x,y,headinng,sonar_ang,read,expected
60.0,60.0,0.0,90.0,60.0,60.0
60.0,60.0,0.0,89.0,60.0,60.00914001464844
60.0,60.0,0.0,88.0,60.0,60.03657150268555
60.0,60.0,0.0,87.0,60.0,60.082340240478516
60.0,60.0,0.0,86.0,60.0,60.146514892578125
60.0,60.0,0.0,85.0,60.0,60.229190826416016
60.0,60.0,0.0,84.0,60.0,60.33049774169922
60.0,60.0,0.0,83.0,60.0,60.45058822631836
60.0,60.0,0.0,82.0,60.0,60.58965301513672
60.0,60.0,0.0,81.0,60.0,60.74790573120117
60.0,60.0,0.0,80.0,60.0,60.925594329833984
60.0,60.0,0.0,79.0,61.0,61.12300109863281
60.0,60.0,0.0,78.0,61.0,61.34043502807617
60.0,60.0,0.0,77.0,61.0,61.5782470703125
60.0,60.0,0.0,76.0,61.0,61.83681869506836
60.0,60.0,0.0,75.0,62.0,62.116573333740234
60.0,60.0,0.0,74.0,62.0,62.417964935302734
60.0,60.0,0.0,73.0,62.0,62.74150466918945
60.0,60.0,0.0,72.0,63.0,63.08773422241211
60.0,60.0,0.0,71.0,63.0,63.45724105834961
60.0,60.0,0.0,70.0,63.0,63.85066604614258
60.0,60.0,0.0,69.0,64.0,64.2686996459961
60.0,60.0,0.0,68.0,64.0,64.71208190917969
60.0,60.0,0.0,67.0,65.0,65.18162536621094
60.0,60.0,0.0,66.0,65.0,65.67817687988281
60.0,60.0,0.0,65.0,66.0,66.20267486572266
60.0,60.0,0.0,64.0,66.0,66.75611877441406
60.0,60.0,0.0,63.0,67.0,67.3395767211914
60.0,60.0,0.0,62.0,67.0,67.95420837402344
60.0,60.0,0.0,61.0,68.0,68.60124206542969
60.0,60.0,0.0,60.0,69.0,69.28203582763672
60.0,60.0,0.0,59.0,69.0,69.99800872802734
60.0,60.0,0.0,58.0,70.0,70.75070190429688
60.0,60.0,0.0,57.0,71.0,71.54180145263672
60.0,60.0,0.0,56.0,72.0,72.37307739257812
60.0,60.0,0.0,55.0,73.0,73.24647521972656
60.0,60.0,0.0,54.0,74.0,74.16407775878906
60.0,60.0,0.0,53.0,75.0,75.12814331054688
60.0,60.0,0.0,52.0,76.0,76.1410903930664
60.0,60.0,0.0,51.0,77.0,77.20557403564453
60.0,60.0,0.0,50.0,78.0,78.3244400024414
60.0,60.0,0.0,49.0,79.0,79.50077819824219
60.0,60.0,0.0,48.0,80.0,80.73796844482422
60.0,60.0,0.0,47.0,82.0,82.0396499633789
60.0,60.0,0.0,46.0,83.0,83.40982055664062
60.0,60.0,0.0,45.0,84.0,84.85281372070312
60.0,60.0,0.0,44.0,83.0,83.40982055664062
60.0,60.0,0.0,43.0,82.0,82.0396499633789
60.0,60.0,0.0,42.0,80.0,80.73796844482422
60.0,60.0,0.0,41.0,79.0,79.50077819824219
60.0,60.0,0.0,40.0,78.0,78.3244400024414
60.0,60.0,0.0,39.0,77.0,77.20557403564453
60.0,60.0,0.0,38.0,76.0,76.1410903930664
60.0,60.0,0.0,37.0,75.0,75.12814331054688
60.0,60.0,0.0,36.0,74.0,74.16407775878906
60.0,60.0,0.0,35.0,73.0,73.24647521972656
60.0,60.0,0.0,34.0,72.0,72.37307739257812
60.0,60.0,0.0,33.0,71.0,71.54180145263672
60.0,60.0,0.0,32.0,70.0,70.75070190429688
60.0,60.0,0.0,31.0,69.0,69.99800872802734
60.0,60.0,0.0,30.0,69.0,69.28203582763672
60.0,60.0,0.0,29.0,68.0,68.60124206542969
60.0,60.0,0.0,28.0,67.0,67.95420837402344
60.0,60.0,0.0,27.0,67.0,67.3395767211914
60.0,60.0,0.0,26.0,66.0,66.75611877441406
60.0,60.0,0.0,25.0,66.0,66.20267486572266
60.0,60.0,0.0,24.0,65.0,65.67817687988281
60.0,60.0,0.0,23.0,65.0,65.18162536621094
60.0,60.0,0.0,22.0,64.0,64.71208190917969
60.0,60.0,0.0,21.0,64.0,64.2686996459961
60.0,60.0,0.0,20.0,63.0,63.85066604614258
60.0,60.0,0.0,19.0,63.0,63.45724105834961
60.0,60.0,0.0,18.0,63.0,63.08773422241211
60.0,60.0,0.0,17.0,62.0,62.74150466918945
60.0,60.0,0.0,16.0,62.0,62.417964935302734
60.0,60.0,0.0,15.0,62.0,62.116573333740234
60.0,60.0,0.0,14.0,61.0,61.83681869506836
60.0,60.0,0.0,13.0,61.0,61.5782470703125
60.0,60.0,0.0,12.0,61.0,61.34043502807617
60.0,60.0,0.0,11.0,61.0,61.12300109863281
60.0,60.0,0.0,10.0,60.0,60.925594329833984
60.0,60.0,0.0,9.0,60.0,60.74790573120117
60.0,60.0,0.0,8.0,60.0,60.58965301513672
60.0,60.0,0.0,7.0,60.0,60.45058822631836
60.0,60.0,0.0,6.0,60.0,60.33049774169922
60.0,60.0,0.0,5.0,60.0,60.229190826416016
60.0,60.0,0.0,4.0,60.0,60.146514892578125
60.0,60.0,0.0,3.0,60.0,60.082340240478516
60.0,60.0,0.0,2.0,60.0,60.03657150268555
60.0,60.0,0.0,1.0,60.0,60.00914001464844
60.0,60.0,0.0,-0.0,60.0,60.0
60.0,60.0,0.0,-1.0,60.0,60.00914001464844
60.0,60.0,0.0,-2.0,60.0,60.03657150268555
60.0,60.0,0.0,-3.0,60.0,60.082340240478516
60.0,60.0,0.0,-4.0,60.0,60.146514892578125
60.0,60.0,0.0,-5.0,60.0,60.229190826416016
60.0,60.0,0.0,-6.0,60.0,60.33049774169922
60.0,60.0,0.0,-7.0,60.0,60.45058822631836
60.0,60.0,0.0,-8.0,60.0,60.58965301513672
60.0,60.0,0.0,-9.0,60.0,60.74790954589844
60.0,60.0,0.0,-10.0,60.0,60.92559814453125
60.0,60.0,0.0,-11.0,61.0,61.12300109863281
60.0,60.0,0.0,-12.0,61.0,61.34043502807617
60.0,60.0,0.0,-13.0,61.0,61.5782470703125
60.0,60.0,0.0,-14.0,61.0,61.83681869506836
60.0,60.0,0.0,-15.0,62.0,62.11656951904297
60.0,60.0,0.0,-16.0,62.0,62.417964935302734
60.0,60.0,0.0,-17.0,62.0,62.74150466918945
60.0,60.0,0.0,-18.0,63.0,63.08773422241211
60.0,60.0,0.0,-19.0,63.0,63.45724105834961
60.0,60.0,0.0,-20.0,63.0,63.85066604614258
60.0,60.0,0.0,-21.0,64.0,64.2686996459961
60.0,60.0,0.0,-22.0,64.0,64.71208953857422
60.0,60.0,0.0,-23.0,65.0,65.1816177368164
60.0,60.0,0.0,-24.0,65.0,65.67817687988281
60.0,60.0,0.0,-25.0,66.0,66.20267486572266
60.0,60.0,0.0,-26.0,66.0,66.75611877441406
60.0,60.0,0.0,-27.0,67.0,67.3395767211914
60.0,60.0,0.0,-28.0,67.0,67.9542007446289
60.0,60.0,0.0,-29.0,68.0,68.60124206542969
60.0,60.0,0.0,-30.0,69.0,69.28203582763672
60.0,60.0,0.0,-31.0,69.0,69.99800872802734
60.0,60.0,0.0,-32.0,70.0,70.75070190429688
60.0,60.0,0.0,-33.0,71.0,71.54179382324219
60.0,60.0,0.0,-34.0,72.0,72.37307739257812
60.0,60.0,0.0,-35.0,73.0,73.24646759033203
60.0,60.0,0.0,-36.0,74.0,74.16407775878906
60.0,60.0,0.0,-37.0,75.0,75.12813568115234
60.0,60.0,0.0,-38.0,76.0,76.14109802246094
60.0,60.0,0.0,-39.0,77.0,77.20557403564453
60.0,60.0,0.0,-40.0,78.0,78.3244400024414
60.0,60.0,0.0,-41.0,79.0,79.50077819824219
60.0,60.0,0.0,-42.0,80.0,80.73796081542969
60.0,60.0,0.0,-43.0,82.0,82.0396499633789
60.0,60.0,0.0,-44.0,83.0,83.40982055664062
60.0,60.0,0.0,-45.0,84.0,84.85281372070312
60.0,60.0,0.0,-46.0,86.0,86.3733901977539
60.0,60.0,0.0,-47.0,87.0,87.97675323486328
60.0,60.0,0.0,-48.0,89.0,89.66859436035156
60.0,60.0,0.0,-49.0,91.0,91.45519256591797
60.0,60.0,0.0,-50.0,93.0,93.34342193603516
60.0,60.0,0.0,-51.0,95.0,95.34093475341797
60.0,60.0,0.0,-52.0,97.0,97.45614624023438
60.0,60.0,0.0,-53.0,99.0,99.69840240478516
60.0,60.0,0.0,-54.0,102.0,102.07809448242188
60.0,60.0,0.0,-55.0,104.0,104.60681915283203
60.0,60.0,0.0,-56.0,107.0,107.29750061035156
60.0,60.0,0.0,-57.0,110.0,110.16471862792969
60.0,60.0,0.0,-58.0,111.0,111.70548248291016
60.0,60.0,0.0,-59.0,109.0,109.41111755371094
60.0,60.0,0.0,-60.0,107.0,107.24109649658203
60.0,60.0,0.0,-61.0,105.0,105.18690490722656
60.0,60.0,0.0,-62.0,103.0,103.24078369140625
60.0,60.0,0.0,-63.0,101.0,101.39568328857422
60.0,60.0,0.0,-64.0,99.0,99.64521789550781
60.0,60.0,0.0,-65.0,97.0,97.9834976196289
60.0,60.0,0.0,-66.0,96.0,96.4051742553711
60.0,60.0,0.0,-67.0,94.0,94.90534210205078
60.0,60.0,0.0,-68.0,93.0,93.47949981689453
60.0,60.0,0.0,-69.0,92.0,92.12350463867188
60.0,60.0,0.0,-70.0,90.0,90.83357238769531
60.0,60.0,0.0,-71.0,89.0,89.6061782836914
60.0,60.0,0.0,-72.0,88.0,88.4380874633789
60.0,60.0,0.0,-73.0,87.0,87.32633209228516
60.0,60.0,0.0,-74.0,86.0,86.26811981201172
60.0,60.0,0.0,-75.0,85.0,85.26091003417969
60.0,60.0,0.0,-76.0,84.0,84.30233001708984
60.0,60.0,0.0,-77.0,83.0,83.39018249511719
60.0,60.0,0.0,-78.0,82.0,82.52244567871094
60.0,60.0,0.0,-79.0,81.0,81.69718933105469
60.0,60.0,0.0,-80.0,80.0,80.91268920898438
60.0,60.0,0.0,-81.0,80.0,80.16730499267578
60.0,60.0,0.0,-82.0,79.0,79.4594955444336
60.0,60.0,0.0,-83.0,78.0,78.78787994384766
60.0,60.0,0.0,-84.0,78.0,78.15113067626953
60.0,60.0,0.0,-85.0,77.0,77.54800415039062
60.0,60.0,0.0,-86.0,76.0,76.97740173339844
60.0,60.0,0.0,-87.0,76.0,76.4382553100586
60.0,60.0,0.0,-88.0,75.0,75.92955780029297
60.0,60.0,0.0,-89.0,75.0,75.45042419433594
60.0,60.0,0.0,-90.0,75.0,75.0