215274
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x= 4.89004898071289
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------------------------------------------------
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[0m[ INFO] [1617214404.328021181]: zone: 50N[0m
yaw-1.77298126231305
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x= 4.7660231590271
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------------------------------------------------
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[0m[ INFO] [1617214404.387113416]: zone: 50N[0m
yaw-1.77399642793803
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x= 4.66419649124146
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------------------------------------------------
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[0m[ INFO] [1617214404.508949114]: zone: 50N[0m
yaw-1.77425462741127
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x= 4.5286660194397
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------------------------------------------------
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[0m[ INFO] [1617214404.566852803]: zone: 50N[0m
yaw-1.77370200754031
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x= 4.42495727539062
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[0m[ INFO] [1617214404.689782484]: zone: 50N[0m
yaw-1.77413979617437
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------------------------------------------------
align_time: 17.282ms
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x= 4.29891443252563
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------------------------------------------------
align_time: 8.153ms
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[0m[ INFO] [1617214404.756527664]: zone: 50N[0m
yaw-1.7735903866677
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x= 4.26325988769531
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------------------------------------------------
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[0m[ INFO] [1617214404.886515092]: zone: 50N[0m
yaw-1.77400926384523
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x= 4.15095663070679
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------------------------------------------------
align_time: 11.338ms
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[0m[ INFO] [1617214404.933205511]: zone: 50N[0m
yaw-1.77392130929106
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fix.longitude=114.328523233267
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x= 4.07114696502686
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------------------------------------------------
align_time: 12.62ms
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[0m[ INFO] [1617214405.025136040]: zone: 50N[0m
yaw-1.77232857949441
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fix.longitude=114.328522507932
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x= 3.9283127784729
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[0m[ INFO] [1617214405.144931390]: zone: 50N[0m
yaw-1.77147205417538
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fix.longitude=114.328521136838
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------------------------------------------------
align_time: 13.679ms
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x= 3.8502025604248
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------------------------------------------------
align_time: 14.688ms
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[0m[ INFO] [1617214405.253667564]: zone: 50N[0m
yaw-1.77257356833802
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fix.longitude=114.328520439226
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x= 3.72734403610229
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------------------------------------------------
align_time: 6.29ms
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[0m[ INFO] [1617214405.297250829]: zone: 50N[0m
yaw-1.77224524786123
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fix.longitude=114.328519274607
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x= 3.63915395736694
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------------------------------------------------
align_time: 8.703ms
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[0m[ INFO] [1617214405.392494507]: zone: 50N[0m
yaw-1.76919390332254
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fix.longitude=114.328518472764
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x= 3.52504920959473
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------------------------------------------------
align_time: 19.767ms
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[0m[ INFO] [1617214405.549976801]: zone: 50N[0m
yaw-1.77141057573012
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fix.longitude=114.328517399257
fix.latitude=30.510562195554
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x= 3.42981886863708
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------------------------------------------------
align_time: 12.235ms
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[0m[ INFO] [1617214405.594470942]: zone: 50N[0m
yaw-1.77030808370408
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fix.longitude=114.328516515846
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x= 3.3383104801178
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------------------------------------------------
align_time: 6.492ms
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[0m[ INFO] [1617214405.682662047]: zone: 50N[0m
yaw-1.76922526022372
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fix.longitude=114.328515672239
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x= 3.24067091941833
y=6.8155345916748
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[0m[ INFO] [1617214405.757830984]: zone: 50N[0m
yaw-1.76916649275877
send data=-1
fix.longitude=114.328514775317
fix.latitude=30.5105498306775
------------------------------------------------
align_time: 8.73ms
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x= 3.1459014415741
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------------------------------------------------
align_time: 11.546ms
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[0m[ INFO] [1617214405.853866170]: zone: 50N[0m
yaw-1.76982132255587
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fix.longitude=114.328513896386
fix.latitude=30.5105458744904
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x= 3.06241464614868
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------------------------------------------------
align_time: 12.16ms
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[0m[ INFO] [1617214405.963555461]: zone: 50N[0m
yaw-1.76906550316038
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fix.longitude=114.328513147757
fix.latitude=30.5105414513835
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delta yaw: 0.000467706704512239 pitch: 9.67606902122498e-05 roll: 0.00187075301073492
x= 2.98093008995056
y=5.40830039978027
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------------------------------------------------
align_time: 7.975ms
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[0m[ INFO] [1617214406.035413353]: zone: 50N[0m
yaw-1.76859450856337
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fix.longitude=114.328512418287
fix.latitude=30.5105370903151
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x= 2.83406352996826
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------------------------------------------------
align_time: 10.558ms
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[0m[ INFO] [1617214406.146187226]: zone: 50N[0m
yaw-1.76704135135023
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fix.longitude=114.328510996007
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x= 2.73147320747375
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z=-0.162230148911476
------------------------------------------------
align_time: 11.717ms
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[0m[ INFO] [1617214406.221931304]: zone: 50N[0m
yaw-1.76598360882642
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fix.longitude=114.328510049452
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x= 2.60837960243225
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------------------------------------------------
align_time: 13.278ms
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[0m[ INFO] [1617214406.343680436]: zone: 50N[0m
yaw-1.76531357545049
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fix.longitude=114.328508873542
fix.latitude=30.5105248115648
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delta yaw: 7.88550914876396e-06 pitch: 0.00049780315021053 roll: 0.00329947355203331
x= 2.5562596321106
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------------------------------------------------
align_time: 7.545ms
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[0m[ INFO] [1617214406.412593764]: zone: 50N[0m
yaw-1.76529666788663
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fix.longitude=114.328508451481
fix.latitude=30.5105203945112
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x= 2.44190621376038
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------------------------------------------------
align_time: 11.428ms
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[0m[ INFO] [1617214406.505269914]: zone: 50N[0m
yaw-1.76467832871882
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fix.longitude=114.328507370674
fix.latitude=30.51051636084
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delta yaw: 3.14147710800171 pitch: 3.14138126373291 roll: -3.14149117469788
x= 2.36528635025024
y=2.61385440826416
z=-0.122954279184341
[0m[ INFO] [1617214406.632417119]: zone: 50N[0m
yaw-1.76479036377223
send data=-1
fix.longitude=114.328506698177
fix.latitude=30.5105117695393
------------------------------------------------
align_time: 13.87ms
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x= 2.19951272010803
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------------------------------------------------
align_time: 9.055ms
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[0m[ INFO] [1617214406.690755329]: zone: 50N[0m
yaw-1.76331926339397
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fix.longitude=114.328505082214
fix.latitude=30.510507718864
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delta yaw: 3.141441822052 pitch: -3.14081859588623 roll: -3.14103698730469
x= 2.15473461151123
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------------------------------------------------
align_time: 17.546ms
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[0m[ INFO] [1617214406.807449296]: zone: 50N[0m
yaw-1.76348641801966
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fix.longitude=114.328504733964
fix.latitude=30.5105033992965
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x= 2.05142831802368
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------------------------------------------------
align_time: 8.336ms
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[0m[ INFO] [1617214406.855778000]: zone: 50N[0m
yaw-1.76252004392007
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fix.longitude=114.328503762676
fix.latitude=30.5104995686327
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x= 1.9083936214447
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[0m[ INFO] [1617214406.974055872]: zone: 50N[0m
yaw-1.76188814353252
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fix.longitude=114.328502396361
fix.latitude=30.5104950505938
------------------------------------------------
align_time: 11.547ms
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x= 1.87758779525757
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------------------------------------------------
align_time: 8.566ms
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[0m[ INFO] [1617214407.043443093]: zone: 50N[0m
yaw-1.76271040424656
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fix.longitude=114.328502184742
fix.latitude=30.5104910567535
delta x: 0.479023575782776 y: -0.0651116371154785 z: -0.0335326865315437
delta yaw: 0.00125587603542954 pitch: 0.00028439614106901 roll: -0.00176660809665918
x= 1.72277617454529
y=-0.131604075431824
z=-0.0900101438164711
[0m[ INFO] [1617214407.171654792]: zone: 50N[0m
yaw-1.7614448162763
send data=-1
fix.longitude=114.32850068629
fix.latitude=30.5104868846028
------------------------------------------------
align_time: 12.079ms
exe_time: 12.106ms
trans_prob: 6.65077781677246
iter_num: 2
skipping_publish_num: 0
delta x: 0.483050763607025 y: 0.0322659015655518 z: -0.0378534942865372
delta yaw: 3.14054107666016 pitch: -3.14074039459229 roll: -3.14074516296387
x= 1.66336345672607
y=-0.613558351993561
z=-0.0885065421462059
------------------------------------------------
align_time: 7.982ms
exe_time: 8.005ms
trans_prob: 6.58740520477295
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214407.249004897]: zone: 50N[0m
yaw-1.76251617662566
send data=-1
fix.longitude=114.328500186623
fix.latitude=30.5104825275496
delta x: 0.424452871084213 y: -0.0392533540725708 z: -0.0275540053844452
delta yaw: 3.14069676399231 pitch: 3.14158320426941 roll: 3.14100480079651
x= 1.54433512687683
y=-1.02374875545502
z=-0.0824824422597885
------------------------------------------------
align_time: 11.553ms
exe_time: 11.608ms
trans_prob: 6.45891666412354
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214407.336798713]: zone: 50N[0m
yaw-1.76341482953815
send data=-1
fix.longitude=114.328499048617
fix.latitude=30.5104788046503
delta x: 0.510002374649048 y: 0.0178430080413818 z: -0.0255471467971802
delta yaw: 3.14113688468933 pitch: 3.14116907119751 roll: -3.14105200767517
x= 1.46463978290558
y=-1.52819311618805
z=-0.0664200186729431
------------------------------------------------
align_time: 7.494ms
exe_time: 7.516ms
trans_prob: 6.53745365142822
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214407.406541859]: zone: 50N[0m
yaw-1.76386376067159
send data=-1
fix.longitude=114.328498343341
fix.latitude=30.510474240539
delta x: 0.474111318588257 y: -0.0350875854492188 z: -0.0330483168363571
delta yaw: 0.00062073499429971 pitch: -0.00117417459841818 roll: 0.00154999503865838
x= 1.33967649936676
y=-1.98805129528046
z=-0.0619977079331875
------------------------------------------------
align_time: 11.395ms
exe_time: 11.458ms
trans_prob: 6.63936185836792
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214407.515848916]: zone: 50N[0m
yaw-1.76326479852858
send data=-1
fix.longitude=114.328497155798
fix.latitude=30.5104700686639
delta x: 0.464993238449097 y: -0.036381721496582 z: -0.0402770787477493
delta yaw: 0.000649445923045278 pitch: -0.00149936287198216 roll: 0.00747957173734903
x= 1.21554887294769
y=-2.43943548202515
z=-0.0650370419025421
------------------------------------------------
align_time: 12.381ms
exe_time: 12.426ms
trans_prob: 6.44507312774658
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214407.596944593]: zone: 50N[0m
yaw-1.76264625091391
send data=-1
fix.longitude=114.328495974864
fix.latitude=30.5104659733523
delta x: 0.440655708312988 y: -0.0125688314437866 z: -0.0175502598285675
delta yaw: 3.14053320884705 pitch: 3.14081430435181 roll: 3.13492441177368
x= 1.11970436573029
y=-2.86967635154724
z=-0.0463181510567665
------------------------------------------------
align_time: 11.667ms
exe_time: 11.694ms
trans_prob: 6.65083408355713
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214407.683679122]: zone: 50N[0m
yaw-1.76368619669581
send data=-1
fix.longitude=114.328495083164
fix.latitude=30.5104620746674
delta x: 0.48357892036438 y: 0.00813663005828857 z: -0.0382457077503204
delta yaw: 3.14147233963013 pitch: 3.14124226570129 roll: 3.14005517959595
x= 1.03555333614349
y=-3.34747648239136
z=-0.044501144438982
------------------------------------------------
align_time: 15.003ms
exe_time: 15.047ms
trans_prob: 6.65379476547241
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214407.800371842]: zone: 50N[0m
yaw-1.76379893802652
send data=-1
fix.longitude=114.32849432493
fix.latitude=30.5104577497774
delta x: 0.402820587158203 y: -0.0365675687789917 z: -0.0402906239032745
delta yaw: 7.32881089788862e-05 pitch: 0.000481612980365753 roll: 0.000259408610872924
x= 0.922860264778137
y=-3.73794031143188
z=-0.0524572245776653
------------------------------------------------
align_time: 15.674ms
exe_time: 15.704ms
trans_prob: 6.53240013122559
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214407.912936078]: zone: 50N[0m
yaw-1.7637152930576
send data=-1
fix.longitude=114.328493248014
fix.latitude=30.5104542060475
delta x: 0.527452945709229 y: 0.0308049917221069 z: -0.0386774837970734
delta yaw: 3.14045214653015 pitch: 3.14125823974609 roll: -3.14060521125793
x= 0.852515935897827
y=-4.26299142837524
z=-0.0474332235753536
[0m[ INFO] [1617214407.981551916]: zone: 50N[0m
yaw-1.76485224776293
send data=-1
fix.longitude=114.328492645171
fix.latitude=30.5104494581823
------------------------------------------------
align_time: 9.032ms
exe_time: 9.079ms
trans_prob: 6.686598777771
iter_num: 2
skipping_publish_num: 0
delta x: 0.428393840789795 y: -0.0371888875961304 z: -0.0395938754081726
delta yaw: 3.14156532287598 pitch: 3.14157342910767 roll: -3.14058828353882
x= 0.733936488628387
y=-4.67817783355713
z=-0.0530246682465076
------------------------------------------------
align_time: 9.126ms
exe_time: 9.154ms
trans_prob: 6.67922735214233
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214408.051117560]: zone: 50N[0m
yaw-1.76487940568692
send data=-1
fix.longitude=114.328491513071
fix.latitude=30.5104456903446
delta x: 0.511060237884521 y: -0.00116932392120361 z: -0.0372836589813232
delta yaw: 3.14124298095703 pitch: -3.14117193222046 roll: -3.14093089103699
x= 0.634823262691498
y=-5.18090343475342
z=-0.0488220900297165
------------------------------------------------
align_time: 11.813ms
exe_time: 11.863ms
trans_prob: 6.63203716278076
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214408.176682755]: zone: 50N[0m
yaw-1.76524016814472
send data=-1
fix.longitude=114.328490605218
fix.latitude=30.5104411375797
delta x: 0.419034957885742 y: -0.0124539136886597 z: -0.0235990285873413
delta yaw: 3.14100670814514 pitch: -3.14121031761169 roll: -3.14140748977661
x= 0.542094051837921
y=-5.59029054641724
z=-0.0385343246161938
------------------------------------------------
align_time: 8.957ms
exe_time: 9ms
trans_prob: 6.70190715789795
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214408.238801356]: zone: 50N[0m
yaw-1.7658373736166
send data=-1
fix.longitude=114.328489740807
fix.latitude=30.5104374275372
delta x: 0.500967979431152 y: -0.0441336631774902 z: -0.031060516834259
delta yaw: 0.0018056349363178 pitch: -0.00010500849748496 roll: 0.000933814968448132
x= 0.40227884054184
y=-6.07428884506226
z=-0.029602138325572
------------------------------------------------
align_time: 11.743ms
exe_time: 11.774ms
trans_prob: 6.75092601776123
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214408.370860401]: zone: 50N[0m
yaw-1.76402883753632
send data=-1
fix.longitude=114.328488404599
fix.latitude=30.51043303489
delta x: 0.412113666534424 y: 0.0401291847229004 z: -0.0222555994987488
delta yaw: 3.14042735099792 pitch: 3.14056658744812 roll: -3.14114689826965
x= 0.362991720438004
y=-6.48689317703247
z=-0.0170170944184065
------------------------------------------------
align_time: 11.163ms
exe_time: 11.188ms
trans_prob: 6.84598731994629
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214408.417242021]: zone: 50N[0m
yaw-1.76517165055445
send data=-1
fix.longitude=114.328488097351
fix.latitude=30.5104293072592
delta x: 0.4261155128479 y: -0.0928206443786621 z: -0.0310595035552979
delta yaw: 0.00126573978923261 pitch: -0.000448748498456553 roll: -0.000728458689991385
x= 0.19017505645752
y=-6.88850021362305
z=-0.0158966835588217
------------------------------------------------
align_time: 13.511ms
exe_time: 13.609ms
trans_prob: 6.58746099472046
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214408.532475114]: zone: 50N[0m
yaw-1.76391364872808
send data=-1
fix.longitude=114.328486397255
fix.latitude=30.5104256502449
delta x: 0.518853664398193 y: -0.0054774284362793 z: -0.047204315662384
delta yaw: 3.14154267311096 pitch: -3.14056968688965 roll: 3.14150714874268
x= 0.0859684273600578
y=-7.39897441864014
z=-0.0208703503012657
------------------------------------------------
align_time: 26.143ms
exe_time: 26.255ms
trans_prob: 6.63863945007324
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214408.676367416]: zone: 50N[0m
yaw-1.76398934304205
send data=-1
fix.longitude=114.328485438287
fix.latitude=30.510421026546
delta x: 0.4186110496521 y: 0.00570058822631836 z: -0.0317860245704651
delta yaw: 3.14130425453186 pitch: 3.1412832736969 roll: 3.14123773574829
x= 0.0117378793656826
y=-7.81220483779907
z=-0.0179280024021864
------------------------------------------------
align_time: 7.599ms
exe_time: 7.618ms
trans_prob: 6.71911954879761
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214408.714552489]: zone: 50N[0m
yaw-1.76427097296152
send data=-1
fix.longitude=114.328484767409
fix.latitude=30.5104172858098
delta x: 0.479986667633057 y: -0.00415503978729248 z: -0.0277173519134521
delta yaw: 3.14042854309082 pitch: 3.14072442054749 roll: -3.14016532897949
x= -0.0840866342186928
y=-8.28321933746338
z=-0.00627306383103132
------------------------------------------------
align_time: 6.275ms
exe_time: 6.311ms
trans_prob: 6.69726371765137
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214408.779489071]: zone: 50N[0m
yaw-1.76541719065661
send data=-1
fix.longitude=114.328483885973
fix.latitude=30.5104130195931
delta x: 0.414673805236816 y: -0.00699365139007568 z: -0.0305410027503967
delta yaw: 3.14110851287842 pitch: 3.14124441146851 roll: -3.14152526855469
x= -0.170579597353935
y=-8.68997001647949
z=-0.00324043887667358
------------------------------------------------
align_time: 13.089ms
exe_time: 13.13ms
trans_prob: 6.69924545288086
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214408.921888046]: zone: 50N[0m
yaw-1.76589387705451
send data=-1
fix.longitude=114.328483085836
fix.latitude=30.5104093346472
delta x: 0.498029708862305 y: 0.00265777111053467 z: -0.0351898670196533
delta yaw: 3.14102625846863 pitch: -3.14108657836914 roll: -3.14156556129456
x= -0.263854473829269
y=-9.18042945861816
z=0.00199375883676112
------------------------------------------------
align_time: 13.856ms
exe_time: 13.888ms
trans_prob: 6.84078216552734
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214408.992844791]: zone: 50N[0m
yaw-1.76647525379911
send data=-1
fix.longitude=114.328482235739
fix.latitude=30.510404893697
delta x: 0.400010108947754 y: -0.00349915027618408 z: -0.0308825373649597
delta yaw: 3.13978743553162 pitch: -3.14124488830566 roll: 3.14106631278992
x= -0.34449890255928
y=-9.57345294952393
z=0.0036387222353369
------------------------------------------------
align_time: 9.956ms
exe_time: 10.007ms
trans_prob: 6.69110727310181
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214409.074405157]: zone: 50N[0m
yaw-1.76829522477097
send data=-1
fix.longitude=114.328481493104
fix.latitude=30.5104013337377
delta x: 0.478857040405273 y: -0.0205750465393066 z: -0.0355441570281982
delta yaw: 3.1404983997345 pitch: -3.14082479476929 roll: 3.14120101928711
x= -0.457991689443588
y=-10.0404653549194
z=0.00675218785181642
------------------------------------------------
align_time: 18.931ms
exe_time: 19.013ms
trans_prob: 6.61851167678833
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214409.214267936]: zone: 50N[0m
yaw-1.76941298275881
send data=-1
fix.longitude=114.328480426742
fix.latitude=30.5103970998232
delta x: 0.418669700622559 y: -0.0177887678146362 z: -0.0224086046218872
delta yaw: 3.14042901992798 pitch: 3.14127349853516 roll: 3.14143896102905
x= -0.557564318180084
y=-10.447958946228
z=0.0184308104217052
------------------------------------------------
align_time: 8.517ms
exe_time: 8.544ms
trans_prob: 6.69577932357788
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214409.263644471]: zone: 50N[0m
yaw-1.77057202123983
send data=-1
fix.longitude=114.32847949062
fix.latitude=30.5103934053876
delta x: 0.498711585998535 y: -0.0334049463272095 z: -0.0134141445159912
delta yaw: 3.14075684547424 pitch: 3.14093494415283 roll: -3.13947439193726
x= -0.688827395439148
y=-10.9296922683716
z=0.0450887009501457
------------------------------------------------
align_time: 18.135ms
exe_time: 18.207ms
trans_prob: 6.84083461761475
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214409.377197203]: zone: 50N[0m
yaw-1.77139358093892
send data=-1
fix.longitude=114.328478242888
fix.latitude=30.5103890349832
Not Converged
delta x: 0.368468284606934 y: 0.051142692565918 z: -0.0298818349838257
delta yaw: 3.13964247703552 pitch: -3.14097595214844 roll: -3.13965535163879
x= -0.711556732654572
y=-11.3021955490112
z=0.0466740243136883
------------------------------------------------
align_time: 98.893ms
exe_time: 98.914ms
trans_prob: 6.203537940979
iter_num: 32
skipping_publish_num: 1
[0m[ INFO] [1617214409.522160880]: zone: 50N[0m
yaw-1.77336686114115
send data=-1
fix.longitude=114.328478098129
fix.latitude=30.5103856723615
delta x: 0.513802528381348 y: -0.0381134748458862 z: -0.068307638168335
delta yaw: 6.03857843088917e-05 pitch: 6.55576513963751e-05 roll: -0.000952053524088115
x= -0.851051032543182
y=-11.8021116256714
z=0.0195432621985674
------------------------------------------------
align_time: 20.482ms
exe_time: 20.505ms
trans_prob: 6.68461036682129
iter_num: 3
skipping_publish_num: 0
[0m[ INFO] [1617214409.562487664]: zone: 50N[0m
yaw-1.77330444546902
send data=-1
fix.longitude=114.328476769189
fix.latitude=30.5103811362989
delta x: 0.427891731262207 y: 0.0017707347869873 z: -0.0458163022994995
delta yaw: 3.14133787155151 pitch: 3.14031028747559 roll: 3.13984370231628
x= -0.934549629688263
y=-12.2241401672363
z=0.00893990602344275
------------------------------------------------
align_time: 13.471ms
exe_time: 13.498ms
trans_prob: 6.61578130722046
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214409.638535517]: zone: 50N[0m
yaw-1.77352287864421
send data=-1
fix.longitude=114.328476003993
fix.latitude=30.5103773142767
delta x: 0.429324150085449 y: -0.0611367225646973 z: -0.0328470468521118
delta yaw: 3.14143133163452 pitch: 3.1410870552063 roll: -3.14101099967957
x= -1.08026039600372
y=-12.633900642395
z=0.00911788549274206
------------------------------------------------
align_time: 23.593ms
exe_time: 23.633ms
trans_prob: 6.61237716674805
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214409.759103169]: zone: 50N[0m
yaw-1.77367114801853
send data=-1
fix.longitude=114.328474588101
fix.latitude=30.510373589555
delta x: 0.440216064453125 y: 0.0455098152160645 z: -0.0476040840148926
delta yaw: 3.14089179039001 pitch: 3.14065265655518 roll: -3.13655924797058
x= -1.12357139587402
y=-13.0767669677734
z=-0.00185298989526927
------------------------------------------------
align_time: 10.992ms
exe_time: 11.016ms
trans_prob: 6.44636344909668
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214409.802467846]: zone: 50N[0m
yaw-1.77434799684456
send data=-1
fix.longitude=114.328474246426
fix.latitude=30.5103695882813
delta x: 0.415836334228516 y: -0.0049896240234375 z: -0.00123727321624756
delta yaw: 0.000324846187140793 pitch: 0.00282270833849907 roll: 0.00354478927329183
x= -1.21223640441895
y=-13.4818534851074
z=0.0296123698353767
------------------------------------------------
align_time: 41.689ms
exe_time: 41.776ms
trans_prob: 6.50756406784058
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214409.972319883]: zone: 50N[0m
yaw-1.77392966684108
send data=-1
fix.longitude=114.328473423266
fix.latitude=30.5103659178724
delta x: 0.482539176940918 y: -0.0250211954116821 z: -0.0336320400238037
delta yaw: 0.00055842543952167 pitch: -0.00523357978090644 roll: -0.00619296450167894
x= -1.33312809467316
y=-13.9508752822876
z=0.0319757461547852
------------------------------------------------
align_time: 22.975ms
exe_time: 23.018ms
trans_prob: 6.74474000930786
iter_num: 3
skipping_publish_num: 0
[0m[ INFO] [1617214410.025157418]: zone: 50N[0m
yaw-1.77356012321613
send data=-1
fix.longitude=114.328472280373
fix.latitude=30.5103616642652
delta x: 0.393168449401855 y: -0.01183021068573 z: -0.0209475755691528
delta yaw: 0.00156251236330718 pitch: -0.00147915666457266 roll: 0.00157578766811639
x= -1.42335641384125
y=-14.3341550827026
z=0.0427787788212299
------------------------------------------------
align_time: 40.195ms
exe_time: 40.259ms
trans_prob: 6.68162393569946
iter_num: 4
skipping_publish_num: 0
[0m[ INFO] [1617214410.150433128]: zone: 50N[0m
yaw-1.7720376455711
send data=-1
fix.longitude=114.328471435561
fix.latitude=30.5103581900895
delta x: 0.456713676452637 y: 0.0157890319824219 z: -0.0336189270019531
delta yaw: 3.14125394821167 pitch: -3.14058923721313 roll: 3.13864302635193
x= -1.49838125705719
y=-14.7861652374268
z=0.0476838015019894
------------------------------------------------
align_time: 15.483ms
exe_time: 15.511ms
trans_prob: 6.7249608039856
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214410.190505262]: zone: 50N[0m
yaw-1.77240906883992
send data=-1
fix.longitude=114.328470765978
fix.latitude=30.5103540996207
Not Converged
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------------------------------------------------
align_time: 45.763ms
exe_time: 45.834ms
trans_prob: 6.43011379241943
iter_num: 2
skipping_publish_num: 0
[0m[ INFO] [1617214422.884662980]: zone: 50N[0m
yaw-1.71253274794286
send data=-1
fix.longitude=114.328375106461
fix.latitude=30.5100117334796
delta x: -0.0133705139160156 y: 0.00941228866577148 z: 0.00108218193054199
delta yaw: 0.00175015651620924 pitch: -9.62242484092712e-05 roll: 0.00119731132872403
x= -11.5699214935303
y=-52.516658782959
z=0.480489552021027
------------------------------------------------
align_time: 18.559ms
exe_time: 18.657ms
trans_prob: 6.5223650932312
iter_num: 3
skipping_publish_num: 0
[0m[ INFO] [1617214422.936112568]: zone: 50N[0m
yaw-1.71077982319579
send data=-1
fix.longitude=114.328375219906
fix.latitude=30.5100118438734
