diff --git a/bag/generate_trajectory_csv2.bash b/bag/generate_trajectory_csv2.bash
index 89a619f276e08d8b2ff65e2d15eb3dfb91efc12b..8679bcbe2b646b013d85ba1563b013927dab4322 100644
--- a/bag/generate_trajectory_csv2.bash
+++ b/bag/generate_trajectory_csv2.bash
@@ -12,8 +12,7 @@ fi
 #   Starting with G ==> groundtruth, we extract the trajectory
 #   Starting with E ==> experiment, we extract the poses
 #   Starting with T ==> experiment in 3D, we extract the poses
-timespanarray=("0.1" "0.5" "1.0" "2.0" "5.0" "10.0") 
-timespanarray=("0.1")
+timespanarray=("0.1" "0.2" "0.3" "0.5" "0.7" "1.0" "2.0" "5.0" "10.0") 
 for time_span in "${timespanarray[@]}"
 do
   for yamlfile in $(find ../yaml/trajectory_analysys -maxdepth 1 -type f -printf "%f\n")
@@ -22,7 +21,7 @@ do
     yamlname=${yamlfile%.*}
     yamlname=$yamlname\-${time_span/./_}
     sed -i "s/.*min_time.*/  min_time: $time_span/" ../yaml/trajectory_analysys/parameters/test_laser_processor.yaml 
-    sed -i "s/.*profiling_file.*/  profiling_file: \"~/profiling/wolf_demo_profiling_$yamlname\"/" ../yaml/trajectory_analysys/$yamlfile 
+    sed -i "s/.*profiling_file.*/    profiling_file: \"~\/profiling\/wolf_demo_profiling_$yamlname.txt\"/" ../yaml/trajectory_analysys/$yamlfile 
 
     rm recordings/trajectory_recording$yamlname.bag
     roslaunch wolf_demo_imu2d imu2d_analysys.launch bag:=$BAG\_filtered_notf test:=$yamlfile speed:=0.05 suffix:=$yamlname rviz:=false
diff --git a/yaml/trajectory_analysys/E.yaml b/yaml/trajectory_analysys/E.yaml
index 775f58a4241b38d2f531d2fa3d87addea05e1b31..daf073c3126a116b1a4ed0dd3b6b901db5259361 100644
--- a/yaml/trajectory_analysys/E.yaml
+++ b/yaml/trajectory_analysys/E.yaml
@@ -1,7 +1,7 @@
 config:
   debug:
     profiling: true
-    profiling_file: "~/profiling/wolf_demo_profiling_E.txt"
+    profiling_file: "~/profiling/wolf_demo_profiling_E-10_0.txt"
     print_problem: false
     print_period: 2
     print_depth: 4
diff --git a/yaml/trajectory_analysys/G.yaml b/yaml/trajectory_analysys/G.yaml
index f537a1c2c14a5b817e05dc5ecd6ea17a8998f93a..8172adfee6bb2365215957a2b575622b2aa95e9e 100644
--- a/yaml/trajectory_analysys/G.yaml
+++ b/yaml/trajectory_analysys/G.yaml
@@ -1,7 +1,7 @@
 config:
   debug:
     profiling: true
-    profiling_file: "~/profiling/wolf_demo_profiling_G-1_0.txt"
+    profiling_file: "~/profiling/wolf_demo_profiling_G-10_0.txt"
     print_problem: false
     print_period: 2
     print_depth: 4
diff --git a/yaml/trajectory_analysys/T.yaml b/yaml/trajectory_analysys/T.yaml
index 073a77d22841033088652762ad6847bda72e3bf2..b208afa0734bdd125c9136c135e7b8046085d4f2 100644
--- a/yaml/trajectory_analysys/T.yaml
+++ b/yaml/trajectory_analysys/T.yaml
@@ -1,7 +1,7 @@
 config:
   debug:
     profiling: true
-    profiling_file: "~/profiling/wolf_demo_profiling_T.txt"
+    profiling_file: "~/profiling/wolf_demo_profiling_T-10_0.txt"
     print_problem: false
     print_period: 2
     print_depth: 4
diff --git a/yaml/trajectory_analysys/parameters/test_laser_processor.yaml b/yaml/trajectory_analysys/parameters/test_laser_processor.yaml
index 42292ecc7ea753cfe95eb7436219b86eba173013..74089f1f5abddc70659d00ea0bf3607ad7bb6a77 100644
--- a/yaml/trajectory_analysys/parameters/test_laser_processor.yaml
+++ b/yaml/trajectory_analysys/parameters/test_laser_processor.yaml
@@ -3,7 +3,7 @@ keyframe_vote:
   min_features_for_keyframe: 10
   min_dist: 999
   min_angle: 999
-  min_time: 10
+  min_time: 10.0
   min_error: 999
   max_points: 0
 max_new_features: 15