x,y,headinng,sonar_ang,read,expected
60.0,60.0,0.0,90.0,59.0,60.0
60.0,60.0,0.0,89.0,57.0,60.0
60.0,60.0,0.0,88.0,57.0,60.0
60.0,60.0,0.0,87.0,57.0,60.0
60.0,60.0,0.0,86.0,57.0,60.0
60.0,60.0,0.0,85.0,57.0,60.0
60.0,60.0,0.0,84.0,57.0,60.0
60.0,60.0,0.0,83.0,57.0,60.0
60.0,60.0,0.0,82.0,57.0,60.0
60.0,60.0,0.0,81.0,57.0,60.0
60.0,60.0,0.0,80.0,57.0,60.0
60.0,60.0,0.0,79.0,57.0,60.0
60.0,60.0,0.0,78.0,57.0,60.0
60.0,60.0,0.0,77.0,57.0,60.0
60.0,60.0,0.0,76.0,57.0,60.0
60.0,60.0,0.0,75.0,57.0,60.0
60.0,60.0,0.0,74.0,57.0,60.0
60.0,60.0,0.0,73.0,57.0,60.0
60.0,60.0,0.0,72.0,57.0,60.0
60.0,60.0,0.0,71.0,57.0,60.0
60.0,60.0,0.0,70.0,58.0,60.0
60.0,60.0,0.0,69.0,58.0,60.00914001464844
60.0,60.0,0.0,68.0,58.0,60.03657150268555
60.0,60.0,0.0,67.0,58.0,60.082340240478516
60.0,60.0,0.0,66.0,58.0,60.146514892578125
60.0,60.0,0.0,65.0,58.0,60.229190826416016
60.0,60.0,0.0,64.0,58.0,60.33049774169922
60.0,60.0,0.0,63.0,58.0,60.45058822631836
60.0,60.0,0.0,62.0,58.0,60.58965301513672
60.0,60.0,0.0,61.0,58.0,60.74790573120117
60.0,60.0,0.0,60.0,58.0,60.925594329833984
60.0,60.0,0.0,59.0,59.0,61.12300109863281
60.0,60.0,0.0,58.0,59.0,61.34043502807617
60.0,60.0,0.0,57.0,59.0,61.5782470703125
60.0,60.0,0.0,56.0,59.0,61.83681869506836
60.0,60.0,0.0,55.0,59.0,62.116573333740234
60.0,60.0,0.0,54.0,59.0,62.417964935302734
60.0,60.0,0.0,53.0,60.0,62.74150466918945
60.0,60.0,0.0,52.0,60.0,63.08773422241211
60.0,60.0,0.0,51.0,60.0,63.45724105834961
60.0,60.0,0.0,50.0,60.0,63.85066604614258
60.0,60.0,0.0,49.0,61.0,64.2686996459961
60.0,60.0,0.0,48.0,83.0,64.71208190917969
60.0,60.0,0.0,47.0,83.0,65.18162536621094
60.0,60.0,0.0,46.0,62.0,65.67817687988281
60.0,60.0,0.0,45.0,61.0,66.20267486572266
60.0,60.0,0.0,44.0,61.0,65.67817687988281
60.0,60.0,0.0,43.0,61.0,65.18162536621094
60.0,60.0,0.0,42.0,83.0,64.71208190917969
60.0,60.0,0.0,41.0,83.0,64.2686996459961
60.0,60.0,0.0,40.0,83.0,63.85066604614258
60.0,60.0,0.0,39.0,62.0,63.45724105834961
60.0,60.0,0.0,38.0,61.0,63.08773422241211
60.0,60.0,0.0,37.0,62.0,62.74150466918945
60.0,60.0,0.0,36.0,65.0,62.417964935302734
60.0,60.0,0.0,35.0,83.0,62.116573333740234
60.0,60.0,0.0,34.0,83.0,61.83681869506836
60.0,60.0,0.0,33.0,62.0,61.5782470703125
60.0,60.0,0.0,32.0,61.0,61.34043502807617
60.0,60.0,0.0,31.0,63.0,61.12300109863281
60.0,60.0,0.0,30.0,84.0,60.925594329833984
60.0,60.0,0.0,29.0,84.0,60.74790573120117
60.0,60.0,0.0,28.0,62.0,60.58965301513672
60.0,60.0,0.0,27.0,61.0,60.45058822631836
60.0,60.0,0.0,26.0,61.0,60.33049774169922
60.0,60.0,0.0,25.0,62.0,60.229190826416016
60.0,60.0,0.0,24.0,62.0,60.146514892578125
60.0,60.0,0.0,23.0,62.0,60.082340240478516
60.0,60.0,0.0,22.0,61.0,60.03657150268555
60.0,60.0,0.0,21.0,61.0,60.00914001464844
60.0,60.0,0.0,20.0,60.0,60.0
60.0,60.0,0.0,19.0,61.0,60.0
60.0,60.0,0.0,18.0,61.0,60.0
60.0,60.0,0.0,17.0,61.0,60.0
60.0,60.0,0.0,16.0,60.0,60.0
60.0,60.0,0.0,15.0,60.0,60.0
60.0,60.0,0.0,14.0,60.0,60.0
60.0,60.0,0.0,13.0,60.0,60.0
60.0,60.0,0.0,12.0,60.0,60.0
60.0,60.0,0.0,11.0,60.0,60.0
60.0,60.0,0.0,10.0,60.0,60.0
60.0,60.0,0.0,9.0,60.0,60.0
60.0,60.0,0.0,8.0,60.0,60.0
60.0,60.0,0.0,7.0,60.0,60.0
60.0,60.0,0.0,6.0,60.0,60.0
60.0,60.0,0.0,5.0,60.0,60.0
60.0,60.0,0.0,4.0,60.0,60.0
60.0,60.0,0.0,3.0,60.0,60.0
60.0,60.0,0.0,2.0,60.0,60.0
60.0,60.0,0.0,1.0,60.0,60.0
60.0,60.0,0.0,-0.0,60.0,60.0
60.0,60.0,0.0,-1.0,60.0,60.0
60.0,60.0,0.0,-2.0,59.0,60.0
60.0,60.0,0.0,-3.0,59.0,60.0
60.0,60.0,0.0,-4.0,60.0,60.0
60.0,60.0,0.0,-5.0,60.0,60.0
60.0,60.0,0.0,-6.0,59.0,60.0
60.0,60.0,0.0,-7.0,59.0,60.0
60.0,60.0,0.0,-8.0,59.0,60.0
60.0,60.0,0.0,-9.0,59.0,60.0
60.0,60.0,0.0,-10.0,59.0,60.0
60.0,60.0,0.0,-11.0,59.0,60.0
60.0,60.0,0.0,-12.0,60.0,60.0
60.0,60.0,0.0,-13.0,60.0,60.0
60.0,60.0,0.0,-14.0,60.0,60.0
60.0,60.0,0.0,-15.0,60.0,60.0
60.0,60.0,0.0,-16.0,60.0,60.0
60.0,60.0,0.0,-17.0,60.0,60.0
60.0,60.0,0.0,-18.0,60.0,60.0
60.0,60.0,0.0,-19.0,60.0,60.0
60.0,60.0,0.0,-20.0,60.0,60.0
60.0,60.0,0.0,-21.0,60.0,60.00914001464844
60.0,60.0,0.0,-22.0,60.0,60.03657150268555
60.0,60.0,0.0,-23.0,60.0,60.082340240478516
60.0,60.0,0.0,-24.0,60.0,60.146514892578125
60.0,60.0,0.0,-25.0,60.0,60.229190826416016
60.0,60.0,0.0,-26.0,60.0,60.33049774169922
60.0,60.0,0.0,-27.0,60.0,60.45058822631836
60.0,60.0,0.0,-28.0,60.0,60.58965301513672
60.0,60.0,0.0,-29.0,61.0,60.74790954589844
60.0,60.0,0.0,-30.0,61.0,60.92559814453125
60.0,60.0,0.0,-31.0,61.0,61.12300109863281
60.0,60.0,0.0,-32.0,61.0,61.34043502807617
60.0,60.0,0.0,-33.0,61.0,61.5782470703125
60.0,60.0,0.0,-34.0,61.0,61.83681869506836
60.0,60.0,0.0,-35.0,61.0,62.11656951904297
60.0,60.0,0.0,-36.0,61.0,62.417964935302734
60.0,60.0,0.0,-37.0,62.0,62.74150466918945
60.0,60.0,0.0,-38.0,62.0,63.08773422241211
60.0,60.0,0.0,-39.0,62.0,63.45724105834961
60.0,60.0,0.0,-40.0,63.0,63.85066604614258
60.0,60.0,0.0,-41.0,63.0,64.2686996459961
60.0,60.0,0.0,-42.0,106.0,64.71208953857422
60.0,60.0,0.0,-43.0,106.0,65.1816177368164
60.0,60.0,0.0,-44.0,106.0,65.67817687988281
60.0,60.0,0.0,-45.0,106.0,66.20267486572266
60.0,60.0,0.0,-46.0,105.0,66.75611877441406
60.0,60.0,0.0,-47.0,105.0,67.3395767211914
60.0,60.0,0.0,-48.0,105.0,67.9542007446289
60.0,60.0,0.0,-49.0,105.0,68.60124206542969
60.0,60.0,0.0,-50.0,105.0,69.28203582763672
60.0,60.0,0.0,-51.0,105.0,69.99800872802734
60.0,60.0,0.0,-52.0,105.0,70.75070190429688
60.0,60.0,0.0,-53.0,105.0,71.54179382324219
60.0,60.0,0.0,-54.0,105.0,72.37307739257812
60.0,60.0,0.0,-55.0,105.0,73.24646759033203
60.0,60.0,0.0,-56.0,105.0,74.16407775878906
60.0,60.0,0.0,-57.0,105.0,75.12813568115234
60.0,60.0,0.0,-58.0,105.0,76.14109802246094
60.0,60.0,0.0,-59.0,105.0,77.20557403564453
60.0,60.0,0.0,-60.0,105.0,78.3244400024414
60.0,60.0,0.0,-61.0,105.0,79.50077819824219
60.0,60.0,0.0,-62.0,105.0,79.4594955444336
60.0,60.0,0.0,-63.0,105.0,78.78787994384766
60.0,60.0,0.0,-64.0,105.0,78.15113067626953
60.0,60.0,0.0,-65.0,105.0,77.54800415039062
60.0,60.0,0.0,-66.0,105.0,76.97740173339844
60.0,60.0,0.0,-67.0,105.0,76.4382553100586
60.0,60.0,0.0,-68.0,105.0,75.92955780029297
60.0,60.0,0.0,-69.0,105.0,75.45042419433594
60.0,60.0,0.0,-70.0,105.0,75.0
60.0,60.0,0.0,-71.0,105.0,74.57750701904297
60.0,60.0,0.0,-72.0,105.0,74.18221282958984
60.0,60.0,0.0,-73.0,105.0,73.8134536743164
60.0,60.0,0.0,-74.0,105.0,73.47062683105469
60.0,60.0,0.0,-75.0,105.0,73.15312957763672
60.0,60.0,0.0,-76.0,105.0,72.8604736328125
60.0,60.0,0.0,-77.0,74.0,72.59217834472656
60.0,60.0,0.0,-78.0,73.0,72.34778594970703
60.0,60.0,0.0,-79.0,73.0,72.126953125
60.0,60.0,0.0,-80.0,72.0,71.9292984008789
60.0,60.0,0.0,-81.0,72.0,71.75453186035156
60.0,60.0,0.0,-82.0,71.0,71.60236358642578
60.0,60.0,0.0,-83.0,71.0,71.4725570678711
60.0,60.0,0.0,-84.0,71.0,71.36492919921875
60.0,60.0,0.0,-85.0,71.0,71.27930450439453
60.0,60.0,0.0,-86.0,71.0,71.21553802490234
60.0,60.0,0.0,-87.0,70.0,71.1735610961914
60.0,60.0,0.0,-88.0,70.0,71.1532974243164
60.0,60.0,0.0,-89.0,70.0,71.1532974243164
60.0,60.0,0.0,-90.0,70.0,71.1532974243164