x,y,headinng,sonar_ang,read,expected 60.0,60.0,0.0,90.0,51.0,60.0 60.0,60.0,0.0,89.0,59.0,60.00914001464844 60.0,60.0,0.0,88.0,59.0,60.03657150268555 60.0,60.0,0.0,87.0,59.0,60.082340240478516 60.0,60.0,0.0,86.0,59.0,60.146514892578125 60.0,60.0,0.0,85.0,59.0,60.229190826416016 60.0,60.0,0.0,84.0,59.0,60.33049774169922 60.0,60.0,0.0,83.0,59.0,60.45058822631836 60.0,60.0,0.0,82.0,59.0,60.58965301513672 60.0,60.0,0.0,81.0,59.0,60.74790573120117 60.0,60.0,0.0,80.0,59.0,60.925594329833984 60.0,60.0,0.0,79.0,59.0,61.12300109863281 60.0,60.0,0.0,78.0,59.0,61.34043502807617 60.0,60.0,0.0,77.0,59.0,61.5782470703125 60.0,60.0,0.0,76.0,59.0,61.83681869506836 60.0,60.0,0.0,75.0,59.0,62.116573333740234 60.0,60.0,0.0,74.0,59.0,62.417964935302734 60.0,60.0,0.0,73.0,59.0,62.74150466918945 60.0,60.0,0.0,72.0,59.0,63.08773422241211 60.0,60.0,0.0,71.0,59.0,63.45724105834961 60.0,60.0,0.0,70.0,59.0,63.85066604614258 60.0,60.0,0.0,69.0,59.0,64.2686996459961 60.0,60.0,0.0,68.0,60.0,64.71208190917969 60.0,60.0,0.0,67.0,59.0,65.18162536621094 60.0,60.0,0.0,66.0,59.0,65.67817687988281 60.0,60.0,0.0,65.0,60.0,66.20267486572266 60.0,60.0,0.0,64.0,60.0,66.75611877441406 60.0,60.0,0.0,63.0,60.0,67.3395767211914 60.0,60.0,0.0,62.0,60.0,67.95420837402344 60.0,60.0,0.0,61.0,60.0,68.60124206542969 60.0,60.0,0.0,60.0,60.0,69.28203582763672 60.0,60.0,0.0,59.0,60.0,69.99800872802734 60.0,60.0,0.0,58.0,61.0,70.75070190429688 60.0,60.0,0.0,57.0,61.0,71.54180145263672 60.0,60.0,0.0,56.0,61.0,72.37307739257812 60.0,60.0,0.0,55.0,61.0,73.24647521972656 60.0,60.0,0.0,54.0,61.0,74.16407775878906 60.0,60.0,0.0,53.0,62.0,75.12814331054688 60.0,60.0,0.0,52.0,62.0,76.1410903930664 60.0,60.0,0.0,51.0,79.0,77.20557403564453 60.0,60.0,0.0,50.0,79.0,78.3244400024414 60.0,60.0,0.0,49.0,79.0,79.50077819824219 60.0,60.0,0.0,48.0,79.0,80.73796844482422 60.0,60.0,0.0,47.0,79.0,82.0396499633789 60.0,60.0,0.0,46.0,79.0,83.40982055664062 60.0,60.0,0.0,45.0,79.0,84.85281372070312 60.0,60.0,0.0,44.0,79.0,83.40982055664062 60.0,60.0,0.0,43.0,79.0,82.0396499633789 60.0,60.0,0.0,42.0,79.0,80.73796844482422 60.0,60.0,0.0,41.0,79.0,79.50077819824219 60.0,60.0,0.0,40.0,79.0,78.3244400024414 60.0,60.0,0.0,39.0,79.0,77.20557403564453 60.0,60.0,0.0,38.0,79.0,76.1410903930664 60.0,60.0,0.0,37.0,79.0,75.12814331054688 60.0,60.0,0.0,36.0,79.0,74.16407775878906 60.0,60.0,0.0,35.0,79.0,73.24647521972656 60.0,60.0,0.0,34.0,79.0,72.37307739257812 60.0,60.0,0.0,33.0,79.0,71.54180145263672 60.0,60.0,0.0,32.0,79.0,70.75070190429688 60.0,60.0,0.0,31.0,79.0,69.99800872802734 60.0,60.0,0.0,30.0,58.0,69.28203582763672 60.0,60.0,0.0,29.0,56.0,68.60124206542969 60.0,60.0,0.0,28.0,55.0,67.95420837402344 60.0,60.0,0.0,27.0,55.0,67.3395767211914 60.0,60.0,0.0,26.0,54.0,66.75611877441406 60.0,60.0,0.0,25.0,54.0,66.20267486572266 60.0,60.0,0.0,24.0,53.0,65.67817687988281 60.0,60.0,0.0,23.0,53.0,65.18162536621094 60.0,60.0,0.0,22.0,53.0,64.71208190917969 60.0,60.0,0.0,21.0,53.0,64.2686996459961 60.0,60.0,0.0,20.0,53.0,63.85066604614258 60.0,60.0,0.0,19.0,52.0,63.45724105834961 60.0,60.0,0.0,18.0,52.0,63.08773422241211 60.0,60.0,0.0,17.0,52.0,62.74150466918945 60.0,60.0,0.0,16.0,52.0,62.417964935302734 60.0,60.0,0.0,15.0,52.0,62.116573333740234 60.0,60.0,0.0,14.0,52.0,61.83681869506836 60.0,60.0,0.0,13.0,52.0,61.5782470703125 60.0,60.0,0.0,12.0,51.0,61.34043502807617 60.0,60.0,0.0,11.0,51.0,61.12300109863281 60.0,60.0,0.0,10.0,51.0,60.925594329833984 60.0,60.0,0.0,9.0,51.0,60.74790573120117 60.0,60.0,0.0,8.0,51.0,60.58965301513672 60.0,60.0,0.0,7.0,51.0,60.45058822631836 60.0,60.0,0.0,6.0,51.0,60.33049774169922 60.0,60.0,0.0,5.0,51.0,60.229190826416016 60.0,60.0,0.0,4.0,51.0,60.146514892578125 60.0,60.0,0.0,3.0,51.0,60.082340240478516 60.0,60.0,0.0,2.0,51.0,60.03657150268555 60.0,60.0,0.0,1.0,50.0,60.00914001464844 60.0,60.0,0.0,-0.0,51.0,60.0 60.0,60.0,0.0,-1.0,50.0,60.00914001464844 60.0,60.0,0.0,-2.0,50.0,60.03657150268555 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