x,y,headinng,sonar_ang,read,expected
14.0,10.0,0.0,90.0,12.0,14.0
14.0,10.0,0.0,89.0,14.0,14.0
14.0,10.0,0.0,88.0,14.0,14.0
14.0,10.0,0.0,87.0,14.0,14.0
14.0,10.0,0.0,86.0,14.0,14.0
14.0,10.0,0.0,85.0,14.0,14.0
14.0,10.0,0.0,84.0,14.0,14.0
14.0,10.0,0.0,83.0,14.0,14.0
14.0,10.0,0.0,82.0,14.0,14.0
14.0,10.0,0.0,81.0,14.0,14.0
14.0,10.0,0.0,80.0,14.0,14.0
14.0,10.0,0.0,79.0,14.0,14.0
14.0,10.0,0.0,78.0,14.0,14.0
14.0,10.0,0.0,77.0,14.0,14.0
14.0,10.0,0.0,76.0,14.0,14.0
14.0,10.0,0.0,75.0,14.0,14.0
14.0,10.0,0.0,74.0,14.0,14.0
14.0,10.0,0.0,73.0,14.0,14.0
14.0,10.0,0.0,72.0,14.0,14.0
14.0,10.0,0.0,71.0,14.0,14.0
14.0,10.0,0.0,70.0,14.0,14.0
14.0,10.0,0.0,69.0,14.0,14.002132415771484
14.0,10.0,0.0,68.0,15.0,14.008533477783203
14.0,10.0,0.0,67.0,15.0,14.01921272277832
14.0,10.0,0.0,66.0,15.0,14.034186363220215
14.0,10.0,0.0,65.0,15.0,14.05347728729248
14.0,10.0,0.0,64.0,16.0,13.901636123657227
14.0,10.0,0.0,63.0,16.0,13.673274040222168
14.0,10.0,0.0,62.0,16.0,13.456326484680176
14.0,10.0,0.0,61.0,16.0,13.250129699707031
14.0,10.0,0.0,60.0,19.0,13.054073333740234
14.0,10.0,0.0,59.0,21.0,12.867596626281738
14.0,10.0,0.0,58.0,22.0,12.690181732177734
14.0,10.0,0.0,57.0,22.0,12.521356582641602
14.0,10.0,0.0,56.0,21.0,12.360679626464844
14.0,10.0,0.0,55.0,19.0,12.207746505737305
14.0,10.0,0.0,54.0,17.0,12.062179565429688
14.0,10.0,0.0,53.0,17.0,11.923632621765137
14.0,10.0,0.0,52.0,18.0,11.791783332824707
14.0,10.0,0.0,51.0,19.0,11.66633415222168
14.0,10.0,0.0,50.0,19.0,11.547005653381348
14.0,10.0,0.0,49.0,20.0,11.433540344238281
14.0,10.0,0.0,48.0,20.0,11.325699806213379
14.0,10.0,0.0,47.0,20.0,11.223261833190918
14.0,10.0,0.0,46.0,20.0,11.126019477844238
14.0,10.0,0.0,45.0,20.0,11.03377914428711
14.0,10.0,0.0,44.0,19.0,10.946362495422363
14.0,10.0,0.0,43.0,19.0,10.863603591918945
14.0,10.0,0.0,42.0,18.0,10.785346984863281
14.0,10.0,0.0,41.0,17.0,10.711450576782227
14.0,10.0,0.0,40.0,17.0,10.641777992248535
14.0,10.0,0.0,39.0,19.0,10.576207160949707
14.0,10.0,0.0,38.0,19.0,10.51462173461914
14.0,10.0,0.0,37.0,20.0,10.456917762756348
14.0,10.0,0.0,36.0,20.0,10.402995109558105
14.0,10.0,0.0,35.0,20.0,10.352762222290039
14.0,10.0,0.0,34.0,20.0,10.306136131286621
14.0,10.0,0.0,33.0,19.0,10.263041496276855
14.0,10.0,0.0,32.0,19.0,10.223405838012695
14.0,10.0,0.0,31.0,19.0,10.187167167663574
14.0,10.0,0.0,30.0,21.0,10.154266357421875
14.0,10.0,0.0,29.0,22.0,10.124650955200195
14.0,10.0,0.0,28.0,22.0,10.098276138305664
14.0,10.0,0.0,27.0,22.0,10.075098037719727
14.0,10.0,0.0,26.0,21.0,10.055083274841309
14.0,10.0,0.0,25.0,20.0,10.038198471069336
14.0,10.0,0.0,24.0,20.0,10.024418830871582
14.0,10.0,0.0,23.0,16.0,10.013723373413086
14.0,10.0,0.0,22.0,15.0,10.006095886230469
14.0,10.0,0.0,21.0,15.0,10.0015230178833
14.0,10.0,0.0,20.0,15.0,10.0
14.0,10.0,0.0,19.0,15.0,10.0
14.0,10.0,0.0,18.0,14.0,10.0
14.0,10.0,0.0,17.0,14.0,10.0
14.0,10.0,0.0,16.0,14.0,10.0
14.0,10.0,0.0,15.0,14.0,10.0
14.0,10.0,0.0,14.0,13.0,10.0
14.0,10.0,0.0,13.0,13.0,10.0
14.0,10.0,0.0,12.0,13.0,10.0
14.0,10.0,0.0,11.0,13.0,10.0
14.0,10.0,0.0,10.0,13.0,10.0
14.0,10.0,0.0,9.0,13.0,10.0
14.0,10.0,0.0,8.0,13.0,10.0
14.0,10.0,0.0,7.0,13.0,10.0
14.0,10.0,0.0,6.0,13.0,10.0
14.0,10.0,0.0,5.0,13.0,10.0
14.0,10.0,0.0,4.0,13.0,10.0
14.0,10.0,0.0,3.0,13.0,10.0
14.0,10.0,0.0,2.0,13.0,10.0
14.0,10.0,0.0,1.0,13.0,10.0
14.0,10.0,0.0,-0.0,13.0,10.0
14.0,10.0,0.0,-1.0,12.0,10.0
14.0,10.0,0.0,-2.0,12.0,10.0
14.0,10.0,0.0,-3.0,12.0,10.0
14.0,10.0,0.0,-4.0,12.0,10.0
14.0,10.0,0.0,-5.0,12.0,10.0
14.0,10.0,0.0,-6.0,13.0,10.0
14.0,10.0,0.0,-7.0,13.0,10.0
14.0,10.0,0.0,-8.0,13.0,10.0
14.0,10.0,0.0,-9.0,12.0,10.0
14.0,10.0,0.0,-10.0,12.0,10.0
14.0,10.0,0.0,-11.0,12.0,10.0
14.0,10.0,0.0,-12.0,13.0,10.0
14.0,10.0,0.0,-13.0,13.0,10.0
14.0,10.0,0.0,-14.0,13.0,10.0
14.0,10.0,0.0,-15.0,13.0,10.0
14.0,10.0,0.0,-16.0,13.0,10.0
14.0,10.0,0.0,-17.0,13.0,10.0
14.0,10.0,0.0,-18.0,13.0,10.0
14.0,10.0,0.0,-19.0,13.0,10.0
14.0,10.0,0.0,-20.0,13.0,10.0
14.0,10.0,0.0,-21.0,13.0,10.0015230178833
14.0,10.0,0.0,-22.0,14.0,10.006095886230469
14.0,10.0,0.0,-23.0,14.0,10.013723373413086
14.0,10.0,0.0,-24.0,14.0,10.024418830871582
14.0,10.0,0.0,-25.0,14.0,10.038198471069336
14.0,10.0,0.0,-26.0,14.0,10.055083274841309
14.0,10.0,0.0,-27.0,15.0,10.075098037719727
14.0,10.0,0.0,-28.0,15.0,10.098276138305664
14.0,10.0,0.0,-29.0,15.0,10.124650955200195
14.0,10.0,0.0,-30.0,15.0,10.154266357421875
14.0,10.0,0.0,-31.0,16.0,10.187167167663574
14.0,10.0,0.0,-32.0,16.0,10.223405838012695
14.0,10.0,0.0,-33.0,22.0,10.263041496276855
14.0,10.0,0.0,-34.0,22.0,10.306136131286621
14.0,10.0,0.0,-35.0,22.0,10.352761268615723
14.0,10.0,0.0,-36.0,22.0,10.402994155883789
14.0,10.0,0.0,-37.0,22.0,10.456917762756348
14.0,10.0,0.0,-38.0,22.0,10.514622688293457
14.0,10.0,0.0,-39.0,22.0,10.57620620727539
14.0,10.0,0.0,-40.0,22.0,10.641777992248535
14.0,10.0,0.0,-41.0,22.0,10.71144962310791
14.0,10.0,0.0,-42.0,22.0,10.785346984863281
14.0,10.0,0.0,-43.0,23.0,10.863604545593262
14.0,10.0,0.0,-44.0,23.0,10.94636344909668
14.0,10.0,0.0,-45.0,23.0,11.03377914428711
14.0,10.0,0.0,-46.0,23.0,11.126019477844238
14.0,10.0,0.0,-47.0,23.0,11.223261833190918
14.0,10.0,0.0,-48.0,23.0,11.325701713562012
14.0,10.0,0.0,-49.0,23.0,11.433541297912598
14.0,10.0,0.0,-50.0,23.0,11.547004699707031
14.0,10.0,0.0,-51.0,23.0,11.66633415222168
14.0,10.0,0.0,-52.0,23.0,11.791784286499023
14.0,10.0,0.0,-53.0,24.0,11.923632621765137
14.0,10.0,0.0,-54.0,255.0,12.062179565429688
14.0,10.0,0.0,-55.0,255.0,12.207745552062988
14.0,10.0,0.0,-56.0,137.0,12.360679626464844
14.0,10.0,0.0,-57.0,135.0,12.521357536315918
14.0,10.0,0.0,-58.0,135.0,12.69018268585205
14.0,10.0,0.0,-59.0,135.0,12.867595672607422
14.0,10.0,0.0,-60.0,135.0,13.054073333740234
14.0,10.0,0.0,-61.0,135.0,13.250129699707031
14.0,10.0,0.0,-62.0,135.0,13.456328392028809
14.0,10.0,0.0,-63.0,135.0,13.673274993896484
14.0,10.0,0.0,-64.0,135.0,13.901636123657227
14.0,10.0,0.0,-65.0,135.0,14.142135620117188
14.0,10.0,0.0,-66.0,136.0,14.395565032958984
14.0,10.0,0.0,-67.0,137.0,14.66279125213623
14.0,10.0,0.0,-68.0,255.0,14.944765090942383
14.0,10.0,0.0,-69.0,255.0,15.242530822753906
14.0,10.0,0.0,-70.0,255.0,15.557236671447754
14.0,10.0,0.0,-71.0,255.0,15.890156745910645
14.0,10.0,0.0,-72.0,255.0,16.242692947387695
14.0,10.0,0.0,-73.0,255.0,16.61639976501465
14.0,10.0,0.0,-74.0,137.0,17.013017654418945
14.0,10.0,0.0,-75.0,137.0,17.43446922302246
14.0,10.0,0.0,-76.0,136.0,17.882917404174805
14.0,10.0,0.0,-77.0,132.0,18.36078453063965
14.0,10.0,0.0,-78.0,132.0,18.870798110961914
14.0,10.0,0.0,-79.0,131.0,19.41603660583496
14.0,10.0,0.0,-80.0,131.0,20.0
14.0,10.0,0.0,-81.0,131.0,20.62665367126465
14.0,10.0,0.0,-82.0,131.0,21.3005428314209
14.0,10.0,0.0,-83.0,131.0,22.026893615722656
14.0,10.0,0.0,-84.0,131.0,22.811717987060547
14.0,10.0,0.0,-85.0,131.0,23.662015914916992
14.0,10.0,0.0,-86.0,131.0,24.585933685302734
14.0,10.0,0.0,-87.0,131.0,25.593048095703125
14.0,10.0,0.0,-88.0,131.0,26.694671630859375
14.0,10.0,0.0,-89.0,131.0,27.90428352355957
14.0,10.0,0.0,-90.0,131.0,29.2380428314209