x,y,headinng,sonar_ang,read,expected
63.0,67.0,90.0,90.0,67.0,67.0
63.0,67.0,90.0,89.0,64.0,67.0
63.0,67.0,90.0,88.0,64.0,67.0
63.0,67.0,90.0,87.0,64.0,67.0
63.0,67.0,90.0,86.0,64.0,67.0
63.0,67.0,90.0,85.0,64.0,67.0
63.0,67.0,90.0,84.0,64.0,67.0
63.0,67.0,90.0,83.0,64.0,67.0
63.0,67.0,90.0,82.0,64.0,67.0
63.0,67.0,90.0,81.0,64.0,67.0
63.0,67.0,90.0,80.0,64.0,67.0
63.0,67.0,90.0,79.0,64.0,67.0
63.0,67.0,90.0,78.0,64.0,67.0
63.0,67.0,90.0,77.0,64.0,67.0
63.0,67.0,90.0,76.0,64.0,67.0
63.0,67.0,90.0,75.0,64.0,67.0
63.0,67.0,90.0,74.0,64.0,67.0
63.0,67.0,90.0,73.0,64.0,67.0
63.0,67.0,90.0,72.0,64.0,67.0
63.0,67.0,90.0,71.0,64.0,67.0
63.0,67.0,90.0,70.0,64.0,67.0
63.0,67.0,90.0,69.0,64.0,67.01020812988281
63.0,67.0,90.0,68.0,65.0,67.04084014892578
63.0,67.0,90.0,67.0,65.0,67.09194946289062
63.0,67.0,90.0,66.0,65.0,67.16360473632812
63.0,67.0,90.0,65.0,65.0,67.25592803955078
63.0,67.0,90.0,64.0,65.0,67.36905670166016
63.0,67.0,90.0,63.0,65.0,67.50315856933594
63.0,67.0,90.0,62.0,65.0,67.658447265625
63.0,67.0,90.0,61.0,65.0,67.83516693115234
63.0,67.0,90.0,60.0,66.0,68.03358459472656
63.0,67.0,90.0,59.0,66.0,68.25402069091797
63.0,67.0,90.0,58.0,66.0,68.49681854248047
63.0,67.0,90.0,57.0,66.0,68.76237487792969
63.0,67.0,90.0,56.0,66.0,69.05110931396484
63.0,67.0,90.0,55.0,67.0,69.3635025024414
63.0,67.0,90.0,54.0,67.0,69.70006561279297
63.0,67.0,90.0,53.0,67.0,70.06134796142578
63.0,67.0,90.0,52.0,68.0,70.44796752929688
63.0,67.0,90.0,51.0,69.0,70.86058807373047
63.0,67.0,90.0,50.0,255.0,71.29991149902344
63.0,67.0,90.0,49.0,255.0,71.76670837402344
63.0,67.0,90.0,48.0,255.0,72.26182556152344
63.0,67.0,90.0,47.0,255.0,72.78614044189453
63.0,67.0,90.0,46.0,255.0,73.34062957763672
63.0,67.0,90.0,45.0,255.0,73.92632293701172
63.0,67.0,90.0,44.0,255.0,74.5443344116211
63.0,67.0,90.0,43.0,255.0,75.19585418701172
63.0,67.0,90.0,42.0,255.0,75.88219451904297
63.0,67.0,90.0,41.0,255.0,76.60472106933594
63.0,67.0,90.0,40.0,255.0,77.36493682861328
63.0,67.0,90.0,39.0,255.0,78.16443634033203
63.0,67.0,90.0,38.0,255.0,79.00495147705078
63.0,67.0,90.0,37.0,255.0,79.88834381103516
63.0,67.0,90.0,36.0,255.0,80.13349914550781
63.0,67.0,90.0,35.0,255.0,79.19791412353516
63.0,67.0,90.0,34.0,255.0,78.3074951171875
63.0,67.0,90.0,33.0,255.0,77.46022033691406
63.0,67.0,90.0,32.0,255.0,76.6541748046875
63.0,67.0,90.0,31.0,255.0,75.88761901855469
63.0,67.0,90.0,30.0,255.0,75.15888977050781
63.0,67.0,90.0,29.0,255.0,74.46651458740234
63.0,67.0,90.0,28.0,255.0,73.80905151367188
63.0,67.0,90.0,27.0,255.0,73.18518829345703
63.0,67.0,90.0,26.0,255.0,72.59371948242188
63.0,67.0,90.0,25.0,255.0,72.03347778320312
63.0,67.0,90.0,24.0,255.0,71.50346374511719
63.0,67.0,90.0,23.0,255.0,71.00263977050781
63.0,67.0,90.0,22.0,255.0,70.53011322021484
63.0,67.0,90.0,21.0,255.0,70.0850601196289
63.0,67.0,90.0,20.0,255.0,69.66667175292969
63.0,67.0,90.0,19.0,255.0,69.27422332763672
63.0,67.0,90.0,18.0,73.0,68.90702819824219
63.0,67.0,90.0,17.0,73.0,68.56449890136719
63.0,67.0,90.0,16.0,73.0,68.24604797363281
63.0,67.0,90.0,15.0,72.0,67.95112609863281
63.0,67.0,90.0,14.0,70.0,67.67928314208984
63.0,67.0,90.0,13.0,70.0,67.4300537109375
63.0,67.0,90.0,12.0,70.0,67.20305633544922
63.0,67.0,90.0,11.0,69.0,66.99791717529297
63.0,67.0,90.0,10.0,69.0,66.8143310546875
63.0,67.0,90.0,9.0,69.0,66.65198516845703
63.0,67.0,90.0,8.0,69.0,66.51063537597656
63.0,67.0,90.0,7.0,68.0,66.39006042480469
63.0,67.0,90.0,6.0,68.0,66.29009246826172
63.0,67.0,90.0,5.0,68.0,66.2105484008789
63.0,67.0,90.0,4.0,68.0,66.15132904052734
63.0,67.0,90.0,3.0,68.0,66.11233520507812
63.0,67.0,90.0,2.0,68.0,66.093505859375
63.0,67.0,90.0,1.0,68.0,66.093505859375
63.0,67.0,90.0,-0.0,67.0,66.093505859375
63.0,67.0,90.0,-1.0,67.0,66.093505859375
63.0,67.0,90.0,-2.0,67.0,66.093505859375
63.0,67.0,90.0,-3.0,67.0,66.093505859375
63.0,67.0,90.0,-4.0,67.0,66.093505859375
63.0,67.0,90.0,-5.0,67.0,66.093505859375
63.0,67.0,90.0,-6.0,67.0,66.093505859375
63.0,67.0,90.0,-7.0,67.0,66.093505859375
63.0,67.0,90.0,-8.0,67.0,66.093505859375
63.0,67.0,90.0,-9.0,67.0,66.093505859375
63.0,67.0,90.0,-10.0,67.0,66.093505859375
63.0,67.0,90.0,-11.0,67.0,66.093505859375
63.0,67.0,90.0,-12.0,67.0,66.093505859375
63.0,67.0,90.0,-13.0,67.0,66.093505859375
63.0,67.0,90.0,-14.0,67.0,66.093505859375
63.0,67.0,90.0,-15.0,67.0,66.093505859375
63.0,67.0,90.0,-16.0,67.0,66.093505859375
63.0,67.0,90.0,-17.0,67.0,66.093505859375
63.0,67.0,90.0,-18.0,67.0,66.093505859375
63.0,67.0,90.0,-19.0,67.0,66.093505859375
63.0,67.0,90.0,-20.0,67.0,66.093505859375
63.0,67.0,90.0,-21.0,67.0,66.093505859375
63.0,67.0,90.0,-22.0,67.0,66.093505859375
63.0,67.0,90.0,-23.0,67.0,66.093505859375
63.0,67.0,90.0,-24.0,67.0,66.093505859375
63.0,67.0,90.0,-25.0,67.0,66.093505859375
63.0,67.0,90.0,-26.0,67.0,66.093505859375
63.0,67.0,90.0,-27.0,67.0,66.093505859375
63.0,67.0,90.0,-28.0,66.0,66.093505859375
63.0,67.0,90.0,-29.0,67.0,66.093505859375
63.0,67.0,90.0,-30.0,67.0,66.093505859375
63.0,67.0,90.0,-31.0,67.0,66.093505859375
63.0,67.0,90.0,-32.0,67.0,66.093505859375
63.0,67.0,90.0,-33.0,67.0,66.093505859375
63.0,67.0,90.0,-34.0,67.0,66.093505859375
63.0,67.0,90.0,-35.0,67.0,66.093505859375
63.0,67.0,90.0,-36.0,67.0,66.093505859375
63.0,67.0,90.0,-37.0,67.0,66.093505859375
63.0,67.0,90.0,-38.0,67.0,66.093505859375
63.0,67.0,90.0,-39.0,67.0,66.09481048583984
63.0,67.0,90.0,-40.0,67.0,66.11626434326172
63.0,67.0,90.0,-41.0,67.0,66.15789031982422
63.0,67.0,90.0,-42.0,67.0,66.21974182128906
63.0,67.0,90.0,-43.0,67.0,66.30194091796875
63.0,67.0,90.0,-44.0,67.0,66.40458679199219
63.0,67.0,90.0,-45.0,67.0,66.52784729003906
63.0,67.0,90.0,-46.0,68.0,66.67191314697266
63.0,67.0,90.0,-47.0,68.0,66.83700561523438
63.0,67.0,90.0,-48.0,68.0,67.02339172363281
63.0,67.0,90.0,-49.0,68.0,67.23135375976562
63.0,67.0,90.0,-50.0,68.0,67.46121978759766
63.0,67.0,90.0,-51.0,68.0,67.7133560180664
63.0,67.0,90.0,-52.0,67.0,67.9881820678711
63.0,67.0,90.0,-53.0,68.0,68.2861328125
63.0,67.0,90.0,-54.0,69.0,68.60769653320312
63.0,67.0,90.0,-55.0,71.0,68.95339965820312
63.0,67.0,90.0,-56.0,70.0,69.23141479492188
63.0,67.0,90.0,-57.0,68.0,68.90707397460938
63.0,67.0,90.0,-58.0,67.0,68.6063232421875
63.0,67.0,90.0,-59.0,67.0,68.32921600341797
63.0,67.0,90.0,-60.0,67.0,68.07482147216797
63.0,67.0,90.0,-61.0,73.0,67.84293365478516
63.0,67.0,90.0,-62.0,210.0,67.63314819335938
63.0,67.0,90.0,-63.0,65.0,67.44503021240234
63.0,67.0,90.0,-64.0,65.0,67.27854919433594
63.0,67.0,90.0,-65.0,64.0,67.13327026367188
63.0,67.0,90.0,-66.0,64.0,67.0088882446289
63.0,67.0,90.0,-67.0,63.0,66.90536499023438
63.0,67.0,90.0,-68.0,63.0,66.82245635986328
63.0,67.0,90.0,-69.0,63.0,66.76011657714844
63.0,67.0,90.0,-70.0,63.0,66.76011657714844
63.0,67.0,90.0,-71.0,63.0,66.69658660888672
63.0,67.0,90.0,-72.0,63.0,66.69532012939453
63.0,67.0,90.0,-73.0,62.0,66.69532012939453
63.0,67.0,90.0,-74.0,62.0,66.69532012939453
63.0,67.0,90.0,-75.0,62.0,66.69532012939453
63.0,67.0,90.0,-76.0,62.0,66.69532012939453
63.0,67.0,90.0,-77.0,62.0,66.69532012939453
63.0,67.0,90.0,-78.0,62.0,66.69532012939453
63.0,67.0,90.0,-79.0,62.0,66.69532012939453
63.0,67.0,90.0,-80.0,62.0,66.69532012939453
63.0,67.0,90.0,-81.0,62.0,66.69532012939453
63.0,67.0,90.0,-82.0,61.0,66.69532012939453
63.0,67.0,90.0,-83.0,61.0,66.69532012939453
63.0,67.0,90.0,-84.0,61.0,66.69532012939453
63.0,67.0,90.0,-85.0,61.0,66.69532012939453
63.0,67.0,90.0,-86.0,61.0,66.69532012939453
63.0,67.0,90.0,-87.0,61.0,66.69532012939453
63.0,67.0,90.0,-88.0,61.0,66.69532012939453
63.0,67.0,90.0,-89.0,61.0,66.69532012939453
63.0,67.0,90.0,-90.0,61.0,66.69532012939453