x,y,headinng,sonar_ang,read,expected
60.0,70.0,0.0,90.0,60.0,60.0
60.0,70.0,0.0,89.0,57.0,60.00914001464844
60.0,70.0,0.0,88.0,57.0,60.03657150268555
60.0,70.0,0.0,87.0,57.0,60.082340240478516
60.0,70.0,0.0,86.0,57.0,60.146514892578125
60.0,70.0,0.0,85.0,57.0,60.229190826416016
60.0,70.0,0.0,84.0,57.0,60.33049774169922
60.0,70.0,0.0,83.0,57.0,60.45058822631836
60.0,70.0,0.0,82.0,57.0,60.58965301513672
60.0,70.0,0.0,81.0,57.0,60.74790954589844
60.0,70.0,0.0,80.0,58.0,60.92559814453125
60.0,70.0,0.0,79.0,58.0,61.12300109863281
60.0,70.0,0.0,78.0,58.0,61.34043502807617
60.0,70.0,0.0,77.0,58.0,61.5782470703125
60.0,70.0,0.0,76.0,58.0,61.83681869506836
60.0,70.0,0.0,75.0,58.0,62.11656951904297
60.0,70.0,0.0,74.0,58.0,62.417964935302734
60.0,70.0,0.0,73.0,58.0,62.74150466918945
60.0,70.0,0.0,72.0,58.0,63.08773422241211
60.0,70.0,0.0,71.0,58.0,63.45724105834961
60.0,70.0,0.0,70.0,58.0,63.85066604614258
60.0,70.0,0.0,69.0,58.0,64.2686996459961
60.0,70.0,0.0,68.0,58.0,64.71208190917969
60.0,70.0,0.0,67.0,58.0,65.1816177368164
60.0,70.0,0.0,66.0,58.0,65.67817687988281
60.0,70.0,0.0,65.0,58.0,66.20267486572266
60.0,70.0,0.0,64.0,58.0,66.75611877441406
60.0,70.0,0.0,63.0,58.0,67.3395767211914
60.0,70.0,0.0,62.0,58.0,67.9542007446289
60.0,70.0,0.0,61.0,59.0,68.60124206542969
60.0,70.0,0.0,60.0,59.0,69.28203582763672
60.0,70.0,0.0,59.0,59.0,69.99800872802734
60.0,70.0,0.0,58.0,59.0,70.75070190429688
60.0,70.0,0.0,57.0,59.0,71.54179382324219
60.0,70.0,0.0,56.0,59.0,72.37307739257812
60.0,70.0,0.0,55.0,60.0,73.24647521972656
60.0,70.0,0.0,54.0,60.0,74.16407775878906
60.0,70.0,0.0,53.0,60.0,75.12814331054688
60.0,70.0,0.0,52.0,60.0,76.1410903930664
60.0,70.0,0.0,51.0,60.0,77.20557403564453
60.0,70.0,0.0,50.0,60.0,78.3244400024414
60.0,70.0,0.0,49.0,61.0,79.50077819824219
60.0,70.0,0.0,48.0,61.0,80.73796844482422
60.0,70.0,0.0,47.0,64.0,82.0396499633789
60.0,70.0,0.0,46.0,85.0,83.40982055664062
60.0,70.0,0.0,45.0,85.0,84.85281372070312
60.0,70.0,0.0,44.0,63.0,86.3733901977539
60.0,70.0,0.0,43.0,64.0,87.97675323486328
60.0,70.0,0.0,42.0,85.0,89.66859436035156
60.0,70.0,0.0,41.0,85.0,91.45518493652344
60.0,70.0,0.0,40.0,84.0,91.37850952148438
60.0,70.0,0.0,39.0,84.0,90.07316589355469
60.0,70.0,0.0,38.0,84.0,88.8312759399414
60.0,70.0,0.0,37.0,85.0,87.64949798583984
60.0,70.0,0.0,36.0,85.0,86.5247573852539
60.0,70.0,0.0,35.0,85.0,85.4542236328125
60.0,70.0,0.0,34.0,85.0,84.43525695800781
60.0,70.0,0.0,33.0,85.0,83.4654312133789
60.0,70.0,0.0,32.0,85.0,82.54248809814453
60.0,70.0,0.0,31.0,85.0,81.66433715820312
60.0,70.0,0.0,30.0,85.0,80.82904052734375
60.0,70.0,0.0,29.0,85.0,80.03478240966797
60.0,70.0,0.0,28.0,85.0,79.2799072265625
60.0,70.0,0.0,27.0,84.0,78.56283569335938
60.0,70.0,0.0,26.0,85.0,77.88214111328125
60.0,70.0,0.0,25.0,85.0,77.23645782470703
60.0,70.0,0.0,24.0,85.0,76.62454223632812
60.0,70.0,0.0,23.0,85.0,76.04522705078125
60.0,70.0,0.0,22.0,63.0,75.49742889404297
60.0,70.0,0.0,21.0,62.0,74.98014831542969
60.0,70.0,0.0,20.0,62.0,74.49243927001953
60.0,70.0,0.0,19.0,62.0,74.033447265625
60.0,70.0,0.0,18.0,62.0,73.60235595703125
60.0,70.0,0.0,17.0,62.0,73.19841766357422
60.0,70.0,0.0,16.0,61.0,72.82096099853516
60.0,70.0,0.0,15.0,61.0,72.46932983398438
60.0,70.0,0.0,14.0,61.0,72.14295196533203
60.0,70.0,0.0,13.0,61.0,71.8412857055664
60.0,70.0,0.0,12.0,61.0,71.5638427734375
60.0,70.0,0.0,11.0,61.0,71.31016540527344
60.0,70.0,0.0,10.0,61.0,71.07986450195312
60.0,70.0,0.0,9.0,61.0,70.87255859375
60.0,70.0,0.0,8.0,61.0,70.68793487548828
60.0,70.0,0.0,7.0,61.0,70.52568817138672
60.0,70.0,0.0,6.0,61.0,70.38558197021484
60.0,70.0,0.0,5.0,60.0,70.26738739013672
60.0,70.0,0.0,4.0,60.0,70.17093658447266
60.0,70.0,0.0,3.0,60.0,70.09606170654297
60.0,70.0,0.0,2.0,60.0,70.04267120361328
60.0,70.0,0.0,1.0,60.0,70.01066589355469
60.0,70.0,0.0,-0.0,60.0,70.0
60.0,70.0,0.0,-1.0,60.0,70.01066589355469
60.0,70.0,0.0,-2.0,60.0,70.04267120361328
60.0,70.0,0.0,-3.0,60.0,70.09606170654297
60.0,70.0,0.0,-4.0,60.0,70.17093658447266
60.0,70.0,0.0,-5.0,60.0,70.26738739013672
60.0,70.0,0.0,-6.0,60.0,70.38558197021484
60.0,70.0,0.0,-7.0,60.0,70.52568817138672
60.0,70.0,0.0,-8.0,60.0,70.68793487548828
60.0,70.0,0.0,-9.0,60.0,70.87255859375
60.0,70.0,0.0,-10.0,60.0,71.07986450195312
60.0,70.0,0.0,-11.0,60.0,71.31016540527344
60.0,70.0,0.0,-12.0,60.0,71.5638427734375
60.0,70.0,0.0,-13.0,60.0,71.8412857055664
60.0,70.0,0.0,-14.0,60.0,72.14295196533203
60.0,70.0,0.0,-15.0,60.0,72.46932983398438
60.0,70.0,0.0,-16.0,60.0,72.82096099853516
60.0,70.0,0.0,-17.0,60.0,73.19842529296875
60.0,70.0,0.0,-18.0,60.0,73.60235595703125
60.0,70.0,0.0,-19.0,60.0,74.033447265625
60.0,70.0,0.0,-20.0,60.0,74.49243927001953
60.0,70.0,0.0,-21.0,60.0,74.98014831542969
60.0,70.0,0.0,-22.0,60.0,75.49742889404297
60.0,70.0,0.0,-23.0,60.0,76.04522705078125
60.0,70.0,0.0,-24.0,60.0,76.62454223632812
60.0,70.0,0.0,-25.0,60.0,77.2364501953125
60.0,70.0,0.0,-26.0,61.0,77.88213348388672
60.0,70.0,0.0,-27.0,61.0,78.56283569335938
60.0,70.0,0.0,-28.0,61.0,79.2799072265625
60.0,70.0,0.0,-29.0,61.0,80.03478240966797
60.0,70.0,0.0,-30.0,61.0,80.82904052734375
60.0,70.0,0.0,-31.0,61.0,81.66433715820312
60.0,70.0,0.0,-32.0,61.0,82.54248809814453
60.0,70.0,0.0,-33.0,61.0,83.4654312133789
60.0,70.0,0.0,-34.0,61.0,84.43525695800781
60.0,70.0,0.0,-35.0,61.0,85.45421600341797
60.0,70.0,0.0,-36.0,61.0,86.5247573852539
60.0,70.0,0.0,-37.0,62.0,87.64949798583984
60.0,70.0,0.0,-38.0,62.0,88.8312759399414
60.0,70.0,0.0,-39.0,62.0,90.07316589355469
60.0,70.0,0.0,-40.0,62.0,91.3785171508789
60.0,70.0,0.0,-41.0,62.0,92.75090789794922
60.0,70.0,0.0,-42.0,63.0,94.19429016113281
60.0,70.0,0.0,-43.0,63.0,95.71292877197266
60.0,70.0,0.0,-44.0,63.0,97.31145477294922
60.0,70.0,0.0,-45.0,64.0,98.99494934082031
60.0,70.0,0.0,-46.0,64.0,100.76895904541016
60.0,70.0,0.0,-47.0,65.0,102.63954162597656
60.0,70.0,0.0,-48.0,67.0,104.61335754394531
60.0,70.0,0.0,-49.0,255.0,106.69771575927734
60.0,70.0,0.0,-50.0,255.0,108.90066528320312
60.0,70.0,0.0,-51.0,255.0,111.2311019897461
60.0,70.0,0.0,-52.0,255.0,113.69883728027344
60.0,70.0,0.0,-53.0,255.0,116.31480407714844
60.0,70.0,0.0,-54.0,255.0,116.89447021484375
60.0,70.0,0.0,-55.0,255.0,114.12617492675781
60.0,70.0,0.0,-56.0,255.0,111.51915740966797
60.0,70.0,0.0,-57.0,255.0,109.06106567382812
60.0,70.0,0.0,-58.0,255.0,106.74079132080078
60.0,70.0,0.0,-59.0,255.0,104.54838562011719
60.0,70.0,0.0,-60.0,255.0,102.47482299804688
60.0,70.0,0.0,-61.0,255.0,100.51192474365234
60.0,70.0,0.0,-62.0,255.0,98.65230560302734
60.0,70.0,0.0,-63.0,255.0,96.88920593261719
60.0,70.0,0.0,-64.0,255.0,95.21654510498047
60.0,70.0,0.0,-65.0,255.0,93.62867736816406
60.0,70.0,0.0,-66.0,255.0,92.12049102783203
60.0,70.0,0.0,-67.0,255.0,90.68732452392578
60.0,70.0,0.0,-68.0,255.0,89.3248519897461
60.0,70.0,0.0,-69.0,255.0,88.02912139892578
60.0,70.0,0.0,-70.0,255.0,86.79652404785156
60.0,70.0,0.0,-71.0,255.0,85.62368774414062
60.0,70.0,0.0,-72.0,255.0,84.50750732421875
60.0,70.0,0.0,-73.0,255.0,83.44515228271484
60.0,70.0,0.0,-74.0,255.0,82.4339828491211
60.0,70.0,0.0,-75.0,255.0,81.47154235839844
60.0,70.0,0.0,-76.0,255.0,80.5555648803711
60.0,70.0,0.0,-77.0,255.0,79.68395233154297
60.0,70.0,0.0,-78.0,255.0,78.85477447509766
60.0,70.0,0.0,-79.0,255.0,78.06620788574219
60.0,70.0,0.0,-80.0,255.0,77.31658172607422
60.0,70.0,0.0,-81.0,255.0,76.60430145263672
60.0,70.0,0.0,-82.0,255.0,75.92796325683594
60.0,70.0,0.0,-83.0,255.0,75.28619384765625
60.0,70.0,0.0,-84.0,255.0,74.67774200439453
60.0,70.0,0.0,-85.0,255.0,74.1014404296875
60.0,70.0,0.0,-86.0,255.0,73.55619049072266
60.0,70.0,0.0,-87.0,255.0,73.04098510742188
60.0,70.0,0.0,-88.0,255.0,72.5549087524414
60.0,70.0,0.0,-89.0,255.0,72.0970687866211
60.0,70.0,0.0,-90.0,255.0,71.66667175292969