x,y,headinng,sonar_ang,read,expected
30.606602,45.6066,180.0,0.0,5.0,4.9740400314331055
30.606602,45.6066,180.0,1.0,5.0,4.947478771209717
30.606602,45.6066,180.0,2.0,5.0,4.9226884841918945
30.606602,45.6066,180.0,3.0,5.0,4.899631977081299
30.606602,45.6066,180.0,4.0,5.0,4.878270149230957
30.606602,45.6066,180.0,5.0,5.0,4.858565807342529
30.606602,45.6066,180.0,6.0,5.0,4.840487957000732
30.606602,45.6066,180.0,7.0,4.0,4.824010372161865
30.606602,45.6066,180.0,8.0,4.0,4.809103012084961
30.606602,45.6066,180.0,9.0,4.0,4.795742988586426
30.606602,45.6066,180.0,10.0,4.0,4.783912181854248
30.606602,45.6066,180.0,11.0,4.0,4.773588180541992
30.606602,45.6066,180.0,12.0,4.0,4.764758586883545
30.606602,45.6066,180.0,13.0,4.0,4.757406234741211
30.606602,45.6066,180.0,14.0,4.0,4.751522064208984
30.606602,45.6066,180.0,15.0,4.0,4.747098922729492
30.606602,45.6066,180.0,16.0,4.0,4.7441253662109375
30.606602,45.6066,180.0,17.0,4.0,4.742599964141846
30.606602,45.6066,180.0,18.0,4.0,4.742519378662109
30.606602,45.6066,180.0,19.0,4.0,4.742519378662109
30.606602,45.6066,180.0,20.0,4.0,4.742519378662109
30.606602,45.6066,180.0,21.0,4.0,4.742519378662109
30.606602,45.6066,180.0,22.0,4.0,4.742519378662109
30.606602,45.6066,180.0,23.0,4.0,4.742519378662109
30.606602,45.6066,180.0,24.0,4.0,4.742519378662109
30.606602,45.6066,180.0,25.0,4.0,4.742519378662109
30.606602,45.6066,180.0,26.0,4.0,4.742519378662109
30.606602,45.6066,180.0,27.0,4.0,4.742519378662109
30.606602,45.6066,180.0,28.0,4.0,4.742519378662109
30.606602,45.6066,180.0,29.0,4.0,4.742519378662109
30.606602,45.6066,180.0,30.0,4.0,4.742519378662109
30.606602,45.6066,180.0,31.0,4.0,4.742519378662109
30.606602,45.6066,180.0,32.0,4.0,4.742519378662109
30.606602,45.6066,180.0,33.0,4.0,4.743884086608887
30.606602,45.6066,180.0,34.0,4.0,4.746695518493652
30.606602,45.6066,180.0,35.0,4.0,4.750959396362305
30.606602,45.6066,180.0,36.0,4.0,4.756680965423584
30.606602,45.6066,180.0,37.0,4.0,4.763869285583496
30.606602,45.6066,180.0,38.0,4.0,4.7725348472595215
30.606602,45.6066,180.0,39.0,4.0,4.78269100189209
30.606602,45.6066,180.0,40.0,4.0,4.7943549156188965
30.606602,45.6066,180.0,41.0,4.0,4.807541847229004
30.606602,45.6066,180.0,42.0,4.0,4.822277545928955
30.606602,45.6066,180.0,43.0,4.0,4.838581085205078
30.606602,45.6066,180.0,44.0,5.0,4.856480121612549
30.606602,45.6066,180.0,45.0,5.0,4.876000881195068
30.606602,45.6066,180.0,46.0,5.0,4.8971781730651855
30.606602,45.6066,180.0,47.0,5.0,4.920046329498291
30.606602,45.6066,180.0,48.0,5.0,4.94464111328125
30.606602,45.6066,180.0,49.0,5.0,4.971004486083984
30.606602,45.6066,180.0,50.0,5.0,4.99918270111084
30.606602,45.6066,180.0,51.0,5.0,5.029222011566162
30.606602,45.6066,180.0,52.0,5.0,5.06117582321167
30.606602,45.6066,180.0,53.0,5.0,5.095099925994873
30.606602,45.6066,180.0,54.0,5.0,5.1310577392578125
30.606602,45.6066,180.0,55.0,5.0,5.169108867645264
30.606602,45.6066,180.0,56.0,5.0,5.209328651428223
30.606602,45.6066,180.0,57.0,5.0,5.251789569854736
30.606602,45.6066,180.0,58.0,5.0,5.296578407287598
30.606602,45.6066,180.0,59.0,5.0,5.34377908706665
30.606602,45.6066,180.0,60.0,5.0,5.3934831619262695
30.606602,45.6066,180.0,61.0,5.0,5.445799827575684
30.606602,45.6066,180.0,62.0,5.0,5.500827312469482
30.606602,45.6066,180.0,63.0,6.0,5.558694839477539
30.606602,45.6066,180.0,64.0,6.0,5.619519233703613
30.606602,45.6066,180.0,65.0,6.0,5.683441162109375
30.606602,45.6066,180.0,66.0,255.0,5.7506022453308105
30.606602,45.6066,180.0,67.0,255.0,5.821171760559082
30.606602,45.6066,180.0,68.0,255.0,5.895308971405029
30.606602,45.6066,180.0,69.0,255.0,5.973198413848877
30.606602,45.6066,180.0,70.0,255.0,6.055047988891602
30.606602,45.6066,180.0,71.0,255.0,6.14106559753418
30.606602,45.6066,180.0,72.0,255.0,6.231489181518555
30.606602,45.6066,180.0,73.0,255.0,Infinity
30.606602,45.6066,180.0,74.0,255.0,Infinity
30.606602,45.6066,180.0,75.0,255.0,Infinity
30.606602,45.6066,180.0,76.0,255.0,Infinity
30.606602,45.6066,180.0,77.0,255.0,Infinity
30.606602,45.6066,180.0,78.0,255.0,Infinity
30.606602,45.6066,180.0,79.0,255.0,Infinity
30.606602,45.6066,180.0,80.0,255.0,Infinity
30.606602,45.6066,180.0,81.0,255.0,Infinity
30.606602,45.6066,180.0,82.0,255.0,Infinity
30.606602,45.6066,180.0,83.0,255.0,Infinity
30.606602,45.6066,180.0,84.0,255.0,Infinity
30.606602,45.6066,180.0,85.0,255.0,Infinity
30.606602,45.6066,180.0,86.0,255.0,Infinity
30.606602,45.6066,180.0,87.0,255.0,Infinity
30.606602,45.6066,180.0,88.0,255.0,Infinity
30.606602,45.6066,180.0,89.0,255.0,Infinity
30.606602,45.6066,180.0,90.0,255.0,Infinity
30.606602,45.6066,180.0,91.0,255.0,Infinity
30.606602,45.6066,180.0,92.0,255.0,18.824167251586914
30.606602,45.6066,180.0,93.0,255.0,18.53227424621582
30.606602,45.6066,180.0,94.0,255.0,18.254772186279297
30.606602,45.6066,180.0,95.0,255.0,17.99085807800293
30.606602,45.6066,180.0,96.0,255.0,17.739788055419922
30.606602,45.6066,180.0,97.0,255.0,17.50088882446289
30.606602,45.6066,180.0,98.0,255.0,17.273530960083008
30.606602,45.6066,180.0,99.0,18.0,17.057132720947266
30.606602,45.6066,180.0,100.0,18.0,16.851160049438477
30.606602,45.6066,180.0,101.0,18.0,16.655115127563477
30.606602,45.6066,180.0,102.0,17.0,16.468536376953125
30.606602,45.6066,180.0,103.0,17.0,16.291006088256836
30.606602,45.6066,180.0,104.0,17.0,16.12211036682129
30.606602,45.6066,180.0,105.0,17.0,15.96150016784668
30.606602,45.6066,180.0,106.0,17.0,15.808826446533203
30.606602,45.6066,180.0,107.0,16.0,15.663766860961914
30.606602,45.6066,180.0,108.0,16.0,15.526033401489258
30.606602,45.6066,180.0,109.0,16.0,15.39535140991211
30.606602,45.6066,180.0,110.0,16.0,15.271464347839355
30.606602,45.6066,180.0,111.0,16.0,15.154132843017578
30.606602,45.6066,180.0,112.0,15.0,15.043140411376953
30.606602,45.6066,180.0,113.0,15.0,14.938274383544922
30.606602,45.6066,180.0,114.0,15.0,14.839348793029785
30.606602,45.6066,180.0,115.0,15.0,14.746194839477539
30.606602,45.6066,180.0,116.0,15.0,14.658636093139648
30.606602,45.6066,180.0,117.0,15.0,14.576525688171387
30.606602,45.6066,180.0,118.0,15.0,14.49972152709961
30.606602,45.6066,180.0,119.0,15.0,14.428092002868652
30.606602,45.6066,180.0,120.0,14.0,14.361522674560547
30.606602,45.6066,180.0,121.0,14.0,14.29990005493164
30.606602,45.6066,180.0,122.0,14.0,14.243124008178711
30.606602,45.6066,180.0,123.0,14.0,14.1911039352417
30.606602,45.6066,180.0,124.0,14.0,14.143754005432129
30.606602,45.6066,180.0,125.0,14.0,14.101000785827637
30.606602,45.6066,180.0,126.0,14.0,14.062775611877441
30.606602,45.6066,180.0,127.0,14.0,14.029014587402344
30.606602,45.6066,180.0,128.0,14.0,13.999674797058105
30.606602,45.6066,180.0,129.0,14.0,13.974705696105957
30.606602,45.6066,180.0,130.0,14.0,13.954065322875977
30.606602,45.6066,180.0,131.0,14.0,13.937727928161621
30.606602,45.6066,180.0,132.0,14.0,13.925662994384766
30.606602,45.6066,180.0,133.0,14.0,13.917855262756348
30.606602,45.6066,180.0,134.0,14.0,13.914295196533203
30.606602,45.6066,180.0,135.0,13.0,13.914295196533203
30.606602,45.6066,180.0,136.0,13.0,13.914295196533203
30.606602,45.6066,180.0,137.0,13.0,13.914295196533203
30.606602,45.6066,180.0,138.0,13.0,13.914295196533203
30.606602,45.6066,180.0,139.0,13.0,13.914295196533203
30.606602,45.6066,180.0,140.0,13.0,13.914295196533203
30.606602,45.6066,180.0,141.0,13.0,13.914295196533203
30.606602,45.6066,180.0,142.0,13.0,13.914295196533203
30.606602,45.6066,180.0,143.0,13.0,13.914295196533203
30.606602,45.6066,180.0,144.0,13.0,13.914295196533203
30.606602,45.6066,180.0,145.0,13.0,13.914295196533203
30.606602,45.6066,180.0,146.0,13.0,13.914295196533203
30.606602,45.6066,180.0,147.0,13.0,13.914295196533203
30.606602,45.6066,180.0,148.0,14.0,13.914295196533203
30.606602,45.6066,180.0,149.0,14.0,13.914970397949219
30.606602,45.6066,180.0,150.0,14.0,13.919890403747559
30.606602,45.6066,180.0,151.0,14.0,13.929056167602539
30.606602,45.6066,180.0,152.0,14.0,13.942483901977539
30.606602,45.6066,180.0,153.0,14.0,13.960195541381836
30.606602,45.6066,180.0,154.0,14.0,13.982215881347656
30.606602,45.6066,180.0,155.0,14.0,14.008578300476074
30.606602,45.6066,180.0,156.0,14.0,14.039322853088379
30.606602,45.6066,180.0,157.0,14.0,14.074501991271973
30.606602,45.6066,180.0,158.0,14.0,14.114169120788574
30.606602,45.6066,180.0,159.0,14.0,14.158384323120117
30.606602,45.6066,180.0,160.0,14.0,14.207220077514648
30.606602,45.6066,180.0,161.0,14.0,14.260751724243164
30.606602,45.6066,180.0,162.0,14.0,14.319067001342773
30.606602,45.6066,180.0,163.0,14.0,14.382256507873535
30.606602,45.6066,180.0,164.0,15.0,14.450429916381836
30.606602,45.6066,180.0,165.0,15.0,14.523696899414062
30.606602,45.6066,180.0,166.0,15.0,14.602182388305664
30.606602,45.6066,180.0,167.0,15.0,14.686017990112305
30.606602,45.6066,180.0,168.0,15.0,14.775354385375977
30.606602,45.6066,180.0,169.0,15.0,14.87033462524414
30.606602,45.6066,180.0,170.0,15.0,14.971134185791016
30.606602,45.6066,180.0,171.0,16.0,15.077933311462402
30.606602,45.6066,180.0,172.0,16.0,15.190932273864746
30.606602,45.6066,180.0,173.0,16.0,15.310332298278809
30.606602,45.6066,180.0,174.0,16.0,15.436369895935059
30.606602,45.6066,180.0,175.0,16.0,15.569279670715332
30.606602,45.6066,180.0,176.0,16.0,15.70931339263916
30.606602,45.6066,180.0,177.0,17.0,15.856779098510742
30.606602,45.6066,180.0,178.0,17.0,16.0119571685791
30.606602,45.6066,180.0,179.0,73.0,16.175172805786133
30.606602,45.6066,180.0,180.0,255.0,16.34678077697754