x,y,headinng,sonar_ang,read,expected
14.0,91.0,0.0,90.0,93.0,14.0
14.0,91.0,0.0,89.0,14.0,14.0
14.0,91.0,0.0,88.0,14.0,14.0
14.0,91.0,0.0,87.0,14.0,14.0
14.0,91.0,0.0,86.0,14.0,14.0
14.0,91.0,0.0,85.0,14.0,14.0
14.0,91.0,0.0,84.0,14.0,14.0
14.0,91.0,0.0,83.0,14.0,14.0
14.0,91.0,0.0,82.0,14.0,14.0
14.0,91.0,0.0,81.0,14.0,14.0
14.0,91.0,0.0,80.0,14.0,14.0
14.0,91.0,0.0,79.0,14.0,14.0
14.0,91.0,0.0,78.0,14.0,14.0
14.0,91.0,0.0,77.0,14.0,14.0
14.0,91.0,0.0,76.0,14.0,14.0
14.0,91.0,0.0,75.0,14.0,14.0
14.0,91.0,0.0,74.0,14.0,14.0
14.0,91.0,0.0,73.0,14.0,14.0
14.0,91.0,0.0,72.0,15.0,14.0
14.0,91.0,0.0,71.0,15.0,14.0
14.0,91.0,0.0,70.0,15.0,14.0
14.0,91.0,0.0,69.0,16.0,14.002132415771484
14.0,91.0,0.0,68.0,16.0,14.008533477783203
14.0,91.0,0.0,67.0,16.0,14.01921272277832
14.0,91.0,0.0,66.0,16.0,14.034186363220215
14.0,91.0,0.0,65.0,17.0,14.053478240966797
14.0,91.0,0.0,64.0,22.0,14.077116012573242
14.0,91.0,0.0,63.0,22.0,14.10513687133789
14.0,91.0,0.0,62.0,22.0,14.137585639953613
14.0,91.0,0.0,61.0,22.0,14.174511909484863
14.0,91.0,0.0,60.0,22.0,14.215971946716309
14.0,91.0,0.0,59.0,22.0,14.262033462524414
14.0,91.0,0.0,58.0,22.0,14.31276798248291
14.0,91.0,0.0,57.0,22.0,14.368257522583008
14.0,91.0,0.0,56.0,22.0,14.428590774536133
14.0,91.0,0.0,55.0,22.0,14.493866920471191
14.0,91.0,0.0,54.0,22.0,14.564191818237305
14.0,91.0,0.0,53.0,22.0,14.639683723449707
14.0,91.0,0.0,52.0,22.0,14.720473289489746
14.0,91.0,0.0,51.0,22.0,14.806690216064453
14.0,91.0,0.0,50.0,23.0,14.89848804473877
14.0,91.0,0.0,49.0,23.0,14.996030807495117
14.0,91.0,0.0,48.0,23.0,15.099485397338867
14.0,91.0,0.0,47.0,23.0,15.209046363830566
14.0,91.0,0.0,46.0,23.0,15.324907302856445
14.0,91.0,0.0,45.0,23.0,15.447290420532227
14.0,91.0,0.0,44.0,23.0,15.57642650604248
14.0,91.0,0.0,43.0,23.0,15.712566375732422
14.0,91.0,0.0,42.0,23.0,15.855979919433594
14.0,91.0,0.0,41.0,24.0,16.0069580078125
14.0,91.0,0.0,40.0,96.0,16.16580581665039
14.0,91.0,0.0,39.0,96.0,16.332868576049805
14.0,91.0,0.0,38.0,95.0,16.508501052856445
14.0,91.0,0.0,37.0,94.0,16.693090438842773
14.0,91.0,0.0,36.0,94.0,16.887048721313477
14.0,91.0,0.0,35.0,94.0,17.090843200683594
14.0,91.0,0.0,34.0,94.0,17.304950714111328
14.0,91.0,0.0,33.0,93.0,17.5299015045166
14.0,91.0,0.0,32.0,93.0,17.766254425048828
14.0,91.0,0.0,31.0,93.0,18.014633178710938
14.0,91.0,0.0,30.0,93.0,18.275705337524414
14.0,91.0,0.0,29.0,92.0,18.550180435180664
14.0,91.0,0.0,28.0,92.0,18.83885955810547
14.0,91.0,0.0,27.0,92.0,19.14258575439453
14.0,91.0,0.0,26.0,92.0,19.462291717529297
14.0,91.0,0.0,25.0,92.0,19.79899024963379
14.0,91.0,0.0,24.0,92.0,20.153789520263672
14.0,91.0,0.0,23.0,92.0,20.527908325195312
14.0,91.0,0.0,22.0,92.0,20.922666549682617
14.0,91.0,0.0,21.0,92.0,21.339542388916016
14.0,91.0,0.0,20.0,91.0,21.78013801574707
14.0,91.0,0.0,19.0,91.0,22.246219635009766
14.0,91.0,0.0,18.0,91.0,22.73976707458496
14.0,91.0,0.0,17.0,91.0,23.262956619262695
14.0,91.0,0.0,16.0,91.0,23.818222045898438
14.0,91.0,0.0,15.0,91.0,24.408254623413086
14.0,91.0,0.0,14.0,91.0,25.036083221435547
14.0,91.0,0.0,13.0,91.0,25.705101013183594
14.0,91.0,0.0,12.0,91.0,26.41912078857422
14.0,91.0,0.0,11.0,91.0,27.18245506286621
14.0,91.0,0.0,10.0,91.0,27.999998092651367
14.0,91.0,0.0,9.0,91.0,28.8773136138916
14.0,91.0,0.0,8.0,91.0,29.820762634277344
14.0,91.0,0.0,7.0,91.0,30.837650299072266
14.0,91.0,0.0,6.0,91.0,31.93640899658203
14.0,91.0,0.0,5.0,91.0,33.1268196105957
14.0,91.0,0.0,4.0,91.0,34.420310974121094
14.0,91.0,0.0,3.0,91.0,35.83026885986328
14.0,91.0,0.0,2.0,91.0,37.37254333496094
14.0,91.0,0.0,1.0,91.0,39.06599044799805
14.0,91.0,0.0,-0.0,92.0,40.93326950073242
14.0,91.0,0.0,-1.0,92.0,43.001747131347656
14.0,91.0,0.0,-2.0,92.0,45.30495071411133
14.0,91.0,0.0,-3.0,93.0,47.88425064086914
14.0,91.0,0.0,-4.0,92.0,50.791378021240234
14.0,91.0,0.0,-5.0,92.0,54.09184646606445
14.0,91.0,0.0,-6.0,92.0,57.86990737915039
14.0,91.0,0.0,-7.0,92.0,62.235755920410156
14.0,91.0,0.0,-8.0,92.0,67.3362808227539
14.0,91.0,0.0,-9.0,92.0,73.3718032836914
14.0,91.0,0.0,-10.0,91.0,80.62278747558594
14.0,91.0,0.0,-11.0,91.0,89.49434661865234
14.0,91.0,0.0,-12.0,91.0,91.0
14.0,91.0,0.0,-13.0,91.0,91.0
14.0,91.0,0.0,-14.0,91.0,91.0
14.0,91.0,0.0,-15.0,91.0,91.0
14.0,91.0,0.0,-16.0,91.0,91.0
14.0,91.0,0.0,-17.0,91.0,91.0
14.0,91.0,0.0,-18.0,91.0,91.0
14.0,91.0,0.0,-19.0,91.0,91.0
14.0,91.0,0.0,-20.0,91.0,91.0
14.0,91.0,0.0,-21.0,91.0,91.01386260986328
14.0,91.0,0.0,-22.0,92.0,91.05547332763672
14.0,91.0,0.0,-23.0,92.0,91.12488555908203
14.0,91.0,0.0,-24.0,92.0,91.22221374511719
14.0,91.0,0.0,-25.0,92.0,91.34760284423828
14.0,91.0,0.0,-26.0,92.0,91.50125122070312
14.0,91.0,0.0,-27.0,92.0,91.68339538574219
14.0,91.0,0.0,-28.0,92.0,91.8943099975586
14.0,91.0,0.0,-29.0,92.0,92.13433074951172
14.0,91.0,0.0,-30.0,92.0,92.40381622314453
14.0,91.0,0.0,-31.0,92.0,92.70321655273438
14.0,91.0,0.0,-32.0,92.0,93.03298950195312
14.0,91.0,0.0,-33.0,92.0,93.3936767578125
14.0,91.0,0.0,-34.0,93.0,93.78584289550781
14.0,91.0,0.0,-35.0,93.0,94.21012878417969
14.0,91.0,0.0,-36.0,93.0,94.66724395751953
14.0,91.0,0.0,-37.0,93.0,95.15795135498047
14.0,91.0,0.0,-38.0,93.0,95.68306732177734
14.0,91.0,0.0,-39.0,94.0,96.24348449707031
14.0,91.0,0.0,-40.0,94.0,96.84017181396484
14.0,91.0,0.0,-41.0,94.0,97.47419738769531
14.0,91.0,0.0,-42.0,95.0,98.14665985107422
14.0,91.0,0.0,-43.0,96.0,98.8587875366211
14.0,91.0,0.0,-44.0,159.0,99.61190032958984
14.0,91.0,0.0,-45.0,159.0,100.40739440917969
14.0,91.0,0.0,-46.0,159.0,101.24678039550781
14.0,91.0,0.0,-47.0,158.0,102.13168334960938
14.0,91.0,0.0,-48.0,158.0,103.06388092041016
14.0,91.0,0.0,-49.0,158.0,104.04521942138672
14.0,91.0,0.0,-50.0,158.0,105.07775115966797
14.0,91.0,0.0,-51.0,158.0,106.16363525390625
14.0,91.0,0.0,-52.0,158.0,107.30523681640625
14.0,91.0,0.0,-53.0,158.0,108.50505828857422
14.0,91.0,0.0,-54.0,158.0,109.76583099365234
14.0,91.0,0.0,-55.0,158.0,111.09049224853516
14.0,91.0,0.0,-56.0,158.0,112.48218536376953
14.0,91.0,0.0,-57.0,158.0,113.94435119628906
14.0,91.0,0.0,-58.0,158.0,115.48065185546875
14.0,91.0,0.0,-59.0,158.0,117.09512329101562
14.0,91.0,0.0,-60.0,158.0,118.79206848144531
14.0,91.0,0.0,-61.0,158.0,118.29130554199219
14.0,91.0,0.0,-62.0,158.0,117.24690246582031
14.0,91.0,0.0,-63.0,158.0,116.25588989257812
14.0,91.0,0.0,-64.0,158.0,115.31632995605469
14.0,91.0,0.0,-65.0,158.0,114.42639923095703
14.0,91.0,0.0,-66.0,158.0,113.58443450927734
14.0,91.0,0.0,-67.0,158.0,112.78887176513672
14.0,91.0,0.0,-68.0,158.0,112.03827667236328
14.0,91.0,0.0,-69.0,158.0,111.33128356933594
14.0,91.0,0.0,-70.0,158.0,110.66666412353516
14.0,91.0,0.0,-71.0,158.0,110.04325103759766
14.0,91.0,0.0,-72.0,158.0,109.45996856689453
14.0,91.0,0.0,-73.0,158.0,108.91585540771484
14.0,91.0,0.0,-74.0,158.0,108.40998077392578
14.0,91.0,0.0,-75.0,158.0,107.9415054321289
14.0,91.0,0.0,-76.0,158.0,107.50967407226562
14.0,91.0,0.0,-77.0,158.0,107.11378479003906
14.0,91.0,0.0,-78.0,158.0,106.75318908691406
14.0,91.0,0.0,-79.0,158.0,106.42733001708984
14.0,91.0,0.0,-80.0,107.0,106.13568115234375
14.0,91.0,0.0,-81.0,107.0,105.87779998779297
14.0,91.0,0.0,-82.0,107.0,105.65325927734375
14.0,91.0,0.0,-83.0,106.0,105.46173858642578
14.0,91.0,0.0,-84.0,106.0,105.30291748046875
14.0,91.0,0.0,-85.0,106.0,105.17656707763672
14.0,91.0,0.0,-86.0,105.0,105.08250427246094
14.0,91.0,0.0,-87.0,105.0,105.02054595947266
14.0,91.0,0.0,-88.0,105.0,104.99064636230469
14.0,91.0,0.0,-89.0,105.0,104.99064636230469
14.0,91.0,0.0,-90.0,104.0,104.99064636230469