x,y,headinng,sonar_ang,read,expected
13.0,20.0,0.0,90.0,22.0,13.0
13.0,20.0,0.0,89.0,13.0,13.0
13.0,20.0,0.0,88.0,13.0,13.0
13.0,20.0,0.0,87.0,13.0,13.0
13.0,20.0,0.0,86.0,13.0,13.0
13.0,20.0,0.0,85.0,13.0,13.0
13.0,20.0,0.0,84.0,13.0,13.0
13.0,20.0,0.0,83.0,13.0,13.0
13.0,20.0,0.0,82.0,13.0,13.0
13.0,20.0,0.0,81.0,13.0,13.0
13.0,20.0,0.0,80.0,13.0,13.0
13.0,20.0,0.0,79.0,13.0,13.0
13.0,20.0,0.0,78.0,13.0,13.0
13.0,20.0,0.0,77.0,13.0,13.0
13.0,20.0,0.0,76.0,14.0,13.0
13.0,20.0,0.0,75.0,14.0,13.0
13.0,20.0,0.0,74.0,14.0,13.0
13.0,20.0,0.0,73.0,14.0,13.0
13.0,20.0,0.0,72.0,14.0,13.0
13.0,20.0,0.0,71.0,14.0,13.0
13.0,20.0,0.0,70.0,14.0,13.0
13.0,20.0,0.0,69.0,14.0,13.00197982788086
13.0,20.0,0.0,68.0,14.0,13.00792407989502
13.0,20.0,0.0,67.0,14.0,13.017840385437012
13.0,20.0,0.0,66.0,15.0,13.031744956970215
13.0,20.0,0.0,65.0,15.0,13.049657821655273
13.0,20.0,0.0,64.0,15.0,13.07160758972168
13.0,20.0,0.0,63.0,15.0,13.097627639770508
13.0,20.0,0.0,62.0,15.0,13.127758026123047
13.0,20.0,0.0,61.0,15.0,13.162046432495117
13.0,20.0,0.0,60.0,22.0,13.200546264648438
13.0,20.0,0.0,59.0,22.0,13.243316650390625
13.0,20.0,0.0,58.0,22.0,13.290427207946777
13.0,20.0,0.0,57.0,22.0,13.34195327758789
13.0,20.0,0.0,56.0,22.0,13.397977828979492
13.0,20.0,0.0,55.0,22.0,13.458590507507324
13.0,20.0,0.0,54.0,22.0,13.523892402648926
13.0,20.0,0.0,53.0,22.0,13.593993186950684
13.0,20.0,0.0,52.0,22.0,13.669008255004883
13.0,20.0,0.0,51.0,22.0,13.749069213867188
13.0,20.0,0.0,50.0,22.0,13.834311485290527
13.0,20.0,0.0,49.0,23.0,13.924884796142578
13.0,20.0,0.0,48.0,25.0,14.020951271057129
13.0,20.0,0.0,47.0,25.0,14.122685432434082
13.0,20.0,0.0,46.0,23.0,14.23027229309082
13.0,20.0,0.0,45.0,23.0,14.343913078308105
13.0,20.0,0.0,44.0,23.0,14.463826179504395
13.0,20.0,0.0,43.0,23.0,14.590240478515625
13.0,20.0,0.0,42.0,23.0,14.723411560058594
13.0,20.0,0.0,41.0,24.0,14.863602638244629
13.0,20.0,0.0,40.0,24.0,15.011107444763184
13.0,20.0,0.0,39.0,23.0,15.166234016418457
13.0,20.0,0.0,38.0,22.0,15.329319953918457
13.0,20.0,0.0,37.0,22.0,15.500722885131836
13.0,20.0,0.0,36.0,23.0,15.680832862854004
13.0,20.0,0.0,35.0,24.0,15.87006950378418
13.0,20.0,0.0,34.0,25.0,16.068883895874023
13.0,20.0,0.0,33.0,25.0,16.27776336669922
13.0,20.0,0.0,32.0,23.0,16.497236251831055
13.0,20.0,0.0,31.0,23.0,16.727874755859375
13.0,20.0,0.0,30.0,23.0,16.970294952392578
13.0,20.0,0.0,29.0,23.0,17.225168228149414
13.0,20.0,0.0,28.0,23.0,17.49322509765625
13.0,20.0,0.0,27.0,22.0,17.775257110595703
13.0,20.0,0.0,26.0,22.0,18.072128295898438
13.0,20.0,0.0,25.0,22.0,18.384777069091797
13.0,20.0,0.0,24.0,22.0,18.714235305786133
13.0,20.0,0.0,23.0,22.0,19.061630249023438
13.0,20.0,0.0,22.0,22.0,19.42819595336914
13.0,20.0,0.0,21.0,22.0,19.815290451049805
13.0,20.0,0.0,20.0,22.0,20.0
13.0,20.0,0.0,19.0,22.0,20.0
13.0,20.0,0.0,18.0,22.0,20.0
13.0,20.0,0.0,17.0,22.0,20.0
13.0,20.0,0.0,16.0,22.0,20.0
13.0,20.0,0.0,15.0,22.0,20.0
13.0,20.0,0.0,14.0,22.0,20.0
13.0,20.0,0.0,13.0,22.0,20.0
13.0,20.0,0.0,12.0,22.0,20.0
13.0,20.0,0.0,11.0,22.0,20.0
13.0,20.0,0.0,10.0,22.0,20.0
13.0,20.0,0.0,9.0,22.0,20.0
13.0,20.0,0.0,8.0,22.0,20.0
13.0,20.0,0.0,7.0,22.0,20.0
13.0,20.0,0.0,6.0,22.0,20.0
13.0,20.0,0.0,5.0,22.0,20.0
13.0,20.0,0.0,4.0,22.0,20.0
13.0,20.0,0.0,3.0,22.0,20.0
13.0,20.0,0.0,2.0,22.0,20.0
13.0,20.0,0.0,1.0,22.0,20.0
13.0,20.0,0.0,-0.0,22.0,20.0
13.0,20.0,0.0,-1.0,22.0,20.0
13.0,20.0,0.0,-2.0,22.0,20.0
13.0,20.0,0.0,-3.0,22.0,20.0
13.0,20.0,0.0,-4.0,22.0,20.0
13.0,20.0,0.0,-5.0,22.0,20.0
13.0,20.0,0.0,-6.0,22.0,20.0
13.0,20.0,0.0,-7.0,22.0,20.0
13.0,20.0,0.0,-8.0,22.0,20.0
13.0,20.0,0.0,-9.0,22.0,20.0
13.0,20.0,0.0,-10.0,22.0,20.0
13.0,20.0,0.0,-11.0,22.0,20.0
13.0,20.0,0.0,-12.0,22.0,20.0
13.0,20.0,0.0,-13.0,22.0,20.0
13.0,20.0,0.0,-14.0,22.0,20.0
13.0,20.0,0.0,-15.0,22.0,20.0
13.0,20.0,0.0,-16.0,22.0,20.0
13.0,20.0,0.0,-17.0,22.0,20.0
13.0,20.0,0.0,-18.0,22.0,20.0
13.0,20.0,0.0,-19.0,22.0,20.0
13.0,20.0,0.0,-20.0,22.0,20.0
13.0,20.0,0.0,-21.0,22.0,20.0030460357666
13.0,20.0,0.0,-22.0,22.0,20.012191772460938
13.0,20.0,0.0,-23.0,22.0,20.027446746826172
13.0,20.0,0.0,-24.0,22.0,20.048837661743164
13.0,20.0,0.0,-25.0,22.0,20.076396942138672
13.0,20.0,0.0,-26.0,22.0,20.110166549682617
13.0,20.0,0.0,-27.0,22.0,20.150196075439453
13.0,20.0,0.0,-28.0,22.0,20.196552276611328
13.0,20.0,0.0,-29.0,22.0,20.24930191040039
13.0,20.0,0.0,-30.0,22.0,20.30853271484375
13.0,20.0,0.0,-31.0,22.0,20.37433433532715
13.0,20.0,0.0,-32.0,22.0,20.44681167602539
13.0,20.0,0.0,-33.0,22.0,20.526081085205078
13.0,20.0,0.0,-34.0,22.0,20.612272262573242
13.0,20.0,0.0,-35.0,22.0,20.705524444580078
13.0,20.0,0.0,-36.0,22.0,20.80599021911621
13.0,20.0,0.0,-37.0,22.0,20.913835525512695
13.0,20.0,0.0,-38.0,22.0,21.029245376586914
13.0,20.0,0.0,-39.0,22.0,21.152414321899414
13.0,20.0,0.0,-40.0,23.0,21.28355598449707
13.0,20.0,0.0,-41.0,23.0,21.422901153564453
13.0,20.0,0.0,-42.0,23.0,21.570693969726562
13.0,20.0,0.0,-43.0,23.0,21.72720718383789
13.0,20.0,0.0,-44.0,23.0,21.892724990844727
13.0,20.0,0.0,-45.0,23.0,22.06755828857422
13.0,20.0,0.0,-46.0,23.0,22.252038955688477
13.0,20.0,0.0,-47.0,23.0,22.44652557373047
13.0,20.0,0.0,-48.0,23.0,22.65140151977539
13.0,20.0,0.0,-49.0,23.0,22.867080688476562
13.0,20.0,0.0,-50.0,23.0,23.094011306762695
13.0,20.0,0.0,-51.0,24.0,23.33266830444336
13.0,20.0,0.0,-52.0,24.0,23.583568572998047
13.0,20.0,0.0,-53.0,24.0,23.847265243530273
13.0,20.0,0.0,-54.0,24.0,24.124359130859375
13.0,20.0,0.0,-55.0,24.0,24.41549301147461
13.0,20.0,0.0,-56.0,24.0,24.721359252929688
13.0,20.0,0.0,-57.0,24.0,25.042713165283203
13.0,20.0,0.0,-58.0,25.0,25.3803653717041
13.0,20.0,0.0,-59.0,25.0,25.735193252563477
13.0,20.0,0.0,-60.0,134.0,26.1081485748291
13.0,20.0,0.0,-61.0,134.0,26.50025749206543
13.0,20.0,0.0,-62.0,134.0,26.91265296936035
13.0,20.0,0.0,-63.0,134.0,27.34654998779297
13.0,20.0,0.0,-64.0,133.0,27.80327033996582
13.0,20.0,0.0,-65.0,133.0,28.284271240234375
13.0,20.0,0.0,-66.0,133.0,28.79113006591797
13.0,20.0,0.0,-67.0,133.0,29.32558250427246
13.0,20.0,0.0,-68.0,133.0,29.889530181884766
13.0,20.0,0.0,-69.0,133.0,30.485063552856445
13.0,20.0,0.0,-70.0,133.0,31.114477157592773
13.0,20.0,0.0,-71.0,133.0,31.780315399169922
13.0,20.0,0.0,-72.0,133.0,32.485382080078125
13.0,20.0,0.0,-73.0,133.0,33.2327995300293
13.0,20.0,0.0,-74.0,133.0,34.02603530883789
13.0,20.0,0.0,-75.0,133.0,34.86893844604492
13.0,20.0,0.0,-76.0,133.0,35.76583480834961
13.0,20.0,0.0,-77.0,133.0,36.7215690612793
13.0,20.0,0.0,-78.0,133.0,37.741600036621094
13.0,20.0,0.0,-79.0,132.0,38.83207702636719
13.0,20.0,0.0,-80.0,132.0,40.0
13.0,20.0,0.0,-81.0,132.0,41.2533073425293
13.0,20.0,0.0,-82.0,132.0,42.6010856628418
13.0,20.0,0.0,-83.0,132.0,44.05378723144531
13.0,20.0,0.0,-84.0,132.0,45.62343978881836
13.0,20.0,0.0,-85.0,132.0,47.324031829833984
13.0,20.0,0.0,-86.0,132.0,49.17186737060547
13.0,20.0,0.0,-87.0,132.0,51.186100006103516
13.0,20.0,0.0,-88.0,132.0,53.38934326171875
13.0,20.0,0.0,-89.0,132.0,55.808555603027344
13.0,20.0,0.0,-90.0,132.0,58.47609329223633