x,y,headinng,sonar_ang,read,expected
59.0,66.0,0.0,90.0,57.0,59.0
59.0,66.0,0.0,89.0,55.0,59.00898742675781
59.0,66.0,0.0,88.0,55.0,59.03596115112305
59.0,66.0,0.0,87.0,56.0,59.08096694946289
59.0,66.0,0.0,86.0,56.0,59.144073486328125
59.0,66.0,0.0,85.0,56.0,59.225372314453125
59.0,66.0,0.0,84.0,56.0,59.324989318847656
59.0,66.0,0.0,83.0,56.0,59.44308090209961
59.0,66.0,0.0,82.0,56.0,59.57982635498047
59.0,66.0,0.0,81.0,56.0,59.735443115234375
59.0,66.0,0.0,80.0,56.0,59.91017150878906
59.0,66.0,0.0,79.0,56.0,60.104286193847656
59.0,66.0,0.0,78.0,56.0,60.318092346191406
59.0,66.0,0.0,77.0,56.0,60.55194091796875
59.0,66.0,0.0,76.0,56.0,60.80620193481445
59.0,66.0,0.0,75.0,56.0,61.081295013427734
59.0,66.0,0.0,74.0,56.0,61.37766647338867
59.0,66.0,0.0,73.0,56.0,61.69581604003906
59.0,66.0,0.0,72.0,56.0,62.03627014160156
59.0,66.0,0.0,71.0,56.0,62.399620056152344
59.0,66.0,0.0,70.0,56.0,62.7864875793457
59.0,66.0,0.0,69.0,56.0,63.19755554199219
59.0,66.0,0.0,68.0,56.0,63.633548736572266
59.0,66.0,0.0,67.0,56.0,64.09526062011719
59.0,66.0,0.0,66.0,56.0,64.58354187011719
59.0,66.0,0.0,65.0,56.0,65.09929656982422
59.0,66.0,0.0,64.0,56.0,65.64351654052734
59.0,66.0,0.0,63.0,57.0,66.21724700927734
59.0,66.0,0.0,62.0,57.0,66.8216323852539
59.0,66.0,0.0,61.0,57.0,67.45789337158203
59.0,66.0,0.0,60.0,57.0,68.12733459472656
59.0,66.0,0.0,59.0,57.0,68.83136749267578
59.0,66.0,0.0,58.0,57.0,69.57152557373047
59.0,66.0,0.0,57.0,57.0,70.34943389892578
59.0,66.0,0.0,56.0,58.0,71.16686248779297
59.0,66.0,0.0,55.0,58.0,72.02570343017578
59.0,66.0,0.0,54.0,58.0,72.92800903320312
59.0,66.0,0.0,53.0,58.0,73.87600708007812
59.0,66.0,0.0,52.0,58.0,74.8720703125
59.0,66.0,0.0,51.0,58.0,75.91881561279297
59.0,66.0,0.0,50.0,59.0,77.01903533935547
59.0,66.0,0.0,49.0,59.0,78.17576599121094
59.0,66.0,0.0,48.0,59.0,79.392333984375
59.0,66.0,0.0,47.0,59.0,80.67231750488281
59.0,66.0,0.0,46.0,60.0,82.0196533203125
59.0,66.0,0.0,45.0,62.0,83.4385986328125
59.0,66.0,0.0,44.0,60.0,84.933837890625
59.0,66.0,0.0,43.0,60.0,86.5104751586914
59.0,66.0,0.0,42.0,60.0,88.17411804199219
59.0,66.0,0.0,41.0,82.0,87.45085906982422
59.0,66.0,0.0,40.0,81.0,86.1568832397461
59.0,66.0,0.0,39.0,81.0,84.92613220214844
59.0,66.0,0.0,38.0,81.0,83.75520324707031
59.0,66.0,0.0,37.0,61.0,82.64095306396484
59.0,66.0,0.0,36.0,61.0,81.58049011230469
59.0,66.0,0.0,35.0,81.0,80.57112121582031
59.0,66.0,0.0,34.0,81.0,79.61038208007812
59.0,66.0,0.0,33.0,82.0,78.69597625732422
59.0,66.0,0.0,32.0,82.0,77.82576751708984
59.0,66.0,0.0,31.0,61.0,76.997802734375
59.0,66.0,0.0,30.0,60.0,76.21023559570312
59.0,66.0,0.0,29.0,61.0,75.46136474609375
59.0,66.0,0.0,28.0,63.0,74.74962615966797
59.0,66.0,0.0,27.0,63.0,74.07353210449219
59.0,66.0,0.0,26.0,60.0,73.43173217773438
59.0,66.0,0.0,25.0,59.0,72.82293701171875
59.0,66.0,0.0,24.0,59.0,72.2459945678711
59.0,66.0,0.0,23.0,60.0,71.69978332519531
59.0,66.0,0.0,22.0,60.0,71.18328857421875
59.0,66.0,0.0,21.0,59.0,70.69557189941406
59.0,66.0,0.0,20.0,59.0,70.23573303222656
59.0,66.0,0.0,19.0,58.0,69.80296325683594
59.0,66.0,0.0,18.0,59.0,69.3965072631836
59.0,66.0,0.0,17.0,59.0,69.01565551757812
59.0,66.0,0.0,16.0,58.0,68.65975952148438
59.0,66.0,0.0,15.0,58.0,68.3282241821289
59.0,66.0,0.0,14.0,58.0,68.02050018310547
59.0,66.0,0.0,13.0,58.0,67.73606872558594
59.0,66.0,0.0,12.0,58.0,67.47447967529297
59.0,66.0,0.0,11.0,58.0,67.23530578613281
59.0,66.0,0.0,10.0,58.0,67.01815795898438
59.0,66.0,0.0,9.0,58.0,66.82270050048828
59.0,66.0,0.0,8.0,58.0,66.64862060546875
59.0,66.0,0.0,7.0,57.0,66.49565124511719
59.0,66.0,0.0,6.0,57.0,66.3635482788086
59.0,66.0,0.0,5.0,57.0,66.25210571289062
59.0,66.0,0.0,4.0,57.0,66.16116333007812
59.0,66.0,0.0,3.0,57.0,66.090576171875
59.0,66.0,0.0,2.0,57.0,66.04022979736328
59.0,66.0,0.0,1.0,57.0,66.01005554199219
59.0,66.0,0.0,-0.0,57.0,66.0
59.0,66.0,0.0,-1.0,57.0,66.01005554199219
59.0,66.0,0.0,-2.0,57.0,66.04022979736328
59.0,66.0,0.0,-3.0,57.0,66.090576171875
59.0,66.0,0.0,-4.0,57.0,66.16116333007812
59.0,66.0,0.0,-5.0,57.0,66.25210571289062
59.0,66.0,0.0,-6.0,57.0,66.3635482788086
59.0,66.0,0.0,-7.0,57.0,66.49565124511719
59.0,66.0,0.0,-8.0,57.0,66.64862060546875
59.0,66.0,0.0,-9.0,57.0,66.82270050048828
59.0,66.0,0.0,-10.0,57.0,67.01815795898438
59.0,66.0,0.0,-11.0,57.0,67.23530578613281
59.0,66.0,0.0,-12.0,57.0,67.47447967529297
59.0,66.0,0.0,-13.0,57.0,67.73606872558594
59.0,66.0,0.0,-14.0,57.0,68.02050018310547
59.0,66.0,0.0,-15.0,57.0,68.3282241821289
59.0,66.0,0.0,-16.0,57.0,68.65975952148438
59.0,66.0,0.0,-17.0,57.0,69.01565551757812
59.0,66.0,0.0,-18.0,57.0,69.3965072631836
59.0,66.0,0.0,-19.0,57.0,69.80296325683594
59.0,66.0,0.0,-20.0,57.0,70.23572540283203
59.0,66.0,0.0,-21.0,57.0,70.69556427001953
59.0,66.0,0.0,-22.0,57.0,71.18329620361328
59.0,66.0,0.0,-23.0,57.0,71.69978332519531
59.0,66.0,0.0,-24.0,57.0,72.2459945678711
59.0,66.0,0.0,-25.0,57.0,72.82294464111328
59.0,66.0,0.0,-26.0,57.0,73.43173217773438
59.0,66.0,0.0,-27.0,57.0,74.07353210449219
59.0,66.0,0.0,-28.0,57.0,74.74962615966797
59.0,66.0,0.0,-29.0,58.0,75.46136474609375
59.0,66.0,0.0,-30.0,58.0,76.21023559570312
59.0,66.0,0.0,-31.0,58.0,76.997802734375
59.0,66.0,0.0,-32.0,58.0,77.82576751708984
59.0,66.0,0.0,-33.0,58.0,78.69597625732422
59.0,66.0,0.0,-34.0,58.0,79.61038208007812
59.0,66.0,0.0,-35.0,58.0,80.57112121582031
59.0,66.0,0.0,-36.0,58.0,81.58049011230469
59.0,66.0,0.0,-37.0,58.0,82.64096069335938
59.0,66.0,0.0,-38.0,58.0,83.75520324707031
59.0,66.0,0.0,-39.0,59.0,84.92613220214844
59.0,66.0,0.0,-40.0,59.0,86.15687561035156
59.0,66.0,0.0,-41.0,59.0,87.45085144042969
59.0,66.0,0.0,-42.0,59.0,88.81175994873047
59.0,66.0,0.0,-43.0,59.0,90.24361419677734
59.0,66.0,0.0,-44.0,59.0,91.75080108642578
59.0,66.0,0.0,-45.0,60.0,93.33809661865234
59.0,66.0,0.0,-46.0,60.0,95.01072692871094
59.0,66.0,0.0,-47.0,60.0,96.77442932128906
59.0,66.0,0.0,-48.0,60.0,98.63544464111328
59.0,66.0,0.0,-49.0,60.0,100.6007080078125
59.0,66.0,0.0,-50.0,61.0,102.67777252197266
59.0,66.0,0.0,-51.0,61.0,104.87503051757812
59.0,66.0,0.0,-52.0,62.0,107.2017593383789
59.0,66.0,0.0,-53.0,62.0,109.66824340820312
59.0,66.0,0.0,-54.0,62.0,112.28591918945312
59.0,66.0,0.0,-55.0,255.0,115.06749725341797
59.0,66.0,0.0,-56.0,255.0,115.15000915527344
59.0,66.0,0.0,-57.0,255.0,112.61188507080078
59.0,66.0,0.0,-58.0,255.0,110.21607208251953
59.0,66.0,0.0,-59.0,255.0,107.95230865478516
59.0,66.0,0.0,-60.0,255.0,105.81120300292969
59.0,66.0,0.0,-61.0,255.0,103.78441619873047
59.0,66.0,0.0,-62.0,255.0,101.86425018310547
59.0,66.0,0.0,-63.0,255.0,100.04374694824219
59.0,66.0,0.0,-64.0,255.0,98.31661987304688
59.0,66.0,0.0,-65.0,255.0,96.67704010009766
59.0,66.0,0.0,-66.0,255.0,95.11975860595703
59.0,66.0,0.0,-67.0,255.0,93.63993835449219
59.0,66.0,0.0,-68.0,255.0,92.23310089111328
59.0,66.0,0.0,-69.0,255.0,90.89519500732422
59.0,66.0,0.0,-70.0,255.0,89.62245178222656
59.0,66.0,0.0,-71.0,255.0,88.41143035888672
59.0,66.0,0.0,-72.0,255.0,87.25891876220703
59.0,66.0,0.0,-73.0,255.0,86.16197967529297
59.0,66.0,0.0,-74.0,255.0,85.11788177490234
59.0,66.0,0.0,-75.0,255.0,84.12409973144531
59.0,66.0,0.0,-76.0,255.0,83.17829895019531
59.0,66.0,0.0,-77.0,255.0,82.27831268310547
59.0,66.0,0.0,-78.0,255.0,81.42213439941406
59.0,66.0,0.0,-79.0,255.0,80.60789489746094
59.0,66.0,0.0,-80.0,255.0,79.83385467529297
59.0,66.0,0.0,-81.0,255.0,79.09840393066406
59.0,66.0,0.0,-82.0,255.0,78.40003967285156
59.0,66.0,0.0,-83.0,107.0,77.73737335205078
59.0,66.0,0.0,-84.0,107.0,77.10912322998047
59.0,66.0,0.0,-85.0,107.0,76.51404571533203
59.0,66.0,0.0,-86.0,106.0,75.95103454589844
59.0,66.0,0.0,-87.0,106.0,75.41905975341797
59.0,66.0,0.0,-88.0,106.0,74.91716003417969
59.0,66.0,0.0,-89.0,107.0,74.44441223144531
59.0,66.0,0.0,-90.0,75.0,74.0