x,y,headinng,sonar_ang,read,expected
14.0,52.0,0.0,90.0,52.0,14.0
14.0,52.0,0.0,89.0,14.0,14.0
14.0,52.0,0.0,88.0,14.0,14.0
14.0,52.0,0.0,87.0,14.0,14.0
14.0,52.0,0.0,86.0,14.0,14.0
14.0,52.0,0.0,85.0,14.0,14.0
14.0,52.0,0.0,84.0,14.0,14.0
14.0,52.0,0.0,83.0,14.0,14.0
14.0,52.0,0.0,82.0,14.0,14.0
14.0,52.0,0.0,81.0,15.0,14.0
14.0,52.0,0.0,80.0,15.0,14.0
14.0,52.0,0.0,79.0,15.0,14.0
14.0,52.0,0.0,78.0,15.0,14.0
14.0,52.0,0.0,77.0,15.0,14.0
14.0,52.0,0.0,76.0,15.0,14.0
14.0,52.0,0.0,75.0,15.0,14.0
14.0,52.0,0.0,74.0,15.0,14.0
14.0,52.0,0.0,73.0,15.0,14.0
14.0,52.0,0.0,72.0,15.0,14.0
14.0,52.0,0.0,71.0,15.0,14.0
14.0,52.0,0.0,70.0,15.0,14.0
14.0,52.0,0.0,69.0,16.0,14.002132415771484
14.0,52.0,0.0,68.0,16.0,14.008533477783203
14.0,52.0,0.0,67.0,16.0,14.01921272277832
14.0,52.0,0.0,66.0,16.0,14.034186363220215
14.0,52.0,0.0,65.0,16.0,14.053478240966797
14.0,52.0,0.0,64.0,16.0,14.077116012573242
14.0,52.0,0.0,63.0,16.0,14.10513687133789
14.0,52.0,0.0,62.0,16.0,14.137585639953613
14.0,52.0,0.0,61.0,16.0,14.174511909484863
14.0,52.0,0.0,60.0,22.0,14.215972900390625
14.0,52.0,0.0,59.0,22.0,14.262033462524414
14.0,52.0,0.0,58.0,22.0,14.31276798248291
14.0,52.0,0.0,57.0,22.0,14.368257522583008
14.0,52.0,0.0,56.0,22.0,14.428590774536133
14.0,52.0,0.0,55.0,22.0,14.493866920471191
14.0,52.0,0.0,54.0,22.0,14.564191818237305
14.0,52.0,0.0,53.0,22.0,14.639683723449707
14.0,52.0,0.0,52.0,22.0,14.720471382141113
14.0,52.0,0.0,51.0,23.0,14.80668830871582
14.0,52.0,0.0,50.0,23.0,14.89848804473877
14.0,52.0,0.0,49.0,22.0,14.9960298538208
14.0,52.0,0.0,48.0,22.0,15.0994873046875
14.0,52.0,0.0,47.0,22.0,15.209044456481934
14.0,52.0,0.0,46.0,22.0,15.324907302856445
14.0,52.0,0.0,45.0,22.0,15.447291374206543
14.0,52.0,0.0,44.0,23.0,15.576428413391113
14.0,52.0,0.0,43.0,23.0,15.712568283081055
14.0,52.0,0.0,42.0,23.0,15.855981826782227
14.0,52.0,0.0,41.0,23.0,16.006956100463867
14.0,52.0,0.0,40.0,23.0,16.16580581665039
14.0,52.0,0.0,39.0,24.0,16.332868576049805
14.0,52.0,0.0,38.0,55.0,16.508499145507812
14.0,52.0,0.0,37.0,55.0,16.693086624145508
14.0,52.0,0.0,36.0,55.0,16.88705062866211
14.0,52.0,0.0,35.0,54.0,17.090845108032227
14.0,52.0,0.0,34.0,54.0,17.30495262145996
14.0,52.0,0.0,33.0,54.0,17.5299015045166
14.0,52.0,0.0,32.0,54.0,17.766254425048828
14.0,52.0,0.0,31.0,54.0,18.014633178710938
14.0,52.0,0.0,30.0,54.0,18.27570152282715
14.0,52.0,0.0,29.0,55.0,18.550180435180664
14.0,52.0,0.0,28.0,55.0,18.838857650756836
14.0,52.0,0.0,27.0,56.0,19.1425838470459
14.0,52.0,0.0,26.0,56.0,19.462289810180664
14.0,52.0,0.0,25.0,56.0,19.79899024963379
14.0,52.0,0.0,24.0,56.0,20.153789520263672
14.0,52.0,0.0,23.0,56.0,20.527910232543945
14.0,52.0,0.0,22.0,56.0,20.922670364379883
14.0,52.0,0.0,21.0,56.0,21.33954429626465
14.0,52.0,0.0,20.0,55.0,21.78013038635254
14.0,52.0,0.0,19.0,54.0,22.246219635009766
14.0,52.0,0.0,18.0,53.0,22.73976707458496
14.0,52.0,0.0,17.0,53.0,23.262958526611328
14.0,52.0,0.0,16.0,53.0,23.818222045898438
14.0,52.0,0.0,15.0,53.0,24.408252716064453
14.0,52.0,0.0,14.0,52.0,25.036083221435547
14.0,52.0,0.0,13.0,52.0,25.70509910583496
14.0,52.0,0.0,12.0,52.0,26.41912078857422
14.0,52.0,0.0,11.0,52.0,27.182453155517578
14.0,52.0,0.0,10.0,52.0,27.999998092651367
14.0,52.0,0.0,9.0,52.0,28.877317428588867
14.0,52.0,0.0,8.0,52.0,29.820758819580078
14.0,52.0,0.0,7.0,52.0,30.8376522064209
14.0,52.0,0.0,6.0,52.0,31.936405181884766
14.0,52.0,0.0,5.0,52.0,33.1268196105957
14.0,52.0,0.0,4.0,52.0,34.42030715942383
14.0,52.0,0.0,3.0,52.0,35.830265045166016
14.0,52.0,0.0,2.0,52.0,37.37253952026367
14.0,52.0,0.0,1.0,52.0,39.06599044799805
14.0,52.0,0.0,-0.0,52.0,40.933265686035156
14.0,52.0,0.0,-1.0,52.0,43.001747131347656
14.0,52.0,0.0,-2.0,52.0,45.30495071411133
14.0,52.0,0.0,-3.0,52.0,47.88424301147461
14.0,52.0,0.0,-4.0,52.0,50.791378021240234
14.0,52.0,0.0,-5.0,52.0,52.0
14.0,52.0,0.0,-6.0,52.0,52.0
14.0,52.0,0.0,-7.0,52.0,52.0
14.0,52.0,0.0,-8.0,52.0,52.0
14.0,52.0,0.0,-9.0,52.0,52.0
14.0,52.0,0.0,-10.0,52.0,52.0
14.0,52.0,0.0,-11.0,52.0,52.0
14.0,52.0,0.0,-12.0,52.0,52.0
14.0,52.0,0.0,-13.0,52.0,52.0
14.0,52.0,0.0,-14.0,52.0,52.0
14.0,52.0,0.0,-15.0,52.0,52.0
14.0,52.0,0.0,-16.0,52.0,52.0
14.0,52.0,0.0,-17.0,52.0,52.0
14.0,52.0,0.0,-18.0,52.0,52.0
14.0,52.0,0.0,-19.0,52.0,52.0
14.0,52.0,0.0,-20.0,52.0,52.0
14.0,52.0,0.0,-21.0,52.0,52.0079231262207
14.0,52.0,0.0,-22.0,52.0,52.03169631958008
14.0,52.0,0.0,-23.0,52.0,52.07136154174805
14.0,52.0,0.0,-24.0,52.0,52.12697982788086
14.0,52.0,0.0,-25.0,52.0,52.198631286621094
14.0,52.0,0.0,-26.0,52.0,52.28643035888672
14.0,52.0,0.0,-27.0,53.0,52.39051055908203
14.0,52.0,0.0,-28.0,52.0,52.51103210449219
14.0,52.0,0.0,-29.0,53.0,52.64818572998047
14.0,52.0,0.0,-30.0,53.0,52.80218505859375
14.0,52.0,0.0,-31.0,53.0,52.973270416259766
14.0,52.0,0.0,-32.0,53.0,53.16170883178711
14.0,52.0,0.0,-33.0,53.0,53.36781311035156
14.0,52.0,0.0,-34.0,53.0,53.59191131591797
14.0,52.0,0.0,-35.0,53.0,53.8343620300293
14.0,52.0,0.0,-36.0,53.0,54.0955696105957
14.0,52.0,0.0,-37.0,54.0,54.375972747802734
14.0,52.0,0.0,-38.0,54.0,54.67603302001953
14.0,52.0,0.0,-39.0,54.0,54.99627685546875
14.0,52.0,0.0,-40.0,54.0,55.337242126464844
14.0,52.0,0.0,-41.0,55.0,55.69953918457031
14.0,52.0,0.0,-42.0,55.0,56.083805084228516
14.0,52.0,0.0,-43.0,55.0,56.49073791503906
14.0,52.0,0.0,-44.0,55.0,56.92108917236328
14.0,52.0,0.0,-45.0,55.0,57.37565231323242
14.0,52.0,0.0,-46.0,56.0,57.85530471801758
14.0,52.0,0.0,-47.0,56.0,58.360965728759766
14.0,52.0,0.0,-48.0,56.0,58.893646240234375
14.0,52.0,0.0,-49.0,56.0,59.45440673828125
14.0,52.0,0.0,-50.0,57.0,60.04442596435547
14.0,52.0,0.0,-51.0,58.0,60.66493606567383
14.0,52.0,0.0,-52.0,58.0,61.31727981567383
14.0,52.0,0.0,-53.0,140.0,62.002891540527344
14.0,52.0,0.0,-54.0,140.0,62.723331451416016
14.0,52.0,0.0,-55.0,140.0,63.48027801513672
14.0,52.0,0.0,-56.0,140.0,64.2755355834961
14.0,52.0,0.0,-57.0,140.0,65.11105346679688
14.0,52.0,0.0,-58.0,139.0,65.98894500732422
14.0,52.0,0.0,-59.0,139.0,66.9114990234375
14.0,52.0,0.0,-60.0,139.0,67.88117980957031
14.0,52.0,0.0,-61.0,139.0,68.90067291259766
14.0,52.0,0.0,-62.0,139.0,69.972900390625
14.0,52.0,0.0,-63.0,139.0,71.10102081298828
14.0,52.0,0.0,-64.0,139.0,72.28851318359375
14.0,52.0,0.0,-65.0,139.0,73.53910827636719
14.0,52.0,0.0,-66.0,139.0,74.85693359375
14.0,52.0,0.0,-67.0,139.0,76.24652099609375
14.0,52.0,0.0,-68.0,139.0,77.71277618408203
14.0,52.0,0.0,-69.0,139.0,79.26116180419922
14.0,52.0,0.0,-70.0,139.0,80.89762878417969
14.0,52.0,0.0,-71.0,139.0,82.62881469726562
14.0,52.0,0.0,-72.0,139.0,84.46199798583984
14.0,52.0,0.0,-73.0,139.0,86.40528106689453
14.0,52.0,0.0,-74.0,139.0,88.46768188476562
14.0,52.0,0.0,-75.0,139.0,90.65922546386719
14.0,52.0,0.0,-76.0,139.0,92.99116516113281
14.0,52.0,0.0,-77.0,139.0,95.47608184814453
14.0,52.0,0.0,-78.0,139.0,98.12815856933594
14.0,52.0,0.0,-79.0,139.0,100.96340942382812
14.0,52.0,0.0,-80.0,139.0,103.99999237060547
14.0,52.0,0.0,-81.0,139.0,107.25860595703125
14.0,52.0,0.0,-82.0,139.0,110.7628173828125
14.0,52.0,0.0,-83.0,139.0,114.53984069824219
14.0,52.0,0.0,-84.0,139.0,117.67284393310547
14.0,52.0,0.0,-85.0,139.0,117.53164672851562
14.0,52.0,0.0,-86.0,139.0,117.42652130126953
14.0,52.0,0.0,-87.0,139.0,117.3572998046875
14.0,52.0,0.0,-88.0,139.0,117.32388305664062
14.0,52.0,0.0,-89.0,139.0,117.32388305664062
14.0,52.0,0.0,-90.0,139.0,117.32388305664062